adhoc

completed
2026-09-23T22:05:14.054311+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
272.2 s
total steps
397
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles are lying near the middle of the table; I will start with the rightmost bottle, whose cap is farthest forward and whose body points almost straight toward the bases. I am moving the right gripper above that cap with the jaws oriented to close across the neck.
move_to
right_x0.4600right_y0.2500right_z0.1400right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.382, -0.0128, -0.0216, 0.9989] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9988 right_x=0.2941 right_y=0.0012 right_z=0.1809 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989 state[joint_eff]: [-0.3761, -1.5111, 9.7436, 1.7656, -0.0317, 0.1441, -0.1343, -0.8684, -1.1009, 10.4, 1.873, -0.0855, 0.0366, -0.1294] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.25,"right_z":0.14,"right_yaw":0,"right_gripper":1},"note":"Three bottles are lying near the middle of the table; I will start with the rightmost bottle, whose cap is farthest forward and whose body points almost straight toward the bases. I am moving the right gripper above that cap with the jaws oriented to close across the neck."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right wrist view shows the cap slightly to the image-right and still ahead of the fingertip line, while the bottle body runs back toward the gripper. I am advancing about 3 cm and shifting about 2 cm to center the cap between the jaws before descending.
move_to
right_x0.4800right_y0.2300right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9985, 0.667, 1.8801, 1.277, -0.1295, 0.5152, 0.355, 0.9989] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9985 right_x=0.4465 right_y=0.2454 right_z=0.1244 right_yaw=0.0427 right_pitch=-0.0551 right_roll=-0.0398 right_gripper=0.9989 state[joint_eff]: [-0.212, -1.6205, 6.8171, 1.8193, -0.0513, -0.0366, -0.0415, -0.294, -9.6889, 8.8957, 1.7021, 0.4274, 0.1978, -0.1245] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.23,"right_z":0.12},"note":"The right wrist view shows the cap slightly to the image-right and still ahead of the fingertip line, while the bottle body runs back toward the gripper. I am advancing about 3 cm and shifting about 2 cm to center the cap between the jaws before descending."})
tool
executing move_to over 3 steps (0.3s)
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 noteAfter the small advance, the cap moved lower in the wrist image as expected, but it shifted farther to image-right; the previous lateral correction was therefore in the wrong direction. I am advancing another 4–5 cm and reversing the lateral correction so the cap approaches the jaw convergence line.
move_to
right_x0.5200right_y0.2600right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9984, 0.6075, 1.9125, 1.2568, -0.0566, 0.4667, 0.3134, 0.9988] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4635 right_y=0.2298 right_z=0.1101 right_yaw=0.044 right_pitch=-0.0571 right_roll=-0.0357 right_gripper=0.9988 state[joint_eff]: [-0.3624, -1.812, 6.2291, 1.8242, -0.0366, -0.0415, -0.022, -0.3624, -8.9915, 7.5829, 2.0537, 0.0562, 0.0513, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.26,"right_z":0.11},"note":"After the small advance, the cap moved lower in the wrist image as expected, but it shifted farther to image-right; the previous lateral correction was therefore in the wrong direction. I am advancing another 4–5 cm and reversing the lateral correction so the cap approaches the jaw convergence line."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe last farther target was near the arm’s low-reach limit and only partly tracked; the cap is now nearly centered laterally and about 2 cm beyond the current grasp point. I am descending while requesting only that modest outward correction, which should bring the neck into the jaws without forcing the arm past its table-contact reach.
move_to
right_x0.4900right_y0.2400right_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1817 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988 state[joint_eff]: [-0.1026, -1.6615, 6.3111, 1.8339, -0.0464, -0.0464, -0.0171, -0.6359, -9.4427, 7.8154, 2.0244, 0.1832, 0.0562, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.24,"right_z":0.055},"note":"The last farther target was near the arm’s low-reach limit and only partly tracked; the cap is now nearly centered laterally and about 2 cm beyond the current grasp point. I am descending while requesting only that modest outward correction, which should bring the neck into the jaws without forcing the arm past its table-contact reach."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe arm did not move at all toward the low, extended target, indicating an awkward reach configuration rather than contact. I am backing inward and upward to unfold the kinematics, then I can approach the same cap from a reachable configuration.
move_to
right_x0.4100right_y0.2300right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1803 left_yaw=0.0002 left_pitch=-0.0126 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988 state[joint_eff]: [-0.1026, -1.8393, 6.4889, 1.8584, -0.0122, -0.0513, -0.0073, -0.4855, -9.4291, 7.9111, 2.0488, 0.2613, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.23,"right_z":0.2},"note":"The arm did not move at all toward the low, extended target, indicating an awkward reach configuration rather than contact. I am backing inward and upward to unfold the kinematics, then I can approach the same cap from a reachable configuration."})
tool
executing move_to over 6 steps (0.6s)
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 right arm has successfully backed into a well-tracked pose; the intended bottle is again centered in the wrist view. I am now making one direct diagonal approach toward its cap at low height, staying within the verified table-contact reach.
move_to
right_x0.4800right_y0.2400right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.5991, -0.3866, -0.0227, -0.0288, 0.9983, 0.6888, 1.6665, 1.2148, -0.218, 0.4877, 0.3321, 0.9988] state[eef_state]: left_x=0.2934 left_y=0.0017 left_z=0.1757 left_yaw=0.0 left_pitch=-0.0217 left_roll=0.0004 left_gripper=0.9983 right_x=0.4126 right_y=0.2371 right_z=0.1816 right_yaw=0.0995 right_pitch=-0.0138 right_roll=-0.0082 right_gripper=0.9988 state[joint_eff]: [-0.0068, -1.4291, 6.8855, 1.9267, -0.0659, 0.0269, -0.0122, 0.1026, -9.2239, 9.388, 1.7216, 0.3834, 0.1685, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). 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":{"right_x":0.48,"right_y":0.24,"right_z":0.045},"note":"The right arm has successfully backed into a well-tracked pose; the intended bottle is again centered in the wrist view. I am now making one direct diagonal approach toward its cap at low height, staying within the verified table-contact reach."})
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 noteAt the low pose the bottle is large and centered between the two jaw wedges, and the requested grasp point is at the cap’s measured forward coordinate. I will close here and use the settled jaw width to determine whether the neck or bottle is securely captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5812, -0.3744, -0.0227, -0.0292, 0.9983, 0.5953, 2.0411, 1.1294, 0.2352, 0.4248, 0.2554, 0.9988] state[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.4672 right_y=0.2328 right_z=0.0459 right_yaw=0.0972 right_pitch=-0.041 right_roll=-0.0417 right_gripper=0.9988 state[joint_eff]: [-0.212, -1.8667, 6.7077, 1.8632, -0.0562, -0.0708, -0.0122, -0.1846, -8.4855, 7.9521, 1.5507, -0.0317, 0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"At the low pose the bottle is large and centered between the two jaw wedges, and the requested grasp point is at the cap’s measured forward coordinate. I will close here and use the settled jaw width to determine whether the neck or bottle is securely captured."})
tool
executing move_to over 10 steps (1.0s)
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 gripper settled at 0.464, a clear 4.4 cm bottle grasp rather than an empty close; it has captured the body a short distance from the base. I am lifting that grasp point while moving inward so the bottle can rotate about its bottom toward vertical.
move_to
right_x0.4300right_y0.2300right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7845, 0.5655, -0.3717, -0.0231, -0.0292, 0.9983, 0.5915, 2.0541, 1.0931, 0.3386, 0.4179, 0.2554, 0.4639] state[eef_state]: left_x=0.2905 left_y=0.0018 left_z=0.1666 left_yaw=0.0005 left_pitch=-0.0286 left_roll=0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.2336 right_z=0.0445 right_yaw=0.0994 right_pitch=0.0047 right_roll=-0.0123 right_gripper=0.4639 state[joint_eff]: [-0.1162, -1.9761, 6.7897, 1.9609, -0.0366, -0.0513, -0.0073, -0.2667, -11.8085, 4.9709, 1.6288, 0.0073, 0.0611, 0.5495] 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":{"right_x":0.43,"right_y":0.23,"right_z":0.12},"note":"The gripper settled at 0.464, a clear 4.4 cm bottle grasp rather than an empty close; it has captured the body a short distance from the base. I am lifting that grasp point while moving inward so the bottle can rotate about its bottom toward vertical."})
tool
executing move_to over 5 steps (0.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe grasp remains secure and the first diagonal lift has raised the near end; the wrist view now shows the other bottles beyond the jaws while this bottle is carried at the grasp. I am bringing the grasp point over the estimated base location and lowering it to the height it should have when the bottle is vertical.
move_to
right_x0.4000right_y0.2400right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7723, 0.5426, -0.3542, -0.0227, -0.0292, 0.9983, 0.6357, 1.8248, 1.0622, 0.1337, 0.4263, 0.2829, 0.4606] state[eef_state]: left_x=0.2892 left_y=0.0018 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.0217 left_roll=0.0001 left_gripper=0.9983 right_x=0.437 right_y=0.2361 right_z=0.106 right_yaw=0.1221 right_pitch=0.0014 right_roll=0.0035 right_gripper=0.4606 state[joint_eff]: [-0.2256, -1.2376, 6.735, 1.9805, -0.0171, -0.0513, -0.0073, 0.5949, -11.3436, 6.4342, 1.8339, 0.3297, 0.1685, 0.0562] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.24,"right_z":0.085},"note":"The grasp remains secure and the first diagonal lift has raised the near end; the wrist view now shows the other bottles beyond the jaws while this bottle is carried at the grasp. I am bringing the grasp point over the estimated base location and lowering it to the height it should have when the bottle is vertical."})
tool
executing move_to over 3 steps (0.3s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe grasp point is now at the estimated base coordinate and about 7.7 cm above the table, matching an upright bottle when held around its lower body. I will release it at this supported pose, then retract to verify its orientation from the overhead camera.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7662, 0.5282, -0.3466, -0.0227, -0.0292, 0.9983, 0.696, 1.7905, 0.9337, 0.1566, 0.4606, 0.3069, 0.4607] state[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1596 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0001 left_gripper=0.9983 right_x=0.3995 right_y=0.2361 right_z=0.0768 right_yaw=0.1411 right_pitch=-0.049 right_roll=-0.0311 right_gripper=0.4607 state[joint_eff]: [-0.0479, -1.265, 6.6256, 1.9219, -0.0317, -0.0757, -0.0122, 0.0752, -9.1145, 7.2957, 2.1856, 0.2125, 0.0562, -0.0073] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The grasp point is now at the estimated base coordinate and about 7.7 cm above the table, matching an upright bottle when held around its lower body. I will release it at this supported pose, then retract to verify its orientation from the overhead camera."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe jaws opened fully without the bottle shifting visibly in the close view. I am retracting the right arm to its home pose so the overhead camera can confirm whether the bottle is standing and clear the workspace for the next one.
move_to
right_x0.2940right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7586, 0.5137, -0.3374, -0.0227, -0.0292, 0.9983, 0.7181, 1.7916, 0.9092, 0.181, 0.469, 0.3172, 0.9955] state[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3919 right_y=0.2412 right_z=0.0718 right_yaw=0.1511 right_pitch=-0.0469 right_roll=-0.0279 right_gripper=0.9955 state[joint_eff]: [-0.3624, -1.4838, 6.4205, 1.8926, -0.0366, -0.0757, -0.0122, -0.6496, -9.1282, 6.5299, 1.873, 0.2662, 0.0562, -0.2271] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0,"right_z":0.18,"right_yaw":0,"right_gripper":1},"note":"The jaws opened fully without the bottle shifting visibly in the close view. I am retracting the right arm to its home pose so the overhead camera can confirm whether the bottle is standing and clear the workspace for the next one."})
tool
executing move_to over 21 steps (2.1s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe overhead view shows that the bottle was tipped partway but fell back outward after release; the earlier final pose was too low and not far enough over its base. I will regrasp the same reachable section and this time carry it farther inward and higher until the held section is directly above the base.
move_to
right_x0.4700right_y0.2500right_z0.0450right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7475, 0.4988, -0.3264, -0.0227, -0.0292, 0.9983, 0.0051, 0.8089, 0.564, -0.3523, 0.038, 0.0048, 0.9988] state[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1553 left_yaw=0.0002 left_pitch=-0.013 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2941 right_y=-0.0016 right_z=0.1633 right_yaw=-0.0364 right_pitch=-0.0301 right_roll=-0.0063 right_gripper=0.9988 state[joint_eff]: [-0.1299, -0.9915, 6.6393, 1.9023, -0.022, -0.0415, -0.0122, -0.2667, -1.9761, 10.1675, 2.0733, -0.1441, -0.0708, -0.1343] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.25,"right_z":0.045,"right_yaw":0,"right_gripper":1},"note":"The overhead view shows that the bottle was tipped partway but fell back outward after release; the earlier final pose was too low and not far enough over its base. I will regrasp the same reachable section and this time carry it farther inward and higher until the held section is directly above the base."})
tool
executing move_to over 21 steps (2.1s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe right wrist view has the bottle centered symmetrically between the jaws at table level, with its cap along the same radial line. I am closing on the same broad section to obtain a secure lifting grasp for a larger, over-center pivot.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.6498, 2.0651, 1.1461, 0.2115, 0.5068, 0.3412, 0.9988] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.2446 right_z=0.0403 right_yaw=0.0401 right_pitch=-0.038 right_roll=-0.0319 right_gripper=0.9988 state[joint_eff]: [-0.1846, -1.4564, 6.106, 1.873, -0.0611, -0.0269, -0.0122, 0.0752, -9.1145, 7.0496, 1.7118, 0.4518, 0.3297, -0.1343] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right wrist view has the bottle centered symmetrically between the jaws at table level, with its cap along the same radial line. I am closing on the same broad section to obtain a secure lifting grasp for a larger, over-center pivot."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThis close settled at 0.359, indicating a narrower upper-body grasp than before. The grasp point is roughly 11–12 cm forward of the bottle’s base, so I am moving it inward by that amount and up to about 17 cm actual height, which should rotate the bottle to vertical rather than leave it leaning.
move_to
right_x0.3500right_y0.2500right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.6544, 2.0689, 1.1191, 0.3447, 0.5163, 0.3321, 0.359] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4647 right_y=0.2511 right_z=0.0524 right_yaw=0.0417 right_pitch=0.049 right_roll=0.0142 right_gripper=0.359 state[joint_eff]: [-0.0479, -1.6068, 6.2017, 1.8779, -0.0415, -0.0269, -0.0122, -0.8, -11.1521, 4.4786, 1.1746, -0.022, 0.0855, 0.3297] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.19},"note":"This close settled at 0.359, indicating a narrower upper-body grasp than before. The grasp point is roughly 11–12 cm forward of the bottle’s base, so I am moving it inward by that amount and up to about 17 cm actual height, which should rotate the bottle to vertical rather than leave it leaning."})
tool
executing move_to over 9 steps (0.9s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe bottle stayed horizontal in the firm grasp even after being lifted, so a rigid body grasp cannot supply the needed rotation. I am carrying it laterally to the table center while elevated; this makes its exposed cap reachable by the left arm for a loose, cap-supported transfer that can let gravity rotate the bottle downward.
move_to
right_x0.3500right_y0.3300right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8581, 1.5967, 1.1069, -0.2634, 0.6315, 0.4789, 0.3578] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.355 right_y=0.2568 right_z=0.1683 right_yaw=0.0788 right_pitch=-0.0183 right_roll=-0.011 right_gripper=0.3578 state[joint_eff]: [-0.2667, -1.0188, 6.3111, 1.8926, -0.0415, -0.0464, -0.0122, 0.0889, -8.9915, 9.7983, 1.5702, 0.4713, 0.1099, -0.1441] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.33,"right_z":0.2},"note":"The bottle stayed horizontal in the firm grasp even after being lifted, so a rigid body grasp cannot supply the needed rotation. I am carrying it laterally to the table center while elevated; this makes its exposed cap reachable by the left arm for a loose, cap-supported transfer that can let gravity rotate the bottle downward."})
tool
executing move_to over 7 steps (0.7s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe right arm now holds the bottle horizontally near the centerline, with the cap exposed about 11–12 cm farther forward. I am bringing the left gripper above that cap while keeping just over 10 cm separation between the two grasp points.
move_to
left_x0.4600left_y-0.3200left_z0.2000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.9894, 1.7702, 1.4002, -0.4561, 0.6994, 0.5598, 0.3576] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.3456 right_y=0.3252 right_z=0.1873 right_yaw=0.1166 right_pitch=-0.0313 right_roll=-0.0301 right_gripper=0.3576 state[joint_eff]: [-0.335, -1.6068, 6.2017, 1.8486, -0.0513, -0.0317, -0.0122, 0.6496, -8.3214, 9.306, 1.409, 0.5055, 0.1929, -0.0269] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.32,"left_z":0.2,"left_yaw":0,"left_gripper":1},"note":"The right arm now holds the bottle horizontally near the centerline, with the cap exposed about 11–12 cm farther forward. I am bringing the left gripper above that cap while keeping just over 10 cm separation between the two grasp points."})
tool
executing move_to over 29 steps (2.9s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe two arms deflected each other during the long approach, so I am avoiding another large converging move; the right arm still securely holds the bottle. In the left wrist view the cap is close but low and to image-right, so I am making only a small outward/right correction to center the left jaws on it.
move_to
left_x0.5000left_y-0.3000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7021, 1.9808, 1.6978, -0.4545, -0.6559, -0.5327, 0.9988, 0.8291, 1.6936, 1.3441, -0.3599, 0.7597, 0.5793, 0.3575] state[eef_state]: left_x=0.4787 left_y=-0.2591 left_z=0.2022 left_yaw=0.1025 left_pitch=-0.0001 left_roll=-0.0103 left_gripper=0.9988 right_x=0.3934 right_y=0.2546 right_z=0.2176 right_yaw=-0.099 right_pitch=0.074 right_roll=0.0519 right_gripper=0.3575 state[joint_eff]: [-8.7726, -6.188, 12.0957, 1.1404, -0.315, -0.0171, -0.1294, 13.6547, -3.8222, 7.6239, 1.1941, -0.3736, -0.2222, -0.0171] 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":0.5,"left_y":-0.3,"left_z":0.2},"note":"The two arms deflected each other during the long approach, so I am avoiding another large converging move; the right arm still securely holds the bottle. In the left wrist view the cap is close but low and to image-right, so I am making only a small outward/right correction to center the left jaws on it."})
tool
executing move_to over 4 steps (0.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe cap remains laterally outside the left jaw line and the arms are deflecting before alignment, so continuing this two-arm transfer would be unsafe and unreliable. I am withdrawing the left arm completely while the right maintains its secure hold; I will instead translate the bottle inward so its cap becomes reachable by the same arm.
move_to
left_x0.2940left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6796, 2.1197, 1.9335, -0.5278, -0.6811, -0.561, 0.9985, 0.7506, 1.7309, 1.4681, -0.5213, 0.7471, 0.6003, 0.3575] state[eef_state]: left_x=0.5127 left_y=-0.2667 left_z=0.2152 left_yaw=0.159 left_pitch=0.028 left_roll=-0.0403 left_gripper=0.9985 right_x=0.4127 right_y=0.2257 right_z=0.226 right_yaw=-0.177 right_pitch=0.0219 right_roll=0.0154 right_gripper=0.3575 state[joint_eff]: [-4.9709, -9.4701, 8.8957, 1.1795, -0.3346, -0.0171, -0.0464, 6.4752, -8.0889, 6.3932, 1.6093, 0.1685, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.18,"left_yaw":0,"left_gripper":1},"note":"The cap remains laterally outside the left jaw line and the arms are deflecting before alignment, so continuing this two-arm transfer would be unsafe and unreliable. I am withdrawing the left arm completely while the right maintains its secure hold; I will instead translate the bottle inward so its cap becomes reachable by the same arm."})
tool
executing move_to over 24 steps (2.4s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteWith the left arm safely parked, the right wrist shows the held bottle horizontal and its cap roughly 10 cm forward of the grasp. I am lowering and translating the whole bottle inward by about 9 cm, placing the cap near x≈0.42 where the right arm can make a true cap/neck grasp.
move_to
right_x0.3200right_y0.2200right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 0.8104, 0.6033, -0.3466, -0.1112, -0.0944, 0.9989, 0.7517, 1.742, 1.4803, -0.59, 0.7288, 0.5972, 0.3575] state[eef_state]: left_x=0.3001 left_y=0.0059 left_z=0.1826 left_yaw=0.072 left_pitch=0.0121 left_roll=-0.0096 left_gripper=0.9989 right_x=0.4068 right_y=0.2241 right_z=0.215 right_yaw=-0.1618 right_pitch=-0.0296 right_roll=-0.0328 right_gripper=0.3575 state[joint_eff]: [0.1436, -1.6068, 7.2684, 1.8144, 0.1343, 0.2125, -0.1245, -0.253, -8.5812, 8.6222, 1.5946, 0.3541, 0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.22,"right_z":0.06},"note":"With the left arm safely parked, the right wrist shows the held bottle horizontal and its cap roughly 10 cm forward of the grasp. I am lowering and translating the whole bottle inward by about 9 cm, placing the cap near x≈0.42 where the right arm can make a true cap/neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe held bottle has been placed down farther inward; its cap is now around the reachable x≈0.42 region while the broad lower body remains centered between the open-jaw path. I am releasing this body grasp so I can move specifically to the neck just below the cap.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.8246, 0.5972, -0.3744, -0.1139, -0.0822, 0.9986, 0.9314, 1.7123, 0.8303, -0.0963, 0.82, 0.765, 0.3575] state[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1702 left_yaw=0.0606 left_pitch=-0.0355 left_roll=0.0082 left_gripper=0.9986 right_x=0.319 right_y=0.2185 right_z=0.0644 right_yaw=-0.1329 right_pitch=-0.0355 right_roll=-0.0397 right_gripper=0.3575 state[joint_eff]: [-0.0889, -1.6615, 8.6906, 1.8242, -0.1587, -0.149, -0.0415, 0.4034, -6.2701, 5.3675, 1.409, 0.6129, 0.1099, -0.0171] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held bottle has been placed down farther inward; its cap is now around the reachable x≈0.42 region while the broad lower body remains centered between the open-jaw path. I am releasing this body grasp so I can move specifically to the neck just below the cap."})
tool
executing move_to over 7 steps (0.7s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteAfter release, the wrist view shows the bottle extending straight outward from the gripper and the overhead view puts its neck about 12–13 cm ahead of the old body grasp. I am moving above the neck/cap junction at x≈0.44, now comfortably inside the arm’s reach.
move_to
right_x0.4400right_y0.2200right_z0.1000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.8082, 0.5655, -0.347, -0.1131, -0.0818, 0.9985, 0.9413, 1.7271, 0.7853, -0.0246, 0.8265, 0.7551, 0.9952] state[eef_state]: left_x=0.295 left_y=0.0044 left_z=0.1659 left_yaw=0.0597 left_pitch=-0.0234 left_roll=0.0065 left_gripper=0.9985 right_x=0.315 right_y=0.2179 right_z=0.0539 right_yaw=-0.1211 right_pitch=-0.0253 right_roll=-0.0402 right_gripper=0.9952 state[joint_eff]: [0.0889, -2.0718, 6.6803, 1.9121, -0.0513, -0.105, -0.0317, -0.5538, -9.306, 5.1761, 1.3504, 0.3687, 0.022, -0.1148] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.22,"right_z":0.1,"right_yaw":0,"right_gripper":1},"note":"After release, the wrist view shows the bottle extending straight outward from the gripper and the overhead view puts its neck about 12–13 cm ahead of the old body grasp. I am moving above the neck/cap junction at x≈0.44, now comfortably inside the arm’s reach."})
tool
executing move_to over 10 steps (1.0s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe cap and neck are now clearly visible in the right wrist camera, slightly left of the jaw column and still ahead of the fingertip line. I am shifting the gripper left by about 2–3 cm, advancing modestly, and descending to neck height for a precise cap-supported grasp.
move_to
right_x0.4500right_y0.2400right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7998, 0.5484, -0.3298, -0.1131, -0.0822, 0.9984, 0.6537, 1.8347, 1.0294, 0.0757, 0.5476, 0.3885, 0.9988] state[eef_state]: left_x=0.2946 left_y=0.0044 left_z=0.1638 left_yaw=0.0599 left_pitch=-0.0151 left_roll=0.0052 left_gripper=0.9984 right_x=0.4242 right_y=0.2136 right_z=0.0847 right_yaw=-0.0136 right_pitch=-0.039 right_roll=-0.0278 right_gripper=0.9988 state[joint_eff]: [0.1436, -1.9761, 6.5162, 1.8535, -0.0562, -0.0757, -0.022, -0.6769, -8.3077, 8.6632, 1.7509, 0.3346, -0.0366, -0.1343] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.24,"right_z":0.035},"note":"The cap and neck are now clearly visible in the right wrist camera, slightly left of the jaw column and still ahead of the fingertip line. I am shifting the gripper left by about 2–3 cm, advancing modestly, and descending to neck height for a precise cap-supported grasp."})
tool
executing move_to over 4 steps (0.4s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteAt table height the bottle fills the wrist image and remains about 2 cm left of the jaw center; the neck is only a small radial step farther forward. I am applying that final lateral correction and advancing to x≈0.46 before closing around the narrow section below the cap.
move_to
right_x0.4600right_y0.2550right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7967, 0.5476, -0.3267, -0.1131, -0.0818, 0.9984, 0.6701, 2.0346, 1.0554, 0.2382, 0.5423, 0.3882, 0.9988] state[eef_state]: left_x=0.2947 left_y=0.0044 left_z=0.165 left_yaw=0.0597 left_pitch=-0.0098 left_roll=0.0048 left_gripper=0.9984 right_x=0.4368 right_y=0.2344 right_z=0.0289 right_yaw=0.0068 right_pitch=-0.0502 right_roll=-0.0323 right_gripper=0.9988 state[joint_eff]: [0.0342, -1.812, 5.8735, 1.8388, -0.0611, -0.0464, -0.0122, -0.294, -8.7863, 7.8564, 1.8193, 0.3101, 0.0659, -0.0171] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.255,"right_z":0.02},"note":"At table height the bottle fills the wrist image and remains about 2 cm left of the jaw center; the neck is only a small radial step farther forward. I am applying that final lateral correction and advancing to x≈0.46 before closing around the narrow section below the cap."})
tool
executing move_to over 2 steps (0.2s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe arm stopped at x≈0.439 at this very low height, and the cap is still beyond the top of the wrist view, so the neck remains outside reachable table contact. I will use this centered body contact to translate the bottle inward one more time before attempting the neck grasp again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7963, 0.543, -0.3264, -0.1131, -0.0818, 0.9983, 0.6701, 2.0563, 1.0595, 0.26, 0.5415, 0.3878, 0.9988] state[eef_state]: left_x=0.2941 left_y=0.0044 left_z=0.163 left_yaw=0.0597 left_pitch=-0.0136 left_roll=0.0053 left_gripper=0.9983 right_x=0.4389 right_y=0.2362 right_z=0.0237 right_yaw=0.0077 right_pitch=-0.0473 right_roll=-0.0296 right_gripper=0.9988 state[joint_eff]: [0.1709, -1.6615, 6.6393, 1.8632, -0.0513, -0.0659, -0.0171, -0.2256, -9.6342, 7.5692, 1.8046, 0.3492, 0.0269, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The arm stopped at x≈0.439 at this very low height, and the cap is still beyond the top of the wrist view, so the neck remains outside reachable table contact. I will use this centered body contact to translate the bottle inward one more time before attempting the neck grasp again."})
tool
executing move_to over 10 steps (1.0s)
step 240
top_cam
camera top_cam step 240
assistant
agent noteThe jaws settled at 0.534, confirming a secure grasp on the wide bottle body. I am sliding the bottle inward by about 14 cm while keeping it just above the tabletop, which will move the cap well inside the low-height reach envelope.
move_to
right_x0.3000right_y0.2400right_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7956, 0.5354, -0.3256, -0.1131, -0.0818, 0.9983, 0.6704, 2.0563, 1.0359, 0.3252, 0.5453, 0.3874, 0.5341] state[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1599 left_yaw=0.0597 left_pitch=-0.0196 left_roll=0.0061 left_gripper=0.9983 right_x=0.4405 right_y=0.2369 right_z=0.0266 right_yaw=0.0061 right_pitch=-0.013 right_roll=-0.0063 right_gripper=0.5341 state[joint_eff]: [0.1026, -1.7573, 6.6256, 1.8877, -0.0415, -0.0952, -0.0122, -0.0342, -10.0308, 4.5333, 1.4042, 0.188, -0.0269, 1.0281] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.24,"right_z":0.055},"note":"The jaws settled at 0.534, confirming a secure grasp on the wide bottle body. I am sliding the bottle inward by about 14 cm while keeping it just above the tabletop, which will move the cap well inside the low-height reach envelope."})
tool
executing move_to over 11 steps (1.1s)
step 251
assistant
agent noteThe body translation tracked to x≈0.297 and the bottle’s cap is now visibly much closer to the bases, within ordinary reach. I am releasing it on the tabletop so I can approach the cap directly rather than carrying the bottle rigidly.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7891, 0.5186, -0.3134, -0.1131, -0.0818, 0.9983, 0.9787, 1.7466, 0.7021, 0.1314, 0.7105, 0.622, 0.5377] state[eef_state]: left_x=0.2921 left_y=0.0045 left_z=0.1565 left_yaw=0.0597 left_pitch=-0.0177 left_roll=0.0058 left_gripper=0.9983 right_x=0.2968 right_y=0.2413 right_z=0.0289 right_yaw=0.0613 right_pitch=-0.0777 right_roll=-0.0527 right_gripper=0.5377 state[joint_eff]: [-0.0342, -1.306, 6.8308, 1.9121, -0.0317, -0.0415, -0.0122, 0.3624, -10.4274, 6.0923, 1.8486, 0.9011, 0.1099, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The body translation tracked to x≈0.297 and the bottle’s cap is now visibly much closer to the bases, within ordinary reach. I am releasing it on the tabletop so I can approach the cap directly rather than carrying the bottle rigidly."})
tool
executing move_to over 5 steps (0.5s)
step 256
assistant
agent noteWith the bottle released, its cap is now about 12–13 cm outward from the right grasp point, placing the neck near x≈0.41–0.42. I am moving above that neck at moderate height for a reachable low descent.
move_to
right_x0.4200right_y0.2400right_z0.0800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7887, 0.5045, -0.3038, -0.1131, -0.0818, 0.9983, 0.9936, 1.7535, 0.6212, 0.2813, 0.7258, 0.609, 0.9955] state[eef_state]: left_x=0.2913 left_y=0.0046 left_z=0.1521 left_yaw=0.0597 left_pitch=-0.0219 left_roll=0.0064 left_gripper=0.9983 right_x=0.2915 right_y=0.2394 right_z=0.0234 right_yaw=0.0758 right_pitch=-0.0308 right_roll=-0.021 right_gripper=0.9955 state[joint_eff]: [0.0068, -2.1949, 6.7214, 1.8291, -0.0611, -0.0904, -0.0122, -0.6085, -6.694, 4.9573, 1.536, 0.3834, -0.0122, -0.2418] 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":0.42,"right_y":0.24,"right_z":0.08,"right_yaw":0,"right_gripper":1},"note":"With the bottle released, its cap is now about 12–13 cm outward from the right grasp point, placing the neck near x≈0.41–0.42. I am moving above that neck at moderate height for a reachable low descent."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe cap is now clearly centered radially in the wrist view but sits about 2 cm left of the jaw column and just ahead of the fingertips. I am applying a 2 cm leftward correction, advancing slightly, and descending to cap height.
move_to
right_x0.4300right_y0.2600right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7792, 0.4904, -0.2878, -0.1131, -0.0818, 0.9983, 0.7319, 1.8637, 0.9867, 0.1497, 0.5896, 0.4274, 0.9988] state[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0106 left_roll=0.0049 left_gripper=0.9983 right_x=0.4063 right_y=0.2378 right_z=0.0707 right_yaw=0.0119 right_pitch=-0.0189 right_roll=-0.0155 right_gripper=0.9988 state[joint_eff]: [0.0615, -1.6752, 6.612, 1.8388, -0.0562, -0.0562, -0.0122, -0.8, -8.1162, 8.1709, 1.5507, 0.1685, 0.0708, -0.1343] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.26,"right_z":0.025},"note":"The cap is now clearly centered radially in the wrist view but sits about 2 cm left of the jaw column and just ahead of the fingertips. I am applying a 2 cm leftward correction, advancing slightly, and descending to cap height."})
tool
executing move_to over 3 steps (0.3s)
step 269
assistant
agent noteAt the low pose the cap-neck junction is now near the bottom of the wrist image and only about 1 cm left of the jaw convergence line. I am making one final small lateral alignment while maintaining table height to avoid an off-center close on the rounded neck.
move_to
right_y0.2700right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7784, 0.4892, -0.2863, -0.1131, -0.0818, 0.9983, 0.733, 2.0365, 1.0359, 0.2638, 0.5907, 0.4194, 0.9988] state[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0094 left_roll=0.0048 left_gripper=0.9983 right_x=0.4216 right_y=0.252 right_z=0.0285 right_yaw=0.0163 right_pitch=-0.0257 right_roll=-0.0291 right_gripper=0.9988 state[joint_eff]: [0.1709, -1.6889, 6.3658, 1.7949, -0.0562, -0.0708, -0.0122, 0.0889, -9.2923, 7.0359, 1.3846, -0.188, 0.0855, -0.0171] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.27,"right_z":0.02},"note":"At the low pose the cap-neck junction is now near the bottom of the wrist image and only about 1 cm left of the jaw convergence line. I am making one final small lateral alignment while maintaining table height to avoid an off-center close on the rounded neck."})
tool
executing move_to over 2 steps (0.2s)
step 271
assistant
agent noteThe neck is now centered on the right jaw column in close view despite the overhead occlusion, with the cap flange immediately beyond the intended grasp. I am closing here to capture the narrow neck and will judge the grasp by the settled jaw width.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7784, 0.4866, -0.2855, -0.1131, -0.0818, 0.9983, 0.7338, 2.0544, 1.0454, 0.3115, 0.5972, 0.4137, 0.9988] state[eef_state]: left_x=0.2908 left_y=0.0046 left_z=0.1505 left_yaw=0.0597 left_pitch=-0.0113 left_roll=0.005 left_gripper=0.9983 right_x=0.4279 right_y=0.2569 right_z=0.0317 right_yaw=0.0155 right_pitch=0.0066 right_roll=-0.0112 right_gripper=0.9988 state[joint_eff]: [0.0342, -1.5385, 6.5573, 1.8193, -0.0073, -0.0904, -0.0122, -0.1709, -8.1709, 6.5983, 1.6044, 0.1001, 0.0904, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The neck is now centered on the right jaw column in close view despite the overhead occlusion, with the cap flange immediately beyond the intended grasp. I am closing here to capture the narrow neck and will judge the grasp by the settled jaw width."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe gripper settled at 0.014, confirming an empty close; the rounded neck was pushed outward and is now visible near the bottom-center of the wrist image. Following that displacement, I am reopening and advancing about 2 cm for one corrected neck attempt.
move_to
right_gripper1.0000right_x0.4600right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7784, 0.485, -0.2848, -0.1131, -0.0818, 0.9983, 0.7383, 2.0495, 1.0668, 0.3912, 0.6048, 0.4133, 0.0141] state[eef_state]: left_x=0.2907 left_y=0.0046 left_z=0.1499 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4397 right_y=0.2692 right_z=0.0558 right_yaw=0.0109 right_pitch=0.0892 right_roll=0.0552 right_gripper=0.0141 state[joint_eff]: [0.1026, -1.2786, 6.4479, 1.9219, -0.0708, -0.0708, -0.0122, -0.9368, -9.9487, 4.2872, 0.9841, -0.0415, 0.105, 1.2186] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.46,"right_z":0.03},"note":"The gripper settled at 0.014, confirming an empty close; the rounded neck was pushed outward and is now visible near the bottom-center of the wrist image. Following that displacement, I am reopening and advancing about 2 cm for one corrected neck attempt."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe corrected radial move brought the cap and narrow neck between the jaws, but they sit about 2 cm to image-right of the closure center. I am shifting the gripper laterally in the opposite direction from the prior nudge to center the neck before the second close.
move_to
right_y0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2848, -0.1131, -0.0818, 0.9983, 0.7185, 2.109, 1.1854, 0.2405, 0.5713, 0.3901, 0.9949] state[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1497 left_yaw=0.0597 left_pitch=-0.0124 left_roll=0.0052 left_gripper=0.9983 right_x=0.4525 right_y=0.2735 right_z=0.0415 right_yaw=0.0327 right_pitch=0.0069 right_roll=-0.0093 right_gripper=0.9949 state[joint_eff]: [0.0615, -1.6889, 6.0786, 1.8486, -0.0562, -0.0855, -0.0122, -1.6068, -7.8154, 7.3504, 1.6777, 0.1538, 0.1294, -0.2955] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.25},"note":"The corrected radial move brought the cap and narrow neck between the jaws, but they sit about 2 cm to image-right of the closure center. I am shifting the gripper laterally in the opposite direction from the prior nudge to center the neck before the second close."})
tool
executing move_to over 2 steps (0.2s)
step 293
assistant
agent noteThe neck is now inside the open jaw corridor and only slightly right of center; further lateral motion is tracking poorly at this extended low pose. I will make the second close from this alignment, where both fingers clearly straddle the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2844, -0.1131, -0.0818, 0.9983, 0.7033, 2.0865, 1.1427, 0.2817, 0.5472, 0.3767, 0.995] state[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1498 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4514 right_y=0.2669 right_z=0.0428 right_yaw=0.0432 right_pitch=0.014 right_roll=0.0041 right_gripper=0.995 state[joint_eff]: [0.1846, -1.3333, 6.065, 1.8584, -0.0513, -0.0952, -0.0073, -1.9761, -11.4393, 4.7795, 1.5702, 0.2027, -0.0757, -0.0171] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The neck is now inside the open jaw corridor and only slightly right of center; further lateral motion is tracking poorly at this extended low pose. I will make the second close from this alignment, where both fingers clearly straddle the neck."})
tool
executing move_to over 10 steps (1.0s)
step 303
assistant
agent noteThe second neck close was empty and displaced that bottle, so I am not repeating it. I am parking the right arm and switching to the isolated bottle near the left side, moving the left gripper above its visible cap where there is much more lateral room for accurate alignment.
move_to
right_x0.2940right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000left_x0.2300left_y0.0200left_z0.0700left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.065, 0.7776, 0.4828, -0.2844, -0.1131, -0.0818, 0.9983, 0.7059, 2.0727, 1.1534, 0.2901, 0.5449, 0.3645, 0.0138] state[eef_state]: left_x=0.2903 left_y=0.0047 left_z=0.1492 left_yaw=0.0597 left_pitch=-0.0132 left_roll=0.0053 left_gripper=0.9983 right_x=0.4545 right_y=0.2718 right_z=0.055 right_yaw=0.0537 right_pitch=0.0392 right_roll=0.0148 right_gripper=0.0138 state[joint_eff]: [0.1026, -1.6479, 6.2017, 1.8632, -0.0513, -0.0904, -0.0122, -0.6632, -9.9624, 6.065, 1.3211, 0.188, 0.1392, 1.0037] 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":0.294,"right_y":0,"right_z":0.18,"right_yaw":0,"right_gripper":1,"left_x":0.23,"left_y":0.02,"left_z":0.07,"left_yaw":0,"left_gripper":1},"note":"The second neck close was empty and displaced that bottle, so I am not repeating it. I am parking the right arm and switching to the isolated bottle near the left side, moving the left gripper above its visible cap where there is much more lateral room for accurate alignment."})
tool
executing move_to over 23 steps (2.3s)
step 326
assistant
agent noteThe overhead view now clearly isolates the third bottle at the lower-left; its cap is just forward and image-right of the left gripper, while the empty wrist view indicates it is near or behind the fingertip projection. I am moving a few centimetres forward/right, descending, and rotating the jaws to close across the bottle’s diagonal neck axis.
move_to
left_x0.2700left_y-0.0200left_z0.0300left_yaw-0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1802, 0.3527, 0.123, -0.3038, 0.1246, 0.0601, 0.9988, 0.0017, 0.8101, 0.5793, -0.3351, 0.0475, 0.0109, 0.9985] state[eef_state]: left_x=0.2354 left_y=0.0242 left_z=0.0812 left_yaw=0.0283 left_pitch=0.033 left_roll=0.0014 left_gripper=0.9988 right_x=0.2985 right_y=-0.0043 right_z=0.1736 right_yaw=-0.0511 right_pitch=0.0014 right_roll=-0.0049 right_gripper=0.9985 state[joint_eff]: [0.4308, 0.9231, 6.0103, 1.7411, 0.3248, 0.0806, -0.1343, 0.4855, -1.6342, 8.7316, 1.9219, -0.2027, -0.0415, -0.0024] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.02,"left_z":0.03,"left_yaw":-0.5},"note":"The overhead view now clearly isolates the third bottle at the lower-left; its cap is just forward and image-right of the left gripper, while the empty wrist view indicates it is near or behind the fingertip projection. I am moving a few centimetres forward/right, descending, and rotating the jaws to close across the bottle’s diagonal neck axis."})
tool
executing move_to over 4 steps (0.4s)
step 330
assistant
agent noteThe left gripper now directly occludes the isolated bottle’s cap region in the overhead view, and the object remains below the wrist camera as expected at the grasp point. I will close on this diagonal neck/body junction and inspect the settled width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.3214, 1.0607, 0.12, 0.1593, 0.5076, 0.3702, 0.9984, -0.001, 0.8158, 0.5762, -0.371, 0.0254, -0.0044, 0.9988] state[eef_state]: left_x=0.2569 left_y=-0.0012 left_z=0.0218 left_yaw=-0.3154 left_pitch=-0.1016 left_roll=-0.0519 left_gripper=0.9984 right_x=0.2936 right_y=-0.0012 right_z=0.1632 right_yaw=-0.0269 right_pitch=-0.0437 right_roll=-0.0071 right_gripper=0.9988 state[joint_eff]: [0.5812, -4.1231, 6.7487, 1.4579, 0.3004, 0.1734, -0.0562, -0.2256, -1.4838, 7.3915, 2.0586, 0.1734, 0.1392, 0.0171] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper now directly occludes the isolated bottle’s cap region in the overhead view, and the object remains below the wrist camera as expected at the grasp point. I will close on this diagonal neck/body junction and inspect the settled width."})
tool
executing move_to over 10 steps (1.0s)
step 340
assistant
agent noteThat diagonal neck attempt also closed empty, so I am changing methods rather than repeating it. I am parking the left arm and approaching the upper body of the unobstructed central-right bottle; after a secure body grasp I will deliberately relax the jaws while elevated so gravity can rotate the bottle about the jaw-contact axis.
move_to
left_x0.2940left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.3900right_y0.3100right_z0.0400right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.3225, 1.1332, 0.1215, 0.3107, 0.6472, 0.498, 0.0133, -0.0013, 0.7956, 0.5358, -0.347, 0.0216, -0.0055, 0.9988] state[eef_state]: left_x=0.27 left_y=-0.0183 left_z=0.0393 left_yaw=-0.4864 left_pitch=0.0208 left_roll=0.036 left_gripper=0.0133 right_x=0.2902 right_y=-0.0006 right_z=0.1551 right_yaw=-0.0235 right_pitch=-0.04 right_roll=-0.0058 right_gripper=0.9988 state[joint_eff]: [0.335, -2.3043, 6.2564, 1.7314, 0.398, 0.0513, 1.1551, -0.4991, -2.0444, 6.8718, 2.044, -0.0513, 0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.18,"left_yaw":0,"left_gripper":1,"right_x":0.39,"right_y":0.31,"right_z":0.04,"right_yaw":0,"right_gripper":1},"note":"That diagonal neck attempt also closed empty, so I am changing methods rather than repeating it. I am parking the left arm and approaching the upper body of the unobstructed central-right bottle; after a secure body grasp I will deliberately relax the jaws while elevated so gravity can rotate the bottle about the jaw-contact axis."})
tool
executing move_to over 26 steps (2.6s)
step 366
assistant
agent noteThe right wrist view shows the central-right bottle centered between the jaws, with its body extending to the fingertip line and its cap farther forward; the neighboring bottle is safely to image-left. I am closing on this bottle’s body to measure its captured diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0254, 0.7856, 0.5564, -0.3656, 0.0002, -0.0212, 0.9977, 0.8959, 2.0361, 1.116, 0.1131, 0.7204, 0.5499, 0.9988] state[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1634 left_yaw=-0.0288 left_pitch=-0.0329 left_roll=-0.0059 left_gripper=0.9977 right_x=0.385 right_y=0.3003 right_z=0.043 right_yaw=0.0141 right_pitch=-0.0075 right_roll=-0.0335 right_gripper=0.9988 state[joint_eff]: [-0.4308, -0.7863, 9.7846, 1.79, -0.0122, 0.1197, -0.149, 0.0752, -8.6085, 7.3231, 1.4383, 0.0073, 0.2271, -0.1343] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right wrist view shows the central-right bottle centered between the jaws, with its body extending to the fingertip line and its cap farther forward; the neighboring bottle is safely to image-left. I am closing on this bottle’s body to measure its captured diameter."})
tool
executing move_to over 10 steps (1.0s)
step 376
assistant
agent noteThe close was empty and pushed the neighboring bottle away, while the intended bottle remains centered but clearly ahead of the fingertip point in the wrist view. I am reopening and advancing about 6 cm along its axis so the wide body, rather than empty table behind it, reaches the jaws.
move_to
right_gripper1.0000right_x0.4500right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0296, 0.7689, 0.5301, -0.3454, -0.0154, -0.0269, 0.9976, 0.8967, 2.022, 1.1061, 0.2001, 0.733, 0.5491, 0.0138] state[eef_state]: left_x=0.2885 left_y=-0.0022 left_z=0.16 left_yaw=-0.0167 left_pitch=-0.0222 left_roll=-0.002 left_gripper=0.9976 right_x=0.3916 right_y=0.3065 right_z=0.0598 right_yaw=0.0046 right_pitch=0.0569 right_roll=0.031 right_gripper=0.0138 state[joint_eff]: [-0.335, -1.5658, 6.5436, 1.9072, 0.0757, 0.0611, -0.0171, -0.7316, -9.8667, 4.6974, 0.989, -0.022, 0.0904, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.45,"right_z":0.04},"note":"The close was empty and pushed the neighboring bottle away, while the intended bottle remains centered but clearly ahead of the fingertip point in the wrist view. I am reopening and advancing about 6 cm along its axis so the wide body, rather than empty table behind it, reaches the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 386
assistant
agent noteAfter the outward correction, the bottle body now fills the lower wrist image and lies symmetrically between the open fingers, unlike the previous empty-table close. I am closing on this broad section now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0296, 0.7616, 0.5148, -0.3325, -0.0166, -0.0273, 0.9976, 0.7994, 2.1548, 1.285, 0.0971, 0.6388, 0.4732, 0.9949] state[eef_state]: left_x=0.2878 left_y=-0.002 left_z=0.1576 left_yaw=-0.0155 left_pitch=-0.0172 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4363 right_y=0.3028 right_z=0.036 right_yaw=0.0175 right_pitch=-0.0286 right_roll=-0.033 right_gripper=0.9949 state[joint_eff]: [-0.2667, -1.7436, 6.4889, 1.8828, -0.0415, -0.0366, -0.0122, -1.2239, -9.5248, 8.7179, 1.8242, 0.2662, 0.0269, -0.188] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"After the outward correction, the bottle body now fills the lower wrist image and lies symmetrically between the open fingers, unlike the previous empty-table close. I am closing on this broad section now."})
tool
executing move_to over 10 steps (1.0s)
step 396
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0296, 0.7567, 0.5034, -0.326, -0.0162, -0.0273, 0.9976, 0.799, 2.1532, 1.2583, 0.1669, 0.6502, 0.4545, 0.4837] state[eef_state]: left_x=0.2869 left_y=-0.002 left_z=0.155 left_yaw=-0.0158 left_pitch=-0.0172 left_roll=-0.0019 left_gripper=0.9976 right_x=0.4386 right_y=0.3025 right_z=0.0388 right_yaw=0.019 right_pitch=0.0083 right_roll=-0.0228 right_gripper=0.4837 state[joint_eff]: [-0.212, -1.6479, 6.5709, 1.9121, -0.0562, -0.0366, -0.0122, -0.1709, -11.5624, 4.8068, 1.5751, 0.0269, 0.1832, 0.9304] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [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": {
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        }
      },
      "required": [
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        "hindsight"
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      "type": "object"
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    "strict": false,
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call 0 attempt 0 · /responses · status 200 · 14.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.382, -0.0128, -0.0216, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9988 right_x=0.2941 right_y=0.0012 right_z=0.1809 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.5111, 9.7436, 1.7656, -0.0317, 0.1441, -0.1343, -0.8684, -1.1009, 10.4, 1.873, -0.0855, 0.0366, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7a4f68c6629119095d0b702f858677600f04ad938b8751b47e764f5e988fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e908b8d67a733ad5214ce6d2e3797bc01eae2fa7aca22f6df120b0b2ec9cc19d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457b1f973594260248a6994cad7c6c95019ea37d0eb17f99abce71162591f7d8",
      "type": "input_image"
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    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 5.591 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0e5b8473993cbf0b016ab44d27ef3487d089d20b71ef42f7b0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44d2de1e887d0a2c04f8f0424f278",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE01q3CnD20LhuLd2XWWsjxGivcOa7oAqC6BLTvvcrYAb0rwAgKRnRYhvUFhKAHCiq4-ado4barMxiRgtLMDd_jBEQam-aLpC8piR2Kk23TuOfn_JDN9KrXyJzho0h1WRtxHFCPX2FXHwprSSgsjBg2u84yC9mjz_QzceSUQxU1KK-tlMrOC6BUwdudkr_n-A75B_oF_w6j04XCZ85CUR7znBjBtBjaBrqqbMtItt156C2BNl9ZRL9ZLuglk3QYKT5YafX2TKMV_ZfBS8R7K8BqRqM1dHyyOfCuuZ3FAjzSqTmOvqTWhgzFhkK40tMYRk9hIqCuyTOXkn_EsKsbvZme01Pjs1Z-Zcz5J97tpgyL1Sv3_zXMD7eESqsYhwedb3R9xE7O62hc2qMM4EghAgCmD1ZwSHy-mKTZeLWtNofQtoVbQzFTcl0at3huPyAMKxlq7M3cjd6Xn4Ne17e9WliaVyIYLmjP_rlyGGpCPAhAfN3_mgP86cCQ8oDn9qqYnJ1kT3CaOtD_mPWM4dpXnWwkUgh9Amh79edGSRlTAhkFbGzgWiHcs6FLhayZJf0uWrdjigBif-nknDRpQy6zlVOOaQ38oXgFN6sd0eNGi0MDrmskqrApno5jL7Mp1f6IQ0S5A2XdUZjDMDlhdMGOfVouGjTdD_fk_PTRrQSIEyBPI9kQFv1GGc5KRTU8uzEh4oSWNG1Yt39o6VAKwRWlHKLz4g9jOX6WFHUJRsxKye7dCTG84CjqMyyZSPUwT_tGkNFCA9yluEM5qdCIMR0xhN7beZh0uLU_KFTak28pF0tocHaY7o7D5vQEAD3K_NCjrdWXsuHo5sWnk1PgBcol7kdI5BcJwMVO1ZA-m1fr4gEZMfON7CrISrgJ_9vJQ1MjhuK8lthUQHaVzbztTXRRZQsfF48nsNbx3ZA1zKuAD-M5I05RGeSnaPlK0EeZMv-_A1aW4LvyH0mb5EGh4wXyjRD3U4raCvD4aqCm7vI57Wv23d3q_7n8tEuPJXQ3jHSLz_P7eFmiMpmuE47nPdGpkL-Oil8NCvJa7WnGx9I4Rfm5oWr5dAH7XUyoC3yMBBJKHva9ZYDR1EW0x4ufInmsvrqHnIN_Ha85qv0Xo6iSnFypidexEcMIGEhtkW3YflV18ihVheJYkNWRrOezTrYk187h6tuBcCnwjEOL2ghjUczee58BxoyBc9bpN-PnC0N1AaVNMAOZOdiPVdxO7tak5uFMvdZMverHNaf8ySXVtN0XiAqYi2RetqiQW2s_2B2TJsR8JRIox6zLObL2QYg8dsfW-4g_tCYpUPOH8ZLUQSRKJFLfYZR__gyND1yJ5JvUK9Z-N8FsiUZOfUSGsGgwmOm1SBvos630ExyMSTCa3-LQJgMr_LmBxHDj846tYN6KP_F7YYGqlF66pdeSgY6HdjuPYcGKK937ogrdRn04sD_dOxTLAjmssJ7GVZ0bRT-cjlgz6-3ld1H8ya0I13_1JA1McTvf8sY6fFnBnYNFXpIrIIo_KO0JURP5-IYvdfgaTy43faZ8F_TxLJpApNgTwdwLHVWYgVyOj3W_zkpl_AWnMxMbDSJj5xo5xDbgqu9l581sH7pMfDDn4iM3r692QuUFmQJLTyFFc6CAHfA9ipB5lIEXc3gKU8quZZFVqX2xc584QdoN5dRR83xMpo3wHsftVC96Y2mouL3-YHWc8Wqy38spevpXa1pwCiWrqQXLHKvAgLEw-0L_zW11axo7ujJFjEZqoIGGu25MdHrlmkZrKLtQ9VKVzhdmdj_5xDk4pdZYY",
  "id": "rs_0e5b8473993cbf0b016ab44d32ea0487d0bfe246bf527c4e50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.14,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"Three bottles are lying near the middle of the table; I will start with the rightmost bottle, whose cap is farthest forward and whose body points almost straight toward the bases. I am moving the right gripper above that cap with the jaws oriented to close across the neck.\"}",
  "call_id": "call_Itsndcf5jo11rzDAJmgyOV6E",
  "id": "fc_0e5b8473993cbf0b016ab44d341fcc87d0902467e413d90619",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Itsndcf5jo11rzDAJmgyOV6E",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9985, 0.667, 1.8801, 1.277, -0.1295, 0.5152, 0.355, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9985 right_x=0.4465 right_y=0.2454 right_z=0.1244 right_yaw=0.0427 right_pitch=-0.0551 right_roll=-0.0398 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.6205, 6.8171, 1.8193, -0.0513, -0.0366, -0.0415, -0.294, -9.6889, 8.8957, 1.7021, 0.4274, 0.1978, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad608d2c8538e33837262fa8a4d768b0f458cd98b7c2ab7e670389adb511339b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60980d2b9dbdcea4727999f2a85f6a40b27d61ad01216a728bf807b5aa10492c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc78f3d90cccc9fd2fdfa24c9a17367ae5b2597ce5f04ba64412c507449b143",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.193 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.382, -0.0128, -0.0216, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9988 right_x=0.2941 right_y=0.0012 right_z=0.1809 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.5111, 9.7436, 1.7656, -0.0317, 0.1441, -0.1343, -0.8684, -1.1009, 10.4, 1.873, -0.0855, 0.0366, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9985, 0.667, 1.8801, 1.277, -0.1295, 0.5152, 0.355, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9985 right_x=0.4465 right_y=0.2454 right_z=0.1244 right_yaw=0.0427 right_pitch=-0.0551 right_roll=-0.0398 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.6205, 6.8171, 1.8193, -0.0513, -0.0366, -0.0415, -0.294, -9.6889, 8.8957, 1.7021, 0.4274, 0.1978, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad608d2c8538e33837262fa8a4d768b0f458cd98b7c2ab7e670389adb511339b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60980d2b9dbdcea4727999f2a85f6a40b27d61ad01216a728bf807b5aa10492c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc78f3d90cccc9fd2fdfa24c9a17367ae5b2597ce5f04ba64412c507449b143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE08Wc_0W5H6pJWiDE-2Ti4G4wwKizzt19suuukpGYbno_FWI1RPwmphLhmQL1oYulQwz_dC1DURYcp72PkwquPCOMM1Izytz7gydE1lv54fxia-Gdp-h-MH2l9E7hfaEceJrRQc7Atc8-Ui56jBXbpOoeAw-eLS6DttapD4wtMdYBIermeMmHvCdxEmjvusp8jYGPAZs3Wz3k472Fpywyibm1zx6nWINGEcDYCk4I1tyul9DiN6RRaBn1GxkZnGdoBBfwRMCXFdgJOmidEKjXPKXcLasxYlCsIFTVdHK6x_kojR98VfQvXT4pg0kdpq3JU9iJ5pZHdR2_BkS8_HJHTUNucdKT2iNfFZ5AwdkQRhGmgR1nhdKs7vmUNMpWL5g1pDsc3B-sH8lwRrB6wH_qXXwlIkM5q9Zea5eTN3mpKrLkb-IhHlexlcAz3jPSblkld93f1dC_hB-DPFN6iGJWAoDWGwd90OmlmcDRYckDn-_cxS_GqOSnlZvYLzB0RwhmILzTP7k8R-fyDdMdDJ2HHDD-reqJZv_yX32_oiXbCcpUEtuecHQka3bggE4O_Kgzundj7z4r7SZAIBUZUn2IHt6hWfOdPQnfEeAHKOdW6w2MyJ7VCrnbqWfREkbThjOV-N9C9s5-nk16WfMO6ii9WgvwowCQgCWa3GQWCgnjPoLmEgSh5gxfpsyN5wG6kDmwqcdbURe1EFocDi1jD1w5iSBrgS8pzokFVonYCXeZhwOes5m40ShRRiQcrtM34Qkuzufaka-kCWJIO_26BTcEiKDWJJ-nT0XQzvYAdFtEQVMEwf1o3FjDCTsHTklnL_fHJjp8FA3ZF6eB4giPH0zTFLEQbucb10ubsBz4VvomMqlkx57IGLs8txWHOi9TVXPhWfnuWcVx1RZalEkWBaZ7vunVf5lra6L6aolGSQu6TZWG4semLCU14zPbKbEzyYeOpaOKsatKfVpVT6xosQid3UBYhCouQ4zUXxJNSIslW4h5sZIE-xzHp9V0LJMBpnWuEhbC73ou9PlaRWggy5a6MoPMOCbcC0pLYLcN3l65KdCjHHhzu1ax9BHT8eEab2vV0cBah59cXi-BKPFTTK8mZ8PKu8VrmmaC1lty_Dwnm8j9B9r9EbLa3888hthipidDbA4EhuMFgQpSUHRyHzUdSiZN3i2kPNhVFXambKEtvVgY2z8yrYpbW7ooQ_YNWm5Lyl_okQRqgRPn5MqwtsJOgiqxb0VgKoxp6OI8ckG_1O5V2pr_depc1_32x8pOKxrp0svL_FT6oxwwSd4xonTtiElCSzZE5XA_gTkCW5_FkBzQ2qzeh8S4GcZI-w75j6ThG6E6rbTZlb1r1SviOE30G429VY1j_Ov-ZY3b-XulNz4VLtNuYDUT3D-2GX4u-ulZszlPlTw-IiYADhc_RzP7PepvUshi3lk_-XO2IJY4wPwSzNOXtcGwrA0fPJhXtiX8XYn84sLwVgEK91NnJXwsUWUH4k0bpkpdsI1f0rF0a6-__PxPzVVtqpxE9Qmhq1YqA195dWz_NSj7d0rHwfQsDVQ7t9nv0JcmwNYJQY6TnpygVYU-_jQ4vPD4XhaAiPpF7Yxmytnd7zyIopkiNRqzLKYTolXxMAVq5dsb-9H1gSu576Za9VfaY58NMQU6b0UwQg7WQ20lhHqESf012LlkJiecoBmVxCC9yNIT3irpXe2oRFKD_DYoX8rwhJCFH_Vpoz-8FNsUiD2bunWwwWL2U961vwX-s13sSz3FSrs3TZ6wC_24J5KRDqUrb8bIluDJIzwlX7CRCkvWnL1QPS2RNKX_swiJ2OzcWVEABjdmj6otX-YogyOdWHnnPtZio4j8d_STPORtSFFONY8Qm4PRJ9TivRNEK9Yl0yQdzrF5CI46WPuofXgpS1766uXCJzy0-VjyzeblKuFw1X0rlM9WFhe_Sp_YWk2OuHMf07x1BbYs4tbImyp1vjH6EGD_tO6k77q1616Wsw58BUIGwz-3HLPVNI9T8rENbvxqdbl0UNttAhVxmHP4glcRMzeFLl9Ftk32gxbXL9mUj30zVKyacEji89ntYZanDJjMj3PfHAooAvfZl6QcflsSYxoENIHc6P3tRnB5pDfhiD-GmcDtrR1fLJK2uzcWBM24F8ObI1lSJprJiK_wj6K_-fxt4kHjqrgvhbREaEFMAkpSr1TRCA1xf5aLqQbsgqkjMrPT6XDVZ3n9ZHuV-H8KLAu6RjRWoPQV5cmumu9HndyMwQIHkQKiSG04mK6l62GuXCv-l0tDowSvC7GdYLQCnh-LiAEJ7AMWhUzoxuEDBgi4MSvdVfNgnYJdDkT1hJIxABcIi1_G2KuYYl2kHT8jWD2J84H3kn_CvFUbIL5CERatD4nmkqwY6zvXXAcZsknJKfY5bqHfh7YN4JWpFV5JheKSQMYngO4tBcNS1NrMt9CsdcROEiu_S0b6Z1ArMcOGP071VZ6dc97H1swiLE82Rzayw0dkYp-yTdG6Strx-UXIDX4Ny-pAFR7UnINjuKKNbAVTpWbomUtE6SJsD0NcorzPwIwNGLzE3rL8_mKFUv5zaEwtmJwycjv5EMFjO_baIm46gTcOqOYZP_g8XPhkSg8pCADYYVUCGjCibUi_H1sK9bQ89JflxECE0L0bKE1o2K_LJn8wogBee6uzltnN7H1YV-24Xl9SQAcCTCw8m3p2hNcBL3P7xhFjepLepf7fwPWHUpZqrl5QOEYvHdlXc0DxGOx6ejDYp6Q4qrayoNLlyAq6EJ3AZJXRiUIMuTubENiwBZakNRKB5mfVDZuBnXQk5qa8NrTSTba7urpPhPTIXVz1jmyd2M6DHpbo5RSpyRDph80wa-AFrDty_-jAyEPlgfC9yWcsaDZ80ZpCUxnNUzHV158znN3Y32A1LA-pDZo70-LOcDgFfTaUeo0ZcVlJEJYqxG-rqBHJW1a8bP-lxYd9nJpKsmg-yG7oVs4oG-Ot_pH_-ME3Xsi0Chd9AFwzvOekUkDdflqURxo7Yx9sAs9c2ETYbGrP_5rilPC1dloVZ9xB86Z-VFp5pQ2rD8h9QTtTRc2WkZHpRzyMVu76DcAsHKzg==",
  "id": "rs_0e5b8473993cbf0b016ab44d3865e087d090883f362a82cdf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.23,\"right_z\":0.12},\"note\":\"The right wrist view shows the cap slightly to the image-right and still ahead of the fingertip line, while the bottle body runs back toward the gripper. I am advancing about 3 cm and shifting about 2 cm to center the cap between the jaws before descending.\"}",
  "call_id": "call_vpswrp6DEn1sjc4AQpTiyeRu",
  "id": "fc_0e5b8473993cbf0b016ab44d3be3b087d0ae2bf128332e1d07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vpswrp6DEn1sjc4AQpTiyeRu",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9984, 0.6075, 1.9125, 1.2568, -0.0566, 0.4667, 0.3134, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4635 right_y=0.2298 right_z=0.1101 right_yaw=0.044 right_pitch=-0.0571 right_roll=-0.0357 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.812, 6.2291, 1.8242, -0.0366, -0.0415, -0.022, -0.3624, -8.9915, 7.5829, 2.0537, 0.0562, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2faed12f68d2976ff9bd6877400bc9023b878fa425ae2bbb00a2524f16140a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb92b12d38df014dd5032121263a7d872a9f5987bfc0238320657522d08ce59e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7da07d3dfbe0e823df0a58b79ea0185f230fc18a59f5738359381e659d8d6c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 4.299 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9985, 0.667, 1.8801, 1.277, -0.1295, 0.5152, 0.355, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9985 right_x=0.4465 right_y=0.2454 right_z=0.1244 right_yaw=0.0427 right_pitch=-0.0551 right_roll=-0.0398 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.6205, 6.8171, 1.8193, -0.0513, -0.0366, -0.0415, -0.294, -9.6889, 8.8957, 1.7021, 0.4274, 0.1978, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9984, 0.6075, 1.9125, 1.2568, -0.0566, 0.4667, 0.3134, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4635 right_y=0.2298 right_z=0.1101 right_yaw=0.044 right_pitch=-0.0571 right_roll=-0.0357 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.812, 6.2291, 1.8242, -0.0366, -0.0415, -0.022, -0.3624, -8.9915, 7.5829, 2.0537, 0.0562, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2faed12f68d2976ff9bd6877400bc9023b878fa425ae2bbb00a2524f16140a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb92b12d38df014dd5032121263a7d872a9f5987bfc0238320657522d08ce59e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7da07d3dfbe0e823df0a58b79ea0185f230fc18a59f5738359381e659d8d6c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1C-ExG3QqYQht9RQYyISsVDIYdNHs_trcPqnSNR5TqvSYuzw-4ZBPZrKa_1cc2ujeOx5ZK7_ieZJZhyz9PlQ80C_1hBTVdpo_FxD5OwVmq1-BwuQCYDUh7c6jeYBuRPaFdcabvgVlKameri4q64SxBd0MPeflenUsjM2Ll-fVo20h6Si3Gh83azawY7XY31BzjuQZ-8F2bXN-zBXwR6PV1cAqMxXQ0127nBsR5fDqkw8j8N7p6F-W8LGKAOcHzb-A17DIlu9uwISfMazvF4lyndTmbxw5JvEO8zR6M8dUj5aXl4xd20KSlcoYmsgubHXe5dWcaWWBSGB6JxNrclQaLjPspALsrLS8pWHVMVZNlQQQ5IJFmnwxsN76JQR6SZKOBsLNBoJ3Ftz2BN462F6736iOp1J16olYFBEyXRtlJYcFbtZ7tAgap5p63sQL84f9AkGZxjVgt6gFSBUTMAjH6F9Jla4t6j_Ygksn-dZErHJOBIFLZn3jqR3DY13O3jYUcqG77Qv-pSb0h3J3ZPjkGUe1h9eeBQWB3N7dMM03zt8wRA2jMCkVUux1z-RngE-oQVSiw6jD3ya6fAyIVkJ-HWHWhU25bKt2-Vp-8S7TDowrMfJuzyi8I0XRs2txt7PuEGrQIOzvd2yjtug3fonwqn057R-ZAjRiI2E-GRJtXSgG45DHLfTxdoapnlxjFSP532qb8rNxMM_on3vXs4rrswE5DNtzIKt6gWxSg6w44fBq6HE7K_sRvqdB5nZkW8NQjK-8wdYgnQIphVTIcrMRfcnC0y8iK2Oh6_VH9LPcG9v-J0LgMr73HLAg6O9m99xogT36wFuR80Z7HJ_wyv6Se6SYCWBhsN6Xv77J0xzlnTCpMJZn2jFixCtTv-RR3zX1WIuGu_p3B7FdCEN5Liy2LZnEZQAvJrzuBnoRDoV2JMiJZ34rv6TM-YEx85sOVvCRbHz57k-Orf_2ZoPNJ7Y200a9UL4_tL-T6Xr0l8DR-8BsaUHmMfWRHF3EsSBYfDPFoddsARfztZJLRWqhwZtiY6w7h54F1tNlqsooiq3jc1R5Y9_48Duh0phik5zGqLjIlTNec1LMe2JXeX8fM20ScFck12qmmEW1vvH5VMSxaxxg21Z1s-GeeirvtOL90phNttIuiDfErTtHSVD8x6Gcp6RZUNluzHyrtEn9NXkM2I0DSr8Tb5EfCb3XKUqn4rb6wXFLORIT1uA-ceShrywtfQ4MRcYZproqWly_GF_shYq_YGw8xeQhzonYPDEMhqvdDLeDwpvPxujr9JY9CUKg8skOKXY92Ii9eLEd_dyDWL4HoQkscDmXcllS_FKOumhLd07S2AST4gQJ9Kcn6wtq5OQ6w9Xo8YGuskXbsKK43nMr4fq2zsMtuhMQatuBu0FpQ97mQnaqZTZXOMHbWlCkQcxVYSKvbbATsQ7oGLLQvWmS1xF4Z8Pvn7IK9VttRQNf1x7M1okRgIa8siQQjZxddDh3J6CEvJapmBX8FOjqsKeJ6CE9zX0Lz5laZTYO-I_wO44iQnl1fKGUtA3FCOQC6GlmOwXnYWlxwmNuMmDCrFf1Vzm6sCO1x4qDqrx1p9JzaHrNL07pjMCpznRH-GLsnhxYDynJyoDhIhowFh6qlsCXJX7QIHVYWvMRvJ_lmjmWaqK3_oHJ5nPwpzLeYJKJiPhv0GFnXa6Pi2Jyz1Ypp5RBbO-AoN3ib8D1aTyQQJnmjzLyZahTddP6X-kjU7tAGQqf3XPaRYVLc8hwme42kyBnNzdwBp0-L1B_-wZgIfCRvbD5FOuVxwYVNhHz16Ro0dWUeAjiwdgCBv5zqnoYW9tFcgoMYGd1V-ijFS8keBUmR3kmM13q_97DepdzKuEBLKDPBqdo9Blht22KZKl1TGuZD8H75UMxwWkab4TQOfKDdBdm_O2X-932S91oBVxzpdkEkmtv9svaqix3wPOArcMRuzostmtWyI8fgKE4Ku1ns66iw8tMKBjIP_GGNooBNB8r1RWfJPms3_zQRI9onRHfC5vK8yrs11HUMBTfTB9NzF2ofMDpAtNTErf1wsGZ5FyglDzF2S66NGn6sxfhgPJAGGgmDrFrQnJNOreGAapFGW-AMd36HyC7CYJAvQsi-EIdVscSiJ8G2AXmM9okGxsID1Dc3y6_s67QXySazmTxTJez_o01wKXc9-SRiydChCLa3NqoYoI3on2o7fCL2jK0hOdl5wnxtO8FzQjSlKN3gO1ZdVe2RRbjf7SHne1zqP1GN8QiA9ryq5pZ7SfjBwunFjGuU14nkXAgVI5sqMnWKAGzqPTI22vZ9KIC792G5BqvUUv7HxDhsGhJt0MZJzUztsU0u2iCoMTAEgr1TAs8hzWpX_MtQh4D_zQOrzqI0Vuup6t2se7XxdyNGVwOieV7tShHf3rD6-sswGmnbsrFv10kTWxzqKqXuBa9MJU_Uc_ti_MGVUjvOOSPheKMFkvnptVBiijD10hhBheTH_urY4r-SpnI2W-RRsmCpWFCFrxoyVZhrbxCrp6XHFZMNhXoXj6CvhDDbfgZ2JyJZGz_W6R4gEpwBafyWyit7IrBCZWYmsYJYxUq45Hd-JS4WE5rRPGQI8zY1hGJZ86ByioB1NUKDXKEOZtehRYwyBKcmmg==",
  "id": "rs_0e5b8473993cbf0b016ab44d3e2fbc87d08a29cee212da947c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.26,\"right_z\":0.11},\"note\":\"After the small advance, the cap moved lower in the wrist image as expected, but it shifted farther to image-right; the previous lateral correction was therefore in the wrong direction. I am advancing another 4–5 cm and reversing the lateral correction so the cap approaches the jaw convergence line.\"}",
  "call_id": "call_5pD4IY1Ek8VMkjJkcZQ41vF6",
  "id": "fc_0e5b8473993cbf0b016ab44d4126e887d080778e083b4a334d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5pD4IY1Ek8VMkjJkcZQ41vF6",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1817 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.6615, 6.3111, 1.8339, -0.0464, -0.0464, -0.0171, -0.6359, -9.4427, 7.8154, 2.0244, 0.1832, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ad12caf0bfdeb35b3cd6af27bc6532ef117b142df0cda658c387590c557e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4c5b3915503fffae07c0ca6729935b2433c9bb157c6c8f7ab16485ceb6492e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f957c7ce3c061a1029e5dfdd0313c8d215f58349e2b9d8cfc9bd80d67fc40a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.869 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.382, -0.0128, -0.0216, 0.9989]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9988 right_x=0.2941 right_y=0.0012 right_z=0.1809 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.5111, 9.7436, 1.7656, -0.0317, 0.1441, -0.1343, -0.8684, -1.1009, 10.4, 1.873, -0.0855, 0.0366, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9984, 0.6075, 1.9125, 1.2568, -0.0566, 0.4667, 0.3134, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4635 right_y=0.2298 right_z=0.1101 right_yaw=0.044 right_pitch=-0.0571 right_roll=-0.0357 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.812, 6.2291, 1.8242, -0.0366, -0.0415, -0.022, -0.3624, -8.9915, 7.5829, 2.0537, 0.0562, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1817 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.6615, 6.3111, 1.8339, -0.0464, -0.0464, -0.0171, -0.6359, -9.4427, 7.8154, 2.0244, 0.1832, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ad12caf0bfdeb35b3cd6af27bc6532ef117b142df0cda658c387590c557e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4c5b3915503fffae07c0ca6729935b2433c9bb157c6c8f7ab16485ceb6492e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f957c7ce3c061a1029e5dfdd0313c8d215f58349e2b9d8cfc9bd80d67fc40a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1Ga1r_G-ZTY2yFB870LnyGX50pkqzi1Krw8xzNkXcT9j1HVLNcDaA5xXeH_aByZeH-i8gXN1w_Si1pr49iwRur0FhVWna-oijTDBq4MAncclFTgntdRtL93MRK8A21PQOkjxb4aub7D2D8fqJmmJye1JGil72Nsdm11_Yb1bSxnCv4SfAeUB2nDuEcDxpXzYjf3iNzj-kRv5FHrH0cNrdfH08CeAhTTVg-Bojyq9LVoosnyfZ55AfTb_ADRefInhtTGRlTYsCsGcbGoDLpPSlc9QAsABPWeAIBJfE0OItRljPJHAZjf9x10IluIjcvd3pX79_P217IL3CYLu7lE_vVfqcG7-4bVslXj7o7EZ_mMpnMNC7_tMWp2mts85HAGoUBPB-ZrQgHmoQFiSPHkg5d5c43XPhOIWI0LU8wm_VroUQHe_zhcNnnkXdpaQOzwHsA0-amftinSp7IWS34958w7jGN3SMRdstf6n6orfT6zfqo_Qww0Nlt0rL2KDRWGH29aYOcfmiwg6tdvmqb_lBg0v_wHMQRmyvThTfh5KPpUzeLp8NRJ8SnVoIKcETLsqWLwXP1noFyY3eujqxyf57fYQ6NDOWkXdK6hD8gZjSQeLyYfRGnwdc6pL4BKLvEuoQbaYvCjDKhukMbDA6WX5EDjFTuJNVSvB-QLMpKcO5VxV2jokhHq8MURAN5Rm7tf83y59gLGcXwhiUtL4h5iOPa505s9OwQgg9QbT8i8It4DFhTv1gYeA7MoqhQRN6cKXZgzPbNKYGPmJjLVU2YnYackkDCBkEyfADqYO0ciCC2de5GzU8gBJv1EbzlWFV3wC7TQYBWXiww1KajX-gYYzy2pHP8YSaDNdFA-Mod59uKac12p1vNp8DLjsuKSNFU2o2DQFojd3qrmDuGT94iVkkCzbOswVI6ixLrBObbuNnlbOCWj_EWB_Y6kBdrud4CzXmfBnSjdAYR-qx_y8lURANQIlBovdCoSsB_T9Kd4Dqo-IWz3mGriMub14xkSlxm8fe3QlYpB9NB_3VuNNla-ifCyaGqNhVRp3pZvFEEMKE6w5Xv4wjRZsoIE9AsKciMjGoYma2axMWehi_10Y0kh6ARojkwKc753K23hTcr3U1cjpcqPr_sh7lT7UnbGbfcHzEswuLCxCoUOuA2vsUEeaeLtdDH0eEnCHYoMSegqZzQsWKBGrYESt6tU1yaLf5IGXbfU4a1STWvII-xofDUUu-l1qQe3l-dqs1hAEj2F0YGpUdGVoHKwOA5VjA0RSN8CK75KzvQTeNHSc9VvjX-GMjIS2kKbTrlyCCNjG52AEITunWfeMrkvcvp6PcAA8I864xSGtEVFLxiIPl7Lk8nMQyiZHqPXWgr84t-3BIjlnnVOKa_0X4wPk3Ysp0LZf8zR-LHEEvxNQ00o0GZfdQssOHR7-L7HmnJZTDYnNYso_076bnHNYeKi3URUKBsMZ6Fc4lmkrUjPgo3XIhIU9Q67-pgB-8qPf3YxzuM63bI3Bl_HS1Ddw_GdcBcbh1IuPeVB2AwR8ef2ElmWIo1IzAqUJIOAVyDmviFv5NvRX5VvvAQRSyHm80PbYKnw4eXZHLqcnLCjSRYp871-oY_Eg53ECfYZf_E8cGpnX3QFxILEdGo2TDyJ1tdnfrxW8r2UEjTxQPxfB0TqqtjdXP8zaVn_V1flgoJ-TwxdfCyN2PcUSGzDeTo1HTAf-yyhCvpCaEOiAO625x5gC8Gq-XUF4ZRqo0KDh3AiKvFM6Lh40-1-FbQMATPg7ieqj3izkMST9yrRQcBV0oTiAECcgaQKh2ZvM-mmxRPXMAdMohAXH9yR0ujx6q5DzbO-xbgKYnT9d1WWSt8JiW8VGUs315AlxQtFG56h9xRfJLAWI6BdcDrg_msVwI397b2jGEJobP4xDT8Tw9E8nKDqhUHZxabxFn6v5r0UnUPFNR_i6eD0mdmka8i5E8ZMmDm6e6fuSavV-dcxzSf0eiM9ymFvtnlonoN-LstB9rFg4pBBpMb1V-3JGviXM2e3GzJgIWzihOQebKe-eSL9HYnC0MdzJa3Mox-xppT566Id5sGbYoDwMCNXzQD_0SXqJcOl9LKDgOUkWP3zPXM_Yq46Qz_fsihVUEtbyyl4Vzig1BNyOfwsCMjS6LDbK6FAYdjRQ2hA-5UaYj04u3LwkBTvFIM8iM5BiC6xe5bgh1zqaolETtW4MUUeTWUIsrlkg1ZbVDRHYWKe_5IA9QB6h5I_AxlI4xB_IdpG3YpvPQ8_Oo7CaNpBawjwNLY-b34juN6IEBh1ChwVRjeB1Q6n98nu26Ql0Tf7EoeYBHJaw==",
  "id": "rs_0e5b8473993cbf0b016ab44d43bbf487d0a66a1df4e1da150e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.24,\"right_z\":0.055},\"note\":\"The last farther target was near the arm’s low-reach limit and only partly tracked; the cap is now nearly centered laterally and about 2 cm beyond the current grasp point. I am descending while requesting only that modest outward correction, which should bring the neck into the jaws without forcing the arm past its table-contact reach.\"}",
  "call_id": "call_jpEWbABGN4lQxrH9zmy8KKDl",
  "id": "fc_0e5b8473993cbf0b016ab44d45f46c87d09be109f20731ef08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jpEWbABGN4lQxrH9zmy8KKDl",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1803 left_yaw=0.0002 left_pitch=-0.0126 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.8393, 6.4889, 1.8584, -0.0122, -0.0513, -0.0073, -0.4855, -9.4291, 7.9111, 2.0488, 0.2613, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d959dfc02f2336a65d153ab1c3444486990659de84c75171bd39432af82de6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c731c4365f03d1457f5bd4fa107a53b3373669679109dafe5d20f79528eb797c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3599c156a98fb191893aae17e89750d36397a1d268774eac7bf6737de5b50a",
      "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 · 2.689 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9985, 0.667, 1.8801, 1.277, -0.1295, 0.5152, 0.355, 0.9989]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9985 right_x=0.4465 right_y=0.2454 right_z=0.1244 right_yaw=0.0427 right_pitch=-0.0551 right_roll=-0.0398 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.6205, 6.8171, 1.8193, -0.0513, -0.0366, -0.0415, -0.294, -9.6889, 8.8957, 1.7021, 0.4274, 0.1978, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1817 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.6615, 6.3111, 1.8339, -0.0464, -0.0464, -0.0171, -0.6359, -9.4427, 7.8154, 2.0244, 0.1832, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1803 left_yaw=0.0002 left_pitch=-0.0126 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.8393, 6.4889, 1.8584, -0.0122, -0.0513, -0.0073, -0.4855, -9.4291, 7.9111, 2.0488, 0.2613, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d959dfc02f2336a65d153ab1c3444486990659de84c75171bd39432af82de6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c731c4365f03d1457f5bd4fa107a53b3373669679109dafe5d20f79528eb797c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3599c156a98fb191893aae17e89750d36397a1d268774eac7bf6737de5b50a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1KzOOoIGGb-Eo-k87LElxv0bhxTuS5Bo9LhyjojLPY_6yyOvUuhpJAc2lRpLZqpuCFJGtR5Nybq1IZ0zQNKkhTeQujyTTNRvCejy3XPBg8lKJ7oy2OCoTg9riL_x66a58DBwXW1urixnD5ZPmvjqaO5HisLRUza42Whu2KKHcILYNHVkC7k7m4DDKzlXfcwJIUmS_RAZbFOxVd1eJ95WpcCqoDPrH6BrglDhsYHRACFzg1k2JcQsSWg9DsFs4b48mnYn1ixADoCTlFYo0zHZwg38o1ZkLv0SNiuZqIIGVNA3HtP5eU9X0IWa_GsqAJ4Mzp1Pa1wJlP7Pgl_JmuOt2K-58B1s0ZDE3p05lXmiV6P4RRo7kmvWYNgJ63Ijzek0EkNDll7C3ly-pJ21nHh8F7Kgd64PZEbWgaLWLxXeRDsOGCIjZtpgHxviIprzuRc4Axzx-rhFkA-nROiaPSO64V5i0ai_uWTMDpSLFgt9p4mO04vh87C_S25NgXdMN01_gL0SqffCPM0Qsjs7hweM3UXnB0MXJ9gk_tujX63WXpi5kG63ZwTpZWWZl82v8Y0QyQ07n1LaoqYKH4jtT4wuT5YaDHDK3PAnmOhcY0ToRCkYCaxDIQKriTIQb36OehC6uoS26CPr117b6jWfohmHoQdPgK_mdz4jTs081daz_pIKLlX3Qy1WQRhMEwu1pi_-zvrFMXNKNgPnxP_fU091InHULXEkmKDTWswVdvZQNUTinA6iRG95PrtWLOStqk2dHoHFPgAStsuJHuBJOKqrs33DWoBURNYiZOOSGguz9uzylzTkWSZ5jaUBvFbYuBCisSR3jUW1UdCsjO9gIhU9mW8QGcxEYXhyH3dunlMZ2jH2ouvTmlo8Qftk5mZpbFjNEW9hI6ptQPOlRu-KOpp7_3DZaptIoUrsuNkEtWVIn2s-YSlSSkEp42ZuZBXdrCLyA8NvsvITD8eRwHQDoGu6kKE1P8FMP62CaubO1uONpV4Eb0nMh0JapXQhiGlQjxoWzR2oMyUhX6fvzOCJQH7fremZylvH5_sId6uNoHexbLmowJJdZ6RL0kR4Tws21K66Dh7klSaGfjH8pjl8NRbRo_yM-16EGniGL9hNzrTBj1_zsJW4zo3TELU0IK9x-sOkG6yFBUoi1WMXw23wanyOv8II0NnDAecruWkwCnj-pOYtNPEAEYugnHH4uuEz85IZTxW6cYAFISlMkBn4gXPrw_xh-fERJLAwk6qTRKSJlFlOROG62qDVkOMEtdwRCGicwvHhCoWD2PfmqVGjGZYFuz4b27EwnarJJmwWErBAYZnQFI3YdSREye06msoBtHH7L24acjtcF9tIH7pEKV283Qki9DOHI98uGSM-3THaTM7U-WRgTI2TBApoGRq3bN0hycHjv8U18Z-BduDESSh8Rl7P1WWmQjBK39fm8jcx5isAWfynQ-LgpwX3JkYwL88i5E6Vav416ngfWhJ2dGkuZQqS5_P9EVZXAfwnvi9crpdsMhUrpUgWyHr89Zy50sKU_Z-mQ0LnVQcSG0uQ47FVysXA==",
  "id": "rs_0e5b8473993cbf0b016ab44d48811887d08ccb19b60527ce0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.23,\"right_z\":0.2},\"note\":\"The arm did not move at all toward the low, extended target, indicating an awkward reach configuration rather than contact. I am backing inward and upward to unfold the kinematics, then I can approach the same cap from a reachable configuration.\"}",
  "call_id": "call_MMQiaRKG43B8Qghg4ttsCBNK",
  "id": "fc_0e5b8473993cbf0b016ab44d493f8c87d08084767c7f9f03e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MMQiaRKG43B8Qghg4ttsCBNK",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.5991, -0.3866, -0.0227, -0.0288, 0.9983, 0.6888, 1.6665, 1.2148, -0.218, 0.4877, 0.3321, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=0.0017 left_z=0.1757 left_yaw=0.0 left_pitch=-0.0217 left_roll=0.0004 left_gripper=0.9983 right_x=0.4126 right_y=0.2371 right_z=0.1816 right_yaw=0.0995 right_pitch=-0.0138 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4291, 6.8855, 1.9267, -0.0659, 0.0269, -0.0122, 0.1026, -9.2239, 9.388, 1.7216, 0.3834, 0.1685, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5123c729b316eefedd6ebf2cf1d5ef68d0fba196194d9f318681c66cf19e88b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbeac40e8df1156c3f843dfab4eafbd124c04470305f5e8c3e8a1a8ff6543e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5a26020fbe112a6639f160261742f3c97ddd4c24f471a515d4eee598c6c6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 7.378 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0292, 0.9984, 0.6075, 1.9125, 1.2568, -0.0566, 0.4667, 0.3134, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4635 right_y=0.2298 right_z=0.1101 right_yaw=0.044 right_pitch=-0.0571 right_roll=-0.0357 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -1.812, 6.2291, 1.8242, -0.0366, -0.0415, -0.022, -0.3624, -8.9915, 7.5829, 2.0537, 0.0562, 0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1803 left_yaw=0.0002 left_pitch=-0.0126 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.8393, 6.4889, 1.8584, -0.0122, -0.0513, -0.0073, -0.4855, -9.4291, 7.9111, 2.0488, 0.2613, 0.0708, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.5991, -0.3866, -0.0227, -0.0288, 0.9983, 0.6888, 1.6665, 1.2148, -0.218, 0.4877, 0.3321, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=0.0017 left_z=0.1757 left_yaw=0.0 left_pitch=-0.0217 left_roll=0.0004 left_gripper=0.9983 right_x=0.4126 right_y=0.2371 right_z=0.1816 right_yaw=0.0995 right_pitch=-0.0138 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4291, 6.8855, 1.9267, -0.0659, 0.0269, -0.0122, 0.1026, -9.2239, 9.388, 1.7216, 0.3834, 0.1685, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5123c729b316eefedd6ebf2cf1d5ef68d0fba196194d9f318681c66cf19e88b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbeac40e8df1156c3f843dfab4eafbd124c04470305f5e8c3e8a1a8ff6543e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5a26020fbe112a6639f160261742f3c97ddd4c24f471a515d4eee598c6c6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1N2MA2yFmHm6B0BejJBKnkE-lT7Rb3c8oHTVMqjFBh_Y4GGNK-fXhvjq4E-eNyB2Ttu2QtthQZ7puj9fO5qankYr-u4gkhhuCLj4_-3vK09736sIALUPGqcS84cdpfoGLybJZpuYJ812Ba95QKVatk5ii34QDLznjgPBpMrkItNZRPdc5Bp9RIkrCbqFKbbJl8MROAGUaA0HSbcIXphzbmZgEnJtga95tvuCdGOvGVcXGNSNH9oDkAO5XRLxTT5uP4qXPBVaFE-cJ2-rUFUEql1656f9a1cDczE-9U09Ul3hnFYu5xa3UGVkh-nkfkJF2aql1n_McCnOF_VZXO0OO-dUkLLE0c9J11CIyLBrHK-9ceYoQ4IwDLPOCsc35E4i4nA3iUg5nuwVGqFQYn01LRTd8Kg881cvssibxCQGDu-3xmVodz1z1FuigV9e7r7glSXqT5F8d4y33jaO0wIicd0X1iA3dfY_3lmLFXbsLk8CpQKJqH9yBCWPaudfvVmiBz1XUu8gd3mECa-Jz8wv7U95CT0PfVAXV-8-8U6rn01YMGUhTRY5iPeGCF4MPfBeWxSSqRZdIbZQLBYwFmTBngAf7aqYtQoUapXWpFEVbGTU1eOaZrDk6Ynr0cky-VEr8AxxOqH-0hwoCSLMK3uHnJ3dulJ7YfLLbSf6OtrSh3F0AWWFXXmFj_PJNycelh39-POmH75n5mPP7kYnvsDkUZMGoPA7Zdc4u_DoruZY0Ue-NuOSS37Mvn_UbuyotyeAvZMl8RPSIeur5zFmLIJBeTdLSy2TMkRxhqY7oWxkhHBjpleJgG7xxkW56cj1CWCKseOjigGm9VDMbNf59FGX1JTzUtvUTeMpGfK07cWYF52X6A_tcwe3ZXkwgLDM_cr2hcDBZOQQYikY4X6yCoY8JY42BC7hhIeemIpPWmt61wgzZnIz19U5SHcZTN9l28re8Dla03UdcS8f57cLSv7kdkIIviFZgGxpOVJDIc4fuxypbl_MIsl42MmAWVybpdgcFbRdn3WNunJ8_FeKn9K_k5TlAdQxT7_LYmWvKtfhjjTA392XtsfyAawDd5ss6aXkoah1V_-1h0fN5NhQ8YYhvd2fz70OLfcL8R6nNgJ1uK6Vq3dWNDotNKi8ZEkufalsp3cbnEI2yXShI7qni3zZc9RieVyXxJgAW_jJ1yevuEk6yLlJm7eDUpsiYPou2sGK7GTdseZHUdkIOV331LeIMpn9dcOWtbtMxTsBzgk3w_-9j5bdeHqljy2pmdM6_q_RgFwm1fT3aYb8vYFtOHTUKXxKxeVdTrCEm76MZT-iyEy9qoXdcJnxqzKTu6gHxdLn4SWLLfuXFfBdsN_mqYAJITVhwWRdrgPBPvXLlDTq50V80QMZQkSVqu5QftlmW53EPzMyItc9hMp9-Ca9s_QP7Znvgl-mig8sBZJZkZbGaoI_z2eKLYUq60RH_iJ3hmnG5t6Z8YPkvaJxRIJ4BhDuYOFEjzkwt8epoZ7Forcwa0BKBcI0voJorSi-o96m6RW2O0BW9Aew-DJbsrGaOaYgIRLQ==",
  "id": "rs_0e5b8473993cbf0b016ab44d4ba06c87d0920170eb9e53c1db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.24,\"right_z\":0.045},\"note\":\"The right arm has successfully backed into a well-tracked pose; the intended bottle is again centered in the wrist view. I am now making one direct diagonal approach toward its cap at low height, staying within the verified table-contact reach.\"}",
  "call_id": "call_ZwbR8kn0k0YGiDop3GnKPfep",
  "id": "fc_0e5b8473993cbf0b016ab44d4c765487d0ac8671f721bd503a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZwbR8kn0k0YGiDop3GnKPfep",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5812, -0.3744, -0.0227, -0.0292, 0.9983, 0.5953, 2.0411, 1.1294, 0.2352, 0.4248, 0.2554, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.4672 right_y=0.2328 right_z=0.0459 right_yaw=0.0972 right_pitch=-0.041 right_roll=-0.0417 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.8667, 6.7077, 1.8632, -0.0562, -0.0708, -0.0122, -0.1846, -8.4855, 7.9521, 1.5507, -0.0317, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2025608b25ca959ec80d27fb73c5af1282dba38229477ca5cd4eef3a1c20da18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b12f8560501d04a35f0527c87ff7b71a90c8f99a0567e66ad2035f6a650109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c14ba3ee0f1a0d7f5b17394ed2fe1e9646b7374d87e26a2eadd275364eb6de",
      "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 · 6.894 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1817 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.6615, 6.3111, 1.8339, -0.0464, -0.0464, -0.0171, -0.6359, -9.4427, 7.8154, 2.0244, 0.1832, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.5991, -0.3866, -0.0227, -0.0288, 0.9983, 0.6888, 1.6665, 1.2148, -0.218, 0.4877, 0.3321, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=0.0017 left_z=0.1757 left_yaw=0.0 left_pitch=-0.0217 left_roll=0.0004 left_gripper=0.9983 right_x=0.4126 right_y=0.2371 right_z=0.1816 right_yaw=0.0995 right_pitch=-0.0138 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4291, 6.8855, 1.9267, -0.0659, 0.0269, -0.0122, 0.1026, -9.2239, 9.388, 1.7216, 0.3834, 0.1685, -0.0073]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5812, -0.3744, -0.0227, -0.0292, 0.9983, 0.5953, 2.0411, 1.1294, 0.2352, 0.4248, 0.2554, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.4672 right_y=0.2328 right_z=0.0459 right_yaw=0.0972 right_pitch=-0.041 right_roll=-0.0417 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.8667, 6.7077, 1.8632, -0.0562, -0.0708, -0.0122, -0.1846, -8.4855, 7.9521, 1.5507, -0.0317, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2025608b25ca959ec80d27fb73c5af1282dba38229477ca5cd4eef3a1c20da18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b12f8560501d04a35f0527c87ff7b71a90c8f99a0567e66ad2035f6a650109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c14ba3ee0f1a0d7f5b17394ed2fe1e9646b7374d87e26a2eadd275364eb6de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44d4f1dec87d0804a33a3608b2ac8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At the low pose the bottle is large and centered between the two jaw wedges, and the requested grasp point is at the cap’s measured forward coordinate. I will close here and use the settled jaw width to determine whether the neck or bottle is securely captured.\"}",
  "call_id": "call_wUUB6l187gjxP6QmLfMOYvf9",
  "id": "fc_0e5b8473993cbf0b016ab44d546c9c87d0aed356b30f237982",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wUUB6l187gjxP6QmLfMOYvf9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5655, -0.3717, -0.0231, -0.0292, 0.9983, 0.5915, 2.0541, 1.0931, 0.3386, 0.4179, 0.2554, 0.4639]\nstate[eef_state]: left_x=0.2905 left_y=0.0018 left_z=0.1666 left_yaw=0.0005 left_pitch=-0.0286 left_roll=0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.2336 right_z=0.0445 right_yaw=0.0994 right_pitch=0.0047 right_roll=-0.0123 right_gripper=0.4639\nstate[joint_eff]: [-0.1162, -1.9761, 6.7897, 1.9609, -0.0366, -0.0513, -0.0073, -0.2667, -11.8085, 4.9709, 1.6288, 0.0073, 0.0611, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f9996441901f7c7a345ef3d9e39d69b76a0e9f1ad4df02ae11bdf6e4587f05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7409c53c3970c724c8500822d7276f4c2454c08dafca31679f03d0a22c4438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb20ca02eb9004d8f5bd0e37ac5ceab43b2f38982377ddcc8a9e14cbbee9c39",
      "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 · 4.211 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.5888, 1.9182, 1.2568, -0.0273, 0.4412, 0.2863, 0.9988]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1803 left_yaw=0.0002 left_pitch=-0.0126 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4703 right_y=0.2277 right_z=0.1112 right_yaw=0.0608 right_pitch=-0.046 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.8393, 6.4889, 1.8584, -0.0122, -0.0513, -0.0073, -0.4855, -9.4291, 7.9111, 2.0488, 0.2613, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5812, -0.3744, -0.0227, -0.0292, 0.9983, 0.5953, 2.0411, 1.1294, 0.2352, 0.4248, 0.2554, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.4672 right_y=0.2328 right_z=0.0459 right_yaw=0.0972 right_pitch=-0.041 right_roll=-0.0417 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.8667, 6.7077, 1.8632, -0.0562, -0.0708, -0.0122, -0.1846, -8.4855, 7.9521, 1.5507, -0.0317, 0.0171, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5655, -0.3717, -0.0231, -0.0292, 0.9983, 0.5915, 2.0541, 1.0931, 0.3386, 0.4179, 0.2554, 0.4639]\nstate[eef_state]: left_x=0.2905 left_y=0.0018 left_z=0.1666 left_yaw=0.0005 left_pitch=-0.0286 left_roll=0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.2336 right_z=0.0445 right_yaw=0.0994 right_pitch=0.0047 right_roll=-0.0123 right_gripper=0.4639\nstate[joint_eff]: [-0.1162, -1.9761, 6.7897, 1.9609, -0.0366, -0.0513, -0.0073, -0.2667, -11.8085, 4.9709, 1.6288, 0.0073, 0.0611, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f9996441901f7c7a345ef3d9e39d69b76a0e9f1ad4df02ae11bdf6e4587f05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7409c53c3970c724c8500822d7276f4c2454c08dafca31679f03d0a22c4438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb20ca02eb9004d8f5bd0e37ac5ceab43b2f38982377ddcc8a9e14cbbee9c39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44d5795c487d096961854740528fe",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1dPtFjPEcqHs5LisnUpoFe6BCTcxKbCHxoJQuC-y_CpeIqD9VREkuIyTbOMMVa2B5H4YKfMMf0rx5dlnd_EL3eZ0p1Uybp16AVp6Myl5ekugCkJ3rQWlAqYhI3thkCyG0TZXGndRop8EOADDrgCGzbxPV-NQvT_-6BF7ZfhNSiSUA13xbw41u0nSyvcImpkmU6wkc53O3F4Q9zI9ybLO5nDiApj7Ttx1_pTYPityEQ2DpaexNc_5uJr39Ujayz3W62WYvvlmQ9RIBGGvGePBvyTaTMczM5-HG51sCRjogAWdIf9yL-uYqHa1GnCcR6oJ73FjonD5xBQHKI00azw7VacCt3TRRIX8Vkyf499aXxy9HzOb_O7S87yrAXgpn8gq6h56EQHIKIE_KslDubUPbmNYEUvdXk92jJbzHY-n7B4JsA0aLB5-qs6p8qsrHEZ6E5Xc5rYBaTQ5iSP_EOdE-iJTmxutNYTfQzV-CrHLK2lzblArhgqQ_KxpgnupaGS5L0fz3LQnikt7eMA8FvnpXI1xMAoZCLJ7St2C6C0iLh3BntLgwHa6L4wFnToe27CtabCftNtOXFkTYk-u1vyeH9bNDkC7bM3aYTQHyvEKmkcD59vv5VSRz3gUPwHAJJkXoclmgxQo62lU4h_N28cL-7DNFpzq6i73exL-tEGTZpwIotifq2kXZqH791zMZnRBLVBCk-UzIYJcpC3J0Iabmw62VUPbrxPhI5TYkgDwZyYavTXeHUfaeSXBWjM86BADL98GBOQurjchpVrglUnAamh7oXgKDY0RupGds222rkmP8vgJK-vENw7ZG_2birY_j2oQ8Jyrs3l3FSzPF62XP1YWRJBb6IeLW5ifkee_UHD99TzIyzFvZXMb42xUdNxP52U-CBuzojeCcVRgOrp1_gqKkJTomznTsFYeqtQ5HkNXSo88lC1wU5r34u14K3LIcnoe4kFDBffCQFxH4_NhBu5SbDm_cFo_W4wg4q-R3zl4Ik25CjEh3OH5e5GfgK4sotRi1FADFgalUXJ8wUlxrAqf1Quj43RN2J7d4Aecv0HQ4l_6soNu2NuK5CnGXRH6yJ9Z8JhsyzE1asFsOqiwz0pP7GWmR6i8UHb5RabAZW7ihq3nUY_YzKQetJ4nEpAUMXLpdncjjmTKG68CTnlpj8LfYiKpnSqk6qHMH0q15ffFUPJ0VQKPlKyBEM-2Q67rZgtzr6k_btW8uaWsar3O-F8w==",
  "id": "rs_0e5b8473993cbf0b016ab44d5c768887d081f58463baac8f91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.23,\"right_z\":0.12},\"note\":\"The gripper settled at 0.464, a clear 4.4 cm bottle grasp rather than an empty close; it has captured the body a short distance from the base. I am lifting that grasp point while moving inward so the bottle can rotate about its bottom toward vertical.\"}",
  "call_id": "call_KO0FbTSAB1ZW4nNMGaN5fxhc",
  "id": "fc_0e5b8473993cbf0b016ab44d5c9ba887d0b712dc67647db828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KO0FbTSAB1ZW4nNMGaN5fxhc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7723, 0.5426, -0.3542, -0.0227, -0.0292, 0.9983, 0.6357, 1.8248, 1.0622, 0.1337, 0.4263, 0.2829, 0.4606]\nstate[eef_state]: left_x=0.2892 left_y=0.0018 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.0217 left_roll=0.0001 left_gripper=0.9983 right_x=0.437 right_y=0.2361 right_z=0.106 right_yaw=0.1221 right_pitch=0.0014 right_roll=0.0035 right_gripper=0.4606\nstate[joint_eff]: [-0.2256, -1.2376, 6.735, 1.9805, -0.0171, -0.0513, -0.0073, 0.5949, -11.3436, 6.4342, 1.8339, 0.3297, 0.1685, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89844bc29e827499cf148c7309503eb5967341b35b3f6d05149faa7b5ebf40fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04147279e1326c4ea3812b650f5053fd509198e832087652a6e81d4e6c15d1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9060cf28c030cc62540e5e5ba3b8015996dc3d36dfb331f13aa2179bc890c3fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.641 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 37 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.5991, -0.3866, -0.0227, -0.0288, 0.9983, 0.6888, 1.6665, 1.2148, -0.218, 0.4877, 0.3321, 0.9988]\nstate[eef_state]: left_x=0.2934 left_y=0.0017 left_z=0.1757 left_yaw=0.0 left_pitch=-0.0217 left_roll=0.0004 left_gripper=0.9983 right_x=0.4126 right_y=0.2371 right_z=0.1816 right_yaw=0.0995 right_pitch=-0.0138 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.4291, 6.8855, 1.9267, -0.0659, 0.0269, -0.0122, 0.1026, -9.2239, 9.388, 1.7216, 0.3834, 0.1685, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5655, -0.3717, -0.0231, -0.0292, 0.9983, 0.5915, 2.0541, 1.0931, 0.3386, 0.4179, 0.2554, 0.4639]\nstate[eef_state]: left_x=0.2905 left_y=0.0018 left_z=0.1666 left_yaw=0.0005 left_pitch=-0.0286 left_roll=0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.2336 right_z=0.0445 right_yaw=0.0994 right_pitch=0.0047 right_roll=-0.0123 right_gripper=0.4639\nstate[joint_eff]: [-0.1162, -1.9761, 6.7897, 1.9609, -0.0366, -0.0513, -0.0073, -0.2667, -11.8085, 4.9709, 1.6288, 0.0073, 0.0611, 0.5495]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7723, 0.5426, -0.3542, -0.0227, -0.0292, 0.9983, 0.6357, 1.8248, 1.0622, 0.1337, 0.4263, 0.2829, 0.4606]\nstate[eef_state]: left_x=0.2892 left_y=0.0018 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.0217 left_roll=0.0001 left_gripper=0.9983 right_x=0.437 right_y=0.2361 right_z=0.106 right_yaw=0.1221 right_pitch=0.0014 right_roll=0.0035 right_gripper=0.4606\nstate[joint_eff]: [-0.2256, -1.2376, 6.735, 1.9805, -0.0171, -0.0513, -0.0073, 0.5949, -11.3436, 6.4342, 1.8339, 0.3297, 0.1685, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89844bc29e827499cf148c7309503eb5967341b35b3f6d05149faa7b5ebf40fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04147279e1326c4ea3812b650f5053fd509198e832087652a6e81d4e6c15d1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9060cf28c030cc62540e5e5ba3b8015996dc3d36dfb331f13aa2179bc890c3fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE1i5wzDCdamoIKGJIM36y1HdZmAkkvyykWq6p5_xc1ahwNw17VRpfkEHWRYN9P4GRtSFq-A0gX6N4LE6jbaNWBsD_8OZyN5FsZA1ucsEKEzPl-NSuV1PpfOwb7Bwwd-xGPiJ7Y9Jk1WYp-UrAZH4RglS-pds2CTt2yToFyAEvyKIvhClyy8l4TJ4YCQ6fNE9-6T50G7x2BW6cz9OEZpqoHi7uGfWkh_O-d-dW7ilwtz50lmG-ilaUuw3ZB0YKRrfyikQd5BE0CebwSj05QtTrgpg46suNiqppIqge4sTHYaH4EDxgxRbz98sGD7Xu7RUe4MmonpnfwJIBEeQrlkrV0C2v9LqQgXwlO4px1H0jlItPRLUuwn2IE-mUYrK_5Ez545G3iHe-MtlhwT228dR0zyUA6rCSdhcj7bDX_zJiCByJHNqtleDaZbOgDXxg4VTjcdyl3lIvKb148iMO0sFYH7IaMGwmuZDn43Gh1NIivnJ3skDDfHuUOzLpW8N3EUk8ruDdPIHd-0_S5kXL-QtFxYzraHVBFDgjYtC26oiU4Wc40GsTFJWIex_JjyoCdTDNKUkG-RSFjvRwtdOonVrMDCUvReLD6Le7klaelmyym7H8O-pO4IZUeDAH37mcSPfTwiu4lMc5CzziyTQTY8LjoYVRRvAYQFLxO5gYv5FKgdvBwoXi9S6O-lgGe8o4EtEYlHsCX04Bz8vLV8wfYpM_JdistDaN5XPtWjOwI8t5Yh0eyue8IeGwP7X33Tu6xuFpsjYLaFbQIuL9hsQ2xgCCZsxkHJz--LBSBczstDvtklHJQHPcstEgr4Euu2VcrtFFK253f7ChaFmjByXkX0oVSVOncX47wN0XqgLLOSfVQOnWKvhbSQ88fNkapQW5qAW8Xmdwqls_XizwNJ8Q3QFkLkNceXbGqQzWjLSwZyxXsuJY_ghaWDN-I8MQcmmPVWhjlnaIE9cv2juoVdh9ov3pvll5oACd5AYG8kMi9P4KFs2OEEEcINnrOdaNckNo7oPJAtdWLCjnn-Y0W24fCaa5UxYQMpbzu34M0C1Co3BUychaiukObMVBNKHRALQ8AKrBamzRe0dijRVw9nMOZJ3h3ofVIg8PUcwx22fPI4XUlPNVyfqKdVRawT2Fg6_Du5TSPsdTso9UygitpI19X_x1B030urKTB0PjxsgB0dOUY20j_4lWkAmfSWXqUGLnileCDYIX2uq74PJjZEbUw4mDRsf-4w_UgemUwSkPlDiaSYC6vdIm9GhDS4tAOqr6EQUgfKTa2yqWMi-aSUJG6jytgfQutb2nlQvLLy2MoUipH7wJ0dMkJVSqVIupmoyhCGtjGqnyCEoQekTYEEtUmjm5uhxvrSFLmNvEpODPeaG5BHNHkbRLybSKKs5KXuvtfpGquVtWZpZC0KXA2zu1xoy7go0eK-pihR3TVXz3P8ZZot5uZWcd_y1gus-TsTdEkV8gbvCfsnCGV-U0YLIUj_VJDsyzhZvGRT2HLuwAw7bDIPWx5Z5d2XJfjZqbnan4ioz2ThqytPosXcbS9DaxEFB6yRj2GW5UGVBXv-30elDpI44FQutWPg_JPbT3QCbEn-gtK28y5P8DC9p-V-4ARENrdUmVBgbMpBP02jxv6yZqQcInl2ccgBXEDwpzGidtYPLBu1lQQsDwWn8HLvtrxW35H6jqjDYFEi6nO598_ZcrFF_dxYYvj56Z9GrmggL7iJOKA8Uk46Y1AbDq5RHRUqoxcd-pF3Ag4_yb9Q1k8ksaMfEngVmSNua4Hzo8kHSBSEZkmHULLEuQUn-OuS46Md2IvaJ9NeFA8HSTaBTX5ulBlK7AFZQJJs8gjhN0Hwu10idAVRhW5CkpEtTvLzubI6YJG3TgrauKtFt0MC8UQMLgv6E62xBrl28VhKvbfTsZqHh00BqwGCU3QVXpcvIffQZMmLQe5GG-gBc6Yssv4W6y8DTdrAEIEKMoA5Puku2Fev1H685uVBl28rh4O8YE8TcMOqA7l_FRXpc0e7mpty9hPbhlELtc1yUOlpyFtCH4LmehSA1vvmTi_BNkIKR8NtUpwAIHmJQg4X5ncqm_i3XJjpIRGSt7MpHqtHLIiCvqEBNmKad-Yge2LevTpxyofDQ73uCE-Citms0pvSSMAE1xenMulC27eMOm9-cWEf7DvG9ffcQIyUfAIVr-hbAosAwPkhR7kf833sPyfznLSmRkw_gIsGlAThWEDzIdiYd7dy09H9i2N_APT0N4TL6-uci8WUMseG9q8apsDb4c0pKLajInb7YyDvjSPkbUMnsknA27NlJELCz3uOYDLWlrPXVzhNi0AysxqibQ2lMPDzcFxU2SyIksdaxS3YRTD7OdcnUArZdspHJYGTaupHZAwKdPQxFPWaGiMpXcwpNfcfaYVNUWSdMVkQamEkz2xgcN3k5Pb64cjTiLJYGcQQ3F__zH7Dvg==",
  "id": "rs_0e5b8473993cbf0b016ab44d5ebad487d09db1b1585d977b53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.085},\"note\":\"The grasp remains secure and the first diagonal lift has raised the near end; the wrist view now shows the other bottles beyond the jaws while this bottle is carried at the grasp. I am bringing the grasp point over the estimated base location and lowering it to the height it should have when the bottle is vertical.\"}",
  "call_id": "call_tpecBtq9m1AdU84FBTcb7PwJ",
  "id": "fc_0e5b8473993cbf0b016ab44d60f97087d0a23b14de3749c230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tpecBtq9m1AdU84FBTcb7PwJ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5282, -0.3466, -0.0227, -0.0292, 0.9983, 0.696, 1.7905, 0.9337, 0.1566, 0.4606, 0.3069, 0.4607]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1596 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0001 left_gripper=0.9983 right_x=0.3995 right_y=0.2361 right_z=0.0768 right_yaw=0.1411 right_pitch=-0.049 right_roll=-0.0311 right_gripper=0.4607\nstate[joint_eff]: [-0.0479, -1.265, 6.6256, 1.9219, -0.0317, -0.0757, -0.0122, 0.0752, -9.1145, 7.2957, 2.1856, 0.2125, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425d983b303bd868ba79935e229b812a303e4045c7b9e7f39dfc7ab96a5167df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03654d9aaf5f3ead152a9767695033398f9ac4a2dec5ea76347fb95eeaa9846e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a15cccbe42bd6bab90271dc64c7d48bf9a618f4304734147dec812856d4373",
      "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 10 attempt 0 · /responses · status 200 · 2.046 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 37 changed as sent

message 41 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5812, -0.3744, -0.0227, -0.0292, 0.9983, 0.5953, 2.0411, 1.1294, 0.2352, 0.4248, 0.2554, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.172 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.4672 right_y=0.2328 right_z=0.0459 right_yaw=0.0972 right_pitch=-0.041 right_roll=-0.0417 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.8667, 6.7077, 1.8632, -0.0562, -0.0708, -0.0122, -0.1846, -8.4855, 7.9521, 1.5507, -0.0317, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7723, 0.5426, -0.3542, -0.0227, -0.0292, 0.9983, 0.6357, 1.8248, 1.0622, 0.1337, 0.4263, 0.2829, 0.4606]\nstate[eef_state]: left_x=0.2892 left_y=0.0018 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.0217 left_roll=0.0001 left_gripper=0.9983 right_x=0.437 right_y=0.2361 right_z=0.106 right_yaw=0.1221 right_pitch=0.0014 right_roll=0.0035 right_gripper=0.4606\nstate[joint_eff]: [-0.2256, -1.2376, 6.735, 1.9805, -0.0171, -0.0513, -0.0073, 0.5949, -11.3436, 6.4342, 1.8339, 0.3297, 0.1685, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5282, -0.3466, -0.0227, -0.0292, 0.9983, 0.696, 1.7905, 0.9337, 0.1566, 0.4606, 0.3069, 0.4607]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1596 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0001 left_gripper=0.9983 right_x=0.3995 right_y=0.2361 right_z=0.0768 right_yaw=0.1411 right_pitch=-0.049 right_roll=-0.0311 right_gripper=0.4607\nstate[joint_eff]: [-0.0479, -1.265, 6.6256, 1.9219, -0.0317, -0.0757, -0.0122, 0.0752, -9.1145, 7.2957, 2.1856, 0.2125, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425d983b303bd868ba79935e229b812a303e4045c7b9e7f39dfc7ab96a5167df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03654d9aaf5f3ead152a9767695033398f9ac4a2dec5ea76347fb95eeaa9846e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a15cccbe42bd6bab90271dc64c7d48bf9a618f4304734147dec812856d4373",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1lc28irh-f7Ug0gDLyJ8SENlcfR1RzS6s5C6bx1T6K9qr7sw-Rz3RInKnfCgxKfMxZCFUpU3beULsHtG0bmFiShnFy5ML_r70BmZNQirsALwPLsd8Ot-q_b55ZL3_7wHkXRf_TEsNCjvC2s81h4r-5sjRYFGcWZMawIA4FPvyOFMfq_gbLYBRwxaE_cKBF_6iyq8MHz5HvX4q0zlw_Uo3pFWT4fbVKsCoIt8ykNo_Rd9svx3VnemxcG7PJsvvZ9AmL5T1I77fiCrYnB1SN98djlRocIgZqp2W1Rtr7npu5NWiPy3sBBdhhouiIeMPjaVGcP2NpS0q3lh15SJoxuMiifvtbPxKXr2lGY9bMOODgSw0xLr7_MUJmYTK-FEJ8vhQb6O5EBWl_WdsnqjQ1YTZu9FGb9Gh55hr4YFHiht6XJaXsytKFYDYvDmRO9i4cZNTH4QpMVI5BM1nDTNje6bbapFyolwWA9LqF5KIj-7IXYnhOK7G2M8_ZH5Yj2aefEAd1hLDHqoqAubsXkEJKXq5vhljuV1UlkX9akDk_yG71rl_YFB8x1p4vmVjAPDno_9nYM1Yv9BuSziFXMgp_jxGJkAZ8ryWTkKhAQKRRYuZqpk3ZhAuoJ2kpvdHY6xjsaZCwGIpaFYJ3LqDY1hH22q43GnZOaIcBWdOXib6WWg5vWyWfuK67x0WcX3tcdPyW8QJDYMUPeqkp_yUT8ekUefUobjA9jXJr3ouO_p5MFxol4_S7eDY1B4kShC9Ee_86D29-qQFPHsbndD_BmsnPz2999tAFUFXeVpg-3SSc0dzY2KS8KSfzHLb6Yjsti3R4WqoUm2DAnXncG7XBUqiJISzjwabXHbaf5tNxTprLJcZP8VEq9vZ0c3HbhWo22usGv1ZrIc7x-tcN_hvADRxYIEzfFbthyCNFc9ExdcBO6vBapJHkqifgwoUFJSqEaTKmUlGtSeUy7c_rB9nSYFUZBtb9QwecQ36D2pgCVHDENFwzG4h-8zc-6qBdvlYt6lph6Vmw9RrovoZ0Dm2ORTORuOS1E9kWk2MCMIrbEuIudHJoYqh3fJzoRS_p9SUV-47oHq4aOJyY_w2ODxBRJ4TmBunw6WHfsQbGPD2TBRu6T6VlvHcKOBz6YyZxO4lzs7sHnQ1h5guiNg06A8tqVZRuGxrb0FJdrbPZL5NjVhS1hJ6POkASJmWuznAjDoo6aT9HaTCcp3W0xEiF4RA_xn0VxgqMe6tNJebDnsOFu1euXLBtCTxq69c1EgNNMeW_jiDec14eCH-tBcy0T-Xb16nPLL0CmaEkqxbUW1D6XJtyvxwPXiXf1hASb_uyMVIR6L7Gq4EZgyMKhHJ2xeF5jLBw6u1KwwB8DG4TQKOS7YPmh0RX2dHQ4PZCwFnovbFfWSwDPzm8lBNiaKh1zK4w47z2sHml26fEcOZVFgaIBdSSs8CbonshICdLq3eVViQ4jlgPjlxgDtY6AI6eCfhJkTP0MILEx3K2hm3vs7___cdupH-md-8zc3u732Qzni-u0hPNWnaWUtgCaFTfj3omXWqiZGCYg0Bg4u9yMpTdB-EGtr0vQ6WKa8fAH7ry-6yn2H13SsmlzF69ikx2pO3AiSFSN9PLFFKbceuG-KRVdCDcOaQ01ma9P1H5dQInHgsMF6sNNFzYzlvZCWraLfKux-Shjy7YuI12sXseIQuhCEMSvGwPIq12LuQfSAsKR1p9GYJePpSd",
  "id": "rs_0e5b8473993cbf0b016ab44d63bc8887d0ac620f915662c96f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The grasp point is now at the estimated base coordinate and about 7.7 cm above the table, matching an upright bottle when held around its lower body. I will release it at this supported pose, then retract to verify its orientation from the overhead camera.\"}",
  "call_id": "call_98pi3cJQxvjVk2GwWg3uA2gH",
  "id": "fc_0e5b8473993cbf0b016ab44d64b60087d08b6ff14487498b10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_98pi3cJQxvjVk2GwWg3uA2gH",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5137, -0.3374, -0.0227, -0.0292, 0.9983, 0.7181, 1.7916, 0.9092, 0.181, 0.469, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3919 right_y=0.2412 right_z=0.0718 right_yaw=0.1511 right_pitch=-0.0469 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.4838, 6.4205, 1.8926, -0.0366, -0.0757, -0.0122, -0.6496, -9.1282, 6.5299, 1.873, 0.2662, 0.0562, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9eb553bb0efdaccea85af57b75ede4ae418ec84821707675f06656a84b8c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43e4919e294279439f3a9a5fd930496c0eb9f2b9f2b5c2dcdce7a649869a777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4aef36fe74f5093e33ef085fb36521688e1d0381ed46263137f98f07c419be8",
      "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 11 attempt 0 · /responses · status 200 · 13.04 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5655, -0.3717, -0.0231, -0.0292, 0.9983, 0.5915, 2.0541, 1.0931, 0.3386, 0.4179, 0.2554, 0.4639]\nstate[eef_state]: left_x=0.2905 left_y=0.0018 left_z=0.1666 left_yaw=0.0005 left_pitch=-0.0286 left_roll=0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.2336 right_z=0.0445 right_yaw=0.0994 right_pitch=0.0047 right_roll=-0.0123 right_gripper=0.4639\nstate[joint_eff]: [-0.1162, -1.9761, 6.7897, 1.9609, -0.0366, -0.0513, -0.0073, -0.2667, -11.8085, 4.9709, 1.6288, 0.0073, 0.0611, 0.5495]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5282, -0.3466, -0.0227, -0.0292, 0.9983, 0.696, 1.7905, 0.9337, 0.1566, 0.4606, 0.3069, 0.4607]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1596 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0001 left_gripper=0.9983 right_x=0.3995 right_y=0.2361 right_z=0.0768 right_yaw=0.1411 right_pitch=-0.049 right_roll=-0.0311 right_gripper=0.4607\nstate[joint_eff]: [-0.0479, -1.265, 6.6256, 1.9219, -0.0317, -0.0757, -0.0122, 0.0752, -9.1145, 7.2957, 2.1856, 0.2125, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5137, -0.3374, -0.0227, -0.0292, 0.9983, 0.7181, 1.7916, 0.9092, 0.181, 0.469, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3919 right_y=0.2412 right_z=0.0718 right_yaw=0.1511 right_pitch=-0.0469 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.4838, 6.4205, 1.8926, -0.0366, -0.0757, -0.0122, -0.6496, -9.1282, 6.5299, 1.873, 0.2662, 0.0562, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9eb553bb0efdaccea85af57b75ede4ae418ec84821707675f06656a84b8c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43e4919e294279439f3a9a5fd930496c0eb9f2b9f2b5c2dcdce7a649869a777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4aef36fe74f5093e33ef085fb36521688e1d0381ed46263137f98f07c419be8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE1oOOwVhRmVNCXk6N8iB6jRUtpoL0OEQpM4HIytlO7h5FDeiLJsvwTYne44AvnSKtEEprW5N8_Z_seJMh2dtUWLsDcMvkDpjS-QePZcj2BKG55Ne9vWw2rgRZZkg7Cncp6WkNXt3ggdCRTRsWK9N1R5kW4okrGoxz8l6qfPTZIhd3jLmIPTI4KLQslZy1eeW6mJAX_7IPuRcicee4diHi-nuDX3NwXEG5HXKAeKYAeuKBpczIGuNd4lKeZaiUerQ_9pGC_vzOdu2MgpmPzKGMQ9h-lxKb500mVYN5GS2zPo9l02TSHAa1Bztg_nK8oJH1I9vVN0bgT_EubpsFZaW_nZy1mxm6w8jXwv45A4vtF6UcxrIciNxrsw8R-nDUI_NiMNldq7fK1JjIwy0I4_JzaaBrdPL8ZguEmCC3j6oXC8QeZbJTXa8nczwF0SRDKVM1hMfnlBOB8i3T0UhjTlXde1LlmbsMA50ztHvS86gUN8aZakgsgaFFFTKtBGAJZbaNsBkia5UfuF68oQ8SUFc792CLbTsHZmUdwLaRsnhQ7FvixAG9qoUMPFCBWJkwZB7N5wljH5dOH77ONC_6s6_M3BIYYhukZSot9ngMpeig1SSwCC0goIzH0WMYCYFllLqwJ_uQdu9DSXVoewhLHB--BAbDLh981jgpfSYKNHqZdiLuu2azKAf0DH9yzFCyl2VnSUohMsbzYEOSRIOBxkaOMgwe7AnjV-rslzr2H9yP44J5-cvgy1FtWQunOf0x362Ed35rKH2HecA7aMUcuVp7I49n7hzb3Tr_Nu5EIpEaV0hyefXSUqJryTk6KrywvYjLJOYcYhThI0CJBaK34Yv23Hi2ZgiJ3RS30kneKUX682sV_QQIpQAs9sJTTzsH03wjr15lSQrH41XoJmn5VoJ9SYDlkgrhg5-SyE6aMzwkh8Etp3vMkZWkV_ZKfmRgvP4FlpQx1LdSoPOVBAP8AMlaDeFWN3gqLwKKMiqWBjPWpDv_BueQP20bz2sIqOjBqM0cOEhj5BMxDSwg8AYtZFZUvn1EcxZfzie6GW1Oy_Ah33mUADYrsHGU5zC3_8I4VouebZuL-sei6OamM5qy4Rbb0TOtyQ2Um9GllRf3bB8qHbJpaybkoKYbOgm_IMD9zTd1kjGdpWjT_bR_a-cVwOXIEZjfw_iqrM-zwYz9DnPCxdQxjNKj8TcrSykjKf4NPg-HnwBDNqKKLSA1HP3MysrcZCqw==",
  "id": "rs_0e5b8473993cbf0b016ab44d678ba087d0b212ed2d84856d75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The jaws opened fully without the bottle shifting visibly in the close view. I am retracting the right arm to its home pose so the overhead camera can confirm whether the bottle is standing and clear the workspace for the next one.\"}",
  "call_id": "call_CVMcX599dPLwarpvihhB1wJ9",
  "id": "fc_0e5b8473993cbf0b016ab44d67b13087d0b5ff74b51fc269ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CVMcX599dPLwarpvihhB1wJ9",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7475, 0.4988, -0.3264, -0.0227, -0.0292, 0.9983, 0.0051, 0.8089, 0.564, -0.3523, 0.038, 0.0048, 0.9988]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1553 left_yaw=0.0002 left_pitch=-0.013 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2941 right_y=-0.0016 right_z=0.1633 right_yaw=-0.0364 right_pitch=-0.0301 right_roll=-0.0063 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.9915, 6.6393, 1.9023, -0.022, -0.0415, -0.0122, -0.2667, -1.9761, 10.1675, 2.0733, -0.1441, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db1ce375a846f5e5313a95f29d461b5f4424e35a76c05cda9bfc61d13d35373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57aac52232691561986e3df8233d9f20e5774f7925713beb2aca6ba86693b18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd19e271d9bed2d4e69f81dcfafa9a073e72a4e6edd8137abae6583a6277996",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.81 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7723, 0.5426, -0.3542, -0.0227, -0.0292, 0.9983, 0.6357, 1.8248, 1.0622, 0.1337, 0.4263, 0.2829, 0.4606]\nstate[eef_state]: left_x=0.2892 left_y=0.0018 left_z=0.1631 left_yaw=0.0002 left_pitch=-0.0217 left_roll=0.0001 left_gripper=0.9983 right_x=0.437 right_y=0.2361 right_z=0.106 right_yaw=0.1221 right_pitch=0.0014 right_roll=0.0035 right_gripper=0.4606\nstate[joint_eff]: [-0.2256, -1.2376, 6.735, 1.9805, -0.0171, -0.0513, -0.0073, 0.5949, -11.3436, 6.4342, 1.8339, 0.3297, 0.1685, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5137, -0.3374, -0.0227, -0.0292, 0.9983, 0.7181, 1.7916, 0.9092, 0.181, 0.469, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3919 right_y=0.2412 right_z=0.0718 right_yaw=0.1511 right_pitch=-0.0469 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.4838, 6.4205, 1.8926, -0.0366, -0.0757, -0.0122, -0.6496, -9.1282, 6.5299, 1.873, 0.2662, 0.0562, -0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7475, 0.4988, -0.3264, -0.0227, -0.0292, 0.9983, 0.0051, 0.8089, 0.564, -0.3523, 0.038, 0.0048, 0.9988]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1553 left_yaw=0.0002 left_pitch=-0.013 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2941 right_y=-0.0016 right_z=0.1633 right_yaw=-0.0364 right_pitch=-0.0301 right_roll=-0.0063 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.9915, 6.6393, 1.9023, -0.022, -0.0415, -0.0122, -0.2667, -1.9761, 10.1675, 2.0733, -0.1441, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db1ce375a846f5e5313a95f29d461b5f4424e35a76c05cda9bfc61d13d35373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57aac52232691561986e3df8233d9f20e5774f7925713beb2aca6ba86693b18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd19e271d9bed2d4e69f81dcfafa9a073e72a4e6edd8137abae6583a6277996",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE13EncHAfCo_saHIJKGfo4bZQbqOAeTY22akw8fBsCpiO5fvAxcrL0-pIYvelyL1DJhBunLKBiotXeYA1mRBn449p-unlYsBOqU5TI8oICZImxRYOL3tKWxaNtvL-AuutVCUsMy4ssGbe5P6hGLrSIyDJTVRAxWULEIUk01H5spicMQXW8H6s3a6sdiujtfeQMazZflj_3BxlSsVBE2ZO_ydpSm5o0-6iU2aR618BdvnxmJ8YGd5Dqg_lpj9QGnwQVbOqy7KNo_evlMpccAe-l-daCfEFGzuHWB82Wnb6uTmRohxKdW4W42WJWtrzUKZERA3Bn6Y2Jso2SaDDYg1Vo8d6wssjjA1iaLQb9s-FUKPnp-WBjmt9tlv0Ve5pgcvWw-uRoqws4fS_1fWOtEvkIAGsH0o1dSn6oI5vfXmS_es2jwYwD01h91K_iUwPqGEmbNYfWFFTnF-JFzWD8NM866aIPBWk19GKsoElWRW_9enUhGAwvGDagveLi9nOvFiAUwzhLfHTidasm89tKqY4oVcS2-o7n-whaFiy7H7zCXKcAToesZZrPLnIWJqaNgo88nV4G1BgRN5PZYWfQlZrOkdUF8EvFwNCs4oZokfLzfdCCpzArV3KLGftVpa87RSpN3KL-JEs4efWEpOpt2wAlnlRFH7krPeOckmqvWtOb899iyNs8bJLDGarAkAG447mOFve5_1hYarlJnkUaPqHmnGx6940kEe33SflJ27VdxB5ivxcaRnBn8CEtIRDC_8yTEBes1EdM5AFNFHbUoOQef49BtY5MreMCmpi63JLTuhRwrbwpIrLwV9pG3j0F0NgV5WT8in3VEdW6L1nRnHaqXnKvJXCVEMKlkWrxDQai9VPn9JR50-SmFooxulvBpTQoyOIWENyOOmJLBfIWIqO4yxix3q_RN24JIZ3e9QzgnJ40jB_taiY3AO3R4O-I5G9LVuDHOFCVpzCCk7-ZiqgqTKoPDH-qDSfhJrVvLasHWl_IxsMTTtK2OAvA6zwoTcy7Xmk-gQywsnbmKOTBEwthL9arUgSWmfNtJrVAiOXm5dszqOOvPhQGJcw8wNBaGlqIEkz0gX0TT2597V6z1F4DlE3qWVE-QefMAV4ESyR0fT0CRfE536VU6Kj-ztRPich-CtR5hOLj5LL4JWzS-JRkKfJ4a9bLMpMP28Gd5oCzKudPFnWZH8pg4eZZlbmt0fL1VaOUOo5Cguk5neHV41RDCn5sE-3cKp5KzdPwHdwwuKqN6ZI_EO4hscEZo-kZ7NzBsa5OnAIKyELGhpjlZNNcGFNwo7Ek6aKC5nOB46b0AH4cfhD1oAylkkBmeeASm3wE6rDpdY_4ldAVDKr9VN57_m8P3N83QDOYTGseBeIW8fVAEZaV5R6sc9fqQbJOGdImi7fBESdeq26kcbLl0LxF-ANae1LnVQimjpAF08-snF3aBEkW99gl6ZjC4yXobBdkhxV7oWYhg3ejBEV7l76ZRNKuBCzvLy8C18E6SR3usidFk5G_yYjGPUBa0La5B0j7y9VYDCRf4Ci10TgJ85-LvUiUAR8Vc08Qe0PTghP0a8EhL0S8Lsne7tUm8ujhccSrWkwPzDy0hzCpSxPEYuKSnW_udh9bABK4y1f0FLaa9qFLKelRn_Kzp50Cgg2g1uCFKtcFlegQDpVWlkbf-WcuAe64THiiRN9KSl7k03LaIE9xT6w54Fs2kkIVgMT4GuvMOCRE2nWE2M4MuYg2m6uOcL4QZO9vzAvd52772gykFvBcDbtlFv0tgMVvdc0j9S85WMcOD1TcSChBRUeyYyu_rUujrfzn7k5-Q6Z_Y2txaAOUC8M41VkMj0_3TqI9Bdlnujf79G8n1uCtlaApYfzv4U-QNEGoAz42A45XjbQSrVhS9s0HRENrWdlnU63n1oLycTfZOXnmhRuFxe4pA8U5sHdVs_77wse9cJghTWUymrUMsHW0va5tdrqYqt7kHTI81JQTulmg-g2YZzQJkbjb0oe0xs0eIpMGO1yhjGWEoicmgKOn8CgtU82OFjJfRkrJb5tY8xSZXTXQIbTN-rDfzCZEoiEduXf90lrKGw1q_8l4KgFMy-XJm-iHg_yaZwr3JJBeeRMP6XKs29awofhLICFnnQnS7r-8q1TPPWzO7gyNHz-CSO0PY7xUaGGRtj9kJTm3vGyf3hhrO6udE8auoWUNBB4dxMvG4Kb-FRxmrGT3bnCoWQ0NDwlGpD2FEm1P-9zevbCjH-Pq2WxF9E7pHu0CaJ77t0sn273pcSEUb47RgU5BtiF2Rl4zBdX3EwDOvaIVsX2_31s17-EKkHSTlXAyaRg18-Cwheia3XM6b8ulBT_g-Io7vihuS-pNttvm8L35qpeoNvqt7koS33REkocHuhVjQ1VugtT3tBDiBPMnSrkbDI6Smrk6diSghRE6NN_4_D1dXo0_15c2IBVcOmscQmCkrz0EqCVo98BZIXhcRarkAzHVbrGAJi5cxLAvXSoIlQqYir_MjjfNfTxBl-1oUeU7IkLS-rLJaOWSzH4qLhszWvd--2ZVzOBToW4fdEXGOCZEeQcdjcGUyMlIrXXAOYZJzUTPXxXJzTg6fKvTyFp2ex9TI1ttrISMK3q5mNINNAAEAb6KKOdg1BdqcOrD5saVY-ZJXUw8lo5iLAjYvEogCXzDtqRAt0jmD8ydVKNuPpIjQ9YfWWsoK_JRM0yjkEh-FNBN4LHwFlNXm2h2gQBKUccH9FLO4vURCtab-vLSL152Ec3CMp3ETZHRa4FEIIuN1LJ5vxOo8f9z_XUQWUnhK3uN16ccturhiR5mUwM2IGRyRLGwEcgMis-TAesFjLBrZHRAUs4pdElcSy_iwPA6Yc_Ei4pL3qyetZ-dOS6zMbeeavzvR9Bu7H1HkXK8qJDS6QpyJXBxyRBQrfKyKk9oapjOLadOOK9NvDqqNRYwNik37_TMKVjBsHtG1cTOVj-j3gShQObxzO7FJr0BQHyA31UP7U5Zoo0YVT2X2jMxLnQ4ARak-9NMOr0af1jwHo9NqsDN-c7KOEmLHaboi8zTHyQZ1xpuwPlwrrrajOa4Qi9mFLaeEs7yVo04miOyiFQbMdLVcxtZXSX7fStk_tjKqDbyX9_6uMobF-NEsF6hcHZYIXhjEScbB4YIFLsKXcYMc6B6M_ZjAedyxixgcqjfYLeDv_qH-kmR5LkUAYhOPO8DtL8AHuEBdDzDZuRMirzCSed4G2Jwa-KkvWvlMgJUqjw6dlDnxFRGGlyz2XP723EYBhX1zWH2zt1vSIDOC6LEARuhbm6cSv4DHavRDUyP2WWiis8oZOByUbzzrUoJtJLrV2cXa0HGqXyYy8NN2tTfOC9tMiR3aE3R60jpldf_szzukWXANjqFApcdTVVXa1OzAghKc1zQrS3K24q3re4hLH1bmIpkgs4vzaVbThhnSmd-4K435cDNGfU1Qzd-K_w_O4ohEStyyR_Kjvv-AC9WTWmGbfduo0JJY_ARbwXAl76DpWrCz2OmC6Fl5qdK3UEd22gALg44tPA4lSJ8R6AG3XXKXTyfAyr4Es_GL4NgkP9WLyZN_99OtSLLjjMs8Yk7WJ00epivqDbVZjNkWOnPn8q0aYwm8VTBiNvi6p1_fw2C5Srbfw-1JwATiQZuhgxP9ssxQA1_anAFOuN4f3fxCLsS1qBd8W3ls1xgBEuRTQObJNoMjpGyy5b63F5ZCd2UjgaddeGoMtqjJHIsy0_LRb76zg3Vel75G_EIq5zqT2RMTK9gt2cLr8DCfqggo3hvkjOhUF4ZKryb3WrUt5izNjYDWOfKE14sb76uWcgwTw6iHrc9QzXs89L3x4CG6xXofyba3Weqg4FKvkk3gdaViajrvbrbqJpBQMpkUU7wy4FRN07MrCrtuf54KvkQ2AU6JysEC8oOZoDZQPzOLpbYQyYhjwRCWgmKCs3LB_eODSsSwsngevXdOhlsR97vm0jEB74szFF83Ykjh76MBRMy_mLarlbodwBSLVe5yND2Eob8ETxUpkaqckUSFzB8Kz2cuiTKR2l_oiQTuDsNsDs2aylxMScDBPTyyMkXFlZBKhAy_ZMZAE1OwP3IRegZv3VhoeO5vMQH3bNmVt0NoapzSGTW7HDSDl3JeOhDLvMxjz0wh6BYNV03V3iF60Lj2C_dj7DxTfSmHsvn-tQkMrzvcHO20nkAnXb51nB40dUj4-vi_cXVfnXynFNYgI5nG0IXGu_85pusa6OLsfwI08jDzCwKh9gA-VxXEoa_NU0k190Z4WNFfPHutH5YW-1VEUUsqFfk6gB90DRPl_wMIzS8QJ8VGuTG6tONPMzt6mcqAKmSOI35s93YpfEgpHEzbWr_N7xo6-AP9ggJZcU91jNYSYUJJy9BrpjQp0RQ6OIlS1SUFvqv1w4wkEqgn",
  "id": "rs_0e5b8473993cbf0b016ab44d6bee0087d0896799a76fbffb54",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44d70e32c87d0aa545bfe882f8e0d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE13rerIFJ5grhBNpuw6vyG1WryTXgOaBINg85VnPjqcciRyFDqznfuIRJiR3cfiDX-6vgq7Oqs8kGG8BfM6SFyxDb0I4zvhiIny1J5vUfqTfDoz9maAQcIug1TYeHVNouUrDZBMhTg8EHyuiIBzumryk_3uxVq3bFcoKCfxn3JWIuPtixqiY2kbeOo2L9v-vVDLpoD3aSBHT1CBGdIVpfNud0XiOcG73yNtOymLB8bMsaxmpz4HKGXwK_K_qagKqKMo1Ge56EtKobzES8gtrlkwlB-gtZRC3EKB0mWaJKz6t2R3_Osd6Fm8eU76cJOC9v79G7fdUtPsJKPU_uDQnufoceSSBZvpn60WxTfRw_AUbShZbXk2IJi6OL7_1tsYfeB9eMIBtMf86-ycIM5asXbH91rkZvT7pyCrOEhRUreteg9XtxziTWx_2TIGg7O2pJKQUvp0Ff_s-43kYwSIWQ1iS_wPczS6YKV1k7eBKM0JCEEQc3HcG4FjuBchwI7CSZFRtZyZnxFFdOmH40asgnGcy4yfT3rGrCvQprvdszglZ63FnpG3BcE4bHpAKcpdhg7kXQmzKUK0-RM9lYKdrQxQC46RnJqobzC5mqPiHODUZcYXzVa3hXEkDZqhKyNhyv07UMxoborKTziQNQZZsjj4rZStCAqsnSNI7vzs-7yWL8_wnRYub2cm8ivfrbmx-L0zaY7dKB1OqFDTCjOzPpsLoQw_g5XejSua3bGdVeEKrXJ58Rdf8V_1cVcVvscgafZmcVOi0ac2f3V7Dw8aZu19ozW8Q-k5IjcvBtIZvW1Zo36LAHHdY_RtV_6Vd-i3z36-YgkjvYemWleKlHh2zs9rxPZ8KoueGkm0aNxf_J2kcG316gAoFhfrPmSCFdpkGCisLQogmv8W6Wb4RZO1qa9sKjpjdiYqyuvGdOrGRbTvUFIZMVBXKImzgYN0h4TcMQYpD9TvqSXxfjX-81K5IpGRodvVnN_TAiA_Lw180N2pQ27JDqydCSkNJY-shU5odTTRy2gFbEZi37ox2ORxAGugo06om1z5wnTAxGwekuG7Ol9aNeY5BGaVXZM2VNEKTz_4C4l9aIVbu0YLh39zwplR1D5y1IRSGD9_Ul44D8qAOThplEmgFA2zVj6sl-G091v4plRjvffzcv-q5jLdon4QeSrTEBY-v8cwC0azoHuAIfWpPOxIFPoPmcQJ2Uox9S2Q1trEfM0tjWq6jrvWxqbZL_ghuGl3B_oOx5jKDDnwfPfJw_nl5Npk-56aveKHYdXo8-DUW0i9d-qycbR4WYfy1SCTLRCtO4Mkd-XXubsk_Z6Q_diN8Ixu88MXLzC2Ml_1ltDMI2Ot55kDag63Q2wQ9Q3Q310fWe9pvInUKS9D3EIFvXhagEYuYMbhMO352X2DhCzGtBd_ltgDI4yanN6volmIh9mV8SorxrJ_bT92QupRvwZEJGxPKdJaps0zEt0L4nBpuGR8gOf_VEby_fI5Om9JrikIney2GdNnpjpQ4tdu974E16GlkEDN8W5uSSoFj99pdJPK3-BrjW8tfSFG2Q==",
  "id": "rs_0e5b8473993cbf0b016ab44d7607bc87d0a59af355eeb626fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.25,\"right_z\":0.045,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The overhead view shows that the bottle was tipped partway but fell back outward after release; the earlier final pose was too low and not far enough over its base. I will regrasp the same reachable section and this time carry it farther inward and higher until the held section is directly above the base.\"}",
  "call_id": "call_uxNVnYdTFOO0J59cvzLJaxMH",
  "id": "fc_0e5b8473993cbf0b016ab44d766e8c87d085b3774a37406c17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uxNVnYdTFOO0J59cvzLJaxMH",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.6498, 2.0651, 1.1461, 0.2115, 0.5068, 0.3412, 0.9988]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.2446 right_z=0.0403 right_yaw=0.0401 right_pitch=-0.038 right_roll=-0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.4564, 6.106, 1.873, -0.0611, -0.0269, -0.0122, 0.0752, -9.1145, 7.0496, 1.7118, 0.4518, 0.3297, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0c8e78bd4436201d3226137f686ea25571be9b9c2ecbd332992f10610067fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6edcc3e81fd9554c1246a6b1032309314fcc0227e0e4306e8bdca7bf655662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5215c8d7813ea0fe5d30ae1f1ea56f2227c9f5e14c27d3d2b86d331e28a399",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.23 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 55 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5282, -0.3466, -0.0227, -0.0292, 0.9983, 0.696, 1.7905, 0.9337, 0.1566, 0.4606, 0.3069, 0.4607]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1596 left_yaw=0.0002 left_pitch=-0.0225 left_roll=0.0001 left_gripper=0.9983 right_x=0.3995 right_y=0.2361 right_z=0.0768 right_yaw=0.1411 right_pitch=-0.049 right_roll=-0.0311 right_gripper=0.4607\nstate[joint_eff]: [-0.0479, -1.265, 6.6256, 1.9219, -0.0317, -0.0757, -0.0122, 0.0752, -9.1145, 7.2957, 2.1856, 0.2125, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7475, 0.4988, -0.3264, -0.0227, -0.0292, 0.9983, 0.0051, 0.8089, 0.564, -0.3523, 0.038, 0.0048, 0.9988]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1553 left_yaw=0.0002 left_pitch=-0.013 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2941 right_y=-0.0016 right_z=0.1633 right_yaw=-0.0364 right_pitch=-0.0301 right_roll=-0.0063 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.9915, 6.6393, 1.9023, -0.022, -0.0415, -0.0122, -0.2667, -1.9761, 10.1675, 2.0733, -0.1441, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.6498, 2.0651, 1.1461, 0.2115, 0.5068, 0.3412, 0.9988]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.2446 right_z=0.0403 right_yaw=0.0401 right_pitch=-0.038 right_roll=-0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.4564, 6.106, 1.873, -0.0611, -0.0269, -0.0122, 0.0752, -9.1145, 7.0496, 1.7118, 0.4518, 0.3297, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0c8e78bd4436201d3226137f686ea25571be9b9c2ecbd332992f10610067fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6edcc3e81fd9554c1246a6b1032309314fcc0227e0e4306e8bdca7bf655662",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5215c8d7813ea0fe5d30ae1f1ea56f2227c9f5e14c27d3d2b86d331e28a399",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE19NqxNiKWSF-pfNzPumhqVlCIoKuuG_C4alrFYJVr6LLDuvDaFqF7taZ2ayebuvft5Qnu3rnPePpwigMAvD9UR-tSY_txvGOLAMxIPrDnnqdga2T5TSoICLkOF_z26Nuii7lRHOL4-rMLAUpk7wQvdhXsjYvIo_VTAvqW15yeebGli89tYCfA58dU1OkLiT0050_RrLl9K33kCGKwnLjYYcNGdRo_xwH5N2XNyiKbebpPBLIWJuxPnAOxv9YK-FuEUtktXj6DDAXj6Zk-IBlGWJ9E2jn6oxxSXGr15-ttIiQu66CQ_2YpsnEXV4_2kqsMmcxQonb04RDQE6RwVuSQqgUpD_L84P4s92YpuPHMW3T5oCnJyrrMKRXDQRv90Y3OnO0i-VOKHz9G9ZtGCy-OFkKbrph7Brkhtf0-o-voKYg4gEMUOKMQmB0F4wyYE64e0fqclpFlTngaxwXOSxiQl5dLFSOQh2EFgbAea9EbYs9wcGdYnybLQtPZt5Ja5YofoqVaXGnSKSQiGvkLeqkLjLIYMiPC5dVsAI41sHq1yJhXHi77ucBiiLooIJ4jDTVinE0HEZcpKu1dpmtIw8N-V_0A3qONg1vRRZ5LY4_7YWTfqzTwyrQR0Hx9aYHkLQRncLpFRyOpVDVYJzOssA5D_dCemVvX4VMX8zNCrrgvflf8pdLNerofclaHs05ALfnM9u4yvS-ltoo04CdFrJSRStQJiiS_C1-VovhfPckJrWsoq-LVgkH9aScXqUQCrkp2muWv8qQr2IXbSzMROPcs-x72wpLJMo_-KDG_0RFUTcYxJVUFt9FMuKADyrE47lcutiJe4Z4LHNTus-4qYLC8VLr8RJwExHsiT16u2gnmwh0jDczh59jlBiHZRptMYonRzDUBGQhbkCxOyzuEGVEubiLodZfcmPn6w6sP96bJgSIXYdVu14x0e7mLHO05TMyKDHGAinvDWMNhFwqXMW8htQfXccZL-7pPEwwqv7lTKs_GpU9ND26E568ywo5RGQJzpLzCV31fiCupI7GRxAuuflwNPQY0HrQg-7FFq_D94FqiEpPx5HVZveWOMS7fqJc_mTnzCrbk1vNAjo7dp1QA2UbbXMZPgzbMcOOPXbRKdsNqKD9NNaU7uCm6HumQuIAmrlTHWxS5NA21v-cZO6ZCpSPsSJ9y4G7gWvV4sRVNsTsjaKKHlyxFl524RiS9bzPLT9HIrOv93fREeVj3uho8rus5NERdVt6fubu8H3EImja0aSQ_FunYd0IIRE01u87hIvlUuOEuTb5gQeWBniyorOLy_b5O9Ge7ti5yzXNwKBUWdZWLEFXrrayTkww3njPbb",
  "id": "rs_0e5b8473993cbf0b016ab44d7c289487d0bb6da2297367fdc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist view has the bottle centered symmetrically between the jaws at table level, with its cap along the same radial line. I am closing on the same broad section to obtain a secure lifting grasp for a larger, over-center pivot.\"}",
  "call_id": "call_LGkcAnUlQYx0iPoXHUGqP3DQ",
  "id": "fc_0e5b8473993cbf0b016ab44d7c7cb487d0a0e04c74992e57ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LGkcAnUlQYx0iPoXHUGqP3DQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.6544, 2.0689, 1.1191, 0.3447, 0.5163, 0.3321, 0.359]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4647 right_y=0.2511 right_z=0.0524 right_yaw=0.0417 right_pitch=0.049 right_roll=0.0142 right_gripper=0.359\nstate[joint_eff]: [-0.0479, -1.6068, 6.2017, 1.8779, -0.0415, -0.0269, -0.0122, -0.8, -11.1521, 4.4786, 1.1746, -0.022, 0.0855, 0.3297]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc42e48cef7d951e5f4afeb7a91378dfccfc720f0118c7b97fb31b895c3b5d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448fef46449a7cdfa5c939913452185584810587aed6b8b611afa783828a0864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb13e07234c1fff919669346b9212278dcc12df4c7fa23cc2f2fa841f0899a6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 12.93 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 55 changed as sent

message 59 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5137, -0.3374, -0.0227, -0.0292, 0.9983, 0.7181, 1.7916, 0.9092, 0.181, 0.469, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1569 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3919 right_y=0.2412 right_z=0.0718 right_yaw=0.1511 right_pitch=-0.0469 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.4838, 6.4205, 1.8926, -0.0366, -0.0757, -0.0122, -0.6496, -9.1282, 6.5299, 1.873, 0.2662, 0.0562, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.6498, 2.0651, 1.1461, 0.2115, 0.5068, 0.3412, 0.9988]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.2446 right_z=0.0403 right_yaw=0.0401 right_pitch=-0.038 right_roll=-0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.4564, 6.106, 1.873, -0.0611, -0.0269, -0.0122, 0.0752, -9.1145, 7.0496, 1.7118, 0.4518, 0.3297, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.6544, 2.0689, 1.1191, 0.3447, 0.5163, 0.3321, 0.359]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4647 right_y=0.2511 right_z=0.0524 right_yaw=0.0417 right_pitch=0.049 right_roll=0.0142 right_gripper=0.359\nstate[joint_eff]: [-0.0479, -1.6068, 6.2017, 1.8779, -0.0415, -0.0269, -0.0122, -0.8, -11.1521, 4.4786, 1.1746, -0.022, 0.0855, 0.3297]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc42e48cef7d951e5f4afeb7a91378dfccfc720f0118c7b97fb31b895c3b5d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448fef46449a7cdfa5c939913452185584810587aed6b8b611afa783828a0864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb13e07234c1fff919669346b9212278dcc12df4c7fa23cc2f2fa841f0899a6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2C9FoLoJJyfAoC7rZOWw5NH6IgD0TTwJt3JY0aALOfkIzEXmlu585WDIxlmF7OKC4l08VJ2dn6wIrQ7WEOqbfdXQfOctNQevld7mpLgfeF1_5rNfA9wkDpIEvHaC4OZQKrS3rKrlH0E1iMPnqcwCmDob53F62xJZ7v0OhSWmiFq4GOhsixi8K-xrSzkvKhYUCluIQ1Lml7OXm1EoS_IL_G0XgFGMf2SsuPfc78YFQcEm5HRJrelao3nm72HiZ5Nxz_Bu5Vebgj8-Xm-fIyPolcUlbnWRLIu24jlKRqZBdoi5Q2l3Xzp8PKWjbTOBjmtzm-wwZQz2O39V5hJXVxkxxwuBVjPm98-u0N0G0RR0xELmJBri5YW6I0xQwS5eFFak16IT79toG-u2sp-u6ubOtF2b0kzE9L71lwGKrf0maUX60U51ngQl18KulytmS1gN4dXigUl1FuNK5ZyQa8WvW87IaWsf9-z0iGTrMtu99UMuKXQso6Jmej1SFLnBifGSQGlcV2Xsy2D3CtAruZUmKU3LzJXaO-vDgIO60gHsL6485i4toTsRes_vJAGqYEsgU0_lFGCLLSA5tBCI7ZKFSPE9-iF5rg0Bdpllso7MLIcp5t83qTc_3SVkiE_FTXb9jasouVKysIePDjsnWQqSGOq2nNL9V1CQeqKYACY67wG37xPDyQ_wxXcXi5kA7zGDNy9xKGWYZ4rPyS8Y7W0j_EPA9rNO58KV2AfRaHNnXSbjfZMqD_8YGMmHHE7zkjGSzqkqHZaII7Ly5ojtv8fTq6wT1SiLbNN-BQz4FRkxwZrDyvA5OleNyr7Zu2OaMQKOVStdwwESup8qxf6Bz6Alml92rcBITAVwZQYlcAFS-9jsUKD3RqEI1Pd9Rx17e_KGvFIX3TgFqSDVuBhsJDeiuv4xl48eEalFuCnnQVooa48_hoE7_JyCWCIBVJKqd43IFE-0T-ZQoXxQhZ8jajsWCOYMZKfW5nw7biTEKAaWuuzPTR_k68u8hMoaSed_Bhii6kXGPK1fWGFmtSS63jEjrJ0j5wHaarRynmzj31cbLb7eA4IRuN3IuOFTksnPZ-DW8BudBrhYmhZ-8mFZ800rWre5ysb-h-WKY7CDipvWrT3d4FnhvMpC9NKEkpfaWx0ZqAsYDeXIu-Akp3k-l4AyC_3BLNh1-hOXxTTMaoI1lm9T6IcTjqvzRTnCdf_-kt0sbwSPnOQAzE6vjJYfPVJOb_41cFm2fLUL71n4t8KLNrm6q1s3wVYTlQ8qPzIbuK5k3AoOVwzHWEusKsl1L9itaxebuCT6Eb2-CJ2dbcKBUtkF5tpxyoyYo3aGMXwH3prBfETZHO1ugZ9CMWkAMIrHBob3w3L3IxoPnM3X9DJkiXXhbTaIJ0MH1pWkEE3C7DCTRzJo1W1fhUWI3O6GY7gUku8OgM7UDoPjmqdGPtqsbvJ-qr8uxth9NKtzk1b3vnwD86GmfwAKTROv483PqvlZZ8Y_gOCExywzNRSRPOg9SQqT_zia61F1zHa3TeCmotQcd9rPO0T5GfLLEgfIH4KFOd6lWwUSjO40e5-Pkfjs3ZizJn0vNo1bV8hg0fAjTyAg1l0lRE0Mul2N_b822iqALVnMqu6Dxf_5ZaS-iruQtQCSA=",
  "id": "rs_0e5b8473993cbf0b016ab44d80516c87d09a20ea23aae67248",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.19},\"note\":\"This close settled at 0.359, indicating a narrower upper-body grasp than before. The grasp point is roughly 11–12 cm forward of the bottle’s base, so I am moving it inward by that amount and up to about 17 cm actual height, which should rotate the bottle to vertical rather than leave it leaning.\"}",
  "call_id": "call_YKNC9yepfCmt8fE5EY0rF5HF",
  "id": "fc_0e5b8473993cbf0b016ab44d8156c487d0859c2a09fe066612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YKNC9yepfCmt8fE5EY0rF5HF",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8581, 1.5967, 1.1069, -0.2634, 0.6315, 0.4789, 0.3578]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.355 right_y=0.2568 right_z=0.1683 right_yaw=0.0788 right_pitch=-0.0183 right_roll=-0.011 right_gripper=0.3578\nstate[joint_eff]: [-0.2667, -1.0188, 6.3111, 1.8926, -0.0415, -0.0464, -0.0122, 0.0889, -8.9915, 9.7983, 1.5702, 0.4713, 0.1099, -0.1441]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad22f4f005a3cdd67975d9795b136be641eb550550d8e209b81f588b9b70743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2cf5f7afe2f4b3351a7057bb7a833b642b7dd9689579249e6bc3bad9c1464b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1db2febbfff37ce494edbe7d4f303608c6881210cbca1fc4c24106ff27596ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.681 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 59 changed as sent

message 63 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7475, 0.4988, -0.3264, -0.0227, -0.0292, 0.9983, 0.0051, 0.8089, 0.564, -0.3523, 0.038, 0.0048, 0.9988]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1553 left_yaw=0.0002 left_pitch=-0.013 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2941 right_y=-0.0016 right_z=0.1633 right_yaw=-0.0364 right_pitch=-0.0301 right_roll=-0.0063 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -0.9915, 6.6393, 1.9023, -0.022, -0.0415, -0.0122, -0.2667, -1.9761, 10.1675, 2.0733, -0.1441, -0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.6544, 2.0689, 1.1191, 0.3447, 0.5163, 0.3321, 0.359]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4647 right_y=0.2511 right_z=0.0524 right_yaw=0.0417 right_pitch=0.049 right_roll=0.0142 right_gripper=0.359\nstate[joint_eff]: [-0.0479, -1.6068, 6.2017, 1.8779, -0.0415, -0.0269, -0.0122, -0.8, -11.1521, 4.4786, 1.1746, -0.022, 0.0855, 0.3297]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8581, 1.5967, 1.1069, -0.2634, 0.6315, 0.4789, 0.3578]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.355 right_y=0.2568 right_z=0.1683 right_yaw=0.0788 right_pitch=-0.0183 right_roll=-0.011 right_gripper=0.3578\nstate[joint_eff]: [-0.2667, -1.0188, 6.3111, 1.8926, -0.0415, -0.0464, -0.0122, 0.0889, -8.9915, 9.7983, 1.5702, 0.4713, 0.1099, -0.1441]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad22f4f005a3cdd67975d9795b136be641eb550550d8e209b81f588b9b70743",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2cf5f7afe2f4b3351a7057bb7a833b642b7dd9689579249e6bc3bad9c1464b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1db2febbfff37ce494edbe7d4f303608c6881210cbca1fc4c24106ff27596ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44d85457487d082e84675042edca4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2Qgz1dDray-A5wQSeRRsrq_RxXYZIqu405LRcSirXHGENbY1umoLfIXiUirlVieMceKePIxWiYUpyX9w7-_G6F5lNAa_TCx3Eb181OVJMp6cbHGwr9BNX-3T16UDMeeb4-yBorF8Gh40SgSG1JUiH_ci91BH7gfsOPx4xqpyj0MrSuSSGzXgtbWjb7x_eKTRedmCZ90oAnXZ6qo2K6B0z3sAQpCneCDbgYDtlJbeyqA5RI0V0vgajSpJSCzgsXAQ5SBBAKP_0iLal0axwtL6lF_6TaiAG_bsDRH4BNMnXl1XCpxTT8l_fwxj7WMbmLMP0W50w8Z2OnZCe3eFuPv5iCpxLgTwA-ctQJneB1v9C_Cum3MbTG_CmumOrjGyKBT0PMscib9BCO8bh2A25xH8979aSkyMdDXB-C_cMTrbq4XgkBaz_dsvLgdLcMLX0RixpZshHdKwFdZhRJT7vdZdW0vWKUtVhCdfjWwWDi5CuNfyV0d2dGY3_y4ONFbvi_qUmKCzvoKJQ15G0kmWl4e-rLW6WFwEgzHKzMTauWL5POoRZVPAvWUr2bqD2cmqY8JWOsq70OVoGWI8LmOY71l0-ombg-rGPYnIOiGMHegc9FeJgAQIYC81rcWDcmGKBdnZodq9z3HrDNAFXku2xY1cz7edPxyqcYDFUstW0uwB9VDoQXcXGjYrvKQ1yNRSQCbDRkcnmKVXmTHfUXK4E2D1Wj7j3kK9mhDb2k1TyQVKv7GtAWER-vMLJuPnkmC8hosyZo204FiggJFwqH6lPsi5xiMaoc-uHSzBjSHrf7g2vGu4FLOmhgc9mxjgYlk8M26gLpVrQDQFvL1BT6269XSLY6IF_cxM-LcP_8O9HzaXvGabXMQnArX2uVTckSVzvRCUvKzsZ4yLSBiYjEbQIXv4fvWD4n01a3LAbyO3cfmjL0c28VbZMFDErUcsw2Sw0j5nJTTgYEYfk8iCM-OZADz7UZsmYbrJ5Qwyzp_Z5xndOYMXabeVnMq1sgiXGxmHOCVtpBQCsIp1vCaIUlP6-b3C3RBIrI_qpTz9XnfhObrgg23SAi-lG8W6I5vNw991i-teAoloumpVBUya8-tQKhZEiG3w2bRek6FtU01QrE2MFV6uijJGHHlAm9KzmHc6BDAx_d_y0eYHc9vCu_FhUei3dHwkF4Fw_em84ZjuZSSizuJnEQTphoUkC4HLDApKXbfmTlvbVNW3kFaAg8dL3DEo5BF5BUCNt3fpjygtq71Zioe7LqFU1THCuDptN1CZkXILoOc4J-lpPytGqsL5waRFar7_y7TXWzIY3yS93d6T_cqFxskk5lXLXu6mlRbolfh334XqV-17zY2igQlw2Npb0w8IBBJ_zkEtG4pta0AgnuMgyZpw0pjgEqCPJzv_iZHgFnzsaGyckqgRGJ9L46BeDP0i8OiMjYjDtRZ6Y7oUSt1QCe7t25sWp6iDFyL-LXpZzXB0v5f9gIQq4t94kjA6bl_QS_RFEVHGgDchbLGcM2XV_Nq480RKJPMw-wQxShHnyPPuNgkjjsEITsd_JaEJwuKTrD7GVAYP4G-86AciQi0KHKGmVxlfwBxaTWDx4uIZDX7C0a07g8AYMAxHxf7eznifihA_Ph32qmLp8AlEftInUoUdQ5i8b6SwZfhhU821au3UoP4c2bUOZFPoCW57MUmrKhYcwa-VPaTQcsTpaQBEYWAyFcnpibHH5a4S0vvYdaAgp_TFFeyyVA9yiBPjhx0UHnIdUf9qXiZ43T9OkeZd0PqXDlxfr77QZV80DY_7E9L5H75vjgqacZ3Ondl7RUXFMSv8rEGo82U_WtsU9Ynh-2sIPzIIBzxKCC4Ad5BvqHJwKw18uS7R0fRyKUga7IMFtwasMbCp9soPaTmglOQ2y7FiceOOJR6TDHoTXtFB8B8RqSBuhJdably8FwIVkNqm_jlXqw5c_mkuSZYSGmyRXNka296N2OZuAAmnQjO7JmZQQzC2PiuP8g3FlpTXxaJghPmMas6pf3-NPM73ftWbITun6BbBGfYxdshGTnXN1ROX9eaWoL0ObH0-qGRY3HWc_KHClGivmAf72LResKcN86t9v1NIxc6ocXgBST-BUF-wxTL8HBhq5AwJuCFZPI2WijWwUuS_aKp2KP34uTqhliNIrnPDB1FlfMtSJ8-cntobieXrQnL-Tvz9FQVerB9U_OeaFIcpkdGDilnk1833Db4O1xd-4U7a9lvSaS0usoS_7fIW59M8D3hiLESQ9gY8Ryu3E4jjgmC4qOJ1Zks1sY3ug3Hc6VAe11O3R7ocSwPStWSefakne0soU_ThGS_aMsrU7ZI16XFIFNdtPSz4S4Hk9zqCQPPYKsiMl7cHpnowadGDO_tZ7HwuBAp5my8E4HlRb0seguzLe68VGP8-9EjivDgmMD37tjQHqdzH4exrePDcRJNs45E3xu0USAmw8VxD9LLlmBwHtrx5MqHGwRZoN2WbCtywpwC52nw_2AW_XyR5_1d1iDZ2KR3CoKbH0cOalKExMA-sF8TX6Agu_RJxAiwvcS-1N7n-aS-tKxYxutwjHOu1V7B6fR7tVFXNAnAZm1emAU6tD2JT1D4mf9D0nqtYUnjWlrFZq40orkm8UgKISBHtdGQUgDcUFglppGF9KpLwHApqBx0cdX5WJASNpcySDxUbQliwgbGTpkDwtWSEyxNV3GL-0HSrqP0kHWZqtPTBurj3dVFjmCPpXSJio0BEJhgktzmF4FyZfS-kZOuPOU7rhvGv-tlcbRDxYv9nA1t_aWwc14uQ-6EWz5m5I7BCgyFhzqEYNE9wUCBiWdSAX0VYVfjJlGMeb3wxIkcIDShRmjJSsvNqocs4Silm6cohfK8MFzh40wmsBt2Dcj3U9gVyhGJxDaY2cauJAWiHNSzF2c0X5Do7LqogXw0HCZef--9Oy4WS0SppZNUVWCGE3uopf-9izWTAYMbbabJoLoa93GSwKG-mXLDEf3thpmfLCzyaEtqIerWfEy-dRsbr40qZwC7VhDHbJVoqEb1xCcqTJqzyxhBP11ytAXrqG-NzNf6FAokddg34lNoxym1LBP9ipjglWBG0U77l19GJWFB8raAxMPSgpvS4NITLXKunX-vBVZg-PssV6-uTdc9z6hf5J2tYAIJfnRrr-bmmVesLEeNKvZz2Bn7b510h-pLJKzhWoM63jmezz4UXVdP3m29V8jwBwvPEYjtT5ZwTnO_BjMc387jXwuZuo0mBxkLSNJKRJCLiTZ6XnZwo5UR3l__X3pe6L9aQ7y5KOqSq81ORuu7zua20mUDJg=",
  "id": "rs_0e5b8473993cbf0b016ab44d8aa86087d091656ecfea18f205",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.33,\"right_z\":0.2},\"note\":\"The bottle stayed horizontal in the firm grasp even after being lifted, so a rigid body grasp cannot supply the needed rotation. I am carrying it laterally to the table center while elevated; this makes its exposed cap reachable by the left arm for a loose, cap-supported transfer that can let gravity rotate the bottle downward.\"}",
  "call_id": "call_Rbn1IpDySNkcKgVlSUp73uLm",
  "id": "fc_0e5b8473993cbf0b016ab44d8f274c87d0a51b1aa4bc8638d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rbn1IpDySNkcKgVlSUp73uLm",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.9894, 1.7702, 1.4002, -0.4561, 0.6994, 0.5598, 0.3576]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.3456 right_y=0.3252 right_z=0.1873 right_yaw=0.1166 right_pitch=-0.0313 right_roll=-0.0301 right_gripper=0.3576\nstate[joint_eff]: [-0.335, -1.6068, 6.2017, 1.8486, -0.0513, -0.0317, -0.0122, 0.6496, -8.3214, 9.306, 1.409, 0.5055, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a974931ac482c678a307d4448f9c9f3eba1eddebee219aea26c9e537dd104136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d9c8e290f49b4b3bc627cb6639ff26c427b7a163a15b4786c0318fe72e1330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bc4642c2331d23e5b07524a0520f58a9f2e0f38e22ac001256fecf137a24db",
      "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 16 attempt 0 · /responses · status 200 · 5.753 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 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.6498, 2.0651, 1.1461, 0.2115, 0.5068, 0.3412, 0.9988]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.2446 right_z=0.0403 right_yaw=0.0401 right_pitch=-0.038 right_roll=-0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -1.4564, 6.106, 1.873, -0.0611, -0.0269, -0.0122, 0.0752, -9.1145, 7.0496, 1.7118, 0.4518, 0.3297, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8581, 1.5967, 1.1069, -0.2634, 0.6315, 0.4789, 0.3578]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.355 right_y=0.2568 right_z=0.1683 right_yaw=0.0788 right_pitch=-0.0183 right_roll=-0.011 right_gripper=0.3578\nstate[joint_eff]: [-0.2667, -1.0188, 6.3111, 1.8926, -0.0415, -0.0464, -0.0122, 0.0889, -8.9915, 9.7983, 1.5702, 0.4713, 0.1099, -0.1441]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.9894, 1.7702, 1.4002, -0.4561, 0.6994, 0.5598, 0.3576]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.3456 right_y=0.3252 right_z=0.1873 right_yaw=0.1166 right_pitch=-0.0313 right_roll=-0.0301 right_gripper=0.3576\nstate[joint_eff]: [-0.335, -1.6068, 6.2017, 1.8486, -0.0513, -0.0317, -0.0122, 0.6496, -8.3214, 9.306, 1.409, 0.5055, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a974931ac482c678a307d4448f9c9f3eba1eddebee219aea26c9e537dd104136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d9c8e290f49b4b3bc627cb6639ff26c427b7a163a15b4786c0318fe72e1330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bc4642c2331d23e5b07524a0520f58a9f2e0f38e22ac001256fecf137a24db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2UiB4nL9nO6vb_TQge5aVocyG4t_FpzTRM1PPHZ1Hy3zv-0N5NFSgwxDuxh7_Rv5Kspt6vNUAQahS0CkSIW2SogZWjfv4cr6cep0hfgTau7XBOcu3iI15TtzOktD-_FsMGxPRXL9qq8DhGY6r6m5yrwbTWOe-aFT8r0n5nHnQpqWolpy_gKSzuVteSP7DGCjSeHfmk495WZmZXGb6vO-egG_t2FzykFjUltSCgWsPBUIF7i7alt2MJ5PqNvWFO1N3tmc74z1hc3SjZhQRsd8VY9xzP_jvdSORyLiALyu65t3HNJjgxs_fw3CiB1rb3iQlJ31-zGj9qu8FQ_tA2sCjAkVjDmhaWZoNw8G3XyaU6Uie7uqli8dq5tIjKYU1FVBDGmR9W4lBObxvkqA19NXuL_qI-SEgaRHfABuAA8wvKXP3W6EVxJb9usFdoQG57D5_HEcvodB3gdUvLCtcV9AEb7fwQXN0p6gq40OJ5Rn6Y5R0YXdrSv-ovzd-X8xR7WVO4eaPHIMVucIVskOcOqAFxMbybMynNXptdlr5lBGmL56y0LbecGUGQ68odN6qwNK29LSf-vrPqzAtTpz-H9fkqy6x8TBCZvEHJB5J67eE6fO2EKEpvfZoseFoUTFur5oNYhpNtq3FUU0_cGhBysA6VDCxtgN2l_EkyGyTtZ4ASdMh4iqsBymHuNpFqo03G9XB-aqifEXLmSyqr8DDHy0wrr57IDVqEtfUNhcPjntHlY8gP_7cBjapYGtRaPakm3iS9b8xct35ZR_UYe0RfO3Ndeu9WlSpKWW7TJBASlBi7FX0WAZkc0CAZ4ceV0-SM3lc-MxzPkQ7WQOXzimG5mWJiL5ucJ2_WkYjNTYmcA1NoYbSwt-sXUZ7-x9-gCxGaMc_mVmpGV5mrPQGefcoI0hFZyYUg0vngwiW5rV7Q-4LQaSNlZxK7YmRApfXb23gfPTQHJs4q1xX8y_CjyMxfG56mkoh3MGVNIPbJooeLIQVkngoXW_AhoPS_C5QuI-HmmtNgFyXiIwyYgdTnuSm3x1j8nRu6Awudzsg47lRjF2Ab4JuRs826DaWWY1EBEwWqCasA9EmwYxrOqzlc8KuNiY2ZaWAnUjo38qGLIHWJOtlSx1_lvrjB5vhPokuWYishILapY5IupHpUttnnYBBzIq7Adhki_TO9drPh3i5Nk_j_jOYQEQvYIRQtymaTzaeR65UhLeXkBLTwQJuiMtwG6bzxQv5ilESeDCXKVxbWfUDTAHjg7fGglZnM--DwoZPQ3N4fKGS4Iz1YqRJwm5LLD2-_f0muXNLJ_xyKcAT65UA8jzoXDcecI0sy-0_Ck5qX563ag1KJaFAZfLrRODByWv1sLVtpcFJ5ar5Ozq2y1Ov1i3Az7ylwy0HUMYob5U5x-tjTijv63yVg0kUl0M05rwCHQgXeBuJeZ71wdoUJ_LXcm6R0pdsbqa__sfLYIzI-5UvtYWf5zPU3Lsjh7_pJhUNeCB3nktESzuF8t0G1-8Ojh8uJrDWcmGEJM9V1T6fscf9Mako06bJyR3D7WJxkxVvYYav_yNbGT4n2nY0ihvhZQP9jdkbsGnN7OzKB20uhWEqFJXsFLfuD36JUB5GZ_7HRHK_9HyCLnbBCVJ1axLzbY0k6nRak8TqxZikQD7Ou4iUtdkhIQim6FdHGY7PKeAtnWSC9Md6zScS6X5Q4PXWud6pfQ0IDDW-mHb9T7WZ6lOzO9iaqgefo7WutL3vYamG6SNQMNjh8k-1UtN5B9oh5URTFRu7bRedPGXFulo5H9ijvyCjtzUeI879eIy_ZB3sZHNGR17u9cczibAnPN4DpcME=",
  "id": "rs_0e5b8473993cbf0b016ab44d924de087d0b7394b3e7a7e64ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.32,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The right arm now holds the bottle horizontally near the centerline, with the cap exposed about 11–12 cm farther forward. I am bringing the left gripper above that cap while keeping just over 10 cm separation between the two grasp points.\"}",
  "call_id": "call_Kvux2zjBVUeKa5iZiLwrzQVj",
  "id": "fc_0e5b8473993cbf0b016ab44d93af2887d0a7c68829f86a2352",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kvux2zjBVUeKa5iZiLwrzQVj",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7021, 1.9808, 1.6978, -0.4545, -0.6559, -0.5327, 0.9988, 0.8291, 1.6936, 1.3441, -0.3599, 0.7597, 0.5793, 0.3575]\nstate[eef_state]: left_x=0.4787 left_y=-0.2591 left_z=0.2022 left_yaw=0.1025 left_pitch=-0.0001 left_roll=-0.0103 left_gripper=0.9988 right_x=0.3934 right_y=0.2546 right_z=0.2176 right_yaw=-0.099 right_pitch=0.074 right_roll=0.0519 right_gripper=0.3575\nstate[joint_eff]: [-8.7726, -6.188, 12.0957, 1.1404, -0.315, -0.0171, -0.1294, 13.6547, -3.8222, 7.6239, 1.1941, -0.3736, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbe469ffd456c0b05c310d029a2bf0388667237e2ad4e2458ab1e7594ed5917",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d852bfb2f2a1cf157bea7f66507c11f810eedea659c04844655cc1881b055c35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d083bd04532c5019c16ac5cd9e16f58578c20739444b846b46170ee7a9acdb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 8.404 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.6544, 2.0689, 1.1191, 0.3447, 0.5163, 0.3321, 0.359]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4647 right_y=0.2511 right_z=0.0524 right_yaw=0.0417 right_pitch=0.049 right_roll=0.0142 right_gripper=0.359\nstate[joint_eff]: [-0.0479, -1.6068, 6.2017, 1.8779, -0.0415, -0.0269, -0.0122, -0.8, -11.1521, 4.4786, 1.1746, -0.022, 0.0855, 0.3297]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.9894, 1.7702, 1.4002, -0.4561, 0.6994, 0.5598, 0.3576]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.3456 right_y=0.3252 right_z=0.1873 right_yaw=0.1166 right_pitch=-0.0313 right_roll=-0.0301 right_gripper=0.3576\nstate[joint_eff]: [-0.335, -1.6068, 6.2017, 1.8486, -0.0513, -0.0317, -0.0122, 0.6496, -8.3214, 9.306, 1.409, 0.5055, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7021, 1.9808, 1.6978, -0.4545, -0.6559, -0.5327, 0.9988, 0.8291, 1.6936, 1.3441, -0.3599, 0.7597, 0.5793, 0.3575]\nstate[eef_state]: left_x=0.4787 left_y=-0.2591 left_z=0.2022 left_yaw=0.1025 left_pitch=-0.0001 left_roll=-0.0103 left_gripper=0.9988 right_x=0.3934 right_y=0.2546 right_z=0.2176 right_yaw=-0.099 right_pitch=0.074 right_roll=0.0519 right_gripper=0.3575\nstate[joint_eff]: [-8.7726, -6.188, 12.0957, 1.1404, -0.315, -0.0171, -0.1294, 13.6547, -3.8222, 7.6239, 1.1941, -0.3736, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbe469ffd456c0b05c310d029a2bf0388667237e2ad4e2458ab1e7594ed5917",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d852bfb2f2a1cf157bea7f66507c11f810eedea659c04844655cc1881b055c35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d083bd04532c5019c16ac5cd9e16f58578c20739444b846b46170ee7a9acdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE2dpDvbFtb-eLR0Q7ScQjC1qYX6YJ7AiwNaA8oa79fnIJGpawX-qrXrcH_q_eaK3GeaC9yqEwXVgBcW68PYgDE9ZYQuesZTXuz7xUJrGxjbjr9k52UU9Bdhuh3e99z50GgMoBqvc_YjalWdz4jOwon-N4Gnegg8nRrmzvVMa-NCqZmt5dSEuIukOX8A-81HiAI-MFI7dGWuwwOHf15OAxsI3XkmnQifT-RgWcSdivCQfPFqBv1emtOYPy0-m-TCVUYz6gWzuLejVwg52ozzXQanqhBLwA8chbJ1eaGQSVP69LmsCG5yl6BEgzFZFDoZljUfEGJB3d8upT-K2NoMDF3vdkCPEdInya6gcp9eLq2gdr6_eMDH4AZ-F1hSuvNO0PiekIe466Y4qwf8WzlYCqBf2d0Q8z3LkwK0YwVdypRYeF0ZUY-OXoIrH5-Y8Kh0z2pFYCk-M3gRf2-4Xf0PaUiwejqGZ0nM4aw2pE19WbFPhkbkePisZZZW6B_GevNSix9g1ZQiSPy4qyAc57lRCAg6cBPzaSs6ucUrKADAkj7BU-pGMkJT2Uj_r8QWFtwAibj8dbc2F2R9ExzR0fWv_z0FAEh5nh9UgiEITem9F13AptTRDL58CM51x9FPtL_pJpgf2r7so4q2yaD_C6fQEvsTHUBJuN_nn69ZPAlybILRF2s1KmyYA8_8yfijlQhN3GvUZ1foTw0rM_Rob431LDuIa8ZFCfAS0C3v4INb4LhhhZysS2HhViIZZBntyytVKa-l4YgoE8QxxE9qDcho53yaMdD_c_KfX4_voSKZj0jnm-UIEqWC66XM2DuVAeO6figlQ4BJy4ZhvfTbtisOr5muA0NQNUc5GCTupH5bD0BsI0RG3bDnb-HhbvQ3umCEWNClZuNHuRYw8t0VA6k3ZCtrz6RNimfLuDcmGBpIvtpJUuhJ_wD87I-vuj-Q4z3HAclHff5BtpwB-nnFVB0IX32pGDQNTHlFmjXp-DOADYlWj4338W9U6thpVhunuV3ljLt-POPFbhOeyDfiS0xUWCrUa4_dK5omnejFLJGgcldEwzx3PneN_EjlDfSjFPPfZ3p5DvV3TQ49b4Uh8yyc_YT2rNRfHEPSjsuIDd4QoCoPONDfk5KGL9v46oSzUNi251MHFBUfMr5g9qJuTnZby2pxZ15yhdNywEG8ASLU30zuupncMskU6QQXhXTGL6cIWaG50oPB3DedfqWMXzLwqr909GxoKkzutxqmbZG22vFh8vSCJUtXREXiDY3PIdJsTLJrIVCvdV3j38dYC7r83gGmx5CwqOuzIhnXGIqY1N1s8UDd5Xd5g-QzChI9BNjDHMAWGdzxOMaulafpj1EUfeNy2LRLbYL_-R2J-DWMnoHNLBlnipgDAHQpYUjGwCP-z12vn_hS2cv0jEAra8dbjpVp9c9EkyDEjIVbTSMP6u3qMY-4phDefCs7gVS_oIkZAS8M1rSZHBhKLoWdfAv4XxBTR8X-VBVMSmE6m-IKNrymcgRawbvFtuIUass9j4sfitNBt-AGrQ58FcEcBL-CrC2BfXryiFumwlFD-BZfp9eNLnPoBC0swp9nTbce6WngB8b-jyQT7zR78wwKDAAxP7b-fc3hXFQiPxENFKvH3weL4y-7znRCcvAVZ5xtAggU2b7ZvGSRMwlzx8X8aDPNaS2zig_9QEWNxHeM5Zy6m3OlSfsnletD4IlnmZExu7Ie3yxB8rhGyANaCFcJ_XX3vGSEisRxsysaHZyUmVd7R6EkEZYGmbKU0dtcrrTri-eXA9uzub8qAMZyq3eseRIAeaeY-y0ujXJjAr1Wb4VYsIL7czXQt1Ti3hI26DFgK7sUg9ClSP68f9zyCvMAlACCrERMTP8bTmDwgzPx2r4QH8xhARqB0MJlIBUe3eaILu-VNuvXv_rt9WwS8IysldPbvBlu26YZZQSb2bSKdXJdfQwWgQHlkUgLjx_8dtS6I5vpsDtjyAt2RZSdT_9qQHJtrhUj5Gx0kkR9tdfLcycEASTWAyULWv4uit1dK3nGgJ8I_CyyTXhPmKNaN0EYVxprYwDeH6X7AouSYyCPFNMpmclqDeiYUBOITL2213Y_J92x_PpwR1ybDHdR48wfd8jED5l_ZlUwezJZFGVtj4fY-4mFKn_sbbbY76A12FaGW06kxSCr1i4-BOvoAC1eOXwgwJtSvQCkTpTGOX6t6njq9uefk6pCmCoSulC6uvkFiSK1HUD5U16syVzMurduils69udJkDhAtopKTrnPUl8mPL6iEuN1aRVUJSDz8TYsb13K_lLa68wyBfrHBXjodFGnYoBl33cPT43xRcipuoWE4tSM4VMIqnR8Dzd4UgLITE9_5UjSttkrGkh5vemo-Bwq0W75MjiG3J8ZuJvxh6k6jfJ5Wk-h1Xa9uRrZuKi6G6MeMAtIG3eANvKpzczk0Ql021fR4B0HrSnQlFYtpn1T3xsXGHyKvvjnN7TFfU5jrY9nvtkW7YEYa8DZrCD9sdFVek_tvZi64pqk2BsQm83pusVJwB58wCSwgf8xSiak_8TKP7EFlzEYFvSyzuYvve5EJrfJdP7TX3EwjFMWq9BNS76yA78OsczpCbTzsqJL4DiS0yHX",
  "id": "rs_0e5b8473993cbf0b016ab44d98b86c87d0a08a3fcdedb20c8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.3,\"left_z\":0.2},\"note\":\"The two arms deflected each other during the long approach, so I am avoiding another large converging move; the right arm still securely holds the bottle. In the left wrist view the cap is close but low and to image-right, so I am making only a small outward/right correction to center the left jaws on it.\"}",
  "call_id": "call_z037QT77UbNg7OjiqAtVVdvc",
  "id": "fc_0e5b8473993cbf0b016ab44d9bc78487d08f9a8a0e5578b3f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z037QT77UbNg7OjiqAtVVdvc",
  "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]: [-0.6796, 2.1197, 1.9335, -0.5278, -0.6811, -0.561, 0.9985, 0.7506, 1.7309, 1.4681, -0.5213, 0.7471, 0.6003, 0.3575]\nstate[eef_state]: left_x=0.5127 left_y=-0.2667 left_z=0.2152 left_yaw=0.159 left_pitch=0.028 left_roll=-0.0403 left_gripper=0.9985 right_x=0.4127 right_y=0.2257 right_z=0.226 right_yaw=-0.177 right_pitch=0.0219 right_roll=0.0154 right_gripper=0.3575\nstate[joint_eff]: [-4.9709, -9.4701, 8.8957, 1.1795, -0.3346, -0.0171, -0.0464, 6.4752, -8.0889, 6.3932, 1.6093, 0.1685, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeb2b56a23fdc6046ce226425e75686007820882b3d8e4ae221a6fc9954c33f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063881d7fe5d75eb81b87d23f11d96b6aea3926fa34f8e5a158a259419b0fa76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a177bbaf1a42afd66e8da7d4bec04cea7266b4afc5b1429d924401a2df312a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.644 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 72 changed as sent

message 76 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8581, 1.5967, 1.1069, -0.2634, 0.6315, 0.4789, 0.3578]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9983 right_x=0.355 right_y=0.2568 right_z=0.1683 right_yaw=0.0788 right_pitch=-0.0183 right_roll=-0.011 right_gripper=0.3578\nstate[joint_eff]: [-0.2667, -1.0188, 6.3111, 1.8926, -0.0415, -0.0464, -0.0122, 0.0889, -8.9915, 9.7983, 1.5702, 0.4713, 0.1099, -0.1441]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7021, 1.9808, 1.6978, -0.4545, -0.6559, -0.5327, 0.9988, 0.8291, 1.6936, 1.3441, -0.3599, 0.7597, 0.5793, 0.3575]\nstate[eef_state]: left_x=0.4787 left_y=-0.2591 left_z=0.2022 left_yaw=0.1025 left_pitch=-0.0001 left_roll=-0.0103 left_gripper=0.9988 right_x=0.3934 right_y=0.2546 right_z=0.2176 right_yaw=-0.099 right_pitch=0.074 right_roll=0.0519 right_gripper=0.3575\nstate[joint_eff]: [-8.7726, -6.188, 12.0957, 1.1404, -0.315, -0.0171, -0.1294, 13.6547, -3.8222, 7.6239, 1.1941, -0.3736, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6796, 2.1197, 1.9335, -0.5278, -0.6811, -0.561, 0.9985, 0.7506, 1.7309, 1.4681, -0.5213, 0.7471, 0.6003, 0.3575]\nstate[eef_state]: left_x=0.5127 left_y=-0.2667 left_z=0.2152 left_yaw=0.159 left_pitch=0.028 left_roll=-0.0403 left_gripper=0.9985 right_x=0.4127 right_y=0.2257 right_z=0.226 right_yaw=-0.177 right_pitch=0.0219 right_roll=0.0154 right_gripper=0.3575\nstate[joint_eff]: [-4.9709, -9.4701, 8.8957, 1.1795, -0.3346, -0.0171, -0.0464, 6.4752, -8.0889, 6.3932, 1.6093, 0.1685, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeb2b56a23fdc6046ce226425e75686007820882b3d8e4ae221a6fc9954c33f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063881d7fe5d75eb81b87d23f11d96b6aea3926fa34f8e5a158a259419b0fa76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a177bbaf1a42afd66e8da7d4bec04cea7266b4afc5b1429d924401a2df312a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2lk-zZVzY8-cXUWp1TMI5G9XXyWR8lCjIH1NiOhzX22TzgC76o5P_99grCdm5Q79v8SWpnndu7gyZcGn1NbOPbx_63NmDKd-hNleEsXaFwNK-eJVCxU4ioirqg-TuLuc7pr7xoa2fo8YsuH55elf8AVe3Hlk8f1XjgPr568E8UWcV4KV454M6SAUzxAZZjh9H-LGcUQy6Us0C6DXFdIZXDmmDdgXaJV4ZTjMLKvHIuxbeWcRD7xPixge_jEEeA5kbJvzIKUYogN8ICvmPeWHRFlMVjGWLNg8rWGKixRoRXlcUug1X4QeCyYV6cBry2gUhFlw9AgouipY232uhrgk-BX7g6PAnyahsDqkZPvoCVJtOur5TR06UdP5LRt2QduuPXPPi9mcd5XkhSI21WyF0ZjjKtJyx6lMHGxwyNYI_-dGGpOwNkj7Zae0f1Q_NduTg2I0Ky7mlhBqxOTV4Q1TqN6EnAG0-VpyOSNPofHCBl8yuQi56VoWa_1-2Z-zg8-CH-4kBfmDqdBx_1W3Mvk0pr9pmCHm0obdslOrx6IJFWpjCl8__spsDAbPECMIF1jfB5rDb6WyGidKffnyiG5oS3uUVXv910bxhuWSzAJbJMNuPJ3XeTJm3W1VSj2c_rRtpYsHun4uM4fhXI4-MomHW34i-DBSZt9THLdd5Yf4h45SmPt3kBWOTxm8JjLpkbAnvZeCQDvpBeXF8PXo6YVvOJ4atYY2kzoH7V-y5XTwFYMMvVnsEM6U2_Jyb9de-bzayoB24Jjh1VqVcfP7u7QfupZgQhtalRaWGQynIHBXKtmUyZ7Vowiob3jhpXO_ceMMb4aCcH474-d6qIggIVeyOoZuiSOC_ZfwaAdEp2PRJUIgQgMn_IjpYqjcMvI5lhsjgD6Qg4IIkby1MEFkcg_5WOVIOhx09JBcY2fZAdnzgKh3C2XF-9Sql1sfSOIxj1jlES1vS-8Ueta1v8ZFF05pNG4bKqFb4gJdOl_x8NQI5FB65gZvcBeW9Bc-nPjiYJSDJn9Zl5rNuy3iVDiGxJWCMGcUZeD5zcYOAFjkHtUgF922EUSVLrA3vjpcDvX0wY5WyxobQBOxZ-rh7doB2Fucu3SahTN1tZSoEt9Oma73lRfRv5VKJ3i_JOigQN3TStWjG-d-K6AmRQ3Da_XMN7sYAOLva_E3N-vW9iXTcz2Z4p8sOUfxTBnLLTKfsBca3h5DI9ATTt5yYvllQWBfS-DLqe_XajZ36LVoXj3RdJ1eJZ38f_GYYWHPjvp4NHRd2oMaoGkiT91vAvgeiIgidk4DmmvDHnZsvxY8aKWpflYhH2JGFa_vW0Tk5jYW5fH4UvWYQTmRtZ99q9fHsseC8fKoV3P8lDYDFZrwmfozw614bySB7Sw1aMAscSHQDr74KHTH9UV39C6lRMoU_3tFV4A3TScyy9_BwigLe6KEEhbexXzW4FFq1oJvNnph_DmKKBnjnZH2GUD4nn063cOirY6vaiys_yJdXkGYpBrOSY_Il6lY-5T1IFHR0G_YpTut3QjZ6X3Jg9ARHMTpjZ06lGqasT8559IRlbPEK-UA3fGsj7QhKIevlC_GiIuxNc8YjetOcE7gje0ukoVUrBFGeAFX-PHExW8Dral9_8LVxN6r9n69JGnVBys-wfvQzVbG-6kdBr1KcS9V4IX1aeUgtyZrr82Zqdmjh1qEN_e3j8lG0e_Bc32VL7jO5zoui38jlI220Xvmbj05Ao2r5pNiuo2fWJpnsCnJNmL-yrKKSOzAKw0TkU0Vlj_oK2_EEB4jsGIsWbpNACmIIia24sR9PCsn8NOecgpJMWAnQzbHvrkWjuHktQ199NExK_bt6LwdcKCamoLFSTwP9R6adRM5UZIw_vmPZQvEXBtL8NSd3s9jaYL3pPxxwtR7dUP3zw9loyZ4dYxgghv7K0NBuFTcpxXy7kTgEZdShSZS5eXUgeY01pvr9RemoZNLaLq5Lqxn80hkwczjklkIihJ03rcSIf3yHhu5X9LHDrTJmaLSUNCikOpXxN94Pypz1fs9Rgdh_3mitoCyJhqox7CVeZO3HnohcnkSaJ0ZbbIY4knjiIbDflZZ_KIEOJCmz8Fz50-tcsSdxBbZVW2woLtvRVHaHmB2pUNkNLin-U_Zb8qLarfmdjmG-mTx3GtigaqqWPPX3TtKlDEnxjPiMqAfhc49ftDFJeWIeXfPmJie8qaALwp-3wPWRqXgTBg-g8tTO2ylt2M8J5_SNpV5WkHsvccPGy8dnc8oi0MUmg8GQ08jZ_8MlDeEkVMIrJ0yR4LF6DyPP7FWIXNZ7aqFrbNPs8FRg3PzLQNKlf0-S6bFQchcZplAz2W3Z4tVTfmwSvW1YB_RM_-h8aKZfmo2NGG_E2MmAvbY9K3fL78K-aOeMQjPfgV5qalqmHJ67rJ7tN1j7ubJnmPsia8ZzvTRWeBhsV6cZNDMPBCUmG43ChZAZu73wLOrw9Bpb5PCaFXfp4MJdDaHmcWcZL5phnOC4Z_LRjwAJS5_a82CgBQMXOnLVmeIJns7TNZCzWe-VFCjnff3_6KCHeSPctXHhK4h3YK7_eTVu92M54vBzPDsCSTjCrncmWZvYEMQ6V31M16UNvqetTtRWyjJvNmT3uxgdAcuJvtBza-fPMfrdfg9kp71Urj0oCuyRQhSmKaXpDYydoX7voCMIW9xw2LrBJuwsJVLbiDboLGhzgPG5onLZzc1bLacg7RqwTubI4QH8AC98DhzsNciW2Vk_IUkB4XqVTaSlWbrHxKqNtCFHHkPXjWRIVaF1HZqLkdyZz-9V6wQhKh0m2Yq3gwdxjfUPU0Bgjjr5r-FjPUp7vwtuvm0SFNadGE9aHYW_wJBNILIqKlzQm3db95MrIdkphDKXaKnR0bEV-3huEitJEEwJrO3GrB-BOx-5P_kJS_b092eZNGpBoese35TVgh7IcwPdkSyLFkP8fGPl-o_UKnu_T6lPoOSRl2WBp3JkSajcA3gtVNkwmAXuM8WN1aUP_XkrXXkzhpEffoNPDA06AQYJCqHJkadVZuayy90nii77Thugk1nkOk6aPD18WDZpGzlWdTQP_ijWC65QEFHAs1XnDU3ZHh1lnF3_dPLciaBe4TK_kdirYTXz9uGp4kcMgWCuAECSZTMfQ6t3LGQPD3vcLUn5_QMzzLE-xPbrf4rTROow5o38EmioMpWI4RzRJWGrdA_mPr1mTTmzXPSqSaaTMfWgb_O_FziUJmCZC69xermtj0slkK1P434n6qsL_k3FXFfJqkhFcclA5ZGcpqXOa68LH1GXPcfGn7bD7PKGHdwbIlVFyEZWMaS7OM5ZBOFgNURZQL2owL0bvIPGRCZaPmTMwSXlkwN0qRBCcY6N3BQBTuyHLzW65i-jgXlSimj8giwkz5NwgM4JFSONC_WuKp8nCIje3NS7GhRZVMqzlpOYyAhu8n0CYGQ2JpMohAnn0uIS8bM5il4_g-vHjd8cNQkRS3LDMLmLhwifo3zRdC4b1DRE2oyE0O4hyfV2yJa8q7bTZYBNiXlXYP7A03tinLPL8EyNqZ-Xsz0REtMe8xpulnirzw3tVTS3paZAVmWYGHrKtyt0fXt7I0Us6nulz4CSLgnk2EM8UNMmlfVQqXZKwSFNCoVb7b0Uc_kwNdOTZrBWjNLN3z5JjEm0sxWesyv2K68WS6E50qNHm99mtgxr_KYiAdWPMiz1Nsw_IXQyjC3UWjo5bNVDFPME_rZiZNXaLCsfZW8zIitGTiTDD-UIxJDAVk_xG-AySQ-kE6BMX9oQmQlC6no2Dzagp83dArdjr-lSM73EOX5ke45D012RzyibHQpuk2NYqOk6s5NrltSOhiBDXuoBIGXNYnE-oTVP68Uw19NBUihqq1b7GKv07-L3CFudBO1spTbG7GNv_l7ieoVcP30TgUh6O4f2_OXtFhWQ0G2QeW0QP6BYEysA3BA1YWI6Msj3OBRmWn9dVpFn9jD0OAnbFLsP9JPsYU87KIN2uPWGBAG8X2JfkcHrn5ObSRWPg-a4N7XDZ27MkOwQaKc2u6P9q8r9nZVrYP6E0hCb4_cNd_pyE3JLG01wkfDqMoWe_q8on-P2PwGfcn8iSnyieIt-0Cz5vJIyIJ7nr54seTPGBdhFps-8=",
  "id": "rs_0e5b8473993cbf0b016ab44d9f3c5087d09a70f94242472c83",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2lVmXyUfJzaDA5nZeRojuWCQh3l1Srom5-oEFmOs7yHp9eKonaOp1OE0EIOYUYaAQg4fQyauJiutwvk-JLeTVQ9dlrpYcWfgBQ4gEyS2V3CqJ17J8Sv62BGGfjfZzJLmNE56j7MxY1sdk-86fyzHtZqNvoM2d9SYfcl1sxCOfrMwuNjpayR73ic2Are9IY1RvC68TD4gEap7X57H0hUNG8fd6zhItqiA8NK6cd7Z6ez0TNrR64Zw-tCjW0hfzZHHhp0sWV0CgiiGASuO50ijsA_GNJE22M7flWdUYoHSwQBMsOEhKXyzf1IAPgzZ2rV1ZVAoBz1ExYgImkdtsfgzb_6E8ZvmhsfAhynB-14Eu_U5ct2XPqccdG6vO8Ar_Z5PijJUlJxyzoy1WxJnaxwcj6cTaWBkmeHl9BPhcpxoxNm13p8kURSq3pI3egdSEjpsPpZ8ASRKbloToEIt2S9IR08iq49y0J6IlHafyf-vILlEufsgwwKuEs5xQCQYZRIi5uvYWumrosgu_AOYfGEgxrUIbqT-T6LuKlvZHqHlJsHv3fcgJuN2FEzHFZHRgVfoHK3WcwbSkqjcLSoCkxFXh-F5KpuUDN1lYgCJ8h-spM4EMsdYnLwNX1fIde_tGTEUEfpXUPF2kyifphk55W70ozlsiCnbAKLOb8vjmyuZuBrqisa-fCzqfPAA80CrSl7eyzMrhoEoOiqHzy8rYDozrbzYbOnvS_L_ygqUG0EtT1vBmxMcZW6dC_UeY8t524MxvyoKKUdb4UgnDX5Iq_QMc_CGdXJs6W4vh2gEXf_xTuVvCcNOXr7fKks9xKJdTMzVJnBdGVGmkn9AcrfwhWDZwdcs6X1ay09pqSAT81HkHZEbeknsOUg24If5vaohxzUhrmUVWOgwXsgu4RDkwIk8ipTKS--FWokCiXqJGGtHSJTqW3tykhD4WZ4crSMvPttUgjl2GKCElc_8FA-genOCYL6DWyeJLeiJ9PiRLjzKTsbFOt_zmHH8eYT8NLNagrDWc94ZEduKgvhTdbPHVm61dyd23ie-Srw4gQ-lun7Ld5bPyXW9c1DzG_6nFQAk1HMJy18kVKAtEqjQ2n_SPtkrTTSidwEdBRJMj6QZ-1lSwgmMsb7q2CDSe8tvUNObNne2cIWRFzjYb4qofRkP4aC0uT9lEuznkjwc4cl6h5N92icIJM2OIvoOA5GH54HMjVvH38",
  "id": "rs_0e5b8473993cbf0b016ab44da48c7487d0b4f2b16a77590fed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The cap remains laterally outside the left jaw line and the arms are deflecting before alignment, so continuing this two-arm transfer would be unsafe and unreliable. I am withdrawing the left arm completely while the right maintains its secure hold; I will instead translate the bottle inward so its cap becomes reachable by the same arm.\"}",
  "call_id": "call_ntsIUqNhUt3fyFIO3ycxqyCG",
  "id": "fc_0e5b8473993cbf0b016ab44da4ab0c87d0aca904d4c951f85a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ntsIUqNhUt3fyFIO3ycxqyCG",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8104, 0.6033, -0.3466, -0.1112, -0.0944, 0.9989, 0.7517, 1.742, 1.4803, -0.59, 0.7288, 0.5972, 0.3575]\nstate[eef_state]: left_x=0.3001 left_y=0.0059 left_z=0.1826 left_yaw=0.072 left_pitch=0.0121 left_roll=-0.0096 left_gripper=0.9989 right_x=0.4068 right_y=0.2241 right_z=0.215 right_yaw=-0.1618 right_pitch=-0.0296 right_roll=-0.0328 right_gripper=0.3575\nstate[joint_eff]: [0.1436, -1.6068, 7.2684, 1.8144, 0.1343, 0.2125, -0.1245, -0.253, -8.5812, 8.6222, 1.5946, 0.3541, 0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1513bf53fbb129a38f29355a88ea90e9731c2843736d7ddca58c58131d78ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d3286204757a66ba754f6bc04b43da20b2d768038a13f17b99acac9d0da024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0920256e82569d8945453dae33e8ea0cbf74ba0943d36f7ce7dfd3bbe40861ee",
      "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 19 attempt 0 · /responses · status 200 · 3.136 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 81 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0292, 0.9983, 0.9894, 1.7702, 1.4002, -0.4561, 0.6994, 0.5598, 0.3576]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=0.0005 left_pitch=-0.0111 left_roll=0.0001 left_gripper=0.9983 right_x=0.3456 right_y=0.3252 right_z=0.1873 right_yaw=0.1166 right_pitch=-0.0313 right_roll=-0.0301 right_gripper=0.3576\nstate[joint_eff]: [-0.335, -1.6068, 6.2017, 1.8486, -0.0513, -0.0317, -0.0122, 0.6496, -8.3214, 9.306, 1.409, 0.5055, 0.1929, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6796, 2.1197, 1.9335, -0.5278, -0.6811, -0.561, 0.9985, 0.7506, 1.7309, 1.4681, -0.5213, 0.7471, 0.6003, 0.3575]\nstate[eef_state]: left_x=0.5127 left_y=-0.2667 left_z=0.2152 left_yaw=0.159 left_pitch=0.028 left_roll=-0.0403 left_gripper=0.9985 right_x=0.4127 right_y=0.2257 right_z=0.226 right_yaw=-0.177 right_pitch=0.0219 right_roll=0.0154 right_gripper=0.3575\nstate[joint_eff]: [-4.9709, -9.4701, 8.8957, 1.1795, -0.3346, -0.0171, -0.0464, 6.4752, -8.0889, 6.3932, 1.6093, 0.1685, -0.0317, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8104, 0.6033, -0.3466, -0.1112, -0.0944, 0.9989, 0.7517, 1.742, 1.4803, -0.59, 0.7288, 0.5972, 0.3575]\nstate[eef_state]: left_x=0.3001 left_y=0.0059 left_z=0.1826 left_yaw=0.072 left_pitch=0.0121 left_roll=-0.0096 left_gripper=0.9989 right_x=0.4068 right_y=0.2241 right_z=0.215 right_yaw=-0.1618 right_pitch=-0.0296 right_roll=-0.0328 right_gripper=0.3575\nstate[joint_eff]: [0.1436, -1.6068, 7.2684, 1.8144, 0.1343, 0.2125, -0.1245, -0.253, -8.5812, 8.6222, 1.5946, 0.3541, 0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1513bf53fbb129a38f29355a88ea90e9731c2843736d7ddca58c58131d78ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d3286204757a66ba754f6bc04b43da20b2d768038a13f17b99acac9d0da024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0920256e82569d8945453dae33e8ea0cbf74ba0943d36f7ce7dfd3bbe40861ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2rnvUbo85y90kwCl55XlYZPjRhC9BRConr3f1-_h_dJcR_zn7QpL_kFJ3lXE3LIzyq0h06g1gZAfPq3xs448tsPmN95HR3IlaHMty-Wt6R3dlh0TW7g6vXD_iVyTUOyv5NHlt30puiJ-GhF2bm-B6Xe9_pEudDBQQeLBzNWpnNJ9b2Lx9EwBl83pQPIRj_jsVp0wt_cn81odF6SqNlWCocROWO_jGrhcfRxyA9DQraacxCmwpPkfqHYcOSFaWucDc9Tf2TlwtBZRXyECQAvaEP4Vd36mCJZhV-6DX2k27b42hU-FtLGc1QmBGaFEF8fY7Btko2OUsZsUOXVrFCM2UyuLD2cwEvIcUtnJ-b5a9_Wb0k5giQlgM4BP5xjWsm9LKI5jQ1uvQO9jVJai-yMSansr2xw_RI5hmv5XZ2EDws3rmmk5ux18SkqiTs_NCSTlMyBsY-f4gCzTizgeFDz63oogJjX123ZKVFmsAjtGNffP_c_cNU4e4TBwJX0ZIKWTWLHjbbHQNpXtUbyoQVaVf4frFfB10L3TvAFwi-maxAhWi9ugPTYZP54zTPEyE1XAyFo2oHeCmD_o_OqbKWpdb2gcar62xZ8e-agt3K3wfkmo8qL9xsasB5SNJLeUmw7Ke7neg2zsutcdPZBt6MgSCAmY9svBspJ1GR8axde25uvdVc-rh2JgzMgGbjgqaMKdDQ6YKpHUOu_SZLhey4ZJbKV207O0l-Jo-UVg_iZLxBAiCNFHzcnKtUivcla_46np8lVh-6KHbbftY0iMRnjeL5nY7xAbbWM3F09FVv3jS8nbB6hsaGO58TRecMY-VQPeuDMEGdByfEoNrBNG0PvBp8IuIw8BUezHu5ZfOYXaJhcuGS9c0MyatZd5wBwQZuAY7aAj-DxMO8lhjHjXYqAB9MVvUjGpi5nGOALOxgCA5xqPyxa4dZEZcIMdskHkkpqulxt4lJvi8b-nUOSqMCBbzfxCzK7vrMyPMQ1llIjTiTVgu1icvu6pCSDie9d_21ooUUaW5MBwkONLL0iwJLb9mQCI52qSgSXZJYRGEKwl5dkzNJQkiWi9pfjG32FLR8puf8GBHzJow7QNKAtDVn5PNeC8Kkw0EVoNiNW3SWg8ZW6jUP-MGBLo_aOXQ4tm4V2n6FeBgDwDcAlsTw3guZ-NAAabKxBnS6rswIQ7_N5SprYFEK07FDdPTYLYQZ7C6B56jo8PmMXrfX3F6vAfQndybMQhSIzkUxLolmtc_TYojpPbWET0TjUDR6KSSNQUOMZVvrUHaRN4LscvluJdNMpsLeZ_CD8xyF6YzO1qnpEeQ3UGV_BgmL72yMs533efPVgWQA6KNifqQuN-prCmkaWhFzuoSCgPmEu19rzzAy6sxx1_DrK2IwWALxR-Oh08a9y23T23Zyv5AANMbNaT8r2scbTOcoMVcj3N7vbW5vOJZpbzLeNQpADFDspzOZzKTklUcaffA0Gbv0cYyp83W0wUl_0jQUtw2h8iRVoOhoJZTefc52d9_6zh2EmCO0Wb976U5xxnZ5Lo7CMm4GQMMcT_r7R335G0VDFxlth2y0NEbj3VTQ0ekJgvqqgmKwM8gQfB40xXOenBrFAcTWjrysliJtHDZw4Ia3_s3y1X_DAYX82zI=",
  "id": "rs_0e5b8473993cbf0b016ab44da9972c87d0a2b6ad23e17f4d03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.22,\"right_z\":0.06},\"note\":\"With the left arm safely parked, the right wrist shows the held bottle horizontal and its cap roughly 10 cm forward of the grasp. I am lowering and translating the whole bottle inward by about 9 cm, placing the cap near x≈0.42 where the right arm can make a true cap/neck grasp.\"}",
  "call_id": "call_0zFxo4w1iPbEVklT5CP8Dn32",
  "id": "fc_0e5b8473993cbf0b016ab44daabc3087d0a662b8a04fd06777",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0zFxo4w1iPbEVklT5CP8Dn32",
  "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]: [-0.065, 0.8246, 0.5972, -0.3744, -0.1139, -0.0822, 0.9986, 0.9314, 1.7123, 0.8303, -0.0963, 0.82, 0.765, 0.3575]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1702 left_yaw=0.0606 left_pitch=-0.0355 left_roll=0.0082 left_gripper=0.9986 right_x=0.319 right_y=0.2185 right_z=0.0644 right_yaw=-0.1329 right_pitch=-0.0355 right_roll=-0.0397 right_gripper=0.3575\nstate[joint_eff]: [-0.0889, -1.6615, 8.6906, 1.8242, -0.1587, -0.149, -0.0415, 0.4034, -6.2701, 5.3675, 1.409, 0.6129, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9216af1c304fb6a4113fcdd63f784c4498740a4659c2fa21a75640720a41c016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e3d1af781bc7d3de9e000c3d6e18951702f50867517edca1fd3b8281d3478f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166ce460549db55a27ce614098e4d553040d8d0aefea6a71f5945d974ec1389a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 6.068 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 81 changed as sent

message 85 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7021, 1.9808, 1.6978, -0.4545, -0.6559, -0.5327, 0.9988, 0.8291, 1.6936, 1.3441, -0.3599, 0.7597, 0.5793, 0.3575]\nstate[eef_state]: left_x=0.4787 left_y=-0.2591 left_z=0.2022 left_yaw=0.1025 left_pitch=-0.0001 left_roll=-0.0103 left_gripper=0.9988 right_x=0.3934 right_y=0.2546 right_z=0.2176 right_yaw=-0.099 right_pitch=0.074 right_roll=0.0519 right_gripper=0.3575\nstate[joint_eff]: [-8.7726, -6.188, 12.0957, 1.1404, -0.315, -0.0171, -0.1294, 13.6547, -3.8222, 7.6239, 1.1941, -0.3736, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8104, 0.6033, -0.3466, -0.1112, -0.0944, 0.9989, 0.7517, 1.742, 1.4803, -0.59, 0.7288, 0.5972, 0.3575]\nstate[eef_state]: left_x=0.3001 left_y=0.0059 left_z=0.1826 left_yaw=0.072 left_pitch=0.0121 left_roll=-0.0096 left_gripper=0.9989 right_x=0.4068 right_y=0.2241 right_z=0.215 right_yaw=-0.1618 right_pitch=-0.0296 right_roll=-0.0328 right_gripper=0.3575\nstate[joint_eff]: [0.1436, -1.6068, 7.2684, 1.8144, 0.1343, 0.2125, -0.1245, -0.253, -8.5812, 8.6222, 1.5946, 0.3541, 0.0611, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8246, 0.5972, -0.3744, -0.1139, -0.0822, 0.9986, 0.9314, 1.7123, 0.8303, -0.0963, 0.82, 0.765, 0.3575]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1702 left_yaw=0.0606 left_pitch=-0.0355 left_roll=0.0082 left_gripper=0.9986 right_x=0.319 right_y=0.2185 right_z=0.0644 right_yaw=-0.1329 right_pitch=-0.0355 right_roll=-0.0397 right_gripper=0.3575\nstate[joint_eff]: [-0.0889, -1.6615, 8.6906, 1.8242, -0.1587, -0.149, -0.0415, 0.4034, -6.2701, 5.3675, 1.409, 0.6129, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9216af1c304fb6a4113fcdd63f784c4498740a4659c2fa21a75640720a41c016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e3d1af781bc7d3de9e000c3d6e18951702f50867517edca1fd3b8281d3478f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166ce460549db55a27ce614098e4d553040d8d0aefea6a71f5945d974ec1389a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE2vtjx_FblR7ZXcbWC9xhzlu9OaqqYIjlwBUxijj0mVk43fYs0tV-5GDEP7CAL_hL1Q-rzeRESDDf6nifDBp6Fnfm0WI_jE17DReupDa2rPY6SxhdSH93uNr0Gvkbbe99ffBwjwq9dfuuzVjOwY9OxobMx7vJwEdVmWnb1ih29yemk-U6kXnBClgRH8cDtdA-A6vNkxXCD3rmv3GwMaCaWnMvWVoasLSABXVZsdHJ-VvA6fAUh6G3ayflyuhQnwt6TFsPe95OAq1iPAPsT6OlTQCPUzXXnaTUiPKBfGpJGGpzUoLF-X3T-KVpSMGrPggyGZnCbjwXZhNKZoeNFVXeuIw-pO3pZtr2-NPbAEvtTdrW5SqQ7UdYxa1KVh6lIZTsm28tZMvXkGWHb1wPzNvQ981PorrVrH9cYhRImDuMuSBuY1ZE1zNxdpSOxngW4c6VZjxBr7AZgFKzF8lgb2q2w4p2TxZCEuPECth-31yRgfQou13iAKql2z5cs4CXQBR6FVWzzaf3KIcyde7XFewajhIahQ0Nm01cWNQzmLYrPpMD4k816az6tZgCt1mu58YmaVfrRqis1fCcGYBai22ou9oRMKykf4q11TFdQ41b3yvG92pmBRq23_2Ugwk5BhgKm5Aqcge8TqymzmaxdmxCHdOaOf2g--TUpKDpQ7qSIAHeo64cDl0GxR9i-2Q1Eyxpb9WI5pQ2Xc8XuBJSJ_YDqA3V6RJssxfHybiIOWmLGuLg5oYefdIMEbnG1ugU1M1SlT8ApEa-xhxiTsDD7bpL5hIw95hEJckHLNkGhZ2Ke5efp_tjqyEszE9wfgFhlL3Ob5kn36b40PcwQHO-Ew9QEeusxe3N8to_6oCxgAxOGPSy4ZsZM67Cjq9RLYA8UtXSGsqC_w_4ck7WdaaFKj2IJYh6NtB7P7Z4dKVHI51ly79mZMeAcIC8i81eACYIFemEpsQEnJSEkh9xbrCsKidFjSiu7xK0IyAkkUIEOSrhhvujQGylHYX7e0I5MpbRO8__jvkQvPG8qV6_lM494r74hmLkEDVE9qhB-mO6eWf3IiOuGOkq6la8AbMydCGo2M4ANHHjdKqBW2QZ-HztMxVTurK4TQHVRpt-HMyMiAxMuD2PZ3c2DbbL8cKtK3_EpXs6yM6iWiDKOMvSxU3Zo774Ij-Nwyv1f1Ll7ng5Tnh-HWQrGCSiWgSu68kAj5h7q2_IOA0AMheYupr05V6-WwwHUdrl2GSR9iM2WmSOeS84GYLp616E1wRI47AvU1MqbFDRDAFp2GsF8fUgW3EM9rOlvQCxFEvDFeWSIGRcMd3s5c-Fk_1pFHif_k9fBL7Ep9r-zSlUY44lG9_IDYfgQU2mFXRhXpjpb7boyOovLRj6SJuVM=",
  "id": "rs_0e5b8473993cbf0b016ab44dae45b887d0a2990068c444005d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held bottle has been placed down farther inward; its cap is now around the reachable x≈0.42 region while the broad lower body remains centered between the open-jaw path. I am releasing this body grasp so I can move specifically to the neck just below the cap.\"}",
  "call_id": "call_UgYSbWpgYz8LffpRF7C7Nfuw",
  "id": "fc_0e5b8473993cbf0b016ab44daedc1087d0962df63cbec3f879",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UgYSbWpgYz8LffpRF7C7Nfuw",
  "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]: [-0.065, 0.8082, 0.5655, -0.347, -0.1131, -0.0818, 0.9985, 0.9413, 1.7271, 0.7853, -0.0246, 0.8265, 0.7551, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=0.0044 left_z=0.1659 left_yaw=0.0597 left_pitch=-0.0234 left_roll=0.0065 left_gripper=0.9985 right_x=0.315 right_y=0.2179 right_z=0.0539 right_yaw=-0.1211 right_pitch=-0.0253 right_roll=-0.0402 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -2.0718, 6.6803, 1.9121, -0.0513, -0.105, -0.0317, -0.5538, -9.306, 5.1761, 1.3504, 0.3687, 0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c27d836bbda516ef49aa0cd8abbf96d1d75ac01547f4ef3a540402bfc1e69e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38b0e52ea9aa702c9978f4229fd7554a77e845ac4eaa7c0698b56f640cbbd57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7bdbd645e7fc9d081066c9d4712e6c8146f18cde5b404e79d72bc9ed74beac",
      "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 21 attempt 0 · /responses · status 200 · 5.515 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6796, 2.1197, 1.9335, -0.5278, -0.6811, -0.561, 0.9985, 0.7506, 1.7309, 1.4681, -0.5213, 0.7471, 0.6003, 0.3575]\nstate[eef_state]: left_x=0.5127 left_y=-0.2667 left_z=0.2152 left_yaw=0.159 left_pitch=0.028 left_roll=-0.0403 left_gripper=0.9985 right_x=0.4127 right_y=0.2257 right_z=0.226 right_yaw=-0.177 right_pitch=0.0219 right_roll=0.0154 right_gripper=0.3575\nstate[joint_eff]: [-4.9709, -9.4701, 8.8957, 1.1795, -0.3346, -0.0171, -0.0464, 6.4752, -8.0889, 6.3932, 1.6093, 0.1685, -0.0317, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8246, 0.5972, -0.3744, -0.1139, -0.0822, 0.9986, 0.9314, 1.7123, 0.8303, -0.0963, 0.82, 0.765, 0.3575]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1702 left_yaw=0.0606 left_pitch=-0.0355 left_roll=0.0082 left_gripper=0.9986 right_x=0.319 right_y=0.2185 right_z=0.0644 right_yaw=-0.1329 right_pitch=-0.0355 right_roll=-0.0397 right_gripper=0.3575\nstate[joint_eff]: [-0.0889, -1.6615, 8.6906, 1.8242, -0.1587, -0.149, -0.0415, 0.4034, -6.2701, 5.3675, 1.409, 0.6129, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8082, 0.5655, -0.347, -0.1131, -0.0818, 0.9985, 0.9413, 1.7271, 0.7853, -0.0246, 0.8265, 0.7551, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=0.0044 left_z=0.1659 left_yaw=0.0597 left_pitch=-0.0234 left_roll=0.0065 left_gripper=0.9985 right_x=0.315 right_y=0.2179 right_z=0.0539 right_yaw=-0.1211 right_pitch=-0.0253 right_roll=-0.0402 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -2.0718, 6.6803, 1.9121, -0.0513, -0.105, -0.0317, -0.5538, -9.306, 5.1761, 1.3504, 0.3687, 0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c27d836bbda516ef49aa0cd8abbf96d1d75ac01547f4ef3a540402bfc1e69e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38b0e52ea9aa702c9978f4229fd7554a77e845ac4eaa7c0698b56f640cbbd57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7bdbd645e7fc9d081066c9d4712e6c8146f18cde5b404e79d72bc9ed74beac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE22hDmWNII3XTdQ4mZL0ZVnnbs3JhS_5ZTGQgRCTTLIOCRLQVIol6r21brShCISZJlsQc95PtJjKV0iZ4o09vtW_aKCLGDuTa8Vy5sl-7huZjKHRyumgEWJd9ljJ2D2IjC1xk7gDGKfh84oGOKtlUiUH1EXgnBlnJW5XuZOer2OsaU33ESCnruoUU8WTJs1q6_9BRLQmeg78P7WqhJ3fZ0igThK0N6ait9YrMrn6qxus5c8Q5isdfDof78XJ1m4dWdyEMfF_0EKynm464X7KSySZn_5tBN3O9PUDQ4lV7CHOUWse5UhsC1QbhHvRirVCezEYmmrIOseqHg4Fz8h431OeNvmClqA_vu53PO02OHS_WtFjN8R7-iMWWfzMxGWadYdfWE-xvjgmtsJfA_1rddJBVolfEB_PJ1T-yUcGoqC_dtXeWO5p8hEhd9RdTLD49jzGAIL9KHcLiTblji3RSoETsBb2KzVVDqSovV8Rk9D3Kalz2Sq_gpfkqSAiVMqz5QiE74WisyxxIx0OJ-IY0HrjKW3pcnxM1_eNEAH_VF5l_dW23f-408eWe_g3_7UP3BN6FPawQT7j7MU-ahdRtEnFLQoKXpvlS_R0YbGp9jc-Vb-BOuMprTKFZDlwqsy23wD5o8QxxBXsEGHut_9aLNDmnwd-Qsbp6z9QCof2kSoh-i4fiEHVEQd0d94XJtMOuAWB8ztlqDBmRoDeGspZa4BXcV1ABIesaV9HZQfrRHGctnzFgK2Unh7xqQEnNtJXYoIpq_LXw5VV6M10lwqqSYNIrOSTSNa76fNaX7HRj5jyDXR9gPoQ5boko-kQIL2nBMRcBik6vCo0ywijWY1mvfMi8t4lLcPMJswqfzURZg6w9aQRW81O3NFIk-nPzGM6qmpWHAfTCPW1X_8jGVDhFKhJsfeoc3mDf2FdtSnqMmujZdBPDRJnpih7TJ1DawpbqDfeJ19efh8GBgyfNVmCIztQkrjNALIaLxDZ4fQZHg1gombp-a5qALJYHmeCsBQK3YSp_5ikinrl3spEQOLawh4uOuYIw8OFqMp7vutYYdMj4PwLa2rWXaiLmWRSJAKBM-gjXt1ghxawHuLmOeEk4aLYezYdpc3F3XRwP9lyJSZKwHlOIGHxIAZ53O_jLShleaBQDKqqVdTesCBIUepHlchO4m7EzgWPsb8kwpCmSeLkohMB867gPoQVa4GufOkw149MUy3R_xeiCBv-OcGojJvjgAxA2qyk5MvrgDI0Qz1hcQj3XAiubaAemb4oYMUcVE4wvrz0KU2mAcGPaCbSRU5P-dy9TQsFDWe87xL3UPmwrLgO2su1tBI9S1ye6Rz7zpyA14NMaXw9TI8HGD0g_cu3ZTvl2Nwk_eo1lYHcDmEmrj66McHi3GUSrsauhOfgVQU_6HXeHXjBcy904sbVup-TWUqYy_KfxJBuVkIX73msuVDBYONxWtIIjXR_M1ZI-PMby8OE0UKl_fySrdMFokMRqb-TkYXeNcjDZ9ozRVYMyts_bcBm1aOT50AAi13iQgnuLADyHulq379BtkYzwNgkCXfkguUAlFOcS_iYE9O45_llo7v198EirrMSdVeVXQqoOX7dKUg2-lkt649leaK_1nCUhMWrS-fPL8OIXlwLVwICyjWR6CYSgy0nFoBp_S8mO-4vU43Yc7FX_ioVUGC-HIxzQF9zY5L1y7I8aOZyBPt00-bq02H0NHkQFprjdvVEH543b4mhBwwVe43xC_sCzlpPqYqOmLfxwVom93V7wfczAmAVV7X-7raGcTc2woZKlWrn9UnB0aCTyVJIixuh7jb5jQktuEtVFYFwOVcneXirZSxP5MSDx0rKTUngHxYT7-NahqjDlnQA4tHh-EWiB7AA71EpoKCeeob38VYA0wXwOx-gge7SFJXKm8C0Q8p2a8P3KCb-G8vqdxzJ10qmEJYlPlMN0i62iNbEaSr6qwRRW3ZbMiljOP-sZZxxm5CHl39nPFwOLTNGtGBlUy1i2mhXPR2Rw6C35FzagTbPFk5tEkBVOEZmZOk_vcfNnd7jm4sH7ibr3I_WAtkTfFzXpnmztJZ-4IuDDSm0s0cCNKBtA_IsYFUHwHbclpqFwSM1O5osUZVER1iUtGe4NAaxZ1H3Vljfm7WNSBhQDbNRsviPjrgsLZbP9ST7nmfplaJjieRcINbJ7cIxFbDaMY2WAR784jQtY27sQ-a8tbmz1Q=",
  "id": "rs_0e5b8473993cbf0b016ab44db2a92487d0b473d9785fa6d7b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.22,\"right_z\":0.1,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"After release, the wrist view shows the bottle extending straight outward from the gripper and the overhead view puts its neck about 12–13 cm ahead of the old body grasp. I am moving above the neck/cap junction at x≈0.44, now comfortably inside the arm’s reach.\"}",
  "call_id": "call_E4R14hD0pfT2U0A3FH2NsUyB",
  "id": "fc_0e5b8473993cbf0b016ab44db5003887d09005c96d73a70f1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E4R14hD0pfT2U0A3FH2NsUyB",
  "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]: [-0.065, 0.7998, 0.5484, -0.3298, -0.1131, -0.0822, 0.9984, 0.6537, 1.8347, 1.0294, 0.0757, 0.5476, 0.3885, 0.9988]\nstate[eef_state]: left_x=0.2946 left_y=0.0044 left_z=0.1638 left_yaw=0.0599 left_pitch=-0.0151 left_roll=0.0052 left_gripper=0.9984 right_x=0.4242 right_y=0.2136 right_z=0.0847 right_yaw=-0.0136 right_pitch=-0.039 right_roll=-0.0278 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -1.9761, 6.5162, 1.8535, -0.0562, -0.0757, -0.022, -0.6769, -8.3077, 8.6632, 1.7509, 0.3346, -0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065e4fff738d066bd400ea167891d2fb8b490023dfd237bfc591da2fe9ec19b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46d8975669058b838bca80db84bc638f1f94ea3f1946430a3e53127c87b3e86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998b83a751e2f97921a8405522c7ddf5a7ed738e3b36f439586fd645e741a91a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.209 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8104, 0.6033, -0.3466, -0.1112, -0.0944, 0.9989, 0.7517, 1.742, 1.4803, -0.59, 0.7288, 0.5972, 0.3575]\nstate[eef_state]: left_x=0.3001 left_y=0.0059 left_z=0.1826 left_yaw=0.072 left_pitch=0.0121 left_roll=-0.0096 left_gripper=0.9989 right_x=0.4068 right_y=0.2241 right_z=0.215 right_yaw=-0.1618 right_pitch=-0.0296 right_roll=-0.0328 right_gripper=0.3575\nstate[joint_eff]: [0.1436, -1.6068, 7.2684, 1.8144, 0.1343, 0.2125, -0.1245, -0.253, -8.5812, 8.6222, 1.5946, 0.3541, 0.0611, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8082, 0.5655, -0.347, -0.1131, -0.0818, 0.9985, 0.9413, 1.7271, 0.7853, -0.0246, 0.8265, 0.7551, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=0.0044 left_z=0.1659 left_yaw=0.0597 left_pitch=-0.0234 left_roll=0.0065 left_gripper=0.9985 right_x=0.315 right_y=0.2179 right_z=0.0539 right_yaw=-0.1211 right_pitch=-0.0253 right_roll=-0.0402 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -2.0718, 6.6803, 1.9121, -0.0513, -0.105, -0.0317, -0.5538, -9.306, 5.1761, 1.3504, 0.3687, 0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7998, 0.5484, -0.3298, -0.1131, -0.0822, 0.9984, 0.6537, 1.8347, 1.0294, 0.0757, 0.5476, 0.3885, 0.9988]\nstate[eef_state]: left_x=0.2946 left_y=0.0044 left_z=0.1638 left_yaw=0.0599 left_pitch=-0.0151 left_roll=0.0052 left_gripper=0.9984 right_x=0.4242 right_y=0.2136 right_z=0.0847 right_yaw=-0.0136 right_pitch=-0.039 right_roll=-0.0278 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -1.9761, 6.5162, 1.8535, -0.0562, -0.0757, -0.022, -0.6769, -8.3077, 8.6632, 1.7509, 0.3346, -0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065e4fff738d066bd400ea167891d2fb8b490023dfd237bfc591da2fe9ec19b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46d8975669058b838bca80db84bc638f1f94ea3f1946430a3e53127c87b3e86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998b83a751e2f97921a8405522c7ddf5a7ed738e3b36f439586fd645e741a91a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE29r8nBvAPdyiXM3BnOrq1mIwOhPETV_gojokutmLvcerpqKzQJTR5E977tMHiDOzreBnbyk4Ao-vXAV_4jAWm5094sCUuk8DU03xH6a2sveBnegJ8Hsi2_awxOLCbQVziYp0g78sT7jFi7spJxiKZZ0mZhspfqH49JTdtZ0OEFo1dkUJRR-ufh7yh_dugXMZWvYd_7zMPLJnsezP689It4hG2rNzhuP0JO3Lqh4fRCpnB1OFz_DsvimIVOP09sAEyybTwr3gOxDpTSFomx83KyQJ3rQ1gcDFCJY7Qa54TPzi9KlGxwi-Ffo6nABspIZJKYsx0Hx5uulphsl9oYXxp5LtQZ2_u0sbXj2R5oTh640L6FN2Z9ePK9s3Aiwavaiiy186614LOBYSS-FvD-yJKDL7zUFBgqlqbd73SYN8kcIiBzVZ2XQG6nkLizasHMKTKUB0leF8aAsfAr7kqgIRvCocdgj3gWGeWr38PJGvqM0bYcPmaBaq2D7-xZBAz9tv5Nt4UBMPhbnFYtin49uR-Khl3k7D01u3gHQLeoulH5nhU5Io25oJSfCX_bTIokbFgADrI7h9OS2xHleU5fM_WutGMlLQjSRFEP5va6CHvORb_b4tRDdRv9vLIf4k96wDjOiGqRl1ehvXumY2yiK8Fq2ITS8gTeLEwW_JLuBiDxdHVLvWEMyL9OSG0-7hgx973bVXi5XecPkarun7PNCNc2fq1G2gez2yfMmZgT47bQop92hC3LPkd0QN7X2CEvLHrVImUlTZBv5OuGtQTJ03442sd9BvkrJl0REViSp3P9hbjkqT6xoVqLEn7WVDdYgvU7KJs9q1cv2_oqnIopK9AA3kXqKOHddTXxqqggcu2n3wssv2_SkgB5mTpR3Wb__0bNnMDQnfWWpaCRTRClToTbMUvXdadhXM7F-1nYb6jx3tPuHxjKDwlnx2e9T04bKaTCcvp5Hjc8D75TluYxiteIgXrr3WhHaaLLucM_sKtB7tYL1q7UYYp0MuJ4Lvt2RX086FB7IQb4XZ-cpDKUyZKRkX8qh8N-f2tYQExHHQNcquUwNHsFzpSqmr_1reWwA-lxzAvipeSs2q_Zi_GJVm8mYCIqhyXhDQ9M30YNKypRZp3HSbVMUt_R0H1u4OgMUdm-GF17eyVK29uS1mxilATBYwhCb_xc3hBnpH5r-MtjzTzORQdPws8A8zXYXKa0yBScggTNpdJdWMKB4TUSDEsDpGDqhxmPoS-PgHideR5JEdBFBzRkmCUs4GCz2x6qRFoDlFAWD34SfW88CR4SqBeQxyujmKb9BVoftFJs5vvRAXRN67-0gV3-ND9hbQ2Cuw45cWPewalYxk7MkG4lcaT5hOVBV93iJttaJxOGx-BSXB_Rh0vvdctyTi9dpSG2cTbUrqNxDNNdiBdtFJEZL1lSca6RaC-FtvHeh1J55ySGJ6YK61pVsGpn5Wd6Eh7tcD6Sl7P3-vT5agh6zXiUYyaDGwUHBZ8AaOXOlw0NcBlktsTAHOZc8gZ5tOCtyx2ZaNAIWp9RwNYZK4hLXvih15x7o4tpkJ1LxfRlhVzjzokQxHCxkfsjvHlwDy6wESDR38QeFXToM37ff23F_GxSIyW4xQjrvbAlilfYCDYHAN0j6SsUURzutKYm0nO2dfOr6-Zc3V3H9K2bWd5wSVtV8eibN8i3XW0w-WpcDh9G_qvA_Azm0asRvo2CwTELXOQhB7hrW6tjIKw1z5Jfm1TRBakIFJEJkUFTE9WjiDOEw1Cr7cfvcZfCRDFjfRFylgZThW3pgNDXgRvq_6sPhMtAHs5pUk8ZmGKD2elq4qO-NR7ekcvcIuZOPUU9yFApzWFsM7_WG3QhApipxsbMykFD5iGtwcicbacB6dh0PN1Xa-g2_YKSJLJc-trJGYi9AcoiAa7zjKxSse0JasGsZzsKHOR3HWFbBkRX_HEDi8feuMVucpHJVABiSRvaniEcgFjzsZmUm_yANmJPP8wdz-25tcuFNFH-gAV264EWfkFredjBR_pWAlNPHLtGnto1YmfApAdHawg1-YJXyw1WqDBx_2Mcocg-R9czuC_c6jrxPjI5rZWJJBDYDtqEWa6PcJ7MOfVPqCMBA7qchCop1Oflzo2DCxUVPhHP3Yph2vKMvf_pPEnUDfegSOM-5p3CFoCHm2ZWp1M1vL4A_pMo-BXXS55Pz4Yuh58MB38alx06Cf9lRvM-6xT_CmwA-H9gGlTVFsNg2Hwv7GBs9BvPhrQafGXGiqoJowtwhys6vRkwWWyAhC3qAGzRSN3qn7GSILyDbsFLdqibxwfAof3aNJNRW471ox5fzadQFq7WbKfmXaJ04k1tvHJs_QaY3Rn63nQALlmfJvlCS-gRhr6g6Ei8JiuoJnHAOs7ExZ4gEiiUSgfcY1OHNJQqF9gSDE5vgpcnNHiPLmfym78eBcaa2IWHkYDcnzVTn_GkMi9k71Imv_sOU85CIAnHClF8wP_pZ_1rAhnU0MKPYikNml9uqXvFoJ8dFMbEtdXyZEkrRL3k89z6icTGtRtQtRrJVhODNrsWHaoXmpa-Azsh0QvBDtxfH87PEv98NvIRSmqEe8AU0mhd1dcFcNNiszG2zUIy5MGFWC5g",
  "id": "rs_0e5b8473993cbf0b016ab44db94ebc87d0806a6d1101f02e57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.24,\"right_z\":0.035},\"note\":\"The cap and neck are now clearly visible in the right wrist camera, slightly left of the jaw column and still ahead of the fingertip line. I am shifting the gripper left by about 2–3 cm, advancing modestly, and descending to neck height for a precise cap-supported grasp.\"}",
  "call_id": "call_yLh2cGq3YBkWUBZmUIdmmPqm",
  "id": "fc_0e5b8473993cbf0b016ab44dbc3fb887d0bd9dd5b5d9f082e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yLh2cGq3YBkWUBZmUIdmmPqm",
  "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]: [-0.065, 0.7967, 0.5476, -0.3267, -0.1131, -0.0818, 0.9984, 0.6701, 2.0346, 1.0554, 0.2382, 0.5423, 0.3882, 0.9988]\nstate[eef_state]: left_x=0.2947 left_y=0.0044 left_z=0.165 left_yaw=0.0597 left_pitch=-0.0098 left_roll=0.0048 left_gripper=0.9984 right_x=0.4368 right_y=0.2344 right_z=0.0289 right_yaw=0.0068 right_pitch=-0.0502 right_roll=-0.0323 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.812, 5.8735, 1.8388, -0.0611, -0.0464, -0.0122, -0.294, -8.7863, 7.8564, 1.8193, 0.3101, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59abbc412f45e6a5af4f97480c75e304dc0c4d7a9ec51afb8ff99efe2446fe58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053ca95694ca7c51207c6a6fe1e301dd4c17f39389d8f9270753c436bf0afcdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9058272a8808bdbf18d6827da744c25057e526c5d70e0e250d7f734a7d386782",
      "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 23 attempt 0 · /responses · status 200 · 3.388 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8246, 0.5972, -0.3744, -0.1139, -0.0822, 0.9986, 0.9314, 1.7123, 0.8303, -0.0963, 0.82, 0.765, 0.3575]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1702 left_yaw=0.0606 left_pitch=-0.0355 left_roll=0.0082 left_gripper=0.9986 right_x=0.319 right_y=0.2185 right_z=0.0644 right_yaw=-0.1329 right_pitch=-0.0355 right_roll=-0.0397 right_gripper=0.3575\nstate[joint_eff]: [-0.0889, -1.6615, 8.6906, 1.8242, -0.1587, -0.149, -0.0415, 0.4034, -6.2701, 5.3675, 1.409, 0.6129, 0.1099, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7998, 0.5484, -0.3298, -0.1131, -0.0822, 0.9984, 0.6537, 1.8347, 1.0294, 0.0757, 0.5476, 0.3885, 0.9988]\nstate[eef_state]: left_x=0.2946 left_y=0.0044 left_z=0.1638 left_yaw=0.0599 left_pitch=-0.0151 left_roll=0.0052 left_gripper=0.9984 right_x=0.4242 right_y=0.2136 right_z=0.0847 right_yaw=-0.0136 right_pitch=-0.039 right_roll=-0.0278 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -1.9761, 6.5162, 1.8535, -0.0562, -0.0757, -0.022, -0.6769, -8.3077, 8.6632, 1.7509, 0.3346, -0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7967, 0.5476, -0.3267, -0.1131, -0.0818, 0.9984, 0.6701, 2.0346, 1.0554, 0.2382, 0.5423, 0.3882, 0.9988]\nstate[eef_state]: left_x=0.2947 left_y=0.0044 left_z=0.165 left_yaw=0.0597 left_pitch=-0.0098 left_roll=0.0048 left_gripper=0.9984 right_x=0.4368 right_y=0.2344 right_z=0.0289 right_yaw=0.0068 right_pitch=-0.0502 right_roll=-0.0323 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.812, 5.8735, 1.8388, -0.0611, -0.0464, -0.0122, -0.294, -8.7863, 7.8564, 1.8193, 0.3101, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59abbc412f45e6a5af4f97480c75e304dc0c4d7a9ec51afb8ff99efe2446fe58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053ca95694ca7c51207c6a6fe1e301dd4c17f39389d8f9270753c436bf0afcdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9058272a8808bdbf18d6827da744c25057e526c5d70e0e250d7f734a7d386782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3BNfw4-rcIo_k4CvEgsJz1HTq7WAkswd7zT6Kq0IPaUR5pWRPTGW4LKh06R5j6nFDnahSHkhDjZuihQMrG_oc78JR0N_AdDEuUus7XquM-pvrfr7TuVEuHQT9bSM-2Vo-ZAi701f16rrTdI5MA-LipMFcS9q58kqaC3wJ202AzQBrvjMIV-6-cmfrSmk7CBr0akqNftAMeE39xt81Hq3-Z1xZuOOy6fFFPkCRzfJklZC7V7YBlE2XahE6Rldte4hu9jo18V4bTNHC9crpETbc22DWhj5RLw_P9LjRXdZcoVzEJ7Hki0ViqK4Km_h8cNV6pJbusTD-DaeHuqx0oR1_B3--wb49jhK5MQ3DREi6Q7qv9Zv0-0yc14ezuchztxR62c2lyagVBHhHMw0DM71upOPRx49KdgqraorJLgN5E9ZubOC49_fPUyvjfKsgzlMYD-S7FOSX7h91fuvp9iyX3tiXCdlcDrqFDjgaQHnhXdv3NNCRCsRWs0f0pKS1ww7vwEKVUKvwuUmGchHP1P7Cm14cLJUmMnXzfa1xiH_7RyXQZAmiDSqgttrFE7Tn1xnMFrWmPr_MGPU5kWHQUDmSEmNYYDAAQN-AnKLIP70UqacVgMFuHHumdRHufx1Rxoi-geGA5KmIZKJSUO7-TIN-RwmF6dCrAMHKCYdYaD1YNmGYO-6AiBhO-nf9yj9trLQhf_Z9PcEXVPQayq9MsCBeqBAqqvvS3dTgHLPdWvrZVJsb3J5mYB-DFyggH1_PMenOA7_vaDAg9WVNdGy3B6aiW06XpqNtWKvwMJ_QfX_dHh0POPOb3h1zVCmqmhA1WRZcSVrHaGxuHsfvpy-VYL3F1WSKx3E5YcgNMvNZkr3BRyp4w-NWfn9U_FcdRbYMxHFse1gfdBXG-BvlQ78GlgctfuPTZ0mttEhcOZek-GRXOQA5skSwoudEej7Ms673ho4iUsQ47Kfp0vbjd1cCYevROEuG9LX6E6zXRuAooH6uzQ9Y3828GirkMgK6fLMuwAXrQqIVxxTbK4OsphPrCR03ifD0KaaMdLTJQwWLlddLJqj3QrnHhfC3Z3aJIrhO18Yitin8NEcpiWSXhoo_QaAIG-6X1dmVpOv7tRVdla1stJsqBVgHEMtEyMCIpq7zpnkmpgR2XRShilsrT5vP8g9XEsuZj0HGUGPaJHD2wxOcIl14ibrj72xbRIBD0PgdJg0dD9VLjtgV7Ht9z8-DdCcEJ5idl1p__bBt_JQg4tzVGougHXMAJUclIo1Ln0sOyDYrfMxC9FXZrWrnt1mqtLU116WmKrc3-fNU-xsbsUABRHLSZboK91-xGEOoJx2LzJIP8ESo7LhZScMXQqstx2fzSlQhuILPaaPxUmFDeTnycueasbFXGDp-Qb1O2SWYSYrzyX8-R1ywkOju3BEldGOBldlCId6TZL3_uKby-7S3Zc_0qIRJ4LzhQh3vfr8DmE0wSisJSBFbfp37xR4cZ3ZShm48QsSDTOEyh6D_qvp8eO0jqw0BRe7K6ijE8U4jNB_9jae5J5tMZ2j9DZRt7NUYp2sYBpukwuKQECJPpmyLoXlvbG2lWHe7OIKvxooO0JbbjonVYRT9ei_Wtc6S67pM_H8uWFFhIzZgKHGPKJHmBhzj7ju6hdrnRd51wf55jj4Ffop4d6XYMUz1Hnydm_bo4T8zonBoMSXlipHDiWCgq9DNtVIMvE1RSk3ivsGFlh3zJypgzkiTIa_yfFeihV6By4pZpptzpSI5dkpiCJ8EN_kU=",
  "id": "rs_0e5b8473993cbf0b016ab44dbefb2087d0ac242cb1ce72d046",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.255,\"right_z\":0.02},\"note\":\"At table height the bottle fills the wrist image and remains about 2 cm left of the jaw center; the neck is only a small radial step farther forward. I am applying that final lateral correction and advancing to x≈0.46 before closing around the narrow section below the cap.\"}",
  "call_id": "call_AU4RJxPKq6KD3HeezBfRKiNR",
  "id": "fc_0e5b8473993cbf0b016ab44dc0710c87d09ea16fec5f231896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AU4RJxPKq6KD3HeezBfRKiNR",
  "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]: [-0.065, 0.7963, 0.543, -0.3264, -0.1131, -0.0818, 0.9983, 0.6701, 2.0563, 1.0595, 0.26, 0.5415, 0.3878, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=0.0044 left_z=0.163 left_yaw=0.0597 left_pitch=-0.0136 left_roll=0.0053 left_gripper=0.9983 right_x=0.4389 right_y=0.2362 right_z=0.0237 right_yaw=0.0077 right_pitch=-0.0473 right_roll=-0.0296 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6615, 6.6393, 1.8632, -0.0513, -0.0659, -0.0171, -0.2256, -9.6342, 7.5692, 1.8046, 0.3492, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2b75416874cb069ee9793be56b18704a1885baf33007030f76db40c8b5421e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9913bd04ed52f6e97ff374bc68964cd2aafb080e2117772f1e21b86b497a0b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3a807b422294c0320f011c058ea90393260565b8918b1f057e5ef400d326fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 2.943 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.8082, 0.5655, -0.347, -0.1131, -0.0818, 0.9985, 0.9413, 1.7271, 0.7853, -0.0246, 0.8265, 0.7551, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=0.0044 left_z=0.1659 left_yaw=0.0597 left_pitch=-0.0234 left_roll=0.0065 left_gripper=0.9985 right_x=0.315 right_y=0.2179 right_z=0.0539 right_yaw=-0.1211 right_pitch=-0.0253 right_roll=-0.0402 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -2.0718, 6.6803, 1.9121, -0.0513, -0.105, -0.0317, -0.5538, -9.306, 5.1761, 1.3504, 0.3687, 0.022, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7967, 0.5476, -0.3267, -0.1131, -0.0818, 0.9984, 0.6701, 2.0346, 1.0554, 0.2382, 0.5423, 0.3882, 0.9988]\nstate[eef_state]: left_x=0.2947 left_y=0.0044 left_z=0.165 left_yaw=0.0597 left_pitch=-0.0098 left_roll=0.0048 left_gripper=0.9984 right_x=0.4368 right_y=0.2344 right_z=0.0289 right_yaw=0.0068 right_pitch=-0.0502 right_roll=-0.0323 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.812, 5.8735, 1.8388, -0.0611, -0.0464, -0.0122, -0.294, -8.7863, 7.8564, 1.8193, 0.3101, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7963, 0.543, -0.3264, -0.1131, -0.0818, 0.9983, 0.6701, 2.0563, 1.0595, 0.26, 0.5415, 0.3878, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=0.0044 left_z=0.163 left_yaw=0.0597 left_pitch=-0.0136 left_roll=0.0053 left_gripper=0.9983 right_x=0.4389 right_y=0.2362 right_z=0.0237 right_yaw=0.0077 right_pitch=-0.0473 right_roll=-0.0296 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6615, 6.6393, 1.8632, -0.0513, -0.0659, -0.0171, -0.2256, -9.6342, 7.5692, 1.8046, 0.3492, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2b75416874cb069ee9793be56b18704a1885baf33007030f76db40c8b5421e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9913bd04ed52f6e97ff374bc68964cd2aafb080e2117772f1e21b86b497a0b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3a807b422294c0320f011c058ea90393260565b8918b1f057e5ef400d326fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3F1c-cytIi7ZVUqbm5O-1HYML5b8DbskoZjpW0Ckp0H9aDq-ppcH7lr5XNI8SBlQCoRQWNQerkapmmdntUY3lGOTXKZVZJcO8FgDGY9s1NKgc3TNx4XUrjDohRiSE8Kzpy-_M7S0boYidvPIU1Bd3QWTHzgUc_rvVT3qLlVu3iEmtJX0Sdw27mdoAhlV8_oA86yvPcn7MsLORlWtND1cAtdayaLF5KFmeMGLa3F_UW-OAcLE9vg-lKc1vmSJLE0kznuWE9mfcQpSjDGn6cSveOGAgFeywzxRXjTsoDaPfsTgS7dtwlXfolKa0bWT9ZJLmezRvLtxOBa_1h2tEliqNMNP9ka0KaUj9prSAOEn-XPObRe7xiToJQsQM1gvIB_Kx1kzdkMSqh_XWIiXRwG_0BAdiALvE83Z-um3IrmV8FLsDpdrfU7x0W2FH56WMML7oHJYApxCznmH_lD3iAEFjlz5CUUtXjw130ldbdFsHYJJnG9HYkIasV16JRmXmTWnExjS245U2rR2g5AiToFOb9L5-rSTOoWuM7or0oMncU2g5yZkRWWEyi3Qs63uNYR9vgXrvdkZkG_IynMDc_03D_pN3HLE1geuHiZWu1ziTXitghLoAzIEOmy5lAYkllB8hB2pdB477qaoKUdrnMZygHkWQVG13P5M6Zjv9cCVxUFoybgAHtIDJl8N_2mGykhkn3rIZcD7EfhXIBvnzKwtqvkRMLOodzbSwLkC862EIilFub1Xa7IHbyN000tMiYq7Oc4VDLB0pzyNUQ2TYH154mRdJJ24nuq0pDXOmjde0QCDXTH1qHIHyjBe4wxTvGjol047fs02p3T2CvvXUHYjGlNqxtBkXHWPhVCw3b1Mf7C3wulSknGvc_EoXeuFTgxPHfd7Z0WkBcE3R_Lvvpl_XGW-dYDklzwrVLO4BhvLtMBOe75MJaIZN1AFvePvFcRj4oE9dSDkyGV2QZuGyZFraovjhZrml-TUuAvCK-X3eEKUR3L-QEMAtheAt_3zOxZGn5RcezkfJgepxYVQN7JFztZgvzScTMUep9MNY--ArvCNcJZgeFxj8bprz5q6CcVXGRPpaPrPmP9iyshxwvrkMSuA5xWcj6HZUWN5kzcynVg1A5JA2BICoPvuIn5pmQM6bOyWvRbgMXMZcXaKN7m9PZsWGBqG30L8Mp4VY0-1w-sAPYRws1SDQrW9HGMhvym04bWlpApOPmPYjYntIla86GVEoXzJXpm1r4MHyVjqXENMz508CW6o7q6tCSH-igmQ6Kk4GSqqTdlJb4t1NAsrYHOsQ08XH9vqdnzEoeV4Nn4ZxBSNzoxQ8E7wVmdwoMhPUVoViiu-byDskSDGv_m8Dh9BU30IpBun2WXRsHFixi4fx2fOFdESJef2kLtpgxivptfDbEhpN-HygB_Xe1pD6NcxaIfP2pNS2IG5vuy8AuAwM4c63Ni-4_SFliPYVfIisWSyIJMGBtqTAYX6Nn9nw9NclLwU-uHYsBhXHXdDThypsa4sf_UTdJn6Hqzn0oQbuN-_h1jt5ScSBrYU5svCeQBr7bGmd_8AlS6TuHYKbZRLD5-MmUk8CLiX6r86dh68VH5bj1BlmEIslBUyFn8EnhKvowXJlz7HClV2g9UdP3ZxWZqo_MhGbaVeSi4P0a2ESk91TP28IswS2iQnXOTiRpJlwlUo_L9Cxmjjuq2GwWWHfKCh89rC9hHZi1PvS9T5e52LDOTX8PEZ9sKyWYBpy0vg==",
  "id": "rs_0e5b8473993cbf0b016ab44dc32e6887d09a87bdb630a6b128",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm stopped at x≈0.439 at this very low height, and the cap is still beyond the top of the wrist view, so the neck remains outside reachable table contact. I will use this centered body contact to translate the bottle inward one more time before attempting the neck grasp again.\"}",
  "call_id": "call_mJSGvy89AZhMFiSAJ9noROeU",
  "id": "fc_0e5b8473993cbf0b016ab44dc41dc887d0a8321c0998d34b3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mJSGvy89AZhMFiSAJ9noROeU",
  "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]: [-0.065, 0.7956, 0.5354, -0.3256, -0.1131, -0.0818, 0.9983, 0.6704, 2.0563, 1.0359, 0.3252, 0.5453, 0.3874, 0.5341]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1599 left_yaw=0.0597 left_pitch=-0.0196 left_roll=0.0061 left_gripper=0.9983 right_x=0.4405 right_y=0.2369 right_z=0.0266 right_yaw=0.0061 right_pitch=-0.013 right_roll=-0.0063 right_gripper=0.5341\nstate[joint_eff]: [0.1026, -1.7573, 6.6256, 1.8877, -0.0415, -0.0952, -0.0122, -0.0342, -10.0308, 4.5333, 1.4042, 0.188, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9aed8936c2d4a8685e245ac6f49272eb5752b5119507f05883235bd95be83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f967e9ff3024ce5a21a7503894987c5873609bee05f19d3e0e18f835995ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743aeb217938926da23f7d3efc290b7e405908e5d35f5e27b6a5361152667167",
      "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 25 attempt 0 · /responses · status 200 · 4.495 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7998, 0.5484, -0.3298, -0.1131, -0.0822, 0.9984, 0.6537, 1.8347, 1.0294, 0.0757, 0.5476, 0.3885, 0.9988]\nstate[eef_state]: left_x=0.2946 left_y=0.0044 left_z=0.1638 left_yaw=0.0599 left_pitch=-0.0151 left_roll=0.0052 left_gripper=0.9984 right_x=0.4242 right_y=0.2136 right_z=0.0847 right_yaw=-0.0136 right_pitch=-0.039 right_roll=-0.0278 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -1.9761, 6.5162, 1.8535, -0.0562, -0.0757, -0.022, -0.6769, -8.3077, 8.6632, 1.7509, 0.3346, -0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7963, 0.543, -0.3264, -0.1131, -0.0818, 0.9983, 0.6701, 2.0563, 1.0595, 0.26, 0.5415, 0.3878, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=0.0044 left_z=0.163 left_yaw=0.0597 left_pitch=-0.0136 left_roll=0.0053 left_gripper=0.9983 right_x=0.4389 right_y=0.2362 right_z=0.0237 right_yaw=0.0077 right_pitch=-0.0473 right_roll=-0.0296 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6615, 6.6393, 1.8632, -0.0513, -0.0659, -0.0171, -0.2256, -9.6342, 7.5692, 1.8046, 0.3492, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7956, 0.5354, -0.3256, -0.1131, -0.0818, 0.9983, 0.6704, 2.0563, 1.0359, 0.3252, 0.5453, 0.3874, 0.5341]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1599 left_yaw=0.0597 left_pitch=-0.0196 left_roll=0.0061 left_gripper=0.9983 right_x=0.4405 right_y=0.2369 right_z=0.0266 right_yaw=0.0061 right_pitch=-0.013 right_roll=-0.0063 right_gripper=0.5341\nstate[joint_eff]: [0.1026, -1.7573, 6.6256, 1.8877, -0.0415, -0.0952, -0.0122, -0.0342, -10.0308, 4.5333, 1.4042, 0.188, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9aed8936c2d4a8685e245ac6f49272eb5752b5119507f05883235bd95be83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f967e9ff3024ce5a21a7503894987c5873609bee05f19d3e0e18f835995ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743aeb217938926da23f7d3efc290b7e405908e5d35f5e27b6a5361152667167",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3Jleq_XrePa0YKasI-j5BJAHK0D17DINNPuy8OwtYXUveqaJOJtG0IgJpL-bymv9RXnbOSf--74JKBecO4Qi7rw8jHE87mh_lsluyrI3nlqx63YBBluDlUGxePm9TlmfBFQzwja9CVaQ5maDqWRQ3EMG90JrJD6TGhDdDbh8ZXbNx7WUPfS-juWyrFnup1wi8A0ZHExXBHQI7639dkTsX0mEpBFFGFlNCsnuBZlwAZ2lcW01pTr8tI-V955NpN3TpQ3_evNrHW7bqNJBnsrhGLTrmD5tPcUQn5T6MD-DXPVom0ucX8ovsR2lSWo8KL1KXGgxwMubOMmSprAtFjEkCpEzuhvN0LlKpL70LWOtjLEWCItFy-4fXUzIteqDXiOndXY3QsjebVgwvqYuQKzQpkeeC2dBZPI15pxjjHv-MILkePJIR1kZP8nQdGuDtO-Ho0RufALej8_n9i3aI4f3uaV78_5_OdiQ2Bc3sfZ6Q8UoIFNl0D16XnODQWnhmnLGXzecRz10Xa-uzix6OW0Veu6UQhBV4Uh1YE0UCRtwIzs2QAb1Bi20T8aTCAamNRz0_6T9AECT9_6MVISk8HKnrrOfyWyyBiagBUXno9e-ZU0nJnMjQ2nSdYvv0o5fVVlR8Mpe-zUTHXovRXOkPQ21Pt5XhiCjyZQk19LGB9D1id005VGT7TOTHlD-MWpf6QO02_altkicCF5BWMG-m5QSV5_HtjiADZ3BxUs8Q9edNKOzYRXQD_Uc8LSPC5NgCZAdKJacLDVhr3cZNIr_NZL59gJozV6IgXoG2KkMIlX4Sp0JA92FDQTMIyNswA2SJsAaTuiDMHyo51iXwALiXfvhDYLrv28PDAO2vvbRFVfD75AY7P1PsUGpd6tspKl31urwtYtraYFElcqG_UcNhG6pyISbuhDAybOE7h3VKjOzbPONdGW2F0J1s8UmXvAQWCYGTvmV0F_dA5aFg1wY5Q_G9Y7phrxm0wMZxY5wLgbUxEkkeYHeHspAHI7VzOaq_gXmaqz5NSw61eM-RhKzrPpbmzv39tXXjS6SLjJVEOqbobUacsLOM5Bp71yHAmeEDa1n5EEoBIokH0RmSvAm3b37TQGzBLMH2Fa52UzNdYQilOL9i76eTgX4FUrS9-wCIJVg-vJkue1Z3l3Qn5xfn9pcSr6MYfNB7xOlcBMenPFG2yjy7vpgrGjl3w-WgRfnRrEPDnniNgpNjiRsndzPOjAV9h8dWT-F7eJbt7nwFqz-A1Ak0Tjq2TymuD7J-gR-bxrOqnqT7oH4P_caUpxLSm5HV-s23RBxnVjVYikEnGUr_JY5Y=",
  "id": "rs_0e5b8473993cbf0b016ab44dc7af3887d09d4ffe6c90e459f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.24,\"right_z\":0.055},\"note\":\"The jaws settled at 0.534, confirming a secure grasp on the wide bottle body. I am sliding the bottle inward by about 14 cm while keeping it just above the tabletop, which will move the cap well inside the low-height reach envelope.\"}",
  "call_id": "call_9LMkOEX89k3vMGUHXy2LzzrX",
  "id": "fc_0e5b8473993cbf0b016ab44dc8008c87d0b9c7095ef573ab0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9LMkOEX89k3vMGUHXy2LzzrX",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7891, 0.5186, -0.3134, -0.1131, -0.0818, 0.9983, 0.9787, 1.7466, 0.7021, 0.1314, 0.7105, 0.622, 0.5377]\nstate[eef_state]: left_x=0.2921 left_y=0.0045 left_z=0.1565 left_yaw=0.0597 left_pitch=-0.0177 left_roll=0.0058 left_gripper=0.9983 right_x=0.2968 right_y=0.2413 right_z=0.0289 right_yaw=0.0613 right_pitch=-0.0777 right_roll=-0.0527 right_gripper=0.5377\nstate[joint_eff]: [-0.0342, -1.306, 6.8308, 1.9121, -0.0317, -0.0415, -0.0122, 0.3624, -10.4274, 6.0923, 1.8486, 0.9011, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda66896d8fd8a990d46138322867c59e33e54cba096b87e7534796d424a3c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a61352b4f4892f3bb7608b45ad97fdf3e79024224b1516e83fd31ba4430b3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc74d5d78496264dc216818ca6798d47548a785d2b584252bafe082d10d56ff0",
      "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 26 attempt 0 · /responses · status 200 · 3.029 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7967, 0.5476, -0.3267, -0.1131, -0.0818, 0.9984, 0.6701, 2.0346, 1.0554, 0.2382, 0.5423, 0.3882, 0.9988]\nstate[eef_state]: left_x=0.2947 left_y=0.0044 left_z=0.165 left_yaw=0.0597 left_pitch=-0.0098 left_roll=0.0048 left_gripper=0.9984 right_x=0.4368 right_y=0.2344 right_z=0.0289 right_yaw=0.0068 right_pitch=-0.0502 right_roll=-0.0323 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.812, 5.8735, 1.8388, -0.0611, -0.0464, -0.0122, -0.294, -8.7863, 7.8564, 1.8193, 0.3101, 0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7956, 0.5354, -0.3256, -0.1131, -0.0818, 0.9983, 0.6704, 2.0563, 1.0359, 0.3252, 0.5453, 0.3874, 0.5341]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1599 left_yaw=0.0597 left_pitch=-0.0196 left_roll=0.0061 left_gripper=0.9983 right_x=0.4405 right_y=0.2369 right_z=0.0266 right_yaw=0.0061 right_pitch=-0.013 right_roll=-0.0063 right_gripper=0.5341\nstate[joint_eff]: [0.1026, -1.7573, 6.6256, 1.8877, -0.0415, -0.0952, -0.0122, -0.0342, -10.0308, 4.5333, 1.4042, 0.188, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7891, 0.5186, -0.3134, -0.1131, -0.0818, 0.9983, 0.9787, 1.7466, 0.7021, 0.1314, 0.7105, 0.622, 0.5377]\nstate[eef_state]: left_x=0.2921 left_y=0.0045 left_z=0.1565 left_yaw=0.0597 left_pitch=-0.0177 left_roll=0.0058 left_gripper=0.9983 right_x=0.2968 right_y=0.2413 right_z=0.0289 right_yaw=0.0613 right_pitch=-0.0777 right_roll=-0.0527 right_gripper=0.5377\nstate[joint_eff]: [-0.0342, -1.306, 6.8308, 1.9121, -0.0317, -0.0415, -0.0122, 0.3624, -10.4274, 6.0923, 1.8486, 0.9011, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda66896d8fd8a990d46138322867c59e33e54cba096b87e7534796d424a3c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a61352b4f4892f3bb7608b45ad97fdf3e79024224b1516e83fd31ba4430b3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc74d5d78496264dc216818ca6798d47548a785d2b584252bafe082d10d56ff0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3OBK9gEYZ1IqS73eUZ7ylk-FejHBgWOiH1LR--exZ_uSZ0tor1g2Z-jFA8FUYXIfGB39HPQI18OTlUBf_CvgDHmkbRN8f-t4EyRxEwo9RRcMsAF22s2zaQZc8MbyEIXaV3IZ7oGmf5QhqnWZNUfwGEm1j2M6e2x7Mebi9q_hOA_p84j2Vn_lY6T--pToaxAEZfr-bt7P1YxHwG6RPGeXJSq1HapkkiUldx91nGuEXaKTpqJPYcGzJaZwRfmBr3EWeaZpYPXoddKy9U_E68TxpYQqKkoay77zNHMOjgNUp_uG9stz1vYF9-IICXyXmNB3lMLo_ee4cN0OnOyFSM3jxmmN3NnXrA35kOVpmEeHC_VRxMRRyHkC6_IsqKX6K_J0L7nCzB1LiRbepZS27l6Uubg8AbvK_mEcJNBfguBlB_i63xLycwP6iQwzwoV6UCRGHNhb8YxEljq6rR1oOIYrQSKu0BsFA4Z3K5UpN8PVaLnCd2DTihmIcVV9P29Sxhk9iyjnej26RW49m7aYH3xSR8iVP8a1aIJtj_gAvLcfvBebJMc5DN0osGoDpHwgzSuykA-EUZciA6yEfI6gbJZy_AguDTU-8zqiARVM17Fstl1SM4dasX4lVXtWJhkD_fYQsoLc1YP0Zcq8549itY14K7hd-j6LqC2nPmCwLF6pYpb9GKj93iv-04GbVzvzfcItWH-3Aae-qq4P58jNEn1oXefo4KsqsSR4KJhvwdOEtbgc_iALwGmnQPxAV6WytUkVS4jABjBhxS7kOA_YVSG3WQjXQzgAd6JziP5fj-6kZV5ErM3NC-AX0QWZumjqZN2YU-ZDwyX7CsVGo5AglXYh7TTw6YHQ2SpJW6Y80vjtkBx79o5Onl-umlwPH3Xn7RVDtRAjpHJzb1cMfU3LNzID5y7E1-OLW836sAgXTA6_MX0cMThwfekqt33PWOAkkUVlr4-ufqzG9PeJ7KyoEGFBhn73bAxHUuhKyV3f-t9JgMzJEr12UvWy33bsZlnNlweaaNKXVdeEpAG7xlwYHbNbMSHF-VgE8z-mj3211aJrjEaJtCrkhXszl7l3K5hGKiWfkJOh3aWlK7MBFMucvT1AshLRZD_4a6n6wegi6Tqz0EKAIp1B5bNCPKdf6adNg7yS5jVkxQogX0CPCfgNbZbVLy4yrJWnaR-ETxqu4QtNFJTvADzTDcW8yR1IJLeSqxxmuQs6OfrJpRBPcqRFo6gT5n2glEVZt4ds-iiwbAqHADkPdISRQMMcmEa8jpGOfpKH9vLsyZLslHt9zRl_YG5O_UxaNISiWk2-R_15-THXkddYQKTwn5mQ1W4hCIdA3c61sh",
  "id": "rs_0e5b8473993cbf0b016ab44dcd395087d0b3b8dc5911aedef3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The body translation tracked to x≈0.297 and the bottle’s cap is now visibly much closer to the bases, within ordinary reach. I am releasing it on the tabletop so I can approach the cap directly rather than carrying the bottle rigidly.\"}",
  "call_id": "call_AFMhX9Yrx2vhQStCfqLA2j08",
  "id": "fc_0e5b8473993cbf0b016ab44dcdbb2087d08576d2f8a04c72e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AFMhX9Yrx2vhQStCfqLA2j08",
  "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]: [-0.065, 0.7887, 0.5045, -0.3038, -0.1131, -0.0818, 0.9983, 0.9936, 1.7535, 0.6212, 0.2813, 0.7258, 0.609, 0.9955]\nstate[eef_state]: left_x=0.2913 left_y=0.0046 left_z=0.1521 left_yaw=0.0597 left_pitch=-0.0219 left_roll=0.0064 left_gripper=0.9983 right_x=0.2915 right_y=0.2394 right_z=0.0234 right_yaw=0.0758 right_pitch=-0.0308 right_roll=-0.021 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -2.1949, 6.7214, 1.8291, -0.0611, -0.0904, -0.0122, -0.6085, -6.694, 4.9573, 1.536, 0.3834, -0.0122, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553e8f9514c87a69402cc7eb75d5629e5559710374ba8e1c24f1b8320910c547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1381e9ff78c2adcb95a8253e52242d880a5ec0806f506316f62bfb2b07ac0515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e85428e06017cb34fa9ee17f57d6d4ab1f0a2af2f04c5f276cdc4681af7221",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.6 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7963, 0.543, -0.3264, -0.1131, -0.0818, 0.9983, 0.6701, 2.0563, 1.0595, 0.26, 0.5415, 0.3878, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=0.0044 left_z=0.163 left_yaw=0.0597 left_pitch=-0.0136 left_roll=0.0053 left_gripper=0.9983 right_x=0.4389 right_y=0.2362 right_z=0.0237 right_yaw=0.0077 right_pitch=-0.0473 right_roll=-0.0296 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6615, 6.6393, 1.8632, -0.0513, -0.0659, -0.0171, -0.2256, -9.6342, 7.5692, 1.8046, 0.3492, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7891, 0.5186, -0.3134, -0.1131, -0.0818, 0.9983, 0.9787, 1.7466, 0.7021, 0.1314, 0.7105, 0.622, 0.5377]\nstate[eef_state]: left_x=0.2921 left_y=0.0045 left_z=0.1565 left_yaw=0.0597 left_pitch=-0.0177 left_roll=0.0058 left_gripper=0.9983 right_x=0.2968 right_y=0.2413 right_z=0.0289 right_yaw=0.0613 right_pitch=-0.0777 right_roll=-0.0527 right_gripper=0.5377\nstate[joint_eff]: [-0.0342, -1.306, 6.8308, 1.9121, -0.0317, -0.0415, -0.0122, 0.3624, -10.4274, 6.0923, 1.8486, 0.9011, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7887, 0.5045, -0.3038, -0.1131, -0.0818, 0.9983, 0.9936, 1.7535, 0.6212, 0.2813, 0.7258, 0.609, 0.9955]\nstate[eef_state]: left_x=0.2913 left_y=0.0046 left_z=0.1521 left_yaw=0.0597 left_pitch=-0.0219 left_roll=0.0064 left_gripper=0.9983 right_x=0.2915 right_y=0.2394 right_z=0.0234 right_yaw=0.0758 right_pitch=-0.0308 right_roll=-0.021 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -2.1949, 6.7214, 1.8291, -0.0611, -0.0904, -0.0122, -0.6085, -6.694, 4.9573, 1.536, 0.3834, -0.0122, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553e8f9514c87a69402cc7eb75d5629e5559710374ba8e1c24f1b8320910c547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1381e9ff78c2adcb95a8253e52242d880a5ec0806f506316f62bfb2b07ac0515",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e85428e06017cb34fa9ee17f57d6d4ab1f0a2af2f04c5f276cdc4681af7221",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3RQeQDKZnpJDJT8Pje_xyUvXBh9gcZPb63y_uAFJKChanYtpOHdgqpet12zEiR7llj07Gck2afK7gMD6h54v8ddAgi5AB7U55ZcDLu5oefAcjZATXsbUFsc3da0uy3plBfb25OIL_8nADF3Rjp_gr6kSuL_70aNLOFW0wBQZKlmKaMqRk1Raq5HF85YL-n6Ujkl1KSDTtV9HxVURlpI0f68ViRbGulnX17C6GGGzr1znV2FHFxvFQTIq1KcX9BssKSc0DGvjZIGY9KZZ-9zrRFuj_-1ZVZDJACMQQ8nkyBjKjp5rWGD-U_iDEKENl1_3brefIviB3WT7RqJ6uXp2TC-mJqsbhUwdBRV13fdLdunIxNMxFxMzi5Z6Ui4XQW9HQ7m8sLi8R2lzp3-Fr6xnJMCtmTb0EJ_LZr22XQBiWqDJ-d9YwMrFL_mjGATO2p3yISc3J9VcHx_jIaIFEqUZPvb-D8cR2BEcTUAQqBauf6Ev7UVgjKHyPyVxYpB3bsjkc_wWjaKMlSmx77qgPYuEFjiG4LyPGZ76OKTDYcXpKTOJ5t5mIEB9gf18N3BK2iGlBQAWaiwfPrA7tXOalZk8C_CWPIgQjKMHMfswqipsjkmQQiOhLzMWkV1z8IelmsJHIIG_5ijya9cHBx7GZoa_0jbM1PZTA4thDF8HOQyWTvbmMTG069gN_17ozWd4PAxRo35SX3V7xOl3c1ZH3_d-KA68ZJeehgpPfbN4P4LcrfqrBJcWHJWAKlbgZAXqLyIsn-vUTa84YjNEvZoIYBP8I48RiSOgd2RwU-3cY9P7wy-56eifjU0zYGOWvr3zcaGsYZ-ye_A_GHh5gNtDfMe3GGBf6gc_vUOEBdPRRoEhMoqKbprWS_bMNp3rqguIwsOA15c5EiaGGqdXIWPDWrdL-Oh9XkT3a76Ou_ILpmC4L1Ob8nLub5yixFOdtlxiGC9HRzhpbGqQS1-WRytYC0Lc4bXn1o3miHAAHHZ_TX4QzF1QY3c95l8p8fQw6p4kPHOupa5ToMqsepaLCf8I0ATaYGcc6unYkd38180Y6vDUpm_wDcHGHcLscUPCzBuev0Xm2ziJb1xxVZN1h3ajP2Ap8vgY2WLAqSgykvBI9ZAcEZMvsh5HsGT5TpDmeNplVJKKKT-ldMSASWjFRAsb6uxSkqcpKRVncUw2S_NMav9vbHJeJjBBT7sAKX1m36LuSyV8Qu0q023AdPf_CL4ObcQWzX0qiGt2AGijAOQuDKCctZyDe3cb2rQ_JJpgawcHeG9_nycE3j5siXoZ4l5qe0QtLt3SLT0GYnASyEKFWE2kvcipO4VdzpPEHXIAUfFNOlvNY_PEy0qL78A-ez_cF9KMwxuZeoudObbLWHMdHMPUeMkPB-z7iRuRoyAC61lVzCAu5R6ZcH-gDTQkwN_9sob2LuOyo-Jm8ZxmcX2-vkYryT9-w=",
  "id": "rs_0e5b8473993cbf0b016ab44dd02e0887d08e55eb2f8e70eb2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.08,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"With the bottle released, its cap is now about 12–13 cm outward from the right grasp point, placing the neck near x≈0.41–0.42. I am moving above that neck at moderate height for a reachable low descent.\"}",
  "call_id": "call_7CfOSxaR93doiturRE0XapuP",
  "id": "fc_0e5b8473993cbf0b016ab44dd0ec6487d0a400cd6fbbddcbd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7CfOSxaR93doiturRE0XapuP",
  "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]: [-0.065, 0.7792, 0.4904, -0.2878, -0.1131, -0.0818, 0.9983, 0.7319, 1.8637, 0.9867, 0.1497, 0.5896, 0.4274, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0106 left_roll=0.0049 left_gripper=0.9983 right_x=0.4063 right_y=0.2378 right_z=0.0707 right_yaw=0.0119 right_pitch=-0.0189 right_roll=-0.0155 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -1.6752, 6.612, 1.8388, -0.0562, -0.0562, -0.0122, -0.8, -8.1162, 8.1709, 1.5507, 0.1685, 0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6723e10804c72afbf3f1e0f646c77a4f3c70634d506ad46e0da4dd86e0fea37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c726c45a3e1f9875c2a08cceb54ed1a6a190ff5e9baf4c53553fe5bf88844c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f609238217c4904b5f9e1e68d2b427d550ce9c2170d04aa6cf1be11b0cea00fd",
      "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 28 attempt 0 · /responses · status 200 · 5.585 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7956, 0.5354, -0.3256, -0.1131, -0.0818, 0.9983, 0.6704, 2.0563, 1.0359, 0.3252, 0.5453, 0.3874, 0.5341]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1599 left_yaw=0.0597 left_pitch=-0.0196 left_roll=0.0061 left_gripper=0.9983 right_x=0.4405 right_y=0.2369 right_z=0.0266 right_yaw=0.0061 right_pitch=-0.013 right_roll=-0.0063 right_gripper=0.5341\nstate[joint_eff]: [0.1026, -1.7573, 6.6256, 1.8877, -0.0415, -0.0952, -0.0122, -0.0342, -10.0308, 4.5333, 1.4042, 0.188, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7887, 0.5045, -0.3038, -0.1131, -0.0818, 0.9983, 0.9936, 1.7535, 0.6212, 0.2813, 0.7258, 0.609, 0.9955]\nstate[eef_state]: left_x=0.2913 left_y=0.0046 left_z=0.1521 left_yaw=0.0597 left_pitch=-0.0219 left_roll=0.0064 left_gripper=0.9983 right_x=0.2915 right_y=0.2394 right_z=0.0234 right_yaw=0.0758 right_pitch=-0.0308 right_roll=-0.021 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -2.1949, 6.7214, 1.8291, -0.0611, -0.0904, -0.0122, -0.6085, -6.694, 4.9573, 1.536, 0.3834, -0.0122, -0.2418]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7792, 0.4904, -0.2878, -0.1131, -0.0818, 0.9983, 0.7319, 1.8637, 0.9867, 0.1497, 0.5896, 0.4274, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0106 left_roll=0.0049 left_gripper=0.9983 right_x=0.4063 right_y=0.2378 right_z=0.0707 right_yaw=0.0119 right_pitch=-0.0189 right_roll=-0.0155 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -1.6752, 6.612, 1.8388, -0.0562, -0.0562, -0.0122, -0.8, -8.1162, 8.1709, 1.5507, 0.1685, 0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6723e10804c72afbf3f1e0f646c77a4f3c70634d506ad46e0da4dd86e0fea37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c726c45a3e1f9875c2a08cceb54ed1a6a190ff5e9baf4c53553fe5bf88844c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f609238217c4904b5f9e1e68d2b427d550ce9c2170d04aa6cf1be11b0cea00fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3XDEo2lMw9H_V4w1ITWggeUYWCw_C1NIn4wlN1IrSRN-Z1oDQ8FSy7iw1EFNMBuMYpW5IgSC0MSnRMmq84oG9KkByX20_D9Zt76CJS_T5HnE6ldslNbphgzU_TpLGKWGUWSsF9-nsVbK1lEBROcStOIFdO7df55-0PFdbto8Gbc-60Lz4wZY_bX7u_mtNUYTegBzAONfE4Vb9eX8B-aUkNA_YCEIcYOsOI4k1LBMZiuWBwdybKW1QdSX_mxAk19PgxlGecU3N7dVzjVq59HP7PWUXrg4_jsVRx_Yp58XUXiloprqau0TzwCqk8oTLYNcqhFrVS_JsZ3BdHTPJMgkZMMa75CaOgceYT2LbQhwJEg4Y1wXW9Rh7Cf6gwtsRGn0B5JJW7JxTsSLDe_jEqZ5MBIzM-QQeZhgaHNJwpsNJrQ4jDK8q5Wqjnz0OKjrhnn9youIyD39G5ycyU1-_8eNOhVfoSDnakXBD27US_M_atDV-VjAz4Z4Q393JvOcWvo0a44xDY0a4JJ8ghW0pKKxnEHI1-bnMctpoShkMoNbQtrir_mcl6QCEg-4hq3e9oLUlrcnYqBtteCTKXmdWgbZx5g90JNOhC2hLcnKlOXQgZqZiqE6bAJ0gSNoEEyPsNBERBUgQCcAUCI7WwTpNGTC81JAiaBkpZLVxH_OVm6ctlL4ASTjZ-Moue3XgFnsM9nss6CRXZ6Qs5B7wqRANy678qE3u929p61lTwUWhL1H7SERPoNNq7CyOIN9HiXgx7hGS9U7p2oC4QeFmjJlJ3kAJb1XeZ52FQQ10XX-WF8b9vsyZb5PX1D2ykCSTdGEA9kor0N9MFnu5-KADLOTvNP6rAEVcOaCeM982hGEj8zCXqriYPSaPW3pe2n7UH4H-qyumHYx9Z70MolmWjkMnJ1eU4vpceoB8c2jfMX54_oKWdLkO-kNGoJrOvw7KMbhRXIT2CDWhObVdGtWWuA778Ff_WxsgT0nmUYxC8FjKDFfE4IfeuXHpZ-aoQ5C6WrCLeTO3GRwGwmYk8Bbt06nRFpRFlw5Q2GYlmYBIu2JidsYzSco0QaKVdtpsp6N6-Wtyf3uF-7ZCbUNl31gdP9Jk2sp36GWEqtEC5S8_ZvjRdgck5P3nFBfUZ075eu8O189ekxJqGHyYYzuqz1xWkCAZjwg_V7XNkiVosThDnqpQXvUi_luSBbpf2Quq8_eoQePnNHb9w8_uKg312Ygs-DE40oOROAdiCqnuAxLMxDqrcMaG3FIFtu2fAL9UhBtNG-ToKCIMb__QiJZnw-3OUVG-bKmafkTigpROSkAaldoiW7lNRejMj9r1YEs98H8CNnWslDadEy-wwKFZZ5yFDvsvpUWEWPBhBWh21ox-4NayD7ziE_a2N7HDPs46VbfY6mUUzH5lpkGQ_7vMa8KRNf7H_x6bkiFMpQh4g0UV47vALJQ0soYh8ptn5w_uqD6Owiak-S8U4hjtn7TZPLO8-q2z6FwYiJjp56CpLr8iti5chBXufV0br_B5bVHmObtTte5cKz7-mmU--5MEciibUy-vvyWnIYgZuS-SqeSSUJxgoR2B3HnQG9EXMNbgv-0j7cAFNrd2L",
  "id": "rs_0e5b8473993cbf0b016ab44dd5d81087d092e0cc67fdfd7a41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.26,\"right_z\":0.025},\"note\":\"The cap is now clearly centered radially in the wrist view but sits about 2 cm left of the jaw column and just ahead of the fingertips. I am applying a 2 cm leftward correction, advancing slightly, and descending to cap height.\"}",
  "call_id": "call_PukQWRdqOI6W2YG5NgNXmvOz",
  "id": "fc_0e5b8473993cbf0b016ab44dd6a7e087d09eb646c9fb7e350d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PukQWRdqOI6W2YG5NgNXmvOz",
  "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]: [-0.065, 0.7784, 0.4892, -0.2863, -0.1131, -0.0818, 0.9983, 0.733, 2.0365, 1.0359, 0.2638, 0.5907, 0.4194, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0094 left_roll=0.0048 left_gripper=0.9983 right_x=0.4216 right_y=0.252 right_z=0.0285 right_yaw=0.0163 right_pitch=-0.0257 right_roll=-0.0291 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6889, 6.3658, 1.7949, -0.0562, -0.0708, -0.0122, 0.0889, -9.2923, 7.0359, 1.3846, -0.188, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8468ee8443b932fe519463146abc9cf52b0e3e6578c4c54364abfb526d3d121d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e586fc441d6861b0ed876e82b9e5c12030d4d5650eade41697c49702c88a0caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87768445338ca5aa5bcd9a88d289c68380a0debaa7d21633fd6eafcb96474f67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.813 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7891, 0.5186, -0.3134, -0.1131, -0.0818, 0.9983, 0.9787, 1.7466, 0.7021, 0.1314, 0.7105, 0.622, 0.5377]\nstate[eef_state]: left_x=0.2921 left_y=0.0045 left_z=0.1565 left_yaw=0.0597 left_pitch=-0.0177 left_roll=0.0058 left_gripper=0.9983 right_x=0.2968 right_y=0.2413 right_z=0.0289 right_yaw=0.0613 right_pitch=-0.0777 right_roll=-0.0527 right_gripper=0.5377\nstate[joint_eff]: [-0.0342, -1.306, 6.8308, 1.9121, -0.0317, -0.0415, -0.0122, 0.3624, -10.4274, 6.0923, 1.8486, 0.9011, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7792, 0.4904, -0.2878, -0.1131, -0.0818, 0.9983, 0.7319, 1.8637, 0.9867, 0.1497, 0.5896, 0.4274, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0106 left_roll=0.0049 left_gripper=0.9983 right_x=0.4063 right_y=0.2378 right_z=0.0707 right_yaw=0.0119 right_pitch=-0.0189 right_roll=-0.0155 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -1.6752, 6.612, 1.8388, -0.0562, -0.0562, -0.0122, -0.8, -8.1162, 8.1709, 1.5507, 0.1685, 0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4892, -0.2863, -0.1131, -0.0818, 0.9983, 0.733, 2.0365, 1.0359, 0.2638, 0.5907, 0.4194, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0094 left_roll=0.0048 left_gripper=0.9983 right_x=0.4216 right_y=0.252 right_z=0.0285 right_yaw=0.0163 right_pitch=-0.0257 right_roll=-0.0291 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6889, 6.3658, 1.7949, -0.0562, -0.0708, -0.0122, 0.0889, -9.2923, 7.0359, 1.3846, -0.188, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8468ee8443b932fe519463146abc9cf52b0e3e6578c4c54364abfb526d3d121d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e586fc441d6861b0ed876e82b9e5c12030d4d5650eade41697c49702c88a0caf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87768445338ca5aa5bcd9a88d289c68380a0debaa7d21633fd6eafcb96474f67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3d0SkNcCAnP3NQjTQJJNXQAt8mqvm0fu6CDJsInOUiV0v0gOGPMsmFbvM6aFtYZfM0wvnP6E5Xlwdv1Wzmbae2aPHd8G_naUQmKTNA-jW_tVIFskCxBU82oGUGIood3Zm6thwklrgNSfKkfDOJiHdhQ-Eqmt5HTetVn39BfgXCWUq9GlD6KDtx9hk8ZdPsmTrNj2zA9BrL0eqjMeZGqvaJbCH_pQ7inSAoWiKXJGwizvPS5X5Ovslo7sTevCi-ojt3mWx0hLOFc1Fxc7JR9oSc3RAc9v3kkizUPlGsIhbTvLi1n2M0xm7vUjNxzMmq4cfGwG1Kb42Hl9_Dk7Q1VaeMVtmj-bFdlDz51WtiflK6YBUMCmISh1xh8fhDly401oFDWNFEfyWv-L9igYdMoCEEilCLq5jjS5aw6ow4i5EH-oUVo6B4SH_AS36aAEeHSntD7j52QZnKaGANk_MuvnZGYTQHeN-_-BRC4mNd7hOvYSE2BX-ogUlhQKo8j40JcNyHt4M83Ip-9y_n16Yv9lNU9JcEI4atxgRzYnrJzFbuvAjLif8bg76XfCWwbu-YaK3eNWsIUTqcfiu-YXt2cJlPaxEvRdqi_B4lemYQcs79qzznOBUJ-dneYkG6MrrIhRsL1TTik9WlL7z5mNPxfZ0_zElmTSIdM-EafBov7cCaiFlFEGl3dZ1an20s6O8tYZjJviBxyrAyhlK3i6FzLOPyzYoYWdzpZIry1iYcGkSVeOcrSVdmVIgED5jEDed_YPYkgtH3kT5lzmuzqg_Dw808uMQXEBcOlPDK-I6wsy7JdopEyqT4ZwXpNjmRX9JD4cvC5ebK6jUzbkXqlP3Wi5uFztcLSt-Llwi025sZ8LzHv743cevGO4RkYy8KstmCITxZ7djSpo-VeQhTez-vmhov98vF7T9iTvkKtQcVc_W0irY6GL0_jklqFe2F6PO-4VlZkz-cWhsyjjQIkIhaf79LoLCnfKJYDyDBZTsdwv47-qQ2XvzNWOBrjCVeNAMlsR6UeRZZO_d94C_X7TDGlaz3uNqrssDa4svbIeUh32xlzpy0rRlyC3OD6hzVmQCNG7rz1uegQkISRY4qC3Dg5Kurm9_b1hi2LVWHIPG22lm3icW73uwEtVVRLXvcDj_wSGRUsgx1IEJOK6kGlOnToF86eCKtYhq3trbzKAEs-g4wFPpRhOyhvEosJ1FTZ1ObIgtmlMSKmyTDvTgi7dcrug7xpD2YtevgFReEBPmvaoZA15_x50SxPRN7hfaEVAPNPT1CQVg5NpXbLzlo8-WQPU7YS7VKH8lBNamcfoW-WB7golJd9BBYJL8n-HM3rKjwZdOk9JwChEU34A-zxwRJT6excsDmGg9OUgC7fHv9qv13QkAHXa-5bYnXJFvqvrSOM9YaE_Ygqd2B_X5fmmm7hBAsUYW84mgEvcJYTeS5vzq9XNvG3Nnyc-BX-kCKc5Gx1AraBrsi3_trnczboI_d4Nrd4jLqf1aB86x1dkHODTzPkcuEIhFG2bZmXLxhdnZCh4G7v4f8MNexaqtfCgrWw7F_aGPZL_t6UIU-MbmqNwsARcsTcaMscL1uhxZ72XeTpSe5-PJ7DXuvNgWfPWp5qPkOblysVietLtVNi-ZDn3nyMeMTycQN2BDKCHNy_cew_TEASNedvEwoeoq03Hhv-yF9osAKGd-yLMJmIfdHIHTTHqvG9PzySU3nWMnJsQhb8tV4BrFlaF1NSQmnL9AGaGLSNAXaot0SrRp2WTe12jELpzzccuz9kuRDDa-AbMJayfFXOQy-FtgLxP4jKf6KUnr5sTVJzY2Dl8REzeHz5UkIst5aQYXbMmu87HOQ6-J7z8so_dnKf93IdNWKoJ4xSTfMyEXI5YawiD24ZeNFmFaFdEh7TT4CCjvxIcSVqQ8kismK4xZlMlqeA7Xkw9K_Sfeoj49FzRk8UPeuSWKn0U5weKcPPDB2JIatDMkJ-XUgDsTBioHIdVq4L3gkZ-9IE1PWaNmdg5Mr_5zu9E-MPvps63G9G3edcoSVC2vrSfsxA4RKSAE_ATg4KK_dUO-vJQY5QSPoG10clJRCOuOgBGj5FABwyjYf9ll48G4XXKM2kpl8wM2egWzjkoOWae2KPVrMyH6QNLpKgEeIWLwsvNqxGZjU0xsVIkTcst2Jm6YpNMYX159quy8C6-gD3544I9MsRHza4PQcL8Rk7KEiigk2wRjWBq8kogu0hG_VCv2Mg7J8gAYu7jVIpFb6zfk9qafXZU6oJuctN3lIrJA5uwKAEkmDkD3CISlZufsHXDtDklPu",
  "id": "rs_0e5b8473993cbf0b016ab44dd9a9a887d0ad956a7c8006fdc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.27,\"right_z\":0.02},\"note\":\"At the low pose the cap-neck junction is now near the bottom of the wrist image and only about 1 cm left of the jaw convergence line. I am making one final small lateral alignment while maintaining table height to avoid an off-center close on the rounded neck.\"}",
  "call_id": "call_YR8hSplXvQJYdWYmvjFdQFIa",
  "id": "fc_0e5b8473993cbf0b016ab44ddc676c87d0bf82a8c0738e31df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YR8hSplXvQJYdWYmvjFdQFIa",
  "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]: [-0.065, 0.7784, 0.4866, -0.2855, -0.1131, -0.0818, 0.9983, 0.7338, 2.0544, 1.0454, 0.3115, 0.5972, 0.4137, 0.9988]\nstate[eef_state]: left_x=0.2908 left_y=0.0046 left_z=0.1505 left_yaw=0.0597 left_pitch=-0.0113 left_roll=0.005 left_gripper=0.9983 right_x=0.4279 right_y=0.2569 right_z=0.0317 right_yaw=0.0155 right_pitch=0.0066 right_roll=-0.0112 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.5385, 6.5573, 1.8193, -0.0073, -0.0904, -0.0122, -0.1709, -8.1709, 6.5983, 1.6044, 0.1001, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de267ceef9fad3b07f41c3216be8290efbfc39918ead299517b968cd2fe4673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ba791041eb54b857a8dc94ec6714f74a47d26b859e29560ee269afe565bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498351b3233dab22ff3f3191592faef2870b989466d10208978c17562b334a20",
      "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 30 attempt 0 · /responses · status 200 · 4.15 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7887, 0.5045, -0.3038, -0.1131, -0.0818, 0.9983, 0.9936, 1.7535, 0.6212, 0.2813, 0.7258, 0.609, 0.9955]\nstate[eef_state]: left_x=0.2913 left_y=0.0046 left_z=0.1521 left_yaw=0.0597 left_pitch=-0.0219 left_roll=0.0064 left_gripper=0.9983 right_x=0.2915 right_y=0.2394 right_z=0.0234 right_yaw=0.0758 right_pitch=-0.0308 right_roll=-0.021 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -2.1949, 6.7214, 1.8291, -0.0611, -0.0904, -0.0122, -0.6085, -6.694, 4.9573, 1.536, 0.3834, -0.0122, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4892, -0.2863, -0.1131, -0.0818, 0.9983, 0.733, 2.0365, 1.0359, 0.2638, 0.5907, 0.4194, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0094 left_roll=0.0048 left_gripper=0.9983 right_x=0.4216 right_y=0.252 right_z=0.0285 right_yaw=0.0163 right_pitch=-0.0257 right_roll=-0.0291 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6889, 6.3658, 1.7949, -0.0562, -0.0708, -0.0122, 0.0889, -9.2923, 7.0359, 1.3846, -0.188, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4866, -0.2855, -0.1131, -0.0818, 0.9983, 0.7338, 2.0544, 1.0454, 0.3115, 0.5972, 0.4137, 0.9988]\nstate[eef_state]: left_x=0.2908 left_y=0.0046 left_z=0.1505 left_yaw=0.0597 left_pitch=-0.0113 left_roll=0.005 left_gripper=0.9983 right_x=0.4279 right_y=0.2569 right_z=0.0317 right_yaw=0.0155 right_pitch=0.0066 right_roll=-0.0112 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.5385, 6.5573, 1.8193, -0.0073, -0.0904, -0.0122, -0.1709, -8.1709, 6.5983, 1.6044, 0.1001, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de267ceef9fad3b07f41c3216be8290efbfc39918ead299517b968cd2fe4673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ba791041eb54b857a8dc94ec6714f74a47d26b859e29560ee269afe565bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498351b3233dab22ff3f3191592faef2870b989466d10208978c17562b334a20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3iHNq9RXuZ0s5cvqx3E4OguwbEQFE8D14uXZA3We-343_SWe6G3IFETo-bcUtTx3vzS9xBKCv6a6msSgVQxbb3pHVhnjG3jlJ8eWf7R7eoH3hMSVRCcLLXcXnxNxN0wniV2gFLcTfuSyI0u7QGSxdvg1jwUR4uLc5sP4gRGT-RSNkGOnZRgIeouyK1HM3BTFPKY420QfLtZ1WX7XX1Qulhs3Bs4FHpxk1NhrK3ML1XfTiJ68_n9RCQEpAD5XYbrAmC-ezsGTOW-7TTmZfWY0PqQ-27zE7PWgtpjQbaJvgTcMN0Sy-bRIGCE1uyXfiogqqEDfBPpo5Pi27V_kyWHzvMqjUrCb6d7kKUtsPvA8rR-V90Ph7hYhZrGPYOu3A1IBb7NgFom0YbA-x0TiifH5Qao3oq1PiE36TV4WOLj7zf5xP_8aw9vroeqIobYgH2uWHMtZPW_GGE4DFIBzpjf-xuQZLireMKK2LEs4BoOHZg8cfeZnH_9ytSkIhRlzw_g-wbayOCd7gDALNrRLxfLZ8Ar6EJMEJ6dTqR0i-lT0wrZ4mOXQhuNk_x8t5sWiTGsOgO217CE_lrevO8GgrXmv_A9ZMBOrNeyAs1-yoPD3GH9eY0JvR13hgMYKFpxttc5fmpbDVSEM-XkfOSeCKWqcgRaBd0kmnWuhufm2amf7xdQOYqQf0DF6zojCIx4jVC-KW4SH5p-VAyFLf57mjELuGQbZi2sjHzm_-X34lmzIte__xasbANQk5IfrHK6gs-zQODHsv-QtrfIlBP8CZV0nVvY-gE6Xaqt882qsTX7DLX09vxzqCo_jcreTxP2W2XQ5bqEAD5xk7ydFKdES6QxH1kmMGTeLY_P_Ir4qAMdh3P9CTQUMfmk22qHF9i7YgkOKEjxJ9pPkks59jz4s-fy9pXxtdk-1XLv8V_yzzK9CeFX5Bgy9hTdew8H40YBFS55vfxxsjM2biS19MELXT3JoHWyvzgs8t_vW35M8CAtcYbGIyhXO6l58cdMuuEXMoDZHw4qV8elZibd31OOXhxVPdt_V9y6u0kAx__ABDOn9caFQEhBMFAnA62eq4BCTvwwh264_gX-BkBaUpVm0pyazOf_TARmYfnWWaXojOC-ehx_RZqkGiMxRP6V89Np1xIfkT0GUa6cmUajxeLn5Eb-xCdv2lhpc88q-Zfy4V5y10rZAZ_16FjyLvQQ86_cfVa35pMVY7ki2YMaGK5uGZh9-cS-hy-foPCPshydHhUVBFPDRxC8ygKGPzawLjrSWECMzI_B72SFJTHMfi_XGguDzhxekwkJW_itlnvareQBYFlCDcWrfwyKILCZoA1ruiP7jS9Aa7Mrl20gI3AFygI7NwAQxn0Lmrip013XG69rOxA7gw3T42UINKsKwMwNOd2YtjI93UYKsGhix07U7P-aA2sxg-ZaJzXJPemAV2k4s2KtJY9Ltsj5paDwsFpPQiGe6pneGgv-OuOrIZokuVaOJM5rS_UWwPQS4XIVxcvrPAoVLWetTAB_4zOuiS0KHxtryVHOfOPKkusQBdCdFDRDEs-WlNj8latZFRyLh6gqsDS1Z6BO_bLUEmFWDFZSFVNGlsoYtJNgc9M6eFhUTGIGmQGBSMgg9cpZYCzTMi0esEUUbYE9Od8JOwg4wjsZOIGNTSCL3VGoanR92ecBs8X-zcNCGrrFAmQV6jiKXMUZNlcZcoPaa_QaXEZeLYendCZ18LAl8jqPaZWYEUYzazxHegzuAnrHh9ZH-jPfEhHXLhX1eU2dUSdFI9vEd68k2KI944E4kjfua0Bx81a3DQplkWfXy-G8dKcT7GVAJYoTLgVFaT5TvbYflNI31xRI7OTmq4kalCUDP8XH4jYIKAk1IFy1BAU-QeFK62-fM1FgygcOelpNPoxWknwOptSj0D34CgAIbtTaPAGO5-D6bDHyCSrvU0R7Vcv26tV3V8aUR4vzF53zWT-47rhzzabtspqOlTdnCs2wKN9ch6bVjq5HKhGb57xd5oPnqV0n_glFmTh5nN4NPvJGnxFjnR0cUT4B8-uvouv6dkoGYVd0GUcuUNSmGwq3lq1XHNzUmeIO9CheZWHPjEbKdpcv1MbWPngLDQ2ucSykuO2CpNrRtpMfDOXXMd886DwwsePcTqcS7K0If5BgLOIWN7C2Y6Ze3PxrYAHREYntrQu8FaZjGJZlXqy8yblmNhYU2MCewrz0XaPD-NYxY6tdNEQNeMkvcKTWVRAjBLqbYBGGFU3d2vN3Exk-6CPGd6HHl0Lyb8uTcZEae3BhlKYXZnNcnJIGze3F--jg85qh23oIxKJvZbzTpRq4Qaqb6j2lu8HpJNFOJpkNE72RfpYgQhJMWlREYaRBG9NBK5ijW7DqKgsqhsHrlkNAsP8pp89EXD4JuH-dpWN7Rq0zbb2kAMbTYE_7Agpp1mqSF9no6nlISavj1Jf5O6ow7cxI2pJyyrZ6dbV9uESnTEWKO0kBqqueBTsY5UHhCAm5-xm5QUa9-U_6et80knQxH2Bgqk9Xa_TnT78BTBBpLcFd478GL3cPNFqK4AmrgGI",
  "id": "rs_0e5b8473993cbf0b016ab44ddec3b487d0ad6e2c6a00caf1eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The neck is now centered on the right jaw column in close view despite the overhead occlusion, with the cap flange immediately beyond the intended grasp. I am closing here to capture the narrow neck and will judge the grasp by the settled jaw width.\"}",
  "call_id": "call_O4d0LxqgVaF5VfdQK9FadXJH",
  "id": "fc_0e5b8473993cbf0b016ab44de15a3087d0b19b520bf3534ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O4d0LxqgVaF5VfdQK9FadXJH",
  "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]: [-0.065, 0.7784, 0.485, -0.2848, -0.1131, -0.0818, 0.9983, 0.7383, 2.0495, 1.0668, 0.3912, 0.6048, 0.4133, 0.0141]\nstate[eef_state]: left_x=0.2907 left_y=0.0046 left_z=0.1499 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4397 right_y=0.2692 right_z=0.0558 right_yaw=0.0109 right_pitch=0.0892 right_roll=0.0552 right_gripper=0.0141\nstate[joint_eff]: [0.1026, -1.2786, 6.4479, 1.9219, -0.0708, -0.0708, -0.0122, -0.9368, -9.9487, 4.2872, 0.9841, -0.0415, 0.105, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b831396ee71963b7eb818e1e04cf16e234097c5342d3b8848cc1e127186290e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2096e7ad429ca9c2845dd05855e8e7263fed261f2ad06eb16866e6fc60ca4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026f4be9b2bd8661f4ad0f732d3f8ff1628dc63e0d6ec0dcb8e33f7ebf40e86d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.852 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7792, 0.4904, -0.2878, -0.1131, -0.0818, 0.9983, 0.7319, 1.8637, 0.9867, 0.1497, 0.5896, 0.4274, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0106 left_roll=0.0049 left_gripper=0.9983 right_x=0.4063 right_y=0.2378 right_z=0.0707 right_yaw=0.0119 right_pitch=-0.0189 right_roll=-0.0155 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -1.6752, 6.612, 1.8388, -0.0562, -0.0562, -0.0122, -0.8, -8.1162, 8.1709, 1.5507, 0.1685, 0.0708, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4866, -0.2855, -0.1131, -0.0818, 0.9983, 0.7338, 2.0544, 1.0454, 0.3115, 0.5972, 0.4137, 0.9988]\nstate[eef_state]: left_x=0.2908 left_y=0.0046 left_z=0.1505 left_yaw=0.0597 left_pitch=-0.0113 left_roll=0.005 left_gripper=0.9983 right_x=0.4279 right_y=0.2569 right_z=0.0317 right_yaw=0.0155 right_pitch=0.0066 right_roll=-0.0112 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.5385, 6.5573, 1.8193, -0.0073, -0.0904, -0.0122, -0.1709, -8.1709, 6.5983, 1.6044, 0.1001, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.485, -0.2848, -0.1131, -0.0818, 0.9983, 0.7383, 2.0495, 1.0668, 0.3912, 0.6048, 0.4133, 0.0141]\nstate[eef_state]: left_x=0.2907 left_y=0.0046 left_z=0.1499 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4397 right_y=0.2692 right_z=0.0558 right_yaw=0.0109 right_pitch=0.0892 right_roll=0.0552 right_gripper=0.0141\nstate[joint_eff]: [0.1026, -1.2786, 6.4479, 1.9219, -0.0708, -0.0708, -0.0122, -0.9368, -9.9487, 4.2872, 0.9841, -0.0415, 0.105, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b831396ee71963b7eb818e1e04cf16e234097c5342d3b8848cc1e127186290e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2096e7ad429ca9c2845dd05855e8e7263fed261f2ad06eb16866e6fc60ca4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026f4be9b2bd8661f4ad0f732d3f8ff1628dc63e0d6ec0dcb8e33f7ebf40e86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0e5b8473993cbf0b016ab44de4c66887d0b958d992fbec0d9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_z\":0.03},\"note\":\"The gripper settled at 0.014, confirming an empty close; the rounded neck was pushed outward and is now visible near the bottom-center of the wrist image. Following that displacement, I am reopening and advancing about 2 cm for one corrected neck attempt.\"}",
  "call_id": "call_kEXPLFUyyLhCpKWkRVDBBdPX",
  "id": "fc_0e5b8473993cbf0b016ab44de63ce487d0a2fe24499dcb5e0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kEXPLFUyyLhCpKWkRVDBBdPX",
  "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]: [-0.065, 0.7784, 0.4847, -0.2848, -0.1131, -0.0818, 0.9983, 0.7185, 2.109, 1.1854, 0.2405, 0.5713, 0.3901, 0.9949]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1497 left_yaw=0.0597 left_pitch=-0.0124 left_roll=0.0052 left_gripper=0.9983 right_x=0.4525 right_y=0.2735 right_z=0.0415 right_yaw=0.0327 right_pitch=0.0069 right_roll=-0.0093 right_gripper=0.9949\nstate[joint_eff]: [0.0615, -1.6889, 6.0786, 1.8486, -0.0562, -0.0855, -0.0122, -1.6068, -7.8154, 7.3504, 1.6777, 0.1538, 0.1294, -0.2955]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534144f9c6c1f7f5a0092aaefb46d7c129b89591ae55df7c193775373b9f2910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3457d4774dd36e5a5f3b0fb9ed01a1bc00c55e1d788b2bc045fd677e8a111",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89975cdd55e00090a642f6ee5a7b43c0418823484925f0693391fb480ea257b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.191 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4892, -0.2863, -0.1131, -0.0818, 0.9983, 0.733, 2.0365, 1.0359, 0.2638, 0.5907, 0.4194, 0.9988]\nstate[eef_state]: left_x=0.2911 left_y=0.0046 left_z=0.1515 left_yaw=0.0597 left_pitch=-0.0094 left_roll=0.0048 left_gripper=0.9983 right_x=0.4216 right_y=0.252 right_z=0.0285 right_yaw=0.0163 right_pitch=-0.0257 right_roll=-0.0291 right_gripper=0.9988\nstate[joint_eff]: [0.1709, -1.6889, 6.3658, 1.7949, -0.0562, -0.0708, -0.0122, 0.0889, -9.2923, 7.0359, 1.3846, -0.188, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.485, -0.2848, -0.1131, -0.0818, 0.9983, 0.7383, 2.0495, 1.0668, 0.3912, 0.6048, 0.4133, 0.0141]\nstate[eef_state]: left_x=0.2907 left_y=0.0046 left_z=0.1499 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4397 right_y=0.2692 right_z=0.0558 right_yaw=0.0109 right_pitch=0.0892 right_roll=0.0552 right_gripper=0.0141\nstate[joint_eff]: [0.1026, -1.2786, 6.4479, 1.9219, -0.0708, -0.0708, -0.0122, -0.9368, -9.9487, 4.2872, 0.9841, -0.0415, 0.105, 1.2186]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2848, -0.1131, -0.0818, 0.9983, 0.7185, 2.109, 1.1854, 0.2405, 0.5713, 0.3901, 0.9949]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1497 left_yaw=0.0597 left_pitch=-0.0124 left_roll=0.0052 left_gripper=0.9983 right_x=0.4525 right_y=0.2735 right_z=0.0415 right_yaw=0.0327 right_pitch=0.0069 right_roll=-0.0093 right_gripper=0.9949\nstate[joint_eff]: [0.0615, -1.6889, 6.0786, 1.8486, -0.0562, -0.0855, -0.0122, -1.6068, -7.8154, 7.3504, 1.6777, 0.1538, 0.1294, -0.2955]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534144f9c6c1f7f5a0092aaefb46d7c129b89591ae55df7c193775373b9f2910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3457d4774dd36e5a5f3b0fb9ed01a1bc00c55e1d788b2bc045fd677e8a111",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89975cdd55e00090a642f6ee5a7b43c0418823484925f0693391fb480ea257b9",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE3vKftMS0zuT7wRh6-D6pPXZVPQDgJUcipxSXmcAobuLryr_PmtZpz3nuc2Veuyp_xyUMQD6MUYgqdajEJSG7Z3nFu6Gg3egRk1og2myjdeQRddlorvjAGGmLas4o68RdVVc2X1sU0D4nXMCILF8VJbtcPt-XrrWg8TAl908-1GbPeUnjlFKyzALp8j73XuoKJlCegAws7oq9btYYY4EpC4d88mUY4IbMn_ckmWykxwuclAWASqxnmEU_RphEACmxDWpGLr61_MrAvVpMhvEj3oPTSDqEF6bu5k8B5CruTeV-lklwn2jUgwGWtgyPxDtIDVvFEpdV_ny4P0y9aS-hsNI30U5el_n7ZsMQqM77mL6dfkyiATBNi2HJqHOGb6xT1N7hFsyxo9dUGSi9gm0Fj-Z9Wf-kIdsoB6EQlaM--JLNHBe42V9aDQhoSdojUE0mBpRWzffMpWxegR4cuG3EfHl9ry2s57zJLWSDGZB4UChLAYqLwF0AextrEjMIm8_k-9vtgN8PSVef3k1j6koNFfBcyvMC7cIi67dAFLKfHTilfRshglYf3ICPwB9kFKrt-L7rCm2m8h8eFQ32n8ahWj5vCibk_NggpizIDfGshoRHbmk0BJsaQ18WsFM9_G4bqQSZskj_lU674ZohcP82DAB9iVlqeQcucIgUCv_fXD1JhH85oF5T6b_QHGMNV0suNzzX6vFmBA7-HhZ-i_q_CGNnVM8nNMewdhwCnxZ-zVGYZ_zHwB0pk2-uvpTHJ28WAGNwT8hkZrBowMYCqO31PNj_8mxGQRsgeDBePjC1QLD-verHMwIWqmKqP6j_WCXREcd86k0L-b6XulJowe_hIgy4oJhgK2G6jEK5C2YAWQJmDZ4D0GoYbFTZMpGeUqp3tfzIE80syKbzeenWCxNXD1kWmLipsoqLJfj5cMuLtfvw5aqWsWcqQcILoWjx9mx6RlZPl-Ieyhr1W85v2JDCiZI_Oa7x-ZlmU-RWczb74pYG6ZQ1WOpqr11Kf0vXgdeMul-l6zCKj02Uz5GgWRguQg4aGLjBFexmKxhwlhnv_vNs528NigHCkcFU2OHPY59OtVrzZInI5Ml5oIqRR5hsoKHMcvdvmJUPKZXocE9tSjvmug0SqXBA44lBumKEAdu456I_g1vOwDulE8iQLKV3mwJNXPuEkobOGEFSXq8GW5L1wEpEiEscEKMM4QXJDAjVF6CjylMLwdv365Xu0AscBLuqTEMCuqqiLh0o1GpL81yJFbdMErQdfZ9vum85cwaaPyGVk1HMtueQ7bdgq79gZht_Jz_QL1xGAqg90t2obISs7jo-0nKzqEiysnKw6eV5nmKzAzoW4l1Gdp7_bO1POcWy0Vpaf_RMZ0gwsMt-1LPc6tZ1hEJiJTARB8YDmFoVX0gnDzdroi-bmvklY9wKUbVq7ORjJ5isjxYHDwoZpyU9stiTjH0XdHxIftnBg0mB5LLbRYMajV0ACY8nsCQA0x9T-_9yskVj-_xQw_JkJEaifiYvr1hYtCkccT7vjFY-NBblWf0HtqN3j6qvTxyRV-Ex303_HRUNKzwfafc_CDrwzLmeQm3sYc8mzkJV1QZMoX9L_dtTrW_BVQKoJvrHA_dTaSN9rFg72IVXh62jMR25WGDfSa6PpcKuekyJBH7Z0BqhZ3LrpyaTaBu6ipdmnO6DlECyaZmUhqF7kS6ySkhkxIu_r0LOQiNYwIJXt9v5T8i_GSDaYdSVsYvv_rtxOFcjYjHRfTjfvXtULPdhW-CTi_Er0RXoLjAr_4z9WYGKko",
  "id": "rs_0e5b8473993cbf0b016ab44deb46f887d0bc211cfb1cad7fbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.25},\"note\":\"The corrected radial move brought the cap and narrow neck between the jaws, but they sit about 2 cm to image-right of the closure center. I am shifting the gripper laterally in the opposite direction from the prior nudge to center the neck before the second close.\"}",
  "call_id": "call_LlgWq1R9tIKldVuadl6MWhJz",
  "id": "fc_0e5b8473993cbf0b016ab44dedde9c87d08f502e273c3ba82b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LlgWq1R9tIKldVuadl6MWhJz",
  "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]: [-0.065, 0.7784, 0.4847, -0.2844, -0.1131, -0.0818, 0.9983, 0.7033, 2.0865, 1.1427, 0.2817, 0.5472, 0.3767, 0.995]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1498 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4514 right_y=0.2669 right_z=0.0428 right_yaw=0.0432 right_pitch=0.014 right_roll=0.0041 right_gripper=0.995\nstate[joint_eff]: [0.1846, -1.3333, 6.065, 1.8584, -0.0513, -0.0952, -0.0073, -1.9761, -11.4393, 4.7795, 1.5702, 0.2027, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55329a364b1a876614b5c8fa4ae8aaf82502608447ce41a6816b69162fb5a55f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3bf6ccc2a0f3536753b32e2e2aec28386069864978eba035db07d2c8684461",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e466dbc5fadab137a7c05b5650eb353a5bbff85fb5d88dc377f54770db4a10",
      "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 33 attempt 0 · /responses · status 200 · 15.74 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4866, -0.2855, -0.1131, -0.0818, 0.9983, 0.7338, 2.0544, 1.0454, 0.3115, 0.5972, 0.4137, 0.9988]\nstate[eef_state]: left_x=0.2908 left_y=0.0046 left_z=0.1505 left_yaw=0.0597 left_pitch=-0.0113 left_roll=0.005 left_gripper=0.9983 right_x=0.4279 right_y=0.2569 right_z=0.0317 right_yaw=0.0155 right_pitch=0.0066 right_roll=-0.0112 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.5385, 6.5573, 1.8193, -0.0073, -0.0904, -0.0122, -0.1709, -8.1709, 6.5983, 1.6044, 0.1001, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2848, -0.1131, -0.0818, 0.9983, 0.7185, 2.109, 1.1854, 0.2405, 0.5713, 0.3901, 0.9949]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1497 left_yaw=0.0597 left_pitch=-0.0124 left_roll=0.0052 left_gripper=0.9983 right_x=0.4525 right_y=0.2735 right_z=0.0415 right_yaw=0.0327 right_pitch=0.0069 right_roll=-0.0093 right_gripper=0.9949\nstate[joint_eff]: [0.0615, -1.6889, 6.0786, 1.8486, -0.0562, -0.0855, -0.0122, -1.6068, -7.8154, 7.3504, 1.6777, 0.1538, 0.1294, -0.2955]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2844, -0.1131, -0.0818, 0.9983, 0.7033, 2.0865, 1.1427, 0.2817, 0.5472, 0.3767, 0.995]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1498 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4514 right_y=0.2669 right_z=0.0428 right_yaw=0.0432 right_pitch=0.014 right_roll=0.0041 right_gripper=0.995\nstate[joint_eff]: [0.1846, -1.3333, 6.065, 1.8584, -0.0513, -0.0952, -0.0073, -1.9761, -11.4393, 4.7795, 1.5702, 0.2027, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55329a364b1a876614b5c8fa4ae8aaf82502608447ce41a6816b69162fb5a55f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3bf6ccc2a0f3536753b32e2e2aec28386069864978eba035db07d2c8684461",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e466dbc5fadab137a7c05b5650eb353a5bbff85fb5d88dc377f54770db4a10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE3z4WJ5CqRjf5vtNMjhB3sAn6E6yKlFu7I9mruruT2B5fKKJnAWqbzSdXH7klbUtj019udcDd_2m-0BKtWJv418sXXDOmM0CTPMvq3itqSn_pPvVLIN6TuzyouLZSTfQCTRTWUk5V6Z67hr3MiBZIL1nk72MSrJYs4zpgI1ePzvurq4MIhrH3g0sGLEMhYpykVPFnDnL9kHyQ-rCVMhMGfJlPH-whyj7WXXKIUr2efkL_xet8V0OTwkI2lFIxhGdvAQm5eFYj14PusVC0F3RvmstcWI7EvImcs77Ficjc0Z3Na8W0qSNnVaRXWhehJCw7c83KqfKJAwpzXPVIUoH9ognTJAcQiIDnpnVniZCaAXiNuA_j0Ic20T_oDiqfKZys6np0KSBajC8xfAQ53I-03EIuWVrY6jOfmi1Pqkd8oh-vujN-PKLwZmND-A1BGYSCbTwJuFZjxbWTbxUeBLzH04Mm91zRiQls_sRVAtA2KxQPJ1TcM90serDQchlwQUi2zdvADiDQxONmkuJLjTv6ELgrDUKcNvinu-eFowiIenOlPt9jmGhBa8BRHOkCYpYhUT0bXXU9ASg0--VJRjCl6M9GfJBlE8Ea3Gg8roXxDJAiniBGIwHjA3foKTxKRNsRRJDHj22OnhbMe-VdDeg7Auqeixtd3DiyCnEbOYzf9QHqiUj3CbmUy2v4E8z-vZ8mWbJfjFcfEnsBiBYBKIIeYOoGI_IeBPvuPe-crGpkLzd2uMVwW7f3vbIAnjFHVn4nzoSDQuOaz4dJBt_NO4yJtsxlSLbvfOL_kUcbCY3aDtXr56rB1R0UCLjaBRJ3RoJi7pcMzs24NS0LB7SZrCXD7j9PgenAu-CSYL1fkjFVYHuZrOwhXoWFFuzFJ6JK2d3ZV4lBxAhh3gU57M0Y_MKvnYqU8jRIkKq0bZp_L-rC_yU1ZDlTUWomujDIRBB4i3pp44xQuhuVV2jP-Zw1m46R-0sthRr-PJTTqZC77h6ozGdIjCzVqFpWLGUJW0GmmmMEBmuGOXPlnO7BMnMjgvdfh6VIOtBiIo7aEIereBYrxTOk4f6ZJ4pMgUVTzOi-V_8RQt7HOwIs7XGvJiiY0xb_f_1hXh_21_3fUln-jRFqhN0NHa-efy6ydN3qy1cqSZNBQOaWfRVFwZZt41MRKLO8QyEZCsE0gZVUSxdPI-4sbWtRKyC9JwmiwFdSVkSrLEYpagoKe5H7uLXvD2KMS6q8KH7h7m0-8vmaBVwjz1033N8hChLKK1jPmJ_vOgym_1E06lt9o_rTIBrvG3rI7DiPgeYURHmbr00fBBRTSpcbWg6c6IWTJ7BehJnTvIfVtuXY-fbk9eO2k8dFr_Ivh-ZkXLqx6CvKd5aXFhslEyfD5yLH5b6J5AlW8wsKbICy-vHhhPypg9vjnS9Hh0uy3kIWbxbLmrs0TbCdK7RQr9gX-0DsLSiv2u971UwB7fbHxbynXufAciqHbJg50VzXP1jJMM-9cp1vQt1f9RSvDx35Fd4xYIanDmUDHJD6gvmjiyt0-9vajYaLVGQtvj-o96eljmYIxXmUf6u1QoIW0lu-PQiqW_6CbXNwnLoh9H2KZ27dfEkaIWOm8Kcv-7XuTZIlGSs_-wVtUNecQN2E_a5FEtyWs=",
  "id": "rs_0e5b8473993cbf0b016ab44df13bd487d08b2898d4c8774c02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The neck is now inside the open jaw corridor and only slightly right of center; further lateral motion is tracking poorly at this extended low pose. I will make the second close from this alignment, where both fingers clearly straddle the neck.\"}",
  "call_id": "call_FZ2igAIkN3x1hQYBzHpVeCho",
  "id": "fc_0e5b8473993cbf0b016ab44df26be087d0a7268be93d73949c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FZ2igAIkN3x1hQYBzHpVeCho",
  "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]: [-0.065, 0.7776, 0.4828, -0.2844, -0.1131, -0.0818, 0.9983, 0.7059, 2.0727, 1.1534, 0.2901, 0.5449, 0.3645, 0.0138]\nstate[eef_state]: left_x=0.2903 left_y=0.0047 left_z=0.1492 left_yaw=0.0597 left_pitch=-0.0132 left_roll=0.0053 left_gripper=0.9983 right_x=0.4545 right_y=0.2718 right_z=0.055 right_yaw=0.0537 right_pitch=0.0392 right_roll=0.0148 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.6479, 6.2017, 1.8632, -0.0513, -0.0904, -0.0122, -0.6632, -9.9624, 6.065, 1.3211, 0.188, 0.1392, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1089eae8aaf51e750718aca097327334f6ed496fe7ee7a52cb4739213ce86946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13f8eafef7e7dc94b9c7beaba49ff2368ad5088892d50aced5280daf3f5d107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b4986964ff8fed5e6badbb8d350b136b00f0785f0e0502c1ea0d7349d5ff4c",
      "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 34 attempt 0 · /responses · status 200 · 7.814 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.485, -0.2848, -0.1131, -0.0818, 0.9983, 0.7383, 2.0495, 1.0668, 0.3912, 0.6048, 0.4133, 0.0141]\nstate[eef_state]: left_x=0.2907 left_y=0.0046 left_z=0.1499 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4397 right_y=0.2692 right_z=0.0558 right_yaw=0.0109 right_pitch=0.0892 right_roll=0.0552 right_gripper=0.0141\nstate[joint_eff]: [0.1026, -1.2786, 6.4479, 1.9219, -0.0708, -0.0708, -0.0122, -0.9368, -9.9487, 4.2872, 0.9841, -0.0415, 0.105, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2844, -0.1131, -0.0818, 0.9983, 0.7033, 2.0865, 1.1427, 0.2817, 0.5472, 0.3767, 0.995]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1498 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4514 right_y=0.2669 right_z=0.0428 right_yaw=0.0432 right_pitch=0.014 right_roll=0.0041 right_gripper=0.995\nstate[joint_eff]: [0.1846, -1.3333, 6.065, 1.8584, -0.0513, -0.0952, -0.0073, -1.9761, -11.4393, 4.7795, 1.5702, 0.2027, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7776, 0.4828, -0.2844, -0.1131, -0.0818, 0.9983, 0.7059, 2.0727, 1.1534, 0.2901, 0.5449, 0.3645, 0.0138]\nstate[eef_state]: left_x=0.2903 left_y=0.0047 left_z=0.1492 left_yaw=0.0597 left_pitch=-0.0132 left_roll=0.0053 left_gripper=0.9983 right_x=0.4545 right_y=0.2718 right_z=0.055 right_yaw=0.0537 right_pitch=0.0392 right_roll=0.0148 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.6479, 6.2017, 1.8632, -0.0513, -0.0904, -0.0122, -0.6632, -9.9624, 6.065, 1.3211, 0.188, 0.1392, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1089eae8aaf51e750718aca097327334f6ed496fe7ee7a52cb4739213ce86946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13f8eafef7e7dc94b9c7beaba49ff2368ad5088892d50aced5280daf3f5d107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b4986964ff8fed5e6badbb8d350b136b00f0785f0e0502c1ea0d7349d5ff4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
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  "id": "rs_0e5b8473993cbf0b016ab44df5ad4487d0a1f764a0439d2101",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_0e5b8473993cbf0b016ab44dfa867c87d0a193ad52a5dd6816",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4EmoPjZ0KDKAzvilHw7KBv9uTXPzbvqDgjvod5IIwhXyQf7oMP4YbWlnMcmkWZagnT74Pb3DGttxwKRrybaMBjIu3UuN-QyLmMRoNd2E-4Yp5bLnXtYOzukUVsvRRfnCnEIdGiHa_6ekoRb_08IjXC5_p0S5KJLbYWNlcLW55H9lChbPKXtBnws-ZaEf3mb_wveAAq2RziZeARY52PAd29ASzblPhBNna8CIaQ7RQFV8pi5BTGUr7ewXynfRizzQIK2_edVjJPiUfc84Z26saqqKWCs7lGkhGCcgRW1HJpbbDJz5tw4zB6Clo0a6E9tx-eNhoy0WqYbCGJ7E00mMgMcjlYGd02H10n2ayskuh2ZHE9Iq6qzgmR-F4b-35qTI6SG_Be4sVPrPtXa5DT3CyIW4vXBXhyUtwSY1dZ5QvX3brPKwUiVWb_H1qy_vvOmed44cX86-PQUE_KUDGdWEImZs8EJvMbcgoIZAN-QHhM40eBdWuLdLcWkvfTNfudoSM-1l9JOFkGBxuNA0IXezIDMfhCpq3_hqjZL9g1SjN0WL-R5-KAVFOi1yVclX-S7sDfn85Bd2FQC8GM5QYCQ6TLRR5zmpFEmgg4Q8gcsZBThCzqPH2obLQgVNKugSUpd_ppb8C_I8WS9C6a792X0hoaXXk1AlQz2dYKK6_tmVmwhsuMlP_jcjj6AM6-HjgsFqVL-qgpA47nGDWd2S0nnh7SizUvmTahSyb0u6DH0r2D0DHCdO5Qj1MQZGCLIioDrDNzkWWX6SVft3tvinTpogaL6KPyoyV_ONm9zvkpkYwgC5_2NJY3Gi27sKI3xXaZyPdEHp0XF7zzfSi7oTuxHPXK3RT1_XsMRc1rxQ0ZkgVLuQk-JFGFO4q7rkH2VMt9AfFrVjt-bwCkE0ZbL1RsDm32yYleApGJAMcWzUV1jtttmrtjcwDE5Y1CJIf5lv5toornq8VamAli-hVgogNuW8inoTPo2ZtMkz0RR_cNj2Mc5w_Hq2ALWaiykYlC_EylF5XAHzrVJNzxOZtHv-USYw8UG3G2WdmgrPHf7XYSe_pPlYYzuDexgIacSsaA6Q57w5SUyun1YG9uHus0BmVOCHp2CEDptfZlgI_k42Z3rxOLKsbkz5izZfd6x7IiTaJsWRza455GGDVwZ5ghYzkz4FyVhBTDCKYNbMKvprmg--sDNZhB_Nk_6CpVDlphsmGg1ekaW8Gwy9plq_uO0SSEd35PoVMOTAyUvvktXsF-bHWGFW2CodOrq6yxEdQ3eSoLYCQEHGGGHGY7oOV7_uHxhLKWOAZiMA3c5ViCWVsyW0YGk2G9aw00AB731LjP4op7P__8btgY6hKsYCDyOxFTbHFcM9qQhN1Xf6yRFepN3-OKMrTU8YEJFdcZ1KB-_4hmpB7r9f2FRgmGU1lfoDIJZwPaTHNZC4Ye_dBdla7smJ36c9yVynv4RAzMHO3foYwUH7JNyHiB7rT56Ixe1rI3J5Bx8zxETaabxwCCd09yrvpTAeGH1IZNjMzo_CBGS-ibkR5wlbO19xHAs4F8FDyt0VmCs_g0bm8PNLtsABVNeiEfSl4of23qDeF8nZLsW4a2cbsXyW0mtH1hVaJCsfDAJt1fpJSQdp69S_tUDjStOPVbkwJDofeovt2C4YLUNdg27hDMFm5NTgYHzUKIwj6j6B_zjVW9Uto7PfWH1Ux4UZQa92LVwdlH_9_tSbJ_TPKA6V1U15BjDTSLzkXXzjSOr-V94ATuGhcW6_yinbEGSbDZ_rnUZqUlMy5u0nGXC_IMXE66BVB2j4TaBcXo7Lwxt6QgTT-bCjcreqgkCGFM3Gdwj8SsLj3wMX81l_nb1PGVW59ojw9j8QOqDnI42jVKRXc29x3I6-M78Jc25ByepYBmZc_c26riuEzxZ-J2VplzRoRt0QaAQYI-rZRZyrT11r_DyTjw2MpLgdN4jUGHk9MDmIUeERmMGEkCUtngW8xkhB2X6EZ1mx0LvzuG2cIM4tq5njZJrxZAGf6wEFHviVemO9DC81rrh2G2Zlhhv0GDkY66o_NHYfO6ZZdf3cWlFYpb9UTLNNMpQSpCPskcw9tv0Fo7Fm6h9_JbhZWMOWBT46bx7emRSqzTf_XnkJy4zQgw428M1jQkjhMspuvyd1R3bWvAIuMrMomO8zotY_MqDxd-D2LsQwer-8i0qY4SlNxe0e_TBysDBKoma-GOwVKePj-My-1bnjWUR-n1wVZiEHMacujhrafWYqFn-sB0uy_kL1IBgTGUH3v2eXfrl0ky-8CqTAJBdpqLfEU8C81A3fr8P5vRZZPQRYDU1eIiy2nPeFQFc6rLMC4u6x69VjBd3tWxtRGIp6hgesOaT7PFdtt04v66KBbxuVVwtA2XY6jalvckbT7CmCldIV9mSVcs0DFO_bLxgOzKTasXUeFBlGIv9vP9cgXJofx_JjKVJDkeI-FnE6EIG84ry7raCu7ysyEqIqzMgbMTDVrYyd6XKtIBH4AkoTK6tv1_1Iusiv1N8CqwlffZlXfSEXqwQfB9pM8sZGzsII-DtSWNrhd8sajG7dM2w97D4Um49R0CAUaDp_IPUwGKQHSGnE1baOjPS1QqBdVYZgqXHjAYYKLBMoLmm4yWW6hNqk9at-Wb2geSroZrKLcs6UuBNw8HLyXIRL-_xO0GgNx7ZghNaH-LIIZxjCFAxihtugfeSk-rO1m1WXyqj90pTdCYMRHrUMbkMOjTys0aOnF73W6pDiEeEaGFBdNqTZnRLsxKwCmlMIGhEok-mQmoOSAs58gCHmPANBRFxD3sfHB0TaCelOHheYDaKe0bMuUg0PldDwj3AlzPUw==",
  "id": "rs_0e5b8473993cbf0b016ab44dffa81887d08e4458c719ade19a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.23,\"left_y\":0.02,\"left_z\":0.07,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The second neck close was empty and displaced that bottle, so I am not repeating it. I am parking the right arm and switching to the isolated bottle near the left side, moving the left gripper above its visible cap where there is much more lateral room for accurate alignment.\"}",
  "call_id": "call_SFYmtMzpL2OUCuUKUEYUWQu1",
  "id": "fc_0e5b8473993cbf0b016ab44e02d80887d0a4e94d61a87a8c79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SFYmtMzpL2OUCuUKUEYUWQu1",
  "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]: [0.1802, 0.3527, 0.123, -0.3038, 0.1246, 0.0601, 0.9988, 0.0017, 0.8101, 0.5793, -0.3351, 0.0475, 0.0109, 0.9985]\nstate[eef_state]: left_x=0.2354 left_y=0.0242 left_z=0.0812 left_yaw=0.0283 left_pitch=0.033 left_roll=0.0014 left_gripper=0.9988 right_x=0.2985 right_y=-0.0043 right_z=0.1736 right_yaw=-0.0511 right_pitch=0.0014 right_roll=-0.0049 right_gripper=0.9985\nstate[joint_eff]: [0.4308, 0.9231, 6.0103, 1.7411, 0.3248, 0.0806, -0.1343, 0.4855, -1.6342, 8.7316, 1.9219, -0.2027, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484a7bfb1a5d254fa8e5f403b739e128d6d34fd053b03c2a28aa7bf5ccb0dd7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2a97af346ee0e5b8ea665a8cee6b2aabe3c1c9d5d60a80b5d123dc322917f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d263fdcb4e1a7521e4d146f378b2ab8fb832499eb2802e7e7af51d0f8682b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.714 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 147 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2848, -0.1131, -0.0818, 0.9983, 0.7185, 2.109, 1.1854, 0.2405, 0.5713, 0.3901, 0.9949]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1497 left_yaw=0.0597 left_pitch=-0.0124 left_roll=0.0052 left_gripper=0.9983 right_x=0.4525 right_y=0.2735 right_z=0.0415 right_yaw=0.0327 right_pitch=0.0069 right_roll=-0.0093 right_gripper=0.9949\nstate[joint_eff]: [0.0615, -1.6889, 6.0786, 1.8486, -0.0562, -0.0855, -0.0122, -1.6068, -7.8154, 7.3504, 1.6777, 0.1538, 0.1294, -0.2955]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7776, 0.4828, -0.2844, -0.1131, -0.0818, 0.9983, 0.7059, 2.0727, 1.1534, 0.2901, 0.5449, 0.3645, 0.0138]\nstate[eef_state]: left_x=0.2903 left_y=0.0047 left_z=0.1492 left_yaw=0.0597 left_pitch=-0.0132 left_roll=0.0053 left_gripper=0.9983 right_x=0.4545 right_y=0.2718 right_z=0.055 right_yaw=0.0537 right_pitch=0.0392 right_roll=0.0148 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.6479, 6.2017, 1.8632, -0.0513, -0.0904, -0.0122, -0.6632, -9.9624, 6.065, 1.3211, 0.188, 0.1392, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1802, 0.3527, 0.123, -0.3038, 0.1246, 0.0601, 0.9988, 0.0017, 0.8101, 0.5793, -0.3351, 0.0475, 0.0109, 0.9985]\nstate[eef_state]: left_x=0.2354 left_y=0.0242 left_z=0.0812 left_yaw=0.0283 left_pitch=0.033 left_roll=0.0014 left_gripper=0.9988 right_x=0.2985 right_y=-0.0043 right_z=0.1736 right_yaw=-0.0511 right_pitch=0.0014 right_roll=-0.0049 right_gripper=0.9985\nstate[joint_eff]: [0.4308, 0.9231, 6.0103, 1.7411, 0.3248, 0.0806, -0.1343, 0.4855, -1.6342, 8.7316, 1.9219, -0.2027, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484a7bfb1a5d254fa8e5f403b739e128d6d34fd053b03c2a28aa7bf5ccb0dd7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2a97af346ee0e5b8ea665a8cee6b2aabe3c1c9d5d60a80b5d123dc322917f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d263fdcb4e1a7521e4d146f378b2ab8fb832499eb2802e7e7af51d0f8682b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4OAjkjtDKCHM2-e9I7R2elx3InthkEvkF4fJLfjdr98xyhpuzFwP3fjq6OZPiXEu1tMaAmhyPFiuQCdxNGo9WGflzx9PoeiStR0rHau0oXSA6rqKCZKLBK5G-rBEKlZklOF_Mr3Gjx9z2aoUBKL8loZMCsamCnTZ0kCjNxI3f-rnwXyvS4iSTppHq1kRUjN9fmxobj1EnFgBcJy1yR-YUkM2m_ovK9QShGS_OpwwTwTk06ctBuq_DEMvh4TwjKZQQsdZ4JSLgbzQS9NNly4_nIVjjPj0C9ySX3l7XDFvlwR5M_rMlA0bCu_m1KjmHHMWzdStXER0q0NstPyjbB5PwQBllwrMW1jMMHm0yNQR_H3elrBu9bDbFGVAu7fyRlfSzH4uarvjpGJ60TWgRYYseK8WuY0JZqUOadhxtpLiOJuyPcP32IdTu53CSjxjgF-M9KQwfm9xKmNXs3n6FX_H0xMjsAFA3MGBHzBuWNuftgFx55vLDIl8dUsrzXcmwPFzsgLKXpuIjljnuoXttPdSvwiMOvwr89Ll9m2mZDf4V2WL2EGOn0LFUlD1eg2yu5Q2Vyh1aR1K5yNBSsOvKHD_IH31givgMSV4zRwq76IOGlAtE24CSV0n1j8OmwbTGAzrLvT1IGxDZxRZkUYddYIs6dT9lLAazPaJIz_eC4-9xGqFFhDg0Pal4iLduOAMIx68SGIBR5XL6si6AV9Jkqzj-m60jaXMV7dwYkCzdK90P6vvDUyqYLvaCFUMKvGR5qysfRyBw75pUWauvUrMg0AWL67Kvx1p9nYKPJIZeyEUY3ZbI4Mcm-QnKgy-Q3AkFMHefa2kJUjnnUHPurEQYBZ7CgJBhUhYfrcsEqb1qsnTFGP73GUsEeke3xz_oW1aAZ67UvI_CESR--zdvGXNz3nix8IaIrS2YxcKBdkIjRL0vlgbBq-p3_00Gu_BhoGQVM41HBUbVjGslpDZHXHlOXTP-44DCJK-H7iF9qZBrZLv94N9dYCVkylILF2liKcSXN3p7Vwt6XoqW1A6K0PmVlKb04g0JVYiyeSyOjc37ckSCNzMAqaGQfflbzUExJ1oqTk6AwdHywFZiQKa-tIesWhJks9bUrkkXJPL2AUMY-Uk5yVJ6ow34NYomRiu40Uy6PUt0eIeS8mNNK0sLBvtvgOw-kfileUJHopIDae-5CmfeVv0FzKkF83jP-LnLTgOAxMNesBRDJOLw4VnZOJGI1iuoWznrbzcpOQKZvbSN2rFuZaei0vsLZ7z89tAJcKx5oelTOEy-gUTLD4Scv7i5HLM9yc_1YtYt73ep5JeIxNOqcD8emwaZJRda-9-ksJgJMv54DFc3jUhyv1iyqxglePEqZYIwdsLnzr6Y-FrXpM8hDumjEj6-vkTnnkfXsgeXvg65IuIqL3ZXSoatkJu5IzyVnwsW_Sm7BM_iSIHAvG5YI9kAilJ9fqCKc5VZVByKZvFFDF7Gupdgf8vXpW4ywS-jSVI_-uCnkShZglEaKvdc3DMmYrCh8Ph4vkX4kpXyGIKym1FBRr9hXfX1n49x2lq3pmcsdKcGkIzycRBdJoy9sTTi7T5rU8hmIpVMi22Ze48oL3-u2yJRT1I5g-WxCd2CG7-OCfYRg9h-tRh-YIjoEumhNNlntujY4p_oo5IZhr_YE5QQgwnheZJHcsqxYkBvp2Os87HKmfZf5BGwROnzpfCjulUS-lD4JEUf7nwYn-5I2gVTX-sP8AIsrmdJaCDy1ss5zieWxpZv7bIbC4hksA5foZE-Y8juQpk8Ew1YkDljJfsIA3IGq5ps-5ATm83QhiNajwpKB7k09F6JnzpHHkk1HdhJKa5PYjVWV2kiQgIa0EE5gYDC9HfyJprA_4KVqXYpCh6KkDwBA92BJscEqior-vjFRuQmHifXDkiAlrTF1uROJhjSjoJO7TqKPlsSmqc_8N98l-7jSbP6CSaoOl-d3Dcn7JmJoICKcqPCm2okN9odZUMfAi_Qmw8qIsEA7bYZ331CfrbojUcyoZmqiyMjGpvT8em_ySR3Zgsw-OVi6XJVvuii0MMOqf_yI9vvJ8H31gkAq3TUnUMeid7KfW52Vno6Z-0Sr9P-aiUy2qWJGwtvfmL5YzWIX4ZAg1n3PoLbQC3SXT1Tsl59ZHqXTX5N3KV1t2fMEYxwCglherZx88dMhqn1k_hW48TaKzOwCJnsxo4_z53swGH-5TRYndiC1f0FJDE6xqtW38WmWbmAT1GvJQDYiTXjQWQAnVZsbKEM9RIVmSE1IznP1gpf5gf_0NWTm6mPJv1MpTzRq7Ot2iKC5G3s-M7omZS5XQm4yAnYGNL_SGKZae5Uo--N5GMk2LnCS4okFY34VdY1PJiTgii-hcjC8WMR4BrWIFWocniXDfkuhrNqOoI_p92OZ-Is-sGquRDUdQE-EYJcpwzXGNqsJFQlY0LYX-hDjhbzCiqEjRQKKX6rXFIbnXIGYZuEt3Ech2d_y4DKsNXhBSJtbdLfc97Y3LvNWJqGDE4GqKZm4T04wk1RKnudJksxNGGXPrS-xuoadn58GtgJLJA_hQCR7NbltdJMCwiDpHWIjOiy5hFD3lWzIDvV9JOjD7syFlaK-Ijr9osW2qqEeTA04PmsUkgbQBWZ6Yv6qqgqbU8sSF3yClrmdfxgp8iyzKrdAUoGmaXjrpI09S8FhmL0gPjJHQ9lkG3GhZa9oG8su6ubGolzInWXEPPuM3pBJKdqQX_3h-r7utHUzkLp8xwg6ASvaJWgZWMpKqOEL-Y2RKBe5ZiisC4ERkaf2t63b8p8oxBkMm17lEGpdg_V_MXKuaXj9zWSf4IAAg5-suFi_hfcqbDDttzuuTrFPsf0TICEFWHaUBeeigTOju-3pzXEM-GO_UV58rTz3RMEM64ywi28EcXnbIv-BgHrshOtirp8H6wUpOq06B-glmM87G2IFMquWSL0w5oEoV_DCG0WcsVGillSV5AMxKJEE7HpyazjNQmjRZUj60fVOgWAqSOGoDv9mt02-sKNGKF1PBQvhlQ8nv41Ox_JE1jzkEWny7z9wIq4YnHx5ki6TaQbT8hGIkKIKm_up1JxTyWa48eefKyfSfrpPCCdrYqt6YBjeU8Raq3AhYg7Ljerdy2n8XHHf5rEbkUvREkgmNPVBYbnAghsKRVLmX5tR0rBU6MQXHvkUuKzsHnLR3U3GBcb6bsgzef4Jdv_VIxZU7cZOOIhVxrVSA_MnPRPMJZlFMKIj0RUaefgC4NVIv8U0E-OhRZ-_h4mlLLqmzvXgHHGSMtAol1B6NJYGVk_WGGwbCIblAQFSjw5eJInYzqgDJRg0QCGvbR5LEg5DBdkdfdT2g92BRX0reyDHrGxpiJ8qnYOWU-8HlgaHpVYJzlLLuWao5JGgZcnfhh4vZH4jt1QE3z9FlU8K_3xS-ifpBFSLgnNEImb-ZyUBAxvR90FoJ_h4kLftzKeBhIL2TfO29qyL_0DjejpuRLIkneZwn1dwa2_NZ1kQpEajAaeIOqNl2bbou7FaytwGU7uavL0gjejtxt9KU1F0FAMJyb1lLwoYNfoPJmeqUoKIT8FWiK4LTtzzNLv8XjLpoqqvKsGnVXR3CiDxlDiZJx7BKF_99zgYDD__Yok=",
  "id": "rs_0e5b8473993cbf0b016ab44e07e35487d0b1c9809a00790c5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.02,\"left_z\":0.03,\"left_yaw\":-0.5},\"note\":\"The overhead view now clearly isolates the third bottle at the lower-left; its cap is just forward and image-right of the left gripper, while the empty wrist view indicates it is near or behind the fingertip projection. I am moving a few centimetres forward/right, descending, and rotating the jaws to close across the bottle’s diagonal neck axis.\"}",
  "call_id": "call_EcNcorVZ7D5DnBpPAsE9O5Di",
  "id": "fc_0e5b8473993cbf0b016ab44e0cff0887d0ae49628bd3239612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EcNcorVZ7D5DnBpPAsE9O5Di",
  "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]: [0.3214, 1.0607, 0.12, 0.1593, 0.5076, 0.3702, 0.9984, -0.001, 0.8158, 0.5762, -0.371, 0.0254, -0.0044, 0.9988]\nstate[eef_state]: left_x=0.2569 left_y=-0.0012 left_z=0.0218 left_yaw=-0.3154 left_pitch=-0.1016 left_roll=-0.0519 left_gripper=0.9984 right_x=0.2936 right_y=-0.0012 right_z=0.1632 right_yaw=-0.0269 right_pitch=-0.0437 right_roll=-0.0071 right_gripper=0.9988\nstate[joint_eff]: [0.5812, -4.1231, 6.7487, 1.4579, 0.3004, 0.1734, -0.0562, -0.2256, -1.4838, 7.3915, 2.0586, 0.1734, 0.1392, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096c5b04769f6b4570e8530f320c0bf9e4ca75efc83d3bad3ea2c2dd71adb6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b606195e75006bd73a06fa9970dba49b9b49d125ac46a8a3df29cc92baf303",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d241346c93c6478237bb97ef1fee8f5f8f1f519c15631e8c7c77899ec82c7508",
      "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 · 13.43 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 147 changed as sent

message 151 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7784, 0.4847, -0.2844, -0.1131, -0.0818, 0.9983, 0.7033, 2.0865, 1.1427, 0.2817, 0.5472, 0.3767, 0.995]\nstate[eef_state]: left_x=0.2906 left_y=0.0046 left_z=0.1498 left_yaw=0.0597 left_pitch=-0.0121 left_roll=0.0051 left_gripper=0.9983 right_x=0.4514 right_y=0.2669 right_z=0.0428 right_yaw=0.0432 right_pitch=0.014 right_roll=0.0041 right_gripper=0.995\nstate[joint_eff]: [0.1846, -1.3333, 6.065, 1.8584, -0.0513, -0.0952, -0.0073, -1.9761, -11.4393, 4.7795, 1.5702, 0.2027, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1802, 0.3527, 0.123, -0.3038, 0.1246, 0.0601, 0.9988, 0.0017, 0.8101, 0.5793, -0.3351, 0.0475, 0.0109, 0.9985]\nstate[eef_state]: left_x=0.2354 left_y=0.0242 left_z=0.0812 left_yaw=0.0283 left_pitch=0.033 left_roll=0.0014 left_gripper=0.9988 right_x=0.2985 right_y=-0.0043 right_z=0.1736 right_yaw=-0.0511 right_pitch=0.0014 right_roll=-0.0049 right_gripper=0.9985\nstate[joint_eff]: [0.4308, 0.9231, 6.0103, 1.7411, 0.3248, 0.0806, -0.1343, 0.4855, -1.6342, 8.7316, 1.9219, -0.2027, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3214, 1.0607, 0.12, 0.1593, 0.5076, 0.3702, 0.9984, -0.001, 0.8158, 0.5762, -0.371, 0.0254, -0.0044, 0.9988]\nstate[eef_state]: left_x=0.2569 left_y=-0.0012 left_z=0.0218 left_yaw=-0.3154 left_pitch=-0.1016 left_roll=-0.0519 left_gripper=0.9984 right_x=0.2936 right_y=-0.0012 right_z=0.1632 right_yaw=-0.0269 right_pitch=-0.0437 right_roll=-0.0071 right_gripper=0.9988\nstate[joint_eff]: [0.5812, -4.1231, 6.7487, 1.4579, 0.3004, 0.1734, -0.0562, -0.2256, -1.4838, 7.3915, 2.0586, 0.1734, 0.1392, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096c5b04769f6b4570e8530f320c0bf9e4ca75efc83d3bad3ea2c2dd71adb6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b606195e75006bd73a06fa9970dba49b9b49d125ac46a8a3df29cc92baf303",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d241346c93c6478237bb97ef1fee8f5f8f1f519c15631e8c7c77899ec82c7508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4R-XaG_BlduvxpIjDq4Ccx74t8w_-7YWaWeqgjV7HGavEWtGE3nsSasxC5i-Dc3jidWuYeV2n2ng1EO79-VXS1jx3gCvLpt08C5PA4w681_jWEudaqDq2AsLIbq_ML4d_1iIRfmBmd0jv6-8w9cvfGji5fWzMVogZ7s0KZjMxgSudJMoyJQjh7jh0R8UpJC3VaHOG0o6uri7H97vL-g_fEHcUyXqivpemUdBTgkeW_UTSwO2HXhm_fE2WFpaOIFFptD9q_JLk6h3psbTNVEAFJ_jrwNZKe1oUrsIAcXgimTDF6KHEClz-qrzk5CSKbyGNZZ8OoyBqPyKNVsrcSZpAzI3TcFlV08Wq0puBHXq1HSfElu2EOwDG-7i_xYJllWZzcudH3afaZ7xx1uBtc6kvzzWckoJE6EZbvwXNPgopfkd1ELAW8T5EUN4xmHKF0gSw4Q1zuyxX-u821I_S_YeVCzrqkJyHg2jhR84ccrhELAkEhgmrCLsmPdSsTIr_rHMCSqduma575UXbz2q_4mau1lwpsHRcai9p3Pe3Rea_BIBdQuGKg3_VEKrvKBeun_MtZ_YmetAKPRpC5G-sY6p5xYHLmbfguHFOJOE9Mq40QxS6ceA-6pmM3D8uLrb1xRPl2bg6cagq6HGRH651MuqKrmXsKd-kGcXEkZs7V1I7QeSEQpSlfJ0TkKb7rInPrv6I6Ru5Wm7G88SKnp7G8qLDcHylEyiHzzB_4KQGz-304Rq2hw8Xr6bTGWrPadfWkubNWYnEVYtYOCksVsSxKqg3dMLbdNwDFgqXKWtMzIkTRsflHgVWhzppLl_K16nat7oIzDj-ohQrIjqzWHnpQUG3OFLIoYORr40K57v4rZ5qkQp4gwsG0DUid7zXqnXTyxTirAJyJbsKcGEQ4ZIiigDyvcKhXyVWGvgf6eQ9BZgo8LShOqVWHg1aZOwJ9JONE49jnQT9Urn1puks7SUgXQPHn3l7eEJ2RJzD878_V4yhpEScAF8Dx3wDojqsvBr9OnBiTSDRx6YkYZAGcLfYDdhg7tC5LCF9MAt-ruxojxaP1nMA-xUYeD9qMoVTsYbRzysaDFu1g_vBCGO4dTSio8G5ume8evJeddzIv-81KDItQWysztzEuEdBdMsrTgdgESCGwn1PTm44mLXDI2aQxJ_blZMTkOQX-RoD3XfeQa7CpEZGHiTvedi8MV199FBh0gLtFRcW3Go69v7eV3cOs-NG_qbmg84tGaTlpVfvcz910YNHrW5C4Gyo7bdF9MrGg2o_lwm2eEm3UPWkP2qqvDqYhKOuF0xrQqC7NYFAWBtQ-NQzGqrf1y0K1RuticnVsrfZHuXbUZhvq4TglJ8SVvzbhmQ==",
  "id": "rs_0e5b8473993cbf0b016ab44e100e3887d082f457bccb67d2ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper now directly occludes the isolated bottle’s cap region in the overhead view, and the object remains below the wrist camera as expected at the grasp point. I will close on this diagonal neck/body junction and inspect the settled width.\"}",
  "call_id": "call_sx8WfCqLkuKUAqgARqgTC8cA",
  "id": "fc_0e5b8473993cbf0b016ab44e105d9887d0a71821f862481df1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sx8WfCqLkuKUAqgARqgTC8cA",
  "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]: [0.3225, 1.1332, 0.1215, 0.3107, 0.6472, 0.498, 0.0133, -0.0013, 0.7956, 0.5358, -0.347, 0.0216, -0.0055, 0.9988]\nstate[eef_state]: left_x=0.27 left_y=-0.0183 left_z=0.0393 left_yaw=-0.4864 left_pitch=0.0208 left_roll=0.036 left_gripper=0.0133 right_x=0.2902 right_y=-0.0006 right_z=0.1551 right_yaw=-0.0235 right_pitch=-0.04 right_roll=-0.0058 right_gripper=0.9988\nstate[joint_eff]: [0.335, -2.3043, 6.2564, 1.7314, 0.398, 0.0513, 1.1551, -0.4991, -2.0444, 6.8718, 2.044, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee51ff09a6aecb309b7c144a1d8cae3d1156a30cd074ace4f4def655f4d6280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50b674dfa9eea3980e7fcb60a99de58d21ff34dcbc3a8b8c2ee7798ed2b768d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe266b08d689bbf382209318d90988c1fb8eb6e2597f9f7e7d9823e1082eb6a",
      "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 · 2.528 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 151 changed as sent

message 155 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.7776, 0.4828, -0.2844, -0.1131, -0.0818, 0.9983, 0.7059, 2.0727, 1.1534, 0.2901, 0.5449, 0.3645, 0.0138]\nstate[eef_state]: left_x=0.2903 left_y=0.0047 left_z=0.1492 left_yaw=0.0597 left_pitch=-0.0132 left_roll=0.0053 left_gripper=0.9983 right_x=0.4545 right_y=0.2718 right_z=0.055 right_yaw=0.0537 right_pitch=0.0392 right_roll=0.0148 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.6479, 6.2017, 1.8632, -0.0513, -0.0904, -0.0122, -0.6632, -9.9624, 6.065, 1.3211, 0.188, 0.1392, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3214, 1.0607, 0.12, 0.1593, 0.5076, 0.3702, 0.9984, -0.001, 0.8158, 0.5762, -0.371, 0.0254, -0.0044, 0.9988]\nstate[eef_state]: left_x=0.2569 left_y=-0.0012 left_z=0.0218 left_yaw=-0.3154 left_pitch=-0.1016 left_roll=-0.0519 left_gripper=0.9984 right_x=0.2936 right_y=-0.0012 right_z=0.1632 right_yaw=-0.0269 right_pitch=-0.0437 right_roll=-0.0071 right_gripper=0.9988\nstate[joint_eff]: [0.5812, -4.1231, 6.7487, 1.4579, 0.3004, 0.1734, -0.0562, -0.2256, -1.4838, 7.3915, 2.0586, 0.1734, 0.1392, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3225, 1.1332, 0.1215, 0.3107, 0.6472, 0.498, 0.0133, -0.0013, 0.7956, 0.5358, -0.347, 0.0216, -0.0055, 0.9988]\nstate[eef_state]: left_x=0.27 left_y=-0.0183 left_z=0.0393 left_yaw=-0.4864 left_pitch=0.0208 left_roll=0.036 left_gripper=0.0133 right_x=0.2902 right_y=-0.0006 right_z=0.1551 right_yaw=-0.0235 right_pitch=-0.04 right_roll=-0.0058 right_gripper=0.9988\nstate[joint_eff]: [0.335, -2.3043, 6.2564, 1.7314, 0.398, 0.0513, 1.1551, -0.4991, -2.0444, 6.8718, 2.044, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee51ff09a6aecb309b7c144a1d8cae3d1156a30cd074ace4f4def655f4d6280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50b674dfa9eea3980e7fcb60a99de58d21ff34dcbc3a8b8c2ee7798ed2b768d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe266b08d689bbf382209318d90988c1fb8eb6e2597f9f7e7d9823e1082eb6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4fif5jnx188D-VLU4opNvPl18XKj7nP_CaaL2elglTas7bw1kt-3m5_JgRERc8_utnYfLPxdjY_-a1zRHsHoMNlVtUZO26j66X74w9xc3lEN1O3vbsQTYCXihCVIwMvSfQe4QJDvf2X-BwgrQOjeXZUf8CwFYg6Pl87cctz4c_Wpz22vLqkeoSI7zFnVdgzzQDO9SHJ5k0ua_R2i_kGFq1T9IAPDkYWrh2gaNiaI6_OfXhW_b8WcwWWPBJS-wtE64rCoTUZ0OlXnicWEUkGPp6LfE-agb6YVgflAVSeu-0bC7UGIvWcogBI3JlYlFKqQhocM1uIRLVvo2JsEz0ejokwwgrZc4yuugHgeisCKo0PcFyA3qI2iHBO8M3oLg-5_t8YhH973rlSvzCApArsKpXPImptmmxgVq593n29ReZHOvzwGM0nM758S9kGphKQp4zrJaYw5JlCJMiuAKDlQEfkoWCDtvZPfmJmlcLkLJNgr6CSUGXvsOUJ0ztcbKtkPfuyuMqxipvI5nDxbAxkcrni3WeTXHtBx9KoOq9DRjUFZZXQCreEUGpxPyiuZOtJ6ROmGZxkaqkCQ8bMvRs4LUBMKoqFTgYzWJV3-iejUlwCNGwQAvqxMWKewd-RN9wi2t7lHCdHQeW2ZBng_Ee461glAMKR-VyrMgRzo33UMOp9mBwJECYBwSRtUgIbU22O-CVdt-V35HVo35rQtDnF6t9CYm9VNJdslEB_0txmHB3y2hlPElWXAovj8tofLJx1OTiS1quHkrce_fs1oe_X7_V9rp724lbClgIAHd39hKS3wxYmmCrYGR--pagYfMI186MppDwoErtoS1Lw3sCWVwrXIHzzGqAbL968mDZOy-WSyphJltVyHC4-AO6nfH9LlvxcvmhTOuXkNW00kM6YwIIQU4NeytXBpxIyxKj3bWI-nGPdIQwZtqx5jkTOKusdOz1NysCbGeYO6iUh54drD0FkDLXj7S8NWfieAERWybi8FrnbNW7hDez-Ml8TOxgQfcdls6XrNqpEEVUH-ZWK_sYZoTE7P7bSQOR1WO8SOIzyqlbEhwzGnbas62VSifkUxVF8c-winAKQACy1ArJh7XkgxvyoQhCX0VUv8mWYVSRT-XERs9i-Hg9a7pJF547oW82oJ7NpQBD3RNXRYgsekVu8HNNydwc4jpf2GvYaMnpblNUg-JAqLQ71q4GYvAWgmq8ieBMiJVc_CQrq52T7q-LdPpFI6RMybqURYGb2mHL-NsUk6C9L9_oUSZ4ryLNZOH3Ri9C_sf22ck-QIurSG3jKr5OlqsKclteyPBl5is9-ykcmnTY0qzVf_aazffDBSzIBy6PyDmiJRiApDEMVMrRbzW1_-b52WItaAbh9kL3WBE1KBWHIo0co-P-xnwTvM127R6CLnJkGXmcxg5AolyiZyF1nJBmgsKV3tjm3mAf28UtrL4nkHeLx1UgSVqziMNvVPoa7bSYGG0cxUv85k4gFu5KD65DEbNH4XoQtH2tMcuUfP7VijNBh-HnmOmSq0ZbYZ703vR2PKTred3-iV0jMH-M_uNdL5B7aueThx_ZPF5i-xpG7d_4CIzgKb9KrTa_beJcMy0ikWV__W7AXicWRT9smelOOdqvCERn-OEkU9RyjBbUr70V9GSac0ia7BIEIyhbdWmxhV2BarTe1tOr9smqkOnncc1EyJ7MV2YXwpZ2jPygBdlubWyUjagcuC9yYvOyDUnQvFT8CW45Gy4aqgvAibeTrKmnF2eGLYp9MjvLlHbSiIjzQiCeNQxifAMlz-tb-VSUeD-i4Oy-qV-Gy2700arCQIktaCSwIKe2J5cW5T3qgZnORah7qWPIXuQ8c6hRQGCNhRGzb6C3bvc9Sh_niGBpsMubGJAqM_AqmcDETeSW58tzTjKz7lqWGA0STVbV4FfmOmJwjcjewH7krJEKk4w5jhoH9p-GPFAaqcp9i6lh2Dy7rDy7Pc1ZQ1AT0BfGNEOeqnwilyREI8riPCs1noW3PtVeczo5m54MvgCqLVPkbEOCOB8JWP-opp9JfsdtZEYswFAjdQ7qoCp90QD2ezwgme3AQWrIwhUQJEWVC-8lNAAWonZ_6wOcb15dE9VjVS8-dWEyjxckzxqvVuYVLwubw7ns65S0PkKdkzxDvlTvtpUiADGub2mH5SjCviP64jMljh1sDLwJuVCzaD2M5KWlx3rZLb-TEvq4ppLF-oGwazrNztz7TISwhrP20se7opBJtUM-WBlICW6tT7vCoMVbwd1yY4ABwk4IHpTCsj4pEUs_JYcp9HTzwSHkxZgb-CpeyJVaG-WsTec3bhGSpP6JMKj33yWuK-qkt8YgaYaYtbbRiE0AX1ndFbmgOv3gEMuoZgVRE35cqmjsGZE1PkEHtpud9ll0AM432Nf6YM5FVKPkQuCDhUZ7S12qzl5s8S9DkgSIjowGyFQ8ntNR8ZRf_vMkb_LwEs8y-Cl00Bf3agHHUqeVzZGvaEnkbE0_OCyPnKwpEyes8l3I_zgiGTe9ifZ-6Arr4LhsiIEgfV9q3BWc512YaziBVpsPRvn0x3ReeC_pYUnwAsB6aynx_xXRfA3N5D9QHOv1qaQRdq_vGMFv2S59dzxW7pMyuM1JnYB1T4vA_OKEVGpBNjbwcgzQdJXp4z8V2_7Byz8gcdPMhpClcFQRPS_wS2SrmDTv9emI100gpwBUlmH-byb678Te-Fxc_XVY7luP828uMfRS46QafJVsLXC2MuAp_1fn1z6UwV4p8s3auhJSEa9TUiaSxNM8S2P15jITW0uS671_o-ZGrFLsXwEJhLFX4xaSV_dceS88fH2f_MyLXBuwEs96K2qDfSj0m5QT2TL1OnfsCrp_O54qy7l5vFwekORc1EBjA3k6sytkUwR3UVXPlyQhSOPSMERqjxI0vuVlUsd1rysPkL7Sbt-0qBVPeqDMgnhI1jug7_LChiK1_TBwVR7ZJFJlwAYNkInj7hxC3zPDa25s8cXOMpwqV02wdfHddVceZPKNVkJsCAXnKDkRTxOL64qHPRJnY9nwbJE2PIrbyvP7km6nLikRzVq7rU3fFhTWwoTP8rvfIKl9W61hxgyxvxe2376gP2nfSqAzkbWbw1CIVVOngIya35XUxhdEMEXAE4e0Qc79kC1bAMIoJ2VZfkDOHsfTCKx_nBaGi_VpVfRmEIpbnQhcBZm-xCtzQlQQcWy2TwD6jUcauAQAUSB2CxaMdWSwFM26no1OLUnThDqnLoDqZ4WpOngjqPBRyosWeYGKiPveN8n2_MGZtvdLPDc4hf5L6aKTi-id7NxpC7udZzuYAPhCAZBGuvpMyg1O6FgAj4P9IpMnwoS3OLZV69poCAw652GQI5f73sPDGbst1WvJ_eC9YAfych7Lc91KQkNAzFr-m_KfsN7ZF2YMY-iuJovyXql3cFfSVV9RZl693tKBhxYI8d7jsmtjB8r_ZpIJrvhfoVuuuY-oaGCHzCIRia_Z4jCKFI0M7Azrdrjw2_KNYd1uEBLbOxuhz7Hd22ESWF8GVnZa_UGm8zMl2x7o4DO1lPaK5aYbyP_u8oYQAgUE5vslpD-35AI00i20-U4stVkCdgaUJtDVxe923lfVHKDZGbKesg3WOLUyLJQHkR2FntsLUTMfRzSD1XbdpTAH4pS1yOr_r2M1oG8j8iGbjzLJOXVZz-Aw_l7RfSpTqLMe7Q-bOR6Xrc93ThDzJbE3FYS0Cbnyoi1ibCBh1oLarU-iIlm9ZOPh4ZS-_ImRpaTyRyCDCUIEhW11mqpPHsLnIrClG7fz1hE9xeyMN265omUTV33jto0l6hHyrDAKDgU4wGEg68erMZ01Adv2tzAok3_y88o0bdoTbWZPjjfpxmG0KVBdZ33V95fOx59StdIMeFb_267K9ttVzKli-eOd9FTCX3Q-U741t3oZ3XMCdwa8F2VYfDxALz6xx9zfquoh-poDU2OWKhGcS2bO36PpI831j_nPlFFK36OZvYiy-Sri3DpJnNLasu_nAvx4Gw8_EBerdPsmafkISwU08k2wQSwpRheBJsfdaAoZwceQYiqk62XrLIyXq-gaigVY-DG8u0tS0gOnl6D8cRj1rxAbrjhRuYw77A5P82o2F4OhegW36BKb7g_eTWmBzCvVhZfF0AkBHJ8X09lWu-_IJszor9jkE9g8ppLsBR4CpZhujVFGNzksCwF7Weay40RgS6AtadHPkM8KUf2KNe-oV3XYXoXWeky-GbW2LUQNMGCeHWnsPmHMRVG1fxMCEKxEfsUcii5jCEZBdyEuv2wXX5aivxm_NjteZkhVEWPlQu_OhcQxM0za4zgbP-g9vSkZue-zOgPekXo2",
  "id": "rs_0e5b8473993cbf0b016ab44e13dd6887d0b48ee94198df93b4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE4f7hbyLivTK_b3GBFNscqtgs_9ufwM5v2qncm38PCpO5muv5mhz9GS5To1T3Sa2CW8OO3xqjgpQvbFU-1AfCQSkju3xvxJz8gU-zprxDErITlCc1jXCvxRKmkxq-qrWOI9rRDCcYj9lOUuNAi_SI0oUDG66MD8ayHIQYTW6DcBb7lkop7Kndv_8Gfwn3AJcu31kn9ZDpmj1r57t9PCzVXgbXPnBaDt4mgU3XSr4SwA8CDM5YBlQgrzc9vzEWOFDGjkFpSfXhEQFy7M_lvRbnFroRhmRrVzY94lk7gb2ZQXsj4WVEqwopuZKkkyJO8jADdNI97SgTM6vh4FP0SAayeSGajyA_HTcs4L7pG0M2iYyPOF8NXwObb15dJUj8efiMMQM2RoZlOYSi_CHJlIcDIe25ajMYFALCY5tPIeRNhnADD7G-ooqNFZnPe5n1wgCzmKoei2wrCcNFk3Ljk9q2J0jIV_zIMlJebBz47KzkwplW7VSQ-RuXIDqwPUZ3AN5RnY38uIleWFJzyZTPazoOdXVJY0MxnGTuPyNq-8WKOvGqBZ9MbePbxI2z0QF_d9tw0ToI2acnyaxnkXNeSuDGX3tUdM9BIZ3HrRWFZ8oVyZ6sBhleU5Be3Ub-KnUmFun7Qz2i6BnOs2jGrtqdxanc2vEPOjvSz8BKbC664tSRbpuIZi8s0AtdjnUveQjc8p1TLL9tXtj4CQS3H25IhTKT8O_36fg1dR6GShjPkWEUYbmie0UZGO9ciXSJIACUr0vsXsYECmVqr7BEYiA8DgAJ3RKXK-cyIafdZZ_bdkyO0C7ujT3V5r3i7aqH3L2SQ4WXl9tD2Nn9QrNF-g0rF_gVMqe8O0L5CQNakBiSNroUbt9LYz_Y4t6Hzj8Hu1FN_WflHuu7SrW-m0D7o6Jqwh5CeaPbGiOXHJ5Ig9ItRbZZfgyURJ1gEaWCNUVg4Bi5JBw0S-XKegZL2BMcLxTXQTd6-uQ6NyvyCE1etNXa0VD8Wz_kitqlDEbTLVdM1CjxaM0Ap-uRRXOdHWNDV5JYrveqLOZJLleMUXBLDFcxbkwTHBiT9aImhnohLAykUU6jWc3XhgB4hOo53hAsX_-Cqzu2xFeH9R0SshQoDgZA0unKGmcI50CuBZfCXyj6UoptmPFZSCHXUJOVCypnysmtfoHcAwLdM9ufDFM8l8KNv3GA1A5zIKGpZdjOcaA3sQ_CZeIwZf3DcBWF6maOIrmdcXztw8wdVHZFQLXXf-zno-0o487F-ErjuzOz5n2xEGszsjVjtMDwSUFKrWD_mukUvDnOinE1heVr42f1ebhZIo13rKgWfQ2KCgdDq6R2zkMb7DR-_Wm1M8PwNLtAazJYy21p8BNt17elwGfX_NqxhdTeMkbfcFI4Pvva0Kmvta9MImoJ1nzJNqe3DFvmhoKC2UeOKI6Z6IsGAzxRoOpGov8lMHVgfCHQ_sls9UdSPzb8Fg4mEnjej15JMbB2YDkemniKCvSAUQ_BxbJxosMZrl8XzB3ME1TdfMEwzuaYI4lYSRXleyWw1uVUrgPclGm0Nb4_GAfnJ4RAWET3W4_csbpaWvVPl5Ew-qLUqmMNYZpDiyAiLgHe8-MzG_ZPtUi6xlkvOBrgohwla0Nekqz0bp5Q-hvQAyNdV7cmSJsAiHGQLe_xzVWKrIEFKT2lObd-qpiuuTgvu65_RLhmkiBJw03cwMO_G0Sn2-urr_Mb56Dj_bxwYkUt2haMD8SeToJRDIsSXt7i7VwRVl6SgEEaG5aOnS4HW4_IUyk7C3zbzq5kSeHTHG_H5o0IqtCbt6tD9CEFrEZCPRO1G_ljCkyq4s9vNO0MlpPKiEY_IOt2yc--c11iSonDSjdQF2t5ALV11PSxuc-G5qad4x31N2C6jipgxd7mYHXCUizBKxMlTyOJ9ToKu76V3RUh42UQSc36VdQkZ3Ayd7i28oSV8br6GesYoqaaM6750BN2x1jK2zg-z3dEzvVMnho9ni1ugV62oqPRhjTN5k_OCDmLCO2wie6rDI_LSHyz73ABQ8Vfam_eDngmTeQZfKYalnKQY_408O9PHFNaXcu0l87yBQZsJa_PLRo94y-Xp9hef4_e4bSG45fhdPiJA0JUPv3gp3ngfG66blcHeo-s8fhqBwAhDXpTYh5V_1-5b3W6g515N0xGUZttnfTdNctUDvi6wXb8qshfEqc_uEbwd5RYQa-MnvIw_QR1sn7_0f1c3cvDM4WBr6BWvdWcoopY30I3U8Vs2kHWanTA8u8Nw_FPw_w0x3ev0FK70QgWavb9iLRUxvqqZrAICQ0K7UfbGODDEEOhlTdkzq2CzoK3z0xHUpbP2iuwOz2tg0B5qEbhxQfFnIpxrsfj1IzzMjHxUUSE6HTzWkWQTcyatPSzpVGc3NNx9s-ypRIxWaBcfnYrMjqz2_LhQ7vJov23JD9io-1I1hNLbTcG3dtLaTuh7owV2KygfT1mJ-TDArWPdRqR6nVNVDXUadavAafgnAcHkRSyJWmozFdoIF-pCmmOLuvjyLC7p2HZqjf3cXY-uFHZUTE6l55uWrFFnfvEaLN1L8GzzKOdxKr_k2u3CvTUHdKRETJkiqBQs1VL6d4gfsPXAsH2BKd1swO6SzdbWRKVrVqiX_nbwNg-mbMhVwcTB_dl4udTeoYPHWvMbNSBK5fc2EMtS7ZGpp1W-9pB3SKiNt9BJnX3dTTtux3bvkVZJYC5ukdhsR-MyC-eo19T-eH2ymDmPZdu2Bm93_pIaIhXhJF2oxuQuF71dHEPG9ESnVJV68TZldfKv4dEIoC9wbwizrIa65xihxAxypkRmIJR5bvSFO1hCHXnqQ7gMO42M1NDjBSwckl6VIU3x_S_gnsAalC6SEvgNSDed8ZrBDoq6BvhdMZP7WgGUhQTqohVJxjl7xSDw4pCf2z__T5N2N-NmIeE41bY8jp7RcQc10Lth9hBY0UI2b2aVoOBwf7Pke4nQQ0vFJyUuoA-H95GzO13_yHQrmvz3jwgkhQe-XX0qlUNWR8QXmQT6BAQfKrel7aSfOMajOdsaiEiXxYD2qPbrXwVUVnlF4AyuDeUOqUyswEarxJt2MqAhvcNZFStHSaCKKy5q4pbIdj5BKq32PGOsKi38bmnoSi-Ttl-2xMsbJFGGPx3toMmzNPZqc1kCwvA8RB_3noJpqtWfTLNkOn9ZdDCi7aaepDV7OchNnsMlXqZdFRxJOisC59R1Ao_BS5FnMxz1K2_xl91IaewDcj3mUlFTj-Yp8A67RfUrXVgewORlLxSprMYgHE_19C6UyDyzb1tBaEq_FvgeOB3gM0ktd8fNyukVd8YtqPt9NEuHiAyhJ_9VVhrWtcexMqQBxN0sC0mJ34dEpJYgIHeE1xL20b4Xo8CVT1nWY8ygMvg29EcB6bj1H0Cwzc_k8Zk9rImFxlIVS8jEwllf4RYEm68bDJA_aFlnBez22hwnVDDiOP8yaaGlFBg8q5amv4g2o69Bi8Fs3SmzoDzhKwzUrf3WSP5NexQjIyPIpnKHV12IIf18eNwtG_3EF4YS5Dux6nmnM5raUpMml9xXdN8n-FqC8X4N6IUMhB-u-",
  "id": "rs_0e5b8473993cbf0b016ab44e196ef887d096c38a267d2e3ef4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.39,\"right_y\":0.31,\"right_z\":0.04,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"That diagonal neck attempt also closed empty, so I am changing methods rather than repeating it. I am parking the left arm and approaching the upper body of the unobstructed central-right bottle; after a secure body grasp I will deliberately relax the jaws while elevated so gravity can rotate the bottle about the jaw-contact axis.\"}",
  "call_id": "call_QFHFNNqLGsCTKxoBE7ifN5wV",
  "id": "fc_0e5b8473993cbf0b016ab44e1e424887d0b4b0177a6033b07e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QFHFNNqLGsCTKxoBE7ifN5wV",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0254, 0.7856, 0.5564, -0.3656, 0.0002, -0.0212, 0.9977, 0.8959, 2.0361, 1.116, 0.1131, 0.7204, 0.5499, 0.9988]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1634 left_yaw=-0.0288 left_pitch=-0.0329 left_roll=-0.0059 left_gripper=0.9977 right_x=0.385 right_y=0.3003 right_z=0.043 right_yaw=0.0141 right_pitch=-0.0075 right_roll=-0.0335 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -0.7863, 9.7846, 1.79, -0.0122, 0.1197, -0.149, 0.0752, -8.6085, 7.3231, 1.4383, 0.0073, 0.2271, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:587a7bf4aae6930bfff1201129435fa54eb206610f197338877b581c52c4dc69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b35f68ef022520b810c4ef735a96035e5dfcac4e02bd8d0c4ed10d59d8077d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febe873b8e037d4db74fda2364133f5fa6ebf9070ac9e9031bcc540a085eb8af",
      "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 38 attempt 0 · /responses · status 200 · 5.385 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 147 changed as sent

message 155 changed as sent

message 160 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1802, 0.3527, 0.123, -0.3038, 0.1246, 0.0601, 0.9988, 0.0017, 0.8101, 0.5793, -0.3351, 0.0475, 0.0109, 0.9985]\nstate[eef_state]: left_x=0.2354 left_y=0.0242 left_z=0.0812 left_yaw=0.0283 left_pitch=0.033 left_roll=0.0014 left_gripper=0.9988 right_x=0.2985 right_y=-0.0043 right_z=0.1736 right_yaw=-0.0511 right_pitch=0.0014 right_roll=-0.0049 right_gripper=0.9985\nstate[joint_eff]: [0.4308, 0.9231, 6.0103, 1.7411, 0.3248, 0.0806, -0.1343, 0.4855, -1.6342, 8.7316, 1.9219, -0.2027, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3225, 1.1332, 0.1215, 0.3107, 0.6472, 0.498, 0.0133, -0.0013, 0.7956, 0.5358, -0.347, 0.0216, -0.0055, 0.9988]\nstate[eef_state]: left_x=0.27 left_y=-0.0183 left_z=0.0393 left_yaw=-0.4864 left_pitch=0.0208 left_roll=0.036 left_gripper=0.0133 right_x=0.2902 right_y=-0.0006 right_z=0.1551 right_yaw=-0.0235 right_pitch=-0.04 right_roll=-0.0058 right_gripper=0.9988\nstate[joint_eff]: [0.335, -2.3043, 6.2564, 1.7314, 0.398, 0.0513, 1.1551, -0.4991, -2.0444, 6.8718, 2.044, -0.0513, 0.0024, -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 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0254, 0.7856, 0.5564, -0.3656, 0.0002, -0.0212, 0.9977, 0.8959, 2.0361, 1.116, 0.1131, 0.7204, 0.5499, 0.9988]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1634 left_yaw=-0.0288 left_pitch=-0.0329 left_roll=-0.0059 left_gripper=0.9977 right_x=0.385 right_y=0.3003 right_z=0.043 right_yaw=0.0141 right_pitch=-0.0075 right_roll=-0.0335 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -0.7863, 9.7846, 1.79, -0.0122, 0.1197, -0.149, 0.0752, -8.6085, 7.3231, 1.4383, 0.0073, 0.2271, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:587a7bf4aae6930bfff1201129435fa54eb206610f197338877b581c52c4dc69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b35f68ef022520b810c4ef735a96035e5dfcac4e02bd8d0c4ed10d59d8077d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:febe873b8e037d4db74fda2364133f5fa6ebf9070ac9e9031bcc540a085eb8af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4kppp2vGE9oFyoV-kFgkjy8nyj5SAfeDxKENGqP_neWegI2T83Em4VrmhA-EAQo0cR0zFs4AVlfMwMygxmp7fIeGppyDGMBg1BCtN4lS8Rq-_OKgndmL2aMvAaVk6HtGXHVr4-GdFNqt54rG4Nrd6NiVqLqAZwbcX7OPHN_YGrHZWfWCDaj0HUjsFtNi6H6bx2as6S5o5Bjo2vRNq6ca0ZbLNgysBj2YzEnacjD3xtpv9nqRC_tiMlSmg2d6JnY_nfPLbVQ_dKh2wkOGjSRjRnVaNdD7Y8FAAUe2TZq2qnWTC1hW5kwqmz2wuYTx4c_y0bofIkE1DO3SOx14_dMmceyDMVigCopaOO36ZQyUufTgQEmmSqfjOse34vLvY5mbnl8AOCkFgXV5G11rbfTT4H0_b_Y5M-D52MmY5rNfn1pbL8Cbha-V_20_bi5juE7Vw7xSReIhY88oHj60RMOmOMfjqoiarXBsvUoKfPYJ4kdRrlHutn37XiqW39Qs_n3GQ8YDWJx8aC5PI6CL7WhkV-OvdZvMhqYdB2O-etBQJ0Tmhirpnt3sGMYI5wrJEIl9AIfhiDi7ljzI5Xc_ADz7uZw-qQu2ZewA1HIYx879aI5-ob1cbXsV1ti_lfSoWa4H2VHCgox5G3zvqZExjwXMiRpABeR21dS00qeKPeanRbh4-0gFephAquQEvbfEo_eAfzu327UFOrXFUC4WwVcJJ5KbyT1xAFf2uCNHcp8IcvEeT6Eovs4aMmUk__v2y70XgvilUtYhBJowPGSy7LMwDsKsX6g5Rbfl6Gh4MhYlbLb8bIEfV-i3mw7KSTSYCotuOSJIdAVSyI4P4FG9FiVzT2G0pyUcwYmcNlOf3HQqwQUOOoOYFLnT-t4QcAQnypq1TjRCBu2XAXMJWWHwQ_0Bpz5KjVDwew8zEsBW80E0-vZLzto4cS11-q5GyogKV1RBn9pZCfmV71LsMHZmbEDp_zqmcj9VhdvnoCpSy6Z-VMpOzlyxvY1lVLITVzmUAF3uSg9Ydy0Jhc6xXSgU8i1dL-wxoXIOCwrKWe2JqSbshsq-0kBCZwxl3YEyC0Utw-E6gr9Jr_rc2F8IS1sGr6YRlOb_7qzeBcmnffRedSKqZrmSf-9AsXHWND-76fFVcFkz1KlOWIUaj9aOzNZsJIGxDP1J6eA83s9N-_4q8dZRrOY6yfZs-HGCvGEEHtfVWb5UjIKJid4sVYaxhTJ5b0QWY1orFpfBJYmyUnrWkpO2aOYmUntvE9_7qY0UQdkqzv-ZKRMtkU8JlbABP4HTuH1LWbVkCPAKJTulB_RKsM-kKJ0vntcDytOz-oH5alTaRVB7xP7Ab16yuwgvqq7mdaIg7PPtSiw00oefcJ5wMPjnbqdF5qqhsPfAKuAWVnms7JVaHnQ8F00JaRPqllOz2UMyWyxOaZkeeVHO_l5jFR_UAziRcGlySfDmk_l2g4T9tkqN-zxXdFRuf6eXwQ-bEOvQDjzG20f-tD1uJZPToZJd80aSQ=",
  "id": "rs_0e5b8473993cbf0b016ab44e2362ac87d08bbfc7df93f70298",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist view shows the central-right bottle centered between the jaws, with its body extending to the fingertip line and its cap farther forward; the neighboring bottle is safely to image-left. I am closing on this bottle’s body to measure its captured diameter.\"}",
  "call_id": "call_Z8W333Z91Hhb12VGwMASpO8p",
  "id": "fc_0e5b8473993cbf0b016ab44e23c75487d0b664bf24a1214ec8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z8W333Z91Hhb12VGwMASpO8p",
  "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]: [-0.0296, 0.7689, 0.5301, -0.3454, -0.0154, -0.0269, 0.9976, 0.8967, 2.022, 1.1061, 0.2001, 0.733, 0.5491, 0.0138]\nstate[eef_state]: left_x=0.2885 left_y=-0.0022 left_z=0.16 left_yaw=-0.0167 left_pitch=-0.0222 left_roll=-0.002 left_gripper=0.9976 right_x=0.3916 right_y=0.3065 right_z=0.0598 right_yaw=0.0046 right_pitch=0.0569 right_roll=0.031 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.5658, 6.5436, 1.9072, 0.0757, 0.0611, -0.0171, -0.7316, -9.8667, 4.6974, 0.989, -0.022, 0.0904, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c23b139def8a93c1775aefe494ac7450e671f91b7857f9a6f8683cc38c4aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897d2d310823b7345e5ca92f4e4f23b8cd9afb143d52dbb79618e98b7bd84b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea769710172ca0c0819130a367761389d07085c878f5285516d459e3fc65947c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.301 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 151 changed as sent

message 160 changed as sent

message 164 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3214, 1.0607, 0.12, 0.1593, 0.5076, 0.3702, 0.9984, -0.001, 0.8158, 0.5762, -0.371, 0.0254, -0.0044, 0.9988]\nstate[eef_state]: left_x=0.2569 left_y=-0.0012 left_z=0.0218 left_yaw=-0.3154 left_pitch=-0.1016 left_roll=-0.0519 left_gripper=0.9984 right_x=0.2936 right_y=-0.0012 right_z=0.1632 right_yaw=-0.0269 right_pitch=-0.0437 right_roll=-0.0071 right_gripper=0.9988\nstate[joint_eff]: [0.5812, -4.1231, 6.7487, 1.4579, 0.3004, 0.1734, -0.0562, -0.2256, -1.4838, 7.3915, 2.0586, 0.1734, 0.1392, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0254, 0.7856, 0.5564, -0.3656, 0.0002, -0.0212, 0.9977, 0.8959, 2.0361, 1.116, 0.1131, 0.7204, 0.5499, 0.9988]\nstate[eef_state]: left_x=0.2901 left_y=-0.0038 left_z=0.1634 left_yaw=-0.0288 left_pitch=-0.0329 left_roll=-0.0059 left_gripper=0.9977 right_x=0.385 right_y=0.3003 right_z=0.043 right_yaw=0.0141 right_pitch=-0.0075 right_roll=-0.0335 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -0.7863, 9.7846, 1.79, -0.0122, 0.1197, -0.149, 0.0752, -8.6085, 7.3231, 1.4383, 0.0073, 0.2271, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 164 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0296, 0.7689, 0.5301, -0.3454, -0.0154, -0.0269, 0.9976, 0.8967, 2.022, 1.1061, 0.2001, 0.733, 0.5491, 0.0138]\nstate[eef_state]: left_x=0.2885 left_y=-0.0022 left_z=0.16 left_yaw=-0.0167 left_pitch=-0.0222 left_roll=-0.002 left_gripper=0.9976 right_x=0.3916 right_y=0.3065 right_z=0.0598 right_yaw=0.0046 right_pitch=0.0569 right_roll=0.031 right_gripper=0.0138\nstate[joint_eff]: [-0.335, -1.5658, 6.5436, 1.9072, 0.0757, 0.0611, -0.0171, -0.7316, -9.8667, 4.6974, 0.989, -0.022, 0.0904, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c23b139def8a93c1775aefe494ac7450e671f91b7857f9a6f8683cc38c4aff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897d2d310823b7345e5ca92f4e4f23b8cd9afb143d52dbb79618e98b7bd84b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea769710172ca0c0819130a367761389d07085c878f5285516d459e3fc65947c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE4q4I6GXTWR5d04oMkrG8Z9s_J6BrEeYUNBnLCVtddS2_1PTjW_BhkLQ5Sh2cz6LWcJNF2H6I8egLIYdorl0HrgAXAaNBrdiHCQtn-QVkBALoNgxryeuG4xF4EsbWDW7ctfXSn4MUGXEfJNvLmGP74gaus4GMAXW8y6ifTfU7DyOV3UeQyEJ4nYw1OmXo_ajjjZ5nTOYJ4zGk5_tORVN5qT_wAhjeLQuTY-yXBDyCrF5sFD4WkjDAeD-tzV6qpqyz7u66h-cil1IuDonSV8WWCSRValg80hIa3QqmI7cQ8-DdDKO3B8NgtOXR0DP5mtTa0BQYB8Xs0yX7_0i-7Jma81I2Jjtd5Ol64GGh0cUNBor4x25ujzdByGIWMg166x1qES9_5-QM3NTYMp4NqDhlTpgSKhVlKXBoghksevxCz3TDzaLRfoeFCRNTUEPsoasz-6EMzKhvsYz8mJ4jvqWAC_Q9turSEyo-q6thCFGFrZpr-cn8Io1cJzYKJTc9YpQNjmEgDK_F5zKvpaQc3MOoZQRKubSwe2uXh2c3_wWwLx3yNtZXxMrmL1va5huqk70KCE1aOgVOJBVQSN_T_XRkHOAdPIKhrd7-sm-35KD0pV1fX5cqxqnNJWtB00-s4NJBMBwGC1LJiwLkATE7S72QsKR2Df4QcJj3BvXgups4KA9IuzCfD1H7sBeCVOBbzPzW8pMoezQo7B3Js1PRdgg71ugu5QgGR9YalYTE3SRA0rbjX2rDQbsRIH_w9x9FO3ztsCdWTHaHCh19zh1bI1pdDpNG5MN3_gZH62U3nL83hqm1cBv6J40reN25QBbPVMQw2kyIFqOTxv-wu6bmZIOSEZ8TWAhoTHinewVSJ7M3lFIuSVTpNBpbIqwZs-6rs0bp0VeDTw7yMiyEW1YwqVdAM9umvDCbRu5q6c2TeVDdVTdo-nIKjQJYVaN4R_XKpRrNNp9bfqY6TIY5hMPe5dYeQS9ixtbPg2SAHfevHJxBIWB-IcHgSeyh3NIgG1I9XxawRdwIvl_sk2bxe1d3RPNfoXHhHpIDGHVl1pDMuI05BsLqyecdfNmYqORbnaWE3od3fif7YxCqp9A2CbcmaVREba189HaxiHtZwdMqxehs3n4rOEgDde21c1MUQtzhcNCjOeGEmuEPgmYMmfNRphxy02EdnQ6cHtZVn6GtAnZzXuyBVgsWLFOJO58hmsoa78iwzl-kz0ULg424RKUBwMbqHxMrnRa6_316WtzoYiBIE0pBYiDZIm3a8sHYyBvYbbBVwchJOGo31KjRj7Ob4ys9DQZPxugHzoC8nprtph6cbZEoeq2p_LEeGRVVVPaJfDhx4teHn3rClW1Btlr1QX-EvDeWQmQNFSkXDAIUp9i0Ngph7wDdfMdpJm4sf74b--ATqANhzMpHfE3DG2zD72L1jgq73pZ0iLMhhYQDGke_FAS7sLLo19VmT3OjFguRQbabe9ZyIEl307DsFFzFCcLRwVu7hc07YBxm9u7hqYY5-DFzGjo84qrDJvuLQ1hlz5K6-I3TzYoAE36daavBG8JGR-Jc8eKJYZ9zZ0csEqzY_g64phzSinUUYMDT_Gs7xzGqii0VsI-_KQygBlC7WyFHpoM5ksjpZ0wvYBmXla6-tsuI7AeoAe88m-8ouuvnloJR0HMNEpwIQsohoKGXx0i0ZePewYtuxvkHWEptzh5yHw6EfaNUt6PX-c8mYUOXiRuaFihxiEx76vu05hgs6OtrwW_T8e0jAnFUZ-h7e-Z_p_giH5VLjRvDrn5b4HHmsHiRIeAhdL1AEWWfu-28ZSr-OvwwxkrcSi_6yWIqmJfPXH_o85DU22WrKspvi-M-uVjhLpH2OzNhjQ-W8vWsKKeL3c1gOxOCvFZ44VyYg6uG4rmVUa8DuCXTNVcHPt_pC2XPZoqqw9K77WJZk6INmYb-_dFPV8BrHO5SJAzmHMIxM63XjN2nBuAk3AkJHTwjPi52K7_Hx-R5QpyIN0RC5x9drBAywSZ7fVtgICfJeeIKKhPPQO_kzIM6-EuaZyFi_sXL1Q974xRBVuLfWI6vI9_9nEFhSyDGOPI81s78RLvr3M-2PvwCxzhWZBTBt0JwN5vjI8E9lUf8tRA1WuxZaYpNCc1mO_IAOhIaN5u0ZmpuhfA0eELb2_4opDq2uwe1IOFLs-sZHsPUTMA4gu-19g7eLPMd7rDPPOfzGQHWDef0luJUMYemQynVQiXk8kCfUSrpT8uwR6nDFM5n2RiyxTJleSFhFQCRzDmMCq6ELv4B7y065kuwd3ZdYuuk-zZzEYJcrmJemKwxPTphzBklwfEk0nCv9siTErCUYoXG7PzFMMkpVps2ePI0TMnVfdq9n1L-K_u_msr8bVGUJTbinEQAV0_NPgDo-KZPylIWfQrYx9yZFmXIWZgn2Ry-1lLifF7tnh7l_KIdTBCSiKBPjAcUVTtAbTjjlPsJSddFXaNQfFYFzpNjGdUmp4WjmfcHXsh_3k2E6C6VTPjZKax2L-RTiinpjRJgab7Pqer4Wuw0w5hNAPwdtK67Sv4CpEfxLGOdzQAvRwV2ZlxX5rPDN88W4Np8-zSj6vTYNCEuKjlGR8tL77QhWHrjm-dCdRpxLlIqlzDvHnab6MwbBtjwyCLUTIV_p3SrfF17yO5VKCMyEneo8w3Cwc1AHVwp1yPWdOJrYz_HYafAks8g4Glj0G-SG-m3gAoYALlhjTrrXlHtrpn0JApybVz7eTVhntXCxI1cuK6Tmzzm7iAwCqMf2aj96cEg==",
  "id": "rs_0e5b8473993cbf0b016ab44e27015c87d0b0a67a2ee683d406",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.45,\"right_z\":0.04},\"note\":\"The close was empty and pushed the neighboring bottle away, while the intended bottle remains centered but clearly ahead of the fingertip point in the wrist view. I am reopening and advancing about 6 cm along its axis so the wide body, rather than empty table behind it, reaches the jaws.\"}",
  "call_id": "call_hppg5pOptg0ifqGcuxCcfIzP",
  "id": "fc_0e5b8473993cbf0b016ab44e29eba487d0b9157e917bed63a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hppg5pOptg0ifqGcuxCcfIzP",
  "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]: [-0.0296, 0.7616, 0.5148, -0.3325, -0.0166, -0.0273, 0.9976, 0.7994, 2.1548, 1.285, 0.0971, 0.6388, 0.4732, 0.9949]\nstate[eef_state]: left_x=0.2878 left_y=-0.002 left_z=0.1576 left_yaw=-0.0155 left_pitch=-0.0172 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4363 right_y=0.3028 right_z=0.036 right_yaw=0.0175 right_pitch=-0.0286 right_roll=-0.033 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -1.7436, 6.4889, 1.8828, -0.0415, -0.0366, -0.0122, -1.2239, -9.5248, 8.7179, 1.8242, 0.2662, 0.0269, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451e9ba4044ca62a9fad96d9a36a654ee9d2f7e7afb1a6dd1309ed0f9a1788b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f539f835dd0f6bca93c669f306d7eec373db981f6ceea594c4b52f7314144a75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecd107562fdfb8b8c48bfd5a7efc8d7d0b3ef1a8a198092934b10ff36f84eae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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