adhoc

completed
2026-09-23T21:50:40.842524+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
204.5 s
total steps
267
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 noteAll three bottles are lying on the tabletop, with their caps pointing toward the far side. I’ll move the left gripper above the cap of the leftmost diagonal bottle so I can align on the neck before lifting it upright.
move_to
left_x0.3900left_y-0.1500left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7933, 0.6071, -0.3771, -0.0227, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3817, -0.0265, -0.0349, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1822 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2942 right_y=0.0036 right_z=0.1809 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6085, -1.4974, 9.853, 1.8242, -0.0464, 0.0855, -0.1538, -0.9915, -1.0872, 10.4, 1.8779, 0.0024, 0.1538, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.16,"left_gripper":1.0},"note":"All three bottles are lying on the tabletop, with their caps pointing toward the far side. I’ll move the left gripper above the cap of the leftmost diagonal bottle so I can align on the neck before lifting it upright."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe left wrist view now shows the target cap just left of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 3 cm and shift slightly left in the arm frame to center the cap while maintaining clearance.
move_to
left_x0.4200left_y-0.1350left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5648, 1.4361, 0.8558, -0.128, -0.4534, -0.3424, 0.9989, -0.0193, 0.794, 0.6033, -0.3977, -0.0269, -0.0353, 0.9998] state[eef_state]: left_x=0.3781 left_y=-0.1437 left_z=0.1407 left_yaw=-0.0174 left_pitch=-0.0619 left_roll=0.0248 left_gripper=0.9989 right_x=0.2923 right_y=0.0027 right_z=0.176 right_yaw=-0.0026 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4171, -6.4479, 8.9231, 1.6923, -0.315, -0.0611, -0.1294, 0.0205, -1.6479, 7.1316, 1.8486, -0.0269, -0.0073, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.135,"left_z":0.18},"note":"The left wrist view now shows the target cap just left of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 3 cm and shift slightly left in the arm frame to center the cap while maintaining clearance."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is now centered beneath the jaw column near the fingertip row. I’ll descend straight down to cap height with the jaws open, adding only a few millimetres of lateral correction.
move_to
left_x0.4200left_y-0.1200left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4751, 1.4872, 0.9554, -0.1303, -0.4137, -0.3122, 0.9985, -0.0193, 0.7898, 0.5838, -0.3969, -0.0273, -0.0357, 0.9998] state[eef_state]: left_x=0.4098 left_y=-0.1269 left_z=0.1602 left_yaw=0.0232 left_pitch=-0.0348 left_roll=0.0046 left_gripper=0.9985 right_x=0.2897 right_y=0.0028 right_z=0.1684 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.1846, -6.2154, 9.306, 1.663, 0.0269, 0.3492, -0.0513, -0.1573, -2.1265, 6.7897, 1.9658, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.025},"note":"The cap is now centered beneath the jaw column near the fingertip row. I’ll descend straight down to cap height with the jaws open, adding only a few millimetres of lateral correction."})
tool
executing move_to over 9 steps (0.9s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe attempted full descent was not tracked—the readback stayed near 17 cm—so I’ll retry in a smaller vertical step while keeping the cap aligned. This distinguishes a controller step limit from true contact or reach trouble.
move_to
left_x0.4150left_y-0.1300left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4698, 1.4902, 0.9867, -0.1394, -0.3973, -0.2913, 0.9984, -0.0193, 0.7719, 0.5488, -0.3794, -0.0273, -0.0357, 0.9998] state[eef_state]: left_x=0.415 left_y=-0.13 left_z=0.1699 left_yaw=0.0038 left_pitch=-0.0228 left_roll=0.0043 left_gripper=0.9984 right_x=0.2865 right_y=0.0029 right_z=0.1608 right_yaw=-0.002 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -6.5983, 8.841, 1.7802, -0.0659, 0.1587, -0.0269, -0.253, -1.8393, 6.8991, 2.0244, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.13,"left_z":0.10},"note":"The attempted full descent was not tracked—the readback stayed near 17 cm—so I’ll retry in a smaller vertical step while keeping the cap aligned. This distinguishes a controller step limit from true contact or reach trouble."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe smaller descent tracked to about 7.6 cm, and the cap is now immediately below the fingertips, slightly left of center. I’ll descend the remaining few centimetres to neck height with a tiny lateral correction.
move_to
left_x0.4000left_y-0.1150left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4713, 1.6131, 0.7773, 0.0879, -0.4007, -0.2913, 0.9983, -0.0193, 0.7563, 0.5167, -0.3653, -0.0277, -0.036, 0.9998] state[eef_state]: left_x=0.3988 left_y=-0.1219 left_z=0.0761 left_yaw=0.0084 left_pitch=-0.115 left_roll=0.0545 left_gripper=0.9983 right_x=0.2834 right_y=0.003 right_z=0.1532 right_yaw=-0.0015 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1436, -7.8427, 6.7077, 2.21, -0.1538, 0.0122, -0.0171, -0.3624, -1.894, 6.7624, 2.0293, -0.0415, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.115,"left_z":0.03},"note":"The smaller descent tracked to about 7.6 cm, and the cap is now immediately below the fingertips, slightly left of center. I’ll descend the remaining few centimetres to neck height with a tiny lateral correction."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe jaws are straddling the cap/neck at about 4.6 cm above the table. I’ll close the gripper and use the settled opening to confirm whether the bottle is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.458, 1.734, 0.6094, 0.527, -0.3916, -0.3161, 0.9982, -0.0193, 0.7372, 0.4797, -0.3431, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.4044 left_y=-0.1201 left_z=0.0462 left_yaw=0.0242 left_pitch=0.0159 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2805 right_y=0.0034 right_z=0.1459 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [0.6769, -5.1761, 2.865, 0.1294, -0.2662, 0.5836, -0.0171, -0.212, -1.5932, 7.3368, 2.0098, -0.0366, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The jaws are straddling the cap/neck at about 4.6 cm above the table. I’ll close the gripper and use the settled opening to confirm whether the bottle is captured."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe gripper closed empty, and the wrist view shows the cap clearly down-left of the closed jaws, so the first alignment was too far right and slightly forward. I’ll reopen, lift, and reposition several centimetres toward the cap for one measured retry.
move_to
left_x0.3900left_y-0.0750left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4652, 1.7336, 0.6285, 0.5423, -0.4274, -0.3138, 0.0104, -0.0193, 0.7185, 0.4469, -0.3313, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.4114 left_y=-0.1206 left_z=0.0575 left_yaw=0.0457 left_pitch=0.0558 left_roll=-0.0377 left_gripper=0.0104 right_x=0.2768 right_y=0.0034 right_z=0.1382 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [-0.2256, -7.4598, 5.4496, 1.0427, -0.0513, 0.1783, 0.8132, -0.1983, -1.4017, 7.0906, 1.9756, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.12,"left_gripper":1.0},"note":"The gripper closed empty, and the wrist view shows the cap clearly down-left of the closed jaws, so the first alignment was too far right and slightly forward. I’ll reopen, lift, and reposition several centimetres toward the cap for one measured retry."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteAfter repositioning, the cap is centered between the open jaws in the wrist view. I’ll descend to cap height without changing the horizontal alignment.
move_to
left_x0.3900left_y-0.0750left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3515, 1.4265, 0.6449, 0.16, -0.3508, -0.2577, 0.9944, -0.0193, 0.6983, 0.4122, -0.3134, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.3884 left_y=-0.074 left_z=0.106 left_yaw=0.066 left_pitch=-0.0155 left_roll=-0.0017 left_gripper=0.9944 right_x=0.2737 right_y=0.0035 right_z=0.1311 right_yaw=-0.0001 right_pitch=-0.0331 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [0.3077, -6.9812, 8.0615, 1.6777, -0.0171, 0.188, -0.1099, -0.3214, -1.2376, 7.2, 1.9463, -0.0122, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.04},"note":"After repositioning, the cap is centered between the open jaws in the wrist view. I’ll descend to cap height without changing the horizontal alignment."})
tool
executing move_to over 5 steps (0.5s)
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 cap remains centered at fingertip level after the descent. I’ll close now to capture the cap/neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3538, 1.6306, 0.5323, 0.5053, -0.3595, -0.268, 0.9955, -0.0193, 0.6792, 0.3805, -0.2974, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.3943 left_y=-0.0756 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0126 left_roll=-0.0176 left_gripper=0.9955 right_x=0.2708 right_y=0.0035 right_z=0.1248 right_yaw=-0.0004 right_pitch=-0.0297 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.3761, -5.1487, 3.7128, 0.9988, -0.1587, 0.1392, 0.105, -0.1709, -1.1145, 7.0085, 1.9805, -0.0366, -0.022, -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 cap remains centered at fingertip level after the descent. I’ll close now to capture the cap/neck."})
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 cap slipped sideways during the full close; the closed reading is empty and the cap is now visible to the right of the jaws. I’ll reopen and lift in place to re-center, then use a partial close suited to the cap’s diameter rather than squeezing it out.
move_to
left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3538, 1.6417, 0.5381, 0.4782, -0.3668, -0.2623, 0.0104, -0.0193, 0.6643, 0.3542, -0.2893, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.3921 left_y=-0.0735 left_z=0.0462 left_yaw=0.0793 left_pitch=-0.0151 left_roll=0.0046 left_gripper=0.0104 right_x=0.2677 right_y=0.0036 right_z=0.1181 right_yaw=-0.0004 right_pitch=-0.0331 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.5128, -7.5692, 5.8325, 1.6288, -0.1197, -0.0562, 0.7839, -0.2256, -1.1966, 6.8308, 1.9853, 0.0073, -0.0562, -0.0073] 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_z":0.11,"left_gripper":1.0},"note":"The cap slipped sideways during the full close; the closed reading is empty and the cap is now visible to the right of the jaws. I’ll reopen and lift in place to re-center, then use a partial close suited to the cap’s diameter rather than squeezing it out."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteWith the gripper open, the displaced cap is about 2 cm to the right of the jaw center and already at the correct radial position. I’ll shift right in the arm frame to center it before descending again.
move_to
left_x0.3900left_y-0.0900left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3534, 1.4651, 0.6235, 0.1997, -0.3664, -0.2657, 0.9944, -0.0193, 0.6456, 0.3225, -0.2783, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.3876 left_y=-0.0717 left_z=0.0913 left_yaw=0.0813 left_pitch=-0.0301 left_roll=0.0084 left_gripper=0.9944 right_x=0.2641 right_y=0.0037 right_z=0.1106 right_yaw=-0.0001 right_pitch=-0.035 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.4735, 8.8, 1.6435, -0.1734, -0.0073, -0.1929, -0.294, -1.0462, 7.0085, 1.9902, -0.0366, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.09,"left_z":0.09},"note":"With the gripper open, the displaced cap is about 2 cm to the right of the jaw center and already at the correct radial position. I’ll shift right in the arm frame to center it before descending again."})
tool
executing move_to over 2 steps (0.2s)
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 cap is now nearly centered between the open jaws. I’ll descend to cap height while preserving this alignment.
move_to
left_x0.3900left_y-0.0900left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3904, 1.4815, 0.6285, 0.2062, -0.395, -0.2859, 0.996, -0.0193, 0.6289, 0.3027, -0.263, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.3869 left_y=-0.0819 left_z=0.0895 left_yaw=0.0785 left_pitch=-0.0268 left_roll=0.0093 left_gripper=0.996 right_x=0.2631 right_y=0.0037 right_z=0.1087 right_yaw=-0.0004 right_pitch=-0.0228 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.3487, -5.2991, 5.9556, 1.8437, -0.315, 0.0806, 0.149, -0.2803, -0.3761, 6.9265, 1.9463, -0.0269, -0.0415, -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":0.39,"left_y":-0.09,"left_z":0.04},"note":"The cap is now nearly centered between the open jaws. I’ll descend to cap height while preserving this alignment."})
tool
executing move_to over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe left bottle has shifted during the failed descent, so I’m stopping that attempt rather than pushing it farther. I’ll park the left arm and bring the right arm above the clearly visible cap of the rightmost bottle, which has a cleaner approach.
move_to
left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000right_x0.4000right_y0.2000right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4194, 1.5063, 0.6281, 0.2317, -0.4122, -0.2962, 0.9962, -0.0193, 0.6189, 0.2886, -0.2642, -0.0296, -0.036, 0.9998] state[eef_state]: left_x=0.3873 left_y=-0.0913 left_z=0.0857 left_yaw=0.0689 left_pitch=-0.0216 left_roll=0.0097 left_gripper=0.9962 right_x=0.2608 right_y=0.0038 right_z=0.1045 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.0615, -6.1333, 6.2017, 1.8144, -0.315, -0.0611, 0.0024, -0.2803, -0.8274, 6.7214, 1.9805, -0.0122, -0.0708, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.4,"right_y":0.2,"right_z":0.16,"right_gripper":1.0},"note":"The left bottle has shifted during the failed descent, so I’m stopping that attempt rather than pushing it farther. I’ll park the left arm and bring the right arm above the clearly visible cap of the rightmost bottle, which has a cleaner approach."})
tool
executing move_to over 17 steps (1.7s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe right wrist view cleanly shows the rightmost bottle; its cap is slightly right of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 4 cm and shift slightly right while maintaining height.
move_to
right_x0.4300right_y0.1800right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1127, 0.8158, 0.5629, -0.3279, -0.181, -0.1432, 0.9979, 0.6518, 1.5677, 0.9798, -0.131, 0.4934, 0.3283, 0.9998] state[eef_state]: left_x=0.2974 left_y=0.0019 left_z=0.1674 left_yaw=0.1023 left_pitch=-0.007 left_roll=-0.0094 left_gripper=0.9979 right_x=0.3874 right_y=0.1949 right_z=0.1416 right_yaw=0.041 right_pitch=-0.0525 right_roll=-0.0386 right_gripper=0.9998 state[joint_eff]: [0.1846, -1.5932, 10.2359, 1.6239, -0.0073, 0.1294, -0.232, 0.0068, -7.0496, 9.1966, 1.7021, 0.3639, 0.2027, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.18,"right_z":0.17},"note":"The right wrist view cleanly shows the rightmost bottle; its cap is slightly right of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 4 cm and shift slightly right while maintaining height."})
tool
executing move_to over 4 steps (0.4s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe target cap is now centered laterally but remains ahead of the fingertip row. I’ll advance another 2–3 cm radially without changing lateral alignment.
move_to
right_x0.4500right_y0.1800right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8158, 0.5648, -0.3447, -0.1818, -0.1341, 0.9976, 0.5488, 1.599, 1.0271, -0.1421, 0.4175, 0.2604, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0007 left_z=0.1649 left_yaw=0.0928 left_pitch=-0.0215 left_roll=0.0018 left_gripper=0.9976 right_x=0.4118 right_y=0.172 right_z=0.1423 right_yaw=0.0347 right_pitch=-0.0756 right_roll=-0.0487 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.6889, 6.3521, 1.9902, -0.1832, -0.0659, -0.0366, -0.212, -7.0632, 10.3179, 1.9805, 0.2125, 0.1441, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.18,"right_z":0.17},"note":"The target cap is now centered laterally but remains ahead of the fingertip row. I’ll advance another 2–3 cm radially without changing lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe arm advanced only partway to the last target; the cap is still centered but short of the fingertips. I’ll request a modest additional outward move at safe height and verify the readback.
move_to
right_x0.4800right_y0.1800right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8104, 0.5503, -0.3325, -0.1833, -0.1337, 0.9976, 0.5426, 1.6039, 1.05, -0.1349, 0.3882, 0.2455, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1623 left_yaw=0.0938 left_pitch=-0.0183 left_roll=0.0023 left_gripper=0.9976 right_x=0.4173 right_y=0.1777 right_z=0.1497 right_yaw=0.061 right_pitch=-0.0627 right_roll=-0.032 right_gripper=0.9998 state[joint_eff]: [-0.294, -2.0444, 6.6256, 1.8681, -0.1099, -0.0317, -0.0171, -0.8137, -7.3231, 9.7709, 1.9463, 0.1929, 0.0366, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.18,"right_z":0.18},"note":"The arm advanced only partway to the last target; the cap is still centered but short of the fingertips. I’ll request a modest additional outward move at safe height and verify the readback."})
tool
executing move_to over 5 steps (0.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right arm is not extending farther from this joint posture, but the cap remains centered and lowering also shifts it toward the fingertip row in this wrist view. I’ll descend partway to improve depth alignment without contacting the table.
move_to
right_x0.4200right_y0.1800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8055, 0.5446, -0.3244, -0.1837, -0.1337, 0.9976, 0.5426, 1.6039, 1.0504, -0.1341, 0.3882, 0.2451, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1626 left_yaw=0.0941 left_pitch=-0.0112 left_roll=0.001 left_gripper=0.9976 right_x=0.4174 right_y=0.1778 right_z=0.15 right_yaw=0.0612 right_pitch=-0.0617 right_roll=-0.0317 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.9624, 6.2291, 1.8535, -0.0952, 0.0073, -0.0122, -0.5538, -7.3231, 9.6205, 2.0049, 0.188, 0.0269, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.18,"right_z":0.1},"note":"The right arm is not extending farther from this joint posture, but the cap remains centered and lowering also shifts it toward the fingertip row in this wrist view. I’ll descend partway to improve depth alignment without contacting the table."})
tool
executing move_to over 4 steps (0.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteLowering did not bring the cap appreciably closer to the fingertip row, confirming that an outward move is required. I’ll raise the right arm and extend from a less awkward joint posture, then descend once the cap is beneath the jaws.
move_to
right_x0.4600right_y0.1800right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8055, 0.5354, -0.3187, -0.1837, -0.1337, 0.9976, 0.5438, 1.6249, 0.9596, 0.0017, 0.3882, 0.2413, 0.9998] state[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1596 left_yaw=0.0941 left_pitch=-0.0145 left_roll=0.0017 left_gripper=0.9976 right_x=0.4163 right_y=0.1777 right_z=0.1279 right_yaw=0.065 right_pitch=-0.0404 right_roll=-0.0237 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.9487, 6.8718, 1.7802, -0.0952, -0.0464, -0.0073, 0.1983, -4.4103, 5.5179, 1.5458, 0.1538, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.18,"right_z":0.25},"note":"Lowering did not bring the cap appreciably closer to the fingertip row, confirming that an outward move is required. I’ll raise the right arm and extend from a less awkward joint posture, then descend once the cap is beneath the jaws."})
tool
executing move_to over 8 steps (0.8s)
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 noteRaising released the awkward posture and the arm extended successfully; the cap is now centered much closer to the fingertips. I’ll make one final 2–3 cm outward adjustment at this height.
move_to
right_x0.4800right_y0.1800right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.6489, 1.3914, -0.3733, 0.3347, 0.1959, 0.9998] state[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4517 right_y=0.183 right_z=0.2313 right_yaw=0.0865 right_pitch=-0.0246 right_roll=-0.0181 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.1265, 6.188, 1.8339, -0.1245, -0.0171, -0.0073, -1.1282, -7.3368, 9.6615, 1.9316, 0.0757, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.18,"right_z":0.25},"note":"Raising released the awkward posture and the arm extended successfully; the cap is now centered much closer to the fingertips. I’ll make one final 2–3 cm outward adjustment at this height."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe target cap is now centered at the fingertip row. I’ll descend in a controlled first step while holding the horizontal position.
move_to
right_x0.4650right_y0.1800right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4656, 1.7039, 1.467, -0.4339, 0.3035, 0.1703, 0.9998] state[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4638 right_y=0.178 right_z=0.2263 right_yaw=0.0939 right_pitch=-0.0689 right_roll=-0.0367 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.9487, 6.1197, 1.8291, -0.149, -0.0464, -0.0073, -0.6632, -8.5265, 10.4957, 1.9902, 0.0415, 0.1343, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.18,"right_z":0.14},"note":"The target cap is now centered at the fingertip row. I’ll descend in a controlled first step while holding the horizontal position."})
tool
executing move_to over 6 steps (0.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe straight descent from the nearly extended posture did not track. I’ll retract a few centimetres while lowering, which should move the arm away from the singular configuration while approximately preserving the cap’s image depth.
move_to
right_x0.4400right_y0.1800right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8055, 0.5308, -0.3111, -0.1833, -0.1341, 0.9976, 0.4576, 1.7237, 1.4834, -0.4335, 0.2832, 0.1589, 0.9998] state[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4687 right_y=0.1798 right_z=0.2235 right_yaw=0.1086 right_pitch=-0.0762 right_roll=-0.0352 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.7709, 6.3385, 1.8584, -0.1343, -0.0317, -0.0122, -0.7863, -9.1009, 10.6188, 1.9805, 0.1734, 0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.14},"note":"The straight descent from the nearly extended posture did not track. I’ll retract a few centimetres while lowering, which should move the arm away from the singular configuration while approximately preserving the cap’s image depth."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe extended arm is still resisting vertical motion. I’ll retract to a compact pose and descend there, then approach the cap horizontally at low height with the jaws fully open around the bottle.
move_to
right_x0.3800right_y0.1800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8059, 0.5308, -0.3107, -0.1833, -0.1341, 0.9976, 0.4725, 1.6932, 1.3861, -0.3271, 0.2935, 0.1673, 0.9998] state[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4639 right_y=0.1837 right_z=0.2156 right_yaw=0.1113 right_pitch=-0.0368 right_roll=-0.0204 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.6068, 6.1197, 1.917, -0.0952, -0.0269, -0.0122, 1.265, -9.935, 7.2957, 2.1514, 0.1783, 0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.18,"right_z":0.1},"note":"The extended arm is still resisting vertical motion. I’ll retract to a compact pose and descend there, then approach the cap horizontally at low height with the jaws fully open around the bottle."})
tool
executing move_to over 8 steps (0.8s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe right arm is now low and compact; the open jaws visibly straddle the bottle body, with the cap farther ahead on the centerline. I’ll slide forward along the bottle axis so the fingers reach the cap without squeezing the body.
move_to
right_x0.4400right_y0.1800right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.804, 0.5297, -0.3099, -0.1837, -0.1337, 0.9976, 0.585, 1.5776, 0.7502, 0.123, 0.3634, 0.2249, 0.9998] state[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0101 left_roll=0.0007 left_gripper=0.9976 right_x=0.3754 right_y=0.1777 right_z=0.0841 right_yaw=0.134 right_pitch=-0.084 right_roll=-0.0413 right_gripper=0.9998 state[joint_eff]: [-0.3077, -1.6342, 6.4068, 1.9463, -0.1441, -0.0317, -0.0122, 0.5265, -8.6085, 6.5162, 1.9658, 0.2222, 0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.08,"right_gripper":1.0},"note":"The right arm is now low and compact; the open jaws visibly straddle the bottle body, with the cap farther ahead on the centerline. I’ll slide forward along the bottle axis so the fingers reach the cap without squeezing the body."})
tool
executing move_to over 5 steps (0.5s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe bottle stayed ahead of the camera during the low forward slide, indicating the gripper body was nudging it rather than passing cleanly around it. I’ll move laterally to the bottle’s outer side at low height, extend beyond the cap, then approach the cap sideways.
move_to
right_x0.4000right_y0.1000right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8017, 0.5297, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.7702, 0.8276, 0.2584, 0.2886, 0.1699, 0.9998] state[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.4183 right_y=0.1737 right_z=0.0566 right_yaw=0.1373 right_pitch=-0.0847 right_roll=-0.0331 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.6889, 6.4342, 1.8632, -0.149, -0.0464, -0.0122, -0.9641, -7.8701, 8.1299, 2.0684, 0.3004, -0.0415, -0.0317] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.1,"right_z":0.08},"note":"The bottle stayed ahead of the camera during the low forward slide, indicating the gripper body was nudging it rather than passing cleanly around it. I’ll move laterally to the bottle’s outer side at low height, extend beyond the cap, then approach the cap sideways."})
tool
executing move_to over 7 steps (0.7s)
step 162
top_cam
camera top_cam step 162
assistant
agent noteThe right gripper is now offset to the bottle’s outer side, leaving the bottle just left of the jaw path. I’ll extend beyond the cap while staying laterally clear, then shift inward onto the neck.
move_to
right_x0.4700right_y0.1000right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8021, 0.5297, -0.3111, -0.1837, -0.1337, 0.9976, 0.2985, 1.5768, 0.6041, 0.366, 0.1364, 0.0673, 0.9998] state[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.3984 right_y=0.1012 right_z=0.0677 right_yaw=0.1224 right_pitch=-0.0341 right_roll=-0.0075 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.917, -0.1245, -0.0513, -0.0122, -0.253, -7.7607, 5.8735, 1.956, 0.0708, -0.0904, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.1,"right_z":0.1},"note":"The right gripper is now offset to the bottle’s outer side, leaving the bottle just left of the jaw path. I’ll extend beyond the cap while staying laterally clear, then shift inward onto the neck."})
tool
executing move_to over 6 steps (0.6s)
step 168
assistant
agent noteThe gripper has reached beyond the bottle’s cap while remaining to its outer side; the cap is visible left of the jaw center. I’ll now translate inward at the same low height to place the open jaws around the neck.
move_to
right_x0.4600right_y0.1800right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.8017, 0.522, -0.3115, -0.1837, -0.1337, 0.9976, 0.2413, 1.7138, 0.8539, 0.2672, 0.0803, 0.0238, 0.9998] state[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1561 left_yaw=0.0941 left_pitch=-0.0168 left_roll=0.0022 left_gripper=0.9976 right_x=0.4563 right_y=0.1014 right_z=0.0895 right_yaw=0.1358 right_pitch=-0.0243 right_roll=-0.0102 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.7026, 6.9538, 1.8144, -0.1392, -0.0366, -0.0122, -0.9094, -6.9675, 8.4171, 1.7607, 0.0269, 0.0659, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.18,"right_z":0.09},"note":"The gripper has reached beyond the bottle’s cap while remaining to its outer side; the cap is visible left of the jaw center. I’ll now translate inward at the same low height to place the open jaws around the neck."})
tool
executing move_to over 7 steps (0.7s)
step 175
assistant
agent noteThe bottle is now precisely centered between the open jaws, but the cap is still several centimetres ahead of the fingertip row. I’ll advance along the bottle axis with the jaws straddling its body to bring the neck into the grasp point.
move_to
right_x0.4900right_y0.1800right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7998, 0.5148, -0.3038, -0.1837, -0.1341, 0.9976, 0.4465, 1.8019, 0.9298, 0.2527, 0.2138, 0.115, 0.9998] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1548 left_yaw=0.0943 left_pitch=-0.0145 left_roll=0.0014 left_gripper=0.9976 right_x=0.4492 right_y=0.1775 right_z=0.0793 right_yaw=0.1798 right_pitch=-0.0369 right_roll=-0.0144 right_gripper=0.9998 state[joint_eff]: [-0.2393, -2.0581, 6.4068, 1.8584, -0.1148, -0.0562, -0.0073, 0.0889, -7.8017, 8.6632, 1.7998, 0.2418, 0.1441, -0.0073] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.18,"right_z":0.08},"note":"The bottle is now precisely centered between the open jaws, but the cap is still several centimetres ahead of the fingertip row. I’ll advance along the bottle axis with the jaws straddling its body to bring the neck into the grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 179
assistant
agent noteThe forward pass is still nudging the bottle because the body nearly fills the open jaw gap. I’ll withdraw laterally again, this time moving farther beyond the cap before translating sideways onto it so the bottle body is never between the fingers.
move_to
right_x0.4700right_y0.0800right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7971, 0.5129, -0.3031, -0.1833, -0.1337, 0.9976, 0.4122, 1.9114, 1.0069, 0.2508, 0.1814, 0.0925, 0.9998] state[eef_state]: left_x=0.2928 left_y=0.0013 left_z=0.1548 left_yaw=0.0938 left_pitch=-0.0131 left_roll=0.0012 left_gripper=0.9976 right_x=0.4699 right_y=0.1746 right_z=0.0572 right_yaw=0.1842 right_pitch=-0.0749 right_roll=-0.0224 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.7846, 6.1607, 1.8926, -0.0806, -0.0415, -0.0122, -0.5949, -9.3607, 9.1419, 2.0733, 0.2125, 0.0366, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.08,"right_z":0.08},"note":"The forward pass is still nudging the bottle because the body nearly fills the open jaw gap. I’ll withdraw laterally again, this time moving farther beyond the cap before translating sideways onto it so the bottle body is never between the fingers."})
tool
executing move_to over 8 steps (0.8s)
step 187
assistant
agent noteThe lateral retreat did not track at all, indicating the low gripper is mechanically constrained against the bottle. I’ll lift straight up to clear the object before changing position.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7963, 0.5037, -0.3031, -0.1837, -0.1337, 0.9976, 0.411, 1.9186, 1.0321, 0.2516, 0.1715, 0.0807, 0.9998] state[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1509 left_yaw=0.0942 left_pitch=-0.0213 left_roll=0.0031 left_gripper=0.9976 right_x=0.4763 right_y=0.1786 right_z=0.0636 right_yaw=0.198 right_pitch=-0.0579 right_roll=-0.0221 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.894, 6.7214, 1.8926, -0.1245, -0.0122, -0.0122, -0.7453, -9.1966, 8.5402, 2.0391, 0.0757, 0.0904, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16},"note":"The lateral retreat did not track at all, indicating the low gripper is mechanically constrained against the bottle. I’ll lift straight up to clear the object before changing position."})
tool
executing move_to over 7 steps (0.7s)
step 194
assistant
agent noteAfter lifting, the cap is centered directly beneath the jaw column and much closer to the fingertip row. I’ll make a small vertical descent while holding this alignment.
move_to
right_x0.4700right_y0.1800right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7898, 0.49, -0.2878, -0.1837, -0.1341, 0.9976, 0.4122, 1.7729, 1.1316, 0.0288, 0.1528, 0.0731, 0.9998] state[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.1495 left_yaw=0.0943 left_pitch=-0.0134 left_roll=0.0011 left_gripper=0.9976 right_x=0.4725 right_y=0.1812 right_z=0.1317 right_yaw=0.2192 right_pitch=-0.0381 right_roll=-0.0131 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.894, 6.4752, 1.9072, -0.1148, -0.0513, -0.0073, -0.6359, -11.494, 9.4838, 1.7216, 0.1538, 0.0855, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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":{"right_x":0.47,"right_y":0.18,"right_z":0.09},"note":"After lifting, the cap is centered directly beneath the jaw column and much closer to the fingertip row. I’ll make a small vertical descent while holding this alignment."})
tool
executing move_to over 3 steps (0.3s)
step 197
assistant
agent noteThe descent now tracks and the cap remains centered between the jaws near fingertip level. I’ll lower the final few centimetres to the neck.
move_to
right_x0.4650right_y0.1800right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7891, 0.4866, -0.2867, -0.1837, -0.1337, 0.9976, 0.4118, 1.8053, 1.013, 0.1684, 0.1528, 0.0765, 0.9998] state[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1484 left_yaw=0.0941 left_pitch=-0.0149 left_roll=0.0018 left_gripper=0.9976 right_x=0.4628 right_y=0.1767 right_z=0.0937 right_yaw=0.2169 right_pitch=-0.0493 right_roll=-0.0125 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.8803, 6.2291, 1.917, -0.1294, -0.0317, -0.0122, -0.4581, -8.1709, 6.4479, 2.127, -0.0073, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.18,"right_z":0.04},"note":"The descent now tracks and the cap remains centered between the jaws near fingertip level. I’ll lower the final few centimetres to the neck."})
tool
executing move_to over 4 steps (0.4s)
step 201
assistant
agent noteThe bottle was pushed outward enough that the cap is now beyond the low-reach point, but the jaws are centered around the upper body. I’ll secure the bottle with a diameter-matched partial close rather than ejecting the smooth plastic, then use the lift to see whether the base pivots down.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7887, 0.4847, -0.2844, -0.1837, -0.1337, 0.9976, 0.4122, 1.9305, 0.9123, 0.3981, 0.1532, 0.0738, 0.9998] state[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1481 left_yaw=0.0941 left_pitch=-0.0142 left_roll=0.0016 left_gripper=0.9976 right_x=0.46 right_y=0.1756 right_z=0.0401 right_yaw=0.2184 right_pitch=-0.0455 right_roll=-0.0141 right_gripper=0.9998 state[joint_eff]: [-0.253, -2.0034, 5.9829, 1.873, -0.149, -0.0464, -0.0122, 0.0615, -8.6359, 5.2444, 2.083, 0.0415, 0.0269, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"The bottle was pushed outward enough that the cap is now beyond the low-reach point, but the jaws are centered around the upper body. I’ll secure the bottle with a diameter-matched partial close rather than ejecting the smooth plastic, then use the lift to see whether the base pivots down."})
tool
executing move_to over 5 steps (0.5s)
step 206
assistant
agent noteThe partial close settled at about 5 cm opening around the upper body, consistent with a possible grasp. I’ll lift vertically to confirm capture and allow the lower end to swing toward the table.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7887, 0.4824, -0.284, -0.1837, -0.1337, 0.9976, 0.4122, 1.9488, 0.8837, 0.495, 0.1532, 0.0731, 0.5096] state[eef_state]: left_x=0.2905 left_y=0.0016 left_z=0.1471 left_yaw=0.0941 left_pitch=-0.016 left_roll=0.002 left_gripper=0.9976 right_x=0.4626 right_y=0.1768 right_z=0.0402 right_yaw=0.219 right_pitch=0.0035 right_roll=-0.0052 right_gripper=0.5096 state[joint_eff]: [-0.1436, -1.9624, 6.0786, 1.8779, -0.1197, -0.0317, -0.0073, -0.0479, -10.0171, 4.588, 1.746, -0.0024, 0.0024, 0.4811] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The partial close settled at about 5 cm opening around the upper body, consistent with a possible grasp. I’ll lift vertically to confirm capture and allow the lower end to swing toward the table."})
tool
executing move_to over 10 steps (1.0s)
step 216
assistant
agent noteThe bottle moved with the lift and is now hanging beneath the gripper with its lower end at the tabletop; the elevated shoulder effort is consistent with the base touching down. I’ll release it in this verticalized pose, then retract to verify.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7849, 0.4801, -0.2745, -0.1837, -0.1341, 0.9976, 0.4129, 1.7061, 1.1255, -0.0433, 0.1482, 0.0639, 0.51] state[eef_state]: left_x=0.2913 left_y=0.0016 left_z=0.149 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.4598 right_y=0.1769 right_z=0.1465 right_yaw=0.2286 right_pitch=-0.0498 right_roll=-0.0201 right_gripper=0.51 state[joint_eff]: [-0.1299, -1.812, 6.106, 1.8584, -0.1343, -0.0513, -0.0122, -0.5402, -12.0137, 9.9897, 1.8291, 0.0757, 0.1197, 0.0269] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The bottle moved with the lift and is now hanging beneath the gripper with its lower end at the tabletop; the elevated shoulder effort is consistent with the base touching down. I’ll release it in this verticalized pose, then retract to verify."})
tool
executing move_to over 5 steps (0.5s)
step 221
assistant
agent noteThe released bottle remains in place rather than sliding away, but the arm still occludes its base. I’ll retract the right arm to verify whether it is standing before proceeding.
move_to
right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7849, 0.4698, -0.2733, -0.1837, -0.1341, 0.9976, 0.4129, 1.6951, 1.0649, 0.0086, 0.1448, 0.0589, 0.9956] state[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1446 left_yaw=0.0943 left_pitch=-0.0142 left_roll=0.0013 left_gripper=0.9976 right_x=0.4532 right_y=0.1747 right_z=0.1356 right_yaw=0.2342 right_pitch=-0.0479 right_roll=-0.0218 right_gripper=0.9956 state[joint_eff]: [-0.2393, -1.2513, 7.4462, 1.7705, -0.1099, -0.0757, -0.0073, -0.2803, -8.5949, 6.9402, 2.1221, -0.0464, 0.1294, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18},"note":"The released bottle remains in place rather than sliding away, but the arm still occludes its base. I’ll retract the right arm to verify whether it is standing before proceeding."})
tool
executing move_to over 15 steps (1.5s)
step 236
assistant
agent noteWith the arms retracted, the middle and right bottles are upright; only the left diagonal bottle remains lying down. I’ll position the left gripper over that bottle’s upper body, where a partial-width grasp can lift it into a hanging vertical pose.
move_to
left_x0.3600left_y-0.0800left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 0.7795, 0.466, -0.2657, -0.1837, -0.1341, 0.9976, -0.2302, 0.8749, 0.6289, -0.3496, -0.3454, -0.2577, 0.9955] state[eef_state]: left_x=0.2902 left_y=0.0017 left_z=0.1458 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.3053 right_y=-0.0064 right_z=0.1807 right_yaw=0.1721 right_pitch=0.0101 right_roll=-0.0116 right_gripper=0.9955 state[joint_eff]: [-0.4444, -1.1692, 6.2154, 1.8828, -0.0952, -0.0562, -0.0122, -0.0342, -2.1402, 7.2957, 1.7656, -0.2076, 0.0024, -0.0269] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.08,"left_z":0.12,"left_gripper":1.0},"note":"With the arms retracted, the middle and right bottles are upright; only the left diagonal bottle remains lying down. I’ll position the left gripper over that bottle’s upper body, where a partial-width grasp can lift it into a hanging vertical pose."})
tool
executing move_to over 8 steps (0.8s)
step 244
assistant
agent noteThe lying bottle’s shoulder is just right of the jaw center and its upper body reaches the fingertip row. I’ll shift about 2–3 cm right and descend to body height for a centered partial grasp.
move_to
left_x0.3600left_y-0.1000left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4286, 1.2793, 0.5663, 0.004, -0.4129, -0.308, 0.9979, -0.2359, 0.8856, 0.6289, -0.3965, -0.3668, -0.2699, 0.9955] state[eef_state]: left_x=0.3446 left_y=-0.0756 left_z=0.0992 left_yaw=0.0682 left_pitch=-0.0763 left_roll=0.0301 left_gripper=0.9979 right_x=0.2994 right_y=-0.0031 right_z=0.1696 right_yaw=0.1908 right_pitch=-0.0375 right_roll=0.0129 right_gripper=0.9955 state[joint_eff]: [-0.3897, -4.8752, 8.7726, 1.6581, -0.3297, 0.0952, -0.232, -0.0889, -1.9214, 7.9248, 1.9414, -0.022, 0.1197, -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":0.36,"left_y":-0.1,"left_z":0.05},"note":"The lying bottle’s shoulder is just right of the jaw center and its upper body reaches the fingertip row. I’ll shift about 2–3 cm right and descend to body height for a centered partial grasp."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteAt body height, the bottle’s upper body is still several centimetres to the right of the jaw center. I’ll make the final lateral correction while keeping the jaws open and low.
move_to
left_y-0.1350left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4927, 1.512, 0.4774, 0.3981, -0.4713, -0.3462, 0.9976, -0.2359, 0.868, 0.5907, -0.3767, -0.3679, -0.2707, 0.9955] state[eef_state]: left_x=0.3606 left_y=-0.0985 left_z=0.0605 left_yaw=0.07 left_pitch=0.005 left_roll=-0.0067 left_gripper=0.9976 right_x=0.2957 right_y=-0.0021 right_z=0.1613 right_yaw=0.1921 right_pitch=-0.0379 right_roll=0.0132 right_gripper=0.9955 state[joint_eff]: [-0.5265, -3.8906, 4.8889, 0.862, -0.1538, -0.022, -0.0415, -0.2803, -2.3179, 6.9949, 1.9463, -0.2222, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.135,"left_z":0.06},"note":"At body height, the bottle’s upper body is still several centimetres to the right of the jaw center. I’ll make the final lateral correction while keeping the jaws open and low."})
tool
executing move_to over 4 steps (0.4s)
step 252
assistant
agent noteThe upper body is now centered between the jaws. I’ll close only to about 5 cm—narrow enough to hold the bottle but not so far that the rounded body is squeezed sideways.
move_to
left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6106, 1.5711, 0.5411, 0.3779, -0.5476, -0.421, 0.9976, -0.2359, 0.8497, 0.5518, -0.3508, -0.3679, -0.271, 0.9955] state[eef_state]: left_x=0.3607 left_y=-0.1358 left_z=0.063 left_yaw=0.0525 left_pitch=0.0184 left_roll=-0.0239 left_gripper=0.9976 right_x=0.2926 right_y=-0.0013 right_z=0.154 right_yaw=0.1922 right_pitch=-0.033 right_roll=0.0106 right_gripper=0.9955 state[joint_eff]: [-0.3214, -5.1897, 6.8855, 1.3358, -0.2515, 0.1245, -0.0122, -0.5675, -2.0718, 7.0496, 1.8974, -0.188, -0.0415, -0.0073] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.5},"note":"The upper body is now centered between the jaws. I’ll close only to about 5 cm—narrow enough to hold the bottle but not so far that the rounded body is squeezed sideways."})
tool
executing move_to over 5 steps (0.5s)
step 257
assistant
agent noteThe jaws are visibly contacting the upper body at the intended width. I’ll lift vertically; if captured, gravity will rotate the bottle so its base hangs below the grasp.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6205, 1.5768, 0.551, 0.3618, -0.5694, -0.4461, 0.5053, -0.2359, 0.8368, 0.5205, -0.3355, -0.3679, -0.271, 0.9955] state[eef_state]: left_x=0.3604 left_y=-0.1361 left_z=0.0629 left_yaw=0.0729 left_pitch=0.0173 left_roll=-0.0277 left_gripper=0.5053 right_x=0.2894 right_y=-0.0005 right_z=0.1465 right_yaw=0.1923 right_pitch=-0.0358 right_roll=0.0119 right_gripper=0.9955 state[joint_eff]: [0.0205, -5.4906, 6.4889, 1.2821, -0.2564, 0.1148, 0.2173, -0.4444, -2.0034, 6.7214, 1.9463, -0.2173, -0.0464, -0.0073] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The jaws are visibly contacting the upper body at the intended width. I’ll lift vertically; if captured, gravity will rotate the bottle so its base hangs below the grasp."})
tool
executing move_to over 9 steps (0.9s)
step 266
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6224, 1.317, 0.9558, -0.0368, -0.5705, -0.4496, 0.5044, -0.2359, 0.8215, 0.485, -0.3153, -0.3683, -0.271, 0.9955] state[eef_state]: left_x=0.3876 left_y=-0.1562 left_z=0.2525 left_yaw=0.0945 left_pitch=0.2205 left_roll=-0.2036 left_gripper=0.5044 right_x=0.2861 right_y=0.0003 right_z=0.1387 right_yaw=0.1926 right_pitch=-0.0357 right_roll=0.0121 right_gripper=0.9955 state[joint_eff]: [-0.3624, -2.4137, 4.2735, 0.6325, -0.2418, 0.0757, -0.105, -0.2803, -2.1675, 6.8718, 1.8877, -0.2125, -0.0464, -0.0073] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.96 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, 0.7933, 0.6071, -0.3771, -0.0227, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3817, -0.0265, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1822 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2942 right_y=0.0036 right_z=0.1809 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4974, 9.853, 1.8242, -0.0464, 0.0855, -0.1538, -0.9915, -1.0872, 10.4, 1.8779, 0.0024, 0.1538, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c40da42a46444e837ed22eb54af6e2df7f16ce27ee7bafd88255975b387846a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31dfa1414dbd2730de27d288383231b870447141ae18ae0401a7ac15658beca7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783f926f13c1c6a598d74b7fe95ed8dab66037da2097002f0aa7cf22702a2e29",
      "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 · 5.398 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnJoia2Oeg421DhkXLRqml7HE6M7Pvx9ZAyk2oh2mfaz5RCCmgInmDYDvapRT5-9wfi65zl6ywk6tE7FCOThoLxyzrGrKdvL_kU5iladjCQXdp0DD3q6rIpn9Bf0yzI-RhoKHz2smK8AfrIUrdDetX_1cBiRNWnDdrohm7ho98IIfkkRuvaxhCzUZ5Poeqfj-44NBaEbHuOgC5r1B9Yrv6yt1DdDntU4D4A_eQHw8YB9EyPjUVb3CEzTA-yjH4B1iPVBscbL9GckzA4pA8_ZxDkZPj7gq2kmtMph5OhzUMTO21yiSB6IKftLRvmS5OKFiRkR1bGbm9XCHJAsjWyMNO_ZKSrC0bEBbAPzpbXA10qntl6uI41OSHTJlq-nTXgdG8ZYyrSMLkgJCVeOMLrzXOjrgDjeXa9bxuBX0M3CbdsVfk0BpQnEgNDZ_ubWoYikp9lQJvyWysWlQNQyKY4NsnPLB-0xJnq918aL47XCN70CzbVRkecsi-EPbB4PE1jQHtUWRBRE2b62A3-CuM3tLsGewX9ETna-Qe99XrU4fGiEF7kvFFOiDaQ3q33NaV7kFVfs4c0bbT9JWM_TZ7Cz9vpf0sLhzApur1uSbYC2oWDERU4tJ99-h0t1bWd7G8Ag0rOxnzXxsV-izVMNoUAS6lP0x6tvcw1WCBZ8bjbxAcAp8RhXxU68yFvNWzBE6ai6dWBUwjia1OmBJewO8zzAVNifky5jy5Nw5str7VzYwps8wddLQ8mIAxShUKflxnQ2dbEcCXACWeiRxxxWrZfOThPZmOCif5vJaY0d6o8xvSn33Ce_zHpwWpbAvkPsMt9BwG2DHe_FYOy9DtVtoWgpX8hyo1AvlfqyWnvthQV10TIHeujanfMOwIjfPcYH4gfqhK4dzY_eJgLevkn0CF0Yera-1f4AJGjdlGdulljJDwe7mTByuYAYQq2q1rYD86dfNCR-1j8GbbvqFmQME6iw4YHrIxQQ2gLiaymvmOyXC4FbiCNtuhfBPZtXUJwiLiL49Xs9iy0qBInBbxzcHoaGDrXAXgFpNucdcGcxKAY74xmcOUc8RdAwIx4tatfjoR7dVV3BaZ-ivbJ74emoqRobL-I_xwMDpxDtr03keQMAM-kRqP9O0XWkMHuJ070fy2EPs_glNrcktiQAUSGNCnUinfxBrfhPMlZabGIvxU5e5Z-rQNVqnJOgKLiWef2wVe_jY8sVFgNw_oXgHTRWhqjrcJM1GZWQNFxYLUy6RWu4WhQmD4yNia89uKnol_rTo6bnTtVLBnsfzgI3DWutyEgBgz0ATi8TMjygXW3l-5MxUhyNxGcV67-3xKglgVRUrQhmv3pi_jCQoLWXxJAJO3CAyia9tLwZVuccaUbAzZ59YUmPyMSSjSJQVPmhR0Zqhecem4KEI3lX9kkoT3OOApOwDIHdX3XwIuVGhqD_9PeyFmUVl8y1MfrQrYdtdCW23vcrm4qVTSpS14Own6KmnUg41ssB6mPj_QHXmlwD8B5a_EiYHHzd23geZJyjQKd6iQYV3ri6bv_R0c-GexMxqz_yyiEv_n5CaoLTzyrznUJ_tP5yok4X_XHK53nVaviHplN876RSjjTEJDt1DY0cDEryjHj4pF4N1Ya-1r2c-u2pvQpz0unuLvttae4SHy6VX7JNJch76xkPYVqfFUe8Z4y2fqQOAc-SuK_iJQ1W36XaREKgJaPT9VAaQo2oh6cXorhiTvrzlR58wDmMSEzsqif_wLcpOLj5KyUCub4QUpfO4dsyHxUMD0zMrzoMTb8jkc2Y1H-sFcSKawR6_zZtyhVT1h9WOjOWS9u1_B9ieWZ1LVOaqrKOGfEXopzGhqeabUzIqi7IutAQDTLKSA8DPK53w4-XKE_hnKRylzTyqhwebLZMnCs9HiJU6OHjiYXGVRI2aaPTdJjbHHO28okUOaEXKRS3MvWcFSwKdplzXOoW7FXZKPKG3yaXkdXsZDJgicaQY53nw1N33yzkfVrgxDoh3iGVaTD74zAk2jkztpqDwqC0MhtgTeGCJ2ho-pEpkpABMmjn6sECujs17-_T0wV3CbusELOloYw-72_X_NSE1RF5eRx88b4zRO7rQa5lfwyFI-NhaIts8LbKfUbNZ0XP0T3968Wi6a8Gaks1_cHafqtMKUcUMGW1Cj6gOiYz7oyvS0IhOGcSFBwBLGUA0TOW8cFetimLOqA3SyQqAmH_vKum36AMFiI9cJyyQfsXn8l9pOm1FxoflurTAfNmWVOsWQhZDpE0mUUfbKdyTfDLR3hAxvDaBeY0xhQi8cKCpGTJ-cVwjQxGjHafZDLVW1vjU4M2lwpCtTh9UdiXYHoUr3OI3flt4tJgVcboz6CVcvdaHml1VyoIuTqcWsjyKr4zkLAjba7ciNGbN7GTpJselR9txeWBTYVeEY7pHFHtOXiKRUeZAwW6_1tOr9lyPLOtLMwm8MnlAKVynwsNWj4edwaYx9bLthSUNRgDZ4Zcy9Ve5hebt0YdGCQBNpJExP3MaE7CBnCna2IaxLFMNRPZkvclT7JbbFgOn3E6-SWbda7USkkWinzatn8L6DixvnqFjBGXui-vMq9aYxc8ujBeKCzPo3QTERPG1Xyk4EYCf_J2lSg6EtM-kpkUvaQikuR3XpjqP1aTNh0L6MTy4zMaAv_UMkUHHt0ifk9_BF3hocit5_toioL7x0dBzdgwh1lL3J6rkRv5k1FW15N78aA6UBza8BVokqb1mSbWFOi73mYPW66aOl8d9Iw5gAlRn_4KGyYJwocWdE7ZBNTJrtRZ-aQozRKsQVt5usSeWK1POm8jYyfEp08hCra9TBKwDj6Ayk0aVw-1QxsE61FHyqKj9wrzL5wO-2MKCaEobvOce4Lhia-eWxIuN9QfexzhVNFh6nimxCF6gHz3mpEqPPj4OkjSb00ZPJoOMetf_NAHRJH1UI4koJ_jo4GWnMfAL1o8mWeA3N7UEYsm-tPQlHHSXNlIH1s-2kr6J4NqH2hSPUbCEK3VgRGmAwqJuQ0YdvvF3wxf1C9yzu_5A0u81QWCQo-82T9usHHw4ay-3MMcdbRzi8uUnS8NjYORBMxpboSa_glMA-PNUkhwmx7_iZL0P0g_1KPtc5XA5WS_j6NiSeDqy5oWJOfNp2MMKGsRyJ2FQnmFhYYix30oXonKAwlkVMxzi6Gn6QsG7EZI8ieVBAv1-1U7qxNFlsfEDG8yDiEhiMy2DLBEWdSwRaVASlR0MVb2t3oDGdYXETFpQ7-FgNPafQpLwBveHKVFzb9oSaK6sBN9-k4O-S4A-44LDCtIy7-YDnTYaK9OrC0-C9qHjjzAVfI6Q_oYu-L6uC6VdVzzytq_yiLWIO9YePw-1Z_lCHVF745qHbafO0afn3wCyokwqqB6-XExUnMnmzqEc8YSlsrzUN1dop_13OgKwU03a8qlYxKtvQgO6ywucTrMkA-dbZNEMowvsjr0ecz3egNcYvfMxlON35OMiDAu3xvh_z4Ju7-bgQkfXikD9ZUJYsBz78Z3RQv-RzklbCxldkyzUKOf4T3x7Z4RU2WGIbxQ1i0KoA=",
  "id": "rs_08f0e1dca81bc556016ab449c473cc87d0ad98f69cbfad7f45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"All three bottles are lying on the tabletop, with their caps pointing toward the far side. I’ll move the left gripper above the cap of the leftmost diagonal bottle so I can align on the neck before lifting it upright.\"}",
  "call_id": "call_ybG0XNgT8g7x1OIuNPBnmLUX",
  "id": "fc_08f0e1dca81bc556016ab449c8fd3087d089f094655cc849db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ybG0XNgT8g7x1OIuNPBnmLUX",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5648, 1.4361, 0.8558, -0.128, -0.4534, -0.3424, 0.9989, -0.0193, 0.794, 0.6033, -0.3977, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3781 left_y=-0.1437 left_z=0.1407 left_yaw=-0.0174 left_pitch=-0.0619 left_roll=0.0248 left_gripper=0.9989 right_x=0.2923 right_y=0.0027 right_z=0.176 right_yaw=-0.0026 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.4479, 8.9231, 1.6923, -0.315, -0.0611, -0.1294, 0.0205, -1.6479, 7.1316, 1.8486, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2686acfcd9bc433a962fb3db61c018fd287b084c078a0cbd4ea64dbf1778f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7defd8efd42baa3c6af9139c0876272bb2119b747a5ef889c9e0e47fb75df63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a32dfb311d2eb18b54f42b7058cda79829eb9622676d4e022c5f49ce54c86d",
      "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 · 3.405 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6071, -0.3771, -0.0227, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3817, -0.0265, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1822 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2942 right_y=0.0036 right_z=0.1809 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4974, 9.853, 1.8242, -0.0464, 0.0855, -0.1538, -0.9915, -1.0872, 10.4, 1.8779, 0.0024, 0.1538, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5648, 1.4361, 0.8558, -0.128, -0.4534, -0.3424, 0.9989, -0.0193, 0.794, 0.6033, -0.3977, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3781 left_y=-0.1437 left_z=0.1407 left_yaw=-0.0174 left_pitch=-0.0619 left_roll=0.0248 left_gripper=0.9989 right_x=0.2923 right_y=0.0027 right_z=0.176 right_yaw=-0.0026 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.4479, 8.9231, 1.6923, -0.315, -0.0611, -0.1294, 0.0205, -1.6479, 7.1316, 1.8486, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2686acfcd9bc433a962fb3db61c018fd287b084c078a0cbd4ea64dbf1778f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7defd8efd42baa3c6af9139c0876272bb2119b747a5ef889c9e0e47fb75df63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a32dfb311d2eb18b54f42b7058cda79829eb9622676d4e022c5f49ce54c86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnQ1YO5nMTxbCbGdQvuTiQ3SjpkW3YnZwONr127fuqpIwT7BoH2qXTq6lSCnOwVuhttfSLP-s-03BCQ2jM725qqDJZwK0tNlaSqtZEQRsSawr_9HJLBfeaSKnODLq7wF61xHr0QKE5Sg3rSPrnUwh4jmt_RANeaEwkMy1kSMfyIQtNh6hySnyf_gJKXb57u-3fIpYvUhEpJVMHPb4DeRJrRAV22sFsLk-pmV9_4KWZ_MOc9IWTl9xy5iB3wJqioqZjz-qOoOufLJL91SyXiFySWPyohYl-KRwUhoYN5V608ZmxxAveyGezF16JNF-PqzB-VAxVHuTHVDC02tG4RB3--YMiI2Ru5_ZcDlC9_fRQS12S0eaYcB0YJSxczBFfpRV0G86_Mix-IYbRcUD3VF43Tx-1RBvwjB5ti2ICuDqbglN6Hnh-wT37tBcCs0sIFP0w9ZmQti-fMPOj-QJUMh2jHlOy7L72KX6X3arouStQLjRsCqxp-D_IZgPDi8i3UbGN1NFocor-J4_phWpdGJHAbr9J-qiNKFcTv-JAFizP25ZCYt7qXzXz_ptOBcTCaNbh6O-6DPJIlJAWQSIS8gv2Lj3GpkCbOh3bfepxYkiQFfXpWJpZMT0WjWqiKe5NlPp3n79cnft2YqBYRZYJ9uG_Ywd8H2tI2oj35BwLkMZCiHT2ND4_03wWGGcTCoJQMPB_0t-Y8PNJuEIaMtNhZAW5A0xLpo3VIuLpePHIZSF50AvijBNA3OYTl7bEJfJge_pyEnhWyif68QB9MBlIGXfbZHn3XhsA9hFVPMHXl8-X0ef-3_iz5Kz_2ivSR1U2I7HMrqTMKAPLwvPo0AO_esTiNqhK-32qHmnFbYOg0QObaQUpdh4jdeHbXBMrR6IJMwawG6mfmHGS4DNFcrj8Rwf5M-Jy9fxUp-sing7G8Go5VChd8CS0lG4uSiHgCT4pIEidHqS6QTEfnGEYD05XGe2IWXqYm-jf8OvRxFT0ESVoJPrEyzQ2Kdb2YzGzCbygk5Qk5nFKC5vbxLmOjw3-8e7dt2ikf822-YNxHfYxZSzvfTtUUR0k_JDsFAW0dtdIHN5ROd35bJmzqexRpb40xu1737TZ2BqlTm2wNSFNoy33vmdxPpdLrWCAfYqqi-25T_sV_zJOEU2JDHNl3b2Xuv1NjUGLozPeXv4TXoGZx51g737WooA_gV-VMI7P_mfiViV1lE4g_zbLnZmpBDkb2s8iaI-sT4L4zcX3ZNKA-4h9jC3REe5NT8NmoV-t4gS124GmV07-YETlH_Hy8RdacxPsixpr3DCGy3BfkvC6yLCRba4s3BcYxlpNJlRkzvLFTPrGuWw4WWaLSmumCfJWxbWWlbr_YAkDki_WW06fRSWG1l5tArjZIMZv9kFurZnfjRcsw4t2F0VcIwzVWzUd1bMwdHCGx4JYVXW8MiB4ZfCsaTdqSyQZ4A73bvXmMQCItw2lJBsFhCx9CLPjaTiJXzIG16-0x7QY_YsBRFRu97RYzOvtUra-YMh1kAZId9eBkTNgqxmX4f0K6EtR9XiyBqFe9vVwOevRQfo3ZwBq3gJ_1_X_LuSx7pd6CvwD6ySPU7UE0cVcVHAmKAe2c_-4wv2w_6R7FLBB4_PCa6R3e-zviAs7bGmL-KWRdekcQHoO4nY0Vb9sdD-_ntt24lOL8L-h8Mqy-GvdysOv1t3X31kmZp-ljmE7zpzjR7CBVpt8uH0_nzKElwOoqX2PoaJtntz2dk1qz1cAk0stDMTnGCoCYy5NWaaM4OEdxmQBS4sIw-uTv7mova95zA_WmrSSZkzVUlVD36j1EwijxNelk-4Ek5rvI1Vn_WbXQObhNyr6wKYBsBYKyEyqN4UoYZYT9P2jmlew8P-0JAzH1xvf1UDcwuMSij7dOxDSeYP_8SOrpfomYuTuWVrXSuUeImtLOtxXfQmAXoyOF1Z3bP6s-4fnXiFBDs8_uUZ7CtRJK8HE9RZskEnE-X7JfMRcnpVZjViSyxJymIQTMtWtONpb1RaJg3LuyfTg18fHjCgxe_LvbpqJjnvL55gvHdlSMupkY9waY7ycFo_-Ns5zTJaayHfiF2v6vdlzprHk2dv7rJcplkmvHDwqcvlHQYM3025rDUF75sdsP4_-uk17W3VPH1i8w5gOMMK7wsfSyPOiKWm3q-f9xEf3sj3v_MgNvqVNZqyM_oPeETNI6AZfPARjUrUGugi_zBX6Xuu7zB1W95anuW7jyt8z_I2MKBc9x-SSTed9QhYg9dUcHS4OJ4V0e0uZyrr-bjWNoAp9S01jzi9bgM2KKe9SXmSvikPhwNS5KlrlVN6P5khS3yo3DTZZL62uqelPrjN6k-6EpF_mMipk9pEFi2yM-VL7X_hGMr4-Ew0TeTRP5n3SrYPRwgfGPvAdL-d-DF1gEhB8lKWzqFFBgUMbPlrMXUowJU4Hxeh-UrJhqNlGIdcxzVW733_Yx11CAyD97lhDpNnTk8CgtKv-2VPCLc7zHl4BMUIdgX9NCzWv5d-ijshQuZ43vVL6cTfE4FEggDBPP8jOL34SVqaUKRQBWCS7nTV-5-vSWg7BselpzYJ9uA27JVeHoq-Yhw11e8-LJt0JXs9ZCm-aNMtea7aUBleO5Y_9KYYYJntZukVxgSaGIBNcXz6Q1ZVe_6dKDvP9XHnmgBm43Sg8kNYqhOsUiomt2FiR7zCQeM8QMOe-n3W-81KwqYwXEFoS_JfxgJcO0JD0Du8DOtjXdSYWK-pJ8EKBdK190hSCaBFbToe8DPMwup2WL6XRo3XJxjDLruywERFVCdOBejqCq9yvc9D3l",
  "id": "rs_08f0e1dca81bc556016ab449cc102087d082115f7396a0c5ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.135,\"left_z\":0.18},\"note\":\"The left wrist view now shows the target cap just left of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 3 cm and shift slightly left in the arm frame to center the cap while maintaining clearance.\"}",
  "call_id": "call_yppW0TZk7ztac9bKi9ENBBhz",
  "id": "fc_08f0e1dca81bc556016ab449cf5ec487d0afbfff29a67357cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yppW0TZk7ztac9bKi9ENBBhz",
  "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]: [-0.4751, 1.4872, 0.9554, -0.1303, -0.4137, -0.3122, 0.9985, -0.0193, 0.7898, 0.5838, -0.3969, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4098 left_y=-0.1269 left_z=0.1602 left_yaw=0.0232 left_pitch=-0.0348 left_roll=0.0046 left_gripper=0.9985 right_x=0.2897 right_y=0.0028 right_z=0.1684 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 9.306, 1.663, 0.0269, 0.3492, -0.0513, -0.1573, -2.1265, 6.7897, 1.9658, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4e540c22c3a137bdb757f8e13504ba3cbee06b37ff3feeaedf4eab266482e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1cdbd52550dbf689e217b1f3131cc0b54fce036bc70beeb7c076303858c0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b9c5e18deb5472f941528da6da5dbfbdfdfe820b2bf96aac54819ff1623eb1",
      "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 · 3.959 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5648, 1.4361, 0.8558, -0.128, -0.4534, -0.3424, 0.9989, -0.0193, 0.794, 0.6033, -0.3977, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3781 left_y=-0.1437 left_z=0.1407 left_yaw=-0.0174 left_pitch=-0.0619 left_roll=0.0248 left_gripper=0.9989 right_x=0.2923 right_y=0.0027 right_z=0.176 right_yaw=-0.0026 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.4479, 8.9231, 1.6923, -0.315, -0.0611, -0.1294, 0.0205, -1.6479, 7.1316, 1.8486, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4751, 1.4872, 0.9554, -0.1303, -0.4137, -0.3122, 0.9985, -0.0193, 0.7898, 0.5838, -0.3969, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4098 left_y=-0.1269 left_z=0.1602 left_yaw=0.0232 left_pitch=-0.0348 left_roll=0.0046 left_gripper=0.9985 right_x=0.2897 right_y=0.0028 right_z=0.1684 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 9.306, 1.663, 0.0269, 0.3492, -0.0513, -0.1573, -2.1265, 6.7897, 1.9658, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4e540c22c3a137bdb757f8e13504ba3cbee06b37ff3feeaedf4eab266482e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1cdbd52550dbf689e217b1f3131cc0b54fce036bc70beeb7c076303858c0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b9c5e18deb5472f941528da6da5dbfbdfdfe820b2bf96aac54819ff1623eb1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnU42V9ZMIi4GAbG0Rvt5WUsq_QahXoi-FYSznOdsYGILqKrcM2dGXtwB4-0aTJvYsh0jyQJVXk7FBT92tBIDhb959519XnUxB9-UPkFvjHx3u_8Eh8GGUL_YjMuAjtwJ2pcGSlXOd1KAx_9tiShvS65byjBpqtZxmaJiO5LZWlJfkO-VQLJmMIZeAFCAmL9dwxonWd1MppooH5bdtln49mZMiDYyW_8LW6lS6VxEaIm9QSAfJ1IioR8D0XVeQY4hv-1WRCJKXRAOuZ_lvy99C7rvoxAyBSswqgGf6NJpn8kH7GYxwlvY3YIf-Y6A5CbJyn3j9jMQNJp-YORiTF37AEg71enxSGXRbdR5MLSGQI2fU_KH4yAAFHQQxlFRxel8Xie2Dq7dK-Wuj58SZ7L2vv0YPQXXRSWzEKJLBGcvYL2cWtp7GjfT1A9hwezdJHMkN5tS2K8E0za2Nms7xaTM6vv5uRWimeNV9lQjm0wns9hSo49XXuipka7wa8f2N7dUqXUVwJex5V43z4RT6HvG-W3xlqHuWRxAbh3VycSw0GVCSi_1q5ESc0JVgSelyjxPFwdN3O6HGF83fk8Cxduh3O1FFOVEnnjaT39OKMrkOMQUoOWK9vZ0ZYlUG5If4bojtY0c16E9aF4S8doRYJz7Otsb0SW1T0-cNVi1DKmjjlliV_KZNiO1r5fGQUOH4p5bpJySAUG76hhJbNYONSd69nzBBDocIRn5_Nfs4JKxAfbixBXLbBt2UHYXfvIaAcQ_LnCngLx1HELg4VV46OGuvkuYm4BqLK6cn6Tfgnwz7BsMJfi77lWjGMLpzn8g6IxdlhDC0Sw0fQKpruQF_cK45DXDZOETjqfsbwRodqdhhU6H3YtykAKR4nW7qcbxsiY-LtmAZJN0wsjX63Ve7Ggh_HU2yxzLbPuG0TyVNeM83F1TuLg45WM2nDlsYZOOkxDYO81NL7RD3A8WCY0fYTjDPwE_tkAHph4169gh8ccfs0xkCP7QXXTWF7R81S9EEQYQx-FLy4ZgwEC3qTcBcA_0he_KtXE02pEerCLt0-UT1p8b2XXlwHaE96eZ1kWsmL8VPxjXyzj_JEC0FBbqgR8MIIESXMFtrpmQ1o9267icF8s4rr3pXwtGxCBQ4Z5gyn1KCiolEiGHd1lLsHXZ9IzeqoCIKyrXq2nxdNX2KQfjqJB_FOcTxUiy-MQQhJ-zAe6uXChezliPji3yBaGQWCrWrMU7IVFSbnsVmFigSoe_6uSi7I8KgOgydKvnMAINOHp08IaAKTMJC8fbN3nCR38R-r0RX-HXQZkmVSiRRJ4kTRay_Znyppvxtn5jjEURrPygeMkYne3KiP2bJwYf53BWA7QxBxAC_QqKh4ot-0qZBd9gVuySSAUxaBp_E0vQH4uNteUo7vFiPhVzHK0m3e3Lz0Rq0_kQv0dDNVYGK2kQVe47XEORgp52EG1TUwPZCwYuNpqee2u2MD_7fbtBIqP4cLAgNYvi9k4hzxYXArAUfZFvf5h9jRytFJ90Qb1bmdAstdC6cvyvD94muH53sojgyms30saz34NBOy7Xqr_aKqYaC0uE6kENw0vPcAhuom0PZ3Z6TmIB-gZvRCZffY5tMlUHaz1mCOyPS0U9Jgg2TibpPilxAgQrgwGDAgLn8_Fgj1mhSnDK9imKcyhjxivnjwhEnWoU9xwP4ScXEbfr815azgSMtU9O-eqXq3ML-Nw9Yu",
  "id": "rs_08f0e1dca81bc556016ab449d230f487d0a2096bd87a4afcfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.025},\"note\":\"The cap is now centered beneath the jaw column near the fingertip row. I’ll descend straight down to cap height with the jaws open, adding only a few millimetres of lateral correction.\"}",
  "call_id": "call_ivgD7VTqN2GFNBlSpHPJhtQs",
  "id": "fc_08f0e1dca81bc556016ab449d3627487d0903245e0b99a7a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivgD7VTqN2GFNBlSpHPJhtQs",
  "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]: [-0.4698, 1.4902, 0.9867, -0.1394, -0.3973, -0.2913, 0.9984, -0.0193, 0.7719, 0.5488, -0.3794, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.13 left_z=0.1699 left_yaw=0.0038 left_pitch=-0.0228 left_roll=0.0043 left_gripper=0.9984 right_x=0.2865 right_y=0.0029 right_z=0.1608 right_yaw=-0.002 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5983, 8.841, 1.7802, -0.0659, 0.1587, -0.0269, -0.253, -1.8393, 6.8991, 2.0244, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05329c8cd5c55736a8540772272c67f15c21c8f644d8ed0700925d77b61a4409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfa43a4a65b3cebc3125024da7aee3e32e59717445dbacb12a6a1666796e973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:745d130db047a5413138b5229a23919825dc315f4aaf36ce46a113a0916c175b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.558 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6071, -0.3771, -0.0227, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3817, -0.0265, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1822 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2942 right_y=0.0036 right_z=0.1809 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4974, 9.853, 1.8242, -0.0464, 0.0855, -0.1538, -0.9915, -1.0872, 10.4, 1.8779, 0.0024, 0.1538, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4751, 1.4872, 0.9554, -0.1303, -0.4137, -0.3122, 0.9985, -0.0193, 0.7898, 0.5838, -0.3969, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4098 left_y=-0.1269 left_z=0.1602 left_yaw=0.0232 left_pitch=-0.0348 left_roll=0.0046 left_gripper=0.9985 right_x=0.2897 right_y=0.0028 right_z=0.1684 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 9.306, 1.663, 0.0269, 0.3492, -0.0513, -0.1573, -2.1265, 6.7897, 1.9658, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.4902, 0.9867, -0.1394, -0.3973, -0.2913, 0.9984, -0.0193, 0.7719, 0.5488, -0.3794, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.13 left_z=0.1699 left_yaw=0.0038 left_pitch=-0.0228 left_roll=0.0043 left_gripper=0.9984 right_x=0.2865 right_y=0.0029 right_z=0.1608 right_yaw=-0.002 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5983, 8.841, 1.7802, -0.0659, 0.1587, -0.0269, -0.253, -1.8393, 6.8991, 2.0244, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05329c8cd5c55736a8540772272c67f15c21c8f644d8ed0700925d77b61a4409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbfa43a4a65b3cebc3125024da7aee3e32e59717445dbacb12a6a1666796e973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:745d130db047a5413138b5229a23919825dc315f4aaf36ce46a113a0916c175b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnZ7XgAjuTj-eiirjRjS7yxCPojs1TXdn2vR-v9AJ3uh05YcHS1B9xkQaTitdPIQN0k3akkCEUeq566akbsZwIx4x9RF3rcgKAEb3ixVcEi8PQG1_rgA_jWvvQdZORVQNAgK2Kd1WV_TAgV9iLFDHr_85vDQgQJtbAbZ29CxL5a_-jfofgXzmo2rp7OG4LsBsbCqJRd730wMCkdyYA82acFehZK1Lc2I_-dLDRLZvl97xybj2_idEDSWPChURQaWuiQf4_XiJ0q8GQXl0s0acyJ3HNKk46iPDtAnkEiorzcf_VTZzvfC-W7rK_2vDPei8uUKXxz7OAXg8NCQk3_Huh8ODcvVnNFWv4yNgoSwdKBeYosPOmahIoBDznD1PSVkoXtqZ3uvF5vIZTmVXu7ygcZoUcntNJ0aNpqYip4DpwMuVQqtG6j6xQ-TkO5Z9mUxGBYfdtARvSLZFKmn0x31yt8KN-HohvWXiMShN1uAc5-g1Zhlw0FzvFbNd9-2-rKKW9ptMAgX7GdurFb45gt9h-UgDHXAI7ydgeimNgcEapcJcsio6dUtR_GbDbnBFyMKvVeItLdbWK73R0fSo1XyLkqtLeBgRY_5KlRVlRun75AbP498I57g2l1MD2BbdwncroAxxxvnfCxnANVpJWfMLq5bjWejClOfY7uXwUdhY8LZOFwm5NPStkUOOdj0XXqasVQkvH0OhleQrvL7PjLbbJ6bU5wEpW0HK0XgWMTEomK3BqECpWbpU2rqK-5HQ9yg14oBnF1CGL9owKIKgIdCFUfQXB3N8YkFxxUJ2d0EO_IN4k3mBMRHnbGZZW7mtIJZfjogzqmP4XKlAbZvcS1g-zqFlLBXJ7FVg6k0cI-c-cF__17ceF57z7W_5Klc4lLanjfrAuKG1RmKJqFQmWTCKLYgmzyoCY0URlgW08NuxlZSxNE_Mit4SJtw92b4rxlzXBc3modcqDW_4qrUNAX_yGNpfE6BVuQBb8pH2eRvfq-KLEBfrjarHnkEbjTx_Ai6U7oOFLuXAu9QXxDUE4uP1WmWCprcXpg24Z_D6XuT9ChhjmyjoLD9nsXvGHXPd0eayTKT4iXoGPS8r_XPGjLw1XD2swp-4C6np5UXRSpi6qFksw4IatquTeIlrJNAqpRf8gvJDSx_SC9mKgnS17g25JCe4Wouf0sZqJa-j5ik2Lfh8ZBkW59sTZuMzv-JT8Fc84qHc92dFVmlx-haPG8fde9jZKqGEu7m4-xxJc_I1iBZfZHMwbwFONadZaV0ebPer7iBcOa5tNiO70vkSlAsXq8chA63XrRX0R2ifmyB3H-_Hj6tos_RrkcSMIEYp3SbRuRfaBBkl8JWnQcI1EDolwGcjkr1gZ6x-ELuxZbDeqvn0pRQUo17MRSdDoVRI_j5lp4mHxtUPVY_3XDiJbKh-YCK4dA2ozVUGdqmvEAx7PsNdPzBPJ9yIrhC5ugG16yxrmaVxAFVV91mlsl2e5Z0nxdQATTBAWdNW9oh0g_2yv6gCfRVA19Kstu6vli_57a6qAqQMYM9h802xVCdzNX9viN8YcxSk_4ODhVZ0t61W6Pj9GlxaYyUdo6DbJG0rwXWiHeChFguQlAW9v1CiaPARCyVCcgj3VrP5KSoY1Xg8bk-aEI96xmrnjZUAxn2IMTp3JneqD9aahiDSGM-hUd9mudcqbh9vDx1ZlkD7rqAvcEnZPeMNg-FF-zI5pyuFTvqx5SCwLIvjrEY9aERWUEBupnaEjir76teft7H78q427yzeOk6ThA5_caCYnU6Ews3QgRBjSrS53xw-0ryar9Faeoj1KEAIMcHImAdLAsZ8i3Gr4KEI_Uz9SGvxNsw5m9Bgwvc3fBVrT1j0hrvxBEeMGTYSnUSgXfvbz0ZcwBpQUvRVxMDEJCuSU75nkk7yO8eMN99TaCCGms7rO-cTNB0H_K4vbDJg27ZFp6fC3PhFzkhNZ7AoK0Q_n4HvXofmc47DlRu_F_tVC0VT8MYGmEJBZP-JHYwdLUg9ilxl_MQlKl9GFvtQYo90A-gTLxabKO9lpKjjg0C8YII8Wf9qKg54g5Fd7zaUBoHGHuIcvsSSE7gCRkmtGEGI0rUhg0a4vUEXTTft5hW3v4N9XHTVinPLLb1rze-jAVUUqF4oRolYoM43x3fcyWvyjXA41oLUtwyU9X",
  "id": "rs_08f0e1dca81bc556016ab449d60e6487d0bb78832e2bb1c368",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.13,\"left_z\":0.10},\"note\":\"The attempted full descent was not tracked—the readback stayed near 17 cm—so I’ll retry in a smaller vertical step while keeping the cap aligned. This distinguishes a controller step limit from true contact or reach trouble.\"}",
  "call_id": "call_6UdVU1COdAWpMXhcQ4v4ldBH",
  "id": "fc_08f0e1dca81bc556016ab449d823a887d0a70858cb99c0f44b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UdVU1COdAWpMXhcQ4v4ldBH",
  "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]: [-0.4713, 1.6131, 0.7773, 0.0879, -0.4007, -0.2913, 0.9983, -0.0193, 0.7563, 0.5167, -0.3653, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.1219 left_z=0.0761 left_yaw=0.0084 left_pitch=-0.115 left_roll=0.0545 left_gripper=0.9983 right_x=0.2834 right_y=0.003 right_z=0.1532 right_yaw=-0.0015 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.8427, 6.7077, 2.21, -0.1538, 0.0122, -0.0171, -0.3624, -1.894, 6.7624, 2.0293, -0.0415, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db5a548f9a21111349d9a92fd54ac3c928d5e6c17512c3c84f12c981db2a4ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203ba30afbbb5eb2dff740bf54791f3c30bcd22df952eec2e2fc677c646f90d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e57aa6c6220da8a8671e3475717816e3cd0ea13449364c6e29ca08595a7da6e",
      "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 · 2.235 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5648, 1.4361, 0.8558, -0.128, -0.4534, -0.3424, 0.9989, -0.0193, 0.794, 0.6033, -0.3977, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3781 left_y=-0.1437 left_z=0.1407 left_yaw=-0.0174 left_pitch=-0.0619 left_roll=0.0248 left_gripper=0.9989 right_x=0.2923 right_y=0.0027 right_z=0.176 right_yaw=-0.0026 right_pitch=-0.0221 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.4479, 8.9231, 1.6923, -0.315, -0.0611, -0.1294, 0.0205, -1.6479, 7.1316, 1.8486, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.4902, 0.9867, -0.1394, -0.3973, -0.2913, 0.9984, -0.0193, 0.7719, 0.5488, -0.3794, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.13 left_z=0.1699 left_yaw=0.0038 left_pitch=-0.0228 left_roll=0.0043 left_gripper=0.9984 right_x=0.2865 right_y=0.0029 right_z=0.1608 right_yaw=-0.002 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5983, 8.841, 1.7802, -0.0659, 0.1587, -0.0269, -0.253, -1.8393, 6.8991, 2.0244, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4713, 1.6131, 0.7773, 0.0879, -0.4007, -0.2913, 0.9983, -0.0193, 0.7563, 0.5167, -0.3653, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.1219 left_z=0.0761 left_yaw=0.0084 left_pitch=-0.115 left_roll=0.0545 left_gripper=0.9983 right_x=0.2834 right_y=0.003 right_z=0.1532 right_yaw=-0.0015 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.8427, 6.7077, 2.21, -0.1538, 0.0122, -0.0171, -0.3624, -1.894, 6.7624, 2.0293, -0.0415, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db5a548f9a21111349d9a92fd54ac3c928d5e6c17512c3c84f12c981db2a4ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203ba30afbbb5eb2dff740bf54791f3c30bcd22df952eec2e2fc677c646f90d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e57aa6c6220da8a8671e3475717816e3cd0ea13449364c6e29ca08595a7da6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEncbiSxHM8aWH5MxsiSxLB2BxS229FU1s2wv6OVeFZE77zW_mC-hTqg408DtYXDbsLPt97ROjWRAy8fqtanmRUYNbzWPjPCK7Vo_6iwNnAZUDh25JXEDycnts7OHNuyUti6epL5py2573KuqtES6A3MnIbLJcU1j-DLp-KZxe8H1sssb-hbrdOE637FFdRysfHmfAATRG5fx77Vqo5NsHqjN3mVXBGqPS_PV1_hfOAC87bOgn4v2ehfo58uXLA643ORChtdF64qJHV1AmopRSKvBeZ9KiGaRO85-KK32nh1UqfEgomafSn0RhlZjC26Zzh82wVcmlZjUfdJwADtcjJmM_-ruKbCSy7l7lOrSJbJL-8tIaNpFzoSXUhpSTZ7mVxeBiAXZ7Qpgqbzvg26-Gt0m05Id2422iDaIkdpE8R3zkDaWjUpCWn7KmS4WJXZ_PtxmvLVZbVafz6GN6dhKHnx9WJp7mXHUGSwtCJPEgZVEGsoOMjSChPAnf9q-RlHNXSCh-_pVd3tTKOzbJbVkYfgV1DrB0t-pelbXzzxqVnEUN4xCdb5sWxubqJ2Eckh4FWLWDOjoZs70wDZ3Vm133QY35O5ke4DwYJPZ4j-HGQhiCN_QdCA0AVlGxE7CtLIJjxSbS2Yqa0zo9X9EyBf8YHLC8Hmr3fJ4xy_bJ0A-A_H8MkmHjYW2jOuxaZnCSxBuykDnQj8OFfQZFv93t3cmte9iuZKcI-V9_VwGA5LUz6wyrJEb7mzHM8rsn0jK8vB6FyDZLC-8pCgbx1zzm43aEshA9wpRAvxfElicXOD-2QRR2h3maQFtqpN5xSlZgK0ppKaKaxuBzmB3g9sWWMW8_nzoHceHmXETg8CcgifxFvegHk_6WvWOxtNDnG_wG4bgG1A5pRpA5USOCzZtASKrGECV5i6RyEZ4K0_cddY60KJ29FjAqGG_v4JenwixnRFQE9FNrM8O6fv61j32gkw5EWgSb4ZHUGnzprxsufsD9QttQJCxNiPdKfj2ELhF3OIgqwuWA3mmoW0XDow3bLCloYpDMYX28aYChiWT5a-hs3y_PDpU-KOYF9BkZNfAWWuXe0HwffN2dLmwru5bM2nZtC09d0EA0M7ndXnhXTsKF1AUuKRw6OtuXidgmD1AoyQ7YynqBSV0XbBj4X136Z4HBe-Fd5pOzHvbluy8lMfWBQ9UCxZFIK1-eRuaiK5LZTZoewfKLnEMUoVb94U3cXFWgZ7rKj6TaH7DcqvzUflD3nIRWu_XJtRXcyLo0GmHX58kxldDMnj8Pc1wqDgxwd9o5ZU2_4dxjQtbfBXmBMSlProRV_pHHx5SW4mNYG6riBIulZLs304U7akwuFU61AEs3cex5h295os2CwKfSE1KWbtePX0MH7g18i6qo3xrrSpxTDQ4valZys0byj8H2-T90TJkIKBPdgxaUQgmPf0kBFEWk1eO88Qz-k8qRmRNY8rjF3SP2IZrYbs6T0khUoc9_CATmChPPMTFK_WgEjp0xVnwejMhB6fPhRsDCJZDm39_QG6hwgJ3FS4AD_WpTcxSJ8xxluO4M1Y2LMHxsCReSrrzmIcSi9xUxgL03AyPEzoMKCeBv4yQWfWGSe7KNMaCU_9AJBoMMjSQksSbd2F8HViDegTAkdC1Y3S3vcraH1jO6nF9EveFZU8_HYXVT4uNsg4yjZCJ71zd0U8oequTZdyNZ1hUkQrB2XRSpt4i1f-p78MbFHNb6eFD0DcK0ZGt0yQVJNfui4D0EAr8Xrc3PWeqVgcQnjP9GsFdjtUqgfKk_pEXFiNdCt1bikyP4OYdbJS0Y2ECYOtEIs2ye1TL5IPBxZg6J88TWDKZr9-20Hb3EghUB1z1w_lr51fgAZsYA8r2UN83_3dUuaoDu7ZHM1LjCGjoZpP_asW8rB8dvlc30Pfs4iTDusZzGzAsjg7uhdBRw==",
  "id": "rs_08f0e1dca81bc556016ab449da920087d087918ecf1117a579",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.115,\"left_z\":0.03},\"note\":\"The smaller descent tracked to about 7.6 cm, and the cap is now immediately below the fingertips, slightly left of center. I’ll descend the remaining few centimetres to neck height with a tiny lateral correction.\"}",
  "call_id": "call_AtCQUn9mLtLT7r9q71BX1nw3",
  "id": "fc_08f0e1dca81bc556016ab449dc2ccc87d0a4ab15f571060037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AtCQUn9mLtLT7r9q71BX1nw3",
  "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]: [-0.458, 1.734, 0.6094, 0.527, -0.3916, -0.3161, 0.9982, -0.0193, 0.7372, 0.4797, -0.3431, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1201 left_z=0.0462 left_yaw=0.0242 left_pitch=0.0159 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2805 right_y=0.0034 right_z=0.1459 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -5.1761, 2.865, 0.1294, -0.2662, 0.5836, -0.0171, -0.212, -1.5932, 7.3368, 2.0098, -0.0366, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc249f510406da83de4b4a81540feddd088604a073b5973f16966deca0402ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f6d0f407ad91de41f6d4323d84235daa91a63bcc48a91002e60c92cf60a139",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31bb9eb7dbd21d469c8804375b1541c49f0861231ece68758b6358675b454b0",
      "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 · 4.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4751, 1.4872, 0.9554, -0.1303, -0.4137, -0.3122, 0.9985, -0.0193, 0.7898, 0.5838, -0.3969, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4098 left_y=-0.1269 left_z=0.1602 left_yaw=0.0232 left_pitch=-0.0348 left_roll=0.0046 left_gripper=0.9985 right_x=0.2897 right_y=0.0028 right_z=0.1684 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 9.306, 1.663, 0.0269, 0.3492, -0.0513, -0.1573, -2.1265, 6.7897, 1.9658, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4713, 1.6131, 0.7773, 0.0879, -0.4007, -0.2913, 0.9983, -0.0193, 0.7563, 0.5167, -0.3653, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.1219 left_z=0.0761 left_yaw=0.0084 left_pitch=-0.115 left_roll=0.0545 left_gripper=0.9983 right_x=0.2834 right_y=0.003 right_z=0.1532 right_yaw=-0.0015 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.8427, 6.7077, 2.21, -0.1538, 0.0122, -0.0171, -0.3624, -1.894, 6.7624, 2.0293, -0.0415, -0.0659, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.734, 0.6094, 0.527, -0.3916, -0.3161, 0.9982, -0.0193, 0.7372, 0.4797, -0.3431, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1201 left_z=0.0462 left_yaw=0.0242 left_pitch=0.0159 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2805 right_y=0.0034 right_z=0.1459 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -5.1761, 2.865, 0.1294, -0.2662, 0.5836, -0.0171, -0.212, -1.5932, 7.3368, 2.0098, -0.0366, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc249f510406da83de4b4a81540feddd088604a073b5973f16966deca0402ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f6d0f407ad91de41f6d4323d84235daa91a63bcc48a91002e60c92cf60a139",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31bb9eb7dbd21d469c8804375b1541c49f0861231ece68758b6358675b454b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnfMmIEe4_hWPsOPHY_j3lEpArtuFVzUsQvO6kTs1YNnQz4DoCKHP7495IEQg3EBklkkzp9grHlsEB5j_hzgkiHHAceaYNZkOwcQ1q5fwnJuEDwGichFMYEUmAIknkiSAm7RGR7WY3V33kGV2AZQrnIm8DykyeW_4DT6kvh9bhfrG_Izl_Pnld2z2osMyZW4OwrZVKJHWHl9CYRW_ZRWyzfayMkPSpL9N1xRCgSMc0AOW9w3frx-3MhiVg-gtWcUQq-RveMNiJ-eH1O4_ubIajCIdeKGUYIEgl5tI3HOJkxmnxXbjmXoEWBsvLBlYy7nIqURS1A6-nQMaanOv44ELJKfsCxsXoX8bsiNg9Cf1B50FycsuXj1W6592vTA4_u28u8oQDUWyVfKwFanKKj92uzuaDSMgbb1Xsykrf3djPzyXu_2bhMkFGrxn0Y3kzkrowO0aEiViWcyoHE3YLMVCnCO7B_tkp-umrFPmHnqTLK9aF_whFHcf75aezwFktEH-D5BvATevotbs3Gvc6XsMiQPpIC3RU7sY09fM6Vtz_0sIIQOyeXcSMbsF0pzML_9VmLbU1rTdp2YOJNg4OjbPc038-e_beX1VWcO85m8SYWF6vpbGm6ZeKzchwRsxfvgWtz8dcVYlw2Z8sq1phtujbPFAz0ZyL0adbSvByJFWWIIY4Qocu3TdTSVgKagizdUxTzA5MfIvjW1XWbPIsunyXttuJ8wctOceV0_XavSxF3WVMmAt_Ul4ro9SX1NosEAMZ-uald4RmyD6rhX8ztB6XcFqTI7FLjxHNagq5S_15UFwcZbYw0zSpfJsOr9F04mRXNyOjKMxJ03KhUDY7xPZ_zw2AmueMkebc5JLsri2nbtjY-uC608SA67GGJC4PkLKOLVQY8WOHA0Fm1nugdiyX2TCQqsVdX5I1SbOQ1qgwIfT4dH_ZCtNC7O6lTPluIhb1RKyi1_XFPuHj1vcP0338XrGaJHj8G9y4uoEQNYW2Xhx7EQNK4pU2GcZu8pdE39MGou78mNmVwDJlXErpuXbbnQ9kkic1Uvq_4AJJZ106RxHEMi4QMNAhRCmrXjqKZ-4uauATZr5gAVine9d8n1geiwwdEWwoo2xJDSKmiVcrT_bm7skdLM4D9mtmSW0Qq4137SHQ21K5tYsiM2sZOWRQ20108wU_KZ0brK8WqL5UUnAtf1LntLW0kt1-CdvhtN4UIJq0xurWoBb4IfTfEbNw7LysSjYOZ2_ZoGI7WWZ91FAqFQgRrQdEMIuyJNwcnqWHsOee9p7hKmxI5lUJN4ze2UCLVmX6MZxV0NJdm2B-whKK3hEERlahECb9nGY0raGwkmf2W7JEGC6J_xyhu62QFSot1mcNamMn-1J-XP_cMbn9in8Xdcq58L9bO0CNJbwEiVTnnOdiMxORWhIwmBmiK6TVyA2TFzS9s4SrAjM9gcQo=",
  "id": "rs_08f0e1dca81bc556016ab449de4e8c87d08e53ae6e9b0ab2de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The jaws are straddling the cap/neck at about 4.6 cm above the table. I’ll close the gripper and use the settled opening to confirm whether the bottle is captured.\"}",
  "call_id": "call_AbAIVhhJnw2mIpe8UQv9eXyS",
  "id": "fc_08f0e1dca81bc556016ab449deb2f087d0a5dd8733030f1b72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AbAIVhhJnw2mIpe8UQv9eXyS",
  "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]: [-0.4652, 1.7336, 0.6285, 0.5423, -0.4274, -0.3138, 0.0104, -0.0193, 0.7185, 0.4469, -0.3313, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4114 left_y=-0.1206 left_z=0.0575 left_yaw=0.0457 left_pitch=0.0558 left_roll=-0.0377 left_gripper=0.0104 right_x=0.2768 right_y=0.0034 right_z=0.1382 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.4598, 5.4496, 1.0427, -0.0513, 0.1783, 0.8132, -0.1983, -1.4017, 7.0906, 1.9756, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffef4628df9734f8994ccbb32574388f3f447ed10720b67e20033c2ae87b75f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9077972c144b8d6ff17ca8a7dcedf738eb303da808ffc119425357de47742ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7bce34f2f70d6483bacea6e56a51e01b766ac34aea45f38a01c7db8f8e0a58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.482 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.4902, 0.9867, -0.1394, -0.3973, -0.2913, 0.9984, -0.0193, 0.7719, 0.5488, -0.3794, -0.0273, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.415 left_y=-0.13 left_z=0.1699 left_yaw=0.0038 left_pitch=-0.0228 left_roll=0.0043 left_gripper=0.9984 right_x=0.2865 right_y=0.0029 right_z=0.1608 right_yaw=-0.002 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5983, 8.841, 1.7802, -0.0659, 0.1587, -0.0269, -0.253, -1.8393, 6.8991, 2.0244, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.734, 0.6094, 0.527, -0.3916, -0.3161, 0.9982, -0.0193, 0.7372, 0.4797, -0.3431, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1201 left_z=0.0462 left_yaw=0.0242 left_pitch=0.0159 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2805 right_y=0.0034 right_z=0.1459 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -5.1761, 2.865, 0.1294, -0.2662, 0.5836, -0.0171, -0.212, -1.5932, 7.3368, 2.0098, -0.0366, -0.0562, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.7336, 0.6285, 0.5423, -0.4274, -0.3138, 0.0104, -0.0193, 0.7185, 0.4469, -0.3313, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4114 left_y=-0.1206 left_z=0.0575 left_yaw=0.0457 left_pitch=0.0558 left_roll=-0.0377 left_gripper=0.0104 right_x=0.2768 right_y=0.0034 right_z=0.1382 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.4598, 5.4496, 1.0427, -0.0513, 0.1783, 0.8132, -0.1983, -1.4017, 7.0906, 1.9756, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffef4628df9734f8994ccbb32574388f3f447ed10720b67e20033c2ae87b75f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9077972c144b8d6ff17ca8a7dcedf738eb303da808ffc119425357de47742ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7bce34f2f70d6483bacea6e56a51e01b766ac34aea45f38a01c7db8f8e0a58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnlDCB63N4bkvQcLObkbgY9fK6AnLQfTiDvKfcqM9IJTTVyedIV8TqVL1JOMoDfh41MAaKomIqAv1OqaoWZQy6NWyRAzOHy8XRR9EEvxpnIfmDx7U-bfxK5Ih8SwpyDKusR2sJkSM3jUnZFuIJBpiT9EKp2rxPajBdpkTjcEI54oRmGOmkv_nfVl1dRVvpSDOcpNweOVUaPVVUBXcyQK5-F4K8cbSrQixbwHd3SpVVuu3UeuUhKgp6IwYLJpZs7g9Kln17N7ameDOXBNgsIMTKxOqOe0XOoH533QaxlWjiHZpetD_z4rbwVw-lI41pCkaOy5Jbb7ExzgC-VRHIosMod0OKk92ogVwD3K9iCG3FzCy1EeTLY7_lnBfhEmGggH_-e5ecJXs3pRxNHPhiJuI40j3m4TJTk7ZjWq0b1xz9TgbW9jN4_UOoW7GfPKCiFpj8w3_jIiu0bxgf7K_ei8CSvRPH5SPBaIlyPGWVOZktvomCzfYnbjSegCebfw9dALnMcT_GxdCgJY8Z_aaFwjNQexLVwVKvjPQg_VCzR-18Xyu2H6r9fMzNiqAdMp4q7VBlS36jPozFvJMu-mk0kpFJs1J87ftTrqdV97oJZ19WY6QTfSowVYIhdg_fAPluPt_FRsCSnFGfXn0edskp-_5o0vSK8cWWX9G8w9VK8FN6Quz8XE6V9febSzwEy2mGJg0oCRbXfJvJsV3nveo8gwd8rNjo9yFRlGHBUmuCBAayN3eeSKHcmlrnSMBCy0JRQR8Es4u0rn-HD8orHWFyEJ_u_n7KkDUVk8wYWUqtgGAlj3esfukZ-45WDk1uqzcdayptz1z9gefTa1EBPzbUmH99jRKaMGwxK0vkETorXP3FjaHrXfVPPGf_CNXNK_23r5n673wtT4riNwMjELMG1N_oMNaFXH-0EQs2jc9gOg6Vlu5m_XcyHxwOiCxBHSjdcVpBkhdXvb3qVpHGxJ69r8-8bfk8aUKsx1_CNMfXumPCWnLBJr48ycTfVuHc-r7q-SHHmYbv_y5CEhr9KksDhCzClO4swV17u3iyitO81gZlGgXeU-tu8_9OvxMAjTyAo1UAs87JnWBluFf3PPSNvOqGVz1SeV8RD1MNSHEUop5ad6a2-sGHS7vojPzY6EAiNqtejI56BXWqBYDvjE5vy_vtcfKTDO4K8VXEbfd3ppfZBeLVCxW4GYXUY_6KM1vRVj9f8UIr6WArudDIbsxk5kH5fWXFWtKfUmCUueOuJytt9M1ypTAuPBLxxAjY8Vv_5YhYCXXwrN1fECCo_VOvTs-LM7JRkbsCCaj44dRfk0QJ4c2rODg0QjYNWwh_-ul3ttHy4ColDR0r6A8Kd-3n8A2vq2CCc1KTOi_7ENTEuXE4k7xu9IrEk45fVcq_ZriacElnwbHQ1k8OTDGb8KXLHhO8YHe6F4JjpgDEpnooJRdYzsGOcW5VAeauQC5nyYiX3VhesBb9LE9ymu9bcLfAkZKhX0b6xxprHcOwWfEG4HL3w8Ug3wwgvm1Fiu4lMerP5fbAVr9ac4Yb0Hv62CI82XZjym9cBaKa7DyVja1cN9eOozi5a2hhjKkU-1y9uYk2cxLzwqTPB7uXC0ih8y6jkvWydv0xUEDer12RCeOJ-3DjjL6tjhI6bY2nXGOsHds_ig7m7B9qPK28qBrTBpv5s2d4-IK85prqoc5i9l72S3ySxPhFjBH2bir0wqNw9RskJPjA3siDGBIKrZo6OdJTbOZKL-APE2C-0Ax0lpSci4PXvx76pDGKkMeavXVFYZZCz_qlLkEFzYWEz7yWaLHc1uksCZOnwzZAKSMeAq1odya6tsMdpTi7eEP9p-VS_7TX6_zEN7vBvbIuN_gwwjAK5ihhMmb9QR7iMBgm_IzitCL-x4O8qRMT0WmSno7JylzRRIEMMSf3l4-4hrYRcPAtSAi5JK7Uw-qQ53MC_n3rfvQk-CMjUicY_5U9tqRTDVDIcSTaTqKGBh6lC_AIf8eOWXhHqNugpVv3khyHVVE3sPL61n_v_ghacZLZs8WI66S934hfSNqNifsufZxhXYgvD7mnDl6VW4frZZiQRgiXNy9d0E9an_0djWVI-Zjg9u7bZ0Ncw5M__8CmKsIJCERYhEhitMDnOxvK6Y30B6P_Uet3mIGAubJ5RQcWrugcp_Lb2riZS7UtTKawGL8yxd5mI4Up53ppgUSvfvefdYW4zRM-D8GjUQw_UVp8R4OAupGN7o1xJqPBHqe3IwSYfbpI5Zx92CBjZJLeuOqH2Uj9IbuEjbXius0lH7OiNbtXUft03aaG4hT1WQmfi1TjKWDApJ5wPRub4vHeaHhle8Rj74U7kEQ_zI6yEaAtlrCF8sH35hPLQ-dcDLCN8V8AAqRvTcZls2uxvC4pgI5ZvY5jm6ykltQFBBL67bsISp5bgxh5YxYlSHMFhhJFITPmBs4vVCA3gkvw28WYt97xpdJdGqoBC-MMqs_e2RuzUXMUed9tS1e8wyVHKT9yAhrCJjFD3gj2KctX-B6shTF9iEkWlM32i_gm0AaGCjJDEwpKHwQ4SwexSgXxGxHb-4ZOC9W7ROauL5jIVXN16x1y9FamkjIpetoRSe21-nX6KFqSiNTrWmxPOwXyvfCzKj3LE1LWu17AFWOygqnHYjlzes1wPNcMOWLa_aqreJ_vzFydWF3NLOa8_6Wl-BiJNE3vxLQ9gWmkJRXrGDkA-wprhzDQHRJtPcMD1AaXSUsQszjGDSdIcnIE7iqd89fqAO27WR42vnaUjfIS2YTRcVvbcjGKmWhFWdM7FIFaMFTQtXf8oEDhZ8faEz2fpk5PrXPhDA8OWXkolPfpziypP8RkrhLHuOgfk765qrA222v14uCIpXAsbHt2vWN5-jqzmY-4zEEyj3JvaqQ==",
  "id": "rs_08f0e1dca81bc556016ab449e1aaec87d0ba5d14f915b6b6e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The gripper closed empty, and the wrist view shows the cap clearly down-left of the closed jaws, so the first alignment was too far right and slightly forward. I’ll reopen, lift, and reposition several centimetres toward the cap for one measured retry.\"}",
  "call_id": "call_sJ5zKNMozzGKKkFcM8p4SToj",
  "id": "fc_08f0e1dca81bc556016ab449e4625087d08bad6188027c9e78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sJ5zKNMozzGKKkFcM8p4SToj",
  "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]: [-0.3515, 1.4265, 0.6449, 0.16, -0.3508, -0.2577, 0.9944, -0.0193, 0.6983, 0.4122, -0.3134, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3884 left_y=-0.074 left_z=0.106 left_yaw=0.066 left_pitch=-0.0155 left_roll=-0.0017 left_gripper=0.9944 right_x=0.2737 right_y=0.0035 right_z=0.1311 right_yaw=-0.0001 right_pitch=-0.0331 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.9812, 8.0615, 1.6777, -0.0171, 0.188, -0.1099, -0.3214, -1.2376, 7.2, 1.9463, -0.0122, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8857ae01014a6948c2ee65a91f4be2e46a31b41147e0d44d621cec8456bb60a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2ec5cfd19a70f5d09c54f5589573be6f191ec2333913270422f7e8bb26b08e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93dfccb83a645b30dc426ddc1d4625843cc300a1415bc8b77d44e8dfa935f16f",
      "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 · 2.514 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4713, 1.6131, 0.7773, 0.0879, -0.4007, -0.2913, 0.9983, -0.0193, 0.7563, 0.5167, -0.3653, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.1219 left_z=0.0761 left_yaw=0.0084 left_pitch=-0.115 left_roll=0.0545 left_gripper=0.9983 right_x=0.2834 right_y=0.003 right_z=0.1532 right_yaw=-0.0015 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.8427, 6.7077, 2.21, -0.1538, 0.0122, -0.0171, -0.3624, -1.894, 6.7624, 2.0293, -0.0415, -0.0659, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.7336, 0.6285, 0.5423, -0.4274, -0.3138, 0.0104, -0.0193, 0.7185, 0.4469, -0.3313, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4114 left_y=-0.1206 left_z=0.0575 left_yaw=0.0457 left_pitch=0.0558 left_roll=-0.0377 left_gripper=0.0104 right_x=0.2768 right_y=0.0034 right_z=0.1382 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.4598, 5.4496, 1.0427, -0.0513, 0.1783, 0.8132, -0.1983, -1.4017, 7.0906, 1.9756, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3515, 1.4265, 0.6449, 0.16, -0.3508, -0.2577, 0.9944, -0.0193, 0.6983, 0.4122, -0.3134, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3884 left_y=-0.074 left_z=0.106 left_yaw=0.066 left_pitch=-0.0155 left_roll=-0.0017 left_gripper=0.9944 right_x=0.2737 right_y=0.0035 right_z=0.1311 right_yaw=-0.0001 right_pitch=-0.0331 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.9812, 8.0615, 1.6777, -0.0171, 0.188, -0.1099, -0.3214, -1.2376, 7.2, 1.9463, -0.0122, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8857ae01014a6948c2ee65a91f4be2e46a31b41147e0d44d621cec8456bb60a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2ec5cfd19a70f5d09c54f5589573be6f191ec2333913270422f7e8bb26b08e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93dfccb83a645b30dc426ddc1d4625843cc300a1415bc8b77d44e8dfa935f16f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnotQO0NE-jSnPzXLWfb75gD1I0cAFsKl4UbpG3XTqV05Hvsm0MqULWsfKlCaJ9SMLhaeZ5etN35J9llsQMZiAkdB190QHPC91CcGZbxe2OuGW-LFKm0u2LTZYzpUs7zwsHKeYkqeLmw25uD3XACnxqzsHN9rFZD7AVHiHiu5fDKLXFypAjVV7jg9spiGZnGxZbv3ngTpWevVIjPR99ig-bvfRDv_0Xh4du6dbmqVI-i5y-PKZmf8pvOmzYMVE-I8_Z8jVgL0xgY3XxTNlY7_vlMMtod0MqWe0G8tB-IVluaEXivY76_XbgnTnYJ58oiQB-rMZqyOSgpu3CklQxmhqv0PgYhpMy92Nx61p2PK8js0-aB-UjKK3xP9gUIQs1r5ehetznpORqGoqVN9XTpDAZUwn3ryv-9PFKtKzhyrVPqW5UdSVl2lYSkLJ4Si5yTULaTQ064F5QChhhmXG59lWyCufOPIfCs1ci-dmhpHR1bOsl9nEfaX7YaGKPYOby4Nhx2UnuIIdjWlbqI8lU2CH_rLA6vF0R4cR48fjbexYVtWSaYZj7l2ZU6jaEbQtWcAyn_Rs_cnyle6EoCMNh_jPo9Yfgr35ATXOqYia4lU7ujEOnFDY3J0dO20siwSYwZdn4g7ysqrh0uZAKsNUvM80K0bld6X7LWj1-uDs5M76EyUPK_A4mgGRdhV8PWuR4O18hQGaBbviUw6Z74OnMNfnZdg805omMzT6kdaRG4AiXSb1Sv0kMJsEASfE37Idc52n28yvbNTSynOuXj5quz0k7zw1U9YyccdaUU11Nl9Zm71efPVTCIfppZU_5r09rP0uiY2PzoGnSAuynWIrC5UrSjh29tg3hBUqju10VWcTG3Et2WrAeOutsNeGyksBryUq72ENWhdajZwjTLQijlV-bZSbV9_JwSa83j_vlpwIlmHFsjXKei1aEaV8-Gu80uQ_QYVoU6Y1zVRA7shSe5BGgwYvfl7UFlux9a9upB3FluxXXB6me3LyWIT8Anh-cO7TRQzh4EZhwtsLYZh6Vgo3EzQ-hfprKp_FTlVhNHuTDgSQUdqXDHYqEWLxrN3boe83dutk4g7YtJBVl9SLa2fDgmaCprh8uLkHwnqIQ56NOuwVKlfQHmP4Doic3dfnAldB_GdVpO-auom4J4Aj-q_km0L73ErROglRPA3HHeQFvQuXpTz3Da_2xVLtquUhXmNsTSgfIppYypuxI9hPXf-4HZ-g3oTJ6BdddDMLfj_hE1ATW9owWxv_ZGDEtPjL9HglrjrWLk0fTg3jSwJcLNEHSNTk16SxLGR3VJqBTniwp8xbNsnWUyccDeaAPD8saM81JEbCrLyroHiXEnQyVTtuy7hjvDYqQBSNScTh1lMMxtS7jGHntBCNvO2i0TaY0CbeT2iwQAvdu8Glff2KzlfTDwg9YnQiUNvAPZT9HNVKpRa4PNXixK0ZGlwNOSE_4Gkl0oODSvpMccnLy51cJ1SBISCQzeWO-Td-EAbtyD7P1VHbr4BMhzN0lZxaSItBw_oyl5uRPNBb6UjDzWa1CBPF2Rg==",
  "id": "rs_08f0e1dca81bc556016ab449e785e087d08422bb0f9af0b90c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.04},\"note\":\"After repositioning, the cap is centered between the open jaws in the wrist view. I’ll descend to cap height without changing the horizontal alignment.\"}",
  "call_id": "call_IduiwfjTsf1YTgaE1GD0F0lj",
  "id": "fc_08f0e1dca81bc556016ab449e8254087d0993698b80bbeda03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IduiwfjTsf1YTgaE1GD0F0lj",
  "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]: [-0.3538, 1.6306, 0.5323, 0.5053, -0.3595, -0.268, 0.9955, -0.0193, 0.6792, 0.3805, -0.2974, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0756 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0126 left_roll=-0.0176 left_gripper=0.9955 right_x=0.2708 right_y=0.0035 right_z=0.1248 right_yaw=-0.0004 right_pitch=-0.0297 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.1487, 3.7128, 0.9988, -0.1587, 0.1392, 0.105, -0.1709, -1.1145, 7.0085, 1.9805, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d824123a20fbbe56497b2b606667278752d7815b5016390d03cf31a978accb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a899317c8a9591045015b42b3987b288f4aa9f606e1d41bafeccb5e70fb9878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b310ad7a65f9d40881fe049166d4fe0f205d7834ab825ec358baf2c12056b9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.854 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.734, 0.6094, 0.527, -0.3916, -0.3161, 0.9982, -0.0193, 0.7372, 0.4797, -0.3431, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1201 left_z=0.0462 left_yaw=0.0242 left_pitch=0.0159 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2805 right_y=0.0034 right_z=0.1459 right_yaw=-0.0001 right_pitch=-0.0343 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -5.1761, 2.865, 0.1294, -0.2662, 0.5836, -0.0171, -0.212, -1.5932, 7.3368, 2.0098, -0.0366, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3515, 1.4265, 0.6449, 0.16, -0.3508, -0.2577, 0.9944, -0.0193, 0.6983, 0.4122, -0.3134, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3884 left_y=-0.074 left_z=0.106 left_yaw=0.066 left_pitch=-0.0155 left_roll=-0.0017 left_gripper=0.9944 right_x=0.2737 right_y=0.0035 right_z=0.1311 right_yaw=-0.0001 right_pitch=-0.0331 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.9812, 8.0615, 1.6777, -0.0171, 0.188, -0.1099, -0.3214, -1.2376, 7.2, 1.9463, -0.0122, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6306, 0.5323, 0.5053, -0.3595, -0.268, 0.9955, -0.0193, 0.6792, 0.3805, -0.2974, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0756 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0126 left_roll=-0.0176 left_gripper=0.9955 right_x=0.2708 right_y=0.0035 right_z=0.1248 right_yaw=-0.0004 right_pitch=-0.0297 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.1487, 3.7128, 0.9988, -0.1587, 0.1392, 0.105, -0.1709, -1.1145, 7.0085, 1.9805, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d824123a20fbbe56497b2b606667278752d7815b5016390d03cf31a978accb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a899317c8a9591045015b42b3987b288f4aa9f606e1d41bafeccb5e70fb9878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b310ad7a65f9d40881fe049166d4fe0f205d7834ab825ec358baf2c12056b9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnrsgtNOncxcrHWS6P8HfajL-FRiSMm5UTM3GpgSLKZC0fRX5I8hPuu081VNuNwi8R-3bzADvgrMNuQBOfQL53iwZCMhxBi6ClHgaxLZ9utySP4jVaqTGICVpSmZGpeFKJury99ig4jUgP6b0TA2kpD4UJY-c5K5MWfb-arooJqmkErxc9IvzaroH8Run0YBIPXwC4dFdwTHXWZsXjyWPa1Xmx4UZqOlBCtYVbRPolLmL7Ko0bBBINpDM79bJrWpFbJsCiCVQW2qiQOjVeEEtwiK-VKxZ6Wqi7jqAdPhfqsBC2ZU7d7YgYDyz1AeIK2ckuZ6XXjFQBtcs7GYhmmb4iMU85uheb34bPtqMtDx1Ax_os_ycCIPfpMW_frq5GZGhwu7Aebt76bdWloX017zD9AV1EJLS2Ges0cNhd22b2Gpsl2l4RM3kXE55Wct8N2O8jyYbZLVmv2Cys2RuAClhSgZxesMa9_gr4KaedqF0ldm1DwQkfXgp8rGAy8t3TMEzHLL5xeDNSLdWP5d_UJu8daOGHaeM4iTvSkilUZ9gZvUcn-l19MciB9oOYzu32A-hH6R13Ct2m7m0BzOpCdmGhOx8aFnR76DiXD4fXOJpOusKfMZbVauNhyZ_0BkFXsEFatfWYdk954w8a-6t4Mw1sDAeUCHNB988_eAKQ41KpE7gswg39IjowE1HYnCTw8HU_qXkQjRCkjsE90V6vFRkCBWK8C6gAc2PENRW1ttSXwsT0i3gEIqjjWkuoB2c6rYL71-Srgy0w5OlSr2CXTbnhgN3zBKfen5e2eDVkrlO-TLn6LkjrVhbxjMZZtwx494oex7RcDHLJQaKUwtpHw5WCFWJwNNeJMUG-hM6OzTAgwhRv4VDMk4OKKBFG-qy6HIfrZYjeGvVAcc9zGWUfuWIEftqkLLTUpainPlopfpyZzS09IRUGDaz5EHQ6j0-lBx0OdWlRdRyLyPfsm080noWN1MRzKhFxNAOLHypuVG6UeUyc1wLF1dzud8TfpZLa0p2P28dQry9Pqie4AgFrGc0HejJ-TUrU7TN-DAUN5yuukUAXVuzQWADGyYyPDChOP7H0qgu2P7g_Ru4d_oYwmOgBm1t5ks9Pi8NeI2xFGp32BYAyt40Q-I3XiYKCbs0byomKP3NSQsleGGWG-qHo-5cKW_5ZemdNoVG6bbwtp5kPIEmssEBxgzmEkhTgKpbVOliBDDF3LoDB8PlWDj-9wXZWiOg==",
  "id": "rs_08f0e1dca81bc556016ab449ea847887d093edc886ccd583df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap remains centered at fingertip level after the descent. I’ll close now to capture the cap/neck.\"}",
  "call_id": "call_YH4VsXHLELqiLVGeAxPK2jxo",
  "id": "fc_08f0e1dca81bc556016ab449ea9f4887d09ce9111706aac41b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YH4VsXHLELqiLVGeAxPK2jxo",
  "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]: [-0.3538, 1.6417, 0.5381, 0.4782, -0.3668, -0.2623, 0.0104, -0.0193, 0.6643, 0.3542, -0.2893, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3921 left_y=-0.0735 left_z=0.0462 left_yaw=0.0793 left_pitch=-0.0151 left_roll=0.0046 left_gripper=0.0104 right_x=0.2677 right_y=0.0036 right_z=0.1181 right_yaw=-0.0004 right_pitch=-0.0331 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.5692, 5.8325, 1.6288, -0.1197, -0.0562, 0.7839, -0.2256, -1.1966, 6.8308, 1.9853, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f6242f96895f322b7ba6f7de7955577c2c80771916fedd45fa7301184f338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c384f74bd18d03b76b717b91bb2118ae6c508a586ed4f6ea3476119c50fbf359",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3623f981a262b52f676fce181684e18613578dfd1cabb0a6b7de80c884928b36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.798 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.7336, 0.6285, 0.5423, -0.4274, -0.3138, 0.0104, -0.0193, 0.7185, 0.4469, -0.3313, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4114 left_y=-0.1206 left_z=0.0575 left_yaw=0.0457 left_pitch=0.0558 left_roll=-0.0377 left_gripper=0.0104 right_x=0.2768 right_y=0.0034 right_z=0.1382 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.4598, 5.4496, 1.0427, -0.0513, 0.1783, 0.8132, -0.1983, -1.4017, 7.0906, 1.9756, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6306, 0.5323, 0.5053, -0.3595, -0.268, 0.9955, -0.0193, 0.6792, 0.3805, -0.2974, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0756 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0126 left_roll=-0.0176 left_gripper=0.9955 right_x=0.2708 right_y=0.0035 right_z=0.1248 right_yaw=-0.0004 right_pitch=-0.0297 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.1487, 3.7128, 0.9988, -0.1587, 0.1392, 0.105, -0.1709, -1.1145, 7.0085, 1.9805, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6417, 0.5381, 0.4782, -0.3668, -0.2623, 0.0104, -0.0193, 0.6643, 0.3542, -0.2893, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3921 left_y=-0.0735 left_z=0.0462 left_yaw=0.0793 left_pitch=-0.0151 left_roll=0.0046 left_gripper=0.0104 right_x=0.2677 right_y=0.0036 right_z=0.1181 right_yaw=-0.0004 right_pitch=-0.0331 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.5692, 5.8325, 1.6288, -0.1197, -0.0562, 0.7839, -0.2256, -1.1966, 6.8308, 1.9853, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f6242f96895f322b7ba6f7de7955577c2c80771916fedd45fa7301184f338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c384f74bd18d03b76b717b91bb2118ae6c508a586ed4f6ea3476119c50fbf359",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3623f981a262b52f676fce181684e18613578dfd1cabb0a6b7de80c884928b36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnxQJs1hTY1vfEPWD7cvXZe0beF_G-IdiPkygLBOz2FoKHC6gEaJJadqYqre7NwYqkTvvVBSweGaEfpSfch7xqeUQLxrcX_P2Bw7pNaGHmwYY51nAkBlbrszOHUiUWNzXsiffLCFmUWwDQnNgtAwYFZyGPXgqRNCB8GmMM4aGPHWA6CMruLYjmaWNvrFtrG-twcNc_mPWXaupS_IGCrhtEjNOc0Jntw4pUTYoKsUSGu-qo9o39PSY9c4LGPDcggaxZeKkLF3vIWP0K0wkBULDCxOH5t8P45HvyGuVsbRo45Gm8CUKa64-xbx8VfnU1bc7r1rg4yudGovOEvAxhl9gttWZfS3tw9_aLbv4CdIli87_C7oxVzseGnD02K7yC2TQqLNQDDO2c930Tn_rFuyxW3dMiZLwPX3VN9Hz2k-x3mSxtQYcjV9pDm1XyM6_KD_f3RgFi7fxOmndvO1QqmNFwgxeWP3ekZONl_MgF8qcq3_adQQjNWV60ezw9WxN7hPuRcxcGqg8CXM6VheZ9g6MB6_ZudwcfUvbtz_juo6K6Q0gRQil53pUcdZTmIQv9jKGjNqTED2leRLVZ8rGo3hnY5KSO6LUTVKT0BZn_ZznXuABCqGlzj47vSMezXzLXZ5fO8XbtXiR6o-7gUy5HaZwYWtOl3wZusnlbWgI8DWnYzNW5PxBqlgiNJGTZYaSDEXgfe6shkBKBStEoDaaykN5edvirMOr8oDjhpi8aGDm9kjQhJ5E9SR3pXuBJG2mW8fCPT24bzkTQx5fFJI4r0o2OjWFIM7Mba_8Z9zOxCcYktGGwk19wg8l5RMC7bep00kmUOrQpbBw9OUBgONJ00kzPpac-Db3yQgJyyGcO6d_Xpj-FBlmfD6Xht9QnJQnLqx-m2TSCRzx6_sA6IdWTzHLucXU3tEmvO8ToQpu11So3D0U8TYdMpg0tZ-8tLUz67y2L_gmVeV38ln0zlt0DyEnK2LZdUwAsmGMZwEyJCeWUN3RnxPGOhjevMvahCWDsDvwivnob-J8IX8a0GImu4DFy-kSCOsGMkmOZUhLb6DoJU3nc5NlFsir51EhF80JgWHByNeEIVExyULwOxz1vJP7dKSt7FrNT5AQptqNtEIuiZCn_a_a8KwXYzgxqtOOj9TUDGAPpCjpcyuC1_aOnNFaGjV2qg_xeJa6QW_8uRvBaWQrCljb8OpYQU83AKUbjHc-11aSvMAERZPnmXi40NmQRyMj_KD9TNQ1McLUpMVi3WqFwbLF-yTJVV5B51pAiPGlk_E51dFyYl4jSq3H77D3xAM8cqhdtTwbIql_Et5BkUpGLc8nS0zcZPnY8dJqWfrbNnpOxV0iCueqgzyfcVimv2BuZvA4Z6UExXyyOC40sfATBB5Hs9Pt7YbVFhDOiILy0UFxbPWwiEi7l0Ar_msG48-_aI_P6UKHZsJw2Gc_EDwAHpuE-f4GTb_iJkez3cms_9MUW21hgk1Omkfufg2jJNWXDcJsN-ovWYzWAQZxfa90Fobgs_gGXOJW2RDDlCvPXXHYpy_OtwZNk5biI4EUmD2huDZTJIOn_qN91GQH99r1qvqa48kJtklQSVHq8qBuZ7lHUpNNzJpeMatG_5hRDyA-9nGvtjwMhv2eLpd0MAwSPmrXEvEp1_ef6qxf2UYrw0SVzCyKg2SWGJlMfsQmGYQpIlTu7kzrJpfkRAU4c8KdicMhDBRvnRfNZIxWU1bDxKboIXtj0tMWMUE7OopQefAlEvZlXkQvrMkNOPjOf6V5GBJFoCkzy5W221fjKKDh8RBwGdutTmz2IxUmT2FdYUi_X8_W2JBrhDmBLzZGNS6f79CId911Wr5Ecd0UrK_TalLVt_YkpGjx3lpVa3ESfxavi6_Cl6BKbwagqsF4btkA4uwtsQW2a-Oc8mISAMngVtmaNcTQ6oKL_sruJf2m-DRnYd5G3eyBUWAIU7YShYj_HUYiBfuNTjl7ji3aM2JQ80o-5Xjh5uLsWxrnn7roVlmbU7RQgxV340WcWuH8yPyN4Xi0GPdrX8yt7A3Y-JOcsfriz1UVEQBALmDc_2kb2i7nGWVR5ZMLYlvCEu8wBOOsWmazT-P4aOmrTDgQ1ibUemBL0Wq26ChHAi_zcADM_Y3BTt__q3nVefG_yy-2vnJH8vDxiFMvra-kOXHcGcLV_uowUTlXVgOhP4czHOhQLMunw7E7h2RBa6mFOBcACNvkyRWXsTBlY_dYNiPDfP9U86gdEdHxo9YEKPd7UC1ns3K9gbPHQVLZcF0KNPqiSuJKbsz7_9ITzZS6zpsUWR94U2KB3TpN7AlSS4r4jOrJebITYaZIcmHzO6z2vyToWHf2RmqhWs6-28QzH0kuEIxKnnwLRDHSQOvVqkoqPVtEPok4tZiGe_7q8R_CNCdWHU5CX6f5XETXu1NrV4vVId7KX4_a1TB4H57pMyNA-nGjGw1qGk_wwrquaFP1LZopR7cY8j2Kn6f6ubhSGSxw18OTbh43jWYRjp2j9yiJZCPheTnQ66QGikAoPa-iu1oUUo0seri-I4QMkYfN1DDe_svVBNtAm8p3q19MUDcJUrhApWG7VMtleV7Fbfs-M_lZlg25sb9X8TGj2R-c-u4ZUIPmVpkkCgNCbxqgd3nl5QnjYBQ32ogY_1QBT_REV_GwUx4nkxCyXYJp6GwjVPbWFc2PWdNvUGPadsWdNDjPxVMAxW8Q==",
  "id": "rs_08f0e1dca81bc556016ab449edc48887d0a89b740c7e3f5465",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The cap slipped sideways during the full close; the closed reading is empty and the cap is now visible to the right of the jaws. I’ll reopen and lift in place to re-center, then use a partial close suited to the cap’s diameter rather than squeezing it out.\"}",
  "call_id": "call_Zj5KSs4qMhOtUIgIN12VdExB",
  "id": "fc_08f0e1dca81bc556016ab449f0a09c87d08176ffee453ef517",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zj5KSs4qMhOtUIgIN12VdExB",
  "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]: [-0.3534, 1.4651, 0.6235, 0.1997, -0.3664, -0.2657, 0.9944, -0.0193, 0.6456, 0.3225, -0.2783, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3876 left_y=-0.0717 left_z=0.0913 left_yaw=0.0813 left_pitch=-0.0301 left_roll=0.0084 left_gripper=0.9944 right_x=0.2641 right_y=0.0037 right_z=0.1106 right_yaw=-0.0001 right_pitch=-0.035 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4735, 8.8, 1.6435, -0.1734, -0.0073, -0.1929, -0.294, -1.0462, 7.0085, 1.9902, -0.0366, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b515340428eb7e8ad9af65354fbd1c40479572983883fb5bcdf19314873e3f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6936fe3ba19ab196501c85a752f779d73f2d9ead7e9f1e4b4a554d1373c7617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6ae4741cf96fe22c259849dd0c740ce465ee1439f46d5518a4566dc74389c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 1.721 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3515, 1.4265, 0.6449, 0.16, -0.3508, -0.2577, 0.9944, -0.0193, 0.6983, 0.4122, -0.3134, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3884 left_y=-0.074 left_z=0.106 left_yaw=0.066 left_pitch=-0.0155 left_roll=-0.0017 left_gripper=0.9944 right_x=0.2737 right_y=0.0035 right_z=0.1311 right_yaw=-0.0001 right_pitch=-0.0331 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.9812, 8.0615, 1.6777, -0.0171, 0.188, -0.1099, -0.3214, -1.2376, 7.2, 1.9463, -0.0122, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6417, 0.5381, 0.4782, -0.3668, -0.2623, 0.0104, -0.0193, 0.6643, 0.3542, -0.2893, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3921 left_y=-0.0735 left_z=0.0462 left_yaw=0.0793 left_pitch=-0.0151 left_roll=0.0046 left_gripper=0.0104 right_x=0.2677 right_y=0.0036 right_z=0.1181 right_yaw=-0.0004 right_pitch=-0.0331 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.5692, 5.8325, 1.6288, -0.1197, -0.0562, 0.7839, -0.2256, -1.1966, 6.8308, 1.9853, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3534, 1.4651, 0.6235, 0.1997, -0.3664, -0.2657, 0.9944, -0.0193, 0.6456, 0.3225, -0.2783, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3876 left_y=-0.0717 left_z=0.0913 left_yaw=0.0813 left_pitch=-0.0301 left_roll=0.0084 left_gripper=0.9944 right_x=0.2641 right_y=0.0037 right_z=0.1106 right_yaw=-0.0001 right_pitch=-0.035 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4735, 8.8, 1.6435, -0.1734, -0.0073, -0.1929, -0.294, -1.0462, 7.0085, 1.9902, -0.0366, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b515340428eb7e8ad9af65354fbd1c40479572983883fb5bcdf19314873e3f61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6936fe3ba19ab196501c85a752f779d73f2d9ead7e9f1e4b4a554d1373c7617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6ae4741cf96fe22c259849dd0c740ce465ee1439f46d5518a4566dc74389c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEn1piqdIwoFtUq8Z3RlYP2KviFmDIQgiSb-KfXl4yEFOjA7tADmQ0K_W3A6aon6GCBc_AU_Uaw7GlHs0kk2EFePRKohcTS50AdfYKnVJ0Yg3GTNZZzBMUN8QQbXx6xdUrGYs-avOkam1y6Hc8J43NTi8jxa42roD8QVZCShtaksfnFa8JLdC_5uPchFMF5Blzo4G5EPyXo2_8UR9vxAkfCU4JM2X1hwpznToR_v6W-K69cn8ygT1ByJpt7gmq17eq_6R27msBUWFX24fd5z0ZJlMWWg2JT67jhivDjp1ed_OPfWxpO4kNHPxSwzQSRxP8aoe31MBRuhdC_48cpTh3FDq1hnwhYOfdZjq_pMNvhtDCXHBWC95wA3OqN7mM9xgstrb-dzLFPwWXlZA3o-Ewzf8OzFDfPbOErxjsm6ylLnp_Cr8QfAfJO9Xtu8BYbW8OTKFBJ1jC3ki7YTdheSzoBWbnUGSYiRWb0dj4_brFOZiLSYNyn1RsF_ga17JY7Oxu6GIM8G66Ajfe5ySA2jRLgtz9Fa5OsIKqYCGFxO-0nxgRUwCl4SA37rqYXVYtM1igkwz9OVoaybzsr6n3vVpGp5d73CSLDUWghpXZJigJhdeIfbdOe5znvpBEdHBvMKX2O15xXEzbcayW38ZP5MSe32-RQkpWtSlRiQrcigL7gVVGv2t3ZfkCgF3cPTp1bx_9ctozirMIdJ_8TwJGi2V-io69ZB48fdzZ2SLane3SvZ6hK01Hu5lOuFDxE-67kJXnMiu_5HLCNTjCX0jNgjK8w4DcPD6G_7p1xykP3eEibKs8aljyKAm9XUKjzgsr7lAo43NhymMi_J9DCb5axnxB9ORNi8AnuhcLXr3IZ3qqUbJrYFOq7zIK-N_vv2DAS5fWGnxAdn1SqA99maeXizPeZWrplmmRa9d_A9AFxzplemoBAMLqCz8iZ3PpbZDtnfnpNlv67a1n9k5SGasaCbnk-hk_UzGUctRoeWOdxeSi7yYWRFdIx4pvXfODf5W4Y4Ou6ctoDKuNJop_Lf65OujIdzsqBbi42aYC394q-EzL97YTbF3Ubi0USnrpMRg2XxIQ8iegOtSoO3GMs_guSsT2eWdKNZ2pEmu_Gf-9Cm82PHA_2RnZy7VYg1ikAraFWQPUL0OQzwtqGhyz9ER5GigwWcL9o0hG2tPADWvlWXbT4XO5mNLN5_iNin-zk90_IQlgWtalCiwL3Hy8R-eViL_R26xqYcfe6kuShZv_EDyecHJ5bsjzv921sdQesA411TwtyyrG26Q2T_4FNcf74CkxfER_05eqUBfdGdqShKTgwPvm0MHpo2598cIF6CSalgLyv_cS6Dy6Wu_EvH38qkyzzN6r-DZyB1NK21n9w61XU3VcFT0kUrrUK8KHCuDSfsznfhOW76_uCrT6dSvJ7p25c8wJF1hIxMUYQEYXzqMTb0-HnvfsMIQGg1ojn--ezXMPWrOOoUVAcsqUnG8UfEikXKSGnlPbPx11pvbOGG-XsQn0eAKa-5705hypmsB7hObnsdu7-eGu_xp7JbJPMKKkw6gA==",
  "id": "rs_08f0e1dca81bc556016ab449f37af487d0a9dea73503cd388d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.09,\"left_z\":0.09},\"note\":\"With the gripper open, the displaced cap is about 2 cm to the right of the jaw center and already at the correct radial position. I’ll shift right in the arm frame to center it before descending again.\"}",
  "call_id": "call_5tObdqMAIzGGbTqUEtpZXYPT",
  "id": "fc_08f0e1dca81bc556016ab449f4576087d0a7c4cd62387735a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5tObdqMAIzGGbTqUEtpZXYPT",
  "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]: [-0.3904, 1.4815, 0.6285, 0.2062, -0.395, -0.2859, 0.996, -0.0193, 0.6289, 0.3027, -0.263, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3869 left_y=-0.0819 left_z=0.0895 left_yaw=0.0785 left_pitch=-0.0268 left_roll=0.0093 left_gripper=0.996 right_x=0.2631 right_y=0.0037 right_z=0.1087 right_yaw=-0.0004 right_pitch=-0.0228 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.2991, 5.9556, 1.8437, -0.315, 0.0806, 0.149, -0.2803, -0.3761, 6.9265, 1.9463, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd670b1af23ffabc920cd2916505377867ccaadcced1cf4faf1ed65af5726e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3aed93e33e0d9bf9a52fd38e496f61245d124c6ed4fc9f5f6b2aa8d35f3f12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227743e50a74f784f3818d6bbd643d16f5c6e81c4412926f4ada3b95ca86cd4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.32 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6306, 0.5323, 0.5053, -0.3595, -0.268, 0.9955, -0.0193, 0.6792, 0.3805, -0.2974, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3943 left_y=-0.0756 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0126 left_roll=-0.0176 left_gripper=0.9955 right_x=0.2708 right_y=0.0035 right_z=0.1248 right_yaw=-0.0004 right_pitch=-0.0297 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.1487, 3.7128, 0.9988, -0.1587, 0.1392, 0.105, -0.1709, -1.1145, 7.0085, 1.9805, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3534, 1.4651, 0.6235, 0.1997, -0.3664, -0.2657, 0.9944, -0.0193, 0.6456, 0.3225, -0.2783, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3876 left_y=-0.0717 left_z=0.0913 left_yaw=0.0813 left_pitch=-0.0301 left_roll=0.0084 left_gripper=0.9944 right_x=0.2641 right_y=0.0037 right_z=0.1106 right_yaw=-0.0001 right_pitch=-0.035 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4735, 8.8, 1.6435, -0.1734, -0.0073, -0.1929, -0.294, -1.0462, 7.0085, 1.9902, -0.0366, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3904, 1.4815, 0.6285, 0.2062, -0.395, -0.2859, 0.996, -0.0193, 0.6289, 0.3027, -0.263, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3869 left_y=-0.0819 left_z=0.0895 left_yaw=0.0785 left_pitch=-0.0268 left_roll=0.0093 left_gripper=0.996 right_x=0.2631 right_y=0.0037 right_z=0.1087 right_yaw=-0.0004 right_pitch=-0.0228 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.2991, 5.9556, 1.8437, -0.315, 0.0806, 0.149, -0.2803, -0.3761, 6.9265, 1.9463, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd670b1af23ffabc920cd2916505377867ccaadcced1cf4faf1ed65af5726e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3aed93e33e0d9bf9a52fd38e496f61245d124c6ed4fc9f5f6b2aa8d35f3f12d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227743e50a74f784f3818d6bbd643d16f5c6e81c4412926f4ada3b95ca86cd4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEn3UoS9W026zYrUoQXrCMN-C-nlQeV5itCpy8WSOqnK8_97rMGSO-tB-6K3x7xVG6NjxNxUVJlbnunwFb54JTmqHQPtNUYon1fkF-7W857pogwHcXEAnFCuLY0ddcnNCrCXMNjINhotjQC3kS0XWm85f2SwABM98r-Db9uwIjdrMFIGe3FRuleAGXxRs-tiZJQoxnFGtr0HQMbXoxsewijR8vYR0qPtSGnB1rSV4x3-4bV4fY8MMTcL63lZ0Vi-qE6YVk1LPfVyuCrrvrJTVc3-rFfCy4cmMLFwLPEfFV_Db4VI_8XSwKt0obWOV52UwuV1Av75vclimkB391hhtPZjyROWDqvd0gRnzylX9kQX83Z-iLpz9bFGbQ6ra10jubh7LnbXdY3OxXOim9DIEsq-E5eoCuXv81LDJKo7lrahM9lqCDFlZbWXyqsjTMYju0wsIxqL2gf4sS90pCJkrPhevPVyinFhGQcC2Z_QGfcH8tts63g_TUsX-3yKStexPFGbBjkx10pzrVf48Y5QWTOxObGA2gZT-9IARF2Oq2MXx_YSUudBsl-zMFFl7s9pVxIdmfTOSpZTVCElGG8RNuS5wgic9qNIqPvnWy6eS21E43K8BRtTi8gN6xwzAPbdW8p7HSKekQEiBCP8eY0gqmlENh29uZbGstYWyXAxfR_xOUoZ0V3982INwHNd1HWbGbbU54n3T8sfxg-eh7-JHE_UMrSmceN2BNmApVKHEDvZczB0tK5wM4iMGD8nEVvasBhUWKpACw8GUpetEuI-66zZhkyoL6feJaV7ZmjxJn3aSBkaAgC_yZ73d1kmQVLIRXK0X7Cl2RrbR4VMZndQ610_PCfHAqUwDcGs_TFC0nWzHXnGVw0iwuTKLCx8puZC74udmUHcNIow8piD74mLakWSWYboyzKCoFKvaKWt33u4K-A5Wiw3WozZP3w8rGkVCGYPv746wEn6wC5eiRc963BU5caZHcTLslCKfAymdlZq2mG4Q-4CNt8OgDT_fQ7ysuXf-u4dhJLsjhzT9VRgUrf33AEbOxNCEZEMvAWZ4o1btB3f2LW5je47w3qJddS9j3w2aPBsww0xrtYksXKbhByrmzy7yKs2B-yGx1pMlYXzHuUqkxn-yA5tm1hjE3_hYDrQLa3BucTYMPc-we0beK2JC_4100lZySCdCK2H9MU9-9NR_ebJ-NT2hExfZx-Z_5ER59Kx7DyF_GW5Q_xDvosIUtS93GTaagiuGTMuHPQju98=",
  "id": "rs_08f0e1dca81bc556016ab449f655d887d090b777e5d31923de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.09,\"left_z\":0.04},\"note\":\"The cap is now nearly centered between the open jaws. I’ll descend to cap height while preserving this alignment.\"}",
  "call_id": "call_K3xKzRRrxS5xR5WpQFfQKmNz",
  "id": "fc_08f0e1dca81bc556016ab449f6912887d097fd8bb2da5c713e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K3xKzRRrxS5xR5WpQFfQKmNz",
  "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]: [-0.4194, 1.5063, 0.6281, 0.2317, -0.4122, -0.2962, 0.9962, -0.0193, 0.6189, 0.2886, -0.2642, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3873 left_y=-0.0913 left_z=0.0857 left_yaw=0.0689 left_pitch=-0.0216 left_roll=0.0097 left_gripper=0.9962 right_x=0.2608 right_y=0.0038 right_z=0.1045 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.1333, 6.2017, 1.8144, -0.315, -0.0611, 0.0024, -0.2803, -0.8274, 6.7214, 1.9805, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14f013781c4f461abb1dfc6383caaea2e564f0fecd2f4edd9de6cb1a879990b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e139cb7c925dd6baf565e49c9eef0d57bdc949788259019e6386412251424cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91225f1a5c58d3dffe2bc1af04f61a69646fec3a3e111b1dc823faa1dd71941",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.001 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.6417, 0.5381, 0.4782, -0.3668, -0.2623, 0.0104, -0.0193, 0.6643, 0.3542, -0.2893, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3921 left_y=-0.0735 left_z=0.0462 left_yaw=0.0793 left_pitch=-0.0151 left_roll=0.0046 left_gripper=0.0104 right_x=0.2677 right_y=0.0036 right_z=0.1181 right_yaw=-0.0004 right_pitch=-0.0331 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.5692, 5.8325, 1.6288, -0.1197, -0.0562, 0.7839, -0.2256, -1.1966, 6.8308, 1.9853, 0.0073, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3904, 1.4815, 0.6285, 0.2062, -0.395, -0.2859, 0.996, -0.0193, 0.6289, 0.3027, -0.263, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3869 left_y=-0.0819 left_z=0.0895 left_yaw=0.0785 left_pitch=-0.0268 left_roll=0.0093 left_gripper=0.996 right_x=0.2631 right_y=0.0037 right_z=0.1087 right_yaw=-0.0004 right_pitch=-0.0228 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.2991, 5.9556, 1.8437, -0.315, 0.0806, 0.149, -0.2803, -0.3761, 6.9265, 1.9463, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4194, 1.5063, 0.6281, 0.2317, -0.4122, -0.2962, 0.9962, -0.0193, 0.6189, 0.2886, -0.2642, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3873 left_y=-0.0913 left_z=0.0857 left_yaw=0.0689 left_pitch=-0.0216 left_roll=0.0097 left_gripper=0.9962 right_x=0.2608 right_y=0.0038 right_z=0.1045 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.1333, 6.2017, 1.8144, -0.315, -0.0611, 0.0024, -0.2803, -0.8274, 6.7214, 1.9805, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14f013781c4f461abb1dfc6383caaea2e564f0fecd2f4edd9de6cb1a879990b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e139cb7c925dd6baf565e49c9eef0d57bdc949788259019e6386412251424cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91225f1a5c58d3dffe2bc1af04f61a69646fec3a3e111b1dc823faa1dd71941",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEn9BFinDJqhd9BifGFlj8UbOiOTTrjg7m2vvqKzeNY7uWJneK3B73jd8ZidmeG8mnmCTK9Z3AJg-e8gSQvmKz_ssj8qftrcBUkp7k8nqQtxUGAr6N6PFF4TfS3luU3OEo76TsWWKvfyHh5BY9A17E6Q2xEo3m8Ny6QPrf_BDwNjIvRggGDNFX1uMj_QL2e4RHqTXTQazoxioMpQeHxd8rhEh0_8H237pkpiv6YP7jT21W9esX5jpXb5wEtrSPg4tVX8n0rqd2yWrPT_fVnAT7O2h0eI_OuNR-Ee-Ms1Lwlj0vTvU2KqrEYzeuc08SDnrw3o8j6P2r2Bnh4WTVo3Gk2HwydyqgNJxsEu14ANURyjDDu1bwK_KqVT8fgg7QAaERusjlcApbVsQhYReWuHrLwM3tIOB3IaRElrsVX4RW0dgEKrzuuQNRoz8h0UbUtEp4pzDezD7xQ-PorZzRzDOVgMP535j1UMAqlfq97Y9kwMwRaoUddj931980ObCWKgpHxVPWaixYUIW4NYsqsFlzR-bSYvUoQauucQqJpSoXEQ70YQBlTXRMYCcIvP1Thh3S--nboKGa_ti_eXRvrFy0phM0AcFS7jqBIFt4GwdZjh72Q90luMIfHOuA1_dtaqpozDo9LlQo6szaJEVguTstax5twb_NMwiC4Zw87-Y6QqRRzH-I7B9VrBk3EisC_aqC-tFLcRmyF-_zpePsoB1Eu2QLMzI9fWOGBhmD2l_vTj4A2E0GZUsR3fV-wcZibNnRz0kavB6VIDBpRN3XzoJabZHturPCR2NjSYmMoWXVzU6r002aKvYoF9hVPRAjMUFQJMXk-CN74n6fNfPlfydMsYsFLOJwTmERSmmTxCLbjyIVeyOSjzOR9vtLhVM9lak7WSe0GLZn2qwLVIH63jfkW-CHMJC_jpIzK_ASB79x7Cn1pJYgPCyJiQhqKxkpMMMTe7o2U1f0oMRp5CSh85wp4rgr09ZnWHkiDfWamD79Ha4xsBl2FfviPjVOC3HY1ZnCYZ_lS7EO9JY7R5H1f8U50pzs4BkhK6Vlfj1tnnejUWGZNjMXYT9My-Nmv0cAoQEaLONU1qVbcOES2NqU2ynniyPliVhnZUz2rwMXEA21kvs256jOV-Qh-MVeEPg1VedX17OlfZt-NEw09U4AHqiuxIJXahwGxCCVoct2z_ysD5oWbPsKcKf-topQ1awr7KJ8wp4YjIgM7al0Ja2KW1WccXhciupcSO4HchiQjKauYskWsdfrkwrje-tMMOhHprE4_DRd9rqaCEY8QLpjqj3hBdB-vTCAgzo5hP-LxSJDTHPgAhJ_FuWbjDhCCcggoQCyj4b5sybyqdlAdutkCT3qMNUVlEGWsz0fPwulYzvoQ8pasowttDUHWABzYnTuRoZDnqgSJGf1OmVYx1hEgWO4ctPoIbZSgAvGjFZyRafLQT_MpjmbVAB0p4i2byPD4a-luJCvBMy0RDIr94mnyWwRljLLiwfBNO6D2LOjKdcEDk26ux9tSbqNY8pZdr5gEkIV5vhARzVyJMvMy4HwVBZfTtnUIdRfsiYlEcdMAknudZqCAfKpJYOsxVlDWzsPX9bW6jgc5uYADGJ1sn51mzA79dO-buf-pbGKZs_d0JMQct2r2nxZ-IPk9DNH0HCkDSr8wWJNSAqFwReTIU5EepqfpYJgCO1DShL46PjUHktxrkfjIDae49Vl63TaW5XKCbJVZvKnDg6HrImOgoIufibbMRd_ogFK-2KXZPQyBqfFtTZLtTKEKWNsD3dXW0U7mP7-UNCNnHoFmb0aBO_PFVBm-Fr7E9u6fI0XMDIOi0nCs2qiUP4WUH8r2_ON81TNhrlLdz2P3j9E5NUXqU3-qfOUkPbsZFYBahCQcLwVQ2Y23-NwPoy4SV16uTZA-CoiBTBsBvk1qHJnwwK8DUbenI_OLpQutI_cKDizNN_byP8mThkwGUIqj9Q7TM0NP4LrLOM7NrZ1RUQAUUubD2JqH0v4_gDNCIWu21nyJm-EMnP0WKpEzEA3LDVcaoGW_tn_Lp1B1ziVjrNLLyGl80aTD3gTebRSndxqCCbA2EgMs_9CwXIHuG5HbDWtCMncMfQJTHvPneD-vvLMKLE3KUwudV9Ko7K6Swia-s0FShy049xyKny17eJnDtfKfJUOXx4tbMjqzrpHmPtKSKfXUwymVay2BnzH6XeY_UTCsH5-wKoCg4Y2NfgBVA0y8F4QwEpIWa6PjkjNnEIlqd52Jit1VBptogVG6zWoBt724Ev8gH_DvkfPtsDu-a6T_WaOzrxLSjqsOo_rs7_fPM7YHALZMHIgTWzRHvAPExJEtyS9xxpbGh6Ol4Ek2JnRrBlt6iCFvgkVJAppPFP6j5l_lKbRz-nE1llAzpHYPvUP_nH-0sqF7xFJYY2oZaFxRItKBBk7utofzCPLJh0RZvleSUO5a-lmy6UTOoac1n8IpOVM8EwauOR3q3iaHz-Nk6Nqc651I-GTlAjVAG7FbHSismI46HpUe8z6VhYXN_j2l0FNGg6fqNj67_DDA0M2VaWazsFF7KdtMEsvz-_L4dhNo5X5Ia2fmW6lNYi-8uGyp_Lr1SxeaUKMT_FuDN4CcjKu9yZpbwfW2aCRp39g4Py41-xp-wXxVlheo4OH8ORN8HKDO7UqAQr2QqcWENERbgBvkfurgRWv9F8ANw2KfX-5s59GlNbdEq7kQG0vpIjCAxJF05cA-1_YzsWGdPo9TAsB5RXNUgK2IZKeeyguFNtt6NJHgalGvEut-j_4KZ6yhXEHTb9LaFiBd9k404HcXZT0-Gny6ynO21b0qDd2k0anRiox5hnzepKZsjUFDtilJhMNf4483vFz0lR6txlkZrxznOuYL2nTjDG6uOu7mukXBOsnh2zW2gekBy4Wlg265vs2Tzk1pnBwCY4z8E5l6W6TVlinmCCbgBEdGIHwEjk3sDjiOZWaoBsmdw5kjXBCt5mIj4fPEGSU7bg1SsEYEZk1pGHctz3YUBNVYzJrmTw0eNb7JJpUGhx9kChgtWkmCRhngeHAScczmKFIQBwTi__qIoGymOqHnSDZ49n1dsQQMgTSunv6ICIGvnwqSbVvnYNtYoXfWJotmtQHLap-DiLuh1iFKCy0y8-2t7GmDO5yAI0SGm1zYK6pnAxTbZcGpz3tCUl8SZhlhBOD-Sm_m68aXKiPqao0HxzG1z7_gAJnCrkXtdp3v_O3Gce5QkPxFTxK86JFG4rXgWelBzCMrKw0ZvjLRkwke3fe2zjz_VvkRv_-PNTrN0bCM96MZIDyD80Q0w2xQ_s1OCtZhUS3k3ATbKp20QBWro2aYQ6ZY6giCpqm8xDUoyV5EAPtO1Sdbr0inj7amVDzCnSGZAjR38jUnPgNie6f1MCsRimMdH78AOmobIdTbfGQkLn_EoKyfMOpO0rskEl2cN7IkpGVRC8yRdw5xxR-YgiLVAvLqx4fzJteVEUwAAkA==",
  "id": "rs_08f0e1dca81bc556016ab449f8691c87d09ea8ce825afe6871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The left bottle has shifted during the failed descent, so I’m stopping that attempt rather than pushing it farther. I’ll park the left arm and bring the right arm above the clearly visible cap of the rightmost bottle, which has a cleaner approach.\"}",
  "call_id": "call_eHZ1qrkMLdcJrLkiCQEAJl38",
  "id": "fc_08f0e1dca81bc556016ab449fca9ac87d091525fcaca99dd91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHZ1qrkMLdcJrLkiCQEAJl38",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1127, 0.8158, 0.5629, -0.3279, -0.181, -0.1432, 0.9979, 0.6518, 1.5677, 0.9798, -0.131, 0.4934, 0.3283, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=0.0019 left_z=0.1674 left_yaw=0.1023 left_pitch=-0.007 left_roll=-0.0094 left_gripper=0.9979 right_x=0.3874 right_y=0.1949 right_z=0.1416 right_yaw=0.041 right_pitch=-0.0525 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5932, 10.2359, 1.6239, -0.0073, 0.1294, -0.232, 0.0068, -7.0496, 9.1966, 1.7021, 0.3639, 0.2027, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052247e1dec17722b185efaee8d7a6f44b20f8ddf16e4adb49337e295d4f2b04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665eb9e07f89ae443ae5c22351e8c09562c6fb8a7d84bc1fbc9ae782ccd1e5df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266b27846fb0ad6f707346100d02535d73b4b47e9bc597da1bba3f6ce56a27f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.422 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3534, 1.4651, 0.6235, 0.1997, -0.3664, -0.2657, 0.9944, -0.0193, 0.6456, 0.3225, -0.2783, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3876 left_y=-0.0717 left_z=0.0913 left_yaw=0.0813 left_pitch=-0.0301 left_roll=0.0084 left_gripper=0.9944 right_x=0.2641 right_y=0.0037 right_z=0.1106 right_yaw=-0.0001 right_pitch=-0.035 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4735, 8.8, 1.6435, -0.1734, -0.0073, -0.1929, -0.294, -1.0462, 7.0085, 1.9902, -0.0366, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4194, 1.5063, 0.6281, 0.2317, -0.4122, -0.2962, 0.9962, -0.0193, 0.6189, 0.2886, -0.2642, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3873 left_y=-0.0913 left_z=0.0857 left_yaw=0.0689 left_pitch=-0.0216 left_roll=0.0097 left_gripper=0.9962 right_x=0.2608 right_y=0.0038 right_z=0.1045 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.1333, 6.2017, 1.8144, -0.315, -0.0611, 0.0024, -0.2803, -0.8274, 6.7214, 1.9805, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1127, 0.8158, 0.5629, -0.3279, -0.181, -0.1432, 0.9979, 0.6518, 1.5677, 0.9798, -0.131, 0.4934, 0.3283, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=0.0019 left_z=0.1674 left_yaw=0.1023 left_pitch=-0.007 left_roll=-0.0094 left_gripper=0.9979 right_x=0.3874 right_y=0.1949 right_z=0.1416 right_yaw=0.041 right_pitch=-0.0525 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5932, 10.2359, 1.6239, -0.0073, 0.1294, -0.232, 0.0068, -7.0496, 9.1966, 1.7021, 0.3639, 0.2027, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052247e1dec17722b185efaee8d7a6f44b20f8ddf16e4adb49337e295d4f2b04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:665eb9e07f89ae443ae5c22351e8c09562c6fb8a7d84bc1fbc9ae782ccd1e5df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266b27846fb0ad6f707346100d02535d73b4b47e9bc597da1bba3f6ce56a27f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoCSJwOCietCmq1sBZAdmuX5uEFJaKksIsmTWLKyKDIQhBaGxLnEns9b_YiH8GlALrvSOB_3bAyecVPN2H-e_zKPypAsTSNXRwjGCjBS4W8KYNmcuuAmyup4R4B7uecdNZQC1xXl7cquMh92SpGZ1pw-Kj0aL0WvphB8gxnaDFS0iDjM3rx62C3blDT9moyOq5GbiXj004JX8FPZozWU-VPph0AZYUe1bGLoKadPIUud2YqfFdFKUfJDDNBdonOXpWbwRUI8nnCjEQAfUkrHTxwaZEQkhd5haPMO-t7AutY_oNqeVKylzRcBsxp0NcC-lJ5HFihG1W5kjGXchGu2U0hISlCgGXWSep5DL7aslnzHBEIqrPZJ7OPsL6ZXLqUT8XXzJHZFLO8JquzdJ3TL4OHiDTi35HJkTfC8Y23EALGZLm5Jxvpfq6QNSnjz6txtYseRjrBkwYB1zMv4xLMtT_yZLLEcDfWJmcAa_M1OJVUQHbbAwm9vG9soFil3fvtsDcLXFLy36I0cnzeMJEQ832_wgO4Xgkhg5yFImmknzsuufhKUP5nJ2A4_n0324M6MXrpuXP1FeRMC5BmwCAToVKdIxo5lJ_fHdmz7UHIOdg80x1nX1zhTpBDtscrOS4ZR1Yl9IlPPO1uowEOB62CHXr25NfXZA4XpkUxTpQ-v5NUmnwuSPbNJTxoXetHu2oXBrh_plBVVUXW8xWEYexsQHa2B4B1Uzsrd8MV7VnA5pj6xO5c21YJswJxs67t58FPoW34trQnfie5lxEUI1pKh48wOoZMMWAcwU1AsUsJcUcfLZZWT2rRVQ15vyq-6gYK__tX1h1IBdWzpsvoi4mGkIJKOVSsNhgfSWS-p8jVb6Zcc0WZSOQDValghP6Nf01vJPhJs1NUJ2TQGGEZbNpSTbShQIF6W0ICW8lnYdKOxPPgiN6W_pvFQyAuoLXyASe8K7y-g1ANBHVyoRH5xzZT3UAQcMTnLdyI7HiDwQ-5Xf5hujuTjFSVpJ6c3MNTJ66TtR45TYLlrVeSLwfmLRZQ85-GObneq9Vcyg58qyzBbW3b02-msRNlcxcPUJ-q3v8wNWtWB1Td8hSxjyyZ3UjhbXfuAyf5YA34PKvW1Av7XmbS1Tg_Z8ZCx4sGSOlM6989cfAbV3QiaG4VgZ4IL33JRE-m5Qk6KDSGOrAdBrlsVKFDL4Feb3LwoB7gQAaUCU-7oWnC0KK3O834LlR2yKgJl-fxvXrOpyz1jSu6_QOO6GLZx6z5TMErRHcmvBTOq5k9momDkljguCg7mPqu_b39toCc7RAT-qj5vTcUII7hFdmLJ4U2n0amT_otfEvdlzbcA16PGiZzRKIN6yq6_77sUUx9MqFEB-5o5YfuSuGynhZ0q2YL0YFCcrY905FoJVHLRO3uWt5mq9CFh0L0PS8ucOP84JcGSxLy7bumwdny1hD5yOVOp1_yA0r1Qg784nR5vxjk5nJiraV0HSPwc2HfZ_iUkcZjJ1-Rcdts5jRpqyTPDOuW0LTCk4DrJRwP5y19Mf5r5v-o-Uf06_iHI9BlexbZLmX73gFV5fl_1c3wLwBGGnPAF1kmmmyuHmpm6YX7qYe3hAjXupY160b2heSd-PDF7WF8a6J5H_7VaVZw1LVXFttt9EJi5_AeaFCX2hOP6YuFsZnXatNpmDSiEcWPvoCImVUhCM-LJ3rkXe-p14EbZmQ=",
  "id": "rs_08f0e1dca81bc556016ab44a00822887d0a9c396064832ae01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.17},\"note\":\"The right wrist view cleanly shows the rightmost bottle; its cap is slightly right of the jaw column and still several centimetres beyond the fingertips. I’ll advance about 4 cm and shift slightly right while maintaining height.\"}",
  "call_id": "call_ZzRHoQ9lpLyKmL1v6DBcgjLb",
  "id": "fc_08f0e1dca81bc556016ab44a016f6087d0b92dc2934c7ddf76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZzRHoQ9lpLyKmL1v6DBcgjLb",
  "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]: [-0.1181, 0.8158, 0.5648, -0.3447, -0.1818, -0.1341, 0.9976, 0.5488, 1.599, 1.0271, -0.1421, 0.4175, 0.2604, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0007 left_z=0.1649 left_yaw=0.0928 left_pitch=-0.0215 left_roll=0.0018 left_gripper=0.9976 right_x=0.4118 right_y=0.172 right_z=0.1423 right_yaw=0.0347 right_pitch=-0.0756 right_roll=-0.0487 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.6889, 6.3521, 1.9902, -0.1832, -0.0659, -0.0366, -0.212, -7.0632, 10.3179, 1.9805, 0.2125, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d420b35062bc1274beaba777688ea34ba479263cca5eaa82e41dc1911fe01d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b40249a63c06c095b6cfd09314aa7284d66ebd25fc061a142d98366c2111fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d628ae8b3e2ee2aa9812d251be60413316b2ef64650da94c49e41ecc78a2470d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.523 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3904, 1.4815, 0.6285, 0.2062, -0.395, -0.2859, 0.996, -0.0193, 0.6289, 0.3027, -0.263, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3869 left_y=-0.0819 left_z=0.0895 left_yaw=0.0785 left_pitch=-0.0268 left_roll=0.0093 left_gripper=0.996 right_x=0.2631 right_y=0.0037 right_z=0.1087 right_yaw=-0.0004 right_pitch=-0.0228 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.2991, 5.9556, 1.8437, -0.315, 0.0806, 0.149, -0.2803, -0.3761, 6.9265, 1.9463, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1127, 0.8158, 0.5629, -0.3279, -0.181, -0.1432, 0.9979, 0.6518, 1.5677, 0.9798, -0.131, 0.4934, 0.3283, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=0.0019 left_z=0.1674 left_yaw=0.1023 left_pitch=-0.007 left_roll=-0.0094 left_gripper=0.9979 right_x=0.3874 right_y=0.1949 right_z=0.1416 right_yaw=0.041 right_pitch=-0.0525 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5932, 10.2359, 1.6239, -0.0073, 0.1294, -0.232, 0.0068, -7.0496, 9.1966, 1.7021, 0.3639, 0.2027, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8158, 0.5648, -0.3447, -0.1818, -0.1341, 0.9976, 0.5488, 1.599, 1.0271, -0.1421, 0.4175, 0.2604, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0007 left_z=0.1649 left_yaw=0.0928 left_pitch=-0.0215 left_roll=0.0018 left_gripper=0.9976 right_x=0.4118 right_y=0.172 right_z=0.1423 right_yaw=0.0347 right_pitch=-0.0756 right_roll=-0.0487 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.6889, 6.3521, 1.9902, -0.1832, -0.0659, -0.0366, -0.212, -7.0632, 10.3179, 1.9805, 0.2125, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d420b35062bc1274beaba777688ea34ba479263cca5eaa82e41dc1911fe01d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b40249a63c06c095b6cfd09314aa7284d66ebd25fc061a142d98366c2111fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d628ae8b3e2ee2aa9812d251be60413316b2ef64650da94c49e41ecc78a2470d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoGZ1gQQOL_mzGg06K6ONQcYQRmrq9j_PvemrCJXG8T1b3L6Y5X1bYjagZ2q5_hGzGKphdWQ0MA2kOJniQk2xQh4bVuVX7dzLWJir4l0kWneRki1OXz4fwZy3uLngSJj77-nOkvdPFodunpRQBMWfQGZVNXutaiapZ0wFSK4E4KIGDZXRdGa1hgV5gXGRiPaQpQM2Cl365xtzA-vUkvixakKNAt2oPPYe65rKrSRDBQljnhEHuciRv3rq-sdV-D5U0O70aG5nD_v3B0TyP7zHbZBY7Meza9t-z_3htpVAJokdEUukpn3aK6A1cTiBQSfx-VzlfAautbZ5plbDBdL1-3ouQR-DIBhtQKu6ThmW9Ete9DBaYgj86rOyfDfRyhbf8fERC2Vd43LGhbkLn55OBAJUw9b8IUn2xzhl8KAjWWn7Wq7qAZt6rYyTAvzBwtgZ5FNff_qEhiUwtubJ4nXc5Hkj3w5Km0rrty6v4S_ilFRsQM78p2PqJycVWedtAPyZUdbGjGIVvHwc-Dxw8Y-4zp3vILv7EA42utxquOPfswIhuencuZiuDjmhL0dKxhLKLjaBFn-8A7ZTDjQ2LvRwPMhB2-i62cLC3N8Qp3zceWVMbaD3efTDv-KcRB8nWgBWTItsL8zI9xb_bbYawwmKn8fl7XnOl9B41SrXZ5kEuMtUsPAI3cDmOez9oRFF6o7IMvq6j01xgzDvLk9W1uleaulXQIX8xEQWQMTHodckrxNNT3hlV52tBTKdgosKSgdtnufzBxORxtzTYa4r84-JWdBK9rsO_YDxaR31WZnu4vReruYAVWesJABADpRDjeuBKUQAervMM885WZACPTl9GRRhumckcgFuk-xtk0bjFQ9lzcznVJ0h2NonBpwLK6Usb2vVhQyfQ3qYuqsnvbzdxErxausMlHUU1_ltyOlNQ0rg2tPVj1KXoOYjBAM29qh0nZv7NFUbC-2lr78Z9k1Vl7HXJdYryJCkok2jr7wAX4-09A1OsErG1ecJP2vXIsFLcXNhUYC_dNQ81wloDvtxiquPrpSnrAFW7VJkhwe-SQSUK8E_4Lp67BUWaHPUBRYfekaQm-ZY8Jn4nr4fjmFzoPyqSyq5A0rxHa7qvmO5422pCupCO84f78ro4WCUJfhY-OlB01YlvoPHBo9oKkt8hjf8gEVAAaPQC4n7SO-PUvcwZZ_ZEBm_IEjXW8Ob80ryH96uR8YaQHjVyGuxq55QjUUnaKRZ2NtmFXd-yfshAJJYBwo5HCEJsYo9M74ZqdUvyZBsxLl__WnasMJ8qf7jAAbo51Nta2zHOMF1KBz8Xco9z3mjlJTXZIdd4D4s664KBk8Kan-Ztk9mdh1iIW4_1F7w==",
  "id": "rs_08f0e1dca81bc556016ab44a046dec87d09ce99600ea4144cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.17},\"note\":\"The target cap is now centered laterally but remains ahead of the fingertip row. I’ll advance another 2–3 cm radially without changing lateral alignment.\"}",
  "call_id": "call_4yEE0DGLMsGEMGrTT8jJkyuk",
  "id": "fc_08f0e1dca81bc556016ab44a05201887d0b76a14c58aeaba7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4yEE0DGLMsGEMGrTT8jJkyuk",
  "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]: [-0.1181, 0.8104, 0.5503, -0.3325, -0.1833, -0.1337, 0.9976, 0.5426, 1.6039, 1.05, -0.1349, 0.3882, 0.2455, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1623 left_yaw=0.0938 left_pitch=-0.0183 left_roll=0.0023 left_gripper=0.9976 right_x=0.4173 right_y=0.1777 right_z=0.1497 right_yaw=0.061 right_pitch=-0.0627 right_roll=-0.032 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.0444, 6.6256, 1.8681, -0.1099, -0.0317, -0.0171, -0.8137, -7.3231, 9.7709, 1.9463, 0.1929, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106cf749836ed29b82a4a094c023818d660be2dc636d5af940ffda5e892bca3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2febe122c0d2acc852093d45d9d8764778b72434274a1c07316a258ea43c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c9cd822e33f400d6e96d76ccedd9ba8ccaa39d06effb1b042dad5c82d687a8",
      "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 · 5.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4194, 1.5063, 0.6281, 0.2317, -0.4122, -0.2962, 0.9962, -0.0193, 0.6189, 0.2886, -0.2642, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3873 left_y=-0.0913 left_z=0.0857 left_yaw=0.0689 left_pitch=-0.0216 left_roll=0.0097 left_gripper=0.9962 right_x=0.2608 right_y=0.0038 right_z=0.1045 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -6.1333, 6.2017, 1.8144, -0.315, -0.0611, 0.0024, -0.2803, -0.8274, 6.7214, 1.9805, -0.0122, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8158, 0.5648, -0.3447, -0.1818, -0.1341, 0.9976, 0.5488, 1.599, 1.0271, -0.1421, 0.4175, 0.2604, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0007 left_z=0.1649 left_yaw=0.0928 left_pitch=-0.0215 left_roll=0.0018 left_gripper=0.9976 right_x=0.4118 right_y=0.172 right_z=0.1423 right_yaw=0.0347 right_pitch=-0.0756 right_roll=-0.0487 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.6889, 6.3521, 1.9902, -0.1832, -0.0659, -0.0366, -0.212, -7.0632, 10.3179, 1.9805, 0.2125, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8104, 0.5503, -0.3325, -0.1833, -0.1337, 0.9976, 0.5426, 1.6039, 1.05, -0.1349, 0.3882, 0.2455, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1623 left_yaw=0.0938 left_pitch=-0.0183 left_roll=0.0023 left_gripper=0.9976 right_x=0.4173 right_y=0.1777 right_z=0.1497 right_yaw=0.061 right_pitch=-0.0627 right_roll=-0.032 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.0444, 6.6256, 1.8681, -0.1099, -0.0317, -0.0171, -0.8137, -7.3231, 9.7709, 1.9463, 0.1929, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106cf749836ed29b82a4a094c023818d660be2dc636d5af940ffda5e892bca3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2febe122c0d2acc852093d45d9d8764778b72434274a1c07316a258ea43c99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c9cd822e33f400d6e96d76ccedd9ba8ccaa39d06effb1b042dad5c82d687a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoI3IXmI0HKfChhD4PDgRhec2cGfckOe0_lftlfZ4-4QcJmSCBRxRrQ4UibzwL4pE7iH46sZibRyD7Klu9ynoXw0lFff97mbN_AQ3kOGEt3jrFA0gmKANxOcP9G6ce5SHZ8BEjdhKhRzbtROI7Vhib66Ao7JSZrn2BGCx2uzq--UxynyODkW9WeIZYF72y5QSIbDlNGDbMZUi3ULAdkswq_BvE21YwC5DmAuqDa1x3amgMIQjsHtKz3U-nKwZjJWqvlYr6i6VxlsMUaNAFFD9tYFDm3B3Ce5LfgfvxLaORpqx0gAiSkHtV8_BCVcepcDXINsP9YCMc3S7ZMuHh8pBm4ieiXUSUZN-_-4-eM0Yji_3acPjRTnrIwo9Boswqi9X41Ert8xr8295hcAELt0VA7EUUQTSZkKsmLhA_UyyLgduvIeDCDHNXjZHRni8FWcwHFAh7nrv3La5XgY_awwNXpd7Tz5f0KaE5TlD3XocnsZvDOcFIG0dPEnd49r_clI6q_673dU3p57_0WKBdRXO7914VNnA10piRcKyoN7KU685cE9GSuoyBLVZcItJOJW8BYomI9q8qOiYU_Uf_eyLwPyw4PlUU_6iHazdFWMVH4Xe3j3YcQl4TUY5Iwq60SoEaphsaqHW9oii4cdTR_6HkTNyFgxpBmOsWqzYM1GY-_RjVbZvCIfnJToLtucD5vF9M2_2EsCzAH1g1iUvx68pJmg2aube-T5L7MIkyQphGlpDyEFdZbfP2vGPjJjiY4fF_i7mhm-wYOAK397LHBHWEtcm0UqCO30LiXVWLYjMo_8KiuWpey0KBauQ4hVTc2lojQPsqxwTPKRyOv0vqpgyY8QvDVcwfEbQgLn01bxZHWvi-1Z-bOzwEBYyyl6TppFNl_a-HLr9pwngHCgj0dHyliEXx4yw-e8Vp1xRkolxPCSD-IIJ16eTBkbMvkFQUTANH5QMrYmpb7eaXeBFLwZIkQ0kqsWTyT3g__9ayXzk-ucSeKb1Q-lFFSs6i86IDVhf56zHfSHLRgtVtzpo7s9Q3exm08upGsXtok6ibdb6Eoyp8eI3zb63Sxp-aZh3sftQ-EjZKjLV0HEgkXRc0dfSzLpltEQ5wE8Sz-bkJW0HIrhjipAtHl9V8RAmJw97LINzqZSngQlPMckOmZBW3TRSuWmGY3ncY8HRXvnNGTF-62C0OpuHRjVbs-zwXnmw-9dvueEMrtGEGjtqyjp7R1TG3m7tkZQlG_zEctVpOOYGKbrItul8Tza81ezbd5ufOj6c-gGiQvafag21Tn_fp25tv5qKJeiTsFbqAfTleiepqV32UTu_7-slo5Dp6E34JgMnBGzk82jHrqYNj39ML-sgj1BktSDIA_sKJTjoBc6oR8T6w76fmC8Pl1N_1qZiG_u5TpZ_lueCge8c1tmCdxd3g7SXdqfwrj1P0k5c4H5bVrtz8=",
  "id": "rs_08f0e1dca81bc556016ab44a07990087d0afdc98de7784cf78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.18,\"right_z\":0.18},\"note\":\"The arm advanced only partway to the last target; the cap is still centered but short of the fingertips. I’ll request a modest additional outward move at safe height and verify the readback.\"}",
  "call_id": "call_BpxhdyQx2X7EcIAlqCGzBVDF",
  "id": "fc_08f0e1dca81bc556016ab44a0855f887d0bb7ef814ceae0598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BpxhdyQx2X7EcIAlqCGzBVDF",
  "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]: [-0.1181, 0.8055, 0.5446, -0.3244, -0.1837, -0.1337, 0.9976, 0.5426, 1.6039, 1.0504, -0.1341, 0.3882, 0.2451, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1626 left_yaw=0.0941 left_pitch=-0.0112 left_roll=0.001 left_gripper=0.9976 right_x=0.4174 right_y=0.1778 right_z=0.15 right_yaw=0.0612 right_pitch=-0.0617 right_roll=-0.0317 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.9624, 6.2291, 1.8535, -0.0952, 0.0073, -0.0122, -0.5538, -7.3231, 9.6205, 2.0049, 0.188, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da795f1416fc5693f571e1ae97c36e461655c6c5ac6a4382f9216ebb9b8a4aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ec7e399f9e92f51e35f834e1b96a0a48e08ca4a5e0f7404ff6b12d76155fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9fa2c66ff522a50fcfb96eb2df1dba58179d4d8230dff791208625ffcbb47c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.972 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1127, 0.8158, 0.5629, -0.3279, -0.181, -0.1432, 0.9979, 0.6518, 1.5677, 0.9798, -0.131, 0.4934, 0.3283, 0.9998]\nstate[eef_state]: left_x=0.2974 left_y=0.0019 left_z=0.1674 left_yaw=0.1023 left_pitch=-0.007 left_roll=-0.0094 left_gripper=0.9979 right_x=0.3874 right_y=0.1949 right_z=0.1416 right_yaw=0.041 right_pitch=-0.0525 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5932, 10.2359, 1.6239, -0.0073, 0.1294, -0.232, 0.0068, -7.0496, 9.1966, 1.7021, 0.3639, 0.2027, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8104, 0.5503, -0.3325, -0.1833, -0.1337, 0.9976, 0.5426, 1.6039, 1.05, -0.1349, 0.3882, 0.2455, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1623 left_yaw=0.0938 left_pitch=-0.0183 left_roll=0.0023 left_gripper=0.9976 right_x=0.4173 right_y=0.1777 right_z=0.1497 right_yaw=0.061 right_pitch=-0.0627 right_roll=-0.032 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.0444, 6.6256, 1.8681, -0.1099, -0.0317, -0.0171, -0.8137, -7.3231, 9.7709, 1.9463, 0.1929, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5446, -0.3244, -0.1837, -0.1337, 0.9976, 0.5426, 1.6039, 1.0504, -0.1341, 0.3882, 0.2451, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1626 left_yaw=0.0941 left_pitch=-0.0112 left_roll=0.001 left_gripper=0.9976 right_x=0.4174 right_y=0.1778 right_z=0.15 right_yaw=0.0612 right_pitch=-0.0617 right_roll=-0.0317 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.9624, 6.2291, 1.8535, -0.0952, 0.0073, -0.0122, -0.5538, -7.3231, 9.6205, 2.0049, 0.188, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da795f1416fc5693f571e1ae97c36e461655c6c5ac6a4382f9216ebb9b8a4aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ec7e399f9e92f51e35f834e1b96a0a48e08ca4a5e0f7404ff6b12d76155fe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9fa2c66ff522a50fcfb96eb2df1dba58179d4d8230dff791208625ffcbb47c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoOOouYpFgilz-253TR8CRKIuhmd-A1nf1bJx4SuEUL6UVmbZjAVyOMPkRaDh1g7I9ZPJo_KghkQNJWsTBN31esYCqf0LuGd1ufJRfkTaBIW869BEBUYQsrQy7oBVlzbdJ7_vcOdfgYLwrIA31JuGD_YxwBV7Dvf1BiVWs0BqEv6hU2-sYs5v0dm_Hcf2YHdhRETRpK1P0nm7OhvS3psr7mAK1ahV6tyoqFGbRcoGqLVLNlKKKPv9NIrqQXqjHtU4_NXv8azGPv7W0EZfbz4JUcD9XwSFkEWu37FFHAOZ6XV0Pxd8i43tJabMSkbAuQlLFE99Joi9tckxhCO0lzDPN5x72gEAKvzNAbRQNslLA4qhGGiKod4KJkXYgm4Y_4NaXTWJ34C4i5Jqww3rI7p9VBNOcNvQnq-c5lgDJO4pC7LlSB8GAhcGNsLaBXSDSh1VjMhjYMJ4ua9DK-fvtVxOD4xcWoq-riMinBpL2r_ARnrsh-tvMRHLKEiARD45xa3K-x6AAUxLsWC5ZOyZtspo0yp16OqrjqcXG21cvW2sfcNjWY3a0eHCfqlDLtGkKiqZywsKEyNcQ-WOKFNhf8LWltYkbQGM8McuXjlEA0heQ5hef0a2Hq-L8z7AyWy7dL-JXAhbKdKOevveCi71GZrIWARql8fElxWQ0G_I1XN7RPhLfJV-RoDk51VLdw-PhytdBoeknOW4-_1vLctmV6_JOeRE3Bm_dHrqBM-8rjshh_ZsEdbsGeRlUthFT3kOXWI69sGNHTljZITL9ktK8eJF9Qwst_WyfpyzM94oTh0q7_VXam8ac51KIS4rurEnrs-pOFS3hnWACKHtRuGfuC51gRulzh33Eli95lDhYIUoqrP8QSAuytQgf4rNbiUDPRMtjCdBfFcAKlDCvsq8ku7mrZiFUlGGvLRltwKoBB2JlLikX-zK25HaT-yo_YWvJGYppweN687QiE1-PKrUtAC_A5ZHkmMYOGpV8wHe_qpSfMoD70Ln_ZBBMObtwW1ZNKGAI-UQ9UUgHC3FtGh1rb6nT4j0wZ-B33ddgbpPJt3i_RO0xsICarUQibuT_SL1UwnItQ8up_tnP4CvCUSNV2PrXBwWay3T7p_tHw0QIulJlfUPb31REqM8261cxHOU38VEe8tjiV4cwIRlYSuXXTCOewKNJJqbZObJMWuH1VkoiQ50OFT7cLDwlRPNBxrgu473led-39N8AWY4tg-7E75iS7iObN3To4Mf4yDC-i6t_ZG_-nxFMi4ZjU5xjRO8QL843DGjjbcDE0sMCtocCUWpQKFGmLEwaAqqdlrHFaVej60VrMAqWZtNKYRcYoKt0AxtwS_2tgRme6nJ0pjLL7yqIpoH58KMDv16KyyudN1El1IxIBofFfGoHXS0Vgq_68-s6dRk_eUdJ1BkexixHoPu5z1mgcBigNtRkhv-30V7lwvdbngV34cFqCjG3pesF4g_TQfjYcW8GNXxzUwxpzRdmycxCaSDlOCUa5ulD-EYpfPHCKtnF-Uhc7I4Avcs7FHBdjjE8DqzMCvwhnKBg8BSbsEJMqEg0O3C9NxkpTo_4aHujgjfmORWhVfOD8q7aNxXOltFH4aRzczs2za5nkSjDKlzCAmwonFp_aVgQeoGSdIrm7GFS8iKvOvDaWLD7hJEoqZn8iTN54YhfEKUsDdzK6x5L6HkzL-kuRkJ6UtQb6wUI_eN9i5bOwd8aVabiDEA4PA9oJpj0jioJN2bXJv5pOCUE8AjzAKs8l0JtTOuA1KR8u1L_imm2kQh7VY9a9uftn58fuwWPshUa7UjHtxkE7jGGUhmzo9_cn8c8L8gS7_sazF2Q8pmA773634R5HFqMWWoDr20qoNM-1x0cIwdMrluCBu1KKZyUE8CB8Q2uJ8DFSAwVxE_G7Pplxl55nSSbkKNjZi7tLPywdG4lf2XEHtnNOSZpvCjnWfCn0LEp2jXp0-LSIRAcS3BATgksF8VtBlQtypMD1Nd3tLqJS06pcYkWv6V1GYUmbKDzsbym0bkLn_eLW3ExQV4PJRVjzRqDezFtWojDrMf-Jjc39OOCWTpzENofiLB2Ne9mGemN6y4ElwDiq-n35y7HNo5qXEnebmV6pgQlY4JKKFC5PsRq6rYH78-rLiuPNHmBQulOA_x_L78g6gAwNjorQsGOiT9U_yuKQ6pCHcvPPaYg9xXqtSgagMmS31enNukNPVOGp8x_gN7jiuwM7un1AJ9E6thB6RUSuscd7b3K69omFUq2gGsx_fDJ2dGCo_6CJao8Eqywg9lGzLjVzvclDBK2cOysIzKAhPqQfxLAaOZyzYdtzVjj1BomJWzdRk6LC7Ss1uAXvQMv4f5BgoE1nm4wioh6Aac4EFW72XEE1yeiPaOl-AbEjO38Xru4mmlM9zki7tSgyA-bsA5CLzvXmrFa43M4xiMsznJB6rbD4Iy42g8Tl2AqgKc36YnrbqxnP_YNfiwbP6FU92Q-TJ2TLrIH5tWIPnlDEzhvTAVe-kkKVHmPvgg0asZWq21eEAuHKIa6cIj-1Ipn4Hj6aY36UkPcjTruaC4mCYXST4emOYgYlTckUyAijBD61aIRyhEJ9yGn4gMArwl4ulODQM5knmV6AO_5SxLKue5z1eDb7DXjPXHhNsBakrNARXJh6tp1Ul9TAAaspQk4w50aVYApKoi1aNnwG3Ug4T7terP8HoH7CQ_YPrZoQ3GqyW1eEvrWICYa_NiaEL7G7HUYkwOnejJc2NVEVbcPFkTKj6MeFQvpP8SlQMt2cjYnCjYeYjiIS9uqtxF9GiIV0BiL3IXgDNnfMOdfvNAbkwPoRpx-Y6Q3ZLtb175J6uhnpLYfU355CciLRAGlMgoteJy1eK0wJ-15Zwr7G4sJpXtKD4cXeN6gIfEqDIprf89bsvNZjTobOwv6Imxw=",
  "id": "rs_08f0e1dca81bc556016ab44a0a7c5887d0b8f7baea88dc2924",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.18,\"right_z\":0.1},\"note\":\"The right arm is not extending farther from this joint posture, but the cap remains centered and lowering also shifts it toward the fingertip row in this wrist view. I’ll descend partway to improve depth alignment without contacting the table.\"}",
  "call_id": "call_u7GLXuJ3Ckk9CoOT0090gJLi",
  "id": "fc_08f0e1dca81bc556016ab44a0d6be087d0b816a426418e3c39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u7GLXuJ3Ckk9CoOT0090gJLi",
  "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]: [-0.1181, 0.8055, 0.5354, -0.3187, -0.1837, -0.1337, 0.9976, 0.5438, 1.6249, 0.9596, 0.0017, 0.3882, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1596 left_yaw=0.0941 left_pitch=-0.0145 left_roll=0.0017 left_gripper=0.9976 right_x=0.4163 right_y=0.1777 right_z=0.1279 right_yaw=0.065 right_pitch=-0.0404 right_roll=-0.0237 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.9487, 6.8718, 1.7802, -0.0952, -0.0464, -0.0073, 0.1983, -4.4103, 5.5179, 1.5458, 0.1538, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846d896373d6cdd167fde15f6e0cc2aa67ab1cc7e2422bba3f82b060933b285a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64586479df43f3535eefbcbf9e8d536b63d4fba91683dd07db6db97e8591e2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1608ed8727d78a28024bd91eb7aded8336cc3f986422622b5d6797d971ed66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.429 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8158, 0.5648, -0.3447, -0.1818, -0.1341, 0.9976, 0.5488, 1.599, 1.0271, -0.1421, 0.4175, 0.2604, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0007 left_z=0.1649 left_yaw=0.0928 left_pitch=-0.0215 left_roll=0.0018 left_gripper=0.9976 right_x=0.4118 right_y=0.172 right_z=0.1423 right_yaw=0.0347 right_pitch=-0.0756 right_roll=-0.0487 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.6889, 6.3521, 1.9902, -0.1832, -0.0659, -0.0366, -0.212, -7.0632, 10.3179, 1.9805, 0.2125, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5446, -0.3244, -0.1837, -0.1337, 0.9976, 0.5426, 1.6039, 1.0504, -0.1341, 0.3882, 0.2451, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1626 left_yaw=0.0941 left_pitch=-0.0112 left_roll=0.001 left_gripper=0.9976 right_x=0.4174 right_y=0.1778 right_z=0.15 right_yaw=0.0612 right_pitch=-0.0617 right_roll=-0.0317 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.9624, 6.2291, 1.8535, -0.0952, 0.0073, -0.0122, -0.5538, -7.3231, 9.6205, 2.0049, 0.188, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5354, -0.3187, -0.1837, -0.1337, 0.9976, 0.5438, 1.6249, 0.9596, 0.0017, 0.3882, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1596 left_yaw=0.0941 left_pitch=-0.0145 left_roll=0.0017 left_gripper=0.9976 right_x=0.4163 right_y=0.1777 right_z=0.1279 right_yaw=0.065 right_pitch=-0.0404 right_roll=-0.0237 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.9487, 6.8718, 1.7802, -0.0952, -0.0464, -0.0073, 0.1983, -4.4103, 5.5179, 1.5458, 0.1538, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846d896373d6cdd167fde15f6e0cc2aa67ab1cc7e2422bba3f82b060933b285a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64586479df43f3535eefbcbf9e8d536b63d4fba91683dd07db6db97e8591e2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1608ed8727d78a28024bd91eb7aded8336cc3f986422622b5d6797d971ed66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoTlaP3G9hYiqyjImUMQcxjf2TjG-RtfjSLJjRlBrOmLR6qAT2wJC4-8NW38DJfcORlJs7fRC0S30H-5--rzq5swREgV_v_VpFaESEjTT1hhjsBKAvadWftivrUSohz4Xn7DyuULAWxM4HU6w8Entb-xQlbpjTlpE_h4099ZCg_jgyR6NZ_P8jCvscXP3i_s1VVDaIdH0E4dUUFIu_TB81iKMYKIFRk45SD35igJnpB458xXeQ1kwQHY7-jjsyLLIBLjU2eRZqTZqq4EhkEL4xDEf5dia_WwQX9rYgKAqbihpZ0nrrEcdN6t0N0zpwa4PKegw6GzSZ01Ia9aBXtPoWA2UboQ5oBO7HxlbaprqYa5YYPQa9-mvMJ8SraZ69pP589xKf-cjuN5gR2HikARyaxtmUS9etk3q61gyM3ukLNunhoV5f4SeHSiOQZAbSBH9TwQ822rBR-16LmhAgOoPKPmJfmosVk14sdIBbwjg4LAvNe5L8DFEobKobpwct4S_D7Pve_3YgQNyTq7fZdLQVtNbNEEuh5--y1klHWP-pPr_rYDcgEXg5aqVsm4lsJSM9dQi-iTqQnPq0W8bs1i34B_CsL8GzRWgMG14YPuBvwRBlLl4oQlmd-XIR4ML-cZK0YqrNAgzGlwlwDMfXbNFuwUqix6RYRlC24ghXP4LTtIvtv2QGVIxgKV9WsnYRfn9TovnvaGfRIv6DFFloWRemPKDPMsJJI4kNDP_CAPETEaUOg7eKap7LRTEBd2wZDswBs6tUfuIsRq5ARb9W-xoJykjSGskcYUSKHbcNYuhk69P-hToHgLt-P9Th6bnwq168Y_wIASH5S2fbtTVeLgLb7-hFaagXKqmrMyk8cguGhYdJkiM2xREruIV1ThwJJ-Q5qNQn1ryEcB7SK_pLEcYskIzTOH9MENF3zDcRilSZbxFgKWfCABLjyyqR8EqNKyE9y03M0Y_62EtOPQIxpS5i2hds0yyzOUAuuoMVBqI6kD57qBiacagrSofsWKfSCWXHyifQuKG0U6ecocV3GyxvUmz94hfwgqwAowzM5p8h-Nc2FmxH7WaGs4Ccxo08VfiNnjdckpwamsuzybrxTj3XVupQQAMtfOkkloQBgU3JMon8hs-sORMXmTTRyc87LH8tu9T-erYyt_xXwqbEB2F9eyqXqpq2CfaeO43A5FN9cwk8kuU5tA34GdNtFK4yrFFjPT-8cr9k2JrrUdpzVUWSaTrRRsvgZL2S8y5C1-INno7t5HJ3SuEDNRTE7VgpY-P-TyCKyhJ0Cq1qYKW0yJDmRusz61UgrK9eDi95N1KwIRyczv5xQCEPvwYEcxXzaMnta_mtMRvwRC3IEC6jELv6Ed9qI34yj1m_b0St2z4MtbtpEjyEIzsesSy9mNe-HMN0MW7mCCqWiI383q6pl0bmDQPxpkydl3gFkdbbAzOyS_kwwszqDxloHsaKlOveSyQVLKfMU3QO46F1Xvm6bCde3iQ8LKUJ5ApE0YI_EyY8bpoMkULnhonLeuI_gGbuwFDgZF-epLVoU8ckIIOQsfAhzdAmD2sKoWvsIbCS4ZzOcLIZBSfBXEOiWJhm-ZPb2yOBM7HYEbnuH-Jn_Gs-Ub30CkldoKc4wr2Fpptdlg3-bU5SDcuGFi-nPB-nLHhiC9cWazVZFSdjb0vOWkSE8SkfA0PLPaIS169kpjJBF1EZnSD3hXUeIAx3q1Sh7-gKbLNMg0YgZUH30EWOOfY-1J28HR64ABBv5FNvG8bubCoUayiLLga8rjAtzkHwStEAiKbZC_kKFislmEkRZrEes_EygN9TtxhRmXl9_mkeTgpnGwVIYD991CeWgY7oZ808hXU35gU5frLlFTmlfsBq52XNvPiqNt250SAtH0FRfQzuwWGh4QdcguAYsrCFMqcokAfyAp3YMdYLTpakru63YHoOwFGTESIZCX0lozogtc-fGSVwOzTTooMDOG8BtfKETprl0ruSj-6drDEn6aAmGJryHqoMjwwVAjUIbVk6Uf8Uofik=",
  "id": "rs_08f0e1dca81bc556016ab44a108ef887d0a9ec1d4d2eb58337",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.25},\"note\":\"Lowering did not bring the cap appreciably closer to the fingertip row, confirming that an outward move is required. I’ll raise the right arm and extend from a less awkward joint posture, then descend once the cap is beneath the jaws.\"}",
  "call_id": "call_O1jGgnIfJ46BiUbrx8R5A0C1",
  "id": "fc_08f0e1dca81bc556016ab44a12551c87d097c1e7bd4dc2d0d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O1jGgnIfJ46BiUbrx8R5A0C1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.6489, 1.3914, -0.3733, 0.3347, 0.1959, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4517 right_y=0.183 right_z=0.2313 right_yaw=0.0865 right_pitch=-0.0246 right_roll=-0.0181 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.1265, 6.188, 1.8339, -0.1245, -0.0171, -0.0073, -1.1282, -7.3368, 9.6615, 1.9316, 0.0757, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec286d08a1b63444eebb854c7740440c60bc24a713b88ee544705696bc9a5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7b2d5823b5db874c6e9548be7214475a90e568335b26a2ac1485140e169aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ec374c0289df87521a2f4b9482010c7e53b7aabfa04f94edce65a64b4feed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.723 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8104, 0.5503, -0.3325, -0.1833, -0.1337, 0.9976, 0.5426, 1.6039, 1.05, -0.1349, 0.3882, 0.2455, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1623 left_yaw=0.0938 left_pitch=-0.0183 left_roll=0.0023 left_gripper=0.9976 right_x=0.4173 right_y=0.1777 right_z=0.1497 right_yaw=0.061 right_pitch=-0.0627 right_roll=-0.032 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.0444, 6.6256, 1.8681, -0.1099, -0.0317, -0.0171, -0.8137, -7.3231, 9.7709, 1.9463, 0.1929, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5354, -0.3187, -0.1837, -0.1337, 0.9976, 0.5438, 1.6249, 0.9596, 0.0017, 0.3882, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1596 left_yaw=0.0941 left_pitch=-0.0145 left_roll=0.0017 left_gripper=0.9976 right_x=0.4163 right_y=0.1777 right_z=0.1279 right_yaw=0.065 right_pitch=-0.0404 right_roll=-0.0237 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.9487, 6.8718, 1.7802, -0.0952, -0.0464, -0.0073, 0.1983, -4.4103, 5.5179, 1.5458, 0.1538, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.6489, 1.3914, -0.3733, 0.3347, 0.1959, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4517 right_y=0.183 right_z=0.2313 right_yaw=0.0865 right_pitch=-0.0246 right_roll=-0.0181 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.1265, 6.188, 1.8339, -0.1245, -0.0171, -0.0073, -1.1282, -7.3368, 9.6615, 1.9316, 0.0757, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec286d08a1b63444eebb854c7740440c60bc24a713b88ee544705696bc9a5b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7b2d5823b5db874c6e9548be7214475a90e568335b26a2ac1485140e169aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ec374c0289df87521a2f4b9482010c7e53b7aabfa04f94edce65a64b4feed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoWrti4dgPNwLLrRv6WNYQrJsDwpG6johAeCtHSwI9A-3HIxWQEqavBxJPZqLpX-dxT5sj01b0TmkyMOhA6uFlutD6WNyqq7WQGFzkg9T0G5LqIwC9Yf_Jof-3yfiLtFNzcwbsbAMbRw7tPlYWYwad6F5pPtjFT-FYJqbBwnBCP9lX-6mJFn6vcvALm-q9Q4n9JPv69MkrZznxqD1EOOZSBNR3fx7FOmj5kBfjPlsirCAGy2ssd7FytW5J_4I3coblvZ7AUZo_e2arSe2lNxsDjSzvkVzZQoArJlxHnELlNi3TQ3b0DQZ91DrSpL8z5u2dgXj2FsI9ROKMPYvcCDtbLZRaF_YVOKaPLt2n6tjA1BuHByTastd4M-vknZ6Ghd9RTH6iif5LPZdlPrpyFi4AiW7rNtUqDOfbc1cWXiwi7sCczr6mYFRS-5Ps_7IxF2XWZGrpo24lsOx7C1PC5TFwBvCmw78ogET8WqJxD2vBEZv30L-Bc8AuAJOOAIfdnRjvobvJRXvTgMBs_86TUb-mCbyTMlrLmT4wBUzDzd5ZjGsRYZcIoIHg-J4sY1cvoSgpQ-F7iSg46k8ksS2AFAzCxRO5fTSCcQggYDWYjlyRqfFKv0cz24gbrU8kUf0IP7rHQJUUNBneG7588nIupaWBlZMm1JbeAvIrX2qq-WZq6RXBjb5s45QVuUC2egvFAIA4c_U08k2VYqUTdB8PL95085-n6-ckoAfsKFTVs5G6F4xeqmH-nq1vO4JDYL1fRka2qVCnCW8u0-fgFoPFt9J4UOtsPMK5l6vmciiFHbxp6f6RwKJzVbvTZMFbd0-LIsv1OPdKPlXDhn_iy3rforHX2LJAvX4Z9gS2MSnTjvEuCXn4FyaWeIxruvs4_A-4kOhe0U_TZJpy-9pU4tHjiiF2JM8k2h7uNVKnaT4pWRO2bToZTRHb4mEmwXzZfAjPgyE8v0QCsBprWsoEkwDQI3zpL2e5SjAn0-D5v7dTICaPez3BKMIqWeKT-FTpMn5JY3_KTeoEFPvw7RB-ePIY6gUMAgrm3-xCwFJr9NBM2eOORqtneKNAS1zqW6WcHM_iladZNs9bQqETSUqb3WnY6P-tFCzD1qWurNrB3VwzpK5pEsFEt4nLDEM-87v_4z_YJwn8HjBgdJJqzNuT8MOCEmHE3lyijqP1-WvQMX4KlCBG5__ekbTMQGcMqrxewoN4bN6LFl95HrxXigEgso71fSXGhxJXR3MlUrSBhquX6IjheUY70vqXsG9sGMfRt05AA0YBrPMFKJ6_hTbqpnexXv0Afihomg4v08cPH1NfnhZ272VkzeVD5KJOTL6IEc_2rfcPQgs5dpRynuDu6gb_A9tfmj7XmaioyCniPl8vzhwVqvMytjZiOdy7tjbgLuZWw7vpaXALXTc0k9sealAbgv5QYF6pC8h-JOjyjtGeyhOsGw8k=",
  "id": "rs_08f0e1dca81bc556016ab44a15033887d0b4ed9f59b53c4cc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.18,\"right_z\":0.25},\"note\":\"Raising released the awkward posture and the arm extended successfully; the cap is now centered much closer to the fingertips. I’ll make one final 2–3 cm outward adjustment at this height.\"}",
  "call_id": "call_bUvrftnB35UBFNhbW2pl7MEU",
  "id": "fc_08f0e1dca81bc556016ab44a15c10887d08addb03953b3d29d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bUvrftnB35UBFNhbW2pl7MEU",
  "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]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4656, 1.7039, 1.467, -0.4339, 0.3035, 0.1703, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4638 right_y=0.178 right_z=0.2263 right_yaw=0.0939 right_pitch=-0.0689 right_roll=-0.0367 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.9487, 6.1197, 1.8291, -0.149, -0.0464, -0.0073, -0.6632, -8.5265, 10.4957, 1.9902, 0.0415, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594982a10d3844e4fd1cd3bc06f9b10d4bed5c589edc34c365c4ba4f08875694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91367e189a3d08bcecdc6055308c760421f3936c8174b52120ea80979b0502c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927359c9bddbf499de933089c0197d14354ed454de1f579e06a44468cb03093c",
      "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 20 attempt 0 · /responses · status 200 · 3.95 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5446, -0.3244, -0.1837, -0.1337, 0.9976, 0.5426, 1.6039, 1.0504, -0.1341, 0.3882, 0.2451, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1626 left_yaw=0.0941 left_pitch=-0.0112 left_roll=0.001 left_gripper=0.9976 right_x=0.4174 right_y=0.1778 right_z=0.15 right_yaw=0.0612 right_pitch=-0.0617 right_roll=-0.0317 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.9624, 6.2291, 1.8535, -0.0952, 0.0073, -0.0122, -0.5538, -7.3231, 9.6205, 2.0049, 0.188, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.6489, 1.3914, -0.3733, 0.3347, 0.1959, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4517 right_y=0.183 right_z=0.2313 right_yaw=0.0865 right_pitch=-0.0246 right_roll=-0.0181 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.1265, 6.188, 1.8339, -0.1245, -0.0171, -0.0073, -1.1282, -7.3368, 9.6615, 1.9316, 0.0757, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4656, 1.7039, 1.467, -0.4339, 0.3035, 0.1703, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4638 right_y=0.178 right_z=0.2263 right_yaw=0.0939 right_pitch=-0.0689 right_roll=-0.0367 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.9487, 6.1197, 1.8291, -0.149, -0.0464, -0.0073, -0.6632, -8.5265, 10.4957, 1.9902, 0.0415, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594982a10d3844e4fd1cd3bc06f9b10d4bed5c589edc34c365c4ba4f08875694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91367e189a3d08bcecdc6055308c760421f3936c8174b52120ea80979b0502c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927359c9bddbf499de933089c0197d14354ed454de1f579e06a44468cb03093c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoZoXizdjz7CrKUXe9V6fSYQPZ2yF5yw8j0zU0rg2xT9nBRWLXYFLpBGR8JuccXVk1q3TSzrM0I7zaVfTOZwOvtvx8FAFbjljv4Lp5-VZTvB4yjEG47ejXSV7uzgZMd87rirD_cYmDgcp_eQx2ENtKT40TPSW8ttqALzFc1e5Ktzcbo8x-TzRk9GTnA9j1k9smypwQyV_ew5fTi-Hkfo0dOrCiVB2GTGDBeF92cIejiY-caCGNWgMqalKcg0q-53pG8-H8gMSgbNX9FNr_fYMYm00D_f8jJID8rwEftHyjgfIENe-9DNHWfSNrhnNaAZaMKegAVOAnMFfixAeTtsCv3oO_zG_xLErcNxVoU9JW0agyAEA2MJNSzBpe9y90YxQaupo2H313bf4YoAR_pVj9ESedx6R8xtceQsUbtwvGkG7jdD_BcMraYKTMe800coQ3uCxStZnEFO200s8LZR5sRXqkztujznfuUQpSel0YURfmjV8J2WCkEuCCprSTVUCG6oNUzHaO6BN2xW3peyKMR-lBSKB42lJFSi7E8j_qAqFTqlP6I8SsziGJu5oAETT_pBE-yfy9IFdJ6QOQ4DY9Hk-J6z9aJoOZutVEdK0ba0d_YA9yV_ZHppQz7EvfqxAEn8zJ1v3eBWAeWZGuVQWy0UYYFsZ24eBICWynAZzoYsZAe4I0O_t2fjp87gsu5tkWKPfHH0icBnQbyJWZLza4CswilW9E45qUoZKh5B_2sFeyrL-oyDjxi4s6Zc-X83fO0e2uK1X0DRNFM7cLJ0w3AumI9xyYsiSfUC_nHxtISmmxmJy9RZvAxJQKpqpk2ZISEsY22lsNjXfE83Q6_pxzpZfLAkk5clOQtEZvke5POSLOoxPO71WXY0bV9f9kIk0R8bN62ehZhIJ1kwpDhEr_0Mp7Wxfc0OM2KvzWbivQv9WHU9VOINVm9KjrVuF07kb8Na5SYaWUOsIPeAUqy1VuDf2QePBpovJmQIuLxZdcGU2QWZKqA-yzjKjOZG8XpOPoS1S25f2De88p9m0zuTxwq_SKjPYC64grwPVXnQq_93UHR1pbswAx5rjLQNcOS9sEmwc13LcqM6e7maea7n2K-SAdhqqdJNf4fmLOIj_EnqDoltXF0ma_pQlKVVbth2wOTVfZTJ5WAlNfOoHSnQFUgn4Sz03wmtGNxTyNYmseEJXjAypUv23Lk59819B_eMJ4KkPqvKUXyoTE2h0T1srK3gjEHVc6FYAsnWsoNVw6c1B4d9SDiM8hrDYnzHMHHMA0yvrSrw_-uKe7WbQhpMpjYI8o1C7fsxfDP-B0Xpjbu-Z-ZToEefmC-uniQWGueMv6qMoIA3zW1XzXE1x64At5NltZ3sQFNHrrSgrPEU9PK24qZesnNxPGPw3m7XD1SqI5vPiOO_9Tp3Fo0tMsg8LdUi0Uc5JXzxaex-Jg3gZYMkIZKKHlPeHPbg3NSvWuAPHgP7rFl3ZWgWPS808t5YoOQ5A==",
  "id": "rs_08f0e1dca81bc556016ab44a17e0b087d0962c204c6fe8553b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.18,\"right_z\":0.14},\"note\":\"The target cap is now centered at the fingertip row. I’ll descend in a controlled first step while holding the horizontal position.\"}",
  "call_id": "call_QvQwq02vsW5WkpdC4x4wEwEp",
  "id": "fc_08f0e1dca81bc556016ab44a18893487d08c02df37e9954194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QvQwq02vsW5WkpdC4x4wEwEp",
  "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]: [-0.1181, 0.8055, 0.5308, -0.3111, -0.1833, -0.1341, 0.9976, 0.4576, 1.7237, 1.4834, -0.4335, 0.2832, 0.1589, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4687 right_y=0.1798 right_z=0.2235 right_yaw=0.1086 right_pitch=-0.0762 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7709, 6.3385, 1.8584, -0.1343, -0.0317, -0.0122, -0.7863, -9.1009, 10.6188, 1.9805, 0.1734, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8133046a8a82d11a5889acdccbfdeea1dd2e6a95406689ed737f9da9c92376d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda53903c9bc94f379097f7a1feda9cb50e13395af62699becc3b741a0840d13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ab175b6ca411b379c415190098ec850673582eef73e812bd1402bf8c2aa97c",
      "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 21 attempt 0 · /responses · status 200 · 4.505 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5354, -0.3187, -0.1837, -0.1337, 0.9976, 0.5438, 1.6249, 0.9596, 0.0017, 0.3882, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1596 left_yaw=0.0941 left_pitch=-0.0145 left_roll=0.0017 left_gripper=0.9976 right_x=0.4163 right_y=0.1777 right_z=0.1279 right_yaw=0.065 right_pitch=-0.0404 right_roll=-0.0237 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.9487, 6.8718, 1.7802, -0.0952, -0.0464, -0.0073, 0.1983, -4.4103, 5.5179, 1.5458, 0.1538, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4656, 1.7039, 1.467, -0.4339, 0.3035, 0.1703, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4638 right_y=0.178 right_z=0.2263 right_yaw=0.0939 right_pitch=-0.0689 right_roll=-0.0367 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.9487, 6.1197, 1.8291, -0.149, -0.0464, -0.0073, -0.6632, -8.5265, 10.4957, 1.9902, 0.0415, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5308, -0.3111, -0.1833, -0.1341, 0.9976, 0.4576, 1.7237, 1.4834, -0.4335, 0.2832, 0.1589, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4687 right_y=0.1798 right_z=0.2235 right_yaw=0.1086 right_pitch=-0.0762 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7709, 6.3385, 1.8584, -0.1343, -0.0317, -0.0122, -0.7863, -9.1009, 10.6188, 1.9805, 0.1734, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8133046a8a82d11a5889acdccbfdeea1dd2e6a95406689ed737f9da9c92376d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda53903c9bc94f379097f7a1feda9cb50e13395af62699becc3b741a0840d13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ab175b6ca411b379c415190098ec850673582eef73e812bd1402bf8c2aa97c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEod2UB7pLMyJd5GFZ1MAMTKlTAZvm05bcRCvYPVbXoUbs1XRAebTs_D_aVGp7ag3vq_IyBSBzHl6pcZVnQ3DmNU546znHYBIx6OUFG2hf0BJ86gy6Qau4EsLI3HRmF5uH4Uk5Sm-16k8XuDfs6z03EO0fEkCLjIAdKlKHc9BMiAsUTOKJG8xg5Fv9IbpWmtP4Unz6gskiCCRkXSjpLEyYZqQbVFxcRmeda65dZJC4BJXgvCwq7ZOvasoC32z9GD44ZaDj9kogbAAfyRVvP4IryIk5L2Htu21gningElype9MZay9VVos4Muzz9YB27Jpi_33QLSznXePGyux-A5arza4MyEAdgYyHPL06K8D-FX_7nK8wEWY7LHwSqCyKEjdPhCCuYRlELqNa2KzN0dNf6E2kV60-pXSonYf37UiW0sJ00RC230Pfgyb6-oaiNennUeCyYk9QCb3-aNp7FHbqL4KxOEH7_ym3UIVe9kLb4FJ_k2jpopsh1ty3hCfgPu12E8SdgtwQt3KE5iVk39WjrXi5jq3-hwvYRyLFVjpB8hZHB1P08bXDcn_pW67hk9-dEfPiF4N9ryVE63XRbQj3BijXtsrri_-mRQfNpJIQtbC8GYGItPMDuJrLlBA8dnD6noe0L5E9O6vKfCZw2xOgnMsDCB6tR0F5sZNIU0kg4tQknDgQt3ys1fzroF7x_9arHuGcS5fWKe69syiD-3HNgxPHpNNLW3sW47wqO4VEdJkB6wzxLvzYCkfmoaAln6PMQP3RKo_7xC6kqxx8n1aNF35J4qGoXglft4a0bf8p6dy0Z51RNobvKYz-ItWkBFFcxk13qnpb-jXzRvlLPP0DfsDz7TcuDxjiaZh49YTql4wkeMuXqklhvyHVjsFP5p2aMqpSOcqroBwERs9g_fLCkCeCVKC1zFSuvSQfvK9sLoadT60mNaB11DzaJwDY_vIpyuUO4FHbAX5G6EdHOg8Sjc600vRPMhd_QwqwC8gyWIpZTBWquQW9OJZSGRdv5DGd5ohnvM3n8608zL_2CqjcC24QYEjt4Wk2x_SiEohMXDdNWZWpdjoesZGl8FVRbegCu6SmUn-CkefEjAiQ7y0_pA7KtE2wcCa71SlUmwBCmD2jjzUod-RoakL9Ew8k7TwHGulQwAt60u8RDeH2ropXHOeMAicOoVBbwHEdHjzrwxrSBFUc_1OTC3Uo-xYaLdcoaM6hcpDlnCb1LEDDAvL0CsXH0lJYE1ceSwds1m1K9K3EvEXCOf0nFlvdrjNMEEv3WiK4kv2gLvel0BKwHglGA6HvR_6tO9X1IYrEVRLLuhvlztOwKktPA2nAFI8rOU6Jsm0njzRALFjHFQQ9sfsZ_gI1r6yMPMUUi-m_lrfSu2X-sJGhVMBV8hDRV5ld1JHDzbpOBoowl-lEcllWHkNxFWABvcbS8Tef2tUIOqD8YvpmSaQI4dMo4hxtkLaQDPLIGTqoBd_RZXf73d0QoaSwTtOqgb-3AAD-TEcaApov4im1Cbw043R7aOSgnHkxEq4UfbjASILBDggnlzXlFVo55NSGtxR-zqBA_SD_c0kFsbAUHIeQ4lxwEVR0r5ait3HEd7XoeeW4vCwLtG6ZNQ-OCFhcFxFyvT5QOTrUwQmiqJJ2UCw9lG9O9D3DGpaT6AyWSOdqoKbad_-ODenhMSgC2KGrWufIpU1LJ57LwOYnfg3sMi2p_J8fzEQXkschcOJpb4CH2MFguTQvyb0SUZX33V69Z3uyWWeYKzHdIP7wDm3KpMzaGsnVjRlvnnW9Y1Bjf-IWAyZoZY8PXJizWq91noMymsTo3O3X0AcdBXZ0MlbYAqgPCKE_iBFG478UPFIhBr-zNbh1C5XopTBQqYsASTRHDN3TMAbubYS6ubpto2kwSIgxs_Imy52Mngn6kgBonZWGP2lSJ4rnNnIDJvRZ9kpLsarLZrTTlAGSrl7Mn1KsegwXw3s5M3O_YvPgiKPp65",
  "id": "rs_08f0e1dca81bc556016ab44a1b7f9887d089456f9e68a266ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.14},\"note\":\"The straight descent from the nearly extended posture did not track. I’ll retract a few centimetres while lowering, which should move the arm away from the singular configuration while approximately preserving the cap’s image depth.\"}",
  "call_id": "call_ZAg2vzSwVLjWov4O7lPE48JH",
  "id": "fc_08f0e1dca81bc556016ab44a1cf3f887d080879a6c6519ecb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZAg2vzSwVLjWov4O7lPE48JH",
  "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]: [-0.1181, 0.8059, 0.5308, -0.3107, -0.1833, -0.1341, 0.9976, 0.4725, 1.6932, 1.3861, -0.3271, 0.2935, 0.1673, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4639 right_y=0.1837 right_z=0.2156 right_yaw=0.1113 right_pitch=-0.0368 right_roll=-0.0204 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 6.1197, 1.917, -0.0952, -0.0269, -0.0122, 1.265, -9.935, 7.2957, 2.1514, 0.1783, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a57da94141cfbbc696ae3915774ba93e33cfc7a801cb51132be132484b67f47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6959cb07b62afcb6222819937782ab5bbf7aa5d60a95eb41123cd52481041df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e97cfb94abbb61673cf6f4515aa129101fd8db01a15472dc56c74f6d2a9d49e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.244 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.6489, 1.3914, -0.3733, 0.3347, 0.1959, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4517 right_y=0.183 right_z=0.2313 right_yaw=0.0865 right_pitch=-0.0246 right_roll=-0.0181 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.1265, 6.188, 1.8339, -0.1245, -0.0171, -0.0073, -1.1282, -7.3368, 9.6615, 1.9316, 0.0757, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5308, -0.3111, -0.1833, -0.1341, 0.9976, 0.4576, 1.7237, 1.4834, -0.4335, 0.2832, 0.1589, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4687 right_y=0.1798 right_z=0.2235 right_yaw=0.1086 right_pitch=-0.0762 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7709, 6.3385, 1.8584, -0.1343, -0.0317, -0.0122, -0.7863, -9.1009, 10.6188, 1.9805, 0.1734, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8059, 0.5308, -0.3107, -0.1833, -0.1341, 0.9976, 0.4725, 1.6932, 1.3861, -0.3271, 0.2935, 0.1673, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4639 right_y=0.1837 right_z=0.2156 right_yaw=0.1113 right_pitch=-0.0368 right_roll=-0.0204 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 6.1197, 1.917, -0.0952, -0.0269, -0.0122, 1.265, -9.935, 7.2957, 2.1514, 0.1783, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a57da94141cfbbc696ae3915774ba93e33cfc7a801cb51132be132484b67f47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6959cb07b62afcb6222819937782ab5bbf7aa5d60a95eb41123cd52481041df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e97cfb94abbb61673cf6f4515aa129101fd8db01a15472dc56c74f6d2a9d49e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoiikBELNbXZ66srMzmdQVlK_g-z81Vym0901yznOOL_Z4-Wp09yS_okFHvXzKu3KhSKE_xQmk9eAZACu8Av7kRwoh36LgLiSA7csMESRf8mPy5AS0uw3nv2p96dPUbiP8JHRp_dANMaX1tjRIu0xKF3GQvc6CcOANUHITfc7uC34nrjUgs6H6HmkM7Be_PPq-I1Zm2uR6AkxzBlETjPKjB3J2O9W-yN10BoXgItKitRAI2umf8eKzQJUT8rRVgtn2c0bR_uku4zWpvGIz3h21NRX8zHdrX9jL1N5JcMOy9ovnkvLajjGko0c-lR3qgCHUaS4ShBbMSK_LUJC77a4XA7AdufVdg0hn4togrbbo1BfHytthojNJBVpiEtTbot8KwyCH5a2WmWBWj1YLRg4nPlYHVOm2XVfAmIvub_gMyDOc4vNNfcS6PYHfRGnx28XnD-_fgFfxYU9nqb-Pmk-_ye_K_W2EEHfbhZxwkpk9EFgqbFJHdJkY_bvyBlf3WbULGScDAq_Ix9-tB0ly80BZ0wFKwyqmiagA7zjCW13VBOlBRJ204RgVPIn2uKBIx_6zmZ_DX3_dlTa5BSc_D9UsLFxvEiaffxVZMV_mULWjSXtg--PjDb6dbdd-5_5SQ6DosWO_gDeigIx-wQ9LWU77aT1yjQMevVl7FNjPgTMDOfmGzfO7Q6k5c05gGkiS96pVFZDvqwhJxgtce1Ozjhojklai99MuyCC1yP74Vc2wsTL0RjveOEW0BN6TasAfNUdoXNBiXoXatyf5jpoXhkHd3knz1NhUOnHbhrO6oUDR1F7TdATf5xo-Kwaa0tPe3SkNRmhWRBwP2qHuoPHjUOWXXUIxkkw0E4p_HxdpFNq1J6lELX47VymqXDVNEGL492WmN3RnCbvTdLoFtnGwXpKNOdz6BbTQeLpUk4WeN3CZLilMIhymB-pkyh3v1IG7kLcJ7fyMHVN7nLApSk-Xlyznv3LgcyNqPFez0Kgje1HRJjBQA3Wn_q5arXnz_Ffel0x0M-Y9148KAij6QkJYszuNJ8mJI9_pTzGolzblhDWhLD53G0hRneELEiMn9HitLpO7VR7veLOEwD7E7u_F66yFW4MLbvyquRhJ4YQM2KOrdTBNo-F2qTUVP5jsvszPb7nJiwzbxphEz9nQ47VfJP__tTLpALWbZOmr_syrfZv4W-oV6zEPzxF-hQk6lAHCJLzUhJ51T1Sr8gimKGeAvHI-Pkj8rdl3TZa8rcigJpTEh7PXM2NEe0Q3AyRFm9SaKSPlNaDNS7P6fdQBKPquTff8AjNuYBLjoWDuLR-ApwYSFrvxEAYyabqF_hpsFc-tyjn-WW91jzp_J6MLB1bU8UX3rVv8_m2AqGW37AOn-gvaEWfbvYIZwvNlRtXD26rEJAqGzdCHTRh8waTK0bZHq7w4JyxUaHiNlTAhPsT0HgmCjNEf_22Ak0a_jREW_4EvUG29xCkip9IC_db6ZWD6lyzsAXjXzM2tVkaUbMS1sDVDBIbVY8J3ZtsboqeqClxhWPgedydvzevDtoxPgPNLFt-u2vHqGcPsbMG_RF5yQJC721wuwlgmcl4suoZYnAbtGlk3ZKqqUVAaeBibnbaWEOkLNP6f0Npg4tmHslLKZgNRFozsQLKMvySvhBzJtQSuh-hFF7pWfqWmHHfBJuG0L9LVsOkDxPaaSR6X1HdsTWlpRQcrFGZO-zKv7EkNpohGULH2fBjnTP2f3LdW82UI1U9xuWRgznVlmCfZTWPT7miTxgC0mFEmXjXqcPsDSerpQjIsOcr7xne7Ikx-gUGiiopSwO3aNkmmJUxtoAThcBrHefLdgFh8csgrDu00BWfh4RDm6vcnl7LbvS6Sb5eThU8ocV6ELlOEcjS6900ZvDVxOVs0cmlWX8SJmgpuv0ntu-jskzz1qmNMV5Gv-G8KIhoZntIxEIInSF4NghjY6PS1Ls8f1PEpKR7_hGwJQoxYRtWuqN1CX1EzDetzrALUSSG6QzusFKZvyKxYCyhfYq1luaxg-M7NW84rkTtGcKylGEZVVFoUnnxstyxfhjTtTjHppGR-edeTJpZJyqUJ0MC5GeawGItlQEJslCu2_rjjAp-825gIqu0Pb5-Fq8HTUTR6ek2L4yYaG6lbvGed_hPtZzP1yYVR8_6kQ2jBq580701hKPSewzgnPwT8GMAKQufAXLCUXy5cy3gtsoWbVcBfFnHAm89ZFR-_d3ROVqrZzt4GGeUhvauNNpH1K7D3BTMHqtpqraBhFlCPhnuzv9m0NlXLFGFlHXCAlp0HSuauDBJrKLK_fRYnAiG6eQJ7KG9nYDOaOWwf1W3U2y0vzrOnlqLafbY6n8eSGUrbIuzFqVTd66ofn89z0tGfqtun0QhAhcwX8CF7YSsKTndwPAvXGUAc3I8awz4uVhj5IbAITBdSGcYVVB68SLLTvtqUrqWgGutsCgm0q0u-vtPimamu71OG-4reL-Ad7Z9WjvqbL3OqSk6P4lhGsjuihld69AiA66LdL6RL3zKv-R1zBi6dc6wY40b62tWZATw-SEOAViqWmD_Y0hwWPnteLcXFIaWzaaTiRqzMKxjg_DdnrQ2h9ZHn8ZgMgqzwnGZ3OI_ZpyiWaWHxSxJExshUG1S6sH5XKjhkSttbiiqos1JLQs0B5Qd4=",
  "id": "rs_08f0e1dca81bc556016ab44a1f7f1087d0a6fc6868eb479014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.1},\"note\":\"The extended arm is still resisting vertical motion. I’ll retract to a compact pose and descend there, then approach the cap horizontally at low height with the jaws fully open around the bottle.\"}",
  "call_id": "call_ScSr4G0byW2d9eHHV1jMtrar",
  "id": "fc_08f0e1dca81bc556016ab44a22310c87d0a99335771517a0a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ScSr4G0byW2d9eHHV1jMtrar",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.804, 0.5297, -0.3099, -0.1837, -0.1337, 0.9976, 0.585, 1.5776, 0.7502, 0.123, 0.3634, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0101 left_roll=0.0007 left_gripper=0.9976 right_x=0.3754 right_y=0.1777 right_z=0.0841 right_yaw=0.134 right_pitch=-0.084 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.4068, 1.9463, -0.1441, -0.0317, -0.0122, 0.5265, -8.6085, 6.5162, 1.9658, 0.2222, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b6e7e71bfe205d0753e3e98ac7d8f11ba983ab3c4a2099ea257482f8a0d776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1087b86a29e65264ea7c8fef0cf249120f94abcec6b6ffa525533ff694f34b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce227521305c920935c6f077b30c93eeaca48d98a49f46c5aee5a69e1b262374",
      "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 · 7.255 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5312, -0.3115, -0.1837, -0.1337, 0.9976, 0.4656, 1.7039, 1.467, -0.4339, 0.3035, 0.1703, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0116 left_roll=0.0011 left_gripper=0.9976 right_x=0.4638 right_y=0.178 right_z=0.2263 right_yaw=0.0939 right_pitch=-0.0689 right_roll=-0.0367 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.9487, 6.1197, 1.8291, -0.149, -0.0464, -0.0073, -0.6632, -8.5265, 10.4957, 1.9902, 0.0415, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8059, 0.5308, -0.3107, -0.1833, -0.1341, 0.9976, 0.4725, 1.6932, 1.3861, -0.3271, 0.2935, 0.1673, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4639 right_y=0.1837 right_z=0.2156 right_yaw=0.1113 right_pitch=-0.0368 right_roll=-0.0204 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 6.1197, 1.917, -0.0952, -0.0269, -0.0122, 1.265, -9.935, 7.2957, 2.1514, 0.1783, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.804, 0.5297, -0.3099, -0.1837, -0.1337, 0.9976, 0.585, 1.5776, 0.7502, 0.123, 0.3634, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0101 left_roll=0.0007 left_gripper=0.9976 right_x=0.3754 right_y=0.1777 right_z=0.0841 right_yaw=0.134 right_pitch=-0.084 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.4068, 1.9463, -0.1441, -0.0317, -0.0122, 0.5265, -8.6085, 6.5162, 1.9658, 0.2222, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b6e7e71bfe205d0753e3e98ac7d8f11ba983ab3c4a2099ea257482f8a0d776",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1087b86a29e65264ea7c8fef0cf249120f94abcec6b6ffa525533ff694f34b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce227521305c920935c6f077b30c93eeaca48d98a49f46c5aee5a69e1b262374",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEooKTDqp524HapHBofHHYcUsVk5dKl4lw8hEy0ZoDGYq5LmV1tLTIuAXVBa7NE8l1JiTYSFCyqAs7e5T6KKMg7vc3nUhwkW0hbQeeqDhVVVmwSwh1XhE9zKGKb2NksEHASnik6FIrbCbqtbE_Ed2TLFn0fcj_VbNtcmvC5IKcQ6eb9ieooXm26svEHVw7pEKLe2LuLjWfn3U_jYTTFochHIopDuUwdYKqRbe4jVfEza66ZbDwWZZRG-txpC-_dySZsAdn0j5PCGtctV9giuwme4u8Yg_ygN9VjJMHMs8i4LEuFt8UJwYk4vp57zEUsT7bqEooKCpL4UncqluQtn04JbTjyKR-O8ZU5mcz06sLBuzK21dFcuRt3GMi1uzAhalmUpGcccz3x0LsssSSaRV2qf90jl2c_vNpQvj-7eHCS9r1K2iUbzOneA3q_OAEAL-OwJLpcQzk6ftk2-vMRh8597WuSlbaE1dml3iq1p9IdGNdfSU0u_CmiqGejgFU3yW04BHZi1NVnYELFkZyP6NUhhi-8jFFdyhZ3wdzZSXRWSyiuqU2oIHB147GhxFh0CHZA-HHk3MmVaI5we5Yc4pPpZCpUF8_fnWpwLKC_MHLrV4MWal26xMZnYOWWNRD9NKYFBAmVII47Qxr3dx7OiMy1bReR7x5qbU6yA5SWKixIC7IfLNMbJSdUNQ6_xjyVT_s8EUsl5NWs9ADe0ZyLvq3LgO7Vt53uscc1qX0ArIvzLCe8P-egx499mXWgNzXJAEEQAnj1CIBPg4XBRBP0xWw9ONRN0j-0qOuXc1P7bGOZslHtJTU1PeUJIMI5kCsINDp3dK4YjswMeaih3Kpq2MewzdNb6zWu4Fc6P3VFONo2FsqEjnnE35luAZR-h_ceGHPSoU5Y8sJlU9tyF140oImzTkP7ZzSiWcQK2bNX276A_ktNpxPRBASalCJWkQvHyW5eYe4sAPEvJ8DTzXJ6bnSvGGmuMx2UmANDWzBkWoQoVJAIR1t4MboRKgCkF1TFVG3xwb6d0O6nfl_EL7XsKZVnEPrLNPxkyP9Ptb2FxXSfaMw3yS1TY0cLGbZUInV9bWG-JkFRYm80B6XDArNS_NqzyHEFbEGjQSl_ytt56h-hm3jpmdaP10mege26zQCS7UXduLLz52xqKM-VeuSxB3G5FCWObDgciboGpUzanJbs6KgsXBvkqNgLGO6FfHsQWang64LjJa2Ne4tDT8Vu3gC2DOQd7PsGq3mhEZpEYpFsMCMeVLylvBjIyArerB8VerxNiJe5s2HTLowNmEcAb4xT1fKYKHlL3R2-UkjZzlEFWhqFLT_tUZh0_BNiBDXAGyGdstlyGH4mzsY8vmqHk6X0G2fzT4YqF57PmHWM6rwrFLhOtLJc6rI6v-BFQsZln_nhXq7vl52P10oqfFnT5fgG5jSm1SjLHsWlIQoXH5wHv8Yvmf0YOT2mW_RW27EUqOUfVIT13iw6lKjRQFKtpCfZCtFxUtXBBtAHJ1-S8rtTdcmov4H_h7XfOlwBedR9kpKspSkI7m0NRYwpzS1EHOJTa5bslQVMu97FQHlvLwOnsp6AuxCNynyh6jqtUL-R6CthaTvUGvc5-qL9ApfzmHQ4lMMRPR9TrCsCOmbmjkNmKdEpWu_CfXHJQInfrptVBLfFqa6dFC7okdqUWhmayBSUnzbtAhMfxMmO_rc_B-b4r4EyDOLkO961oVDme_g8-0MTOzznlIRpFv2Yx1KlNBGQywT5uQf0zGq23i79AwpudFsn7JW1XJkupLpdFvAwjr91uaSEUEJh1WIs90qPQ6xzeq0CK9Q5L9jPUqaSl6QZfCnbcJ7I0Xoj4CrEAVN735Gkw8ssCXqdorpaI-t7AQF-dArJgInlufof87jDorSsTqypZujY4-EnkkJCZPUCF1hab",
  "id": "rs_08f0e1dca81bc556016ab44a26333c87d099a96b7f59a49df4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The right arm is now low and compact; the open jaws visibly straddle the bottle body, with the cap farther ahead on the centerline. I’ll slide forward along the bottle axis so the fingers reach the cap without squeezing the body.\"}",
  "call_id": "call_UIsqsOqWwesNPRMBEiCManbt",
  "id": "fc_08f0e1dca81bc556016ab44a2787c087d0bd786a33f1be5d7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UIsqsOqWwesNPRMBEiCManbt",
  "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]: [-0.1181, 0.8017, 0.5297, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.7702, 0.8276, 0.2584, 0.2886, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.4183 right_y=0.1737 right_z=0.0566 right_yaw=0.1373 right_pitch=-0.0847 right_roll=-0.0331 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.6889, 6.4342, 1.8632, -0.149, -0.0464, -0.0122, -0.9641, -7.8701, 8.1299, 2.0684, 0.3004, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908ef4539b7249eb529b8c0558f6fb71302aff58a1211daad960cedfa2ace83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abce0d08c01c158921898f00b5c5f20c6a9ff1a1f306ae4d4dbdf80922fcae76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd6642c401b75e156e98456795607a71f7a5ff9c725a30deefcf641787b7e6a",
      "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 24 attempt 0 · /responses · status 200 · 6.646 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8055, 0.5308, -0.3111, -0.1833, -0.1341, 0.9976, 0.4576, 1.7237, 1.4834, -0.4335, 0.2832, 0.1589, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4687 right_y=0.1798 right_z=0.2235 right_yaw=0.1086 right_pitch=-0.0762 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7709, 6.3385, 1.8584, -0.1343, -0.0317, -0.0122, -0.7863, -9.1009, 10.6188, 1.9805, 0.1734, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.804, 0.5297, -0.3099, -0.1837, -0.1337, 0.9976, 0.585, 1.5776, 0.7502, 0.123, 0.3634, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0101 left_roll=0.0007 left_gripper=0.9976 right_x=0.3754 right_y=0.1777 right_z=0.0841 right_yaw=0.134 right_pitch=-0.084 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.4068, 1.9463, -0.1441, -0.0317, -0.0122, 0.5265, -8.6085, 6.5162, 1.9658, 0.2222, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.5297, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.7702, 0.8276, 0.2584, 0.2886, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.4183 right_y=0.1737 right_z=0.0566 right_yaw=0.1373 right_pitch=-0.0847 right_roll=-0.0331 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.6889, 6.4342, 1.8632, -0.149, -0.0464, -0.0122, -0.9641, -7.8701, 8.1299, 2.0684, 0.3004, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2908ef4539b7249eb529b8c0558f6fb71302aff58a1211daad960cedfa2ace83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abce0d08c01c158921898f00b5c5f20c6a9ff1a1f306ae4d4dbdf80922fcae76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd6642c401b75e156e98456795607a71f7a5ff9c725a30deefcf641787b7e6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEowiyQc53K2i5sLmacg1nbzgWrigjOplbJjHGuIq8kfrwx-AYwjXEaQey8vKXNHPVI6cbxaP4nBX6zZ3j3QrH7Hx-SHit5-1i9mofJiipK9pHsA-lUaIVYieNLxhcjt57OOghpLOYqHe-CVKJzVdi1jrZ3esATTITK_t8hsVK74g0yhFHofrQi5R9r4SH9AMb_hRrU25XAeN1trUUoRmu41mPsu3bWauyavlGhurMhJYxT3q4n7ZuXpuSqgdrxS45_AgmJMVPF-jfnygbjwY-R0IH-Se7nihzji9He-pC1Xe2rhkLdt3iNfNmMDn5a36z4egFSPmw7MYYm2a9-F89I_lyhvrbJIOlq_ifeJS0h9RCKF-OKIf6Noaqe0_jbo7V6fWvw3R4SR_c1hYCDuDj1nK2V9KwekxuLumcOUIvPyTv0nZd1SiSrJqpcEBkmHjOrFahrdLNczl8rhjhjPKvXBr0lbtq8-B_NnlksR9GDuK8rvwaCw28dlWMeASTCO9VH6NrloxDoAEAnU201gT1axQWSIMLSwfsRKTR4gt6ep8FqYIgfx0-ithVIcoXBjs7EaF236Z6y1vKMM8CkuOKCA68G5_ztb4eEp6-80mpz9D4jgdESa7BeMgr8Of2WuI9fBOfsqNQ5NesNcfAsCIy2I-BocTp6bvn-kgL8xi2qcv4HQ8E4dHNdTsSzUAxP0L6FRthb2WmFcumNkuOMyANIlpzA4lQjlgzrm8AfHcyyK-KsVH7aGiLLeGixK7PFzF4A9lbpxDXkQoORQtkiZ9q6aps9qkHNknBsgiNw4th09M3UHKnBnTlrozv8Y3Q9fkhR3Rz1PMo1LO3CUJK6rXSFVPxsbhRJwoNk87yF_Wc6Gq3lu1L871fQ_3PM9DLOQRQ48Gr1wlf_wDqNhSrPbayD1LYUdKuC8_ZZC8vKge3_RubtB1Vh8fOLQ07t4HKKUEl986nIY4yX417jZCJBA_c6Egn8bAn1xIoMJfwi3YJUpTYUervtXjRCZ1xOIUCuE9eQhYB-3GGH23n08sgRgrHCgtp34HJDM0zaEYo9QPaRGIvyZ2552YTVH89T0R-EYhEl4xhuhe7Fp3UlW3p-LoGhnaoZ28OiY5vO_WzfQvh1d5LKIC2KKRoHn9R2go6MuyHxpCzL_3nIexCDiWAule1vurzRVVDym1Kb9XSTchyZtbdaoV7kZkyOhlrTkuprV6OqLNtO5ztVarUjFLkvVJ0kqKSXJZq7FtMMHaKNW8ROCEBds1DM-XnqhBRMYhQhzTbAbCLZyrHAPRXsZhGtoXDiawcCZgLM8EiZYWr6BCMRpGzLtI17QluioM1wFBgwQkEYAnVFeSQOjUB0Hr9v829pfAQtcg16LRkYCffaAU7yHmQLTQ-XCdwcCwmLoW-vSLnmgW9aafa3QFs-IZAj731b0kkNdalgo-uGWRNBPHECfyQqhSvRQfksZ3LfLfUsBuq1mBbaS2hmWAJG1ErM-cGNqJ5nk4jU9Qjdj9fBH1deMJcAjjhjepDWc-YcNho8vwHEyJxdfO8DzdEoGPMCu_TgsTgWDk-2YipqhkQCESbA3UihN958V9he9M6Nnqd4M_cKyoIksQXeI5jvuZdTgi1gi5cI9_3dhlXFw6oOaYQPh0P8XzCOypVCx35botHS2-Xrtt_QCFUDMrnpqFvbr0NGHFY3abMtr6cjzrhqvsbHN_wlMzmoNCUC5_Mhu2s1395dXZxZIEFtfN_7uscqxnn4BD9nl16gcYqstfDg7D9UjCbk_meVL1BVVyE89gr5zXt9QSxuEbgbbdwphPYkyo-Ongv3V3ar6mUoVU-6AxzwYPNe295NBp0ODcuG1Lw2dBMJ7LVa_AO3BDgG0QeGOyIfUQXidXHN_Ugy965oezyPt8x6g4foaz3HAzkL4a6WPOyiZXCLdA3A6MANbz1X8EliwOTMecGQUVVf0zJXZ9_hh1-oy9XXfBGguhf3D6OgECO6xuMGGKw-i9OSoWroavQYrg3kfahmCSRIaBPFs6AoNx4erElc5wByCcl591hy-PdKjW-xYs_d2GOYFQk1j8VYbWS8VIas8f7K9wMgQMKWGRnVSZ5D1Ri9ybE-iQVXMtkI0ElfK9aAVQyNdrhkESOIbK8Jj0Boshe_Ko9pybSlZrAs1kTYQ5o6jDqv4zLucZCaKZEClRu1zHIbB8A3mw18Ie98g48jFZI9fsHq-FnWGPhTn3CIr9b1ZOipBkU6_Q20BzKMPrlSSJ2fSromXufnYq5w9qSK8aHNBShNRhzF9NEKYMdHFWLmOsJkdFkRrMCss3-5ss9vkd5x5ZYSiTBLfjK8bqjwz40OorI-TgEN-XFO-KxtGyrwsR4oF_svFvi6H-HiQ6Kn9IRjbTZ9YCHV8zs-BMcx3M_kac9ZgGGJtem-7OLlFNlN147rzCqNfd-sC43aPPUkYk7gRnCHI_z1aYCgRAp-wDF8GHefZYy7tXlEcrUY8PeyuKTgEptKo7Wmq0z93IiP4EnMEjV0JFrORxGr4Hl5d_19eNv8VFqgPpWwMRQEE4bhsEsO8OtHMr9jJXmGgqTfgKpueXYRaf3Cd_AubNZ7RnDOSCePOZnURNnnlNkZdHv5lHnt-d-2fJxrLu-iQ6HLW3xcEJneTMbXQi8tdlPbtWmWE-N8k-t_obL3DPLu-6QqnO0PFubSMEtsCw4ikhvHSYx-p9gThIxdjQQQwH9gAIKypTgZQAGrMuVcWKO5sYs_lBBhprYwiKgXoSMf6hevuDzCULzvA6-TLm8qnYb4MMP11XjfeK688iJLcQYDGRyGd-ddsKp_eX8UvrXdHEKaAotsHPTkn7WinSXkVlsoFMXffJcDBkePuLGZrFyc02X6pzrOtQjzDfgE4-rDZPIA302YHt1wO4bIoseFzOKMmWeHGmG88btW_lcpzPhQ7QBnkMxvdw_5YTJvFpRUfqqDwtO5ENw6dRVy2zCPHihF0wPmZpZS6P-LlC4Ogt4J2ghYKKFtzaKe1sXdoL9HKh8JGBvmxwO0Kr8cVirg1rK4pLnl3ppEPzXI63IVBi1TMBMpzH7t4UaqL4v8wxZoCDfnqjSSjahL-Usd-EFm183Ky3iq_1ntELW7AnOY64Y1vfcwK7NHhgWj00Jk4vE3DTbBapueu4G5rH1n54a3DsuZIFkpENdr6GiMG4lNRrER-CsS7t85zYWXb46W1qHrEIEBBJ-Jw6wb2tp5LfckQ2SFMBRaAHjiWHA2tP_ay0PcMqOzzLVO89rP6UWV3o7dcvgX0oIxqPo8_JrNuQydoEhjv_F-3b4VjYaA2Ewy8tfg0msG8ds6esqke6RXC64iDJXpyqCokKnobCRkoGSzlcE93QckVPFNJr3s_Z-ih_EwuAA1u1LksG9zp1iyVGpyzjcAs4pkzOOQZuKd-DL6xQ6IzVIdqOq2c_SM_TjT-h6BNfaBE_8ZM0yXHjOuo1VwPytYWJHyrp3mrGsqBdD757WeJKmlBh31SueRt0DKBwwalPgeMn6Ex868z55CL-SN-n83i1GG11ntoopGQU0SJiJPjUmU27dxDwEgYdpCSd2yTy71lGPnvr46-BqezvLz2cEzUD_HPbhF6elt5TK2zyP7JmXAaxnxxRJea0U14V-Xxf6VakXsj_y04V3ZPUE9ISJm-faHjuDw5XcAEumNx8GwzJOeDeyFjbbnRV_blNRxa78-8h97VlWI37M4elzFtAtm7extVs6Hpcin6mRw_PsQgs5tShcmEQN5sNzpaGbf3Q_cAcpgUMpU1CanyuruFwVmCCi5d6V1_czx8agYC3dbBK8gxf-4i5RhJ7fJ9sZf8kAkrSz3cSed-T2MrGaDmjFInymkbkhcOSIv9q95DMRbpwiqw6mbnw5cx7VK-ClKoWUx8vmZ3CaHvvpluWgqIybj0isjzciuGntnhVoo71EoxodR6Q1apk1IsqEbJ3gG18IeJ5IfmEnT5-4p3I4tW1LdLPh9DJjvvF9AtygQ1SEBT2PtaVQ49dByxx2U7AaKCrASlrAJvgDevd9Sy",
  "id": "rs_08f0e1dca81bc556016ab44a2a605887d084cd0da1d542580c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEowp7QSAcfCn4mc8n_5lwxb5epwLQgkBRLvq_2bjGtENw-6A9pCmVwtcKvb25hRqcis0bfMVL4XS5exzNC99KzYTcfcq-KHLSu8S8JSQt5CJn6XFr7sr_Hca9F7yYr29Ra1xtqlKdfkzLycPkBiPL9c6iO66RWo3WHKfXdn4-JHkKye0z6WDvE3Yh9AycEIVmKI9vHqliq0mSxmdKw8ON7Vq4pAYA-HeTEsKDdwNYHNi66PjH_zcDNBWKJJ5gfSqvqVbtLalp4XwHlcOrtwezjan-U4aE6-xsyjo7_bSWWS6s4M5wfVqOw3DkkLAmdu-GJvCputedk93vHmQGfN5MF0euGNaEEyM8Q6LQU2R20fZX1PzcrUYdAXAXYhdQFmUT1VWgUnNTs3FO88nmvVbadCQd1eYyOaTyDzH2DirFkEt6G5BR6upXGodO9_qRzDOepsegJwjdo5GbEyUnCVrwcOLTQJ-lGt1qfGjIq3Bvs6Wes8QxVA95BQen95SaA-rqI54b3ZbwfQvWtKI35Fk1s1EVqUfoE6DjPkeuAfW-heni4jfav7tqegSDC2LABevQN9LfnlCfrptK55xrGaufwUwNjGvEScFzqu6E4T9XtUd_MfMbZdD5GvSw5SOvwRCf5BB8wVagZc1S-SOTAhpVCNQqs2_MZKciKqiZULh80BLJfGahbab9GD2x03X9OjjChkVQVPptusN5mRt1iimv0QX-lz9qS8ctREiJHmbQmQIiBEhC3Ci-D_CG5hc4xqCa9dhszAVmD6fk3VERF-uy_X6oZoIhkb8O-WA18SKiNOFDAJaZ-d_DU25HENz-0rtRNbHAikBi3bBpiHDefXzgOxXYj28RqyLgW3HPI-eFV7JLGe2MPBiUx64Li51MymPqVjg81QLfx_iiRfMIiqMttYWtiRkwFFCNDdVlHVEXrauR0XbHDMjN3rh9MTcVTomYPgngVqsye5nGdfXoQ29Bh4HjZPqnu5ZGxpRQh_YMLYzS447zH8-PSIDZ9D0bTQyuPD3iqKs3-mcp8j2dsS7QY-zzTFmNxN1m4bo_qMsIOMTnuQ4JwzSF-uboRpvRdj0vGxBO0_9yufwq6VjHM48Yp0grcbNvmmYx6O7lTcXOA-obpMS9txnTDGOU-cxFeUzeaewHEwOrF942Pr7JpFpNMqz6RyITxuFXzhH3UMPMj18Lcjg5TNNHCgOh01nfy49EfumlmR4bdLQJY_1STU-AKyt9QrDyvZZ36mOped4eBxwPGnKA-zeeGCv-qkbI3B2IWY",
  "id": "rs_08f0e1dca81bc556016ab44a2f80d487d09a52098b08b51f75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.1,\"right_z\":0.08},\"note\":\"The bottle stayed ahead of the camera during the low forward slide, indicating the gripper body was nudging it rather than passing cleanly around it. I’ll move laterally to the bottle’s outer side at low height, extend beyond the cap, then approach the cap sideways.\"}",
  "call_id": "call_0CuptX9RXeRt7TfPu8Wmw122",
  "id": "fc_08f0e1dca81bc556016ab44a2fb4fc87d0bd4732ee8acd50bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0CuptX9RXeRt7TfPu8Wmw122",
  "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]: [-0.1181, 0.8021, 0.5297, -0.3111, -0.1837, -0.1337, 0.9976, 0.2985, 1.5768, 0.6041, 0.366, 0.1364, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.3984 right_y=0.1012 right_z=0.0677 right_yaw=0.1224 right_pitch=-0.0341 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.917, -0.1245, -0.0513, -0.0122, -0.253, -7.7607, 5.8735, 1.956, 0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fae41eba8488e61a00e91b3b968be40a0f0a0dbe29a04c1cfc43c09c4e2b19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea7a288a512b1ffe1430079b1f4ef2c36b20ef7941ac528c3fe36522b86f274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81346b2f0177d64f0688b2d531ab59b27d8f96a6603bed59cbd3d609c9bfc826",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.582 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8059, 0.5308, -0.3107, -0.1833, -0.1341, 0.9976, 0.4725, 1.6932, 1.3861, -0.3271, 0.2935, 0.1673, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1591 left_yaw=0.094 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9976 right_x=0.4639 right_y=0.1837 right_z=0.2156 right_yaw=0.1113 right_pitch=-0.0368 right_roll=-0.0204 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6068, 6.1197, 1.917, -0.0952, -0.0269, -0.0122, 1.265, -9.935, 7.2957, 2.1514, 0.1783, 0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.5297, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.7702, 0.8276, 0.2584, 0.2886, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.4183 right_y=0.1737 right_z=0.0566 right_yaw=0.1373 right_pitch=-0.0847 right_roll=-0.0331 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.6889, 6.4342, 1.8632, -0.149, -0.0464, -0.0122, -0.9641, -7.8701, 8.1299, 2.0684, 0.3004, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8021, 0.5297, -0.3111, -0.1837, -0.1337, 0.9976, 0.2985, 1.5768, 0.6041, 0.366, 0.1364, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.3984 right_y=0.1012 right_z=0.0677 right_yaw=0.1224 right_pitch=-0.0341 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.917, -0.1245, -0.0513, -0.0122, -0.253, -7.7607, 5.8735, 1.956, 0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fae41eba8488e61a00e91b3b968be40a0f0a0dbe29a04c1cfc43c09c4e2b19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea7a288a512b1ffe1430079b1f4ef2c36b20ef7941ac528c3fe36522b86f274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81346b2f0177d64f0688b2d531ab59b27d8f96a6603bed59cbd3d609c9bfc826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEo34abP0NBKv98EBFRRI7Rta5ino5M77_yeyLuFQB8sT1b80XTfk3rvz_9LyQvU45TW1KgRz1rlVwkPQlPW6eCBarZr1_RH50id3BIM5CLJPqYq0Nr4kEdxqWSlGIUHbOwb5uwmj3sRcFFtqXBwAgXLHXt3yiW7_Ckj06RZbNVRXsLo-JZsdf-QQb-zU2vg4zFzSDPoa_f-5mf5CV58S5I_vNbfTr8xVgCMzaHpxOMD1K2th-cmsNPDHFRiJllTaMHkwS8Rt10SHvDThPZABo20rH4ZUQ8Ac40VGHrUwCmH0mbYhbuYxfU4GuyqP51Zv2k7iFT5QzmW_4tu7WuTgxgwZZkX7o768Ipta5EGcC2i95TVjd_U0WCSITBm8jlbOCw32YOFErrMnqRW0Q7BlWCX0NZ36qnsOomczup9Ap3gbTKZV_m7nOWgZCa6_Ptie1et-jsZRHrIlf-rcFJKpOK194it4GNLfuSQlYa2G_wJ_6Ra2fdHQiPq1kSxUA6auyDjBaufdv718oeaTOER0v289GI3mnaNS7wEvWkfkXZ3pZpPxx64rCK8ZAlk3XDQ9tYtJ4aNPILi-7dE8XTZ3TlM52Bn_H_xqPdOYgTd83rfgnsyk8fNTMONHkuyYpWL3GK9H6zZPd2xRgleHLM8waV2q-dfh0HzrzSezWUNRkwa-LfhwuFPktV9FC4dtbThAObfeA3QupmFuPrX-5__rr6-A8LWiTSIAxbN4sOmCjzTWJQZQK-UzSZd5kUDrnYGhIICOpZQ6mUvH8Ye7aS7bA23hTohbW5nPipuzFiTOhWFeDcjuynFEqKLGRWj_NMgoBKOZqjh3g7ZM0Dc506lEhOXCBlEXLFfh10IGGv5eJSUdHzxKoz8_6WrPpCBflfdLTeuS-Fn1tWzkjk5vG5wjjZOU1NEiFU1UClr-HMV93PquvkBNkBNr31GNpnFFQDbdEqPURck1l7XzBYk80RGQGE3qArATchL8dNs3d-FXY88FVCuYDNp8kOcJ9Bx0aZjNKvBTGwU4_cIMeAIn7VsbnRrPNZXWF0VPJ8ayeVOBdueCa1g8rcca_H_PLPhtHGXlxlXA0zqjQAycwfALaqArw8JM5PvCndGRAQN0OelQnbo3jHf0ceavS4778MxQ3cYzO58R6TXVFzIa16MySuTxiKQz6mUEwvkN80TMzQ0WuiIibl9Jr3flEHdA4sIwoSU0MamAqhs1NnI7NI4oQCbI8b1eD8P9QvLjhL3o9yXQCFUwIhQh4_byJtGT3njZbCidsIoKw_VWLbt5kAi9r6r8n8J6sjADtK1vkonpFh_FOfKba6w8HcAfbWIw-HAzZOu0M-PNJru04navLE_IkrxheLdxSZJKCYavHhzDMIEben-TL5ssvWuwGsEtTnvyGGOO924eX3Q6abklKYMD5e952k8D1hv7dDp8k1MvxlSvkhGpMJL7jSYnCbvRPAnvTPayVXZB-BNwGOsd110JXlbboumpr6RH61I6vJZPWXu3VUKCkH8_FtJHJa4-foRttlbLa1Jd62iSWX1smsJqBUPmruq1uhIuaLQurDPiLQixdIDkS2ARee7ZaYrGMcq6UwcYvd6SH66nmFJd378uoJ6aS-F38UdiYOfRUu-CVszsCXrmqKbeo8OLbap9Ud7px0H_UDGofwBLp4Z07OxPnodJ8KKP8k2gJugoymqPO5dt8Nl1Sv30IFEzsph8OCSa_NDOJmIhbkd4yZQsZ_5LgjnzeLpuGDqG5QP36t2HFZRRlHrGrurVh6sFUd91gWlZbqvCtE94oIuc3UpLk651EqnvClB6inxeRzssW5DsHAzQ9CUWPQkm1ffZgwEfR1mmAbqQwIZFPfalnYf6OUyXK9uCX3a7HD2f2e355zc2c_h2fhcl_VK74OCCTwPOtfNN_NR7SFh8uO80ydiO3VWR3FwAoG_669hSSO_XrqL9r82F7Txb7HItFXn9X6rhwKqu_dLR-w6eCEnrqIwsH5HKoQ4HTXmh-XBkoyr-yX6KhTxImxmimGMgsglFI-Us9PR4Qbt00O-KXAfnk1O9xFAedG9oPWuX3ESuxfTirURjeZdSSjYAKbZ-tXe3mHBTeD2C0AntBvkBEbb39d8BoWJxPmy9vPaaBKoXxny2FZVIVuVeW-_KM77--TCWTJNEYCPVp1Xxm68dKMaWJvNUND0ZQ7hSqR876jd77U528aAAcn-bqgbhAWo46cOqrRmBePJsCrlEMtdWZBtrsTwVaA59miaG0LQ8kbZCPkUhCmuzAAJf3x1fsS8gyQFIAWZXo_PtmnafGDiBvg56ohJXhZaLnPrxdrsqkburOKy9wc5SwoBlA5z6PPKaZO5Nmw7NVHpj16hMLBJz8GhZgYbzy27CfNR3OQpQDNt6g5zxLhg_nnF3zon_qk3KbC2KFvxarmX9NA7N2aMcTuznRD-rljo9O-gxa7eYiUfYs_vkA1UNZXQe6p1_CV6Zgx5YmxKTPiLicTmmxr7YQa284Zu3pvO22RBypz4KNHdvM8AIAFUc9gkxtvgoAZlAcL2RwjVIvGTJ8knD1EKOK56U65HwqNyDQZl8VfvG-_l5Uxdc59KBNnfk_BPqGi4YdGsdasbRiXtGWpWYVT2GLBAcpBjFN3nu4xTBPCcxaI0Gsumq24vkDYH5uljfDy6-UXlEniLUSZk1gvwmgY0mcaYY7MqaYESPH_cClrQ6MyAgJvAAZd8ZkkEV8XwZ0AwwDhrnZwbOPDYrZ-gOzkVL3RwIIWuX6viHFD3JDOnYxOCaXORFWse07by93HMNW71nLOL1hoxHpjo2g6jLuslKJriIlLutU5ZHS9lZjGbM-1C5QDd-qKYOnELZ0em-vE0JLx-HDVFnrQbudGqlG9A3r_4K1kosCX9NLNuu43X2VET-KFvlT4lYEkZ8gEDHl2_-iFH5x-Ut6PnJF_lo6QhG_Ff2tRaMNTczppc_8fRUkNSJPkZ8NeVcUsHUxC6hHTZ7iffpwdRZVOONsEFLfWZT1Ws8H6yCREqkw8Rrd3kBzmXiMkR06oHhzQYC0irTqEjny8LoB7m2zjp2IZI1SHbYvcMLV58nHgtLUWpXac44FG7FWwGTquffnbK6AGm3dvJsoJGW4UDNrCm8SiOPIxg7YNNylcaqutwUfzp00jacMcy4sNoJOV8U-EVhqyxhsV-7FB5gi78xQUG0tRK2HGXAarLZ2DJU73pRyeL0au1IPF_Nlrk4MXuI5bjkR4rV6sf8LFXYPrluf0soL6wck36i5Pm-tpbHzeORxFQoyVFxaR3OSzFiFzOYikbIGoqQKpdcNbp4Vy5pS_B40Ylabd21aVzIsaJCsMqa1DCBtEGoA3YsH4fkoiyKqs6dgunI4wdrdbBUrJP_S_ZcLSzydKKtM_uz2xJEgPOyWCojFNnQwp-mKasMRmyiQ9QUUh-cX9_Ip20JpvRSw7wxZwaeYiasvCgO076IT05T9IBS3W0RkLMR4rBkuwWrBg2kdKJVBE6gkyaaM-ILBUTVtAN-8ftVv1zxTRf-K2nosPT-cqEaQcTVPMA6fT0EoOoJacs2hHKzmEyOsjKF6CjQDb0f_DpRvXFs1AQh3_6jw5Kl4JQ5Omcp5A9SE4HZwxrQ5Nu-zAkYQgW9yecYg60G0nytlMSWttvTqvYC4XCuiq_e96-LtXIRV9JCv3hJH62fu_KbMnXfvMXeBkW-Ox_VKWrpsEN2Q141WyJQQPhCNChywTdlQjV6kStb0i-IUGvx5PF46ZX2L5lqF8zUQUh9e_b20y-opHvi-vZ97_tY3K1DdJ6KP6Mq2SLB6G9_AWAipVs7X_cxAJZY-a8OG4YriFiff7t0_G2sp2hqPN3L2nS1FKb1TP-RYR1snO3FQ2-FM0XMlk=",
  "id": "rs_08f0e1dca81bc556016ab44a3278d087d086831fbafa133c81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.1,\"right_z\":0.1},\"note\":\"The right gripper is now offset to the bottle’s outer side, leaving the bottle just left of the jaw path. I’ll extend beyond the cap while staying laterally clear, then shift inward onto the neck.\"}",
  "call_id": "call_YarjTo1m2eCyCt3ykoU9FvyI",
  "id": "fc_08f0e1dca81bc556016ab44a36ea0c87d099620e63c8b81f20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YarjTo1m2eCyCt3ykoU9FvyI",
  "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]: [-0.1181, 0.8017, 0.522, -0.3115, -0.1837, -0.1337, 0.9976, 0.2413, 1.7138, 0.8539, 0.2672, 0.0803, 0.0238, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1561 left_yaw=0.0941 left_pitch=-0.0168 left_roll=0.0022 left_gripper=0.9976 right_x=0.4563 right_y=0.1014 right_z=0.0895 right_yaw=0.1358 right_pitch=-0.0243 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.7026, 6.9538, 1.8144, -0.1392, -0.0366, -0.0122, -0.9094, -6.9675, 8.4171, 1.7607, 0.0269, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3fe63b307a24299ae5b1531129853d1de4880eaea5156dbbacd5ad6c10896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9779a7300c38b13c03f8c3c74c69598b201d65f553d333203df42be8be86fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491e68be4b2118ead630a468836f99fe3efab00cb87c84d3ef3e8dec06c0164d",
      "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 · 3.88 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.804, 0.5297, -0.3099, -0.1837, -0.1337, 0.9976, 0.585, 1.5776, 0.7502, 0.123, 0.3634, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1592 left_yaw=0.0941 left_pitch=-0.0101 left_roll=0.0007 left_gripper=0.9976 right_x=0.3754 right_y=0.1777 right_z=0.0841 right_yaw=0.134 right_pitch=-0.084 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.4068, 1.9463, -0.1441, -0.0317, -0.0122, 0.5265, -8.6085, 6.5162, 1.9658, 0.2222, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8021, 0.5297, -0.3111, -0.1837, -0.1337, 0.9976, 0.2985, 1.5768, 0.6041, 0.366, 0.1364, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.3984 right_y=0.1012 right_z=0.0677 right_yaw=0.1224 right_pitch=-0.0341 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.917, -0.1245, -0.0513, -0.0122, -0.253, -7.7607, 5.8735, 1.956, 0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.522, -0.3115, -0.1837, -0.1337, 0.9976, 0.2413, 1.7138, 0.8539, 0.2672, 0.0803, 0.0238, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1561 left_yaw=0.0941 left_pitch=-0.0168 left_roll=0.0022 left_gripper=0.9976 right_x=0.4563 right_y=0.1014 right_z=0.0895 right_yaw=0.1358 right_pitch=-0.0243 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.7026, 6.9538, 1.8144, -0.1392, -0.0366, -0.0122, -0.9094, -6.9675, 8.4171, 1.7607, 0.0269, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3fe63b307a24299ae5b1531129853d1de4880eaea5156dbbacd5ad6c10896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9779a7300c38b13c03f8c3c74c69598b201d65f553d333203df42be8be86fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491e68be4b2118ead630a468836f99fe3efab00cb87c84d3ef3e8dec06c0164d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEo82DWTt7zRliKhPuhUuBS_5SQ2p5TXlY0e9wQyoUSnSj8aJnw6CoqwsetJcfBPxvIiDpI9XffCp7I5S4HLW6vpl9QFOYKP_deKGOUo_GehJJWvIEH5cjyLsJQcjN2YFIDpv_UwHZm-qD1Et6-4sljWs1yvXAZUiIp1s6AkCDcURo5Vdx4r0vX4RQTJJDsTzOYnAeEDzAaozUt9ovrsd-eIFZ4_SckeXgdGt15YEJ1wnmRuiLc7vXadWcLSGnEpbOZx2QzsbqWxN7Ou_BDOKumTjJXjnvGnvTNSMPeHGwytdtL4V_LkG6fxbtHHi5_am3zlwByEPSDu1bziuDpEmEnGnw4oE0oUMuGEzZSSQ5AdSkdhczzHC1k1Z3mfUrNa5n48lhy98XOAK2z2jJJUU9JeIiYqdLMTsh8DOcbgi5XS8fX0uhiVY7GwrJJi9D7QobEgOEXEHtFEcJoII4em-uExLIEQSa81ompCBnOHW8cG8P8no86n5fa1f7gIxp107fItm0gPDQaJTQsoPa3KTF_N83kMhTq7JjSUqEE30SDiIydViaJwYiTPL8a9KuZZCvy3RqLWcVoPgsylbU8PbLVl0E8qAf3MIPgQoxZJhLmgwNyU7OeYVSxi4pk5f-YfjX3-FoeMUYfgNY7o-jzgEGUyCqPPNN4sp4TGKgOtf1LCNH03KDJAx9xCHB1IjgTR_izdc0MrdKtsOYIr1-DNxDxEGG5cpxI4gW03BHtDXjhHgUy2Uty3BJbw1e8db2Jp3DandDMicjJZvTKSkEhKhisj_33gQuiyILLO5kMrkGAP3RHGgInL7IZmbClQ6A5zXEBd3lhrubt4IE43IlzKrzLS0W9IncxjGUL3UHsf31OrkVOUvLO3om-wD-GjHVfZVOYQSFAI4Mvt2cZexyPFq9legL6Sit_NvQJK6bfeiRJzfl5JTLDazWJSEpLzCLn-HVa74Ok-Fzs9VDZllTUG0wQpqTTPbg74gAnilLuQ488LCcikgu5pZYWDfYTx4xcffX5FhLcr4Hp3NY9BMRM_d2tDP_i3hzBn_4h88ZaqptdVqgsKtlVuRDWJg2LONtutC6QloGVMCtfQv-18fgGs_XJ33Ryea4NAMVgoamcEXb5I3deXRTsblakmb7MpBGiNye09bz_FBIRtughzTrnQqK2-tME_k9Ql_9lwNADQC-fHjVTYfsxZiU4Xc-Ltg0LxHz_pwEH8EGq0mEN2kBh_DBYpZ_1VfG1xlBQuMUsHZ64uBv-YShScJQmKv6CDDRLBzQU3dlJKa2F3c3Zdap1-PYYzqkoI1CV2TiCYIZA_ZNHppLiLukWkR8JuIrk38vm_gkjg2mcXorjcHz7MqJ3H4-qu4iWA7WIalD3VF2z1-pe1gHUNVh4HJW3yh81kgN9jFJq-_G2qLymPjkIGjF8eXmZSSB8_q_hjZhbMpiyyoupYh2SGdvkqbaa41ni51BD7xs4eTAPlUga_pcAAG239vlkBg04ZSC_uGh824XucTndVJbiuLFylDUfacrJPjVBdWjOXdIebw0octQHA4-V6WzNyO7BVkBXgLx1_AIO8UCT_76vUJTedPhpS3mlIfW-WcopmvTypfJcm2c-NzJ579BKxzgcqU2DcorEH7hBTZT5rSfZsS5k2naD4dq3gFnK7gP8U4B-z44zM1xG3ve1CpMUAxMwRpphmwDDQfWkjocSUFV_wZ3JS4LcfTnzzqHxOw30sJjg9OpUGFN1FhXC9sGq97N-OKYCwvjmqb9WIWVMpx-7av7oK0No5YUbhr68AazO4G2JyZL35cu1KMUSGz2uOQR6yOB2fsk7GP7-lHh1L10ts3vRGnjWiolZzzQov-qXy0BStIsyqbApGXc9C9-LcPOuJwMqi_ICL1UQkMIo4o_d1qYgN78JFYF7HuruV-3Pv5ySKCxBPOLHgWCu1niUUVqQk9M-L9bGfkNO1qjF5qva2zJVxoyViB95ss9bZpUBo5kRsaMGy75C8cyByM4LX9gAmOfMJwWAirPKaqrPex5A7_26K4hyIyqRTVTAzYtz4",
  "id": "rs_08f0e1dca81bc556016ab44a3a44c087d0bcfc72abe1acf49d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.09},\"note\":\"The gripper has reached beyond the bottle’s cap while remaining to its outer side; the cap is visible left of the jaw center. I’ll now translate inward at the same low height to place the open jaws around the neck.\"}",
  "call_id": "call_zpSuQxYGCKDlTRvlrTzkb9gL",
  "id": "fc_08f0e1dca81bc556016ab44a3c143c87d09862a38242e12a9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zpSuQxYGCKDlTRvlrTzkb9gL",
  "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]: [-0.1181, 0.7998, 0.5148, -0.3038, -0.1837, -0.1341, 0.9976, 0.4465, 1.8019, 0.9298, 0.2527, 0.2138, 0.115, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1548 left_yaw=0.0943 left_pitch=-0.0145 left_roll=0.0014 left_gripper=0.9976 right_x=0.4492 right_y=0.1775 right_z=0.0793 right_yaw=0.1798 right_pitch=-0.0369 right_roll=-0.0144 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0581, 6.4068, 1.8584, -0.1148, -0.0562, -0.0073, 0.0889, -7.8017, 8.6632, 1.7998, 0.2418, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7fdb9afc6c7d6d87e9fb7f7cae08f34b7bfac723f0b6bd2de36ba8885607091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300eac9f5920c3b28f8ef5adb795bc90075ab06f622016202c41b983143776d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df380029c9e33b9683891df33e662693303c28e77a80019d8cf7ca466a16b50a",
      "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 · 9.689 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.5297, -0.3115, -0.1837, -0.1337, 0.9976, 0.4969, 1.7702, 0.8276, 0.2584, 0.2886, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.4183 right_y=0.1737 right_z=0.0566 right_yaw=0.1373 right_pitch=-0.0847 right_roll=-0.0331 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.6889, 6.4342, 1.8632, -0.149, -0.0464, -0.0122, -0.9641, -7.8701, 8.1299, 2.0684, 0.3004, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.522, -0.3115, -0.1837, -0.1337, 0.9976, 0.2413, 1.7138, 0.8539, 0.2672, 0.0803, 0.0238, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1561 left_yaw=0.0941 left_pitch=-0.0168 left_roll=0.0022 left_gripper=0.9976 right_x=0.4563 right_y=0.1014 right_z=0.0895 right_yaw=0.1358 right_pitch=-0.0243 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.7026, 6.9538, 1.8144, -0.1392, -0.0366, -0.0122, -0.9094, -6.9675, 8.4171, 1.7607, 0.0269, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7998, 0.5148, -0.3038, -0.1837, -0.1341, 0.9976, 0.4465, 1.8019, 0.9298, 0.2527, 0.2138, 0.115, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1548 left_yaw=0.0943 left_pitch=-0.0145 left_roll=0.0014 left_gripper=0.9976 right_x=0.4492 right_y=0.1775 right_z=0.0793 right_yaw=0.1798 right_pitch=-0.0369 right_roll=-0.0144 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0581, 6.4068, 1.8584, -0.1148, -0.0562, -0.0073, 0.0889, -7.8017, 8.6632, 1.7998, 0.2418, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7fdb9afc6c7d6d87e9fb7f7cae08f34b7bfac723f0b6bd2de36ba8885607091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300eac9f5920c3b28f8ef5adb795bc90075ab06f622016202c41b983143776d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df380029c9e33b9683891df33e662693303c28e77a80019d8cf7ca466a16b50a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpBeA9voAnwnjK14zOEqW5VJxf0VjXAN1qOxIov6V00zGv5A369HXaRabbk7VMJqNq0CdIDKOoCKnHHzuwuBC5U1mbFDzHLqJSf_tqUw9URcqR1y0GImOJ2Fa8bYS6F4Fa2-8dPYCxWQae0_Qc4BXN6OpZCK2rEfhNIKgym3-Brq9cVXrUXzX-rF6QoSSVK1RfXz7sGbppZPRurwpWNrIU9-DwtglfXNkK-ppOvOTBaGI8S2yJqKq70XfNXbGwiHRqDCWuIGGpsAXe3lNF5Ip8j7FWFgbTEpWQ0q-8DDqCbw_WcLy7LeQQrczd9XTvb0YBOWV3zcnwyGPFH9ckehCN2PO_eeLn8-Gx-eE9FjI0M0PW7YjjHK7zH3knBbg8A6AxUYXo8OUsFRrwaIC1B2t5LNUumoxsBH6Gr2L4BFyijhAIvFZfqCiAIzcvajTTVeyF1HhxQ--3_0Q0k5diXJd6AlM9pI18CAjEsf2xg6mGY6xN2zYcNYZ8aAv9InBZ3z4PQKxliBTXJMVS6gFfcVr2JrviT5fWxL2UJxutrEki79vwCRmVzqCGUO7F-ng-4PVLQQmkWHiIxopcc5G-xvjATmzvx3UjOzqML1_0L6sJOX3cNb7mMnhsxICdG5tJ1rPArSlBgF9h0GauVTSEGTvbfWF0hE7JoldnP7ed0-BV4vTlVXUu3vXwW7wumjJx59WQunbaS9dOh7wrwd9UXFP8eNEhlIzC6pdQzh4DhfwEVgQlIb_1Suowaw5fZIcQpIKk3URzqll8870cFctQL1T-zuje_qTUUrsEtE84TyyaRoTpU2-vtSZ4HOpI2sd3-h-wQ2p9mSSZ1aOo6Zv7MniMOoGW20FcxSAI8NvcZ1GJ5whHIaAdAZMKnQFoRWU9Yx1wUbY_A06CwFaJNI2YB4WRGLqucr_3Z4NSEdxIekLRnY7gKDaqCkVFTON7tPkKl1MERGPqpWNWBVbFg3o6pU6p_rWpF7oZw6WicD2WIBqTb_T4Rckn_piVW4CpMtMr0LaSYGzxk_3-RzrsDym84hYO9xpNevdPOyciv1DvpLxEVGcI0VMmN5GaVIv2mzdFAF1JauXNYW1BJDGrehbm8hYAZZBrN55gAWw1aFa4Knm9XnVoscwur8OcdKJsQCw0Ue1Q-XHGxwJRwO7GUWtVlrrHmzazC0w_qlzXXp8ZhHY9er1FXER_uC-3Kaz7rjmc2Z_ixdunI6bEwtVHyMF4d6BUZ51SRAfATDFr9OQNpBgkIKXG3-iekTHfo_VWjhgYxoOCZbDJthOL6uYtPSrIu1IebSEinD-Zqck417WpuEXsUqmTV3aHFs36-RSdbZ8SMnaVudWxMZ1IwGvoWG9HcaXTxcrYcuB7hN7sIruxxXNCAgIlH2pYAI7_ORMlay4TWwernnTApS0u-M44fvAho0cA_SAeb1YpIkzPbP-Zzuq7zpw8owQyIBEabiUIFffhzPmTdwo2bIaIA8proNNb6ozmK4AIdHGXj97stOxDA1Rt4g23Yw78fmWHo7iis2f7vSiQbYzKh7jLOjC6v6C62BkvJ6Q4vsKJXvv8MNDDJfoArxK4RWPE8buimBllr2ZopWyF5jvTpVW9JQFLG-cGN8lY3n_XkN-VxfuIBMLPdSxGdFYelJJVE7U1YsXd1yR9XNaUA9dKC84oi1cTWLvOi0wC8aGNHhYUjixY80rfzobcu92WTRiBOA71bh6zEcRkMpEH1Nd4YdRzVxnxHCuVmlFr1ocN6bLSpKr4a_pq52mvfLjLZQASiqXn5XR13znQmHkTOa0lp6FGkXzw_0Hnnyy0GrTnP4kLBjLOlw6AyeX2tiMZ6PQX11nuIyVs467JU0LwFf8i5DmtToOCBG_2nR_zHZeohECv8FSZa9exKoYw_5zvPpvyI1rtZUr1tPL0d-AWilt2Yc57P42vBJykZ36b5XidV21MFZZA7sesVJuTPoQokgwhafzlpjZeBo0t_E0A8nwusEGdLAF_DL4XxG430niPnN8-pSd3eLuT1i07HHEBSLRHgbfROjvMfJSAYIRnYbEj8Qr2sIGRrwmih73UCot4JSCq-hNuiA7DSH94R45OeBZ9jZIb-6aCm3KfiWcElVvD-4blmlKQsGsuxIkUzNXEdU622XOzESnRuOJ3pcO7xeKa0oGv7fjz0lNxm6udw0M_3TKqGu_f27HBevfogW-G1mqokfM3-Y4YK19zUZ9QhGRNgdiZUcR6s0XNSgUSFFPOMRSsYHwLyWo3mOFKrG8c548UbVUOUc6A-kchZw8D_mIdbv1LG-c1rDlzc7Hj2PHvg1pGFURHCt_gTb0-O-4AAqbSKrZ1UBptJ3nkQ8Lp37nPKhaTXQ3IEom74YNV--rHkC4dRImSny6FvpzVB614Kj88uZ41kT9Nd0njQt6RMXy-s6WO0f0U5SfNY1nLwPbvPOKXaHCcW5wHPlAQ4Ng==",
  "id": "rs_08f0e1dca81bc556016ab44a3e918087d0a023d4ca77979021",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.08},\"note\":\"The bottle is now precisely centered between the open jaws, but the cap is still several centimetres ahead of the fingertip row. I’ll advance along the bottle axis with the jaws straddling its body to bring the neck into the grasp point.\"}",
  "call_id": "call_I3B4FkjmIt22mtpbW1VYKbOe",
  "id": "fc_08f0e1dca81bc556016ab44a40ba1087d0809986851bd57096",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I3B4FkjmIt22mtpbW1VYKbOe",
  "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]: [-0.1181, 0.7971, 0.5129, -0.3031, -0.1833, -0.1337, 0.9976, 0.4122, 1.9114, 1.0069, 0.2508, 0.1814, 0.0925, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0013 left_z=0.1548 left_yaw=0.0938 left_pitch=-0.0131 left_roll=0.0012 left_gripper=0.9976 right_x=0.4699 right_y=0.1746 right_z=0.0572 right_yaw=0.1842 right_pitch=-0.0749 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7846, 6.1607, 1.8926, -0.0806, -0.0415, -0.0122, -0.5949, -9.3607, 9.1419, 2.0733, 0.2125, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a09a91760936e37836dea084207aafe972c30b98c85c1534d676910bca4d4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd3db8e668d767b86aec8b817f1eb128c8e4370f7678ae88b11c56b28b7d746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6beece155ec492a44ca7320c23234a46dba10843600b8b40f0325c983a52b087",
      "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 28 attempt 0 · /responses · status 200 · 2.42 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8021, 0.5297, -0.3111, -0.1837, -0.1337, 0.9976, 0.2985, 1.5768, 0.6041, 0.366, 0.1364, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.2943 left_y=0.0012 left_z=0.1595 left_yaw=0.0941 left_pitch=-0.0093 left_roll=0.0006 left_gripper=0.9976 right_x=0.3984 right_y=0.1012 right_z=0.0677 right_yaw=0.1224 right_pitch=-0.0341 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.917, -0.1245, -0.0513, -0.0122, -0.253, -7.7607, 5.8735, 1.956, 0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7998, 0.5148, -0.3038, -0.1837, -0.1341, 0.9976, 0.4465, 1.8019, 0.9298, 0.2527, 0.2138, 0.115, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1548 left_yaw=0.0943 left_pitch=-0.0145 left_roll=0.0014 left_gripper=0.9976 right_x=0.4492 right_y=0.1775 right_z=0.0793 right_yaw=0.1798 right_pitch=-0.0369 right_roll=-0.0144 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0581, 6.4068, 1.8584, -0.1148, -0.0562, -0.0073, 0.0889, -7.8017, 8.6632, 1.7998, 0.2418, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7971, 0.5129, -0.3031, -0.1833, -0.1337, 0.9976, 0.4122, 1.9114, 1.0069, 0.2508, 0.1814, 0.0925, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0013 left_z=0.1548 left_yaw=0.0938 left_pitch=-0.0131 left_roll=0.0012 left_gripper=0.9976 right_x=0.4699 right_y=0.1746 right_z=0.0572 right_yaw=0.1842 right_pitch=-0.0749 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7846, 6.1607, 1.8926, -0.0806, -0.0415, -0.0122, -0.5949, -9.3607, 9.1419, 2.0733, 0.2125, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a09a91760936e37836dea084207aafe972c30b98c85c1534d676910bca4d4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd3db8e668d767b86aec8b817f1eb128c8e4370f7678ae88b11c56b28b7d746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6beece155ec492a44ca7320c23234a46dba10843600b8b40f0325c983a52b087",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_08f0e1dca81bc556016ab44a431e1487d086e3b4b596081c7c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpLzVxN4CBA6Te7r0ttHjaafe9XNB8ermzExVFO7H9rwaiwKirj35ARRz1j8jhIl6mcrz7XjHSfyh2HW_3NxNn4__-q2Aakfx12KUT0DSE16KxhgURgptkYcCnkTKBxLew102QALSgSDcLwN-DNd0WRRlvK6kAu6sBdbN9Fu1efN2yTwLUL5ntO24Rh3uO6HicJGWlAXn6_XN5SwJIw0QQLRkooBc53HHyJ27v7orccYrSLrohxlo9jXqCr4pkepg5cJaIxcJr5OSLn-OFi9nPfcftg_QDiVjpKFg_eIbCmLp0lrVrL3ou9VX1ssLLiqp6Q-rgHLM_Hek6hVJk71bbxJjcWqu3Nh-frJ5E-n5LqspLc-3_bohEuQLac-5tRfqR3_Vh32V4wS7u-Ym2Hvf7-qFoFlXxhQChzdLSDeOvTwvMbKCAqyaOM0YWScV2HbyZR1AxV7l7mfcPFkhXp_ejGUjET9Uk2usJcgi2FjTKyABjVudE2KSDcF2l8GG4rjm8gH3o_TaSczWTdmhKCL5GrXq2cjR3Of_WFcgf4QPvmFFrZNrtH-evdgSZfExIj2YYtfN8H1fjmfX83ApzLbuzqYqF-QCTdLqmRF_NnkIXL0w04wdKvXO87yPgD4gAvqMVeKrHvbFu1xBxlrP9hGo0z49sFjfYYWF8JAJLUZsFFktP9npTlP6gQz9-a6j7n7z362HTcc2BUdvP5tGCPVNx0ghRuR4SM9K7diamXAFaGs0mlZkheNhU0PPIIPh4mZPOOeBaXaWnlND_Z5mZ6gRoFErG2DoPs0jyRVhhd7fUJ0ZCFb_VvqhCgeBFyo1j3Wp0FbcMyVsTmgGfKpOtHJVFs0ONvHChnGbpVk4FSuoPpnNkbcqlwcoP5BGgJ2kzztE7jDz-wt_ZoAZB2JMf8cRAP2LqnEg47GTXDOMsLQX3ozffJHBex0NsM7UN8xXYaNiJSFysIwGQHVWjLm5eXZ7rdV0pmMZ-lAu4OxMxOA0iT2jD9MTJCXdycHHbCiShPYO0Pf9f1uSKgz0izHBpQbpTygRQFOyFatIA5YprYtZ5Nk_DlcXkFX_mqjlomRINKRUfeKKdYt7RbxtWClE0jQa3K4E0Q5aRwQXzQ6PM6nMGfyw22OVX6VnLUs9wiAWrLr_xW4zRDGiBcJH_urTgi1e3yhB7q6f1C155VyvnrRO_8DgCi_QKlX-XNRF0BBd6ukvcc6vq0gZGkNhNS7i1fGyYbNBq5bI2rJ_ctpxuJAaa5bKwnR-uJw-FjgUnxfG_XQAjg8TufEY3B6m27IFrcYJxh34HqZ0lghYLe5pImexyIbI_L-KvDHAOf3Yo8X4BcgPeFs5Lo5JhuapjNWozuB-yakg==",
  "id": "rs_08f0e1dca81bc556016ab44a4a08f887d09f86c0cef731f81a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.08,\"right_z\":0.08},\"note\":\"The forward pass is still nudging the bottle because the body nearly fills the open jaw gap. I’ll withdraw laterally again, this time moving farther beyond the cap before translating sideways onto it so the bottle body is never between the fingers.\"}",
  "call_id": "call_NE6EA5V1tYoKDwMhjAJbocUO",
  "id": "fc_08f0e1dca81bc556016ab44a4a2f0887d0a35e46cd990584d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NE6EA5V1tYoKDwMhjAJbocUO",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7963, 0.5037, -0.3031, -0.1837, -0.1337, 0.9976, 0.411, 1.9186, 1.0321, 0.2516, 0.1715, 0.0807, 0.9998]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1509 left_yaw=0.0942 left_pitch=-0.0213 left_roll=0.0031 left_gripper=0.9976 right_x=0.4763 right_y=0.1786 right_z=0.0636 right_yaw=0.198 right_pitch=-0.0579 right_roll=-0.0221 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.894, 6.7214, 1.8926, -0.1245, -0.0122, -0.0122, -0.7453, -9.1966, 8.5402, 2.0391, 0.0757, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbdcf34e48aa280a0fcfac90475db100e7efe8d62f2c4ee3206fa0f3ef6b10a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7096ab634f4c782e98f05ec17a560922595cfb3c7865b024b73e31120f1bb16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c985e45022cce2553bc6a08ee2aadfdd0895be5c3429a478159ff0bb658ec38d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.096 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8017, 0.522, -0.3115, -0.1837, -0.1337, 0.9976, 0.2413, 1.7138, 0.8539, 0.2672, 0.0803, 0.0238, 0.9998]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1561 left_yaw=0.0941 left_pitch=-0.0168 left_roll=0.0022 left_gripper=0.9976 right_x=0.4563 right_y=0.1014 right_z=0.0895 right_yaw=0.1358 right_pitch=-0.0243 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.7026, 6.9538, 1.8144, -0.1392, -0.0366, -0.0122, -0.9094, -6.9675, 8.4171, 1.7607, 0.0269, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7971, 0.5129, -0.3031, -0.1833, -0.1337, 0.9976, 0.4122, 1.9114, 1.0069, 0.2508, 0.1814, 0.0925, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0013 left_z=0.1548 left_yaw=0.0938 left_pitch=-0.0131 left_roll=0.0012 left_gripper=0.9976 right_x=0.4699 right_y=0.1746 right_z=0.0572 right_yaw=0.1842 right_pitch=-0.0749 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7846, 6.1607, 1.8926, -0.0806, -0.0415, -0.0122, -0.5949, -9.3607, 9.1419, 2.0733, 0.2125, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7963, 0.5037, -0.3031, -0.1837, -0.1337, 0.9976, 0.411, 1.9186, 1.0321, 0.2516, 0.1715, 0.0807, 0.9998]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1509 left_yaw=0.0942 left_pitch=-0.0213 left_roll=0.0031 left_gripper=0.9976 right_x=0.4763 right_y=0.1786 right_z=0.0636 right_yaw=0.198 right_pitch=-0.0579 right_roll=-0.0221 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.894, 6.7214, 1.8926, -0.1245, -0.0122, -0.0122, -0.7453, -9.1966, 8.5402, 2.0391, 0.0757, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbdcf34e48aa280a0fcfac90475db100e7efe8d62f2c4ee3206fa0f3ef6b10a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7096ab634f4c782e98f05ec17a560922595cfb3c7865b024b73e31120f1bb16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c985e45022cce2553bc6a08ee2aadfdd0895be5c3429a478159ff0bb658ec38d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpO3ERQ10L5qF2tL7u9C_F5bEXzeGPKEiyIpHrMWOfPYwvbxNJnoITaJibJBxLb4pEg5P7eVV8Frmlikac4vmVSbtrrikC33wJ3y7OTRUuB_YYrb78eEGgfbQqtwdZfWP_ffL--FEVCxbWz2FavdydQO8bzn8dpK-prYHjKuJe2i-921uyGWdHW0qsifFLoRoJs7h565FvM2KGHW2-17IvQdYZ6tTyVyelEtLme1pWP3RHd8KqwNyS9t8EoJEoz6TGOSaNuGllc_L6cIyXGj7kMUxBk9mey33hz6ZOMZewNcxfhThMbXzzBjaUx-JV4z3ibi8IyF_crROCcdm5tB--bSubYE8WCnNy7zYiQRNdsmwapHrCJ_EDgoifcrfcf533nZ-Vm5QQmrIAUyBLV1RVP-Pxu7_EinzwhURSRua_Ii3uTS3qJVzTZjgiItj4oGlktTRSZ2CDZjWo1qr-_NomMa82r4BFW6xMbT8BEAKcAgygOYKiqojNWOhwLtZw1gwk6cm_kfItQKm8tp2-bhLgg7qjOsI6-oisgwFTFONy5e-pzvqX4uZXpIDsd2HvPFdeClTgLjupHdAi67dzPAWbqo07r9z1QJbUub7xrH648xNgsJSHKW2Rk_PpZdQIZjbX_jdnq3U8eZzuyW121gnxfPzsq_LR2unECbSYaQ5o3zByM5VDwWXiHOFJduCVTzV_hONKyvPrV6h7v3ziTFg3exmddJC0xoqcOb2UX_FjBoAo7TbNL35xN9J1NE2JVFMsAboImn2CUdseu7FlTQNB00vLCqAaDsyPyrNNAijvZQq0_mvv7KWCLCwBgqdcIk3NvRN8kO12KypM4n8RiyTEbaB6MLW3p_ZJfNIQP4fo2S4GM2OZMJ-gG0x4DqPJ_NPlfZ2-kqtPpiEhrcUyeCAfLODV44GK3zUSD_f0Tlf9RN8wumtNgUOT0pojnw-yN5FP_ZfLMRMI5ZwIsSdY1JaJuqDEDjxIjWa0w9EzZwpq7Oi_yuYZkNtp20-8O562qqtEsuQrsEg43Owm4KcuoTYO4u-PTXUSEylEgg3bqL2dnjy2HD6q25mabsPwZduKipAIikRwnswMw-5JNwxJAETeELxaIktUDfoSsE_i5a-Ia3DBsktj-j9hMKb85zsTIe7rXJrsEUsSgtacNuxJ1E8vvadGuXvqXUiUKv2-PXuFGMOVSE-LyqwQ8u8--xG67c5cJhC59lpCd93WCZJyspYQjFFKZ5dRuzwHvwsvVZz0IVCdkPzsgjAwOARuhFLrRe-g1OYJpbvftUzBCRMFijYIHOAe1c9kkh60wp7M_tMLOE_OX7Qxni_raADMdhDcJ15Y-_G_B-UR_BFgYB_TkMjAxCh6dXCnc5kLIf3cAnlohd3nZBsU6o8eFOYEwUzycquOxDOoICER-KQRd7iEqx9H_qT_GumcOStZItGs6Ijhgcy6nf5hHChH3Am9UWgfysdR9",
  "id": "rs_08f0e1dca81bc556016ab44a4d5c8487d09cb88e403599fb38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The lateral retreat did not track at all, indicating the low gripper is mechanically constrained against the bottle. I’ll lift straight up to clear the object before changing position.\"}",
  "call_id": "call_tKcRNrkYSKi3HtRbexC3XCz7",
  "id": "fc_08f0e1dca81bc556016ab44a4e1bbc87d0915e639a5ed6165e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tKcRNrkYSKi3HtRbexC3XCz7",
  "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]: [-0.1181, 0.7898, 0.49, -0.2878, -0.1837, -0.1341, 0.9976, 0.4122, 1.7729, 1.1316, 0.0288, 0.1528, 0.0731, 0.9998]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.1495 left_yaw=0.0943 left_pitch=-0.0134 left_roll=0.0011 left_gripper=0.9976 right_x=0.4725 right_y=0.1812 right_z=0.1317 right_yaw=0.2192 right_pitch=-0.0381 right_roll=-0.0131 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.894, 6.4752, 1.9072, -0.1148, -0.0513, -0.0073, -0.6359, -11.494, 9.4838, 1.7216, 0.1538, 0.0855, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ff937bf74149aebd677c2e6d14a483103dc882657fa67afdbf5c71ec1a3906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b78487ff840afd0eebbf6d2538bd0ebe1d56ae21cc1a1ecd8e5ed77e218962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f4ab68c0274d8c6f014fac40243b2b417d5de0ce95bf6689e1661568fc7da8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7998, 0.5148, -0.3038, -0.1837, -0.1341, 0.9976, 0.4465, 1.8019, 0.9298, 0.2527, 0.2138, 0.115, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1548 left_yaw=0.0943 left_pitch=-0.0145 left_roll=0.0014 left_gripper=0.9976 right_x=0.4492 right_y=0.1775 right_z=0.0793 right_yaw=0.1798 right_pitch=-0.0369 right_roll=-0.0144 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.0581, 6.4068, 1.8584, -0.1148, -0.0562, -0.0073, 0.0889, -7.8017, 8.6632, 1.7998, 0.2418, 0.1441, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7963, 0.5037, -0.3031, -0.1837, -0.1337, 0.9976, 0.411, 1.9186, 1.0321, 0.2516, 0.1715, 0.0807, 0.9998]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1509 left_yaw=0.0942 left_pitch=-0.0213 left_roll=0.0031 left_gripper=0.9976 right_x=0.4763 right_y=0.1786 right_z=0.0636 right_yaw=0.198 right_pitch=-0.0579 right_roll=-0.0221 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.894, 6.7214, 1.8926, -0.1245, -0.0122, -0.0122, -0.7453, -9.1966, 8.5402, 2.0391, 0.0757, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7898, 0.49, -0.2878, -0.1837, -0.1341, 0.9976, 0.4122, 1.7729, 1.1316, 0.0288, 0.1528, 0.0731, 0.9998]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.1495 left_yaw=0.0943 left_pitch=-0.0134 left_roll=0.0011 left_gripper=0.9976 right_x=0.4725 right_y=0.1812 right_z=0.1317 right_yaw=0.2192 right_pitch=-0.0381 right_roll=-0.0131 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.894, 6.4752, 1.9072, -0.1148, -0.0513, -0.0073, -0.6359, -11.494, 9.4838, 1.7216, 0.1538, 0.0855, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ff937bf74149aebd677c2e6d14a483103dc882657fa67afdbf5c71ec1a3906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b78487ff840afd0eebbf6d2538bd0ebe1d56ae21cc1a1ecd8e5ed77e218962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f4ab68c0274d8c6f014fac40243b2b417d5de0ce95bf6689e1661568fc7da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpSUylJTDcCZr36NF9S1owrECE1Q1ciKq-e5QtTxNXpmgnROz52k2kJWPfTgEtEd9m_1_3GyHMNVhHSbLLISnXItQpIO-sVYbyPIGtNdQfmFAv73Lchww_-LfQ3HZIf3OSylEjqOkwlaLiCjNzLmqyh1m0q-xPJSC_0wWMi4nI8Xc3jq0IES2Q37VooCosDrQsS8Aad4YEKHiULJuWDZ99ciP3gRIfQf2rvdQGg_Jd2ufYmN3EOxWD7uEipRe4idL_YVeZAQtZ4UGoQxLChLEoiwZVRrZrLqNZLJFAyOy8cq5NnvcNJzntyhhHUxBCTGNagTAvTZj2fzWTlteLi9jkFrT-lrOUyt3rRBu9PG8jowDc6WGu5zzHuHoiRJtmsPRqB9GeEtTIiAaTSLtR7MMHJJbn8N3oUm3RakKpcsgGtJoecgLhlfk3KTPSiBKdNYlG7LPXj8BOwRHFf8qKk7NbjV6sxLF5myHCwsDhkW55YMZ_uA2SI5qzp0We51TNaQ67oW-IsT4zgJhGh5rYQzq8Jlrua8T0TBHEoOB-BKprcgXwW7YIFhva0JSreH3QsJ3eCWEBqD0uUlpWLmHTaBdLOFFJUcBsbhWhOp-ACPxEbJ-YH5OV5RImR63A3BdfxDEsmbb2F1o7l0zijeuE14uZFhoOdSPrnv-3kRvrLvb3TQylf5KomtRCol3V-WruCb4GSpccwzeiyvye1Ni-r8aNyi-W7lX4kqJqwSo4hfi5BJ4JdLRsSs2xnUA4-ta5njJ1mJPQ7594Z-mETyHy2bMuM0wpsTOMzOzUTQ8JMizlQAUfFHdjWzs49zIcOyxPupSATmrsu7BAK8GF922zOYUig7jEdBr7QhupDt99qREO0YMA9s7sXJ2L_0D0EQxhgHbpCbJOLoJnHTaDuxthb7j652pjRDpbNUw_sfuFFz6w4br9yrKvIEqqHYEs12PGN0AwC12G78R4oIvyTIK9h7uhLD9F3lFrT-QTOTc5QesclzSse-92vX8STPeuA3FW-a7t1p0VS3UagP6P9KKO9BioayvX0vjMw1ILo_lt8yyY1E6dQZVZ2ke_KZFgdVLCPsMQzWfg04bTkbp1hHSC94j1TSxcRSk3rCqdtVnyLstwj7in--Qg-Xjn6vXLyI81A_-KRwtVbGeuj-jtI4o4ooxB48FQq05tRMWKq0YEycPatxQrra340fsYU4dcuL5RwuD4XY6uS-cRaHRAZw6kj38Uq_JnwMXKlDLTK3qMMKGZ4VPN-X14n_1dLdz7xcSZ9-geLlKRhdNgSHUdEPdh-GpBGo4HpoNF9HAodRlWc0-vVZFvDym0OaqD0ebP0aMXXlxUZZYqDu4VVfhZXNeADWT2QZKfBNKvOUmoG_yL_odZlmwTyhHgDxSu5H9GoqFOsJ7EVixDcs0XSMJHz0h39jI1kbJS4TQlb43h1jFi3PlNKIJJ1BHlrV8p4qoxLlRwpYQr28MqJfK7sE6AV5Ju4MQMV2SHrR7Ad4vxbsKkwV-oU_63fqwVLZPg8ByxGaPQQkJ1gux8Pj33CithYEWfX1AEU0quMqQZqUPR9suC1RfvvqeyOU5Zh_kPYPT-wBEHwX7Nnuf4HUcsWLosYClYQR-1c1CkwQnTmXFElJ2jnrFTEjPDF6FSByPuHFZAfR1F-0we1JetA3-CZTNT05sSVALN8DXF_dPfsi7n08W25iEXY5Fo=",
  "id": "rs_08f0e1dca81bc556016ab44a50776087d0beb71337986d050a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.18,\"right_z\":0.09},\"note\":\"After lifting, the cap is centered directly beneath the jaw column and much closer to the fingertip row. I’ll make a small vertical descent while holding this alignment.\"}",
  "call_id": "call_1TYnicYbskHMnawLVzPlU3xI",
  "id": "fc_08f0e1dca81bc556016ab44a51b12487d09a4624996b311a13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1TYnicYbskHMnawLVzPlU3xI",
  "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]: [-0.1181, 0.7891, 0.4866, -0.2867, -0.1837, -0.1337, 0.9976, 0.4118, 1.8053, 1.013, 0.1684, 0.1528, 0.0765, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1484 left_yaw=0.0941 left_pitch=-0.0149 left_roll=0.0018 left_gripper=0.9976 right_x=0.4628 right_y=0.1767 right_z=0.0937 right_yaw=0.2169 right_pitch=-0.0493 right_roll=-0.0125 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8803, 6.2291, 1.917, -0.1294, -0.0317, -0.0122, -0.4581, -8.1709, 6.4479, 2.127, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2129dcaa568e945919de866df3e5a14b76fc63d348b17f9dba74d1e84532e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163246fffe3875ebb5b86821ea2b9f7b16652c6028d71fb1b2b8d805d6e9110",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae5257925bc191993a8e4de3a9f1c3349628f5cebca07bb63eddc5d3815511e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 7.051 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7971, 0.5129, -0.3031, -0.1833, -0.1337, 0.9976, 0.4122, 1.9114, 1.0069, 0.2508, 0.1814, 0.0925, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0013 left_z=0.1548 left_yaw=0.0938 left_pitch=-0.0131 left_roll=0.0012 left_gripper=0.9976 right_x=0.4699 right_y=0.1746 right_z=0.0572 right_yaw=0.1842 right_pitch=-0.0749 right_roll=-0.0224 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7846, 6.1607, 1.8926, -0.0806, -0.0415, -0.0122, -0.5949, -9.3607, 9.1419, 2.0733, 0.2125, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7898, 0.49, -0.2878, -0.1837, -0.1341, 0.9976, 0.4122, 1.7729, 1.1316, 0.0288, 0.1528, 0.0731, 0.9998]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.1495 left_yaw=0.0943 left_pitch=-0.0134 left_roll=0.0011 left_gripper=0.9976 right_x=0.4725 right_y=0.1812 right_z=0.1317 right_yaw=0.2192 right_pitch=-0.0381 right_roll=-0.0131 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.894, 6.4752, 1.9072, -0.1148, -0.0513, -0.0073, -0.6359, -11.494, 9.4838, 1.7216, 0.1538, 0.0855, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7891, 0.4866, -0.2867, -0.1837, -0.1337, 0.9976, 0.4118, 1.8053, 1.013, 0.1684, 0.1528, 0.0765, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1484 left_yaw=0.0941 left_pitch=-0.0149 left_roll=0.0018 left_gripper=0.9976 right_x=0.4628 right_y=0.1767 right_z=0.0937 right_yaw=0.2169 right_pitch=-0.0493 right_roll=-0.0125 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8803, 6.2291, 1.917, -0.1294, -0.0317, -0.0122, -0.4581, -8.1709, 6.4479, 2.127, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2129dcaa568e945919de866df3e5a14b76fc63d348b17f9dba74d1e84532e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163246fffe3875ebb5b86821ea2b9f7b16652c6028d71fb1b2b8d805d6e9110",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae5257925bc191993a8e4de3a9f1c3349628f5cebca07bb63eddc5d3815511e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08f0e1dca81bc556016ab44a53e19c87d095ec4ee8514eced0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.18,\"right_z\":0.04},\"note\":\"The descent now tracks and the cap remains centered between the jaws near fingertip level. I’ll lower the final few centimetres to the neck.\"}",
  "call_id": "call_SPG7IheXjGKppaO5O2rmRcdi",
  "id": "fc_08f0e1dca81bc556016ab44a5431d087d089373676eb32a1d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SPG7IheXjGKppaO5O2rmRcdi",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4847, -0.2844, -0.1837, -0.1337, 0.9976, 0.4122, 1.9305, 0.9123, 0.3981, 0.1532, 0.0738, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1481 left_yaw=0.0941 left_pitch=-0.0142 left_roll=0.0016 left_gripper=0.9976 right_x=0.46 right_y=0.1756 right_z=0.0401 right_yaw=0.2184 right_pitch=-0.0455 right_roll=-0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.0034, 5.9829, 1.873, -0.149, -0.0464, -0.0122, 0.0615, -8.6359, 5.2444, 2.083, 0.0415, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033afbdc373c8f8435c255dd9d83a5e7a2f7db52975f12c5a8f50edf5fddb035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d562630492cbcf3f40ec64d3c2819c5d13d5417859eca03968d48f2269f4a5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915b0129fa960b41d4bc9b74449b6b4e56483459be47cabdd7dd06a723520a14",
      "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 · 2.793 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7963, 0.5037, -0.3031, -0.1837, -0.1337, 0.9976, 0.411, 1.9186, 1.0321, 0.2516, 0.1715, 0.0807, 0.9998]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1509 left_yaw=0.0942 left_pitch=-0.0213 left_roll=0.0031 left_gripper=0.9976 right_x=0.4763 right_y=0.1786 right_z=0.0636 right_yaw=0.198 right_pitch=-0.0579 right_roll=-0.0221 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.894, 6.7214, 1.8926, -0.1245, -0.0122, -0.0122, -0.7453, -9.1966, 8.5402, 2.0391, 0.0757, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7891, 0.4866, -0.2867, -0.1837, -0.1337, 0.9976, 0.4118, 1.8053, 1.013, 0.1684, 0.1528, 0.0765, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1484 left_yaw=0.0941 left_pitch=-0.0149 left_roll=0.0018 left_gripper=0.9976 right_x=0.4628 right_y=0.1767 right_z=0.0937 right_yaw=0.2169 right_pitch=-0.0493 right_roll=-0.0125 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8803, 6.2291, 1.917, -0.1294, -0.0317, -0.0122, -0.4581, -8.1709, 6.4479, 2.127, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4847, -0.2844, -0.1837, -0.1337, 0.9976, 0.4122, 1.9305, 0.9123, 0.3981, 0.1532, 0.0738, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1481 left_yaw=0.0941 left_pitch=-0.0142 left_roll=0.0016 left_gripper=0.9976 right_x=0.46 right_y=0.1756 right_z=0.0401 right_yaw=0.2184 right_pitch=-0.0455 right_roll=-0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.0034, 5.9829, 1.873, -0.149, -0.0464, -0.0122, 0.0615, -8.6359, 5.2444, 2.083, 0.0415, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033afbdc373c8f8435c255dd9d83a5e7a2f7db52975f12c5a8f50edf5fddb035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d562630492cbcf3f40ec64d3c2819c5d13d5417859eca03968d48f2269f4a5b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915b0129fa960b41d4bc9b74449b6b4e56483459be47cabdd7dd06a723520a14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpcWxZpCxgmxZr_8m_qnM9S4qPPW_YBQ5TvWRq7Bs2Nr6jvfyvJdByPBLrVX8UYUuMU0Vfbn4pbL7jqDNZ8xOep_6GKHSRdOhXY470e1jGZprn_JtmasP7nLf3MKxIlZMc7Ox37ECN-GnYqs2anYRlwHruFxGKaO_boa8Lpcf2ddD98gifCNmlOXyMpTcA_PxRGNb53gA2HxaRiU5AAIqpOdthcQrJcs34qcpUscoPGE3vXwLhhVH96Tb6CALl0b4fED5Pm83wxIzd1iFb8rtF9rYHwFideLT4j-Jb7d8AtsMTz1wbDM3dr2y_A4vqJ-ywDwtjwGPlgeu_-74mxZAlzBJgvYCPTqPpuTxIcjwD8iMUcd-XPX_chFjHPL3uK49xJX-l0MQxnbNHe0bV87-H0hCVESQmr88ptgUWhVz86xN0nSXxShIjxzchLHO5ZpNuuILZL9twgUXJNmuV9VkUcJblLX1cv7GTAgW-WxRdNZBzHmojv9nLTS_SEQ68QRlOdQSjdkacmOCijRmTH2vWOohyBDThhxRZaKIWHALj0lYeCVj2fZwALjjECbcs4wAixeJCEIYpyS476E7hLpKKY3IYVaJ--zztS0QRn0pz3ZARAIMZJpf0D4wAFVpIpnD90Hf4zfnJFPuq7SYPx-48MQaTXwaHfNI4f2GiTIOb7xEO4H6v88i8D0bv2InN5LRXB2DIH2JrevzvGfRmSpFagaUrAgQwFFWC_2hvBE4ahoZrkA4yb90nzqMm-1wWZOx126p7wcaO_kTD2KsW-ucnHbL1ptmx6KxtE4W9hHvWD6pOJD021h27i_nOVi6zLRrk5gGbaz4r7iO09zX0CkH-QuPFRDvPOkbFpOStnxs5L0a-pKFtCDD9UBG2GuB5eKZ3AxfTUuY5zUZk9sxuguBWt1Lu7qV4nSKai06OBoQPfObHSpbI5Ced6Hr3c0G5sdmW6YT2nwA6H-BbazyMKGHVKtavMJVm6d_fMzzxyrviFtNc9dPfC4kWtcfkkhcaYd4qSLo54j-JuJj4JoJWdKECKrgvORcalR94mwZaZkIjJfp1VYyRGA9KJN1XzRfBErGHPw6_rUxzZGnkkGzWuDWOnBjUwy1FWK3gxhiTIxvaT7JsizwJoxoTqIRyJ0i52q1MewFp6jvGqPHCngCpsfC2MCx3eqE6AJfQmFS6anct1pR1BPzGr15e8pCZZXHdb4_k9X9MJrI87B-VWaYI_S5R8801QVC_GTpT_jeNKzxjCQ9YAsz02-VWgDYBQM5zAxvRl4tkubg1ivKcvzoUt4Jt2_8s0WbTQnQQGDZi0jCOcW0EW2Ddwm68YWyw8XLZDoCoqTsflHaZ5ypbsVD_XegacO1b5rOdfufEDnJD7Nxd6hbtqxqz2x_WpACYhrUK6Va6Ju6s3ic-UC2owL5CBphxhfcOGbWxz6CLX0krOXjFjwHQYp2AIjzPUOmDI8tssTbqsKgyMj2lulXgxzdZhc4kYPDv15lj9heKxywGwaLiTmSLEm0_mDgN3lvExCWDJtycIf0h4v3JXQ2T8B4IcBstq6yF1c8dxtNA2Ih5cxwedaFu9rS1Vo5rJHsVXVrBDmIawdRfXb_CDPPg8g03Xf7P5I0HCAR6ggnyBCfvENJKg5UGBGPtZ-BWDiG-bjUKx1RozOY2nPWOp--NCK1wuT9gBsbD2Wc6F5V1kLRKtCtRqaxAvSb44Zujkud3NHqhGqZ_fl899CzmeyTLJlCbWM_ZEU3kCjQXemdHW4p9kXX2AB2xVR_tdguJtC7VCXAxbpvykr78qT1ON-guzjP7aEwschfgKkWpW6QAjOFO2kBZan9WfZSvZy-U60MnJxQf-_nPUF_4rE3jb695GEHiJS52E1G68I7HvLQysQu9Iwb_xIxQaPTF82HQquyKpZTS8fIQIJFyn3ZBrG746SrGxOPSN3hRmNuAQFKdu037dTAznTdE86qgG8kinAyryduJlSlv0C7uHLlwSeTgehIU9CMWAkHtzsKyYehBYeDy0BuGDv582UVa5X6seK_p_DnbZCAhzsy4yk0Rx4HHAQx01_Yc56u7ZmVi3ATpZ4zy_Zhz_fNV7OBjMRKmclI88XZ04gXRo6ecSpAtnnNwbXMM8Is-bDdLfa6ajndefbTLbFtK5_9pkyXXS256Rf9xrgIepdYQAxco7vn4wKNMEOfDipIQiq0Nj_JgVpRlrJ94kuuI-SqKOEc3L5kD31pi6TM60uHKA8XaazxIy-9fnjaTenAwiMOjH5ArjW5zxba2EcBWyUch0WFN2pTxkUyp_LNm1kPOHowSCxqCozcqo00W23IV0kvON0zP359wxLZYgBBqtHyqJLbjowpQ7PkxC8Cz0g3_ANTKkUii6H1eQHopwAXgVN98gRT7nXnfJ4ckySwevtkCg-DwjHlGNOFkmWIHWQnuTxf3J26Q6StcuRH2ThRXFa2GDQZSAH5C0PGZMwsrV1ue_OSeVIuIrdYYqTQSvBM2GyOA-0JMAGvLgg4Oc4ll-amMs-o4csrKoodU6B-2o7AWiM0LLJgD9BzUh43cnDAeT97NiymL7a_Plir6rFxhKDADKxJvdYSCT6lMlxOTHCTNaEBeW4WtncPlniXQ0XaTLVZJ8ix_teiwkrTzJPRcFLPG3snspvlN_MAOTY072Zlk7uKEBqKfG2IAaWJAMn5Z5avRTHfFLEq1DNxY_HClb-8Xf-cNxr47fzVfxti7llRAC2Ks8FmwWS97OxGzehr3xmjYt983IB0lScOMgoI-XDjVFkzuwr5YZTwY3lLJsPFnVUD5XqPUNIw6rMR6P116LD2QjIlvwCZYcF9B7xUTt5wYxEIiaTpBu9v0Wov-uRDnKjWChveb7zyL3Gg1mWp5p7WWKI1flRyr9E66J_T4z_N25pwWDdVJFhCMRA62GdBD3ZtmNHQJOW8l7PtRIdqWpGTpmkRrRlD1rS32ALz5Z5LxBEAU8Sb20YHCgqTx0JvaLOd3PE12zFNHRejO0q8r_tQRc7iLuZ9LbvrlnCtFlAi8qMoYFKLfy49ykxvwuPoGCCUuCjhWmf3fwZvwwRdUoAXoux4AFR6JWRuFUjsM9ippFwVdJgZXaNegcXEp52O_IXcBO7zbRUcm3-OvjH8hk3MRQF5YJpnGymY1dpg3g6AdoGTA_nA3dH8os4-6OMyAdqmkcA5EcTyItw8r9Z0WbU5WgQ_qd7jmDvRW-ZbIk9OBP0c3kbtiViGzjOYNq1QuQg9GcdL0SVzaQb-VUMQetuh13qC-92jLO569jIfIVNJvfHpFPUWPOA3iDAuBRQ4WmwgooCzms8u6FUNW_3Cs_z70C5muqMezTmcO5oXXQK9F_J3WNOnefMfmMnhDdonDcIeBC1yMeyP5rBu_3Y7aw8ztRjEjarhxthtLVLAO_keF5FmbzCuqlOhdP5k9HWxmKCjcHZiWEUq2tQyIwxnZvWxVqcXFdp1_cBxvBT19y3GHx7HYFSKMcrDB8Iz9gnujIdC0lhQysLXlyd39fI3acCJw2sZVQyFp1rIva3WoC_8lJKpWvZTHC8MRb8QIdV_tbto5heqFnjlEjrrJye-IBQhQ7TiQvdBlaP9wQsG1o87FiqehejHIdeUS_YktHhcFMNaPDqOvb59wVxk3HuwIXFGlHUtmV6VwpqKpPs3PG8hwuTVI7snVKQkU5Wrk06Os5SKK47aPvbuHWn8xEIk_Ri4_Dy3Hf0tasySCLzlfI7HCaSGzwIPk9BPDtQz9g9gMwr85kv9dCcnQuqM8UtkXN1cuz-APuRgMOAwS-TQTSTjfO-WQHnHPwuPmczNrdaZ4=",
  "id": "rs_08f0e1dca81bc556016ab44a56873087d0abe4beb7d277ed23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The bottle was pushed outward enough that the cap is now beyond the low-reach point, but the jaws are centered around the upper body. I’ll secure the bottle with a diameter-matched partial close rather than ejecting the smooth plastic, then use the lift to see whether the base pivots down.\"}",
  "call_id": "call_deOzOTivMaOyELGxsakXT5NW",
  "id": "fc_08f0e1dca81bc556016ab44a5b3d5c87d0bb4ed07e99bb9803",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_deOzOTivMaOyELGxsakXT5NW",
  "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]: [-0.1181, 0.7887, 0.4824, -0.284, -0.1837, -0.1337, 0.9976, 0.4122, 1.9488, 0.8837, 0.495, 0.1532, 0.0731, 0.5096]\nstate[eef_state]: left_x=0.2905 left_y=0.0016 left_z=0.1471 left_yaw=0.0941 left_pitch=-0.016 left_roll=0.002 left_gripper=0.9976 right_x=0.4626 right_y=0.1768 right_z=0.0402 right_yaw=0.219 right_pitch=0.0035 right_roll=-0.0052 right_gripper=0.5096\nstate[joint_eff]: [-0.1436, -1.9624, 6.0786, 1.8779, -0.1197, -0.0317, -0.0073, -0.0479, -10.0171, 4.588, 1.746, -0.0024, 0.0024, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e959e86c77e68c5d304141eeb3730bd0b8cdbc4bcfa678deadc1412797e0262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b889b0e961f9b3cc58134f2402a5bf334b195fd5a6cc85904aaa35398c9c40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bb6493d26ee74184987ff51963dff441802b12648b0f4a5c25d22d2a24b58f",
      "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 · 6.432 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7898, 0.49, -0.2878, -0.1837, -0.1341, 0.9976, 0.4122, 1.7729, 1.1316, 0.0288, 0.1528, 0.0731, 0.9998]\nstate[eef_state]: left_x=0.2912 left_y=0.0016 left_z=0.1495 left_yaw=0.0943 left_pitch=-0.0134 left_roll=0.0011 left_gripper=0.9976 right_x=0.4725 right_y=0.1812 right_z=0.1317 right_yaw=0.2192 right_pitch=-0.0381 right_roll=-0.0131 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.894, 6.4752, 1.9072, -0.1148, -0.0513, -0.0073, -0.6359, -11.494, 9.4838, 1.7216, 0.1538, 0.0855, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4847, -0.2844, -0.1837, -0.1337, 0.9976, 0.4122, 1.9305, 0.9123, 0.3981, 0.1532, 0.0738, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1481 left_yaw=0.0941 left_pitch=-0.0142 left_roll=0.0016 left_gripper=0.9976 right_x=0.46 right_y=0.1756 right_z=0.0401 right_yaw=0.2184 right_pitch=-0.0455 right_roll=-0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.0034, 5.9829, 1.873, -0.149, -0.0464, -0.0122, 0.0615, -8.6359, 5.2444, 2.083, 0.0415, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4824, -0.284, -0.1837, -0.1337, 0.9976, 0.4122, 1.9488, 0.8837, 0.495, 0.1532, 0.0731, 0.5096]\nstate[eef_state]: left_x=0.2905 left_y=0.0016 left_z=0.1471 left_yaw=0.0941 left_pitch=-0.016 left_roll=0.002 left_gripper=0.9976 right_x=0.4626 right_y=0.1768 right_z=0.0402 right_yaw=0.219 right_pitch=0.0035 right_roll=-0.0052 right_gripper=0.5096\nstate[joint_eff]: [-0.1436, -1.9624, 6.0786, 1.8779, -0.1197, -0.0317, -0.0073, -0.0479, -10.0171, 4.588, 1.746, -0.0024, 0.0024, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e959e86c77e68c5d304141eeb3730bd0b8cdbc4bcfa678deadc1412797e0262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b889b0e961f9b3cc58134f2402a5bf334b195fd5a6cc85904aaa35398c9c40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bb6493d26ee74184987ff51963dff441802b12648b0f4a5c25d22d2a24b58f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpfsPJJtTXR_MOL_NCxML9axFqEbs_gNuhkhU4F7PkFS68RsY9xVg6ZbfbNQxKapUbSgoOqv8NUwEUPJki0DFcZWFvfbcYVhGWutzunlf1CatDItSC7FnfQlgRJcfUA3VZFTK46gpTJ5qOTb2x_-smVJlzUnYQKRaS4b5nWt_DVcfmp61AXS0FnZR8FuQin7lL2XiI9ya9pFIDmOiT0kaYKjpvfhl6G0buouBm3ayRHtvGH2Cw-GyRfTMU8YcSOdWAIrV36xqLIOygj7LUtYtZoUYGZGu2_2t996LqhogV6mAlJqBcx4utGnKCCKkmw-wgOGydXuzsFgCU2rbuH0iLMYq5SI8oKpTdnE2BJoUyN-rnNy9_qA97-zAUAM2CUFsfd3vJxHyNqfV5JVBTGqifcwslGhvrI2WKAbrgw7mO5_vgGT7PEhb0U5hy8L5XlR50342ynRm2yWMRWFdWJ4eRFu7RCk_hqaKqkO5CnuJ0pv1SRQI4rjxKJ4Ch8qDGweM0UUiYPAgbjGBfjR6mpIKlZagA9JaekyFHMubu7pBysWWTSb-cKKP44ygpdkDJGUYXLpAhisyoT8AImswUzB1HOHHP63hxF61ka_R5zhELJSUe8VKwrK4-igp0ZVAWIaCjg0D8g8_QHD_GjC9Xr_aT6KtcoHsqsXcwE9uKoUDdThwW_s7DV16c8SbFCi2bm5iRwyHmHJooHvqcIO9J5dQdbFMrE9aWR4Z7ycYIUZiZIuX3UuV9-XG8l2H2eG_Xd9SCFkCmUnXqE9vLOIn5BLM1Zj971th4jzI0khIjFfaMqcpOcWH-UbWykJN2g7fNhqFONnIvi8djy6wuKEHeByTLW2vMDn4DPp0SiwD3jK_P_YcvMSVyg1CM269BpbC825d-ySZEDS7ZX9Mtd3Dd35hZkWhHlakQzQfEXrT33eVaDR5xBnT0cJEQSJMfvMPrYYARXsQmlczLQeehazYywG4ipU4YCLoWr5L9tlG49-2teL7YdU9JuhMdWcmCyBP4Cj2uhdMTywYkJ5hTigJzTn_CXsBWRxxiC4I9wpkEdI_fYVDi2DYWgYEK5B74xxhQ9_VVRhskfGF1wcDBdB_Wtc78Kd9uetde9R8gxfOLvZB9ZrIzxkXt-9DbwWjC4nxRVTkCRUKD4BOBGFNorQZIXYjAhiZWZ55OOhyOxMTv4rlHTv3J_b1NCiPj2jt8lhbVPePTnlyQcXgOuZ1WA9Aoc4pH3pkQ97_plR_qWJw2RTmgXEb0wTJEKXnlDEMmSJwbwj3scx8Q4rxQVeJx1Az6rFMW4GdlWf9B7ne_Mr4WDEmFQACwykSCyM0f3NQNKB1xx32qfpfTCD1IcRa_3WYtCMISRXLFIX1w2XlSkfa0KCT0QWj00p47G4Mi3xI2NHO6oLB-O2FizuoBNpMANcvFAxJz9a5EEr7XLeiQPwiqTINP0IoM3H4mOpOK9Es6BmnEYOs5U_BoA6Qmhb1SxFqAmjLEVAg==",
  "id": "rs_08f0e1dca81bc556016ab44a5e220087d0baa96303233730ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The partial close settled at about 5 cm opening around the upper body, consistent with a possible grasp. I’ll lift vertically to confirm capture and allow the lower end to swing toward the table.\"}",
  "call_id": "call_9ztGkvzkc3Ittdhjle1D2uch",
  "id": "fc_08f0e1dca81bc556016ab44a5ecd0c87d0a2c1612884489b29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ztGkvzkc3Ittdhjle1D2uch",
  "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]: [-0.1181, 0.7849, 0.4801, -0.2745, -0.1837, -0.1341, 0.9976, 0.4129, 1.7061, 1.1255, -0.0433, 0.1482, 0.0639, 0.51]\nstate[eef_state]: left_x=0.2913 left_y=0.0016 left_z=0.149 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.4598 right_y=0.1769 right_z=0.1465 right_yaw=0.2286 right_pitch=-0.0498 right_roll=-0.0201 right_gripper=0.51\nstate[joint_eff]: [-0.1299, -1.812, 6.106, 1.8584, -0.1343, -0.0513, -0.0122, -0.5402, -12.0137, 9.9897, 1.8291, 0.0757, 0.1197, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba44c3f23dad8bd7bbd4266b5a137a704d9c836e2207f727f70e76a864bb3bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1126b32513e1e817b7d3adec8f4c1837e615a276c224daefe4bbee4f751c218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b81be36a89621725a8b3c19edb75b5400f8e66a5f9246307bc35875b4be35d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.152 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7891, 0.4866, -0.2867, -0.1837, -0.1337, 0.9976, 0.4118, 1.8053, 1.013, 0.1684, 0.1528, 0.0765, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1484 left_yaw=0.0941 left_pitch=-0.0149 left_roll=0.0018 left_gripper=0.9976 right_x=0.4628 right_y=0.1767 right_z=0.0937 right_yaw=0.2169 right_pitch=-0.0493 right_roll=-0.0125 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.8803, 6.2291, 1.917, -0.1294, -0.0317, -0.0122, -0.4581, -8.1709, 6.4479, 2.127, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4824, -0.284, -0.1837, -0.1337, 0.9976, 0.4122, 1.9488, 0.8837, 0.495, 0.1532, 0.0731, 0.5096]\nstate[eef_state]: left_x=0.2905 left_y=0.0016 left_z=0.1471 left_yaw=0.0941 left_pitch=-0.016 left_roll=0.002 left_gripper=0.9976 right_x=0.4626 right_y=0.1768 right_z=0.0402 right_yaw=0.219 right_pitch=0.0035 right_roll=-0.0052 right_gripper=0.5096\nstate[joint_eff]: [-0.1436, -1.9624, 6.0786, 1.8779, -0.1197, -0.0317, -0.0073, -0.0479, -10.0171, 4.588, 1.746, -0.0024, 0.0024, 0.4811]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4801, -0.2745, -0.1837, -0.1341, 0.9976, 0.4129, 1.7061, 1.1255, -0.0433, 0.1482, 0.0639, 0.51]\nstate[eef_state]: left_x=0.2913 left_y=0.0016 left_z=0.149 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.4598 right_y=0.1769 right_z=0.1465 right_yaw=0.2286 right_pitch=-0.0498 right_roll=-0.0201 right_gripper=0.51\nstate[joint_eff]: [-0.1299, -1.812, 6.106, 1.8584, -0.1343, -0.0513, -0.0122, -0.5402, -12.0137, 9.9897, 1.8291, 0.0757, 0.1197, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba44c3f23dad8bd7bbd4266b5a137a704d9c836e2207f727f70e76a864bb3bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1126b32513e1e817b7d3adec8f4c1837e615a276c224daefe4bbee4f751c218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b81be36a89621725a8b3c19edb75b5400f8e66a5f9246307bc35875b4be35d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_08f0e1dca81bc556016ab44a62c8f887d098e1b67260c4cda3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The bottle moved with the lift and is now hanging beneath the gripper with its lower end at the tabletop; the elevated shoulder effort is consistent with the base touching down. I’ll release it in this verticalized pose, then retract to verify.\"}",
  "call_id": "call_oGyzXqv2hNYypCeNLekRQSif",
  "id": "fc_08f0e1dca81bc556016ab44a663e0887d0bdecb29bfbe69e1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oGyzXqv2hNYypCeNLekRQSif",
  "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]: [-0.1181, 0.7849, 0.4698, -0.2733, -0.1837, -0.1341, 0.9976, 0.4129, 1.6951, 1.0649, 0.0086, 0.1448, 0.0589, 0.9956]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1446 left_yaw=0.0943 left_pitch=-0.0142 left_roll=0.0013 left_gripper=0.9976 right_x=0.4532 right_y=0.1747 right_z=0.1356 right_yaw=0.2342 right_pitch=-0.0479 right_roll=-0.0218 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.2513, 7.4462, 1.7705, -0.1099, -0.0757, -0.0073, -0.2803, -8.5949, 6.9402, 2.1221, -0.0464, 0.1294, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d10fb124968890438d885125c09ceb9c158a95d9014cf0d20bd702013c6825b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0cbae45f0ae59e6e011bc9ab61a3bd7001176006ac3b6eb344e5748387687d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28dff3397b07af21d7ce5db824a891bce21f5035fb07ca79d0b178e94ab578e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 7.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4847, -0.2844, -0.1837, -0.1337, 0.9976, 0.4122, 1.9305, 0.9123, 0.3981, 0.1532, 0.0738, 0.9998]\nstate[eef_state]: left_x=0.2908 left_y=0.0016 left_z=0.1481 left_yaw=0.0941 left_pitch=-0.0142 left_roll=0.0016 left_gripper=0.9976 right_x=0.46 right_y=0.1756 right_z=0.0401 right_yaw=0.2184 right_pitch=-0.0455 right_roll=-0.0141 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.0034, 5.9829, 1.873, -0.149, -0.0464, -0.0122, 0.0615, -8.6359, 5.2444, 2.083, 0.0415, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4801, -0.2745, -0.1837, -0.1341, 0.9976, 0.4129, 1.7061, 1.1255, -0.0433, 0.1482, 0.0639, 0.51]\nstate[eef_state]: left_x=0.2913 left_y=0.0016 left_z=0.149 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.4598 right_y=0.1769 right_z=0.1465 right_yaw=0.2286 right_pitch=-0.0498 right_roll=-0.0201 right_gripper=0.51\nstate[joint_eff]: [-0.1299, -1.812, 6.106, 1.8584, -0.1343, -0.0513, -0.0122, -0.5402, -12.0137, 9.9897, 1.8291, 0.0757, 0.1197, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4698, -0.2733, -0.1837, -0.1341, 0.9976, 0.4129, 1.6951, 1.0649, 0.0086, 0.1448, 0.0589, 0.9956]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1446 left_yaw=0.0943 left_pitch=-0.0142 left_roll=0.0013 left_gripper=0.9976 right_x=0.4532 right_y=0.1747 right_z=0.1356 right_yaw=0.2342 right_pitch=-0.0479 right_roll=-0.0218 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.2513, 7.4462, 1.7705, -0.1099, -0.0757, -0.0073, -0.2803, -8.5949, 6.9402, 2.1221, -0.0464, 0.1294, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d10fb124968890438d885125c09ceb9c158a95d9014cf0d20bd702013c6825b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0cbae45f0ae59e6e011bc9ab61a3bd7001176006ac3b6eb344e5748387687d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28dff3397b07af21d7ce5db824a891bce21f5035fb07ca79d0b178e94ab578e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpqmF_PXozURdbKHaAcK4R8iYKoLeaUHCLoijzJGdBdMxRJ23Y5M0ug6iNy5rq7N_HCBIryXq0NcXQCBSvLmKD0a6kn0qtTcPIjUYmz-dFLuHAn8glFxb-My8DM-9xUvLH1_ZnT0_iIfVxtju5rwZrh_ktlaQfCXmPcsAsRKP6i8uQns6ykTPovGZkl6WCPn6joTxx_hvndc2xkB910k6O8Lv8lYeH0j1qyjNu3mSWfIWWZsksLBT7rT9PmsZqDWB6T_lT_rYlo2P3Y-l-RPzl8ByAOgOrz1jSrUZ-K_o8TJA1F1QpG4-Bg7rNQcOsXX93t-ztzqIs3F4qydDSQXuO8bk4FE66nKwt9ZvemY9s4MVVQkTfCgYU7y_ktbroK3wNYozml833mSJEluIjsR8o-2Yx-AfgAXY1nj692ERgKOIw6i7RLPJ1em9xNmhTlcoMxVMJyg5i90_8M3TwK5MZjJanK4Rj5i53yGnyBCAAE8GaDiff29nvsW9GuSsIMSR1oCn33VCvGJvxt0yna_jHB-q8hZohg0TroPP3DKh0B-gJBOALU5LTLYcINudruSNafkE32Ra2rGpTdRiD4oIBF4m2_17bHaJmhlZ-Q2U_7RT4z2glsxUqNlAGXOoKk_NMNRAmv7RCc44P_HzJgCFzXZTSLSARkGdscB7cBT6AILvBoYpCPZmNvkzmxh39Jojr8f8o8NvYo6tsrNfWhFyPkHs2XCPWqfeo_dhdjqo_z5vvn_8sak-5VyBZXnSBQPen5RZ9HXbKWko7mkgrBhpgcYnPBqmx6HrcR6LenqOzuqkiJNU6uIh6VZtVMdQ53pcwWlXMcdE6AUd43WK1lFLqoClVWm40OTmuGErZY7uVTY61M66EO0VTL2zdp48MPExysAkCpxuVtuc0IyHHT6LalZsvBo8H1jIMLctt_rnnOPGhraAXAgPbUoGutgfJ9HXxDVejno-TRN57FzxctYYxSHNgf4LSHURV7c1Jn2s-Q9PWLBI2j8VYnpjHTHKcv1pnJbey4Gl1HcF6Lq0AjytJ9OGfXTk3mNSP9-CBUG5PeMlgQNBYnzUVlkozSfOaFuzfMe2qOp3ugl4MXXX-dTvTWibeP8OSnFZFdoV94aJJUcvsLQIJd610J6FG0VrKPeMX-zgeVt13j_CmK5IYNFcreexyA-tjZsVbrjneojSlocnkOo0dFPTvz6VOtHptL2LDpqcidah3rIC0v3mBk0t92HUv-8vD7JH4cjJF8bGBNAd-D3VtKgH66w0I53YgQDgh8RwPvz3ChwvCqB77UNns-wY2g0GnA2suCpjMwAo-TQMlcML5kAiOEmLqPIVNne1nBrOL0IFRiRTWdDDhG9nlXcxQaI-LldqPg2kPyAhYvjZpJkupaSUMc2yKg-MHI95_o2L3rSNCKPvoZ42MLljpbe_V1dcPgz0h8t2tLPOiAV6mDIexGzdYVVaFA1WkJ-GNkZIp0EL60-fMv9vONZunocxWLCwT5-e22zVw0ct-a4wQ38nTeaFh16TISEc4deYrtVvo27Q9ugPE77y2996_3YQTgCbtHKDLRZr4lq6LMhm4LQpWj0CTFtH0QYX--KEI3PcLQLD56TbHZrdeMYkRkBbArvuYsV6rv2xOHfT3yb3gbe6hfTpAA5x29mhlGZImZ_CdRS8saSybA5JPfzYyc2mDdM1TuSszVtd3LOsUcDxBcr3uqZam1_UE5cTI-0koD",
  "id": "rs_08f0e1dca81bc556016ab44a68cce087d0924f041e22a08954",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18},\"note\":\"The released bottle remains in place rather than sliding away, but the arm still occludes its base. I’ll retract the right arm to verify whether it is standing before proceeding.\"}",
  "call_id": "call_wb4Nd2LM8Gz7mlZQ0UqiOFoW",
  "id": "fc_08f0e1dca81bc556016ab44a69b4cc87d09f44690fb0110915",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wb4Nd2LM8Gz7mlZQ0UqiOFoW",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7795, 0.466, -0.2657, -0.1837, -0.1341, 0.9976, -0.2302, 0.8749, 0.6289, -0.3496, -0.3454, -0.2577, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0017 left_z=0.1458 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.3053 right_y=-0.0064 right_z=0.1807 right_yaw=0.1721 right_pitch=0.0101 right_roll=-0.0116 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.1692, 6.2154, 1.8828, -0.0952, -0.0562, -0.0122, -0.0342, -2.1402, 7.2957, 1.7656, -0.2076, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803664ba042497ee8d08d82fcb09f2e9e945d4434d8402d9566c1cb567755d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf939dca6a3df9e908d24797f98488f01710a49613199f46ae6e89fb7cfbe2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f0622fabce4c4798b8bd316d048f7fc8aa4af404bbf4fbc3e1e3d9720c49a7",
      "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 · 3.312 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7887, 0.4824, -0.284, -0.1837, -0.1337, 0.9976, 0.4122, 1.9488, 0.8837, 0.495, 0.1532, 0.0731, 0.5096]\nstate[eef_state]: left_x=0.2905 left_y=0.0016 left_z=0.1471 left_yaw=0.0941 left_pitch=-0.016 left_roll=0.002 left_gripper=0.9976 right_x=0.4626 right_y=0.1768 right_z=0.0402 right_yaw=0.219 right_pitch=0.0035 right_roll=-0.0052 right_gripper=0.5096\nstate[joint_eff]: [-0.1436, -1.9624, 6.0786, 1.8779, -0.1197, -0.0317, -0.0073, -0.0479, -10.0171, 4.588, 1.746, -0.0024, 0.0024, 0.4811]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4698, -0.2733, -0.1837, -0.1341, 0.9976, 0.4129, 1.6951, 1.0649, 0.0086, 0.1448, 0.0589, 0.9956]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1446 left_yaw=0.0943 left_pitch=-0.0142 left_roll=0.0013 left_gripper=0.9976 right_x=0.4532 right_y=0.1747 right_z=0.1356 right_yaw=0.2342 right_pitch=-0.0479 right_roll=-0.0218 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.2513, 7.4462, 1.7705, -0.1099, -0.0757, -0.0073, -0.2803, -8.5949, 6.9402, 2.1221, -0.0464, 0.1294, -0.0806]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7795, 0.466, -0.2657, -0.1837, -0.1341, 0.9976, -0.2302, 0.8749, 0.6289, -0.3496, -0.3454, -0.2577, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0017 left_z=0.1458 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.3053 right_y=-0.0064 right_z=0.1807 right_yaw=0.1721 right_pitch=0.0101 right_roll=-0.0116 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.1692, 6.2154, 1.8828, -0.0952, -0.0562, -0.0122, -0.0342, -2.1402, 7.2957, 1.7656, -0.2076, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803664ba042497ee8d08d82fcb09f2e9e945d4434d8402d9566c1cb567755d07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf939dca6a3df9e908d24797f98488f01710a49613199f46ae6e89fb7cfbe2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f0622fabce4c4798b8bd316d048f7fc8aa4af404bbf4fbc3e1e3d9720c49a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpzAh1T_m8y8PJAMhceGtYBxmSK-pZEs7Mk8O_D_HlZc_hCJCNy64sfBa64EJDBkpJLBFDXEwpE48_20dqWNqwbIXC3lV0C3FgtJ-FgtRfLfXCb0ZXm4YUI3GCcFxTrR1msloXqXxfJOyfAafiWKwSuiV2usBoafqST_ZTS6LfEI0fHqjXEeAGlWyJgLwtq50i0F_k9wqo6gQ8DmXLHk6Rn-CdnpK0rkccBdEz6xucnasWHH-BSkIBlD6zP2S6dd369926wJf8xwiOAJ9OEv9KdDY4TKrw9Tr5sx9Ne6KQ4nxB650uSXlRMETyTY6NB7Zs9C6TxeDrsGysxkFZp-rpSLO9I_RXOzqCOQ-To6Y2O7rLmXQVJwxBOhVBjO8tyK0jJO_j3dEm7yAMoAikjqwW-Kfgu0rlHJqJmdeg89nbS8cQexY8Mfv1U8_K1j4FL9iPIabZ5CQ53pFvAqre1KlrDZoa7es2LC0SXTmEpSsEYUmDOykgq2oQKlfuDrnhyOcRlZFXnFu1nhLYTlkpWJ4i1Xtk-PclFTrFNDlJbeKOSS_a5VQw0QaDzJCCkoyaqdI25opF1Qmh3dY4FebHPjapBDwC5xVxaAmqUmkMIEuS9K4IoDGfPhwgzmlvmvKTbOPQiosGPAwjFwVuy74yTeudUglGoFW8WfABvAww4OgsbdEj49jC-bxpCveQWOFyAOPKOPHwK2CGh9DALSnvCDSfyLXB9aRnnNVY1zYjNW4g1-B-EeXu5FXQGKJIZUauskh4pF9GHLYA4UrP6W6_TNBigwxizjT0amNsvKh82ZuJVgF8SEsrhh1jk4699R575hgE9tnTFaxu8pyy9Nr-QPgBl1Gmzm-Q1P-fVzmcXtAaCrpfG64Zh-zTgCfaoEuuXDnXXUfgweW7updcSO2Z-UE6VICfI3gKhMz4T8fU94MwVZNPaPMOriMqlPdEuOp52w7TI-qXTKoEsiZRaRNFCOg8d4qAAJdALMiyxYnQdVS1sIODjjPuJXYa7CG2BqfjhLNX13DUXxrCb6sIfjXHD9byI4Ce3m837AaK0F75GALRJgU1OX55KxtSsJ8RRZYzDC2La0w7ibw-XXU3EY9PLDG0Ljt-h4R5Es8eZEyyvTPwgpVvYHh0uF4YQ0ceGmHuehfvg9R9ig6WdgOziVCUCBe4n8IZ2qVF0waRvCPRbUf-50zdygpIvGDDHUm89J8cVdiy_6XKfcB5561oNkgEaE4ZZecRUO81uzxHF3hllEWP9Fhu10epjUK9JX0A0jrJ1nfcKEiOjc7Gox-aD0lvR1iJCtokA3B3ieQHtH-M70X8HJoktXHRwFv-3GvjaVIuAwm8KG6ZSGrxpqDpSTsbYFX3QO3xsS-JOBqMeJ1Efk1gh_s7cRhjODSsF2dMSLlotEWR82yWjsNUeUMCMny1G-tekYpQo36MCrCm2YYY-UsdqzJstBAEaT5ARUYF2E-ZgH1UVnfEEJSCS-GlOvrbBAhh6aDaNXXtIgBsIJzH1t4mEbZUm-Pp4qZplP50dFXsEmX8QPrhwtoilYa2pB_-Qfbtqz1cz940RnRkQHMuHLy2ZQb8uNXdf78wmksk_ka9C1U1NO_gLMzzU8jJsmeMGPo6jUJpwUNZC51_0CaVy8B2FC8WRy4FQyiMRKaIQg_ej0yZOsb9xhYvYrMtd_f6Ra0LToDesnA6JaEhiqRddVchStiaJUpjhU-pfOhhlez_NnA79n4-NmpTVYypcS_scBsVIUc1vjQvxqXgwTnGtro9KD2FqfA94BYzZQKU3cdEReYgl-vV6lXXumCW-eIzxgIlyJrUfDGUiVBzLuRzRw_G4E5Aoq_kD6YgnPgZNd-f1JqvhFPlb4dSy0Eh-ER1GQosni59gb83lkMLemyTzB-qOiIVYqkj37uMlodIgxZJMPzpDHuI-EY6l70WoABiwrutqOofa2TBPK_EicQ6hhHQjKs20elhTCH9ML0cIslapAnyEOz_uk7kPG6OEXZsVB_c96furiooks5hP-KFvXn59FDBpvoIbTanbOM07IMltjFssk8na-yE45zk004FrQsAScsL28U-uXB9ly6jjP9zZgznE0qSvM2-2CN7sjF7ZEd9BAOfvs1GBMOUd7LWHMdsSzpRaZt49b6JDd3QwiJ9eWaOwgNLMIJSih9q_LIZOhkBFcenTaIoXoZv2AibO459cLSlLAlGj3Ttfh6YnBpWVEacjFPPbkiNVWk47NFFwPdF9R2x4LFGejUweaDnhfs1wKAKlQsPtSvedV9p3XMPT3Xx1AcQMyLpfrQvWhOdxeTnQnkWRj5kICKHkxSqO7Jg94H1FMkP6sk-eoQW4zWDi-TQBBTcbGjLBQ8IklRhlqp97LmqwZYiQ5jxSD9lp6mzHK2RRuJgQvL3dVVzwDhf_z7DM9n_f9ca0lJZTHPgBthl9aUOHLeKm_3vP0tl-OpeXa--WvgjbvkcKcyo8qeHy-TpABQJ3X8m64zHIYGpqfuDJT1vhangxe2nkf0KDtlCfLPI1Pl9n2dLFFGy18Tnxm7RaF3opDiR8RSGdHIwEjX_ChLyAIJC1OkppYHzkjT2okr1GXKlXgOxwmq_zef-IjUKF8bHNDvObMXmgvpsWc8wxU6IiFniq-smc-zg5A3uzrjIJNR39q-5tgc2-VOHpV2cAmW3940DJJz_jmWtQShF_GOCPSTihdeBOMgS8MxX3ueVEBuyDq88DGyLGrreX6ZNsaY4PKL3RqsW5ZBzIfKzaAeH0bzWVvTYkjqsnw8DM2va2XO226bPLOED3GVYsrdXsAz2nTsLEC-dwyNzcYMtYFV65_eu1Oqu3ioGfr_poH6XfpnLz7lxyk2ONXr5ib67g6B6lmITAJnDfqmYR4w7f46QvV_bD-E5SHGIkgv7vSt7m9Lda4v3IJkimS5VqwWpft2K_p3CIvZaPBQFHybLJKE69_f6uLnn5DMDX3TXBgUOFybs6G5vj2btunmpwXG_b1xKRo4YiBmAitgnDI5g8-TYC9YLdZcO8XMqOUfwCcH5cdCR-7z66K6LjxaEL2v8JaBF3n_kQGLyLGRjat-yfzrFFy7PR3OiwNR2YyAQuLpxCq1ld2vIMuPpL5bXfOuo2i_QsxHK2X4nzf85x3SZ1rGGt0DPn81XJZj_K5pdO5g80FyVR7IqBoLDKNJIiGOz5_h-b0GQYX5qH_2DLOiz7p3bN9W9uDolne9WGc3sryWb8mXRMVEuo6m2t2QNsIq-yjb-YoZpOr03mvmkVBWeGIqBzlff7yqe1XPSdg8B2X_w2-eV4sYzuffke5tUwOX25peI5VHVlatxIhZIERUsxLS381viLEAVBbmWopnPZykMFKS-vs2-F_w8P-93QPONlaB3KcRqQg5HC6MCGGnfhamFzcoiFACnCy8aRVAR9K1aBhJsqUyzpmnPC1wqZ4VHpxBb2y8pIbdNXh8eu8vYyiDj0YtPwTUo0apv5BT8KIpTwasqBdnZTQFvbTiu-RrJstTGcQg8kzSCkvrwq6IqNNOSVh59a037DBa_Z8mkT6bKJN1zvOUOAikkHIQT11rrHyxgrKFETYlHEdssQJxpt2UqR-fu3y1Umqfh4m4RZC63XQ-Fak4kfgHQs1Cro8lGsbwx5_cXhl3eO7sdo2H-T0WEdiWJnQngctS8FUFs143XFSa9TxItYVzVND9kUQbFl48-mPKnRrhoOR-g56CWIt-EAmIu6d-x1J4LMy0NWRZLP0sxC4qF2x-9-eLGYSFhLmjA-Xx4cuQfldUo5cAzhc8ubiRJVrSFeK8FUJe9Q47_vS2XOsZ3SgE8kr7360FHZabzN3lwW7tpgy9y-hFwnTtgXyq7Byvuzw2xv9paQMGEit_SyXHCZrlK0jwHdyO2gxoJ_ItW6hBK_HIcV3nB7n4a4htwZhdvz2E2ZvhqXYPrA59Ty0BQGkD-ZR-MzCz8jGntS-6noRh7ocpF2NV7oQMRGgHevREFLvPtWwrUYD2HNjk1YXjyB2ltOUxuZBuIOYR2AngdmOOODCKnO6akGCdYriOwuytO5d1rUWyiXrbNsLGK9lf0RnXkXUkz7jynFaQSNeJcUrPHW9Tx5og20Vv-UayfdI9Lov0v-oITe7w==",
  "id": "rs_08f0e1dca81bc556016ab44a6da80087d0a90149551d233759",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.08,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"With the arms retracted, the middle and right bottles are upright; only the left diagonal bottle remains lying down. I’ll position the left gripper over that bottle’s upper body, where a partial-width grasp can lift it into a hanging vertical pose.\"}",
  "call_id": "call_1qH2h8YE0RhvAOzqB6l8RoZZ",
  "id": "fc_08f0e1dca81bc556016ab44a725d3087d087bfb3b47b168fb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1qH2h8YE0RhvAOzqB6l8RoZZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4286, 1.2793, 0.5663, 0.004, -0.4129, -0.308, 0.9979, -0.2359, 0.8856, 0.6289, -0.3965, -0.3668, -0.2699, 0.9955]\nstate[eef_state]: left_x=0.3446 left_y=-0.0756 left_z=0.0992 left_yaw=0.0682 left_pitch=-0.0763 left_roll=0.0301 left_gripper=0.9979 right_x=0.2994 right_y=-0.0031 right_z=0.1696 right_yaw=0.1908 right_pitch=-0.0375 right_roll=0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -4.8752, 8.7726, 1.6581, -0.3297, 0.0952, -0.232, -0.0889, -1.9214, 7.9248, 1.9414, -0.022, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d5185d3b599db03b45f734547afe347e85493c3e20565995ba85896ee22170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81a6436a56a8f88113a5a95ead8c314a84dd55dac1101e3c148b61398a8d452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17bb99563a1c93dc14a9f93c2faee928146a37c44c09bb65cee52f4f560b00a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 2.716 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4801, -0.2745, -0.1837, -0.1341, 0.9976, 0.4129, 1.7061, 1.1255, -0.0433, 0.1482, 0.0639, 0.51]\nstate[eef_state]: left_x=0.2913 left_y=0.0016 left_z=0.149 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.4598 right_y=0.1769 right_z=0.1465 right_yaw=0.2286 right_pitch=-0.0498 right_roll=-0.0201 right_gripper=0.51\nstate[joint_eff]: [-0.1299, -1.812, 6.106, 1.8584, -0.1343, -0.0513, -0.0122, -0.5402, -12.0137, 9.9897, 1.8291, 0.0757, 0.1197, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7795, 0.466, -0.2657, -0.1837, -0.1341, 0.9976, -0.2302, 0.8749, 0.6289, -0.3496, -0.3454, -0.2577, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0017 left_z=0.1458 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.3053 right_y=-0.0064 right_z=0.1807 right_yaw=0.1721 right_pitch=0.0101 right_roll=-0.0116 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.1692, 6.2154, 1.8828, -0.0952, -0.0562, -0.0122, -0.0342, -2.1402, 7.2957, 1.7656, -0.2076, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4286, 1.2793, 0.5663, 0.004, -0.4129, -0.308, 0.9979, -0.2359, 0.8856, 0.6289, -0.3965, -0.3668, -0.2699, 0.9955]\nstate[eef_state]: left_x=0.3446 left_y=-0.0756 left_z=0.0992 left_yaw=0.0682 left_pitch=-0.0763 left_roll=0.0301 left_gripper=0.9979 right_x=0.2994 right_y=-0.0031 right_z=0.1696 right_yaw=0.1908 right_pitch=-0.0375 right_roll=0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -4.8752, 8.7726, 1.6581, -0.3297, 0.0952, -0.232, -0.0889, -1.9214, 7.9248, 1.9414, -0.022, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d5185d3b599db03b45f734547afe347e85493c3e20565995ba85896ee22170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81a6436a56a8f88113a5a95ead8c314a84dd55dac1101e3c148b61398a8d452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17bb99563a1c93dc14a9f93c2faee928146a37c44c09bb65cee52f4f560b00a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEp3S6ii8rBsM8IW8KJUFh0yUvMJMbDhm5qTz2QmKggQNSBACB6Zq_AUftxXyH9nfzneosFMwPjbpRzDjKrYf1-cpM7C3dSK-CMs2iuwvFEV923NrS8grxdDcPkNIl2nUEWVsOYeYWh8-yDgoM0u-zT7ryXiEDCw8ytk2Z-xJJiR1tXxCTdvF_VHi4OMzYKeHP850iRDJdiwNyVIPvL-oN7USJk25i7DS-zgbROF5ZbsleuNqqt7gqSTwtAmj5r2JTDDEjjW0JHOxBfJLs5BZhzy9Pbz1Xb1KbOz4fzXst57Zo718CUQ7Ubbwl7t6iwGWmGh9Csl8UEi_AhuC-TSErPeigfbx-q9vvpIc4pvo0347N8Fcl6THdyIyezBEIso99oRAha5d2SXntYWLQLwOaM5NtxhXBdWrVrO-whiPBjyiT3xe8KUHFm4ISKcI3CoQAZgOCfgLQkOdLEKUE1GUwDtkUCLBYqcmuIORC9Fo9RSXHuFkgo5-3xeBWgGhvn-eaKNgifFAZmUSWbUgUqwjQBYnSbK_ZYL0iVgVyVeTdSeMbsBiscQGrizAgAYOubI_i5oErGqgJWhKM_f_oE5kyfg9pIQQidZCP5mTkXChRAHIyoEF5O2Am1YpJIOWNps2D62CeG-pBcpI0WBeJ8wnAdiOSC83WBTlVQEbku-Cd43DrDqj4acFUvRs5oX3tx2OgK7c_wuifoBZLMaP5tjvgUStdk15nulsCbV0Nh5rnliPHMrIfL-W3UxIcOEZdRGb85V-2WFzOXJPREE8qZJ3z6dR7ptEJ1Dzwf2ESFEPQM_TOP03JF5TAQ0ODmjFO5Ntn0f023glMBBkS1JnMYnft0WvXaInVH4Xck9VbJAoQjZwfkpBxyVdOX3mPKAChAOgMAM4SI16WCL5igqM_Yqwpmp5wYg5b5Nt5uynzbHMV0e5a9XGAT-C-Ff5FRRCXdxYRQCNxYsHtMyxajvKyItCgGlmrr4Ku1RypFmJQWBR3Jm1ktlEgglr0TQp4MSh9Sb9t0dEapU5Djjv0i2Bzutsu5GEeedQnbuaT0shUY8lsD3Hxe4MLSW-_yLC2T2JzQvBbSjrogfAWpabnAN1kOY47fvb7Lp2VXLLTIojuZ9p4flDi8v3tRl8mHa-rZUTrb4x82FYq7uX0Co9bifss-aQwYqAI6NcXXoMCEL7CgCc89kZugke2-WE-R2-ijtn6IvSZgSC64OMj3RwaPO6BCD7TXAZ7nLAEKufA1_wNwSaVnwRNw9vjIvejTJBL-89eQ-WsPXls42AacA8wQHXxBJsN12McK8Ukz5FeybesAfEOYUWdfi7apoAP1yaAeJbf3PZye8tnzLnd5Xs6t0kIIXoeUVlANkb5KSNKEIsdvGGHtNO2WJe_rYV6zad8W1AUSBGJGUcWbG3qCfOl06mM2fBH7GocY1_dZopn5jN60Ni4tM_pisCV-zJwG6si9fJBqMkEL7PSUVSyJOYDXl_Y3406RyI2TQsfUIF0NmyoC8B6--BUu2W2lIGaY6HojkGe1nkJ9IgEqt_LKOmSwbV7EDrUoZxm5cpKr0aSoThNtvDDSSqnJ4hJUfunFp2ZXw-V6SMVjyyPLo9GHyiuidPMVUKcbd2SU_ZpRUG3I_ZILlDcRj60VFLlZFMa_7Lnoxy4L4V8BIsdYTaH_k4ix7kClXRe3Tpd9BpTdZbYBrwfZcOW5dsR4=",
  "id": "rs_08f0e1dca81bc556016ab44a75f61887d089b19f2a234da3cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.1,\"left_z\":0.05},\"note\":\"The lying bottle’s shoulder is just right of the jaw center and its upper body reaches the fingertip row. I’ll shift about 2–3 cm right and descend to body height for a centered partial grasp.\"}",
  "call_id": "call_EsUSP8Q3n5R6YlmHLZYdgbqT",
  "id": "fc_08f0e1dca81bc556016ab44a76daac87d085d56d16686a5ab0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EsUSP8Q3n5R6YlmHLZYdgbqT",
  "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]: [-0.4927, 1.512, 0.4774, 0.3981, -0.4713, -0.3462, 0.9976, -0.2359, 0.868, 0.5907, -0.3767, -0.3679, -0.2707, 0.9955]\nstate[eef_state]: left_x=0.3606 left_y=-0.0985 left_z=0.0605 left_yaw=0.07 left_pitch=0.005 left_roll=-0.0067 left_gripper=0.9976 right_x=0.2957 right_y=-0.0021 right_z=0.1613 right_yaw=0.1921 right_pitch=-0.0379 right_roll=0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.5265, -3.8906, 4.8889, 0.862, -0.1538, -0.022, -0.0415, -0.2803, -2.3179, 6.9949, 1.9463, -0.2222, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a34e61b8e27b798c965fd5709c878b58ea043d05ae9cd57557a88418d1ebf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d339bac1801539c5014720fea88c7359f336ad0ec38ac80f68d694153b725db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98cbda8c32a7fdd61669fda87b782bc875cc953235d70abf23413175398c47c",
      "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 · 2.899 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.4698, -0.2733, -0.1837, -0.1341, 0.9976, 0.4129, 1.6951, 1.0649, 0.0086, 0.1448, 0.0589, 0.9956]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1446 left_yaw=0.0943 left_pitch=-0.0142 left_roll=0.0013 left_gripper=0.9976 right_x=0.4532 right_y=0.1747 right_z=0.1356 right_yaw=0.2342 right_pitch=-0.0479 right_roll=-0.0218 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.2513, 7.4462, 1.7705, -0.1099, -0.0757, -0.0073, -0.2803, -8.5949, 6.9402, 2.1221, -0.0464, 0.1294, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4286, 1.2793, 0.5663, 0.004, -0.4129, -0.308, 0.9979, -0.2359, 0.8856, 0.6289, -0.3965, -0.3668, -0.2699, 0.9955]\nstate[eef_state]: left_x=0.3446 left_y=-0.0756 left_z=0.0992 left_yaw=0.0682 left_pitch=-0.0763 left_roll=0.0301 left_gripper=0.9979 right_x=0.2994 right_y=-0.0031 right_z=0.1696 right_yaw=0.1908 right_pitch=-0.0375 right_roll=0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -4.8752, 8.7726, 1.6581, -0.3297, 0.0952, -0.232, -0.0889, -1.9214, 7.9248, 1.9414, -0.022, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4927, 1.512, 0.4774, 0.3981, -0.4713, -0.3462, 0.9976, -0.2359, 0.868, 0.5907, -0.3767, -0.3679, -0.2707, 0.9955]\nstate[eef_state]: left_x=0.3606 left_y=-0.0985 left_z=0.0605 left_yaw=0.07 left_pitch=0.005 left_roll=-0.0067 left_gripper=0.9976 right_x=0.2957 right_y=-0.0021 right_z=0.1613 right_yaw=0.1921 right_pitch=-0.0379 right_roll=0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.5265, -3.8906, 4.8889, 0.862, -0.1538, -0.022, -0.0415, -0.2803, -2.3179, 6.9949, 1.9463, -0.2222, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a34e61b8e27b798c965fd5709c878b58ea043d05ae9cd57557a88418d1ebf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d339bac1801539c5014720fea88c7359f336ad0ec38ac80f68d694153b725db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c98cbda8c32a7fdd61669fda87b782bc875cc953235d70abf23413175398c47c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEp6eCnMxCVmI9BqLgtDb8ZeNVSRgAmi-nQgKylLIYifOBk8atKxrxL1X-SvnqRBvLTLtmhcPsXhxAQoUECXtCq4PTbb1jsuLQ8X3ohNtuOJgaYO_ptssmOWjIvTG6GgivSGvc9WcgQmtk1J24n67laoXFP582tyy_eqXDMcdWILwCNJxXK7YRATM8YNuu4sxJ87GJiu8-irIdHEZ_GrZ0ZQBb2G8Jy0P5s7503fCAjSG5GTjietLTg4diK0My5fSLlT9pNvTkq-6oKdMJXtv-n1gJFtTzLKGaCNbdlMBrNwKx85N-ULrvZdyhR_5evISBE82X_EMafItKtGoPfNqYv6CT-UZgt10gbAsrWQF9FO_pBJvkYpdeBir1eFKMOEwRGSTDLFdNTed92T6lntjn-H4rp1ziayLawYofddan3I5ChTc0jsBu76xU-NJSjWPGgch8_n8OfBvvRhm9-lJ9fOP5PammB5Fa83k_kfjDn8L3LPaRyYnpgY6tNAYvhRuQ3Tw5OYwsyHE1LgGGPdZLDxua2GuqsRrf_XX4FHFi32G546YzkgwFgF1eXNbr6aj1WZhKlY3S2YIzb2G1qrp4pnMOz5PCIQcAwdIJ0THjWFHkiHFpe-Mealvgfrm-9fSmTB5a4U6e-KxVYNatm8Ys555EoL3QicOQ2R-MCP-iNUyICLpdI_Dwd5-S8ev4x-jQk4Fw1RUwvCuliunG_MaN-dDkdYXZkXG-MD9ajBZIy8EyQF8Q90yyvHLxMDfG0Vxwq9_X60GkOEypcYx2bQYBJEiFq_qFtEjxI1HXlL_2PeM6Gaxhy2IPYDpRPle8sbW0SAsapYD5gV5z6upg6xpfY2ezvetjrY80OLeGwe9qNqUPxf36fz5xM5ifdNrJGtob3O3SRWoxMxW-OEn-LTLjr53ZHeS3exEt1SmbZJGycrDhuL3ee-1ziIxPK-ak9ne1SPhrpSOX1Rv5gZqwp5_cPwPG_xeq76bfFbzfS_dAi-Ngqrngqpmcejsn6M4Wo13O2_e4BVVVHc9UeOnWbv1D_iITV_kIW0v_0mHl-74Bzs9ZIVydksW-g_7iUAYPeWIWgcCeYW3ugBfLaqOo0TS0Ppvc4JoQCetwElbjhTZCsL9RrV4-PTjTNcOZnLJTwKX4uKw1iNr5a6gjV7mKEMl7vNe45Z2mS2mH4iKQ9elU7nUb5fm7FKwfHd5ZGZ6hy6iWqMK9p7tUBpc_yKyvt11xbMWQ0JDuE-5qYFBEUdW3KPDhK2NC6UDINIVVrZ1422N7XawTogkwlzITQhYAY1y4yhQvFDqZXtsEKsJFC9X5RxYRp0PSc44Fme6i-PhhVfT43ry4m9xEZToKGEH8ySd_rNFJZ8ATX6K5qXxgA_sdiNuh9F8MVUVSojZPQG2Ld6BefjEt3OC1Z3LCveqEWJDWtNJ9QWXyvZCzdyrE0D07hGVdcV5wwyUyqOnNvMg8x9DvAp6jZeojwp9zjoSBtLWEi3Ug==",
  "id": "rs_08f0e1dca81bc556016ab44a7979dc87d0bce378e0af2094cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.135,\"left_z\":0.06},\"note\":\"At body height, the bottle’s upper body is still several centimetres to the right of the jaw center. I’ll make the final lateral correction while keeping the jaws open and low.\"}",
  "call_id": "call_9USEk4lPkKhWLAnWMkTwYPMm",
  "id": "fc_08f0e1dca81bc556016ab44a7a2c2c87d0b65555b33a24442c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9USEk4lPkKhWLAnWMkTwYPMm",
  "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]: [-0.6106, 1.5711, 0.5411, 0.3779, -0.5476, -0.421, 0.9976, -0.2359, 0.8497, 0.5518, -0.3508, -0.3679, -0.271, 0.9955]\nstate[eef_state]: left_x=0.3607 left_y=-0.1358 left_z=0.063 left_yaw=0.0525 left_pitch=0.0184 left_roll=-0.0239 left_gripper=0.9976 right_x=0.2926 right_y=-0.0013 right_z=0.154 right_yaw=0.1922 right_pitch=-0.033 right_roll=0.0106 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -5.1897, 6.8855, 1.3358, -0.2515, 0.1245, -0.0122, -0.5675, -2.0718, 7.0496, 1.8974, -0.188, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a534f2ccea7d07458863fcb6f72a5a49cb0885c2c7505c0c75d4d671a754c4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a6f7052116dbf96ac9ccc17d8105d31c6905d0c67e5ef5bcf322df17b3cae5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ed1b0096ee0ffd763e164d30751fa89641a119bb68561c5b12496385934649",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.914 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7795, 0.466, -0.2657, -0.1837, -0.1341, 0.9976, -0.2302, 0.8749, 0.6289, -0.3496, -0.3454, -0.2577, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0017 left_z=0.1458 left_yaw=0.0943 left_pitch=-0.0052 left_roll=-0.0006 left_gripper=0.9976 right_x=0.3053 right_y=-0.0064 right_z=0.1807 right_yaw=0.1721 right_pitch=0.0101 right_roll=-0.0116 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.1692, 6.2154, 1.8828, -0.0952, -0.0562, -0.0122, -0.0342, -2.1402, 7.2957, 1.7656, -0.2076, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4927, 1.512, 0.4774, 0.3981, -0.4713, -0.3462, 0.9976, -0.2359, 0.868, 0.5907, -0.3767, -0.3679, -0.2707, 0.9955]\nstate[eef_state]: left_x=0.3606 left_y=-0.0985 left_z=0.0605 left_yaw=0.07 left_pitch=0.005 left_roll=-0.0067 left_gripper=0.9976 right_x=0.2957 right_y=-0.0021 right_z=0.1613 right_yaw=0.1921 right_pitch=-0.0379 right_roll=0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.5265, -3.8906, 4.8889, 0.862, -0.1538, -0.022, -0.0415, -0.2803, -2.3179, 6.9949, 1.9463, -0.2222, -0.0317, -0.0171]\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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6106, 1.5711, 0.5411, 0.3779, -0.5476, -0.421, 0.9976, -0.2359, 0.8497, 0.5518, -0.3508, -0.3679, -0.271, 0.9955]\nstate[eef_state]: left_x=0.3607 left_y=-0.1358 left_z=0.063 left_yaw=0.0525 left_pitch=0.0184 left_roll=-0.0239 left_gripper=0.9976 right_x=0.2926 right_y=-0.0013 right_z=0.154 right_yaw=0.1922 right_pitch=-0.033 right_roll=0.0106 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -5.1897, 6.8855, 1.3358, -0.2515, 0.1245, -0.0122, -0.5675, -2.0718, 7.0496, 1.8974, -0.188, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a534f2ccea7d07458863fcb6f72a5a49cb0885c2c7505c0c75d4d671a754c4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a6f7052116dbf96ac9ccc17d8105d31c6905d0c67e5ef5bcf322df17b3cae5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ed1b0096ee0ffd763e164d30751fa89641a119bb68561c5b12496385934649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEp-yRQxBd10-tq2T0bnWyfeRUK4hJxuhqiq65iAzmIO5xW2K7mHIJj-9IwdmrjPbANMuCiNgRnnQ6ZLFnTCNowMFMwd_NbgxdJ3RH82o-w_iOsLUR1EPNhBLslp04Yg1yu7cTCpdcaMpvzR3gV9PmtJHQ8Be_1hynuJUy_ndAE9-ZiXarygYwTrzd_vyin6y9d3JZizVmkaSwxPwfArcWR_94pxlWdd1ZFoyWI7twIHiH3AVba8CPkgl0ORzG7Ifyp9S2twDiKYX0wlA8zMzPhdKLinXrnZchC7ag8NPIL8BiZ9hrb3cJN08sxBMQwBro-UoRUbsY2qTszqE8u_I1OiSlF-wrFDCLH5wpSDum-Z58nrc7tp6DgvwjnTvaIu6fNKMLW9Wb80AUzD4uQq4epmd5baAprlwWGMGD8ZstwdOuUpWbKnvSI_wD0WvNK-IGTVYoXHEKGMWJKDfKTuTAYOo6nG6hvwrn0tbhiM6Ih-3AE72Z_D8gFti8QYEfyFroQuJxdIiZdUPCuOt_6qlnvpf4ZDt9BtkVCf9fc2hHufPH_LGPFB0jKUUIIm2JiLGfaUrpNVVpMVFLQGnbmnCMZviUOmUWBtGlT4BMlJPQCnZaZcZbY-t_g4Aqf8Q6RiJmU2s3uEF8fz1dfBhniDNIbZR1C0pFsN2_H-lQOP7kI90PcgpVq3KEvJMgBqcWcebQhAtWX1lYaSyNcLojvyXQwhfbggXrKsci8X82T3f18KOgj6hZyFHJgdCAZEiCCMN4v_qeRHssAXYhE25SZEq66QvJB-80251Pc5Ghq0kO0ToXE2_DfWJBcbcq1ADpBuqVtK5LYXvyMiXB7i5MuvossOhhfTkz73m5V-SkLWGeGz6D7TXFxuF19wPvuhCeYgb-tXPkLSgCDwmK3AGug9CzrJly6KeRox4ldGmP-YS6mFKR1FaIBO96unkK0G8KJtHns4Gk0dMIxWOWH7Wlx3g6L2R-_9-iqvY_AXHYHx_dxrUY815DdbH-vuicgwa3WaMlCGi-LocPhSZWg2MnIVIyi-YHvge9V0whBINUo4f62S2eqja78ir_A9DrwGzy345ny-QynBFZjw34If7T0f5TrffOrz-PfaLwSdM8Sb2YDacGj8VC5tyPbMUFLQEc5O96oqdnXrU5bwAhNtSP_WutWKgIOItYnnA1rpJmyQMJhajM-sCBCGZ3eomah0sbaHxZO93sV7ok-gsJhMMZqVzcDkWTJpdToUEV853OYwoVdBV4SKlqN1nrKGvyC-ANRfSiWRDqigcf29oeSsybBqAPNrUYQ5mSL6AD_3vP_j_F34uyNB_EP1uL_ZmQasHZsNFWgKcjjdCC_e13bLhTocc3JbZNIDQ_Xe9_0I9xOWuciivyoGBWW7J-WrqNFLYi_Rv2ul77xJZCrEsxYYP6GOf-lgtw1mAP5QcQmCoxGVz-ANqD4Lslie_eQtAXdoK7aTpCnqIKYvyfnW-k_MWtunbLitxO_p2AGHuhu7__EHoeeHu6spAS09rq4K7S9UDqvluPefNRiYT2Ao6CPT5QPEADwAadt0dEOXFlPZGrj17hvaKlS7NshwvRC7qzhgNLHU568p",
  "id": "rs_08f0e1dca81bc556016ab44a7cde2087d0a6ed8b992b0740c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.5},\"note\":\"The upper body is now centered between the jaws. I’ll close only to about 5 cm—narrow enough to hold the bottle but not so far that the rounded body is squeezed sideways.\"}",
  "call_id": "call_XzuqJROvrcXfdbXSp32HHA3m",
  "id": "fc_08f0e1dca81bc556016ab44a7d368087d0a8f19f5485b81d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XzuqJROvrcXfdbXSp32HHA3m",
  "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]: [-0.6205, 1.5768, 0.551, 0.3618, -0.5694, -0.4461, 0.5053, -0.2359, 0.8368, 0.5205, -0.3355, -0.3679, -0.271, 0.9955]\nstate[eef_state]: left_x=0.3604 left_y=-0.1361 left_z=0.0629 left_yaw=0.0729 left_pitch=0.0173 left_roll=-0.0277 left_gripper=0.5053 right_x=0.2894 right_y=-0.0005 right_z=0.1465 right_yaw=0.1923 right_pitch=-0.0358 right_roll=0.0119 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -5.4906, 6.4889, 1.2821, -0.2564, 0.1148, 0.2173, -0.4444, -2.0034, 6.7214, 1.9463, -0.2173, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e87792cd6a550ea10fb80bbb3bc3a5f31ecc364a336ac7fa43929deb425898",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dc3e6f1599cb2c9b930e1f91d934d8729aafe4c71630a250e5983f86439695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa215e6a2c47217edc9c9296cbb417df5e565a8ba0ac513a000f45a45457e369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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