adhoc - adhoc_ea04065e.json

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: 257.6 s
total steps: 304

success_at_end

scenes

trials

errored

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

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

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteThree bottles are lying near the center; the leftmost is diagonal with its blue cap toward the upper-left and base toward the lower-right. I’m moving the left gripper above that cap/neck with the jaws rotated across the bottle axis, while keeping the right arm parked.

move_to

left_x0.4400left_y-0.1600left_z0.1600left_yaw0.7500left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6064, -0.3801, -0.0204, -0.0296, 0.9988, -0.0158, 0.7891, 0.6037, -0.3832, -0.0132, -0.0208, 0.9998] state[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1811 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.294 right_y=0.0013 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.388, 9.9624, 1.8388, -0.022, 0.1538, -0.1392, -1.0325, -1.1282, 10.4821, 1.8193, -0.0952, 0.0366, -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":0.44,"left_y":-0.16,"left_z":0.16,"left_yaw":0.75,"left_gripper":1.0,"right_x":0.294,"right_y":0.001,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"Three bottles are lying near the center; the leftmost is diagonal with its blue cap toward the upper-left and base toward the lower-right. I’m moving the left gripper above that cap/neck with the jaws rotated across the bottle axis, while keeping the right arm parked."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteThe diagonal bottle’s cap is close in the wrist view but sits about 4 cm left of the jaw centerline. I’m shifting the gripper a small step toward it in the rotated tool frame before descending.

move_to

left_x0.4280left_y-0.1460left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6712, 2.0682, 1.7348, -0.8967, -0.9401, -1.2171, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0124, -0.0284, 0.9999] state[eef_state]: left_x=0.4475 left_y=-0.1686 left_z=0.1564 left_yaw=0.6801 left_pitch=-0.0223 left_roll=-0.036 left_gripper=0.9989 right_x=0.2914 right_y=0.0002 right_z=0.1748 right_yaw=0.0 right_pitch=-0.026 right_roll=-0.0063 right_gripper=0.9999 state[joint_eff]: [-0.4718, -11.5487, 6.3111, 0.0464, -0.7888, -0.0513, -0.1245, -0.1983, -1.5111, 7.0632, 1.956, -0.0855, 0.0611, -0.0317] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.428,"left_y":-0.146,"left_z":0.15},"note":"The diagonal bottle’s cap is close in the wrist view but sits about 4 cm left of the jaw centerline. I’m shifting the gripper a small step toward it in the rotated tool frame before descending."})

tool

executing move_to over 3 steps (0.3s)

step 18

assistant

agent noteThe cap is now nearly on the jaw centerline, but it remains clearly ahead of the actual fingertips in the wrist view. I’m advancing about 2.5 cm along the gripper’s forward direction so the neck sits under the grasp point.

move_to

left_x0.4450left_y-0.1300left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6727, 2.0262, 1.578, -0.8913, -0.9546, -1.2316, 0.9987, -0.0212, 0.7856, 0.5812, -0.3973, -0.0124, -0.0288, 0.9998] state[eef_state]: left_x=0.4223 left_y=-0.1476 left_z=0.1296 left_yaw=0.6935 left_pitch=-0.0316 left_roll=0.062 left_gripper=0.9987 right_x=0.289 right_y=-0.0003 right_z=0.1682 right_yaw=-0.0017 right_pitch=-0.0336 right_roll=-0.0065 right_gripper=0.9998 state[joint_eff]: [0.4581, -14.2291, 6.5026, 1.0232, -0.6032, 0.0952, -0.0366, -0.4444, -2.0308, 6.9128, 1.956, -0.1734, -0.0317, -0.0171] 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":0.445,"left_y":-0.13,"left_z":0.15},"note":"The cap is now nearly on the jaw centerline, but it remains clearly ahead of the actual fingertips in the wrist view. I’m advancing about 2.5 cm along the gripper’s forward direction so the neck sits under the grasp point."})

tool

executing move_to over 2 steps (0.2s)

step 20

assistant

agent noteThe neck remains centered between the jaws and the gripper is horizontally positioned for a neck grasp. I’m descending to roughly the bottle center height while leaving the jaws open.

move_to

left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6445, 2.0155, 1.5581, -0.794, -0.9413, -1.1755, 0.9985, -0.0212, 0.7738, 0.5594, -0.3847, -0.0124, -0.0292, 0.9998] state[eef_state]: left_x=0.4352 left_y=-0.144 left_z=0.1308 left_yaw=0.6854 left_pitch=-0.026 left_roll=0.0196 left_gripper=0.9985 right_x=0.2873 right_y=-0.0003 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998 state[joint_eff]: [1.4838, -13.5043, 6.7761, 0.7057, -0.5739, 0.3394, -0.0366, -0.6085, -1.6068, 6.9812, 2.0244, -0.1197, 0.0024, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.03},"note":"The neck remains centered between the jaws and the gripper is horizontally positioned for a neck grasp. I’m descending to roughly the bottle center height while leaving the jaws open."})

tool

executing move_to over 7 steps (0.7s)

step 27

assistant

agent noteThe attempted full descent did not track—the readback stayed at 13 cm with no contact signature—so this is an IK/reach issue rather than the bottle. I’m retrying with a modest intermediate height to unfold the arm gradually.

move_to

left_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9413, -1.1477, 0.9984, -0.0212, 0.7628, 0.5354, -0.3763, -0.0128, -0.0288, 0.9998] state[eef_state]: left_x=0.4441 left_y=-0.1303 left_z=0.1324 left_yaw=0.7072 left_pitch=-0.0195 left_roll=0.0158 left_gripper=0.9984 right_x=0.2847 right_y=-0.0002 right_z=0.1577 right_yaw=-0.0013 right_pitch=-0.0355 right_roll=-0.0063 right_gripper=0.9998 state[joint_eff]: [-0.1299, -13.559, 6.5436, 0.8718, -0.5495, 0.2613, -0.022, -0.7726, -2.0308, 6.5026, 2.0195, -0.1099, -0.0024, -0.0073] 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_z":0.08},"note":"The attempted full descent did not track—the readback stayed at 13 cm with no contact signature—so this is an IK/reach issue rather than the bottle. I’m retrying with a modest intermediate height to unfold the arm gradually."})

tool

executing move_to over 4 steps (0.4s)

step 31

assistant

agent noteA second vertical-only command also stalled at the same pose, confirming this joint configuration cannot descend directly. I’m retracting about 5 cm while lowering to 8 cm, which should move the arm off the awkward configuration before a low outward approach.

move_to

left_x0.3900left_y-0.1300left_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9417, -1.1477, 0.9984, -0.0212, 0.7456, 0.5037, -0.3607, -0.0128, -0.0307, 0.9998] state[eef_state]: left_x=0.4441 left_y=-0.1302 left_z=0.1325 left_yaw=0.7073 left_pitch=-0.0192 left_roll=0.0159 left_gripper=0.9984 right_x=0.2817 right_y=-0.0001 right_z=0.151 right_yaw=-0.0003 right_pitch=-0.0344 right_roll=-0.0078 right_gripper=0.9998 state[joint_eff]: [-0.2393, -13.559, 6.5573, 0.862, -0.6032, 0.2857, -0.0122, -0.5675, -1.7162, 6.7624, 1.9951, -0.1245, 0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.08},"note":"A second vertical-only command also stalled at the same pose, confirming this joint configuration cannot descend directly. I’m retracting about 5 cm while lowering to 8 cm, which should move the arm off the awkward configuration before a low outward approach."})

tool

executing move_to over 5 steps (0.5s)

step 36

assistant

agent noteThe arm now descended successfully, and the blue cap is centered in the jaw corridor but still just ahead of the fingertips. I’m making a low, short forward approach to put the cap/neck inside the open jaws at about its center height.

move_to

left_x0.4150left_y-0.1100left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6922, 1.98, 1.2518, -0.6323, -0.9558, -1.251, 0.9983, -0.0212, 0.7273, 0.4713, -0.3435, -0.0128, -0.0326, 0.9998] state[eef_state]: left_x=0.3897 left_y=-0.131 left_z=0.0679 left_yaw=0.6854 left_pitch=-0.0339 left_roll=0.0668 left_gripper=0.9983 right_x=0.2789 right_y=-0.0001 right_z=0.1445 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0095 right_gripper=0.9998 state[joint_eff]: [-0.212, -12.588, 5.8325, 0.6813, -0.6813, -0.0269, -0.0171, -0.5128, -1.1419, 6.9949, 1.9707, -0.1294, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.11,"left_z":0.035},"note":"The arm now descended successfully, and the blue cap is centered in the jaw corridor but still just ahead of the fingertips. I’m making a low, short forward approach to put the cap/neck inside the open jaws at about its center height."})

tool

executing move_to over 3 steps (0.3s)

step 39

assistant

agent noteThe bottle’s neck is centered and its upper body now extends into the open jaw gap, indicating the fingertips straddle it. I’m closing the gripper to secure the bottle near its capped end.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6266, 2.009, 1.14, -0.3912, -0.947, -1.1774, 0.9983, -0.0223, 0.7128, 0.4438, -0.3344, -0.0128, -0.0326, 0.9998] state[eef_state]: left_x=0.4012 left_y=-0.109 left_z=0.0379 left_yaw=0.7063 left_pitch=-0.0228 left_roll=0.0278 left_gripper=0.9983 right_x=0.2758 right_y=-0.0003 right_z=0.1376 right_yaw=-0.0004 right_pitch=-0.0351 right_roll=-0.0094 right_gripper=0.9998 state[joint_eff]: [0.1573, -9.0872, 5.2581, 0.906, -0.5055, 0.1929, -0.0122, -0.7043, -1.4154, 6.9402, 1.9658, -0.1636, -0.0171, -0.0073] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The bottle’s neck is centered and its upper body now extends into the open jaw gap, indicating the fingertips straddle it. I’m closing the gripper to secure the bottle near its capped end."})

tool

executing move_to over 10 steps (1.0s)

step 49

assistant

agent noteThe gripper settled at 0.37 (about 3.5 cm), confirming a firm grasp near the bottle’s neck. I’m lifting while moving back toward the bottle’s base, beginning a controlled pivot with the base left in contact with the table.

move_to

left_x0.3600left_y-0.1550left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6338, 2.006, 1.1213, -0.2951, -1.0035, -1.182, 0.3728, -0.0269, 0.693, 0.4107, -0.3202, -0.0132, -0.0322, 0.9998] state[eef_state]: left_x=0.4093 left_y=-0.1115 left_z=0.0474 left_yaw=0.7218 left_pitch=0.047 left_roll=-0.0425 left_gripper=0.3728 right_x=0.2724 right_y=-0.0014 right_z=0.1304 right_yaw=-0.0049 right_pitch=-0.0344 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [0.0068, -10.1675, 4.2325, 0.486, 0.0024, 0.0513, 0.6178, -0.5812, -1.0872, 6.9949, 1.9951, -0.1245, 0.0073, -0.0073] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.155,"left_z":0.13},"note":"The gripper settled at 0.37 (about 3.5 cm), confirming a firm grasp near the bottle’s neck. I’m lifting while moving back toward the bottle’s base, beginning a controlled pivot with the base left in contact with the table."})

tool

executing move_to over 6 steps (0.6s)

step 55

assistant

agent noteThe bottle remains captured and is now visibly angled, with its body trailing toward the base-contact point behind the gripper. I’m continuing the same lift-and-back arc to bring the cap over the base and make the bottle vertical.

move_to

left_x0.3250left_y-0.1950left_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7937, 1.9499, 1.3624, -0.8654, -0.9985, -1.4525, 0.372, -0.0284, 0.6727, 0.3794, -0.3058, -0.0174, -0.0326, 0.9998] state[eef_state]: left_x=0.3709 left_y=-0.1601 left_z=0.107 left_yaw=0.7008 left_pitch=-0.0005 left_roll=-0.0041 left_gripper=0.372 right_x=0.2694 right_y=-0.001 right_z=0.1241 right_yaw=-0.0027 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998 state[joint_eff]: [-0.6222, -12.8752, 7.4051, 0.3394, -0.5104, -0.0904, -0.105, -0.6085, -1.0051, 6.8991, 2.0, -0.1294, -0.0024, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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":0.325,"left_y":-0.195,"left_z":0.2},"note":"The bottle remains captured and is now visibly angled, with its body trailing toward the base-contact point behind the gripper. I’m continuing the same lift-and-back arc to bring the cap over the base and make the bottle vertical."})

tool

executing move_to over 7 steps (0.7s)

step 62

assistant

agent noteThe cap is now nearly over the estimated base contact point, and its height is about the bottle’s cap-to-base length. I’m lowering slightly to seat the bottle base on the table before releasing.

move_to

left_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9405, 1.9488, 1.689, -1.367, -0.9802, -1.7096, 0.3719, -0.0284, 0.6533, 0.3531, -0.2932, -0.028, -0.0322, 0.9998] state[eef_state]: left_x=0.3336 left_y=-0.2022 left_z=0.1844 left_yaw=0.6938 left_pitch=-0.0227 left_roll=-0.0455 left_gripper=0.3719 right_x=0.2669 right_y=0.001 right_z=0.1196 right_yaw=0.0061 right_pitch=-0.025 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4855, -9.5248, 7.3915, -0.1685, -0.6764, -0.0122, -0.022, -0.8274, -0.759, 6.8034, 1.9316, -0.0513, -0.0073, -0.0073] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.16},"note":"The cap is now nearly over the estimated base contact point, and its height is about the bottle’s cap-to-base length. I’m lowering slightly to seat the bottle base on the table before releasing."})

tool

executing move_to over 2 steps (0.2s)

step 64

assistant

agent noteThe downward command stopped essentially at the prior height while the shoulder load changed, indicating the bottle base has contacted the table. I’m opening the jaws to leave this first bottle standing.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9493, 1.9553, 1.6745, -1.4078, -0.9878, -1.7462, 0.3718, -0.0284, 0.6441, 0.3382, -0.2893, -0.028, -0.0326, 0.9998] state[eef_state]: left_x=0.3273 left_y=-0.1975 left_z=0.1805 left_yaw=0.7051 left_pitch=-0.0111 left_roll=-0.0149 left_gripper=0.3718 right_x=0.2651 right_y=0.001 right_z=0.1158 right_yaw=0.0063 right_pitch=-0.0269 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.3624, -7.7197, 5.0393, 0.0513, -0.5983, 0.1929, -0.0171, -0.4308, -0.7316, 6.7624, 2.0391, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The downward command stopped essentially at the prior height while the shoulder load changed, indicating the bottle base has contacted the table. I’m opening the jaws to leave this first bottle standing."})

tool

executing move_to over 7 steps (0.7s)

step 71

assistant

agent noteThe first bottle has been released; the arm still occludes the placement in the overhead camera. I’m lifting and parking it away while restoring the drifting right arm, so I can verify the bottle and plan the next grasp.

move_to

left_x0.2800left_y0.0000left_z0.2500left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9493, 1.9953, 1.6665, -1.4097, -0.9806, -1.7588, 0.9951, -0.0284, 0.627, 0.3141, -0.2878, -0.0303, -0.0334, 0.9998] state[eef_state]: left_x=0.327 left_y=-0.1983 left_z=0.1644 left_yaw=0.7135 left_pitch=-0.0138 left_roll=0.025 left_gripper=0.9951 right_x=0.2615 right_y=0.0015 right_z=0.1093 right_yaw=0.0087 right_pitch=-0.0322 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3897, -12.2051, 7.0222, -0.1734, -0.6374, 0.0171, -0.1148, -0.4991, -0.5812, 7.1453, 2.0049, -0.0855, -0.0317, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.28,"left_y":0.0,"left_z":0.25,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.294,"right_y":0.001,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The first bottle has been released; the arm still occludes the placement in the overhead camera. I’m lifting and parking it away while restoring the drifting right arm, so I can verify the bottle and plan the next grasp."})

tool

executing move_to over 18 steps (1.8s)

step 89

assistant

agent noteThe first bottle fell back onto its side, so I’m switching to the center bottle, whose cap-to-base direction is almost exactly radial and easier to pivot accurately. I’m positioning the left gripper high above its far cap with unrotated jaws, perpendicular to the bottle axis.

move_to

left_x0.4800left_y-0.2600left_z0.1500left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7956, 0.8639, -0.6613, -0.1795, -0.1585, 0.998, -0.0189, 0.7856, 0.5564, -0.3969, -0.0277, -0.0357, 0.9998] state[eef_state]: left_x=0.2798 left_y=0.0148 left_z=0.241 left_yaw=0.1512 left_pitch=-0.0149 left_roll=-0.0184 left_gripper=0.998 right_x=0.2857 right_y=0.0031 right_z=0.1571 right_yaw=0.0172 right_pitch=-0.0578 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.0872, 8.3897, 1.8632, -0.1343, 0.1001, -0.2222, 0.2256, -0.6632, 10.3316, 1.9414, 0.0904, 0.1245, -0.0317] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.26,"left_z":0.15,"left_yaw":0.0,"left_gripper":1.0},"note":"The first bottle fell back onto its side, so I’m switching to the center bottle, whose cap-to-base direction is almost exactly radial and easier to pivot accurately. I’m positioning the left gripper high above its far cap with unrotated jaws, perpendicular to the bottle axis."})

tool

executing move_to over 25 steps (2.5s)

step 114

assistant

agent noteThe center bottle’s cap is exactly on the jaw centerline; the wrist view also shows it is still slightly ahead of the fingertips. To avoid the long-reach descent stall encountered before, I’m retracting 3 cm while lowering first, then I’ll make the final low forward approach.

move_to

left_x0.4400left_y-0.2490left_z0.0700

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6689, 1.9514, 1.42, -0.1974, -0.5583, -0.4282, 0.9982, -0.02, 0.7479, 0.4965, -0.3584, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4712 left_y=-0.2486 left_z=0.1384 left_yaw=0.0085 left_pitch=-0.0332 left_roll=0.025 left_gripper=0.9982 right_x=0.2811 right_y=0.0034 right_z=0.1476 right_yaw=0.0188 right_pitch=-0.0413 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.6769, -10.5778, 9.1009, 1.6142, -0.2418, -0.0317, -0.1978, -0.3761, -1.4154, 7.241, 2.0293, -0.0317, 0.0073, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.249,"left_z":0.07},"note":"The center bottle’s cap is exactly on the jaw centerline; the wrist view also shows it is still slightly ahead of the fingertips. To avoid the long-reach descent stall encountered before, I’m retracting 3 cm while lowering first, then I’ll make the final low forward approach."})

tool

executing move_to over 5 steps (0.5s)

step 119

assistant

agent noteAt the lower height the target’s cap and neck are centered, but they project well ahead of the fingertip line while the body enters the jaw corridor. I’m advancing to the cap’s estimated table coordinate and lowering to neck-center height for the grasp.

move_to

left_x0.4850left_y-0.2490left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7151, 1.9652, 1.1419, 0.0536, -0.5743, -0.4519, 0.9977, -0.02, 0.725, 0.4568, -0.3389, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4344 left_y=-0.2454 left_z=0.065 left_yaw=-0.0117 left_pitch=-0.0573 left_roll=0.04 left_gripper=0.9977 right_x=0.2774 right_y=0.0035 right_z=0.1395 right_yaw=0.0188 right_pitch=-0.0386 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.6222, -8.9368, 6.0923, 1.7265, -0.4371, -0.1783, -0.0562, -0.294, -1.4838, 6.9675, 2.0147, -0.1245, 0.0073, -0.0073] 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":{"left_x":0.485,"left_y":-0.249,"left_z":0.035},"note":"At the lower height the target’s cap and neck are centered, but they project well ahead of the fingertip line while the body enters the jaw corridor. I’m advancing to the cap’s estimated table coordinate and lowering to neck-center height for the grasp."})

tool

executing move_to over 4 steps (0.4s)

step 123

assistant

agent noteThe bottle is now centered between the jaws at table height, with the narrow upper shoulder entering the fingertip region. I’m closing to capture it near the capped end.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 2.1208, 1.2083, 0.2409, -0.5461, -0.4412, 0.9977, -0.0204, 0.7033, 0.4213, -0.3206, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4772 left_y=-0.2462 left_z=0.0426 left_yaw=0.0197 left_pitch=0.0065 left_roll=-0.0278 left_gripper=0.9977 right_x=0.2741 right_y=0.0034 right_z=0.1326 right_yaw=0.0184 right_pitch=-0.0341 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.4991, -8.9778, 6.2974, 1.3553, -0.0171, 0.359, -0.0171, -0.3761, -1.1282, 6.8855, 2.0098, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The bottle is now centered between the jaws at table height, with the narrow upper shoulder entering the fingertip region. I’m closing to capture it near the capped end."})

tool

executing move_to over 10 steps (1.0s)

step 133

assistant

agent noteThe gripper settled at 0.47 (about 4.5 cm), confirming a secure upper-shoulder grasp. Because this bottle lies straight along the arm’s radial axis, I’m lifting and retracting its top end along a simple arc while its base remains on the table.

move_to

left_x0.4000left_y-0.2490left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6594, 2.1353, 1.227, 0.2554, -0.569, -0.4454, 0.4697, -0.02, 0.6849, 0.3901, -0.3061, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.482 left_y=-0.2486 left_z=0.046 left_yaw=0.0354 left_pitch=0.0298 left_roll=-0.0323 left_gripper=0.4697 right_x=0.2711 right_y=0.0036 right_z=0.1259 right_yaw=0.0188 right_pitch=-0.0325 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.0342, -12.3282, 5.6, 1.1502, -0.1587, 0.1294, 0.7985, -0.3897, -1.0872, 7.1043, 1.9853, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.249,"left_z":0.13},"note":"The gripper settled at 0.47 (about 4.5 cm), confirming a secure upper-shoulder grasp. Because this bottle lies straight along the arm’s radial axis, I’m lifting and retracting its top end along a simple arc while its base remains on the table."})

tool

executing move_to over 7 steps (0.7s)

step 140

assistant

agent noteThe bottle remains firmly held as its top end rises and moves toward its base; the overhead view shows the grasped bottle mostly occluded under the gripper while the other two remain on the table. I’m completing the radial pivot so the held shoulder is directly above the original base point.

move_to

left_x0.3200left_y-0.2550left_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7925, 1.8256, 1.1534, -0.0589, -0.6502, -0.5331, 0.4694, -0.02, 0.6662, 0.3599, -0.2901, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4104 left_y=-0.2589 left_z=0.1213 left_yaw=0.0104 left_pitch=0.007 left_roll=-0.016 left_gripper=0.4694 right_x=0.2685 right_y=0.0037 right_z=0.1201 right_yaw=0.0191 right_pitch=-0.028 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.5402, -11.3299, 5.6, 1.5311, -0.4078, -0.1294, -0.0464, -0.1846, -0.7179, 6.9812, 1.9512, -0.1001, -0.0513, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.255,"left_z":0.2},"note":"The bottle remains firmly held as its top end rises and moves toward its base; the overhead view shows the grasped bottle mostly occluded under the gripper while the other two remain on the table. I’m completing the radial pivot so the held shoulder is directly above the original base point."})

tool

executing move_to over 7 steps (0.7s)

step 147

assistant

agent noteThe held end is now over the bottle’s original base location at roughly the correct full-height position. I’m lowering slowly to seat the base firmly; a tracking stop will indicate contact before I release.

move_to

left_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9806, 1.5803, 1.1606, -0.4377, -0.7559, -0.6865, 0.4694, -0.02, 0.6514, 0.3336, -0.2832, -0.0311, -0.0364, 0.9998] state[eef_state]: left_x=0.3267 left_y=-0.2635 left_z=0.1809 left_yaw=-0.0202 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.4694 right_x=0.2652 right_y=0.0038 right_z=0.1132 right_yaw=0.0194 right_pitch=-0.0325 right_roll=-0.0022 right_gripper=0.9998 state[joint_eff]: [-0.2803, -9.1966, 9.7026, 1.3846, -0.5641, -0.1294, -0.0171, -0.3761, -0.4718, 7.1179, 1.9756, -0.1245, -0.0708, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.14},"note":"The held end is now over the bottle’s original base location at roughly the correct full-height position. I’m lowering slowly to seat the base firmly; a tracking stop will indicate contact before I release."})

tool

executing move_to over 3 steps (0.3s)

step 150

assistant

agent noteThe gripper tracked to 14 cm without a clear stop, so the base is not yet fully seated—likely because the grasp is slightly lower on the shoulder than estimated. I’m continuing down in a small increment while holding the same base-aligned horizontal coordinate.

move_to

left_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9874, 1.6054, 1.0416, -0.3328, -0.7666, -0.6991, 0.4694, -0.02, 0.6331, 0.3058, -0.2714, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.3209 left_y=-0.2573 left_z=0.1416 left_yaw=-0.0127 left_pitch=-0.0307 left_roll=0.0269 left_gripper=0.4694 right_x=0.2624 right_y=0.0038 right_z=0.1074 right_yaw=0.0191 right_pitch=-0.0302 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [0.4581, -7.4188, 7.2547, 1.5653, -0.3394, 0.1783, -0.0171, -0.4444, -0.5265, 6.9675, 1.9219, -0.1245, -0.0611, -0.0073] 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":{"left_z":0.1},"note":"The gripper tracked to 14 cm without a clear stop, so the base is not yet fully seated—likely because the grasp is slightly lower on the shoulder than estimated. I’m continuing down in a small increment while holding the same base-aligned horizontal coordinate."})

tool

executing move_to over 3 steps (0.3s)

step 153

assistant

agent noteThe descent now stops about 1.8 cm above the commanded height, consistent with the bottle base taking load at this lower shoulder grasp. I’m releasing while keeping the gripper still so the bottle can settle vertically.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9886, 1.6295, 0.9627, -0.2237, -0.7677, -0.7002, 0.4694, -0.0204, 0.614, 0.2802, -0.2638, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.3195 left_y=-0.2556 left_z=0.118 left_yaw=-0.0126 left_pitch=-0.0265 left_roll=0.0214 left_gripper=0.4694 right_x=0.2595 right_y=0.0038 right_z=0.1019 right_yaw=0.0188 right_pitch=-0.0291 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.1299, -8.7179, 6.5709, 1.5214, -0.4713, 0.0024, -0.0171, -0.3214, -0.759, 6.8855, 1.9463, -0.105, -0.0562, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The descent now stops about 1.8 cm above the commanded height, consistent with the bottle base taking load at this lower shoulder grasp. I’m releasing while keeping the gripper still so the bottle can settle vertically."})

tool

executing move_to over 6 steps (0.6s)

step 159

assistant

agent noteThe bottle slid instead of pivoting because its base was unrestrained. I’m returning the left gripper above the cap and raising the right arm; next I’ll use the right gripper to pin the bottle’s base during the lift.

move_to

left_x0.4800left_y-0.2600left_z0.1500left_yaw0.0000left_gripper1.0000right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9886, 1.6295, 0.9615, -0.2131, -0.7681, -0.7071, 0.9955, -0.02, 0.5941, 0.2554, -0.2615, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3202 left_y=-0.2567 left_z=0.119 left_yaw=-0.0089 left_pitch=-0.0209 left_roll=0.008 left_gripper=0.9955 right_x=0.2561 right_y=0.0039 right_z=0.0958 right_yaw=0.0188 right_pitch=-0.0318 right_roll=-0.0022 right_gripper=0.9998 state[joint_eff]: [-0.335, -8.9094, 6.2427, 1.4188, -0.4176, 0.0952, -0.0904, -0.4444, -0.4034, 6.9402, 1.956, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.26,"left_z":0.15,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The bottle slid instead of pivoting because its base was unrestrained. I’m returning the left gripper above the cap and raising the right arm; next I’ll use the right gripper to pin the bottle’s base during the lift."})

tool

executing move_to over 13 steps (1.3s)

step 172

assistant

agent noteThe left gripper is back over the center bottle’s cap, while its broad base is near x≈0.32 at the table center line. I’m bringing the right gripper low over that base to hold it against sliding.

move_to

right_x0.3200right_y0.3900right_z0.0800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6827, 1.9579, 1.4204, -0.1768, -0.5819, -0.4698, 0.9979, -0.0212, 0.7647, 0.551, -0.4042, -0.0296, -0.036, 0.9998] state[eef_state]: left_x=0.4712 left_y=-0.2533 left_z=0.1401 left_yaw=0.0349 left_pitch=-0.0118 left_roll=-0.0069 left_gripper=0.9979 right_x=0.283 right_y=0.0028 right_z=0.1588 right_yaw=0.0167 right_pitch=-0.0493 right_roll=-0.0022 right_gripper=0.9998 state[joint_eff]: [0.335, -10.3453, 8.9504, 1.4188, -0.1392, 0.398, -0.2271, -0.5402, -0.6359, 10.2359, 1.8632, 0.0562, 0.0513, -0.0317] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.39,"right_z":0.08,"right_yaw":0.0,"right_gripper":1.0},"note":"The left gripper is back over the center bottle’s cap, while its broad base is near x≈0.32 at the table center line. I’m bringing the right gripper low over that base to hold it against sliding."})

tool

executing move_to over 33 steps (3.3s)

step 205

assistant

agent noteThe right wrist view shows the center bottle’s broad base centered between its jaws at close range. I’m descending to body-center height so the right gripper can clamp the base without moving it.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6624, 1.969, 1.4124, -0.1776, -0.5838, -0.4553, 0.9977, 1.1275, 2.0834, 1.3952, -0.3515, 0.8791, 0.8837, 0.9998] state[eef_state]: left_x=0.475 left_y=-0.2424 left_z=0.1313 left_yaw=0.049 left_pitch=-0.026 left_roll=0.0191 left_gripper=0.9977 right_x=0.321 right_y=0.3672 right_z=0.0754 right_yaw=-0.0335 right_pitch=-0.0143 right_roll=-0.0193 right_gripper=0.9998 state[joint_eff]: [-2.3316, -11.9043, 6.4615, 1.6825, -0.3443, -0.1099, -0.0366, 1.4017, -9.2239, 9.4017, 1.4139, 0.0904, -0.6276, -0.0317] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.035},"note":"The right wrist view shows the center bottle’s broad base centered between its jaws at close range. I’m descending to body-center height so the right gripper can clamp the base without moving it."})

tool

executing move_to over 3 steps (0.3s)

step 208

assistant

agent noteThe right fingertips now straddle the centered bottle’s lower body at table level. I’m closing around the base to anchor it in place for the left-arm pivot.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 1.969, 1.3808, -0.1535, -0.5835, -0.4553, 0.9977, 1.1244, 2.1181, 1.3273, -0.2344, 0.902, 0.9051, 0.9998] state[eef_state]: left_x=0.4738 left_y=-0.2366 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.032 left_roll=0.0239 left_gripper=0.9977 right_x=0.3228 right_y=0.3616 right_z=0.0521 right_yaw=-0.0598 right_pitch=0.0095 right_roll=0.0044 right_gripper=0.9998 state[joint_eff]: [-0.9641, -11.6718, 6.3248, 1.8437, -0.232, -0.0073, -0.0171, 0.0615, -8.3487, 5.0667, 0.8523, 0.022, -0.3346, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The right fingertips now straddle the centered bottle’s lower body at table level. I’m closing around the base to anchor it in place for the left-arm pivot."})

tool

executing move_to over 10 steps (1.0s)

step 218

assistant

agent noteThe right gripper closed empty (0.016), so the visible base was not yet at the fingertip point; it is slightly closer to the bases than estimated. I’m reopening and retracting about 3 cm at the same low height for one corrected anchoring attempt.

move_to

right_gripper1.0000right_x0.3000right_z0.0400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 1.969, 1.3376, -0.0906, -0.5835, -0.4549, 0.9977, 1.1282, 2.1288, 1.317, -0.1406, 0.9386, 0.8814, 0.016] state[eef_state]: left_x=0.473 left_y=-0.236 left_z=0.1156 left_yaw=0.056 left_pitch=-0.0169 left_roll=0.0112 left_gripper=0.9977 right_x=0.3282 right_y=0.368 right_z=0.0575 right_yaw=-0.0655 right_pitch=0.0654 right_roll=0.0402 right_gripper=0.016 state[joint_eff]: [-0.4444, -11.7265, 6.3795, 1.6142, -0.2515, -0.0366, -0.0171, -0.3214, -9.3607, 5.5179, 0.9451, -0.2173, -0.0317, 0.9353] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_x":0.3,"right_z":0.04},"note":"The right gripper closed empty (0.016), so the visible base was not yet at the fingertip point; it is slightly closer to the bases than estimated. I’m reopening and retracting about 3 cm at the same low height for one corrected anchoring attempt."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteAfter retracting, the target’s lower body now lies directly within the fingertip gap and fills the near portion of the right wrist view. I’m closing again to anchor the bottle base.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 1.969, 1.3228, -0.0643, -0.5835, -0.4522, 0.9976, 1.1595, 2.1292, 1.3441, -0.2893, 0.9154, 0.9936, 0.9953] state[eef_state]: left_x=0.4732 left_y=-0.2361 left_z=0.114 left_yaw=0.0545 left_pitch=-0.0083 left_roll=0.006 left_gripper=0.9976 right_x=0.3091 right_y=0.3673 right_z=0.049 right_yaw=-0.0787 right_pitch=0.0023 right_roll=0.0291 right_gripper=0.9953 state[joint_eff]: [-0.1162, -11.1521, 5.9419, 1.6288, -0.3004, -0.0855, -0.0122, 1.7983, -10.0581, 5.1077, 0.9402, 0.4762, -0.0757, 0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"After retracting, the target’s lower body now lies directly within the fingertip gap and fills the near portion of the right wrist view. I’m closing again to anchor the bottle base."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteThe second close was also empty even though the body is centered, indicating the right grasp point is passing above the round bottle rather than missing laterally. I’m reopening and lowering nearly to table level so the jaws engage the lower half of the bottle.

move_to

right_gripper1.0000right_z0.0050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6632, 1.969, 1.322, -0.0635, -0.5835, -0.4519, 0.9976, 1.1564, 2.1292, 1.359, -0.3176, 0.9497, 0.9791, 0.0165] state[eef_state]: left_x=0.4711 left_y=-0.24 left_z=0.1138 left_yaw=0.0459 left_pitch=-0.0083 left_roll=0.0063 left_gripper=0.9976 right_x=0.3125 right_y=0.3626 right_z=0.0554 right_yaw=-0.0897 right_pitch=0.0267 right_roll=-0.0056 right_gripper=0.0165 state[joint_eff]: [0.4855, -10.9333, 5.6957, 1.7411, -0.2271, -0.0073, -0.0073, 0.0479, -10.3863, 6.5026, 0.9011, 0.1587, 0.0855, 0.9011] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0,"right_z":0.005},"note":"The second close was also empty even though the body is centered, indicating the right grasp point is passing above the round bottle rather than missing laterally. I’m reopening and lowering nearly to table level so the jaws engage the lower half of the bottle."})

tool

executing move_to over 10 steps (1.0s)

step 248

assistant

agent noteAt 2.3 cm height the right fingertips are now below the bottle’s midline and visibly straddle its base section. I’m closing once more to secure the anchor.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6582, 1.9713, 1.3151, -0.0635, -0.5835, -0.4519, 0.9976, 1.1473, 2.1994, 1.3228, -0.1989, 0.9424, 1.0103, 0.9957] state[eef_state]: left_x=0.471 left_y=-0.2366 left_z=0.11 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3163 right_y=0.3627 right_z=0.0227 right_yaw=-0.1127 right_pitch=0.0242 right_roll=0.0348 right_gripper=0.9957 state[joint_eff]: [-0.7179, -10.988, 6.106, 1.7118, -0.2857, -0.0317, -0.0073, 0.0205, -8.6632, 4.6838, 1.0916, 0.2564, -0.2369, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At 2.3 cm height the right fingertips are now below the bottle’s midline and visibly straddle its base section. I’m closing once more to secure the anchor."})

tool

executing move_to over 10 steps (1.0s)

step 258

assistant

agent noteThe right gripper now holds the bottle base at 0.51, providing the needed anchor. The left wrist sees the blue cap centered just ahead of its jaws, so I’m lowering and advancing the left gripper onto the cap while the base stays fixed.

move_to

left_x0.4900left_y-0.2460left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6582, 1.9713, 1.3003, -0.0486, -0.5835, -0.4519, 0.9976, 1.145, 2.2005, 1.3457, -0.255, 0.9382, 1.0206, 0.506] state[eef_state]: left_x=0.4697 left_y=-0.2357 left_z=0.1066 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3161 right_y=0.3608 right_z=0.0237 right_yaw=-0.118 right_pitch=0.0101 right_roll=0.012 right_gripper=0.506 state[joint_eff]: [-0.1436, -10.906, 5.9419, 1.6972, -0.2955, -0.0317, -0.0122, -0.1162, -10.906, 6.8855, 0.7497, 0.3004, -0.0611, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.246,"left_z":0.025},"note":"The right gripper now holds the bottle base at 0.51, providing the needed anchor. The left wrist sees the blue cap centered just ahead of its jaws, so I’m lowering and advancing the left gripper onto the cap while the base stays fixed."})

tool

executing move_to over 6 steps (0.6s)

step 264

assistant

agent noteThe left descent stopped at 8 cm because the palm touched the bottle off-center; the cap appears about 2 cm right of the jaw centerline. I’m shifting laterally toward the cap and retrying the descent while the right gripper keeps the base anchored.

move_to

left_y-0.2700left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6682, 2.088, 1.301, 0.1429, -0.5953, -0.4515, 0.9976, 1.1282, 2.2044, 1.3479, -0.276, 0.9379, 0.989, 0.5095] state[eef_state]: left_x=0.4868 left_y=-0.2534 left_z=0.0806 left_yaw=0.0506 left_pitch=0.0467 left_roll=-0.0312 left_gripper=0.9976 right_x=0.3208 right_y=0.3528 right_z=0.0211 right_yaw=-0.1175 right_pitch=0.0025 right_roll=-0.0361 right_gripper=0.5095 state[joint_eff]: [1.2103, -1.935, 4.4103, 2.1514, -0.0317, 0.0464, -0.0122, 1.2376, -11.6444, 6.4205, 0.9011, 0.2857, 0.3199, 0.7888] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.27,"left_z":0.035},"note":"The left descent stopped at 8 cm because the palm touched the bottle off-center; the cap appears about 2 cm right of the jaw centerline. I’m shifting laterally toward the cap and retrying the descent while the right gripper keeps the base anchored."})

tool

executing move_to over 3 steps (0.3s)

step 267

assistant

agent noteThe cap is laterally closer to center, but the 0.50 m reach is preventing further descent. I’m retracting to the previously reachable low-x pose and making the remaining small lateral correction so the cap sits between the fingertips.

move_to

left_x0.4700left_y-0.2850left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6823, 2.1456, 1.3579, 0.1699, -0.63, -0.4694, 0.9976, 1.1198, 2.2017, 1.3334, -0.2527, 0.9417, 1.0054, 0.5125] state[eef_state]: left_x=0.4967 left_y=-0.2648 left_z=0.0791 left_yaw=0.0744 left_pitch=0.0797 left_roll=-0.0495 left_gripper=0.9976 right_x=0.3238 right_y=0.3492 right_z=0.0204 right_yaw=-0.1364 right_pitch=0.0096 right_roll=-0.0125 right_gripper=0.5125 state[joint_eff]: [-1.4154, -6.2154, 6.147, 1.5311, -0.0024, -0.0073, -0.0122, 0.1846, -12.506, 4.5333, 1.1013, 0.1636, -0.149, 0.6471] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.47,"left_y":-0.285,"left_z":0.035},"note":"The cap is laterally closer to center, but the 0.50 m reach is preventing further descent. I’m retracting to the previously reachable low-x pose and making the remaining small lateral correction so the cap sits between the fingertips."})

tool

executing move_to over 3 steps (0.3s)

step 270

assistant

agent noteThe combined low retraction did not move because the left palm remains in contact with the cap. I’m first lifting clear and retracting at the higher pose, then I can descend vertically beside the cap without the contact blocking the path.

move_to

left_x0.4600left_y-0.2850left_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6861, 2.1487, 1.3643, 0.1665, -0.6369, -0.4751, 0.9976, 1.1179, 2.2017, 1.3289, -0.2432, 0.9459, 1.0145, 0.5159] state[eef_state]: left_x=0.4967 left_y=-0.2663 left_z=0.0799 left_yaw=0.079 left_pitch=0.0823 left_roll=-0.0517 left_gripper=0.9976 right_x=0.3248 right_y=0.3483 right_z=0.0204 right_yaw=-0.1451 right_pitch=0.0148 right_roll=-0.0011 right_gripper=0.5159 state[joint_eff]: [-1.1829, -6.2017, 5.7368, 1.409, -0.0024, -0.105, -0.0122, -0.3077, -12.041, 5.8051, 0.8718, 0.1978, -0.0757, 0.6618] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.285,"left_z":0.12},"note":"The combined low retraction did not move because the left palm remains in contact with the cap. I’m first lifting clear and retracting at the higher pose, then I can descend vertically beside the cap without the contact blocking the path."})

tool

executing move_to over 3 steps (0.3s)

step 273

assistant

agent noteThe left arm remains contact-limited, but the cap is centered deep between the open jaws at the current pose. I’m closing here to test whether the cap is already enclosed; the settled gripper width will confirm or reject the grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6876, 2.1487, 1.3655, 0.1669, -0.6369, -0.4747, 0.9976, 1.1175, 2.2017, 1.3293, -0.2455, 0.9463, 1.0214, 0.5161] state[eef_state]: left_x=0.4966 left_y=-0.2673 left_z=0.0804 left_yaw=0.0774 left_pitch=0.0834 left_roll=-0.0524 left_gripper=0.9976 right_x=0.3249 right_y=0.3479 right_z=0.0204 right_yaw=-0.1493 right_pitch=0.0145 right_roll=0.0028 right_gripper=0.5161 state[joint_eff]: [-1.0051, -6.3521, 5.6821, 1.3797, 0.0024, -0.0904, -0.0122, -0.5949, -11.6718, 6.0786, 0.8181, 0.2711, -0.0024, 0.7741] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The left arm remains contact-limited, but the cap is centered deep between the open jaws at the current pose. I’m closing here to test whether the cap is already enclosed; the settled gripper width will confirm or reject the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 283

assistant

agent noteThe cap is just beyond the left arm’s low-reach limit, while the right gripper securely holds the base. I’m reopening the empty left jaws and pulling the entire anchored bottle about 4 cm inward with the right arm, bringing the cap into reachable space without changing its orientation.

move_to

left_gripper1.0000right_x0.2900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6853, 2.1487, 1.441, -0.0357, -0.6357, -0.4984, 0.012, 1.1088, 2.2013, 1.3327, -0.2462, 0.9508, 1.0203, 0.5185] state[eef_state]: left_x=0.4912 left_y=-0.2614 left_z=0.076 left_yaw=0.0882 left_pitch=-0.0086 left_roll=0.0151 left_gripper=0.012 right_x=0.3286 right_y=0.3454 right_z=0.022 right_yaw=-0.1595 right_pitch=0.0194 right_roll=0.0035 right_gripper=0.5185 state[joint_eff]: [-0.212, -11.1932, 8.4991, 1.4969, -0.1392, 0.0269, 1.0085, 0.3077, -11.6308, 5.8735, 0.7546, 0.2564, -0.0073, 0.4713] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0,"right_x":0.29},"note":"The cap is just beyond the left arm’s low-reach limit, while the right gripper securely holds the base. I’m reopening the empty left jaws and pulling the entire anchored bottle about 4 cm inward with the right arm, bringing the cap into reachable space without changing its orientation."})

tool

executing move_to over 10 steps (1.0s)

step 293

assistant

agent notePulling the bottle inward brought the blue cap squarely between the left jaw walls. I’m descending and closing in one controlled motion to secure the now-reachable cap while the right gripper continues anchoring the base.

move_to

left_x0.4650left_z0.0250left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7006, 2.1487, 1.4311, -0.0422, -0.6434, -0.5014, 0.9946, 1.1461, 2.1899, 1.3243, -0.3294, 0.9737, 1.1294, 0.5182] state[eef_state]: left_x=0.4847 left_y=-0.2654 left_z=0.0718 left_yaw=0.0804 left_pitch=-0.0166 left_roll=0.0277 left_gripper=0.9946 right_x=0.311 right_y=0.342 right_z=0.0219 right_yaw=-0.1886 right_pitch=0.0177 right_roll=0.0138 right_gripper=0.5182 state[joint_eff]: [1.0872, -12.3966, 5.7915, 1.7851, -0.1099, -0.0415, -0.2173, 3.3846, -13.0256, 4.3419, 0.4371, 0.1148, -0.1099, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_z":0.025,"left_gripper":0.0},"note":"Pulling the bottle inward brought the blue cap squarely between the left jaw walls. I’m descending and closing in one controlled motion to secure the now-reachable cap while the right gripper continues anchoring the base."})

tool

executing move_to over 10 steps (1.0s)

step 303

assistant

agent noteI could not complete the task safely within the remaining interaction budget. The bottles slid when lifted by one end; a two-arm anchoring attempt secured one bottle's base, but the cap remained just beyond the left arm's low-reach pose and repeated cap grasps closed empty. None of the three bottles was left reliably upright.

give_up

hindsightFor these long bottles, a one-arm end lift does not pivot because the unrestrained base slides; the far cap of the center bottle is near x≈0.50, at the practical table-contact limit. A successful plan should start with two-arm manipulation: first translate each bottle inward while gripping its base, then anchor the base below z≈0.025 (higher attempts closed empty), grasp the cap with the other arm only after it is comfortably inside x≈0.47, and pivot while anchored. The wrist view can show a cap centered and near the bottom even when it is still outside the fingertip grasp point, so a test close and settled width are essential.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6876, 2.13, 1.3346, 0.2016, -0.6441, -0.5247, 0.0113, 1.1538, 2.186, 1.3231, -0.3733, 0.9768, 1.1519, 0.5209] state[eef_state]: left_x=0.4944 left_y=-0.2641 left_z=0.0848 left_yaw=0.1114 left_pitch=0.1002 left_roll=-0.11 left_gripper=0.0113 right_x=0.3058 right_y=0.3377 right_z=0.021 right_yaw=-0.1935 right_pitch=0.0111 right_roll=-0.0079 right_gripper=0.5209 state[joint_eff]: [-3.5487, -6.7624, 1.2376, 1.1844, -0.3443, -0.0855, 0.9988, -1.0462, -10.7829, 6.8855, 0.862, 0.2369, -0.2515, 0.6618] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task safely within the remaining interaction budget. The bottles slid when lifted by one end; a two-arm anchoring attempt secured one bottle's base, but the cap remained just beyond the left arm's low-reach pose and repeated cap grasps closed empty. None of the three bottles was left reliably upright.","hindsight":"For these long bottles, a one-arm end lift does not pivot because the unrestrained base slides; the far cap of the center bottle is near x≈0.50, at the practical table-contact limit. A successful plan should start with two-arm manipulation: first translate each bottle inward while gripping its base, then anchor the base below z≈0.025 (higher attempts closed empty), grasp the cap with the other arm only after it is comfortably inside x≈0.47, and pivot while anchored. The wrist view can show a cap centered and near the bottom even when it is still outside the fingertip grasp point, so a test close and settled width are essential."})

tool

give_up: I could not complete the task safely within the remaining interaction budget. The bottles slid when lifted by one end; a two-arm anchoring attempt secured one bottle's base, but the cap remained just beyond the left arm's low-reach pose and repeated cap grasps closed empty. None of the three bottles was left reliably upright.

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 · 15 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6064, -0.3801, -0.0204, -0.0296, 0.9988, -0.0158, 0.7891, 0.6037, -0.3832, -0.0132, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1811 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.294 right_y=0.0013 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.9624, 1.8388, -0.022, 0.1538, -0.1392, -1.0325, -1.1282, 10.4821, 1.8193, -0.0952, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a75122c25bfc07d0a5357d01fa56318720b720a5bf30e3dba9a4500495883f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2484c1d8938d9dc3675766f93c12be5b8c06a068d581693887590b7acd1eca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a1f11a071bcbff325f285a0eaa8348ff6710e5739e12d61444a6b5e0dad686",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.184 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44e6c5df887d0b39ad803a50e9b06",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0d3f21681f924fda016ab44e71635c87d081aea3c561116f23",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0d3f21681f924fda016ab44e764abc87d0a898054041d5fc11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.16,\"left_z\":0.16,\"left_yaw\":0.75,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"Three bottles are lying near the center; the leftmost is diagonal with its blue cap toward the upper-left and base toward the lower-right. I’m moving the left gripper above that cap/neck with the jaws rotated across the bottle axis, while keeping the right arm parked.\"}",
  "call_id": "call_7Ab0TJwFJ2kxwiqjN2lf5Iui",
  "id": "fc_0d3f21681f924fda016ab44e78b3d887d0a19ba0ec851bffda",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7Ab0TJwFJ2kxwiqjN2lf5Iui",
  "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]: [-0.6712, 2.0682, 1.7348, -0.8967, -0.9401, -1.2171, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0124, -0.0284, 0.9999]\nstate[eef_state]: left_x=0.4475 left_y=-0.1686 left_z=0.1564 left_yaw=0.6801 left_pitch=-0.0223 left_roll=-0.036 left_gripper=0.9989 right_x=0.2914 right_y=0.0002 right_z=0.1748 right_yaw=0.0 right_pitch=-0.026 right_roll=-0.0063 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -11.5487, 6.3111, 0.0464, -0.7888, -0.0513, -0.1245, -0.1983, -1.5111, 7.0632, 1.956, -0.0855, 0.0611, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5d5285942b46659e5921232379830a844ff3175409a1cd007d1108bb077dee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55766c66252268ccdbbfd104e92f702d7e18e67922ac53c3a452494c86aa26f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c6b87c9da836385328faa3125bbacab5c58657185cd2e383412364cc1b7c91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 6.564 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6064, -0.3801, -0.0204, -0.0296, 0.9988, -0.0158, 0.7891, 0.6037, -0.3832, -0.0132, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1811 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.294 right_y=0.0013 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.9624, 1.8388, -0.022, 0.1538, -0.1392, -1.0325, -1.1282, 10.4821, 1.8193, -0.0952, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6712, 2.0682, 1.7348, -0.8967, -0.9401, -1.2171, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0124, -0.0284, 0.9999]\nstate[eef_state]: left_x=0.4475 left_y=-0.1686 left_z=0.1564 left_yaw=0.6801 left_pitch=-0.0223 left_roll=-0.036 left_gripper=0.9989 right_x=0.2914 right_y=0.0002 right_z=0.1748 right_yaw=0.0 right_pitch=-0.026 right_roll=-0.0063 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -11.5487, 6.3111, 0.0464, -0.7888, -0.0513, -0.1245, -0.1983, -1.5111, 7.0632, 1.956, -0.0855, 0.0611, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5d5285942b46659e5921232379830a844ff3175409a1cd007d1108bb077dee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55766c66252268ccdbbfd104e92f702d7e18e67922ac53c3a452494c86aa26f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c6b87c9da836385328faa3125bbacab5c58657185cd2e383412364cc1b7c91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d3f21681f924fda016ab44e7c2aa487d08eb34c541961f77f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.428,\"left_y\":-0.146,\"left_z\":0.15},\"note\":\"The diagonal bottle’s cap is close in the wrist view but sits about 4 cm left of the jaw centerline. I’m shifting the gripper a small step toward it in the rotated tool frame before descending.\"}",
  "call_id": "call_Mhehe8GNqbUUKDSlPYPqHmW5",
  "id": "fc_0d3f21681f924fda016ab44e80948087d085d6e9913966e91a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mhehe8GNqbUUKDSlPYPqHmW5",
  "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]: [-0.6727, 2.0262, 1.578, -0.8913, -0.9546, -1.2316, 0.9987, -0.0212, 0.7856, 0.5812, -0.3973, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4223 left_y=-0.1476 left_z=0.1296 left_yaw=0.6935 left_pitch=-0.0316 left_roll=0.062 left_gripper=0.9987 right_x=0.289 right_y=-0.0003 right_z=0.1682 right_yaw=-0.0017 right_pitch=-0.0336 right_roll=-0.0065 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -14.2291, 6.5026, 1.0232, -0.6032, 0.0952, -0.0366, -0.4444, -2.0308, 6.9128, 1.956, -0.1734, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b68c0cd6bc84047764843d16694dc6e9ee8c1d6c531547cb7f33a835f793194",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca4bbdc84223dfa9ec086d2e14b1aa483ba7672583814eb5573e16054cde5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0eab92506ffe5acdd00bcc3cc28bdd65fbdf4ec9471f5eda92e9b016f17b86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.173 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6712, 2.0682, 1.7348, -0.8967, -0.9401, -1.2171, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0124, -0.0284, 0.9999]\nstate[eef_state]: left_x=0.4475 left_y=-0.1686 left_z=0.1564 left_yaw=0.6801 left_pitch=-0.0223 left_roll=-0.036 left_gripper=0.9989 right_x=0.2914 right_y=0.0002 right_z=0.1748 right_yaw=0.0 right_pitch=-0.026 right_roll=-0.0063 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -11.5487, 6.3111, 0.0464, -0.7888, -0.0513, -0.1245, -0.1983, -1.5111, 7.0632, 1.956, -0.0855, 0.0611, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6727, 2.0262, 1.578, -0.8913, -0.9546, -1.2316, 0.9987, -0.0212, 0.7856, 0.5812, -0.3973, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4223 left_y=-0.1476 left_z=0.1296 left_yaw=0.6935 left_pitch=-0.0316 left_roll=0.062 left_gripper=0.9987 right_x=0.289 right_y=-0.0003 right_z=0.1682 right_yaw=-0.0017 right_pitch=-0.0336 right_roll=-0.0065 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -14.2291, 6.5026, 1.0232, -0.6032, 0.0952, -0.0366, -0.4444, -2.0308, 6.9128, 1.956, -0.1734, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b68c0cd6bc84047764843d16694dc6e9ee8c1d6c531547cb7f33a835f793194",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca4bbdc84223dfa9ec086d2e14b1aa483ba7672583814eb5573e16054cde5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0eab92506ffe5acdd00bcc3cc28bdd65fbdf4ec9471f5eda92e9b016f17b86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6IbXYBYaxfdC-WzpCkyU-fnwVEv_eCc-zQsFTp14xVffLUTpkUCviwY0pCDmNviFENFnGlsEIwjqKEryYtpIsp-bAL2OfAfXxO9H_3Ai3mm4-dIqc940c3-LMqT2qgGfdy9VPPktYZw176tqepOOtfB-zFuDa6mMJUPMLaCLnL3WTjLfRsDqUf43MfihfymBg8ySbC-GWdVNX-pnF-QZsP6dj_nuxX_YEHR7S8rXWubNN8aDc1OJrOzSwk2ScwtYjZ1Ph3ZrtApJPelhatAc7YMSUHPZ_oz8YIArE0WDhSCSBO4jvX6pqGpfUl3AcIOcSwpJfWgbobpXOEBg3GYFhJn7N9E7qdjnlyOJRpomnxfv8jz065ONg_ColmMxUV_fuyosaqZPG26HxYxFGLFbcoRrxEiGS7qcBDXFzMQCmzjlCJg6Sc6WIRkwri9EnHzOrbG80dSXktSGcIbAe0HaufMJM70cLO1tbKQleMQqz0Or41ZJ9SwJV_qd4giwZh2N3424phPcOa2tP0O1DkN-YHQpOCkXu9RR2SoUvJ2j8e8ix_c8ZKrIVfRw4umWKk0dpPM2Xl6wD2mTa0SL7bBnWbN9XZgcgjWk0x-RXQ_Fj8WrmBPd7Eik4it7sbQ43Iu9k9lK1KdlcDu3oI-tStO4BoACtazB3syYt-J7-jFNDxMn-OCi8uotjHtcY_byxVuO2SCrglcsfL13TTlrTVde1teWeUxiMgjLM-MOysASn9sxYXfcTKldgUK-YQiBnrRlhv4mnBw1pcAw2GgSor6PcbteNfwxeQZKh30FrG5LWOXTloBGCXq7fXqCDJ3Lzzpf6cjY3g83Az_mgjTszAq_IgFNdPjZxnwo-XPqCtp7LMc2hQ5VetwzlO7Hejruk600caK8KJ6JntAEOqdLJu9B5yAlQwvVlTpOCFTg9wx7jO48n3jAZoYHdZI8hTSJ1T6AKnRTH4E12kHoXTdpk5h6WMzEHNU-bSsrePUZzEOoQ1_lkrDsPLBJFKu3yNbYajLyf4cvOyB5Vw7kAE1lal1d8WKsAm5yV9GAqyOsOyMCfRMohzAqQop54plwT6zFKtkay0SOhgnnoPhiwLjZ5ksr2Yi4jcQYjN3hG1mL0jVickVchzoH-ae1w_70AJHGfotEVSULDyrXvlBnuEUo9jc-NoeqAyrB-IcXN3QQ8j3rWatgXFtf5CXraqD2jqxiOMB1mNUnmW7CYYt6f8rwcK2k51d6aqWeV3N9I4Ley20PeQjJUZFHKTXw2fUHHpFAXUdfxXjYHEQHhqfy5dj4Mb8AhH1_JX6kyhqDXiE1dQbniisCcoW1pz0cmBzSqBS6ObuzMDhdbxgxTMhlD4fhikNGbSHK0bxuQiW-5lgVyEVfpquq9UuYO9q0wZk7ogIwJ2eCJHF80oeSYBqxEJmcMRxwcpv4jM_gYtXmBAXmgoo4uwJ7fGLQ0h4uBm4BYvVaJMdh5ETMgqDZZqiJtQzWhFEMBAN-kIBzMDg6Zo7D-WUitJj2v0leM8X37VL8WDtxrXB4BuJc2tEjF-UsH5wxR4PkCzTgNCUcsA8L2roHclSq_wLY8hwuX91KBSZJcL934jyeb0Yfmt-SZVpmSM5yfTCh8rpwrwS4v6WwwnSXdWQ8RGA1xResXCeQcEwcM-luJNg56Ns_xulq5KlEa_H9vcPHOyI6R0gMMIAb-_hxw5Xx2PgN5dlf5GFuApkWFwJ-EDS0YsDpfBp7tWz5OR-mRHCBrg3Wo8h_Fp1TYN1M-8kNe5aC9ETxnSdpVUllXr42BItV7wOe67OtfXpJ9xMJAHdRYdeIxjuzowd2faFoL1H1cTSquXzvojyIFT6As2BUvGeY4XwOonV18V3-p_st87HPBDxAeKuI-RAmArqrKhfyzupRiYgnyvDV_bPSvJlt7VNoNSx63YhKI14PR7p7vMhIp65KfHKs3N7VgKfuHf42kq_T0iYtClKyXtkFYD4zWsg6OcQkjLMWaRi4IA8cVMKETSYcCYoh_3wOv5WN0LuoR3TaAVcKJBJP1inxtbC90V5Nxhq6GhSsyaxTkECom_mc2i2Bz2d2KP7f9PkYBH2Ovf0pXUadM-EWjmsjmomwqnSmRI6R_tlaTEHCUlSDEaFmePVJNK08bT-PYxzVU8lF18u9OuLQDFyp-dXgSYpk-S8wSVmvgWkACEmj3SxLCS-SEEM6BGmpi0aK_eaJkwqDvyg5lAtfpr52TBOKY5vhQ0tWNPirIT3GSBLEYL5QWNYZrtLzcqicFY5icp-WkIkoU-HD4nvYZQQB_N52A89oju1N1UfksJVGKPBK8WqJ6X-PHAPE3MCUXznLDy8WJI6pu3TL72uiy6KDPNi-NoaYoBYaN8LZTiZXo0IgTALxBRNVr7jKIh9JiE9SVpOREHbUYkx4dsUiguys3NZPX6lTK61e1ACrTzY29nZcBAkCbgSoZD5ZiJTSDK9fdKuzP1X0v12NlzVlAxASRLDqPPB9sssJ4hWBft7fQENdJ_9piu8cetGE3I7gArsG1FwVRwmScrmJWkCc_GREQr5GEHsST-Zvlwd3bDGbjpAz_nrYVtB3ffyObxAlxTCP8yhxQVJhdZ6nhj52ycAmde5QHKpuZgIven9nC8yqHEv8Hk9ckKSGxEs44WFMuPYfoXYhgKbKcYgGc4pUt4M2Sz8vDXiWsDa-nplhM8Un9-_vMxl9625WFtnPqEBbRA6scqKpuhcvbdgxlhGjMPBoahF-6ybISuA2-uWHx1FPrsWRxtPhfjMHy222E2jEds0YebLrupnN-SkD4Ua8FBDHkdbXq5HBP6Rct2vBhXFKvyeNwochS9X-wIZ1Ro9b9-f-SQcIfykKM3KLcTFahlQQPzobMOz1GOiNU7GJIY4zdpO7PRdTs8jMfh9rQZNGzT5BV0id4XQ4rnS0Jxk7JiIQ9-AxeTY4D24pdeWKhEaqlABFgSCqxbA11Ai_5XXCUpYdQsHDQqV-aZsTBGxgQHLW0iLG1EO9pysulJe2fHOjnm0Sfo2o6PIIu_ED2VxbAeK7CAkPUVtcHKZBQBg6Gj6DwTrmFPJaUy5nIViBHIYLhUrZu4QqvFuD3AMcg8Q1TUx8oe8BB-YhQZVx7j9B1WbOMqVRd9Y28TOlI9lUC2W1gWYosMhAuYWTvT3KaUkUo2qmIGAAwQzJO0lLBvsR501i0gTpsScMjOI5eIIltkmSruGe2uJvDMoxhEBRvlEhx2QRq4GwSqEpxnvX_4BOB_FtmBtB_vdcVPwuInu0hyZDBFUkdoCXqgl4VPELn6GFPpGW9CHE51YraXFHOvdnOOlG0xEKfgD0x6NUxTGtDcU26t4w_ukxDTI54jaGysb9ORgyW8Ur8kQU3lSZZyUggtUVAGZYRjA4EkuYsnEYUOp3MefP7hmtYPX3yQI81Y6lEVWkcqXpjJmJKdBs2VgI29NVNgLJGhkGr81GGcgXdDLtRtXKQZEOdR0rIX1mJ0tvl8y7P_Xq1CNieCyZ-Sk8GP5o7YUNuam7VaOis7Nuz0yuzTLC89uCj7xDrlv_aWft_qT9YnHhG0YoriIxQQQf1maf2wkTuJ3vGU9ZGj70D0ksNq5pnvoa-UVWJD3WJGjFBTIw_NeTM0nIak0RWme0yE9gu7FVRokAYNoSau5DlGSGUFMw38N7Lk2eOvsw==",
  "id": "rs_0d3f21681f924fda016ab44e82af9487d0b8a51cdd5f20961c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.13,\"left_z\":0.15},\"note\":\"The cap is now nearly on the jaw centerline, but it remains clearly ahead of the actual fingertips in the wrist view. I’m advancing about 2.5 cm along the gripper’s forward direction so the neck sits under the grasp point.\"}",
  "call_id": "call_iPU40mfxwcrv2Mu0mMFJKLHJ",
  "id": "fc_0d3f21681f924fda016ab44e875ea887d0835ac539070c27f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iPU40mfxwcrv2Mu0mMFJKLHJ",
  "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]: [-0.6445, 2.0155, 1.5581, -0.794, -0.9413, -1.1755, 0.9985, -0.0212, 0.7738, 0.5594, -0.3847, -0.0124, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4352 left_y=-0.144 left_z=0.1308 left_yaw=0.6854 left_pitch=-0.026 left_roll=0.0196 left_gripper=0.9985 right_x=0.2873 right_y=-0.0003 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [1.4838, -13.5043, 6.7761, 0.7057, -0.5739, 0.3394, -0.0366, -0.6085, -1.6068, 6.9812, 2.0244, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcb9f10c9f933a293e584e9019204a1f749c66a4408fc3508eabc931666ced3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc785e8c5c39f2aae30eeae8763e66ac0bd7e3d8d64e26650e740b4533601b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:118a6d23e5c7f44c0f07412d09003ac7f66148eca590e3322292fc61a30d3151",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.511 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6064, -0.3801, -0.0204, -0.0296, 0.9988, -0.0158, 0.7891, 0.6037, -0.3832, -0.0132, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1811 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.294 right_y=0.0013 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.9624, 1.8388, -0.022, 0.1538, -0.1392, -1.0325, -1.1282, 10.4821, 1.8193, -0.0952, 0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6727, 2.0262, 1.578, -0.8913, -0.9546, -1.2316, 0.9987, -0.0212, 0.7856, 0.5812, -0.3973, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4223 left_y=-0.1476 left_z=0.1296 left_yaw=0.6935 left_pitch=-0.0316 left_roll=0.062 left_gripper=0.9987 right_x=0.289 right_y=-0.0003 right_z=0.1682 right_yaw=-0.0017 right_pitch=-0.0336 right_roll=-0.0065 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -14.2291, 6.5026, 1.0232, -0.6032, 0.0952, -0.0366, -0.4444, -2.0308, 6.9128, 1.956, -0.1734, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.0155, 1.5581, -0.794, -0.9413, -1.1755, 0.9985, -0.0212, 0.7738, 0.5594, -0.3847, -0.0124, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4352 left_y=-0.144 left_z=0.1308 left_yaw=0.6854 left_pitch=-0.026 left_roll=0.0196 left_gripper=0.9985 right_x=0.2873 right_y=-0.0003 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [1.4838, -13.5043, 6.7761, 0.7057, -0.5739, 0.3394, -0.0366, -0.6085, -1.6068, 6.9812, 2.0244, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcb9f10c9f933a293e584e9019204a1f749c66a4408fc3508eabc931666ced3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbc785e8c5c39f2aae30eeae8763e66ac0bd7e3d8d64e26650e740b4533601b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:118a6d23e5c7f44c0f07412d09003ac7f66148eca590e3322292fc61a30d3151",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6L_yZtETUNIAdRsx7SzBLHW-VHj1XFx9wG08DAbwFPfAzA3p9drWrwVlV0lZI0NrsBBplI_PNbqLYLa_Sv2Aqa2WA_7jtRZIHbvdafZDvTBysJuMFHpCHqd-5ZPJwNF0HZJ3p4esyy0rdjuPuHKKYnvPI1K3hTHwkcjCa4H1Wmmu2M0DBxrtwhlWuSwLBDFNBBd32FHziMHGkpLuG1D3Gbo6MXC3JJbcvRwL-N2wJZTxWy2oPetDhhvHTgVNPiUKO2Tf6IA-jhyIUE9rsMN5WT_cNgAGJsfkAxkkqejksHOYq9kkFV5lk4NYOjLWEIbGsrSyy7bu2kHAhqRBc-0HozvQtOQL1ejm-5Z6dZGXcMuIV-wjmwIbqGZnSb4Dstlv0hzx7eodtJY7hldYmotKSdpSsy_JnKqHFwJs2Gs2NOS_P2RhGtchtrI_iI3UySGeu9xz03Lk562fNxUYW5YQvlug_0601G6sC1RucxXAS2G-xsoFS5E06d96Kvp5zmtH3B7Ti0G3EwWWHhldsd65cQH_3-K1mu5W6Icy-uMyt93-c3uNzmHu1Ct34dSHLQfSO2XmW8d0k6fsfoMrn26Jt8QPijYUgoXQXc8gfw8cZTEkMzEBH9I2WIbbjifc3fY_nM8FbPbf-8fgYZLnGm_mMXwGYVTavnt8myeZiQ22aIWDVK8Cz8znmh5kjvXf4EoRg8uBJVOqVj_asC3sssG1NTYdtn2XnECAkcczREssKs4fjOa29tphcn-Z3thyqClHSykxGEfJZfByORRm6YJREUJWo3mQO-o-_X2gU9oSSp-vcez4fGbflo2h1s_UnQiL0e5ZI1onwBZJ2elloVwX-sru-c4ZOtB-FBYiTlgUh6wtaR-Ccz8UGbv9FCq5G6p35fGwUZwELZLnZz_M8GS9FvliPSY9iSEm0BcdZOgTYfsi9TXuX5FJMumQHOBsmplV4kD3uMaXe1jW2dVW7RN00cn-LECiqaCUf2ruzrhZ33XSFcy8DbSl8xsCMv4mkO0V29Xns0r-HPn6BtQucE0qiTWGoIhqIL7ON4ncOZXqfdhL2WWStrSQHGxnyAwp97AiB7lqyR9u6XOFEmSjI_ZhuL35THgkYB1k5U0oGny4F-LJLEhoiOE5k8-I3RRV9BCPrvuDEtXanbDw0AlYnm4KbahB6KEeQf2_GZoKiPee63zrpLf29S_3TRT88wEl_5cEmVQ8EwT0olQjRZpT1HDZMZ_RoJ0PopD8pd6yEu9l-lq0-OeSI4U-SKEQoLQeYPxoNFzlrjar6i_ydQZDxrWWzjYHbLbKTJhp73HEtjDPMMqdKZ5i36-UpDKGbhnCzbb3TfA7bkGUE1YpORhd79m3AWyH35uWgjiq8m1xUEy3KfUNOrZ6N1tJaNN2lpqQVD31oW7q2j_j7VTmQG3x2gvm-kSzZNB8F16hvQUe119V8EEXmtt7u4NSEgmjym5xVnFsi2",
  "id": "rs_0d3f21681f924fda016ab44e89af3487d092d40aadae736573",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The neck remains centered between the jaws and the gripper is horizontally positioned for a neck grasp. I’m descending to roughly the bottle center height while leaving the jaws open.\"}",
  "call_id": "call_oIobqYssGudvG2kPUcBdVxNi",
  "id": "fc_0d3f21681f924fda016ab44e8a71e487d0ae3be9381df8c99f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oIobqYssGudvG2kPUcBdVxNi",
  "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]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9413, -1.1477, 0.9984, -0.0212, 0.7628, 0.5354, -0.3763, -0.0128, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1303 left_z=0.1324 left_yaw=0.7072 left_pitch=-0.0195 left_roll=0.0158 left_gripper=0.9984 right_x=0.2847 right_y=-0.0002 right_z=0.1577 right_yaw=-0.0013 right_pitch=-0.0355 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -13.559, 6.5436, 0.8718, -0.5495, 0.2613, -0.022, -0.7726, -2.0308, 6.5026, 2.0195, -0.1099, -0.0024, -0.0073]\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,$blob:4765ecb461a38c19fb1735c7b21e22c884cd4e4dcdf6292feeff9a9112a8a8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3892f422d0084b53473c2d544d3c03e72216d42cd1af00e679fd56a13c5fe216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744d93dbc4ed339beb35edeeef0e3764205f1b1db76b4ab9193b1fd6a6134787",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.102 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6712, 2.0682, 1.7348, -0.8967, -0.9401, -1.2171, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0124, -0.0284, 0.9999]\nstate[eef_state]: left_x=0.4475 left_y=-0.1686 left_z=0.1564 left_yaw=0.6801 left_pitch=-0.0223 left_roll=-0.036 left_gripper=0.9989 right_x=0.2914 right_y=0.0002 right_z=0.1748 right_yaw=0.0 right_pitch=-0.026 right_roll=-0.0063 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -11.5487, 6.3111, 0.0464, -0.7888, -0.0513, -0.1245, -0.1983, -1.5111, 7.0632, 1.956, -0.0855, 0.0611, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.0155, 1.5581, -0.794, -0.9413, -1.1755, 0.9985, -0.0212, 0.7738, 0.5594, -0.3847, -0.0124, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4352 left_y=-0.144 left_z=0.1308 left_yaw=0.6854 left_pitch=-0.026 left_roll=0.0196 left_gripper=0.9985 right_x=0.2873 right_y=-0.0003 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [1.4838, -13.5043, 6.7761, 0.7057, -0.5739, 0.3394, -0.0366, -0.6085, -1.6068, 6.9812, 2.0244, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9413, -1.1477, 0.9984, -0.0212, 0.7628, 0.5354, -0.3763, -0.0128, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1303 left_z=0.1324 left_yaw=0.7072 left_pitch=-0.0195 left_roll=0.0158 left_gripper=0.9984 right_x=0.2847 right_y=-0.0002 right_z=0.1577 right_yaw=-0.0013 right_pitch=-0.0355 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -13.559, 6.5436, 0.8718, -0.5495, 0.2613, -0.022, -0.7726, -2.0308, 6.5026, 2.0195, -0.1099, -0.0024, -0.0073]\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,$blob:4765ecb461a38c19fb1735c7b21e22c884cd4e4dcdf6292feeff9a9112a8a8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3892f422d0084b53473c2d544d3c03e72216d42cd1af00e679fd56a13c5fe216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744d93dbc4ed339beb35edeeef0e3764205f1b1db76b4ab9193b1fd6a6134787",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d3f21681f924fda016ab44e8d269087d09930aba99633187f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08},\"note\":\"The attempted full descent did not track—the readback stayed at 13 cm with no contact signature—so this is an IK/reach issue rather than the bottle. I’m retrying with a modest intermediate height to unfold the arm gradually.\"}",
  "call_id": "call_Jajm7nfxwgUgOGh6zojqvpun",
  "id": "fc_0d3f21681f924fda016ab44e8ed66087d08040f43a40c3b8e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jajm7nfxwgUgOGh6zojqvpun",
  "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]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9417, -1.1477, 0.9984, -0.0212, 0.7456, 0.5037, -0.3607, -0.0128, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1302 left_z=0.1325 left_yaw=0.7073 left_pitch=-0.0192 left_roll=0.0159 left_gripper=0.9984 right_x=0.2817 right_y=-0.0001 right_z=0.151 right_yaw=-0.0003 right_pitch=-0.0344 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.559, 6.5573, 0.862, -0.6032, 0.2857, -0.0122, -0.5675, -1.7162, 6.7624, 1.9951, -0.1245, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2085d49bd61ebcb64e526ccf5b6c54b5cdc053e34468464ce0969277ef20541c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c41a8475097b5e7dfb1776960872b7544b10d1f84c73720eb136049c732546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8000b6829d3ad119d7e05f0c3b1e810299e36c1a6c34a717ad799040ae69a480",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.198 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6727, 2.0262, 1.578, -0.8913, -0.9546, -1.2316, 0.9987, -0.0212, 0.7856, 0.5812, -0.3973, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4223 left_y=-0.1476 left_z=0.1296 left_yaw=0.6935 left_pitch=-0.0316 left_roll=0.062 left_gripper=0.9987 right_x=0.289 right_y=-0.0003 right_z=0.1682 right_yaw=-0.0017 right_pitch=-0.0336 right_roll=-0.0065 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -14.2291, 6.5026, 1.0232, -0.6032, 0.0952, -0.0366, -0.4444, -2.0308, 6.9128, 1.956, -0.1734, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9413, -1.1477, 0.9984, -0.0212, 0.7628, 0.5354, -0.3763, -0.0128, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1303 left_z=0.1324 left_yaw=0.7072 left_pitch=-0.0195 left_roll=0.0158 left_gripper=0.9984 right_x=0.2847 right_y=-0.0002 right_z=0.1577 right_yaw=-0.0013 right_pitch=-0.0355 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -13.559, 6.5436, 0.8718, -0.5495, 0.2613, -0.022, -0.7726, -2.0308, 6.5026, 2.0195, -0.1099, -0.0024, -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 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9417, -1.1477, 0.9984, -0.0212, 0.7456, 0.5037, -0.3607, -0.0128, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1302 left_z=0.1325 left_yaw=0.7073 left_pitch=-0.0192 left_roll=0.0159 left_gripper=0.9984 right_x=0.2817 right_y=-0.0001 right_z=0.151 right_yaw=-0.0003 right_pitch=-0.0344 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.559, 6.5573, 0.862, -0.6032, 0.2857, -0.0122, -0.5675, -1.7162, 6.7624, 1.9951, -0.1245, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2085d49bd61ebcb64e526ccf5b6c54b5cdc053e34468464ce0969277ef20541c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c41a8475097b5e7dfb1776960872b7544b10d1f84c73720eb136049c732546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8000b6829d3ad119d7e05f0c3b1e810299e36c1a6c34a717ad799040ae69a480",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d3f21681f924fda016ab44e90dc9c87d0b19c15e04489bd80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.08},\"note\":\"A second vertical-only command also stalled at the same pose, confirming this joint configuration cannot descend directly. I’m retracting about 5 cm while lowering to 8 cm, which should move the arm off the awkward configuration before a low outward approach.\"}",
  "call_id": "call_zLODlwmCkIgOBM5Kj4pPXKyy",
  "id": "fc_0d3f21681f924fda016ab44e92054887d084d9a11486f831a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zLODlwmCkIgOBM5Kj4pPXKyy",
  "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]: [-0.6922, 1.98, 1.2518, -0.6323, -0.9558, -1.251, 0.9983, -0.0212, 0.7273, 0.4713, -0.3435, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3897 left_y=-0.131 left_z=0.0679 left_yaw=0.6854 left_pitch=-0.0339 left_roll=0.0668 left_gripper=0.9983 right_x=0.2789 right_y=-0.0001 right_z=0.1445 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0095 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.588, 5.8325, 0.6813, -0.6813, -0.0269, -0.0171, -0.5128, -1.1419, 6.9949, 1.9707, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04195716d8470e62f066f51fda01d5a2a700113b91812d711605afbe765a496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766da2da7e7a68fd0dc12ebe96cf13f984e38cac4671579965ef75589cf13dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b30f7d40723e4a246718aed36d3265895c4acf940f10b2062b69c7f9954eea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.678 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6445, 2.0155, 1.5581, -0.794, -0.9413, -1.1755, 0.9985, -0.0212, 0.7738, 0.5594, -0.3847, -0.0124, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4352 left_y=-0.144 left_z=0.1308 left_yaw=0.6854 left_pitch=-0.026 left_roll=0.0196 left_gripper=0.9985 right_x=0.2873 right_y=-0.0003 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [1.4838, -13.5043, 6.7761, 0.7057, -0.5739, 0.3394, -0.0366, -0.6085, -1.6068, 6.9812, 2.0244, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9417, -1.1477, 0.9984, -0.0212, 0.7456, 0.5037, -0.3607, -0.0128, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1302 left_z=0.1325 left_yaw=0.7073 left_pitch=-0.0192 left_roll=0.0159 left_gripper=0.9984 right_x=0.2817 right_y=-0.0001 right_z=0.151 right_yaw=-0.0003 right_pitch=-0.0344 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.559, 6.5573, 0.862, -0.6032, 0.2857, -0.0122, -0.5675, -1.7162, 6.7624, 1.9951, -0.1245, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6922, 1.98, 1.2518, -0.6323, -0.9558, -1.251, 0.9983, -0.0212, 0.7273, 0.4713, -0.3435, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3897 left_y=-0.131 left_z=0.0679 left_yaw=0.6854 left_pitch=-0.0339 left_roll=0.0668 left_gripper=0.9983 right_x=0.2789 right_y=-0.0001 right_z=0.1445 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0095 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.588, 5.8325, 0.6813, -0.6813, -0.0269, -0.0171, -0.5128, -1.1419, 6.9949, 1.9707, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04195716d8470e62f066f51fda01d5a2a700113b91812d711605afbe765a496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766da2da7e7a68fd0dc12ebe96cf13f984e38cac4671579965ef75589cf13dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b30f7d40723e4a246718aed36d3265895c4acf940f10b2062b69c7f9954eea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44e94975c87d08f031f7ee77e381f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.11,\"left_z\":0.035},\"note\":\"The arm now descended successfully, and the blue cap is centered in the jaw corridor but still just ahead of the fingertips. I’m making a low, short forward approach to put the cap/neck inside the open jaws at about its center height.\"}",
  "call_id": "call_3oZMhFtyx6ONb1hPLDj0ILwl",
  "id": "fc_0d3f21681f924fda016ab44e96e2a087d080fd6f866813b672",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3oZMhFtyx6ONb1hPLDj0ILwl",
  "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]: [-0.6266, 2.009, 1.14, -0.3912, -0.947, -1.1774, 0.9983, -0.0223, 0.7128, 0.4438, -0.3344, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.109 left_z=0.0379 left_yaw=0.7063 left_pitch=-0.0228 left_roll=0.0278 left_gripper=0.9983 right_x=0.2758 right_y=-0.0003 right_z=0.1376 right_yaw=-0.0004 right_pitch=-0.0351 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.0872, 5.2581, 0.906, -0.5055, 0.1929, -0.0122, -0.7043, -1.4154, 6.9402, 1.9658, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8296f4af8af8938d090f2303ada59d473a041aa88e6562c3888a9580d733e246",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fbe7f6e699176eef10d925dc099e8bff2a3a14dde55839dddb8fb53b85ae5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4986bc2cfde6c8cd7fa2355e79213eef223d18a2ee4311c9a6789d65d95c67e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 8.022 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9413, -1.1477, 0.9984, -0.0212, 0.7628, 0.5354, -0.3763, -0.0128, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1303 left_z=0.1324 left_yaw=0.7072 left_pitch=-0.0195 left_roll=0.0158 left_gripper=0.9984 right_x=0.2847 right_y=-0.0002 right_z=0.1577 right_yaw=-0.0013 right_pitch=-0.0355 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -13.559, 6.5436, 0.8718, -0.5495, 0.2613, -0.022, -0.7726, -2.0308, 6.5026, 2.0195, -0.1099, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6922, 1.98, 1.2518, -0.6323, -0.9558, -1.251, 0.9983, -0.0212, 0.7273, 0.4713, -0.3435, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3897 left_y=-0.131 left_z=0.0679 left_yaw=0.6854 left_pitch=-0.0339 left_roll=0.0668 left_gripper=0.9983 right_x=0.2789 right_y=-0.0001 right_z=0.1445 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0095 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.588, 5.8325, 0.6813, -0.6813, -0.0269, -0.0171, -0.5128, -1.1419, 6.9949, 1.9707, -0.1294, 0.0366, -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 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6266, 2.009, 1.14, -0.3912, -0.947, -1.1774, 0.9983, -0.0223, 0.7128, 0.4438, -0.3344, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.109 left_z=0.0379 left_yaw=0.7063 left_pitch=-0.0228 left_roll=0.0278 left_gripper=0.9983 right_x=0.2758 right_y=-0.0003 right_z=0.1376 right_yaw=-0.0004 right_pitch=-0.0351 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.0872, 5.2581, 0.906, -0.5055, 0.1929, -0.0122, -0.7043, -1.4154, 6.9402, 1.9658, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8296f4af8af8938d090f2303ada59d473a041aa88e6562c3888a9580d733e246",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fbe7f6e699176eef10d925dc099e8bff2a3a14dde55839dddb8fb53b85ae5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4986bc2cfde6c8cd7fa2355e79213eef223d18a2ee4311c9a6789d65d95c67e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6bPKyqYojv2zo3LD-tAEDqdPRd8bBXY_gQ6qJQ1W-UfhkUtetWV2Xf0L3oFpnZiq6QGMlKH2wlyJs43k1Def5iONkPLFZJtF1OV639WW79yOu30kBrYrGyXT34W1E_5E_eJ6wUs4n8zjQkEeky1-qYt2sYfwbsvvkqAjMc45jWzclGB5AqMKWbe-Pd6ts_5wRvEZ6Sqz2zsn5cUeO9pYZMlY9UZivOd4Ud9m6tUgffx4PdVBuHTaqgEXl0PIT9YZ7z8lAd6EYdxF49C-pY8w7_5_inIraD7GfvkiCqVU2D3ruAZzXADh7ApTktJlBmi2YZMcAmw-pgalU0RnZte73yyGxTLnGUwGnEJnokFyeKe8J2mokk8hL4uX3Gs5vrW38zq26rmlr4deJ4A_CBZV7beeyjtzI9VPasprAqYoi_Abc40nhCPHf9iVYTr_TGM8lwGOE5THScV8C5QOyHReDh9tYoC1dvHo9axuRWbylKgyldSMjqhxbKNSK2HSB5HMMK_5CSTZrQmgLYMFmibOhnHZoNNXIptn887pPxZ7rz63yp6x_LF2k5EEzVLYzZMFGjtSTTksVFTrUFqhU8EyM-0B3SkdbxFBAiwzbIfU8Th6oFUDMgAPHiufNJnfT7qORHyLpjiara6k9i_vkISuzNm4BRsB1B6abtUQSpN4Avv1RfPc7wrNCY3NjKNNZ7hGQVnbDaoc0JCt6lr9fFVWJuv1QgfJ1NHzezS9Cpz0rgqoTsL7T4g1EyVV-S28rJKYt-_xXBMXHiPagquc3--a3IBUwS1SEqCKI1_SGwfOBMW4sCvTBOQ9toFdX17AtjgnuSuD2mSUnSRTYYpzNWLN1u2ilSBm945LFKzQDOwcsJ9QllBSONB08BNvPZGPyBXt79i60QqcHEyZr3l8nRJvwsm3FMN47EPcUy8ZJ0f_-8rSNpqAB7yWzXVPs28LLLIKQPpOoztTiUq-f1qyxBESYj8vqRaQ73TgEIkgqcfRsPknMxPEnFrTD-paw7qYFsu-_yTlMaEPolj7crqg8GHspRNiPAznjvzNWLUtKCudiaAJR61RxkSwWbm7A6n3HH2ZLvI8DG7RH0Q3bk868tGfi5aLPXGEZPlSMCSi8ygRZl38189ekW5vo4GKA59gLq5ewRVvd3A9o8tWi1Wgtlpn6CqZVU-2i7HTRcy0ciTYNmJuLrsOJ2j_9iAAU5oAbJgV3xR5COte2-NcjJNe5OUrQkayX_JuVjAq2U86A3oiDGTf3AIqpf75xHJBYdEtLrjbdqnY6v6LM8Ae-2IU75vsCY5vw3ejzs5vnUek-E2uOb_Isx4trroqRV299TDM6YOUxxYdhKtRmZgK-7rSAsE8Ox65WkhSmNihkLb2GLipjK3vOpnz-DH62OOM-N3JAusEGDbADa_Q_qc5zZrBmB0HZoCeLCOea1FWmaiTNeRa2Nz_uBoG783R1SWZF0tdkZg30kE6v0kj5qK9MuHV_tTPbuDQHLBnzYbNjxm4quozi3UXcC1n8m5thFd_CDerBkZJq3Z3tTwMrDl9cEkxSgiN_XVKMvcUd8k1gMbjRA1ac3GrfoyEsHZgGAxVpumjW9bcXcQmh1a_nUnM4KjiW07EBYPmpR4AYWfDYGYm2tUwLfGtEUzaAhHVm8ZSx-f386SQX_",
  "id": "rs_0d3f21681f924fda016ab44e992de887d09a446991b06100e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The bottle’s neck is centered and its upper body now extends into the open jaw gap, indicating the fingertips straddle it. I’m closing the gripper to secure the bottle near its capped end.\"}",
  "call_id": "call_GjUyHusstDVBrYxBx13DdpTa",
  "id": "fc_0d3f21681f924fda016ab44e9a120087d0a1fddde95d4ee256",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GjUyHusstDVBrYxBx13DdpTa",
  "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]: [-0.6338, 2.006, 1.1213, -0.2951, -1.0035, -1.182, 0.3728, -0.0269, 0.693, 0.4107, -0.3202, -0.0132, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.1115 left_z=0.0474 left_yaw=0.7218 left_pitch=0.047 left_roll=-0.0425 left_gripper=0.3728 right_x=0.2724 right_y=-0.0014 right_z=0.1304 right_yaw=-0.0049 right_pitch=-0.0344 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -10.1675, 4.2325, 0.486, 0.0024, 0.0513, 0.6178, -0.5812, -1.0872, 6.9949, 1.9951, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163cd5e2748bcc65555784ae144a83e3fd7fd1a5fe68c776c676a97d75f54618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1449d17d2959631fbd86a3ec679d224df3dcb6e282aca37174d02bf3f72b8573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25082f01765eb849bc21d5b875c3fafcbef6d56356eab6463086368caa50188",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.247 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6071, 2.0155, 1.5581, -0.7662, -0.9417, -1.1477, 0.9984, -0.0212, 0.7456, 0.5037, -0.3607, -0.0128, -0.0307, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1302 left_z=0.1325 left_yaw=0.7073 left_pitch=-0.0192 left_roll=0.0159 left_gripper=0.9984 right_x=0.2817 right_y=-0.0001 right_z=0.151 right_yaw=-0.0003 right_pitch=-0.0344 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.559, 6.5573, 0.862, -0.6032, 0.2857, -0.0122, -0.5675, -1.7162, 6.7624, 1.9951, -0.1245, 0.0024, -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 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6266, 2.009, 1.14, -0.3912, -0.947, -1.1774, 0.9983, -0.0223, 0.7128, 0.4438, -0.3344, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.109 left_z=0.0379 left_yaw=0.7063 left_pitch=-0.0228 left_roll=0.0278 left_gripper=0.9983 right_x=0.2758 right_y=-0.0003 right_z=0.1376 right_yaw=-0.0004 right_pitch=-0.0351 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.0872, 5.2581, 0.906, -0.5055, 0.1929, -0.0122, -0.7043, -1.4154, 6.9402, 1.9658, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6338, 2.006, 1.1213, -0.2951, -1.0035, -1.182, 0.3728, -0.0269, 0.693, 0.4107, -0.3202, -0.0132, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.1115 left_z=0.0474 left_yaw=0.7218 left_pitch=0.047 left_roll=-0.0425 left_gripper=0.3728 right_x=0.2724 right_y=-0.0014 right_z=0.1304 right_yaw=-0.0049 right_pitch=-0.0344 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -10.1675, 4.2325, 0.486, 0.0024, 0.0513, 0.6178, -0.5812, -1.0872, 6.9949, 1.9951, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163cd5e2748bcc65555784ae144a83e3fd7fd1a5fe68c776c676a97d75f54618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1449d17d2959631fbd86a3ec679d224df3dcb6e282aca37174d02bf3f72b8573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25082f01765eb849bc21d5b875c3fafcbef6d56356eab6463086368caa50188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6k5vrVO52Z4t5yoo56iVH7bcWWcajUTSg06t36GjDCvv511VfXUblUE4PaLurnH5jb_PLQXA3z1CsKZLaSqy4USgtkxnPw73Y07v_bIwLtkHkxW5MdH4ytdcYAI_YfGVlc_zeG_cW_HLIv0Xeg9NErh3fRzeuhpQysZqTZFzxCpyg7_0mIkeLf2TP30u31LPDaTFOD4ZHupqHQ4KyZP1cOmlVFZHkVO0MIoIWycntInZHyU7pdXgsGvhTcpDEVJuTForQp1MWIT710wRp5JNE-PMmyVQ66AgcdoygvPzYNnEWSLhkZvKtykGnecmWKtx045L5dYhxdZbmEB0gPCcWhhSu_DFWmBVNboOFC-ld4OQBw0qgRRB4bkF7apO5FPiCPYsrBxl6ZTKIqIYjM1qmdQiHHEBtZ1TF5jhICBSU7fQGDyhQijPM9VRiHJuxnf2qvs4EJsUrsD2csfeWL3QXur1RzZ1zUTI_v4y6D7OP3uGyCaJQa9AriegCT_z2lryD16p3UvpaaRxb17LPbnqX6UwgRq6V4dMs40L8cx11AhnZbnEyX5cGpaZftw7JLIu0lTBPGPki8lrOxI-AY6DRMQf9h1WWQaP0R5-iy8KyhWL2YR4B7viti9NNGZjZ534iNcKCMKAcYlC_3RQxOZl3fRV4AlRN6Qz0FziV3JTKZKCaHe-1vVeKwkoKOPOeyNKkV4F-CBugiZWtyRJDUGgk7HVbAgokD4BtbwvW2MlhYhvJDx0XOwBON-q_MQ3TK_6jSRvd8nh8Lr1dZyClI288kjwHoMp2yzu6qBTyp1saCFviZchqveyow-zFbx3GSzwCGp1pQu904_tvnTcZNB91DnddvhJY-Pm3tnEgfokI6nITXI-ExDp0J_ycnRw74iOVIhWSub0arUzIu54JKw9FUYezHZSAJJhnL0TvpLZEV62yzRuYHF-6JjvO8QBDycq5d8CegfKck0VYBpwHOMeiJ2bs0ghjCH2uFftZPRQBz_SgzgBVWynwcAMWPpEQcelsbRW7JcEPxmSs6mZKy4YA3SUz7MSmlIq267PHjVj8PwFxe1NNTkyNgwxL1DCqY3eP9LsRJR3HO0aR1NshTpjwTSk9UraQFIYG1DROA_2k5JU3cAeO-3aJjINWaW9W0zccpJSxdrxjyEtBHt-WDxPnOq-ERap1ONVI8tAkwuvMZ6Kyj3WxcQIg8MN_GGl-aYWdb2X9MGCenYSJxjFOloTplQEQN-qc46bzQxqrSQyvOE8GzOXsi9G1i8PrMt4WoJqJt1xsbCYmzKWMjm-UPFL3OBG91YKrt45ixPXe-7CxCJuLmCDqoVL5R3QJ4BqtAuHvgDIXbXrW8t-dLaEokvGLWxX5tZh-z_wlc4d2fz0QQ8P2WVo-bGmTbWjqWH0kiab8eHQNEgCkSgIXJWf_HxYiEvqQ0R3CX3Ob-5EzLEOwlXbrz7UQqpi4gogXShmSG5noWKzg8qw2lG27gzrfMJMWE70SkaaRy57L33XSCMV9-79JnJdlI7AmjgMpR9eojevkiwMT2fFtoyIJFObYrEfLhH_6YNJ-D24YMSrh_q9RuRsZfqwIbg41YoiYyIx3oVyfYYTsxsRAGRuFYvu--qinm2An2nBGr7N8Hu-4tTPpM-KB2kgdnLLSYp7-Akb1dyTcwj43VDEBDWQawCwipZKWiaJddsNZ2T8fH-16LYGuEneV1zxrxbh0b8_C8gBmxegMKyyLbfcz1NkmX9BtLSmMyZTLBfc7Uj6xGk6YK9kGjFl-WvmfTkPfrJLUGluv9Qw7meGXF5K3xNQrbkF7ulsHUS_b_CsgL3AbIGPELeIQEW6TCaFQ8aetvICBXfGidBTV5TrZM649h1Ow2mqMy20fqdKNwEMDm6V6UOIjgJEhlzMzSNgC6OASld7UM0ApRpqidU8FMla2i0Be9CWo6W7E3tgq68R3cbPPlCaLyk4QF2keN946RhC7b4X6ensixMNqkksxSPBUZcEcDMg6DZ1aDoMGxzdU5zXIZ9ulROr7XTScAQ87Ou7a8fJHokTQ7X3boc9o2lIn3HIzmzG1BMTY3jK66Z6r7DpszmBnsc5crnWkZiM1E55_wrb3i74Kj4BKYJ5zN0l9Rnq-6kLjSCWSkEctg9lxnuKGfpLeEFFBGQBkIKh60yGMCricLBKhVXDp0tCp-Je2LlDn4MPcSKtmKWX9qk1i2PiB8anef73_5UP-8WM_R-RLGqUggjyS99jnX1typhaEk3PXQG6hTzjIQmIr1dsdm9_SuZ_eyqiW5PKvFjYWxyhWsDvfyvYkzLil8DjrwBS019otCDqMGa14UvnQZofdiM1h0u7TAVtc39Smyg8RdtKW6K7iFROW9718YYjepL8c4fuiOxx-O3Pld6pGiR3-k6ZUjUpfKmHvg3yJXXuZWrtIS5RfzhLYzxSJeVcJP1fpsrLV78rsFzFKxmFMBv4eO8SDvyq-xvpOFoy77bm87Hv66M15sUo2qnxXb5dEiTFyIk1hNK4Lj5qIzUeWb2dg3zwccV9NKuNecHrgZ5nrujnJrQusCeqxQy0mcoD1fUjVD80CMR8sFC1evYbE9zeWLolJ9FGnNGoRM-JIOAoatNQzyoc2z1BecwFgE7GLHfeR1MFyBBG1SW1rHfJupL6RBsEp3eT4bA-WN-didUuNY70l1mF_jzcazGB3DO6KesLbDyV74cDfMBHMNzee_YWRLPYuwjtl-zNnCi9IGNaj93P09zCDIpJ1bHaTdhT_dyYLtG7DOUJNeVyzWavOQ-nW53PtTM84sXQ3kHV9FvKKP02PnSocmM-nAknsAkiHietDgHfMrOgNUFihQ01WXj7Vinp0hcSsR8D_zZOoU5xbxV9biJ83-iAay1kELLeT-nyPlTBnGud5J7r8J3XTyODR-vt1MsCEpdnRFitUjWnX2Ekl3q_RdDkTC45l9a9neOIw6pUBKSy0mrEAJkX7PH1eTdh5vEjsllscmB2stVra5bWV0Qhw0tBr7QeqK6Is9pDS6jBUKLqXDHfIGfXV3kD2lz-rnHrKIO7Rlp4VH4fGHD445p035MYyXGbuxy4Kjs9_BueA7twwk85MZ-jJyM1BOpinwmT6AcdoHXJoWKyn403TlLKU3WXB7SHdQKlaelpc2euc3fIVC5Nlmn_96aNH1wxJY1sp9b7pJ5kA-a3mdoH4Lq6jcZGfK6A5XyaqnzTXNMmKSmQE-ZjBXS5zRDkx5h4tixV_vpD5Ta3M3YacsTFXdvEG_qPOTPLWJr8w3RY-fHCIunQcGDNUlC-iryrbOLbhvcfZdtjIhxFuzOBO1Fkqaa5XFxLEB7tckRHxKnIM2SiSQYlxZqSHD6ZHxb5SOZYDe3dkgTBI5eZ5LZ5RofKKiaW_txBoq1I3dZQNMpGxlJIM767Q7HEy0br-TqAb2Le8MivUgaIempdl0jOoDsC9YpIcofnxQrBgxcU-jH00cy38TMZqRGtLGB7nZ-dwFpCLJ8DlPHJ3FJNwMKzD164AEiWHP4nlBlqVNZKOa48KuCgnBnUeqy5YxgeryvyNP0gD7rzWgc5GAPnqZQiyDMUtRVYFmZk-tvbyiywQc8XUwPQx2WuAcZOgwV4LpEOR3wUhOK_Qpyk5dN8jW46-ne1t3MGFpr7h8AW8qY2B4QN_usagmNxJBVCRTRWqN5hQkEesShgqbqTNp32POr0dsgGgs6gQwBp9s2D7YtN1qc_yLNiwHbeJbRwsXjHF5LbVFvWZ8vtEJoNFa_tDlb3uoJm8H2_el89AtxJUEmMmu9WRCSepg6pO53fGROLTMMWuoY4amfBpIhCux1mygf9Tfmtnp_ePCbhgMGHWC2GfddJsGvK4OCjeO9210FDicmco7d9E78vemNCgdtmVzAa13xnImSbOyJ_6UIOBpFRZjS15t0KZDzJl5VT2iPOevHF6mJkSuVgGPgattgH1wnjrttOv0YvEI7Pq2TaW7MkCRNCu2mmtSVJXc1eMDgOvYou4GDUJED8yxnf5Wpls_MBqKu1DqbLeINRcD7c2UrYUODpUVkrzOqvC94mploH3_UVJWfWmf9Xsxs0BSah8=",
  "id": "rs_0d3f21681f924fda016ab44e9dd04487d090f302516dd34e98",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6kWgE2kFd4wzsRffpu3REbquY7wAJMX9zMcU8vwKXfbeUXrgjePDbRhwvwe6gTWbu-4s8WsaaNULMBqQ1e7K8rvTcquQL15GIG-6Wdog82SKZ1dArqJSmhSO8zwpjEC2s4iDgb16_6zt7WFI1BbXdtAZE6XXVZdmZHhiObgvS6-eNH9cfMp2lhDMNFA7tgtkCZfGRsaCHG-jBqOsSu5dPOB0yG46092IVPk-C51irGeJeUZHFZXMfCcibLULdJUEwHmg5dWP5GPYIIR7F5wocOu4QszZibaNtQclwhvtIEGIsVWttKZrXz00j6X8VIvADZKdWYf4ss_6WfbJunucOs8hO2aq40kO1lpn-k9ZUsKj7LisVeSTghetcr75Axyj8mSjkFb_eqySyZz5e2WKXWwDE0EI94lgYRDKUrl153NlG8lTSc49bI7jwUzztZY1AuUkfsrxB7lPQqpkaww_n1aQyf7cOvf38Gs61tIGwgVqfwRI9aN2ewAa5f9jrHvbixLxrJm4gefSvPjSyx7k6WqZdbBc1EBPc0NfjfIUsTzWZEwrNu_iKHasrQZ67EuwGZ8NyZfNUjigFeZ94U8DWELw9YyYcYHfQicoqMQqvGTMspblY7gsSgGksd_qEqrtb-Bj1BjcsbctsglqYQlZH623klsgKawNBnwCOJSl9hWMGJ9Oh87tbnzEz0ETSNyj6VDAcwVxKCPR6VUpVw8fcpXdZEWMISrjKvOupUYPLQQUYQ-Wx_U-IMchAMI5ixA8dFc35DSfV8_hMVl7YKVZZgwQ23Pd1zKgrTgXJRS_qVlZMnzXflk8WliP7RK7QvCUCL1kHlrsRvu1kbifBQSFWMTarxswYEbVHAQhOjc2y9JtDp-qN0rAPlsWrBf48-tMxfMKGqPIHw3jtCboMKB5eH19nCYQfobYv_QfeN6TL1611i9fgb3U5obJZ71NzC1p34IOrr0j84afFt2g0y0BKO3O7OETfvABeHB5mqHsdxaFTb2pZWiGjzTJWDc8IhQX_IhU-cS9WeRn8BjUbpn89s7I2zd6NkEyOBrwYLKEksg-MUCldehhEOFaurUXw8QJ-mnn2TAUJzEjwXLve5CbAsHsCOTfu5dQN413W7cRl1x5t2xgcYlXfxH59l4KwA5NVHF-_QUznpSWVG_yR1P7LTK92sSw7OB-OkEWNTvd1S_shiqOqnlvmwUmF4hhKtEVEd2C23UTq23U5uOd5TsP79oqHBy9gvtHydjhltXFXLihTsO2cPgIjN4ZfaIJl4KSsb8zbChPIvMH8C8IMOw74DBZJrRCDwTKPZlHuDFcp73-EaA8x6ogbM1J-aNBLacg6X",
  "id": "rs_0d3f21681f924fda016ab44ea30d8087d082fcbe677bd65e17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.155,\"left_z\":0.13},\"note\":\"The gripper settled at 0.37 (about 3.5 cm), confirming a firm grasp near the bottle’s neck. I’m lifting while moving back toward the bottle’s base, beginning a controlled pivot with the base left in contact with the table.\"}",
  "call_id": "call_NdM92R37f41f0PT9ap3EBUhj",
  "id": "fc_0d3f21681f924fda016ab44ea38bfc87d088c0558d447b8d0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NdM92R37f41f0PT9ap3EBUhj",
  "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]: [-0.7937, 1.9499, 1.3624, -0.8654, -0.9985, -1.4525, 0.372, -0.0284, 0.6727, 0.3794, -0.3058, -0.0174, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.1601 left_z=0.107 left_yaw=0.7008 left_pitch=-0.0005 left_roll=-0.0041 left_gripper=0.372 right_x=0.2694 right_y=-0.001 right_z=0.1241 right_yaw=-0.0027 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.8752, 7.4051, 0.3394, -0.5104, -0.0904, -0.105, -0.6085, -1.0051, 6.8991, 2.0, -0.1294, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03db4a65982b2772dc57f00112b499c0bb4e8f51d67809eeebe04eec204a011",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328752b5d86495eef5d3bb6089753bacd1f5738cc36b5bb40a05b8bbabf77541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facdd63486c60fed7effc82ebc1c85dcec5d1014a91d3ab711dec41f7cf09701",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 5.907 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 28 changed as sent

message 36 changed as sent

message 41 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6922, 1.98, 1.2518, -0.6323, -0.9558, -1.251, 0.9983, -0.0212, 0.7273, 0.4713, -0.3435, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3897 left_y=-0.131 left_z=0.0679 left_yaw=0.6854 left_pitch=-0.0339 left_roll=0.0668 left_gripper=0.9983 right_x=0.2789 right_y=-0.0001 right_z=0.1445 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0095 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.588, 5.8325, 0.6813, -0.6813, -0.0269, -0.0171, -0.5128, -1.1419, 6.9949, 1.9707, -0.1294, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6338, 2.006, 1.1213, -0.2951, -1.0035, -1.182, 0.3728, -0.0269, 0.693, 0.4107, -0.3202, -0.0132, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.1115 left_z=0.0474 left_yaw=0.7218 left_pitch=0.047 left_roll=-0.0425 left_gripper=0.3728 right_x=0.2724 right_y=-0.0014 right_z=0.1304 right_yaw=-0.0049 right_pitch=-0.0344 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -10.1675, 4.2325, 0.486, 0.0024, 0.0513, 0.6178, -0.5812, -1.0872, 6.9949, 1.9951, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7937, 1.9499, 1.3624, -0.8654, -0.9985, -1.4525, 0.372, -0.0284, 0.6727, 0.3794, -0.3058, -0.0174, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.1601 left_z=0.107 left_yaw=0.7008 left_pitch=-0.0005 left_roll=-0.0041 left_gripper=0.372 right_x=0.2694 right_y=-0.001 right_z=0.1241 right_yaw=-0.0027 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.8752, 7.4051, 0.3394, -0.5104, -0.0904, -0.105, -0.6085, -1.0051, 6.8991, 2.0, -0.1294, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03db4a65982b2772dc57f00112b499c0bb4e8f51d67809eeebe04eec204a011",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328752b5d86495eef5d3bb6089753bacd1f5738cc36b5bb40a05b8bbabf77541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facdd63486c60fed7effc82ebc1c85dcec5d1014a91d3ab711dec41f7cf09701",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6ojR7ZvIZermpB9tCdacxmgEZY7ELWd3dnuUeFdU0s24smbb6Y8UjACOvzm1Ia8LV8ZhehN-boIzf_38Fzo_kQm7PxcxRuOpQjboQGc7UgUJezoFgZYoHIAsmYns1Dsq6OQhT0IjSjp9817JEy-_M3xFkV_Uxb5wpbcG5rTNVcemgdQk5T0eMcRcbF3smniVboRszePpVvM8pKAviqYniJ5dA2L8oqEysEcpAbeR9aGsmkrf2QXOXGpAX-6s8q-PTlbO71zA2aENXU_IIq1xrUtdYLeRztey3J8Q-B9kia_R3AXK-ReyUqaLtRDYkSWhllFP9kGKZu5iLZUmpzNT83NxT4jKn9zBgJY0zvPaP_i-E7GEmxf-sqAn4LWYmhm9j9JBEzc1nk2i2MShRlLuKAxfqA3g-8ucDqDoOHVzppJ84byGugEsaztq1CQKlEKNWa7jccZgNWXNVQ-rvpMekGqFyR1DkT7KsTdpPYzBVq7UUNhiLtVutm2xRF6U1y4Vyec-44xKpZMnlkumqnm2U4Yycru9pIxWAL7251HSKbDa5MWEAEzQ3S5RTrsbpgpEPUciqlLAfoGunfUcQOhbO2fRIuh3K_dO44k_nOKGiZGn0tH_nYj2_2ep8uapqxbSRen7O9ub5VbIJHnyRElwY7HTV0yVUsjS9QcCX5FKE2KojdtrmEG6B5itXz0kcWR4JQ_1c2j5LjUNTH59B28GsttkYPtJaF2YGirBfbcEJQG4LO00ZH4hf1XsIxFYU38CXwKRunP1sx_xLxyvhTWN_aCskbEDbEl9vCHaWsjDjB6kS7OHaFEGHXF9CcZB0-yfXFfYpZWRkReMzEsw1717laUfA5HEz99ZI649LR0wV6iXglgQNYMTJGrNbeV29nYhL9g391xHg6LXAq1JFX5BtMQwjVvPl3Mg8jRFQ9_qLK02WnR1FIkvimEsRtctRyyaPGoAXdNnKbQ5Gb8ReFFAJXsbTo0l8WmWfx8riIMAQJhfHKon-6WwYkkgb7zjvqr5DISy9NYxncTwrIiw0TxTMGYBi1JlMLiAzUY4FX8xHCSb0CZXN2Sdvx7qtt9SySuMcb8_JfAPSeTSgMp2ogfXkZ3A2Zimqqw7dgxJTs6hfwdjYgfdLX5G-QCByYNwJ_ZtrEHstoSDQvGfdxnMIyWMKyqYsEnqKz2Rnw82JUSWnxkr1CXMbhJwaSG6cWNmjhDTUgvCA25fahcrBi1hJVD1QuIufVF9JS4xW0b9XGDUgdOOtwp1sVjm1F6jhcAEUeNljoOhbocCmKrKOBQ07R13pxeE3BVNH_M7jYV4ils7v_3Ep7MB_AxqL-hh_PTzc1Oghv7bnGeiCNNSRhUaGwVUolU_AGFbKP2hKFxV9aFlZEC_x0p3u0_NZJr6Pju-XmHgSzfp1zNTCIhcGMGfojpslg2mxD-hj6Q4UUJmDaMnH5WCcQAf1GTYIh8srEMEgs9ePqcNp_7KOp4fykzuYMfMjblEbYOO7xYB7x8VU2IwcW1l-Fj52kKxaxLVmjRujsqGe-GkOTX7xDevnl3FL34k2j1V9k8lMVqgz8M4EyW9n3QCFUfMixkuMAuYBDyzzsfd2moTRkw_LOll9UZDgGEwMCK3E3AXYNWDkyml2J4DzlCF4K7_s3pQVpYcHg4g8TgwPiamEqga6m3E_SEpQ5rXg8gUql1OMlpTkh0S8lCxLFWNFFZtqFVOYbtkfyD78-6HdI2NgRPgf45eXgBV2UGnJJM_xKYyA2XX7TKCNI86Z6i6Y=",
  "id": "rs_0d3f21681f924fda016ab44ea6333487d0be2e2f7bcea89114",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.195,\"left_z\":0.2},\"note\":\"The bottle remains captured and is now visibly angled, with its body trailing toward the base-contact point behind the gripper. I’m continuing the same lift-and-back arc to bring the cap over the base and make the bottle vertical.\"}",
  "call_id": "call_dt8GpiQCR6NDoZ1GXg85Eo0J",
  "id": "fc_0d3f21681f924fda016ab44ea73b1487d0be31c4036ec24f01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dt8GpiQCR6NDoZ1GXg85Eo0J",
  "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]: [-0.9405, 1.9488, 1.689, -1.367, -0.9802, -1.7096, 0.3719, -0.0284, 0.6533, 0.3531, -0.2932, -0.028, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.3336 left_y=-0.2022 left_z=0.1844 left_yaw=0.6938 left_pitch=-0.0227 left_roll=-0.0455 left_gripper=0.3719 right_x=0.2669 right_y=0.001 right_z=0.1196 right_yaw=0.0061 right_pitch=-0.025 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5248, 7.3915, -0.1685, -0.6764, -0.0122, -0.022, -0.8274, -0.759, 6.8034, 1.9316, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fe37714b230483e74506e0d4944fcf7ffd2b1fe012f28ff848597d383df1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de7ee9b4653645ac8a60e48a011ce119792c04db063f2f943f9f02121179b22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f91b90610191e39f6b20571aa169472a330f7d50ce772822917dc3b6ac4fb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.631 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6266, 2.009, 1.14, -0.3912, -0.947, -1.1774, 0.9983, -0.0223, 0.7128, 0.4438, -0.3344, -0.0128, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.109 left_z=0.0379 left_yaw=0.7063 left_pitch=-0.0228 left_roll=0.0278 left_gripper=0.9983 right_x=0.2758 right_y=-0.0003 right_z=0.1376 right_yaw=-0.0004 right_pitch=-0.0351 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -9.0872, 5.2581, 0.906, -0.5055, 0.1929, -0.0122, -0.7043, -1.4154, 6.9402, 1.9658, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7937, 1.9499, 1.3624, -0.8654, -0.9985, -1.4525, 0.372, -0.0284, 0.6727, 0.3794, -0.3058, -0.0174, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.1601 left_z=0.107 left_yaw=0.7008 left_pitch=-0.0005 left_roll=-0.0041 left_gripper=0.372 right_x=0.2694 right_y=-0.001 right_z=0.1241 right_yaw=-0.0027 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.8752, 7.4051, 0.3394, -0.5104, -0.0904, -0.105, -0.6085, -1.0051, 6.8991, 2.0, -0.1294, -0.0024, -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 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9405, 1.9488, 1.689, -1.367, -0.9802, -1.7096, 0.3719, -0.0284, 0.6533, 0.3531, -0.2932, -0.028, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.3336 left_y=-0.2022 left_z=0.1844 left_yaw=0.6938 left_pitch=-0.0227 left_roll=-0.0455 left_gripper=0.3719 right_x=0.2669 right_y=0.001 right_z=0.1196 right_yaw=0.0061 right_pitch=-0.025 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5248, 7.3915, -0.1685, -0.6764, -0.0122, -0.022, -0.8274, -0.759, 6.8034, 1.9316, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fe37714b230483e74506e0d4944fcf7ffd2b1fe012f28ff848597d383df1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de7ee9b4653645ac8a60e48a011ce119792c04db063f2f943f9f02121179b22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f91b90610191e39f6b20571aa169472a330f7d50ce772822917dc3b6ac4fb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6uBuMuikFJ_YkhxqnxB_RwMTOHrit9ekJJSZCtk-ypJWqVApG0IJwWbf7W8EAa5doGzFm3w83Ui1TTY7-ASgvfP1MTo5J5Zw-3KPO4FoZNdRYqKbJZ5FirTZplSkOlqKI8I8zmrPmF4SHOC8ryDkxUibIp8tcxxZLKJE8jsKuYnVwAVtYcoaLhYYRO9uQ_4D0RaAU1JzoK6EIV3y2MT4udpt9LMKnzHhYAToQj_rQEluHz3BQJ0Y2hkDfbRZE_A1exZZuiIKS4Ae8INpcqr106XPhNixflj_uplxgu5k0LhzUHVLZ4LwOP4YDAggaOldg0qxzZFJoLeV2EuSRhQSnTSSde2VMG88g489HKybZg2K3_E79WQPa5bC496YUbrSAWyTvJYK8qD5AfKVBLrH1ptpd0_JSEosgLwrC-bkbVS2qGh6UuzA-JPWiGuUS2PwU_JiUrODyYsIqINQ-VXLznFVJVx40cKkHYEyRf8ws18iGSIir9cLaWoQ97YWu8brLgrdvLrbGkXWflGuC8biunvtLNfzKJsfRE50pbTJhQCXkdLrOjjNOVn9fuvHpvG7WN2z0Oi2uD3yhsu2Wyv8NO-X8kEkkPVCqQeGcH5j6hIVZZGp-j8cbtLjO5BHGWAmOsbABxkUEWnY5SmzyT2Sp1g8kx5xej0sK1BolXthcKLLN_G--LlULYSh7Bp2xFPngD-zOKYfQimVu107mQbjpgGVIx01HBdghHL-yTUXRbwjIBb6cA7zTLLfG3SfrRxTnTHVbMAGWUQSzdedQsf8UX8XTXjn1twlye59Z0Y8JLaOLxNKyj_4kEfcXGqwD3MCtcUsdNR8IYJl6f12OGqGkzpPqaWRLiIHqsWmlJwA5g3TXRDSqX5u8pxjz6F2kHnv4vITPiBDoIZvrwp47vgOatTNvOcuSgsQbELxODaG5bq0951Obe7H1V3mkQ2sUIfQNbw2AC0GGXG0meID3VE8t9PwpY3n606SmULOk7LAWTBjgnc75WVWH-ml8orwZG4BDIIj5ZNLHDMe524VCyYmThY_GhYL6xTqhtDa4g6uJkoveMVa3IujhI75kV7lqEl9o0tiieMiyhngqywLQhC_fbMQBwZy6E5Jr14pB0v16oCxCMfLLmcew4cSwnDP56DboVfDJavSOYM6O8LVbb1L5PhF_SS7a6iNcwiDWzO4BesSQWONF8Y_9vQHUxMnY_uckXNht5E6s5JECwITb_n1pBY7BOJ0zoRkEgvE4zK4ferco5RkdOge7c-b73Ojkvr2UM4eSMmhqIyZy6Yw33hSASdyOaNAmV_Q63AIbWgkw_zlJKyOBahyXZit16JhDY_JdBdKwdxZgN8wLa8xYmdyUs06PJTmuI9QDW3RzOeSyG7pX_wzUUeiTW1ieJA_y20jZ776dmcCT7RqzBIf-qeMCNXiFkfPQL9zrYnPg3xngmsebFS78-ZhtI22Z4mkGPtgJDGOX1GianvTwFKWbqOkYgFkMGNMmArWEoW89asgbFlrEoNNh6bCPqAXrYsnOckp6D5ihGJ4LA_qks5_cJgSn94UVkCE2Y1TzprJ8VtouF9xrCARXZ_pfsjjE6_t0o3AWX1I1imRYFE1DUFMDpBJGnmEu59kh54G4603jwiA4-UnphokqNd5VE6yyGXvT640GX_ZeP5B6RnJqxpHRgy-Vd_EL8FN-cKptRnuuZiacV1jLC-hmgZuQVGeOqKo0guy0e85v4jqt0vsJhAfN0__j9B1UnKUno2nyKmxK66hd2TIbTGt3z1n_6nPUyUhx-_-8gtGFqgV9TgzdPD4cwpgsLx02B_ims7RaA1md3eduEqBmqibTjqMCvDrsNao8MJlGUCClrcYYP1fboPCNGhRRp10-gfcw9ocvKgoooB60hTZ8rr_cACPkzCrYGtQ6LnvS0owcpDdAUe_rvu83VA3XA3hK2QnK0iyQr0KRRd7_3eDwl4KfxJ8qZ0PLJ-1MHLhtjKh_1OsmB-vFWuRkGztj7OtXs51Z20Nz1Lg0xwPGRPhxfhcLnAwbGBztw07MDvzuJAMl2QAtmo3X5uCCdgZvFsXccRdVzoYhvl-FgNL9cZPl9qLyrNgnn8v4XXp-usxZImBYmYFdAeY21hNFKytBoCTbyO2jWMUmkMYH3S-27gXWd90-gYoSqTxB1qiIN811O3oH7ouJNSGsw_tije_FuwTZRVF4q4nKquK_4myGWzAjclhROMm6BgYmZF2mORLSJUG5C9iOFit83g08NcXLdAONAIFq_kClTnZXzX5d0xO030GjJF3jXsDK3sn7umErPciH5Y9jhMPi3X-fhFDrf8y7PtiHHFEFwIQmDehNMb5MMBcFa6_ievqT7JrdqBGeyWS5KI9k9eS3IIEk31VchgMNsaJQrZIp2hMzqiWeOqPQA1uKoSEYszZSchUDKYvIBLfAXk9mZAfugG3miNhLuSj_lD_e8-h3Gpg-KLcHREPguNc6ju48TisEgs8azhHNft_x567J4sLut2si9ToEjU6z6rxYgcPBDVSAHgqHftTnr3CDl-4MuAChc-yNY9IKEB1xfjuLyObnfM6C-5UUXWflC3440P_vYDb70A-aUXyAcEoOx-EFHC4hJxlkxxvJdh657x41MWihUqY3S_QSbCI5nEYEPJDRraIZ3YuU2Fq_0-4ckYI2C-GNIqpir-Hl4tW-VVwwYCn8xv4LcJSq-C1b0lXfeMX31pAIrayhMkTQKLd8lfzibmZMqHlvYs3YGV37lE1qFmy_896rU-6ikqmGectpgUvfxOEBG53DzpO_wqJJSK7RqufLhTxTmpdfltj0kDserGsbmz9IBCAG4TkraafxSOi5eIKmy3QHugzjinDHSDi5kDuXbDqkDHvjbLl_KsI945W1r7PJI9q6lU3wglPACsjJUesamCcELFPz97XLhOy1uFnz3OU1KIUav2U6WcfpCCjvt2NbqueO5-KNHE9mBACcN2-e8R36wvfe-tXqL_Tr-OujS1ixzE7U8QBDpvxtoYpo3gIugcYUI6HvqoXblyLxmK842zIFAajCeAFbwgE4AkQtSKSfKJ3hGTnq0PJmgUK8O5-nROyYEIR4BfN4uj7y-IFMh0bchYiocsZQXR4I9UZZgbeEikUIHHET6VoWf_UDBtTG076Y0te08OYu2IRT9JY0J7QWl_3X5KcvpmXveOcir_wwRltyd33rfuqXKrtFShfijf3v5e0F6HacWwzTh_rSHOQ6hULBSSi6wYJ2AiPa66OgYNKr6U5aAGQEetIi5--pQv-4HBvHUsX_qAkBj5bLEqAs1MNOwZlWmw-40fktouZ5SHR_gS2kGArHsF5zrlq0gIf2mPwS94-XSw1TB3RpmTr_xKrPQTu1-YFGt7PWPlMcH-zzIP28CViXVokh0EujNKEl23HprlWO1t8QDaX6BEdyNhPXSZYU7eJW8ZP2ssVMN9QclsPCYsfeuKuJKMQvjT6zmT62PuDZyavnDhRjHst-pt7hT0kKtjPnOVDiz26ojj3fVqOYoDaEqZEvobDivdigkZkpPe6CMNZHaYGAgcIrZW46Tf1Bb2lfmf3L-xw9ajiuFuc1PTrq66DQjTc61AHYP8lev1dMBadnyIhEDmf8_LQ463yT03tds6F54M79jFYeMHg_8HSgqsW3u36Af9Ds5A5UdlxyzPN_Jp1PCueQYtNIFZvRgde8m0KjgBxhxdpqXKRrAQXV42nIJ7H9ssGHWcSGdqriL8Qwy-ZhgPy-pm0rC0GU-CKCLYFLH2UMIUWgDJoaofDa-xKE9AqXR3gNRwFxU6j2RTJhiISw9XzmWYDs=",
  "id": "rs_0d3f21681f924fda016ab44ea9f95487d0b496931734744d80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The cap is now nearly over the estimated base contact point, and its height is about the bottle’s cap-to-base length. I’m lowering slightly to seat the bottle base on the table before releasing.\"}",
  "call_id": "call_BsUUrIDZYCWpL4cVUE6QrrUi",
  "id": "fc_0d3f21681f924fda016ab44eae446c87d0981c5d3e56cc2d17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BsUUrIDZYCWpL4cVUE6QrrUi",
  "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]: [-0.9493, 1.9553, 1.6745, -1.4078, -0.9878, -1.7462, 0.3718, -0.0284, 0.6441, 0.3382, -0.2893, -0.028, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3273 left_y=-0.1975 left_z=0.1805 left_yaw=0.7051 left_pitch=-0.0111 left_roll=-0.0149 left_gripper=0.3718 right_x=0.2651 right_y=0.001 right_z=0.1158 right_yaw=0.0063 right_pitch=-0.0269 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.7197, 5.0393, 0.0513, -0.5983, 0.1929, -0.0171, -0.4308, -0.7316, 6.7624, 2.0391, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f897f615384bc433798c07bf71f7aba91e035ce4b0a6a11693615b1bbcf17b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464ab70129ec5056947b580d59ab8dfaa721c94f2a329d5cd895bbfb9cf7ca47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8607bbd427ff75eb13792d381b8c22783367de79998b3e2b5eeaaf5cc85b491d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 22.78 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6338, 2.006, 1.1213, -0.2951, -1.0035, -1.182, 0.3728, -0.0269, 0.693, 0.4107, -0.3202, -0.0132, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4093 left_y=-0.1115 left_z=0.0474 left_yaw=0.7218 left_pitch=0.047 left_roll=-0.0425 left_gripper=0.3728 right_x=0.2724 right_y=-0.0014 right_z=0.1304 right_yaw=-0.0049 right_pitch=-0.0344 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -10.1675, 4.2325, 0.486, 0.0024, 0.0513, 0.6178, -0.5812, -1.0872, 6.9949, 1.9951, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9405, 1.9488, 1.689, -1.367, -0.9802, -1.7096, 0.3719, -0.0284, 0.6533, 0.3531, -0.2932, -0.028, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.3336 left_y=-0.2022 left_z=0.1844 left_yaw=0.6938 left_pitch=-0.0227 left_roll=-0.0455 left_gripper=0.3719 right_x=0.2669 right_y=0.001 right_z=0.1196 right_yaw=0.0061 right_pitch=-0.025 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5248, 7.3915, -0.1685, -0.6764, -0.0122, -0.022, -0.8274, -0.759, 6.8034, 1.9316, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9553, 1.6745, -1.4078, -0.9878, -1.7462, 0.3718, -0.0284, 0.6441, 0.3382, -0.2893, -0.028, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3273 left_y=-0.1975 left_z=0.1805 left_yaw=0.7051 left_pitch=-0.0111 left_roll=-0.0149 left_gripper=0.3718 right_x=0.2651 right_y=0.001 right_z=0.1158 right_yaw=0.0063 right_pitch=-0.0269 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.7197, 5.0393, 0.0513, -0.5983, 0.1929, -0.0171, -0.4308, -0.7316, 6.7624, 2.0391, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f897f615384bc433798c07bf71f7aba91e035ce4b0a6a11693615b1bbcf17b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464ab70129ec5056947b580d59ab8dfaa721c94f2a329d5cd895bbfb9cf7ca47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8607bbd427ff75eb13792d381b8c22783367de79998b3e2b5eeaaf5cc85b491d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE6xMy_T2fubLnAFflGypxFJoyE2uiEiSk9st9W7m_pDV_mN8PSlpe3eIEqbusMQsbGbyhB2KduJzrJ02HjGJGbQ8pByg0hYWKqGrF28Yriqe3OeO13Ye1mzmTzSZllc2V8D37xSCMwr_cGmUobiiCT7iKNIDiaWlqWaims-BE4HISIolJvb-h2fWQOUCZtzwv-SrGbzNjuc3M3efN9HqZFCftG_c-eYGEh6HB4pu6TOF0xd0CX7iqkgX_4zxQkHlfDECMlfmG74rEVkNMhB-nlwzzHeGVCP5Q7uNtF-OjP1vO7AwaaaOf3DpQV4cHJ32f7cvjJuDLmMiiMXExc-V5qD4sd_FVt3lyOFHa69XtbcLcFWb5Wq91VygjG5STYlpxbjLBuF5YXk_8lFO44Nm_EBBv7MJ2JZ4BzYrbASq7LBjvsUQHa9n77Ig2w1d4AJj_uHTyR1O6rvP3rsfULOWNYvlukSVqvzyMIDR1XX3vTYWypRpnP91KA-z3DWXMV0hj4_YG42r2GvyEG-9dKSmaCgrRrUIiAdkpq2qQ_rmTw-S1cEute5OqKwzpi4gnyVdrLBnIumHVqSoIdc-B71TT6MIQaES-K8Tqe2aTrcjDX8TJmFH5r_jr0gi0wwzUkGhj5lVTIqIbtlGs9QZc0-wEWqkOUBztp6TJilD07meqQXyRzIlizJeO3rO6-MiywUlRmezyglsi55moTNS1pswEDtAxY-rT1UVly7LBk4QtoDlksn3UUJt_2eJY2ER-ZJw_UYSDtDkm7bRezH45VB_REweiQqz39vuyyA7DITdLkjXgm9XyjuxmjvS9MhCMnT5VqpX_jwLps7pXr8QPB4NmYeKavJPBA6rmKg9lVyEVUL4eJ7O603qCglAunoRQ6c5t2SE_PC8Z0ywwwi3ZbxZHcc3-dlNv_MPk_nksBso-9_7aI8cq29M30JCo3DQ0YeQHkJp7C1x7-w7I1nSTacf1Kgq3uFV9OO2ad7xN2H-FLMOaedFXGcmYE2R_LWBRq-0I9ck5msU3mOR_36GZNDnTndO0mIDIfoktBXl-5eP3ParbthgpqT5B26LVxHgl4Nk4KDxeR9QmPdQKxPqRDs6rId9gxoZE4wjIhF8CBA8y_1RHCBvdpCE08P4xPzLJyHb_3QzsjmbbgV9-9ayBTYQ0V8fiYsPDPSWFP9rZfwoG_dnAocOtp0JUqiARPmu6vlR_tOjZlYAii7zneJM0uv2vQ8d4iL7Ujcg31Q_W0rBcHrcPzGYN49USM_XjcErnZ_gMXoGnWYyMiFKBSOJO12x3k5NakqPOGx06fxYl7ThGFegE_qR9PM-vjTpLUmkw5S9D4Kndqp5oQlbrvE3ugCFWqmRdCYKjFHeJMddNkI7i6vCR0=",
  "id": "rs_0d3f21681f924fda016ab44eaffecc87d0aa3ed75a9f25d190",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The downward command stopped essentially at the prior height while the shoulder load changed, indicating the bottle base has contacted the table. I’m opening the jaws to leave this first bottle standing.\"}",
  "call_id": "call_ZNFdTR3CSRjgsTKah0HnwFAX",
  "id": "fc_0d3f21681f924fda016ab44eb06ca887d09cdfe4b18353479d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZNFdTR3CSRjgsTKah0HnwFAX",
  "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]: [-0.9493, 1.9953, 1.6665, -1.4097, -0.9806, -1.7588, 0.9951, -0.0284, 0.627, 0.3141, -0.2878, -0.0303, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.327 left_y=-0.1983 left_z=0.1644 left_yaw=0.7135 left_pitch=-0.0138 left_roll=0.025 left_gripper=0.9951 right_x=0.2615 right_y=0.0015 right_z=0.1093 right_yaw=0.0087 right_pitch=-0.0322 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -12.2051, 7.0222, -0.1734, -0.6374, 0.0171, -0.1148, -0.4991, -0.5812, 7.1453, 2.0049, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c527aaa6ed6c96ab659b1e8c4654db51b383aebc9f5bba2bc8590fbdefe34a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4401744410d4c75bce485bb6e06925f61175526a93205c1443386f0ff6b697c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805be6c976777916e3a9907360357702e26b81782eb4533437ae03d6bdf6bacf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 16.27 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7937, 1.9499, 1.3624, -0.8654, -0.9985, -1.4525, 0.372, -0.0284, 0.6727, 0.3794, -0.3058, -0.0174, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3709 left_y=-0.1601 left_z=0.107 left_yaw=0.7008 left_pitch=-0.0005 left_roll=-0.0041 left_gripper=0.372 right_x=0.2694 right_y=-0.001 right_z=0.1241 right_yaw=-0.0027 right_pitch=-0.0309 right_roll=-0.0069 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.8752, 7.4051, 0.3394, -0.5104, -0.0904, -0.105, -0.6085, -1.0051, 6.8991, 2.0, -0.1294, -0.0024, -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 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9553, 1.6745, -1.4078, -0.9878, -1.7462, 0.3718, -0.0284, 0.6441, 0.3382, -0.2893, -0.028, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3273 left_y=-0.1975 left_z=0.1805 left_yaw=0.7051 left_pitch=-0.0111 left_roll=-0.0149 left_gripper=0.3718 right_x=0.2651 right_y=0.001 right_z=0.1158 right_yaw=0.0063 right_pitch=-0.0269 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.7197, 5.0393, 0.0513, -0.5983, 0.1929, -0.0171, -0.4308, -0.7316, 6.7624, 2.0391, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9953, 1.6665, -1.4097, -0.9806, -1.7588, 0.9951, -0.0284, 0.627, 0.3141, -0.2878, -0.0303, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.327 left_y=-0.1983 left_z=0.1644 left_yaw=0.7135 left_pitch=-0.0138 left_roll=0.025 left_gripper=0.9951 right_x=0.2615 right_y=0.0015 right_z=0.1093 right_yaw=0.0087 right_pitch=-0.0322 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -12.2051, 7.0222, -0.1734, -0.6374, 0.0171, -0.1148, -0.4991, -0.5812, 7.1453, 2.0049, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c527aaa6ed6c96ab659b1e8c4654db51b383aebc9f5bba2bc8590fbdefe34a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4401744410d4c75bce485bb6e06925f61175526a93205c1443386f0ff6b697c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805be6c976777916e3a9907360357702e26b81782eb4533437ae03d6bdf6bacf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d3f21681f924fda016ab44eb5359887d095d9014fbee062bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":0.0,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The first bottle has been released; the arm still occludes the placement in the overhead camera. I’m lifting and parking it away while restoring the drifting right arm, so I can verify the bottle and plan the next grasp.\"}",
  "call_id": "call_w40cN69f3nlsxhNLBdGp8Gid",
  "id": "fc_0d3f21681f924fda016ab44ec7b98487d0ae8385df82187305",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w40cN69f3nlsxhNLBdGp8Gid",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7956, 0.8639, -0.6613, -0.1795, -0.1585, 0.998, -0.0189, 0.7856, 0.5564, -0.3969, -0.0277, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.2798 left_y=0.0148 left_z=0.241 left_yaw=0.1512 left_pitch=-0.0149 left_roll=-0.0184 left_gripper=0.998 right_x=0.2857 right_y=0.0031 right_z=0.1571 right_yaw=0.0172 right_pitch=-0.0578 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.0872, 8.3897, 1.8632, -0.1343, 0.1001, -0.2222, 0.2256, -0.6632, 10.3316, 1.9414, 0.0904, 0.1245, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2db43fe6776e95309203b4f7122e21f117d8462785cad05520918789928633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739b0b68544bc7f9079d37921db6b52f83e48240a11eb9dd3c6833175a554258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084ec5f89f5785346f036dfcc20c6b62ab7dfab9a68175634f5b5145e425c4d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 4.444 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9405, 1.9488, 1.689, -1.367, -0.9802, -1.7096, 0.3719, -0.0284, 0.6533, 0.3531, -0.2932, -0.028, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.3336 left_y=-0.2022 left_z=0.1844 left_yaw=0.6938 left_pitch=-0.0227 left_roll=-0.0455 left_gripper=0.3719 right_x=0.2669 right_y=0.001 right_z=0.1196 right_yaw=0.0061 right_pitch=-0.025 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5248, 7.3915, -0.1685, -0.6764, -0.0122, -0.022, -0.8274, -0.759, 6.8034, 1.9316, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9953, 1.6665, -1.4097, -0.9806, -1.7588, 0.9951, -0.0284, 0.627, 0.3141, -0.2878, -0.0303, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.327 left_y=-0.1983 left_z=0.1644 left_yaw=0.7135 left_pitch=-0.0138 left_roll=0.025 left_gripper=0.9951 right_x=0.2615 right_y=0.0015 right_z=0.1093 right_yaw=0.0087 right_pitch=-0.0322 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -12.2051, 7.0222, -0.1734, -0.6374, 0.0171, -0.1148, -0.4991, -0.5812, 7.1453, 2.0049, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7956, 0.8639, -0.6613, -0.1795, -0.1585, 0.998, -0.0189, 0.7856, 0.5564, -0.3969, -0.0277, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.2798 left_y=0.0148 left_z=0.241 left_yaw=0.1512 left_pitch=-0.0149 left_roll=-0.0184 left_gripper=0.998 right_x=0.2857 right_y=0.0031 right_z=0.1571 right_yaw=0.0172 right_pitch=-0.0578 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.0872, 8.3897, 1.8632, -0.1343, 0.1001, -0.2222, 0.2256, -0.6632, 10.3316, 1.9414, 0.0904, 0.1245, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba2db43fe6776e95309203b4f7122e21f117d8462785cad05520918789928633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739b0b68544bc7f9079d37921db6b52f83e48240a11eb9dd3c6833175a554258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084ec5f89f5785346f036dfcc20c6b62ab7dfab9a68175634f5b5145e425c4d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d3f21681f924fda016ab44ecc61e487d0b614a87b9782cab1",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0d3f21681f924fda016ab44ed1ce6c87d0afd367a7490b3b28",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7a4uRccNxPcszL0yqukouIVMARYedtc_aBXCPVyicxeYYkVzzlyW5ZxNfkfQ4mLsN2IjSsO7HFKB6MmDHHDTLS4st5aUuDcTjTUQ_QXHpVc02movpZHEQwn2gxUCsAbDatgjuIgLFCOhH5sq-FuSREG1w8q6WR_u1aPdvF4VPxeymFED7SIZkuSn2q0bzf96x4ke4mgw2wbrYKr4iBrdlBpA9ZpSLv57ZHZMbqCa9lgjuW3aTP_QttbuXUUs_qAxVBFQ3xxFE8iWoH4QTJv3qqgFQMSRDPr1iwO-scmbP5oZx3F43jANUOBAu60yTc6AQmxDGKZJQsm_OzcjRCT98wICCBM3Mr9QqRNyO5pYYo1q5MyMqZ5_oFK_zerYwtI4JxNfEVPEMyPT7ulf6r3nW6yzGpFhaoRjpzT4nfwV33mhwnNFy8tOOkxYNp6ofiPu5RiQs5qvdzpiJrNzF8nuh7wOQzG3a7XhD_N-hANaMbfEi6sj6d17XoLCyjAFdlZvKL0KNMArbyC28eVKG7txh1MsCp_pRYM9UkY91Q5SlA_LS9B5wNBCNlWIk_tWcKJgVGFaCVH_QCATMx0Tzv_i5oerdvN5VVgFG0xa1FJavP1eIxQkUOUFvUvjxUjy77iTxGAIHONYxhPT118Ie5y83_hBX1UVI3tjw6BlHnZYQ3yDUGIslfREopy60dYMCqUEt_kDVtyQIxgqvAjZdxf5fBLfHvjQFCpqmn-Btcd76h6dP56trfZPOjLG-XdfY2mWOw-ZJj9VUu6ngrKWgKZfH6WBiSh3ZneQp1rcE1xWoMAvGrVWPlB1h54wORBHGCYEbIe1o58sITNe0F3SNs7PGsDmGfd2jwlHifQCDMH2tEWSeIOOR8cRGPJc4-QQrkmf6ABpCAsZmuZDZpjrB0g6oLj6_CUGVpNvErIYqU751JdtISRHOfoR_ebAK8EwWMQI8O-qARbVTTsSNOF1yvHPGN2aLnaIxE2puPRcuvsdqOoqEjHVfn3nkfCioqWMfysW-KSQ9Mrir2lgs0r-l9bWpyBcQBSncXgV_uCw4FVW4-1ZQwd0OMmoC6SWmbecMD0UqUktzsG1NKy7rCiOt_AvQMfmtdSyRKek6ZunPJDzej50L--6mRVbQeQAMYBO9deYLmjUR0YWcB_xD6gJHlAeOm4osj1muEb0jhvEpZRS-Meh4ye4bJ1DGq_yQmfQWtp5CY5kIYaxTsSNEViajNIb4u5SBlqAMUWwSQOoc3dJxN-tr-U8C6GFRqsTOSAKOJvbYsghFVtRo7c53RRFDoUh48bHtkubhfPZS14c9c84PaOk7vAP98S-808JJRLAi1FiBTQf6gQMGgFsfktfY9i-VLb7RYMneO_zDYesBJCjQUA1t-H34RAy6hJpWiBAIKAKbHAqIUgc6FW2IDoKWHkEag05t0kkINpYz2KcGdiq8cTYoSgYCpNxFQSbNZuiw-H4PMKoJRMzNAJ9H4w2vlGWdjSgGl7bHHzEUnfzTPaLJsqHD_xN7DE7FvUTegddempbp_tfUW0esoOGjMby0gz_qpj234aAskX2biWmBF3PX4AwFzObFp--e4JX_ElV7o2B2Wy_ZHy1We2C1y3bLLQepshQsbRYIs3FsoqIVMvbDa9zyXiMjpgpxaDxU6EuB4fmq_Q7kzXbSLWSCSsL0ykKoFjPGgP_eNeTZkPLJulGjwMoaMA7C8JM3FUJyc2ED2xAtFOvtmW_NxdesriGzLHG77jPirLtHCNAKadrOPeVCkn7uJEm8tWKKc1J9nbzHxqsaSGZOsN2GgRwyVO99x72gY38Jrbl5ARDlAJcJ2i3TN7cKVj6JzEOsvHjKCYXaMM7RqL4Wequ_5N6M8uz8Ih0o9fLyGKaD6kP1yYT5rEwIulKe9gilckBxLmf7T4HhwGQy4L4aSoSjB7ZUCToUd68rypBJUUKibAZ_rrJfSo8sgJAE3aCtGLLfkGSrHNt6rIZTFQ2uLaCWq5D2RxQv7ObC0spZnCvg6Xxv4_JUDeVD9a3koxAM6UF-er87ZJHZb6vV8KYGy1IhoIuKjz39Lm_qyFIwL-5Yr9RyPhyZuWMLZ2lQ3I_-S6MNLsE2IGsVs62794IJ-yy0igb5-zgh_cP5Uvzk199eGudmqqluM9fUKK4MkNKP9DWHAlu1yarsKm80ANudKgx1Z2SUnjOrEebIQvFVnlD9OcXPZ-pV89ot0Yd5cnvKhemCDaV-CcLiRjHTJTGT_kLbtssk_Ra61JDZH7icVKhl_D8AVCVZiZfSE9t0=",
  "id": "rs_0d3f21681f924fda016ab44ed6ce5887d0a0542a36d0b2684a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.26,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The first bottle fell back onto its side, so I’m switching to the center bottle, whose cap-to-base direction is almost exactly radial and easier to pivot accurately. I’m positioning the left gripper high above its far cap with unrotated jaws, perpendicular to the bottle axis.\"}",
  "call_id": "call_zjAMUT0yjJeAKBpRM89R2gWQ",
  "id": "fc_0d3f21681f924fda016ab44ed9804887d081090a7b7e3af0cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zjAMUT0yjJeAKBpRM89R2gWQ",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6689, 1.9514, 1.42, -0.1974, -0.5583, -0.4282, 0.9982, -0.02, 0.7479, 0.4965, -0.3584, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2486 left_z=0.1384 left_yaw=0.0085 left_pitch=-0.0332 left_roll=0.025 left_gripper=0.9982 right_x=0.2811 right_y=0.0034 right_z=0.1476 right_yaw=0.0188 right_pitch=-0.0413 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.5778, 9.1009, 1.6142, -0.2418, -0.0317, -0.1978, -0.3761, -1.4154, 7.241, 2.0293, -0.0317, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d4d3adf49feb646b9c895bed228753c3bd4c15325440411cc9d25f7cff3abd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365833a389aa284fe18239c48ca04817af8d190e86b4aeca268b170de18b65a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d84cb764ce78313eddbf2862421aa413fc1ae08375ff8939bed5b30fd7d588c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 4.275 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 49 changed as sent

message 57 changed as sent

message 63 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9553, 1.6745, -1.4078, -0.9878, -1.7462, 0.3718, -0.0284, 0.6441, 0.3382, -0.2893, -0.028, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3273 left_y=-0.1975 left_z=0.1805 left_yaw=0.7051 left_pitch=-0.0111 left_roll=-0.0149 left_gripper=0.3718 right_x=0.2651 right_y=0.001 right_z=0.1158 right_yaw=0.0063 right_pitch=-0.0269 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.7197, 5.0393, 0.0513, -0.5983, 0.1929, -0.0171, -0.4308, -0.7316, 6.7624, 2.0391, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7956, 0.8639, -0.6613, -0.1795, -0.1585, 0.998, -0.0189, 0.7856, 0.5564, -0.3969, -0.0277, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.2798 left_y=0.0148 left_z=0.241 left_yaw=0.1512 left_pitch=-0.0149 left_roll=-0.0184 left_gripper=0.998 right_x=0.2857 right_y=0.0031 right_z=0.1571 right_yaw=0.0172 right_pitch=-0.0578 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.0872, 8.3897, 1.8632, -0.1343, 0.1001, -0.2222, 0.2256, -0.6632, 10.3316, 1.9414, 0.0904, 0.1245, -0.0317]",
      "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]: [-0.6689, 1.9514, 1.42, -0.1974, -0.5583, -0.4282, 0.9982, -0.02, 0.7479, 0.4965, -0.3584, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2486 left_z=0.1384 left_yaw=0.0085 left_pitch=-0.0332 left_roll=0.025 left_gripper=0.9982 right_x=0.2811 right_y=0.0034 right_z=0.1476 right_yaw=0.0188 right_pitch=-0.0413 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.5778, 9.1009, 1.6142, -0.2418, -0.0317, -0.1978, -0.3761, -1.4154, 7.241, 2.0293, -0.0317, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d4d3adf49feb646b9c895bed228753c3bd4c15325440411cc9d25f7cff3abd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365833a389aa284fe18239c48ca04817af8d190e86b4aeca268b170de18b65a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d84cb764ce78313eddbf2862421aa413fc1ae08375ff8939bed5b30fd7d588c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7hGG1uD6S-chr30YO3sLe0ygLAuNbFoG3uApAK_xtYbiFDDn5-CQeknZo7pP2EbpJpDDHrGJY7EyYRbpPQwVFKi5NeKsaeSg7nzmfMqEuacEi3JuGQRYFyGDsL3eIccmKYcIXyFhpTJrJ2qH4krMAesatBV6ueAzJlGTHyHHdw7Cq3DPm8f0tS0ehM6wohvaC21FXQyxVbmTmTv3uJpm8aA-hGhEXChzNfFR3LWcHnNhEl3CIjEBQnNUdYNE09M6H8vbi-ZqynV7guO8HrecSCXu25uVf72t-P4bY4uGCBxhUHmXkaAlqMfdLtgMGi9Ny9rEC3prdk2eksMjciQDdmPnBV2IjZO_IbiQaPLGc5r1Z-2ompX9g-u_0_YdMlQvSy-KbMxHYMac627x_-DxYWPyxEiOUyIVStcJ-rRU-vTOuRx6_JoX4tVZ-IRYhMgMgqBBT-4fT42hQf5umITMEs4NH1sL4QcdwnElJtPlYJwZtupdRmfHh_nUtEaVnpcsYsyGaRqcR8NPTUe8a7FiwOHNbMPdnVCzdVnNS-2wP7wYbv8VJ2MHc7YMO1xN56SZd7F1ZOT5tzB6TE_WorB6U6cctnxosVk0uNYnJ0potI8q0AHgk0bXJXpLxFAkRFN5B8n281yjZJIVcKmQHF0vevQcTxDGhmR7-YcgxVsDMv5taAdyMJV5weJ75euVJU-w7EJ9Py6_4UAWTQC04RVsGNVpCGrqRH3Ow3OVhnnXrbx6sZtNsXNhFN9Pg1s-Fi0fG-RBKdln29XQCW3tNGIzSLor3oJduEhjoVsnPBpml0smbTwrwLaqubNP7fb7XsnHprv-IAAyOq2oXjs03I1GAv-l_e9R-BaukX_9Gfw03adwywd0mALp4mPz_SI9veeOxdkBE1T3_Nhe66VoIbmF8OKco0luVa8vruu2uxQkTLwnLoa9VmxyWl1WfTzJCCmBGtIGOszainJQr_8d70C-NQ1bvSqylzpoLLDFR-LzYjBkFboP44Qr9i0V2Z6Lsw5i0BaaMghxrn0J17xGPyqNc3KsJHPYE6mgQJeX2IZcPn4GQOVadHu6EhNFfuJfn-VXZkRQKEsyVWvHC5CWyW_ecddMf6pk0nuV9BVGuErvzZ10eg1F-raftFslf4tQN3BxXi94Hfh6az4fe57PagFPlu_mm5tuRGnQPvDefKRGYESISK5ONJlcMSw_liAYaf7BaxrHFvV7Klat3ytKgEq-rufYvsodtpina1KAocqqbJfAPx0ffwk7rkbVzbTmBu43CaTXg3Wuy-cra10F4VBp_-45fSgiH94hNEMXJmGTyMj_L6GK-rKynKEDjL_Sm3PTMCmuFuKVYZJ55WZidcU0174mE2YfDArEiURF4KAKQJ2qspc7AerbiuZI-nlTT0ac3YkNt7E5b2FAS8lWbkeZBcqX12Z1mdQHcRgGZ_Wd6COWy34GkmZqqQLVLujICE_Eu5n0bmNkT5oVWEGoy04njbu_UsgF5jY3DlYH-ZIkOoHH9Cxxhd0EZh2KEC4EK73Udh2HR4dcnUF2HcV7MISmG3x7Dzkg4RkjIDEiiGsTlsMIzs0rNi6bezvvLOjCy_PNURTwsVanEQsW-8_gIQK-g4SzOarDTiYPi-K13d5R7WoGdFf7rlupR8qP-l1qZHY1JGXeVNjplrTSUziLxUapX9EiyFPJH9A8ZehBbctWgydiupUQj3ypMRn6eK_6GMa0Y9ySMmUIJfqvCzXDt25zOahC5OIyb6-hk18LRbcs3vghG1BH39L4i_V1dXjfR7wKZ-0uNQ-KoKecMBOTqWjz8G8L4Cl8w8PKLuRsel-9aWmgqUtZK7xrTruHk6mDIgb-mNmMayDIbCmwsME2jqHJq0yOwHRUwQILsVTJ-OSDNWTHbh7gL2m0p90GLSYMv4obd8gT3JjZBbnDa2lOduvL7jR_LWxzxDDPD9MdP2ae-VHGO9pNj8ApPNVDusWAoQLrtOpgr87GhtQh4zQjDkFR_7U_flxLKIKNoTufhlhHgGTZu8f3S0xh2iwu7Jg2yjEWuX",
  "id": "rs_0d3f21681f924fda016ab44edf20a887d0b2bc361ec127062e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.249,\"left_z\":0.07},\"note\":\"The center bottle’s cap is exactly on the jaw centerline; the wrist view also shows it is still slightly ahead of the fingertips. To avoid the long-reach descent stall encountered before, I’m retracting 3 cm while lowering first, then I’ll make the final low forward approach.\"}",
  "call_id": "call_7Qzwglx1E8yUk0JvTxaQejbB",
  "id": "fc_0d3f21681f924fda016ab44ee0c86487d08282303cf2ab697c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7Qzwglx1E8yUk0JvTxaQejbB",
  "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]: [-0.7151, 1.9652, 1.1419, 0.0536, -0.5743, -0.4519, 0.9977, -0.02, 0.725, 0.4568, -0.3389, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.2454 left_z=0.065 left_yaw=-0.0117 left_pitch=-0.0573 left_roll=0.04 left_gripper=0.9977 right_x=0.2774 right_y=0.0035 right_z=0.1395 right_yaw=0.0188 right_pitch=-0.0386 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -8.9368, 6.0923, 1.7265, -0.4371, -0.1783, -0.0562, -0.294, -1.4838, 6.9675, 2.0147, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9797647642ea9ff8fb0c25190613d61256eb6ed1f72ec72752e8c41e6a82e073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43cbb8093cd4882e58923e51aebd93b031a60828e1d17acf1c7b562fdad9209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb12897c241d1c666ed05f6a5e16c0c408464a3bd378b8c61a6f1dc0a31f7fb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 4.229 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 53 changed as sent

message 63 changed as sent

message 67 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9493, 1.9953, 1.6665, -1.4097, -0.9806, -1.7588, 0.9951, -0.0284, 0.627, 0.3141, -0.2878, -0.0303, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.327 left_y=-0.1983 left_z=0.1644 left_yaw=0.7135 left_pitch=-0.0138 left_roll=0.025 left_gripper=0.9951 right_x=0.2615 right_y=0.0015 right_z=0.1093 right_yaw=0.0087 right_pitch=-0.0322 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -12.2051, 7.0222, -0.1734, -0.6374, 0.0171, -0.1148, -0.4991, -0.5812, 7.1453, 2.0049, -0.0855, -0.0317, -0.0122]",
      "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]: [-0.6689, 1.9514, 1.42, -0.1974, -0.5583, -0.4282, 0.9982, -0.02, 0.7479, 0.4965, -0.3584, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2486 left_z=0.1384 left_yaw=0.0085 left_pitch=-0.0332 left_roll=0.025 left_gripper=0.9982 right_x=0.2811 right_y=0.0034 right_z=0.1476 right_yaw=0.0188 right_pitch=-0.0413 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.5778, 9.1009, 1.6142, -0.2418, -0.0317, -0.1978, -0.3761, -1.4154, 7.241, 2.0293, -0.0317, 0.0073, -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]: [-0.7151, 1.9652, 1.1419, 0.0536, -0.5743, -0.4519, 0.9977, -0.02, 0.725, 0.4568, -0.3389, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.2454 left_z=0.065 left_yaw=-0.0117 left_pitch=-0.0573 left_roll=0.04 left_gripper=0.9977 right_x=0.2774 right_y=0.0035 right_z=0.1395 right_yaw=0.0188 right_pitch=-0.0386 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -8.9368, 6.0923, 1.7265, -0.4371, -0.1783, -0.0562, -0.294, -1.4838, 6.9675, 2.0147, -0.1245, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9797647642ea9ff8fb0c25190613d61256eb6ed1f72ec72752e8c41e6a82e073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43cbb8093cd4882e58923e51aebd93b031a60828e1d17acf1c7b562fdad9209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb12897c241d1c666ed05f6a5e16c0c408464a3bd378b8c61a6f1dc0a31f7fb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7mGo4-cWt342L667wfI4tBUoT81fctPyp3gPeubuYs-NJVNWxGOqjlHJR4S6-mffpNGH_nUGv-D-2rrNvHZtOm34U23lAy2tDQbGXaMTW7B2AVpWFD3frcuJ47LOG1lzPFS0Odx2bjRRU_s3J_0T83TopvQzfnrbmG8KD7FXkRd0Q0mX9wMdgQH_os8noKkWUijgoDLaoE9S0keBPA04HLPqQua4us_Ehk_FfB-HCpPWM-5AgxV45tzPbPoWDJBq4WvsruipkkDU72-dwvC3WCgEVI3p1mAfTfZ6iwC6FFY-g3a09cO7Wd0vM5bgjkScvpf-nomnv_jjltfD5steX1II-pivW6lTDG3mxABdtfib4_PdFbTl0kodLlinCE9D-0I8mU4_OlMemwbuLWcVD6PasTI9rNfsWn26IMqTCT8Ubwk5orCrXBpa0FSEYVTW6a4D5pvsV_KfZE9M_NBt03Io4VtYSEOuUwIBzAA2kd2vIkJrmybJpGr6ZeaygkJxA0HBuFv6iabVg5_aJgoUMXPmG2-K1iZXiuUKA8v6z73jCd_nwkoNz4le4Rr_2JLfnMNhj1Ta6WLBxXZvoM6rCYuEdoVYYgAp4KnW-Vh_rXh6qRO31DMbMEmAUlKTbRGLwqR9oljvF0Aken6n5nJriI0XeJsh-fggk43xDonf8Pazx7QFwaTi-Sqocz9T4O9acaVOS8s8qRgJvw7mQC2DEjkxWjg9WTcXeYgSpvC2-IJHfo3nvUkMCKlosJ7o_JOsxg3Irn7OFbniuYgDT8okGxJlTi9FDVxbpdf7aJaVp1BWDbYBCPPKUn4py4WEsYk6i6sRndwrBYQkds8THI4bzx-pG5TqjIJ_rr9LBO3ZrdAHfRxV3VaqDreTyaxyU_YDkHkagCB0dgqMN-ufC1cDRukRZdSIfzyyGIgbShBX16xk_oIDCl5v12_RHFQvwmB66i_NHmIrLmGBV4aKy9BuwwQVBdbVxqSe5WWJjh7Xkjw5SC1Ct2xecyU6_6-z7qpgTZxorBlhFJ_fwTp8SA9_LWxSvNIKz_aLFzTEWVqIrN_EPPQfcNSn8DzmFYtpfRF0PvyHAgIWT_iaJuhLJmDjCf4EP5jBxLh7RWLSUAVI-dVe4ZtlGUxPtOlyl3WjN-Y3qlnPox-5G6SaUmNW8jMl8K-60gxhuWlVFhd56umBD3SOrAr5N0Aoc3Lk8Z3kBncmyoMHjsnMLzqtON9BwRN-JU-VAc5r1J2tkPQ_1OLvHZu68HthfJOfn0R3jI50r01-f7AHet5qdip7MpLdey2cd-AAlm4VqUBJnco-st5EIOuPaLpwuNJX_goPYfU_Et2MK_06yu3z6fIM24NWZS_cP1MWYGoQGsWXnua360MpCrJioCK-T8GhUUihhNyCRcOEyyFpyhQasiYaB1p6z_umQSVzOlkushabBqNVw0kHDAcQlO7th0fqimFMETbv5FbFOcU042AE6OxJXPsym0zlLn46Ev20KBIBZ4iG1WjCXwqWYDcyUnCP_wDsOC5beECviWk5QfJmITKYTUrg8HeXwTQweR-2bw5-J7p3v3KnUcRzGjXS1nu9RTlqDJDYvrsbwSEGq1nDHZb0L9nukSRPT65Dun9sFB1miBpx_civOB6nmVjCYGOzkJbesKLMua93EYFFdaAFYj-0XjQlQDLr48OmdsOhSQAyWSKEWXZGpUdB2fhp2pwmBb6L4wZITS9bf01o7HPe8PkMI2dq7m65khhDGS_I_RPf1i38OIdSxd6Kmkjk8666nMpnX_d3GhhqYNY1vlXLzS0E_1aOxhpVcM_6ePb6Njd7ZN69CaKQocgfYn7ICFms_LwFLCghAeEmHhwKjyv-l3gJJ5FBM53tAaMei2NFpb92badJJLvFB4MAyWFAzIkUIWlfNvNtxm6gdVpDjjNEb-0VcAuYPbflvnD1Z_cM0dfIQJI6LIy8Dm8E-mqjhzPNz3J940vrJ_AjsVM43ZTIpEfLta_ODSTXNo3P80w4cZLoOFk0nTvu0kNdiOy62wPsR9Kp2nYbTHnSvMlKtFbfzg5DIgFAc-DOVBxjxXEsthQwwRYA7csC-ZTj755rOCoQebCy90Kwo9VpoQnVigUVHCLaRdF45QKBeQGXED7-WR3hLzw_UGYEMB557KUPiPSsg0qTO16wFS6LcIDpchWO6JMML8I1yA8uS_LKJBv5hP-BVsRQw23TvYqz2vf1hKX031k2vJCNN8sc3gI3UxmyJSCk5rqd9S2_HScUxC0-hukLD3Iw54d_RN9bM4VJJ46qsrUD4FTWL3ufaF4TkycGzk7H8EKupI_VK_xKVz296A3Dk8HARGSGsp0r_j5yOUicFffn2J5hL0C_x2ncsaHhNYnjBVWOAJslXwsZxZjhlA4gS-ofv7kEFOf_wEpIdY0benvIfWDWXaXNuLru3r4dVHlzyFgrYV6xCNJOmtaq66zpoZRZZLMQ8TqI-FVfSf_Nam-aPoBbKCv8hJ8285bXoUGxmXXT8FnSeSPIFgGuP-swjHorDqT8d-gD2d0iTS2NAU6AZTXt3kobMtLNHyHJRr4gA6yYD7WncS83TcpqHS5ABBOk_-_S6Hs6DpSbPwWwiKHlKkujofGoRMfMkiB6sy5crSvJ5XHPLw_xXGJEo2GoGF_LNUq6AZkJltCme3erAuqpXvOFrqDZkr",
  "id": "rs_0d3f21681f924fda016ab44ee352f887d09c995fec75eccb08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.249,\"left_z\":0.035},\"note\":\"At the lower height the target’s cap and neck are centered, but they project well ahead of the fingertip line while the body enters the jaw corridor. I’m advancing to the cap’s estimated table coordinate and lowering to neck-center height for the grasp.\"}",
  "call_id": "call_EwjljOZ0VmD6Ts9s4QurHuba",
  "id": "fc_0d3f21681f924fda016ab44ee5a9f087d0bcbb19ef9e8ddd34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EwjljOZ0VmD6Ts9s4QurHuba",
  "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]: [-0.6548, 2.1208, 1.2083, 0.2409, -0.5461, -0.4412, 0.9977, -0.0204, 0.7033, 0.4213, -0.3206, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2462 left_z=0.0426 left_yaw=0.0197 left_pitch=0.0065 left_roll=-0.0278 left_gripper=0.9977 right_x=0.2741 right_y=0.0034 right_z=0.1326 right_yaw=0.0184 right_pitch=-0.0341 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -8.9778, 6.2974, 1.3553, -0.0171, 0.359, -0.0171, -0.3761, -1.1282, 6.8855, 2.0098, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c88e7b531155dc0fa73918542a1e0436cf2652a0f5e4d5ecfb23254bb7459c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d3268e425f1d2953a6770ddecd2568b2442ab3a8957a2519212f0a209fb77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9a927472f06e1e97a61dbc53b2eb5725f60e4459b8b566cbcd8f5011355efb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.491 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 57 changed as sent

message 67 changed as sent

message 71 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7956, 0.8639, -0.6613, -0.1795, -0.1585, 0.998, -0.0189, 0.7856, 0.5564, -0.3969, -0.0277, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.2798 left_y=0.0148 left_z=0.241 left_yaw=0.1512 left_pitch=-0.0149 left_roll=-0.0184 left_gripper=0.998 right_x=0.2857 right_y=0.0031 right_z=0.1571 right_yaw=0.0172 right_pitch=-0.0578 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.0872, 8.3897, 1.8632, -0.1343, 0.1001, -0.2222, 0.2256, -0.6632, 10.3316, 1.9414, 0.0904, 0.1245, -0.0317]",
      "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]: [-0.7151, 1.9652, 1.1419, 0.0536, -0.5743, -0.4519, 0.9977, -0.02, 0.725, 0.4568, -0.3389, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.2454 left_z=0.065 left_yaw=-0.0117 left_pitch=-0.0573 left_roll=0.04 left_gripper=0.9977 right_x=0.2774 right_y=0.0035 right_z=0.1395 right_yaw=0.0188 right_pitch=-0.0386 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -8.9368, 6.0923, 1.7265, -0.4371, -0.1783, -0.0562, -0.294, -1.4838, 6.9675, 2.0147, -0.1245, 0.0073, -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]: [-0.6548, 2.1208, 1.2083, 0.2409, -0.5461, -0.4412, 0.9977, -0.0204, 0.7033, 0.4213, -0.3206, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2462 left_z=0.0426 left_yaw=0.0197 left_pitch=0.0065 left_roll=-0.0278 left_gripper=0.9977 right_x=0.2741 right_y=0.0034 right_z=0.1326 right_yaw=0.0184 right_pitch=-0.0341 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -8.9778, 6.2974, 1.3553, -0.0171, 0.359, -0.0171, -0.3761, -1.1282, 6.8855, 2.0098, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c88e7b531155dc0fa73918542a1e0436cf2652a0f5e4d5ecfb23254bb7459c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d3268e425f1d2953a6770ddecd2568b2442ab3a8957a2519212f0a209fb77f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9a927472f06e1e97a61dbc53b2eb5725f60e4459b8b566cbcd8f5011355efb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE7rMQqdUkzMwQR_f6Tu9oOAqnwSntjxZk7A7isd5xaaG58EC2t-Ga86cQHUmG706sALbx__XFl2aPPyPOwh28yBUV1tY-xWgFtZdcst2Lm4bOho2Ut5toeRh75CTw_anh9ceZMsEuzlKiJ40oEAc5FL-JkomgO8AqoXd9-Et6xdMVshSJTpyIXv5XneDS7efORmcrI8Wkiq71ahGJABLKLQXPGrQinHSZ83mBaFLjeJpOP7t_IxwFQrhi3supgXe84rlv-HNaSbpWUOaBOcuKsdYVjkUJEWv7RNHXMiMtBHbmOE8uoX8kivJu-S-vtFQZhNGPlrOoLe4SMIdnAvhkA3QEcZ4O_mbal9n8sW1QXI1mYg9z7WvnJGaN8ND8fdAC68V0mg6cLvrFTjSpeaAlMTiCBNgscTeC4V8Db6IBAMJN8Ek6Y2fCwHTGF5ap6FhxxMTPKG2eJL03UwEKdKZ6rOTwg35WxGpygvqS48Uv5BajlQJzjPp4-zuoTnhY3p-ptBF0IPcK0qFSKivEDp2WK6cVdDkmj-WU7PJyOWXZukMrn6CNCXERnT9PhI6_51QWWPaS_J0gPSH0tGpGebZZmYAwM4lJUvwsAOVkLCx7DL4QJIkCXEaz5vmpsID1EqWWm7N28jIprjlBJflcg1FJWwWfsZq34gwwyFneN-1z7rEYJ-aPQwU_fwnHsI5pXsJxnxnFgRRk0brk3fgN9NGx2uTc0LRjxxZGbEhXBpAJFHgTuyb0dQVZIkp9qjZrnaeSv5ui6My00rRfQ2gCsqqR06FWxWRa8hQeGgohsKc_PW6lL6729dm0qGjgWiTJzWRtE8x1nGKxFiQ_yLJN0waMPymw1icTLpULKugsg4n3RtV9rd2JdKQvJ_0nz7Lg2mFWsduBzjCNUlHrzGd10eUcIdCXiHsxoGDV643yo0LFuECEkG6NJTU1DO9pKg-iqq8JEfnzZbuCfAaV7Nvq1AhZSVPx74N3Ux5Lxe2bC8W8jl8aJkkc653y5biL4AmPPQVYvJQEIIyzbL7RASVsIyd5g32U1Ap26DmZOaQM1UXqI6n7lBc0BCQC4K7SkSbQzYc5sUEVLC5-FQbz0B11ArQGDq5RGf67tGC7mUnJH6pznUzjNblrtBTQoSj8XEmeKNM2J7elNV_ncuNKV6khIrJ9imvlhtLXA8tr2CWSofn0Oki4DB-vNVjhgJqdfq8EW0ODfjBBMCdqOvUQQCw7ffgTiHo9vjKDqMbMNW4cLQlilQzKW9qmgrHrQOaPcM3J9VXqoQKZ2Z23duta6LQwCbaxXPWwChJT-TvgiURXuyAYh6jDu8djhVJycWYHx_D5L7INTEGkYUuFrE4vD7DIG4Jv88VwmPYENVS170b_c-QUhw7LM4u8QF9O53dARc3m0Ui8l0BTkscAiyAkDMZluozEW0DdQsodmQgCVWWciuG7WcQkZZvDz8xU2fySA24GCRN_Bz3ihJA0Ccrsrvcim6umk_GEwASjDiv7OPpX8ufmuHaqh0eSXczGqT3E8hAIPiv1K7rUdknrFPbi9jAvvH2A58IafLR4nMLAvfkJTHunfumThCvWTMBG2kqxM_Q3lrzcL328lqOquepWez1bqUxQn9YO73yrvta0MWJI8y6bbHS3YhnpAiSqqLKfkLupBUq1-Hc0Xd0Cih9so0p40yBtqGfQX5f2Oy8jwqOoQyLlzbBu4Fc6vN0D2BX1IeKSc-2QzyN4F01ohmNm3A6yEzpDq2GYcXucTzi2QVPjXG7jPF-EEQ7SS0eZL3YwhPVDMcHIYtiDYwdiiH86LxuZp9atkzyG4ailU-ZRcOW92XpGfmbZvYoaYtnx4ZHr5vUF0pTeKdyFAV2FvqPOx68TUbniKGEqTuDOAo1AGDvealEawhxT2QNkAj_1HAJK-PIXnpmsZOPaVVFHxTaJglm31bHjj4QyL-AhJD4WeosxvMerz-08lpPE---qkUVGKKMiiJP2w7bbuMSBfEHa1dAjmhTgVUiKtCqvdWPRdBJwTZeZVggH0=",
  "id": "rs_0d3f21681f924fda016ab44ee84cbc87d0875be205bfaefbb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The bottle is now centered between the jaws at table height, with the narrow upper shoulder entering the fingertip region. I’m closing to capture it near the capped end.\"}",
  "call_id": "call_pgUbA67THbL8XHQeHWALh4b3",
  "id": "fc_0d3f21681f924fda016ab44ee9ddc087d0a8c9d63c9309370a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pgUbA67THbL8XHQeHWALh4b3",
  "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]: [-0.6594, 2.1353, 1.227, 0.2554, -0.569, -0.4454, 0.4697, -0.02, 0.6849, 0.3901, -0.3061, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.2486 left_z=0.046 left_yaw=0.0354 left_pitch=0.0298 left_roll=-0.0323 left_gripper=0.4697 right_x=0.2711 right_y=0.0036 right_z=0.1259 right_yaw=0.0188 right_pitch=-0.0325 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.3282, 5.6, 1.1502, -0.1587, 0.1294, 0.7985, -0.3897, -1.0872, 7.1043, 1.9853, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151bee2f1467571c2c444a98f155218e26f9359fd4b1ce0f981fdb8f84914eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9dd1935b71307fd7a7c0ad0573413b2ea42c878f959f3898075cdc50328096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad817adbde8e4a1334a9f70c5ea33def5467f23bd9afe961972b6de918d5f29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.267 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]: [-0.6689, 1.9514, 1.42, -0.1974, -0.5583, -0.4282, 0.9982, -0.02, 0.7479, 0.4965, -0.3584, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2486 left_z=0.1384 left_yaw=0.0085 left_pitch=-0.0332 left_roll=0.025 left_gripper=0.9982 right_x=0.2811 right_y=0.0034 right_z=0.1476 right_yaw=0.0188 right_pitch=-0.0413 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.5778, 9.1009, 1.6142, -0.2418, -0.0317, -0.1978, -0.3761, -1.4154, 7.241, 2.0293, -0.0317, 0.0073, -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]: [-0.6548, 2.1208, 1.2083, 0.2409, -0.5461, -0.4412, 0.9977, -0.0204, 0.7033, 0.4213, -0.3206, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2462 left_z=0.0426 left_yaw=0.0197 left_pitch=0.0065 left_roll=-0.0278 left_gripper=0.9977 right_x=0.2741 right_y=0.0034 right_z=0.1326 right_yaw=0.0184 right_pitch=-0.0341 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -8.9778, 6.2974, 1.3553, -0.0171, 0.359, -0.0171, -0.3761, -1.1282, 6.8855, 2.0098, -0.0757, -0.022, -0.0122]",
      "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]: [-0.6594, 2.1353, 1.227, 0.2554, -0.569, -0.4454, 0.4697, -0.02, 0.6849, 0.3901, -0.3061, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.2486 left_z=0.046 left_yaw=0.0354 left_pitch=0.0298 left_roll=-0.0323 left_gripper=0.4697 right_x=0.2711 right_y=0.0036 right_z=0.1259 right_yaw=0.0188 right_pitch=-0.0325 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.3282, 5.6, 1.1502, -0.1587, 0.1294, 0.7985, -0.3897, -1.0872, 7.1043, 1.9853, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151bee2f1467571c2c444a98f155218e26f9359fd4b1ce0f981fdb8f84914eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9dd1935b71307fd7a7c0ad0573413b2ea42c878f959f3898075cdc50328096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad817adbde8e4a1334a9f70c5ea33def5467f23bd9afe961972b6de918d5f29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d3f21681f924fda016ab44eed8d7887d0bd4826ae616f27f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.249,\"left_z\":0.13},\"note\":\"The gripper settled at 0.47 (about 4.5 cm), confirming a secure upper-shoulder grasp. Because this bottle lies straight along the arm’s radial axis, I’m lifting and retracting its top end along a simple arc while its base remains on the table.\"}",
  "call_id": "call_m0IzGlfooOSV841ZPmAm6lb5",
  "id": "fc_0d3f21681f924fda016ab44eef559487d08e973fc2ca9b970c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m0IzGlfooOSV841ZPmAm6lb5",
  "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]: [-0.7925, 1.8256, 1.1534, -0.0589, -0.6502, -0.5331, 0.4694, -0.02, 0.6662, 0.3599, -0.2901, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.2589 left_z=0.1213 left_yaw=0.0104 left_pitch=0.007 left_roll=-0.016 left_gripper=0.4694 right_x=0.2685 right_y=0.0037 right_z=0.1201 right_yaw=0.0191 right_pitch=-0.028 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -11.3299, 5.6, 1.5311, -0.4078, -0.1294, -0.0464, -0.1846, -0.7179, 6.9812, 1.9512, -0.1001, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ad169576d83ad3986b00a04a0fb6e5db7058020debc5d98387e4b10b2a5ac5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d32fdeda92da33268af49bad90737287731c715e56f5d09525d9f74ee28869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da292f12cbcd6e175039eabda1b8d9d4a4440f4751e3a67a8838bee41dde0dff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.856 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]: [-0.7151, 1.9652, 1.1419, 0.0536, -0.5743, -0.4519, 0.9977, -0.02, 0.725, 0.4568, -0.3389, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.2454 left_z=0.065 left_yaw=-0.0117 left_pitch=-0.0573 left_roll=0.04 left_gripper=0.9977 right_x=0.2774 right_y=0.0035 right_z=0.1395 right_yaw=0.0188 right_pitch=-0.0386 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -8.9368, 6.0923, 1.7265, -0.4371, -0.1783, -0.0562, -0.294, -1.4838, 6.9675, 2.0147, -0.1245, 0.0073, -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]: [-0.6594, 2.1353, 1.227, 0.2554, -0.569, -0.4454, 0.4697, -0.02, 0.6849, 0.3901, -0.3061, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.2486 left_z=0.046 left_yaw=0.0354 left_pitch=0.0298 left_roll=-0.0323 left_gripper=0.4697 right_x=0.2711 right_y=0.0036 right_z=0.1259 right_yaw=0.0188 right_pitch=-0.0325 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.3282, 5.6, 1.1502, -0.1587, 0.1294, 0.7985, -0.3897, -1.0872, 7.1043, 1.9853, -0.0562, -0.0366, -0.0122]",
      "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]: [-0.7925, 1.8256, 1.1534, -0.0589, -0.6502, -0.5331, 0.4694, -0.02, 0.6662, 0.3599, -0.2901, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.2589 left_z=0.1213 left_yaw=0.0104 left_pitch=0.007 left_roll=-0.016 left_gripper=0.4694 right_x=0.2685 right_y=0.0037 right_z=0.1201 right_yaw=0.0191 right_pitch=-0.028 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -11.3299, 5.6, 1.5311, -0.4078, -0.1294, -0.0464, -0.1846, -0.7179, 6.9812, 1.9512, -0.1001, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ad169576d83ad3986b00a04a0fb6e5db7058020debc5d98387e4b10b2a5ac5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d32fdeda92da33268af49bad90737287731c715e56f5d09525d9f74ee28869",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da292f12cbcd6e175039eabda1b8d9d4a4440f4751e3a67a8838bee41dde0dff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d3f21681f924fda016ab44ef24d6c87d0a2017644d53fbd8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.255,\"left_z\":0.2},\"note\":\"The bottle remains firmly held as its top end rises and moves toward its base; the overhead view shows the grasped bottle mostly occluded under the gripper while the other two remain on the table. I’m completing the radial pivot so the held shoulder is directly above the original base point.\"}",
  "call_id": "call_cbuAkfIuztOm0J2MyXWXV5kE",
  "id": "fc_0d3f21681f924fda016ab44ef5390c87d0a18b8b549f4ceb02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cbuAkfIuztOm0J2MyXWXV5kE",
  "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]: [-0.9806, 1.5803, 1.1606, -0.4377, -0.7559, -0.6865, 0.4694, -0.02, 0.6514, 0.3336, -0.2832, -0.0311, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2635 left_z=0.1809 left_yaw=-0.0202 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.4694 right_x=0.2652 right_y=0.0038 right_z=0.1132 right_yaw=0.0194 right_pitch=-0.0325 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.1966, 9.7026, 1.3846, -0.5641, -0.1294, -0.0171, -0.3761, -0.4718, 7.1179, 1.9756, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb1387d01de250909937e3e0aeced392d393b7669f40b20efdd0ecb17e20a55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5463ffc306a6aafd8c1c32e4f406bd6f6586b3cf2a1dcc97eb7e31767e8ee9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c81251b5503323cc90846a1660bbe223e8965d0372772c8e4bef37179587bc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 4.65 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]: [-0.6548, 2.1208, 1.2083, 0.2409, -0.5461, -0.4412, 0.9977, -0.0204, 0.7033, 0.4213, -0.3206, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2462 left_z=0.0426 left_yaw=0.0197 left_pitch=0.0065 left_roll=-0.0278 left_gripper=0.9977 right_x=0.2741 right_y=0.0034 right_z=0.1326 right_yaw=0.0184 right_pitch=-0.0341 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -8.9778, 6.2974, 1.3553, -0.0171, 0.359, -0.0171, -0.3761, -1.1282, 6.8855, 2.0098, -0.0757, -0.022, -0.0122]",
      "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]: [-0.7925, 1.8256, 1.1534, -0.0589, -0.6502, -0.5331, 0.4694, -0.02, 0.6662, 0.3599, -0.2901, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.2589 left_z=0.1213 left_yaw=0.0104 left_pitch=0.007 left_roll=-0.016 left_gripper=0.4694 right_x=0.2685 right_y=0.0037 right_z=0.1201 right_yaw=0.0191 right_pitch=-0.028 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -11.3299, 5.6, 1.5311, -0.4078, -0.1294, -0.0464, -0.1846, -0.7179, 6.9812, 1.9512, -0.1001, -0.0513, -0.0073]\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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9806, 1.5803, 1.1606, -0.4377, -0.7559, -0.6865, 0.4694, -0.02, 0.6514, 0.3336, -0.2832, -0.0311, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2635 left_z=0.1809 left_yaw=-0.0202 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.4694 right_x=0.2652 right_y=0.0038 right_z=0.1132 right_yaw=0.0194 right_pitch=-0.0325 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.1966, 9.7026, 1.3846, -0.5641, -0.1294, -0.0171, -0.3761, -0.4718, 7.1179, 1.9756, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb1387d01de250909937e3e0aeced392d393b7669f40b20efdd0ecb17e20a55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5463ffc306a6aafd8c1c32e4f406bd6f6586b3cf2a1dcc97eb7e31767e8ee9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c81251b5503323cc90846a1660bbe223e8965d0372772c8e4bef37179587bc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44ef90c3c87d08ed6d71bc804ca1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The held end is now over the bottle’s original base location at roughly the correct full-height position. I’m lowering slowly to seat the base firmly; a tracking stop will indicate contact before I release.\"}",
  "call_id": "call_OqsU6Y5Rf9hFduP1A8xOgg1F",
  "id": "fc_0d3f21681f924fda016ab44efb056087d0949737bca2b9f42e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OqsU6Y5Rf9hFduP1A8xOgg1F",
  "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]: [-0.9874, 1.6054, 1.0416, -0.3328, -0.7666, -0.6991, 0.4694, -0.02, 0.6331, 0.3058, -0.2714, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.2573 left_z=0.1416 left_yaw=-0.0127 left_pitch=-0.0307 left_roll=0.0269 left_gripper=0.4694 right_x=0.2624 right_y=0.0038 right_z=0.1074 right_yaw=0.0191 right_pitch=-0.0302 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.4188, 7.2547, 1.5653, -0.3394, 0.1783, -0.0171, -0.4444, -0.5265, 6.9675, 1.9219, -0.1245, -0.0611, -0.0073]\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,$blob:88b1b75ab47610fb22db316aeff06fa3206e11c5ce976797828641f7ec3759bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bf788d42089347202f2236282b8a433c3088ab97ebfb0752261fdc875da7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a98514ec815533ef2a99063fb58cf7eaa7b1d8bd6da97efe6901b9fd7fd27a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.08 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]: [-0.6594, 2.1353, 1.227, 0.2554, -0.569, -0.4454, 0.4697, -0.02, 0.6849, 0.3901, -0.3061, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.2486 left_z=0.046 left_yaw=0.0354 left_pitch=0.0298 left_roll=-0.0323 left_gripper=0.4697 right_x=0.2711 right_y=0.0036 right_z=0.1259 right_yaw=0.0188 right_pitch=-0.0325 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.3282, 5.6, 1.1502, -0.1587, 0.1294, 0.7985, -0.3897, -1.0872, 7.1043, 1.9853, -0.0562, -0.0366, -0.0122]",
      "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]: [-0.9806, 1.5803, 1.1606, -0.4377, -0.7559, -0.6865, 0.4694, -0.02, 0.6514, 0.3336, -0.2832, -0.0311, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2635 left_z=0.1809 left_yaw=-0.0202 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.4694 right_x=0.2652 right_y=0.0038 right_z=0.1132 right_yaw=0.0194 right_pitch=-0.0325 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.1966, 9.7026, 1.3846, -0.5641, -0.1294, -0.0171, -0.3761, -0.4718, 7.1179, 1.9756, -0.1245, -0.0708, -0.0122]",
      "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]: [-0.9874, 1.6054, 1.0416, -0.3328, -0.7666, -0.6991, 0.4694, -0.02, 0.6331, 0.3058, -0.2714, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.2573 left_z=0.1416 left_yaw=-0.0127 left_pitch=-0.0307 left_roll=0.0269 left_gripper=0.4694 right_x=0.2624 right_y=0.0038 right_z=0.1074 right_yaw=0.0191 right_pitch=-0.0302 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.4188, 7.2547, 1.5653, -0.3394, 0.1783, -0.0171, -0.4444, -0.5265, 6.9675, 1.9219, -0.1245, -0.0611, -0.0073]\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,$blob:88b1b75ab47610fb22db316aeff06fa3206e11c5ce976797828641f7ec3759bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bf788d42089347202f2236282b8a433c3088ab97ebfb0752261fdc875da7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a98514ec815533ef2a99063fb58cf7eaa7b1d8bd6da97efe6901b9fd7fd27a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8AWyT9q7hGYa1ow_ZJWvgwaSLDtROHf_Rl-CqifJIooWv-Ln1r1t3YR__a_8kAFudOKEnQO5KEvuELYWlJmAyZgRiQTNo2lm4UDqx_S17yFpoHKAKvsafwiMFZVubVqrTQRO8tcJNX0A8seEaqmn9Qu7ezx51Ztf0mHE-0oRl8nA3CHNwKzSXUMAeF4DShs2kU-nZ9Ou7sCXqm4yunHayGCmEbiKKqFIqHBxDmmj5CbjhQN4UwpAMut8TC6l2ADsLmWCZfDKrK8wSf4tdaIq7dgYF6ULIemKLY4pI1c4TcjSIRY-WATvS4H2SF-mW5feXx2GL5ibMNGXuCJWRzQVHwtI_4BtuP2pCKpuUzH-zgdttjLwtHX3XakuDJgOZ1jfYvindke9hPeeg0lBTOMiOASVAF7kM78lBb9YOHxgfyre4NJ5P1Xhr-bj9xbvmgNMVa_CY6MHwRK8wtmKweiHktWhn0A37CTF7Y85W1qfTRQtxlha3pJNxRAOhDJQJ1QTMR5AtkPRVm1ZFZhcCuslu3KhCBMhWWUz0U_oABKYuTUDXhDyWcSkvQoDD8Rh41Y8y7l7MZS6Old8_NgxpyfTEe82gGN-hKtAxTvgI0RA4bwu_WzXU72o45KTJ9HnQ7fOz8BPevBq6zM6Z6QYaz_ZWaOKKmRVukYERP5_XhXrLrehzi93P3tVGOsOCRypdURIWvnOJh4djxu3BFzjYyycYJkHG9o6rJZXo9Mfl8KMKvYEhZ1iDQLhekDLcM9vGkjTfAC1mFPYI0BMFrof8sdwiEPmm_in8hChWKgBhw2raXAQPPgckCOYUIobi6sppp4WMVgzzVYH1UPFYzg3ZrLPzwDKN-ZcPNqIN2cCB5hCfHnyz5FhsCZATjveKSOgF-3f2Ex8hLuEKR12-vvV0ARe9a6D9ZDk_Gi3_9y4aH31bptuXeNyBheYXK-sCWz4L8kc85JvubIBlLJjtNRdXhfoGh7H0KX9JnR8xpifYX7QsWLOfPLzbUHR9DKSwL-ZaoyBn5-0Zr9-N-c4kESJe8CRql14kVwz0c_HlupxwHB8HPrBgD3L55b-5VQ3W2DlN6broZL8J3o67dKHyIF2_Ei7axfSJj-CfVehz7iR14ip5_YgRCnFmOkwHV2u380svEJOSgx2EXm9RxG_WVpIIzo8CRU8uXEyuRpQ-bdxcqn0vSiCavrRXYdw6AXz_oA5icEZvj_1uOwIUsY8a9LIvf2x90YoTn6YpIqHarYqRDYq7Wfv4M3QS-38s3OZFVy9OI3zUS6rAbKqmhdvGOaFmhoxpqHSBTOlXq4_ahrOZ6H19YsUv_VOR34BNTywKBqkk7SH3-AfRuJkaLUuevmthJEHuOZB5E2KNkuEYk1QtTECFZKSdzliitlWaxnK-CiwCeDtxVHNZtA5B1wdBCThmNULeXb44kro1i7WCSLxg8wTqNwI8RwNxmZPIqN1wHnG8AxkJVbnrkwfFfDqkyi4mv05ykx5ewRzlEBc34oxkJDQ1YHkCNEH1l9uWnUMJjbSXxLHaXIQ6Vasff2-QS0JRAkFU1BXTFDxSsShSp5G63AP9lEtz0tFrFgRsOqLpT3IAs_a0RIvDosSY_EofCniQb4mbNEno3nayLmdBBbm9JOHydnYT6bCYfyOxSztunf5p6l4lyMJuVH3BuJ90oNG7yR6HdDChZFO6wpVn8g5EMYMOZKbU5yZNCC7C_q8rWZO-T1yfoOnE0sHqdy0pWRXOTs97LLoz59QkYHQopQVbmHZoKh6doh_WsP59-5wt9Wjjwct5hpjWMMOm_3N7P242xiSoAmKHWscWOPm_cz-9scl9Mzm2AiuqhlXbdiebfttG044u6jcfBZlf1JIVubCIisGv8Py1xHDBs03vjJL5f2FdHar9qhLRaBMIiON5veWL7u_nmH-wWfKoPoSi_8iG0AF3thTgzh9Zs10gKk6bxJmcLV2oLteSUSDsLtxsff31rP6t29SDu7PHkR5urvffyt-RpHQ8D8VC-XN1TNfs_5FVwV8HomnvQzVTQSz_Dbk6IiS4qq9Ay3_cTHbGTe92JkvcyOw4ixj__OQYK7NpEKwLBlzt0w2n1v1s0c6PinNsShC4X6e5--Qf6zbQXQmIy_Z2AN3zH4X7iSuK8GJQg1f8SVKaKt2_bPQzZQNxV4WSqSTeja5s9FPwZngHzNQBZmqb7r4iEJex9lC8ECf_Ngi-xjBzbwpJEwlKoH784zoGOuLTQCGuR0gxyQhHWWv44Jr_bL8yU2AcOGUlKZYEADca3khx38BQBlNbo8jD6AeZu2gKp",
  "id": "rs_0d3f21681f924fda016ab44efd7e1487d0949eb0fe94a72aae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The gripper tracked to 14 cm without a clear stop, so the base is not yet fully seated—likely because the grasp is slightly lower on the shoulder than estimated. I’m continuing down in a small increment while holding the same base-aligned horizontal coordinate.\"}",
  "call_id": "call_5dUcxze3UZNWmw5PoBticg76",
  "id": "fc_0d3f21681f924fda016ab44effb45c87d0a3b0fa084b746b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5dUcxze3UZNWmw5PoBticg76",
  "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]: [-0.9886, 1.6295, 0.9627, -0.2237, -0.7677, -0.7002, 0.4694, -0.0204, 0.614, 0.2802, -0.2638, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3195 left_y=-0.2556 left_z=0.118 left_yaw=-0.0126 left_pitch=-0.0265 left_roll=0.0214 left_gripper=0.4694 right_x=0.2595 right_y=0.0038 right_z=0.1019 right_yaw=0.0188 right_pitch=-0.0291 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7179, 6.5709, 1.5214, -0.4713, 0.0024, -0.0171, -0.3214, -0.759, 6.8855, 1.9463, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2539e27ea5b4d4dda419e2ec2b4e4d7c81789babfb25c246dd4330409198baed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f25a1912df7cc509350e793d8b20dc1dabccda226afdcc45f789f5079e764cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2f7c154ea2f5a851803b22c7dec57e033b71f204d753c0c7c5a14865f0ed21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 11.22 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]: [-0.7925, 1.8256, 1.1534, -0.0589, -0.6502, -0.5331, 0.4694, -0.02, 0.6662, 0.3599, -0.2901, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.2589 left_z=0.1213 left_yaw=0.0104 left_pitch=0.007 left_roll=-0.016 left_gripper=0.4694 right_x=0.2685 right_y=0.0037 right_z=0.1201 right_yaw=0.0191 right_pitch=-0.028 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -11.3299, 5.6, 1.5311, -0.4078, -0.1294, -0.0464, -0.1846, -0.7179, 6.9812, 1.9512, -0.1001, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9874, 1.6054, 1.0416, -0.3328, -0.7666, -0.6991, 0.4694, -0.02, 0.6331, 0.3058, -0.2714, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.2573 left_z=0.1416 left_yaw=-0.0127 left_pitch=-0.0307 left_roll=0.0269 left_gripper=0.4694 right_x=0.2624 right_y=0.0038 right_z=0.1074 right_yaw=0.0191 right_pitch=-0.0302 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.4188, 7.2547, 1.5653, -0.3394, 0.1783, -0.0171, -0.4444, -0.5265, 6.9675, 1.9219, -0.1245, -0.0611, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9886, 1.6295, 0.9627, -0.2237, -0.7677, -0.7002, 0.4694, -0.0204, 0.614, 0.2802, -0.2638, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3195 left_y=-0.2556 left_z=0.118 left_yaw=-0.0126 left_pitch=-0.0265 left_roll=0.0214 left_gripper=0.4694 right_x=0.2595 right_y=0.0038 right_z=0.1019 right_yaw=0.0188 right_pitch=-0.0291 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7179, 6.5709, 1.5214, -0.4713, 0.0024, -0.0171, -0.3214, -0.759, 6.8855, 1.9463, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2539e27ea5b4d4dda419e2ec2b4e4d7c81789babfb25c246dd4330409198baed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f25a1912df7cc509350e793d8b20dc1dabccda226afdcc45f789f5079e764cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2f7c154ea2f5a851803b22c7dec57e033b71f204d753c0c7c5a14865f0ed21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8F2o_JyjiXwAlFVd3kP7k_uIZzAdbFdqo0uC2lRY9ByzN06gDNyy6pLi14UjYZMOqOTEnRoskNghNL-fDECpVom96LEVBEs88kO6s2TMFEn1jFMYji-YG786lxqk1U5rK73W9MVlXVzTj3KpLUIAr2c-i1HoylF9knFsaMiyU7wrjKZXH498ExGbllLV_-etmXjSfou0r-oCMjJ59TC9fSda-Z2-J-cbRXRRtAfq_p9ugE17ErguISZxuRODWRIPTk4RnHXjUtoxm-7-FBqsjnqYBOZxYCeNEo7pGU80Y1uZaiF6DJmq0ebFvrGE9FV8PAGlgbxnWcOZRXoj6fbxvZlU5qYU4wYihfTBtskBuUGf4b_kZ7mKEPggmOvDhRZGuaOttEtfe3oiyeh32W6xf5W2g2i8Xt64zhXZr_RUz_USDQbEQy22qY4d16j_iE-O8PvP_tEiE3rjBv7iUeKD1h-E9HMcqUKgZvGDpzfHxeU74P6AUbUpXXTffeqLXIZNLfLc8hBjVGFFjFPPrjprH2flITtjVtey2dksS_8dNopa5uZ4b79LmJOHoFs8RpO1k-GbvAfDn-IKyiqvZJqwFZsV5A7c9e6mHaJc4urrEo10ahW8WcVFHVYn6JqtkHN53kx1wXwepVstxQV9QJ_X1F1ShGIUb54feANUGitqSiF-2brZ7HL8ekVOEcqaeimf8mIIFoActobD1rTZ8gl9hL6_fsePcDFkefGylEMdZ-kOoy-jPhCCeaLFW4aLy3LwkWoetaNK7LlzPeXZA0lpuQHrGEx5oFtsJQDA_EWELQAz6Ii4eBnWpIDIzogXxdjGOOsPDsxLt3-BFSpjQJl03KciKaj0kOw08-aWP240HeKPcY0ow2O584-qNxrWz4pbKn4gI-CpyazvUJocBsQwJzUG6_YpPUsTxW9UDsjW-qYGXKAKtRd1fyb2r2UCzbGBRAPcYDOBTeX1LE_6cA-pIrhXdUjYgF6PAAe0JU5a6PjpCiGm0zGF7oAdFUU8D-IdZzgCsgNZ7rP1RMuotJoQvVProlUr7pHiZ98hXjQi4dMYa16wirDEaJTRcZ_n0e5G-gCxZHwP0GBt0x9RViML7qQV3XeJUzcTsasZ_YAUT9N9OZ4eChHDVh3J62e0Uz4tKZGpOesRJ_KDbHJGgPHiOQF3i5hUbuA7GAECd_s7uCjDR7nc-H7bZB3wiujNlgiDtixU8PpTKDMW9Rq88Kso173c3zXo9prf_8mWrKk-tTzbB7vaM5OGxk05Cspzyb0q8Y8zPPZadVR6htu0SErw78PN-cYILPma5Yu6u-y82um0mzOmcC8G6NkRL05HmQegZGy1pKl4xKIT-DOivvm9QxwReMS8QOhX_jscUOZ2cQiitaiR_Mh0VujPPw7J_Mg_VDx9dtNP7FRf5epUukT6Rx6flyael7QZgJKLtTnuj20mr0cZfUIn0_kl7SenAZFaKHrTpUln_tZATangXyDXnSWNApGI9aLlyj8HADV43nRqeS-upfV2tqUBgeosH16ku3xC8LOV_Bgd81ViBfA7oPZW1FpjJICWpfIdWaCQO_dK9SBhRqGrtRaUh4yNhbgH78Tfvpn7sja7198r4AhguqF8_iTgj1B-H5Srq7lSWMPQLk3LxuPPUR0UvC-TctFiyTVG_h_twuzNqfEL_ktxeCIDzLANLziTfS1PPqELX9W7a-C4Txy7jFQoaesWjmHYeZUY0rAdxBpGhdb-y9iQwQRekiHgTnbYrcpwTAU3ppkd7BmZHeKGIwK9F36Mbx0KCvZJuW_P91iL1sxBlbR_b9nD8DOeDQyreOQS2irPTSzHxdSWgCyFAKiO9X9nYFkGsD",
  "id": "rs_0d3f21681f924fda016ab44f02997487d0872055278628df47",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent now stops about 1.8 cm above the commanded height, consistent with the bottle base taking load at this lower shoulder grasp. I’m releasing while keeping the gripper still so the bottle can settle vertically.\"}",
  "call_id": "call_332EiKfzifHX6d5lWNM1tGXF",
  "id": "fc_0d3f21681f924fda016ab44f042be887d0b9c06622ab8ab743",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_332EiKfzifHX6d5lWNM1tGXF",
  "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]: [-0.9886, 1.6295, 0.9615, -0.2131, -0.7681, -0.7071, 0.9955, -0.02, 0.5941, 0.2554, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3202 left_y=-0.2567 left_z=0.119 left_yaw=-0.0089 left_pitch=-0.0209 left_roll=0.008 left_gripper=0.9955 right_x=0.2561 right_y=0.0039 right_z=0.0958 right_yaw=0.0188 right_pitch=-0.0318 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.9094, 6.2427, 1.4188, -0.4176, 0.0952, -0.0904, -0.4444, -0.4034, 6.9402, 1.956, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cefd36c77f406410a61ad6398b03aa151e5c9abbd3144477fc9b5d7d5c63368b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc20d03e281ccd6e2de5a32f3c314acb55f2776b13a0fd057c5c51c9b209c56f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea491c35d20280de89ff20df9afdfdcb85511206ff21b07ac8f671c9aad466fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.538 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]: [-0.9806, 1.5803, 1.1606, -0.4377, -0.7559, -0.6865, 0.4694, -0.02, 0.6514, 0.3336, -0.2832, -0.0311, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2635 left_z=0.1809 left_yaw=-0.0202 left_pitch=-0.0153 left_roll=0.0004 left_gripper=0.4694 right_x=0.2652 right_y=0.0038 right_z=0.1132 right_yaw=0.0194 right_pitch=-0.0325 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.1966, 9.7026, 1.3846, -0.5641, -0.1294, -0.0171, -0.3761, -0.4718, 7.1179, 1.9756, -0.1245, -0.0708, -0.0122]",
      "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]: [-0.9886, 1.6295, 0.9627, -0.2237, -0.7677, -0.7002, 0.4694, -0.0204, 0.614, 0.2802, -0.2638, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3195 left_y=-0.2556 left_z=0.118 left_yaw=-0.0126 left_pitch=-0.0265 left_roll=0.0214 left_gripper=0.4694 right_x=0.2595 right_y=0.0038 right_z=0.1019 right_yaw=0.0188 right_pitch=-0.0291 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7179, 6.5709, 1.5214, -0.4713, 0.0024, -0.0171, -0.3214, -0.759, 6.8855, 1.9463, -0.105, -0.0562, -0.0073]",
      "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]: [-0.9886, 1.6295, 0.9615, -0.2131, -0.7681, -0.7071, 0.9955, -0.02, 0.5941, 0.2554, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3202 left_y=-0.2567 left_z=0.119 left_yaw=-0.0089 left_pitch=-0.0209 left_roll=0.008 left_gripper=0.9955 right_x=0.2561 right_y=0.0039 right_z=0.0958 right_yaw=0.0188 right_pitch=-0.0318 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.9094, 6.2427, 1.4188, -0.4176, 0.0952, -0.0904, -0.4444, -0.4034, 6.9402, 1.956, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cefd36c77f406410a61ad6398b03aa151e5c9abbd3144477fc9b5d7d5c63368b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc20d03e281ccd6e2de5a32f3c314acb55f2776b13a0fd057c5c51c9b209c56f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea491c35d20280de89ff20df9afdfdcb85511206ff21b07ac8f671c9aad466fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f06b68c87d0a4b36c13d574f3a8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8Qe66zUvm7DXPF9_ZO3iH89byctDPOxFAyiKNR0GV1kNNOyoPxRp3rir-vOZ2BTSHq2k8XKZ4NlLzXiErIJ4nK2rzyRerkVqbhOOCTjd-VsBNTBbzSG9EvebQrY31HLlw4I5MjFKs-_Ib0JM-Ijjvr0VP517q5ePHAre-tv2SqYW6NGza9HjgDk0ql4xr_r7A2aZjlaLBtXE9I6651Z6wsmOBN1DF0kOZW14DIrAMq41o82PwCYT7x7dsZaHTFLa_5qtNv4Os0e7XwDqlaK0AVxoyKeLIJGcGEubvam_pE-vbjc-26P_Nww5viuJDUSv9SgT1Tiwb94R5JldTJKAENtD4jlqmPCL2pmWv8rR9_cPuPPWnmCRmzf0s-MLxLuFtRHUZnGwdXHus2yJZ7Yd_iaMofr7sd3J2KKhID3eIftHyG8WA3n7w-PSwGa5T2Uv2MvfL6xfexWyOoBIS4kKhFms1P08SvprtHX3yiOE4y39AmMhPoBUJtVvE4r3i5bf51IPbquIkhxWrzfEqSgMyvj05XbgLcuGnHMP2MfoDEHZuu5BmfQexWTM-qdED_XI-ZsZn3HOz7YcFErvsy1kGBa_778Mjf8-TqPGDGVUPvVVFYFhPKUkjp8dCvrU_vOoTN1x1CWAF1c6UXLoHvd17ma-JjSS0ECDMxOqm8dnasQH4-ejb0yxa9AZxz4WpxAgrNfmPpls52W6k1FEx9fuMlkxHGZDWYaDSgBm8C5_psdqUoPfuFWab_rdftELF6CpSM06osRxB1PhGR_72OCR9p7So_FKJktTlGMpXpE7ecNq3FHlYBBjjVrubugP8m5pW9wbYi6oi2teBS_M9g-iThDdl-mgK713hQ_Y6WfbXuAwKKQ-eveQKYVydepujpxKkjj7aOVpRuADMrNeXCtXVnyQ5WGqDFfz_sjOXaVEu2bMMxxnoTzyrvzwmM9Nb3mljdadpWFufY96RYfCypSc3_8EZETm20WDefXkZ1nLT-yuT_VL4dX-7_4EJu5-YIEmCAHvj92IRTFUlOpx9PBHGO2fxC-os5jlG5PjyXMVQ20ElE_7qWAUI2nodk6--5Vh37AJZt7hUdqFAU_kF_ZBDTuD7PzcrOSFovRHmVOyLSwvfj98U7B52Z2LXy7i4qzylgydnXbn6dQT1_lSjmZPol3KaiSYgXM473j-bHlPp_EYUndcWmfD6tRsHUQ3uRv5USswPG-fcb5DZzaBhGuCeSCS7f1ZW-ijgWzSFC4dn2SsFbhABE5U3gbdKZ4iAy-2nZWadYsAkoJkMvuHgqa8rcjJI9jfGE8A1O5sF-Nbt180xh-YAW4MPdr8G60_pH6F2I4jHg4HPbYbfAttikqOJywU5oh_pbNT1YVVsT_EXcpBnteD9bNlGvsGerf9wzzM_RoPQKIrqpCTkED-jo4r22cg7MKQ6IrWVNNwPnDQSG5DGwYoDBVSi4drfZvhA0kt15P1QHp9gTRgCpYzOf4m-1jERvnxcC-zxu2FTbiz190WGwlBYfFDATXM-vtIadoWyJQpc_j5BKd4uj7fLxYOzUsvn_rhxRzaPTGyqaxYUpRs30hK4iuVcBQhf1Tw60WhtpbzdD0iT8QmSHYUOpVK4-sJOjjcrlujifu4muVmlOibZ-clHi303JstTLcw_MReVJrDdS4uRKX0gAoszVPeqNyVqoLqt0bQEJmIf7pAGxE7bW0X04H2Sd4Bcj-F5C4KWT8neRs1toATsaIJF2nr6tJ7nGV-pma-I18tqlK_giFSSZq2D5KO_cnlUQf2D6UsMaeCJCxnnZOb5dvP3Tg1H1u_6wbhBZp5ja0VQXY6S2Lb0rbryhQEM20O9ZlNCbrwEA4508yCIuzErsyKP31ZOUTTOyjNoIOiJUmGTlsZIqJ07Nwy5LZJYK-prn2Di6tbyrxGn2r2tft_KhJmyaqt-an9jreQxUClhpeHezj6Y-IWPAViRvHRfg7yy7Oq0tBPX-ftE5YS9p0-xCHJ9rBLzg0t7aJOH1mXWZHommjnI2R2zvbBV4rHLbY2l55AL5R1wDJbdoDXiPIRltCxqKBF9h5pcbieTlCNsTEQXYh9BD5GN0Soa0f4dkNAVc3PxcMCnsRT6DoQKCgBj84nFTZvhKq7myxSUxznw00XnH1In1dgnCxstDny6qzS0FhbqvEkOHvP5h6VhZvtxIUhFZQ_tGwnBpFs4woLK2fPGiNtlOfprx9M0HV9e5ZVOrAa7x9hnd-nhWn0ice3DOvT5sGBOfBn7FqmQHT-TK5UoVB1u_UJywd0GexilPwT0j1_bZ8n4i3nDGigx3qc8YaV79atKcVGka6cRkxIBfERBsciisJl6PONOOYUMUq1nUampHXDTqchGuTpAhNQ3cepZvRQOBNxLoPBuZkTvSeffynJSTmlKnSXw2vMZw2Pw7dv6D9YhG1C78z5ragk3NKkSObROmz3SINVB-_M4iq-jY0Lr8GxkRn9PHrJpXN_1Z24UmyWyCP7s98rJ3BknyuI42T0dykgPvx1lSbDCjzkQCjSGvPIXbm81WJqkWmJYo8_NU-5DMb8m46v3RFrXrAezT9B8d2bicgS64gvVN7Xe6hlYnKoyJqvEdV33ZxlWpwRl9PcvIh18Rkp3a8orLx-48CHocfXAwQWxPcmBJf_KE6mpkmRVgf1q3ZZws0r0FMG-SCescuQ4M0v0KyjYUbME1t3N9VRdWfXYRF5V3MADtRrLxYGDHeAP5wohQbY92cQSnuN9jk8MxDSLRRgRFkVU5QIR9bkpZFEaVSuIXtEa_Ul4HkuFAVcxjfv5rNAxysDmKP7UWo3JslHaJbt6GjmmAjzJtbPDXX3epxFIV3AcnAr-WPufBKtpQu-wYtB7gS91esONrT6Tryc9nbAu4lzY9t7tpudL426aooa9MQrGFXck2kwugRCENuYJk2eQ9EYwj48O2fHa278EeN_ZY1TdXo9sOWrdVa-ES_jnKGp3VkBrbOH0M_ckUDm_cPJdmDCd8wsyw7jRNn1FTPt6CnQ-84n7_bfQVfUEGw9T73u8vO9JuUYDY2D4HBQsGDA_l4W3soEJDfqU3NDxw6D4pFTomZo4PvoGDQUGWopcG5FvgAmvDtDjNtwrgaIjT6MuVUaCqmgyLTPumcJZitqqzazRI0Nx-UIBBfWEi3OtO8N180RVZ3dMQq5fTZ4lBkCC-Zqo4LaX1q1dJ5ItdybthM8LY5Am8kde5gv4MflXYCldhPuMa2sgCia6w_qvC2rKagJtcDN-RzSUdT4JXJZKU2KKTW4eNoJJGeuUWKhjLXG9PeoRNICiCnAPqG-LZS59sOdUeZybiGqHDbKesV2gz-xqndLrdHkPRUY0rKC-LuK8iNQ0fUAaHABYaUX2Vfw1AXUnQNga3n5e5TCHC0i37zFwaYsbWJ_rG35E7woXqWsEKOCmSRSOjkXZC7MSQc5-vx4zB9ccsnB6o4urY7CJm2xjvomLOJOJmBWCP5gfPZVT-3xaAn9g=",
  "id": "rs_0d3f21681f924fda016ab44f0bc40487d0851c3ede06467f80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.26,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The bottle slid instead of pivoting because its base was unrestrained. I’m returning the left gripper above the cap and raising the right arm; next I’ll use the right gripper to pin the bottle’s base during the lift.\"}",
  "call_id": "call_YsP0bMSCnEFeZk458EoNt6ob",
  "id": "fc_0d3f21681f924fda016ab44f0f986c87d095b3bfbaf55456d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YsP0bMSCnEFeZk458EoNt6ob",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6827, 1.9579, 1.4204, -0.1768, -0.5819, -0.4698, 0.9979, -0.0212, 0.7647, 0.551, -0.4042, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2533 left_z=0.1401 left_yaw=0.0349 left_pitch=-0.0118 left_roll=-0.0069 left_gripper=0.9979 right_x=0.283 right_y=0.0028 right_z=0.1588 right_yaw=0.0167 right_pitch=-0.0493 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.9504, 1.4188, -0.1392, 0.398, -0.2271, -0.5402, -0.6359, 10.2359, 1.8632, 0.0562, 0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf4f6696f87ba4d101818eb5a62a20f51cae6ef564c84a604a875729163b3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d42407564cc2f19572ce3c46fbad90f171c8db7017c8011f2854c2e50e98d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e4c2280b8592511ec35a342b78e1a15c02b3c278754b8656332aad34d35cee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.531 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]: [-0.9874, 1.6054, 1.0416, -0.3328, -0.7666, -0.6991, 0.4694, -0.02, 0.6331, 0.3058, -0.2714, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3209 left_y=-0.2573 left_z=0.1416 left_yaw=-0.0127 left_pitch=-0.0307 left_roll=0.0269 left_gripper=0.4694 right_x=0.2624 right_y=0.0038 right_z=0.1074 right_yaw=0.0191 right_pitch=-0.0302 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.4188, 7.2547, 1.5653, -0.3394, 0.1783, -0.0171, -0.4444, -0.5265, 6.9675, 1.9219, -0.1245, -0.0611, -0.0073]\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]: [-0.9886, 1.6295, 0.9615, -0.2131, -0.7681, -0.7071, 0.9955, -0.02, 0.5941, 0.2554, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3202 left_y=-0.2567 left_z=0.119 left_yaw=-0.0089 left_pitch=-0.0209 left_roll=0.008 left_gripper=0.9955 right_x=0.2561 right_y=0.0039 right_z=0.0958 right_yaw=0.0188 right_pitch=-0.0318 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.9094, 6.2427, 1.4188, -0.4176, 0.0952, -0.0904, -0.4444, -0.4034, 6.9402, 1.956, -0.0757, -0.0513, -0.0122]",
      "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]: [-0.6827, 1.9579, 1.4204, -0.1768, -0.5819, -0.4698, 0.9979, -0.0212, 0.7647, 0.551, -0.4042, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2533 left_z=0.1401 left_yaw=0.0349 left_pitch=-0.0118 left_roll=-0.0069 left_gripper=0.9979 right_x=0.283 right_y=0.0028 right_z=0.1588 right_yaw=0.0167 right_pitch=-0.0493 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.9504, 1.4188, -0.1392, 0.398, -0.2271, -0.5402, -0.6359, 10.2359, 1.8632, 0.0562, 0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf4f6696f87ba4d101818eb5a62a20f51cae6ef564c84a604a875729163b3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d42407564cc2f19572ce3c46fbad90f171c8db7017c8011f2854c2e50e98d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e4c2280b8592511ec35a342b78e1a15c02b3c278754b8656332aad34d35cee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f13b5a087d089eea13d44450023",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.39,\"right_z\":0.08,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The left gripper is back over the center bottle’s cap, while its broad base is near x≈0.32 at the table center line. I’m bringing the right gripper low over that base to hold it against sliding.\"}",
  "call_id": "call_8XCxpll9ewjfL7DHXuxPvOLE",
  "id": "fc_0d3f21681f924fda016ab44f14a5cc87d08e64f4e7134ba28e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8XCxpll9ewjfL7DHXuxPvOLE",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6624, 1.969, 1.4124, -0.1776, -0.5838, -0.4553, 0.9977, 1.1275, 2.0834, 1.3952, -0.3515, 0.8791, 0.8837, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.2424 left_z=0.1313 left_yaw=0.049 left_pitch=-0.026 left_roll=0.0191 left_gripper=0.9977 right_x=0.321 right_y=0.3672 right_z=0.0754 right_yaw=-0.0335 right_pitch=-0.0143 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-2.3316, -11.9043, 6.4615, 1.6825, -0.3443, -0.1099, -0.0366, 1.4017, -9.2239, 9.4017, 1.4139, 0.0904, -0.6276, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79065daec36dab262fac9d5e0cc66c2ff0e6ef9787e50482c0e60ae6eac82eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a207a6664aac6f101701beb4bfa24a4d002da8a3656757d22a3f2a6e52f4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d25783e8488659ea081e3695146154e936c43fbc7b734cdf9f076d89657df8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.998 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]: [-0.9886, 1.6295, 0.9627, -0.2237, -0.7677, -0.7002, 0.4694, -0.0204, 0.614, 0.2802, -0.2638, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3195 left_y=-0.2556 left_z=0.118 left_yaw=-0.0126 left_pitch=-0.0265 left_roll=0.0214 left_gripper=0.4694 right_x=0.2595 right_y=0.0038 right_z=0.1019 right_yaw=0.0188 right_pitch=-0.0291 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.7179, 6.5709, 1.5214, -0.4713, 0.0024, -0.0171, -0.3214, -0.759, 6.8855, 1.9463, -0.105, -0.0562, -0.0073]",
      "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]: [-0.6827, 1.9579, 1.4204, -0.1768, -0.5819, -0.4698, 0.9979, -0.0212, 0.7647, 0.551, -0.4042, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2533 left_z=0.1401 left_yaw=0.0349 left_pitch=-0.0118 left_roll=-0.0069 left_gripper=0.9979 right_x=0.283 right_y=0.0028 right_z=0.1588 right_yaw=0.0167 right_pitch=-0.0493 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.9504, 1.4188, -0.1392, 0.398, -0.2271, -0.5402, -0.6359, 10.2359, 1.8632, 0.0562, 0.0513, -0.0317]",
      "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]: [-0.6624, 1.969, 1.4124, -0.1776, -0.5838, -0.4553, 0.9977, 1.1275, 2.0834, 1.3952, -0.3515, 0.8791, 0.8837, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.2424 left_z=0.1313 left_yaw=0.049 left_pitch=-0.026 left_roll=0.0191 left_gripper=0.9977 right_x=0.321 right_y=0.3672 right_z=0.0754 right_yaw=-0.0335 right_pitch=-0.0143 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-2.3316, -11.9043, 6.4615, 1.6825, -0.3443, -0.1099, -0.0366, 1.4017, -9.2239, 9.4017, 1.4139, 0.0904, -0.6276, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79065daec36dab262fac9d5e0cc66c2ff0e6ef9787e50482c0e60ae6eac82eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a207a6664aac6f101701beb4bfa24a4d002da8a3656757d22a3f2a6e52f4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d25783e8488659ea081e3695146154e936c43fbc7b734cdf9f076d89657df8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8cD8LjUcPBiXZb5Q-lCKkFZOGkRiyKfwtzG5KpYQa8vO6B0zO30QhefmLk1rsIuj0jwzIXU3tNQWlC9rtiKILTeUlYaipM_OBcNN1aONN_kh4h57DK9UMa23FjtsrRasExWeqrcJtyJhFV7d7FWx89gFWuofDhCDBx-IsOdHJIPshRuuC8bShAQd4K1cGY-9v9YZPTdr5hJEJb1wBHyNpd5qi4rM0rv_xKmypaVtiEM4BdlSXQ683Ca0Hld9IG-oWUopgl-DGSSsgMpymEvN4IbM7OytqoZX5lCaJQAg0kqlXM7Zmx2GNEyY3PmGGkyWeLu1-0ukRVFLuaS-P9bAXiDSXa9KFn9kPPldalM5JgC87N-_TZ6pYsjd6FIyh7eERFjuAktBvhLJ2oCmsr_CGKZ3fw5XHFR_o5aLwcdUZUugfnX4_SbF-RBM1oAqnLrD0scRcFztsx7uK3MmDm5UKvoC9PTnXO4708iKXEAeljCQSPUICk_ahSEEQbShm0c5lKhaUK4MPUAPU40HUtnDm95r1a2yiSjBmbCTBZj6TI9YrX7kHaqkbnQEN2WqoZR_yUl5y84hoDopIxEjniL9NgUuIe_kRzz0KFzqGiv3s9oeuJ3ywj0gKbREOYmQIbpB7Ug6T9OoUugDS3JiU5wS0rIo6tqnQsZpsXCtA2_uIj751A3sT1sQTcBK3M748SyKXR7qvAi5yja_kj5HciYBuluuM3g4-Lia5dMWD1HNYh23BZoh5-tAjglBUjHTD1X1ukbMlbV0fV4zMOnGByBW4bv9ItlCcJxnIdDnhBuNffsoru9qnkrmFPBht9BgOJpbzWRLwSoEA-OPf-5CqAeKXfm3Q84JrZyVzhUmsn3zpSzyt-4QdReadhNII9DUBFj0CC-PZYzjZvEfPQM61UAvGY5YItKQG5pzXtW5alu178PYHKxeck1wyATIMz1NH4xVjTyQhGVm6rrB5KCogWfuBqD-wiP5xaPu95BSEoCGcsM_ch2OWdRl04jcpwHgISdZxlMWl3Vrmi_joSnF_iIOkpZ1UUFV4YlduSjI5k6KpBWJhMvdj01opYiCWFEB5_aHeRiuA7mfT2Xk238oDW5-SXcQVO8fqawVbJFQYjHA9JI4wLg17r24L_22TncJwIJvacub44RvjP-YZpA-QaTf1KfWysAUyS5IHmkVvm12Vp9_0G8C70J6_QAw7WvKFIs5bKk6obSUUaxhD081m9hxnV5iCVLQI9sc0QSOYZHlr32j8CKsBQAsw-ilm-sAjppgBKEUGcLr4oTFiv1T0UE5srUZndfa09MYqB2wGaxDBVPB4f4_x9sFqseLL2Eo_IANaw4KA4bc6T8BntXbJg-BHL3os1GmBp3YLhPgKO0CqBDSxIN0SkEbP0MlTvmf5b_zbQCKAVPPPuHdiUJj1kU3qyfGz4ATr3CtO1OnV619ki-3LYORRD_vkf8jA3CW5V0jW59fVcEfuufuB8U2YzNBLJz9Ny3VAR6DYeKidboaUXUUQYuSjLLA93msK2cc2Gv9WEvPIMJq0qvU7FOcrp1lcpt2WXTk3bEwWxr8Qgi_qKbJ8NBCvW3PIQgNKKGN_e1QO-8_2micPl4UiCUtnAT-ETn2CqTyTN45fJAPqwRUwcZkvBdQWS70wU2WMmmYFEPixQHrQDgMwYL703Va7cFgPEElSFBFpkGFUzO4n-uNyAsMKuTSXTTvS6cmm9QM2U2rnyYkK5otR6yJYOetgRwoR71cZS8DV0ayqM95UtJzJdhjU=",
  "id": "rs_0d3f21681f924fda016ab44f1a956487d098acd95a857f91fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right wrist view shows the center bottle’s broad base centered between its jaws at close range. I’m descending to body-center height so the right gripper can clamp the base without moving it.\"}",
  "call_id": "call_UkrYZvfawfzYkq4EhX8cDOV1",
  "id": "fc_0d3f21681f924fda016ab44f1b920c87d08a65f52a4e5da474",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UkrYZvfawfzYkq4EhX8cDOV1",
  "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]: [-0.6548, 1.969, 1.3808, -0.1535, -0.5835, -0.4553, 0.9977, 1.1244, 2.1181, 1.3273, -0.2344, 0.902, 0.9051, 0.9998]\nstate[eef_state]: left_x=0.4738 left_y=-0.2366 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.032 left_roll=0.0239 left_gripper=0.9977 right_x=0.3228 right_y=0.3616 right_z=0.0521 right_yaw=-0.0598 right_pitch=0.0095 right_roll=0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -11.6718, 6.3248, 1.8437, -0.232, -0.0073, -0.0171, 0.0615, -8.3487, 5.0667, 0.8523, 0.022, -0.3346, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f220d7fd911521aa473adb24f68ad1c24176a5cc65bdb7eb0e140dd54135a81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55622dbb54ba9ac187946faadc9505902ce903ee8ca48e1c2d58268989a672bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f22df118ab9a1721e0da58ef134cfba55793435cae86dcf593c22dca13cbd06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.941 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]: [-0.9886, 1.6295, 0.9615, -0.2131, -0.7681, -0.7071, 0.9955, -0.02, 0.5941, 0.2554, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3202 left_y=-0.2567 left_z=0.119 left_yaw=-0.0089 left_pitch=-0.0209 left_roll=0.008 left_gripper=0.9955 right_x=0.2561 right_y=0.0039 right_z=0.0958 right_yaw=0.0188 right_pitch=-0.0318 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.9094, 6.2427, 1.4188, -0.4176, 0.0952, -0.0904, -0.4444, -0.4034, 6.9402, 1.956, -0.0757, -0.0513, -0.0122]",
      "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]: [-0.6624, 1.969, 1.4124, -0.1776, -0.5838, -0.4553, 0.9977, 1.1275, 2.0834, 1.3952, -0.3515, 0.8791, 0.8837, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.2424 left_z=0.1313 left_yaw=0.049 left_pitch=-0.026 left_roll=0.0191 left_gripper=0.9977 right_x=0.321 right_y=0.3672 right_z=0.0754 right_yaw=-0.0335 right_pitch=-0.0143 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-2.3316, -11.9043, 6.4615, 1.6825, -0.3443, -0.1099, -0.0366, 1.4017, -9.2239, 9.4017, 1.4139, 0.0904, -0.6276, -0.0317]",
      "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]: [-0.6548, 1.969, 1.3808, -0.1535, -0.5835, -0.4553, 0.9977, 1.1244, 2.1181, 1.3273, -0.2344, 0.902, 0.9051, 0.9998]\nstate[eef_state]: left_x=0.4738 left_y=-0.2366 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.032 left_roll=0.0239 left_gripper=0.9977 right_x=0.3228 right_y=0.3616 right_z=0.0521 right_yaw=-0.0598 right_pitch=0.0095 right_roll=0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -11.6718, 6.3248, 1.8437, -0.232, -0.0073, -0.0171, 0.0615, -8.3487, 5.0667, 0.8523, 0.022, -0.3346, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f220d7fd911521aa473adb24f68ad1c24176a5cc65bdb7eb0e140dd54135a81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55622dbb54ba9ac187946faadc9505902ce903ee8ca48e1c2d58268989a672bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f22df118ab9a1721e0da58ef134cfba55793435cae86dcf593c22dca13cbd06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f1dc6e487d0a2dfa980108dfaef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right fingertips now straddle the centered bottle’s lower body at table level. I’m closing around the base to anchor it in place for the left-arm pivot.\"}",
  "call_id": "call_PHwfWwTR5C1JTTlvcEakVdOM",
  "id": "fc_0d3f21681f924fda016ab44f1df9e487d09e97af4904dc4778",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PHwfWwTR5C1JTTlvcEakVdOM",
  "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]: [-0.6548, 1.969, 1.3376, -0.0906, -0.5835, -0.4549, 0.9977, 1.1282, 2.1288, 1.317, -0.1406, 0.9386, 0.8814, 0.016]\nstate[eef_state]: left_x=0.473 left_y=-0.236 left_z=0.1156 left_yaw=0.056 left_pitch=-0.0169 left_roll=0.0112 left_gripper=0.9977 right_x=0.3282 right_y=0.368 right_z=0.0575 right_yaw=-0.0655 right_pitch=0.0654 right_roll=0.0402 right_gripper=0.016\nstate[joint_eff]: [-0.4444, -11.7265, 6.3795, 1.6142, -0.2515, -0.0366, -0.0171, -0.3214, -9.3607, 5.5179, 0.9451, -0.2173, -0.0317, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894ea8da1ef1e3f12eb7c4bb44c118d34ab4ed8b406cce523f424d4a1209d48b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd715778fce3310ec94bfec8302b2908f5a27675c6a2e11a9a15c5b5364e78a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd552870d49dc55799f24f84501d6e4c9694957bfc5ae4864e3d3d1eab8276d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 2.466 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]: [-0.6827, 1.9579, 1.4204, -0.1768, -0.5819, -0.4698, 0.9979, -0.0212, 0.7647, 0.551, -0.4042, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4712 left_y=-0.2533 left_z=0.1401 left_yaw=0.0349 left_pitch=-0.0118 left_roll=-0.0069 left_gripper=0.9979 right_x=0.283 right_y=0.0028 right_z=0.1588 right_yaw=0.0167 right_pitch=-0.0493 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.9504, 1.4188, -0.1392, 0.398, -0.2271, -0.5402, -0.6359, 10.2359, 1.8632, 0.0562, 0.0513, -0.0317]",
      "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]: [-0.6548, 1.969, 1.3808, -0.1535, -0.5835, -0.4553, 0.9977, 1.1244, 2.1181, 1.3273, -0.2344, 0.902, 0.9051, 0.9998]\nstate[eef_state]: left_x=0.4738 left_y=-0.2366 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.032 left_roll=0.0239 left_gripper=0.9977 right_x=0.3228 right_y=0.3616 right_z=0.0521 right_yaw=-0.0598 right_pitch=0.0095 right_roll=0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -11.6718, 6.3248, 1.8437, -0.232, -0.0073, -0.0171, 0.0615, -8.3487, 5.0667, 0.8523, 0.022, -0.3346, -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]: [-0.6548, 1.969, 1.3376, -0.0906, -0.5835, -0.4549, 0.9977, 1.1282, 2.1288, 1.317, -0.1406, 0.9386, 0.8814, 0.016]\nstate[eef_state]: left_x=0.473 left_y=-0.236 left_z=0.1156 left_yaw=0.056 left_pitch=-0.0169 left_roll=0.0112 left_gripper=0.9977 right_x=0.3282 right_y=0.368 right_z=0.0575 right_yaw=-0.0655 right_pitch=0.0654 right_roll=0.0402 right_gripper=0.016\nstate[joint_eff]: [-0.4444, -11.7265, 6.3795, 1.6142, -0.2515, -0.0366, -0.0171, -0.3214, -9.3607, 5.5179, 0.9451, -0.2173, -0.0317, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894ea8da1ef1e3f12eb7c4bb44c118d34ab4ed8b406cce523f424d4a1209d48b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd715778fce3310ec94bfec8302b2908f5a27675c6a2e11a9a15c5b5364e78a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd552870d49dc55799f24f84501d6e4c9694957bfc5ae4864e3d3d1eab8276d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8lZe_9nfQR-MEyO4V4zlubvEk3vxgFXp8Bbi7jJcLj0ODjUYB89qaLAuj2qOZMqjWV0djiSvl9g9GJG_O0DYQRAmhw9QEgF4P3sBtKVoR2gid14xGCvANxEnOmtZiE5xcxjzk-Nmvf1QElpI4FZUTtn2c_pCf4Gyu_v_ZOpnWWIBWu9lOSW2qF-0oC_3_s-pLfsfIx1bPyaWI1___NHLhqEiObKwiSN1d0-NB9UDqoVNra1ejThd4f-aKTV0r7wDVGybsHepXSWFMzIqD0b3hjkJ07kGMP2c4j51q_R_N78rmbPMkJjjqL92Nxeu4FHpOisC9WUeZj9CyVWWXWzHHS4auAjs5BJn395RNAgNyoL3jM3C7eUwfTF9oD60JEVnIH8sTfU_gzqHJLO1h9ApKVUla0rFfI0Ay07V82eZCv24YHulrLDq7STDlZQ-irQ0i-1PwQcqX4cjjakrSYSD6GGTt0-Z4O3UuraveB517PzzAT4zXMc15DGbXedKbjtJk7FNZhXfHZFUwRD_LVPlkNaSKpPhOztzKr7MqQ-ky-z1QeQLmBl-ih8Wk33ImLEyWrDsQIOm_CzxgdIkJLSEiqe-1SHxJ2ZFQgs6ei21jEkxiOeP4VuWtZSxHUBdNWIekl5Vn8AonEpHVH81VDJIkKojvYndWD92yOSuO3-EBVLjJx8C8w5ynTtLFZLpjs8VaaSy5zkcVSTDJb_JcxuxcKcQC2t1xzSV5UiLQnehYK4pTkVVEd5jSr15aGbLxarwreUCpAhccRHGZgHNGTwErIckIhLYW3G32LW2Cej--A-AeNhtFTV6bGEOoaUAUdO5Fo8htFakVeoZUA5mz6WPgPDThMVnepvmXuKxOrdS8ptq7-09pp9z-t1tISNCAhf6aQM-xLrYLad52AYTbI63Aaq3gvTx2ZF9gnB_f4XwtqKO_RFiMA73EM5szSbFjb9MwKLLm6kaPt-jcvLKi3GKb49BWmSFxITVxd2klMFdw2OaeHOULAm3A8xKSJrHOiHYrSLAjyDowdwwiJ2gv-fFE5QxEC6dGoAipryp9zydyp49LsFCBgunGSgKerK5H2YgIaIlMWqN8IJfZ64WX9wYU65A0G5_i4q_D9LZWMWnQnjuvxJOjw03HMXgXamKakp8cRHss1WTOpmDh6D3RYBpNk-UepoS2DBg3z4zi-gldln7iVMCERj9ZzOhLOmZFr6G9qH86BcAwKNVC-egizKMOIiVsax695xLeZF5pZKFKPNn_LxohLNI7ThpiK8RqYkSS2cNfUVaioxkPPaq9nwHja2eVpEJprClym94kHGNbXpyGW-8Nq0l6hOr4hJPcvIJFQMsGYsqkct8PkA_4SyC8EG-LajwPiNo2SzQ7rODngk992bc-6gxOFaADvU55pQGkGkhLzpNYzPsGzDf-xzJtqnb90QS1rDY9c9ar9eOp-KabCFkPQpENklvcYTTbWxCmw5-uafH-j6GCxR7cypFRZhxqaIVO8DTSJfHTZX9_jIlRpY2-P8cf3gNp_ng7tQtbdHnVSYZYIcuz8D44kisabh0m_JNoy6u3uvZbOlYNL3hBPWaCklyG49dOE_lKMmUdNZoEu55sbIuCpRztvMJV6HRdyXtAtua5snvBbtCoqofBGJFOsZV0HNRrcRuQBieDrENC8mp_sFR_nujuFyfUiohQZLKayc8XyFNBQ3cCk581CnYr5CfB28a85I--btZMctsOrhJ1hOmqvojFnR7Rt_AM301ikQStAtDIv4YXfp5fxmvfimh-QwrmphpYrs95JYt0vqOYYZetNGlvZWl86HayGOtq2JDj8-ia80LYp4ndlqtsSILb8zuZxvUId5TiWpYiBiQor361yj7_YK6tPk2xa-P_SX9jidpZRH0NQ8G_XbZPgOJsTBLbYmMjBlKNczX9W_0oJZp36PzEXOJ4PDUmvzf-x3OwzNuc9LSwuYz02s0wS6aApgshy7F7mypeTQyNk3KXN00qI_dDDuTUiI4YP2W-Yw30iFQcfuaBN1V2DaZdjHyx0qqc08aD0WAwYH1i1su9kMWtdBV1qnJNCenh8DH6qhUXUrM1MMQHLsJH8mfCKy68rsT5rFUFWEZCnarVClQrq6nObryU5hF_TnVQR6MT3MXq5ebDIWvppst7rhSp_iEeZwMGdG8-F6rXv4k6nYNcOyET_3diF6k6bR3K8a7VkI9A8tdK3Uq9sZSYnvvYmbme04gA79fRqRblNabjbKz7XbjO-cgv7uA2__DjrB79-ny8O3AkcCcqJM35mydSg3zK0RfBCxXBh_bQnVEMOR0XQ8AXvGCSDKgaaY8R8AYhuVrqsslxG0agKyPB268DzGcVQP6h7_y0ZIAr-v5JPSrShUDZtTeR3uVtvaEoaBs6koKWGMtu-CtshLMveErCwLytTjayaenqjDtsfGQlGzdPs1mndHPhO2wZXaVfUwWmav0JULDdSqylYbiznO6NqOr9OdAaOBNeDtyV-IeW2MjlMMpSaO0o8h3Z5puso2U_CmGYnuBbjJOblBBj-kX0E3kiqcrDWTup_jEVZKhszhJ09i7Wcfzk4sDtzuIHWkvOWMyp0ucwJ2P-31wTOwdKT5Ff0OnVUyKT4xO_kai54zlLGOSc6Uy9WAltm7QL8oYY8DiC3hTrv_P3b5fHmOoJKXqTCmHhjwaxIgdMAy3N-9Gy2IG_FMgvdUtfHgIhZftunfoec833O3s83OwvgGtWJCbALshC5da1RXoAap1hmpZet1790dQk35ZeIUg==",
  "id": "rs_0d3f21681f924fda016ab44f21f78887d09d1a8ad56756ca47",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.3,\"right_z\":0.04},\"note\":\"The right gripper closed empty (0.016), so the visible base was not yet at the fingertip point; it is slightly closer to the bases than estimated. I’m reopening and retracting about 3 cm at the same low height for one corrected anchoring attempt.\"}",
  "call_id": "call_IRwVyd78ShxbpJ2fAklRdYi2",
  "id": "fc_0d3f21681f924fda016ab44f246acc87d0b1df549a934ee8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IRwVyd78ShxbpJ2fAklRdYi2",
  "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]: [-0.6548, 1.969, 1.3228, -0.0643, -0.5835, -0.4522, 0.9976, 1.1595, 2.1292, 1.3441, -0.2893, 0.9154, 0.9936, 0.9953]\nstate[eef_state]: left_x=0.4732 left_y=-0.2361 left_z=0.114 left_yaw=0.0545 left_pitch=-0.0083 left_roll=0.006 left_gripper=0.9976 right_x=0.3091 right_y=0.3673 right_z=0.049 right_yaw=-0.0787 right_pitch=0.0023 right_roll=0.0291 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.1521, 5.9419, 1.6288, -0.3004, -0.0855, -0.0122, 1.7983, -10.0581, 5.1077, 0.9402, 0.4762, -0.0757, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ae88742d4a9e0610970aa2d11a15b5b7b73f0057026bdf267d5f083670fdf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d74f8a7b9cf496dde50bf88cf8a58cec96b4d508cf3ec261cc9e370925b2c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38e48b524d9c081099a601884cf0565d1e8350284bd502524dab75120a6905c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 4.062 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6624, 1.969, 1.4124, -0.1776, -0.5838, -0.4553, 0.9977, 1.1275, 2.0834, 1.3952, -0.3515, 0.8791, 0.8837, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.2424 left_z=0.1313 left_yaw=0.049 left_pitch=-0.026 left_roll=0.0191 left_gripper=0.9977 right_x=0.321 right_y=0.3672 right_z=0.0754 right_yaw=-0.0335 right_pitch=-0.0143 right_roll=-0.0193 right_gripper=0.9998\nstate[joint_eff]: [-2.3316, -11.9043, 6.4615, 1.6825, -0.3443, -0.1099, -0.0366, 1.4017, -9.2239, 9.4017, 1.4139, 0.0904, -0.6276, -0.0317]",
      "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]: [-0.6548, 1.969, 1.3376, -0.0906, -0.5835, -0.4549, 0.9977, 1.1282, 2.1288, 1.317, -0.1406, 0.9386, 0.8814, 0.016]\nstate[eef_state]: left_x=0.473 left_y=-0.236 left_z=0.1156 left_yaw=0.056 left_pitch=-0.0169 left_roll=0.0112 left_gripper=0.9977 right_x=0.3282 right_y=0.368 right_z=0.0575 right_yaw=-0.0655 right_pitch=0.0654 right_roll=0.0402 right_gripper=0.016\nstate[joint_eff]: [-0.4444, -11.7265, 6.3795, 1.6142, -0.2515, -0.0366, -0.0171, -0.3214, -9.3607, 5.5179, 0.9451, -0.2173, -0.0317, 0.9353]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.969, 1.3228, -0.0643, -0.5835, -0.4522, 0.9976, 1.1595, 2.1292, 1.3441, -0.2893, 0.9154, 0.9936, 0.9953]\nstate[eef_state]: left_x=0.4732 left_y=-0.2361 left_z=0.114 left_yaw=0.0545 left_pitch=-0.0083 left_roll=0.006 left_gripper=0.9976 right_x=0.3091 right_y=0.3673 right_z=0.049 right_yaw=-0.0787 right_pitch=0.0023 right_roll=0.0291 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.1521, 5.9419, 1.6288, -0.3004, -0.0855, -0.0122, 1.7983, -10.0581, 5.1077, 0.9402, 0.4762, -0.0757, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2ae88742d4a9e0610970aa2d11a15b5b7b73f0057026bdf267d5f083670fdf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d74f8a7b9cf496dde50bf88cf8a58cec96b4d508cf3ec261cc9e370925b2c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38e48b524d9c081099a601884cf0565d1e8350284bd502524dab75120a6905c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8ogpy2KOlydL5P_QNTUVkGDdzwabaMgsjCQo-lz0B9bhblzUphAkeyyKf-xbj9MyfUOX6OgZqoGBxLth33UEr1DQ-g3y-LEQoTgb-6cgzLOBaKDweX3_LSEWyPmxNEet8FCI9ooM6_wveT3Wnr0pIQJQhlt57kMVwRYjTrxV_8hrnJotepMmTYzxSGqiUPJXgUWEAQe_eJJLuZhDuVP-dmk9LaRKKRDyzokUJNtVKfUBLUMrMJpDByvSc26d-v0x_Npq1E0STzg5uAEnhBBMHsYcB3MV1c4aVHCuczoZAEwhePLDHy8i4cSVUy65aBuepC6b0sX5_lDC0CbQyajMgu_7RFNDSO3LoWRCocPxGe-UJeHziqIF7lKGOy2SOjizB8UzQ9yc7zfDN5nNWz1PZucSQk91Gq07Zq4k73dpQ-oX1ve5B1wnOpgMhLqm7nT9ryAwPKS35XaswFiD3PdzeYDj-2XUlgLnnYsdlMxOxcB93j3XucNZuYKDdzp8oYXPcEh1R1F9EcfBj9ELlvp0YKl0aVqPIJvS7qLNkON1z9p3SdrOayM2_T_mUfi06vOPHVaszmWx6nq1Jg3h9Sp9fsLOz8lAxVRApCRAwst2H4lLjOfqj1X-R6hmbPHWEE4NEzNdlh9X0BETPwBhIBzwN9EbGzES7MfsFuasrBmsnY7dW8ptNqQbu9QvAAPwy8LdUkzMEgun-9Fr3QJKc676dy_GMFnkmUMrZgJo2ALxuN9U_LY2VoeeTEyIwXbQgG3N4_XyaLCh1EaJPsiwL8RYQfiqhduYyN4jO12Feijp4kGdW-qghLT6Xm9ldUJwGFxawQDVXcYeQUDBrb2cal24mlTIrWytsByZEG2TofVYig4TvCcyRUWBPqBfzhcFPeGs68xqGeUJt_1XenckVuSVrIKwLubIdS1_NzHfuO2Y_0rcvWOA2V-m9uy50kqw6q-rs9Im3zM1iX_UZXNxlsMTBPRnoUosHGYtXjhQlf-mmlFoCQih4pN_0i4b6QRUF2diR6ZV3UfbCLgSqPsuv4_6lv3CmRI_yrzhFZ2DLhLgb0WPkXMKKIK5h6xXnOkxel_ae4ntep7CeiZ5AtcwaYBX9D9hYbUBEFJJnDKKA24YU48nNi9Z9GJ2UROPzKvjLB4R8M9fobaGovyxN3R3v4T6bVGm4v-1XCcu1hYFzeK8H8RZ14hrkKrPpD22tne_oTuJrRDpyoe8u_s12O7HZGYxQhQdKmBDwoi7ZTum2aViQ5tseC_3oGdVJi1_Qw0P_X5akj",
  "id": "rs_0d3f21681f924fda016ab44f27df9487d0bf867feb7f2fc92f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After retracting, the target’s lower body now lies directly within the fingertip gap and fills the near portion of the right wrist view. I’m closing again to anchor the bottle base.\"}",
  "call_id": "call_jiIUkkPHyGxBfIK5PamCFR93",
  "id": "fc_0d3f21681f924fda016ab44f280e8c87d0a22b6444ed0d9342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jiIUkkPHyGxBfIK5PamCFR93",
  "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]: [-0.6632, 1.969, 1.322, -0.0635, -0.5835, -0.4519, 0.9976, 1.1564, 2.1292, 1.359, -0.3176, 0.9497, 0.9791, 0.0165]\nstate[eef_state]: left_x=0.4711 left_y=-0.24 left_z=0.1138 left_yaw=0.0459 left_pitch=-0.0083 left_roll=0.0063 left_gripper=0.9976 right_x=0.3125 right_y=0.3626 right_z=0.0554 right_yaw=-0.0897 right_pitch=0.0267 right_roll=-0.0056 right_gripper=0.0165\nstate[joint_eff]: [0.4855, -10.9333, 5.6957, 1.7411, -0.2271, -0.0073, -0.0073, 0.0479, -10.3863, 6.5026, 0.9011, 0.1587, 0.0855, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f244cbe3f26c9170bb09b1972b2f26e7efef8e76a0aab4a808942813fbcaf90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655082411bf36371051d4e6707a45bd31039d4cc0077b43989fa26782d2eedf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8408ce54d757d0ab024bc5ced2ee6c3d05a8020530ec4dbac62b80ab14220263",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 2.579 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.969, 1.3808, -0.1535, -0.5835, -0.4553, 0.9977, 1.1244, 2.1181, 1.3273, -0.2344, 0.902, 0.9051, 0.9998]\nstate[eef_state]: left_x=0.4738 left_y=-0.2366 left_z=0.1225 left_yaw=0.0565 left_pitch=-0.032 left_roll=0.0239 left_gripper=0.9977 right_x=0.3228 right_y=0.3616 right_z=0.0521 right_yaw=-0.0598 right_pitch=0.0095 right_roll=0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -11.6718, 6.3248, 1.8437, -0.232, -0.0073, -0.0171, 0.0615, -8.3487, 5.0667, 0.8523, 0.022, -0.3346, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.969, 1.3228, -0.0643, -0.5835, -0.4522, 0.9976, 1.1595, 2.1292, 1.3441, -0.2893, 0.9154, 0.9936, 0.9953]\nstate[eef_state]: left_x=0.4732 left_y=-0.2361 left_z=0.114 left_yaw=0.0545 left_pitch=-0.0083 left_roll=0.006 left_gripper=0.9976 right_x=0.3091 right_y=0.3673 right_z=0.049 right_yaw=-0.0787 right_pitch=0.0023 right_roll=0.0291 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.1521, 5.9419, 1.6288, -0.3004, -0.0855, -0.0122, 1.7983, -10.0581, 5.1077, 0.9402, 0.4762, -0.0757, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6632, 1.969, 1.322, -0.0635, -0.5835, -0.4519, 0.9976, 1.1564, 2.1292, 1.359, -0.3176, 0.9497, 0.9791, 0.0165]\nstate[eef_state]: left_x=0.4711 left_y=-0.24 left_z=0.1138 left_yaw=0.0459 left_pitch=-0.0083 left_roll=0.0063 left_gripper=0.9976 right_x=0.3125 right_y=0.3626 right_z=0.0554 right_yaw=-0.0897 right_pitch=0.0267 right_roll=-0.0056 right_gripper=0.0165\nstate[joint_eff]: [0.4855, -10.9333, 5.6957, 1.7411, -0.2271, -0.0073, -0.0073, 0.0479, -10.3863, 6.5026, 0.9011, 0.1587, 0.0855, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f244cbe3f26c9170bb09b1972b2f26e7efef8e76a0aab4a808942813fbcaf90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655082411bf36371051d4e6707a45bd31039d4cc0077b43989fa26782d2eedf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8408ce54d757d0ab024bc5ced2ee6c3d05a8020530ec4dbac62b80ab14220263",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0d3f21681f924fda016ab44f2b3f0887d0bd1e8cd5f17e4468",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_z\":0.005},\"note\":\"The second close was also empty even though the body is centered, indicating the right grasp point is passing above the round bottle rather than missing laterally. I’m reopening and lowering nearly to table level so the jaws engage the lower half of the bottle.\"}",
  "call_id": "call_56zH1xeCL7ZWJuNfLgoD3Zlh",
  "id": "fc_0d3f21681f924fda016ab44f2ce31887d0a5017acb3748d3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56zH1xeCL7ZWJuNfLgoD3Zlh",
  "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]: [-0.6582, 1.9713, 1.3151, -0.0635, -0.5835, -0.4519, 0.9976, 1.1473, 2.1994, 1.3228, -0.1989, 0.9424, 1.0103, 0.9957]\nstate[eef_state]: left_x=0.471 left_y=-0.2366 left_z=0.11 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3163 right_y=0.3627 right_z=0.0227 right_yaw=-0.1127 right_pitch=0.0242 right_roll=0.0348 right_gripper=0.9957\nstate[joint_eff]: [-0.7179, -10.988, 6.106, 1.7118, -0.2857, -0.0317, -0.0073, 0.0205, -8.6632, 4.6838, 1.0916, 0.2564, -0.2369, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d18e714aa0d2b6569195a46e0ba62ed6eb42e87824ceb99b68a7db29f7fdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f625265e633e1ae4fe16e0b8299f4190b8d7db9850cb879eb634aa9a596f46d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3b9c0336aa2722ce7401bf35a3d2115687a0f8f42a8ef6c1b983cda7b5ab50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.504 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.969, 1.3376, -0.0906, -0.5835, -0.4549, 0.9977, 1.1282, 2.1288, 1.317, -0.1406, 0.9386, 0.8814, 0.016]\nstate[eef_state]: left_x=0.473 left_y=-0.236 left_z=0.1156 left_yaw=0.056 left_pitch=-0.0169 left_roll=0.0112 left_gripper=0.9977 right_x=0.3282 right_y=0.368 right_z=0.0575 right_yaw=-0.0655 right_pitch=0.0654 right_roll=0.0402 right_gripper=0.016\nstate[joint_eff]: [-0.4444, -11.7265, 6.3795, 1.6142, -0.2515, -0.0366, -0.0171, -0.3214, -9.3607, 5.5179, 0.9451, -0.2173, -0.0317, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6632, 1.969, 1.322, -0.0635, -0.5835, -0.4519, 0.9976, 1.1564, 2.1292, 1.359, -0.3176, 0.9497, 0.9791, 0.0165]\nstate[eef_state]: left_x=0.4711 left_y=-0.24 left_z=0.1138 left_yaw=0.0459 left_pitch=-0.0083 left_roll=0.0063 left_gripper=0.9976 right_x=0.3125 right_y=0.3626 right_z=0.0554 right_yaw=-0.0897 right_pitch=0.0267 right_roll=-0.0056 right_gripper=0.0165\nstate[joint_eff]: [0.4855, -10.9333, 5.6957, 1.7411, -0.2271, -0.0073, -0.0073, 0.0479, -10.3863, 6.5026, 0.9011, 0.1587, 0.0855, 0.9011]\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 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3151, -0.0635, -0.5835, -0.4519, 0.9976, 1.1473, 2.1994, 1.3228, -0.1989, 0.9424, 1.0103, 0.9957]\nstate[eef_state]: left_x=0.471 left_y=-0.2366 left_z=0.11 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3163 right_y=0.3627 right_z=0.0227 right_yaw=-0.1127 right_pitch=0.0242 right_roll=0.0348 right_gripper=0.9957\nstate[joint_eff]: [-0.7179, -10.988, 6.106, 1.7118, -0.2857, -0.0317, -0.0073, 0.0205, -8.6632, 4.6838, 1.0916, 0.2564, -0.2369, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d18e714aa0d2b6569195a46e0ba62ed6eb42e87824ceb99b68a7db29f7fdaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f625265e633e1ae4fe16e0b8299f4190b8d7db9850cb879eb634aa9a596f46d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3b9c0336aa2722ce7401bf35a3d2115687a0f8f42a8ef6c1b983cda7b5ab50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE8xKDiG_gvr5vmqhCtLjl_1CmEo4HSe234S3SYvLAwkOWFnRO2VC9XmEckbDX-AR81intkU02xotmuWfxZBV8m0tY0wIrwTQQxKGaMzdnOXJVeOqNAuwtxJsfYUu9cog9_Qel51jGILUb1XM5eCHG4g_6uoDiT2fhZZOJr8fhdEmZIAWSItaIvWMuq0a6INkI4jYJ2ZNIQGmgTVI-iswv_R-8LKjRKUkf9tugT4UCGcKZme0Vwlv_gRUfCMRgr89mUYU__faZO532jgXp_0hXQFm5pbaaow5E8TSfd_W66kWa5FLYoDrwsLqIPXob-oB6yK4-Azcs09JUE-QbZAsiOHzRDpv4xzfTrMzS26FQGJApCI74wiLCW3QSxF3uRvez2eOOfYy1es3MEpVL5WNiIZIwMcHCwevwXUpOb_8gi0hCh5omdZKEs3nleYAENOCzt9GaDFqm3A2u620u6tE3TdLSLUylE2yvCyiQkymcSrDvY-ywzDFU6pUYuKuYuW-HjW1tfQKK7NWPxlFA2XvWCx2h5M95ClwnNnh6ajLx3UjUT4iLSnnJYBd3bc09VMuk5f6te_w7oUFq5SCPh-QN5aEriLTSoir5iibWUphPqbFkr-BWY9YwkSJ1HNN7za5DRqTWFUmvYs8cKZ37KwqfxSzgB3FhlMpg3suezqhp6THoDLsDXrNguMVhlpWuxhRmAK3UnEvRYmiqYRp4j6vodYXDHiaeLAupaDCdHHLUn5kh0imcbnNT5A4uqICw0iPLLkCvb2lQuDye95NRNSK8o7wuoUEFHkQhGRfBMjpvOd9Z2EULve75zf05PJ3vrsHYuF-JgPnjJn4QPVe0RggCMVailsChfbqT20CZMMObbZsdLgtu4MkuTUjArzS-yG2yXZXFAf1_UtcN3xryuUfOfip45OzDqT2rz1S-EcTek_BmY-UYNoq4PhrNC4edC4j7EI5uYxURdExmMQR1lf2rNu5nK60awYLxfJBOszqPcC65iPf2LoFEpC7MnryKidwwo4DU-uCYyaEbDFSOcffT25jzTwja7aHVlwmSN7NP3CXKU0VyJ9UIH5CHDzHr2eFt16003bJ-p0lGOJL6TN0uOsC6DUkRIWD1-YnKafq-fRFISY7X-IzJifB8SKHf4zoOkED0aZqspBfCt39cOqg-roDwUyBBPEqzdLwNrkgX7PlFwdcx-cncatMQJFbCoIJ-Xu5EZ77PXUydAlEyiet_M5Gv8lTaKTrmspKfS_RQHIDhMeZ96Y65gjGukzg2nY834Pla1QMbyLEYnIbV5OE9pViQ==",
  "id": "rs_0d3f21681f924fda016ab44f30564087d0b430d0d5562d462c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 2.3 cm height the right fingertips are now below the bottle’s midline and visibly straddle its base section. I’m closing once more to secure the anchor.\"}",
  "call_id": "call_kK17mNc2HSsxK4taEHIj7JCd",
  "id": "fc_0d3f21681f924fda016ab44f30989c87d0af6794c1086e6d73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kK17mNc2HSsxK4taEHIj7JCd",
  "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]: [-0.6582, 1.9713, 1.3003, -0.0486, -0.5835, -0.4519, 0.9976, 1.145, 2.2005, 1.3457, -0.255, 0.9382, 1.0206, 0.506]\nstate[eef_state]: left_x=0.4697 left_y=-0.2357 left_z=0.1066 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3161 right_y=0.3608 right_z=0.0237 right_yaw=-0.118 right_pitch=0.0101 right_roll=0.012 right_gripper=0.506\nstate[joint_eff]: [-0.1436, -10.906, 5.9419, 1.6972, -0.2955, -0.0317, -0.0122, -0.1162, -10.906, 6.8855, 0.7497, 0.3004, -0.0611, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be352445089034964cd96f85f09b8c458f52bbb520633c79d160d682b1a2e153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b398cd45ca6b6ec7ca2b0683450f1a3b7f05c0043204c1059863651b462c22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd5192645b8d65cafe5df4b16e6263e20da1cf097df1723b1cd6cd66d96e130",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.527 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.969, 1.3228, -0.0643, -0.5835, -0.4522, 0.9976, 1.1595, 2.1292, 1.3441, -0.2893, 0.9154, 0.9936, 0.9953]\nstate[eef_state]: left_x=0.4732 left_y=-0.2361 left_z=0.114 left_yaw=0.0545 left_pitch=-0.0083 left_roll=0.006 left_gripper=0.9976 right_x=0.3091 right_y=0.3673 right_z=0.049 right_yaw=-0.0787 right_pitch=0.0023 right_roll=0.0291 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -11.1521, 5.9419, 1.6288, -0.3004, -0.0855, -0.0122, 1.7983, -10.0581, 5.1077, 0.9402, 0.4762, -0.0757, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3151, -0.0635, -0.5835, -0.4519, 0.9976, 1.1473, 2.1994, 1.3228, -0.1989, 0.9424, 1.0103, 0.9957]\nstate[eef_state]: left_x=0.471 left_y=-0.2366 left_z=0.11 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3163 right_y=0.3627 right_z=0.0227 right_yaw=-0.1127 right_pitch=0.0242 right_roll=0.0348 right_gripper=0.9957\nstate[joint_eff]: [-0.7179, -10.988, 6.106, 1.7118, -0.2857, -0.0317, -0.0073, 0.0205, -8.6632, 4.6838, 1.0916, 0.2564, -0.2369, -0.0855]\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 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3003, -0.0486, -0.5835, -0.4519, 0.9976, 1.145, 2.2005, 1.3457, -0.255, 0.9382, 1.0206, 0.506]\nstate[eef_state]: left_x=0.4697 left_y=-0.2357 left_z=0.1066 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3161 right_y=0.3608 right_z=0.0237 right_yaw=-0.118 right_pitch=0.0101 right_roll=0.012 right_gripper=0.506\nstate[joint_eff]: [-0.1436, -10.906, 5.9419, 1.6972, -0.2955, -0.0317, -0.0122, -0.1162, -10.906, 6.8855, 0.7497, 0.3004, -0.0611, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be352445089034964cd96f85f09b8c458f52bbb520633c79d160d682b1a2e153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b398cd45ca6b6ec7ca2b0683450f1a3b7f05c0043204c1059863651b462c22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd5192645b8d65cafe5df4b16e6263e20da1cf097df1723b1cd6cd66d96e130",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtE81DWWPQDuTdvr9h4hjHVR9X1450vqOJfU9U0lAQL61Edy5WdPjITenki9BXTNHoembcMeXUzCHOtsx0ljIZWCxBcBigp31JXfguD_F9mVADzYuyGC5b3kIC6A27Cugh0kBiUmGXVPmPKECwrN_0rUr-jazTIvEaZS35nZ-N80y0Usfv2tNDNsgRvQ-XVUJyoFJq1ryByO2o0VS4kzUADQKfPNMSKtpDtDdB-yS6Li_UC_WCpsDghaUwxrEn72lRsH-Ql9bmXcdol0-kgk-GfDB3yphHy4udvbIFtwFIpPpkQWni1e9aZ7dOL_LieLScKBzDk9qmY0-I1DoE8P6T2ay1hKKMUj67qN4G0WH2IenHrmay9mtlLv5nP82Hn-aP-jzgEfQ8BAphWPHcLNxnZnlqtq61ztR39t3Ikg0NYGfgqFIXOAnS_tB7nG2tixrlDgjl29dOUGXBKE1Wrb5k3S3M0WfQr6aiZx0YS24hmMWR2sGs0JZNgD2uYoPvFrmk6Fe3S8KuPuZ-efkMP7XYlWB6a9D5Fjpz1dPa0WQZ7FoZ-gaM7adNDzQOc3UW66DRyQb7kZth6lKEOOv9dgZHiDHOUyAtKNdLJric_QdbyLb1PTgsgyPVomDgefcTS0A0kVfXfcWpZXbDfGtctg_VwfKk9ksEy1dmTw6hhilZLpWDGogj6Um6aDDLwQYCLOMoXKcyH8J4iduNfunwP2XDQpFQN3-XjsgNv-zxIRQKErcvgYWMZlkbQOCaIxnmE4h78bMp1sz4XZecbUIREPacCvhIG2SLd24XlW4eFVX5jYTMjdfLvyR9VA31jdcYvazuV7O7HVpi9-b8MMkno8-4tOfItM4m2ON8XARG_Aby3wVa4QPRDQq-1MQOPt-ZR0bKiIfrFtNsj1ymfVHlbBQaWvl86quI9I1IVJhy9J8r1Nc44N38jh7Czq-vjZGcw6nPKCqo4nsEnyyKEhn7FI_bCC3Ak2vrRjGs46WI_pFeTwUi1b_YXw2jwgzVMQ2UPKQNSOf0psP-yJew1M2F8xvEHNLLyUbnDlalRdHHhetpiWQQPD7zBxquncihEqTnB4jOLaDfNm0tgfXIekewCQk8_9yOJkfryS2AMiJBFyC-SmdmInaciruAR2f2ZSzduyftySgUUhPghEtuq4-vrrNC5mliru3_fNAk0wfsbf2cKthv1R4kGUs-m5y6jLBTmNKC1ma9jfeSVygPwd4lXsEsveGvss6ov0KGOJNdFxNcaURbUgqMwzFz6XhOXWSjTvYZp_3ZbxgxbW_Gv5ly_vLL2pdlbjUW98UO4jcisUFb4xbKctqU8sfCL-zY3T7FPUhV61KoYSKYqCBrEZ6PenQLsg4WcWiU0BmYykF4j3RFPQlg48ro9pO6i8C4t8AB62W31ToTqLBzofuEzGOPn9qPB19P1e3iUT1aU5NPewYvxVtHS9IspAMkNxzp8ec6amLodmm2T46H4WJhus1ZbwtzTpV-5z_sIdiMZtTSguVsXrOnwIaeXjajhzDan46Vio6IFBFAiRHJYx5W312GjhyOKzB2vBujwq6UgwS7bHCHX3qwuWE9Qq-ufUeDMj-yv4onHt5vRTXzS8-zIBp4kXuWBZjXz9gO_keIqAcN0mTHtiXrhWlvyYHcGxSXZKJf8fhllvtSKB3DEQagwPS5NAxBG8TbfQle6eDVTK7q94h-J1EeWCcAv7ouGj0xXlTgdLi8QXvT9HjQH7VCaMEfUG-iAh3_DGknaDe6Mm27z-m6t2aWkyNN7bzZXR9vU3CjdJuDAgp2Yi5_mFa7AZjPkDBNZUfB3LgYfNS81-2AFGO_GnC8S0=",
  "id": "rs_0d3f21681f924fda016ab44f339c5087d083cde30b62dc357f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.246,\"left_z\":0.025},\"note\":\"The right gripper now holds the bottle base at 0.51, providing the needed anchor. The left wrist sees the blue cap centered just ahead of its jaws, so I’m lowering and advancing the left gripper onto the cap while the base stays fixed.\"}",
  "call_id": "call_VCr0fEs3S5Md6VL3ImviOejb",
  "id": "fc_0d3f21681f924fda016ab44f34c81c87d0a2863f2191d68dff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VCr0fEs3S5Md6VL3ImviOejb",
  "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]: [-0.6682, 2.088, 1.301, 0.1429, -0.5953, -0.4515, 0.9976, 1.1282, 2.2044, 1.3479, -0.276, 0.9379, 0.989, 0.5095]\nstate[eef_state]: left_x=0.4868 left_y=-0.2534 left_z=0.0806 left_yaw=0.0506 left_pitch=0.0467 left_roll=-0.0312 left_gripper=0.9976 right_x=0.3208 right_y=0.3528 right_z=0.0211 right_yaw=-0.1175 right_pitch=0.0025 right_roll=-0.0361 right_gripper=0.5095\nstate[joint_eff]: [1.2103, -1.935, 4.4103, 2.1514, -0.0317, 0.0464, -0.0122, 1.2376, -11.6444, 6.4205, 0.9011, 0.2857, 0.3199, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f766212439cfbd934d749493d2fc39a37d9298b630a91bfeae0365f088b997f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7e706d5bab2af60c4a81bbca7ed49a60ecacc2a59faab8079123e7ac67ad85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85031397f39e0a06e4acf843f57b413ee40105739e18ac2b36fdf2af546b4bef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 4.7 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6632, 1.969, 1.322, -0.0635, -0.5835, -0.4519, 0.9976, 1.1564, 2.1292, 1.359, -0.3176, 0.9497, 0.9791, 0.0165]\nstate[eef_state]: left_x=0.4711 left_y=-0.24 left_z=0.1138 left_yaw=0.0459 left_pitch=-0.0083 left_roll=0.0063 left_gripper=0.9976 right_x=0.3125 right_y=0.3626 right_z=0.0554 right_yaw=-0.0897 right_pitch=0.0267 right_roll=-0.0056 right_gripper=0.0165\nstate[joint_eff]: [0.4855, -10.9333, 5.6957, 1.7411, -0.2271, -0.0073, -0.0073, 0.0479, -10.3863, 6.5026, 0.9011, 0.1587, 0.0855, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3003, -0.0486, -0.5835, -0.4519, 0.9976, 1.145, 2.2005, 1.3457, -0.255, 0.9382, 1.0206, 0.506]\nstate[eef_state]: left_x=0.4697 left_y=-0.2357 left_z=0.1066 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3161 right_y=0.3608 right_z=0.0237 right_yaw=-0.118 right_pitch=0.0101 right_roll=0.012 right_gripper=0.506\nstate[joint_eff]: [-0.1436, -10.906, 5.9419, 1.6972, -0.2955, -0.0317, -0.0122, -0.1162, -10.906, 6.8855, 0.7497, 0.3004, -0.0611, 1.0134]\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 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 2.088, 1.301, 0.1429, -0.5953, -0.4515, 0.9976, 1.1282, 2.2044, 1.3479, -0.276, 0.9379, 0.989, 0.5095]\nstate[eef_state]: left_x=0.4868 left_y=-0.2534 left_z=0.0806 left_yaw=0.0506 left_pitch=0.0467 left_roll=-0.0312 left_gripper=0.9976 right_x=0.3208 right_y=0.3528 right_z=0.0211 right_yaw=-0.1175 right_pitch=0.0025 right_roll=-0.0361 right_gripper=0.5095\nstate[joint_eff]: [1.2103, -1.935, 4.4103, 2.1514, -0.0317, 0.0464, -0.0122, 1.2376, -11.6444, 6.4205, 0.9011, 0.2857, 0.3199, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f766212439cfbd934d749493d2fc39a37d9298b630a91bfeae0365f088b997f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7e706d5bab2af60c4a81bbca7ed49a60ecacc2a59faab8079123e7ac67ad85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85031397f39e0a06e4acf843f57b413ee40105739e18ac2b36fdf2af546b4bef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d3f21681f924fda016ab44f383b4087d0b84b9fc5a96417d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.27,\"left_z\":0.035},\"note\":\"The left descent stopped at 8 cm because the palm touched the bottle off-center; the cap appears about 2 cm right of the jaw centerline. I’m shifting laterally toward the cap and retrying the descent while the right gripper keeps the base anchored.\"}",
  "call_id": "call_UjZNVcfx544NAuexcruA9jYy",
  "id": "fc_0d3f21681f924fda016ab44f3c0a2487d0a8e0c1870de69d8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UjZNVcfx544NAuexcruA9jYy",
  "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]: [-0.6823, 2.1456, 1.3579, 0.1699, -0.63, -0.4694, 0.9976, 1.1198, 2.2017, 1.3334, -0.2527, 0.9417, 1.0054, 0.5125]\nstate[eef_state]: left_x=0.4967 left_y=-0.2648 left_z=0.0791 left_yaw=0.0744 left_pitch=0.0797 left_roll=-0.0495 left_gripper=0.9976 right_x=0.3238 right_y=0.3492 right_z=0.0204 right_yaw=-0.1364 right_pitch=0.0096 right_roll=-0.0125 right_gripper=0.5125\nstate[joint_eff]: [-1.4154, -6.2154, 6.147, 1.5311, -0.0024, -0.0073, -0.0122, 0.1846, -12.506, 4.5333, 1.1013, 0.1636, -0.149, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2492bd9ed30286d3932e6162ba3eab7a6610184cfcc1f814be583531ac43a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f103045bcf5af61358e55913afac0b2439796c23e243c8d808a97169a9a923cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b18164287f3132eb2bca2b2fdeb9dba66618b28ebcfc16d15b299ad11b7246",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.889 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3151, -0.0635, -0.5835, -0.4519, 0.9976, 1.1473, 2.1994, 1.3228, -0.1989, 0.9424, 1.0103, 0.9957]\nstate[eef_state]: left_x=0.471 left_y=-0.2366 left_z=0.11 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3163 right_y=0.3627 right_z=0.0227 right_yaw=-0.1127 right_pitch=0.0242 right_roll=0.0348 right_gripper=0.9957\nstate[joint_eff]: [-0.7179, -10.988, 6.106, 1.7118, -0.2857, -0.0317, -0.0073, 0.0205, -8.6632, 4.6838, 1.0916, 0.2564, -0.2369, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 2.088, 1.301, 0.1429, -0.5953, -0.4515, 0.9976, 1.1282, 2.2044, 1.3479, -0.276, 0.9379, 0.989, 0.5095]\nstate[eef_state]: left_x=0.4868 left_y=-0.2534 left_z=0.0806 left_yaw=0.0506 left_pitch=0.0467 left_roll=-0.0312 left_gripper=0.9976 right_x=0.3208 right_y=0.3528 right_z=0.0211 right_yaw=-0.1175 right_pitch=0.0025 right_roll=-0.0361 right_gripper=0.5095\nstate[joint_eff]: [1.2103, -1.935, 4.4103, 2.1514, -0.0317, 0.0464, -0.0122, 1.2376, -11.6444, 6.4205, 0.9011, 0.2857, 0.3199, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6823, 2.1456, 1.3579, 0.1699, -0.63, -0.4694, 0.9976, 1.1198, 2.2017, 1.3334, -0.2527, 0.9417, 1.0054, 0.5125]\nstate[eef_state]: left_x=0.4967 left_y=-0.2648 left_z=0.0791 left_yaw=0.0744 left_pitch=0.0797 left_roll=-0.0495 left_gripper=0.9976 right_x=0.3238 right_y=0.3492 right_z=0.0204 right_yaw=-0.1364 right_pitch=0.0096 right_roll=-0.0125 right_gripper=0.5125\nstate[joint_eff]: [-1.4154, -6.2154, 6.147, 1.5311, -0.0024, -0.0073, -0.0122, 0.1846, -12.506, 4.5333, 1.1013, 0.1636, -0.149, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2492bd9ed30286d3932e6162ba3eab7a6610184cfcc1f814be583531ac43a09d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f103045bcf5af61358e55913afac0b2439796c23e243c8d808a97169a9a923cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b18164287f3132eb2bca2b2fdeb9dba66618b28ebcfc16d15b299ad11b7246",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9BHJ2GWbqIyRl5K26KRhsAOnCgiWmeqd_uoFKXydSO-rL591vayYSw8XzgDVOs-Kv8o9mEHakp8QDv8PgY-h2bBgwFSDhv27k_WkDfbLneBWI17Ys9DrrYhmjSnUvGJFPAx2lfgjEd2aHW9264DRjUTwyhfnXNBaKXDitacLLiPbhj54BeMIkgcp7Z-w4PJHYppVZVOwjJsmURkOUhlOq7phCfSBa4kl7X8xuSoQJZBmAeLNSxyujQEhGOYHSQ2nn2UVW8AkNSLmetpTvfX6hVVlfKzwTu8o6I5VQKOreRR2GR0c57gfyL2TcwJkqWUraaw_AuKw_Go2NI00O0gjjwZZD3tvK6gwubJhYez1sBKPqoXR8NFPgM60pgswdEkp2tM9R0YvjbZWXZTrQQi6QMK1Q7LKADj4828mL-YFRq_3vXQP-9qsZNkdBQqWex_gmFxyDNqf4hPDcTwNUZ6BMamzGT58Lr0RV8oxu8rOLWAIUPQllBIBDhQSy4T1oeUzq_ai57CLwaX79eF-4HuzTtXZfXCXHaoJo7rY5_xKMtDlDVSCip8aFK5OWq5qnmy3Akdl6kfDNaV_acNzXc9TtScTx3vlIlUchT4vCqWCiiY4a6cMJeq3cTJ1Rebc_1cocIMqlhmi_vTFxwdmRvDzlVkvAfsP3peaL6eKcNZ3KeY3sUhUMkC5hwcVPb7j9uu1kegrIBMuIB7fyFTX84WRdg0fpJoP1UNE5N58I7aa5bdt8C4zDl2bq-KN6UHcrV1LqFetrm3u_oQDYJ857ZM1DJJNOa5c6AjTlrVDEAttTSZCIqpJkrLY5z7WiTHn18AeBJo6wqh5EDGqJ8YdKq7WmG1vfG1MN_PiascxdpZwBVV2l9zowVzdZb-9JZ3k77oP8Zk0Z2YkJcBLr-My3wEi3vu56dZOI6DJe62SAJj6wpMD71St1eKJEii0pnqTPdk3Udl-laboA-B2OdwzlJtbtqsUqF1ZHLLzdFJ9ALsbHi9DWX9YzY0dVGU7gGao1nGjmYRWprV5fjxlf5YzERk8hBQWbH3BvrGfB-SBaqLlXRf0mQ2nGfQFdh6wIol9220rlL4YdIx4MRC20QBx9Nvi73l91cDJbMHxVnA1iRD8nWSmIr-KsFlIpEY00wYKbg6cgpUEbCpLzNMHkggm5jO0uR9gVfCtwaa0A6BvepLoxH9lcLwoxdTr8eOTqKNMB72DT8OTecN7dzaR3MiVIIT019Qn6NK1qDhGSaxNuZJ9ujkX14HfS1ftWwhrBQHTybWZwGf8sMGxP0BkDMJza9L1_LtmGMx1vGP-fic-lBqrCIq5cV3hPSy4bTosEF3A_VHbbqObfPJDXqA5gXktkr2kUbAav551M6lkZ-OiQYrwlC25tDExtg2x7Ea1wddJwT3LUODAwkarkXVYpEFNPl8MUszuUlbDlLJgYq9Tj5JYtUwkgn2eyIF1EZX1hT25p8eOd_qzI5PeKDJrSHYD_Zc8Ag6EsX_kb0b-lG3irFvrLZiFLis9VCj10a635GkBrMd-tQl36SLwG-HHCySnNoOAWrvQ_jIN_NOjcGNgw5o7mGkct_iCtRrNIRgqq7Kdkvp3ge9wJpwwUXG097GhMSpGp_dUo0Tf7uVs3o1TrmNhuzh0KpU6BLEJNvi3wGq-hsu86ADN0aud1tXobwfPfMWV04UmoZMX2RMkSXLjVdl1s1NiefnSS-KDo4izxgavA4Yl7M61-IZ2e1FnOm1xh_kbtbxCMBoDXtiLUuMKjv40M2y3qF7u38qUFFvkyeAVjC2gUDsge9R-bt_E0baCkzGMLRJbPYpkmHpa5HxBTk0CtdEiP1T5k-NGpdVixzTzXA6w7FhaSVRXr9qQTZGGK2yeOt8iK9cohV8VAUeTtkkN3Sgso5QnovSuCPUJXhqw9q_XvDZe5NefXCUq2Z5hJZJ27L3IT9G0fZ0kUGzdXGYD4ryW1JgcstWpZHtmOW_eWDFAPpP5JDNw0ibIbNRQTqgzV2FOyw31QeK9iLzFVlPZo3cgM=",
  "id": "rs_0d3f21681f924fda016ab44f3ec70087d08a48915bb0277bf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.285,\"left_z\":0.035},\"note\":\"The cap is laterally closer to center, but the 0.50 m reach is preventing further descent. I’m retracting to the previously reachable low-x pose and making the remaining small lateral correction so the cap sits between the fingertips.\"}",
  "call_id": "call_4pKfmbF4GW8v3NzdxAgNoOWE",
  "id": "fc_0d3f21681f924fda016ab44f40855887d0a72662a60e756b9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4pKfmbF4GW8v3NzdxAgNoOWE",
  "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]: [-0.6861, 2.1487, 1.3643, 0.1665, -0.6369, -0.4751, 0.9976, 1.1179, 2.2017, 1.3289, -0.2432, 0.9459, 1.0145, 0.5159]\nstate[eef_state]: left_x=0.4967 left_y=-0.2663 left_z=0.0799 left_yaw=0.079 left_pitch=0.0823 left_roll=-0.0517 left_gripper=0.9976 right_x=0.3248 right_y=0.3483 right_z=0.0204 right_yaw=-0.1451 right_pitch=0.0148 right_roll=-0.0011 right_gripper=0.5159\nstate[joint_eff]: [-1.1829, -6.2017, 5.7368, 1.409, -0.0024, -0.105, -0.0122, -0.3077, -12.041, 5.8051, 0.8718, 0.1978, -0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a585a6573813736b7ecbeefb2e5578f03d086ae144e914330666911f82805e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317693cddc28a631a28399912d98de913bfd5cd3ec0660c8e4ce2e1762790a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe8c67e8d4f3f24027166c8ceb40d9bc8ca89ee4caef89f4ca21ad3a4657a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 4.231 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.9713, 1.3003, -0.0486, -0.5835, -0.4519, 0.9976, 1.145, 2.2005, 1.3457, -0.255, 0.9382, 1.0206, 0.506]\nstate[eef_state]: left_x=0.4697 left_y=-0.2357 left_z=0.1066 left_yaw=0.0509 left_pitch=-0.0152 left_roll=0.0123 left_gripper=0.9976 right_x=0.3161 right_y=0.3608 right_z=0.0237 right_yaw=-0.118 right_pitch=0.0101 right_roll=0.012 right_gripper=0.506\nstate[joint_eff]: [-0.1436, -10.906, 5.9419, 1.6972, -0.2955, -0.0317, -0.0122, -0.1162, -10.906, 6.8855, 0.7497, 0.3004, -0.0611, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6823, 2.1456, 1.3579, 0.1699, -0.63, -0.4694, 0.9976, 1.1198, 2.2017, 1.3334, -0.2527, 0.9417, 1.0054, 0.5125]\nstate[eef_state]: left_x=0.4967 left_y=-0.2648 left_z=0.0791 left_yaw=0.0744 left_pitch=0.0797 left_roll=-0.0495 left_gripper=0.9976 right_x=0.3238 right_y=0.3492 right_z=0.0204 right_yaw=-0.1364 right_pitch=0.0096 right_roll=-0.0125 right_gripper=0.5125\nstate[joint_eff]: [-1.4154, -6.2154, 6.147, 1.5311, -0.0024, -0.0073, -0.0122, 0.1846, -12.506, 4.5333, 1.1013, 0.1636, -0.149, 0.6471]\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 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6861, 2.1487, 1.3643, 0.1665, -0.6369, -0.4751, 0.9976, 1.1179, 2.2017, 1.3289, -0.2432, 0.9459, 1.0145, 0.5159]\nstate[eef_state]: left_x=0.4967 left_y=-0.2663 left_z=0.0799 left_yaw=0.079 left_pitch=0.0823 left_roll=-0.0517 left_gripper=0.9976 right_x=0.3248 right_y=0.3483 right_z=0.0204 right_yaw=-0.1451 right_pitch=0.0148 right_roll=-0.0011 right_gripper=0.5159\nstate[joint_eff]: [-1.1829, -6.2017, 5.7368, 1.409, -0.0024, -0.105, -0.0122, -0.3077, -12.041, 5.8051, 0.8718, 0.1978, -0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a585a6573813736b7ecbeefb2e5578f03d086ae144e914330666911f82805e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317693cddc28a631a28399912d98de913bfd5cd3ec0660c8e4ce2e1762790a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe8c67e8d4f3f24027166c8ceb40d9bc8ca89ee4caef89f4ca21ad3a4657a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9GP_sqWuoDAi20EPyuJAC8jGaMi906UJ1mdp90mWXj8leE7THQAHuwdrU3RCD91sRE_HsdjVyPeqFbAVb3qxZlmjbxPoGrKmIPSduwiIVnSTxJERq5AjrvILsgwPZ-gAjkjb_9Yy5Uw_7JivojXI44W5vUQlNhVa3XLwQCqTg2TIAG5O8yuIBrTDXP86wiC96f_NRYVUnp7P05BZzLtqfoAZ3O255Sl3MMP_viseH6Wd4eMlv1aOaWpVFThY-bTPwFeNfgg44mRLXr_NGBLlpyar_-l0JAoY5BfzRJ9rsYWkQYvwF97hyD3_8qyHw6NKJ6fScuGmXepRvQW9W8jJZ_xeZqo2hPH_BVudL1md0dOVSx_dvKvxP6MqTIjtjXAJxtw7ETvVeRI7Ez6JCCJhJx62j9wDunwfc1_2CtVyg9JUHQ7-Ulwvc7xT9cF6dO3B1PoHw0XUMnJDMQw8DPJFzdfT-OkdFWah2TwyaHfA9KvMNXePrANwVWvHz9QgPFv3oc1tIdQ4BBbr0b7ua_gTdVTCZOZcLpmf6nRv0n39tg3zIHNSq0aOkRvkaky-CvJugkvOf7bjy_JejryDOimEo1vp3Vlnk2sKjYdq_vOhIVClQFsbItrUoyJhJ3leP_XhxEo9mC8sd9dfN4sO7BetBNu9dhcZ_tgZlUC1ocFtj8BTaMgIhM-Op9F3E9qwn0niVsoWOXK73pcUfBnfCLDBVn5QbGdlOX3AGIeXoXG40BT_1xuOYrpjXk1Qpf6elm4awet16YbcEpwqxQK5TKroa48YIiixBa6KI3gRB_wvHt_Vj45F0CDX-AswWy19LUNeKMHeb9Ed0OtOMo70tM5D0P95OTNEEjRkclfjv2qW8Y0Acdd0oLkwZCu3UyT8Ix-GVbjoufvWNRA0zfWnUOePVjyMYalM6sCWudMF8DXLIcfm085HYmyGbI4hc47chJ0Jk5Mafw77sccMrIAT8oHr2-BtJaTzTRa0VG64Z68r-SN07ZpyQCbvpp-PGSZBeJo83ZL2ZZw1pf4kTiEyMm8_2b0dZoVj_gYo6YbWTJQgJhy0fVWWrgX7dgpstaOQspAbgz_RktSHXLXnHtG7RZuADd12OBkka0NrCJJglGkgtFEw2Ukval_3KlrEHan4DNsLFjPFy-MdDz36GfLspX2GKkYfxgzeKpr1Yv6eI-AYpL0cSGnfjqGYMNc_bTOl-rMtDsBJ_769qEp3cmVjOiSWjZOYV_aCPFGYT6PAEIhpoZ46ew4BDHBvshLHS3-L-foLOUxMC8EIGgegrX_aVYF_PIkZdBYrwX0wGm7umLCCGKS3UQxjoxK0FpdWjynV5bgna-KU0XPAt72-q_b46U172zLUw0sb4lq7NdW5vYUZ-hLhvHFiB_-GcgsSamz0c3aHF7RiHnAK056UsUHkb2IKQdl6MzpIlCvxZaPG_NYnegg1fz9NyKZ5xhL40pZSx3MpIzIfTAlzcYJs2bHn45WaDDAWaZEv4E00EfTYVllphefDsT4ZqZLisj-OboCXjGj3RdPtMJ534xZLvU1oxgJRlHppq2rca14F_KrEVLzh71S1lnNugbpTRUOwE5-3c-AjfkqHI8POBrLPu9bqIJwXzz2VMDU2kS4zzKO-r7nVYkgNlc45O4JwiTr6n3-CHbPWzkocCXgUHsv-7cd942cifg6PEexjlJAfKT7QsQhcF2rTqCzy43J02Wi75a9oaQbNssJ38a9gqo6GsmDF2b4ulwi8uIzEj5bcVTdSuV81PsAvyQZlVL3vI6E2sO0547v2bIP_P1QYNBz32IQWvdHlQrxW0yswiuaHv0TEOrrb9skyVfBYeTnoBgMI9TTZKb6_52pQGNcoVKd1GXHIen0ZF_cSD9TfMMemS9e0xx24KZIg8ewjAV2K3k_sq93hbI-dS45ezqk_8HdMGq9xs9Aqi2WOVlMw8LdkVySLW2Miisctzb8Lfw-mtdtDGtmeoFg4s8Xaw7YDq_FzNEAo7jQyoqhSDqZPmDIu3J55eHx9q1d_tIoYLzk-dGXvDFm8qFs_QIqnR66UDLKSBWurJ7T2BnReagnzWs8_GnP2CfQjQew2FurFrBzX_Ab5faY6ObMbMER-SLut_XKV5nPekl_G2b3-vTKikx6mWQlsBCpD3rbgRyW3pvnsKFLCWbiyGWajS27fLD8lm462fkSxQI2ZKKFhmXwp9yulYFBRhXxGk-Z9E=",
  "id": "rs_0d3f21681f924fda016ab44f43a0a887d08b5f194bb45e606c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.285,\"left_z\":0.12},\"note\":\"The combined low retraction did not move because the left palm remains in contact with the cap. I’m first lifting clear and retracting at the higher pose, then I can descend vertically beside the cap without the contact blocking the path.\"}",
  "call_id": "call_ds4FkTs6vfsQvsxk9JDlDNCr",
  "id": "fc_0d3f21681f924fda016ab44f455d0087d0b05d671b66024210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ds4FkTs6vfsQvsxk9JDlDNCr",
  "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]: [-0.6876, 2.1487, 1.3655, 0.1669, -0.6369, -0.4747, 0.9976, 1.1175, 2.2017, 1.3293, -0.2455, 0.9463, 1.0214, 0.5161]\nstate[eef_state]: left_x=0.4966 left_y=-0.2673 left_z=0.0804 left_yaw=0.0774 left_pitch=0.0834 left_roll=-0.0524 left_gripper=0.9976 right_x=0.3249 right_y=0.3479 right_z=0.0204 right_yaw=-0.1493 right_pitch=0.0145 right_roll=0.0028 right_gripper=0.5161\nstate[joint_eff]: [-1.0051, -6.3521, 5.6821, 1.3797, 0.0024, -0.0904, -0.0122, -0.5949, -11.6718, 6.0786, 0.8181, 0.2711, -0.0024, 0.7741]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dfa58b9fed530f65ee19e7e8accc92aa79e271f0aae38205a943e48707e769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d681d0f19b8eac3ebe68cef4bb1da5630e4aedd1f1c57bd31b22058064b5f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050de5182a679ed48d20ff7df69cea4b858d0edf8a6fd6972b1678c59065ab42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 10.17 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 2.088, 1.301, 0.1429, -0.5953, -0.4515, 0.9976, 1.1282, 2.2044, 1.3479, -0.276, 0.9379, 0.989, 0.5095]\nstate[eef_state]: left_x=0.4868 left_y=-0.2534 left_z=0.0806 left_yaw=0.0506 left_pitch=0.0467 left_roll=-0.0312 left_gripper=0.9976 right_x=0.3208 right_y=0.3528 right_z=0.0211 right_yaw=-0.1175 right_pitch=0.0025 right_roll=-0.0361 right_gripper=0.5095\nstate[joint_eff]: [1.2103, -1.935, 4.4103, 2.1514, -0.0317, 0.0464, -0.0122, 1.2376, -11.6444, 6.4205, 0.9011, 0.2857, 0.3199, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6861, 2.1487, 1.3643, 0.1665, -0.6369, -0.4751, 0.9976, 1.1179, 2.2017, 1.3289, -0.2432, 0.9459, 1.0145, 0.5159]\nstate[eef_state]: left_x=0.4967 left_y=-0.2663 left_z=0.0799 left_yaw=0.079 left_pitch=0.0823 left_roll=-0.0517 left_gripper=0.9976 right_x=0.3248 right_y=0.3483 right_z=0.0204 right_yaw=-0.1451 right_pitch=0.0148 right_roll=-0.0011 right_gripper=0.5159\nstate[joint_eff]: [-1.1829, -6.2017, 5.7368, 1.409, -0.0024, -0.105, -0.0122, -0.3077, -12.041, 5.8051, 0.8718, 0.1978, -0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6876, 2.1487, 1.3655, 0.1669, -0.6369, -0.4747, 0.9976, 1.1175, 2.2017, 1.3293, -0.2455, 0.9463, 1.0214, 0.5161]\nstate[eef_state]: left_x=0.4966 left_y=-0.2673 left_z=0.0804 left_yaw=0.0774 left_pitch=0.0834 left_roll=-0.0524 left_gripper=0.9976 right_x=0.3249 right_y=0.3479 right_z=0.0204 right_yaw=-0.1493 right_pitch=0.0145 right_roll=0.0028 right_gripper=0.5161\nstate[joint_eff]: [-1.0051, -6.3521, 5.6821, 1.3797, 0.0024, -0.0904, -0.0122, -0.5949, -11.6718, 6.0786, 0.8181, 0.2711, -0.0024, 0.7741]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dfa58b9fed530f65ee19e7e8accc92aa79e271f0aae38205a943e48707e769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d681d0f19b8eac3ebe68cef4bb1da5630e4aedd1f1c57bd31b22058064b5f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050de5182a679ed48d20ff7df69cea4b858d0edf8a6fd6972b1678c59065ab42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f487f0c87d0ac400e399a8ad1d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left arm remains contact-limited, but the cap is centered deep between the open jaws at the current pose. I’m closing here to test whether the cap is already enclosed; the settled gripper width will confirm or reject the grasp.\"}",
  "call_id": "call_y88nWIQqnWbhdE7lsbwgN4qp",
  "id": "fc_0d3f21681f924fda016ab44f4a0da887d0956399eb0daee434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y88nWIQqnWbhdE7lsbwgN4qp",
  "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]: [-0.6853, 2.1487, 1.441, -0.0357, -0.6357, -0.4984, 0.012, 1.1088, 2.2013, 1.3327, -0.2462, 0.9508, 1.0203, 0.5185]\nstate[eef_state]: left_x=0.4912 left_y=-0.2614 left_z=0.076 left_yaw=0.0882 left_pitch=-0.0086 left_roll=0.0151 left_gripper=0.012 right_x=0.3286 right_y=0.3454 right_z=0.022 right_yaw=-0.1595 right_pitch=0.0194 right_roll=0.0035 right_gripper=0.5185\nstate[joint_eff]: [-0.212, -11.1932, 8.4991, 1.4969, -0.1392, 0.0269, 1.0085, 0.3077, -11.6308, 5.8735, 0.7546, 0.2564, -0.0073, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e84723ab565dacf1bcde9426ec302bc93816405d9db351cb60f835c5302c112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f5240d0f9266c6cf789e19625344256b95c4f04802fb39cca9b2e70ab7e333",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd92d81d83a64fa9d315dee0ebca34d4cfff6a4a5eb0f49c794f5fb0e9014ec2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 6.516 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6823, 2.1456, 1.3579, 0.1699, -0.63, -0.4694, 0.9976, 1.1198, 2.2017, 1.3334, -0.2527, 0.9417, 1.0054, 0.5125]\nstate[eef_state]: left_x=0.4967 left_y=-0.2648 left_z=0.0791 left_yaw=0.0744 left_pitch=0.0797 left_roll=-0.0495 left_gripper=0.9976 right_x=0.3238 right_y=0.3492 right_z=0.0204 right_yaw=-0.1364 right_pitch=0.0096 right_roll=-0.0125 right_gripper=0.5125\nstate[joint_eff]: [-1.4154, -6.2154, 6.147, 1.5311, -0.0024, -0.0073, -0.0122, 0.1846, -12.506, 4.5333, 1.1013, 0.1636, -0.149, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6876, 2.1487, 1.3655, 0.1669, -0.6369, -0.4747, 0.9976, 1.1175, 2.2017, 1.3293, -0.2455, 0.9463, 1.0214, 0.5161]\nstate[eef_state]: left_x=0.4966 left_y=-0.2673 left_z=0.0804 left_yaw=0.0774 left_pitch=0.0834 left_roll=-0.0524 left_gripper=0.9976 right_x=0.3249 right_y=0.3479 right_z=0.0204 right_yaw=-0.1493 right_pitch=0.0145 right_roll=0.0028 right_gripper=0.5161\nstate[joint_eff]: [-1.0051, -6.3521, 5.6821, 1.3797, 0.0024, -0.0904, -0.0122, -0.5949, -11.6718, 6.0786, 0.8181, 0.2711, -0.0024, 0.7741]\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 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6853, 2.1487, 1.441, -0.0357, -0.6357, -0.4984, 0.012, 1.1088, 2.2013, 1.3327, -0.2462, 0.9508, 1.0203, 0.5185]\nstate[eef_state]: left_x=0.4912 left_y=-0.2614 left_z=0.076 left_yaw=0.0882 left_pitch=-0.0086 left_roll=0.0151 left_gripper=0.012 right_x=0.3286 right_y=0.3454 right_z=0.022 right_yaw=-0.1595 right_pitch=0.0194 right_roll=0.0035 right_gripper=0.5185\nstate[joint_eff]: [-0.212, -11.1932, 8.4991, 1.4969, -0.1392, 0.0269, 1.0085, 0.3077, -11.6308, 5.8735, 0.7546, 0.2564, -0.0073, 0.4713]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e84723ab565dacf1bcde9426ec302bc93816405d9db351cb60f835c5302c112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f5240d0f9266c6cf789e19625344256b95c4f04802fb39cca9b2e70ab7e333",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd92d81d83a64fa9d315dee0ebca34d4cfff6a4a5eb0f49c794f5fb0e9014ec2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f4dc22487d09543f8358d508aae",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtE9WETmB98moL4ZOKP6LsW4QQwPvz4VIQIif7ygIdjxqkcgcWzAq_rgmYX2UL25bnDZI27we5p_fsEicQsPpRS_nXltwt2dRVEhzDCTUURloQ7KyUiQzAjBYOdcETdagPbO7vs94oB6esd0evT3lwRC3yL1mwhoV3WSspFm7PjGMEll7asrM6HwXBY9qU74vNIZufrQjdBodNgY1hO-m0VxrKdXuIGt2VZzROUadbp3OqBCyh67U4WprnC9BTMxgfN7bCOVywO0kOpjW8ES6y2l0rnyGAaaz86zxQm1JJ7QP6KORwMO_bVudNJr_B_Oc12KZYBrwkXPceFVK62w3HYH2lf3vhpjgGz04VjIpBAH7Po-XlYFt9RKhLIuDxYKy1dUpVyFKn2aiMWqOkhPoA2SR5ok9c_h5GoNr_7UqSeDSB_9xCGaxkfKpPn5QPqU3qdwNrqD38tN4ZQqUZYDWwFJrXINHsIQyvk8oexXELV9ktzbMfQi5etkS6domQ0fTQWpCTEiYmi-PEQLYfWTcMdd2T_cdf19m_cYviXMkZqzSnTxTI064RgXToGsOYpcJdMSCdJIK1aa0LrY-Ap9YxVEMsfQB7pdTt5Hw_FCK3xamNvGjEMyazCgFVe0i-d-VH1uLuYLfoMoGyIykhJntFwabQhVbH2miu5F8ZcnnyekacW0-k8kW-QPGwPKm680Ju0l1zL-TCIFiGfQj38Ced6vntbziNjr1vZ4FXrcgOg0an0wXpvr9KlsRJY0szHE6TbsE6wdEPwhYi_LOyB68gQbOMtDNIOKxy4mMOtBzE4xmQlWonPdWDmKZuFDe49F83HPA4XuaJ-iuTdbwu4iXEblX1UEpnaDviV4rfBFV59W_Kno3j9VsDBmqEKN55rQFmVxDUp3HPlgAPUroNod90jFhygc1gQVRAqDdSXRG-kC_PIn4kBWzq63re6EIJ-JJqjv9yvm2x6wV7HfVlF5PQw7yg50uoi4bpjMzu9XXSU6UfQVMl7AxdTcl-txxeSVAxyY8NEN9CXTBwsge2H0bNyAifjP7ns61LXPy5UMRMr15g-MPspucEYJ4q2taOIN3lIEZpDR6iBmhLrI-oNztAfczI65bCa-6N7Psq5yP2KgloI_Pul1bbmP_mTYD9uWU4snugVLG_tamGs58hQlDQ8X7SP09zSGBn_8024UxxwAqflmybwKjZNvEREyRxIppa2TjM9uwmkkdJKeRFHoFztPeydRP1uK-LXwJCG6eWS9DXvNXDADE4c2_lZHK41sNS98422IMXWLkjap_E1QxuAN9rzgycoXykTJTw43AkKQGibhTyK8XeaPHPdiGbq0VK1Dsp_vyyHGOyxXN_a-hnqx-v34j5eccifa5kIyfR8q0_oJanafbYB-XZ9g3S2rqLi7UvD7MCYiRbftjZ453pC80PmfTtwjft8SLIqv7c8d8DsWLoGY_1XLvmuTuMrjT1SndMWWdUg-m-jOujRD5c5nHEfapwyOE1l1Dw6y-5Hsupb3gz-Yi_TlF0BW-A3gXL_oVpdnnaNmrtoE0OxjsC_1qH6Q7zdfJyEZdDR7cfP3vWPVJvvRsBx5HMTe0-kk5a7bS-Otv1AQ9ZdGiG7RXP6HfAiIcjzNAxzdXZBjb1Uv6SAtaH5pI6a6prWDu7AnWxGlQ5xb0bf6168PsZG3GuNINNDt_VZHdPr52VGIzG9FgBP93Ru40KmufugeCqz0V4AvvrtDxjh8hs_nqEaj9RJgkoM1ysMTspGF7MMH1p5x4qxtpaHPmRgCv4tgAYpmb7thAP-_A73np6g6vOuYpNJGm-yNnSRDMXHCYe1EEcJhje-dDfgB6F_EudaahVWCJJezIsp8flInz96b1abI_oALfzkDw3zpiuBxZDhnHxBvITwAL4EMHLU94Z2toFKeE7i-6J2nNlWQa7xg7Bo-OQ5bGrv2K5XxA53KJDTrDT2HF2i7Tx2VOlo1xhM3heSUnmuoNpGEfs4ccpS2klqC6WduMcZulxsS697Jl_DxYgxDCSvYYLkf-g8aDf42ZMdB7cIU-_AbNLRzaScNcGNrj2gWtLiXj3VS4bYswUxFe3J1PaKhe2e4H8Mlzj4gLquhfvq7Dmlzl1j__D5AxOVSNXS1_Y57rwPA6fuGi-Jc8-3KryoG6b5a9sK2IfRiNvAh5b5rQ4hamPWLjVsO95KriFTgH0MLzVlXl73z3aeyUHYOddg2rIvLVrhFPfIIyEgkZqzetYvYB0HC6N4vkXx1E8g9Yy0nE1L5Gf1lOxgzfcHJnPHLpbFHFG2HM0OAwRNNTDvG0dEqM4dfHrYGwxiaQrJNHtpT35YcWcty-7cF5HhpTNdXql4ASdHKALoaiUc9OvfsTcO6h-MiQggt1algPI57CqxQLNqcIZ5otYfjmsjsqyWthGLCBn4qdlSHgp0CSPPzNa8OM52liZaYUegSSxfnMGLcnjEB1qUdgX6mEl2EG_ORBgZDX5fnm9sGI17juDeoZL_bk3o3Kqy_3QfBfoCNewkbcFiGKT2mIpj5Ok82l1EqwZFU2PAzorgeTPZCE69HU8g3QEttc5DKUeiH10mfBiQ==",
  "id": "rs_0d3f21681f924fda016ab44f52e09887d0b71efdb6fb51b133",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"right_x\":0.29},\"note\":\"The cap is just beyond the left arm’s low-reach limit, while the right gripper securely holds the base. I’m reopening the empty left jaws and pulling the entire anchored bottle about 4 cm inward with the right arm, bringing the cap into reachable space without changing its orientation.\"}",
  "call_id": "call_GOzQ85r82osZzYcBuLkIGYZ4",
  "id": "fc_0d3f21681f924fda016ab44f55737487d0901f963360c20dc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GOzQ85r82osZzYcBuLkIGYZ4",
  "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]: [-0.7006, 2.1487, 1.4311, -0.0422, -0.6434, -0.5014, 0.9946, 1.1461, 2.1899, 1.3243, -0.3294, 0.9737, 1.1294, 0.5182]\nstate[eef_state]: left_x=0.4847 left_y=-0.2654 left_z=0.0718 left_yaw=0.0804 left_pitch=-0.0166 left_roll=0.0277 left_gripper=0.9946 right_x=0.311 right_y=0.342 right_z=0.0219 right_yaw=-0.1886 right_pitch=0.0177 right_roll=0.0138 right_gripper=0.5182\nstate[joint_eff]: [1.0872, -12.3966, 5.7915, 1.7851, -0.1099, -0.0415, -0.2173, 3.3846, -13.0256, 4.3419, 0.4371, 0.1148, -0.1099, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0797548b956f6f6829fc9c8d96f52e64f25ac5bd01b9ed9cce5fc1d669cba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c4747e92d06a89aa24cb7ae53dea50cb6cbd79f186e6445df671b59ffa32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf581903041dda082d12f864c30df2d93a8cd33b9ee5da3c2d105bd9535dfe1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.507 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 140 changed as sent

message 148 changed as sent

message 153 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6861, 2.1487, 1.3643, 0.1665, -0.6369, -0.4751, 0.9976, 1.1179, 2.2017, 1.3289, -0.2432, 0.9459, 1.0145, 0.5159]\nstate[eef_state]: left_x=0.4967 left_y=-0.2663 left_z=0.0799 left_yaw=0.079 left_pitch=0.0823 left_roll=-0.0517 left_gripper=0.9976 right_x=0.3248 right_y=0.3483 right_z=0.0204 right_yaw=-0.1451 right_pitch=0.0148 right_roll=-0.0011 right_gripper=0.5159\nstate[joint_eff]: [-1.1829, -6.2017, 5.7368, 1.409, -0.0024, -0.105, -0.0122, -0.3077, -12.041, 5.8051, 0.8718, 0.1978, -0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6853, 2.1487, 1.441, -0.0357, -0.6357, -0.4984, 0.012, 1.1088, 2.2013, 1.3327, -0.2462, 0.9508, 1.0203, 0.5185]\nstate[eef_state]: left_x=0.4912 left_y=-0.2614 left_z=0.076 left_yaw=0.0882 left_pitch=-0.0086 left_roll=0.0151 left_gripper=0.012 right_x=0.3286 right_y=0.3454 right_z=0.022 right_yaw=-0.1595 right_pitch=0.0194 right_roll=0.0035 right_gripper=0.5185\nstate[joint_eff]: [-0.212, -11.1932, 8.4991, 1.4969, -0.1392, 0.0269, 1.0085, 0.3077, -11.6308, 5.8735, 0.7546, 0.2564, -0.0073, 0.4713]\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 153 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7006, 2.1487, 1.4311, -0.0422, -0.6434, -0.5014, 0.9946, 1.1461, 2.1899, 1.3243, -0.3294, 0.9737, 1.1294, 0.5182]\nstate[eef_state]: left_x=0.4847 left_y=-0.2654 left_z=0.0718 left_yaw=0.0804 left_pitch=-0.0166 left_roll=0.0277 left_gripper=0.9946 right_x=0.311 right_y=0.342 right_z=0.0219 right_yaw=-0.1886 right_pitch=0.0177 right_roll=0.0138 right_gripper=0.5182\nstate[joint_eff]: [1.0872, -12.3966, 5.7915, 1.7851, -0.1099, -0.0415, -0.2173, 3.3846, -13.0256, 4.3419, 0.4371, 0.1148, -0.1099, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0797548b956f6f6829fc9c8d96f52e64f25ac5bd01b9ed9cce5fc1d669cba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c4747e92d06a89aa24cb7ae53dea50cb6cbd79f186e6445df671b59ffa32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf581903041dda082d12f864c30df2d93a8cd33b9ee5da3c2d105bd9535dfe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d3f21681f924fda016ab44f58f74887d092eded8b538951c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0.025,\"left_gripper\":0.0},\"note\":\"Pulling the bottle inward brought the blue cap squarely between the left jaw walls. I’m descending and closing in one controlled motion to secure the now-reachable cap while the right gripper continues anchoring the base.\"}",
  "call_id": "call_248GYKACOxbHNLfee1d1zqMH",
  "id": "fc_0d3f21681f924fda016ab44f5d237487d0ba388d65105ea507",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_248GYKACOxbHNLfee1d1zqMH",
  "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]: [-0.6876, 2.13, 1.3346, 0.2016, -0.6441, -0.5247, 0.0113, 1.1538, 2.186, 1.3231, -0.3733, 0.9768, 1.1519, 0.5209]\nstate[eef_state]: left_x=0.4944 left_y=-0.2641 left_z=0.0848 left_yaw=0.1114 left_pitch=0.1002 left_roll=-0.11 left_gripper=0.0113 right_x=0.3058 right_y=0.3377 right_z=0.021 right_yaw=-0.1935 right_pitch=0.0111 right_roll=-0.0079 right_gripper=0.5209\nstate[joint_eff]: [-3.5487, -6.7624, 1.2376, 1.1844, -0.3443, -0.0855, 0.9988, -1.0462, -10.7829, 6.8855, 0.862, 0.2369, -0.2515, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc99cff43783c1f2f432d9fc0fa79645fbfac9efae9e75ef1fae40f4f9060cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250450d7b98f9827aa02b2320747eb79bb3175244d09fd061f6b3a69685517b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561dc7c9de1774f442aa1ee503d6b3522181c991311a3cfefcf518357129e88c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]