adhoc

completed
2026-09-23T21:24:35.793418+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
247.7 s
total steps
338
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe leftmost bottle lies diagonally with its blue cap toward the upper-left of the overhead image. I’ll move the left gripper above that cap at a safe height, using the wrist view to refine alignment before descending.
move_to
left_x0.3900left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7937, 0.6079, -0.3767, -0.0216, -0.0257, 0.9986, -0.0154, 0.7891, 0.6037, -0.3862, -0.0208, -0.0254, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0027 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9985 state[joint_eff]: [-0.5949, -1.4427, 9.7573, 1.7656, -0.0171, 0.1294, -0.1587, -0.9641, -1.0051, 10.3043, 1.8681, 0.0024, 0.0806, -0.1734] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.12,"left_z":0.15,"left_gripper":1.0},"note":"The leftmost bottle lies diagonally with its blue cap toward the upper-left of the overhead image. I’ll move the left gripper above that cap at a safe height, using the wrist view to refine alignment before descending."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left wrist view now shows the chosen cap close to the jaws but about 3–4 cm left of the jaw column and still slightly short of the fingertip point. I’ll shift the gripper left in its frame and a few centimetres farther forward while staying elevated.
move_to
left_x0.4200left_y-0.0700left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4679, 1.3819, 0.7631, -0.0738, -0.3733, -0.2718, 0.9986, -0.0154, 0.794, 0.6033, -0.4042, -0.0238, -0.0288, 0.9984] state[eef_state]: left_x=0.3747 left_y=-0.1131 left_z=0.1285 left_yaw=-0.0205 left_pitch=-0.0748 left_roll=0.0272 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=0.005 right_pitch=-0.0236 right_roll=-0.0011 right_gripper=0.9984 state[joint_eff]: [-0.4991, -6.0103, 9.2513, 1.7998, -0.2076, -0.0855, -0.1587, -0.3487, -1.6068, 7.0632, 1.8632, -0.0073, 0.0269, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.07,"left_z":0.15},"note":"The left wrist view now shows the chosen cap close to the jaws but about 3–4 cm left of the jaw column and still slightly short of the fingertip point. I’ll shift the gripper left in its frame and a few centimetres farther forward while staying elevated."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe cap is now on the jaw column near the fingertip row. I’ll rotate the jaws to close across the diagonal cap rather than along the bottle’s axis, keeping the grasp point stationary and high.
move_to
left_x0.4200left_y-0.0700left_z0.1500left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2703, 1.425, 0.7773, 0.0048, -0.2661, -0.2001, 0.9984, -0.0154, 0.7853, 0.5827, -0.3973, -0.0242, -0.0326, 0.9984] state[eef_state]: left_x=0.4045 left_y=-0.0601 left_z=0.1292 left_yaw=0.0494 left_pitch=-0.0546 left_roll=0.0051 left_gripper=0.9984 right_x=0.2892 right_y=0.0034 right_z=0.169 right_yaw=0.0074 right_pitch=-0.0285 right_roll=-0.0039 right_gripper=0.9984 state[joint_eff]: [-0.294, -5.559, 9.6342, 1.9707, 0.1587, 0.2759, -0.0317, -0.4171, -1.7436, 6.8034, 1.9512, -0.0464, -0.0366, -0.0073] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.07,"left_z":0.15,"left_yaw":0.6},"note":"The cap is now on the jaw column near the fingertip row. I’ll rotate the jaws to close across the diagonal cap rather than along the bottle’s axis, keeping the grasp point stationary and high."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe yaw change did not track, but the round cap remains centered at the fingertip point and can be grasped without that rotation. I’ll descend vertically to the cap’s mid-height while keeping the gripper open.
move_to
left_x0.4200left_y-0.0700left_z0.0400left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2554, 1.438, 0.7921, 0.0116, -0.2173, -0.1749, 0.9982, -0.0154, 0.7757, 0.5541, -0.3882, -0.028, -0.033, 0.9984] state[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1306 left_yaw=0.0099 left_pitch=-0.0547 left_roll=-0.0048 left_gripper=0.9982 right_x=0.2862 right_y=0.0041 right_z=0.1604 right_yaw=0.0108 right_pitch=-0.0384 right_roll=-0.0018 right_gripper=0.9984 state[joint_eff]: [-0.2803, -5.9282, 9.5521, 1.873, -0.022, 0.2466, -0.0317, -0.5128, -1.6615, 7.0359, 2.0147, -0.0757, -0.0513, -0.0073] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.07,"left_z":0.04,"left_yaw":0.0},"note":"The yaw change did not track, but the round cap remains centered at the fingertip point and can be grasped without that rotation. I’ll descend vertically to the cap’s mid-height while keeping the gripper open."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe readback did not descend at the extended pose, indicating a local reach/IK stall rather than contact. I’ll retract a few centimetres and lower in a less extended configuration, then approach the cap again at low height.
move_to
left_x0.3800left_y-0.0640left_z0.0700left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2554, 1.4384, 0.7921, 0.0116, -0.2169, -0.1711, 0.998, -0.0154, 0.757, 0.5179, -0.3737, -0.0303, -0.0357, 0.9984] state[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1304 left_yaw=0.0076 left_pitch=-0.0551 left_roll=-0.0018 left_gripper=0.998 right_x=0.2823 right_y=0.0046 right_z=0.1518 right_yaw=0.0142 right_pitch=-0.0414 right_roll=-0.0026 right_gripper=0.9984 state[joint_eff]: [-0.5538, -6.1607, 9.3333, 1.9023, -0.022, 0.2564, -0.0317, -0.4581, -1.8393, 6.9949, 2.0098, -0.0366, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.064,"left_z":0.07,"left_yaw":0.0},"note":"The readback did not descend at the extended pose, indicating a local reach/IK stall rather than contact. I’ll retract a few centimetres and lower in a less extended configuration, then approach the cap again at low height."})
tool
executing move_to over 4 steps (0.4s)
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 noteAfter retracting, the arm reached the desired low height and the cap is centered laterally just behind the fingertip point. I’ll advance straight forward at this height to bring the open jaws around the cap.
move_to
left_x0.4200left_y-0.0640left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.284, 1.4769, 0.5034, 0.3054, -0.2321, -0.1741, 0.998, -0.0154, 0.7341, 0.4759, -0.3504, -0.0303, -0.036, 0.9984] state[eef_state]: left_x=0.3702 left_y=-0.062 left_z=0.0562 left_yaw=-0.006 left_pitch=-0.085 left_roll=0.0137 left_gripper=0.998 right_x=0.2788 right_y=0.0046 right_z=0.1434 right_yaw=0.0144 right_pitch=-0.0372 right_roll=-0.003 right_gripper=0.9984 state[joint_eff]: [-0.5128, -4.8889, 6.4342, 1.1795, -0.2613, 0.3297, -0.0171, -0.4581, -1.4838, 7.3231, 2.0, -0.0806, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.064,"left_z":0.055},"note":"After retracting, the arm reached the desired low height and the cap is centered laterally just behind the fingertip point. I’ll advance straight forward at this height to bring the open jaws around the cap."})
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 cap has moved to the bottom-center between the open jaws and is now largely hidden by the fingertips, consistent with the grasp point being over it. I’ll close fully around the cap and check the settled opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2512, 1.6623, 0.5789, 0.4984, -0.2222, -0.1753, 0.998, -0.0154, 0.7136, 0.4404, -0.3355, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4117 left_y=-0.0617 left_z=0.0528 left_yaw=0.0181 left_pitch=-0.0065 left_roll=-0.0154 left_gripper=0.998 right_x=0.2751 right_y=0.0048 right_z=0.1356 right_yaw=0.0147 right_pitch=-0.0372 right_roll=-0.0028 right_gripper=0.9984 state[joint_eff]: [0.3761, -6.5709, 6.5846, 1.79, 0.0269, 0.2711, -0.0122, -0.6222, -1.265, 7.159, 1.9658, -0.1001, -0.0269, -0.0122] 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":{"left_gripper":0.0},"note":"The cap has moved to the bottom-center between the open jaws and is now largely hidden by the fingertips, consistent with the grasp point being over it. I’ll close fully around the cap and check the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe settled gripper reading is 0.011, so the close was empty. I’ll reopen in place to reveal where the cap sits relative to the fingertips before making the single corrective retry.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2565, 1.681, 0.5823, 0.5144, -0.2329, -0.1631, 0.0108, -0.0154, 0.6926, 0.4061, -0.3206, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4135 left_y=-0.0626 left_z=0.0502 left_yaw=0.0152 left_pitch=-0.0041 left_roll=0.0004 left_gripper=0.0108 right_x=0.2716 right_y=0.0048 right_z=0.1283 right_yaw=0.0147 right_pitch=-0.0356 right_roll=-0.0029 right_gripper=0.9984 state[joint_eff]: [-0.2256, -8.1436, 4.6564, 1.6972, -0.1001, -0.0464, 0.9255, -0.4718, -1.1419, 6.9949, 2.0147, -0.0904, -0.0317, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The settled gripper reading is 0.011, so the close was empty. I’ll reopen in place to reveal where the cap sits relative to the fingertips before making the single corrective retry."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteWith the jaws reopened, the overhead view shows the blue cap slightly to the image-right of the gripper rather than between the jaws. I’ll shift about 3 cm toward that cap at the same low height for the corrective grasp.
move_to
left_y-0.0900left_x0.4140left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2565, 1.6814, 0.5823, 0.5186, -0.2348, -0.1638, 0.996, -0.0154, 0.672, 0.3737, -0.3058, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.414 left_y=-0.0624 left_z=0.0509 left_yaw=0.0172 left_pitch=-0.0002 left_roll=-0.0002 left_gripper=0.996 right_x=0.2684 right_y=0.0049 right_z=0.1218 right_yaw=0.0147 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9984 state[joint_eff]: [-0.2256, -6.7214, 5.0256, 1.7411, -0.1441, -0.0464, -0.105, -0.4171, -1.1692, 6.8718, 1.9756, -0.1001, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.09,"left_x":0.414,"left_z":0.05},"note":"With the jaws reopened, the overhead view shows the blue cap slightly to the image-right of the gripper rather than between the jaws. I’ll shift about 3 cm toward that cap at the same low height for the corrective grasp."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe low wrist view now reveals the bottle only at the far right edge, so the previous lateral correction was not yet enough. I’ll shift another 4 cm toward it while keeping the same radial position and height, then close once it is under the jaws.
move_to
left_y-0.1300left_x0.4140left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3389, 1.7008, 0.5919, 0.5079, -0.2821, -0.1982, 0.9966, -0.0154, 0.6533, 0.3454, -0.2913, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4089 left_y=-0.0882 left_z=0.0458 left_yaw=-0.0075 left_pitch=-0.0118 left_roll=0.0021 left_gripper=0.9966 right_x=0.266 right_y=0.0049 right_z=0.1165 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984 state[joint_eff]: [0.1573, -6.1607, 7.241, 1.6532, -0.2711, -0.0269, 0.0464, -0.3761, -1.0598, 7.0222, 1.9219, -0.1197, -0.0659, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.13,"left_x":0.414,"left_z":0.05},"note":"The low wrist view now reveals the bottle only at the far right edge, so the previous lateral correction was not yet enough. I’ll shift another 4 cm toward it while keeping the same radial position and height, then close once it is under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe overhead view now places the wrist directly over the left bottle’s cap; the bottle seen at the far right of the wrist image is the neighboring middle bottle, not the target under the fingertips. I’ll make the corrected close and verify the opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4545, 1.7416, 0.6483, 0.4816, -0.3687, -0.2546, 0.9967, -0.0154, 0.6384, 0.3214, -0.2893, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4097 left_y=-0.1254 left_z=0.0474 left_yaw=-0.0214 left_pitch=-0.003 left_roll=0.0043 left_gripper=0.9967 right_x=0.2624 right_y=0.005 right_z=0.1096 right_yaw=0.0147 right_pitch=-0.0349 right_roll=-0.0029 right_gripper=0.9984 state[joint_eff]: [-0.4718, -6.4479, 7.2547, 1.4774, -0.1392, 0.0659, -0.0073, -0.6085, -0.9641, 6.9675, 1.9805, -0.105, -0.0317, -0.0073] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The overhead view now places the wrist directly over the left bottle’s cap; the bottle seen at the far right of the wrist image is the neighboring middle bottle, not the target under the fingertips. I’ll make the corrected close and verify the opening."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe second empty close confirms the overhead geometry: the left gripper is actually well left of the left bottle, whose cap is near image x≈91. I’ll lift, reopen, and move decisively right and slightly forward to that cap using the verified 0.65 m base spacing scale.
move_to
left_x0.4600left_y-0.2500left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4648, 1.7477, 0.6632, 0.4831, -0.4065, -0.271, 0.0111, -0.0154, 0.614, 0.2916, -0.2752, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4135 left_y=-0.1252 left_z=0.052 left_yaw=0.008 left_pitch=0.0158 left_roll=0.0052 left_gripper=0.0111 right_x=0.2598 right_y=0.005 right_z=0.1048 right_yaw=0.0147 right_pitch=-0.0261 right_roll=-0.0032 right_gripper=0.9984 state[joint_eff]: [-0.5675, -7.0085, 6.612, 1.4676, -0.0024, -0.0073, 0.9353, -0.5538, -0.5402, 6.7897, 1.9512, -0.0952, -0.0073, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.25,"left_z":0.12,"left_gripper":1.0},"note":"The second empty close confirms the overhead geometry: the left gripper is actually well left of the left bottle, whose cap is near image x≈91. I’ll lift, reopen, and move decisively right and slightly forward to that cap using the verified 0.65 m base spacing scale."})
tool
executing move_to over 12 steps (1.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe target cap is now centered on the jaw column in the left wrist view, about 2–3 cm short of the fingertip row. I’ll advance that small amount and descend to cap height in one controlled motion.
move_to
left_x0.4850left_y-0.2440left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6815, 1.9228, 1.2377, -0.0013, -0.5632, -0.4397, 0.9958, -0.0154, 0.5999, 0.2684, -0.2687, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4566 left_y=-0.2443 left_z=0.1123 left_yaw=0.0061 left_pitch=-0.0032 left_roll=-0.0127 left_gripper=0.9958 right_x=0.2571 right_y=0.005 right_z=0.0989 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984 state[joint_eff]: [-0.9504, -9.7299, 8.7453, 1.409, -0.3346, 0.149, 0.0122, -0.6222, -0.8547, 6.9265, 1.9023, -0.0904, -0.0562, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.244,"left_z":0.045},"note":"The target cap is now centered on the jaw column in the left wrist view, about 2–3 cm short of the fingertip row. I’ll advance that small amount and descend to cap height in one controlled motion."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteAt low height the cap remains centered between the jaws, and the overhead view places the fingertips over the cap end of the bottle. I’ll close now and use the opening readback to confirm whether the cap is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6445, 2.1159, 1.2366, 0.1539, -0.5529, -0.4198, 0.9966, -0.0154, 0.5804, 0.244, -0.2638, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.477 left_y=-0.238 left_z=0.0412 left_yaw=0.0251 left_pitch=-0.0378 left_roll=0.0231 left_gripper=0.9966 right_x=0.2541 right_y=0.0051 right_z=0.0934 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984 state[joint_eff]: [0.253, -11.0701, 6.065, 1.7607, -0.0562, 0.2173, 0.0708, -0.6359, -0.4034, 6.8444, 1.917, -0.1148, -0.022, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At low height the cap remains centered between the jaws, and the overhead view places the fingertips over the cap end of the bottle. I’ll close now and use the opening readback to confirm whether the cap is captured."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe close was empty and the cap stayed clearly above the closed fingertips, showing that the low-height radial target was too far forward because descent strongly shifts the wrist image. I’ll reopen and retract about 7 cm at cap height so the cap enters the actual fingertip point.
move_to
left_x0.4200left_y-0.2390left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6407, 2.1132, 1.2106, 0.3084, -0.5854, -0.4217, 0.0112, -0.0154, 0.5598, 0.2222, -0.2615, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4897 left_y=-0.2389 left_z=0.0615 left_yaw=0.0569 left_pitch=0.0765 left_roll=-0.046 left_gripper=0.0112 right_x=0.2513 right_y=0.0051 right_z=0.0887 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984 state[joint_eff]: [-0.253, -11.1521, 4.6974, 0.9353, 0.0855, 0.0366, 0.9206, -0.6496, -0.2803, 6.6803, 1.9853, -0.1099, -0.0269, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.239,"left_z":0.045,"left_gripper":1.0},"note":"The close was empty and the cap stayed clearly above the closed fingertips, showing that the low-height radial target was too far forward because descent strongly shifts the wrist image. I’ll reopen and retract about 7 cm at cap height so the cap enters the actual fingertip point."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteAfter retracting, the bottle body now runs directly between the open jaws, with the cap farther forward. A secure body grasp is available here, so I’ll close on the bottle rather than continue chasing the small cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7395, 2.0121, 1.0454, 0.2428, -0.6563, -0.5194, 0.9952, -0.0154, 0.5407, 0.1982, -0.2611, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4288 left_y=-0.2404 left_z=0.0442 left_yaw=0.0613 left_pitch=0.01 left_roll=-0.0107 left_gripper=0.9952 right_x=0.2479 right_y=0.0052 right_z=0.0823 right_yaw=0.0147 right_pitch=-0.0322 right_roll=-0.003 right_gripper=0.9984 state[joint_eff]: [-0.7453, -12.0137, 4.6974, 1.1893, -0.2076, 0.1148, -0.1099, -0.5949, -0.3761, 6.9265, 1.9463, -0.1343, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After retracting, the bottle body now runs directly between the open jaws, with the cap farther forward. A secure body grasp is available here, so I’ll close on the bottle rather than continue chasing the small cap."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe body close also returned empty; the eef rose to 6 cm during closure, so the jaws were riding above the bottle rather than straddling it. I’ll reopen, move forward onto the wider body, and command table-level contact so the fingertips surround it from both sides.
move_to
left_x0.4700left_y-0.2400left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7456, 2.0052, 1.0622, 0.284, -0.6895, -0.5251, 0.0114, -0.0154, 0.5129, 0.1707, -0.2527, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4364 left_y=-0.2451 left_z=0.0622 left_yaw=0.0852 left_pitch=0.0698 left_roll=-0.0484 left_gripper=0.0114 right_x=0.2454 right_y=0.0053 right_z=0.0778 right_yaw=0.015 right_pitch=-0.0234 right_roll=-0.003 right_gripper=0.9984 state[joint_eff]: [0.253, -9.5111, 5.5316, 0.862, 0.0855, 0.0269, 0.906, -0.6359, -0.1573, 6.9675, 1.9609, -0.1245, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.24,"left_z":0.0,"left_gripper":1.0},"note":"The body close also returned empty; the eef rose to 6 cm during closure, so the jaws were riding above the bottle rather than straddling it. I’ll reopen, move forward onto the wider body, and command table-level contact so the fingertips surround it from both sides."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe table-level approach stopped at z≈4.3 cm against the bottle, and the wrist view now clearly shows both fingertips straddling its wide body. I’ll close from this contact pose and verify a nonzero settled opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6868, 2.1612, 1.1873, 0.3641, -0.6693, -0.5175, 0.9952, -0.0154, 0.4942, 0.1513, -0.2459, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4781 left_y=-0.2457 left_z=0.0431 left_yaw=0.1272 left_pitch=0.0948 left_roll=-0.0859 left_gripper=0.9952 right_x=0.2439 right_y=0.0052 right_z=0.0745 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984 state[joint_eff]: [0.9094, -6.2427, 5.3949, 0.8181, 0.2222, 0.2662, -0.1392, -0.5675, -0.1846, 7.2, 1.8193, -0.1343, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The table-level approach stopped at z≈4.3 cm against the bottle, and the wrist view now clearly shows both fingertips straddling its wide body. I’ll close from this contact pose and verify a nonzero settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe gripper has a solid 3.5 cm body grasp, but it is behind the cap and the cap is near the far reach limit. I’ll drag the bottle straight toward the base while keeping it on the table, bringing its cap into an easy low-height grasp zone.
move_to
left_x0.3600left_y-0.2450left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 2.1635, 1.2961, 0.1829, -0.7006, -0.5327, 0.368, -0.0154, 0.482, 0.1429, -0.2451, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4851 left_y=-0.2451 left_z=0.0534 left_yaw=0.1563 left_pitch=0.0577 left_roll=-0.0314 left_gripper=0.368 right_x=0.2431 right_y=0.0053 right_z=0.0736 right_yaw=0.0147 right_pitch=-0.0128 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.0752, -11.8769, 6.653, 0.8523, 0.0562, -0.0317, 0.2955, -0.6496, -0.0479, 6.5709, 1.8535, -0.0855, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.245,"left_z":0.055},"note":"The gripper has a solid 3.5 cm body grasp, but it is behind the cap and the cap is near the far reach limit. I’ll drag the bottle straight toward the base while keeping it on the table, bringing its cap into an easy low-height grasp zone."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe bottle has slid about 11 cm toward the base while staying aligned, leaving its cap clearly forward of the jaws and within reach. I’ll release the body here before moving to the cap end.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8955, 1.9266, 1.0016, 0.0525, -0.8261, -0.7494, 0.368, -0.0154, 0.4755, 0.1326, -0.2459, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.3726 left_y=-0.2517 left_z=0.0546 left_yaw=0.1448 left_pitch=0.0165 left_roll=-0.0151 left_gripper=0.368 right_x=0.2416 right_y=0.0053 right_z=0.0702 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984 state[joint_eff]: [-0.5949, -11.3846, 4.5333, 0.9792, -0.2711, -0.0659, -0.0073, -0.6769, 0.294, 6.9265, 1.8584, -0.105, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The bottle has slid about 11 cm toward the base while staying aligned, leaving its cap clearly forward of the jaws and within reach. I’ll release the body here before moving to the cap end."})
tool
executing move_to over 7 steps (0.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe cap-to-jaw separation is still roughly a full bottle length, placing the cap beyond low-height reach. The body remains centered between the open jaws, so I’ll regrasp it and drag it another 10–12 cm inward.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8925, 1.9194, 0.9993, 0.017, -0.8238, -0.7616, 0.9954, -0.0154, 0.4625, 0.1196, -0.2451, -0.0311, -0.0357, 0.9984] state[eef_state]: left_x=0.3698 left_y=-0.2466 left_z=0.0524 left_yaw=0.1527 left_pitch=-0.0005 left_roll=0.0 left_gripper=0.9954 right_x=0.2401 right_y=0.0054 right_z=0.0673 right_yaw=0.0148 right_pitch=-0.0166 right_roll=-0.0029 right_gripper=0.9984 state[joint_eff]: [-0.1436, -8.2667, 7.4735, 1.2186, -0.315, 0.1001, -0.0464, -0.6632, -0.0068, 6.8581, 1.8877, -0.1001, -0.022, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap-to-jaw separation is still roughly a full bottle length, placing the cap beyond low-height reach. The body remains centered between the open jaws, so I’ll regrasp it and drag it another 10–12 cm inward."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThat close was empty because the released bottle settled a few centimetres forward of the fingertip point. I’ll reopen and move onto the near end at table contact, where the body can again be captured securely.
move_to
left_x0.4050left_y-0.2480left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8925, 1.9182, 0.9993, 0.0475, -0.8371, -0.7631, 0.0108, -0.0154, 0.4496, 0.1108, -0.2462, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.3732 left_y=-0.2483 left_z=0.0578 left_yaw=0.1622 left_pitch=0.0243 left_roll=-0.0236 left_gripper=0.0108 right_x=0.2391 right_y=0.0053 right_z=0.0659 right_yaw=0.0147 right_pitch=-0.0135 right_roll=-0.0035 right_gripper=0.9984 state[joint_eff]: [-0.0615, -9.2923, 5.5453, 0.9841, -0.2418, -0.0464, 0.9158, -0.4171, 0.1162, 6.5846, 1.8486, -0.1001, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.248,"left_z":0.0,"left_gripper":1.0},"note":"That close was empty because the released bottle settled a few centimetres forward of the fingertip point. I’ll reopen and move onto the near end at table contact, where the body can again be captured securely."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteBoth jaws now visibly straddle the near end of the bottle at table contact. I’ll close to regain the secure body grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8314, 2.0743, 1.0645, 0.2714, -0.8318, -0.733, 0.9953, -0.0154, 0.4419, 0.0998, -0.2451, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4148 left_y=-0.2557 left_z=0.0406 left_yaw=0.21 left_pitch=0.0885 left_roll=-0.1146 left_gripper=0.9953 right_x=0.2379 right_y=0.0053 right_z=0.0627 right_yaw=0.0145 right_pitch=-0.0158 right_roll=-0.0031 right_gripper=0.9984 state[joint_eff]: [0.6085, -5.8051, 4.588, 0.5983, 0.1148, 0.3199, -0.1148, -0.6632, -0.1436, 6.9538, 1.8437, -0.0708, -0.0122, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"Both jaws now visibly straddle the near end of the bottle at table contact. I’ll close to regain the secure body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
assistant
agent noteThe jaws were centered laterally but stopped on top of the bottle, so the close remained empty. I’ll reopen and retreat to clear table behind the bottle at table height; from there I can slide the open fingers under and around the near end instead of descending onto it.
move_to
left_x0.3000left_y-0.2580left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.831, 2.0758, 1.1969, 0.0589, -0.8669, -0.7605, 0.0106, -0.0154, 0.4297, 0.0921, -0.2459, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4231 left_y=-0.2585 left_z=0.058 left_yaw=0.2435 left_pitch=0.0688 left_roll=-0.0555 left_gripper=0.0106 right_x=0.2371 right_y=0.0053 right_z=0.0617 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [0.1709, -10.359, 5.4085, 0.6911, 0.0708, 0.0513, 0.9158, -0.6769, 0.1299, 6.7077, 1.8584, -0.0904, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.258,"left_z":0.0,"left_gripper":1.0},"note":"The jaws were centered laterally but stopped on top of the bottle, so the close remained empty. I’ll reopen and retreat to clear table behind the bottle at table height; from there I can slide the open fingers under and around the near end instead of descending onto it."})
tool
executing move_to over 10 steps (1.0s)
step 194
assistant
agent noteThe open fingertips are now at table level behind the bottle, with its near end centered directly ahead in the wrist view. I’ll slide forward along the table so the jaws pass around the body from behind.
move_to
left_x0.4200left_y-0.2580left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.084, 2.0308, 0.9794, -0.1143, -0.9451, -1.1152, 0.9947, -0.0154, 0.4225, 0.0849, -0.2459, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.3071 left_y=-0.2665 left_z=0.0063 left_yaw=0.2144 left_pitch=-0.006 left_roll=-0.016 left_gripper=0.9947 right_x=0.2364 right_y=0.0054 right_z=0.06 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.2256, -8.1162, 4.7658, 0.7497, -0.7155, -0.0659, -0.0171, -0.6906, 0.0889, 6.7761, 1.8291, -0.1001, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.258,"left_z":0.005},"note":"The open fingertips are now at table level behind the bottle, with its near end centered directly ahead in the wrist view. I’ll slide forward along the table so the jaws pass around the body from behind."})
tool
executing move_to over 9 steps (0.9s)
step 203
assistant
agent noteThe low slide succeeded: the bottle body now lies between both fingertips rather than beneath them. I’ll close on it and confirm the grasp from the gripper opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8341, 2.1643, 1.1564, 0.0788, -0.8482, -0.8101, 0.9958, -0.0154, 0.4137, 0.0792, -0.2459, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4105 left_y=-0.2501 left_z=0.0061 left_yaw=0.2517 left_pitch=0.004 left_roll=-0.0089 left_gripper=0.9958 right_x=0.2359 right_y=0.0054 right_z=0.0593 right_yaw=0.0147 right_pitch=-0.009 right_roll=-0.0037 right_gripper=0.9984 state[joint_eff]: [0.335, -9.4564, 7.0769, 1.2772, -0.2564, 0.1832, 0.105, -0.6085, 0.1299, 6.653, 1.7705, -0.1099, -0.0171, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The low slide succeeded: the bottle body now lies between both fingertips rather than beneath them. I’ll close on it and confirm the grasp from the gripper opening."})
tool
executing move_to over 10 steps (1.0s)
step 213
assistant
agent noteThe gripper now holds the bottle securely at a 5.0 cm opening. I’ll slide the grasped bottle another 16 cm inward along the table so its cap moves well inside the low-height workspace.
move_to
left_x0.2500left_y-0.2500left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8314, 2.175, 1.1667, 0.075, -0.8474, -0.8116, 0.5276, -0.0154, 0.4103, 0.0792, -0.2462, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4123 left_y=-0.2503 left_z=0.0039 left_yaw=0.2547 left_pitch=0.0015 left_roll=-0.0068 left_gripper=0.5276 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0147 right_pitch=-0.0059 right_roll=-0.0038 right_gripper=0.9984 state[joint_eff]: [-0.4308, -11.6991, 4.9573, 1.0672, -0.3834, 0.0024, 1.0281, -0.7043, 0.0205, 6.4479, 1.7802, -0.0952, -0.0415, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.25,"left_z":0.005},"note":"The gripper now holds the bottle securely at a 5.0 cm opening. I’ll slide the grasped bottle another 16 cm inward along the table so its cap moves well inside the low-height workspace."})
tool
executing move_to over 13 steps (1.3s)
step 226
assistant
agent noteThe inward drag succeeded; the cap is now around x≈0.42 while the grasp point is at x≈0.26. I’ll release the body, keeping the jaws at table level and aligned with the bottle’s axis.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2125, 2.0167, 0.9409, -0.3004, -0.9855, -1.3472, 0.5279, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.2588 left_y=-0.2611 left_z=-0.0012 left_yaw=0.2238 left_pitch=-0.0105 left_roll=0.003 left_gripper=0.5279 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.335, -11.2889, 3.0291, 0.4957, -0.6081, -0.2222, 0.9597, -0.5538, 0.2803, 6.6256, 1.7998, -0.1245, -0.022, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The inward drag succeeded; the cap is now around x≈0.42 while the grasp point is at x≈0.26. I’ll release the body, keeping the jaws at table level and aligned with the bottle’s axis."})
tool
executing move_to over 5 steps (0.5s)
step 231
assistant
agent noteThe open jaws still straddle the bottle’s axis at table level, and the cap is about 16 cm straight ahead. I’ll slide forward along the bottle to place the jaws around the cap without descending onto it.
move_to
left_x0.4200left_y-0.2640left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2175, 2.014, 0.9401, -0.2935, -0.981, -1.3621, 0.9945, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.2576 left_y=-0.2638 left_z=-0.001 left_yaw=0.2258 left_pitch=-0.0138 left_roll=-0.0188 left_gripper=0.9945 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984 state[joint_eff]: [0.1162, -8.4855, 4.0684, 0.5201, -0.6569, 0.0855, 0.188, -0.5538, 0.3487, 6.7487, 1.8144, -0.0904, -0.0415, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.264,"left_z":0.005},"note":"The open jaws still straddle the bottle’s axis at table level, and the cap is about 16 cm straight ahead. I’ll slide forward along the bottle to place the jaws around the cap without descending onto it."})
tool
executing move_to over 13 steps (1.3s)
step 244
assistant
agent noteAt x≈0.41 the open jaws are still around the bottle body, with the red neck band near the top of the wrist image; the cap is a few centimetres farther forward. I’ll continue the low slide by 5 cm to reach the cap.
move_to
left_x0.4700left_y-0.2560left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8471, 2.1845, 1.19, 0.0414, -0.8619, -0.8383, 0.9958, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.0364, 0.9984] state[eef_state]: left_x=0.4098 left_y=-0.2558 left_z=0.0043 left_yaw=0.2618 left_pitch=0.003 left_roll=-0.0064 left_gripper=0.9958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0152 right_pitch=-0.0059 right_roll=-0.0039 right_gripper=0.9984 state[joint_eff]: [0.4308, -9.812, 7.0359, 1.2234, -0.2369, 0.1783, 0.1197, -0.6632, 0.0615, 6.612, 1.8046, -0.105, -0.0464, -0.0073] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.256,"left_z":0.005},"note":"At x≈0.41 the open jaws are still around the bottle body, with the red neck band near the top of the wrist image; the cap is a few centimetres farther forward. I’ll continue the low slide by 5 cm to reach the cap."})
tool
executing move_to over 5 steps (0.5s)
step 249
assistant
agent noteThe overhead view now places the fingertips at the bottle’s red neck/cap end while the low slide has kept them below the cylinder’s centerline. I’ll close on the neck and verify the retained opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7544, 2.2799, 1.359, 0.0345, -0.8249, -0.7647, 0.9959, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4615 left_y=-0.2508 left_z=0.0066 left_yaw=0.2932 left_pitch=0.0087 left_roll=-0.0167 left_gripper=0.9959 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [0.4171, -10.988, 7.2, 1.2674, -0.149, 0.1099, 0.0073, -0.6632, 0.1162, 6.694, 1.7753, -0.105, -0.022, -0.0073] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The overhead view now places the fingertips at the bottle’s red neck/cap end while the low slide has kept them below the cylinder’s centerline. I’ll close on the neck and verify the retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteThe neck-end grasp is secure at a 5.0 cm opening. I’ll lift it vertically to let the bottle swing base-down under gravity, then inspect its orientation before setting it down.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7406, 2.2894, 1.3743, 0.0372, -0.8124, -0.733, 0.5239, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4677 left_y=-0.249 left_z=0.0058 left_yaw=0.2821 left_pitch=0.0047 left_roll=-0.0019 left_gripper=0.5239 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.4718, -11.3573, 7.2821, 1.2821, -0.232, 0.1294, 1.033, -0.4581, 0.1846, 6.8171, 1.7802, -0.1099, -0.0171, -0.0073] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.3},"note":"The neck-end grasp is secure at a 5.0 cm opening. I’ll lift it vertically to let the bottle swing base-down under gravity, then inspect its orientation before setting it down."})
tool
executing move_to over 19 steps (1.9s)
step 278
assistant
agent noteThe bottle lifted but remains clamped nearly horizontal because the body grasp is tight. I’ll loosen the jaws slightly while still high so gravity can pivot the bottle base downward, with the neck ring acting as a stop.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7399, 2.1731, 2.3169, -1.0992, -0.7185, -0.7616, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4654 left_y=-0.2625 left_z=0.2584 left_yaw=0.2422 left_pitch=-0.0997 left_roll=-0.0003 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.253, -12.7111, 9.6479, 1.536, -1.1697, 0.188, 0.4567, -0.6632, 0.253, 6.6393, 1.746, -0.1099, -0.0415, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.6},"note":"The bottle lifted but remains clamped nearly horizontal because the body grasp is tight. I’ll loosen the jaws slightly while still high so gravity can pivot the bottle base downward, with the neck ring acting as a stop."})
tool
executing move_to over 1 steps (0.1s)
step 279
assistant
agent noteThe first small opening command did not move the loaded gripper. I’ll increase the commanded opening modestly to release clamping friction while keeping the neck ring within the jaws.
move_to
left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7399, 2.1998, 2.373, -1.187, -0.7143, -0.7589, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.46 left_y=-0.2584 left_z=0.2542 left_yaw=0.2439 left_pitch=-0.135 left_roll=0.0488 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984 state[joint_eff]: [-0.335, -14.653, 9.1966, 1.707, -1.3016, 0.2076, 0.8278, -0.6632, 0.1162, 6.6393, 1.7851, -0.1197, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7},"note":"The first small opening command did not move the loaded gripper. I’ll increase the commanded opening modestly to release clamping friction while keeping the neck ring within the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 281
assistant
agent noteThe loosened left-arm body grasp released the bottle before it could pivot, so I’ll switch to a true cap grasp on the rightmost bottle. I’m parking the left arm and sending the right arm to table level just beyond that bottle’s cap, allowing a low inward slide rather than landing on top.
move_to
right_x0.5000right_y0.2700right_z0.0000right_gripper1.0000left_x0.3000left_y-0.2500left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7589, 2.112, 2.0583, -0.9352, -0.7296, -0.7322, 0.6958, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.457 left_y=-0.2662 left_z=0.2166 left_yaw=0.2171 left_pitch=-0.1114 left_roll=0.0561 left_gripper=0.6958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984 state[joint_eff]: [-0.4034, -16.253, 7.9385, 1.8437, -0.8962, 0.1685, 0.0415, -0.6769, 0.1709, 6.8581, 1.8046, -0.0952, -0.0513, -0.0073] 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_x":0.5,"right_y":0.27,"right_z":0.0,"right_gripper":1.0,"left_x":0.3,"left_y":-0.25,"left_z":0.18,"left_gripper":1.0},"note":"The loosened left-arm body grasp released the bottle before it could pivot, so I’ll switch to a true cap grasp on the rightmost bottle. I’m parking the left arm and sending the right arm to table level just beyond that bottle’s cap, allowing a low inward slide rather than landing on top."})
tool
executing move_to over 23 steps (2.3s)
step 304
assistant
agent noteAt table level the right wrist shows the bottle to the left of the jaw column, and the overhead view puts the fingertips about 6 cm right of it. I’ll shift left and slightly inward along the table to align the open jaws with the bottle’s body for an inward drag.
move_to
right_x0.4200right_y0.3300right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0752, 1.7119, 1.2972, -0.7631, -0.9253, -1.0786, 0.9976, 0.6418, 2.2761, 1.2911, 0.3305, 0.4778, 0.3325, 0.9985] state[eef_state]: left_x=0.3047 left_y=-0.2593 left_z=0.1668 left_yaw=0.1961 left_pitch=-0.0272 left_roll=0.0212 left_gripper=0.9976 right_x=0.4925 right_y=0.2711 right_z=0.0041 right_yaw=0.052 right_pitch=0.0 right_roll=0.0042 right_gripper=0.9985 state[joint_eff]: [-0.3897, -11.3299, 5.8598, 0.9158, -0.7937, -0.105, -0.2564, -0.0889, -11.0017, 6.7214, 1.5556, 0.4322, 0.1587, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.33,"right_z":0.0},"note":"At table level the right wrist shows the bottle to the left of the jaw column, and the overhead view puts the fingertips about 6 cm right of it. I’ll shift left and slightly inward along the table to align the open jaws with the bottle’s body for an inward drag."})
tool
executing move_to over 6 steps (0.6s)
step 310
assistant
agent noteAfter the low lateral/inward slide, the bottle has disappeared from the right wrist camera, which means it is now at or behind the fingertip plane rather than ahead of the jaws. I’ll close here and check whether the body or neck is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0939, 1.6917, 1.261, -0.7914, -0.9524, -1.0924, 0.9971, 0.7769, 2.2761, 1.2648, 0.3244, 0.6144, 0.4644, 0.9984] state[eef_state]: left_x=0.2956 left_y=-0.2507 left_z=0.1643 left_yaw=0.1956 left_pitch=-0.0153 left_roll=0.0593 left_gripper=0.9971 right_x=0.4525 right_y=0.3071 right_z=0.0014 right_yaw=0.0098 right_pitch=0.0259 right_roll=0.0297 right_gripper=0.9984 state[joint_eff]: [0.9231, -7.2957, 6.2838, 1.9707, -0.2808, 0.1636, -0.0513, 6.2017, -14.0239, 4.2735, 1.033, 0.2125, 0.0122, -0.022] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the low lateral/inward slide, the bottle has disappeared from the right wrist camera, which means it is now at or behind the fingertip plane rather than ahead of the jaws. I’ll close here and check whether the body or neck is captured."})
tool
executing move_to over 10 steps (1.0s)
step 320
assistant
agent noteThe right close was empty, so I’m clearing that arm and making one last controlled attempt with the bottle centered in the left wrist view. I’ll place the left jaws flat on the clear table just behind its near end, ready for a low slide along the bottle.
move_to
left_x0.3000left_y-0.2500left_z0.0000left_gripper1.0000right_x0.3000right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0962, 1.6691, 1.219, -0.7376, -0.9592, -1.0855, 0.9971, 0.7708, 2.2749, 1.2804, 0.284, 0.625, 0.4591, 0.0117] state[eef_state]: left_x=0.2948 left_y=-0.2495 left_z=0.1632 left_yaw=0.1918 left_pitch=0.0002 left_roll=0.0339 left_gripper=0.9971 right_x=0.4544 right_y=0.3022 right_z=0.0015 right_yaw=-0.0012 right_pitch=0.0138 right_roll=0.0038 right_gripper=0.0117 state[joint_eff]: [-0.1162, -8.6906, 5.3812, 1.0867, -0.3785, -0.0757, -0.0073, 0.1983, -12.0547, 6.8171, 1.199, 0.1392, -0.0122, 0.8523] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.25,"left_z":0.0,"left_gripper":1.0,"right_x":0.3,"right_y":0.1,"right_z":0.15,"right_gripper":1.0},"note":"The right close was empty, so I’m clearing that arm and making one last controlled attempt with the bottle centered in the left wrist view. I’ll place the left jaws flat on the clear table just behind its near end, ready for a low slide along the bottle."})
tool
executing move_to over 17 steps (1.7s)
step 337
assistant
agent noteI could not complete the task within the trial budget. None of the three bottles is upright: repeated top-down approaches landed the grasp point on top of the cylinders and closed empty, and the one secure body grasp could not reorient the bottle because wrist pitch/roll are unavailable.
give_up
hindsightFor this rig and task, do not descend directly onto a lying bottle: the eef stops around z=0.04–0.06 on top of the cylinder and the jaws close empty. First descend in clear table space to z≈0, then slide the open jaws horizontally along the table around the bottle; this produced a reliable body grasp (settled gripper ≈0.53). To stand a bottle with pitch/roll pinned, the bottle must be dragged inward far enough that its cap is reachable, then grasped specifically behind the neck ring with a low horizontal slide; a tight body grasp remains horizontal when lifted, while simply loosening it causes the bottle to drop rather than pivot controllably.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0718, 2.0159, 0.8936, 0.0925, -0.9039, -1.0615, 0.9981, 0.5751, 1.0203, 0.5716, -0.1871, 0.4679, 0.3206, 0.9972] state[eef_state]: left_x=0.3099 left_y=-0.2711 left_z=0.0019 left_yaw=0.1787 left_pitch=0.0002 left_roll=-0.1112 left_gripper=0.9981 right_x=0.3032 right_y=0.1059 right_z=0.1497 right_yaw=-0.0005 right_pitch=0.0125 right_roll=0.0094 right_gripper=0.9972 state[joint_eff]: [-0.9641, -12.2051, 4.7111, 1.0818, 1.199, -0.4029, -0.1929, -0.7726, -0.9641, 7.2684, 1.3211, 0.1001, 0.0073, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task within the trial budget. None of the three bottles is upright: repeated top-down approaches landed the grasp point on top of the cylinders and closed empty, and the one secure body grasp could not reorient the bottle because wrist pitch/roll are unavailable.","hindsight":"For this rig and task, do not descend directly onto a lying bottle: the eef stops around z=0.04–0.06 on top of the cylinder and the jaws close empty. First descend in clear table space to z≈0, then slide the open jaws horizontally along the table around the bottle; this produced a reliable body grasp (settled gripper ≈0.53). To stand a bottle with pitch/roll pinned, the bottle must be dragged inward far enough that its cap is reachable, then grasped specifically behind the neck ring with a low horizontal slide; a tight body grasp remains horizontal when lifted, while simply loosening it causes the bottle to drop rather than pivot controllably."})
tool
give_up: I could not complete the task within the trial budget. None of the three bottles is upright: repeated top-down approaches landed the grasp point on top of the cylinders and closed empty, and the one secure body grasp could not reorient the bottle because wrist pitch/roll are unavailable.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 21.8 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"
    }
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6079, -0.3767, -0.0216, -0.0257, 0.9986, -0.0154, 0.7891, 0.6037, -0.3862, -0.0208, -0.0254, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0027 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -1.4427, 9.7573, 1.7656, -0.0171, 0.1294, -0.1587, -0.9641, -1.0051, 10.3043, 1.8681, 0.0024, 0.0806, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d1099c10d234ad826995f191150713971609be6378ab37294ad7e39507fd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0c1685f1f558e08ec74775bea5523dd00779c3796e346a8b10e7dd04ccc33b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1611f77c9c56a938737217a94befab2bb19241f7f09c0c11007544f7b7142270",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 8.105 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_08f5339e5e1b68fd016ab443a740d087d093d6099231d98e19",
  "summary": [],
  "type": "reasoning"
}
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  "id": "rs_08f5339e5e1b68fd016ab443ad649c87d0a1070ae303b44f5e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO2lvO60JMz7no16QpAMaAqLgD4BqrFYnu2NzU45mkI0j-MrKzbSjBeJ56NyAcmuaCZ6CAk8GIswWLKkNqCHRlt3-TZTDuL02ZslYkMND3RLyau2aklOsZqxnbydinFdwmIhhxuJypBW4CEdAaAmaL_uOWN2hU91iuXhPkfsGvkOoKLXVwsZjWWXw7jwHBK2UMM5DDT75q1EbbS4q15rOpPmbBzVlhaNDeIV7HAkhE3ll4SmllKksNPRltNfwaketlIvsplfcG4aSE9BPgBXcsMAKllwTAsAasg1CkgzORk6HMP9mzXK0nOFT8TuZkLPSSuFXwNic7iQasdvZ6Sfw1LtZywAGIMbMYL0YZI1B-xBP6QxYpOTS7YkoqXu7uFNSufgs-ZmVE2TUCxsWHjUJ8DrluDma1BYkMRrdFEZp_0r6oIOg1zWHz9jFalV3NBwUof4jolwfdcY5xk4-Op_HsoXmmzsAfnzxdKdGWYIhkVR4dkotcl4GBF4T9qv_sqUGkfMpr5afFHlbJsvznpzZ1LCawWrY1VHbRbPkWdWiABPQrpubOgAJyvI0hYVNlYbl9gMqf6vswkOeAvtST8KXrskbHpRjAi-pmnkmkNu48-u9J6CVk9kaN9UW-YtgQH5iZQOmktrkZAwu4zkmDz0tjxAzBb8knW8JGbSVacRa-U8PpCjNHxY0xHkjemHmYiLlXedOxPL3EUVJxTFwHXPv_IT5tTJnPGDJsyqXab2GVGnoyIMuy20yJYcC70dwKwMJmsI9z19VQm3W8XKYIQBrT0XJ6h2A71q0h_3lMRDmDBhJRokjXtT8kihkX0QCfo39Sm9fdd7uyPH6Co5GOeb5734AkCqq0eGkhvMO3GrQwsvRNCxucp1ow4AWoRkelhv8MKrekszCA8tar1zfOG5FuYznx45kOtTHMV_skahEtJOIAVUJdwfG1cGpag5YV4BaJ6PwTCiheHXpkRxY8TZv2XxWuAyxil_9Lqw7MYJbgRb0bSPs5P1aWoAzjs4QKlzFNda_qiwrX-lWN0vV6HMm0M57PVs9oq5DdZL2K-oHOoR0xAfmw1Ju9dXvS7zCmxCRrmCPAe5tId7IRHmuGGSlL81zxWH6EI2MmlFSCFabhGnq9UALDrQ7DrZl1neDNgE8w926RUwqe-L5uImax0jl8b8K86YoLADt2mKayBuE8nCON-ViBFcqfFkYyp2n67_U0dPUTy4mk4jlf0AoELJMAmonDu2B_U84LHIiS7uWrosJTtzDLUoJwqY2rzWch5EtlZF7H_LmTkG6BvSAZCTTZGaYAUK_oLxR_ILWcVNWbLk_f92bPLMcIjwpFNdLnCJpZrYNG3d9KEl26JSkNXLcvyVXqM6UyEM6O1R1dJNIVNatc4QvRL1qv5wDVNZtMyGbE2LDIFQaTLjO6RTTqrNThR8AzthAu8uKSsznSL-nKGCliZvAP9T-1pW_X1grN4JG5_6D4eUX8yztBaIzU-jxCGm9aP1n1FblSqhayNcnb03DAX1Vc59CFio59FhF4YYzLO4MgBlZNTbrEjfWFBqwuDeRRPru0eOGPIvjQDSNjGPDyaUgN2tgKBnf32XadJMiqhEMVB1FVi4wny_cxVPyoXo4kf3BdSuD-fr9nGUGMvU1lKwM34p4Zju89HuFxJImaTjRCqvvCAcF-ndQytJGX-xbz_YDFQkKkbLZj8FTyWrZ19oFnJnFfjx67t5BsECqwQs0TLdUbivezpfiuq_l0Z8DdjbKKOi8rQY0Az5GVqHu40j1UlqSOcDrQIrFu58cA6mG-2kn4-8S7Db0TDoebZylV4PgSVbq-oemC3Oxv15zMQlq2DBu3_d8FNunIBuVtwtc-jpkPv5mN-TJQcNI5XOBOqELVLNi2n-NS3uMl3JJrt1WJU1Gujg10K86Sz1ipCgi31kMwc-Ae6uMgi9b9dmqzqBb6qV4CYLMm9Jm-0dUTxuDjnO73eCWFnoXixfsOFZx5Zce9EsuTV91340uw_6NT7KK8E0bY_1ZRTWm6S_OoN80LOq77R2PnnxMk0uO5ygGA9SonFLThPYevNdoqn6T2xLGUKKdMddTqYLKhU2iFCPBxaihOCtC1zyVyqvd1xKl1CsOrbBSJJt_RjYdn4KzZXdzmPTaM5Cku9y7d7dcHwEhqcCbbQ4lySYO0f9PjSJsA422kwXxll4MdUesnlVF6L5vRkqZqoodMHdgRpMxb7Qyvfy7yayODOaFSNXVqMoL1lQaun2SrYfFJR13BKgRRa7chDNMYBNmHuch4VibpjS8oCeVr1KaE2PoVIXruyRWbsXW9X-nw8lFS_gDOdsKmwoFlp_H4Rat4fk0tq_j8RBffDefh1W5Kve4HEMZ79RKbA5tO253PDTjcvw3G30bzxsaUdW4N8cQmPFkXqXC0H9Q7hbMIPWW1nqx07OFVf_PK-Y8ACDShvn-Y02SYAk7rJeVklW6XkaN8_7m27wlYhmqhdwJP11qsaao6MjcsEoSXBDUWelvGpKYL1i4yFKTP-E4psFIc6Cq8KL-3TAQY2edMgNQ4yOIcDpy28s5Bc",
  "id": "rs_08f5339e5e1b68fd016ab443b325c087d09b78bdb095150905",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The leftmost bottle lies diagonally with its blue cap toward the upper-left of the overhead image. I’ll move the left gripper above that cap at a safe height, using the wrist view to refine alignment before descending.\"}",
  "call_id": "call_E6HteRlYim8T1OSkItiY5DAs",
  "id": "fc_08f5339e5e1b68fd016ab443b5da7c87d0a4acff498fe2de8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E6HteRlYim8T1OSkItiY5DAs",
  "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]: [-0.4679, 1.3819, 0.7631, -0.0738, -0.3733, -0.2718, 0.9986, -0.0154, 0.794, 0.6033, -0.4042, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.1131 left_z=0.1285 left_yaw=-0.0205 left_pitch=-0.0748 left_roll=0.0272 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=0.005 right_pitch=-0.0236 right_roll=-0.0011 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -6.0103, 9.2513, 1.7998, -0.2076, -0.0855, -0.1587, -0.3487, -1.6068, 7.0632, 1.8632, -0.0073, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140c2b8f5b140b4dc5f1640ba57948768630b5bfffd480e52d853fc58f74c89e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc457f3f89ff9641bfb298302a9bbec6b33f84f61368d19a1a8c1605dc96c773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c342f5c47b6f0042f076cdf8e4d0e38fbb0d80c6e7b14821efb58c7b31ede435",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 5.766 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 9 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6079, -0.3767, -0.0216, -0.0257, 0.9986, -0.0154, 0.7891, 0.6037, -0.3862, -0.0208, -0.0254, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0027 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -1.4427, 9.7573, 1.7656, -0.0171, 0.1294, -0.1587, -0.9641, -1.0051, 10.3043, 1.8681, 0.0024, 0.0806, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4679, 1.3819, 0.7631, -0.0738, -0.3733, -0.2718, 0.9986, -0.0154, 0.794, 0.6033, -0.4042, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.1131 left_z=0.1285 left_yaw=-0.0205 left_pitch=-0.0748 left_roll=0.0272 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=0.005 right_pitch=-0.0236 right_roll=-0.0011 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -6.0103, 9.2513, 1.7998, -0.2076, -0.0855, -0.1587, -0.3487, -1.6068, 7.0632, 1.8632, -0.0073, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:140c2b8f5b140b4dc5f1640ba57948768630b5bfffd480e52d853fc58f74c89e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc457f3f89ff9641bfb298302a9bbec6b33f84f61368d19a1a8c1605dc96c773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c342f5c47b6f0042f076cdf8e4d0e38fbb0d80c6e7b14821efb58c7b31ede435",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEO_1jUU4ueaL_P1BE8M-QqjNV55ssSLwWjgJd5OVPjXvWSe3mstbcCAA4FKTKNSyTPItE_iet6k8mKooXU7fOBW4hjCgFEyg2zVNpAl-zOQTFxUHz9Pmv8JGhttlaBTL4bdpzEOOe4M21a9e8Bf1MyC4FKqAYw2LhjDgBJr0gWvPsRlqbffdgzWmnIw52WwXwUVImZmaOJ5Ap6Ts8-nYsocLG2d0oOZXKDn5PSdydAjVJMi8_133qTml9dOwQ2EzykTOE2S2V1DrfEQ-0xyKuZ_jVXi9kWKmHLNffFNTth0tlmo89DuIQKAW1JW7L9nItaF8VD6F3UQ06h22AHKzXdLxRvyveYFbEjM3IMaiSGq1bn8sPPDf7bm09zjbhH6WdZ80iBRWBiD1sP0SWIhmD-N89rxqLj7jfGxYbQMquAVhk6OEw4knLYoW9BnNyJ1BdveUcfrYchNeqaYwmZsgrBzyyUmhNt5-Q63-p3tPKk7bPn5LW9NwZN-n1wStykqbW7WTz1W0OnoSlCGOOvyoBoXFSvj9TR5hU_kTz0EA47t12jT78Me_BapjxwEsrRvCqUn0DGfjlJ3gv4Xvgd5pqrNPBIWvQlnGg0BXbKxKKUHKc68yjUDusqmLJjRJAE-iS3_9bMnvkp-ajPlfSPILll32wCaHsViejLbs3zkA9ROcLfGDcwhCXI1pIqQlVC5V7W2cPsRUgKpqXyvJbBoDHr-VjAW6T_xBCs5nYFi2VGgqOTy7O-J8HRgR8NzS8c4-ihCUTRos-iO2lOqyypioDnxSYEU9GD2qTZ8UisbWJLd43v_DQI5uAl9hDvZ_nYNJzWlcRA2aIZr8_AkCdEwR8dZLtLLMPs74y2FqnkWFXiCFWUemAzdRcXsJP_pkh9U09kxILdmhhBn3L3oWhjQDVqCMlSx7gbxHhV8wSnKyCU2A3zoCP3l382FjpfwWELTxwFBPeztbNTs0Xuynr7uRGKHPd0jY8yIGWo1DkHIwEgWwRapX8L_o1RdA-k_v_mQ3xkaKM1FZsyARb_Wil82weai9pHqfRUUTlHVSSUr0ImV13sZ134CScddGUlNWc8x_cRKZobrATIWveX-nGBOAQDguQlZRY9ibmSeXyZ_DIU_dV1ixeF6GImZGeEjTiTJk0G8oG2SUqOMuZq0LVWqCKOGsJwB4k-4StCx5pbbdufcd3tcGBvlRQ5DXs0s4J4udBYZhjrM7YJIhppE_kJwtH3Z7QYHplIOTeLjQEhrky8GVc7fD-othEbUCKJfVMQ4tc6iRmkv8Pj2GBS2Qle8t-lIXV0WpI3Gk77tGlXuQnDNRhsKwnM5zSv5Gi-ujWe401Zp9PyEBLRubVBdCZaDFJLpi0Fcbsst7F5tjdRHTmPuPokJM-0-kYtsb37OKWxxJM-tCn-MPWBlt8JHZLIO_jbSNKYLTl45pGKpB8jHwPGHD6cCPnGhe1Tbvv9dSv5Mdphw17p6c6yGY6_bIZx-ra_N9-qCDkuIm2SUWz7i1M90msmpeZLtBgwmpmIu5B-VerQdu8v-ULkpNmm4PaBlhJXuqVkcmeorviqyThUfWCaqiA9jJb5flgIOlBPMu0Yvw7manNzpTLMPuDWM0CsOgEtc5dobfsDwEz1wzLzF9UGZ-6D_TpLoleeSy6oaUUshtyoOe6HpSL9o83stOiWVCEP3kl7V7ik3jSD4GEvjSNp_CCT-yRc1QjWf7eMbZbR1tfuRXNQaDF1wUYG5N5YPhUH-9nAmN3olt4ptWaMGajLB3TUAMDAPn4oNDfhXxpr_0v0HRpRBl7hWmWV2hVCiTK9EkQcMfouzDUy2RYRxmjuilmt_FflbE2d43ntqGE1Seo7jBqodlpP_0vU3xSPvNy1rZ6SzvSn2mUijEbD73057cSTC0oKVI9ajQ9nwCUmDSPSkrFqwghiQpshsq2iz7v-krEa0io7gskWTmJoQ85DpFG_IqGXy8orCVKiqkRyjcMyYcvdfwCs6c9C2VWwBna0uNt-_KVn5KDDfCVBRhrXmNrYtxrzweEfkf8iNNozhQNZT68xI-FVbU9G7_cyQYsLV0IktHtnZDeflWZ1Wiu39ZA9S-64Hz7JaVBQpdUd4HTRwpExQmoKGfTIkdq9vH8jS7MDv730kFSBSrIQ-HObqgWFNDcpHQGFI9FrvNlTJVRI9hj19oieqsYm53ga1CTLD0SWI3m3vmmoQ1Y0zakizRzjyrezceCpjDrPYDByn7FtKuYABULWgJEw2kadREEGY1yZysfygaaS0cGLtHaRprwfLac6o1Qo7Ez0zP3JDejiOJlZ_vX2Qzejb0CXRZ77lPzK7qHKGyLYHD2pNlcRFXjc6UVBAvcY5cbSz1cNMr-52tU2IMovghq5UKnbetga0PiTErVdx8O4U9725y84nxN1JgigSuzoNXR7w8BNHxsIXX2ijGk7NszqXiBnrO2g_EpRL621srZNDC6blnN5kbVAwIT0u5ZS6d7RrOzn24qL7U5B2Y5IzrrBYJwXs1ayCndLsDnjrgd8OxSbv1IcHDLVHZEdOdnYbW68RJaO_yShGMhuAWyuDCXVhb2Zc-PgD8ySxW7p9Qg2JxZAnIr6m5_X4e3HANFKl9jwx_PvIUMjZphgN-cI_B9bYrMTpwOcgeOQ0cD8pxGX9I4Xjw4OPTPqyg-bvO7WwvEe71sFtWLa0zPYyDW-zFOmSVsMlReJw2xNRuzM2vSl6Wnfpr36E7wjxOeY4NN3tSJm4NZea_4rIfasinO8Oo-ljXnuf4SCHCeswl_mAHHynjvJhBa5E3OZaz2U6Ht0LFkuvU3orPzlnn-QWs2_QvClZHfkxURalb_ira79DkmA3D-b20b-LQvMu4fh21T52FuWP5zCr7xRTxUKVUfiFCruLJcsxhV8N1KSfx0kUQBaRBdV8uucpd2XOpyVr2tIo3MYBha96REcs_Pve_9xI4Epy8uZnhuvOxVVJYlsAyDX2j-mzNlyZ7MFBK9HWxGfSZ6uccCmm-oWRIwzfuBJXv5C0twNWrArD7T13yNE9BCoVkBQNYdGu3ImvwqubYSywSET8B0acF90E5uxHtXJbXH_tBBdvFd71aV4K7Z3Tty7on9R5sZAp6M4Mj_UMHI8VuEmLS2ni5BH0dDrPhYaW1hFZkDyyJQqwat21XG4cDwYFDVQqr2VIKouM_yA4KRSS5qxhNLB9Cakx",
  "id": "rs_08f5339e5e1b68fd016ab443baba8087d08d3e5ca2ef6b2df3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.07,\"left_z\":0.15},\"note\":\"The left wrist view now shows the chosen cap close to the jaws but about 3–4 cm left of the jaw column and still slightly short of the fingertip point. I’ll shift the gripper left in its frame and a few centimetres farther forward while staying elevated.\"}",
  "call_id": "call_906uMdrbJY2hgPOFTbPmZtuY",
  "id": "fc_08f5339e5e1b68fd016ab443be780c87d089c4562675891347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_906uMdrbJY2hgPOFTbPmZtuY",
  "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]: [-0.2703, 1.425, 0.7773, 0.0048, -0.2661, -0.2001, 0.9984, -0.0154, 0.7853, 0.5827, -0.3973, -0.0242, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4045 left_y=-0.0601 left_z=0.1292 left_yaw=0.0494 left_pitch=-0.0546 left_roll=0.0051 left_gripper=0.9984 right_x=0.2892 right_y=0.0034 right_z=0.169 right_yaw=0.0074 right_pitch=-0.0285 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -5.559, 9.6342, 1.9707, 0.1587, 0.2759, -0.0317, -0.4171, -1.7436, 6.8034, 1.9512, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e1abc24e19ed3930135b1847cf7f2b376305980e2fdd6ef1f938ca41e3d29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9cf2be3ebc24f5f7c6dfd0ef66a1ffbf6cbae031fdc3b3b543db3d39b6c4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ad6489b60a34fca69a0b35c2dd7d11f48662e25a0c04fcd01782950d01c92b",
      "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 · 2.628 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 9 changed as sent

message 13 changed as sent

message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4679, 1.3819, 0.7631, -0.0738, -0.3733, -0.2718, 0.9986, -0.0154, 0.794, 0.6033, -0.4042, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.1131 left_z=0.1285 left_yaw=-0.0205 left_pitch=-0.0748 left_roll=0.0272 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=0.005 right_pitch=-0.0236 right_roll=-0.0011 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -6.0103, 9.2513, 1.7998, -0.2076, -0.0855, -0.1587, -0.3487, -1.6068, 7.0632, 1.8632, -0.0073, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2703, 1.425, 0.7773, 0.0048, -0.2661, -0.2001, 0.9984, -0.0154, 0.7853, 0.5827, -0.3973, -0.0242, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4045 left_y=-0.0601 left_z=0.1292 left_yaw=0.0494 left_pitch=-0.0546 left_roll=0.0051 left_gripper=0.9984 right_x=0.2892 right_y=0.0034 right_z=0.169 right_yaw=0.0074 right_pitch=-0.0285 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -5.559, 9.6342, 1.9707, 0.1587, 0.2759, -0.0317, -0.4171, -1.7436, 6.8034, 1.9512, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e1abc24e19ed3930135b1847cf7f2b376305980e2fdd6ef1f938ca41e3d29c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9cf2be3ebc24f5f7c6dfd0ef66a1ffbf6cbae031fdc3b3b543db3d39b6c4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ad6489b60a34fca69a0b35c2dd7d11f48662e25a0c04fcd01782950d01c92b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPFdgzckAoDKfNHjH66XzQ94Cf0VcmmviG7jqCM4Q3jv9x0PLuhHjGa8uFSK6xcHpYHH_Is0KmekJx8IgeiZPY3k9fGz_6Jn_BlwE8w-ZzBLsMiDki5WVl2orzIzCtWiMxqj2mj4VW4crTTzu6PFjCSePjLx9l8CCZK3-tNK3oNk9aY_XRO2hVSJx4Kn8nuFiwFStTxg_1pV3N9Pplh4a34_AqGIKDV2vnpJAPY_trj11eUqFlF_2T9XI13Bvcgr3kqPyvkHjstZd7FF-tt6L9TufvccDMhv-brOptQgaRIPaK1ywegx90zHNJmiLDOWz7oE-cYhoveNAjxQWq3o33dIGbhskkru1aU0tbzcT0x_IPZgiFpX2KZLX9FMjXImw5jcbkoo2ktK3n2IZsO7YU_Iyh9XDgVKEksAjWZkzWM3otec62iEzpGwYbnYnxcZcm7yIdKddvNAVxxt3SRKZh7yG-a4r64co300a2qKa_Ig0JPX6Y4KRrqGoUytvUTxkNQ4NOMkA8s8Rm30rtq5SRzdoJrsqSyNONx1q-kv9Qtr02W9qwwTlieWcCtDJZMPy2vUHzuYraXa-QcNHCaCPP4IdPt42ku7H1lT5X9RKpfG6UWvMoqccn9DOBQDBvfddQjzVFtizKHj47GgBvlYHO23fuPfr33U5SHxhsXnjnwzm3TVzoPjWCzWL1p25e9IXvALf4Cflk3p9p0fo-k3uU3CbFxN0adI7aangHSt2GDKrZv3HTgBqPUKQQgncirbTu0WfF-8hi9MaOEpq2UtkwnSn9gHUm4rf04KlufUN88ByQJGhjxWRVYUbpWWOOkyThkZOxXZ9vGTsTRakplIqLRWSEdFxI776uqTMoaRgCxoOY0hg7r6gs6dncgp5NgS2yMpJNi6D7m-TUDEDBojbD9_CfbbApKQDEgtUSENDpBQH78RIKSmX5tGkDJFl2BgvHL7o5Ata5qwiUC4MdvHHXIXvk26qEemZyPaeUCwGNfD7tBJRtj7-9NMfZycMckvWwBSJUAMcVuoUwdCdYEF7Egy0HLR8JPejPuCt2DlRM5F34Bp1Ve8YfST_lWoU6zXC58eYm_bP8OUMt-QFrp8zoWIoZ_IHqWp4QR5t2Msm0cMX-5HHS10QrvhTEoLVNubglH_o7ZYAhSX9w79r-5hoQqGekb7Q1X3BTPbPQQtah5H_BjH4bkvQD7el6zZRlwSQd5swWaoSro9r7vj5TX1IAupU5V7ZQXfvRLBHYor8HHsal0AI3Wz9KVhRQeTESTaljiQBz59PMQAekHoCF8S1bTokIdqgwMWlSncs2Q3OwpEcPWIuTws8s4n8BckKf-MVYjHGHAGaSkTyUVHKRKJvNW_RCTTmx-GBc1ZRaQQLXK9fxegU9AIb5XdP9ih26Uc3zXpA4TeJBL_7uq0e8FQHo-4Amltz_R-JhFVoyav5xT0CXmbeQuQQAaRnCvVPOmNZ-9moq320i-g5CaUax1sFAJDJ8yX8uSFY_IKwu-HczO--rlmgm5kiNQbzTPQ8JoE_SsMddI5scqIjc0guCliCk6wdLr3S3O3pJj2CA6-qsdsfcmPXVT9u0Y1H2xmKK8KlR8oIT_GRhxPXwOnloF_4JSa8j2DEXhvnFt6pN4t-Zy75M31F35bX8FEtNfCkjXd-CuocKkCxYL1l8Ljbx6fp3UCLPfdssRNTUON-MRsQ0IPtGJfdCaPIwFOSsGkdPV8-BAsn03V2CmLVn6po_jaNXw2MEJhhqNoMy16Dcjl6RmYQi5paKjDcR5S2L9dywp6-3u_3jEP2FzWD6VDw91XiTogwFJcsVPza4D_osNT5xHdSom2pDqLRhLAnVmYpDu9mQCeq1_WqLUN9Xi9TiKaECiYSympzlZG_aJr8Sz-icpGS7gkv20ta-HB0RFBjAmbSdJwZxLfM3vuWPJ8GQnwiaYoCFGj0S5hzLp2iSJ7yxy7ed0nEPrV4xIsCIFYMQiB9ZoKhdmQrlUOuT7-OKsnrP4qAGKdvok_deEYh__RashxRS3Fbx00IzJs0mEeIOKpXZQRgD0asOatjxocoxkGYJkjuhop32I5vjKCxaNuRLxLFu47sjBIJyelyt0YYlsQgzD1Cz5imoAs7L8PwafE0nNwhqOCnaKNqUk1i-AZSMwWkDO_c28eExJw7Hx6tfXeO8bG9iki__yIghBbJ0aJB5epnag0HbAM4KJpbqDuU9RlYNomNptgUUD20v6My9lG8AyjYmP-qHEnta7apQopv2lJa7UJ_MZdGXbOXYB9X7Zm25wBiJIWDs9XrtzkYkto4xAms8v1z-_FFWaGDqKyMYpMqJl2sCwRJ1nN22huuVgQM3GNTVmbl0G9han_1-jeqG8K-0jxEzV2ENHiPNiO3owOyFlz-LawKNH58pyVYFhvBVXglxddxvUbyrGMhRccJqDiqA7C0JQLLw2GCguxW0ApZmvYv8BgEumzUZcFQdbYknu5hXB5WTq_xJAqLcM6BrHL0l_ocUBvnTWEF5OmoQT-8mOcaC9XxkDcjaS983rircGAevfdpkvyOtx1MmFKJkJalEgQe2J_f_Vw03i9eWi4-9H6ISmk6RmWg4_FHc4vR_4ZW3X69y4VEUJtWVqDnMQ63LKrkeb7Eu9RAT3u01fUl8OKqzhsMnEvaeUeftx9QrgJrEV2YUsyYvuAZmK0Fm6YTlgu8l1LNAuWlHKO3M0xL8Un6zKP-0eFkMtV6UgotaJO2Ps8U388IWLX593KdqlGKPUHw4eMInC4xrmKAD-bEktbEw-ocW6P6sV3BWVn-5MW-gXYLcA9TPhBwRTJxqnX6-ycpahe958A3NjwmN9ZWE5OrNjvpBSaSbMqrOtNmzTLnJTiYok1KtCnHG07pIwMYB7JSx_67Ib_5lTvHXvNPzv2mVOqTa9RBb0-T1RVINBVWNeIQB_OxhCeGin5TNXWuGmBeldmBfH__jJkgYWzmzR8kC9L2L5Z4p7nkBADHt0R-R0dI6vdbQSxc1zFPTcjMUL8D4XjE_B6_-YXU8jL1YTRK2a3EEYoP9C7hekRPxOK6PmloSPO44xXaXNWc57b7SIOaXM4RUEh8WZmBvp4YUibXdSvELrU_EDK9AtjAY=",
  "id": "rs_08f5339e5e1b68fd016ab443c12a5c87d0bb6a07611babb508",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.07,\"left_z\":0.15,\"left_yaw\":0.6},\"note\":\"The cap is now on the jaw column near the fingertip row. I’ll rotate the jaws to close across the diagonal cap rather than along the bottle’s axis, keeping the grasp point stationary and high.\"}",
  "call_id": "call_eBwmvgVtQ88W98MZhkgf6mS9",
  "id": "fc_08f5339e5e1b68fd016ab443c4fbac87d0952897df2370a42e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eBwmvgVtQ88W98MZhkgf6mS9",
  "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]: [-0.2554, 1.438, 0.7921, 0.0116, -0.2173, -0.1749, 0.9982, -0.0154, 0.7757, 0.5541, -0.3882, -0.028, -0.033, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1306 left_yaw=0.0099 left_pitch=-0.0547 left_roll=-0.0048 left_gripper=0.9982 right_x=0.2862 right_y=0.0041 right_z=0.1604 right_yaw=0.0108 right_pitch=-0.0384 right_roll=-0.0018 right_gripper=0.9984\nstate[joint_eff]: [-0.2803, -5.9282, 9.5521, 1.873, -0.022, 0.2466, -0.0317, -0.5128, -1.6615, 7.0359, 2.0147, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4446e48badc95f05843e31233eb4a620521119a81e17d7251985f543182926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65afcaaca7217da06a00bc6c19c02f48bf7fefa4d631d97a0038cd52d5a8dc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc500d6a6164bbfb1860293b1adcc2fca0b833731ac6bff5a57354d69fb34a5",
      "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 4 attempt 0 · /responses · status 200 · 4.454 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6079, -0.3767, -0.0216, -0.0257, 0.9986, -0.0154, 0.7891, 0.6037, -0.3862, -0.0208, -0.0254, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0027 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9985\nstate[joint_eff]: [-0.5949, -1.4427, 9.7573, 1.7656, -0.0171, 0.1294, -0.1587, -0.9641, -1.0051, 10.3043, 1.8681, 0.0024, 0.0806, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2703, 1.425, 0.7773, 0.0048, -0.2661, -0.2001, 0.9984, -0.0154, 0.7853, 0.5827, -0.3973, -0.0242, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4045 left_y=-0.0601 left_z=0.1292 left_yaw=0.0494 left_pitch=-0.0546 left_roll=0.0051 left_gripper=0.9984 right_x=0.2892 right_y=0.0034 right_z=0.169 right_yaw=0.0074 right_pitch=-0.0285 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -5.559, 9.6342, 1.9707, 0.1587, 0.2759, -0.0317, -0.4171, -1.7436, 6.8034, 1.9512, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.438, 0.7921, 0.0116, -0.2173, -0.1749, 0.9982, -0.0154, 0.7757, 0.5541, -0.3882, -0.028, -0.033, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1306 left_yaw=0.0099 left_pitch=-0.0547 left_roll=-0.0048 left_gripper=0.9982 right_x=0.2862 right_y=0.0041 right_z=0.1604 right_yaw=0.0108 right_pitch=-0.0384 right_roll=-0.0018 right_gripper=0.9984\nstate[joint_eff]: [-0.2803, -5.9282, 9.5521, 1.873, -0.022, 0.2466, -0.0317, -0.5128, -1.6615, 7.0359, 2.0147, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af4446e48badc95f05843e31233eb4a620521119a81e17d7251985f543182926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65afcaaca7217da06a00bc6c19c02f48bf7fefa4d631d97a0038cd52d5a8dc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc500d6a6164bbfb1860293b1adcc2fca0b833731ac6bff5a57354d69fb34a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPIlusqs8lJLh82YiJ8_kbrvlgrBL80KK-Y7Rla1USpIctNCKReSHVXn1jLvPwqq8qxvoWzY8pu4MeueEF2lZzEpF40vsV1gx0TIIKYllgStbk0wPCIr2UjFH2O9qSNmK4PDuj8EtY60AVIRMjmoCEgrLaAvnnDUI7-3MvtncP9zq47RVDeIKLm_lxi6SSRbLrrE-t4r2SoTYeQrdlGRJ6YT0Fsk-eXIVVYy9YqdV_ErXot5-aHuSRz8IEx9sbvjnEH24dAiCnN6FIU9sc7cSP7KQQLMp4oeNJ09doR-JUB2IOg1eL_bqRo0p7FeK4cswS1nH3fgIGrzoe41mVg54oXx7hjWk5sIpyI4xuqwL53SHag28_jka8f6USmcTRsVvMlFBGZcg6iHd31g6Td3rggVZfd4w85-lQOawSXn9LSmFW8EEag2XDZjHQwi1qMPmcrLdVr3tJ8V7ShUt7tEGhrJlfp5jzyoKimZbtgWPxhLsfgjzgfC9QRebdeN0BoYUvDPU_CX25KyzC9cCR2yEb5WQXD8m3E9m2wE94rbs0IDv2Yu8bMqMQBY-9thThby53hagXD0HMVpYjzT0bR3sOa_ReTYB5LEvLH7E0LyQSWcDeMO9X7M9_qWTLAGBFsITe3rKKdM0bVrxdOO6LtLcw47cp2zi0sGf8HSJcZx5aZmFqVD7hUYafMA8s5Dl8Eyo2RprbeJteQdJjFBHHFdz8xM2EfGdXWeY59J7Tc04hGXW_lBJjHcUlOpk6PDsqIv4y69v74zLohfWQrAFMpL01TqCGZeXihdMyT7S8PH3mBr9KEsmp6UTYL-bOQ6gNHJkoQX9u0VNSaFw9cdEu_j4bNHnQjOeQW3CesMu66JzCdYR57zkIbk9S4-MB3w8HMtO1bt8MiBgXhKIh-JF99ylZms9vRQXwP_NWi30EcgMyyCY73fHlp0bOVuPtROTf-pfstpI3S1hIH3HRHwNwLfWOqk5ye2NrMNj2YjgvaTSlzDrpkgM9x3L92iQlAWVYODOTbIh_0X0NGF3x6ApnB_324HoIqcEVEWLh44zSINVwz1iZXbwBHAlbsGkCk_ze9wm-yVBWXNsA3ooBSNYMQfGn0dG67CMb9EkSOr7eosrcchmLdsaVhxcMcQvRhdApbXPXxbsx4uhZcstmYRU4nS9zRbTRtZCjEz7zChKU8vsq_riYDbRwsp2tTDBbepIIwYf8hYL4QwFmikdGB-zELNfx8nb7K_nQOuWfVsJYOC_8uKuTa2KvMBW_gYA43q7zE5GunNfZubwaaAPFjuRz1fNgxgPdT9G8o7WMDvYrga8KH6HvrwXkMqqYRinNMwvQLvaj5S3hOgEJLk-l5eKgizpwaBL2UMMffpcdP6stBRLJ9cQnqZkJ1NNz3oDuCaJX5V21wc08JhHIaJ5cSnfzUGEKGS1jzXMUe5fPXrY3GFOQ9Jo8AJIaHmTKTFzw7vTL3eVoPZc3ujpW70pm1BbZVjTyMiVD8qNp6EwciV-Tnab-ZYXcCutCDbdSHAB5kvBGixK4aJ_SquWVV8QFwd8KfhNg7v_bHmb-yQBK65VmPoi5ktS2p1u39mCBxhyDu4Y7J6aLqNHYCXWVLeAxmby3nTmilT5oeN98DIL0M6C25tQ6-pLE=",
  "id": "rs_08f5339e5e1b68fd016ab443c72f4887d08670726fea9c2bf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.07,\"left_z\":0.04,\"left_yaw\":0.0},\"note\":\"The yaw change did not track, but the round cap remains centered at the fingertip point and can be grasped without that rotation. I’ll descend vertically to the cap’s mid-height while keeping the gripper open.\"}",
  "call_id": "call_2UgxCJ7c7uj9HgjuxxVbQPLo",
  "id": "fc_08f5339e5e1b68fd016ab443c7edbc87d0bf16f5aa89109437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2UgxCJ7c7uj9HgjuxxVbQPLo",
  "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]: [-0.2554, 1.4384, 0.7921, 0.0116, -0.2169, -0.1711, 0.998, -0.0154, 0.757, 0.5179, -0.3737, -0.0303, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1304 left_yaw=0.0076 left_pitch=-0.0551 left_roll=-0.0018 left_gripper=0.998 right_x=0.2823 right_y=0.0046 right_z=0.1518 right_yaw=0.0142 right_pitch=-0.0414 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -6.1607, 9.3333, 1.9023, -0.022, 0.2564, -0.0317, -0.4581, -1.8393, 6.9949, 2.0098, -0.0366, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76724d3d7c8e843d27dfd34d74b475ac1ce122ac9ca8eefef39ac836ae5f975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7c00fae5e24b7d185c8ad41e1bff4b1a1b58c41ea930bbe443b1f393008d35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4d3b14ad4df18b2b431db501fc9fc9fb64bc4b8f764c6e04a207144c979f91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.761 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 9 changed as sent

message 17 changed as sent

message 21 changed as sent

message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4679, 1.3819, 0.7631, -0.0738, -0.3733, -0.2718, 0.9986, -0.0154, 0.794, 0.6033, -0.4042, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.3747 left_y=-0.1131 left_z=0.1285 left_yaw=-0.0205 left_pitch=-0.0748 left_roll=0.0272 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=0.005 right_pitch=-0.0236 right_roll=-0.0011 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -6.0103, 9.2513, 1.7998, -0.2076, -0.0855, -0.1587, -0.3487, -1.6068, 7.0632, 1.8632, -0.0073, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.438, 0.7921, 0.0116, -0.2173, -0.1749, 0.9982, -0.0154, 0.7757, 0.5541, -0.3882, -0.028, -0.033, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1306 left_yaw=0.0099 left_pitch=-0.0547 left_roll=-0.0048 left_gripper=0.9982 right_x=0.2862 right_y=0.0041 right_z=0.1604 right_yaw=0.0108 right_pitch=-0.0384 right_roll=-0.0018 right_gripper=0.9984\nstate[joint_eff]: [-0.2803, -5.9282, 9.5521, 1.873, -0.022, 0.2466, -0.0317, -0.5128, -1.6615, 7.0359, 2.0147, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.4384, 0.7921, 0.0116, -0.2169, -0.1711, 0.998, -0.0154, 0.757, 0.5179, -0.3737, -0.0303, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1304 left_yaw=0.0076 left_pitch=-0.0551 left_roll=-0.0018 left_gripper=0.998 right_x=0.2823 right_y=0.0046 right_z=0.1518 right_yaw=0.0142 right_pitch=-0.0414 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -6.1607, 9.3333, 1.9023, -0.022, 0.2564, -0.0317, -0.4581, -1.8393, 6.9949, 2.0098, -0.0366, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76724d3d7c8e843d27dfd34d74b475ac1ce122ac9ca8eefef39ac836ae5f975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7c00fae5e24b7d185c8ad41e1bff4b1a1b58c41ea930bbe443b1f393008d35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4d3b14ad4df18b2b431db501fc9fc9fb64bc4b8f764c6e04a207144c979f91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08f5339e5e1b68fd016ab443caa08487d087c0c52af6506b71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.064,\"left_z\":0.07,\"left_yaw\":0.0},\"note\":\"The readback did not descend at the extended pose, indicating a local reach/IK stall rather than contact. I’ll retract a few centimetres and lower in a less extended configuration, then approach the cap again at low height.\"}",
  "call_id": "call_uCJUeV48y7htyFtfrpDYASbe",
  "id": "fc_08f5339e5e1b68fd016ab443cce20087d0a44e5296503b81e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uCJUeV48y7htyFtfrpDYASbe",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.284, 1.4769, 0.5034, 0.3054, -0.2321, -0.1741, 0.998, -0.0154, 0.7341, 0.4759, -0.3504, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3702 left_y=-0.062 left_z=0.0562 left_yaw=-0.006 left_pitch=-0.085 left_roll=0.0137 left_gripper=0.998 right_x=0.2788 right_y=0.0046 right_z=0.1434 right_yaw=0.0144 right_pitch=-0.0372 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -4.8889, 6.4342, 1.1795, -0.2613, 0.3297, -0.0171, -0.4581, -1.4838, 7.3231, 2.0, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317a0e94d86705faf12cf583851ba3109342abc985b7dd1832c738e9d89988d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841ed677764de62afad57dcae3b9d8646c2da753042819575aee672bf06a2e16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d46d418cc79627f86ecc4391081b51cc032950fcded983973375085ac546a06",
      "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 · 2.13 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2703, 1.425, 0.7773, 0.0048, -0.2661, -0.2001, 0.9984, -0.0154, 0.7853, 0.5827, -0.3973, -0.0242, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4045 left_y=-0.0601 left_z=0.1292 left_yaw=0.0494 left_pitch=-0.0546 left_roll=0.0051 left_gripper=0.9984 right_x=0.2892 right_y=0.0034 right_z=0.169 right_yaw=0.0074 right_pitch=-0.0285 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -5.559, 9.6342, 1.9707, 0.1587, 0.2759, -0.0317, -0.4171, -1.7436, 6.8034, 1.9512, -0.0464, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.4384, 0.7921, 0.0116, -0.2169, -0.1711, 0.998, -0.0154, 0.757, 0.5179, -0.3737, -0.0303, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1304 left_yaw=0.0076 left_pitch=-0.0551 left_roll=-0.0018 left_gripper=0.998 right_x=0.2823 right_y=0.0046 right_z=0.1518 right_yaw=0.0142 right_pitch=-0.0414 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -6.1607, 9.3333, 1.9023, -0.022, 0.2564, -0.0317, -0.4581, -1.8393, 6.9949, 2.0098, -0.0366, 0.0269, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.284, 1.4769, 0.5034, 0.3054, -0.2321, -0.1741, 0.998, -0.0154, 0.7341, 0.4759, -0.3504, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3702 left_y=-0.062 left_z=0.0562 left_yaw=-0.006 left_pitch=-0.085 left_roll=0.0137 left_gripper=0.998 right_x=0.2788 right_y=0.0046 right_z=0.1434 right_yaw=0.0144 right_pitch=-0.0372 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -4.8889, 6.4342, 1.1795, -0.2613, 0.3297, -0.0171, -0.4581, -1.4838, 7.3231, 2.0, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317a0e94d86705faf12cf583851ba3109342abc985b7dd1832c738e9d89988d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841ed677764de62afad57dcae3b9d8646c2da753042819575aee672bf06a2e16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d46d418cc79627f86ecc4391081b51cc032950fcded983973375085ac546a06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPRWpX-kzDjg0_fp_3Pz9kfD63I8nKxwZD-tPrpSAm2Qrq1yZIKj5dzvjufejAQN3fs8K5hChSsiw-KJawZcxvxmcmVWkixjRHsd3um9uBhhZjsTpcOOpoonp8o0KA_KxuLO9G2X6smSj4XYn1YltKiraC8f-f9NQi03b0z8Bf4mfG3wTI1vjKDmmBcGhstKwCYBk2V8xMtya0S5j1dH1Ip_6EhD9g1gNTlQY8kt2aBY71dFVRDPHv6VgpJJch9hrURzDjEP8ae5saLly56jJgJQhtdHgYQV-NKVFgVD8ByPBTs7WCUDWm4fViCqybBwRxe1wO4sRtwACqrTxh9_LrLue7Mo383kfjF_a--4Aq_jk1qMHBpg9B7Ppu1_WRc47d2x2gK7oMvIx46a9_tV0GEZDbeNH-aWQQhR9Gh8hBx4viBK-4WXAgIM0zFcuLyDC28rZsN6xH3wDyJ-Rqg5-gLpGHbYTLsR4K3NhatSSdxQd9gDmdLppqfZvGQEcfkGmgr678VPYze3_DmzkV9ZtgSlqsrzzh6RxMKwq-GR0EWHmsTem3Wdq4rHNjXFHwgCVZUOBgWXtfFdpWXP_-3uALFWlgTl0M2gdv3m1skKVV3C8ffjQ9M4DJdCh82X22XI4H4UVVSn25FTzK21JsjhnZFOZbJ0XbMU3wxTBEJkjq7jwcCxEx4S9NU04U9zDrWPrVm88kY7rbXbCYcIqkwbvN0ZeSZFDuQcHYnCm_GerYhW7L98BhPa4IojvQOxPycbD5tsyV5ZPzO_l2dnXAPb9Yiwa9OjLsxy2K733UyZZNndEgtaNduUycmdXP3aSDio7f4elm8r09pNmAOARZLUeVeNVqHOXoaX3V7HTTUCvGyjciCgIPhlMTowxr9on6T8ZgTa6Q2lBRs6RWIv2EZLbNqISb_ED58FtAgeZf5ll1w4sPU2a5k15IzCLqBK7rZkZylq-F9S9KaPvJI6Ec5S_mii_rc6vwbeXm5mzLajZQVWLoXB7OqoaDX_BbvCB0BUMnvoCAcbgsXAIMJhEL134-otyB5OS9NGHSofBmJPy4j_ZM8qHwALoGwYjRFhfNPJeeBt4slSMn5LO6sezT40aefY1FrbtMeXMHqQvj_uO43HD7VIS2A0ZxRIqJTn4aOX76FXHBXXAPtQD-f9yBdgcOcaZSTArk7NyeQh8hSSfAEY742J3cR3bNBpkqSuzcxa6iNLRASIyyGRnnVw2fZP-LFT4lldUMHO1C3RChJ71wigGf7u-kNSFZMcvH7RDLUvw1FFEx36VvWLUGv_g7ijWfH4Q0Xq4ypOxmvv-dxedwc1gNxG3vpwuR08CbDwFk8A9YGrfOSjw-8fsMNH4leS8MRr3qV__d9YvI16TC_8OMDPBSgUBsgHT9XmqlHj21MpOlBXCT_cD5lwh_hTuYWXoyCW-SPMQiAhzyzGpyzDJ-MGV4Oi19J2qRxE8m1v3ikLqDFudKpVzdO7z7QcJ93rk-lgjCWBpWA4P8_LRUsG73gYb3UoUg4088rpWWYKqaa_jBBOeprHAANJ6AcSr-aOM7e8zdtgzO9-cDyIY5RPLSdkH6oCCpovwSrEsS46nO5weNhU3qbihtY2PWftDp1wvfrfd3-7g6zUFiKQ6vLTMWSSPq6joyLRS9HwGXkgqOlnArJKtdExdt3KbAdPREauy3EXe-Rs6wSofqRZRCmhWvLHORKk7LGCiFOkTB_GyyzvEzNt4IVOR-QzuSiKqCNt0QmqLtTYFz5o1wH9rhcrVnJWlQUDH_gnveIsyVb8mN4T1Y4vK62c4VuPv6YISL3bflDCZszhJNEoeM3zfHFpnU92iU=",
  "id": "rs_08f5339e5e1b68fd016ab443cf94c487d0be068e95a4eca975",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.064,\"left_z\":0.055},\"note\":\"After retracting, the arm reached the desired low height and the cap is centered laterally just behind the fingertip point. I’ll advance straight forward at this height to bring the open jaws around the cap.\"}",
  "call_id": "call_ZiQtKE4zsXYPwE83HK8hIv8p",
  "id": "fc_08f5339e5e1b68fd016ab443d101f887d0836bf4b5ea96e3cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZiQtKE4zsXYPwE83HK8hIv8p",
  "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]: [-0.2512, 1.6623, 0.5789, 0.4984, -0.2222, -0.1753, 0.998, -0.0154, 0.7136, 0.4404, -0.3355, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4117 left_y=-0.0617 left_z=0.0528 left_yaw=0.0181 left_pitch=-0.0065 left_roll=-0.0154 left_gripper=0.998 right_x=0.2751 right_y=0.0048 right_z=0.1356 right_yaw=0.0147 right_pitch=-0.0372 right_roll=-0.0028 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -6.5709, 6.5846, 1.79, 0.0269, 0.2711, -0.0122, -0.6222, -1.265, 7.159, 1.9658, -0.1001, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2852b5207dba0ff83f58609a9ced8037607c986dabefdd62bce58bb3f8e8ad8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da01ecf840b61e06038f1cc6271fa1f75e15a97d94ecb66b35b0061e5c5ea861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09279ac2b4ec9543fbe715cd054b57325b3d0bf73f96c4e56830d2b94dbe552e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.066 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.438, 0.7921, 0.0116, -0.2173, -0.1749, 0.9982, -0.0154, 0.7757, 0.5541, -0.3882, -0.028, -0.033, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1306 left_yaw=0.0099 left_pitch=-0.0547 left_roll=-0.0048 left_gripper=0.9982 right_x=0.2862 right_y=0.0041 right_z=0.1604 right_yaw=0.0108 right_pitch=-0.0384 right_roll=-0.0018 right_gripper=0.9984\nstate[joint_eff]: [-0.2803, -5.9282, 9.5521, 1.873, -0.022, 0.2466, -0.0317, -0.5128, -1.6615, 7.0359, 2.0147, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.284, 1.4769, 0.5034, 0.3054, -0.2321, -0.1741, 0.998, -0.0154, 0.7341, 0.4759, -0.3504, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3702 left_y=-0.062 left_z=0.0562 left_yaw=-0.006 left_pitch=-0.085 left_roll=0.0137 left_gripper=0.998 right_x=0.2788 right_y=0.0046 right_z=0.1434 right_yaw=0.0144 right_pitch=-0.0372 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -4.8889, 6.4342, 1.1795, -0.2613, 0.3297, -0.0171, -0.4581, -1.4838, 7.3231, 2.0, -0.0806, -0.0415, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2512, 1.6623, 0.5789, 0.4984, -0.2222, -0.1753, 0.998, -0.0154, 0.7136, 0.4404, -0.3355, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4117 left_y=-0.0617 left_z=0.0528 left_yaw=0.0181 left_pitch=-0.0065 left_roll=-0.0154 left_gripper=0.998 right_x=0.2751 right_y=0.0048 right_z=0.1356 right_yaw=0.0147 right_pitch=-0.0372 right_roll=-0.0028 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -6.5709, 6.5846, 1.79, 0.0269, 0.2711, -0.0122, -0.6222, -1.265, 7.159, 1.9658, -0.1001, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2852b5207dba0ff83f58609a9ced8037607c986dabefdd62bce58bb3f8e8ad8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da01ecf840b61e06038f1cc6271fa1f75e15a97d94ecb66b35b0061e5c5ea861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09279ac2b4ec9543fbe715cd054b57325b3d0bf73f96c4e56830d2b94dbe552e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPUDuVrRVqlekYtA5G_yV2tLDYe3ZA23Oum8tDqITB5IiASQTRnXPQKwbD3dLz6ORtDRLca4p-EIWAvDaezrIKcuEvbtxQV4NKOKMAiHJ-4lalG-XIPbB0apTZgGNzYd43y2JMXvroElTBFLCKlim0hMIDpy2gy0rSbE9CtqazWIdZnkfbA1FkpYdVcghrcIWLz3-Ygu2VSJPo_pQPR5CuQB7MY0qdzdQD-QGADEtyw-UbMlhRtQVzbRdewbP4viK2-KBdRRF1coa3idqQjk3c_xBgxmy7fbJcsJQS6VKU6CHvAnrQPTm17X6kNIuxPimMGdWpq3jib21y1ncBFtD0aWMK6UdswMsS2ClSjdf8WfnvBjHASvBXUQJv8c7MMJzXonJieRPPTjdfuBhMQNCzZONEdNJhWknaBv-2I6LKU7yEgqszBDDKePe9sid_LnE3jAmIRyjJmt46FFa81SK276VFIUaW_3VjF44NAAl5-wzF5Z4SefkCOzExwLxV6UOZOIzmr_9AnvD0a_z2Uuky003tftmS8fI7Pu8xmYpeA8ovA58pXlkvc34uHrlenmNHH3DmcDAbw0RD95tIwYr0yHB4_OJEYnrqJLSice8WivlOCj7eflAQwfl_drnoo4OEY3tijC2-oEt2wKJ8VYRy4H5jph3Be1r7q8x-FH5HJVXMcnI97qkuyWanzivI-tcciEF9MB_c9cOFMgzRyBX1qVFv60Tx3tUF_aKISZ-SJGlaJueCmdQGIr9Dh0o0CUBfGf4l3AIieQvJUYFyhVFSMWEmZdeDUlmkW72Teg1y3AIO-zy-jXROTEcbcEVdF_fRlNv-S9jxxAtGcqhAxTBh6d66j41IsbUWCQ1GFOUUZDnaWMtP8PfD654K1Hj8eRsywGuDhbTKJ2gjxqlbsBua1IFyVuf7p-zj8jczuY5Giiffx5jDv1VkuDe3lDBCf4GuG1tyGGufEj-0HWLzym6D6rQx9RkGg9vuY_CK8YClvtDrrY0_ETez1L1o3b8_C7RJ7ibXpaS1OqBir4gsz6tKQiYzIkGl3iQdD1crobBYMfDdhEjkrlCa4-tpGnsQ1gnOpeJWxQ87I1369KUAMB-nhmd9QjkCFtd1gWRs0vb29f7hyHhkW6dGwS2BRUNIgRA_rtspi2m--ZXwp7mvV-luhuIkDEOE0AtGq8_Ve6S1xxH0tVT9SXman3JfQ6u9ByWd-JKqNEtp_X_CvveeDUhcnfAcSzaj7r2WkHm6V3NQ2rWEsTKlOawdOGby33VNZzMYmjuG5wE4hMeS9bFWp2kGLl7MqPEc5_UvAr8_1Afgu4CsBu_o4yfX99xl2is-3nCPQ",
  "id": "rs_08f5339e5e1b68fd016ab443d3223087d0871e1ead74ca551a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap has moved to the bottom-center between the open jaws and is now largely hidden by the fingertips, consistent with the grasp point being over it. I’ll close fully around the cap and check the settled opening before lifting.\"}",
  "call_id": "call_BdvDSvUo4LiqaihMpuAtjmWI",
  "id": "fc_08f5339e5e1b68fd016ab443d363d087d08e8441373b5e38f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BdvDSvUo4LiqaihMpuAtjmWI",
  "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]: [-0.2565, 1.681, 0.5823, 0.5144, -0.2329, -0.1631, 0.0108, -0.0154, 0.6926, 0.4061, -0.3206, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0626 left_z=0.0502 left_yaw=0.0152 left_pitch=-0.0041 left_roll=0.0004 left_gripper=0.0108 right_x=0.2716 right_y=0.0048 right_z=0.1283 right_yaw=0.0147 right_pitch=-0.0356 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1436, 4.6564, 1.6972, -0.1001, -0.0464, 0.9255, -0.4718, -1.1419, 6.9949, 2.0147, -0.0904, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6d3926145f1ddcadc9d73cd8939a0ca06eb5239a8b4e0b6a1a0788e14f3f81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e7deca58e69a93e2d59427457813cd57fd54758e662e75dfa1e3c8ecbad6fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d855a1341b757eac7fa54e9db08e5d4329d14c4e8f6e3da5e088be4efc42232",
      "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 · 6.074 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.4384, 0.7921, 0.0116, -0.2169, -0.1711, 0.998, -0.0154, 0.757, 0.5179, -0.3737, -0.0303, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4095 left_y=-0.0639 left_z=0.1304 left_yaw=0.0076 left_pitch=-0.0551 left_roll=-0.0018 left_gripper=0.998 right_x=0.2823 right_y=0.0046 right_z=0.1518 right_yaw=0.0142 right_pitch=-0.0414 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -6.1607, 9.3333, 1.9023, -0.022, 0.2564, -0.0317, -0.4581, -1.8393, 6.9949, 2.0098, -0.0366, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2512, 1.6623, 0.5789, 0.4984, -0.2222, -0.1753, 0.998, -0.0154, 0.7136, 0.4404, -0.3355, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4117 left_y=-0.0617 left_z=0.0528 left_yaw=0.0181 left_pitch=-0.0065 left_roll=-0.0154 left_gripper=0.998 right_x=0.2751 right_y=0.0048 right_z=0.1356 right_yaw=0.0147 right_pitch=-0.0372 right_roll=-0.0028 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -6.5709, 6.5846, 1.79, 0.0269, 0.2711, -0.0122, -0.6222, -1.265, 7.159, 1.9658, -0.1001, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2565, 1.681, 0.5823, 0.5144, -0.2329, -0.1631, 0.0108, -0.0154, 0.6926, 0.4061, -0.3206, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0626 left_z=0.0502 left_yaw=0.0152 left_pitch=-0.0041 left_roll=0.0004 left_gripper=0.0108 right_x=0.2716 right_y=0.0048 right_z=0.1283 right_yaw=0.0147 right_pitch=-0.0356 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1436, 4.6564, 1.6972, -0.1001, -0.0464, 0.9255, -0.4718, -1.1419, 6.9949, 2.0147, -0.0904, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6d3926145f1ddcadc9d73cd8939a0ca06eb5239a8b4e0b6a1a0788e14f3f81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e7deca58e69a93e2d59427457813cd57fd54758e662e75dfa1e3c8ecbad6fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d855a1341b757eac7fa54e9db08e5d4329d14c4e8f6e3da5e088be4efc42232",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPYE-5fHlMlNHuIb9kHh1CTDO878xLYQa4mqtCFzb2yxh2MyVyLvck-6eUeDrXg11g3peeIhFyDuX8Zk-Fu2JgDFrs226vsr1h-0DRisVgLaWg9oHqQR4bGXjKzOK0ccyAafiWB8KXaPq01lPrpFxJVYXdoIF3WqgZqqIDFFDXxEH-2KC69AjgM26qc6km-iUqW5KYF4KTkHfH7CG0nT0S8_-I7Hf3FXP2jJB8SHdxkJIE266F5Fq3XUSjkR5hAf4sdIOLnrQrRlMr0Vjbz1EPFLcNCqAE22yGIZUwBm64ZC1YsrIAmIGzIzgkd1u68oW2B_24UIhERLqz5zBHBpbtPJcSAO746ksrpXj-dVq-oxqSmUN-JAs6-qxvCo1z8aJadhjmFmtIO0U4jSFdIpG6sSaRmLVTt9xa_s9F95aOVAyKsxfEbzR3AIgzvDQ8X0lzU-FUE9M7uczSUdXQQI0mwUTIZ1HDmZm9t3JQ-EQ-LNy9qMd5eKQvvJ697OxYUBjAOFwjJCYXN0kXlO5fwQUZq2B9k9Fk8EKKuJ-jcrnyYdEyHYE5-5f3X-QE92BExiuyiv7WY2Txi4wS-Z95mfFYEpXzNAh-bo2T8RJ8wwpaFTpnsX54qiinwbgJDNhjHYf3CiRklaQ3eA9FehaJu8vx-f_bzVGr8Jhty1zlYhK7T3PgSJxGRsv4L0RtHqVHEGcwpbjtUQSU9ruzFtmeEVLF3DFZJLTa5ra29ltUfxkhIv4vEJut4Jgans9WAgiupnlLnXVjclfSkM_tt5gdspPuHzp90iIvggM-XcfeCRjKnH_iQQdH8rnMWtQHN1b50eRyV61wRwdQy34G-LNAaJ4n-nRZt6_Uc-7obfuRUFMl4huY-clDoXb9YwBjRFMhvBo2uQb-q6jcGyirSjr4HvlL-wCdQicBGJdyz8sUfWeYVjX6t5d5xj2cRUZBkgjfxWyV7QojpKX18pMVbzmnydGlAXl67rLmAmsG56C5oEYQEa2Ydsn9oZl6YcdYMUrLmq6bQYDiUks9zxMegkWTHKEJovz4wwsLDkjY_GiIRZPbU6VN1JVyt0r_FKpHoljMIzL5sqfISqON96Fxrjo97UfYF2zcYryXPQx67Pj9dVCotdESKTesmPqGfmB-YVk4gPnTqoP-Fg_bDH5v4zkMj5GFHKwJNnV82helxGGef7deW4UZXUDdEJG49lq8_VDabAWZdVnjSxIqLEbvTIRgmXHyH9toTypxBvEIPwBywl0nIp-y5oWFYFlYnuGpzhwWyxipAe5h2s2bNQdt8lCDV0YwHJkt8LJQ91Li3Z72l0dGZOMo5dfxDrMsqri8jmV7Z9nol9GGQptojE78LxoXKJ4g9aMJ1qqdVM1bbd9ehV5zGnKeeMZOm_4DmnykmanFrSn7cWDiy_LsFrhztK9uLIaVChpG-PD05mu9_fPWVXGF5YraxUnuLhYSFfWX9VmI-Hp5ACBWE9ykQcUeYsYFyyIRnwrJp57KW4ktGOblu5zZbdgaZFkCzm-erpk2Tbrvd0wvLdNNjPK2_AK6Dyzj2hUBkRuNxynrwhileCMDLZ1ABjN3yDDhZVXluHhj7KbLx1DXoryugDgb4jTzuKtuMsVrVSPXnic2gjEbkUoYlcEuVnE1pP_LZ4NgPmZaQo8WQsdc_OnUKW4chTi-yjVVPkKUnLxrn1fV_MOlKLagjZbCqGS-xYuD71SIIfwJuVUAaZoeRNVORwTWM4-F62Oj-VIsklKIx59L1_n7V8Lhd1kCkbPP0fo1dQ9fla3fbVAMgrmZkjy-kob2JsAQM2O8z2KT3cg==",
  "id": "rs_08f5339e5e1b68fd016ab443d62e6c87d0bb9912b5da3b460d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The settled gripper reading is 0.011, so the close was empty. I’ll reopen in place to reveal where the cap sits relative to the fingertips before making the single corrective retry.\"}",
  "call_id": "call_rOi0CavRYUwk3uUKwBaU47VD",
  "id": "fc_08f5339e5e1b68fd016ab443d757c487d0885efa4b221bc2b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rOi0CavRYUwk3uUKwBaU47VD",
  "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]: [-0.2565, 1.6814, 0.5823, 0.5186, -0.2348, -0.1638, 0.996, -0.0154, 0.672, 0.3737, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.414 left_y=-0.0624 left_z=0.0509 left_yaw=0.0172 left_pitch=-0.0002 left_roll=-0.0002 left_gripper=0.996 right_x=0.2684 right_y=0.0049 right_z=0.1218 right_yaw=0.0147 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -6.7214, 5.0256, 1.7411, -0.1441, -0.0464, -0.105, -0.4171, -1.1692, 6.8718, 1.9756, -0.1001, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377528b021dc2c98dda31e404fe56d1d94039d542b633066d1826f066ca07a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ea651732b5a95a425a7fda46b80fdaeadde13440f14196c875f6e3ba75ec46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16269ef0b964ddb63fbe816f1f903e561c1aa877ad24ed6d83485dec924969a",
      "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 · 3.967 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.284, 1.4769, 0.5034, 0.3054, -0.2321, -0.1741, 0.998, -0.0154, 0.7341, 0.4759, -0.3504, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3702 left_y=-0.062 left_z=0.0562 left_yaw=-0.006 left_pitch=-0.085 left_roll=0.0137 left_gripper=0.998 right_x=0.2788 right_y=0.0046 right_z=0.1434 right_yaw=0.0144 right_pitch=-0.0372 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -4.8889, 6.4342, 1.1795, -0.2613, 0.3297, -0.0171, -0.4581, -1.4838, 7.3231, 2.0, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2565, 1.681, 0.5823, 0.5144, -0.2329, -0.1631, 0.0108, -0.0154, 0.6926, 0.4061, -0.3206, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0626 left_z=0.0502 left_yaw=0.0152 left_pitch=-0.0041 left_roll=0.0004 left_gripper=0.0108 right_x=0.2716 right_y=0.0048 right_z=0.1283 right_yaw=0.0147 right_pitch=-0.0356 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1436, 4.6564, 1.6972, -0.1001, -0.0464, 0.9255, -0.4718, -1.1419, 6.9949, 2.0147, -0.0904, -0.0317, -0.0122]",
      "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]: [-0.2565, 1.6814, 0.5823, 0.5186, -0.2348, -0.1638, 0.996, -0.0154, 0.672, 0.3737, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.414 left_y=-0.0624 left_z=0.0509 left_yaw=0.0172 left_pitch=-0.0002 left_roll=-0.0002 left_gripper=0.996 right_x=0.2684 right_y=0.0049 right_z=0.1218 right_yaw=0.0147 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -6.7214, 5.0256, 1.7411, -0.1441, -0.0464, -0.105, -0.4171, -1.1692, 6.8718, 1.9756, -0.1001, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377528b021dc2c98dda31e404fe56d1d94039d542b633066d1826f066ca07a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ea651732b5a95a425a7fda46b80fdaeadde13440f14196c875f6e3ba75ec46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16269ef0b964ddb63fbe816f1f903e561c1aa877ad24ed6d83485dec924969a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPf7Qzp3j6pjRdH5N-XP0g7VXoQA3VPSvbSR3rWW7CJPjWMrA_Jid3StCEHRI_pXQH_vVOVhbkiQaYUVkwnugPk2dktdMuADeNuFmKGFHjPV0FqlJ5lzGbklzvP5ZCw7XA652lNbVQSQDCZFM11iqGqjcpnBGQDi5zz1-O6b9fQ0Jvly5o8yV7UvcXTZHydINJkzv9HgtGwU6JOfOUvkgFlu_C4g2KfFY8br5y2_R4F4K9_UhHLmwI0NGGb0_I-bHzHOn6Yjg2AyBDWcQV-ZUhucuU6pKmtVPVI6fFKbrTjxdriKTOGcas_Zx9WMiO6kwNjTNDFHdsTQ24zQvxLzd6skm0kowgGVVRehnmyXDTTpYvF-pPt4G9qPAlZ2Ig8f-UuKyETZyxowQ4iZmSa_0QH5s8H6OZnEN6zfVu6obWqZQmhaEXuaRCALKZsUDYlUBoWj2GQlkIN6cdjq_8T_LATQcZMi353XoogBqJeHnBdZZtNwU-cugQqbF_YTOmx6pNBJdcnXsbXkedr0i08pnCCQsy1Ts2naZppBqLnkrPcxVu05im8zu1gS13XokugDn56XMn46E_OxecZSAstdxUuXflx2nZ9Xdiv-CunMspGjfnU8Nj6t5bdtlBEDYCbrjn7JsQHBS3Szw-tWPFB9xW0GOcAayQBP1ksOpz0E2ZgSDvxuDCnN5J3IXbQeVdA7bSOLvDwFPBiItudDXeZIeHtQcrXF3cf1_dodAJ1eg_mugawUgVXKeoUEnPV0sRN08ekxhn4GZ4jmKXh5Ug-e9tRT59nwjarx9x4Ma62WMynf9lV8_nkxcxC1MsG3PrOOjzvsvwk7gFynPWwmseHci0K90lZCQQGEg-cOC3UH1JrnXU5PsxOO8uztjLpekcATNoZl3mYQtRfLYtPSQ3Dv1-aRCEJfKRDId0W-5GcHO5z1e9-_gZ9HxRCd11LtIShNUGES1M537URCHeEfD3q5rDb9BM4N1VmeJziDD3uMhfLj_w29F_gTAqj4eZ7oWhS-DkfamNI550xDOjcyrnJ6B_ied3mP1Q-HunJUXAo4J24eHsx0pGf-_1VcVPg2NP-0fHV0I3iq8n_XE1NwRB3cm8lWT_fK-JNXyaM1qq6G1ZvkDO7ZI2Bw6G0zDeOZSwQs_gMn-iJ02hF1gp599WQSwYVDzcpI7TRtSR7AkWPVP6LVLf4TuyG6aNwPlQognATl4_vfhCuwgxngSnwVkR5rzlRLgDmh5dA90iSM-XB849xzMfe135IRBR6RpGB6bM66vvPm-r3WdMBf8vGO65JP1zHD39xeXh9VvY1Mx3R-l3PAz1k5MLgB2g0MAAnUDu6H42W-Rgeyl52ZCbp4sRkbu0OfnTuX-kSt4VpXqJIaDOKHomqUY4w1SN57YhiFfaAexVVCN1YMcksKnPDK0INa7P_fnKstRgIbIYanZBjMNBX0eaiO86xFagMBkr7P57ZJxC9g8GPgH6P33ar-XLI79kEDXLpaFfH5hTeQ-rfY_lII4bD-CWU9wKO7QRRY1qTH83e7knuvaVeOLGgksuY9hynChxto0pNHDNs4zpivkwEcKi-VZ2zRHDttff9kCTuOpxA56KyGdladyczQAKhYif13e9Y3CWpCG5V33EUKbvc8412S_NDbJSw6iPXYyUya_gCjKfg5h4cLHJT61JVgE75Mlziz6m4bxEDeLdIqDZRjnj23dU5bfcqA8ellts0-2U9SDNdArSoH89PGNcB0vTRAZIiGC4PdAD1y_nuGd7q4khIsK1odmfMUr5P1fVZCNnJL7Krj_ivgxdvdXZpVQOLnCrMy4QrWhDtRsXSn9PX_Hz-ZarzAoOlNoq15dCmt089BjgGQQUmpnT4Qv3TJQAMX8HCnmJNvPUdNUwkyE1w5K_8EUKK5q1EajkjgI51NE2pmnms7pEr3R0e3CO9t0bPg7fQ9O8kDb1QbAgUPjh7XT2srQRk8XvphPQ386YrNjd3aqb0jnhiR7dOLHK-kdCOm05N1G_oXSIYneqGvC27-PODhatHnCEnNWVVaPfC9X5AonLjqBNnjgON0sXrcbtK-6nm6PUuUDLTbhZqcTZHyqDRZjSGdYmq3WZGOw8S6yYc8IgboEs7N5FrmjgNDL-hyVaGxGT37LGK-OfNtdkjXMVftGFdpQrOGEhkYoMNG8RpLdmb9-G2YSb6F5OJKdFg0NzkybP0P0aYQrgIqtCbiQQxBXS_hSdoX1QN2YI32P7cCO5DrtRqAv28wGWSXDZ6uYTXC2Qm_rFz7awmPm366xJzTsnuCtHePmuft8-O8pkDx85FYX3F0tIMWiJV3oHc1oibq375jPMuRlpYsh9s2iA8jch5LAlLei1UM703vvC5ftJuVk7HgxVJFDH0USVCXP1K7BbF4cmCwc4MVtWVkxfX9pDxGVj7eJSfbEnRkk-80WPt2UPeqKNvEDohSQ9K-wo2cNXdqKq9HujHt9Kl29xexzsCwQ2j64Be98fICD1nlCw--gvFyJ8ccUDEJlKzHHSgjVMRii-AV8iMp6-66FivKv-VBdQfj3Ni6dlCSRDGqa4ud7Gg2B8I2eiKbK-Hu7iTkZBe-K-tpRd5TRbsLwnXy_pwTW8RdQefy1y0jT4WU_e2pinr0ovkEeIzli35u3jnw-Tysu8JeykLgzCl2QtJI6z2hdqnxFjbjwHcpSf3qESrOJ3wzB2Kn5uvlrXJEb0C--xDhE7fY51_1Fr2psznuVrR_2ymmlDuuqwaB-Hm7986aOG9lcgNIEZbjWT_vugfk6nTRolylR5QvefqwizODLPTuDE_y7MPLy8_k7z8A6ZZAwG0tPSLBqFwJuL2Ew==",
  "id": "rs_08f5339e5e1b68fd016ab443da6bd887d0afe36f573f5d36a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_x\":0.414,\"left_z\":0.05},\"note\":\"With the jaws reopened, the overhead view shows the blue cap slightly to the image-right of the gripper rather than between the jaws. I’ll shift about 3 cm toward that cap at the same low height for the corrective grasp.\"}",
  "call_id": "call_3u9K6eSD9ZxmPhBStDJ5keee",
  "id": "fc_08f5339e5e1b68fd016ab443ddc82487d0a0dfb1678ab00128",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3u9K6eSD9ZxmPhBStDJ5keee",
  "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]: [-0.3389, 1.7008, 0.5919, 0.5079, -0.2821, -0.1982, 0.9966, -0.0154, 0.6533, 0.3454, -0.2913, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4089 left_y=-0.0882 left_z=0.0458 left_yaw=-0.0075 left_pitch=-0.0118 left_roll=0.0021 left_gripper=0.9966 right_x=0.266 right_y=0.0049 right_z=0.1165 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.1573, -6.1607, 7.241, 1.6532, -0.2711, -0.0269, 0.0464, -0.3761, -1.0598, 7.0222, 1.9219, -0.1197, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e055dd2e1cdd6ee6e6a62a1f06fd0d73c6f6551db82dc74509558ee5b3b97524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d259981a1980bc5b7fb563a493d4270e83dde0d4b6a9d2fe3b9e55ac6a11ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a72c8b56449a065bf70762d05ddbfc8cf4ae31abe27b7db8f92f5a572f442cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.091 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2512, 1.6623, 0.5789, 0.4984, -0.2222, -0.1753, 0.998, -0.0154, 0.7136, 0.4404, -0.3355, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4117 left_y=-0.0617 left_z=0.0528 left_yaw=0.0181 left_pitch=-0.0065 left_roll=-0.0154 left_gripper=0.998 right_x=0.2751 right_y=0.0048 right_z=0.1356 right_yaw=0.0147 right_pitch=-0.0372 right_roll=-0.0028 right_gripper=0.9984\nstate[joint_eff]: [0.3761, -6.5709, 6.5846, 1.79, 0.0269, 0.2711, -0.0122, -0.6222, -1.265, 7.159, 1.9658, -0.1001, -0.0269, -0.0122]",
      "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]: [-0.2565, 1.6814, 0.5823, 0.5186, -0.2348, -0.1638, 0.996, -0.0154, 0.672, 0.3737, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.414 left_y=-0.0624 left_z=0.0509 left_yaw=0.0172 left_pitch=-0.0002 left_roll=-0.0002 left_gripper=0.996 right_x=0.2684 right_y=0.0049 right_z=0.1218 right_yaw=0.0147 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -6.7214, 5.0256, 1.7411, -0.1441, -0.0464, -0.105, -0.4171, -1.1692, 6.8718, 1.9756, -0.1001, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3389, 1.7008, 0.5919, 0.5079, -0.2821, -0.1982, 0.9966, -0.0154, 0.6533, 0.3454, -0.2913, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4089 left_y=-0.0882 left_z=0.0458 left_yaw=-0.0075 left_pitch=-0.0118 left_roll=0.0021 left_gripper=0.9966 right_x=0.266 right_y=0.0049 right_z=0.1165 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.1573, -6.1607, 7.241, 1.6532, -0.2711, -0.0269, 0.0464, -0.3761, -1.0598, 7.0222, 1.9219, -0.1197, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e055dd2e1cdd6ee6e6a62a1f06fd0d73c6f6551db82dc74509558ee5b3b97524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d259981a1980bc5b7fb563a493d4270e83dde0d4b6a9d2fe3b9e55ac6a11ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a72c8b56449a065bf70762d05ddbfc8cf4ae31abe27b7db8f92f5a572f442cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPjCRgpw_SXbvCXqZeUjkbhPOP2_RuI1Aoi2T2IapDAhg1cdzKOa0plJV5f3gcZ_Tt-dUvIsF5MYZzIQSg9C6n3rGbafcWMmipSrfpzW1pzUEQwz788vQcvqZ57CgcW7E1eVyLuaZE6_-ioSAMnDSt6I_4RXtpirLWIDOBsiwMLLadpFq5GiuqiCHjfjD75IMug3d08TFaP4jZA2kJiTih2pasyPBdzPDPWn1zPyQmGXEENEHGrgKXT6wYZ6vFGhVpAJfroMYAvzNvo1iLOycKBP325N85R4FX26f62KK9l0OyWeK18B2lBMJKdAXuN6khHmgzLpbQzerDU3erugzCIFfqm6q3eilGc0j3JF-ewtBRXyh-hVLZRK5t2CEx4FWQHQXGhV8NE9aHZ_i5xwOQ3UXvxL5cTGHfIvoebuRm-TjcZXVx2Od2ktTAGG6kmTMzaQKKZHUEjmyo7mEUthXOe7i9fQ28Ww5LGNbuXScnH82WtS9ZJMN0UhtiM9nK0UwdexLvBJjRGMBZ2s2NzsnnVqXWDaQ0tHaVuUus1imAJJRWAO81OAA8JU3_vnolQT-ghUM9tIZpN_mpz_N5okmYF5sYTAwx2fXHarawbpUjBLuki254xEnvQaZeMrkZBo4phs6Cf0FRuYaCxgsWr984FDS0mOQuHBmWbtu-vPFvUjSKEniV08b80GhXXCv0l_hdGGFCe81ubxehJCwOu5s-A1uTSxxafxeQngjsMsI40fnsRTrzytQFmaZ3fZWiwx775Tz6pm5tyc7WoHUCjWFjXGEpGlVw0gwoTJZRu8jWltoBCjK2zmaG_zAljgEdeYmFGXdm0q-5DInsNbPrnwX2lWImHxOW6wjHIV_X4u4p4LmYyCVJb7ktMYwVsLYn0CzJP39JoZ6dscWrnKJx6ykGyT3-k4HHM6_vpGVAbX97k-ysURids9_i1XEGxjk_YnfrJkEYVtLJ2srytX7TLWN2-BalZOX1PSqd0tUWnocFXc-Nx9TQwEVHdAKju7Q5BtsOpxV0_5LPEPbBiA0aevsO_JTmvM8RanYBhdKZTsdxEWIYtYtcTbB0d1ZsIkNotxD5moV6xzMncc0x8VknrBHvhzN_mH_5ZzqjceazJ9m5OomdiBvvFXUmn_A9ye218g_fN3gxEl3gXlypoTe5HJ35ACpNbIG6H7oWzciiZqXRm5_Wxiob3S2mLJo7KfwHYAWs5DR_HidmAifp-Q4mM0nta3Y3IhvvOQPFR3OjLmjaH6mSxN90OAuHL6_w_wPa9V9mtrMg57CwTUeii3aJ4KQ7kOe3BFzO-fDrUmIIsuJBRnxUHT-FI0L3HViy9PGrewGNr1ntnfyqxojkWPWykmVqiyn0XPZduYL3ovclNSXN8KlgXFJdzDZPutYsCFgOZ3wUrhXczxibnrfwGstDN5dZmhLHSqIRYI2NiUXVPCzqmG8Yb8YioO9Hfs3nTGhJCUkP1z4IRIdL8RA9yy5yia77PrQWFzHUI281PsLtAfR5p-G0AvKqruSAB-kJr3cd0QBbUlVFYmf9FS1_eNVYJ7f5WnZvj-7E0cdhCiV0kBTsVevuG7Q7wrmU8iTquGVlhsBgGx0xlokqkEVeSovCT8hMahwwk4WTRg15DTgBf8COaOYqs0Kvlj2GnORnkYj3jBI70S-iiYyXB9BVqhigwzUE3XKznCNDr76YjVAzZKlTkoG7Rsd_SLtrRvM4p_oCRq0leYmXLSTWQ0rVyU92GEElqavDDLNkjCnLb1TClzXvPlcvK0FJk9awZtJLfwy57HOJM3yFU8cS-BK_4D7yIux-XuLOg1UlWTzDHmNGdXoY-x0G9xlnUwR_AAC7n7fasZ-RmC6z_edDfa4u44_DrZCEzfe3SJfnXIqxjrdBaeJsldljtQUhWViQY7PtFXdAttYPZonQdqcllzeP2oO7Dj3oWm_k8WebodSlijq2LR7zhk6UeT7sS6Q-3h52mZZAFJxPYpmWBo9E5YFDswRyzlStzKQguoRaze-OaGlBixZvlDhg7-dHiG7PMMF-InnAzpyEN9u4j0OqxUQHwef3g4MAxyA==",
  "id": "rs_08f5339e5e1b68fd016ab443e0ecfc87d0894ecb622363fc0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_x\":0.414,\"left_z\":0.05},\"note\":\"The low wrist view now reveals the bottle only at the far right edge, so the previous lateral correction was not yet enough. I’ll shift another 4 cm toward it while keeping the same radial position and height, then close once it is under the jaws.\"}",
  "call_id": "call_k2m1c9RpmmZXYaSaLO3lF5uI",
  "id": "fc_08f5339e5e1b68fd016ab443e29b8887d0ab4573666ee3795c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k2m1c9RpmmZXYaSaLO3lF5uI",
  "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]: [-0.4545, 1.7416, 0.6483, 0.4816, -0.3687, -0.2546, 0.9967, -0.0154, 0.6384, 0.3214, -0.2893, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4097 left_y=-0.1254 left_z=0.0474 left_yaw=-0.0214 left_pitch=-0.003 left_roll=0.0043 left_gripper=0.9967 right_x=0.2624 right_y=0.005 right_z=0.1096 right_yaw=0.0147 right_pitch=-0.0349 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -6.4479, 7.2547, 1.4774, -0.1392, 0.0659, -0.0073, -0.6085, -0.9641, 6.9675, 1.9805, -0.105, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc2ec4578c5309ac2076fb630933fd298dda86b934c437b67e464afa23d4650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca75b9febf09744d3e48ce2e15db969a23eb0998b6b950fec2c9987d8b174d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a83c45e93dd07eb5665da239ef0b28bcb5edb2c05fdc52ec12121635416620c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 5.362 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2565, 1.681, 0.5823, 0.5144, -0.2329, -0.1631, 0.0108, -0.0154, 0.6926, 0.4061, -0.3206, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0626 left_z=0.0502 left_yaw=0.0152 left_pitch=-0.0041 left_roll=0.0004 left_gripper=0.0108 right_x=0.2716 right_y=0.0048 right_z=0.1283 right_yaw=0.0147 right_pitch=-0.0356 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1436, 4.6564, 1.6972, -0.1001, -0.0464, 0.9255, -0.4718, -1.1419, 6.9949, 2.0147, -0.0904, -0.0317, -0.0122]",
      "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]: [-0.3389, 1.7008, 0.5919, 0.5079, -0.2821, -0.1982, 0.9966, -0.0154, 0.6533, 0.3454, -0.2913, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4089 left_y=-0.0882 left_z=0.0458 left_yaw=-0.0075 left_pitch=-0.0118 left_roll=0.0021 left_gripper=0.9966 right_x=0.266 right_y=0.0049 right_z=0.1165 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.1573, -6.1607, 7.241, 1.6532, -0.2711, -0.0269, 0.0464, -0.3761, -1.0598, 7.0222, 1.9219, -0.1197, -0.0659, -0.0122]",
      "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]: [-0.4545, 1.7416, 0.6483, 0.4816, -0.3687, -0.2546, 0.9967, -0.0154, 0.6384, 0.3214, -0.2893, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4097 left_y=-0.1254 left_z=0.0474 left_yaw=-0.0214 left_pitch=-0.003 left_roll=0.0043 left_gripper=0.9967 right_x=0.2624 right_y=0.005 right_z=0.1096 right_yaw=0.0147 right_pitch=-0.0349 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -6.4479, 7.2547, 1.4774, -0.1392, 0.0659, -0.0073, -0.6085, -0.9641, 6.9675, 1.9805, -0.105, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc2ec4578c5309ac2076fb630933fd298dda86b934c437b67e464afa23d4650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca75b9febf09744d3e48ce2e15db969a23eb0998b6b950fec2c9987d8b174d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a83c45e93dd07eb5665da239ef0b28bcb5edb2c05fdc52ec12121635416620c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEPnEIIuyzlVgvkpxygRMSlZgSyFj8NYZN5yXWh0pawS4tYd15h-7yE2fqNlr4CqEOCN-l2B8lEtruyI1opxjkFsZyxLYED9m1hpm1AKW6eELqs-KCIyN7QUmcHLv0BKYlMlSI4unPDg4Y5rf8ojzL7qfC2BpkSnt9f9URheJvRUsAEgbc4y12E7JY39LIvRgUSnHHkapQXmrSDmAv6noPcAbTJYTJuBZV4Bkf4JBe9T6kJj3KqhFzZG44YfR85VBjlvqsn0MDIvBxqtimp723uZEiaZh8ri_u8_gAkBcKGuACBJLn3jENqikuOgPNMPZ2Sn-7nCTF9jPuS-njWins_fBcYysQX_iN5ynZFt0GUv7D_yavIC-wq8j3PoYZvaxMMmVLSlROByP1ob4EwQz3hCC5idUGvauxEHFyrCaGjFLtrxdrJred93AQWck_GiIhTbtYdc1v2RDYntE76wrbYU4QowmVtkFiaraFE22pqhf6U9MMDGukqTip3TE4C60wVR924MlHsaovDq40gUQBUuMHjYJf3ggx_UmlFmvOBoZM9BiSxbsUVsegnhXATklF_zsE0hKXu_EY1rjHyg2XXyGSEPDii15wZZzjvImSEeE8FKNnoDRPg8AC5ag2PPy1rfd2g-IzxRE0nTkXB6L4aScECHjnxP4THblWTc_X6LYOatqWttlYExqRaiIueP2jUpYlTEAjdvl7nP8tLIaUut2s3eFxVucBAHtRyh3k3Vr60htV1_nykSFW5aKnQw0JDfNKfW--ZsSwY-OCiquXf4g0SyDD6mTMRT9s5mlm8vkaulPZlXfI4NHI6NUG-grwkKul6LKd1_EAiOCXkMPABD2xG3fesnKIYgH1OwSHJUngRNJL5-lHYvwBTy4WOd9Cu-Fcgoq1Ia4s57ZdcnFlL_xck-EkagZ27IF0XjCPj5yXRzPCp7yxzlKBagEh-xaAgnIgHT4j8agQV1_oTOHqs54mOvFSfgXlpIAvzsAGZs2Nbad_Y2aemPbnP9oxS4VmqS6ELkkOID4UqvAVxMcKfls8nwZgH2b1PS8jBpltKl1t1w-pBzIFNFixFluytjZKp6nYcGd1LK7L2H73Pe4vGpsWHqHUE7IFMeV5wOp7q_4uSrXe2tpcp5A6_ll-_u6y2_4W2VO5_i0hKQHpm_4on7t-ClChTLcnWg7txVmfpopAAA-uTrsZJI4RpddKdy8B3gnuiktFLHmFQK4prNMDqeJbxxjsd-unkcBFq17LIEUKGigFayL8P_01ULrlNJzXDqztfje9cfOmb-Iw3sT4zGtnGj429tc0z0vpRsW-KFO5-L48yVPFeyo6P73K0AwqqK6Um9x6xtrnmVB6TvWKZpK5ilTArX7QsT-KFHiDfp0xv34P49PS365t534K9ly1dLn6BGdjW3BZYUPFgnRo4w_mygR92b17Yd7Aue3xKtSeMFLW684YOivKOtkyGYJ90PnQuEqwr0il9hpI7vTpBW4OzTfBoRpN05FHJYpKe18fq66hCL3yWXWdd9fSLLpW7YtxO7Ng-rEF2Xo2PWGaN60Ml9130Q3gj95GOr5CAGx0h2yC7Me6jtZ0XdYkbFvkbDB5utRmiLFTtpjwgmxf5TQ_x7OSPSFvYTdtJt9Gp4HeGNZEs2HgJ7ufMtNqCxLSJn0_J0HqXXHzf0jQkmi84q9ddbSUaT_VWvWuJ4YgbPUPTWouPIuLMFNie5xjmODBohJhCKnfE1aC_Z2vjebZ1MzDFCCl2UWkOX2jR7JAxXYhQU2d1CYl2mWJzdAYfNCZs7oUIBPQ02IntYnccFKlUUf5o8SYrJGpz14ncz96UDmpNaR2WEMoLjZ4HXo_nIL8rd2QcsDkeXAXbj4bKgxZEdk8k4Cjg7plKR5BXDkQ4jQupuQnIDzdTlf4j25OKNbTZBp9_cZpOenuu9Fbuq3ClwSklKbWjIJGDDiszZKMmrin42hXqRIGIt5Slrb6pRfko1cMl9k5o9Kk2zihG47W_rwz0pozVQv-fRb4qkTdf-YE0zslXLX3-uYPrnEiuanIxsAMiQ6VsG5VSq1REKgjK19A-PWa9ro8ydDNdR3EP6sQ4kt_9X26pTxgLyoebJT0dA0tUq99kWgrMKfWQirkVYfthy8BPb1cROMxJ7vMCIGLa2uASkZipdrlZY7NE_bIBbrDjhrlflprAiuZmEgdz0_v7acop0ObFsZFtuLkbmQfsonEmVx9h_dGfcVs9jFUsa",
  "id": "rs_08f5339e5e1b68fd016ab443e4d9e887d0a4145653c31fd61c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The overhead view now places the wrist directly over the left bottle’s cap; the bottle seen at the far right of the wrist image is the neighboring middle bottle, not the target under the fingertips. I’ll make the corrected close and verify the opening.\"}",
  "call_id": "call_3S8kVtUiyIWXg0boZPaRuFhh",
  "id": "fc_08f5339e5e1b68fd016ab443e71ef087d092f961cc6e19f3f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3S8kVtUiyIWXg0boZPaRuFhh",
  "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]: [-0.4648, 1.7477, 0.6632, 0.4831, -0.4065, -0.271, 0.0111, -0.0154, 0.614, 0.2916, -0.2752, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.1252 left_z=0.052 left_yaw=0.008 left_pitch=0.0158 left_roll=0.0052 left_gripper=0.0111 right_x=0.2598 right_y=0.005 right_z=0.1048 right_yaw=0.0147 right_pitch=-0.0261 right_roll=-0.0032 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -7.0085, 6.612, 1.4676, -0.0024, -0.0073, 0.9353, -0.5538, -0.5402, 6.7897, 1.9512, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4af8003ff4e86ade334dbf96d0a8c20f79ed447d4fcf9e4a2ca2e0dd8a9f5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51186c72bbf4b75efe311cfa21e74d41a8147c38eefbe850e94f99f48d5ef5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5be7288f4ca8bf815ab4afbcdf36fe9c35f9f8fb302f392e9f5262e426b376",
      "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 · 3.203 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]: [-0.2565, 1.6814, 0.5823, 0.5186, -0.2348, -0.1638, 0.996, -0.0154, 0.672, 0.3737, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.414 left_y=-0.0624 left_z=0.0509 left_yaw=0.0172 left_pitch=-0.0002 left_roll=-0.0002 left_gripper=0.996 right_x=0.2684 right_y=0.0049 right_z=0.1218 right_yaw=0.0147 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -6.7214, 5.0256, 1.7411, -0.1441, -0.0464, -0.105, -0.4171, -1.1692, 6.8718, 1.9756, -0.1001, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4545, 1.7416, 0.6483, 0.4816, -0.3687, -0.2546, 0.9967, -0.0154, 0.6384, 0.3214, -0.2893, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4097 left_y=-0.1254 left_z=0.0474 left_yaw=-0.0214 left_pitch=-0.003 left_roll=0.0043 left_gripper=0.9967 right_x=0.2624 right_y=0.005 right_z=0.1096 right_yaw=0.0147 right_pitch=-0.0349 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -6.4479, 7.2547, 1.4774, -0.1392, 0.0659, -0.0073, -0.6085, -0.9641, 6.9675, 1.9805, -0.105, -0.0317, -0.0073]",
      "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]: [-0.4648, 1.7477, 0.6632, 0.4831, -0.4065, -0.271, 0.0111, -0.0154, 0.614, 0.2916, -0.2752, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.1252 left_z=0.052 left_yaw=0.008 left_pitch=0.0158 left_roll=0.0052 left_gripper=0.0111 right_x=0.2598 right_y=0.005 right_z=0.1048 right_yaw=0.0147 right_pitch=-0.0261 right_roll=-0.0032 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -7.0085, 6.612, 1.4676, -0.0024, -0.0073, 0.9353, -0.5538, -0.5402, 6.7897, 1.9512, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4af8003ff4e86ade334dbf96d0a8c20f79ed447d4fcf9e4a2ca2e0dd8a9f5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51186c72bbf4b75efe311cfa21e74d41a8147c38eefbe850e94f99f48d5ef5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5be7288f4ca8bf815ab4afbcdf36fe9c35f9f8fb302f392e9f5262e426b376",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_08f5339e5e1b68fd016ab443ea9fa487d084bc7f465cf766d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.25,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The second empty close confirms the overhead geometry: the left gripper is actually well left of the left bottle, whose cap is near image x≈91. I’ll lift, reopen, and move decisively right and slightly forward to that cap using the verified 0.65 m base spacing scale.\"}",
  "call_id": "call_82b4eS39vwcU4CaSgFDJPOCU",
  "id": "fc_08f5339e5e1b68fd016ab443ed42d087d09e1a4c3c93d583a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_82b4eS39vwcU4CaSgFDJPOCU",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6815, 1.9228, 1.2377, -0.0013, -0.5632, -0.4397, 0.9958, -0.0154, 0.5999, 0.2684, -0.2687, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4566 left_y=-0.2443 left_z=0.1123 left_yaw=0.0061 left_pitch=-0.0032 left_roll=-0.0127 left_gripper=0.9958 right_x=0.2571 right_y=0.005 right_z=0.0989 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.9504, -9.7299, 8.7453, 1.409, -0.3346, 0.149, 0.0122, -0.6222, -0.8547, 6.9265, 1.9023, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72f885cc8edf36380df276641e833fceadb9b9ce3a6d4454d31c71108fb51ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663e7b18437187c461d1e6912ec11e5efb43f96d6ffd0349e412013ce9b9b16c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2a5a19a1ff635594130544ea8a5ca55c6187ffa10b6210f74948ff3238e349",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.235 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 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3389, 1.7008, 0.5919, 0.5079, -0.2821, -0.1982, 0.9966, -0.0154, 0.6533, 0.3454, -0.2913, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4089 left_y=-0.0882 left_z=0.0458 left_yaw=-0.0075 left_pitch=-0.0118 left_roll=0.0021 left_gripper=0.9966 right_x=0.266 right_y=0.0049 right_z=0.1165 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.1573, -6.1607, 7.241, 1.6532, -0.2711, -0.0269, 0.0464, -0.3761, -1.0598, 7.0222, 1.9219, -0.1197, -0.0659, -0.0122]",
      "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]: [-0.4648, 1.7477, 0.6632, 0.4831, -0.4065, -0.271, 0.0111, -0.0154, 0.614, 0.2916, -0.2752, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.1252 left_z=0.052 left_yaw=0.008 left_pitch=0.0158 left_roll=0.0052 left_gripper=0.0111 right_x=0.2598 right_y=0.005 right_z=0.1048 right_yaw=0.0147 right_pitch=-0.0261 right_roll=-0.0032 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -7.0085, 6.612, 1.4676, -0.0024, -0.0073, 0.9353, -0.5538, -0.5402, 6.7897, 1.9512, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6815, 1.9228, 1.2377, -0.0013, -0.5632, -0.4397, 0.9958, -0.0154, 0.5999, 0.2684, -0.2687, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4566 left_y=-0.2443 left_z=0.1123 left_yaw=0.0061 left_pitch=-0.0032 left_roll=-0.0127 left_gripper=0.9958 right_x=0.2571 right_y=0.005 right_z=0.0989 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.9504, -9.7299, 8.7453, 1.409, -0.3346, 0.149, 0.0122, -0.6222, -0.8547, 6.9265, 1.9023, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72f885cc8edf36380df276641e833fceadb9b9ce3a6d4454d31c71108fb51ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663e7b18437187c461d1e6912ec11e5efb43f96d6ffd0349e412013ce9b9b16c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b2a5a19a1ff635594130544ea8a5ca55c6187ffa10b6210f74948ff3238e349",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPyCXhcbheG-wXTkkwFr27ISf2VjtdBYevF0D_MC4cgldlrLvLuLD5STDUJhmm02PUn4siupEgx02cFNXIIkwxeH2lRlSc2GPTc_rVtnuxv2yE2zf-kETGZH4R6lTA2nqXFXm5VBcAN7GG9Gc-UBC7f_HVpw52SF0BBGn94KrtFq6S5bMVeyh-Ua-WwTzmZ2dxwdZPgBIpFqUZg6svqN63YKr4Oj9ScIbDMisJ3AGK4gledqKR5ZC9aOoqbVNDP7pVCl65MRm_mtNiVZnQVlEwWbeV2CfiBjwwqWMQ2wu02XMljgHgINxhe1z7-T3LKHMM78PHO2sHKmFALYk0nksdNMDBo9e_S5MWP4zjT2YPJxdp9itZo1JxJUx2uWuY0UR6Lhndfav08S17WiiiEoGTvD-2LdM6v3ZDlWlvm6MAf8AnnFgEr_AKXr4gFh9plXlMAJmMP-BrK2r9fpYxXpABO0Qdtja8lku_UfXB5T1UKtYm9Y7bwcGISxisPCrL8l4iY1fYBdSSgAn48qeCYw4zAx0H7bhobrTiNIqnniQfmLgvzWeQQNvK-nE8OsP4CKTbOmmgpwoUoG4-nJLR_ntXh1OQD4zWw-S2kfNMhoLhC1dkGjnI86sHdU5p9Dp7yAPpsnI4pEa2fYkXZVtvXnkp4KMR3EKLN4UbLrBDKNTnca1RLB7mJVm0Vk8nTchC76-9JwBYY0JpbNlBXISZGZGfAKEcaY1HOHqFa9nPklhFdRvZ8Ldbmn6RmL0Y6rKQYeH4Jo53xl6c3Z314sdA24EY9DEI9OiFY4COuOVJO23tMBRBQKBthuOmBvNLTUXTLPBwQHKQbnbr6pZ-Pb3k5gtsRcWrqTfibPLzGTyUyIy7Zfy4O53stPWAG7Q1Bh8MhphtHOY5-AOILhuctJkOtcJiLSQTKjP9HJl3NHAu8_45t63plUGYlzWFwRlM9n_mgkHJcVAbCckKbJIB-TzdMvesUUS7zEKtbVmUja7LOeAYWXsSswvBPD6pQNY7R9atQg9lJeXUfTgd61aHFIlfEIf1KbyuYOx7vASQbpiou0h0bz1xpJNfxTr1obGF7Ye1jOlaP4B6oWBtPH6KTWLHCW8Vy7QRBDkd3V20b3fcjqw0FqLbtot2hneSrO4LJkM3todXOKloE6lB4yUQJUE3lHWUjO6sU0OtlS4gHLnC8n3mOBSOUhDA-FQzCeyyGACjkufup7Rd2vcwErKl_-Gj19iG-6g7gwJxdcDc3yyo5rvf-HsEmuRWemQrf6-UCwaigptv7P_s3F_fQkLoO25Ex244z11z32RW4GCLNXmHS1_tEF5HpytMzkRRbw04rf8oKbYgx4kXjdTmdnI4XKMP-qfViZkMzeOFcwga4UwJygSCMjXoG9sNyk7P7WENSc9zP_nA75zRz-4XlOJxOQCSpEeW3fsvfGEC7p74wrfcqx4TipKff4oSyGwqHZiNB6FyOPif0E29FVWPxrrvApmjdhY0kgw5uvep_ymxWBToJeSCCVEb7iKbGMHfjQaD8K-dBEu0CqawrnfqNaKPYlshpHujvJJra75f9b-PvazBojNiWpRJ-NKFle7qS-DFiqYyee35na86uLDFA21zEMzn1NMoQwQs8Lp2FWbb2Kz7LO9X6EaMNskqZdnYtCz-jpraO0VpxpmCUYkhevq5RkLro9CbmNtrfQFMqj4Ce54GPKaOFuS09eeyF7ROiJ-VzZltx4igC0dV1_kQYM9ckfYNVqtGL89b1A8V1PhIwMVFHSDa7stV6TSmCMkdVaPEt-76Qb5d1459GuVaxI44bbhd2WuqiPD7Cvy2WVttPBw9HSq5-Dn3cC8jvpEQp0Gd7TJ0ywEU81SXiW4U4KiD3jRIvU4cMcdN7pXnYjdfJN7lkex1auCq5pzf27-7bfC6cwQMkaB8cotrtXTc9gB-RlvvN6xn6zJ7U2jc4FEExiZSgUjsY8L4OPd3v35Pcc_pBKBG6VG1_YUxUB91MHPt9VwJhIadyasdBOF9JiU2OQXLu6kngNG-SGEQZ3oavzBJm1teKwHPV08UjT--sMZvjJ3ol-5nqsBGjNMcrLVQC4wH9pagK71wCE-8d-urNpfYvc-pNi_LG9XRDr8kP9N8T5O16etF5pg==",
  "id": "rs_08f5339e5e1b68fd016ab443f0687487d0aa2b4ff97579222e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.244,\"left_z\":0.045},\"note\":\"The target cap is now centered on the jaw column in the left wrist view, about 2–3 cm short of the fingertip row. I’ll advance that small amount and descend to cap height in one controlled motion.\"}",
  "call_id": "call_cKSv9GeKY3rH16Ew6P9F6kdE",
  "id": "fc_08f5339e5e1b68fd016ab443f1b7cc87d0b0b28b6bceb3501b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cKSv9GeKY3rH16Ew6P9F6kdE",
  "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]: [-0.6445, 2.1159, 1.2366, 0.1539, -0.5529, -0.4198, 0.9966, -0.0154, 0.5804, 0.244, -0.2638, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.477 left_y=-0.238 left_z=0.0412 left_yaw=0.0251 left_pitch=-0.0378 left_roll=0.0231 left_gripper=0.9966 right_x=0.2541 right_y=0.0051 right_z=0.0934 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.253, -11.0701, 6.065, 1.7607, -0.0562, 0.2173, 0.0708, -0.6359, -0.4034, 6.8444, 1.917, -0.1148, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2bc6b9ac34c21f15c16489444ed37f75e65620eb12349698983013a09e6040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df820b0a49692f04494768a8e699771dcea9ff2cd74c59c1c6416c366591d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c995af2de097747b568942042259dbe306efbcd3d27f1dfeed6db4b43a1dcd87",
      "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 14 attempt 0 · /responses · status 200 · 4.301 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4545, 1.7416, 0.6483, 0.4816, -0.3687, -0.2546, 0.9967, -0.0154, 0.6384, 0.3214, -0.2893, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4097 left_y=-0.1254 left_z=0.0474 left_yaw=-0.0214 left_pitch=-0.003 left_roll=0.0043 left_gripper=0.9967 right_x=0.2624 right_y=0.005 right_z=0.1096 right_yaw=0.0147 right_pitch=-0.0349 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -6.4479, 7.2547, 1.4774, -0.1392, 0.0659, -0.0073, -0.6085, -0.9641, 6.9675, 1.9805, -0.105, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6815, 1.9228, 1.2377, -0.0013, -0.5632, -0.4397, 0.9958, -0.0154, 0.5999, 0.2684, -0.2687, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4566 left_y=-0.2443 left_z=0.1123 left_yaw=0.0061 left_pitch=-0.0032 left_roll=-0.0127 left_gripper=0.9958 right_x=0.2571 right_y=0.005 right_z=0.0989 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.9504, -9.7299, 8.7453, 1.409, -0.3346, 0.149, 0.0122, -0.6222, -0.8547, 6.9265, 1.9023, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.1159, 1.2366, 0.1539, -0.5529, -0.4198, 0.9966, -0.0154, 0.5804, 0.244, -0.2638, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.477 left_y=-0.238 left_z=0.0412 left_yaw=0.0251 left_pitch=-0.0378 left_roll=0.0231 left_gripper=0.9966 right_x=0.2541 right_y=0.0051 right_z=0.0934 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.253, -11.0701, 6.065, 1.7607, -0.0562, 0.2173, 0.0708, -0.6359, -0.4034, 6.8444, 1.917, -0.1148, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2bc6b9ac34c21f15c16489444ed37f75e65620eb12349698983013a09e6040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df820b0a49692f04494768a8e699771dcea9ff2cd74c59c1c6416c366591d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c995af2de097747b568942042259dbe306efbcd3d27f1dfeed6db4b43a1dcd87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEP5hRXmSyCYQI47fItioK2jXq4nUze5Wouh2vtN4kdmFyAZv0wRMqww9ivtS1dPS-b-i0cg2LO-n_mvI-_TcDLGdPcRJo7-MaEl95x2dnzt8ispMmWk7cZxPM_lG0zgQpUcM4yrlmh2Yb1fs_7GLyWqWHujlF1G0wRrmf52MevBtNaz9qSBs3nLdMT1qLVGlY5wVvW-hdR0lFa_IdLqo3SIABvKleZfbP9RtytjBD7s71IRmQbdIRhw9MIEgdiw6DGVdEihnWQSiW8968UbDJNrwpJttkC-kYCJgqYVrMP51hDQqjyg9zLwUyQt7LwqySuuEn7U9ijwomOJZ8spRjcqOw_qttdsgDSsT4I17DfOwfUcIzL-jEONPBeSvhHc8dGbsFi8CJ9eYEhkMdlHBvQ7sHwTfK2CLEYuPXDMHt_t7eO979PrGl96m42JDX-9OAAxl1lPd_dFhZQVhnR8n1Zqx02YzHnVWOEq0xdPKii6Hf434E6VQ86kC9Vi4zHrEFVMYEODdKCy77T6l0mdY01ENkCtENJRxfIw3UpS984cEc_WkZyOZ6di_OO1zofYK7KKhHbVDAUCguctIzC6GcllYUN0bHGfQHjpqaUjwsqeuSTQaF3NkrpQ7Uy6naeotk4sAsiW0jhB9Nn5CZw_vAe9Bdy1nKhQiVWYklfre01n-KESX0E0Y_IzBYTCQGQ1X_wBIG63FIHlGddNvUNJENV2h9QVK8z1zXuNn5cDH9JL2vff9s_oR9b_Y2TCTfZFC5HcFTwLe-MKE7LvyB_CtW3CvsAoaVHqjTnWHfz1-o4g34SDezVgqTvVnRzLhVeSEoW6q1slPT6y4icmoITmmGIbtRzUOT7Z6rRnZHoADlbmN4Kln9j4rkS3R1v5WYsUq7tVyVq3a_SSEyc091UD-Q4l2TVJ1v-Ou7Tg1ljnjM0TsHh5Hs1eZVmVrOAdfzsGs2gBfX8-QuzZMzAdCjvPRu8GMKDuF4Q_4p-Aww-z9rL5Gt7WLCBR5JMOZI0ZpkRAW-2C1a2w_fmwO6IdvX2JXXeT7D1vtCX6Qg_Ba__BRGB13qgCsWMfXAqgLaK3WTb-BXhAUzZpazKYBljGuWAMKcrmZUztYsCuvGupCjN1yelQEUTeOaQyzM3Ggvm3k1Pq0nR-cb6fzGREx_u-BD_viu6t_Z7JHxYiTIENk5O_UeLEF_ZgbJADAlGTGaYH7SuVAVFQ6r8_Qd2PlCSMZBfH_ttOVUgsR0hW8lWvODcLaruhVYD6P5Y8yZUhhB8RZbURFoSMUXPrCEiZir_isv1LGWG0fbnD9oJsfoNZmZdrQBi6bO0vOG9ZM87p2ke5VnzTDd7BLKzHCZT26VKH7OfZqq_Ad7o71Xt4jAnzaGMC0icMm_DfVOLTApoExJ45oQLwWa5NiPFK4Y8smjHc3Qu94jWAj67iJ9-7VtdWCWC5K1YJQ8XzJR6yeOUdu_2v76kRe-KUNei4X925FKByP0lLFC4_ovXyBarC_08D3uwtmQetdKwLaHsSXI6yD4j_nzQDk5b2DcxxRog1oPIhLW6bZOF2-cYfbYG5KiEnpm3Tc1as8vmUrr4qeilxC-zKwSt9KfjPSjTJzCHRVwvhJaVYQ4ozLtrDmb4vY6xbpe0xpr1DXdnsd3yYWfvQTiTmOK9FWkVqot6LIKHZcoyfNVJRllSFipbxCPDpXxUnGW6pEkJGQC8YJlpRHjaNMPfIDgMlwDjzJOEGwUZT3RWSKh2JFjzt9COjLVbJ8f_S8srM-ir9ub-_Rpln-0Guw_BbBvhiwbNE3gAnTw5VhRyF2h0rw6znec0ykltazMxq-FeXDmciVzhVZeYV2PTnX9C-0J8UyKGPwzp9_dTxj31_mp6xruECL472m9mINf1PpqI63GagdrP1F12UTzET-nkKcI-iVKHN0TOdnFmRTifbS2SttMshQj4u0ttFhL-lxP2cqGUDDspANZgpmKxFox8mJwEBRgt1zuvzbzNdR2w7UtgCzNLEpvyoPUwv9x06qKmlSDCcgqzE8H7JNqy_NoB5YRJdUhQJ-dZe7Aw22s25T_pVYnRQtNff8FKf18JnMU3PoWFSG3GTieBrlLMOKUkcN4fEbEo3Pi8juqcV_lq938mdv4NkVT23avXOo41Mgm7rF5aDfZxGLw5G3Xg4o9xsNPI8bPsa2CAN-RNotrr_JGNVK5Ev95E4O7kZzYWr68RB8iFSBwmUM3JQXoQ88fjinJ6dtI6BPouUsZ0ivKKSMjHGru7CmJtAdm5tjgDU_w0INrb_9nTb_ZkQTGtDu3M5OeYcPlZiKdB9VorsRcqWkT5xhtL0mmNLD4lrgNbfyJhWY0sEBBM10rcGcP5I6jGQ18V2tN1tQd8-729iT_P2noK9pvUJSx9F95prAzsdoy79djNEI5lwqwadBecZQ9A0MdKS9f94vowlA9gOw5G1kQp_2AHtQsMXSUsnLCgC6DElcEdXcU-GjpbdK8c7Z10UpRGmaLTQzM7sfK59S3NegOKKFRV1ppRyS9nMDX-icXT82wYFVSXmlDeX97SgYQMcme-Zdpj31MvghyTnQ66tjyNfkM2_oPrKuUBkfFdBYPdIHMDQ5f4-ii1BAduk7wdm0HIAWgrAuTPNswLfYSwF4UejeZCSODkBE5nQ2FY0f2_VxYYPk4bzWrEKOqlfsZWO8Bpf0eMcC_3JtcjiE8CGTX5Kxts-91xVmbqteM9XNet0mJly5Gtd8d8xqb_I0F-_1mJFJ_fFQEloYaihwm6weWHE1ucv-IL7Zp9xC4SheqKUaOL3tUPWDlhVfvPUA0T-BQrXXbWoVodOfhCrgGcj3e_XgNGQdjhDnPU4gzXgo11UG2uZjMxVbl6Sruo_h4F0b8d7sFiQ_YAZ9Kwa4F4XoWDwN_uzmxhZnSD3ycYB2wKNDbWY_AcipCAd3jSzKuzF0zy4ehpyTn-0WF4ePdCQTQ0bMOhyFFxU5m-mUjOtI8QKiYXkoYcppTE9q6jP_ErXcC8SldGQkW77ROMFAGRhUBkwdZwzZr34CybeEbXTZVpZYzTXPbW8IOWd-bQzHPqlyN5DMPys_LMxlSBjGJjxgSjlHghkWZuEGWBBABkDskxI8yBMmZbZH5xh3ktTVxYL7mGi6-7tEUIp2nRHBSDj1ALJIQlnrlRk8tJ86MdX1UJVwU337DsYZ33WAO3FbXZMcHb8faJ_eyU4RmxiMSbE3skQzd8GhSP6qT8cwRXTxWWWVfKV1Auiu5IVpkBTIocfVsXneJ6-qVn23jzcKpdU2Js93MVoks9m3aBr5UZUgkgfGby7LydcoDn9TwqH5Yt5_lEybJun1x3fw_29mvOEJKpRyud05YqSUI3xWJBP3bz0oOfLlXvi1eMOA6_kkAm_Re2Zjsj_OF48WXIVbXVWub2gD9Qu29mqBtmumJsM3CYLgmLDVySPPyY7cfNIf8qV456hBY9-uxUxvKxTn9CiUQcSpmL069uw6nrhCDJMqa9iK0_CR8Aj4jH1uy8Y76EHvghSJnJ4vipLhcj7DomV4JFG25Xaa-MQyXj6nYXhtjrR4PLo-qe0pzxcpokZC1XcUWLlRIg0CLQ9Em4Z61aZCiKiHjyk4CnIhpW5-Rta8YNi7E1bCpbN6QM5NGLmpBGUvm5bZXvGRIrlXUcVKgSpY5FFOfWuLfVegYDc-g6bXBc5Aqca1zQTMI9jg0Qg1EY4ilEFlM0vhr0LDvleWKCdz6VBl66H82W2oLDcSy-ldp-RSLSwYLgJwzu3G5_KWFximURRh2E1GSWoGoIUCZPk4_7diuqQH9qDeTkYDsXaeB_35nN7VFRL3p_yPJECMlVnuEqqtcCgUG4oITrB2Tp7sAFNzMmnp1oyVsccskwZ2FG9GtnXqjOaiGthK3LEmtolW6mnZbofGt4waqzCxhY7ZwyL4eYv_LsHJmh8Tx_4g995-yc_OindTZGlSe9otkHXkUVh6g3fvsDiyKJBRskrJEn99suH7Xk2xpPk-tPYLR-YRJCLHceTJvvMLAdAv5zbkmXR_4Dkqig1QZCqWRn0p9D2_6tGZukBP_tyYEhjbJieVjq7UGVZZoecrhszsgGbs2NB69Y3_lNVQvdpxgbkvYO2J8zQzbzhLbA6bGSZpEPY2XbJU8QCOeMt9Xw9DZRRfMqYDsGCzkXgWsg-iPoVCE18lrgEMf20uuseCwAKgPCs5KFWTAMosf-yZk_WhuElZS9ZRiqNLIu_jbjUtLBCQuzpsBgOVh_mXW8tqZBU8-YYe0fh_TONA0mvzGZVg_FUOf-k_IfRmFXrZib-De5cBpGfbWCw3QLa-QgQSFpjINUOAtdKAHmp0HOHFpoXyaCZ7BS1xZOYmH-GuoXEiiNMNqe976kY9w==",
  "id": "rs_08f5339e5e1b68fd016ab443f4191087d080abe1f6114f174e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At low height the cap remains centered between the jaws, and the overhead view places the fingertips over the cap end of the bottle. I’ll close now and use the opening readback to confirm whether the cap is captured.\"}",
  "call_id": "call_jqdwxFlPuI7wDBZ1PJlzzFr7",
  "id": "fc_08f5339e5e1b68fd016ab443f8660887d084d60663bb88dff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jqdwxFlPuI7wDBZ1PJlzzFr7",
  "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]: [-0.6407, 2.1132, 1.2106, 0.3084, -0.5854, -0.4217, 0.0112, -0.0154, 0.5598, 0.2222, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4897 left_y=-0.2389 left_z=0.0615 left_yaw=0.0569 left_pitch=0.0765 left_roll=-0.046 left_gripper=0.0112 right_x=0.2513 right_y=0.0051 right_z=0.0887 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -11.1521, 4.6974, 0.9353, 0.0855, 0.0366, 0.9206, -0.6496, -0.2803, 6.6803, 1.9853, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb15675e58b81b354ed0ddb19361ffb3b94d84ddba77a572ebb505a53e59b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd69ca782554bd66880a09a3f384da43720e95493fd8225e62cde001bc113e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb0d88a04e505dcc8ec664f6ae5818b7578f0dd0d6852e741794d4610f4b5d7",
      "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 · 6.845 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4648, 1.7477, 0.6632, 0.4831, -0.4065, -0.271, 0.0111, -0.0154, 0.614, 0.2916, -0.2752, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.1252 left_z=0.052 left_yaw=0.008 left_pitch=0.0158 left_roll=0.0052 left_gripper=0.0111 right_x=0.2598 right_y=0.005 right_z=0.1048 right_yaw=0.0147 right_pitch=-0.0261 right_roll=-0.0032 right_gripper=0.9984\nstate[joint_eff]: [-0.5675, -7.0085, 6.612, 1.4676, -0.0024, -0.0073, 0.9353, -0.5538, -0.5402, 6.7897, 1.9512, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.1159, 1.2366, 0.1539, -0.5529, -0.4198, 0.9966, -0.0154, 0.5804, 0.244, -0.2638, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.477 left_y=-0.238 left_z=0.0412 left_yaw=0.0251 left_pitch=-0.0378 left_roll=0.0231 left_gripper=0.9966 right_x=0.2541 right_y=0.0051 right_z=0.0934 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.253, -11.0701, 6.065, 1.7607, -0.0562, 0.2173, 0.0708, -0.6359, -0.4034, 6.8444, 1.917, -0.1148, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 2.1132, 1.2106, 0.3084, -0.5854, -0.4217, 0.0112, -0.0154, 0.5598, 0.2222, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4897 left_y=-0.2389 left_z=0.0615 left_yaw=0.0569 left_pitch=0.0765 left_roll=-0.046 left_gripper=0.0112 right_x=0.2513 right_y=0.0051 right_z=0.0887 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -11.1521, 4.6974, 0.9353, 0.0855, 0.0366, 0.9206, -0.6496, -0.2803, 6.6803, 1.9853, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb15675e58b81b354ed0ddb19361ffb3b94d84ddba77a572ebb505a53e59b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd69ca782554bd66880a09a3f384da43720e95493fd8225e62cde001bc113e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb0d88a04e505dcc8ec664f6ae5818b7578f0dd0d6852e741794d4610f4b5d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEP-jgiXeRU91Ye3HUaQmlaRsNQd_FSWzXk5MIvj9LGvfXltUgpRaILtYZVbmSeb37yR4uTpFMcTN3iAeMC4wWs3pnP-Wrzhy8g45RJjqbZGucdB6uge-YNXu4A5yrNsBuRhrq6WwD7grYvrWjp7k9lQSAA5pMjafwaVW1_l5VHnoueCJOcO1wfoQFgFcbPKnw7Jffo71hfPbf_ng4vSHzf1pHcdjqpRcAsXzYKYmZoV17NHrny4QrW9sab5SFZXKzV7mycMhyeDJtBiJHn6mpTMqIcH4tBjlIeHtvgJhnqFtGH_WJoYaXz-y9ib6GSHKS4jXuUxliHs1QjdQg-L4GGPhQdvun8DBfTpueaBprjaz0Q-1qzAOdolNQZW6KRXc2XjLYc4j_41QCaKHS88z1BleQFDzAd20jHLfjVC1519KF42tNwzkYRGKhghCgi-JpeaRZzzcL4akZFG-bnX-YpnOrEQD9nquRnovdhktWDXd3dsFaxlE-X0ajXCME54rEw5IXJyAuDfQx-Snk2b-EvWib_uKkW5IsY068OCiBlXcEs3LgZo3OHK6hE1bH3dlIfhzWi2XmXPdkvL78dooBOujv82BiB55bbvcEVWZX2peuCnKv6vs0BvXnEB4UlCK2L8_rUYOXacnicT5vGdL-LFVucQQILkepW7mvYIeUGxNH0V9-Jy4t4vu5NglcnnYvrURLdce73XuPHj0sYYDw8aXU3QbSx0Seu_fagz8y47BAZSd_ZH2zAeM9GS9gOYqH30MSe81cO-LLHdOEHLDHM5ZKmOmQIgh5K2phPJBcQ3edalsCxHLIoCk4eWas4aHJS3hsvo3sQWmGZQvjkRZ5bkaPC4IfxA2pxVG6dzRCHbTmC8m5d4GdfH8hGol6VoOPGVVUM--FDnRrFKZ0j_Z6ltLCD6ZMvf32vRbIgtiEPCvh0QPOxsHKMq6F-JeWLERQImjrWYLlzGOoNBPJ7K93cpipO_wvZwC0DhnMUCArZpXWQFnxBgUYNb2U8kEq5H4eWpHfRzoD-BdobhOVG8E7yZupYqeKfNITrV8Siz_os5BMLZ0fBeE1kJkHm3e50gADIZTqJF1t23BPy-yeq9-Z2LxW_Traca7BGZX-gswAcbmIP3L4LmYBKDIBIom9wQPtDqji8THzePe8wgpbtV-_73Z9s2CNtBwgeu5B5Idpx3CTIS9XDLzx9lDRDSOCsvnbf3ES-GurbqmF_1NviBh5U_8RNzoAosw6h5Nr1DIKxZyZSE-3qNNnQcUuCRCO-vkm0qiiLNRY_mky6W6zZ-T2vuLmW8Aiupmw9bcx8wfxX0n-2cybflaRpQcumtxWMXhkZ_aWC57vgRL291ojWpMRSYxqpi8SFu6yjtlXIz6foEiylzG5rge5ki--IrBb0TVT5fY9R9lOHIevT24xgKdmwcADVdZcbtWsM4zDBlu7F2POEJ9CMtAsBqwgNRcgcE1-W49srRyL_DaOyp-kQ5zw9KON1kKHrspySY6HHMyx3J5PbtM1Nc1KbM73MWjVWms0KmAtIr6CJb0cLQzb3-ziqXd7FfptyI2ComktsR-fk9bpgXXiNwHTzhr9CjXeHvduxB4X7czQk36cWMIAgr2rpWGHT43dyUso24Yk9FDaVireUFF4RX1Ej6W2RmylfY0VWtsxdVj1dtZNGxCNmdsmqLI4HV5wCLRIHsyjbOWgbVWcNYplf4JzPl4gTkQHm8NYivxb5ysNvQQ0C1ueeJ2lXITi_8cy-7TzVSi2uKfsFydcNl9MSjof42o4RzJd-g-XS8BNRl0CGyiHeBQ0tgZsxEEH5ccorAXgSQQjHPId3v0G7En-hM4UBs-HvyY4XKs5jN5-R8C5y9f-FbyxKSHrFw6sBHtgd4IHW3tJD0BOH-Y9mrepAwVGdPXT0V5jlWGqTBqx4HNbdKKsf8BuKoNDbSsXLMv-htqwdQti19VUDd4QzMIJyOHyfoEohN0CY8fqxyNSd80Mt1oXsW4G3P8_zSkc6COvgow0wskHuwCdnSFTGmqKcHR-IHuR6MuV0xXmgcFVZDhd2pL4g-cToQAkmKU8Ud4AOMYcCI0fJV0xjlubg3glfVMkpUidslyq-Xl-609VEgOICoZ_YShlVHgrUfLNuil8zEtSm4A-XKOGDLzGmxZTUtHsNKiKGrBBRfmj_ZLxqojdR6VdOpcbwWTExYxXWcaIQXCnp0b0qErUVz8KUjUfMjs_-IT1HoXTbk0lWHgfZgVcvxiqmHGdob10t_6Hfhi-UvZiXe6b27qFJn9b-1cnP6tOI3AHXgGKZS-o-s3kAMqzhTFp5slJyLswjeSenhoCszw8cOP0R-dvwhS_s=",
  "id": "rs_08f5339e5e1b68fd016ab443fb1bac87d081fabae49194a40f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.239,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The close was empty and the cap stayed clearly above the closed fingertips, showing that the low-height radial target was too far forward because descent strongly shifts the wrist image. I’ll reopen and retract about 7 cm at cap height so the cap enters the actual fingertip point.\"}",
  "call_id": "call_UQGmfnif2SpHGIWB4Pc3ryxM",
  "id": "fc_08f5339e5e1b68fd016ab443fd707887d0b356e1d076de7af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UQGmfnif2SpHGIWB4Pc3ryxM",
  "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]: [-0.7395, 2.0121, 1.0454, 0.2428, -0.6563, -0.5194, 0.9952, -0.0154, 0.5407, 0.1982, -0.2611, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4288 left_y=-0.2404 left_z=0.0442 left_yaw=0.0613 left_pitch=0.01 left_roll=-0.0107 left_gripper=0.9952 right_x=0.2479 right_y=0.0052 right_z=0.0823 right_yaw=0.0147 right_pitch=-0.0322 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.7453, -12.0137, 4.6974, 1.1893, -0.2076, 0.1148, -0.1099, -0.5949, -0.3761, 6.9265, 1.9463, -0.1343, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4d1201005c0c81bf1c86f69dac4ab28f5cdc07efaa7e77f5f8aff34e9d6235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d43ed8d4c995db65bec59995b8f5d77a19f28526cf9630c7983c94dd910075b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7596902d925b8f2f43b54eb1726a6328053ed7c0c1dbae82b55aef8eb347809",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.426 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6815, 1.9228, 1.2377, -0.0013, -0.5632, -0.4397, 0.9958, -0.0154, 0.5999, 0.2684, -0.2687, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4566 left_y=-0.2443 left_z=0.1123 left_yaw=0.0061 left_pitch=-0.0032 left_roll=-0.0127 left_gripper=0.9958 right_x=0.2571 right_y=0.005 right_z=0.0989 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.9504, -9.7299, 8.7453, 1.409, -0.3346, 0.149, 0.0122, -0.6222, -0.8547, 6.9265, 1.9023, -0.0904, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 2.1132, 1.2106, 0.3084, -0.5854, -0.4217, 0.0112, -0.0154, 0.5598, 0.2222, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4897 left_y=-0.2389 left_z=0.0615 left_yaw=0.0569 left_pitch=0.0765 left_roll=-0.046 left_gripper=0.0112 right_x=0.2513 right_y=0.0051 right_z=0.0887 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -11.1521, 4.6974, 0.9353, 0.0855, 0.0366, 0.9206, -0.6496, -0.2803, 6.6803, 1.9853, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7395, 2.0121, 1.0454, 0.2428, -0.6563, -0.5194, 0.9952, -0.0154, 0.5407, 0.1982, -0.2611, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4288 left_y=-0.2404 left_z=0.0442 left_yaw=0.0613 left_pitch=0.01 left_roll=-0.0107 left_gripper=0.9952 right_x=0.2479 right_y=0.0052 right_z=0.0823 right_yaw=0.0147 right_pitch=-0.0322 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.7453, -12.0137, 4.6974, 1.1893, -0.2076, 0.1148, -0.1099, -0.5949, -0.3761, 6.9265, 1.9463, -0.1343, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4d1201005c0c81bf1c86f69dac4ab28f5cdc07efaa7e77f5f8aff34e9d6235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d43ed8d4c995db65bec59995b8f5d77a19f28526cf9630c7983c94dd910075b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7596902d925b8f2f43b54eb1726a6328053ed7c0c1dbae82b55aef8eb347809",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08f5339e5e1b68fd016ab44400993487d087ce2b9315694b89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After retracting, the bottle body now runs directly between the open jaws, with the cap farther forward. A secure body grasp is available here, so I’ll close on the bottle rather than continue chasing the small cap.\"}",
  "call_id": "call_N1h0QtldzfFnL0Y5qFEM2R9O",
  "id": "fc_08f5339e5e1b68fd016ab4440563c887d0901bb67642f3b363",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N1h0QtldzfFnL0Y5qFEM2R9O",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7456, 2.0052, 1.0622, 0.284, -0.6895, -0.5251, 0.0114, -0.0154, 0.5129, 0.1707, -0.2527, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4364 left_y=-0.2451 left_z=0.0622 left_yaw=0.0852 left_pitch=0.0698 left_roll=-0.0484 left_gripper=0.0114 right_x=0.2454 right_y=0.0053 right_z=0.0778 right_yaw=0.015 right_pitch=-0.0234 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [0.253, -9.5111, 5.5316, 0.862, 0.0855, 0.0269, 0.906, -0.6359, -0.1573, 6.9675, 1.9609, -0.1245, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3569a67f22ba57abbe4445289c343d89ccfbbab47735e04c685fe0ebb40841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ec49c439f9017ba89f931d566dd702a1129b191d6a35a81e00c568cfbbd394",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5b4eb793b21f13003e956509b2c2824fe9e214141fca07a9622761f4a4760d",
      "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 17 attempt 0 · /responses · status 200 · 2.436 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.1159, 1.2366, 0.1539, -0.5529, -0.4198, 0.9966, -0.0154, 0.5804, 0.244, -0.2638, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.477 left_y=-0.238 left_z=0.0412 left_yaw=0.0251 left_pitch=-0.0378 left_roll=0.0231 left_gripper=0.9966 right_x=0.2541 right_y=0.0051 right_z=0.0934 right_yaw=0.0147 right_pitch=-0.0288 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.253, -11.0701, 6.065, 1.7607, -0.0562, 0.2173, 0.0708, -0.6359, -0.4034, 6.8444, 1.917, -0.1148, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7395, 2.0121, 1.0454, 0.2428, -0.6563, -0.5194, 0.9952, -0.0154, 0.5407, 0.1982, -0.2611, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4288 left_y=-0.2404 left_z=0.0442 left_yaw=0.0613 left_pitch=0.01 left_roll=-0.0107 left_gripper=0.9952 right_x=0.2479 right_y=0.0052 right_z=0.0823 right_yaw=0.0147 right_pitch=-0.0322 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.7453, -12.0137, 4.6974, 1.1893, -0.2076, 0.1148, -0.1099, -0.5949, -0.3761, 6.9265, 1.9463, -0.1343, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7456, 2.0052, 1.0622, 0.284, -0.6895, -0.5251, 0.0114, -0.0154, 0.5129, 0.1707, -0.2527, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4364 left_y=-0.2451 left_z=0.0622 left_yaw=0.0852 left_pitch=0.0698 left_roll=-0.0484 left_gripper=0.0114 right_x=0.2454 right_y=0.0053 right_z=0.0778 right_yaw=0.015 right_pitch=-0.0234 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [0.253, -9.5111, 5.5316, 0.862, 0.0855, 0.0269, 0.906, -0.6359, -0.1573, 6.9675, 1.9609, -0.1245, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3569a67f22ba57abbe4445289c343d89ccfbbab47735e04c685fe0ebb40841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ec49c439f9017ba89f931d566dd702a1129b191d6a35a81e00c568cfbbd394",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5b4eb793b21f13003e956509b2c2824fe9e214141fca07a9622761f4a4760d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQNSRgZGcmEN8X4SThpYLuTGUva6Etmqggy2MKuIXpbEdPrBVMNECWBCGpjeKFi8ExhlEFdYpOyoW0wMJdzLlMtFZhSsRXKddOtsvBxcTk9A0OaUW4CNuwLmCnPWNt8XKYOj6IggdsdU_JFC1Np5183Gi4qNwagk__Zcs-KNCM4WUCt1jt0vHcJc40JhmXcd_JRN7kZLJ_nhL4P7K1MDwJWtfvP0OX_hJ9eSozcJ1mPq9cgOSZyHy24iAgAg9bwcNnVuqbDnphFF0nY_yoF5BdqABo2ZV9kik5AK1e8V1O_B43yoWcHAl86P7nncZvTJx2uQcEF0gySHToulv3CtJI3EJ6WusLjo48x_MzMj0EKsLL4ZS2HJkqsJNtlw-Wwy1mf2WbIF0tG8ZYX5uVFtF8oJqITBmELlhcWA42SlcL-g-zIAS9AMjGJW1AGCrc6KDDZL0FQDp4DxIhGzmeP07y6p9dvEXZ7vhfzICiFUkbvDOfq-cMdW3NRLoXzlZuAkIE5qwJXlRODObJWK7OVO-uGbsDnZFlRK8WD2ZsB3m9Ve2t-ZmoMeKXnknbzm5yMibiFjLubfc1tAbCXyUm_Ubb9nWGvPWvVIB_mc2pfto1xG9FJjTKxqpRSyuZ6AQWY0ItMEUU7ZBCXqJ7FgMwEaTG08yMLuXZGQV5EhfDjiSeolDSOKJmVuvXwnv69yNreHKLIN6n9eA_s1taLuf74ASG_KpjohElcvRib1xdnE3IOGpyWqxnTfdRPV1gMLcqjazVnTU-US4qwLzwuyACA3HTS4uWuD7omGvewRTgTdQ9omlAupw66q_aLeSpaWHZ8jHnMhwLb44hogOXvv-LC803xPTBlGGKOd1boZyqOD4nsQOPhpA4h2iQLXgke-NWRUTksi7nHQBiWqPWDOcMPAV22f_nCdEvbmVYsnPmXXGE2_gJPRbCfa692uFGSFGUEPuukUIZG0iW7CC2Mqky2tfXk_6YHw4QUbOp3sVF-UO9wskRJK0mCseXyR4iMhRKEHsWW4_qpkRDlc3rimaxJsexijt2f1mii_qA_dXRnlblS61gbPgGzi-qG3dVUMxSYePFQIxRd69rYBNWEusTUjMnQSPPo_RF28qb1O3Br-MiqzRTKe_KHaLlTLS4dH9oyS7uq_F1eTLVhw7Nfq4rPXM0IXKdzRJYNbkQCDngBiltlwHwqroT6tdMMkLduO4exk0L9gPzZ272J6jPmdps9Ituj5TK8tL-iENyhcYSOkkk5g4xWVj8_XeC_AUMr60qLHeHRs12VnmKt4AttaCfSdnuMWr4CXeRZ_6HySqYbro08FaE-1CD4b4PrzUepSH6ppb01FC4QjPrTXKuWxvNFOa-ch92wZxRlqMJX2HydE9w4TpAq-tOXL97uAT4kRA_CQQu1youWDyOV7mVCXBZcnzax79vZJAyVuoH6d5jRQvpimVaBJvO0VktvKrvyYfRNtB2FIIv8G1TkWF4Vhzpf258-0DR81NttsPGGD0buaOzG1lqgd__bKDxopYSnQSHQAHtVoGj8BMMi0Fame3Mz9t86T7hqpusjj_wrgRsZJ9u5NDQmpacubSUfLT3ediG2-vFMOGID41bdyGYNZDMFJpFJRrtFEdD7dlaEtutX26u1K_YbdIBKgraaMnUmYVpo0jGmT6dvuEGhtBkz3vVmdo02P3Bk2IsKmHeGn9J1zWfEH43v_5HwF1i6T8EZOK1zeFkHpimhsFpkN78MDusgG5ePkEALmY9VENUMeTuvgac9JB4xo9anZiv64nSizpVLQsECiOhv_mpfv8Dv8wcsD9oM4qbOBcnt7DidCaTOMgq1kHaSAnNfaQXmgSYNlTXkpyZ4GOBjvKPGjWkVy5T4ptbjuQ9NW1Thcj-762Mj6Qb68VNfYfeQF0SHHVHsW-aC4pw28MxqhrNb4vJDWEN9JdUWaiqeHkZCiJzfoww5kx__z1ghn8y8DN3MRiSSoZd307v9j2Gx7e9nRDlaaKCG8kh3GaCBErb8fUzXuRX1AERvAtrKjQugC6lZx5flR1sSWavN4GkcycCETFK287cp69D9X5DH6RgdZMQvonto8Cv5zkIOl0APLP9vBYHGKeyxbTjSi_inpq5LrN8_sTKRYtlrqaZdqtwXCe_zDmBq93QepSyUVx3Qz8vgNvfLVbONZs4rtTqH-Tg6XsWIfxPAVAuPsojJRFkLb11v9ptvfgJWiCp92C6riGYWDM6DkWst20dwwNMCax7DIVuOA1Slq-I192hvUgp7HhK5EJtUFEI-8jLGoe0Ij_PmOMVF2mewzRuGO5HAE9X7FUtchU8kbN1MipA8G5cLd9icve5mmdrSPfFGNhW0i4WSleG0PIMNsCV7bG2cfCh7ePj3ZkSkVH2P3t1W6Fw-VgCDTBazlBQr5rRYW4S1chZxjF_gQmRlcRKZwLN2_XA2ZRf6_FsDW3N6K1ifYL0OUJS6s2s50_30BEU6e2EwmLgLKqMfl1Z_TzgsgMKpwY-f9uWqXgOemX984mKwgZlauBI--Yjy7pr1NQ4xyc4hLKM7HyzUZcnpG8_zH73QDIftrkXvwT8pjkgHeRsqU6_FJcIHuF-3I_tjeqDQiWBYJrUDuxiJBSgGfAADcdE4kP_uXGi8IyQeQSpbqCKnPCGWsgo7drzVs-rTWsd8XX8-BnAHYM_p7Utfr4Qwu25sJrvfAfA1ucG-AbIjhFbF1A89EmHqC8H_mBaPS2Dwz_4Md9MIxxx7k6PD4arJSs3yCBqGGiSHbwPitzxzHheBCEbGI8twsv06R9LyLs2GogUPFm8usEb1pByG9QzmL8ZSIozEwkxCtBRUB6MNSF5h1ep8nYJ3sa2QuzwESzCWlwH8-ogI6vkqPlpTBMTHBwyWLr1s3Vk4bgQzw-Qyvs7-CgGd3uZQvq1oLJ27Xap-kFmDkdWpqbWxpK3QZsbzRicY6X0FMz9xrdbKLPU5UclDFCxvqpepmyhuEvNlyBV2HFYMPEdlFmjVJheyfyGJ-vcFzZz5J58ieLjRiOYg4kporVOnsXs95yB_IJNSL9q54DgvUUhBlc-yfb3BIpolmZxp8_GE_Mk2jvEotJ-GRfcejC2814h9B4PyV7nbzXFHdIiEL9Ck_1GaojPuLW9YS2TV-SEi4gUh1IOHI3I4tPYeLouz2EKYcy2UdXB3RQoASerrlARZVo0GGZQ-DFdU75XA8fXQSdQdIj6e1_yPCAkzLcqwPkLJWSqS3P19uZhloOlyVE09iv_8h9QI0qkkUcpB-imR_HIgNkTDtLisSEV5gqnZtSFabkchqbT5crPVM47poLXoXcap_ENP3-L-3J-VUz3Le4LPfpL2g4HPAafzT1R_fHe7P3zVxOeDsB-fsWwD1uK4VEdZ26uNzffxi8bdws-7RxfKNFCCUjReVBcrjT3PsOjUITvbaGn0YM8GmT9DI9-nQA1YAJMCIyJ5im-GBDRbsrfvmQM6bU2WsORV8Kq54cAdBc-Ih0zg7rjID20ZgNzncoxqE5fkxflpMu4514cCLljcj-E0GiEId7M9agk0N7Ln4R3z__ofCiQ=",
  "id": "rs_08f5339e5e1b68fd016ab44408402c87d097c778d49d099542",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.24,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The body close also returned empty; the eef rose to 6 cm during closure, so the jaws were riding above the bottle rather than straddling it. I’ll reopen, move forward onto the wider body, and command table-level contact so the fingertips surround it from both sides.\"}",
  "call_id": "call_h0cugN2G86TWRIgTkrs6TgIS",
  "id": "fc_08f5339e5e1b68fd016ab4440c748487d0ad41db741e44d128",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h0cugN2G86TWRIgTkrs6TgIS",
  "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]: [-0.6868, 2.1612, 1.1873, 0.3641, -0.6693, -0.5175, 0.9952, -0.0154, 0.4942, 0.1513, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4781 left_y=-0.2457 left_z=0.0431 left_yaw=0.1272 left_pitch=0.0948 left_roll=-0.0859 left_gripper=0.9952 right_x=0.2439 right_y=0.0052 right_z=0.0745 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.2427, 5.3949, 0.8181, 0.2222, 0.2662, -0.1392, -0.5675, -0.1846, 7.2, 1.8193, -0.1343, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba78609fb0bedf7b4778a36be5ff714eb2eccd8bde3d10655dde484cc5ed3a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079a5735764898b92410f349fa85cdb06e2189963a0386bd5f27de450a886b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fba9d43575daf03a402b361dce44140f972bd4d4ad8d9a76f72856da883060e",
      "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 · 8.717 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 2.1132, 1.2106, 0.3084, -0.5854, -0.4217, 0.0112, -0.0154, 0.5598, 0.2222, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4897 left_y=-0.2389 left_z=0.0615 left_yaw=0.0569 left_pitch=0.0765 left_roll=-0.046 left_gripper=0.0112 right_x=0.2513 right_y=0.0051 right_z=0.0887 right_yaw=0.0147 right_pitch=-0.0276 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -11.1521, 4.6974, 0.9353, 0.0855, 0.0366, 0.9206, -0.6496, -0.2803, 6.6803, 1.9853, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7456, 2.0052, 1.0622, 0.284, -0.6895, -0.5251, 0.0114, -0.0154, 0.5129, 0.1707, -0.2527, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4364 left_y=-0.2451 left_z=0.0622 left_yaw=0.0852 left_pitch=0.0698 left_roll=-0.0484 left_gripper=0.0114 right_x=0.2454 right_y=0.0053 right_z=0.0778 right_yaw=0.015 right_pitch=-0.0234 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [0.253, -9.5111, 5.5316, 0.862, 0.0855, 0.0269, 0.906, -0.6359, -0.1573, 6.9675, 1.9609, -0.1245, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.1612, 1.1873, 0.3641, -0.6693, -0.5175, 0.9952, -0.0154, 0.4942, 0.1513, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4781 left_y=-0.2457 left_z=0.0431 left_yaw=0.1272 left_pitch=0.0948 left_roll=-0.0859 left_gripper=0.9952 right_x=0.2439 right_y=0.0052 right_z=0.0745 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.2427, 5.3949, 0.8181, 0.2222, 0.2662, -0.1392, -0.5675, -0.1846, 7.2, 1.8193, -0.1343, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba78609fb0bedf7b4778a36be5ff714eb2eccd8bde3d10655dde484cc5ed3a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079a5735764898b92410f349fa85cdb06e2189963a0386bd5f27de450a886b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fba9d43575daf03a402b361dce44140f972bd4d4ad8d9a76f72856da883060e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQQ4oXEdNYtXMSwWeqBBJALdqlhCgl8LImhkg7dOMYx170_FYz8_b5jekFYE8dI5T3OYyYx_DMkVg1CEr6oBul5FMHaVCCHArrZiFYLJTTdn7zLNFdo7lFId1q-MsY39yChJSm7uKdM7mTVXECTXlruoVGbDyX-uyOEodtG99cpONzxADmJNF0ZJeoUddYJM171AP-8fggw6bF63Oh9x6l666wTF3errpEWKuJJFFI7QdSx4KlO1zDmcVb10zmmBBlQ04K8Ic134XHNfzyjrOvTu21BdUfYt6BczFPmhteuCMCmfa22LKHuvDAXimcwI-tDrK91CEVwnQ7ie8XMLVFJmYoyO2E7mPQMlhg3CQsGKn5VgY-tWyxbh5RDEymKPXmmdKFULWTbVB-LTmYwA92MxCZCZsZAKNbfNgY4R89mockBrXlIBRZkU02PYOTsvQxcZ5dnnuzAEvkvwEXy3Sn3uWFGeSAFcHjJnXgbJ_zvDPBdqVWH6xtOjSGrGA0oOeqOUm8FwtNWRgRdOG7aCeV72Fupr_eI7s4aeG6MYRkQlbZQJ0zpR5KOiidwWkdGDaxiOgyS0CxHBzmPuUAfV8suZNO1oiprj1gYk1yW1ZfvTSQqUSzsjAO8e3yfwsISFq9El3DLywNfE9ebu6Mn2uTU8aJFD7kh28xmH4ByikQym6UV2jmVsqe5ELsAA8ZdxZmR1U5uzD5O8dEcU0HyVFmKMhd_lcNPntxGg5AssrkdaenKE4ls-AHG18OHLaqMa6BjaOJ4hZnvz7-fiJK3iS-kPqCIClX96B48o7bofaB4wawn_MNjuuJaDW5cTNOUmRXQ4nkRwZrHxZKeGDTIjQTmJ1J8EANWkr2ZQXyCgjGtRo-3E7p8KtFrX1fVF8VvhAkWn5sjoWyOvZeoESGbcyHpxC2qX2lqQcc0sP6h4RbhQORd5BKavVpY6p6UQIttSYRXpADDo7Ra1KQDD4di-ONBocrQiKn5wtZWTWEjvCAjO4gJD6lSk8iISBsximZNi3FOj67htrf_v0r-K1YyC-szoZMMgKo6hwf6iV21r8xo9OHG3R7SBcjDPb2Obj_FBXYexSviCsb190bhHdQm-nj-iRh_OMlhdKXNT4jwfdk3DZb-EJIqdoCeH0tb2HIaTjX9A1fGf2mIlA1gcID_WWhQvcSi_YyVdjfUCZ4UFadkg9D67lj6PwxfdKo1DSbxqdASok4Jzsc4vHf_VFnbSX4cKufmLxDRRuX2Kcxyty1xuXgmQwPweW_BYIgmvYQB0uCOW5_1A0VkipNzhLZBBnmeN6f9_kWn6VGRVJ7EMXG_BQmgFMnziS9AJ-8aKKYwuTUr9PSPNoYvpgURP0Ly9UWZdbN3WTutDjI22dJHPvX-N2q5-W-dw0O-hOeG_QCXHM3pdCVilVUd4iTiJLhCbqH3OA==",
  "id": "rs_08f5339e5e1b68fd016ab4440f916087d0a1dd90a204912fa0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The table-level approach stopped at z≈4.3 cm against the bottle, and the wrist view now clearly shows both fingertips straddling its wide body. I’ll close from this contact pose and verify a nonzero settled opening.\"}",
  "call_id": "call_XcXvVO8T2efKurcZOW2dFJNV",
  "id": "fc_08f5339e5e1b68fd016ab4440ff9f887d08e5d437daf4b4350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XcXvVO8T2efKurcZOW2dFJNV",
  "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]: [-0.6857, 2.1635, 1.2961, 0.1829, -0.7006, -0.5327, 0.368, -0.0154, 0.482, 0.1429, -0.2451, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4851 left_y=-0.2451 left_z=0.0534 left_yaw=0.1563 left_pitch=0.0577 left_roll=-0.0314 left_gripper=0.368 right_x=0.2431 right_y=0.0053 right_z=0.0736 right_yaw=0.0147 right_pitch=-0.0128 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -11.8769, 6.653, 0.8523, 0.0562, -0.0317, 0.2955, -0.6496, -0.0479, 6.5709, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458caa122181e77c374f766574057976c3d4bae3c7790eb30a3f3c37a922d200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fec1400f63286302fc78c8cf1cfb689a9def3ec0895b0d9221c952e9d876b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cf48f0acfd7fe3784d63d690c7ae88641d2984db2dfd78b3e19fdc06331722",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.816 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7395, 2.0121, 1.0454, 0.2428, -0.6563, -0.5194, 0.9952, -0.0154, 0.5407, 0.1982, -0.2611, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4288 left_y=-0.2404 left_z=0.0442 left_yaw=0.0613 left_pitch=0.01 left_roll=-0.0107 left_gripper=0.9952 right_x=0.2479 right_y=0.0052 right_z=0.0823 right_yaw=0.0147 right_pitch=-0.0322 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [-0.7453, -12.0137, 4.6974, 1.1893, -0.2076, 0.1148, -0.1099, -0.5949, -0.3761, 6.9265, 1.9463, -0.1343, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.1612, 1.1873, 0.3641, -0.6693, -0.5175, 0.9952, -0.0154, 0.4942, 0.1513, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4781 left_y=-0.2457 left_z=0.0431 left_yaw=0.1272 left_pitch=0.0948 left_roll=-0.0859 left_gripper=0.9952 right_x=0.2439 right_y=0.0052 right_z=0.0745 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.2427, 5.3949, 0.8181, 0.2222, 0.2662, -0.1392, -0.5675, -0.1846, 7.2, 1.8193, -0.1343, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 2.1635, 1.2961, 0.1829, -0.7006, -0.5327, 0.368, -0.0154, 0.482, 0.1429, -0.2451, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4851 left_y=-0.2451 left_z=0.0534 left_yaw=0.1563 left_pitch=0.0577 left_roll=-0.0314 left_gripper=0.368 right_x=0.2431 right_y=0.0053 right_z=0.0736 right_yaw=0.0147 right_pitch=-0.0128 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -11.8769, 6.653, 0.8523, 0.0562, -0.0317, 0.2955, -0.6496, -0.0479, 6.5709, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458caa122181e77c374f766574057976c3d4bae3c7790eb30a3f3c37a922d200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fec1400f63286302fc78c8cf1cfb689a9def3ec0895b0d9221c952e9d876b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cf48f0acfd7fe3784d63d690c7ae88641d2984db2dfd78b3e19fdc06331722",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_08f5339e5e1b68fd016ab444138f6487d082574c54e89ad6ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.245,\"left_z\":0.055},\"note\":\"The gripper has a solid 3.5 cm body grasp, but it is behind the cap and the cap is near the far reach limit. I’ll drag the bottle straight toward the base while keeping it on the table, bringing its cap into an easy low-height grasp zone.\"}",
  "call_id": "call_ZCwgKU0KuzSqpkeKsuuEuxai",
  "id": "fc_08f5339e5e1b68fd016ab44419f71887d0acb59a3d07dc4b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZCwgKU0KuzSqpkeKsuuEuxai",
  "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]: [-0.8955, 1.9266, 1.0016, 0.0525, -0.8261, -0.7494, 0.368, -0.0154, 0.4755, 0.1326, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3726 left_y=-0.2517 left_z=0.0546 left_yaw=0.1448 left_pitch=0.0165 left_roll=-0.0151 left_gripper=0.368 right_x=0.2416 right_y=0.0053 right_z=0.0702 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [-0.5949, -11.3846, 4.5333, 0.9792, -0.2711, -0.0659, -0.0073, -0.6769, 0.294, 6.9265, 1.8584, -0.105, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6de27433d63611c8dd18c42583883c3fbe32cc87d3b0156dbc15a8c0422879f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2271c8ebfb2e54b11be6fb57d4e49ef41158a2ae4bef7d4c7be4e97658ec95ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b89ff028f7aec4a3ac73a0a28fd84494022e975a6291c1250d40eb1d356644",
      "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 · 7.272 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7456, 2.0052, 1.0622, 0.284, -0.6895, -0.5251, 0.0114, -0.0154, 0.5129, 0.1707, -0.2527, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4364 left_y=-0.2451 left_z=0.0622 left_yaw=0.0852 left_pitch=0.0698 left_roll=-0.0484 left_gripper=0.0114 right_x=0.2454 right_y=0.0053 right_z=0.0778 right_yaw=0.015 right_pitch=-0.0234 right_roll=-0.003 right_gripper=0.9984\nstate[joint_eff]: [0.253, -9.5111, 5.5316, 0.862, 0.0855, 0.0269, 0.906, -0.6359, -0.1573, 6.9675, 1.9609, -0.1245, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 2.1635, 1.2961, 0.1829, -0.7006, -0.5327, 0.368, -0.0154, 0.482, 0.1429, -0.2451, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4851 left_y=-0.2451 left_z=0.0534 left_yaw=0.1563 left_pitch=0.0577 left_roll=-0.0314 left_gripper=0.368 right_x=0.2431 right_y=0.0053 right_z=0.0736 right_yaw=0.0147 right_pitch=-0.0128 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -11.8769, 6.653, 0.8523, 0.0562, -0.0317, 0.2955, -0.6496, -0.0479, 6.5709, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8955, 1.9266, 1.0016, 0.0525, -0.8261, -0.7494, 0.368, -0.0154, 0.4755, 0.1326, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3726 left_y=-0.2517 left_z=0.0546 left_yaw=0.1448 left_pitch=0.0165 left_roll=-0.0151 left_gripper=0.368 right_x=0.2416 right_y=0.0053 right_z=0.0702 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [-0.5949, -11.3846, 4.5333, 0.9792, -0.2711, -0.0659, -0.0073, -0.6769, 0.294, 6.9265, 1.8584, -0.105, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6de27433d63611c8dd18c42583883c3fbe32cc87d3b0156dbc15a8c0422879f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2271c8ebfb2e54b11be6fb57d4e49ef41158a2ae4bef7d4c7be4e97658ec95ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b89ff028f7aec4a3ac73a0a28fd84494022e975a6291c1250d40eb1d356644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQfWVkbYi7JTA4WLnaZOhA5EMcA0sXbRrFKf8IyCbuz2ynGKbQb-cesDSaiPZJEmQe9kPUDmOl6AC5vdJiZV82yBmgy2Ua_qc93Lj_inPq15cK-dBfUcAdr9TYE18ZZ1aaN1ranzwkmSCO1xpO_nwiQkZkITHb_gAq07GJZlDhCRksM7_5enprlDG6z5-YnMNMS4XXZw4YDPHTfRAHUY1TM-KR2X7P21p33tZ9r2r0aUHJjTKPt6WZLZ-wJ3Dej0d08w1NCCtsRaP12hs6YKhIt6DPSRiev9U367ynvW5esV7s1abm0iEd6QNkH3oV_0XMuC0_pvMtHl1ZEkJFChRrmNh8FQetmyGf0QeCawqVFoLaCkXg0-JztiRC4RQJR-MflBv23YcOXVF6icrUE0xG3k45qGuQIqDYPTKPmPklCMbuOsk1QpdPx_yfyMWPPr83qejD2O8DAhxm2shGP9dFRsEgEK2sqoa80w4gsIuA6aud1A3UbQu7Xzvpn524MisBOhfiSJxONa_LUJx9pcpoc7_9Ie_VwMRKH3__09jYBvbW6cAxqDbOMimI0Ce7W-8XIsqHvyYubdJVTEDaqeCvTo3g6ZS1rPggdASXkhn9C6sCA8F8RvvxzINdGzBQ2Tc_Qze23g-PlZ7fHk25AoyhldgpUOP41RAop2nXygSZS0IN5w8_KBX462SZ7Ry-3El4jVj3r8lLaNzhu50ADK2XFPlnyVsu05fvyYmDmz1ZDmP-YITF6NbfVIu5PQ9mb-8A2ROdSCIi8g2Ti38jHZ-tzy_9lxyh8MA2-g46OqnxDVZOxEUqlAlMx7BoOMpeEWjCfrQSJYJC-Z7iGf6ohiQkJGr7hV6wEQ6ZCKTw4P7eL8nLV97_XwEvVhnAKjXSB2J6KKI_cmi6s1EXao7gBKV0ec3zCDARZy0Obc8v9fUWi7LM6R2kJ0VPOnFZIWHADvk_vkzjQgKVlLX9v-P-8iphWk-ChQq3ClhfkPvrqgof3cOJGNfybw5-917OaZPNcNmIyMv4lZcXXnmQBOLq-Zy33v1ILVrqmD_RUQfdgT1aoaqit3Hfh8nlYCsVMqn5mhu2kMXT-oQEOzRa6PUL9WzzA3zPIXc07GLKU1Kr5anLi99kXVI-HEAWKTRhlwgXqDDm6Je7Y8AuMXEWoNHdCK46FsVSlprJHeaZSQA5aZUDhMaLpb1fe8P9EefgLuU55VO56136QsPIKEM5slttiFZp3mm3A9gOTcvLW8dkKpEj5r1jt4NhRiWdVR2kTl8u1kUrL8LBwVO8EOPqUxwU3dbP_5uEb0ERpQg_A4B9gwx0bC-XL73qCavc6-b3FIwJq82LAZLw_w6PjTqFtFliw94xBQDB-lH7jgALERdIm9JeYRcpvOfC0SEyJh5Ou9IbWvxd0rhtL9sHS3W4CtUTcSnpApKHkY01_HSgi-bfgCkeiIox4Gzrds0W1ZHQXFu9FnaHkj23_LzBgAGbz1Xw6vIwEzkEGreqqIaqWbK73F-3pOC_U9ftLyYTpvgdrqMhyk4QL_M6zHN0raEcjFJQWYtz-QdNLrRJs_sY6_raJV17p7RwlJNsC4WhEKFmeDZv0RvVoGSJGbQHeX7Sctj2lx5sFfSCFgMUAyEmA3duvzUOYyldM2qrwzUpfgqsEpamxyNKe2MGmbCCGX_y5rjRSRlusXHdrhy1ZFNXK8gTmp4HmlZwqwpRtgHpLZZDdHp3jeIl2a3mbHyYhUaFZ4VVv0hIcbaR86nTu113JQ31gMzOD9QVo_rv90KX8YzfAHqchCGxjEeVQpUYcBoSBph048JO1hhk5NRbvvNA68YyZoWAZ4zJBEYglfdRm9X9grSD3fzhTwdxLFJz41HfBxSTMaSPWAZldgMbp0WRDlwrw08adV1rCg8Ai9L64FWvHxSJ0T9kd5RA1OG-WSY0w1bJdOfnUyBVYrdvED1leog3TkS7Ym_7eabl63kSatWpHPza7oXFoF6MarxWfs671Nwf06ILTvLAgbXcqq602eVWBg7YKC_wNPO0yBpiy3EvuzscLDsbr",
  "id": "rs_08f5339e5e1b68fd016ab4441cbfe087d089f35ed1cb224908",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The bottle has slid about 11 cm toward the base while staying aligned, leaving its cap clearly forward of the jaws and within reach. I’ll release the body here before moving to the cap end.\"}",
  "call_id": "call_6RbWlqS5Z736PHIkwk0uRNNS",
  "id": "fc_08f5339e5e1b68fd016ab4441e6b3887d0b6c8b0a69ca47a16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6RbWlqS5Z736PHIkwk0uRNNS",
  "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]: [-0.8925, 1.9194, 0.9993, 0.017, -0.8238, -0.7616, 0.9954, -0.0154, 0.4625, 0.1196, -0.2451, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.2466 left_z=0.0524 left_yaw=0.1527 left_pitch=-0.0005 left_roll=0.0 left_gripper=0.9954 right_x=0.2401 right_y=0.0054 right_z=0.0673 right_yaw=0.0148 right_pitch=-0.0166 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.2667, 7.4735, 1.2186, -0.315, 0.1001, -0.0464, -0.6632, -0.0068, 6.8581, 1.8877, -0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5325609c3e649aa0a42fbb5ae58b2ea72cbd8f661572cfed3457edb464a762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ce021ffebb7846bee294bdd3e272d504ad0f5301c20de2ce0e6430ba1b5e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ecc82f25e23b167a73a1fb02c6f5429354753eb05e671e2521d42f74968f4a",
      "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 · 3.194 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.1612, 1.1873, 0.3641, -0.6693, -0.5175, 0.9952, -0.0154, 0.4942, 0.1513, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4781 left_y=-0.2457 left_z=0.0431 left_yaw=0.1272 left_pitch=0.0948 left_roll=-0.0859 left_gripper=0.9952 right_x=0.2439 right_y=0.0052 right_z=0.0745 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.2427, 5.3949, 0.8181, 0.2222, 0.2662, -0.1392, -0.5675, -0.1846, 7.2, 1.8193, -0.1343, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8955, 1.9266, 1.0016, 0.0525, -0.8261, -0.7494, 0.368, -0.0154, 0.4755, 0.1326, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3726 left_y=-0.2517 left_z=0.0546 left_yaw=0.1448 left_pitch=0.0165 left_roll=-0.0151 left_gripper=0.368 right_x=0.2416 right_y=0.0053 right_z=0.0702 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [-0.5949, -11.3846, 4.5333, 0.9792, -0.2711, -0.0659, -0.0073, -0.6769, 0.294, 6.9265, 1.8584, -0.105, -0.0317, -0.0122]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8925, 1.9194, 0.9993, 0.017, -0.8238, -0.7616, 0.9954, -0.0154, 0.4625, 0.1196, -0.2451, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.2466 left_z=0.0524 left_yaw=0.1527 left_pitch=-0.0005 left_roll=0.0 left_gripper=0.9954 right_x=0.2401 right_y=0.0054 right_z=0.0673 right_yaw=0.0148 right_pitch=-0.0166 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.2667, 7.4735, 1.2186, -0.315, 0.1001, -0.0464, -0.6632, -0.0068, 6.8581, 1.8877, -0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5325609c3e649aa0a42fbb5ae58b2ea72cbd8f661572cfed3457edb464a762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ce021ffebb7846bee294bdd3e272d504ad0f5301c20de2ce0e6430ba1b5e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ecc82f25e23b167a73a1fb02c6f5429354753eb05e671e2521d42f74968f4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQnEsBDyDzIqAkGcMZYxJSqA-tWa0HAHD6KGUi0GopsDdrSoR28C-9e5dczyrvb9HUgcM2oIuHD2tJGKhMXzD39rCN34oNAn6cMUoMoVcazHl9gmcWeuzLLqQcztFStgjZLr48Zz30vUTaP7fhTXmzsSq-roK9pzzLk1DffSZnSKNvDj5hN-ijA5Vex_XQAlkQLYZUI6-S4l9BQ49UCFy2VmlEuBqcVuPEEn_rmFfJh3wwcfXXvrriA4b1KAIKi8k-DnIcvOMTvPaEpesZmBCSV_j-TjG4MOtTktOFxP1D1I1aOoshKfNLyD0LbyH8u56ZmYGq5j_Y2RnyR3WuwZgMJrHkCuiP6FSexXVXseTn6_dA3gwAK7oaRJGprhV613Lz_Q8cJ0AaDjptRd3X6fjf86kMpsEbc4suQKhbfp0yRSStVNLHr7nQOzjeDsH-YyxWgdRJo8wNTvvc3hGrCcKB4Ywf8glQblmMMpSqrJnf_ss12_q8ysQbdAlhboU4uoCYzkvN73CGH_sgX61oCSQ6kCQM4U6zhbWCOX-WAlv3tano1jdEKxZXSqUdoSuEOp-0xluzbMCVMr74IOc2AJjh499vgdR_2xrhKHzEds1yEPYcNO3KKVF3MS9JE1uEm4mU1BWtiplk0Xl6SfrfT2KHfGkkP38xHh2GOi0hIY7FTotGEUDu_JrpXT2QMJ3UgwjmYwmAmZVSs_a-NDx47G9G24Tlj5MfUzEpHR1ZwLSbDMZg7nx59QbZtdEwBV9neCI8BkSK006R5-boUeyqkGPte6d1zirD855S7dTHsuGjCwmRVICxf1dzyJ-DmDXDeQ95S6DU_WT4s88BOmtRLUsAuxfawOin9gJ3iHczUQQKHBZvCEk2c2F8sFyl8D7fWKvaI0HwtXDqPtJqlm6L-3uUhLbpTX3jw6fA4HsWtpgbGf0TQjjTEY1S9D1Z6_oxGyCazJYnd3CZ0IT2stI1n7Ot1bIpen8erBCX3fQzWoWxr5utu4mtPyJeGb92ImFRuQ5b4AsbhV66ryZg0owNta5OLVXv-pG0msoXOh6bTQwgva4Eam9BRFOCgMr-gfj0IxY2_Y79nVe2E6fiWKV_YXhdLDoGccPSdHISAyNiGoLVlcUrKzsDVaOoNLZTFUTUxdRQ_pywC9Qac4FD8aQ3iCqhuetwMCGBzSLw01G10HesOYTqkda1PsrPBzkxKSGmfSNtYWIyO7qovi8eM_QtjMO1relCXWubA8yfD9a1SyNINjKGtXw-sUPJ3FroR0MoJuPkV-lH5NGGflYZAbzXYIPk7kBVHSMOqbG7bEGKTCJvZ7OWAEpAwsD8PMsseOOUgckqGtJyJCa7ekAx2HpyA6jLRBzhflYB3tMyZmZ03yXt5Kbff29PbgTAXpEKix4a8yyiw4noDkqeZ4dsuUNjZ5IXHidY98ujRlGJQeZjNJ5eLF1_-SNlwQK45-4_JcpC-uh_3DIJVRVq7NflrSNebiwXWZ-r3AeahcezksKi2hStC3XaLuLVp9NjCY2ZbGy3Yzb6K6vvnGD9blWp6Hs8ECaG8AmLVKPcBziEyLbHehDn7SHYluLuM7PabzKe5_rRNSOx5Y2FLebC1uTo_OcREPV0UWfsL0ZkuAB5jpYuv9EEUklbQRa1VjH3erLWUXzwq50FcLQ-KUkNuU3nTNkf8cyV8BzzfxaVsmZVY1fg7xRSMyMCQZ6utz6IErJl6JrdjWNKoLuSyMGr8Iz4UxgDKD9LukEMp9zLi2CqfZLSgqq0J-j33UiRJgI71T3DXRrSXIlE8gYAaL2htC8e883nM_XsnlF08bO3F2BOy-w8pzn4Uo6ZZWEnL-nWgMG-VnvF-mO-u",
  "id": "rs_08f5339e5e1b68fd016ab4442312ac87d09122c6ab1013c727",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap-to-jaw separation is still roughly a full bottle length, placing the cap beyond low-height reach. The body remains centered between the open jaws, so I’ll regrasp it and drag it another 10–12 cm inward.\"}",
  "call_id": "call_JfPdYBSZsucs117XjwniiKGH",
  "id": "fc_08f5339e5e1b68fd016ab44425a0e487d093067ae97b99db69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JfPdYBSZsucs117XjwniiKGH",
  "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]: [-0.8925, 1.9182, 0.9993, 0.0475, -0.8371, -0.7631, 0.0108, -0.0154, 0.4496, 0.1108, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3732 left_y=-0.2483 left_z=0.0578 left_yaw=0.1622 left_pitch=0.0243 left_roll=-0.0236 left_gripper=0.0108 right_x=0.2391 right_y=0.0053 right_z=0.0659 right_yaw=0.0147 right_pitch=-0.0135 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -9.2923, 5.5453, 0.9841, -0.2418, -0.0464, 0.9158, -0.4171, 0.1162, 6.5846, 1.8486, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc28dc8d81c554874ac404b835b2392d569f3bdbfb49be2b14c3f1a75938ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f75e5083964dcee7448293844ad94ecef53f773234883402b47b06f0a96086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf11785b4c432222551c4bd24e5969381eac7d91a9c7d0e1948709e1b08c16d",
      "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 22 attempt 0 · /responses · status 200 · 3.319 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 2.1635, 1.2961, 0.1829, -0.7006, -0.5327, 0.368, -0.0154, 0.482, 0.1429, -0.2451, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4851 left_y=-0.2451 left_z=0.0534 left_yaw=0.1563 left_pitch=0.0577 left_roll=-0.0314 left_gripper=0.368 right_x=0.2431 right_y=0.0053 right_z=0.0736 right_yaw=0.0147 right_pitch=-0.0128 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -11.8769, 6.653, 0.8523, 0.0562, -0.0317, 0.2955, -0.6496, -0.0479, 6.5709, 1.8535, -0.0855, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8925, 1.9194, 0.9993, 0.017, -0.8238, -0.7616, 0.9954, -0.0154, 0.4625, 0.1196, -0.2451, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.2466 left_z=0.0524 left_yaw=0.1527 left_pitch=-0.0005 left_roll=0.0 left_gripper=0.9954 right_x=0.2401 right_y=0.0054 right_z=0.0673 right_yaw=0.0148 right_pitch=-0.0166 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.2667, 7.4735, 1.2186, -0.315, 0.1001, -0.0464, -0.6632, -0.0068, 6.8581, 1.8877, -0.1001, -0.022, -0.0122]",
      "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]: [-0.8925, 1.9182, 0.9993, 0.0475, -0.8371, -0.7631, 0.0108, -0.0154, 0.4496, 0.1108, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3732 left_y=-0.2483 left_z=0.0578 left_yaw=0.1622 left_pitch=0.0243 left_roll=-0.0236 left_gripper=0.0108 right_x=0.2391 right_y=0.0053 right_z=0.0659 right_yaw=0.0147 right_pitch=-0.0135 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -9.2923, 5.5453, 0.9841, -0.2418, -0.0464, 0.9158, -0.4171, 0.1162, 6.5846, 1.8486, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc28dc8d81c554874ac404b835b2392d569f3bdbfb49be2b14c3f1a75938ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f75e5083964dcee7448293844ad94ecef53f773234883402b47b06f0a96086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf11785b4c432222551c4bd24e5969381eac7d91a9c7d0e1948709e1b08c16d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQrajvK_aATa17rhppj6dDhjAaI5-p79ef2Pvb423HtJEvDSuX_OdvBgRGYechG5sxdtj0NcW1fEQGeTkDSNpu6_lxNXOhfqLjUIar2KBZqIEThATo0aJviEJjdL6SDQOK2Z3u2be65UKG7UlL5qCZWvXKmZ-T2xl7GAi3kvOcIPUKe9pI-fv8xS1CUdKmAlpxxD3fDK47iB-Db09BDrYBBLmLyyfDZwvJHwaBjOutD63I1SY1t6YdC6AOga8UXnIeptK_K9DPe0AJB0pZL2-JbaAXolCThMSfA-Q8vTtCor3cfdvCFwLK7QABHWKDE9Ivt5tyPPdjRpqa42VCO9VWPOYATDsXda7-ad2B-sjatGpPb9qg4a2kxX5hSepCI533CqjCbhClLPxUa8Jf35mM41L-zsoht2oXhztCK8o-JrGACel8-I0XrmRrX5dJkKa3wWWbR6njQ-24lgkOb7xGsbP5I40mPZHUrAG-H8gfjp4sr8Sc4ZDGv5CmrvVpfvcExMCxvBkU9XjN_bAY_J45KZKjaFAw1HhitQ6FLpAhARWdvw4Bd4nasEBD40RBaIM3ppa1fJ7VIE40hTN9CcGEqzssiHwbvi-Dhu6iW7fLslQgXmjWUCk396HrxN6EvaJI3PgW9cBUzZHFgh-LuN8NHTsbEFuKp2pQj6GOkvVhw-POjLdCCEYyGMW0f0mESHFbbLMNwzKtvnN8Oj_G_EMABUl2yc1_y08bbgD5V47GlWrItn47Ae9vFauuKz1CiK9r5A94o28tb20opuoqJvw9OkrX23pKyBaS6XKeDWej3KvKISz7Gd7NO3sWIfo5MoV1ggiz-IsQXKr5cQlrq5hQOW7hr3pfaXFanU-tIyCwPBW3UPqQpbVWuFGb6HeX02gBhaaeUS1pYinGqT_Zj0W9YWYKXG5k6B8iOyenT89GezAU1REEsZMM2Hf7a4EhGSUlQ8JYJDpu3KlDRcWmNN_LgXDZCRebBIMc3QbDkoJigQ5PWyN_blquDvM0tXcqXp0glQsRWVYrBcDi3zF1hcH_MHmZPaBPEuyg1a-BsC4qw8WE2wbrjG6LPc86W23_ZJ0fym6q7978EEenqxQOvDvBYm6GzEaeueXEx8cx08Jxsfw1rLimCrEsOsfRb5A2kiPb3MOBtPdn7ZCEw3M8vJDVqXSYnFdCJugb7yxw6mnSw77Vrc7qVouI9yizNameUT_UQqHT8aJgyw0-0ehIurbiLxUsDwPNffGerxEerLTlnQp_nCT48OvRNLmLRsLnajXMiRN7M5jJ0noR00_Rx9jUWBV14CtLuYzvsxRUafzdp-JmP_ho9Or7h669BuUFBRgjk7z_7ZPMoar5v7F8DHYlp-06F1ucvLu7SfhY1u6thULOIMXsjruuxtr7pL8mp6tXKFVka7YOixch_PEKUS7kF-r-M5Wecgzx5Lcw4YioKplQvfQwUUFQL13aBQsR4ajHwn6AgFBqQiQjHFoZCAvq01-wehjK7bBnc71nG1U6mfRod4tH-gaZ2Zj3C9FQDMjLp7U2ZyLtmAp8I2Z-aM0xpcqAoIoKjkQxsQ00PCNt6kdh3YHYPoLR2cwrBw_IJBP7pAFu2itBuy3Mxt3f2YPhxAY6SHVgqiuBZYHiJCU_G7W-z6u47b2RyRyUQ2jnuBt9doStMOgWxynyo1ZNQg9FGHZo8iZ-HYeKLLC9ZvY60flKiK8oRIZbJz-fAdcPY-kHMDnMwyl9LCqafk4BeDoO8Mqarm9XLA-aQzfptFthLT6A-B8SoaJ2MUAbBBE6kZZmXaN7OcE_N20CAAyNVY7mDxcewYty4rFshiNacDPJKtMsxOQm2GbWASjHyEGgWqtRKNc8s8LErNSjiwTMKiXVP4W8Aq4dVKSFmj_0fN-wL1iI4FUQP31nOK7QWXNGtkYvM",
  "id": "rs_08f5339e5e1b68fd016ab444292b6487d0bebac0bb7d63df4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.248,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"That close was empty because the released bottle settled a few centimetres forward of the fingertip point. I’ll reopen and move onto the near end at table contact, where the body can again be captured securely.\"}",
  "call_id": "call_PEU9ahv4m864rmJ8T3M5nRXK",
  "id": "fc_08f5339e5e1b68fd016ab4442a809487d0b715b2e0ecaae0cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PEU9ahv4m864rmJ8T3M5nRXK",
  "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]: [-0.8314, 2.0743, 1.0645, 0.2714, -0.8318, -0.733, 0.9953, -0.0154, 0.4419, 0.0998, -0.2451, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4148 left_y=-0.2557 left_z=0.0406 left_yaw=0.21 left_pitch=0.0885 left_roll=-0.1146 left_gripper=0.9953 right_x=0.2379 right_y=0.0053 right_z=0.0627 right_yaw=0.0145 right_pitch=-0.0158 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.6085, -5.8051, 4.588, 0.5983, 0.1148, 0.3199, -0.1148, -0.6632, -0.1436, 6.9538, 1.8437, -0.0708, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154c1ad849ed5b42075c5ac7ccee7f153f63f94c992f6606f9c513796fa1cfc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c13bb013591dedca287078269da2c0e190becf386ae78630a4d3548333c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda444b787e2adcf1e94d6df0abea389f6c29958a30d829f2c00e7d7d949c032",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.869 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]: [-0.8955, 1.9266, 1.0016, 0.0525, -0.8261, -0.7494, 0.368, -0.0154, 0.4755, 0.1326, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3726 left_y=-0.2517 left_z=0.0546 left_yaw=0.1448 left_pitch=0.0165 left_roll=-0.0151 left_gripper=0.368 right_x=0.2416 right_y=0.0053 right_z=0.0702 right_yaw=0.0147 right_pitch=-0.0173 right_roll=-0.0034 right_gripper=0.9984\nstate[joint_eff]: [-0.5949, -11.3846, 4.5333, 0.9792, -0.2711, -0.0659, -0.0073, -0.6769, 0.294, 6.9265, 1.8584, -0.105, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8925, 1.9182, 0.9993, 0.0475, -0.8371, -0.7631, 0.0108, -0.0154, 0.4496, 0.1108, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3732 left_y=-0.2483 left_z=0.0578 left_yaw=0.1622 left_pitch=0.0243 left_roll=-0.0236 left_gripper=0.0108 right_x=0.2391 right_y=0.0053 right_z=0.0659 right_yaw=0.0147 right_pitch=-0.0135 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -9.2923, 5.5453, 0.9841, -0.2418, -0.0464, 0.9158, -0.4171, 0.1162, 6.5846, 1.8486, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8314, 2.0743, 1.0645, 0.2714, -0.8318, -0.733, 0.9953, -0.0154, 0.4419, 0.0998, -0.2451, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4148 left_y=-0.2557 left_z=0.0406 left_yaw=0.21 left_pitch=0.0885 left_roll=-0.1146 left_gripper=0.9953 right_x=0.2379 right_y=0.0053 right_z=0.0627 right_yaw=0.0145 right_pitch=-0.0158 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.6085, -5.8051, 4.588, 0.5983, 0.1148, 0.3199, -0.1148, -0.6632, -0.1436, 6.9538, 1.8437, -0.0708, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154c1ad849ed5b42075c5ac7ccee7f153f63f94c992f6606f9c513796fa1cfc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c13bb013591dedca287078269da2c0e190becf386ae78630a4d3548333c456",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda444b787e2adcf1e94d6df0abea389f6c29958a30d829f2c00e7d7d949c032",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQv9zMbTo9dU3dkuejLp6Myb5gRL6GwUhHub6miBp1byfZaHotJXHdk3B5Hks0G9rPESg_AcUBCk0SH2Rc3eKyzpSK7wu-XF5O8mw_jw5HxRa5z_eZrd3sbx6_C5rcJRY9KPQIdk-MynJZZyiSUlN5WYLv7wPmlmni8EoXmpPErU-M-oAf6OJSD226uuPP249fu_U0zQhMWCNTybggvRTN0IM3orsENMfvOkpA66QsK4NTTLp9HUPJ9mbAWoDhu5FuJ6Kev1qwOhsUFVUyfs9WDdIZpmsot6XOU4eNRAJ5Wd8xT8cX0p43mUDsHBFu7QSS9uis12cBM1gdM9-rxAXY0YBi89YEiEFSgcGb5GZPROtyqqeHsza9eyQbOQihYCiGehPcxfNPL7-8KOC3L5_SMgsKCdn8jDc1vpZE-M64Y8FbttrT5l9Ouq5ve0T4eRaFGS_m0C5A0nxuIymwk4MBVjlep6Yypfyy5PEVSATt1CIPv4I1JRjYhv0YaJzGUCLCq10slfVuOpFG2VWntpOvvatKrfS9rjt23jooP_PNE2yDlO0d_RbdNtlJ88WLYFmLViFJPU9Nb2zwIPhaETsqLv-y3w81UU_py409m-TuMA_tY1rvuyJhb1w-9FeS_fIke3RlvSM_Uefr4dU_QQvJdMTTreMOLHrkrMDoh7WTSHZzM-l7KPU1ZOKWe1dvSzD_CoP89TU6vBGRDdCAfXCXOMjoyXVpuUdN-te_MZBBiS3ABB7LraN4oteW9YA8MWurB5xwDBkX8Y2e9G5Eh4OtrYgNP3amMs0maziYB5Rjx9vhFjvfru_zu7f5PCTjQaKPDoEDFapydft9d3rMLzv36fwtaWshhTx7-A0lLTKmiRN-JCHUsaA9rnlbKMTgEiRUY56YW1Yq_YGek72gG8143TUqCDPZoS7IVA1GNWJ3q3y8DwN2SMher786vckIJrB_5lCldeZlnYceH3WcSDm4KeVOr214yj437PVG4uDrJkYolaXx_uaXNeChkqEeuQlZv-rGlmeHR-ulthzIN751a-ddfFemyU4PzqwaQoHcvwiDnaQNXCD7p564iq9GgLXN1pgnyDSOXUyWVV9BqDvvxw52yBaVMcJLS-FQ4sLnDKCRvzDem-yJgrZbvY2qS_Z0y7ApVKHeCjG8Lq1dGhWM7ceQAkRBLNSdUeulV4D84Y3Vyse6NHwPVJpN_hl-d53Su04ch4bClnu_x72z1CtTgL0jIFpHaOHOnQIzko5k-IQI=",
  "id": "rs_08f5339e5e1b68fd016ab4442e3f3887d08d4d351a6d26e9b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"Both jaws now visibly straddle the near end of the bottle at table contact. I’ll close to regain the secure body grasp.\"}",
  "call_id": "call_1AvNkEpnwbQqCBh7ZfWZEnme",
  "id": "fc_08f5339e5e1b68fd016ab4442e94fc87d0838ee2dc63b61ace",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1AvNkEpnwbQqCBh7ZfWZEnme",
  "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]: [-0.831, 2.0758, 1.1969, 0.0589, -0.8669, -0.7605, 0.0106, -0.0154, 0.4297, 0.0921, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4231 left_y=-0.2585 left_z=0.058 left_yaw=0.2435 left_pitch=0.0688 left_roll=-0.0555 left_gripper=0.0106 right_x=0.2371 right_y=0.0053 right_z=0.0617 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -10.359, 5.4085, 0.6911, 0.0708, 0.0513, 0.9158, -0.6769, 0.1299, 6.7077, 1.8584, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a512e185036cfc3fe7b07cab575f4890b3583110d155c1180e52d395b6220e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ce60a284ee8d8ccee6f46b1d446c0a4eb23c817ac7bd3865efd88814f9ab57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d28fa4160d54448acaf431e0c203b48ca0274ce57f86ae44ef2b01cc12aa4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.457 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]: [-0.8925, 1.9194, 0.9993, 0.017, -0.8238, -0.7616, 0.9954, -0.0154, 0.4625, 0.1196, -0.2451, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3698 left_y=-0.2466 left_z=0.0524 left_yaw=0.1527 left_pitch=-0.0005 left_roll=0.0 left_gripper=0.9954 right_x=0.2401 right_y=0.0054 right_z=0.0673 right_yaw=0.0148 right_pitch=-0.0166 right_roll=-0.0029 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.2667, 7.4735, 1.2186, -0.315, 0.1001, -0.0464, -0.6632, -0.0068, 6.8581, 1.8877, -0.1001, -0.022, -0.0122]",
      "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]: [-0.8314, 2.0743, 1.0645, 0.2714, -0.8318, -0.733, 0.9953, -0.0154, 0.4419, 0.0998, -0.2451, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4148 left_y=-0.2557 left_z=0.0406 left_yaw=0.21 left_pitch=0.0885 left_roll=-0.1146 left_gripper=0.9953 right_x=0.2379 right_y=0.0053 right_z=0.0627 right_yaw=0.0145 right_pitch=-0.0158 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.6085, -5.8051, 4.588, 0.5983, 0.1148, 0.3199, -0.1148, -0.6632, -0.1436, 6.9538, 1.8437, -0.0708, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.831, 2.0758, 1.1969, 0.0589, -0.8669, -0.7605, 0.0106, -0.0154, 0.4297, 0.0921, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4231 left_y=-0.2585 left_z=0.058 left_yaw=0.2435 left_pitch=0.0688 left_roll=-0.0555 left_gripper=0.0106 right_x=0.2371 right_y=0.0053 right_z=0.0617 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -10.359, 5.4085, 0.6911, 0.0708, 0.0513, 0.9158, -0.6769, 0.1299, 6.7077, 1.8584, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a512e185036cfc3fe7b07cab575f4890b3583110d155c1180e52d395b6220e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ce60a284ee8d8ccee6f46b1d446c0a4eb23c817ac7bd3865efd88814f9ab57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d28fa4160d54448acaf431e0c203b48ca0274ce57f86ae44ef2b01cc12aa4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ4X0Tem1EXpItDz3_MOog0emWGrVGDvz7fGe7qnPCP7VOqOqf0744kLef8GYHzmujRuaFgoO-iZ8-JNynaCiJwKy2yYBvS_UfHaNnTpBo6a0rhmYoBUKA0ar-a8yXWudOobZwcopmza-igJivs36DozAi7Yg8B25ViYCaJwK44XTWrAnZZSAVOdzP4ilNMrMBqNHxu9jp3xbyhos7WBpUqcbhD1wqYlQHwj4w9kuYIbGclOZVlfxwu5bePlSuTBUJqwbwc-se198TXS1Mge88IvR89GC_DeAmolGbzU1e4rraHaiL8YfS-NEU_UMVofCsfT2BnoV6GQzkDzSMuhMegcSCaKPA4F0N5aNYombrmeklWlYY4ycHVt1ohwAJrMMMKw3bICAcVugp2UKFCCUSXfuTGnxdmIyVefBIWKQwDc3Fhl59S7IcbicKIgnu9GgBk9hPeTxshf6UuSzeqAU2wc_2E-A566FD8qYJksCfaiUkmBoSq4Z6ksIi01H41Zu1F4WKIMkpJaZM7sXOA06eeg2ZgjCeWIpZOv_WlLSfYzyedkTg6GwZ9yMRVCNUSOQXq4pQnZUA6ktfreVZkUn73N030FYA3mjiuH2ikbPvim9nXmF2667eFDX9OSm-ALbOh9EVYyX5m_qYFEQeX9EdDUfwGKAkSKgEt42f2oUOr8J2LdK2zd--NoRAY7NugXsBSOudXzxF4xEATWXTcOmy7KqVTVRGcLRo9gaLQrRw4RFGW3Eh5lmZw64qjtEFfj26fl3beLg0o4C8ACYiaZ3pOSQwT9uT4CiYsKyv5KFtHlVELD8tch-BVoLCERPHggWbcAKFFzSjYdmEttf9fpcKpmtzc74Urbi2X6lcUfqolGJXEk5tOaMnOonQCP7-O5oVszLdoWw710yMTMF6ZUk-38Acri0zJ9nK-B7JUoq3rUn6ERrK68N-VSw3Zv22LYMhfV5sspEPXvRI02zV1xiOlendZ3Ha0_puKpjTe17P2bJtUV3czXkTuygPGMf70pyfQi1PchtQafExH7xF-cCObWcMqNBKZO3qfNNtVevECl3D94MeQnhtn-Wr6MY8vUazbu0dHjCV1g0RNLYd5lOPwQYKvYZvupWoOJhrvasMoq4gmM3TtUsJZFiRhyxgkGjoAaJmCB3bJK_gSdvDDYSXaeJE83rYeuprkIF_zVKnZX33c77UzQDE-aF5kbxUqHyAEtRtuDXUAXpDXv1uxU5lN3WcRmtBha-LO1IQ1c26PL1zqcLUBWJUrpu8fqfVKGE-orSTKyzo9RQ511F3ExKtiGLpCi0XbUjWPqBxVNXeTtNuM9kTdW7mz9EChzLS8WklcMOUGPke8MFZ7tdC0AFw7e5blanGoEfcYcmoB2FDREl2r5T4u-FzKGhBKZroRRtRwEXgum3wvaHr9ndAwh9q8nD6oiZVjQaGNZ6W4u75tX7V4_JaASEe9uNmf-7ijMWarXHqBzXAG-eKwBGaYIC0yFfpJxOFhp4xBSj_x665faRfISDbmkQKvKqupbfsG0ohIRJvzu1P9XnyGN1X-T6UhJhhnIDL-rQpeHhiHfu2-6d3vPvKSW5LMzenfn7HVHWEgKoRuUdhj_gLhJKfZI_GjJfoLDnAw4tz1PtKQQSKye-YT0rC79RwIfpR99fQ7rOvY8YTQYeP3ZNKp0g8n88jH73KLuzsoPXLf1k8wYTcgaE_zMnjVr5pvPgCordIUYLgOKPU8HW4Z60IbdntUgV9mSF-f4E6p65jCJ73SydAfJcekSR6nq9sOwvXq0Sk_H8TsZhQb2fS1JPWiX0oSah_kjPskjD9f7Ppv-KPxMAKwOxnSFUs5vu4hSvvucBUPL1-hEUEq_oSxAMdA4AE-TxB7NO0fR2NUl8bLd_g5SwHKjf2DsUbpEKKb_qeofQfyqPXKxSvaiUZMVy3UCvc7yGgHT04bSikC0D09UzvRHgHkW72cnbMu0DdUlR6DpJPTi4gkOBNH6glo0c-F5HD91th-JmbBDi4fXfjhK2hplBDh3cn95GKFoafO1jhSY98h1ONI9BdeC6hBPh3cCAA4cjgu16QLfSD6K5bcOC2uV9iH7zzKL9c2wQp49HYsYxtKT9in3dl4TAiJrs24b0MJpTwhK7bJaaZb7_buaWonx8eu0zZVYuWi4sY4dm8-uBGcsqMKB37WUTq61Z9MJQkxQwML4bva-3kCRKFk3ui9XPL-skIPyCB3_DaGKkqvp6v59b1RS1EIdiddUKvsPgWIyIprEWKYCT0WVU_g7kVaScxivR26YqWmY2Rinhfkc6_ovdhejuntlCnUEpRN8JilB3i9zfSWyqK0LQrs1n6AcphImiaQUc8LmQsEnJrxBLr8O0T3B_OU0HoB3IKcvaihyi1sqPH3HHBjbE9-C5Uacd8B6QqOI4czK3rXwK1PyyXgj_qNb9mr2wIOf4sDjRNzcWS7wqP6eY42zNEYfP0OoedVVZjgmL3v9IR2oWysttCO0VbDGYCsL5azs01n5-gV4RhPX4B73_XkLtIQvB-YOfyqRnkMlBkVAWq2aK8rVl9QdNMMehJuJVNMm-k5dpAFJ-yxtz10RrdVx1ovjNKCpNt4Fx2yCPPQgq1pRDo_4Hyvwb1aa0MIspMpG5uDI11pzfEbFW2P3n5l8zNRkz2SizAkAW1U7JoeT9ijvgacSRmkYrvgJWFKdTJDODpCP9hj_rlMTwDVqjD_t29BIMCtRNGAZs0cUMNMym4sFdSHt919Md9pqjqSJCANdvIKHiXW3b213JFHoYiTaOklw8hEhUIZRLB7dU0h8EWyNjLZpfrB33bn9G639ZiurZYkAWqC1GPJd-WlFne1BjfiyMKaCdzZ7EELEs6L_3cZmW3EO9ipdMwsmQpkJ08XhpIrJlO_ZBTflIc86wtIXMJCsxIzEXEGTIKForSvKsgmzyGYbZKIxMSNSgEpzRtNSogfovrVzfE-TPKTtoKICIZRGUgJJOou-YgcRtpA9sTQygxAnyLfO1qCT90BoyVCemsW0CXwIiwjlLMD1vrZZBCypNHZ8dyaS3QxSqYgq5XgjAwiI4Z3fWuAqHq0Ww-lDRA0fyP4EZdG_cR3iAWOKEmZc7p3SZdullsPzYdGFsib9jDxLFON03ZWkI2CyD9hxWfTgcrDIEA2GUYGo804HVbO_i8EwMy7yooRGzsRDsWma6BT8slDGXlhuDRSrzdBNYm4zk4gL21eVfW7u726X62bKR1qZj15DRIvQBCUw35EW0tJ1BI96JdDZmTAIfgnp5sotmRyPe8imNjvQZe5ggG9s6nnHGK6hgIqQ6YVvwywg6JXuRKoWM8X3avr89KKWBHLDyAPi1dTLrAGBYOYMFXIR8dAshscrjXx5jfFFYtTM1q9CeUX5UgXs2i6L9FeAcVtMBolClzH6TEYEWZLEtvsG-cMXmsGsJx55m916HbXPN2Qhm81nmI8rHwrtcZ9H65ShHRe-OvSz-IxcuYwTD_YIxOkyF48wFgPMs_TVeedbKAusR6UeiNF3eG3E3KZVaYnstMqUV5-drOMtAHXi_zWIubZg4N1YbHi5oyspMoaHi0M6ugr9WobxNDNt6PZ6k1ijrXMUwbagWhWGuDw6bKK2-qV_vxgnKxtEn4QdXm67GKzz8wGl417NV6pmGwfEsMNZKoOO5f2jWa_37h1311UPYr1NZEu5Ex7Z35Sn19j6FuuUKMSZl2hFC0rnkg93yLyXqxSed8ZoTbca86obb19zOCSRxsIjh8H2_JbDji0ozTdkPVTYDi-Zpz6neDVsLoMuMxQ3QgePfXoMM7QZzvv14qER_SNqpVbqXQ9KaXeaxA8eKCKepcI8p92gzuF1HOqwPT4nO6tDs0zmMa7qjpcSgLDa5wsJLhzfUG6QVwPGy__WqCNi3PPUCokKErJg-JpG-_ZleYGIBTINYurV460H_Mr77SHQRxF-K8TqcSMf7MtkrUW2c9LrzN_Tsans4AJo0DsrSeuebrfPYoqrDmRTLtQjazg1JwI56nHdSOHtKyQbBt9tRz3_FLk7NXOKv2r5IbvZ3AkT1JhNjrKa0TMjODhfWj4wqGv6xKnqqybsOzoInsm8nmLgfz2u_r4q18Tjr5x8BFrLaB9O2LFBkddN4EtruTMP_YKsbgGgfhREx7Om3L-aUSjT0Gc-JI1D5c6z6QOgxx7enA7ZMqr4qaDQfijIC24ZPKysCaZlf9BPA-YreNUJJeSOGoZIt9u88YE6FHkU4wn3dygvT0JlyWyYT_MU6WoMDrQeNGXberzTLAZkEuLYs1eEpNy3L3o09ChEt8olLU4jQ==",
  "id": "rs_08f5339e5e1b68fd016ab44432033887d0bab655d436aaee79",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ4jvcONXbF1ac9v8DmcQv-0pG2FlFCaIPhq1Yt43OVl4DFPN3y0oWTVL291kXbj6WMQGCs-g9kJttja-nIYanQBkc8KAjJLp12Jlwb7Db6g3oMnqzpvgADIi_mctJs5QSy--7yOg63z0uUilR0eB-LHc0IZqMfimYrWwnIXq8t7HfbDEBwLxXe8_8hM8xTqYdK-nKJT_0ldj61dWrgtBwLqQA2sK_8UB486vQls_qSHmRPwSbqPB7NXEjJ7zwemrQIzT0tctCy0d01dR9AYM8miU5soNZk2i5nV1G5ChQqfdsjoByCkqVcT-GBArtE9nmew5rNwkQvlw_-wBb03HN7ykI8mk0L0QsB_UrGKjQ7DAtI1wtl25fJjCqdYnYYOl0CCawb-UbRwVSZ7pf1nL4UJd_BFWuENKegxdVmx-3LBG5iOP3wEcA9qSPmwxuwktFEAYW789vrlk_pFbR-rRWGBmOE55VCr90n7TADdI5wiR3LbY3MX6LYYJfAZS7xe12cs6ge_lq2zn18ItCw1Qqr1yroFS-B2vG1F0beK5hgrhXNxU6sTsHxudIxbuFCUZ3iih9dT31WC9h7gnf-vfXHLH8xF-E6995ANfz4w29ngS92ug_WSAv0lzaozurcE42yzJ7OICzisr-DOpy8jjXC67aIf6otWrcLZb5w5OwXhQ_Rt6Z1wgAy7JgvEci39HQb2RpuJa8YcT8mYx0P0gJAK5cwmjps9bIAk4ManszRyGr8Fpscq-c7qg8fDNwW1XgN-km1zW1eD8d5lGAZ-HH7toEKAXDACwsgibEaH5lbjzL7ZjWQoMAtWxn-cOiYijvBtrw8FVnWwiSTOjJuU1FxoxM59KBBZcE3wb1dyYJ5EiBQBei2Xb4kRwne4XUPFrplrulCzzoUHFCxMXHuIEVdTGkIB6JgLiqcBcRZSpij-SwyXOL_n6eU7z3kfsxjAhqa27OmCIyVZjpytVHog_wFxU-qhgNbsR_fLePTajz8b9npqf5RxkEgmbzbZrGdkBOEEYRerQG0-JRvKBgbpM3AdUnGT7VDY1hKZTE-0rwuPlOoemBnWz9fhBsgo9Qr77oiBBgvEPrn8TE97yxgf9EkQ-yPkq82co2K93P5wc4PG2C4gQ8vUOgb0dnC6PAA5wiqYeYIpK5CZxeXcNk6uIXUE8_iKBGujWe-67Y7t7WS03R0sAjsN-hP4CV5XU28O8zGkoFtzsjmTSGkNP46k0_ovZxyRAcrfOMzs9sZB2PXt_R8cFXBAcMrZ8UwmeQ19_FRV9z454w3rtf98xqNWf79KZaqq_vC6NpMqvEyyrzM-uQ=",
  "id": "rs_08f5339e5e1b68fd016ab44436f72487d0a8bb64c038b87e95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.258,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The jaws were centered laterally but stopped on top of the bottle, so the close remained empty. I’ll reopen and retreat to clear table behind the bottle at table height; from there I can slide the open fingers under and around the near end instead of descending onto it.\"}",
  "call_id": "call_fGaWjf7sKMDPI257nOJ2KIot",
  "id": "fc_08f5339e5e1b68fd016ab444373aac87d0a78cfcd1d2a3a5ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fGaWjf7sKMDPI257nOJ2KIot",
  "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]: [-1.084, 2.0308, 0.9794, -0.1143, -0.9451, -1.1152, 0.9947, -0.0154, 0.4225, 0.0849, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3071 left_y=-0.2665 left_z=0.0063 left_yaw=0.2144 left_pitch=-0.006 left_roll=-0.016 left_gripper=0.9947 right_x=0.2364 right_y=0.0054 right_z=0.06 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1162, 4.7658, 0.7497, -0.7155, -0.0659, -0.0171, -0.6906, 0.0889, 6.7761, 1.8291, -0.1001, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6badf18067e5effb182366a48aa15dc2679dfb07662a13bc682424764f92409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6969892890691f51ebdd6cd3877faab866fc4744cb33b483dd1009b48c91ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d2613ee1a8bac509485397a9d4b0533b0eef26b347989561fb161eb4389d4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 1.959 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 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8925, 1.9182, 0.9993, 0.0475, -0.8371, -0.7631, 0.0108, -0.0154, 0.4496, 0.1108, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3732 left_y=-0.2483 left_z=0.0578 left_yaw=0.1622 left_pitch=0.0243 left_roll=-0.0236 left_gripper=0.0108 right_x=0.2391 right_y=0.0053 right_z=0.0659 right_yaw=0.0147 right_pitch=-0.0135 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -9.2923, 5.5453, 0.9841, -0.2418, -0.0464, 0.9158, -0.4171, 0.1162, 6.5846, 1.8486, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.831, 2.0758, 1.1969, 0.0589, -0.8669, -0.7605, 0.0106, -0.0154, 0.4297, 0.0921, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4231 left_y=-0.2585 left_z=0.058 left_yaw=0.2435 left_pitch=0.0688 left_roll=-0.0555 left_gripper=0.0106 right_x=0.2371 right_y=0.0053 right_z=0.0617 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -10.359, 5.4085, 0.6911, 0.0708, 0.0513, 0.9158, -0.6769, 0.1299, 6.7077, 1.8584, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.084, 2.0308, 0.9794, -0.1143, -0.9451, -1.1152, 0.9947, -0.0154, 0.4225, 0.0849, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3071 left_y=-0.2665 left_z=0.0063 left_yaw=0.2144 left_pitch=-0.006 left_roll=-0.016 left_gripper=0.9947 right_x=0.2364 right_y=0.0054 right_z=0.06 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1162, 4.7658, 0.7497, -0.7155, -0.0659, -0.0171, -0.6906, 0.0889, 6.7761, 1.8291, -0.1001, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6badf18067e5effb182366a48aa15dc2679dfb07662a13bc682424764f92409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6969892890691f51ebdd6cd3877faab866fc4744cb33b483dd1009b48c91ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d2613ee1a8bac509485397a9d4b0533b0eef26b347989561fb161eb4389d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ7Vg30F4EWYHvntfOW7vsJ7YMNGx5n7YQjkP2H7HSqEkvTHT2b_TGDywaDR86g4MDD1sWSaYycyBj_reGI682bMd6w2OmKfnTDXaq6UKpMZnjQX0FHwUsRRrNE3u8ytlxXtNjeslvvfeXn_qoUFcU0-2mYByCJhfGRz9W4nmrMhkXQcjwMBBJBhaBakssZp8YFu_PtfngTIeArcGsu4ZRSK-0nNZoBvdXc4XmppXi9IkejLRhBmxerCajfiIcYkU4OGXKS_Zptd9l3iKaPIUJFcgXAR1DT8J_kwh58Guv4zy4HwyRcKi7BpAJt4w9PKSOQiNnc-AB8ABZ6NwpaYNsoj0Ph_5lnIJgVr9eCAIsXQkSLRn8SE9yXZPktIDufXAHQqjC0HFUtYPFv-zoJjVf5-ez-4qXhM3Wcpi8pyXQC8U7zuSW4qivMX3L-0Gfo0zqX8uDx0hkwAkkvm2P1DKTc51yQIICyHc6utFWjE3tpwBXCa-7G9NJXzMv185Ii3qgA6CONHKRP1_muAay01KzBA0ZlszAeyV0mVo-vS3iete5KeacH_VboRohbHE3NCK_rT3_mKgV7bwKks4P0yw-MrtYYvWx5tVehwUBN-236n05FBS1lmsB1Y-ZxF6hg_328wJhRmCIV605NUtNOmk_FXngUW3SOCSlnfIY7zNLHDc7c-fBTO9mPosyWx6IPKD_tm02yBh8tmH38g6y4oRbqezCuw_F5KXGOeWIqBMvFVODjE6b229Gd4v-qzqbqrOB3Ui0PTY_vQssSCknkl6nurQWVIWlTwyRJieu76STNkEP-geNr6C85ob8uMbAVUzpG_Hir7vfB8gvmxuPoJvWGiQWOWwPp3r2zu04AWMfSwm0HWyNReX-_9lsBCj4hqMTc14LGqf-pWkKSBqz8yGUKe-04CgXlQ-09ZcN7_tTZiLz9NwXxQivvzdUlc7sQ9CmndIAWBcY3BRfTpwCyVRG0_JII0pHt3OjblYjqCc29NZk_BoDW7nSpd3AjmD_GopEBi-1RWwuExY1arUciclLLzraL3sR-xt2vJ9pfLolK6jKW3-2FuY1YOkdSZb0hKzwPtmkcRtXfRN1hxWPJ5BQ4SopaQtA3Z7viRntMcV1kUYJr5uAGUD7IxBxDWvki7AhRpeFw8NSWi7yxDqkMKYiBnU_TzNpPjNktmrxsZPO1xyrPBJ3mDk-dUB0CMqW6LwlNCEaeoZJd0tHNV50beTYqmEUhusLTNRtAjV0u30WzpDtSV5tqxA0QJKy5KEDTTJEkiim3O43Ad-XovptbkZC3loPSvPrQnTQcY7UPRtBkfFA=",
  "id": "rs_08f5339e5e1b68fd016ab4443a67a087d0adda819a79282c9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.258,\"left_z\":0.005},\"note\":\"The open fingertips are now at table level behind the bottle, with its near end centered directly ahead in the wrist view. I’ll slide forward along the table so the jaws pass around the body from behind.\"}",
  "call_id": "call_CISebDw5g5m2QLF49yz2sMsv",
  "id": "fc_08f5339e5e1b68fd016ab4443ac0c887d0881645a6304724b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CISebDw5g5m2QLF49yz2sMsv",
  "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]: [-0.8341, 2.1643, 1.1564, 0.0788, -0.8482, -0.8101, 0.9958, -0.0154, 0.4137, 0.0792, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4105 left_y=-0.2501 left_z=0.0061 left_yaw=0.2517 left_pitch=0.004 left_roll=-0.0089 left_gripper=0.9958 right_x=0.2359 right_y=0.0054 right_z=0.0593 right_yaw=0.0147 right_pitch=-0.009 right_roll=-0.0037 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.4564, 7.0769, 1.2772, -0.2564, 0.1832, 0.105, -0.6085, 0.1299, 6.653, 1.7705, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819d36a08161d550a569339081cad71221ab4f65e857fc955a2bb9b4d26cf360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8028de2bfbcb3692f083834d4ac243837a3ec40f4bc7a0385d60ff7ebf73ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad1fb5c3f121b2d618619164c2d6580662c430d166b73d607b2f1f9808dc3b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.925 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8314, 2.0743, 1.0645, 0.2714, -0.8318, -0.733, 0.9953, -0.0154, 0.4419, 0.0998, -0.2451, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4148 left_y=-0.2557 left_z=0.0406 left_yaw=0.21 left_pitch=0.0885 left_roll=-0.1146 left_gripper=0.9953 right_x=0.2379 right_y=0.0053 right_z=0.0627 right_yaw=0.0145 right_pitch=-0.0158 right_roll=-0.0031 right_gripper=0.9984\nstate[joint_eff]: [0.6085, -5.8051, 4.588, 0.5983, 0.1148, 0.3199, -0.1148, -0.6632, -0.1436, 6.9538, 1.8437, -0.0708, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.084, 2.0308, 0.9794, -0.1143, -0.9451, -1.1152, 0.9947, -0.0154, 0.4225, 0.0849, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3071 left_y=-0.2665 left_z=0.0063 left_yaw=0.2144 left_pitch=-0.006 left_roll=-0.016 left_gripper=0.9947 right_x=0.2364 right_y=0.0054 right_z=0.06 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1162, 4.7658, 0.7497, -0.7155, -0.0659, -0.0171, -0.6906, 0.0889, 6.7761, 1.8291, -0.1001, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8341, 2.1643, 1.1564, 0.0788, -0.8482, -0.8101, 0.9958, -0.0154, 0.4137, 0.0792, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4105 left_y=-0.2501 left_z=0.0061 left_yaw=0.2517 left_pitch=0.004 left_roll=-0.0089 left_gripper=0.9958 right_x=0.2359 right_y=0.0054 right_z=0.0593 right_yaw=0.0147 right_pitch=-0.009 right_roll=-0.0037 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.4564, 7.0769, 1.2772, -0.2564, 0.1832, 0.105, -0.6085, 0.1299, 6.653, 1.7705, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819d36a08161d550a569339081cad71221ab4f65e857fc955a2bb9b4d26cf360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8028de2bfbcb3692f083834d4ac243837a3ec40f4bc7a0385d60ff7ebf73ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad1fb5c3f121b2d618619164c2d6580662c430d166b73d607b2f1f9808dc3b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEQ-pAlyQ7qZghikjdOis7kS9xyDbZLlpBfFpwRtMyXouiqQAaN3IRSIspvWpAqTCyEWS5qA82RpqXEyfIMGYbvfLV4I1_JkS48aeoGKWIeWRpU6f_KuSOiVs6sFarjvCpV79n_iMu8_W6IR_Jh6uj-3_dZVlvRJb0GpKEqQbGPFUIA_1jANgq_RItDue2fXTHUxXHtdAhNmf0r7Y3m9IkUoeEmM4u2ePsL8GuB7K7Aq84cLuapqYPNfalluzTIRhgy0B7p-vvaY8jzJZiCRe7j3S78AP2fK7azUkVbclZ28lNBwbuvNTI467QfmgX41xG4HecdDBIRy02ft9hgcMthkmsyZ0640iJYxzOLDue0uvEQWqf5iiKZYGsTKsogm1X4vwj_GZxCgggyph88JvzlHUq-Vvrzu7ob8iBiagC0h4fCBHpyfdpAXxBTGFxW87QvjC9Eg6FeJSIT809azB_rgOLgO7qBpJK9xE-B24SH-riRVaSjcCpOQWQQGTD3XRSGtak1y-6XbThL4_mq8bxa8zVi-YgPxC9D3Xr_r0hhld_QsZruOGclcbSBvCiYuLulup4d-PNVIxp7SJTNLLaaJfDu4EiHphbO6IOFx-EDtexKzwPZk1ZrTxq-nbXkIhMsmCKPdAdtzBI69PWcA9sAg31N3VgORmBLEjPRmMvlipbybzRYHuJpaVJCPxvPYgsSuLfMbTzpnCqA8L4M9CrhS43jM-vYlKmByTfK64Kn38zxIvMQTyEkbuiwwiPj4KUWipU0y7pDvPxeSy5YxPYNaKEbeW0vSJ2mr5_MTBHIY7mQeEaoxhLhz89Wh8JNHgWZnkteW3dbLktRT4l88IML-3pNHwRDEDMiQJy9d851ngqL4O057HkIxiAPu7I34XxcOlH3ffeYZ4RNHz0WssfM4VzEwSb7xWLQi_Mi5aOtGHH0-JwoadSDBqThvaLYpIeNj57oI8CDnGCWC-zwnEUw3xsOah8ONN1ylnhRHsH0K6OoIXAHEivO7X4nFHXFeHjGK8Hakpz5qXdDynDgalO8Qt4RbBAi-8hUy0wIVK__l3SW4UIANa99N7j2sLXcdg6Jr91opSz_3DWjjG0SZ7srv6jnHxqe_YdNCiToIzdAFjioKFiRJc2BwzGvR9ERCViai3zdrZScjy3WXVzErBLLUo3MsXUxN65fkmkT8K6lSrwXS3H-ulqvGpppPHfB2IH6PadXO8F2gdlcF7p3Tlebp8j8pUuVYsw6CaaEmbrKQiLA=",
  "id": "rs_08f5339e5e1b68fd016ab4443d930887d08e21aed153cad4a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The low slide succeeded: the bottle body now lies between both fingertips rather than beneath them. I’ll close on it and confirm the grasp from the gripper opening.\"}",
  "call_id": "call_kKlzAMCoZz4HoT91aC7qi1qc",
  "id": "fc_08f5339e5e1b68fd016ab4443db43c87d0a002b2348a1e2068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kKlzAMCoZz4HoT91aC7qi1qc",
  "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]: [-0.8314, 2.175, 1.1667, 0.075, -0.8474, -0.8116, 0.5276, -0.0154, 0.4103, 0.0792, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4123 left_y=-0.2503 left_z=0.0039 left_yaw=0.2547 left_pitch=0.0015 left_roll=-0.0068 left_gripper=0.5276 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0147 right_pitch=-0.0059 right_roll=-0.0038 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -11.6991, 4.9573, 1.0672, -0.3834, 0.0024, 1.0281, -0.7043, 0.0205, 6.4479, 1.7802, -0.0952, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db3084a03026ee5693439068e9f79f16375bbb85fd7bf28378ca2094a91d1cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55425c6aa6a54abf419c06fc0b0e97682623cf76b8ea2c1e32cd2e19b772ee50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2b6b240d23cb7737fb9209b9b1748b6361ff45a5186c75fd1c986fee48e52c",
      "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 · 3.788 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 106 changed as sent

message 110 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.831, 2.0758, 1.1969, 0.0589, -0.8669, -0.7605, 0.0106, -0.0154, 0.4297, 0.0921, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4231 left_y=-0.2585 left_z=0.058 left_yaw=0.2435 left_pitch=0.0688 left_roll=-0.0555 left_gripper=0.0106 right_x=0.2371 right_y=0.0053 right_z=0.0617 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.1709, -10.359, 5.4085, 0.6911, 0.0708, 0.0513, 0.9158, -0.6769, 0.1299, 6.7077, 1.8584, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8341, 2.1643, 1.1564, 0.0788, -0.8482, -0.8101, 0.9958, -0.0154, 0.4137, 0.0792, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4105 left_y=-0.2501 left_z=0.0061 left_yaw=0.2517 left_pitch=0.004 left_roll=-0.0089 left_gripper=0.9958 right_x=0.2359 right_y=0.0054 right_z=0.0593 right_yaw=0.0147 right_pitch=-0.009 right_roll=-0.0037 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.4564, 7.0769, 1.2772, -0.2564, 0.1832, 0.105, -0.6085, 0.1299, 6.653, 1.7705, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8314, 2.175, 1.1667, 0.075, -0.8474, -0.8116, 0.5276, -0.0154, 0.4103, 0.0792, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4123 left_y=-0.2503 left_z=0.0039 left_yaw=0.2547 left_pitch=0.0015 left_roll=-0.0068 left_gripper=0.5276 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0147 right_pitch=-0.0059 right_roll=-0.0038 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -11.6991, 4.9573, 1.0672, -0.3834, 0.0024, 1.0281, -0.7043, 0.0205, 6.4479, 1.7802, -0.0952, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db3084a03026ee5693439068e9f79f16375bbb85fd7bf28378ca2094a91d1cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55425c6aa6a54abf419c06fc0b0e97682623cf76b8ea2c1e32cd2e19b772ee50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2b6b240d23cb7737fb9209b9b1748b6361ff45a5186c75fd1c986fee48e52c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERCv-W7QPUgCgQ0ioJpwINZKn1oMRYS89gl2Ew_B5MBa2EFyF21QlfiXhNojh2RrFzrYYkQfKchQv_7hg-KDKVHKERbQ3odeRSRfQShzW9emIncJZQ36fkUYyxRzlyIaCtZZ0nLDPiB7n6DnT12NrnwKXMffxa3WaLmVMCtaXPW0GIXAVgFgOMR2P_t9niF9nFv-JAVhw3HSL5d1ifzaK5fdqwe3TwKeXe1YN5Svy4sUqnKbZ74CNEaGvP-Jf3WVEFcmy_XLqm3aIYjxhKiuBqv2hTbAzm3ULZiDpa2dCKPSZja7eje_jVQASqD2CvQIFYeD7Q477Ra1H2F1cgkoXezgoUQxNN8eIPIMA0irNcishW008kxpElx7lafTxnY3Q1Y--z-m2v5TsWNmVasWRmyeW898XXLTdjbalyT01zHXnFheTmiAdyjSHM9aN1sAcNhGSu86F-GK3suwtBbh2YXrkbCt3_5mjy1KSnlpQlwjTLwWA-bgoVN_hJPxbBAwG6Tml92NKAp8tJZfTkj8GQ3u3i_HOZ6YniED-jvj5ILvsUuZA5sFnvv74UZ3LbhFD99k4X-x7WXquSosAwvIVAPY_jJh5kA7Pw7qwfRqL9lE-0xV_vxkeCDZPZjVNx5PB8avbGb2V1sHcShKDmScWwbmr4EKlYOpQaVmigwvWhZ0BrADL6le8Qqk-l823OkLbXhbo81lV__xq2Qu8J7fyMYXvclls2U9QNirJl5L8yiEViuN4nGt0yIucuAZz_mK--NdINQbTcv4iNNzSOttlv8nl0RVBf6ZY7OD8lr6Q6TMcySlReYmJjgqnaPINLidTLVHy9zwzYSj-mhdt4Mm77yHjTfm77uC_lzRC2_oVxaCmEgnyK-eEte82XbQbsmVOoi3CNGmHu3wgzFcRj0fOMw92I6VyxFTMpxrlgYyyJs-FTjfwN0KaJcgDrPl9zCQwZkJfAjvawF7poScvwyjkYlPsWNFfn3ya4X8cJFDVUSf0fhtoHxvcIY7N1wIX0f4l39UNL2xnsbdBIIipeVmS29hkqTMvolgUS_Q3CvWFnxP0XDF4ydwB60HRQ32ru0sWnyp3J8346iT4DiTSHLHfzZz1ckzHZnPkKjp23Xfj8WLddJv5wkhg4ntXXQ10spkSdz7cKpteMZ0SvTNvEmfYUKfJ5wyKfMY4s8zPhrr2YxuEX10ix0aYbB7Cu0NosvPzH6Mqlz1dVteMaOsmxxi5whfXoz4gN7qv-IcI2nQ-oKr2fFd4W6BrRJe0uHceWOcGaLcmF2cbGX_rj7CTAqc7j6t3MRM0cAsJSs6srY-SSV3Cc=",
  "id": "rs_08f5339e5e1b68fd016ab44440970487d0aee7a07dad5d207b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.25,\"left_z\":0.005},\"note\":\"The gripper now holds the bottle securely at a 5.0 cm opening. I’ll slide the grasped bottle another 16 cm inward along the table so its cap moves well inside the low-height workspace.\"}",
  "call_id": "call_du7NzOKmFQ1ESZQ4ItdgDiyD",
  "id": "fc_08f5339e5e1b68fd016ab44440fea487d09adb2f23b9631bb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_du7NzOKmFQ1ESZQ4ItdgDiyD",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2125, 2.0167, 0.9409, -0.3004, -0.9855, -1.3472, 0.5279, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2588 left_y=-0.2611 left_z=-0.0012 left_yaw=0.2238 left_pitch=-0.0105 left_roll=0.003 left_gripper=0.5279 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -11.2889, 3.0291, 0.4957, -0.6081, -0.2222, 0.9597, -0.5538, 0.2803, 6.6256, 1.7998, -0.1245, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1edbd5e0ec26f34b9e27e8aa859227f2f321deead6ea3c87a8d6107b07acbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e2ea053592e12a2636a6bda9bee1e6b5b7eb4b8f1655e627f9bcd0b74c4ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b51d288de258c808efa8e4aa7c29ff89ec13ec84948d0a92ab8292788043230",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.018 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.084, 2.0308, 0.9794, -0.1143, -0.9451, -1.1152, 0.9947, -0.0154, 0.4225, 0.0849, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3071 left_y=-0.2665 left_z=0.0063 left_yaw=0.2144 left_pitch=-0.006 left_roll=-0.016 left_gripper=0.9947 right_x=0.2364 right_y=0.0054 right_z=0.06 right_yaw=0.0147 right_pitch=-0.012 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -8.1162, 4.7658, 0.7497, -0.7155, -0.0659, -0.0171, -0.6906, 0.0889, 6.7761, 1.8291, -0.1001, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8314, 2.175, 1.1667, 0.075, -0.8474, -0.8116, 0.5276, -0.0154, 0.4103, 0.0792, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4123 left_y=-0.2503 left_z=0.0039 left_yaw=0.2547 left_pitch=0.0015 left_roll=-0.0068 left_gripper=0.5276 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0147 right_pitch=-0.0059 right_roll=-0.0038 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -11.6991, 4.9573, 1.0672, -0.3834, 0.0024, 1.0281, -0.7043, 0.0205, 6.4479, 1.7802, -0.0952, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2125, 2.0167, 0.9409, -0.3004, -0.9855, -1.3472, 0.5279, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2588 left_y=-0.2611 left_z=-0.0012 left_yaw=0.2238 left_pitch=-0.0105 left_roll=0.003 left_gripper=0.5279 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -11.2889, 3.0291, 0.4957, -0.6081, -0.2222, 0.9597, -0.5538, 0.2803, 6.6256, 1.7998, -0.1245, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1edbd5e0ec26f34b9e27e8aa859227f2f321deead6ea3c87a8d6107b07acbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e2ea053592e12a2636a6bda9bee1e6b5b7eb4b8f1655e627f9bcd0b74c4ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b51d288de258c808efa8e4aa7c29ff89ec13ec84948d0a92ab8292788043230",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERHzx26bhoc8gOF8w7DnNEGFJha4IVOWebShr1qC7qtNghbCUXugbNHOQqVRqp7K8r9T5EZKGy-Ikl675vYAIo_-TDnZx87jUqNH0cu-r0-UB1mBTvI4291KVmeUq-NqpfDGA5Lha1OcjMpidmqD24jEzK70xA4_AfwRV8YwCnLlQFVRdKWomYZriFTv1GkY_DQLNfm0ZOCrZ50BWU6OeFw4JjGVXo3KK5V0Na2VwTDE-aIB4ikftAt0H1akMe-ZZzRzcCYT1ppGfvbzlPLGJvj3O-_DGrhtedTReSfnc5Me0m9iZq8XliVSSc4we82ewnz7_ubk3s-kM3_xzl2T_UPznlFsJ8-ZSNnOjGoz4XF0Pc8SLGXMV2o7qWw0UQ4bLmERDh-7lwfdFF1oi6W2RBZp1xGbaWQeTyS9uYbeDk5tS2fb0fX_Rb2HCYTmmsDE6F5ZegEn5I1ZogRyb47WI1_baWjM_DA9QfLfuyHdnaXzxgOalLJ0F2wfKAUkiVpjs5NtcAlrAWc3GMNS3ApjvihpwTzNxeZKXUoDwZaewqwHNd-TmakOVOWPGMcelKstCYuT-LERnAYQgdhigtcHKDz8-QJ9TPIAp5rdfE-D203YOYRMa_o3T5koqlsLgrBt6T1XH1WXw9ix9bgRdxP0dxr3yNnb7wHcyPNchVvRhBhBGrGBpcImjLl03Hj8cWkSd9-B6XkHZgfMtxSLnDWkNDueByWupsTSEmfsm-nIxyIs369mj3uSmU8u1nMjfwK1GhTm43A1W0VHT0piNDepIT-LmhiYL5sfoeMLszD_lR8V3lNVhMcjsBXdRl4jDUophemC1X8EcAvzThwA0V8Gi7kSz5s2XIO5qpBo6MeEJ4czXKs0iYHYnoY9Zx6zRMK6f1_q1bRomJ-x3IgeIaEjnimC3F68bQAe1Ze1c4wthGDw-AXrlKDp5TaZrchgAHhaBeJT4u4YXTeMPhLVtWgnNXHuQeyRJQeXE1bQZ2lB0vaI96xgIjc-zlfjCcimgpRXFCPR9joAlHSnZbpAlT2FsSsJh-5KD7wUfu5Nk28QqQOUb8IPQ-s0OLsTKzG_OSTw8aL-_CFra85t7LuHT6h-iradhE7Rot0xK-a1OqnhARgkkcDtHZjjw4LFzsAVhmwhYotEq2pbiXObtxk40vMBYEtk9F0eU-MGF5wVfDO3Fwk5Pzld59LbtWvr16aAhSdR9AdwNo3HV5TfNSsGfTMpn6yapqH--9Hw8Pv3Gv6riimJKcLa7iEPQsuI8B56bXZLNTh6Agl35B2doDGGmv5aYbLBC0vEuz9UdfKzNa0dVUHOwGlmfes2pTjn1jQyK8Ehn2wl9-06nfXoEkv-yLLBSatFHkCFW3PUzFYdOz3iDqfdW9OtogksRKi97CfefchUsoqPP9BRWZOWM8Na5Dx9iBwl5BQA0gEyM913csj6RV20fsZzIJbcLEofiDa58TYxGNjRtCQr4DU7LwUS7LvbjSJU4N0sqO_nMXANjHnsB1ZUSzn0Q8uolkKrVmSzazBFXKhS5G5jXTgLA6wVsq53RPi_sgrXwwhqjFpRpWJ06Ozhjuzc7u9iyvINR2xUFWnkABgdGXJbpNXX2M9GLWOr7yoMHML3hamd9evBktnPb4RNz0kN5RfjJriF_qfwog8fx8C1ooa9Qh-GS2oglc2mu-j4WbhK4matX6PkWnFz8twYLx3hp7l-VGy7xhDV9tPFUs2elKi3GucsVieY-gmFsg6ZFqTTd5F7EcFY5OqjubKUbQwhnm38wkqc0NkQU7jSxreI1hWVVUt-0qREAIC4E2Hbz9Q5HaNmHIGMEqa0Ao3ojSBnRgPiMakNxwOMFuv0JFV7z8gaks48RTZI-KO-7SNoB6poWQO99V8umgm5EX1YmU=",
  "id": "rs_08f5339e5e1b68fd016ab44444e2f487d0a527d8e46b2547f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The inward drag succeeded; the cap is now around x≈0.42 while the grasp point is at x≈0.26. I’ll release the body, keeping the jaws at table level and aligned with the bottle’s axis.\"}",
  "call_id": "call_0qIZp2TlVv14k81pJwGFsxjh",
  "id": "fc_08f5339e5e1b68fd016ab4444673c887d0905d9f0f367b4a71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0qIZp2TlVv14k81pJwGFsxjh",
  "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]: [-1.2175, 2.014, 0.9401, -0.2935, -0.981, -1.3621, 0.9945, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2576 left_y=-0.2638 left_z=-0.001 left_yaw=0.2258 left_pitch=-0.0138 left_roll=-0.0188 left_gripper=0.9945 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -8.4855, 4.0684, 0.5201, -0.6569, 0.0855, 0.188, -0.5538, 0.3487, 6.7487, 1.8144, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb991236b62918f818488353383efacb393af7d2034c78054da434794295664f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66716d382df63b6645e88f4dfc0b36ac25db90f725c410816ab1ee0f2f4be1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8742036327069c7d48a684f3b906acf87db53fd21b66d58efe3606a93b2431a",
      "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 · 3.474 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8341, 2.1643, 1.1564, 0.0788, -0.8482, -0.8101, 0.9958, -0.0154, 0.4137, 0.0792, -0.2459, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4105 left_y=-0.2501 left_z=0.0061 left_yaw=0.2517 left_pitch=0.004 left_roll=-0.0089 left_gripper=0.9958 right_x=0.2359 right_y=0.0054 right_z=0.0593 right_yaw=0.0147 right_pitch=-0.009 right_roll=-0.0037 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.4564, 7.0769, 1.2772, -0.2564, 0.1832, 0.105, -0.6085, 0.1299, 6.653, 1.7705, -0.1099, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2125, 2.0167, 0.9409, -0.3004, -0.9855, -1.3472, 0.5279, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2588 left_y=-0.2611 left_z=-0.0012 left_yaw=0.2238 left_pitch=-0.0105 left_roll=0.003 left_gripper=0.5279 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -11.2889, 3.0291, 0.4957, -0.6081, -0.2222, 0.9597, -0.5538, 0.2803, 6.6256, 1.7998, -0.1245, -0.022, -0.0122]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2175, 2.014, 0.9401, -0.2935, -0.981, -1.3621, 0.9945, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2576 left_y=-0.2638 left_z=-0.001 left_yaw=0.2258 left_pitch=-0.0138 left_roll=-0.0188 left_gripper=0.9945 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -8.4855, 4.0684, 0.5201, -0.6569, 0.0855, 0.188, -0.5538, 0.3487, 6.7487, 1.8144, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb991236b62918f818488353383efacb393af7d2034c78054da434794295664f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66716d382df63b6645e88f4dfc0b36ac25db90f725c410816ab1ee0f2f4be1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8742036327069c7d48a684f3b906acf87db53fd21b66d58efe3606a93b2431a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERJ5eW3PtxlySEIyDzDHn1c7vl-KqZXxvqq1M_DSOCmTg0F5a6Pviql9Lf7CQCFS7suO1gJkVtD-Qzl6XTbLWJVkdtZla48pxgwlV4Gr1T5-yG1YjYXpltdbuVGum7z40DVuPkko0PEO1pKzKaSv07l3oyGVF-W_7evNwLeaSrMge14ip_1ObJz5ur2gGaB5a2DYyhQdHD3yF_5yzDamUTFy87E2Mdx72TEYXKbJfwd5vbEQ0GRoe9UglEwB7EaICfxjqmm0SM-bQsi4IepIFDCJ1iGLOUkLGenDlsfeohYTDXMajfNXSM6Gzk5Npt11s7pwEppqRl1euQ7DAbLM16ig6PlSbtfIR-396b3i5C1YTWiTOOJf35WOKm-yXj3xQc_t-X4QR5-i1u7v_BjcTU20Ys1C4DfFcYFi54Vw_DCQ7b27Q6YtVmKVplqKN-gBxP7pKfoX-Fvilh8DUCe8ERLGnE_8ZnCbIt1znsgdNGHqeQx7UDxMxWurreuJaW-knlNKl6T1NYznE60-45qf9hND59XdywP0Pnd6i_5K5HYKQ93NFXqkjCNzhDF1QnHUpwFRx87xtKjAQkwJT0YjvlRknhvR9UUA7IpE6BEJVHqRJ-z96mJf5lpynFFFoaXjzrCpNTjZCkRtlhDwofbtVe5AmLNEqtx9N4MrAs-Eak1z0EAyjjwqGzrds3jC6gmdoKv-JcQSzCezON1yjglcdNdDLKTBQwzYF-GVH1-G9RExN1U16mFQXxj__2g97sKF0ZVfokbOLtlG3ix68nfiCzdCySK27rm0BIEMEJiDUzhACuR2nmbC_tsikwnKjcXCaNcHFto42SsAnyKGSIn5pAgnLJePAUIdhyj7_Oyh-2izs2GIqc2qEAeOUy0Y1cDI4KidUZklLDaPnfpTzT0uMO8I6JJeZhLRjxU-33wU0f0vfPbsPTLkbxnT89LSa08aLF06FJnYta6JuWkSAr4_eXmsMuN5ea8M6KVOoBIR5Zs-60BE1q9oRGyxMvdDvd3c0DR14LIUJ-KfQQdgenvtmPQ_Kfhq1c1PEpG-1SHSyMQjIVf1LmZErNp4OwIn00s3qqZzmalGr6ooQMnuXPP4dSvpOSqdC7nB8VdFSm5uYj-1Dm0F36YOTt-fRSaZezIlAEDfif9kINt9gZQ8g55K_-Un4_qZjI7Yqf0zWDbxY22KjJ5wkXCp02N515kJapsJKRsonsdKZPBDmreW_35eligoXKntVXcwVaoUvAFtE7hksc=",
  "id": "rs_08f5339e5e1b68fd016ab44448eaf887d085404ab2fdaf76da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.264,\"left_z\":0.005},\"note\":\"The open jaws still straddle the bottle’s axis at table level, and the cap is about 16 cm straight ahead. I’ll slide forward along the bottle to place the jaws around the cap without descending onto it.\"}",
  "call_id": "call_mliExXQPHuCOak2svIBoCI9D",
  "id": "fc_08f5339e5e1b68fd016ab44449122487d09af4128b8087af2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mliExXQPHuCOak2svIBoCI9D",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8471, 2.1845, 1.19, 0.0414, -0.8619, -0.8383, 0.9958, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.0364, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.2558 left_z=0.0043 left_yaw=0.2618 left_pitch=0.003 left_roll=-0.0064 left_gripper=0.9958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0152 right_pitch=-0.0059 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -9.812, 7.0359, 1.2234, -0.2369, 0.1783, 0.1197, -0.6632, 0.0615, 6.612, 1.8046, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec98eb60580d337adfd26eb8f3561e99c3ccdeec5d6e6f26558a2af702e2e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce04f07f4f6308d8999a9c0902849adc4c4564be64a0873981da9d9643c0d6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ff9f4d0d4d60a8895032d11a7bfc44b89bbd36affb00872119bb3a0207ccaa",
      "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 30 attempt 0 · /responses · status 200 · 2.408 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8314, 2.175, 1.1667, 0.075, -0.8474, -0.8116, 0.5276, -0.0154, 0.4103, 0.0792, -0.2462, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4123 left_y=-0.2503 left_z=0.0039 left_yaw=0.2547 left_pitch=0.0015 left_roll=-0.0068 left_gripper=0.5276 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0147 right_pitch=-0.0059 right_roll=-0.0038 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -11.6991, 4.9573, 1.0672, -0.3834, 0.0024, 1.0281, -0.7043, 0.0205, 6.4479, 1.7802, -0.0952, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2175, 2.014, 0.9401, -0.2935, -0.981, -1.3621, 0.9945, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2576 left_y=-0.2638 left_z=-0.001 left_yaw=0.2258 left_pitch=-0.0138 left_roll=-0.0188 left_gripper=0.9945 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -8.4855, 4.0684, 0.5201, -0.6569, 0.0855, 0.188, -0.5538, 0.3487, 6.7487, 1.8144, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8471, 2.1845, 1.19, 0.0414, -0.8619, -0.8383, 0.9958, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.0364, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.2558 left_z=0.0043 left_yaw=0.2618 left_pitch=0.003 left_roll=-0.0064 left_gripper=0.9958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0152 right_pitch=-0.0059 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -9.812, 7.0359, 1.2234, -0.2369, 0.1783, 0.1197, -0.6632, 0.0615, 6.612, 1.8046, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec98eb60580d337adfd26eb8f3561e99c3ccdeec5d6e6f26558a2af702e2e20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce04f07f4f6308d8999a9c0902849adc4c4564be64a0873981da9d9643c0d6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ff9f4d0d4d60a8895032d11a7bfc44b89bbd36affb00872119bb3a0207ccaa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEROh-teAlV-nCXHoeRNSGdOKo1eVP_sO1z_HepmWUqetDj01_lWuora5R66xVkCF8CiWlC_TxPPk9hrq4f_PF2q2FOXGDDq-mChFV4knA4YDBL6sO3mt7Ab60eLTaH6YMKWET7HDariW-DcZmDcM3uimpu1jgdENCXcxF-jDot52msbhaUY8ny5m9PEKR6U0QyZ30q5_UxLAytU61Jsa2qDvLbj0JopZfeiSj7UXCv5SEUuKHQAH6IsiTUAbrNf5mwU5jdPMNnyWFzapMLdjHA_IqDwQm7NXWzR8ZoSVfKyvKkYujOY31YLY81Bgy8UKg9khw8R65TGSJSAcqVEWPoFh37NtnLUdA4YOGQ2BynRYQhb9rcjsG6PXUolflme4n2Jmz-StMIxRQRrs6GUJb-3dPS0v4xU6GflXrRpiOFC7xlrr1y8ohJyetjySFd8Bh2K3FkrXlo5zyFoDMSFIbXGDkmSSThZE3NPzZIKuF-gqMF3X6F9paft5Z0bXzWt6INQ8ZxCUiXzcBqVeZDsOTEnRaycLQelgead6dpItVMbBemy2PoiCWwBPGOTaoa8HvXsP-bgyxpVXiO7cYJJtNaa22lqQj8pAGToI-giYmJKybMKjfXspvLpfxZambwpYkDsHuW4B8X3jEoTna2g1byYOUcSJ8qe9LLCQTJakWdwJ1IkkcQ4aWRqwNZBVtnhZd6D4OqzBW4QXf6y2O4UoB-SqewoKoMNlx4YeWrpiwb_ojODf-U4XLu9gl5LDlnm-O_wvQZNZ3p-3LzuDWkjbSlwtryW5Lis_uuuj0eezfn8qMw1dJ295f7hlohukLZQ1tIDeHhIwYJo7_gZ-_6dagfE83rJI0z-O4YO6KAgx5cEEa1aALCXr_H39tZ97eSwHrsiJXfCos0Kd-x3JgUYoI3Iqfh7P7LHyQ4h7A0UdcxMYqM8VS2faDzJVDY8VATY_bL-cyCKdZkr6okcm8_Y0YPqfCTaFUva0Uf1YE1sKU_o7qJgZm8aEqYSlNLVP-sU64TB1Ke8zdFhdbUCnLVbcm8iS8GwK30KsU4I0Pq5QYLt7JAtHsM7rMrreTUrVwC1KL7PH2QK0wRbK58cF5v8M0zfL5I8LnVXE7elUpAA-ISnLc_9oWRAbdzaKVhdK6X0mWqMKHoxk9OPfFQrc4i5p1LURwMWmHVlPd733KhXCIfIB9exvocJBHR8FL762XQyJNnqxQf14nLCnzyBOTI99LSw_GngtZF-hHvykpkRtNfZjj7JN4y_clBD2-zWN4j-ttMLpFgv1vAYXnsVI5CNqfJYt6PWxAbug75Vk_F3IncIXupd5SV9IMy_gWtWtjt1FbgDxnCXzXv5qDq9ctq95Wh_SzoE9NxuTW4xpxFjz9CysbKwIvwOrb_oNwtJqbN_wb6ZWfejh6VyXJyfYRgHCDlfTtY3pai7hVoAhzLdvCfI5hHAvfAnAoM__s9RPz98IZXsmsx-LFgBHKRBnqPSmQmIGURej-zTACEM91dhxoEYxmiGwNSWzbn36h0DSi6YTxTH0uxD2CtYpFUfz6vbevaedIg9BK199RBCCAwbQE2uJ-SCZoR8iHM03sWb8-wFxUIeSL-lVdI5XNmjh0xbzm5YGhIbseMsdd70N91AppQmgoIOhe3TwZw9jxUzCsAo1CAOMIzaglQHgzhqVzzKEIp3_tTgsMesRQIoebMYdzn33kb_UUMzfED7FVdWAZsWnSaF",
  "id": "rs_08f5339e5e1b68fd016ab4444c543487d0bb5af4d9657c0b62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.256,\"left_z\":0.005},\"note\":\"At x≈0.41 the open jaws are still around the bottle body, with the red neck band near the top of the wrist image; the cap is a few centimetres farther forward. I’ll continue the low slide by 5 cm to reach the cap.\"}",
  "call_id": "call_knE0pJc8sIGjZgczM6DltpLm",
  "id": "fc_08f5339e5e1b68fd016ab4444d77dc87d087e75c2acd9f8778",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_knE0pJc8sIGjZgczM6DltpLm",
  "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]: [-0.7544, 2.2799, 1.359, 0.0345, -0.8249, -0.7647, 0.9959, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4615 left_y=-0.2508 left_z=0.0066 left_yaw=0.2932 left_pitch=0.0087 left_roll=-0.0167 left_gripper=0.9959 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.4171, -10.988, 7.2, 1.2674, -0.149, 0.1099, 0.0073, -0.6632, 0.1162, 6.694, 1.7753, -0.105, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21b3e70d27661dbab876174d8d16a3df3b1c66d27ba08a87c5b15c6cb2fd4d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4509f6bc6e5f5905edff8b82e7c9e97e914bf925520de96b4b13351d99dcfc6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbd62461934c51f8a00beb44521d637191912252b74fc1eda11345204d282f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.066 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2125, 2.0167, 0.9409, -0.3004, -0.9855, -1.3472, 0.5279, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2588 left_y=-0.2611 left_z=-0.0012 left_yaw=0.2238 left_pitch=-0.0105 left_roll=0.003 left_gripper=0.5279 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -11.2889, 3.0291, 0.4957, -0.6081, -0.2222, 0.9597, -0.5538, 0.2803, 6.6256, 1.7998, -0.1245, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8471, 2.1845, 1.19, 0.0414, -0.8619, -0.8383, 0.9958, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.0364, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.2558 left_z=0.0043 left_yaw=0.2618 left_pitch=0.003 left_roll=-0.0064 left_gripper=0.9958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0152 right_pitch=-0.0059 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -9.812, 7.0359, 1.2234, -0.2369, 0.1783, 0.1197, -0.6632, 0.0615, 6.612, 1.8046, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 2.2799, 1.359, 0.0345, -0.8249, -0.7647, 0.9959, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4615 left_y=-0.2508 left_z=0.0066 left_yaw=0.2932 left_pitch=0.0087 left_roll=-0.0167 left_gripper=0.9959 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.4171, -10.988, 7.2, 1.2674, -0.149, 0.1099, 0.0073, -0.6632, 0.1162, 6.694, 1.7753, -0.105, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21b3e70d27661dbab876174d8d16a3df3b1c66d27ba08a87c5b15c6cb2fd4d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4509f6bc6e5f5905edff8b82e7c9e97e914bf925520de96b4b13351d99dcfc6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbd62461934c51f8a00beb44521d637191912252b74fc1eda11345204d282f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERR3bWaOf2V64UiJbz1f-PixmPP2dV0SfUyFv4gQ9X8tVw94pabDJr2hIRLPTk4HZuPm7T96asdqv9GVY0N0l7Qb-FY7Xj5uN_us0vB7uvxKuzUYTssf7H1yvZwXpEZ1p5PJaZlPiySpqz3Iavxps9eIwzeT7I5zPRK8kGuCjW_c-exGGquhDadqs7-EXMPs-b1KZlV_YdVwNkyHPvx7W1fZVxJWw8ZnhsvyQixDDB9j_F0HWG97BmwEFtGhWj9oswZHQ8dv0qFvCQeLhlFs00_SbpCEwqMN4zarNH-lXGJg7nNUzWb7hOkuJWNeAS5QXqQk2K_GcVDzcVwYqRUnCPJp1JlpxUBwZOUp25BhAgpsFU8ChoZUVKiQetBeKpMYZFnm1pltvIi8OBeVQWxyKFZgSb3Jk-ZQ-eOh-hSJ8m7W7xcL89t6TNGw8UhId0BdSO13faC5DTJLdDVKeMDLjdXlPwMZ2iCcShJOmET_99fcXs8y3EFhxEsGYs62PztwbN4kvOuewMrVngYUI8TU2AKsX9AtIyBdBjf3wSS6m_thoK5IcsTFSm8W6ilPTKlTetikTEmdoBw92xElXv5f5R7w62-rkeA4P7uuoytuFtgSrvIIUZshEmY38j7FhzJMUc7NN1B-qqkEEAAquZqUnthXNF3O5q55Jmds5deSrnAcDU-uNBmaawRNv1f4FlcHS5SKEgtGN3cHzzmOTaEI1oOB-kyzwxuHICEDlmDqa6SmhDbaCU0FwupnZeoLCA_gXeE0Bq_P8s4WRTklkVcXTKethsE7yML8i_2Zv7yD_i6a8RnVnJAUYlt8nvTXo6pobXAJn0AQfCFQHv_7FpCsQV2H2ln6zJOiFT_BXx5gl47zW07XVgfuEvkaqeCD_a9qlvaVCji-2JDMTXNyRYY4r_o5B7AMr8W5B247KcLouTCL6D8loL1v5XqF0cN4Secb-bUvsGsJrtkNvLMhYmkty_K_3sybRCaZ6wQ-e9F_FpjYeWKugmE_kLmvnAmA1zc8bw4t7RBz10m0bOIfBgVeDOXc9OC9G1y-YjlXvUmAfsUFNg7fMoFfzRHwDMUctrsYNGWQnxQglu2VwCH-8upXoGqh49bHkiVbmYA0n2kTAw05j5OccL8PgEPJko4uo7IilX8IMkpx2RQZJer1ARLs6i1RCDNVYa2F11hKR2n1P9RdFKtMitVRHB4Spa1qu1spQUdHxqUPYwEgL-yX4RyNPumhsHdONh_Bt63yYlb26Qop5m-WI5xops-FIxQMet3VPSxIxsd8en8ymAcs0f5eIJuVlD47AVPMCo8n9p7d3kY11Jtkmpt8y6ZWmfsV19Yo4W-FPWp-4SCHkN-_SGd2aT3uIo993cXpxv9nmsIAuSHZbc2BvMmB5qS8tApFsIQQZRMee_ishwxKYlarO0_dqnw2_Eai0vbxGWEIA2r7xAN93XMa0yVbP6fbEChDWbvCoeJWVEU_-Ui9_xS4OmDwTC9FfSVcGzHS2ka4iqyx32H1K_RhDBqoMlcGMTUbv1npoN3Cf0Py2QBVbxVuMdKGijm0LHalw-8ko7L8KXRHuwXqzDD9zK5tTcTX5W8EiWg_2Fp",
  "id": "rs_08f5339e5e1b68fd016ab44450147087d09acc60e43ce1177f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The overhead view now places the fingertips at the bottle’s red neck/cap end while the low slide has kept them below the cylinder’s centerline. I’ll close on the neck and verify the retained opening.\"}",
  "call_id": "call_Qi8XT88dIZMXXN3Avo2n8fGv",
  "id": "fc_08f5339e5e1b68fd016ab44450cdb087d08551be178e1c54d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qi8XT88dIZMXXN3Avo2n8fGv",
  "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]: [-0.7406, 2.2894, 1.3743, 0.0372, -0.8124, -0.733, 0.5239, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4677 left_y=-0.249 left_z=0.0058 left_yaw=0.2821 left_pitch=0.0047 left_roll=-0.0019 left_gripper=0.5239 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -11.3573, 7.2821, 1.2821, -0.232, 0.1294, 1.033, -0.4581, 0.1846, 6.8171, 1.7802, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6888ff1623d473e2ed7d9d0a5ee06cc079995020846db226e4da18f7d2dc7f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834810f6d0627c7714ff7a2422e459d4b0fda88114d5f8fcf6762473ddfcef15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd79bd86a86d9a15b4731fde675efd66da0800e379c88f4b3a0e8bd9495d83f2",
      "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 · 4.737 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2175, 2.014, 0.9401, -0.2935, -0.981, -1.3621, 0.9945, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2576 left_y=-0.2638 left_z=-0.001 left_yaw=0.2258 left_pitch=-0.0138 left_roll=-0.0188 left_gripper=0.9945 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [0.1162, -8.4855, 4.0684, 0.5201, -0.6569, 0.0855, 0.188, -0.5538, 0.3487, 6.7487, 1.8144, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 2.2799, 1.359, 0.0345, -0.8249, -0.7647, 0.9959, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4615 left_y=-0.2508 left_z=0.0066 left_yaw=0.2932 left_pitch=0.0087 left_roll=-0.0167 left_gripper=0.9959 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.4171, -10.988, 7.2, 1.2674, -0.149, 0.1099, 0.0073, -0.6632, 0.1162, 6.694, 1.7753, -0.105, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7406, 2.2894, 1.3743, 0.0372, -0.8124, -0.733, 0.5239, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4677 left_y=-0.249 left_z=0.0058 left_yaw=0.2821 left_pitch=0.0047 left_roll=-0.0019 left_gripper=0.5239 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -11.3573, 7.2821, 1.2821, -0.232, 0.1294, 1.033, -0.4581, 0.1846, 6.8171, 1.7802, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6888ff1623d473e2ed7d9d0a5ee06cc079995020846db226e4da18f7d2dc7f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834810f6d0627c7714ff7a2422e459d4b0fda88114d5f8fcf6762473ddfcef15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd79bd86a86d9a15b4731fde675efd66da0800e379c88f4b3a0e8bd9495d83f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERVGUthagnNdS-rSijQMEpj-C4jQwPGtpLbUXfuAv1-rbqqrbsZ4LYd0fm8Usx7zI1fFrKIi32R6bwML8HGjPmERgaUc33WyuE43J05s3fi5ZKi4ddCENkCpAfgnjm2nAWKObyvNIDhK5KCkmNUJL7_LovyWfpx9u7bcetNNwmaA67f5rED6XCSpDxVcil2L65zOZPSiNVObTFM97OdTOGJcOAJ1bmyi7bXoexV7br-rdqiwuHhnFItCfFXML2uhmjJOW5rxQTycoFuZIES8fY43CbSj7NygBPtm9x7p4kRc7VX8Q_Bdz-e1w7JqCmtjQ1D9cCJTeD1GIQFUJdWbNE7WCeRYKbgUT2vSXtT7TUL92TZr97eG1GT9-Db4y3jr5ekW7qqXyfDNxAP_eG5Mu1HN_CfnG395AKw9EVFtKi96sWkcEIcttlZ48twuO--ndK2wklmFQo-DsEAVZxCDiXMYl9y4_NJcf9f8eCEgyczg2BSXCO8oTMOzfHcrRhh_ffTQgdS9d8R4NUENk5hzDKAXUzB0vzXpMdHHUVD4sEr2cpko9Tw8d9wnRtdShm3I5tTV88BG7U5yzlXdWTV-seZiQtjFy8V5qQ48MG3YQ9FnYAUl-SS3AH4Atyc_nzkpiqlPsQGgxsYXeidpiQdVv3P1CNxQo0pNCfk0v8w9PeWMXcqPc05fJ9euaG1yPczTKmC3M1UuVfh4YxGAbJMJcZvuHzcsDjVCZvqAlf7CAFCMyOkqdbwXrtI9WDXuX3vYpZ5AA9-zQPxDVQi5F4Vw0Jrs7JT3ThSneeNHgb67EQUxHM9OoZXgTXcO4TY5muhrIii3nVJbqN-oARs7qodctGFdoe9GVjjYSoXcSBbzwKTGCOgpZ10TWA_O4TH_gpAQggfbk5FPyKBBuA073bHh5ocli8BacXr9sU5B7KIwPaLI9MQzYZLhfq9rxK3JdBY2pkSOqkmL7Mz2e3FvZpZ-niTNWTWwMgA9tPXSV-Vee1QBX6PovTgsi4QYidvRlPXt4c0LBHwAx7nhR2EcmbztcZXkRCOO9hCS3UiN3KS2S8PUjoI677eAOMNMGkUtj36c1tJH7k4PBFjxsMSqF7hMBBO3l6U2xHt8Jkz0BLh9kZs8uZcv2tAkI-d5T8s9HZTHOwpLiUvAVBhe1eqnkOw9Px-fdVSSy00okW9ivnv5akSvdo4C79Sap61YUG9-ZMOW2rXGCsbdw7BRkUUe5_KOstwmZI5uMw0T9YpUYt8CN-J9LDB7XLayWuO0SGmAbjGq3x93VJrqnXzY8EVG0ft7W5MN1DQhBZPEKPL5RcgLhf869_U5Qvf99kQ6e0Doopj_lrcefS2bXlJBhikaciB3NRCWA==",
  "id": "rs_08f5339e5e1b68fd016ab444542f9c87d0981f0e78847727f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.3},\"note\":\"The neck-end grasp is secure at a 5.0 cm opening. I’ll lift it vertically to let the bottle swing base-down under gravity, then inspect its orientation before setting it down.\"}",
  "call_id": "call_cr5xpmkzA9aBKNZdV4QRhBdH",
  "id": "fc_08f5339e5e1b68fd016ab44454825487d08bc7e0be166fa56c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cr5xpmkzA9aBKNZdV4QRhBdH",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1731, 2.3169, -1.0992, -0.7185, -0.7616, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4654 left_y=-0.2625 left_z=0.2584 left_yaw=0.2422 left_pitch=-0.0997 left_roll=-0.0003 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -12.7111, 9.6479, 1.536, -1.1697, 0.188, 0.4567, -0.6632, 0.253, 6.6393, 1.746, -0.1099, -0.0415, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420e30ecd821ed72379549ea9502962bb6a99054dcb51c5e8e26c98ce6674e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb124038bc3a8bfe77ec14c341966ff78a04e2a641be735c23689fedded666f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094c306c548f41de454a3d81f658db84cd34fdcc4cac4f579941cae0f9dec92a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.195 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8471, 2.1845, 1.19, 0.0414, -0.8619, -0.8383, 0.9958, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.0364, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.2558 left_z=0.0043 left_yaw=0.2618 left_pitch=0.003 left_roll=-0.0064 left_gripper=0.9958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.0152 right_pitch=-0.0059 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4308, -9.812, 7.0359, 1.2234, -0.2369, 0.1783, 0.1197, -0.6632, 0.0615, 6.612, 1.8046, -0.105, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7406, 2.2894, 1.3743, 0.0372, -0.8124, -0.733, 0.5239, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4677 left_y=-0.249 left_z=0.0058 left_yaw=0.2821 left_pitch=0.0047 left_roll=-0.0019 left_gripper=0.5239 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -11.3573, 7.2821, 1.2821, -0.232, 0.1294, 1.033, -0.4581, 0.1846, 6.8171, 1.7802, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1731, 2.3169, -1.0992, -0.7185, -0.7616, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4654 left_y=-0.2625 left_z=0.2584 left_yaw=0.2422 left_pitch=-0.0997 left_roll=-0.0003 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -12.7111, 9.6479, 1.536, -1.1697, 0.188, 0.4567, -0.6632, 0.253, 6.6393, 1.746, -0.1099, -0.0415, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420e30ecd821ed72379549ea9502962bb6a99054dcb51c5e8e26c98ce6674e78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb124038bc3a8bfe77ec14c341966ff78a04e2a641be735c23689fedded666f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094c306c548f41de454a3d81f658db84cd34fdcc4cac4f579941cae0f9dec92a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERb9XpLp1H0en5lLW2QfobEhCh2CqEhJiacTtOujfGTtFueFEwxosx3-Rk0ycQ9xvfnH2Scd_Qg5Af6mQhENm700emZFVeUI-qBdm1WFOh34Z_GfHf-Lhws61Kc4E3vUx-Bf-B_8h-dMYvo3wAtw324knQmInXWQZFUkM9qkKJun8NxEnTI_SEdCmHoZTHEUY0qZgDNaNHTEEBAqbGpyqOHO0JROxIKN98TQwg-QuDzcrjmUu48wDkzKBScs3SzP1VC5yjA80INA-m9qqHF_eNxW-kO3GtkJiKYxkjkNztG9L5QXDZhuCCWMqynD-0CEifX4kEOX1FaTkQj6NuErZ0WuH-Wo9tnOGi_MKsNPtTu0kDidWdhnwH5inHY9Rw5IHFwRL595m1KGSir1N2y0hyVqp26P2TRtjlVFyfaqqS4fue5aczQ5sm8Fzrsg8gZeuJq59y9lFKmhynSNbyLMUXbzI2yHMlkfT_wkTwkb-HNF3Fxj4lxciAnbb5y_mk5pfkra2hw_ueVJETKbcn6Q8gFlFyrlQwl4KzSNKQDw1y2lkbyPDkw2nZhMM3REqNVdQcURiMmUjeRR89b63CsEi2vj8SPzVt_xxl6rP8PDHYpPz8XRr6Otaq6Jt9mcQX6Ar9DLImuY5ECsvP1x6wi5odzs-0eG-0rDpwSlwigNA6kSJ7qTYy7kqjhgrYJKIe9YkfZpyhqE-stTJi238R04lJ1Jg1dWT7euz22CfHvnO0qhCTtA4AArI5-CBqTG-_ooi_TLUx7KZF1peKf1NdKLJa1IQtwV6lcufRnHhIkcopMbYlu_GbhN8GbtOX1zxNi7uqV3lxp2-kGQTfnTZSqtsPcy0_WHXuHtaMFa4Ctk964QvhRnKyuc-ZOPrEArbMto55Q0Hv6VbTJMQ0S1l7uVDPlaS86OfiXQszL85hCR8tJDtkPeEyAEFPvaHSv-7uydD1Z9TH8n8SKWm7PWJ1jBRCQpmyUHRJNeuR3yUcWjaL0Qxof8Lm3Q3tyBzzMowzpyPtP3gcmeiDSS0b2QaTmnl7D91jUIjGMfq1EWWPlIjiy3khSZzFGwKNKKo5pfSe4_xHXd91kUgwXEefiLDIhvswoxdCcowchh0KquoHaQYXE91mjHT-r2KGIkqjKyWb-TNtGiE5zzGLUWLSyH_YM2uQo2aTac2DisS-ZK3oCzE9D1_EdEsvJwgBZ5TgMzwPt5Aa7KUeHC5bAA6-QENKWuV80vFVfMHVu9myLmazaKB1kKbTRFtvGxzRcxhB7omHsyF21Y3vNsMpy6fSIOwzpMEZjiQ5KsbI0fjyATUoZwQnwS-Q6zvwK7_JwJrWqbVwIWs7T9qOyQeTu0ZS9vtlSUS3HinxR_A-Na_VBkS6PrkR7C6msiRnTs23op-npwTcW98dxaQ6z0f43EqcSEOxRoShfCHV5EBSmEx5gUDIacxNY4c2iMy6tXpIIWGUAOMkzt4HKtQxi4ASAGra8239P3UrtG-pfdVODR6tg2yTPEnz5dd_dsEfW1TdmC7fPVuOe4OWeG24tkVHonWwIR-v17KFWepOZ50ZWtT4bl3pQ_0_X9Cf4NzTVMN7b2YTvXvSQgj_FjGV7theBAbsH_V9IYuZatgjClMdEZUTDnGZLYo6AT88hTvc7gp_e-gvp8Nynx5fNocIKcuAVmIOyPGwUHiDyvQ9yEeSU46MO2MCdry1PrbVPQZO3ddh9ZcbhK9QuPDOhjXrb4aDuoTKhrjG4pIeAu8umOYX6PGPwj35AgocPtTd9xc5DSC1FocrVkDQypnA2N17_tgOOh4pdandogen1fzQSSySDyHNHnhXsiersUadzgJPAdAA-7jBRJ4cCzdqfCUEhn07yFSin4iTscP3zc6u2jY2W4LUEfBIZsc-z31rmWJGzpqsclQXx6WozFD9PejnuX37VNK6Y_BfTsLPY7KpQ4MdESjwXYCsijaMJxdFY3c8mv5Iyisoifp865Rz9WQC7EeIpXbFLywF2wpVpevj3bXcvP0hWG22Jre5iufXZrYoeP239btRhlPIVzoDML4ySYPZF3NUOf3OjZRI7wfiDProloxth3SX-_n5Efb_U5idcND7hrThcR9Gkyg7QC2ZU8bbp7LSotncLbmKfGnPxJeIAfLT4sGqurnLhwDQKje9Fd6DKNc2CI5HS7iZLgp1yeUyIJqa5ame_nsE3AV1bwj3w6Q0RPPHV466O5Flddgk-nRLGvXlkgPl754MjTFYgTO3Qq3RRZfXL6gQcZxdM57K1Qrp8LtXuG5EKjPgBv0SZd-262cCXEHI3Uk1ZB4W1Fg1ljPJ1TTkQU6QVX3CQ11J8ajrtL_iRylAYkXA7yoqykThg45uhh-i4hy57HbZOf-cm_5LYruYRc2YYTuqa10-Y7d0eyOA2UEeXkvvu-deisAnaNdrosaDKvdP12ZJksxETrRr-W7U_uvJvLcs96UkWX1S-9BLBArv-oVUy5DMEWUdf_hbcTwKQpYOJ",
  "id": "rs_08f5339e5e1b68fd016ab44458b0fc87d09a15c27a936ed7f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The bottle lifted but remains clamped nearly horizontal because the body grasp is tight. I’ll loosen the jaws slightly while still high so gravity can pivot the bottle base downward, with the neck ring acting as a stop.\"}",
  "call_id": "call_cmaenrQj6pF5PgCJuPn0N6ZL",
  "id": "fc_08f5339e5e1b68fd016ab4445b10b487d0bb50dbd4758b3c36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cmaenrQj6pF5PgCJuPn0N6ZL",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1998, 2.373, -1.187, -0.7143, -0.7589, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.2584 left_z=0.2542 left_yaw=0.2439 left_pitch=-0.135 left_roll=0.0488 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.653, 9.1966, 1.707, -1.3016, 0.2076, 0.8278, -0.6632, 0.1162, 6.6393, 1.7851, -0.1197, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991bb39570a56d474f643c410da47511cb4d3076ce845e1cef292ea124e7e133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8403535bf40bd600214c5add2494759421f9e0002317c4b3841a04cf2f26663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2d012edd7873f8758b46635f3e8b90b5d11699129d43ad574f606db0af0280",
      "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 34 attempt 0 · /responses · status 200 · 11.02 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 2.2799, 1.359, 0.0345, -0.8249, -0.7647, 0.9959, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4615 left_y=-0.2508 left_z=0.0066 left_yaw=0.2932 left_pitch=0.0087 left_roll=-0.0167 left_gripper=0.9959 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [0.4171, -10.988, 7.2, 1.2674, -0.149, 0.1099, 0.0073, -0.6632, 0.1162, 6.694, 1.7753, -0.105, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1731, 2.3169, -1.0992, -0.7185, -0.7616, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4654 left_y=-0.2625 left_z=0.2584 left_yaw=0.2422 left_pitch=-0.0997 left_roll=-0.0003 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -12.7111, 9.6479, 1.536, -1.1697, 0.188, 0.4567, -0.6632, 0.253, 6.6393, 1.746, -0.1099, -0.0415, -0.0073]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1998, 2.373, -1.187, -0.7143, -0.7589, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.2584 left_z=0.2542 left_yaw=0.2439 left_pitch=-0.135 left_roll=0.0488 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.653, 9.1966, 1.707, -1.3016, 0.2076, 0.8278, -0.6632, 0.1162, 6.6393, 1.7851, -0.1197, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991bb39570a56d474f643c410da47511cb4d3076ce845e1cef292ea124e7e133",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8403535bf40bd600214c5add2494759421f9e0002317c4b3841a04cf2f26663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2d012edd7873f8758b46635f3e8b90b5d11699129d43ad574f606db0af0280",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERekIerCq9K1-ngqlbCkmvfyp7WCNarh3cpPicLVJyZKGemPRz6cr1_oR2uMR5EJBBfTzKIoNZdmJQNwD1uV8eNUsnhTlZVccBN72GCmWem2Gr-seK_Gq2ujHWJHIzu__42iWcKrLgdKqmju_LSTL9TeUKl1ko7iOOJIs6rkxg6yduO4DH6p5ecs_6mI3dVVLT7rizNOGctEHN-XrbfMwcGKBI8d61aXY5l4QyD9ywRDF_4uK1rxZImz12uEQqDBS4CvDspI9ZjGEQUqEJuOPeE6GGtbb9xNUY0uRym9_oO92P3N48RPZhTfpJymK6I99o32qPsq1I9cjeZxlmSdXgamcVTeRjLvgArSu2uCKzfJiVw9XJox0XyixoBlecLtsfHeEuh1yuNgGuvV73-ZIockrb6f2CyDJW6L6kIV75t7W3SLxE79F5XQkZ1MCxiFaVZ5eCkY50wvshACIFnrN8n6Z8B6O_7OyG0f8S23LwGWZww1Wf2gDY-PDujQGsHb3cxHEYbR_maZ4NqBeOZdt1uoQ9JR2cjEl4qHrIcf2mHf1tPC8sONBDlxipof401kf7aRDVR-N9Li8YiIrrvdsM3x8gheqQxY9J0-te9qFaBWPMutqVgHEFqo84ByFshB3DcSz6VUVsTo8ZNH-0Qf0nOfcQQH71s5xGCwEVJFHWVy94iBkQO8nnqB1kHRrm2WK4wN0vSFX5XMBTCcpucCEAmuazA8CrlcJMFJrg3RNllmUzi3TUMirpen9uFrYvqWVBJrBsDrigISZRA7LTMIFiGySbMmVuc6ibuL2QhhkqZJSBfi2RDaDeZn_HnOvzcnJofmlLHKmkhoP7L8FjKOWTa5WUzF7WJvzQCUZIL8Zu8cDLhTp-WDcFNyQdF7Hpz1VBkQpxsg6sFS6wGcCz7nCh66DH1dTOb4THtyKp_7Y26djyjSNLWbYP0c-a6ygwOUBn6mQFlY5ZVBQe22GGjiYhdxmGCWjVAQ8YL34kO8Q2PGAFV54fREDBASpy-kRbygOgkj1C22F0Pj0Ouea-ci5Q-a79GdR9KyllZ7DCAD4L-0oxzkwO6EKuU_SFp0CQF0tB5rMy6iRC0hLXxVPvvmGwH8EMQ43y2pbSu3kcTMAxfL7U_5cLHDWPqzYHt3FooN0R6chRBa_G33jNY3jRbzMeq4cKAaaFrlCVAWCyXFE5YHTYY5DY55XQ_pyKUMumwZES_bfsQQ1WwcVlkiTy8E36TZ4Tym4y6_h3l-03Q6qs9kdMFBGLK6GFOqcERv8rezzLl2Kvi4Ba_9FBMTjzjp3pIDP7UE989MNEQhH6HxE5D-3MqMmNpCfoSu4dCDxrMkjir7kwiAejhs-ux-7TShXV5-3ebNXuWZJs4HkLqfMMKVeiOvF8_eEaRxEbGkjXdDJtd7Sj9TDEcvctXxlk_rBYx6Q==",
  "id": "rs_08f5339e5e1b68fd016ab4445d0a3087d096032a9eccd3c323",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7},\"note\":\"The first small opening command did not move the loaded gripper. I’ll increase the commanded opening modestly to release clamping friction while keeping the neck ring within the jaws.\"}",
  "call_id": "call_mH39e7N4jNPd5EWF7V3sb25Q",
  "id": "fc_08f5339e5e1b68fd016ab4445d69a087d0957aaa1f232cc2fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mH39e7N4jNPd5EWF7V3sb25Q",
  "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]: [-0.7589, 2.112, 2.0583, -0.9352, -0.7296, -0.7322, 0.6958, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.457 left_y=-0.2662 left_z=0.2166 left_yaw=0.2171 left_pitch=-0.1114 left_roll=0.0561 left_gripper=0.6958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -16.253, 7.9385, 1.8437, -0.8962, 0.1685, 0.0415, -0.6769, 0.1709, 6.8581, 1.8046, -0.0952, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114e11209a8877c22a606f792bae8b5044745498170ca5061809b3337cb40ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b0583d92ffccbbd42e87bd949e6beb6436375286302fe46b09ec2e2d5baf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a45c5f3541ad878c022eb424060e073a0ba03964d0e6d17fd60ef17b999746b",
      "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 35 attempt 0 · /responses · status 200 · 5.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7406, 2.2894, 1.3743, 0.0372, -0.8124, -0.733, 0.5239, -0.0154, 0.4103, 0.0792, -0.2462, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4677 left_y=-0.249 left_z=0.0058 left_yaw=0.2821 left_pitch=0.0047 left_roll=-0.0019 left_gripper=0.5239 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0059 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -11.3573, 7.2821, 1.2821, -0.232, 0.1294, 1.033, -0.4581, 0.1846, 6.8171, 1.7802, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1998, 2.373, -1.187, -0.7143, -0.7589, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.2584 left_z=0.2542 left_yaw=0.2439 left_pitch=-0.135 left_roll=0.0488 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.653, 9.1966, 1.707, -1.3016, 0.2076, 0.8278, -0.6632, 0.1162, 6.6393, 1.7851, -0.1197, -0.0269, -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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7589, 2.112, 2.0583, -0.9352, -0.7296, -0.7322, 0.6958, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.457 left_y=-0.2662 left_z=0.2166 left_yaw=0.2171 left_pitch=-0.1114 left_roll=0.0561 left_gripper=0.6958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -16.253, 7.9385, 1.8437, -0.8962, 0.1685, 0.0415, -0.6769, 0.1709, 6.8581, 1.8046, -0.0952, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114e11209a8877c22a606f792bae8b5044745498170ca5061809b3337cb40ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b0583d92ffccbbd42e87bd949e6beb6436375286302fe46b09ec2e2d5baf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a45c5f3541ad878c022eb424060e073a0ba03964d0e6d17fd60ef17b999746b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERpC-dzvtfEpStpVpamaNENAPOYZqVY5NL0WjEK3Fz8SMn57G3oIjLLMa45EmngsyRWxdfQYaizMKtBuvv3TWzaUGNAzXMML9HUAyJoXkj71RW8O9IUoF46HSq4XYN-hFNHjGDkUST1QD0YINDVBv7QFwVfrWJpovegNJeMQR1Uh7sUjrruLb7YCc1Vi_0hO1t71KoKb9hPdqU8rBSllhd6M_cehEwzreBXhnOzzE_jphYqkKWksoiEA_tJQdV4a7GZ2l8rua5LVuzzl2qIhLAwApW5apU5rEpwSgqX9w-chr9uzUFSuusomrAmUh36zO2cDh6hmoZwcOffnmjU4qjK5qiLjbWUQCL_g5pIDzdq1WORfAtj1H4QTy1p_xt-jPdzWvtuPGjy8vSSnZC2vAHOlNs91Usat5Tu5rXwhZEcpguJL5pifBFMxMv9L1QEDa2qLtp_C6zNwdB_uoekQktUx9gMwbOsTavTt6DYDiXFg5YgdT8rhlnno3qaSiSsMzRcr9OygBZMnL7_cEQs_Fa3T3Ar88rCKskrewfNr_B7HdolbJVuPAwSzApd4f8P25XUTNBQC1Zl6fb9jU460QpQiYiVMBTZ3q_2WT3mhTNFQcbDCq0zZ5hxD3z8Vs6I6w8JyAPId1rm9d5u27uv-GNDhJ-bo4MZ7x9en00nTz765QLPLdRol8NEEzTVRNVDjsHFWI0W6adua8bxyQUkzWrBUczOF1Df8IOcfyZcuD9c_azMdaZEVC6RqUeb6iD47pGifojuzOBNY7dxUxw7KG_CulfPwhQiYbBd43o5Lt-iGRtpWXfHnbBBO6oVYxeYMZ5UOOQ5rl_it24l_U3kAb9xeE1MPC73sAKhhr7AYCdqW4vGXxYLq6XaMubV9GsUYbJDJimIQvC54DKM1EO_kGxoJjTXeolAdLPVfFIrYJiMfASME86naUi1Yfq6TnPyYlxAlbQE6Lw8iYJ865Atwo_g0LQ0h6lZK8TgSIZg2FeAO2rQD5WN-Pl1Sm_kOYQg4QNeqwPWlMIJLRRsTBPj1HvZhKNCaX3Ou_SYidpeJWzVFcJAAlamSNStI366LHk191lR0SOZte56K1gtomM36GokM7tp6c3j4H8vUSJ-5IBrUHPr5h8YwNj2VshZY8_UwJfKi5u8CmlGs9-xnXjn-pOsuThms1EMYgF6Qoy4ufJKryRzG8EZGbZxLnU1Gdlf42XeyEG1mqgZooNBe7ovo05LdxS4rIbwI6GtnCy5ZNUnKTz24Z-KNZb-twodoCjY55NHZyTRvaLTFZh1qMJqJINBgMiLR33ClQBytzP76YHNlw10AzdJRuRhKMjvdwohz8bUdPtzvgljxfm02LIziHGg7Ef7eEFzXIkyZxQVMTecKn8uPhPpYNQYGJY2u4jD9Ogm8ym2RFAEkACdw6ANm65iVNiCoEW7FBulT38izu4ZYUG5cmwv_Biih-xfelXFB0OTXzznxGJsdvi868Cl7lmFD4937lduCywn7Cc2wwlckHytN7hDdG-bk6r-23iark-W9SwZFlpxVOM_h2tiVQDsFhI-2XRhdMkLtqEPBdg3vbUffGDgRyiVW4OxRhn1O5Re0S6esVkrOl07NP-R9KMW5J87WHohr63RsxvkxW1QIxw5Q5GUuKP_6ahWLrrN0lvI11Cg61BvSpOQgvCg8B1-Fg7ZeS-rhdz7qJF5pi_DvuDQfPGsUKx-UMJ4pzGRfwSY83pfLRxIn1lDBqtYXhAIoKNM61vKhgTwap8dOmYyUQnisJWb1aA-RJSZFon9ucSvwBkXk92taQ9S6iN5dQ703ZR3bFjbVOSGyC2owQR4TsJ7vYjTWght5PvzfMzhZdg0XFndPfvz0-dOg7T6P_460C2U3sfpBQYTC15m_GCOAtscsGf-c-4Jwq9vSVJFiXSNUDQwdrGyciQ6rwxSLv5jr8PK0GT9slv9c8bsJETNQu88m_BymAlcRHmXJB30DzM3_dr6cqxczaIMD_cGg7AxIHpH_b4hEieQMkzTYYUDb9hDaaJzT2MT8XdwCE4MI9q5PiwPfBkbCxD7zA8oR7DOjeybc0WFCa-WxpeGuVC9FYj2343b-98QW6Y6KzAcYGUH9M4lOK3u2J5yH5cHQifQ2J7VThsmBlW98GvhroiCLop-lRVEcK-_gm5XBX9BhIxmG0vPJzR3EhZh43ZMVSBr8AIaeufOcmUj4jl_zqlYaNAX11T-AZ8wJElkvry_dcyLArLD4svHqJqEAiirD4maUwy4yAX1qCKvug603bd361ShWgHFVTJZiae_TSGvO8R1wUWLUSLNfeYOvVr7rPK2e6jYrI5qixvVXuHl7lqlDbD31GAT4p-WxTz2R2WJ0eTy0nl5wPZDbqB9TfRhGaUD96zAgpR5geamPRzMMo-5fwPeKsVX7kkn5ZA3fmVvbfiEyAicGUmtaBiOcbS7S-q1hj1Irk_v0YVuRarkftnRZQB0MzXzbYW4gBoAEFnh-ZQTYcXQRuux04_NjbL1CDpEPSYdc_XO16sJoKdCzcLnF4L6-H_UtnOt5NDRI8bf19yExXcv87StkKCNWBmNil_5SVLQjL1wb0WTUH1yyzxISZ6walHjsF7Fo7weZyJBvfo0BW1PGPABE5gtOcgqSlErjfKo9glKzf6lSTbTDin0hgdtpjHZbhGQueq9T6k3l2P6MJv5ij4_OrrJp2Bb2YmXxTOOB9uTRJq0TK3EIZYNJVbsS-SSNJpPOPnlB1Oi9sV0FywaVbyJXpISyRfrtzZ5LSKdoQL-Qo8VE19_L3MD52_eQVxiqwi_kP91zCH6phFFDBkO8oiv89pttaqijURHdrX9o_S_ZepBUBxHmWzkADLU2J-EX8k12-J1A0j1Hkyw-fggWa7lRhf6SxNuVlehmpktfRXjkAl9VAlqtJ_ClQGXgl2I1dldWF18ud6ZcJKdMU-ljybkAJFIEAmvMUq1zqbhs4HLT8P5joZaZTx5NneUdYN_qVOOMrRFIx5U2Fpq51bJGnLFn09AdKTUC6QrXHXKx2b5MejIL-V7XCUjC-eJMPjG6HYZ4j0sRHgf_j3LObUjDELOChS7SUwv1yctOZyY5HOU77P9zkeSHVZxLTmxu-9tKQLDE7NDcre8yWmdk4fbQb4YMGIA3D47G32u2QziDZywk7FkkicKd2rO3N8QHwCLPZIZK5suOaZTE5munthABZLyHVWMAkGzG1Aqtb13S0Usa3YM4kaHdCOa9r8uvwXuGxutUjxjZFiSuTTMn14ZaSbHvXyLo4wQuwkKuh-OOKTWZqi91-fWwJdT1Ny_g1H8cfB0BBcBEgEgGlZTTJsz8RQcOSQjmPoayVDTydjUJ0jmlvs0PyS0VipM_EF_YjNcKPttyyqK11tVdFvBFqshqulnQQK7DgGUOQzbbPnZ0vgJyUeOPEPIqULhfgexVWCLZ7xeeNiKy7zoUWfedNDbD5JdyW4XmuN5VoW4JEv7GmuV2qMyJz6H9w2hI6oXUNIVdOIxZKBRsny2ageKAhmrg1W4xhd5hnUSUxwXJXa1gVbchThr5L4ihsNY_CucATL980QMt0MpuBdzbV2AWVbLMRIxdBOVAY004aXxY_UrhCvWknB-HlmBxGFetQ0sJthzjy3Ob00mSKcVwQUW1FMtlYlw14L_aeJwZLTI2XukCEtQJPnWKjPdOQnNUvXC5vF7j5BuAnYN7UsJmZ3-aPYY6w8fEipry-IhgyIrCEX8hc3NvIdKLuJVfWtDZVjbt8pYT7WmX1xYicaJ_4NDovuThVs9g_D2K8lRowcRazS_-JlQwvhbY-MpPFpeUQXIZpratumjckJojdzbPYCKMd37Prh1IQRCzWxlYAUl4zIUzW9l62YMk9jgP5fdM65uJpOHO2CVvzo30eB99dWSyaNfqpHPvLPlch8w6--7gKSaWckvc-O-8hAXjL_83E3k7qpXKTHnGiQIxroPKxI2tVo0ifQWTJG6GzrTDwobKLt1JUH6yCNiy552nIrKhSMsdCqvN21s8NbBio5IXoCyc23bNKxlpwZQ0lEcRqvWZW2B5AdFqNVbm3GJS856A0A5JH5gm9BxytsfsRcH-HvX4vvWlvjv2kdlToSaL0p1KeyiMoAJV8fxFOaCP-5X-a6dyrK2zYYx4Q_xm5djzZ08Z7ku8VdCkaWIrDpDuePlqpvSbKpiejqAsvyg2_k9m_X0N-YV246CTJbMmiw1zpP_RrXJX89KvnnqodGa3wzvaPfAMNl0jwq78v1bAvQx8-KJZL9tRYIVBuZVprf-oY04eVTNNNI0AcWw2E4WLj8HMvfEcOqQvnMofBiae84Yb1NN11x_PDFKSFDa_gFfhrDnbV_HJ8u62Z4vXSCpCNnCPQ==",
  "id": "rs_08f5339e5e1b68fd016ab4445f95e887d08c6057fdb7d67f92",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtERpUwMc2FEsf9_0xroCWLYvYJ-fnK9rEDds6WF6BTiTiCeEaVmeMkXNpkGCfCNAniW4gzf8g6xZF4Xzdr0LL380w6O-LAgyM4kkUQkO7b7bWBSxZltWj9fkqpV6ytuDhu0vEyitGY1atvmQ7ZZJHusg4W1Y6mV5ftwmCxSz0-gjReWTdBimxjEzDLK4jOV9MQUs3WjFA8icwkFVu_hAEi5vNDfaYV2IZX4iRyF1CJ9jnkorNaH3pI3ygS4Kt6z0Ku7W-4NDnF_dyhz6aO6raZQvkztTqngQRFGHPmj0bbbpMXcstIV43tqzWe924rQ2fT6mjK12Fz3rvAt6y8s_-2bJYrgjxdGpinIpAEqweBTS55ROCfU-dP0AsY7JxwCo38qv7pWV5I_x0BUtYh7TLNOF49116FqMp7PyV1dCGNLnMjIWYVLgiFd4As6yDBYWD2Cek1g-ETK9xxlhCx_ezhDDgiw19OBAwBCOO5Opc7pbbo4vn8TWEGsLqLN0-MnHGjfWocIj0a9i6Mi34a50Dv-Y5gmDofAM1qdPAu_MHvOVypQ4D00UryXiYKj2J9yCh74yq52vTS3qAEmJd6S3J1Ik4tvIcLdb3EXhC4OgVNSzW48cSrDMT3ozvUfiz1X-73Smcl8vW41za6WhHvCFtfxcD7Ue15KxTzL2kj1OqA3Xho24lk-bYuPrpISyT1t6fmhWy9wqbYEQToOBYuDvbGRtdfYZ6h5AdsAb6Ai8jprMWJ-qovcJbtDrsoGYaOGBi3dyY_hTbe9SG7T6eEX-jYITANt83_-lXvz4X-n2ifGFcX_yh3iDtRGgRy2W_UB_SUVw3_KCnsK9nhYyVE38hzqi3nA9HedvCejYQB06Hxj2KuLecNlus8W1Atw5x5981lVtYZKRalHwHuIr5cQj51VSKUhz82_QUjFA-sZ02KG--XNo10o70kMDuxxYdBl3YF3tG0SdU2JUHwb33AkSSXffgg0t4bqVVhsDEpvGZYscnVPYdKFkJ28y0PPsrCIXOlOSAqu_AxrfpJANLjd9-R2cssaAx97OyyEkBjS9zDdCt4Gnf2PdgLb-IHl7qErZAefEdpYoQlwChOm22UgR4AMjJPriNYp9fxLy86rjlTAtZOCV3knfEHafl-rxi547XJaH0-RqK1Dk3cHG1GViW689RwEXOEL580p9gw5W4gjPEw9ddg2EKdgfv2vRKtfQNSRSvmoMQNRHatpG_2CkiCSuMmoj1Auh-HNlHOctqkmPniImTJ9-vLjvWrx9bOW1ZNh6WBrp7NOjgl060byhicqkMoGdb2eMNLPvAHU7AS3MtMRDFqsl1yiqg57D20_q6Fo9WsSOSvnTYE48sIn0nefv_gpe2upOlgFPRGfZgWBybvFrhIBf_FzjlWBVUMfl6i7hTsobhX3cIQf2fAenX82VK6y1-tNGTjzhCAQwH6gXyLcqVlr-OiWqbb9FxeWBBFsOXGE1i7YJ9RN7fjv2mqmO7CwySC17-PKn2Gn4ca6NwpnDEA4tUFodyo3le_DVD5AcGbRJjT4sGIyOUEWB4Wus2HAqpFLIV2-6I4AKdOcyQKCWxvTz2W62dFTc5f83exME7QxIcl5Jy88vae1qnNQE1DF-WQI0HyqxKNBLJz5r7abQ0XQWRZiVDKKp4BXPnGM8l_jUCA3DQVLImLiCk3HVy-LzgYN1Sx6QTh3UTTATI50QIdHCs5qQaZVl61-c-jUqRCqtWm_o_3KEfY3ocl812qFVldvdq6hjwWvTw8e42i-Xg7bXeNbqgIy7HsrgGATA5BIQzpVDdY1PNBFKiq04vlROYmzYrxfp_fqOGjL9ABoErEEyhoBX-cNnfh_LouI7tgaARPcJbvu5YdlXb9zuILe3R1KRUOTOQBOY6PRKZEHC-ngp5W4BtBh4Qi9vIyraqOvubi_DbZjbGY-ZQE3UKy7GhorqG9CsGYuvDq7L3V5nTz54CN02AAuT5C7YjJMDThaM_ZxE73ct7q69vLw1sPJe7b-n2KB_q_yGIaURh9TXKjHBDawHhoOaOihY_Mvp1CQtz_1u21UqdllWTw1qg9UA_lo-wki2aHEV7DL5g8FZRbWhmlVQmqsMiWYgw8ftqvmHeEPRRnm8QvSZ1boqHfEXJ3S1pFXbYAP8ePlAUDVjaMryUEY6E1EUk20wmnVVQEYExniaPQMnivop6xZV1wD-W5kxXBcUeJTWeN0Ufu-8NiRoNoMHRgQu40Zl6ILmxUkfZt7Lyu-Fiv4IcAYTsDEb9E9oUI0te8dYVI8X7OpOl0j01vzqoa7sQxiNRVWQTDoS4VrewHjCtScrwcPdXSrFKWznESKLBcJofY_Ouaw=",
  "id": "rs_08f5339e5e1b68fd016ab44465797487d085b23087e4296824",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.27,\"right_z\":0.0,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":-0.25,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The loosened left-arm body grasp released the bottle before it could pivot, so I’ll switch to a true cap grasp on the rightmost bottle. I’m parking the left arm and sending the right arm to table level just beyond that bottle’s cap, allowing a low inward slide rather than landing on top.\"}",
  "call_id": "call_9EdEubswb4vPQJywHIne5SKj",
  "id": "fc_08f5339e5e1b68fd016ab4446819c087d087148f9da8b691c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9EdEubswb4vPQJywHIne5SKj",
  "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]: [-1.0752, 1.7119, 1.2972, -0.7631, -0.9253, -1.0786, 0.9976, 0.6418, 2.2761, 1.2911, 0.3305, 0.4778, 0.3325, 0.9985]\nstate[eef_state]: left_x=0.3047 left_y=-0.2593 left_z=0.1668 left_yaw=0.1961 left_pitch=-0.0272 left_roll=0.0212 left_gripper=0.9976 right_x=0.4925 right_y=0.2711 right_z=0.0041 right_yaw=0.052 right_pitch=0.0 right_roll=0.0042 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -11.3299, 5.8598, 0.9158, -0.7937, -0.105, -0.2564, -0.0889, -11.0017, 6.7214, 1.5556, 0.4322, 0.1587, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42eb4108b2a3be83e937d0a853b12e4630698c0f616eaedb6f181ad6f6f0d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9d757234c91ab2dd924c5dc107fa01d73c4341d365d7fab71241fea1c460bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ecd437879a97fb4b96a171bbb4576c578e5e64c5d200875d3e050b630233a4",
      "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 36 attempt 0 · /responses · status 200 · 2.809 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1731, 2.3169, -1.0992, -0.7185, -0.7616, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4654 left_y=-0.2625 left_z=0.2584 left_yaw=0.2422 left_pitch=-0.0997 left_roll=-0.0003 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -12.7111, 9.6479, 1.536, -1.1697, 0.188, 0.4567, -0.6632, 0.253, 6.6393, 1.746, -0.1099, -0.0415, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7589, 2.112, 2.0583, -0.9352, -0.7296, -0.7322, 0.6958, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.457 left_y=-0.2662 left_z=0.2166 left_yaw=0.2171 left_pitch=-0.1114 left_roll=0.0561 left_gripper=0.6958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -16.253, 7.9385, 1.8437, -0.8962, 0.1685, 0.0415, -0.6769, 0.1709, 6.8581, 1.8046, -0.0952, -0.0513, -0.0073]",
      "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]: [-1.0752, 1.7119, 1.2972, -0.7631, -0.9253, -1.0786, 0.9976, 0.6418, 2.2761, 1.2911, 0.3305, 0.4778, 0.3325, 0.9985]\nstate[eef_state]: left_x=0.3047 left_y=-0.2593 left_z=0.1668 left_yaw=0.1961 left_pitch=-0.0272 left_roll=0.0212 left_gripper=0.9976 right_x=0.4925 right_y=0.2711 right_z=0.0041 right_yaw=0.052 right_pitch=0.0 right_roll=0.0042 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -11.3299, 5.8598, 0.9158, -0.7937, -0.105, -0.2564, -0.0889, -11.0017, 6.7214, 1.5556, 0.4322, 0.1587, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42eb4108b2a3be83e937d0a853b12e4630698c0f616eaedb6f181ad6f6f0d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9d757234c91ab2dd924c5dc107fa01d73c4341d365d7fab71241fea1c460bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ecd437879a97fb4b96a171bbb4576c578e5e64c5d200875d3e050b630233a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERx0Fp-CUyl0pA7mS5xssAkzsHFAgQIV8IOu9ebZsLIaCpeu2U8XOo2st6kFkp2u4jEs9pUC-NxLRI0WT0XvsJTKh8hKdqtmMHdDqul0l19lnGClOTijrqw06PK6W_VESGwD3BN2EhYZqF9wHDbExQKikhKuLpJEbkaltidubxsbYSW_d9LYN4CgXQjeOPPNvs79_TI5kZPN9yaZ7hlL6jdwADimV9uSzsStl2MnrPG1xlpZnCRLDUoL286Ech6xu2vrFVdfRCAc52aUrWLdj3nSOO8El_ZMgcLOxznuW0QuhiZd8URKDCCHllbKNHCPDrD5WkqaENt-ZVLqNAbzmQWAOvydVLnpyqjP255ZOjB7EPgtL5QIAeYJhDlAb6FzufWmdaKMO_heHmhLcIBiSgNrbQstAiQQTFVE6O3eXUT9HYDPuFQStEX7BmufJ8ZO2Hphu1JlSRfPQWmVLBiQWOA-V43q0RpolQYKOKtpKwvBzy4FpSU6XPVDhxHP1Ul8TSQL4fIVvczNVmS4z5Jnjx60r2QNop2VRAUXXIYUTU5QJc_RZ8a3cgTV7mr0Cg_wCXH0imADzKhF57O08Q-Nn8FR93xR7bQI_GSOLMvd7t9qTsMiNkaooHfr4IPwWfRmzLCIroRAo5zuFCmZ-RuEcWxUkNesFDKi_AL02iwy9PdjkOnm3PuBd-gW_VNW4WO6K7ugTmqVNk4Hi6KaQyB2ax8j5I-WPtT4SJvEIVBWGAkyd0k8WCNh-7OMtlAUoJBKde5Xy4nEGo3zDDmVDsOcqD0j8o78B0uUBJrU9GjFvFxRpIeO6zPvSROUhl3HRnhQOzcVCCLAamaPtJMiys2iksmax1it98CUNd8nfKjINQI6SMf0n0shqq2uoI9y-0Yp632teCw4mX4_Yy6OR7nYsZbmeE-fn7lukCK6UdkXBCemq4FbDz5TaOT5q7NLb9MxxnSUwqD6bEghawBXYKiR7dgMJMfiIuBFQ59O7o2W-IVTOEW8oVDbxiK1ABeMK34EKuCfNDS_TUL7iqzsy3Z6X4-M9SPkwBrJhqh_QMPLwrLMWcj3Bls0u4v4vv81Vas_njDo2ls5s0yIFNgAePYAPL7ECyqwOQcY2R2_SQQvtzrxakF7WZwYCWunspdO-Ex_wSoVSztd5PloqYblCs9cht0BopImUgFkgpWuVm4wS6DSj-pe050mX5ZBVVPkQeKsI8NDKDIS2tQG8tnORvH8v3z6cdPitLkMVJVCr5aPRbZSPC5jioAcGzHEQGCxXZFEk_3ShTcmqRc5BEpHARVxCUt79pd7OCEDSnCvvs5ECEmdKgNFuT84imlYrugiMwuM_W0VrYmkfuXv5n41biKVWmcQBwvqV8JS-jPsrAnnymlyvxHuO-IfFZ-Rxjh4T_L3X4Zqh8N60EfXwEfVFMskeaOEiUrG65jCkYGh5w7vtSFMeIi2gw-3tZRTCprRfqEkIN9z5NmeF4oygl_Jl0N8W0riS5_dfW9pFS9dPWjDgKLNO3G-rmnDKoe6-S1YIuWtDgZpno_5c96pxCmrO3G3FAhUOjLXV7Mxdmsjg9uQDuAnSYH7yGafth-N-YQZpWBX3CeQH76ErE6dlzeydHhztNfQjWcPQEKPd-eNBrvpHR2ir4BkLvA56BF6Y4Pz__56RaFTRnNsdfegUrNA4hy8F2SpKNesQ8XIZzMyAAmDsblf4HnWMmxXGwDj1uQrmAF3erJiZVhM-zDZaDAOBn4MGnRuJ406PNbJ9UPoO0n1YPlV1IExh-8qT8j3OVJIMBx5WB5ojgJorw2EeDA44MoxBTixt7qYrgeIx5xhtQ_JpJ5RlXSaCS0vJ9PPEfIiAKUnVP9gDT4i0ioJmYvkEYGDnC4Y1kWHrKb0EFnxe4DUO2N2E5aK3fmMzvQ-Ye0TKt1TNdqYqKDtZ31fI6XGAg1S05DE-Q8jGl7y_MqKAu1a4y_0bB1rxoveCapQPZ0yyUUoe1OFKq7zc9in00Jmnue8VihFBSV1U3XSLj4iZRsRYOxdVVAIsIWndooI3CWv0KEm1fDXBsAVmWRe9AeqfVRY6qluc1eq4T_7X0ffiA0XBvRuIDIC1Slu-tVseoa4dzJpkz1BJIK0zajhocLFe3cexNZFoM27YMYQWTFXGBDqmH9sPM5WwfI7dqQ5g39NEosD-3afRb9lW96R4Anj7Qj5Lmhn1OEM2Jo0bR3z9Z8e2BX8u_7qqrpYoPFTmBEDhneS6hcxD-oL4EEgw4XagoWqJOeiyydV1jH7mP3XApDu2pA5kQNHY8X_bu-DmXKw1pD3iCvBtRuStJf7bWQoTHOTKr28lMOQN4Dk64OXDR4qtc1Y6-s9EkajcGxEn20YordewlWmx1Jl851T5wRoBKesVJH2MBBegjGzoMRNp89NjboGISlopqWAu7WiqtQKi-JP71GQ3T5pvDHUI-Et-xsPhbP8Hdi4ey9Il48fm0QaQevnZpc2FllGt7COalfXLaqmZDnJSnAmXzovv0D1Ma0f9Vut-YAMX_-jJyCSgFZKFQgFcUjd0J4QT871EbrWD5G-aQSPPxA5uhbW0EFKMtIuYUe_Q6k6eHNHDiRv2bplkkIOujyEScW3BWdrQ124eUs9tFPnuzp-ErNeBzuWIIdaHhV3zcVv6cT8MJjc4ubdbvLeVb-F0-Ms6DrJkulSORuHd8clp_jAdDFdAZlCNAoIeO0diiLWlBWHkLBPkYzQ3KVGGoX6TrKcmG7TmwGoHaIYIzfa7VWEYGrjNwswI3phVJvZkkM6EBDryjlMm95tJl24_u33Jd07n0fHOXYACTbg1_-LXU28dDPryHVDASIbhPwT-CWlmUTpWVBbAYOsK9SgZ_6t7gW6Vgo3muCy8FNLSHAfOFo8BaT6owfOLqlApSJIZ0Ahs2le0DxruO-x_aVpHuQVPIx6x26kIJmIrGVaglwoLS-nMclsFm83UAIwMa3fD7iuSb7OdKEzFyQgPFcOlTXH3XOiweGxNIqh1fX_BSZ0kTVGWl12Ne0Z7zgrEbwb3LHtDJaGXjfnc_a3NAGkHi_AM5FuJWgehmbuq473vCQyg95VXQwWgspjAzsO-nuYlQP6QFAeZXz1y5CqrfXbuE=",
  "id": "rs_08f5339e5e1b68fd016ab4446ca8b487d093c48da8d9637edc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.33,\"right_z\":0.0},\"note\":\"At table level the right wrist shows the bottle to the left of the jaw column, and the overhead view puts the fingertips about 6 cm right of it. I’ll shift left and slightly inward along the table to align the open jaws with the bottle’s body for an inward drag.\"}",
  "call_id": "call_iidhqCwNrcBXOk1tRei0gXpz",
  "id": "fc_08f5339e5e1b68fd016ab444707c7887d09e315cba08bec64e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iidhqCwNrcBXOk1tRei0gXpz",
  "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]: [-1.0939, 1.6917, 1.261, -0.7914, -0.9524, -1.0924, 0.9971, 0.7769, 2.2761, 1.2648, 0.3244, 0.6144, 0.4644, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=-0.2507 left_z=0.1643 left_yaw=0.1956 left_pitch=-0.0153 left_roll=0.0593 left_gripper=0.9971 right_x=0.4525 right_y=0.3071 right_z=0.0014 right_yaw=0.0098 right_pitch=0.0259 right_roll=0.0297 right_gripper=0.9984\nstate[joint_eff]: [0.9231, -7.2957, 6.2838, 1.9707, -0.2808, 0.1636, -0.0513, 6.2017, -14.0239, 4.2735, 1.033, 0.2125, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bf6c687c50f6badc116db6f16fd88faf057d45518f12c4a50a1faed4dcc215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faa5592db9e1e8053c1e6622fa18bee755c5835587364fa15214d74093b109b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21e02d1df3d8cfdff691c7fb6a1f535f1f1407cf8c7d3030cfbd4519b5aec56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 18.77 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7399, 2.1998, 2.373, -1.187, -0.7143, -0.7589, 0.5242, -0.0154, 0.4103, 0.0792, -0.2459, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.2584 left_z=0.2542 left_yaw=0.2439 left_pitch=-0.135 left_roll=0.0488 left_gripper=0.5242 right_x=0.2361 right_y=0.0054 right_z=0.06 right_yaw=0.015 right_pitch=-0.0055 right_roll=-0.0036 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.653, 9.1966, 1.707, -1.3016, 0.2076, 0.8278, -0.6632, 0.1162, 6.6393, 1.7851, -0.1197, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0752, 1.7119, 1.2972, -0.7631, -0.9253, -1.0786, 0.9976, 0.6418, 2.2761, 1.2911, 0.3305, 0.4778, 0.3325, 0.9985]\nstate[eef_state]: left_x=0.3047 left_y=-0.2593 left_z=0.1668 left_yaw=0.1961 left_pitch=-0.0272 left_roll=0.0212 left_gripper=0.9976 right_x=0.4925 right_y=0.2711 right_z=0.0041 right_yaw=0.052 right_pitch=0.0 right_roll=0.0042 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -11.3299, 5.8598, 0.9158, -0.7937, -0.105, -0.2564, -0.0889, -11.0017, 6.7214, 1.5556, 0.4322, 0.1587, -0.1734]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0939, 1.6917, 1.261, -0.7914, -0.9524, -1.0924, 0.9971, 0.7769, 2.2761, 1.2648, 0.3244, 0.6144, 0.4644, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=-0.2507 left_z=0.1643 left_yaw=0.1956 left_pitch=-0.0153 left_roll=0.0593 left_gripper=0.9971 right_x=0.4525 right_y=0.3071 right_z=0.0014 right_yaw=0.0098 right_pitch=0.0259 right_roll=0.0297 right_gripper=0.9984\nstate[joint_eff]: [0.9231, -7.2957, 6.2838, 1.9707, -0.2808, 0.1636, -0.0513, 6.2017, -14.0239, 4.2735, 1.033, 0.2125, 0.0122, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bf6c687c50f6badc116db6f16fd88faf057d45518f12c4a50a1faed4dcc215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0faa5592db9e1e8053c1e6622fa18bee755c5835587364fa15214d74093b109b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f21e02d1df3d8cfdff691c7fb6a1f535f1f1407cf8c7d3030cfbd4519b5aec56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtER05b_vcKlwxiWtjgt36ZsgaHz5aPatmaGRaMGEzOY2JU8PpbEdH00iJn1JRqzM4FWOqPEFt3arYJaEPt3wAedm2hgjxNV6z3XhxK2cl7x4J_PzjuGoCARasIxwn9iE9s5KZoX_Ferp2eiaMd2E73CiRDH0ZwRTDds8zfb-c6JZewRObJ2LOhvXZL5zSS6zlDeoMtT3f2GAIVroAqAeKDuPnCOd-HMPGaTL05io8I2Z_aFxcjrCB-nGEBqaYKGfrJFYNGNsAlU8t5l-gECm4Cbxn1jSWRgkTl7HKU5mCv_ZvNF5pMpMCYLgCxDyMGtIHF-UPH1vkE_vnD-BW6C95XNTkhJMdA1WqLhE5sAvjOjlhboCweeMXMAwh49fMWMIRvHs0BLSYaqYZzkMyF-_txnCjutaNLFjRL-Ma9RKa-VV30ihxcVGPrkGLL4XXeG4xc4yoxOprih6u4gr-6hZ5zgF4g5CAfRW8WmD91LOhXBd-xYDlUT8CwlrElzVpkks2ckQDbVwqQuKAbQkAeFC8qe57Lf9TyVRePmbB8s41k4cbyWkHLHbTV-V-OEKnEDHZxkId9NCaQmjkwg0fwwUCL8JPUZ7LYA0FGDeSZVdzbeknLCGBpz1g5EwQikP8v7FqfAeawFn0n-U-gaMvN68Ecr8s48zH0fAuUwjlDcXv9Q_rRX7vTuARCw251uh0Hxy7CB5aqzNsh1q3VKvLDhNmGEqDO5Zg5vxQ8nJweJMccUiDnua81mlrHQmwbMvr3OmRwc7j4l2YxOdRZ5q-EP6VWhpPdraoU3TZLNbhGPNTju1ZW1-7sohGHaRnpuEqF_7Omy2nrPjbsNEM7FfcP8gVJUQu5T7LT9g6LIQ9BpJ4Lr7o9W4fPyPnKrvQL5Jwh8Ppszb4wLDY2NZaSO8dj705jm4romNq7FypKPmruTelWu0L__dOPc-j4zi4duSK3k-pbVLgu-lUOpVqN0ceqkhCjZW0Sb9wV79LkGBzFWldSF9KDnQI88UMIgGlSmcrBf2cOrc8yiY7Zzw0Kt3MdmaWBO41Tl8k2Vt4l87Dwk3Q0dh_UPYKclNaZBWncOezMqB7BX8bi8AavX_L1d088huzRt2fmTUqEDqOIRgDlPaVR2qGSSLhhjPIRySptM2Gyu9STUlEHqN0bolND3CEhAsGSIw-H7m9Iq3w5Mb-Xz03LPMSDLKE612gGAHUgu_iwoTEeL5wdCGqWVUHk4ZX9anWX0FCnCT7znxSDC883wqbfCj9I61n_U93PkaPc1zwLQML9j7TiZAYhbjBuCNvXYN-G154oQ97CX6AMZOEjOzhOTGsy5mCFVeQr36MVW9AMyRXIkEiA15nVUpuZ9t2rJb3Ks-tgDrYPmWUNhTNSp4FNSerxTB0hpiaowxl-mBjqomluRVz_Fj071VB2byLi8lqrBkCLJJgqH7wX-S0FGS8ye9tcLU9SQqqIfjRDHXrwdGf_SbINGV_F236iCQy1I0E7WuR_BXvmWmZ20Dlxgd1pmoj77Mst9W6sEwdCzujsY63ccIgSEREzbwab_OXRe03ptoBA==",
  "id": "rs_08f5339e5e1b68fd016ab44473197087d09a020f23b382ac39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the low lateral/inward slide, the bottle has disappeared from the right wrist camera, which means it is now at or behind the fingertip plane rather than ahead of the jaws. I’ll close here and check whether the body or neck is captured.\"}",
  "call_id": "call_0DHKqGR6CAXtKozlwCddV7lK",
  "id": "fc_08f5339e5e1b68fd016ab44473cf3c87d09f7717d45c22a71c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0DHKqGR6CAXtKozlwCddV7lK",
  "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]: [-1.0962, 1.6691, 1.219, -0.7376, -0.9592, -1.0855, 0.9971, 0.7708, 2.2749, 1.2804, 0.284, 0.625, 0.4591, 0.0117]\nstate[eef_state]: left_x=0.2948 left_y=-0.2495 left_z=0.1632 left_yaw=0.1918 left_pitch=0.0002 left_roll=0.0339 left_gripper=0.9971 right_x=0.4544 right_y=0.3022 right_z=0.0015 right_yaw=-0.0012 right_pitch=0.0138 right_roll=0.0038 right_gripper=0.0117\nstate[joint_eff]: [-0.1162, -8.6906, 5.3812, 1.0867, -0.3785, -0.0757, -0.0073, 0.1983, -12.0547, 6.8171, 1.199, 0.1392, -0.0122, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddf5f6257a5cf93b4cccd9377b669bd52e52e6c70f99ce755a2f42e73e46003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59eaae9e18d55bf735a5cb1189f33939607c9750f43d6ec568a00dcaf8c7c33c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40221289b0279ac1d4a9b6d276a743fc62dfd6be33c39e959a76c79be278938d",
      "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 · 6.416 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7589, 2.112, 2.0583, -0.9352, -0.7296, -0.7322, 0.6958, -0.0154, 0.4103, 0.0792, -0.2466, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.457 left_y=-0.2662 left_z=0.2166 left_yaw=0.2171 left_pitch=-0.1114 left_roll=0.0561 left_gripper=0.6958 right_x=0.236 right_y=0.0054 right_z=0.0599 right_yaw=0.015 right_pitch=-0.0063 right_roll=-0.0035 right_gripper=0.9984\nstate[joint_eff]: [-0.4034, -16.253, 7.9385, 1.8437, -0.8962, 0.1685, 0.0415, -0.6769, 0.1709, 6.8581, 1.8046, -0.0952, -0.0513, -0.0073]",
      "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]: [-1.0939, 1.6917, 1.261, -0.7914, -0.9524, -1.0924, 0.9971, 0.7769, 2.2761, 1.2648, 0.3244, 0.6144, 0.4644, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=-0.2507 left_z=0.1643 left_yaw=0.1956 left_pitch=-0.0153 left_roll=0.0593 left_gripper=0.9971 right_x=0.4525 right_y=0.3071 right_z=0.0014 right_yaw=0.0098 right_pitch=0.0259 right_roll=0.0297 right_gripper=0.9984\nstate[joint_eff]: [0.9231, -7.2957, 6.2838, 1.9707, -0.2808, 0.1636, -0.0513, 6.2017, -14.0239, 4.2735, 1.033, 0.2125, 0.0122, -0.022]",
      "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]: [-1.0962, 1.6691, 1.219, -0.7376, -0.9592, -1.0855, 0.9971, 0.7708, 2.2749, 1.2804, 0.284, 0.625, 0.4591, 0.0117]\nstate[eef_state]: left_x=0.2948 left_y=-0.2495 left_z=0.1632 left_yaw=0.1918 left_pitch=0.0002 left_roll=0.0339 left_gripper=0.9971 right_x=0.4544 right_y=0.3022 right_z=0.0015 right_yaw=-0.0012 right_pitch=0.0138 right_roll=0.0038 right_gripper=0.0117\nstate[joint_eff]: [-0.1162, -8.6906, 5.3812, 1.0867, -0.3785, -0.0757, -0.0073, 0.1983, -12.0547, 6.8171, 1.199, 0.1392, -0.0122, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddf5f6257a5cf93b4cccd9377b669bd52e52e6c70f99ce755a2f42e73e46003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59eaae9e18d55bf735a5cb1189f33939607c9750f43d6ec568a00dcaf8c7c33c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40221289b0279ac1d4a9b6d276a743fc62dfd6be33c39e959a76c79be278938d",
      "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_08f5339e5e1b68fd016ab4447a7b7087d09ae4d75c725ca1ac",
  "summary": [],
  "type": "reasoning"
}
{
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  "encrypted_content": "gAAAAABqtESIe6C0z2V5zLRmR9MBDQTa6F0FiQXM4nYTCI5Afrx4pNe3OqxstEBzO7i3JrLYLUKu03X5coXku7ctGNII6V_8upYLLMlPGpzNiXfoBZCHJohtqiqDE9C4s0ZCFyPoYiw8WiwAJHDcBu6Vj4GJQ3yvCm-q5yISMsxgBfg3qZWKRJOYbo0pn_VU4ozG1FUqvWA27KQXEr1oWs-56t15co4dk_f6LVF2lYRpqlYxs0z1eeQ7k02piwXGAIOkSILxSOWIGNA7uTSrbTw4i9oBAPHOmJhy3KdMXKxz9H7UHWXZZZOa3RLESRRLFir67MbwNDpxL-gD4ROHsdEb6CriIp6g0NSXnWZLjGx6xMAyNygprEz36A7AcqTM3Z3cVtUkvbFd79VinB4s7y77cz14TDqTpwbShG2xE1BrEoUU-PPaD_Eh9xWxG2_fpZeGOK0ZU3QpWAZPCVJFfFysJnNiOB73u_8000Ns7yQ5xC4QCknoHW44ZqfVKQQuX6hV8d92_Ii-Xm1drtAFa2x6pJ3T6V4ZJWCDmnIac5Cy9RBjnFwtLiB0GoDd22xuFoHdJLg_njQx8Z28IXIcGhfKwulZ_hv9OlZ50-M2m55cqX2IDl1pmsSg07tu-jSd7Y-so2XH2ofJ4dqIrwbGWVMpgmFA-QYJSkLdmpwBRUfyOOG8e-VyPJ8AVdgNtwdP_iN3BlflWknLOxlql20xUkcDKVUrdyBHf5tTNR-XUQ3f1zA_fYFeWZBvsV_-SLyxq75xssQeG85zNmX_MizFaKRkfUUJSV3gMICx3Xp1I4oD1VATcjwRoAPYrJ2mLV_svuu6OSbUkx7UmZjMW4etneN_AH9K-OZMFV9pcKVhpugOXru1KwINJOtOGQNfxVH5xVcZ934QBUFftkYfmvNOyfnd_S9IGeU8dllAeJpTOBrX3eGomZOc6RTYn96kJl3452aTfA0GcVm3h_x7ofHY3q50MhkSOg7Oq9zAumc7Fxpl-fZclQYERM4u_OuGlNzJHiVjrgM6OYIYu_0RgWCEUyOTrtD7PecLPJVULKNhiUQpPlI-q8ig_Ci9pjJthezFqXbyLBNwvNidk33dmid2Szdcr3spKWNbH7wr-aRtA9hiBfc6IMBFQ6OYU33gvFBMgmYPtvni7hxGul1fFtgA2Zml779dStxNFkBqIR3y9AB-vIsH-uc4_hLNdlxGAiMP0fjCIm7YVtanqaGrZ-UKPbz2LHPC-D0yg0FkosCqIo7Nwd6VSd0pGwZb32jHcchLeFlNxIXdw-oT4aoMulOs3PZF37ZEQlFmWmoaNkBNqJxO7Jbo1f4_N0NGRX3TN0x1zAEiRTs0OMYOW_CNjmg0WFnl7CnkKVM_jDyfB3qTACxwTaEtA6MRtjjK0esMJZFGwjPs0AYGQXAY1GvOFtrXrRvxlM83mpFEl0YqdFtQ_l84doo-8b-z0Ey49TJqAbCWa2orHvWDhnWmEeyar4db8dEKwl7qcjfIVeKkfa0Vq1HZFy2QwD38LEzffYObKqHlSVd8EQBVTLD3rnmSS3UfPQJZr-nw6AS1Nywsh9t8BcPQIU92boH6IfJzpMvk4_sHxn9huqVRxzCWWDTlrjQ-0ZNV1nVS9TnflsamHCklqNhGWpsPNbZ5ifToFr9UDcOOP5R8AlfuxPSah9MV9s62yjp4jjRsFf9952zpoixggo7-k_9sMBzBBXSp541s6DFnHDgU8BbkhO79jFOblF1NJGKsr3h1c7pWYWJ8tnk1Ot49TsUZOJjOE28EawZ56MiBkukJtiTr1Pk1fBMyXAh9WmnkbtSqiaMtGA9A5Gme0YT_v2BHM3lAqf2NslYHbg91Y7IvoFyXuwUzqXTlDZjuQMH2rc_s4lAIz6oX3zoW3F5Nc2W9MgqoeeHGNyEOq5sHdEJRFgeWzSgoAuqfoL5xFX-An03QwByTY2ViXd4rbcdErsvp4NFcuQpSDKeveQ5cs8VGd2dxa6K_Gs24BmBpHy9HoQ465DmL1Od2b7zdRkDnSgnQl0yZ83zZzTkvm10wyV9d60qipuhXKkTcarjjGRmm97yMtJ4Pb-5E27I2GhIeBe-q-bmhFOpAHa9kEcaktw-W63ViPU5LFqV5S5JqTDgN-q18S0jY-3ZggvYoIc-U_XT4-4iDlmnzTWzRpMs01Lm8nMG-hAua8RSt8kAebgoIDCwVrwWlivJD4vvD26ZJjD1Yj9uUS99qZz-uv2muvWD00uLthhhs2CTk4Ft-RHWeIZUw9F_R2bIpMc7kLm9X3ddhUI-OIupqAZI_0csPdIPbaZEan5PGSfRNYXANirckesWpDefqEODCudN4Lz-OYKIy45AW9Nq3l5YkaPAVt1cEJB9edQ4T3pdwkoDJSQc4lceIACb3NO_0dmUxpQ3p9SsWmnzGpRi2RAfOxKdzPvXqMNmRrKIY5sUX8ib8fM7Tj62ZKPwX0nIuZQCmAUYcSK_FWiJZpcJWXgv-7ddP8S8iGXmhiB0nQaatsHgeMWCaX3qhK4UB3L5RjqHbkm7bO_a1jgURS689GiDa5KYzWaKMaREWqCK6F1SQgiCaoQ6Wmp4kTt29oBxOrQ4N0pwwXwK35XZD6QN4xLjAyb0rIWoaGbVN0zZkx8mBR4hoT1Re5e66sdBf2dpcNPyt28J2bxzoHKAZg_KkLQPherSOhhk9v4B4wkXOoIO8VTrnbE_H7vXzdmsUbBn1y88_-KaVjXlO978_zJqeWZstKzzDXkgFYs6o0PcKA0T7Ykordp2IRqOsSY3BwQjM0-LuQc6wCFziFJCcDtN6NsCZTrE_moYsosIECMP_LSQxPLnDr_sxIhnGOPSLa5w-XhP8cFOt0eclx8zidhOZpTnqLVZvgcnmB88WgZO3R67NITdfwKhl3MZCwsB_LqL5LadyTnOXuLnqmZqnrWNKohYZ8GWjWN1k-DbftKC_FXI9fJdpYYIkhiAZigysNvgTL4YkiO0GwlQrWhAfkLYMt95iYumb0-8QOjoe2Ec70wIe7UdFG5vmmRjYJApaj-zlAE9-D1RM0wvGTFezvZ8BchWrumCEOqneaF2GWVSURliamIn_UUd3D7zo6HKMHqiVY6TpAqv6F7kT3rNLu9djEfrBlrK9xHIwF08UEMYSigOlPXAsi8pBuJYbrZbvbqTjXSYceKSZPGW2rmCQtNI-XEG2Hhjy5mSHIXapGXcn_BVeDtDVqVAaDxa0Z3N4uVbEEOgHvgSHfeynOYVvb5VKzZ8ET0Y7Fhvbh67M5t0qiTC2L2N27-f1efCkvBJWhzGwm57LWPaVY52NydbPkaDKtnnOwHUsIgfzO0b_RTDdLB77jo-dMJepTPievVNQYtVgR7WRolWVo57tk7TP88OyvEPfs_dDbJ059WLF1lZJOrIH8BeZkkbKcn01OC1PKHHxfJb_3uttpL7OiLn5L5nHE4TSkHeCLgt4-PA9sxhsGkJ-pu0YSF4lFnjTNJtMi6LU3U5X45yvjYj3BDibdmS0wnyLsC74sKoxsheCBOLl6rCn0nJnNPn1e7LUrLJf3sEfiG8CpYmNFp0d9DO64NHYfmxEADmDn8F-B66KTllNqRv6NlThDLDRUfwqVS5ptwykqqZ4ifMiY1siginD_byQd3ltz1ITWnZmJwmE9Q5B27lbWlqcnHj7GjJUP7bM52qzIoP0LCglG51RsRrdq8p146vHipeVaZY6Nw7X_iWtp-waJKpfX_Yh4Lwnjpzh1Z8KCc66vhJ6yIju6V8YJjuqcFBYnTFo-yB1Jd7Kom8N_0AptWwjeBnQi4mNqE7rbVCIwtU9313ameZjywTKuwzRJp_uvHnlcYpAPT0EWCGPsNns_Fc7KCRDiwmjNVhy9_3JOfphu9Xvw9SaOqx6A33dpcsRbYuxBWmjDcgbSk-6UjTHFvYxbHameZjh8urPvvitqn7dMAeMbDnEP93_fQLMwc8jza92Gs3pBrw59WxwNfj4WB7LgzCbjLiTc1evXmt7b4advEgS3jFS7QNM_h-wciXM-7jOV7SabjQ9KU995Pu_WvmAU5-nxsh9f6mvLA==",
  "id": "rs_08f5339e5e1b68fd016ab4447f889087d0bed0f0acee7ffbaf",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtESIkfAVxiTdkdV2CjOuh6bxFPxErIgctShTtiFVLnzcWJwPPJHYgWAfnmnUa4RFgWuX3zMxAGRbg6a9pd3rID9ZjkP0ul9X8JJ2eOLgfD8Bg17bIn08hbmHWlR5zaqikGdD_yVmGbfiQFuEASElod3ha-ZXiY8b0fMhLAwbDdL5y5VAYHzBgEYgH2aR5pEtnn7QYz7he8LvVN2DWvU5C_vfinwpeO_hHuYoRm0wpUsvwtLGL2FTxW_3vncvBZThvB_kPc6lzohzH3xI6CCTDj5ARjVb4x9JTlMCr-YF0kxjzje0zeYw18_iTDx39YtO5lCudRFAaPgt6KkMs25x71_55k-CP1mhCG3uQsX8T6P_kfV61FzFfCYa9_6yLkvx0Hgw8fwhbDmwLtdzWzN4l2cwxBotjvZekkslu2I2vV-DkKIfq14J6MKN9-EquGgOvD5IMJUq7UiKpkanVUVWPbNF6o7F_FG8SdqeIAYWxI-Zsp-n301MGIw33Oe2a1Qv8uhibsNTpBaYb2FLNLWU_Ltv4Zh-3hR6XUxLtiO1-lDLMKXg5kexsM-7XuQ1Vvq_xpP0-26imP1iRNsvntp9IPcbqFZI7c-ecYxBiWm0kwrG6GxfTqsDp_27-c2cysk29-crBuj4qgt5A37B1x0jklnwAmmPeRJeCURD7U_9q3pGK11OBpPhpMOEfT09ucDBtEmzX7HYGKSxhsE6NzTOCmTXKrerpIc3JGSDcowr9mqCp2113dMgKx1NWF5BPSvb_TlC8QgMqbg7eX_gjEtBybpNJ7cZGBCf8sKaGj04KltMi_mwpbjOh_lhNQA1rBhe5U92a-JMEf0J9W0KuOrnbi_J0SCkWZeV_CqsVPdWAsZr8IIuR8mfMWZ01VDeVL19R9Y74N7_mu9Pld9CIfJqllOWLl3Ghqythk8IQ1neaZewnc5X-z_HiEptaidKA7M443BTibgBnOfm9tXexHF8MbQ0VFkjVfZqzhRfowPboFzNn4iv5Jlj03YEL2U9g3kGoG6wGsjCTgaHZMFLQlaWMVJGI7X8gkkQ8N5qdBHE0_UXh55zJkwaUdVlSomnfBppUCcXvUyr7nvQ2LruyijpKUFd5g0GJZF9vhIoIQbTxXCfK03i5_9ty2t4aC0pbKPeJ9cr9S2MLkThoKko5OSOTJ5hfx4YoN05xukRcBDGq6bpe4f6YeBwhrsXo5-AsrGArb1BIAxV4BomSCcPLDiH0RcWjfhsbndpyu1hHL-K6infvnF_xYQvg_IxcxaIGz-m4nmyhwG-Esc3I-N4CXX_5kc5GsU5mbPTcuN6Sh2nHuat_DS8wvNTp0J3FBkuRYD_mhHfrMdIhOAbQmGKpHDQ5dmFEk6sSE4nswh-0DptD88iZ_tbNQsdEX2gSmZFM0MhI_LVmuisilBQrDKDW575vz1fjh7aRneN82N7O_w_ynJt-SFKr40fY1piNWS9If-qBRztFvT7yry0xcGDO1EXvGJXLMLWXw76B02_RMlTLqTGWly-DpqVBch0MXSXSaj13pZUoXgPfZXC6RXTiJPFerfKhEPYY321mGUge-XH9Ua-Yq1a7nvjd_H5g5ohqa5QqnSefYk-i7M-TTKatkYdw-P7IsBW47hRZ2f69Rz3_fkY5HZCwTnzjxDWAzPnJQwZwEWpydEh0UAqkqxCDI-xCdT9x8FzTyea7SDVCgnwSqLnZSG28AU-DrYflH7eZ8Enyl_qLTkGVa4mjhOuh17NTvhe5foyCFUm1QESR3zwebzTrjXkpVYic-ik0SQsr63OX36rLobaqTuMPSxzmHnaLyg7g2bbBhDlwLtfaSVtogMKcbVJdBzBA8UFym1U-FclYG4YHOWuWfvzP94O_z-UKh_YMjZ-E5PjQ6nWt3_ZyRDYSLK4Ov4Qf9vG_c0FVqjXJvXnKQEYIP9sGA5lFLoRwoDW7eVn-Mh1MbuJCtdwPPJtAYd7NndrsedbmsMqa4xDlGKcQFyQLLxfq7S89p4CdmvV-DEh7T5HJl07I00UpUlkSiJSyoMH46wwWNlVAUMgc-E0y3n5ThbVno96Xky_CoW3H0xuh8miuE7alsCtU5-s1527w1D56A4Tx1Re6hzX8kjVUk71VsDdXuryBPJQgo8vh1ARU97pPYNdo0cdmtW5mQuA_zc6IwH2FPsclVTrMJrwx-cb-138LUtEW7KbEjlkL2MXL6ELwDIrC31CVk9h_EvwLYjZ6iZ4VL8GEi7JMHyITIKeL5hxJVjxYJuKUQTkAt3l5_uMil1bD0G6ARk3ITzGFJtjZ4-K1xluVtBfX1uYLXVNpH1JGqxr1VwHWX22FkIUtCfFpOHYGwREiG9N1szP8KqoL-YACn-gxLdVQfe-jdJ9wXuJNyhbRV6JStnOII5q-vIMMopOsNpPJucoN-k=",
  "id": "rs_08f5339e5e1b68fd016ab44484912887d09be9aa5490b7a9c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.25,\"left_z\":0.0,\"left_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The right close was empty, so I’m clearing that arm and making one last controlled attempt with the bottle centered in the left wrist view. I’ll place the left jaws flat on the clear table just behind its near end, ready for a low slide along the bottle.\"}",
  "call_id": "call_aIfBkgsDMyIEYrLuMokGxxMZ",
  "id": "fc_08f5339e5e1b68fd016ab4448713c887d0b20addab69e1f8e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aIfBkgsDMyIEYrLuMokGxxMZ",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0718, 2.0159, 0.8936, 0.0925, -0.9039, -1.0615, 0.9981, 0.5751, 1.0203, 0.5716, -0.1871, 0.4679, 0.3206, 0.9972]\nstate[eef_state]: left_x=0.3099 left_y=-0.2711 left_z=0.0019 left_yaw=0.1787 left_pitch=0.0002 left_roll=-0.1112 left_gripper=0.9981 right_x=0.3032 right_y=0.1059 right_z=0.1497 right_yaw=-0.0005 right_pitch=0.0125 right_roll=0.0094 right_gripper=0.9972\nstate[joint_eff]: [-0.9641, -12.2051, 4.7111, 1.0818, 1.199, -0.4029, -0.1929, -0.7726, -0.9641, 7.2684, 1.3211, 0.1001, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b1e7d52bff919605b86bb79580075d76b335d058f6bed499e055d57c079cb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb4a748a4b378779aed995e4607cecc6be0ab89fd0a7891a91f091b92660044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b215827c2e6b0c44a6e37342c9bc7a604ce03b5619c2df6d3f55a192c9a2dbe2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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