adhoc

completed
2026-09-23T21:33:56.371943+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
233.4 s
total steps
282
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree capped plastic bottles are lying near the middle-front of the table; I will use the left arm first and keep the right arm parked. I am moving above the leftmost bottle’s cap for a wrist-camera alignment check before descending.
move_to
left_x0.4200left_y-0.0800left_z0.1400left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0030right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7937, 0.6071, -0.3794, -0.0193, -0.0288, 0.9986, -0.0158, 0.7895, 0.6041, -0.384, -0.0235, -0.0349, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2939 right_y=0.0031 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.4427, 9.8803, 1.7998, -0.0757, 0.0855, -0.1587, -1.0188, -1.2239, 10.3863, 1.8339, -0.0024, 0.2271, -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":0.42,"left_y":-0.08,"left_z":0.14,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.294,"right_y":0.003,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"Three capped plastic bottles are lying near the middle-front of the table; I will use the left arm first and keep the right arm parked. I am moving above the leftmost bottle’s cap for a wrist-camera alignment check before descending."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist view shows the left bottle’s blue cap slightly left of the jaw column and still forward of the fingertips. I will advance about 4 cm and shift 2.5 cm toward table center to bring the cap under the grasp point.
move_to
left_x0.4400left_y-0.1000left_z0.1300left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2947, 1.4475, 0.7712, 0.0051, -0.234, -0.178, 0.9986, -0.0193, 0.7921, 0.6033, -0.4038, -0.0242, -0.0364, 0.9998] state[eef_state]: left_x=0.4012 left_y=-0.0752 left_z=0.1171 left_yaw=-0.0124 left_pitch=-0.0844 left_roll=0.0166 left_gripper=0.9986 right_x=0.2913 right_y=0.0023 right_z=0.1753 right_yaw=-0.0023 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -6.5983, 8.9915, 1.8242, -0.2759, 0.0855, -0.1587, -0.1573, -1.4154, 6.8991, 1.9023, -0.0513, -0.0562, -0.0317] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.1,"left_z":0.13,"left_yaw":0.0,"left_gripper":1.0},"note":"The left wrist view shows the left bottle’s blue cap slightly left of the jaw column and still forward of the fingertips. I will advance about 4 cm and shift 2.5 cm toward table center to bring the cap under the grasp point."})
tool
executing move_to over 3 steps (0.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe cap shifted downward as expected with the outward move, but the centerward correction moved it left in the wrist image; this rig’s left-camera lateral response indicates I should instead increase left-arm y. I will move roughly 5 cm farther forward and 4 cm left to center the cap at the fingertip row.
move_to
left_x0.4900left_y-0.0500left_z0.1400left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3367, 1.5692, 0.8265, 0.0753, -0.2745, -0.2035, 0.9986, -0.0193, 0.7841, 0.5827, -0.3985, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.4222 left_y=-0.0932 left_z=0.106 left_yaw=-0.0071 left_pitch=-0.073 left_roll=0.019 left_gripper=0.9986 right_x=0.289 right_y=0.0022 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3761, -8.0752, 9.2239, 1.9414, -0.2662, 0.0464, -0.1538, -0.4034, -1.853, 6.9402, 1.9658, -0.0171, -0.0269, -0.0073] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.05,"left_z":0.14,"left_yaw":0.0,"left_gripper":1.0},"note":"The cap shifted downward as expected with the outward move, but the centerward correction moved it left in the wrist image; this rig’s left-camera lateral response indicates I should instead increase left-arm y. I will move roughly 5 cm farther forward and 4 cm left to center the cap at the fingertip row."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm stalled near its high, extended pose, while the bottle neck remains several centimetres forward of the fingertip row. I will lower while advancing; this should move out of the awkward extended configuration and put the open jaws around the neck without closing yet.
move_to
left_x0.4700left_y-0.0600left_z0.0700left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2108, 0.9986, -0.0193, 0.7712, 0.5522, -0.3851, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0056 left_pitch=-0.0623 left_roll=0.0146 left_gripper=0.9986 right_x=0.2861 right_y=0.003 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0354 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.0752, -7.5556, 8.6496, 1.9463, -0.2515, -0.0073, -0.1587, -0.4034, -1.9214, 6.9538, 1.9707, 0.0024, -0.0122, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.06,"left_z":0.07,"left_yaw":0.0,"left_gripper":1.0},"note":"The arm stalled near its high, extended pose, while the bottle neck remains several centimetres forward of the fingertip row. I will lower while advancing; this should move out of the awkward extended configuration and put the open jaws around the neck without closing yet."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe last command produced no Cartesian motion, indicating an IK stall rather than contact. I will retract and raise the left arm to reconfigure its elbow before making a lower approach to the cap.
move_to
left_x0.3600left_y-0.0500left_z0.2500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2111, 0.9986, -0.0193, 0.7563, 0.5194, -0.3687, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0054 left_pitch=-0.0623 left_roll=0.0143 left_gripper=0.9986 right_x=0.2832 right_y=0.003 right_z=0.1537 right_yaw=0.0006 right_pitch=-0.0369 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0889, -8.0205, 8.6359, 1.9023, -0.2125, -0.0464, -0.1587, -0.3077, -1.7983, 6.8308, 1.9951, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.05,"left_z":0.25,"left_yaw":0.0,"left_gripper":1.0},"note":"The last command produced no Cartesian motion, indicating an IK stall rather than contact. I will retract and raise the left arm to reconfigure its elbow before making a lower approach to the cap."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteAfter retracting, the left bottle cap is nearly centered in the wrist view; its apparent depth changed mainly because of height. I will now approach the inferred cap position at low height, partially narrowing the jaws and rotating them across the bottle neck to avoid catching the body.
move_to
left_x0.4400left_y-0.0500left_z0.0400left_yaw-0.7000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2569, 1.1595, 0.9695, -0.3981, -0.2314, -0.1829, 0.9986, -0.0193, 0.7372, 0.4831, -0.35, -0.0277, -0.036, 0.9998] state[eef_state]: left_x=0.367 left_y=-0.0508 left_z=0.2325 left_yaw=0.0248 left_pitch=-0.005 left_roll=-0.0121 left_gripper=0.9986 right_x=0.28 right_y=0.0031 right_z=0.146 right_yaw=0.0004 right_pitch=-0.0354 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [0.3214, -5.0803, 9.9761, 1.8095, 0.0611, 0.2955, -0.1587, -0.1983, -1.306, 7.0222, 2.0049, -0.0122, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.05,"left_z":0.04,"left_yaw":-0.7,"left_gripper":0.6},"note":"After retracting, the left bottle cap is nearly centered in the wrist view; its apparent depth changed mainly because of height. I will now approach the inferred cap position at low height, partially narrowing the jaws and rotating them across the bottle neck to avoid catching the body."})
tool
executing move_to over 13 steps (1.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteAt low height, the left bottle’s body fills the lower wrist image and its cap/neck is hidden directly between the jaws, while the other bottles remain clear. I will close on this neck and use the settled jaw width to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1135, 1.829, 0.8299, 0.2874, 0.6407, 0.4137, 0.6024, -0.0193, 0.7166, 0.4511, -0.3351, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4396 left_y=-0.0526 left_z=0.0556 left_yaw=-0.6418 left_pitch=0.014 left_roll=-0.0387 left_gripper=0.6024 right_x=0.2768 right_y=0.0031 right_z=0.1398 right_yaw=0.0006 right_pitch=-0.032 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [1.265, -6.4615, 5.053, 1.0037, -0.4176, 0.3248, 0.0366, -0.2667, -1.2513, 6.7897, 2.0049, -0.0611, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At low height, the left bottle’s body fills the lower wrist image and its cap/neck is hidden directly between the jaws, while the other bottles remain clear. I will close on this neck and use the settled jaw width to verify the grasp."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe fully closed reading is 0.013, confirming an empty grasp; the wrist view now clearly shows the blue cap about 3 cm left of and slightly forward of the fingertips. I will open and shift the grasp point left in the arm frame while advancing about 2 cm to center the cap.
move_to
left_x0.4600left_y-0.0200left_z0.0500left_yaw-0.7000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0998, 1.8275, 0.833, 0.2985, 0.6109, 0.4389, 0.0134, -0.0193, 0.6998, 0.4225, -0.3225, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.4433 left_y=-0.0539 left_z=0.0571 left_yaw=-0.6466 left_pitch=0.0125 left_roll=0.0075 left_gripper=0.0134 right_x=0.274 right_y=0.0033 right_z=0.1336 right_yaw=0.0009 right_pitch=-0.0312 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [0.0205, -9.3197, 5.012, 1.3797, 0.2515, -0.0171, 1.2137, -0.2256, -1.1145, 6.9538, 1.9463, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.02,"left_z":0.05,"left_yaw":-0.7,"left_gripper":0.6},"note":"The fully closed reading is 0.013, confirming an empty grasp; the wrist view now clearly shows the blue cap about 3 cm left of and slightly forward of the fingertips. I will open and shift the grasp point left in the arm frame while advancing about 2 cm to center the cap."})
tool
executing move_to over 6 steps (0.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe opened jaws now visibly straddle the left bottle’s blue cap in the wrist image. I will close at this aligned pose and check for a nonempty settled width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1986, 1.924, 0.9451, 0.168, 0.6804, 0.5377, 0.595, -0.0193, 0.6823, 0.3931, -0.313, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4533 left_y=-0.0185 left_z=0.0397 left_yaw=-0.6528 left_pitch=-0.0333 left_roll=-0.025 left_gripper=0.595 right_x=0.2706 right_y=0.0033 right_z=0.1266 right_yaw=0.0006 right_pitch=-0.0335 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [0.6359, -8.7453, 8.1709, 1.4481, 0.5104, 0.1294, -0.2125, -0.2667, -1.1282, 7.0769, 1.9512, -0.0317, -0.0562, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The opened jaws now visibly straddle the left bottle’s blue cap in the wrist image. I will close at this aligned pose and check for a nonempty settled width."})
tool
executing move_to over 6 steps (0.6s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe second close is also empty at 0.014; although the cap looked bracketed, it was still above the actual fingertip convergence point and is now right of the jaw column. I will open, advance 3 cm, and shift 2 cm right to put the cap at the true grasp point.
move_to
left_x0.4800left_y-0.0400left_z0.0350left_yaw-0.7000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.2028, 1.9282, 0.9112, 0.2321, 0.6796, 0.5236, 0.0136, -0.0193, 0.6643, 0.3614, -0.2974, -0.028, -0.036, 0.9998] state[eef_state]: left_x=0.4517 left_y=-0.0168 left_z=0.036 left_yaw=-0.64 left_pitch=-0.0167 left_roll=-0.0169 left_gripper=0.0136 right_x=0.2677 right_y=0.0034 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [-0.212, -9.306, 5.1077, 1.6288, 0.4029, 0.0952, 1.2723, -0.212, -1.1829, 6.9812, 1.9512, -0.0317, -0.0317, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.04,"left_z":0.035,"left_yaw":-0.7,"left_gripper":0.55},"note":"The second close is also empty at 0.014; although the cap looked bracketed, it was still above the actual fingertip convergence point and is now right of the jaw column. I will open, advance 3 cm, and shift 2 cm right to put the cap at the true grasp point."})
tool
executing move_to over 6 steps (0.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe cap is still in front of the fingertip tips; the angled wrist rotation also makes the camera shift harder to interpret. I will use the remaining forward reach and return yaw to zero, keeping a neck-width opening for a clearer final alignment.
move_to
left_x0.5000left_y-0.0500left_z0.0300left_yaw0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1509, 2.0071, 0.9913, 0.2203, 0.6651, 0.519, 0.5449, -0.0193, 0.6456, 0.3298, -0.2901, -0.028, -0.036, 0.9998] state[eef_state]: left_x=0.4687 left_y=-0.0354 left_z=0.0255 left_yaw=-0.6792 left_pitch=-0.0315 left_roll=-0.0218 left_gripper=0.5449 right_x=0.2637 right_y=0.0035 right_z=0.1115 right_yaw=0.0007 right_pitch=-0.0373 right_roll=0.002 right_gripper=0.9998 state[joint_eff]: [-0.8547, -8.8274, 7.4325, 1.5311, 0.3297, -0.0171, -0.1832, -0.0889, -0.9641, 7.159, 2.0, -0.0317, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":0.5,"left_y":-0.05,"left_z":0.03,"left_yaw":0.0,"left_gripper":0.55},"note":"The cap is still in front of the fingertip tips; the angled wrist rotation also makes the camera shift harder to interpret. I will use the remaining forward reach and return yaw to zero, keeping a neck-width opening for a clearer final alignment."})
tool
executing move_to over 5 steps (0.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteWith yaw nearly neutral, the cap is clearly far to the right of the left jaw column, and the overhead view confirms the arm is left of the bottle. I will shift 5 cm toward table center while staying at the same forward reach and low clearance.
move_to
left_x0.4900left_y-0.1200left_z0.0500left_yaw0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.136, 1.9961, 0.8757, 0.4904, 0.065, 0.038, 0.5489, -0.0193, 0.6205, 0.2958, -0.271, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.4832 left_y=-0.0741 left_z=0.0131 left_yaw=-0.2224 left_pitch=-0.0631 left_roll=0.0059 left_gripper=0.5489 right_x=0.261 right_y=0.0035 right_z=0.106 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0068, -8.9915, 7.4325, 2.0537, -0.0806, -0.2613, -0.1245, -0.2667, -0.7863, 6.9402, 1.8974, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.12,"left_z":0.05,"left_yaw":0.0,"left_gripper":0.55},"note":"With yaw nearly neutral, the cap is clearly far to the right of the left jaw column, and the overhead view confirms the arm is left of the bottle. I will shift 5 cm toward table center while staying at the same forward reach and low clearance."})
tool
executing move_to over 5 steps (0.5s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteAt maximum extension the arm could not move centerward and instead relaxed back toward y = −0.05, so the combined radial reach is the limitation. The bottle is likely more lateral and less forward than the oblique view suggested; I will retract 5 cm while shifting centerward to reach its cap from the side.
move_to
left_x0.4400left_y-0.1200left_z0.0450left_yaw0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1509, 1.9961, 0.8875, 0.5049, -0.1257, -0.0902, 0.5489, -0.0193, 0.6025, 0.2752, -0.2672, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.4922 left_y=-0.0488 left_z=0.0208 left_yaw=-0.0074 left_pitch=-0.0329 left_roll=0.0105 left_gripper=0.5489 right_x=0.2584 right_y=0.0036 right_z=0.1017 right_yaw=0.0009 right_pitch=-0.0259 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.2393, -9.5795, 6.5846, 1.8535, -0.1441, -0.1294, -0.1245, -0.1299, -0.5538, 6.6667, 1.9707, -0.0269, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.12,"left_z":0.045,"left_yaw":0.0,"left_gripper":0.55},"note":"At maximum extension the arm could not move centerward and instead relaxed back toward y = −0.05, so the combined radial reach is the limitation. The bottle is likely more lateral and less forward than the oblique view suggested; I will retract 5 cm while shifting centerward to reach its cap from the side."})
tool
executing move_to over 7 steps (0.7s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe low arm again failed to track laterally and shoulder effort rose, indicating the fingertips were dragging on the tabletop rather than a pure reach limit. I will lift clear, make the centerward shift in free space, and then descend vertically.
move_to
left_x0.4400left_y-0.1200left_z0.1500left_yaw0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2363, 1.9236, 0.8017, 0.4988, -0.2436, -0.157, 0.5489, -0.0193, 0.588, 0.2543, -0.2623, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.4657 left_y=-0.0646 left_z=0.0243 left_yaw=0.0418 left_pitch=-0.0369 left_roll=0.0259 left_gripper=0.5489 right_x=0.2559 right_y=0.0036 right_z=0.0966 right_yaw=0.0009 right_pitch=-0.0274 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-3.7538, -11.3846, 6.3248, 1.9365, 0.779, -0.022, -0.1294, -0.0342, -0.6222, 6.7761, 1.9316, -0.0269, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.12,"left_z":0.15,"left_yaw":0.0,"left_gripper":0.7},"note":"The low arm again failed to track laterally and shoulder effort rose, indicating the fingertips were dragging on the tabletop rather than a pure reach limit. I will lift clear, make the centerward shift in free space, and then descend vertically."})
tool
executing move_to over 9 steps (0.9s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe arm is still pinned near table height at long reach, so a direct lift is not resolving the loaded configuration. I will retract substantially while raising, which previously freed the elbow, and preserve the intended lateral offset for the next approach.
move_to
left_x0.3000left_y-0.1200left_z0.2500left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2687, 1.85, 0.7639, 0.4545, -0.2695, -0.2058, 0.6984, -0.0193, 0.5682, 0.2306, -0.2615, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4513 left_y=-0.0718 left_z=0.0352 left_yaw=0.0572 left_pitch=-0.04 left_roll=0.0027 left_gripper=0.6984 right_x=0.2525 right_y=0.0036 right_z=0.0906 right_yaw=0.0006 right_pitch=-0.0305 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.0034, 7.2821, 1.7167, 0.0073, 0.1929, -0.1197, -0.1573, -0.4308, 6.8581, 1.9414, -0.0171, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.25,"left_yaw":0.0,"left_gripper":0.8},"note":"The arm is still pinned near table height at long reach, so a direct lift is not resolving the loaded configuration. I will retract substantially while raising, which previously freed the elbow, and preserve the intended lateral offset for the next approach."})
tool
executing move_to over 14 steps (1.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteRetracting freed the arm and gives a clear overhead view: the left bottle’s cap is around x ≈ 0.42 and y ≈ −0.14, considerably more centerward than my first estimate. I will move above that corrected cap position at safe height before descending.
move_to
left_x0.4200left_y-0.1400left_z0.1600left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6758, 1.0756, 0.9611, -0.5308, -0.5251, -0.4076, 0.7983, -0.0193, 0.5426, 0.2028, -0.2462, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.3097 left_y=-0.1302 left_z=0.242 left_yaw=-0.0343 left_pitch=0.018 left_roll=-0.0255 left_gripper=0.7983 right_x=0.2507 right_y=0.0037 right_z=0.0869 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.253, -3.6718, 9.0735, 1.4725, -0.2808, -0.1148, -0.1783, -0.0752, 0.1573, 7.2274, 1.8779, -0.0317, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.14,"left_z":0.16,"left_yaw":0.0,"left_gripper":0.8},"note":"Retracting freed the arm and gives a clear overhead view: the left bottle’s cap is around x ≈ 0.42 and y ≈ −0.14, considerably more centerward than my first estimate. I will move above that corrected cap position at safe height before descending."})
tool
executing move_to over 9 steps (0.9s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe corrected wrist view shows the left bottle cleanly: its cap is forward and about 3 cm to the arm’s right of the jaw column. I will advance about 5 cm and shift 3 cm centerward while narrowing the jaws, remaining above the bottle.
move_to
left_x0.4600left_y-0.1600left_z0.1300left_yaw0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4961, 1.5112, 0.9398, -0.1364, -0.4255, -0.3313, 0.7989, -0.0193, 0.5316, 0.1894, -0.2455, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4044 left_y=-0.1319 left_z=0.1435 left_yaw=0.0263 left_pitch=-0.0685 left_roll=0.0201 left_gripper=0.7989 right_x=0.2489 right_y=0.0037 right_z=0.0835 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.3077, -7.0496, 8.8547, 1.7802, -0.0317, 0.3101, -0.1294, -0.2803, -0.2667, 6.8034, 1.8388, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.16,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.65},"note":"The corrected wrist view shows the left bottle cleanly: its cap is forward and about 3 cm to the arm’s right of the jaw column. I will advance about 5 cm and shift 3 cm centerward while narrowing the jaws, remaining above the bottle."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe cap is at the right side of the neutral-yaw jaw column while depth is now close enough to resolve by vertical descent. I will first shift another 3 cm centerward in free space so the cap is laterally centered, then descend straight down.
move_to
left_x0.4400left_y-0.1800left_z0.1300left_yaw0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4892, 1.7306, 1.0073, 0.0067, -0.4221, -0.3141, 0.652, -0.0193, 0.5182, 0.1764, -0.2447, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.4416 left_y=-0.1491 left_z=0.1037 left_yaw=0.0215 left_pitch=-0.0776 left_roll=0.0363 left_gripper=0.652 right_x=0.2473 right_y=0.0038 right_z=0.0808 right_yaw=0.0009 right_pitch=-0.0179 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.0889, -9.1145, 9.1419, 1.8535, -0.0464, 0.1832, 0.0611, -0.2803, -0.1709, 6.694, 1.8632, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.18,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.55},"note":"The cap is at the right side of the neutral-yaw jaw column while depth is now close enough to resolve by vertical descent. I will first shift another 3 cm centerward in free space so the cap is laterally centered, then descend straight down."})
tool
executing move_to over 3 steps (0.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe lateral free-space move improved the cap toward the jaw column, though the arm undershot by about 2.5 cm. I will descend vertically at this corrected location; the open jaws should bracket the neck at table height, and the wrist image will reveal any remaining small offset.
move_to
left_x0.4500left_y-0.1800left_z0.0300left_yaw0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0307, -0.4225, -0.3141, 0.5525, -0.0193, 0.5076, 0.1642, -0.2455, -0.028, -0.036, 0.9998] state[eef_state]: left_x=0.4508 left_y=-0.1539 left_z=0.1125 left_yaw=0.0207 left_pitch=-0.0455 left_roll=0.0186 left_gripper=0.5525 right_x=0.2456 right_y=0.0038 right_z=0.0775 right_yaw=0.0007 right_pitch=-0.0202 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [0.0889, -8.9504, 8.6496, 1.8535, -0.022, 0.2076, 0.0806, 0.0479, 0.0479, 6.8171, 1.8828, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.18,"left_z":0.03,"left_yaw":0.0,"left_gripper":0.55},"note":"The lateral free-space move improved the cap toward the jaw column, though the arm undershot by about 2.5 cm. I will descend vertically at this corrected location; the open jaws should bracket the neck at table height, and the wrist image will reveal any remaining small offset."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe arm again cannot descend at the neck’s combined reach, despite being above the table, so that cap is on the practical low-height boundary. I will retreat and instead grasp the bottle’s nearer body, which can be lifted or dragged inward so the bottle can pivot upright.
move_to
left_x0.3000left_y-0.1500left_z0.2500left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0338, -0.4225, -0.3141, 0.5516, -0.0193, 0.4923, 0.1482, -0.2447, -0.0284, -0.036, 0.9998] state[eef_state]: left_x=0.4511 left_y=-0.1541 left_z=0.113 left_yaw=0.0207 left_pitch=-0.0428 left_roll=0.0171 left_gripper=0.5516 right_x=0.2436 right_y=0.0039 right_z=0.0738 right_yaw=0.001 right_pitch=-0.0202 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [0.0068, -8.8821, 8.6632, 1.8144, -0.0562, 0.1587, 0.1538, -0.2393, -0.0068, 6.8581, 1.8974, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.15,"left_z":0.25,"left_yaw":0.0,"left_gripper":0.8},"note":"The arm again cannot descend at the neck’s combined reach, despite being above the table, so that cap is on the practical low-height boundary. I will retreat and instead grasp the bottle’s nearer body, which can be lifted or dragged inward so the bottle can pivot upright."})
tool
executing move_to over 12 steps (1.2s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteFrom the reconfigured pose, the nearer half of the left bottle is centered on the jaw column and is only about 6 cm forward, at roughly x = 0.37. I will move above the bottle body at this reachable radius, then descend for a secure body grasp.
move_to
left_x0.3700left_y-0.1600left_z0.1300left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7872, 1.1755, 1.0245, -0.5625, -0.6117, -0.4957, 0.7983, -0.0193, 0.4755, 0.1318, -0.2451, -0.028, -0.0364, 0.9998] state[eef_state]: left_x=0.3087 left_y=-0.161 left_z=0.2377 left_yaw=-0.0318 left_pitch=-0.0001 left_roll=-0.0148 left_gripper=0.7983 right_x=0.2416 right_y=0.0039 right_z=0.07 right_yaw=0.0009 right_pitch=-0.0202 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.1983, -4.7248, 9.2923, 1.3846, -0.3101, 0.1245, -0.1441, -0.1573, 0.1299, 7.1179, 1.8926, -0.0317, -0.0366, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.16,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.75},"note":"From the reconfigured pose, the nearer half of the left bottle is centered on the jaw column and is only about 6 cm forward, at roughly x = 0.37. I will move above the bottle body at this reachable radius, then descend for a secure body grasp."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left bottle’s lower body is now centered between the open jaw fingers at a comfortably reachable radius. I will descend straight down to body-center height, keeping the jaws wide so the bottle is not displaced.
move_to
left_x0.3700left_y-0.1600left_z0.0250left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6479, 1.4334, 0.7925, -0.1043, -0.5484, -0.4213, 0.7514, -0.0193, 0.4568, 0.1139, -0.2451, -0.0284, -0.0364, 0.9998] state[eef_state]: left_x=0.3595 left_y=-0.1521 left_z=0.1255 left_yaw=0.0201 left_pitch=-0.0522 left_roll=0.0357 left_gripper=0.7514 right_x=0.2395 right_y=0.004 right_z=0.0659 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [0.1846, -6.2154, 5.9966, 1.7021, -0.2125, 0.0366, 0.1245, -0.2667, 0.1026, 7.0359, 1.8681, -0.0415, -0.0122, -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_x":0.37,"left_y":-0.16,"left_z":0.025,"left_yaw":0.0,"left_gripper":0.75},"note":"The left bottle’s lower body is now centered between the open jaw fingers at a comfortably reachable radius. I will descend straight down to body-center height, keeping the jaws wide so the bottle is not displaced."})
tool
executing move_to over 7 steps (0.7s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteAt table height the bottle body appears just to the right of the open jaws, so the grasp point is slightly left of it. I will make a small 2.5 cm centerward correction at the same reachable height before closing.
move_to
left_x0.3650left_y-0.1800left_z0.0200left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6407, 1.7542, 0.5838, 0.4362, -0.535, -0.4183, 0.7509, -0.0193, 0.4374, 0.0982, -0.2455, -0.0288, -0.0364, 0.9998] state[eef_state]: left_x=0.3637 left_y=-0.1544 left_z=0.0207 left_yaw=0.0151 left_pitch=-0.0491 left_roll=0.0243 left_gripper=0.7509 right_x=0.2378 right_y=0.0041 right_z=0.0629 right_yaw=0.0016 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [-0.1983, -7.4325, 4.4376, 1.7314, -0.188, 0.1636, 0.0904, -0.1846, 0.2667, 6.8991, 1.8877, -0.0562, -0.0073, -0.0073] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.18,"left_z":0.02,"left_yaw":0.0,"left_gripper":0.75},"note":"At table height the bottle body appears just to the right of the open jaws, so the grasp point is slightly left of it. I will make a small 2.5 cm centerward correction at the same reachable height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
assistant
agent noteThe first lateral correction moved the bottle toward the jaw gap but left its body still right of center. I will continue another 3 cm centerward at the same low height to center the cylindrical body between the fingertips.
move_to
left_x0.3600left_y-0.2100left_z0.0200left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6994, 1.808, 0.58, 0.5159, -0.5655, -0.4313, 0.7509, -0.0193, 0.424, 0.0921, -0.2451, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3594 left_y=-0.1739 left_z=0.0149 left_yaw=-0.0137 left_pitch=-0.019 left_roll=0.0156 left_gripper=0.7509 right_x=0.2376 right_y=0.0044 right_z=0.0631 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998 state[joint_eff]: [-0.1983, -6.694, 6.8308, 1.5067, -0.4127, -0.188, 0.0855, -0.2393, 0.0889, 6.4479, 1.8584, -0.0171, -0.0464, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.21,"left_z":0.02,"left_yaw":0.0,"left_gripper":0.75},"note":"The first lateral correction moved the bottle toward the jaw gap but left its body still right of center. I will continue another 3 cm centerward at the same low height to center the cylindrical body between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 167
assistant
agent noteTracking stopped after only a few millimetres because the fingertips are scraping the tabletop; the bottle remains right of center. I will lift 3 cm while completing the lateral shift, keeping the jaw opening wide enough to clear the bottle.
move_to
left_x0.3600left_y-0.2200left_z0.0500left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5838, -0.4492, 0.7509, -0.0193, 0.4232, 0.0914, -0.2451, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.3587 left_y=-0.1805 left_z=0.0161 left_yaw=-0.0111 left_pitch=-0.0083 left_roll=0.0073 left_gripper=0.7509 right_x=0.2375 right_y=0.0043 right_z=0.063 right_yaw=0.0023 right_pitch=-0.0083 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [-0.5265, -6.694, 4.6154, 1.6581, -0.315, -0.1099, 0.0904, -0.1162, 0.0342, 6.7077, 1.7998, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.05,"left_yaw":0.0,"left_gripper":0.75},"note":"Tracking stopped after only a few millimetres because the fingertips are scraping the tabletop; the bottle remains right of center. I will lift 3 cm while completing the lateral shift, keeping the jaw opening wide enough to clear the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 171
assistant
agent noteThe arm remains mechanically stalled at table height, so small local corrections cannot free it. I will again retract and raise decisively, this time keeping the measured body y-offset, then make a vertical approach from directly above.
move_to
left_x0.2800left_y-0.2200left_z0.2500left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5842, -0.4488, 0.7509, -0.0193, 0.4229, 0.0914, -0.2455, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3587 left_y=-0.1804 left_z=0.0161 left_yaw=-0.011 left_pitch=-0.0081 left_roll=0.0078 left_gripper=0.7509 right_x=0.2374 right_y=0.0044 right_z=0.063 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998 state[joint_eff]: [-0.6359, -6.7077, 4.8342, 1.6484, -0.3053, -0.0513, 0.0855, -0.1026, -0.0889, 6.4615, 1.7705, -0.0024, -0.0562, -0.0073] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.22,"left_z":0.25,"left_yaw":0.0,"left_gripper":0.8},"note":"The arm remains mechanically stalled at table height, so small local corrections cannot free it. I will again retract and raise decisively, this time keeping the measured body y-offset, then make a vertical approach from directly above."})
tool
executing move_to over 16 steps (1.6s)
step 187
assistant
agent noteThe free-space view now centers the left bottle along the jaw column at y ≈ −0.23; its nearer body section is about 8 cm forward. I will approach directly above that body with no lateral correction needed.
move_to
left_x0.3650left_y-0.2300left_z0.1300left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0397, 1.3575, 1.1793, -0.6952, -0.7876, -0.7567, 0.7985, -0.0193, 0.4187, 0.0868, -0.2455, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.2837 left_y=-0.2288 left_z=0.2365 left_yaw=-0.0195 left_pitch=-0.0063 left_roll=-0.0318 left_gripper=0.7985 right_x=0.2369 right_y=0.0043 right_z=0.0618 right_yaw=0.0023 right_pitch=-0.0087 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [-0.1983, -5.6821, 8.7043, 1.1697, -0.6032, 0.1441, -0.1685, 0.1573, 0.4444, 6.8308, 1.7753, 0.0171, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.23,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.8},"note":"The free-space view now centers the left bottle along the jaw column at y ≈ −0.23; its nearer body section is about 8 cm forward. I will approach directly above that body with no lateral correction needed."})
tool
executing move_to over 7 steps (0.7s)
step 194
assistant
agent noteAt approach height, the isolated left bottle’s body is now clearly about 4 cm left of the jaw center; the previous low view was distorted by contact. I will shift the free gripper left to y ≈ −0.18 before descending.
move_to
left_x0.3550left_y-0.1800left_z0.1300left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8402, 1.602, 0.976, -0.202, -0.693, -0.5934, 0.7989, -0.0193, 0.4156, 0.0849, -0.2455, -0.0299, -0.0364, 0.9998] state[eef_state]: left_x=0.3545 left_y=-0.2212 left_z=0.1294 left_yaw=0.0283 left_pitch=-0.0373 left_roll=0.0257 left_gripper=0.7989 right_x=0.2368 right_y=0.0043 right_z=0.0616 right_yaw=0.0025 right_pitch=-0.0075 right_roll=0.0022 right_gripper=0.9998 state[joint_eff]: [0.2667, -7.4051, 6.0239, 1.4725, -0.2369, 0.2125, -0.1294, 0.0068, 0.0342, 6.735, 1.8046, 0.0122, -0.0269, -0.0073] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.18,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.8},"note":"At approach height, the isolated left bottle’s body is now clearly about 4 cm left of the jaw center; the previous low view was distorted by contact. I will shift the free gripper left to y ≈ −0.18 before descending."})
tool
executing move_to over 4 steps (0.4s)
step 198
assistant
agent noteThe left bottle’s cylindrical body is now centered exactly between the jaws in the wrist view. I will descend vertically to about 2.5 cm, which matches the body’s centerline while keeping the full opening.
move_to
left_x0.3550left_y-0.1800left_z0.0250left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7433, 1.4952, 0.807, -0.07, -0.6308, -0.5102, 0.7989, -0.0193, 0.4118, 0.0803, -0.2459, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.3541 left_y=-0.1791 left_z=0.1198 left_yaw=0.0345 left_pitch=-0.0234 left_roll=0.0132 left_gripper=0.7989 right_x=0.2362 right_y=0.0044 right_z=0.0602 right_yaw=0.0029 right_pitch=-0.0087 right_roll=0.0024 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.9932, 6.4068, 1.7656, -0.0708, 0.1099, -0.1197, 0.1846, 0.212, 6.8855, 1.7949, -0.0171, -0.0757, -0.0073] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.18,"left_z":0.025,"left_yaw":0.0,"left_gripper":0.8},"note":"The left bottle’s cylindrical body is now centered exactly between the jaws in the wrist view. I will descend vertically to about 2.5 cm, which matches the body’s centerline while keeping the full opening."})
tool
executing move_to over 7 steps (0.7s)
step 205
assistant
agent noteThe vertical descent again stalled in free space at this extended elbow configuration. I will lower while retracting 5 cm to change the elbow geometry, and at the same time return the drifting idle right arm to its home pose.
move_to
left_x0.3000left_y-0.1800left_z0.0500left_yaw0.0000left_gripper0.8000right_x0.2940right_y0.0030right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7315, 1.4841, 0.7971, -0.0563, -0.606, -0.4931, 0.7989, -0.0193, 0.4103, 0.0795, -0.2459, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.3548 left_y=-0.1784 left_z=0.1205 left_yaw=0.0184 left_pitch=-0.0244 left_roll=0.005 left_gripper=0.7989 right_x=0.2362 right_y=0.0043 right_z=0.0602 right_yaw=0.0023 right_pitch=-0.0079 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.0342, 6.0103, 1.6581, -0.2027, 0.2271, -0.1245, -0.0615, -0.0342, 6.5436, 1.7998, 0.0024, -0.0708, -0.0073] 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":{"left_x":0.3,"left_y":-0.18,"left_z":0.05,"left_yaw":0.0,"left_gripper":0.8,"right_x":0.294,"right_y":0.003,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The vertical descent again stalled in free space at this extended elbow configuration. I will lower while retracting 5 cm to change the elbow geometry, and at the same time return the drifting idle right arm to its home pose."})
tool
executing move_to over 8 steps (0.8s)
step 213
assistant
agent noteLowering while retracting worked; the left bottle body now fills the open jaw gap at low height, with its nearer end just forward of the grasp point. I will advance 4 cm along the table to center the body between the fingertips.
move_to
left_x0.3400left_y-0.1800left_z0.0400left_yaw0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8783, 1.5246, 0.5037, 0.1864, -0.6846, -0.5777, 0.7989, -0.0193, 0.7811, 0.5461, -0.3744, -0.0299, -0.0437, 0.9999] state[eef_state]: left_x=0.2969 left_y=-0.1773 left_z=0.045 left_yaw=-0.0238 left_pitch=-0.0466 left_roll=0.0394 left_gripper=0.7989 right_x=0.2873 right_y=0.0033 right_z=0.1582 right_yaw=0.0065 right_pitch=-0.0407 right_roll=-0.0031 right_gripper=0.9999 state[joint_eff]: [-0.6359, -4.465, 4.8752, 1.4774, -0.3932, -0.1392, -0.1245, -0.1709, -1.5248, 9.3333, 1.6288, 0.0171, 0.0464, -0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.18,"left_z":0.04,"left_yaw":0.0,"left_gripper":0.75},"note":"Lowering while retracting worked; the left bottle body now fills the open jaw gap at low height, with its nearer end just forward of the grasp point. I will advance 4 cm along the table to center the body between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 217
assistant
agent noteThe left bottle’s body is now visibly centered and fully inside both fingertip rails at table height. I will close around the cylindrical body and verify that the settled jaw width is well above the empty threshold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7788, 1.665, 0.5217, 0.3389, -0.6533, -0.5373, 0.7515, -0.02, 0.7582, 0.5041, -0.3645, -0.0311, -0.0441, 0.9998] state[eef_state]: left_x=0.3249 left_y=-0.1647 left_z=0.0254 left_yaw=0.031 left_pitch=-0.044 left_roll=0.0349 left_gripper=0.7515 right_x=0.2817 right_y=0.0034 right_z=0.1472 right_yaw=0.0069 right_pitch=-0.0498 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [0.1846, -6.2154, 7.5556, 1.7753, -0.2271, 0.1783, 0.0904, -0.4308, -1.388, 7.1863, 2.0635, -0.1148, -0.0464, -0.0171] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left bottle’s body is now visibly centered and fully inside both fingertip rails at table height. I will close around the cylindrical body and verify that the settled jaw width is well above the empty threshold."})
tool
executing move_to over 8 steps (0.8s)
step 225
assistant
agent noteThe jaw settled at 0.508, about a 4.8 cm held diameter, confirming a solid body grasp. I will lift the bottle well clear of the table to let gravity pivot it downward if the cylindrical contact can rotate.
move_to
left_x0.3300left_y-0.1670left_z0.2000left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7792, 1.6764, 0.4873, 0.4599, -0.6617, -0.5278, 0.5083, -0.0204, 0.728, 0.4553, -0.3355, -0.0307, -0.0513, 0.9998] state[eef_state]: left_x=0.3286 left_y=-0.1669 left_z=0.0301 left_yaw=0.0307 left_pitch=0.0119 left_roll=-0.0075 left_gripper=0.5083 right_x=0.2777 right_y=0.0033 right_z=0.1387 right_yaw=0.0101 right_pitch=-0.0394 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [-0.294, -6.065, 3.9453, 1.4921, -0.3004, -0.0708, 1.0281, -0.3487, -1.4838, 7.1453, 1.9853, -0.0659, 0.0269, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.167,"left_z":0.2,"left_yaw":0.0,"left_gripper":0.0},"note":"The jaw settled at 0.508, about a 4.8 cm held diameter, confirming a solid body grasp. I will lift the bottle well clear of the table to let gravity pivot it downward if the cylindrical contact can rotate."})
tool
executing move_to over 11 steps (1.1s)
step 236
assistant
agent noteThe bottle lifted successfully but stayed horizontal in the firm body grasp, so gravity will not orient it. I will carry it about 8 cm inward while elevated, then set it down; this relocates its cap into a comfortably reachable zone for a neck lift.
move_to
left_x0.2400left_y-0.1700left_z0.2000left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7639, 1.3338, 0.8577, -0.4095, -0.5705, -0.5232, 0.5081, -0.0212, 0.7055, 0.4187, -0.3164, -0.0311, -0.0517, 0.9998] state[eef_state]: left_x=0.3153 left_y=-0.1649 left_z=0.1404 left_yaw=-0.0155 left_pitch=-0.1457 left_roll=0.0591 left_gripper=0.5081 right_x=0.2744 right_y=0.0033 right_z=0.1316 right_yaw=0.0098 right_pitch=-0.0345 right_roll=-0.0092 right_gripper=0.9998 state[joint_eff]: [0.0615, -9.5795, 11.8222, 2.1563, -0.7741, 0.3394, 1.033, -0.5538, -1.3197, 6.8855, 1.9951, -0.1685, -0.0073, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.17,"left_z":0.2,"left_yaw":0.0,"left_gripper":0.0},"note":"The bottle lifted successfully but stayed horizontal in the firm body grasp, so gravity will not orient it. I will carry it about 8 cm inward while elevated, then set it down; this relocates its cap into a comfortably reachable zone for a neck lift."})
tool
executing move_to over 6 steps (0.6s)
step 242
assistant
agent noteThe held bottle is now shifted inward and remains horizontal, clear of the other two. I will lower it to the tabletop while maintaining the body grasp, then release it in this new location.
move_to
left_x0.2400left_y-0.1700left_z0.0300left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0752, 1.1419, 0.7952, -0.6979, -0.7116, -0.7559, 0.5068, -0.0277, 0.6853, 0.3878, -0.2977, -0.0315, -0.0513, 0.9998] state[eef_state]: left_x=0.2299 left_y=-0.1751 left_z=0.1491 left_yaw=-0.0905 left_pitch=-0.151 left_roll=0.0798 left_gripper=0.5068 right_x=0.2719 right_y=0.0016 right_z=0.1265 right_yaw=0.0034 right_pitch=-0.0265 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [-0.3624, -5.9009, 11.7128, 1.8339, -1.2234, 0.022, 1.0281, -0.1162, -0.6359, 7.1453, 1.9951, -0.1636, 0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.17,"left_z":0.03,"left_yaw":0.0,"left_gripper":0.0},"note":"The held bottle is now shifted inward and remains horizontal, clear of the other two. I will lower it to the tabletop while maintaining the body grasp, then release it in this new location."})
tool
executing move_to over 8 steps (0.8s)
step 250
assistant
agent noteThe held bottle has contacted the table at z ≈ 0.032 in its relocated position. I will open the jaws fully to leave it lying closer to the base, making its blue cap accessible for the upright pivot.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1053, 1.4223, 0.3653, 0.0471, -0.8555, -0.8158, 0.5024, -0.0303, 0.6712, 0.3614, -0.2905, -0.0311, -0.0513, 0.9998] state[eef_state]: left_x=0.2357 left_y=-0.1642 left_z=0.0319 left_yaw=-0.0111 left_pitch=-0.0249 left_roll=0.0647 left_gripper=0.5024 right_x=0.2687 right_y=0.0009 right_z=0.1195 right_yaw=0.0005 right_pitch=-0.0314 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [0.3487, -4.2051, 4.0957, 0.9548, -0.0904, -0.1734, 1.0232, -0.7179, -0.9778, 7.0769, 1.8974, -0.149, 0.0073, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The held bottle has contacted the table at z ≈ 0.032 in its relocated position. I will open the jaws fully to leave it lying closer to the base, making its blue cap accessible for the upright pivot."})
tool
executing move_to over 5 steps (0.5s)
step 255
assistant
agent noteThe first release command did not change the 0.50 jaw reading, likely because the bottle was pinched against the table. I will lift a few centimetres while commanding full opening again to unload the jaws and release it cleanly.
move_to
left_x0.2400left_y-0.1700left_z0.0900left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1049, 1.4178, 0.3241, 0.1429, -0.8532, -0.8158, 0.5018, -0.0341, 0.6533, 0.3298, -0.2825, -0.0315, -0.0513, 0.9998] state[eef_state]: left_x=0.2361 left_y=-0.1654 left_z=0.0314 left_yaw=-0.0126 left_pitch=0.0006 left_roll=0.0113 left_gripper=0.5018 right_x=0.2647 right_y=0.0001 right_z=0.1111 right_yaw=-0.003 right_pitch=-0.0371 right_roll=-0.0086 right_gripper=0.9998 state[joint_eff]: [0.1299, -5.0803, 4.1231, 1.2479, -0.3394, -0.0513, 1.0281, -0.6632, -1.0051, 7.2684, 1.956, -0.1832, 0.0024, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.17,"left_z":0.09,"left_yaw":0.0,"left_gripper":1.0},"note":"The first release command did not change the 0.50 jaw reading, likely because the bottle was pinched against the table. I will lift a few centimetres while commanding full opening again to unload the jaws and release it cleanly."})
tool
executing move_to over 5 steps (0.5s)
step 260
assistant
agent noteThe bottle is released and now lies about 10 cm inward from its original position; its blue cap is centered on the left jaw column and is reachable at roughly x = 0.35. I will move the half-open jaws directly to cap height for a neck grasp.
move_to
left_x0.3500left_y-0.1700left_z0.0250left_yaw0.0000left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1046, 1.2411, 0.458, -0.1333, -0.8463, -0.8318, 0.995, -0.0349, 0.6273, 0.2955, -0.2676, -0.0315, -0.0513, 0.9998] state[eef_state]: left_x=0.2402 left_y=-0.1751 left_z=0.0831 left_yaw=-0.0075 left_pitch=0.0113 left_roll=-0.0353 left_gripper=0.995 right_x=0.2614 right_y=0.0 right_z=0.1049 right_yaw=-0.0038 right_pitch=-0.0307 right_roll=-0.0088 right_gripper=0.9998 state[joint_eff]: [0.2393, -4.1915, 7.7607, 1.1013, -0.4567, 0.0952, -0.105, -0.5675, -0.4718, 7.2821, 1.9658, -0.1538, 0.0122, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.025,"left_yaw":0.0,"left_gripper":0.5},"note":"The bottle is released and now lies about 10 cm inward from its original position; its blue cap is centered on the left jaw column and is reachable at roughly x = 0.35. I will move the half-open jaws directly to cap height for a neck grasp."})
tool
executing move_to over 9 steps (0.9s)
step 269
assistant
agent noteAt x = 0.35 the jaws are still around the bottle’s lower body while the blue cap remains clearly forward in the wrist view. I will slide the open jaws 7 cm farther forward along the bottle axis to place the cap at the fingertip convergence point.
move_to
left_x0.4200left_y-0.1700left_z0.0250left_yaw0.0000left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7296, 1.6966, 0.5381, 0.4751, -0.6624, -0.4984, 0.5068, -0.0399, 0.6067, 0.268, -0.2619, -0.0315, -0.0517, 0.9998] state[eef_state]: left_x=0.3497 left_y=-0.1621 left_z=0.0414 left_yaw=0.0661 left_pitch=0.0442 left_roll=-0.0149 left_gripper=0.5068 right_x=0.2579 right_y=-0.0011 right_z=0.0985 right_yaw=-0.0086 right_pitch=-0.0318 right_roll=-0.009 right_gripper=0.9998 state[joint_eff]: [0.212, -4.3009, 4.0684, 0.8913, 0.1343, 0.0611, 0.5055, -0.4581, -0.5812, 6.9265, 1.9316, -0.2076, -0.022, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.17,"left_z":0.025,"left_yaw":0.0,"left_gripper":0.5},"note":"At x = 0.35 the jaws are still around the bottle’s lower body while the blue cap remains clearly forward in the wrist view. I will slide the open jaws 7 cm farther forward along the bottle axis to place the cap at the fingertip convergence point."})
tool
executing move_to over 6 steps (0.6s)
step 275
assistant
agent noteThe overhead view now places the left jaws over the relocated bottle’s blue cap, even though the tilted wrist camera still sees the bottle body below it. I will close here and use the jaw width to distinguish a cap/neck grasp from empty space.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5823, 1.8702, 0.7517, 0.5468, -0.5446, -0.3969, 0.5019, -0.0414, 0.5861, 0.2413, -0.2607, -0.0315, -0.0517, 0.9998] state[eef_state]: left_x=0.424 left_y=-0.1653 left_z=0.0506 left_yaw=0.0712 left_pitch=0.0836 left_roll=-0.0518 left_gripper=0.5019 right_x=0.254 right_y=-0.0014 right_z=0.0914 right_yaw=-0.0101 right_pitch=-0.0368 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [0.1709, -5.8462, 5.1077, 1.033, 0.2369, 0.1001, 0.1832, -0.7316, -0.6906, 7.0085, 2.0928, -0.1783, -0.0366, -0.0073] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The overhead view now places the left jaws over the relocated bottle’s blue cap, even though the tilted wrist camera still sees the bottle body below it. I will close here and use the jaw width to distinguish a cap/neck grasp from empty space."})
tool
executing move_to over 6 steps (0.6s)
step 281
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5781, 1.8538, 0.8268, 0.4183, -0.5613, -0.4149, 0.0136, -0.0418, 0.5579, 0.2104, -0.252, -0.0319, -0.0517, 0.9998] state[eef_state]: left_x=0.432 left_y=-0.1653 left_z=0.0615 left_yaw=0.0968 left_pitch=0.0598 left_roll=-0.0374 left_gripper=0.0136 right_x=0.2508 right_y=-0.0013 right_z=0.0857 right_yaw=-0.0101 right_pitch=-0.0306 right_roll=-0.0089 right_gripper=0.9998 state[joint_eff]: [-0.5265, -9.1556, 5.8325, 0.9597, 0.0269, 0.0904, 0.906, -0.6769, -0.294, 6.8308, 2.0098, -0.1587, -0.0073, -0.0073] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
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 · 14.91 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]: [-0.0204, 0.7937, 0.6071, -0.3794, -0.0193, -0.0288, 0.9986, -0.0158, 0.7895, 0.6041, -0.384, -0.0235, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2939 right_y=0.0031 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4427, 9.8803, 1.7998, -0.0757, 0.0855, -0.1587, -1.0188, -1.2239, 10.3863, 1.8339, -0.0024, 0.2271, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77006a934164a30a8729170b21629b8c0f6bbde21c08dbe794b520b2e62403ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16418c3e4fb6dbe59ad8e1a42b41dca3cec3a51d6c2516e712ae58e36d0abe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85442426906aaa9ada99c48291f2437420dc9fe3db145c46114d1e671c2282a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.447 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab445d24ffc87d08eab93df5e7326f1",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0af40c221ff6d149016ab445d7eeec87d081e99b7ce390bc95",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEXgglgMhcGWCmpfBUwVIWs9ctfsxzMbwG8YgT_NSIr75CJiuxj-q-HnN6D92YPdGLoWZ8H5P2L5lrUpSPUaOfUKrfRb2WD7MfZYawvSK9pEvDFhjt1gHuQvl4CBWbakMzSJh9YnSP-MvBJ18MVGmBdO1C6z94ux0b1nXjDA2uIHsD7Rg-iZxdljteW0e4YQFjXvBKclWavDZF2elDZJasYkyJbXTQbwcRGh1tJV3IkAR550A0XLgY3S7F1h57tr7SFfgND3pfaiRLBxd1EZYI-O1TP8WClRyaEUephitwiDMM_Aa_aLhJj-M5Tm6mr6MXw8Csxaat3W4Q0sByrPgfEC8MN0fXAl4rOEcRxE4xva1yJ20BLmj61oAWMSEd1alEU3k5hE4svnDv5spboeksHDtivLRTutImHB2sURMBkQsiXeYbtRAlorP8pyBEzQMgG5xMDXq5FXyTvInOWzaN4Cs3Dv5gCeM9iqmZrUdFg50N_49YfX8NTF0Ysgxy2l-RWow12zfxMH9NrrCwdPak_18M2mVT6yXJzoGyzA9LT_EC1wPOpaoNlg4UAhoggRqYdi5PKe19JrnL3VI4NcG77vofWVfIeIn8Y2SXIovhOZbcSoIgZM65l5V4tkff3JgApGgqhRXcDiIG6unqVwdPI0GosMi5UX-2qs1Och6VcZNkW0ruYouW09qpKDagOETdNp2GehHujW6yHp4qBI_zy5DXV6le4wJqR4XFGqRg0aHsqjW_A6NPOnTJIwl4_Umnqgi7rkytkwAc1hVRViSA-W8slQ0mb9IvWopNax9PihJfJjY08MnTtB-CrO1Y4t476rj-h97LSMesORk-Kog4JJRctloZQEuShVRe1_bNDeyeZnWYTASjr0cREkmdNR2tJub1q-LVDO4GjMAwLBRPzo6ADeqsGRtxEO4rKSrN-WLtKybcrM1YfB8oz6EdnXhJMSX50OqMWC_7XFyqSgiGUFKbAtq2VzI-vrul1-tmBTpJ9805uIOoxxFHihD2Fki4IpOx6xfgbSbnFktxP-kMaSUtojIImnwSFWlWJtHPHg1DpmvRFL25bAk8gv7LgB8UqIrtPTzcBWQUFSyAiN0-HtRl9osEsNAJjDMgNOoY27U269PkTlcP_u4NDYi7B3t_zDmikO6wZK78byvaluLgYuS_eS5bDNWI9dN0EUHBfN2G20neSIx1huuUmNCWQ45GPas71NKc_vNJQHsn14x-akicPUreatIzmgpqORMmbyJvvkAwisuVODwcB0ctLKfqgAijqXph9CoG6d0eS5rwYW94hZ_qdgarA-PVsqHWNY9gAeDo1QPp68Kz38cvB_Z5tfRbBgmOHAauTgaLV0FUy9Q1clFrFaPr2lkfmi2ZiePt2GsSD08XknTNe9XG1FXFkwOTSFn2Ictz1T9XgIYqD-nH5jeLcoVk2307UbzwYcXcfNw90D_VPt-kbe2IV1tz0m5Q3xO4gglXY9bWnnFm-3bAaO68mHZwcUxyOXkjZ2gs_hB8q38ijaTzcybiReOiCQjySOm7Kw2di41Ww6YerVoAAdDT7MYOgIsTNMVI4tfN8nVcjB4Wvb3jsgHV1ZJSJ4M58uEQ891AXGUm63CqeSduBVsBrQIfBQzLaLxjfubOnJJlzEhhjb8uVvF-LcpEDCbmGoqGjgK3rtIdOV2UnOo5vwqMMD9SmUSTrRaYf4iQM8qk_h-BRi1v0hqoB0bFGZ_Alq0xaqwZX5m52py4efv2NJlZ5OAHhhjL26tpNqxbM76jZSOzm3qxT1LN_SVQKJFnKICa-baZ5IQ5xd1yKa-tthWU0MFLuKN34zzxGt4Ky6wHqmKPatmMrH4guT4dltuUeaJqjzjifjWYu_XwkapgHwRCMsB2Jv0IV3LxacD4Gr-e09Yi9FUCqgNNKaIBs0TVbCDk8K-dv-Iq_YusThQSSjE54r7VmHeU0nx6v1zD50WsuRbwytNBwdXZ7VBXk5",
  "id": "rs_0af40c221ff6d149016ab445dd80b087d090f20265a6d73371",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.08,\"left_z\":0.14,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"Three capped plastic bottles are lying near the middle-front of the table; I will use the left arm first and keep the right arm parked. I am moving above the leftmost bottle’s cap for a wrist-camera alignment check before descending.\"}",
  "call_id": "call_OiqEWGNaj4DNtpbFKMrAVNU8",
  "id": "fc_0af40c221ff6d149016ab445df3edc87d08573bacf47ed0167",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OiqEWGNaj4DNtpbFKMrAVNU8",
  "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]: [-0.2947, 1.4475, 0.7712, 0.0051, -0.234, -0.178, 0.9986, -0.0193, 0.7921, 0.6033, -0.4038, -0.0242, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.0752 left_z=0.1171 left_yaw=-0.0124 left_pitch=-0.0844 left_roll=0.0166 left_gripper=0.9986 right_x=0.2913 right_y=0.0023 right_z=0.1753 right_yaw=-0.0023 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.5983, 8.9915, 1.8242, -0.2759, 0.0855, -0.1587, -0.1573, -1.4154, 6.8991, 1.9023, -0.0513, -0.0562, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c072141194145885054780d4a8175f18bccbd6370b19af24ca6e43be612f495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1326a6fe6b5642fe1799feca534580d7e5ebc112d25bb98c8633f71d6ea344cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f7a6a87894c3a38be4845d02a9eb02e2fbe6ebcdeafada022203554846e09c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.962 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]: [-0.0204, 0.7937, 0.6071, -0.3794, -0.0193, -0.0288, 0.9986, -0.0158, 0.7895, 0.6041, -0.384, -0.0235, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2939 right_y=0.0031 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4427, 9.8803, 1.7998, -0.0757, 0.0855, -0.1587, -1.0188, -1.2239, 10.3863, 1.8339, -0.0024, 0.2271, -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]: [-0.2947, 1.4475, 0.7712, 0.0051, -0.234, -0.178, 0.9986, -0.0193, 0.7921, 0.6033, -0.4038, -0.0242, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.0752 left_z=0.1171 left_yaw=-0.0124 left_pitch=-0.0844 left_roll=0.0166 left_gripper=0.9986 right_x=0.2913 right_y=0.0023 right_z=0.1753 right_yaw=-0.0023 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.5983, 8.9915, 1.8242, -0.2759, 0.0855, -0.1587, -0.1573, -1.4154, 6.8991, 1.9023, -0.0513, -0.0562, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c072141194145885054780d4a8175f18bccbd6370b19af24ca6e43be612f495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1326a6fe6b5642fe1799feca534580d7e5ebc112d25bb98c8633f71d6ea344cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f7a6a87894c3a38be4845d02a9eb02e2fbe6ebcdeafada022203554846e09c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab445e223fc87d0a2bb9d052740666f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.1,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the left bottle’s blue cap slightly left of the jaw column and still forward of the fingertips. I will advance about 4 cm and shift 2.5 cm toward table center to bring the cap under the grasp point.\"}",
  "call_id": "call_uOsjPkPYNA7eNtQ1sTEgCu1Q",
  "id": "fc_0af40c221ff6d149016ab445e69b0087d0a80c52c926798cd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uOsjPkPYNA7eNtQ1sTEgCu1Q",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 1.5692, 0.8265, 0.0753, -0.2745, -0.2035, 0.9986, -0.0193, 0.7841, 0.5827, -0.3985, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.0932 left_z=0.106 left_yaw=-0.0071 left_pitch=-0.073 left_roll=0.019 left_gripper=0.9986 right_x=0.289 right_y=0.0022 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.0752, 9.2239, 1.9414, -0.2662, 0.0464, -0.1538, -0.4034, -1.853, 6.9402, 1.9658, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d86f596a6a48aa29c2a01843db18144986a12811c24eb2680b50851a86a9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0237f38d3667ee7da349b0a35ae068e937fcecb550d7835fc97cce7400db2ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d4234163fb6c79bd8c32919bbdd4573fc8840ad14e4fa00c6e7abe92442b85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 8.283 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]: [-0.2947, 1.4475, 0.7712, 0.0051, -0.234, -0.178, 0.9986, -0.0193, 0.7921, 0.6033, -0.4038, -0.0242, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.0752 left_z=0.1171 left_yaw=-0.0124 left_pitch=-0.0844 left_roll=0.0166 left_gripper=0.9986 right_x=0.2913 right_y=0.0023 right_z=0.1753 right_yaw=-0.0023 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.5983, 8.9915, 1.8242, -0.2759, 0.0855, -0.1587, -0.1573, -1.4154, 6.8991, 1.9023, -0.0513, -0.0562, -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]: [-0.3367, 1.5692, 0.8265, 0.0753, -0.2745, -0.2035, 0.9986, -0.0193, 0.7841, 0.5827, -0.3985, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.0932 left_z=0.106 left_yaw=-0.0071 left_pitch=-0.073 left_roll=0.019 left_gripper=0.9986 right_x=0.289 right_y=0.0022 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.0752, 9.2239, 1.9414, -0.2662, 0.0464, -0.1538, -0.4034, -1.853, 6.9402, 1.9658, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d86f596a6a48aa29c2a01843db18144986a12811c24eb2680b50851a86a9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0237f38d3667ee7da349b0a35ae068e937fcecb550d7835fc97cce7400db2ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d4234163fb6c79bd8c32919bbdd4573fc8840ad14e4fa00c6e7abe92442b85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEXr_O5sBEjg5EUXh9kvVmaZeMqzzevCic5iM_-f2i7lMkEPL3LZ3h71ZwjstxdG0gJuDIzxGUvYsUb4ZFFdYYeT4toUHTaJDG1b_Na2kfWk2e6et8xr4Ny55m2Y99NqhYm96SYeU3YCu5lNu7XBfQkOO4eWE6LQecdrFDquKpIEo0UNA3dwwZUF715BLTb2egOg34hYyc_MztEl0oPSxuI_kGXblvpyJPGWTI49FDjmcg304zqKmkK2Hz46v2l8AiOV6pGzV6SQy8z7tQ9Mih_QGepeMdVKEcLaFoI4yW6GDdnLDuPqoSI3zu_k_b3i86ushXUnaWap929VchEKR5srFbUwfxzdZEKVysul_0FDk_0tnKCVWPGyLPC3nrITBXvcr5ElHEbm9KjTYbt3w17OLbhQKjL2yODpGseIwKTPpfNow_49PpAHhpClhSwPk3azSiZews2F6yJ82Z0TwNQhbe1vvGENTrVhkSxy_z_sSkmD_oqApCy6XJxZj5d-6jxL4K0wqEL30-M0ljYe4DYdbNNYgfLJmlF9zvRx1KVgiF8ALQcNS086qqx1VS91GvDSmdAYdtX32-9Rw0EwlIt_wOjoR_tneOUkxhlFbdA4-8KahDelpftRV0rc8Uw4pDLSNzoYgHdeFsbnUcnK8r--rL4fQsZOehGVnv9BrH-9CipHJC2LmgVcHuxFwVmX9G4rn6Lq02ByVD6V00W3OYtfL524q7SQF-2oburh6CfTtdKH6hD5JRuoF_NlbcsfphzP7Vb6LgsCOJcnHyH6WfqFEmsjdMDNfHGoqOu_cPpDP5eSx0fUIqyBsmt70Oz9XSSnBcNCMC1Y3bG7M0uz4tdnjmrfm_T7bEJqSCJxtNZMxyIlV-wcfz5rdhovF1B-wbnGoSwrLBRzEWtCw9oCk_YS6Pv8Bz7KyiIu4MAXWkp10-jPbm17uPwhNdzhtWR44OElSl2nA37imL-tOw_ctE2MftNhBZRMUQRIkabpD611tTv-RCLsslanVQiY304LjcUpzhe5KvcHMNh0cjHLwKrSXbWZpkz-wsCk7a95dZA_4qE6mqrgSJK_Kee8uMc7V5hupoDBNHiqtqfKRek09iBXB6BC90xHiARElu8Z1eNphZdiAZpKIWG6RiVO32Ku3jJScOps_jPK9ziw3aZD3DdSJQ2Jz8jgH40R6PNv93NZpWWmh1Y60FR_ixud6luREHnu0L-b0lB0TJn-HZN6ddZsGoa1mJkN8nseloJn-Fl5btfG0Hm-tJnLbs6XtpqS7CxJKVJbuZVlXGOd_xVEcm2i8O8Ytdorl2sJxOqmRqNBtEp6mtXtqpMcLeJLzpvWZ0mtcky5Je1euu8rimeP_ptf3i_C5tFr9N4Bhg5Vt29_BDywW2-OCNCeOTNcxzh85FghhEiwsyx0VWj956aDOZgy1MFYN3KDAYbcT16wotu1sFDuvC4byCLf2vzbU53duFwWqR7oKfOoPrMeFJ_u-cLaESlsUjQhQLy6qOxSuEBrK0Hcv5pcuPF-_q0vrBYUsRtJ1VC_hzc7xhc6thwVKbyDfF2TkenE-WIf49r3bx8CYI42VnN1BeIqH_dBU4hsea55vK0PalzL5V-iHO3lFQJCmV6fLzqa9RMu2YCB-yRb4PBng2TfdjrBsw4oN_tjXNfFnP1LH5yA-1pZGNdW2TQ7LiYNPNhJ6aG-AlY9XmzmXQowAtpyhgyj0Ez4BszFoP1S442G3mQHp0ennVT0EqAdTNBsTKzeqhn-yo1XVaoTQaOtZqtYbfZA6w5uEhh2ssqqTfpt3lEbO7om4qie6Xoc28KZ1N0UT2wgQML-O6Qx4c4mVAa7zgQR_DwEf5Sv3u98bNE9e9rF-pMMxzxRmcob2UWn4GB-8qcznXOZiJQdem1LUnNbUEBAvd6GtjAOf336qD4ju4kH32fw7iy3pHvy6ZhFm0x1umzfO9yJjfgAevU=",
  "id": "rs_0af40c221ff6d149016ab445e8cb1c87d0b97c4509db593afe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.05,\"left_z\":0.14,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The cap shifted downward as expected with the outward move, but the centerward correction moved it left in the wrist image; this rig’s left-camera lateral response indicates I should instead increase left-arm y. I will move roughly 5 cm farther forward and 4 cm left to center the cap at the fingertip row.\"}",
  "call_id": "call_uPhAJf3CN53Aed1ZrfEs9iDw",
  "id": "fc_0af40c221ff6d149016ab445ea9d5887d08d94e364c867bc32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uPhAJf3CN53Aed1ZrfEs9iDw",
  "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]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2108, 0.9986, -0.0193, 0.7712, 0.5522, -0.3851, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0056 left_pitch=-0.0623 left_roll=0.0146 left_gripper=0.9986 right_x=0.2861 right_y=0.003 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0354 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.5556, 8.6496, 1.9463, -0.2515, -0.0073, -0.1587, -0.4034, -1.9214, 6.9538, 1.9707, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494f56fc568d912c777069200b1e5fcd9c0a01a51c425149559a97c63340e35d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30c35dd6b038388d35ae519d1e474237114cdf1923228b763812d558e4c5c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72e8b1d6596f7e9b03e5ad5d6f953cac04ad3f55252af0b0f4247b0f1082110",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.892 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]: [-0.0204, 0.7937, 0.6071, -0.3794, -0.0193, -0.0288, 0.9986, -0.0158, 0.7895, 0.6041, -0.384, -0.0235, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2939 right_y=0.0031 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4427, 9.8803, 1.7998, -0.0757, 0.0855, -0.1587, -1.0188, -1.2239, 10.3863, 1.8339, -0.0024, 0.2271, -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]: [-0.3367, 1.5692, 0.8265, 0.0753, -0.2745, -0.2035, 0.9986, -0.0193, 0.7841, 0.5827, -0.3985, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.0932 left_z=0.106 left_yaw=-0.0071 left_pitch=-0.073 left_roll=0.019 left_gripper=0.9986 right_x=0.289 right_y=0.0022 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.0752, 9.2239, 1.9414, -0.2662, 0.0464, -0.1538, -0.4034, -1.853, 6.9402, 1.9658, -0.0171, -0.0269, -0.0073]",
      "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]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2108, 0.9986, -0.0193, 0.7712, 0.5522, -0.3851, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0056 left_pitch=-0.0623 left_roll=0.0146 left_gripper=0.9986 right_x=0.2861 right_y=0.003 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0354 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.5556, 8.6496, 1.9463, -0.2515, -0.0073, -0.1587, -0.4034, -1.9214, 6.9538, 1.9707, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494f56fc568d912c777069200b1e5fcd9c0a01a51c425149559a97c63340e35d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30c35dd6b038388d35ae519d1e474237114cdf1923228b763812d558e4c5c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72e8b1d6596f7e9b03e5ad5d6f953cac04ad3f55252af0b0f4247b0f1082110",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX0jrvhheParvl82VK6tvCYqPc6p5JBS79RkPZmwRkKuYbmE9QlJ0YEHH-3GIDNm5jVuPquKo2fYW4Wlyjk6RYhWXYcoA3KMkTLqNu6CifXMJb7N25U6tPMKD_ieMRdA_XuoAdIu1K_VPAiUm4QEMCoglG01BCxw2252g33-hsW8LcdOPRjw0Sj5OO25hDyT09kf-JIHpFP0k8jqfQ-tJHf3uP0mNUrnoBkCiMDLMlyqv0KXMs4DOm2qcI1sVNjJNPT0Xh6zsbz63b_soGiSfbvtlqPrHE61WY1SCU7GOXeC4Cm8x0imEb_26Hxc2Afcuo1dfK-F2IR6FjCrbnzK-Cf5-7br1WCoD2epuEGc_hxrnasBwKE8sReyi8AOWypNRFlVy8ahIXuIDXKOqbyyAOaH-5aixXEUvZsA9n7MeANAgU6r27Pp_dgP8ypCTltkfJNTg6t-LbS9I39aAf-TIyBzKKum-TfjcA5Syw0dpzI3YYUrlfE9HDYcynkeifBrvLv1YvKtT8ReqxBUB1tTTm0d38u1x0uwjtwqAx_CHJx5riglE2Q4VKMVSoAqNVpC96bQHSP2lLkCBaviJTkG_owt1Ummyd9ZJjpCjeBSpM-j0QjYcQsUZ3KCZhxQhGremd2i8HyKXvY9NjS4MzusSdrcmtCZ-R-gKVnXm_opIeSwy-dsuG86UzLBD3DjmUuFO1ljxGxcLBGqM0Icv_EUzdHMR7-pS9_vMlKdBK6ifuG6-wAdSJoFWQrvjoprZKu2rpvqY0PebxYarPMTtQcpwCXkpeVHgPWbMQ1dYzv35Upz9pzoX9IHHjB2_TAWnCxlI2S7IbBmHi4iwQV5pzrGfhjEbXqjwkQ8LjBxlWHkiljROGiGVC3rjijVWSrIhO6Jkximtd1TXV5MHJlEnNMTyS8Cr0E97YOwSrP3DbkwiT4v4NsDnwabasyUoCoTehhO7OORMEfj0VeYhbgHheEI8UZLgR-TvNzjmYpu8mZIEEMvEPZV-CV6GMgyTlHpn9LoN-OVIZYr1agasvZgDfNEKbXrmgY9ZK6KSJJ7jxT4ANCPehlto1LHY6VnuJIddC5YQWI-6pa0wzI8TusBE3u-Xmxx2CYKk5vOYFwZcTXP_XJY7QZIb4nBoxjfKF23LZFmcfJsoQkMVhqGILnOZyIRMM305whPXwW-fOgh18P0Qhqkg17eJPHQ0tyKQGPkCXG4Mzngsdk53rVGSu8SY_8dRtCcD9qJdKOO84sHWCGq5OBCzHhhQxI3nv4y9CGDZOISZQ-HM0Vhw6UjOY9SIJ9rcyBsFemBjBfKPDdezkHQ4igJlmyLzGCeJ1zGpOlywWsLa-9F-OWzxq-vDzSgCJ4B0OY0ovHeCOhaNDb1qK0RliFbVUTb00kkaXQNXvJAEfzFSE3lmD96czXZMVJxOqgd0yr193VsKHK3zw39Nat4PiPvqB0W70L4mryXLg3rBFRCj_nK2LhjqgDbo8ojFmXuz3sUBqu30dr1BJCuwOB0QQxLfiIzYpptbc00dU63EXEFJGY_Vqskmsbz259fXi1zLML-320QnXHJktLoXIzqsc7moEMdWjmVfBJ5keLKcZBXMaUZtcmTZ_U_9nSGfVi7R6qWt3OYanc9PZK0gEIBpyKmLS9v2Va95U0dZxbu49uWcPiAMcoS7aWStO3e6t5QZS_aeFCboczRZKCezluO7vDDs2gkCL47XUi0BTFJDr-9NR_GZIwoM09NY9q45gvvwCtri_at1BMKx0Xbj2k4uOlbifpqT85bYKoO_yecBTzY43XyfYl16C15DALIoOgBLulhKQniw0RyfdHnseNgqtYETsNk-AJucpYMCAvne_EVe_qOubjbKtmVy_hk3xRhlSfA7Ab877K3qPoJaMu8mpmyA7Cf5WmNYZmjEp5snWEg0ZonJ2eNWOUbyD9IXtmeA4L-gNzZ67kvkBwhij1259IoUv1P7_sY5PXv_Am-iGbL47LneGrz2AfIl_WQh0DVChVHnirnOwoYs-51INETuiblugiNFuhHXaQbx1olPUdwDCLO_iL9u7IEKrRhEFxoFdF7CsD8T9UVblgtNW1ttUuad2BkMvJR4rVnkY5OV3mkuROY8cuRNrkBqoIeLiQP_PZJlhmdLYIDZRe0bHjGBm1k1CnbFzEjiT6P6NLyxNam6iWcReBIH-d62p9xD9YLzEBUOvnHM0AhYKg49yj-tSi_RgUxXYm_Co1iWtEkGoK_-02wJJQoF5gpefu2zUtyw258LoF7DbcQC_Hz6vxJ9EikBvGo9ohoTtcQTnNAW2N1vW5TvbE0VOkaodUb9ak-yZErgpDt7zrpW4T0u46suUkqjsbmZkVf40ztYO_P6-474NhxCdy0HVBBr5zNlkh6_DFuKdbn3z8hNIHK_AesoegLfBY-SsNPlFyHW1SkMS8qHYUBxMC-BsdUOmAGxgtI1E--BpG32VzcjAXFfXyNGLrBnHF2zI2D4U-ttwY5tFiaNLJImQhbLhCUn8VTm8Gj-bGGu_TpMGNBcfo5VbtYT2doZuc8R_Lv6oT1yA5lNSuHW81TtqQUVvNcpmhBNaFQM47N1dSqhfQAXma7PVzRC-Ot5MjarO5ildZhMG0zIKW0sW_x9T-wSc4FDLVxatRYRBuafecqP0JTvl2qqXYUNaciX_gHGxiMIuYes6HahktDgXi8nrSJaIBIzoxEw_ffpb3UAUwI2AeT68MP6cLvo2wIUEIqowBdqALcZQ3hsuuo3TlP2P_IP5f1IqkyLDwyK0y2ge5Jxw-AXZm5n6EmXprqrKHU7QlaYEpxgE9AhXmjz6WdNnvRu0HSqJkOLROVG3-0URCalR3YOcaBUDubofOaR7XPMtaeiWDVxIsbLlcw_118He7nZdfgb2XwIeRVJjRAXc8C-ZCmvmxRcPtSKcPgrf4zmC_3BXIPw-xoDrHbiX8O2zTjWWeMo3J0pW2VE2nwUU6erxKXMY8TCK2YG6u8s_uXBSAjK4i-UlQMuIKAO8shqjP_Kw5CywiXRciF7TapaVbk1yGxu-03d3EV5epcnHV4Z_Scph5JOLUDRIiVhtO50ZHDSyLYR9HQjJwec8gKaa3E_CvSzaI_9U4phH5_5jCfKCaIoerGp5jXXPSCm_sW3_ElpXEDJZLl3SgughpZPPm6GAd9fothGZkCylWZfBI5JLPu-J2v05OEf45GskIG0t10pyS5kHOa90DLYcfNXXTAH38vQZHh0CIrBAcI9uChndH3gvxTD2k8269-9j0imc3Yuzo5dwTVKhbhvhfSzNVIhL5hVVCkqPL7OesK1n5kpdrmSDDFvRWMjrAXmsng01hsss79Z3KeKp0vZipLSya4zwMZ17ZevBRNBNMo_twzAZH01197kZeAryxqOyXZlZbQpMdMOoncWR7vVwV2K-v2a4_rm-PNQ5YT9m6bQ5S3ZaRt2JAzrD73-IRHduaznSJS1OaiswsHgv5H4DDnY3RHqiVdHmVsjH5DdAxQuL2SZuNXwiCq0eOw_AYK-4hp16NWVYJ1sPTigxg5kJSTgbtESFO7S7uur-LTE7v_CEtjiHZpDIDINnTbhW7U4KrIGODyzzrf2SqnqAIo2ve0Tr6dkG3BuPpn_cDFDTnqDitibRvfZOzKwqhDBs4p2fgKeBpmag8AkZQqGKAFw6fSY7moNiu8Z_8XVR3tkF0nwPssph3Ce7lZz8hTRLGPOWa_RHcvd3nw7dDwYRrh6MCszUQG7Rks7EMwr2Z4mk49VBLKGIz_O5C7ZDtGpFoh7D7RvzW-toCHwYaBYiZwYPzth5PKcE3vq1rxNVttGvVMKpzyxpZN1vzKhlMBtvHiWJ_ZJOVFR4xlIfJFTXuJYNxMgHGgwlByjFbDFn3AbP6c8_WNfUr_6zoVPjkciTb23AVXsBRln0SZ1JZc2MZJ18H_Ho2_zyrK3aLMMWSU_or7FhSrLeKftZUqQHxqcgkhovges50OJjswk4zXPGYbdm_uN6Cae618vOTL2YnDkPICA9XB0uZfRIIOhFCWE0CZ9cKUe3TCLGxGNBr-OPrza9vW708NZex8nzp7U2TA6MxDXrrbZdgaW-G-lualwRwSOC502qSDzvg5tzIgl7onmfa4uxbUVO3gLODyaJ7IV2zU_R_xcCrWKEzmJAlXEIqtg9dPQ2NTojLY34ddDIIloUEja8HaM15e2tjjUsZQPnSWRndnZbq4rF6_zqdycSbJ-OcNet3Ak73Fytn06lMDB_ykwsbggAKvtaJsguM17XevzBy0zSDdvYOoY4ilyv2RKKvqCKTtID9ZWEOWprocCkmP8sPyZvsCLjZL-kfP-_BksUxr8-8SA1RYWi9mkjTdfJe6zkmFDyjIqkJudcNM0-8CjHBdFrSlb6BPaRXtK_F3JwfvHmA3BmFFKC5kO2Gb_Qx2uvzKkk92H4lp1RsZ4103kM6Lf7IUsbALZusfMMAmrk5zfnfkXZLdCIew_GUekuz",
  "id": "rs_0af40c221ff6d149016ab445ed4b5487d092129d7242f126b5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX0lIEq-UQ0zmxDv26qOharxI3UIR58WrEJB6pQq_KmenyBCqj0S6vdIS_7B4XNPByPkYGZvR6TTq4a_AGdzW67fPFs_S3H_J1xhmKKhaEtEcxIQ7iZhoXTPkX8wwSWRG6fBLgubmu8-70MdWx3k-4cwj8F7TqFskQ1mUDWTwzaIapzuKmDuFy3wWNyOFYz-vHAfubwL_OY72D8tWGnhyle_oHQFjPa8X9JDBsOzZnH8pii4moB2QmMzymHMsackGRO8Ej-YSnh7l8dKorqk40D-HsnQsdxTKfzTNMuUXsNFEgPN8TDErKXLPKvHgq9aVbqDam_W19c3rfjjrpM-dkGmjzUZv6GoCJi-d0wsR4JppK1AwxWcETduZkEggo2NwCKmYhzEiuzk4V99V0vK2NkfCdyoV1yO3TiZoBvMO9WAsGq9fPQRibm97znE3JhOOo8oOd3Lo-0AG0yLRZEIno6ab6Lc3vjBMzhaMfZXAh1ailr8FtFPlYHg6vzs283LtaXNK2MkdvXjFIQ0NJTOxoIhAAlsdLG0O8aflYdUZMT5-zD69j2iYgrchHY7g4C73U0T0TJnneYi1EkCIofnZhiMnWuNqTEXo8U8JaNZvhjdmuJ2Wa5VzcBlXs7R20rhVQhKrttK1y17ty4eWk4lY8rjLxpykJgjTOH1NvkCSIi7_2-BwYvmQzIfQxuRoV01K_mhkdKuCZ9TsBGRJ2cpHPFxLpkgAnG2JDSJSC7ilR27D8LOJIGeP3h-6-Z4oN1DKJ_9brtJyJ20aYDm2Q4grKVtiJ1xoRaDZovwfaZF0PE4XXppzEUangbvAyCUFogcAtyisakVZaPS0kbrZkIcSwoMDe1LecSWWP6NbGcQuanm0uIZOQleUKsclVAiTyKJlY8ny74SGRpEykMxQEEzUQqr68Y6IrsqGonrOrM4DuMoR5e5fj3JLXmcC338NTTLigcHP8YkUrLBYKovd_1C3CHp8t1bJ-GHSbcIVyLJcGqJcs67LaOWss7N50mLCLePqiGubBh2VYYWypRT0aPUB-uEz8bSPLTrxvnyKyTMjB8F5FdArEg_e5H5XBQ1axqbbc2TOmXeY9oBSbnxnxdznSJ56rXcjrQuRJyavy012_7cUucSPW8JNh6Q6lUj-ndwUGWzb5_uGrbpKqo-PBOfrOiM6FAWP6HZAfwC4GsAMhSAV22VfjaajNe93ZjkOxKmh2ch3gKUMf5H_HheDhZd6EXKGoBL_nhiD8DvjgQ75K8J2VB4r6l5Kyn1TH24A64YtB0R7CVfEjBpWR8KyuwIWtlKzQYeUoP-jkoCyhRp5zFvAJFFTcrsb21sQJ9reuuah9mPdvsBzJ9bIsA0PFYAknw8LeG-gWQDTh3PSwauwD8zVX19YKljgLi0T3hDCoTAegyAXzhJeGImIEbmtFjCgNt6o2tyOGpofMB6mPcTj6-W15OH1rkya2jkfzc8G0nVqbj1mtoNXFdhjcQAnCgjXVPyQ==",
  "id": "rs_0af40c221ff6d149016ab445f2eb4487d08f253446853baf9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.06,\"left_z\":0.07,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The arm stalled near its high, extended pose, while the bottle neck remains several centimetres forward of the fingertip row. I will lower while advancing; this should move out of the awkward extended configuration and put the open jaws around the neck without closing yet.\"}",
  "call_id": "call_UysN14QPTIm2gudusiOTv5wI",
  "id": "fc_0af40c221ff6d149016ab445f3819087d0abb07a91638d7861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UysN14QPTIm2gudusiOTv5wI",
  "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]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2111, 0.9986, -0.0193, 0.7563, 0.5194, -0.3687, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0054 left_pitch=-0.0623 left_roll=0.0143 left_gripper=0.9986 right_x=0.2832 right_y=0.003 right_z=0.1537 right_yaw=0.0006 right_pitch=-0.0369 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.0205, 8.6359, 1.9023, -0.2125, -0.0464, -0.1587, -0.3077, -1.7983, 6.8308, 1.9951, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc1c5bafe971aa06ad7aa9b2333c3461d38fd0602c325d5a27e9109ac3cb71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9f41a0328c1888722de9b9032724dcc2b2afbeca530b6c1460dc16c32e13b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c860649272e30c18595b97df9da4d8dacaed163650beff27b516cbb143d3b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.873 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 21 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2947, 1.4475, 0.7712, 0.0051, -0.234, -0.178, 0.9986, -0.0193, 0.7921, 0.6033, -0.4038, -0.0242, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4012 left_y=-0.0752 left_z=0.1171 left_yaw=-0.0124 left_pitch=-0.0844 left_roll=0.0166 left_gripper=0.9986 right_x=0.2913 right_y=0.0023 right_z=0.1753 right_yaw=-0.0023 right_pitch=-0.024 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.5983, 8.9915, 1.8242, -0.2759, 0.0855, -0.1587, -0.1573, -1.4154, 6.8991, 1.9023, -0.0513, -0.0562, -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]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2108, 0.9986, -0.0193, 0.7712, 0.5522, -0.3851, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0056 left_pitch=-0.0623 left_roll=0.0146 left_gripper=0.9986 right_x=0.2861 right_y=0.003 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0354 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.5556, 8.6496, 1.9463, -0.2515, -0.0073, -0.1587, -0.4034, -1.9214, 6.9538, 1.9707, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2111, 0.9986, -0.0193, 0.7563, 0.5194, -0.3687, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0054 left_pitch=-0.0623 left_roll=0.0143 left_gripper=0.9986 right_x=0.2832 right_y=0.003 right_z=0.1537 right_yaw=0.0006 right_pitch=-0.0369 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.0205, 8.6359, 1.9023, -0.2125, -0.0464, -0.1587, -0.3077, -1.7983, 6.8308, 1.9951, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc1c5bafe971aa06ad7aa9b2333c3461d38fd0602c325d5a27e9109ac3cb71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9f41a0328c1888722de9b9032724dcc2b2afbeca530b6c1460dc16c32e13b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c860649272e30c18595b97df9da4d8dacaed163650beff27b516cbb143d3b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX4rFtU9PnMscrQ7DpyyMNhZpcchJ4iq6ksdeo_3STQ7_XHAA4Y68-keHlbLpAYsmqZGZFX1Au0bEAoXV_MF-j40hoqc7aOH1JH_LIGkWpsWEOyKN07GdGPW44JrEXAFXuQsXNyScvYDRxqJHvnckkK4cJwyUqu8kDaMfxwOw6DFXle8ykxzM3S9lRGN9OikKpgKwMmYV7-sWVlVsAJsktrkZP4UpQ5ZBl-XOkmr2lGx5AYHi8PMZld-KWpSGZD0mhC8XAY6XS1wiEeNS4rSyy91OruGad0VIf8MlznBKCcWVSAwEleHved6EaP_7lAVz42nvMvC6C_tt_IYsuI-cWVmwP2XcLu1eOjM_j9oqYZcUzmS8qaY0wN4yuCEx29pJ4uyiEywm9ooDRTvpbz4zo78vaq1bHo-tU0N--RjubyuqLHSczmqnsUhCPexaCSK_M8xwUtgGRz2-YCtrFXocHgdB9IZ1-kuZJOZAf2j8WMPx9UqCg5wMMKPERwmoTUGiKCFQFpsl2zaRVpyh2ocqMF2kalB3ZjmoDZtR8H0hdNofNc4Ke7VmH8YuAJkQ2wTXOPzoaDwzrI4BkMRkmGv-W3KP8uuQJO6I3LHobtXTXO3WQfgkUCQxgAEXgcrh4JbJhX8-imuBFAJxS849hd3d18lqmdglnLvFAM0heXoyhrQtL8laQbxLJnfInCPh4QGrbZyxBvrmiA6v0URYjyXV4n_-dcqBmqn1yxaLpqtUSuzYqFY84bYAKhTpEIvPJh8OvYLp8-ao6453teXfHuY97owWldSLLBI8cSDdTDVUEeN9xFUtW9RzDQmn6vdkrkgE6z8iFOlpZhz9bEXqd2zwyhPme0WzzDtgZQzKXHkllMiDK6kpXfNwEgEJhq3312ffR8fQoxGtrY8lAcox2wvbGUszSIHarColyTMGNxvd1ibwlKuXindF4dkQ3bTLnWy3jHf4bwjsm1K-a_rXW723-4p9tPqJsyw8ata8nlObJs46M4ju9x02XjlbeQIc3f-XjDsGHknXTRYmtSHudMjIGlPNL7dyBzdS9c5POJS43GW4VavqKyagWi_ZF44qZtUIjpPqi3wlUcS1O02KUGnd2IwWb_l4b_9DO986az7G_R7V2-2btpO75KU-pGzo8iyePrsMseBm-zjNy3zHuMaL8-HiTZtZ6qspA2yw-Gp64Rh3jib0ieJiwU0ZerfuLKIuQF3TjTvtIMYZ8qolG0da8OCijuLnX4-jR2Yhg9vvNhccCVLCku9mYX2BuDr-4MjNOVOIuk58lupvWX9t2hiHKhX09TmLalzqTxZT6Kd55eTsha42-I4umNIltJOA4goaZYwzXaX0WogtGNZlBUtGtqgLFjZQpBJtYgm-e5f4sgHdBhpQvN0MKubviDxBVuKPgJHb6gJdxZa64DOF_vYHPQRf3kZifm-2bTL7ZZAOLF7GtlERPSm78gwyZHI4uShfAMKyyMBNS6zeZj4FJRD4rtZWUTLxZt4LnkNFko5HjsUid_gfel5lW40P8-MVbZZFwndRKR4sHwlOZtflWQzEIDJcShoqcVISE-roq7JVAq31gZrEa4vHEU7AjI7AzbB0nIvqsM-ywudYEXW0WzWoHu_9__yqJaNW65h18qpeXniqEIyuOWxpjw_QfCQl4Ah4-JeNCc8GoA_v0eHoUSMu90-Zy4lT2XDNB47yNULqRiZvaCObu2wiEdbMebDVOeCCbeU-F_6PMDnFOFYf_0Iy23WDm3p2qV9cly1AY5c_sT9NiyPeLe_HkdRdKO8kLZ47fz",
  "id": "rs_0af40c221ff6d149016ab445f615a087d0b0a9c2d9645cb200",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.05,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The last command produced no Cartesian motion, indicating an IK stall rather than contact. I will retract and raise the left arm to reconfigure its elbow before making a lower approach to the cap.\"}",
  "call_id": "call_nzNs3deD4V29bxM7gksIvq2v",
  "id": "fc_0af40c221ff6d149016ab445f74f9087d094c3673da3b39e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nzNs3deD4V29bxM7gksIvq2v",
  "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]: [-0.2569, 1.1595, 0.9695, -0.3981, -0.2314, -0.1829, 0.9986, -0.0193, 0.7372, 0.4831, -0.35, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.367 left_y=-0.0508 left_z=0.2325 left_yaw=0.0248 left_pitch=-0.005 left_roll=-0.0121 left_gripper=0.9986 right_x=0.28 right_y=0.0031 right_z=0.146 right_yaw=0.0004 right_pitch=-0.0354 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.0803, 9.9761, 1.8095, 0.0611, 0.2955, -0.1587, -0.1983, -1.306, 7.0222, 2.0049, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3426612153202060adcac709bdbacb068934961d65230deb0d32a24b46665a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0730414020bfc2d27737e0cfa4873b6b489443cc741a09a133143db7b9f09b5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc670e6724370b2199baba00851ef457b8158286a9d7e14e0f0f58ef143b78ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.233 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 21 changed as sent

message 25 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 1.5692, 0.8265, 0.0753, -0.2745, -0.2035, 0.9986, -0.0193, 0.7841, 0.5827, -0.3985, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.0932 left_z=0.106 left_yaw=-0.0071 left_pitch=-0.073 left_roll=0.019 left_gripper=0.9986 right_x=0.289 right_y=0.0022 right_z=0.1691 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.0752, 9.2239, 1.9414, -0.2662, 0.0464, -0.1538, -0.4034, -1.853, 6.9402, 1.9658, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2111, 0.9986, -0.0193, 0.7563, 0.5194, -0.3687, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0054 left_pitch=-0.0623 left_roll=0.0143 left_gripper=0.9986 right_x=0.2832 right_y=0.003 right_z=0.1537 right_yaw=0.0006 right_pitch=-0.0369 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.0205, 8.6359, 1.9023, -0.2125, -0.0464, -0.1587, -0.3077, -1.7983, 6.8308, 1.9951, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2569, 1.1595, 0.9695, -0.3981, -0.2314, -0.1829, 0.9986, -0.0193, 0.7372, 0.4831, -0.35, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.367 left_y=-0.0508 left_z=0.2325 left_yaw=0.0248 left_pitch=-0.005 left_roll=-0.0121 left_gripper=0.9986 right_x=0.28 right_y=0.0031 right_z=0.146 right_yaw=0.0004 right_pitch=-0.0354 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.0803, 9.9761, 1.8095, 0.0611, 0.2955, -0.1587, -0.1983, -1.306, 7.0222, 2.0049, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3426612153202060adcac709bdbacb068934961d65230deb0d32a24b46665a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0730414020bfc2d27737e0cfa4873b6b489443cc741a09a133143db7b9f09b5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc670e6724370b2199baba00851ef457b8158286a9d7e14e0f0f58ef143b78ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEX-LH5yVaRxYZ3gfCzhFBntytt0D4Ir4c_7T9MQgvFUiiWlbcQzt5IhFR42iV4AhwrnP5bCds11A1mDAVPXY83PFbKuEulJvb5TdSDBSXk-vhQsFbyWOyQJMtL3_xid4d0WZVIGbdTU6CyDQXXbiaua0ZWNhLeMBC7apK0vDFnZMqW5BdZ6a9_6EuXNM1JXpXFBIXjNM9Ynz4FiHO-738M6rj_ormCIwYeySKfpA544QOoZ15TzNWrf9_ZhT66_g5BZIVN84-PW_ZWFnJMhSNWDD3Gi03GnhIRAbFd18fqPE1Kour5CF5r19ODW-M2XFi79Dny1__tylD70JBOk5-wXXwKJaaV5CEvWoJfTN7v6EnRsIyYd8IiQYTeCwwOingzHb6fxnWAxwegKGdtXbGZj45OfO0EOwZNx7-ArBlBrDqq7-Fhi6lW5x2cQht6zYKqrnMPejC9-CbD5IflzCI9k6ykKAgDoockueAyYEqc0f_IMG8D05e2GA7s0NQ74CfCPAZZuqhhWc68gnF-grX-xHr8-L1Y40y0EFThM4aZ7EjNYsezeP8KgN50uu5RQyChEx4dFljFHyDc3vzpScVgSbN0O3dljnzNj2ulvs9vjVH8Gx4Nvye1KaN1RK_uC5q_ipwMolqL3Gchug8TmKwoKj6a-fn5f9BySuF7OcwQwlxeYyPlC9cuT5MQz5PtQo0gGA47EP9qZzLQwCWFBVRaXm--_gylsauZboofJ0cOOHM6ILNxjAs8jYCjcSriummdg6u2g0Tw5eRsbOmabPtymlSWeeulDU-DUQS30ld2ucInJQmylzdIB4qf2x3CyBTeKSkWgsWKtHMC5Xgt6vL7c85Q3SgTu8wQtniqNOlfGHCwM6kG8c93jCQ4puGAtRp0b-Y2vHx21sU6HrMwghbAFw5mWs9gvKfwGZg0Cc5pUvJ4DHteBMqgzTkxdpJIYM6cY5rvr83c6yvpBcaDscw-c-jtJ4eqBJej_8qyPhOnfECCnhikwGCoxqcISjsmIQ7jBv1fn-sQz5WvtVdjX8pfDodUDFtxhxlRF9mXDPHs1HvXPX5B9jlz3XUQ-9ugUXKEYvkzKB90g-SBkZrGKQqcTeKDkC6_r652D8yKr8GsAsOj-p0lfxPrwER1u7JSomr4p3nK48SdnMokv7WIqGe6W8IJPyCVXygecu9dOwuzV-jXqrZRm9qEWQ-iJeTln6FhUY8DBGKDJFYaJpBZqgY-rccaxI7bR3mOReomTnwMGl9qiTI2Sh54wQIcHygAvJ5thefepdX_H0UC13MvrsAzR1-KN8fqyvr_eRtJzMtY5_b_eCFc3CdbN99qYPiFgVRCXuNLp2Q6IKVU3C4s4edsslD4RQqz5mFHdsQYPOUhidb8TuDq9yC06z1WIDJjbALRg1mXTQKzNn_y-7gVC4w3XcsjWyMsrs_JIrbaDENec01idDD4tRYYTU4qQjFjlvrACgNjuCULwvbAJSwjRRrebK2GJYCRw18xRhJxj-BMdMaYVzILJS00--nNei7h9c64dfLpAJKy6CDSNyxtOUap9X5XDFkG-eKvqu3so3qzSNyDjRmeX5SV643gh9LTS8ugb4etQlXoWbZyOL_vf7MayWeHmFodnvxrBxx_tRJVS_SdeBVbFKjbyqFdm6FvwRomSevRkbV9Nh_8g-nuMy7-Uvs4yLkuMzGkUqacgL9PDGC0VeD7cZX3I_6EBiXEBiYu5o_7lV2y7fUgEY68JPd4pgpVL4S8WKfF_FS9w-TRHe2G4XOZ84JG7-xQqdeQv4ueVbXFEFLYqOzuqqer091pyKwuQ9JG2ZEo3ZXYrKVo7r0QxtOXHnYopH-7sYAfEhAvx_cQblZfx7xdAwSkzbxPeYnUve82S-sVz5ZSRLqlXClIKMu9bEf4OcVA1vJF_XvHA9vBjnq1aliV1OWuNxSbRkuBgovongiYQGm6Z-jNCE_Nv1tgw-F875ToCwnzk9qhE5EGsDTw7btLgCvD_NcxrQiICvEhgVuGRMZ7PjfCo2nE4T2xEtl7l79nX9hiNewwWbBM7svaprh9u_X1cIzhLK-LU-BzNY9q8RPsHoSCUbF00BQWezDY00N2drAOZZWseM1DbFNnO0uA8HBDRpoG6Punc8rDl7RR11D8XM8-7Fbd4PrqPW1AaK0eKrerj1533ZaovrE6BhF-bNUm5oOYiweyEsfyW2SZSqNUeA-GAdViGejjSHTD-2pS5yylYx5kljKOta4G0gAcalK37HQVLwxJTFiHUnG2hSU9uRKUSFhTgSxWDtXLMHgkUlgM7Yb_d_MKMk1lpilbEi8NWwMTVaLSC3v0Z_t0Sq28ZsDPKWVXtVbfZQatjXQuMJ3BDAJMcTaOzqt0xu5kHdybl2GLXf4rM0uuoriSAQsbitw24Bb9NDdrRwshBygb7tPJl1fMyVreE44OQLqncUHllgBZ8o4ynlNrEeXMWwlwpoAuaxyQu6VYqK3m_7eGq9pYhb6PVe-vJf45V0glAbKvFwW3AcXgcPGjm_D-STwhjKkT0Yrv8A26j3yq9hHE0AQfwzxFTiQq0duqId2lq0cbSEz0Ws-BdsmuJbv4DDuQn7tsVe80=",
  "id": "rs_0af40c221ff6d149016ab445faae5c87d0a0288e4d1f0845bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.05,\"left_z\":0.04,\"left_yaw\":-0.7,\"left_gripper\":0.6},\"note\":\"After retracting, the left bottle cap is nearly centered in the wrist view; its apparent depth changed mainly because of height. I will now approach the inferred cap position at low height, partially narrowing the jaws and rotating them across the bottle neck to avoid catching the body.\"}",
  "call_id": "call_huLKGUyPy07fGXAHv0ZsZcqY",
  "id": "fc_0af40c221ff6d149016ab445fd633c87d080cf724f82de0467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_huLKGUyPy07fGXAHv0ZsZcqY",
  "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]: [0.1135, 1.829, 0.8299, 0.2874, 0.6407, 0.4137, 0.6024, -0.0193, 0.7166, 0.4511, -0.3351, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.0526 left_z=0.0556 left_yaw=-0.6418 left_pitch=0.014 left_roll=-0.0387 left_gripper=0.6024 right_x=0.2768 right_y=0.0031 right_z=0.1398 right_yaw=0.0006 right_pitch=-0.032 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [1.265, -6.4615, 5.053, 1.0037, -0.4176, 0.3248, 0.0366, -0.2667, -1.2513, 6.7897, 2.0049, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56e169e9d38496324031607506b9a246b88b4db38d86331696d80e691053f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519f1321bf1ab33f280c8c7f652a0ec879b0ff3d3ecc9942ce88d3b69bb9d68b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f3d3800d5f59bebfc300c9ff63ac85e03b52785eddadebb0a7747280f5d1c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.645 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 25 changed as sent

message 29 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2108, 0.9986, -0.0193, 0.7712, 0.5522, -0.3851, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0056 left_pitch=-0.0623 left_roll=0.0146 left_gripper=0.9986 right_x=0.2861 right_y=0.003 right_z=0.1614 right_yaw=0.0006 right_pitch=-0.0354 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.5556, 8.6496, 1.9463, -0.2515, -0.0073, -0.1587, -0.4034, -1.9214, 6.9538, 1.9707, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2569, 1.1595, 0.9695, -0.3981, -0.2314, -0.1829, 0.9986, -0.0193, 0.7372, 0.4831, -0.35, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.367 left_y=-0.0508 left_z=0.2325 left_yaw=0.0248 left_pitch=-0.005 left_roll=-0.0121 left_gripper=0.9986 right_x=0.28 right_y=0.0031 right_z=0.146 right_yaw=0.0004 right_pitch=-0.0354 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.0803, 9.9761, 1.8095, 0.0611, 0.2955, -0.1587, -0.1983, -1.306, 7.0222, 2.0049, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1135, 1.829, 0.8299, 0.2874, 0.6407, 0.4137, 0.6024, -0.0193, 0.7166, 0.4511, -0.3351, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.0526 left_z=0.0556 left_yaw=-0.6418 left_pitch=0.014 left_roll=-0.0387 left_gripper=0.6024 right_x=0.2768 right_y=0.0031 right_z=0.1398 right_yaw=0.0006 right_pitch=-0.032 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [1.265, -6.4615, 5.053, 1.0037, -0.4176, 0.3248, 0.0366, -0.2667, -1.2513, 6.7897, 2.0049, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56e169e9d38496324031607506b9a246b88b4db38d86331696d80e691053f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519f1321bf1ab33f280c8c7f652a0ec879b0ff3d3ecc9942ce88d3b69bb9d68b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f3d3800d5f59bebfc300c9ff63ac85e03b52785eddadebb0a7747280f5d1c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEYEE9vMz3bgMRzNNBTJfYwHyJMCm7wZu_rhtfDERdNml7RjJerU_9o7s_-HyqaxM8ZMDRiXyGeJq0b0b0CFsp08srzig-pVaEokk5D7FcQqtB8XzowPrMWDGJvChol2d_vsD6Ccyci701itTyHtmH5Nn6zH0EI6CCjBUjm8Fle9jZutVAtR3-nf1qj1EMgzPg6yAfPVJxmPKEOi6Lc82Dkqk6XS_VhUTa8i3q5O5kdJM2rgvwNeTGm5bB8tjF7UtZvfE3i8KWYuUcxNoJFE3qip8VhCWTVIcnO004r_hAC9sYpO6Me4tJuOA8QRhqNhV41qmXQsM_VKbKCxhLR1loHn0KQqy1M5bBe-kba0gs7Z1qsA7vdQWmFfX76sLotaQHUenRo83M7e_iDj1U17hGFzGvmI7Z8f5ngXpHh8CsNazlrzq3ENlMlVXySnmRZ5SvwdB4EgmNWhWmzfLZ_aft67qMTgOc8jMAxIr7QBLUaj3vycb3KetoY-dW89WxOMkrmqzsRJX-lZLp8eANp5odSz8GZ5wxWpgn6W-vARO34PFOqg74pex27-JTACMz6gxgMpjJ_8ryYGpN41LKwCfXs6zFGSYzh9wHQQBM7wZvkNhWz6OubudS3t_YKeu1-wCFr2jjdrwpmeYVtUjOz6yJ8C9Z0AGiYFx7OEj4uEpy4bL6Yvx-_Fv9e2rOcrISzrsybzoxm3MSQN3TaRmiAL400fXRq-rUQRvM4RyoF2Gsk51aHs4a4LpXPbPUwT3bxUsoe7PhdAEBUCVSQP9aeuAvnyVMfwmQty9SApsNE91mAh9cLW8VGtjd9DCPrCkhcRLwStZA0GEvP8TGWyzaYP6iUrLGi34vKjyk3MIGWT5tS01bqqIb-iP6PkWupXJrrmqGWGn552pNjsl49I7sZPyF5HsV3qrF-368WmwRrSVXOKjGW36NeUAMGKXEZArCinqcqfckGKjxd-YPNKm-YkHgEFfHF9HZP8rGRmj6gHL6qhpN9v1N_q16wD5h1gpMwHltwKuH9LVKu_0MAtzDIJ0AZpU8efirwdmrM7rg8eYkx8vtc8mUx7qUcbOgbJV8c-9mf8AEeniBGQPI8CIaIxMbWX2xBdzH1Hido_cVarFkroUU_w1oge1nebStxglufadIZbZoblpxi9cHM9YjHWc56hfYe4aHY14BJ2GJpoUDytRhhYhTOyOF1-9z81PoW3UkZKXaxek9tnDvghGjADKMdqQfLlBoCdTf0up9_5Rg8Pw-7eJtWAi30Z4NPORgq46VkzFPWLpR3elbXA2ONpwa6GDfdUZ-ktE0ysru4rujn6LQU6_cty5y2OwABaqu2SsUTDAeN-54B9HFYfEDfMq3w04fVQnr5oKotrvJkxcPTfW8jCXMYx-jbrCb6ZrrRxVHqFQsS0wjIhvAaUVH9IXMzPqgyYyh2DT8HkSy6S4ycqknHLWOlBcDr-vy5NgrsPdyCNO2MPtEwIICgA7JReOR8G-Mk1YscQmLxuObC0dJQltDcBQwd2XxjbCNL11jP1PwzCqaK0cZnj3tEZbX5K9NsQj1JVbOT7cSGxIRk9wb56p61_uhXZj9elUurVuzR_9j77RYY7YuBfsQyuSTnzlgChW3yBBplfZ7_CJuaBo7dwJMKCj3mD6exg-zvdvI3iJKWXOApuuj7OoctB6_iZhAwGl7CCkX79HVw2xVUYkX1gpXk-SO0CFLD3vX0WhEiYPHwVmoaZ2rpSm_d0fCgm2-8hfyXDrxcI_1e1LEkx4YE4Yu4jv8QUjIOXVHmRh1f3yg7CtpqT1y3Ww1-0IE8dNEzTCmkdAPCCHDiPx2RIdDKPDSGEG49DOltCn8KpSm6hvM1Epvil5Uwh7Od9rqxAXnFf6YiSRNNxoRx5jkbfwpZ-wvonaulhsHvwF4G8u5QXTiJf1YvW73kTx8CQ9MrFhKlmj5tLYj92Z3spcrtWeJiMpkjM64Vr_Lv29CehEELcui6vQTsf9_HAvpwsxF9Qm-fs6MOXzDz3c1lHjabydPuWcFyXtQ_U_cxRihnaq2oCXga6WgW02pxxCeA3Vj_hWQ1igsPZGsuFk-fRenAMSeTwKlQ7G0U0YbOHZILin0sgluzUxa2N7QedBFClQPGshZodKWw6IOLVV7P539WUJeDlyqDWovZP2sUyyNp2cYEHjRcnzUHTPjwHG3yTckDOU6BSRXbvplnTj58K47Pwh106lGp7ynerNSry1BiznOzbJmk_",
  "id": "rs_0af40c221ff6d149016ab44600e4c487d08eac63618288b3ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At low height, the left bottle’s body fills the lower wrist image and its cap/neck is hidden directly between the jaws, while the other bottles remain clear. I will close on this neck and use the settled jaw width to verify the grasp.\"}",
  "call_id": "call_0Mna6Eyja33g9Tj8uCbMxXSj",
  "id": "fc_0af40c221ff6d149016ab4460319f087d0b675f17b4ac56d14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Mna6Eyja33g9Tj8uCbMxXSj",
  "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]: [0.0998, 1.8275, 0.833, 0.2985, 0.6109, 0.4389, 0.0134, -0.0193, 0.6998, 0.4225, -0.3225, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0539 left_z=0.0571 left_yaw=-0.6466 left_pitch=0.0125 left_roll=0.0075 left_gripper=0.0134 right_x=0.274 right_y=0.0033 right_z=0.1336 right_yaw=0.0009 right_pitch=-0.0312 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.3197, 5.012, 1.3797, 0.2515, -0.0171, 1.2137, -0.2256, -1.1145, 6.9538, 1.9463, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b232123bcd1b8f7aa75c5fa6236b60215723eff47725fffda11239dcec92fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ea8e7363f8c3512b72e4b1a60ce5babc0e70154ec474ca725f89b508caec05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d534f911725255968fcf99ef5f0781feebd50af4ee92bbaf41ba35f63cc108b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.654 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3454, 1.5932, 0.8539, 0.0814, -0.2825, -0.2111, 0.9986, -0.0193, 0.7563, 0.5194, -0.3687, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.0983 left_z=0.1088 left_yaw=-0.0054 left_pitch=-0.0623 left_roll=0.0143 left_gripper=0.9986 right_x=0.2832 right_y=0.003 right_z=0.1537 right_yaw=0.0006 right_pitch=-0.0369 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.0205, 8.6359, 1.9023, -0.2125, -0.0464, -0.1587, -0.3077, -1.7983, 6.8308, 1.9951, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1135, 1.829, 0.8299, 0.2874, 0.6407, 0.4137, 0.6024, -0.0193, 0.7166, 0.4511, -0.3351, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.0526 left_z=0.0556 left_yaw=-0.6418 left_pitch=0.014 left_roll=-0.0387 left_gripper=0.6024 right_x=0.2768 right_y=0.0031 right_z=0.1398 right_yaw=0.0006 right_pitch=-0.032 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [1.265, -6.4615, 5.053, 1.0037, -0.4176, 0.3248, 0.0366, -0.2667, -1.2513, 6.7897, 2.0049, -0.0611, -0.022, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.8275, 0.833, 0.2985, 0.6109, 0.4389, 0.0134, -0.0193, 0.6998, 0.4225, -0.3225, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0539 left_z=0.0571 left_yaw=-0.6466 left_pitch=0.0125 left_roll=0.0075 left_gripper=0.0134 right_x=0.274 right_y=0.0033 right_z=0.1336 right_yaw=0.0009 right_pitch=-0.0312 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.3197, 5.012, 1.3797, 0.2515, -0.0171, 1.2137, -0.2256, -1.1145, 6.9538, 1.9463, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b232123bcd1b8f7aa75c5fa6236b60215723eff47725fffda11239dcec92fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ea8e7363f8c3512b72e4b1a60ce5babc0e70154ec474ca725f89b508caec05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d534f911725255968fcf99ef5f0781feebd50af4ee92bbaf41ba35f63cc108b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEYJbtugaPB-sZOXCxzoaZp0Lblt1JwjQwmuiiEUVbtpkscnmxMd6HS93cnzIYChGwXiondY8d7KpfCgO1Vzzbktd39L9ZfV1tGIRQFuzZkhbL0hu7V0TcAtZuD7oNfQiTdtsb69_AP3OCxi_G1mxe7y3YmEYiXk_jhJnzDGmCbSJtUqkKzV4veL_m1q6tXcLzvCDDeYAZ6W_KrGE4CjpxXqomGwGZlqQXeHXEx3m00_vrBbI-Lgf_x4YPkSYzzgiNSEPviwjR5lQg_5LT0KTn1dtUQMQ255TTorFROnbnElerE76UE1vqav43jUwFk8c39ufbTuTta7F5x5m6juLFOF4X-mP3TrDtinIUAtcagxnFY4ANpK56L1MSgqBI45OYeInCNIKLCY3E8ehCJf2isD0xnxrjPvFh_oCA3GDUlqWtZNe9kfFw5yc4hds31PjkoWGkK3uGpNiTEfAAuKiHcAityr_S3Oy3VgmDqShFEIlurQXzZdqprH-xEr6hk99TwgzeCYVhxAhS8YTNWh1p3qRseee7ggFEZWLhfIMY6U4f_8FymuraVtxgaGNOSv5_NFXTspfgZXRkrMecN1XDqlqBZiuydG0Lf6Q11vQyOQCIxLFtrr05JTn__UM2xMXLYwmdok__KhQFeBxJPui4NGUxaIAa0KNMZ0vjtz5_GFV73vQNSEM8tW9XmnLgHf0Az-c3J-4k28nYIGNiYYhSk2WYPBru82JWsxa56PH33DgO05YV8lYDz66V7h79mkMYjF7FESSh6Km5D4vdmm8HMrAYgkyNWTPTMIkWvJtdfdm_5FS1zInkx7cWJ1yLnsYqSIQ4swqNQonlKlRgeUNfwW8YFQmB6PHl6ji-oWgGZP08FQYlFWs5X3Sm9lkYxm9E2cH44gD-1asfjXVWwS435vcunbu9Px_TMY2wKRnO8Mqxunb4TwgKJrQ1E0EUPGki8wKuLwQsFeYe-pfJdXlb13Om-O2TumeI-FGrYK3F6Kiq0hVuoceMRieMjU7asgIPh26547FC0nn4ZqPfWn5C9WWSMGakriiNl8_yMQjXxkWmphSc1rXNki4EPvn78alg2FYQCR4V_Ep0ZpbWw100PhoUCYlVJ8USQK4HD9YGLc7_nqrwCNqhKS2GE9bq2lU4EckVu0PVUmQts4L_yM5A6n5iFnWGwRpMkYb90pQUSBvX94IXm8JZxw52MMSHrLLaDTz5rMsgsLKzt6gMStEgPAyrGYLYERLXUo1B--W-OkPtA4Ba-iStjb3jkFHsyFioDOn8OZr-o-C3oJ4UztRuwV6x6P0yqMQD9kVeNkFUyNZgEDX5Hk8-UPGUPx3M0oIVEwYWtKYRdE4tRxOOMJFSIlckF-ndA-SSReRulYkrhpi6fVAvnwOabvLiupWZZSDNOaBBLm6yt3q7d38kXnE3ahJnShFFcLVlfRVcw8UrcAqVXxk3l2gGAjjboVFoj94IW8O5o1FDloaLOo_xsuVvmRMRSfFwKUUm_TTWB_Ki-sw0WGGHCNje9TKPeF0kJDDcr16RcZ-4XqLeZ3wru-TueexmsKbg9rdAP_1QwSwzXBx6BaUskbShf_7CGhAbAUYNxVSrnsL7Cnk-1ZxIQFqt3lhtYd3VoFA8aDZKb09J00NAqwlIiqPQU0LUU3ssSuWRmjHOrkPYEQDZ02VBK6hk8KrkGn8-XouhzXVefljvdUGxmMif6E1IvMHl9QkfdypgiGy0Nhgznrhn8Ei0vs3RFB2PMZZ9C0GcMC1aQTzvPMW5jtwYWUZm3xTMun84RX7gCDMyYRcp_nWYvjMFf7yTJyApI-_hActAjMO9KrV_vt2txuiQfcIf7m4TOukSlaTO9vbb-5gKFxgbkbgW6N1xfCekd2daoOAWkwy_6T27OWTmbrYEtjm7eKStjLJOdFy3Hv-4R9bCaTUXBPlh-co9k3TIHQ3xcF8bHxToIvKRt2Rdx7gKcDATgau-pG_5wcGSVN4KjMi_E-LEqyfxA-KsbDFoWEXCKazw7SKal98sNMMHx-XAP7E4uiIeOEQquLPoragtZf-iBu2vNJIxl1RFtCDyROf7tqs4uBqVONzRKkGR9O5GzXiDyPyIl_5PipCZ8Y_F9o6hbeXNpaREruk3LaqqVX84kbBkPDX3rvVH6W_6ENYuAt0RQfveikD3uFPCi0",
  "id": "rs_0af40c221ff6d149016ab44606304087d09445b64540a83297",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.02,\"left_z\":0.05,\"left_yaw\":-0.7,\"left_gripper\":0.6},\"note\":\"The fully closed reading is 0.013, confirming an empty grasp; the wrist view now clearly shows the blue cap about 3 cm left of and slightly forward of the fingertips. I will open and shift the grasp point left in the arm frame while advancing about 2 cm to center the cap.\"}",
  "call_id": "call_k8h7yGKy4xQofgQfUFVzlMgg",
  "id": "fc_0af40c221ff6d149016ab4460811e487d0b8d17323fea93b34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k8h7yGKy4xQofgQfUFVzlMgg",
  "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]: [0.1986, 1.924, 0.9451, 0.168, 0.6804, 0.5377, 0.595, -0.0193, 0.6823, 0.3931, -0.313, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4533 left_y=-0.0185 left_z=0.0397 left_yaw=-0.6528 left_pitch=-0.0333 left_roll=-0.025 left_gripper=0.595 right_x=0.2706 right_y=0.0033 right_z=0.1266 right_yaw=0.0006 right_pitch=-0.0335 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -8.7453, 8.1709, 1.4481, 0.5104, 0.1294, -0.2125, -0.2667, -1.1282, 7.0769, 1.9512, -0.0317, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cf0b419ded7e311dc1fd2bb77d168a0480ca76d516258b9ed6a72dc0f52d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f87db7184849abf11eb12d114712f3509f94a0ca5ba293e8e5b5c2cb8268549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d02330d10234f1efde991866d365db4ee8e5221dbe890f2b655209e0c1804d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.05 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2569, 1.1595, 0.9695, -0.3981, -0.2314, -0.1829, 0.9986, -0.0193, 0.7372, 0.4831, -0.35, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.367 left_y=-0.0508 left_z=0.2325 left_yaw=0.0248 left_pitch=-0.005 left_roll=-0.0121 left_gripper=0.9986 right_x=0.28 right_y=0.0031 right_z=0.146 right_yaw=0.0004 right_pitch=-0.0354 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.0803, 9.9761, 1.8095, 0.0611, 0.2955, -0.1587, -0.1983, -1.306, 7.0222, 2.0049, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.8275, 0.833, 0.2985, 0.6109, 0.4389, 0.0134, -0.0193, 0.6998, 0.4225, -0.3225, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0539 left_z=0.0571 left_yaw=-0.6466 left_pitch=0.0125 left_roll=0.0075 left_gripper=0.0134 right_x=0.274 right_y=0.0033 right_z=0.1336 right_yaw=0.0009 right_pitch=-0.0312 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.3197, 5.012, 1.3797, 0.2515, -0.0171, 1.2137, -0.2256, -1.1145, 6.9538, 1.9463, -0.0269, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1986, 1.924, 0.9451, 0.168, 0.6804, 0.5377, 0.595, -0.0193, 0.6823, 0.3931, -0.313, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4533 left_y=-0.0185 left_z=0.0397 left_yaw=-0.6528 left_pitch=-0.0333 left_roll=-0.025 left_gripper=0.595 right_x=0.2706 right_y=0.0033 right_z=0.1266 right_yaw=0.0006 right_pitch=-0.0335 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -8.7453, 8.1709, 1.4481, 0.5104, 0.1294, -0.2125, -0.2667, -1.1282, 7.0769, 1.9512, -0.0317, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cf0b419ded7e311dc1fd2bb77d168a0480ca76d516258b9ed6a72dc0f52d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f87db7184849abf11eb12d114712f3509f94a0ca5ba293e8e5b5c2cb8268549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d02330d10234f1efde991866d365db4ee8e5221dbe890f2b655209e0c1804d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEYNjyG-P2VzWf3FZodAVlMWOKlMe5N52mqL6WsS7nQxJrXGZNeI2Tqit0zF8pONMImAlnQUV-Yw5yUT8GTMw3P35U79DFnsnmlbsY1q2ZZqTQPfS8frhjlNu0F2K37Z0dO5-u33lM7VAb6Sm5dfC05HzMnH_26ZJFvPV4T-S4Wp0XHY5uKSNiQt2fPgM7Aa9pvAhNZWs6vIZ7Fe97bNeX_2xEO5KdMNgtHkTbVj3MA6CtLsyUdubfuHvY-aATDEJcvG4ZQ698aPsw5oPYO4LW48YbyHpIio12RTeXHlVTG_Udr2Wk5h5GWZ3iUUuqoonS7Lz79wjpqHU5fNqYq2MoVlVLQBHuZnzrmI695BQfQDdmij2DUgLG2lKn4rRzYTJjB5uwNOIUn9GbGyCtD5uyU899FPZX9FiKKGoJbRUCKJcAgg6bIDdsJVqIEoNNushBYpExr61JE-flIqgY4iD1nphUzqU6NBxNgJQMTLWCitqZq2oM_XsLTJUN2ZyryMSBmlTM_VeR7ZhM_6MJQoCNIV4FCx4LAWPABoV_Xj7CdEtq0rV88Tkrkm6DV3M5okfAAMVu1UaK-qB7fm5uqvbuNd0YmDSfcd5zZDPyggqgYB_n5QclMZW02v4R9e8ZJsaNTqqmzy25vLb6Vpl3goVfaZWd45l7gOXL1agerK9Hp2afRKf1tH5ZAckif8x6JgyJUS2PvY0rkHOSzK69_bTR_pYRNDTBwRTj-5-mw-m7V4lPNbLhCM3Vdmo1j9TyCcOgG8qa2VShQ4p-9B91J_rYyzVLvWN81x9EONREVw-uHYViQaBjv9xqsLv491k9wf9wXLxwWbVpaaoTnJuaspFR6Y5S5aQFLGyqfkTjQM9AZ-IWoMW-YQY_xw6_bgW643FlB2cmZCHTx82SDzJcypeh32AdpddUsInIbY4Z_mamQt0PlOYSFCXTWS4S_2Uj5HxVKdJD4l0mppjWxU7aw6BY-eSDcq2wN_gCq28G5v1g6gGGJw0L8W15Ltfsh-9DY6-Z00vd6-cLTPUUsjOCtY01_9vagdi7gPCGJo2euvAB5fqf8nsUtpFdO3lG5VVVZhMtBmBTKWBp0Mlf8vdeK788BVQFNAzVS0jEwDfeAPz6AVfj-80xDV3wkigCQJjzJ3F2SwNT41LefPdv0E3kGwVsRHdiyPdhXitiuSkEpnFRauDSK4dBoErPyp3D_1-gFZ8bobI6HFGSoSElyV-1hnWffqxjQEsnma7B2I15BxaUAETZOmQaywMg6EFJU-aBMCMcjZDEAYX1yGMe9xwC6e0eV2SdK8NBReBT2_8poY64jxtlkyweqYHVKnW_9-a7tcReKioNySxbRP8NWcvGe9f0sOHUevTsjPKE6-HckOs9k6lI4=",
  "id": "rs_0af40c221ff6d149016ab4460b4e4087d0af8eb17ec105a5ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The opened jaws now visibly straddle the left bottle’s blue cap in the wrist image. I will close at this aligned pose and check for a nonempty settled width.\"}",
  "call_id": "call_axihaJozoN0hwlr9lb4aK6Tz",
  "id": "fc_0af40c221ff6d149016ab4460c70f487d0b1005cd3989be568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_axihaJozoN0hwlr9lb4aK6Tz",
  "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]: [0.2028, 1.9282, 0.9112, 0.2321, 0.6796, 0.5236, 0.0136, -0.0193, 0.6643, 0.3614, -0.2974, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0168 left_z=0.036 left_yaw=-0.64 left_pitch=-0.0167 left_roll=-0.0169 left_gripper=0.0136 right_x=0.2677 right_y=0.0034 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.306, 5.1077, 1.6288, 0.4029, 0.0952, 1.2723, -0.212, -1.1829, 6.9812, 1.9512, -0.0317, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9f8420c638589713965e4cb21a33dde72c051e1ebe196c35c9b4e523e2da1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ccc69904fb3ec9d3080b55cfc87058318391e2245519bccb490f553cf64a98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9719851bf0568ba10e52770ed85810ba7d728158f66b9f7838efc09c6ba8e55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 5.522 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1135, 1.829, 0.8299, 0.2874, 0.6407, 0.4137, 0.6024, -0.0193, 0.7166, 0.4511, -0.3351, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.0526 left_z=0.0556 left_yaw=-0.6418 left_pitch=0.014 left_roll=-0.0387 left_gripper=0.6024 right_x=0.2768 right_y=0.0031 right_z=0.1398 right_yaw=0.0006 right_pitch=-0.032 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [1.265, -6.4615, 5.053, 1.0037, -0.4176, 0.3248, 0.0366, -0.2667, -1.2513, 6.7897, 2.0049, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1986, 1.924, 0.9451, 0.168, 0.6804, 0.5377, 0.595, -0.0193, 0.6823, 0.3931, -0.313, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4533 left_y=-0.0185 left_z=0.0397 left_yaw=-0.6528 left_pitch=-0.0333 left_roll=-0.025 left_gripper=0.595 right_x=0.2706 right_y=0.0033 right_z=0.1266 right_yaw=0.0006 right_pitch=-0.0335 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -8.7453, 8.1709, 1.4481, 0.5104, 0.1294, -0.2125, -0.2667, -1.1282, 7.0769, 1.9512, -0.0317, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2028, 1.9282, 0.9112, 0.2321, 0.6796, 0.5236, 0.0136, -0.0193, 0.6643, 0.3614, -0.2974, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0168 left_z=0.036 left_yaw=-0.64 left_pitch=-0.0167 left_roll=-0.0169 left_gripper=0.0136 right_x=0.2677 right_y=0.0034 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.306, 5.1077, 1.6288, 0.4029, 0.0952, 1.2723, -0.212, -1.1829, 6.9812, 1.9512, -0.0317, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9f8420c638589713965e4cb21a33dde72c051e1ebe196c35c9b4e523e2da1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ccc69904fb3ec9d3080b55cfc87058318391e2245519bccb490f553cf64a98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9719851bf0568ba10e52770ed85810ba7d728158f66b9f7838efc09c6ba8e55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab4460f11c887d0abc9cbdfbb09246a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.04,\"left_z\":0.035,\"left_yaw\":-0.7,\"left_gripper\":0.55},\"note\":\"The second close is also empty at 0.014; although the cap looked bracketed, it was still above the actual fingertip convergence point and is now right of the jaw column. I will open, advance 3 cm, and shift 2 cm right to put the cap at the true grasp point.\"}",
  "call_id": "call_EvzfHbTSNB96ISX8aT7kYBkh",
  "id": "fc_0af40c221ff6d149016ab44611098887d08c51408ce8ebba5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EvzfHbTSNB96ISX8aT7kYBkh",
  "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]: [0.1509, 2.0071, 0.9913, 0.2203, 0.6651, 0.519, 0.5449, -0.0193, 0.6456, 0.3298, -0.2901, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0354 left_z=0.0255 left_yaw=-0.6792 left_pitch=-0.0315 left_roll=-0.0218 left_gripper=0.5449 right_x=0.2637 right_y=0.0035 right_z=0.1115 right_yaw=0.0007 right_pitch=-0.0373 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -8.8274, 7.4325, 1.5311, 0.3297, -0.0171, -0.1832, -0.0889, -0.9641, 7.159, 2.0, -0.0317, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffa5de58f118b026abccfc8deec5f85fde59f6578f8da026891af1d5d0cd8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dfbb8e9a1ef5e92b61f36274ed617ccec079f89444f479ad3e1e8e4165a2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91722a6226d826950febf052a191b5279c3c98d64f6f5c76cc717c2963b8318c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 8.442 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.8275, 0.833, 0.2985, 0.6109, 0.4389, 0.0134, -0.0193, 0.6998, 0.4225, -0.3225, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0539 left_z=0.0571 left_yaw=-0.6466 left_pitch=0.0125 left_roll=0.0075 left_gripper=0.0134 right_x=0.274 right_y=0.0033 right_z=0.1336 right_yaw=0.0009 right_pitch=-0.0312 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.3197, 5.012, 1.3797, 0.2515, -0.0171, 1.2137, -0.2256, -1.1145, 6.9538, 1.9463, -0.0269, -0.0562, -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]: [0.2028, 1.9282, 0.9112, 0.2321, 0.6796, 0.5236, 0.0136, -0.0193, 0.6643, 0.3614, -0.2974, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0168 left_z=0.036 left_yaw=-0.64 left_pitch=-0.0167 left_roll=-0.0169 left_gripper=0.0136 right_x=0.2677 right_y=0.0034 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.306, 5.1077, 1.6288, 0.4029, 0.0952, 1.2723, -0.212, -1.1829, 6.9812, 1.9512, -0.0317, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [0.1509, 2.0071, 0.9913, 0.2203, 0.6651, 0.519, 0.5449, -0.0193, 0.6456, 0.3298, -0.2901, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0354 left_z=0.0255 left_yaw=-0.6792 left_pitch=-0.0315 left_roll=-0.0218 left_gripper=0.5449 right_x=0.2637 right_y=0.0035 right_z=0.1115 right_yaw=0.0007 right_pitch=-0.0373 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -8.8274, 7.4325, 1.5311, 0.3297, -0.0171, -0.1832, -0.0889, -0.9641, 7.159, 2.0, -0.0317, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffa5de58f118b026abccfc8deec5f85fde59f6578f8da026891af1d5d0cd8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dfbb8e9a1ef5e92b61f36274ed617ccec079f89444f479ad3e1e8e4165a2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91722a6226d826950febf052a191b5279c3c98d64f6f5c76cc717c2963b8318c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab44613e69487d0b05a6e12cd429bb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.05,\"left_z\":0.03,\"left_yaw\":0.0,\"left_gripper\":0.55},\"note\":\"The cap is still in front of the fingertip tips; the angled wrist rotation also makes the camera shift harder to interpret. I will use the remaining forward reach and return yaw to zero, keeping a neck-width opening for a clearer final alignment.\"}",
  "call_id": "call_rWxN6KBQ1pMTNGLgzomIzmP2",
  "id": "fc_0af40c221ff6d149016ab446171c2087d09fa827c7cda6ee72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rWxN6KBQ1pMTNGLgzomIzmP2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.136, 1.9961, 0.8757, 0.4904, 0.065, 0.038, 0.5489, -0.0193, 0.6205, 0.2958, -0.271, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.0741 left_z=0.0131 left_yaw=-0.2224 left_pitch=-0.0631 left_roll=0.0059 left_gripper=0.5489 right_x=0.261 right_y=0.0035 right_z=0.106 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.9915, 7.4325, 2.0537, -0.0806, -0.2613, -0.1245, -0.2667, -0.7863, 6.9402, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b038d8375798d57a6f92763d782da8a77d26b47506b8f27ad213d7054aa33ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbe4bc80c013632d067e8cf71f6d97659cdf7099df196fdd88228db61c14808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fee4f76b56b2954351491cf3ee92044ca84099187f70a4fa9873e6ec7094ee7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 8.184 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1986, 1.924, 0.9451, 0.168, 0.6804, 0.5377, 0.595, -0.0193, 0.6823, 0.3931, -0.313, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4533 left_y=-0.0185 left_z=0.0397 left_yaw=-0.6528 left_pitch=-0.0333 left_roll=-0.025 left_gripper=0.595 right_x=0.2706 right_y=0.0033 right_z=0.1266 right_yaw=0.0006 right_pitch=-0.0335 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -8.7453, 8.1709, 1.4481, 0.5104, 0.1294, -0.2125, -0.2667, -1.1282, 7.0769, 1.9512, -0.0317, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1509, 2.0071, 0.9913, 0.2203, 0.6651, 0.519, 0.5449, -0.0193, 0.6456, 0.3298, -0.2901, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0354 left_z=0.0255 left_yaw=-0.6792 left_pitch=-0.0315 left_roll=-0.0218 left_gripper=0.5449 right_x=0.2637 right_y=0.0035 right_z=0.1115 right_yaw=0.0007 right_pitch=-0.0373 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -8.8274, 7.4325, 1.5311, 0.3297, -0.0171, -0.1832, -0.0889, -0.9641, 7.159, 2.0, -0.0317, -0.022, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.136, 1.9961, 0.8757, 0.4904, 0.065, 0.038, 0.5489, -0.0193, 0.6205, 0.2958, -0.271, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.0741 left_z=0.0131 left_yaw=-0.2224 left_pitch=-0.0631 left_roll=0.0059 left_gripper=0.5489 right_x=0.261 right_y=0.0035 right_z=0.106 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.9915, 7.4325, 2.0537, -0.0806, -0.2613, -0.1245, -0.2667, -0.7863, 6.9402, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b038d8375798d57a6f92763d782da8a77d26b47506b8f27ad213d7054aa33ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbe4bc80c013632d067e8cf71f6d97659cdf7099df196fdd88228db61c14808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fee4f76b56b2954351491cf3ee92044ca84099187f70a4fa9873e6ec7094ee7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEYh4HzIll2HUuErbCEHMQI6S2Lne1Jw_-KpVfJwoThyQ722oJcGIaYKKmSsT80wCOQ43yK9tDnJNUydZ8tduAXGlmVm0KZTWc3gnI6oLZmf2pfhI-X3BwkuxNmKBKXZP1zoYVjVL0CjbYqsv_GkoaGpROchjciC9YFCK8TvL_Erub-fNRFvhDinSwiX0gMiBwTzhTyvkAzb-QqCkQUQ5-g29GH-5ylmXtwrPWmCL4d9R339n5fURbOKvEQXDFj5qNL7scWVh40wNBtPUt5uPyh6MXEY1QGqJAEnfZDFMxcOhIkIkjWKfI_pHhUqi2-2MdzJzbECbMAE1uY0uThzFpNq8GJyew8l94ev1jRUlAg31CIvQ5OJcvqd_jtqi6MwnD1eYzlctmTnjLCAoBCrkde7rVKeeGxiehFgLpGTWW2DeVi88nRP9rBjGc072QmaYHS9SQdVZkQIrKaa2D5kD2mjys2eIPbB-OrmuGRmHhqhuW6GSRDKMEIrod4crCQA365-V2fXuE62nfnAl24zvC1Xt7JPTHGHF4T51wxX1MuLZPfPT9aIOUwPRt7s2DiRrU4zbqNQUowwn5OcfuO3nTMrS_mu4LLcp1OZKTMTOv6T3zfHcRl8ND9U6w876vHa2-WV_Qm8hokkIQZ9fO9zAfRvD2orQ2EnO0hmz3pDXuIC8DT1mCvben8S8Sm6wWi-uugZ63sLrns4RGWmUt8smg0rVjUHyyG4w5yhl787rh2c25QkE8MZZuHLPq9MzDL-rnKQtebm94xI4oaCtGsOGzOfBNiVcT8Nc6zBS0d0SflmYUSUcriInU-Lq3YiQ3jg4e4-CIYaQJf1oWNLkXlxUaCxMuqVvbrs-gwi3nLS4Q7FJT9URi_2X3aAnY2eij4SIpa2QubRl45KED0kyzfv4CU5-aMt_ISwYWuIG8ec4dnaQLMS8CTWhTq8kx6b7C8g6NsQ_KY-FfdjO8danKOnexNGp4xxN6-Y6z8UWqHLnBCd1nm_8h0xO14dNWGrh0O2T9nQC9OzrSMTMVJyzgi4JNhSIuZzCcl___AQcn_QtPwXS6FmIWGArzsGpwzk7dlhvCnCax_93z6z6nM308TLvEhXSNKUMFX6ba3WwQufdRC-nXdTdcqv_QWjBKzE08sEE57Ko_GO0P_Q7LJuqhSwq-Bx2Is0PLrRhc0yWxeCuPkXwRJwms-c9715r9ZgYapXFcFqMde8z7azA1Qf3eQsSH0h07oaMSCPUu_SgKSa5C07DWui4giQIOzncsq6wbfAoD7C5Un_uZGUqz06vXDZZsZZdXGUbKAdtlDc5y67gS8txtfR0sxpwqZG7oNEzsJy1HENoNa4odcnfS-XzzMdIVjsrqo0C2IehctKP30aL66c4FevACwb_W29WODJ1_h7jnCf_sqwa8iWj-moDOPWLytm7jOucmxprlMTEMpB0CrMHQ61WwP2Rbl8zxCAU4W2y8gHtmb3IRHAabur5nq0bfYB0u2ORAHjcSfvO0L4fKzQVgaHyhctgEY0I0FDWJPRrXl0mAf7tXt9JldUoJJxzm1bPg9o_tqS7-5W-ZMCtMea1l_rDgiK3zsSYhyxhrHYgXxaUHT0ReGeejciol8DmlNPLK7P3XmRzhldNNLe4I2aDbLhhFqNXH1NEpdbWJrTNzJ2bhfkjzf7gaA21s3onS-Yc7skcwAHDkxOxHjIeQulgpy7Sq6jFVc5N6v501P96f07DhgGAUSfcaUlh1Hsvhm-34Sv88_bZhkSBIKd6EAcQOatY9vr77sbat66lKE5Xr4J8Bo5lUe_acoCobh-qiysOXfGuTth8BrT3Y1EHO3Y1udcrkvqZD_hvhaA55f2VM-Q-P-1e99RLADQj2tkMlepN9JF32OgNMQR2cVsaJOmQmiFtpatYaJngrxQ2jL8Un5VdzpbN7c9r4Dl3a3z-TMG193h9k9x-aPM__K2bVAmJwSifNKlZY7OkAEX-HBGjAnCsz8T4ELqZDr9uGA1b5eDA21lVy6ZvFKKUkwvzI7U_9X3t-Ouff0QF0LP8fzqAmlfA4VDK5VHlpAPpt0eRRMeAul4zxKAAC4QzymWhYMZ5EE97_jp0VlAJNGI9txbOAhHCwzgPLqLLmD_OqtkJ-w6VfiYd3e6aywe0LUKaVkLI4bKMDnm4lMTqaLzUGnKQwn3Z65tBKGaZIg437RGu4M690MZhTusuu72dPfeYNPwt8IXN7361KnYJshKy5cVdyQcCQEuKv1olsROZtoWugSBFdFcX7BTFp4F9JbdoAQgwJD1oiTUfvgZVc0oDhiKRnmp-m1NwwMaNH7A3R88uOFxxAhBOU9pJnTkYRD1Z0pUU0SdY_0ttoj9Yw5c3k_yWr5-PSdGt2NtMdmmJYkXeXT9qsL6Qh7xGmE4gwArZwO_TLR1H4Q68KoZsdZS0vkJNCBjfmOLZsDaB4up4ksRnk8lLZcB6bJJDGElhvu29rx6kriEJ1WZRwt4Mqkb6r4KUYOxGDIrPr4oH3l2n3jOtB8MP8DYnmpBBtKaajbfNEMZyeBczb9JyzZ-fjRHZ9hF3K27bZ-b0iw4gzywek7hFuBX-naYInKG60nOlaC4t4ac1lE_sHKPNYprLyrux59k0IRcCUSnOdhTsiOXJxlgd-lq9AZQpnHNNQNn1IJpWY2oM19cpLCrLVwXwAVPWa4E0TGkuQPawlNIBYNRyE3GPAMGv6BaK6Jglsdd_oxZxYZHkkIP7S8rZDdK-41pxWWsW5g_nly3HPpi_MFzn9dwCs8wsSK7sJu_0LM6U-ITOhco7IcH2kwJ7AoHVoburkJ7GKEtrI3sm4qyGsfPynQ-Z8eai9fkDA588ubZLu4ooiUviTP07JvjkaDZJDlQoZQXT8LOVfYeEukV7mP4ZBr7FV3lNl7C4wufbh7TBexnElHnciKm_Mhnuxht8yZD7iW8gmtMDN0NY8SWa4W0gnwH4FI_GGHBLldpJUT2DtTIfhVT7ueo5-EhHTFm6KI-0Rvv_FMUhwb_iW2XKOjlLNUNzeqnHIYMbMto7Ojsnn6Cw5tHvXNfShTFz9G1IcePzIQSolLX9arxg1SIiySm7H6MnJScO7Zk3-XfD6JZINQe8vHcHUxGaKEHEsoHdz58y3YohP-pcId9BQqlnhStUT86mohLDdgyVyOXKfXF72Dfq4Uvp4DRdJUUiWrZUzmbSi3LhIMj3kHTGoNI5EdaV4EKAtNP0lqtsu2LznUZshTp9brZxBLkJRoEB4VPhQA_WGu8U-yos8PqBjycLlJ7QcLy7-t7roA1q6v39iDYMQhwZ-IlNm1JBgHwDclMpYc4fr6NCGgDvIYrEYbk43g9e0S3XvwjyVXkyq2y0Oxv7a-65apaQKkFOIt3_uDb3-AG4FKHdo6hzaXNTu0GNwqGq8jLxjygzhwjNzeyVaE-P1LdonQemAGkEOcaG1JR4yvkEAqeeqJ1q-7uEyGiUrMy0jR6b3Y1-1557SvIup6z6Zv-YZgYp2jka-Zb8_vEDl1H_Q5qWvlni96h19Q3vmBvnQQqCw-814j06htibkmy11Ap6rm0hb4EaC6LZIwNx6z6CDfdvyVmUH4AUx-q3Vz4PwAmjzjuLjStrTl0M0EffDjArtJyd4BeSndxaSveF-c2uZBk4C2JB_gN0Nf6pXZU39mrzG3NU8AibxYU3y3k0JOVWvckfqhFc-NBu9cc-AVPwjU14FBL0Et1AVO3iKx2KRvblcDXXDXHQtUl0ug1B9dFFFkCvXpJXuaSdaKVUKkHO4EC604zP3kyIfNObnuAWKQ9dcdlMgjWiBhQWNptgQ_Tp60JYBWhWeTZ2ThgC797lAJmfpiAxEXHe_nHMP2dwtv6VcB49u8u_drh7b1PaCZmMPEMrJ8jUY45d3G1XR1pXgH_DC3Vr0lLmsrrxNjbzUtrUDgqXSgHG4WSDZgKAJ_gUoBzsCS4mjElreQpZnnC_WUlEsyqC7EHdfmA20NqtC0DHIcX7XCiqsLTyWHoPRkHOLK8WcZ7RDq_1b98d8deuKvb3G7uXJIYRrDah-wdRfm5z5Hfmc4TQtPsfcQorS0huSF8z41WiGL3-AXukfefQIrXTsYHmtu3DEtD42FGsm24s9clYP28R-zQHw75HiPKZHcY_EDBoAS-qba3faF-KFt-RzcUsWt38n316d5Dt_d-RjRrbxhNLMPl7BuJIzRlzJDRbTzSGRZf-FdqfZ9P6oTwyWyPBnoz_6jNI1sRlIDKfNWIWg==",
  "id": "rs_0af40c221ff6d149016ab44619cc1887d0bdff57deeb199461",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEYhpnNGQmvQN1ol8pZ3dW8UIHLdpoA3MyBjq4tcLAvy4Nd7RgEyTXEthoE3LtC2qWlS9J9T3kCnvwg4rM9l6dSXO_h3KrifLmKFReBwzwo4T8VeJyE2XGgG3gaYVDfzARJdRIZk1AyBc1D5EyXIUyJ6VDEfUKrI0OQyHiwUVsvKsv41B0JoYTtby5pMP_3_gddZKJy3wdzAO_dShkl-pFr_8V6QDpT3I0fchtAMNbNXY7cteOK18GSf6WtGNLs_ndDlXZvRrUqoogPD01SIKhaSESBnh2qSOhdIGULxy0nHdEUormvd_1-SNz1Dl247QmJcQ6ZeRcxkqhx6Tn1XvhIgJKtqTpjOQIHFfYgEPbI8RyI92B53xwSMf6_WxYQTq2u8DqTcmWKEenfiFocqLM3-Q68i1ZTeKBPqSN-CsKPBzzNzkTEReQlefuWnvtErbGOt65brcFc0uA_3bdyfYTSX4QnQUWQzx_3CPWbYdtThddzZnp4UcEzFJoCUtvwtQySLXY3tcIB9_jyiXkgWwLIejfcaWh-QOr62Xx4awXT5l_iYI5uoKCC2gxlUGfCjRn8DyZSx0I7ka9otRMeCgtxYTMiKIiLhHdEArxeUIT0aq_QtljYvlCJXpPvkj1eUWGG8Kd9d8TeCW4kRHLXMbMepS7rifCmnDFn_VomgAyHZVl5ZHc6wPwJNQo1GIAjJstDmmJt9duBsWd2QnRSgroKJN8X-leWz4SMiaWgKUOSr2e7iak-kNbF-yQyAVHj09LarXAzil2dgCxzHe-IPW22lROLxrDWrdj6-Jt2hZ77zLNUPUFZmbcThQgmVRQEW5xCGIl3q8T3aD55maD0h6JiZyxEDNQSIZv1kWugIUtiK_PsUQzAGv-My4NNZz9RDxh4lOgA64ar-PQkzLKto2TgTtEuQ9-f2p9NbKrfUZ7qBrl801lBmwzma2B6YYm67CZ6sIwV_PPQ5wb9MYDpxPvncrLYcG8fKc0HD9_sPkJjjr0qETsMN5JDVEcbhGZTA7niDsjCNlliDe2aYx5HQZ9wkBT42wpJ-SrYdkiJdeCpZTS2qGSfN0ORZZUOsdYldDIXhItEpibY8eTGy4OO8DjgLQ1E5_kGJ1KKXp8_mhoHbz1T8WFykh70ck8J4vheQjBBnxb3MYmeJCWQkjrOu0sAsrbKyYfur9iUPqKqdS9lTgoxANGYDf3TonpigIbVP2wFABGMmcxFKToSP0hzJSQRo-V72zWNg496hDO1pyE2-kT3cHltV8OmADicIglal_wJw3WShqLzPqlvIVo4R9iOLsC2JDAM1YNUxTvSGvrGa5vspxJdNuJ-0mX8NSc2S5rbX0jzkABfesrfBQtFD9O0CLgCITMq135U3YYhpfQl5VcTpe6TN78w1Rd-aQbJCWb3IQhsac2CjpWOQVlS65Ps71q42zv0RIan1B1hMHxk2nDb89Gu5AH2Pqe3Hj0A4Rjxl43NjBNZ7985ten6TB2m_N20Ecwpn4Uct4eD998UaYVnoN_SaQwXG80P4cPRYtxOXEGWpVT_uD62VXP14mF7Vlvi1oX953nmRsflnogBZ4k_gFzMy9vZ_DyfoKi6aBmqF",
  "id": "rs_0af40c221ff6d149016ab4461ed89087d0b46176be52964524",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.12,\"left_z\":0.05,\"left_yaw\":0.0,\"left_gripper\":0.55},\"note\":\"With yaw nearly neutral, the cap is clearly far to the right of the left jaw column, and the overhead view confirms the arm is left of the bottle. I will shift 5 cm toward table center while staying at the same forward reach and low clearance.\"}",
  "call_id": "call_5yjDJx5EI6OdMAVcitjWNAdH",
  "id": "fc_0af40c221ff6d149016ab4461fe3c087d084f3b99d0fc50c30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5yjDJx5EI6OdMAVcitjWNAdH",
  "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]: [-0.1509, 1.9961, 0.8875, 0.5049, -0.1257, -0.0902, 0.5489, -0.0193, 0.6025, 0.2752, -0.2672, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.0488 left_z=0.0208 left_yaw=-0.0074 left_pitch=-0.0329 left_roll=0.0105 left_gripper=0.5489 right_x=0.2584 right_y=0.0036 right_z=0.1017 right_yaw=0.0009 right_pitch=-0.0259 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.5795, 6.5846, 1.8535, -0.1441, -0.1294, -0.1245, -0.1299, -0.5538, 6.6667, 1.9707, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6be1498c4c044b0f9b771280bf3b50896ae7b1ff8eba16c491d3902ec629f03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21be03f7188696942ead11e88ab845cf51381eb162d3f870334a59f7f4dd8966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dc0e6cd9ac3203aa3c8f912944222259e061d549caea016d1f1fac2f89e4d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.765 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 54 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2028, 1.9282, 0.9112, 0.2321, 0.6796, 0.5236, 0.0136, -0.0193, 0.6643, 0.3614, -0.2974, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0168 left_z=0.036 left_yaw=-0.64 left_pitch=-0.0167 left_roll=-0.0169 left_gripper=0.0136 right_x=0.2677 right_y=0.0034 right_z=0.1198 right_yaw=0.0007 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.306, 5.1077, 1.6288, 0.4029, 0.0952, 1.2723, -0.212, -1.1829, 6.9812, 1.9512, -0.0317, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.136, 1.9961, 0.8757, 0.4904, 0.065, 0.038, 0.5489, -0.0193, 0.6205, 0.2958, -0.271, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.0741 left_z=0.0131 left_yaw=-0.2224 left_pitch=-0.0631 left_roll=0.0059 left_gripper=0.5489 right_x=0.261 right_y=0.0035 right_z=0.106 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.9915, 7.4325, 2.0537, -0.0806, -0.2613, -0.1245, -0.2667, -0.7863, 6.9402, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9961, 0.8875, 0.5049, -0.1257, -0.0902, 0.5489, -0.0193, 0.6025, 0.2752, -0.2672, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.0488 left_z=0.0208 left_yaw=-0.0074 left_pitch=-0.0329 left_roll=0.0105 left_gripper=0.5489 right_x=0.2584 right_y=0.0036 right_z=0.1017 right_yaw=0.0009 right_pitch=-0.0259 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.5795, 6.5846, 1.8535, -0.1441, -0.1294, -0.1245, -0.1299, -0.5538, 6.6667, 1.9707, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6be1498c4c044b0f9b771280bf3b50896ae7b1ff8eba16c491d3902ec629f03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21be03f7188696942ead11e88ab845cf51381eb162d3f870334a59f7f4dd8966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dc0e6cd9ac3203aa3c8f912944222259e061d549caea016d1f1fac2f89e4d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEYpgzURJvFnL4tZYlc6aam5BbqcajQAEVjEjjdHjCxNB78ojEQFSwoxrMVtt1GkytSH5ZMbWIiHRXKRu81-YLCxQPXGpp1wicYNdd2ewJw5yQfDJ4cK_p5f-fvBniKDdZisWUDX-6_y5B6cncRk5PLHsVvBys9oiBTILPT972agZw0qnhxIVsT7Y8xqCFg1cTzD7cZW8ngduCgpBLKiIVfwAbMs9zt-rqfEQw0auJ5UrjoMBMko8l4efFXKh0iz5462cODxOca41KxUW_Ie1_xosYAkmH6f1PJEnmlpXJl1PvhG9ogMVnz0p8gx0VmJ6GyOp6qVo1JFbB6v7_ObGQ5G1OzBJ0y0EUWlsB1jpNix7wvysGKnh0FtUHoDYJ4UN-z9F0Fx_WCdp-Yjrj8aBfwfj3FywKP2tKsleC-8_2sNH0qcqEJL3-yFY-xqejXsH3iPwzRKWV9tD62qlBXDZ-q8oKSHELbtzMFM3DyPosOOV3Cgs27S06oqckXqdacJiRh7jjuhL5c0G-_X2RGUjkOqUJcHYrkbI_-gqlXAmALtdGvb9Zns2qjiX4j3VRIAopAMw6-F9g-g9Usb84gix5e5Be9YOgajTzfeQkPUvPKfjvZW5zBHt9RHzcZ8-bsNnxrqjj0pbLKgFc-r6LhyNS8-uLt6VJfbQT4nSVGa-3fKgBIJ8msLRhYeiOB7EN187rlElWQB4zt70qHf2FnaVOIiFyTl25qs1dGuB034I2kol9n6CrSjLXD5i447Sc8Iwp2J2c7X50Jv1IoyD7bKBkMZArySESrYRUDG6-Bpxz1NjPtugW0PS6Rn-tM1MP5RnBvO2ZK_rnybrh1YWbKdHDnWu_xG_tfNZnzxZ1tYSBpEKIzYh0bwyPkjHeRR8nZYqtho1imDTjC7A8MNHekWeXXpOK9E1qRrQ3KPYmo3G_VrkFgGUzs8HyiOOcLuiDCJFvCItm13Z_fqnZsGr2IiPtOvSJxBBvAutgt-I-rWRqF9Z-rmWX48KEin4KOjThJGibJtxIxnhJKS22CRTYkTrH64SA_hNvM3hVNGFKSWvDT65i02IWQnVE1r-Pnx-pypAvpDVyUKXxmoJakqCmaMxFJFHw92FGcu2x2wxJ63A1mHx36H9RV28ZoEQs05VgrYzU1dUZxplgiI6Syd84B2OCQAnSp0EQGCHE1r71xvtzlianHQ32K7lAd2mGZH1kdI8lW8m0EQltP_atEQjlQCYAfoa-4z1fvwPsjfFW5MbU--WIGK8Z7-YQI1ipQ08mS9DKM_pw79ioiYS6ebgmd5QYwyY6HYVJlRt8cVCPb29B-RJnKe2XRyymViSRocmHQM9IbJH_ilN8wm05Fon5HqGI_tBc1b_M0kz8xvJfwqUpWhagNyf8UublYJWla4ufOOM4z6EkP2bhuN2Qiwan-CtqAbIwgEc9xbc0txqO76939OE_Jp1heaeCerpF0JDXpIAksXHlEAYk5Ekd_qhCIjW58e3c7yr4h9Wl0bDWAs5Keefr-5L4mDvncutICcxYyDNwWAx18mAOiXc4DVvTGnS3ltsiheHYC9FSlGD37-5Ob18Q0RBeF8oBkij6XvxUe8TyuAT_vbENwWi-YdJujX7Ln3bf7i6X9FKn3PMyh525lDU6QLBirwfS9TDiMeSw457N_JMf8vFZfp2x-zm1hhJ014jTpAiBCH8cT-lm5LEBtLRavePYCmqv1Mho7VXQYh5cpRIdn4V-uKPEKwoBdO4MLGaivsQ_gOLxBbKXh5Ftzi1C7IfvzIaIPpVTxAUxT8DYrc6RScsGJTAzSVTA83tqTyRCQvocdANpLBXkP-jECFJazsjncCbaeMZaRsNSFbF9Nd7IgTNXujk_6dE7MJTNiTFVgSuHDObDoPotyxtFbjdoqlzIcGjpOK9zm-u0jFVjqI4xltUmuEYibjU5nbutwmgzCYaIz0jSoiPVeeOvlY6iJbzY50evtD_b2rLmuccos6XdL_HXU6qs8aQjmSe1u2g1CuuVXeRwT69ugK7kkeM87ll_vfyuFbdzEdFwdLbLDgL3988Z5MfIA06ROIeOlib7rwVS8EV6w2Mlo4ZgdENvv0bS-Z9hGX2NH1J5qvsNNWc214fOFMlczTK8sCreAvynXYX7eCgYL5JdY3kVN5nFs=",
  "id": "rs_0af40c221ff6d149016ab44623aaf087d0a299c0cc8c8ea3da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.12,\"left_z\":0.045,\"left_yaw\":0.0,\"left_gripper\":0.55},\"note\":\"At maximum extension the arm could not move centerward and instead relaxed back toward y = −0.05, so the combined radial reach is the limitation. The bottle is likely more lateral and less forward than the oblique view suggested; I will retract 5 cm while shifting centerward to reach its cap from the side.\"}",
  "call_id": "call_mTk5NQyDsW6jOX2qOm3R23mo",
  "id": "fc_0af40c221ff6d149016ab44626b1d487d0b28c57e456f078dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mTk5NQyDsW6jOX2qOm3R23mo",
  "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]: [-0.2363, 1.9236, 0.8017, 0.4988, -0.2436, -0.157, 0.5489, -0.0193, 0.588, 0.2543, -0.2623, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4657 left_y=-0.0646 left_z=0.0243 left_yaw=0.0418 left_pitch=-0.0369 left_roll=0.0259 left_gripper=0.5489 right_x=0.2559 right_y=0.0036 right_z=0.0966 right_yaw=0.0009 right_pitch=-0.0274 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-3.7538, -11.3846, 6.3248, 1.9365, 0.779, -0.022, -0.1294, -0.0342, -0.6222, 6.7761, 1.9316, -0.0269, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c062050c0420b5246664a6137a6c39a9b10ce048f4cfa6b1bde1a29b23a3902c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43de0a6bec92ee200784993a8a300026ebfac7aa717ab7dc7905c29b35ba468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38c785cf3a811c1c03f98b7417e3f665b28965c9fd83de56d8271d1a8918485",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.515 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 54 changed as sent

message 58 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1509, 2.0071, 0.9913, 0.2203, 0.6651, 0.519, 0.5449, -0.0193, 0.6456, 0.3298, -0.2901, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0354 left_z=0.0255 left_yaw=-0.6792 left_pitch=-0.0315 left_roll=-0.0218 left_gripper=0.5449 right_x=0.2637 right_y=0.0035 right_z=0.1115 right_yaw=0.0007 right_pitch=-0.0373 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -8.8274, 7.4325, 1.5311, 0.3297, -0.0171, -0.1832, -0.0889, -0.9641, 7.159, 2.0, -0.0317, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9961, 0.8875, 0.5049, -0.1257, -0.0902, 0.5489, -0.0193, 0.6025, 0.2752, -0.2672, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.0488 left_z=0.0208 left_yaw=-0.0074 left_pitch=-0.0329 left_roll=0.0105 left_gripper=0.5489 right_x=0.2584 right_y=0.0036 right_z=0.1017 right_yaw=0.0009 right_pitch=-0.0259 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.5795, 6.5846, 1.8535, -0.1441, -0.1294, -0.1245, -0.1299, -0.5538, 6.6667, 1.9707, -0.0269, -0.0806, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2363, 1.9236, 0.8017, 0.4988, -0.2436, -0.157, 0.5489, -0.0193, 0.588, 0.2543, -0.2623, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4657 left_y=-0.0646 left_z=0.0243 left_yaw=0.0418 left_pitch=-0.0369 left_roll=0.0259 left_gripper=0.5489 right_x=0.2559 right_y=0.0036 right_z=0.0966 right_yaw=0.0009 right_pitch=-0.0274 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-3.7538, -11.3846, 6.3248, 1.9365, 0.779, -0.022, -0.1294, -0.0342, -0.6222, 6.7761, 1.9316, -0.0269, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c062050c0420b5246664a6137a6c39a9b10ce048f4cfa6b1bde1a29b23a3902c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43de0a6bec92ee200784993a8a300026ebfac7aa717ab7dc7905c29b35ba468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38c785cf3a811c1c03f98b7417e3f665b28965c9fd83de56d8271d1a8918485",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEYt1PGLRRoOwzwyjnSdfTYCu8ZGVKdwHts333fcEDH8ZfyDfD-JDXwBph2fQheYlWsLv2zE3FyF6wubJvubIiSU96CeOIqxTYDAElAjmQqyt1jeGppi5OSSYv2ExDxiGPPj9eOMpOHCat4upntgvQI-zZhl6HODcWdN8bHrM85ZHW_OsM3M300omoCLqFz1Udds8rQCQfst_g1hGWnnXIdRItrdrmd8Ku17moxr9VXyTO26mcEHUdJCoHr5lH0sRCXlTv4UHSwOIIGYFKW87y9K_fSUl6VrH8pBAtd78iSaGOnVGmi3pFkGcFD9KtncAQ7pBpBPQ4HEV_POFIXYNN2QvcQGn8CoF_e30xRCfk3O4XIx1XxQ2D1xziGpwoGI2qg8TrifXoTiJjdjUQPxDIw36n5iEnTvKPQdmFwq-6hXxZfZMHdyPjJB8IdQ1rhMM3aKY_TkgujgYPJWeRMxGm-8jHIVTJ4ZS5nCI9bV5sLVTsTyFMYLM9sXgH3baJa0IUfO4tTYXciX2TqpYYHCDe-mnlthxc_3iVashOUIJDgcwM2amGgZlc2mB2Ve5v9XXtB-GDKyCGRYcSpjlquItBigpuDngTwToalizlSUp9EHMzCOzfu1ZgUtCbUa72fXZtuAwAJe3sp-tSIpDPISAClZLzxgwcB4pFGD8Nh1oI22uoC7hQnwRpNYP8Ubn14irR9DzyoWj3iFp7MaNK6DNWD50GlLfL34wRyyHp-XiiPOoOi6QT0QbmxYo0Q-2z2jbE6gdUV3z_W2uhMZetpjyrOfnmcRq2-Ml7t4NOrmN6UHSCLWldkBcjTQVsiQgeVOMwDo6jY_t_xbBUqBZyUhjVetrRZg1Xc0arvZH2WzNs24Se06iIbNSheO7UwosC2TcawT9uvxnuWs9s9LPew1elmL0HtzqUyIqKgMDqAi0JX8W-YKLZPEjSLcODniYPouTSyic6t9X8bcYZBI_0Wh7IvJtyEWY5_BlfXyov-I_azUNWXtM_lTtix3foo_ns7Ei7du2dGK4ZKXflGv7HP1hlTQ7Ml6tx7J5NUWBrCpZEVkAcGvDxyVphjytTjh_ahDsX8Y5bdw4XtkDUWbypMLvhj_TFR1wpbGFvXJf4BbTbC-KObU1X3idOFRCBM6kUvw_LW0w2W_ohDCV-0CM5yEFIjwKmGAooMZjALdaqZ9396ObPnFWn5nWC4ZOxFlUnFs2Z9KscVH0m4JLEpAXFPFfI_GS4k6pXCkYdhWAnssM_ZQ2vWbXTl3FYmKVm0GU_Z0pr0jCWwO6Kt5r7jnRbNF1vpaGn4hVKrKPkytU_hd7-qIxdDDeDOHp2Rmf9Zw9PU1K-riaQgccTO2TlPRs_5FexYeCOw_VgS3atfa-UVyt1SXs2DV_GHPzVZ-HeLcM7Njzay5DdayEBXF_9Z_6SJ3YhPZAqi20PkLKdQBfKlWl33D73I5XTTe17d4ExvB2C4gSu8kmMVkRl-_DRIli8F5khwPX2FWprMC4snzZA1Y2CtEH02fHg5NSl5b2YbNFJ6VzT76",
  "id": "rs_0af40c221ff6d149016ab4462b3f6887d0b13e60c1669d7cee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.12,\"left_z\":0.15,\"left_yaw\":0.0,\"left_gripper\":0.7},\"note\":\"The low arm again failed to track laterally and shoulder effort rose, indicating the fingertips were dragging on the tabletop rather than a pure reach limit. I will lift clear, make the centerward shift in free space, and then descend vertically.\"}",
  "call_id": "call_x0axuvOxwITPh0BHGtgzIM23",
  "id": "fc_0af40c221ff6d149016ab4462be8b087d08191a0064b488c8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0axuvOxwITPh0BHGtgzIM23",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.85, 0.7639, 0.4545, -0.2695, -0.2058, 0.6984, -0.0193, 0.5682, 0.2306, -0.2615, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.0718 left_z=0.0352 left_yaw=0.0572 left_pitch=-0.04 left_roll=0.0027 left_gripper=0.6984 right_x=0.2525 right_y=0.0036 right_z=0.0906 right_yaw=0.0006 right_pitch=-0.0305 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0034, 7.2821, 1.7167, 0.0073, 0.1929, -0.1197, -0.1573, -0.4308, 6.8581, 1.9414, -0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187367fe24c91594b3488bd1d94d7ed449afd16e53d41a60d0340eede9da5938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7851bb590791d2f2f639d4de30f0fdc7b2ddba28fee99ec7cd7b272bfb235b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96b61c57163d46e118b9089759df8c4a7ea03f0ebff974b8364285773a34828",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.117 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 58 changed as sent

message 62 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.136, 1.9961, 0.8757, 0.4904, 0.065, 0.038, 0.5489, -0.0193, 0.6205, 0.2958, -0.271, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.0741 left_z=0.0131 left_yaw=-0.2224 left_pitch=-0.0631 left_roll=0.0059 left_gripper=0.5489 right_x=0.261 right_y=0.0035 right_z=0.106 right_yaw=0.0009 right_pitch=-0.027 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.9915, 7.4325, 2.0537, -0.0806, -0.2613, -0.1245, -0.2667, -0.7863, 6.9402, 1.8974, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2363, 1.9236, 0.8017, 0.4988, -0.2436, -0.157, 0.5489, -0.0193, 0.588, 0.2543, -0.2623, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4657 left_y=-0.0646 left_z=0.0243 left_yaw=0.0418 left_pitch=-0.0369 left_roll=0.0259 left_gripper=0.5489 right_x=0.2559 right_y=0.0036 right_z=0.0966 right_yaw=0.0009 right_pitch=-0.0274 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-3.7538, -11.3846, 6.3248, 1.9365, 0.779, -0.022, -0.1294, -0.0342, -0.6222, 6.7761, 1.9316, -0.0269, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.85, 0.7639, 0.4545, -0.2695, -0.2058, 0.6984, -0.0193, 0.5682, 0.2306, -0.2615, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.0718 left_z=0.0352 left_yaw=0.0572 left_pitch=-0.04 left_roll=0.0027 left_gripper=0.6984 right_x=0.2525 right_y=0.0036 right_z=0.0906 right_yaw=0.0006 right_pitch=-0.0305 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0034, 7.2821, 1.7167, 0.0073, 0.1929, -0.1197, -0.1573, -0.4308, 6.8581, 1.9414, -0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187367fe24c91594b3488bd1d94d7ed449afd16e53d41a60d0340eede9da5938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7851bb590791d2f2f639d4de30f0fdc7b2ddba28fee99ec7cd7b272bfb235b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96b61c57163d46e118b9089759df8c4a7ea03f0ebff974b8364285773a34828",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEYx2_W4BD2h-UIy7BAzxMgQo47SVxp6LSbKGxE_ZudHP4sv6A4F48xJZ-_aLlgDskgSImZIyp8LW4l97kr4XTnhXEHB6x5M5vP9GAtWFk6bnu0aHNi9_UPWGUe43v3JQRaVy-thjffmzFWM0oPB7JuWNOYoDoaZpNYOL-SwrRhWLwS142sqxjhsxwolNjFsWpsW04n257-iwz1df-WDo_bCuRSxrOm5pO9a1RDu1LUOyxB-oIyaDBkLiAjdVucHa7asmunsEw1Dbj4e9LnLwGe8rbpMGus1_kZtcLc8C_sxeyDYR6kU8GPCEvnyurkZvHlEDR-DY9XHVWcNyDR-gXxtL2ZJRJ6Lsd1Q3_QsvNmn8siQPE5JnzyzmOLvUpgmUgIqHMKnX6wxSxREpgPKFJKIG-_VN0mjkAaGXrVXd-qwyqlMiVpWTPWqYkxKeQlTJt69cs8tWIgYt87JHFzLASj6v9_OCIFPqrjS-DVtDcx65JEBjkCQtjT4QCnXD8KkbM8mFroGY9tMhrpW18YF3ZtYYso8fzGKfhYV9UWJ0ODlcSsmuDnoBTS4fcab-C1-E-B38H5t2BrrGpKLjvUtfv1L4MXvzb6hAegPDPf-_6_-dDQyMZ2gnbwlHk2i65O5vYRFogwSM72alc9cvXJs2IF2S-WMhPOu-gvD2L8zc3nh0o-ev9i2ReQfmsrfa2DhlZIPKr0-OdnsAAZVuxeIhu8YaoCXM8PZOtJV1biX0aUcULBF8gNu-jVQShZ_Q5IbtLVPur3IZKElxD5SALLwP0B3cwruouLKhPwGVqQTTGhEqveYsUwN3_BeddiovLFcHtEk2LPOujecbPtc5v-jQ0xrgLowwMd9vNOoyfdBN-qcQeqJw5kC6uoYny3LstdHeIuOyMME-5C_zdSXkWaQVqCYyFAhF9tCDN5jlt7K8oEvaOXIcZWEP49Re8qlo-yl1DZZGjCL3Td3nQsdsDAzRjVaIsL6gc7XpXi_uIdhDA_Q-yCInKTQ4GxPnbHffdyPgw6raodAQMJaHi8FC01d0uxPLkXrAiXYpBVE0MZQMbJOuhDOPmdcEOL19y52RoyzcPl40G83k1T2KDqO9wAevW8M6-w8EwQsqij-PVeEKz7kZUz5o1qtQK49LLMPSNlKnDgljnkzm-qe_QT3BgSnB4SZhNjMT5l4DND9vVKUAKt3B9_uNE7fFucmy_rRsV3BQuVlqhuVsYAi2m9iF1d1488qr26hT4cpKU36MceSmDiKlMRQ07WmW9LZ6Sn1u7v6aSxERKNF1AuUmAfl3sZNEsF4WduUZ2moNHJkOPaNGWdfhjsdIwN-sbpcmVBS-i9ogTTrxY4UAPpDk-EJG-etoW6rN6h2dwBVoNn2PVLOokbcTUY=",
  "id": "rs_0af40c221ff6d149016ab4462eda5487d08222418c36b7263c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"The arm is still pinned near table height at long reach, so a direct lift is not resolving the loaded configuration. I will retract substantially while raising, which previously freed the elbow, and preserve the intended lateral offset for the next approach.\"}",
  "call_id": "call_pinb0tXdEe9E0oUN2PTtM5lY",
  "id": "fc_0af40c221ff6d149016ab4462f606c87d0bdd155682b2e7fbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pinb0tXdEe9E0oUN2PTtM5lY",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6758, 1.0756, 0.9611, -0.5308, -0.5251, -0.4076, 0.7983, -0.0193, 0.5426, 0.2028, -0.2462, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3097 left_y=-0.1302 left_z=0.242 left_yaw=-0.0343 left_pitch=0.018 left_roll=-0.0255 left_gripper=0.7983 right_x=0.2507 right_y=0.0037 right_z=0.0869 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.6718, 9.0735, 1.4725, -0.2808, -0.1148, -0.1783, -0.0752, 0.1573, 7.2274, 1.8779, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a7e1b1cc1268f4ae9b92147966f25f3cb450496ad563408cf0d2f38f6a9b54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9984c9a05b1e5879660934e89c47dd4227a304ef9a3d9930787274291731e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5ec14873393757f9e6155557f5275fd34852af88eb62a9d8bbe6025313bdb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.742 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9961, 0.8875, 0.5049, -0.1257, -0.0902, 0.5489, -0.0193, 0.6025, 0.2752, -0.2672, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4922 left_y=-0.0488 left_z=0.0208 left_yaw=-0.0074 left_pitch=-0.0329 left_roll=0.0105 left_gripper=0.5489 right_x=0.2584 right_y=0.0036 right_z=0.1017 right_yaw=0.0009 right_pitch=-0.0259 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.5795, 6.5846, 1.8535, -0.1441, -0.1294, -0.1245, -0.1299, -0.5538, 6.6667, 1.9707, -0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.85, 0.7639, 0.4545, -0.2695, -0.2058, 0.6984, -0.0193, 0.5682, 0.2306, -0.2615, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.0718 left_z=0.0352 left_yaw=0.0572 left_pitch=-0.04 left_roll=0.0027 left_gripper=0.6984 right_x=0.2525 right_y=0.0036 right_z=0.0906 right_yaw=0.0006 right_pitch=-0.0305 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0034, 7.2821, 1.7167, 0.0073, 0.1929, -0.1197, -0.1573, -0.4308, 6.8581, 1.9414, -0.0171, -0.0513, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6758, 1.0756, 0.9611, -0.5308, -0.5251, -0.4076, 0.7983, -0.0193, 0.5426, 0.2028, -0.2462, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3097 left_y=-0.1302 left_z=0.242 left_yaw=-0.0343 left_pitch=0.018 left_roll=-0.0255 left_gripper=0.7983 right_x=0.2507 right_y=0.0037 right_z=0.0869 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.6718, 9.0735, 1.4725, -0.2808, -0.1148, -0.1783, -0.0752, 0.1573, 7.2274, 1.8779, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a7e1b1cc1268f4ae9b92147966f25f3cb450496ad563408cf0d2f38f6a9b54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9984c9a05b1e5879660934e89c47dd4227a304ef9a3d9930787274291731e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5ec14873393757f9e6155557f5275fd34852af88eb62a9d8bbe6025313bdb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEY2nONhbqCe7jcszaaCpsiy9-4J8JekQlBxzcMnzHmRDkMLx1OwKHRTfR3tCioINRPMBl0QLBWgNw7AH1TVV9UKhdSQTCKy2igqozA4QVxZ5VCir9oHcyT5Q06Y1uJhfkRsWLgP79UI6hz_2yzKB1kOSumU__q8Zlid4wxg85BSnRM7DGDHvoc5z27oZoh_qROPosDP23kw9crm9ydKDD-r91hBywbalA48zdDfmn-oYccOE_fXaG4I6rDiTW_e4gxqSeMyYgv5wua9v-5dpbw6F7DlRGwUIWTXP8nyJC75GOVhotNIbKR-6XUc0rOiIzGKUWpkMR0223vvoq3m-9GVHPQrLnweqkyRY74HVAsSh-2i5oBpl9241BbYDU6Tvo2b4uJjkPImKFYl-vXWQg4ZxuugZlBG07gJWJIF9YkksHW4XzFwdpQHXEEpRwzgql0aj5aGP8vZvC-6u0icacK3V9FMeWprd-RGlzFUfIwn-dNYQlGKKB__IQc7EL4lutTJy6SUPZEg5TKjE65fg4h0eEKdNORprLpOtdN6T7Q0VLE0FYDxwp5Ini0rw-jv0zrYTdGva00AWrnlqrBKvcs5RrmGYFT2D8TE6IMfPfEOc9DoAnIwRyBF5OQW8Prxf5KF1w5Tc9agEkMMAoeU7yvBXejW3iEZZQyIinxA49VzJTpaxttPMDedvJw7Dz_ZDdMgJ6M-r_cPnHI-AcVD2HLqFSM4NNdaU8NE8Nn9NWpgAOPNm7-evL-IsPjH12dg8lRCULK6keXEjLNPe8rIIdXdcY395wZxEPy0cMqsLYc1UV3E8ueK33CJFZcGVJgizC5PNjBjbMuu6JrbygU__7Ge9y6YfrrNOWMWUURWNXqVyhSC9xO5Y4I-L1FoX35VvcJeJmnO5z40qRKs08Va_hjuFLvYK7lzOZCc0k1joe9ZaXTzUG0iV-OGkGOFrpZASFyMUT4ouhpk-EGYmBUqfar_fRaLFgd6OTHUuGuLqG6yIWwJZHphU8wOz8LefYZqv--G_Ae1972ZO6UoWaWQVHDO6g2l2hZKUEnKrOrZmD78Z3tfJTPchSTCMxwaE8K3eAYR-zwbjYOBvg9d0pOMXwbBxka18tMtUBPgLlCse8tr8S6wtTQ4oIwrmESGPzD9y-wch92jGA2SEpnSd1O57O_eq9dFhBHp74HC6HGYBsJNp48ADBIY-MLdzqoe7VIdzBTZGVABbmaN9AwsHj4vRinV-I-fBuAdePo-OyT2SLAW9uj0q4msgIisvnL8HX68UoZPS7CFr8JzQC0nBWNC13aW3BJDlCbCGF7EVpkJ0wWLEG2sAWVW4BlzcnivSuD0l31sUI9v08-5ghQkVR-rskDZfzvMyZ1jtcewx9Ylj8BrCPM8-KPE-m5SbjYTEKHM3nzeO6ApU63zXpAm7Hj566Q-DQfGBf6ikIwht7XtjlIyu4CAQsKmus2gBwzC8xS4YUAudLdF-6qr9GoV4dukKr-B0QDXy0hIUtajBcqOzPn6ovA3lT5Ub5bU1G-jhqJY9DIXaKb8aqUTw32305X34Up11J1_9GRnmVG2y3Gmce4HZ3Xg7fyWiKriiAyngsJcGTRORzfuUe63YHGCHETflFqWMi_pPuyVccN8McqR3_WypqMB9EhnRaz_4QVq2qu3V6AC74s2RXiTYgBC60uaAAM0RdEttZXXjzZ_D-MPRvDAGLG2AV1sDu58Wzks6qgdtty-H_MRFe3URlkicB2ADtG6L032UTz868fTkVBRDjGFmF6Y9DSUykCcpy4h8gcaIHMfp5s9kRtuiT1Y_5_ejwgrNqNxT8wQrN0c8302jLe9UCOM37g-F8Jy9JhvsTIYLVR_LK-1bfmm9mwUl2GnPXX93GDeDVdj2Gyf18yHeDsU5m_D4hQoddofAXfRMnzEX-01yoRz3J8bclvJ5q7LxaG19-fIYItgglYSb3wc7bPW-IEbi8-X6GMeKIZJNIoa-Xd7lr-FDRLUxgU3JAuxzSvJmZKCf0kjQxpETNnMmCeVvizawIE2GsPXudEmoA7GTf3jm6zM2ZZXBF83RuI-_qp5T-ze7TnsQMJgkiCHX8eHboBz2LAKkl4Erw7b9aLTT2ZqS8_iO7nJPCkPjCbAfDugtvK2SQRYfD2IU_bd9VkIMavw4H21JRH6Dz75_btP3ZDLhaZZK8i2o-okEwG4uWTGFMrVfwaAcgD5NN89BITIJZ4=",
  "id": "rs_0af40c221ff6d149016ab44633ae2887d0bc319042599bd100",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.14,\"left_z\":0.16,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"Retracting freed the arm and gives a clear overhead view: the left bottle’s cap is around x ≈ 0.42 and y ≈ −0.14, considerably more centerward than my first estimate. I will move above that corrected cap position at safe height before descending.\"}",
  "call_id": "call_hW56k1lezMAlqkW6zB0RkETy",
  "id": "fc_0af40c221ff6d149016ab44635b40087d0aa1bcbfacd055505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hW56k1lezMAlqkW6zB0RkETy",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.5112, 0.9398, -0.1364, -0.4255, -0.3313, 0.7989, -0.0193, 0.5316, 0.1894, -0.2455, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1319 left_z=0.1435 left_yaw=0.0263 left_pitch=-0.0685 left_roll=0.0201 left_gripper=0.7989 right_x=0.2489 right_y=0.0037 right_z=0.0835 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -7.0496, 8.8547, 1.7802, -0.0317, 0.3101, -0.1294, -0.2803, -0.2667, 6.8034, 1.8388, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aa40d7e801a9cca30d2e872ea940eeba711c271a6b8b9976822ad9090cc58a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3178cfff50fe4ac81f861c652202c2631786293ba8c93d73c89f7b9eda513154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74c023eab0e9a92871cfde850bcd46e75ff0433407568e09a1b01d41cb56856",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.922 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2363, 1.9236, 0.8017, 0.4988, -0.2436, -0.157, 0.5489, -0.0193, 0.588, 0.2543, -0.2623, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4657 left_y=-0.0646 left_z=0.0243 left_yaw=0.0418 left_pitch=-0.0369 left_roll=0.0259 left_gripper=0.5489 right_x=0.2559 right_y=0.0036 right_z=0.0966 right_yaw=0.0009 right_pitch=-0.0274 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-3.7538, -11.3846, 6.3248, 1.9365, 0.779, -0.022, -0.1294, -0.0342, -0.6222, 6.7761, 1.9316, -0.0269, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6758, 1.0756, 0.9611, -0.5308, -0.5251, -0.4076, 0.7983, -0.0193, 0.5426, 0.2028, -0.2462, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3097 left_y=-0.1302 left_z=0.242 left_yaw=-0.0343 left_pitch=0.018 left_roll=-0.0255 left_gripper=0.7983 right_x=0.2507 right_y=0.0037 right_z=0.0869 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.6718, 9.0735, 1.4725, -0.2808, -0.1148, -0.1783, -0.0752, 0.1573, 7.2274, 1.8779, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.5112, 0.9398, -0.1364, -0.4255, -0.3313, 0.7989, -0.0193, 0.5316, 0.1894, -0.2455, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1319 left_z=0.1435 left_yaw=0.0263 left_pitch=-0.0685 left_roll=0.0201 left_gripper=0.7989 right_x=0.2489 right_y=0.0037 right_z=0.0835 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -7.0496, 8.8547, 1.7802, -0.0317, 0.3101, -0.1294, -0.2803, -0.2667, 6.8034, 1.8388, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aa40d7e801a9cca30d2e872ea940eeba711c271a6b8b9976822ad9090cc58a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3178cfff50fe4ac81f861c652202c2631786293ba8c93d73c89f7b9eda513154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74c023eab0e9a92871cfde850bcd46e75ff0433407568e09a1b01d41cb56856",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEY7GCOxHMRnKTFQTnxdmqiF6KmH83CJ_z8pPE8CO6d7eI_Mb8drZ_-rYJq3xsusIf8xXyLDJNkKT8uts-2fm9DFivAGt6j_GFb3MxH2sBcI4BoKTacBd6ankdjnMeAhILGbt_Ybc9QQTmgHNB6JMmniWBVgpeqmNvLAOM5IKFF_PPO0q_xUCEMYq9j4b4Nqx3yARfXavjYWvj-Cbty1wAKvNJR4DStxDr3khOWPNTVzGmPS0ffUmlN32yYgWSuNQsRMBoe-2KPiC_Jk0j-XGW-ihzLD3r-w3DZXb9lycXzOWhCVapUiue9jYv5YAbwxNBOdDMNC6qjt_fTjzyc04UtS-NNQmHOWTiSJEggE181S0Pb-mn6yTlTdYKfaqX3iG4Dj3e3ihA8Qd28JzlE3fGIDQ3_f4xsd3h0efe5TSW2khYw-4AcUJAH9CezzpWMCKVYtzS9f27VRx4wJBl4-WKcfZRVB6sojUvlOa8dB1B1v3zzF6DB0mjNye4mQYRDeu69CnNpCRS7j2KXqZBOj51c7CYjwwnz2gvdOWatdbj9Y50LXSWFl8Qdre43hWYZfMsI3SLeEL2RTMhAR1NW7QzwmrFsVSN9PoJtmCJGIGsDY42Iq8c38Gc5i3176Z96XDWM1GYKDHw3WjzzZMUWln76Q7W75RwXsX-cCvJaJ_-QbUuECvaLSbfsjJmrf_vx0bYnD7jEdtMIGgwvoRe2146tJmoYUKz3OOk8sLq2MiXDlpp-DHsPp2zRrOvB9G0146oRET58JabX3tRkoJSZn5m2UlOp1kK7a0MB_t3gPcBLJa3jJY8tBmdLKL_EIvOo2348U1OaXUXmi_kgen7YhdX7B8ipux5fEy0cCPs3fHHg8xzPX9YGqMbbB4AlTLgfOoyZ8GQkKsxqimjdGfXTuYFUbdRYUeeZVBR7yXyIXKuXw84joPGZYzCq8gVprUoFtAS_mdunmUfo4Ki8eyCtssdl3GnOPw9GR19qwp1hnUa9x8_L7sl_htqRmm5_-SsnBqnO0eDluwRu-UmktQyVUmAfgCkhd6br9OsVBxBrchBtJooRfIaPopbjA7z0rYUzcOSKux028-G6NS_Q2BO_t8g4OJ_WQa4jfG-xxQSdOGptJarXUzjfEQIGomKiCqQbI6V0e_4uyURahfYhWb5ZcLcPbVmeGQMmzb3ocMQZikB-h8CveVB_rAz8KcKMLjn9R3Z2vvY3buJWxQ6UYTIMI7FHNRWie1hcbvDlHx0qGdfVsDmSdL3fQ2Up7wTpV9xgw5drpmIxVhKI7Y34SvGPFWjFYpDEVhLeykhhzdhvRcE4775zkkoTBEe8ux6bO__7_CBL3iEsGcYK-K8AMvQQXV_c1_B2xJy9CzhT9EUFIyzrQycg98ecOoj1dTBSg5yPNMMJZU34Ivgdz9oc2YoISYIU9pskKvIR2Dxy9Wn4lDUrW834yTqZgMo2_0zq-E6TMMIdF4z1aYlFKnvJd345jclVSoutqASsrlBGIWUUhVjE3lYbQ8zqKjt0XuBqQry19-CSLLviu3NWxygS_eCyjKZxls-WbbbF7AF7eL7AmNbJFhLcPUpqlNDBMaoGH08arzTlw43dYYvPDTN1KP-LoIF1B5ixJVsLayg1Iu_wda6-kHA0NSqHYjs3wceqbAicukX9fTwQHd7tLl3EIGyZBreCTaxaG-i-F2NMM03_1umbXa6qfrGG33JT_mnuncU1YB9ZSef1r4WKHNhsNul-tjFCPSaqCJtZ3CVekVP2i4K_QwXJEl9FKZ4tzMY1u1QZrcY9MG-0YwwakzTTbA9uemGKQ1eFc02HdIyQ8Otb9BQxBI4Zx1nJX6zWCMYTwRlQye_Z8B0Dkln1VLNz2Pn-U3ChiZvD4hYVe_5dNnnTxYTsZCzgNr7xMu0cH3nH7bBA9WCMahr7YovKTKEMm_DVEkqeOnflrzHyLxqVPIIT8TawNcfh3PsABwW1YA7hqn8OLS3J4w5a7buz0Ynr9j7IBnThOVmGftnP-L5_nWVfZlzqMG64UgtwkmtylbXka-gRhyEWIOGhzYn4QOl_8FmEMLG-t2a24Yw1NnZF7ORjzeg98czP7RN2sU0L79IQtIVYHKalo",
  "id": "rs_0af40c221ff6d149016ab44638e1ec87d086ff3addf6f4934c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.16,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.65},\"note\":\"The corrected wrist view shows the left bottle cleanly: its cap is forward and about 3 cm to the arm’s right of the jaw column. I will advance about 5 cm and shift 3 cm centerward while narrowing the jaws, remaining above the bottle.\"}",
  "call_id": "call_Bg50ze1l9wUzV18SpksEPBU6",
  "id": "fc_0af40c221ff6d149016ab4463a641887d08179e4f477fd0315",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bg50ze1l9wUzV18SpksEPBU6",
  "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]: [-0.4892, 1.7306, 1.0073, 0.0067, -0.4221, -0.3141, 0.652, -0.0193, 0.5182, 0.1764, -0.2447, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1491 left_z=0.1037 left_yaw=0.0215 left_pitch=-0.0776 left_roll=0.0363 left_gripper=0.652 right_x=0.2473 right_y=0.0038 right_z=0.0808 right_yaw=0.0009 right_pitch=-0.0179 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.1145, 9.1419, 1.8535, -0.0464, 0.1832, 0.0611, -0.2803, -0.1709, 6.694, 1.8632, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e5945ea98e3b4aee8e99597000ffc9c44b9b212189ab2121a2669d309adbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad86308073cca4b0763de6a73f7190ce7c97ac3d51f2332aab3b88cc96ad4ed9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5619e3887032ffd726c4930efa0d222889a9584c412605c874e73cccb5f08f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.072 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.85, 0.7639, 0.4545, -0.2695, -0.2058, 0.6984, -0.0193, 0.5682, 0.2306, -0.2615, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.0718 left_z=0.0352 left_yaw=0.0572 left_pitch=-0.04 left_roll=0.0027 left_gripper=0.6984 right_x=0.2525 right_y=0.0036 right_z=0.0906 right_yaw=0.0006 right_pitch=-0.0305 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0034, 7.2821, 1.7167, 0.0073, 0.1929, -0.1197, -0.1573, -0.4308, 6.8581, 1.9414, -0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.5112, 0.9398, -0.1364, -0.4255, -0.3313, 0.7989, -0.0193, 0.5316, 0.1894, -0.2455, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1319 left_z=0.1435 left_yaw=0.0263 left_pitch=-0.0685 left_roll=0.0201 left_gripper=0.7989 right_x=0.2489 right_y=0.0037 right_z=0.0835 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -7.0496, 8.8547, 1.7802, -0.0317, 0.3101, -0.1294, -0.2803, -0.2667, 6.8034, 1.8388, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7306, 1.0073, 0.0067, -0.4221, -0.3141, 0.652, -0.0193, 0.5182, 0.1764, -0.2447, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1491 left_z=0.1037 left_yaw=0.0215 left_pitch=-0.0776 left_roll=0.0363 left_gripper=0.652 right_x=0.2473 right_y=0.0038 right_z=0.0808 right_yaw=0.0009 right_pitch=-0.0179 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.1145, 9.1419, 1.8535, -0.0464, 0.1832, 0.0611, -0.2803, -0.1709, 6.694, 1.8632, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e5945ea98e3b4aee8e99597000ffc9c44b9b212189ab2121a2669d309adbee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad86308073cca4b0763de6a73f7190ce7c97ac3d51f2332aab3b88cc96ad4ed9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5619e3887032ffd726c4930efa0d222889a9584c412605c874e73cccb5f08f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZAINxlDMcgzxIK7PJoJRSooV8DlTcV7J1kTmC2x5HnpgFc2CNNz6uN9n--2pYyqTOMxN7UyJkJfBY06amTV7Id5rrnnxoP3sSgghwEKgADvF1jzG9Tl1cFoNnwQ76L-7j94WMyBt6jr2QB-WtbwBrsn5w2waakuyDKdtrLPZfRLLx6BS3sbtkE39Qo5Qqhakc1fCIOuyMSSlwxqbfokB93N8jEKtPyU3R3R7AkhxUJvbTpzmvsoy6oKkOzT84ujIX_Cck_Hx43BuYr4IZwSEuWhc2oF0xbEZXagE3AzqcRmWddd3gE3BcovWCSJ9vtC1NdO0_gx0IBjdY25l8P02NYedAvCmnA_bHcsxheKJKoKUWcGATlxzwXpTsK4bnQtl5q5p_hkFtLy3FiDkz6CGM2ERORpyW3R898Igk4XjvxyHSgAoFYOb2-UVZfNtP7s25NU6yQ3xbshdMakhDSx1dkOmzwZzap6uOiaxG2kn47WiGZ_bMPwgZgPfeRioH5gFJGIxrlJis9Wv26hMv3y7Wre8smTk3cS0Hb3GPQSPA2JKgAdR1yj6XP72Riqh9sLJ3A9Li1QkffN4bycOoFhssx1P1peBLA-4Azlptq3h22ogQ9tFdhWgqMj4GPRdq2bbaOulrZ3yCFF9WTMzbZIVu4o5oBbz-aOoTEiQT7Bb2v5gRCv2xnJJ2EKdFpVKvHPbwLvlAvAzKf3ed5W-rMr-mIN3wWdI0J6Rr88ZvyyKFU7FchRcPyZ2AOdDpNFr5QD4FElG84T1wTepMfVT9LiI_dm1OWgn53N6UmkgvdR-qTSz7gh0ukoKtWKk5y8Yf2lQnFEIuRcYDRXwDc0edxXpVme8S6h4CE8Dfoq1OhUr5966XyDCFXCsKAV8qrC9iLevSIEhpTcIAz9JDAT_PO-oVQMW_7jRk7toLL4vgvvKYAuZ1AIsCcFu589R6-3P1psquq-aydvsUwzEf64F-Negk07cTJv1HR0kPrJ7_uhgepib-yrHUBVZrAD-yyHeKuwj5abA9dzdFUTz0T9dgGS2GDF_JMypoE-wXN82vDhc9cAKcYpQEz7Yr4IfHglptnaCw0YgBaZ_2-5EuQeOz3rgf-DBtMP92HkAAGQXoQjtOAvnAD4h8cZuXxj0dnqJLBrR0N_s90naiuJI4tIE5ITP_EsWpAAEyh0nPazaG_JVf_VUxU7o7FGeovTabl5aRtKvMKbrs_CYitFWguqTznK_Tvl0x39c_-O-_RHSxbRAwL0hm1O0v-xf3k9YR2-rQqUj1VJkr_q3vvC8v571fAa-T5fI6My64UtxHz3BD0ykkBlaY5Zr43JRvk3YtAeroAneleyDVBE3WcfYARfZs9lJ7IGIbBeL8_mynuwO23FDL0DG0NKHgnTeHlHscNDH10MRJrfznuXARr1R-40MykG8efydvnS6t-bB0y2IjVeCLb2n0wDcdgeCJ2Zw108YGDTQ_K7qoVb6_nulBZTpQEiQP6D0-akbWLJNpVWEsYVoEX2K1HvKvXVcD87inafc-YIsJJjoh7rjaTpqReoKS0R25NaKwoKMCbJ6Tb5Yo2Tprh40D4o5vo8DTaZ_vbKv0ZaliwXkRg1nGSlzIE9AIH6cplAzmwAIOndkfx8vq3TpYlle9CmUWl1PL2_TkbDus1gyB9pjpnSeg91VlxOw8N342Blv_eBsB_a7XlkLEBDMikuhwPVaDriBiLt5fYZaEFokNCxe43lKxCog60j7eL19yFSibzJI_0ORL0Gr2zh6TtaUEBilcIcZozVlBjibODeiaDiqsMG0nETOzGHk_nskhRwhFerlbJx01_F_cwGPtWqrtbkcwdvsDlvNkUQ0IG_dIxlEHmALZIFJjq-wBQcuYI5xxE0xzgBCpfT75WGAlfrGa8rtlEyUkkADwIWYfV3l2UbjYlXOKMGYjZpgqcxjG6LgY3sQK5dAUjvfBIvbtPazXIN3KpcMNw2r7gZzd7FCXvRHYNWy5XYdXa0MyTjZEYcLbrmwOAHDkyBDaMM4TPFfeoKhZas5YNuv1EZcltJaAk0pjuznLTpNNGpmatyGm8rQSy-R1dcdIbzWui-q6hSvwpBdilxC7skAEjJBP4uDqbp9pWLoLzjGWG5lbgpYlZnxzDr84Hpak9a6JgNQtP9WCudsPloIZFjTYSBfneKGvQ0HGTgfQVLhzTCDfULJQm91gykNZ8aQRPc3o1OUZfjtYMdFd6SBCFoghEEXZeCrgGaHw_sbJgPeo9No2VngrQIAMrbfnS343Clo68k-Fu8NlomOe8o389aQa8efTDeulZvNuk8pa1MYA0V6InanI_Whx58raVHnk4Ap7hvqm4bpOB-nRhfTvEuC7u0aWWWlhJ-oWRoQEFUj7LGs8K7LFUy8JCSEfQLEXK19u-PdeIeIIH4lOedFrijTO75k5AiH5JkQ2UxJLrpBwsMm8BXX0Yz86Bx2-pZ1I3r0--hp8rG8E1Eq-FQy4KXtFpQrXXKpncD6HG_2PVfksKTS-v4hauZJoKl2eYPUBqn7MC9feLcBay2PG1f5OC5uM8efSI2UzgIpkwjkpKa7zc_h7qFYFoCCK5T5hjjYTMtSnF67nySBs=",
  "id": "rs_0af40c221ff6d149016ab4463d18ec87d0a8df849a544dd52b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.18,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.55},\"note\":\"The cap is at the right side of the neutral-yaw jaw column while depth is now close enough to resolve by vertical descent. I will first shift another 3 cm centerward in free space so the cap is laterally centered, then descend straight down.\"}",
  "call_id": "call_fv6OujleTQdgp5RnvpW27c4m",
  "id": "fc_0af40c221ff6d149016ab4463fd07087d0b4daadfa6a9456fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fv6OujleTQdgp5RnvpW27c4m",
  "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]: [-0.4892, 1.7439, 1.0332, 0.0307, -0.4225, -0.3141, 0.5525, -0.0193, 0.5076, 0.1642, -0.2455, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.1539 left_z=0.1125 left_yaw=0.0207 left_pitch=-0.0455 left_roll=0.0186 left_gripper=0.5525 right_x=0.2456 right_y=0.0038 right_z=0.0775 right_yaw=0.0007 right_pitch=-0.0202 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -8.9504, 8.6496, 1.8535, -0.022, 0.2076, 0.0806, 0.0479, 0.0479, 6.8171, 1.8828, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b64db009961f77b7db8c677da73d01820d2fd41cd02e2b234b3704e70798204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1452777f15a25e5569910069d281152b3a8d5eed56ac0ee69eca95b251e8812c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddaf72f112c11a8ca0ac8d46e4ce4f596995df858333934ecc6d39f59e97f35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 19 attempt 0 · /responses · status 200 · 7.326 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6758, 1.0756, 0.9611, -0.5308, -0.5251, -0.4076, 0.7983, -0.0193, 0.5426, 0.2028, -0.2462, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3097 left_y=-0.1302 left_z=0.242 left_yaw=-0.0343 left_pitch=0.018 left_roll=-0.0255 left_gripper=0.7983 right_x=0.2507 right_y=0.0037 right_z=0.0869 right_yaw=0.0009 right_pitch=-0.0175 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -3.6718, 9.0735, 1.4725, -0.2808, -0.1148, -0.1783, -0.0752, 0.1573, 7.2274, 1.8779, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7306, 1.0073, 0.0067, -0.4221, -0.3141, 0.652, -0.0193, 0.5182, 0.1764, -0.2447, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1491 left_z=0.1037 left_yaw=0.0215 left_pitch=-0.0776 left_roll=0.0363 left_gripper=0.652 right_x=0.2473 right_y=0.0038 right_z=0.0808 right_yaw=0.0009 right_pitch=-0.0179 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.1145, 9.1419, 1.8535, -0.0464, 0.1832, 0.0611, -0.2803, -0.1709, 6.694, 1.8632, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0307, -0.4225, -0.3141, 0.5525, -0.0193, 0.5076, 0.1642, -0.2455, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.1539 left_z=0.1125 left_yaw=0.0207 left_pitch=-0.0455 left_roll=0.0186 left_gripper=0.5525 right_x=0.2456 right_y=0.0038 right_z=0.0775 right_yaw=0.0007 right_pitch=-0.0202 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -8.9504, 8.6496, 1.8535, -0.022, 0.2076, 0.0806, 0.0479, 0.0479, 6.8171, 1.8828, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b64db009961f77b7db8c677da73d01820d2fd41cd02e2b234b3704e70798204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1452777f15a25e5569910069d281152b3a8d5eed56ac0ee69eca95b251e8812c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddaf72f112c11a8ca0ac8d46e4ce4f596995df858333934ecc6d39f59e97f35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_0af40c221ff6d149016ab44644943087d084968c6d3a67d7ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.18,\"left_z\":0.03,\"left_yaw\":0.0,\"left_gripper\":0.55},\"note\":\"The lateral free-space move improved the cap toward the jaw column, though the arm undershot by about 2.5 cm. I will descend vertically at this corrected location; the open jaws should bracket the neck at table height, and the wrist image will reveal any remaining small offset.\"}",
  "call_id": "call_0WYwXxpN8tSw9lwrRiuiGvJ3",
  "id": "fc_0af40c221ff6d149016ab44645e1bc87d08a0523a239d8dff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0WYwXxpN8tSw9lwrRiuiGvJ3",
  "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]: [-0.4892, 1.7439, 1.0332, 0.0338, -0.4225, -0.3141, 0.5516, -0.0193, 0.4923, 0.1482, -0.2447, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4511 left_y=-0.1541 left_z=0.113 left_yaw=0.0207 left_pitch=-0.0428 left_roll=0.0171 left_gripper=0.5516 right_x=0.2436 right_y=0.0039 right_z=0.0738 right_yaw=0.001 right_pitch=-0.0202 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -8.8821, 8.6632, 1.8144, -0.0562, 0.1587, 0.1538, -0.2393, -0.0068, 6.8581, 1.8974, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a6c0f32243021645c93b1e9367c1953af7260629a08b727a28e851aa570be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dbc4d4c0847de2d81021c95353e58e8a94533a6a05b7f313ae86ebd0c91c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df36776a4cdc984145c34888a2c173a99cb895d5f51f5d654b63ceafe799150",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.966 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.5112, 0.9398, -0.1364, -0.4255, -0.3313, 0.7989, -0.0193, 0.5316, 0.1894, -0.2455, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.1319 left_z=0.1435 left_yaw=0.0263 left_pitch=-0.0685 left_roll=0.0201 left_gripper=0.7989 right_x=0.2489 right_y=0.0037 right_z=0.0835 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -7.0496, 8.8547, 1.7802, -0.0317, 0.3101, -0.1294, -0.2803, -0.2667, 6.8034, 1.8388, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0307, -0.4225, -0.3141, 0.5525, -0.0193, 0.5076, 0.1642, -0.2455, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.1539 left_z=0.1125 left_yaw=0.0207 left_pitch=-0.0455 left_roll=0.0186 left_gripper=0.5525 right_x=0.2456 right_y=0.0038 right_z=0.0775 right_yaw=0.0007 right_pitch=-0.0202 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -8.9504, 8.6496, 1.8535, -0.022, 0.2076, 0.0806, 0.0479, 0.0479, 6.8171, 1.8828, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0338, -0.4225, -0.3141, 0.5516, -0.0193, 0.4923, 0.1482, -0.2447, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4511 left_y=-0.1541 left_z=0.113 left_yaw=0.0207 left_pitch=-0.0428 left_roll=0.0171 left_gripper=0.5516 right_x=0.2436 right_y=0.0039 right_z=0.0738 right_yaw=0.001 right_pitch=-0.0202 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -8.8821, 8.6632, 1.8144, -0.0562, 0.1587, 0.1538, -0.2393, -0.0068, 6.8581, 1.8974, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a6c0f32243021645c93b1e9367c1953af7260629a08b727a28e851aa570be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dbc4d4c0847de2d81021c95353e58e8a94533a6a05b7f313ae86ebd0c91c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df36776a4cdc984145c34888a2c173a99cb895d5f51f5d654b63ceafe799150",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZOtpXMOACTmZHcWp-VdNIPvqBvb6ecCIPma4tP42bveADOBeHqBBENBf4UOVokgaDrN8gMsp96gw3uMwS9y2IajSSQowVt_pS9P6XhzUPdzlpFav5xwkOvjrAtcB0PKbWLJ3QYT11_rLkmWuo286QFGOUtH4Cikpnif470khju3F7Zk-pyX7-q5JADMLPJQrcCtrdPT4PcaoCwn929BKefkaEDynIYEHL7f9ZQB4x5J7Y0_70tHf2rc0AhZ2mnIwGsJ6gaTy94hAsT4E2G8ZXeYkveraib4pddPnPwtjUbZnYhC5brw51THWAQYOgJedXj-OM8z6sY91Ke5wsUd-OkvVnrvkGE6EroxuvLNhjJb-NaWeR_Wa8zL-baQuZfi-eD068Si9HEFysD-1HE2uWbDxFROCUdsWlmWneF9sp0PuznbTWWQEOcMfKLRXPocpQTevcYO0QgjaZ0YUsN3NPV5TeXNg3vdxdh36P8oWfOjQPESRnsXWX9GfLAKhYPExN8tXMMR70yqC--SpLSn8a4X5SxsSn4d5URRp3jz2_1aigf1uyvTc5ZAdd0bCbLQLh2Od3f5hczlt5ls2xNAXvTQGO1DfSdYu_fFo-mpzPpcSLQz9eD_lhrlHZAHkNcwNjRpCQVmyUzi5mfjWg7SPeXNfm4jUIrKmRKPAvrMAmxekgihwuwQhmE4QSJxEXgVBdummeRT3W6APYeq1du9eP83zkd8Cb7H73aPzX2nDgldW3YyvjJvMUIUoLwG_fgTV_CrxqdJPDCr0vAUZKEEjpe2k-uzRzEWFJxXxltN9IRfohHXJcbXt5Ee4A_-Shln2CZPPAbKYL216OkHBG-HWrVFpcLJEJIVuH-Nmaned2eeX5wBwG9calSre71smCrjVpUYMmpm60wu6uO89yoq_jaTbTwK_B_ZIRqtUcJ1g69kGlDO_LUran5OKxyJhkB9NkAKZ8ki6x9YvubasjCTc1Pom9gFMbaZsYwGASqCEBerDhS7ZDWTXmEmPph_8Lj4mvl3y0r9F6bYblU5lBmbjphLNsPhzgfHWyy18CRP9xmgn5liXIfRlhzbl2czOOq207p_v6RgXNxFU3Z7oRVm_1rsVW6ikdTOWKVH4a8QkPjlv_HCL8EZNDlxwGpy3yKv6VTrIv34RC12yayRZkZmc0hiB1oYrvRaklvfhl6PjgPeCXYtC7KyK9vLO4OrB_cBYE_X-30V5pwTUNyXBGGYTXdBByJ2xckMNomVQqcjeBwat78zX1qAADjYBFimYf3L8rKsn04ytaQ9G0OhPQBd6QJe15pZSwAUmKi35gfeUtqK6vXYBQshyKvODdmLahXiCSpTQq0wT3pM_eApjQXknFVdkSnf1P3gTtnr2sICsnhl8FjO5-5WYbkkfDceFSbdIWAWvWE0miHaHevg4o9YG6tnBMwjblMXNhlbUQh1hdHIv_c8a7iOFmP-dCY3BQxxu0NyA5AnAX9XYteLIvIwUwpVagAIO4ReacKD7b8LDMFBm4Ewxui_6BN2PtULnqNjwHIMVYUzjYjCg0HCldeXLkLz5busTsIFbY50AsoXyU3am_egzKZE3Qkns9fIJh_am4TDoHOjM4h82u1igjesTQ8Lt77pnyRzCeDHiIvTdSh9zdWx8CPmfH2oaL7lQRACKXhysdYzlwaqf0egmb52TpldYj51PNiJ2K7gyNvZDqJSrmUPW4A22gTlhg5DZ9y0DrfG0C0lGNTiMRc4MoqJVbutPH_zPVRN01JIi0LgKxeS65aTg9kol0KUcMEXZIVxMKs_ZvVO8at9Qr3aUntZtZNbqWPaeg3SOOUV26RQ0XkSpqLQx-gTdS7gq0iqlwpxtwy71u76_KIaEG1alYhgkBpOVs9WNtPjp9Bk3zhY39m0_lIbQvNFZShjv0CMOr9m28vNFrWeDIAaI4NGZCENEMRm4Zgy__JeP1wl3c7cEukjXgOB_FzYftc-YTJj3psomOoWDvWSEFLHE0qOx6GG4roILSqo2Q-yJCHbm4vQycNJfhWYQV4AU8kbEgNLs9m-rARCnvwKJPdpIKfW0vr-8-Kx5kBdrHjD_4BaCnYZRRLjpvRySoY18_XBCKS_LiZUp5BWn2Swl06gy4fa4k1xxwUfqyJS8VkJeXCYiTEECq66rEaApUse3t1-dfaoQmjfJI2VxPi1Tq-OVzs7jH_Aw6uztkq4dilpiReoUOG88CO94JWHvCvBo7Z_hthYkn6bjQjzkS6NJ6pWhuCf0GRvuH_bP94aX4DKNjnyurpTf4taS_mDvYYvDnbpUW-arw6yZDu0z3sh1YmCHsrY1iUJys4ogvOtP5QXryh1JgseiuO0w5iMKkjwTsvJukfE5znUpK85Sn-WUzygQ2LJdL71Ds3bYCFWYf0AZzDp6NulYg7dZDbEDac33Iau9sqh2_teATWKK6aPPnE3PStDyiZJhA6hbZ9SIbjL1vb6WachNTh-ALpDxnAi-0heP_meMDOoI1WG-fIv5K_x06GHH1BOptEOV6DDURtpq2afnXQTkYZis7NTdTmkTWx8VZKgHCPhlSEPD8RovMGg2JyKW72mGxIlyjb6XvELkjuwXPaF7Jp2j09XFTNM103VrMS3AiCAp2vlmvyFwttdec52RgLVF9pdYM8p7kvp-UA8FYayDy9E_pX0rmqlMcOSSXZnXL8B26Iq1ltHMN0nz8Dh-jbtJtl8weKtwDmq43lsAmNi6NUlDo9MNePb3EGExoSVehQwWYc-5qYjefwXIjx0s5ytfBiyL9vUPTFYYyj8ixXA8g0ptpzXYkCJKoLfy2p_CoAfrRH0BntmMWG3mv9Cj7g8BeP_oK-nU-g7qYmZKSOuKdXLz0tQMNXmnfb1OyZINrIbFtubaBY8-DbFR6Aipc-HrLwWLMvr_f6TUKOr0KTUK1MlwJe1WUflxAUFtBnepP1emj2B7kJN8AHMPjJQUc2XMCZuGrUux34N2m9619DFyj2QY8nMasusf_-G7l3hCMMBmU-MgefiZrnfIQDqf8nthP6j2fTvABlB97_49AxXXH1MnvpZk_sUR8DyRYHiNIKiNTVIsQOuvf_dKhrcEJdLHWU8nkXMtFZKOy4T10uL2_7wL1aIyE54sAYXOUZc63IO62Xx3eKUYcdFXA4efQDr1rdyHnX8EO0YoprKDbN3WjH4bWQ2ctPYUx-5Onz8v24q-gKf6WZJWFJknl7PH15YoXDPk_x1HH_krBsT_iggibJm0i0LagxZ-a71fFIx5XlUnsFTTlpb79Hdmnm6hKJ5wxoFKrP_1bhuGKWTfF5X_yraXQa65aby2rf_WSEY07eg6D5IxtSB40HxEjPkZvksyME5nLqc8g7m9SaQnxYWTvuZVWlpRJUm4Mlf8enjpR_gz1CfrxP5KrydKTAcRD7HMMdhoWOr1ry2u4Fe-159EYyV7ZqxA1gHNWa7YW8FFfoymAl",
  "id": "rs_0af40c221ff6d149016ab44649bb6887d0bcd8884ae6a0ec2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"The arm again cannot descend at the neck’s combined reach, despite being above the table, so that cap is on the practical low-height boundary. I will retreat and instead grasp the bottle’s nearer body, which can be lifted or dragged inward so the bottle can pivot upright.\"}",
  "call_id": "call_Wz7YJtMlCa96J6YpijSWVwXd",
  "id": "fc_0af40c221ff6d149016ab4464db73087d09bf797497ddd5269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wz7YJtMlCa96J6YpijSWVwXd",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.1755, 1.0245, -0.5625, -0.6117, -0.4957, 0.7983, -0.0193, 0.4755, 0.1318, -0.2451, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3087 left_y=-0.161 left_z=0.2377 left_yaw=-0.0318 left_pitch=-0.0001 left_roll=-0.0148 left_gripper=0.7983 right_x=0.2416 right_y=0.0039 right_z=0.07 right_yaw=0.0009 right_pitch=-0.0202 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.7248, 9.2923, 1.3846, -0.3101, 0.1245, -0.1441, -0.1573, 0.1299, 7.1179, 1.8926, -0.0317, -0.0366, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3334330833e814d8709381ffee793cdffc81abe57989085d154b4a2dc41a300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cf54c77814d96fc397a096dab551b45d531e50db2ad7d123ca1249da457825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af294fa6ebb563fcad4be355e58e35f4914604d3ec1442fd29f233fbdb06664",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7306, 1.0073, 0.0067, -0.4221, -0.3141, 0.652, -0.0193, 0.5182, 0.1764, -0.2447, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1491 left_z=0.1037 left_yaw=0.0215 left_pitch=-0.0776 left_roll=0.0363 left_gripper=0.652 right_x=0.2473 right_y=0.0038 right_z=0.0808 right_yaw=0.0009 right_pitch=-0.0179 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.1145, 9.1419, 1.8535, -0.0464, 0.1832, 0.0611, -0.2803, -0.1709, 6.694, 1.8632, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0338, -0.4225, -0.3141, 0.5516, -0.0193, 0.4923, 0.1482, -0.2447, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4511 left_y=-0.1541 left_z=0.113 left_yaw=0.0207 left_pitch=-0.0428 left_roll=0.0171 left_gripper=0.5516 right_x=0.2436 right_y=0.0039 right_z=0.0738 right_yaw=0.001 right_pitch=-0.0202 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -8.8821, 8.6632, 1.8144, -0.0562, 0.1587, 0.1538, -0.2393, -0.0068, 6.8581, 1.8974, -0.0171, -0.0317, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.1755, 1.0245, -0.5625, -0.6117, -0.4957, 0.7983, -0.0193, 0.4755, 0.1318, -0.2451, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3087 left_y=-0.161 left_z=0.2377 left_yaw=-0.0318 left_pitch=-0.0001 left_roll=-0.0148 left_gripper=0.7983 right_x=0.2416 right_y=0.0039 right_z=0.07 right_yaw=0.0009 right_pitch=-0.0202 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.7248, 9.2923, 1.3846, -0.3101, 0.1245, -0.1441, -0.1573, 0.1299, 7.1179, 1.8926, -0.0317, -0.0366, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3334330833e814d8709381ffee793cdffc81abe57989085d154b4a2dc41a300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cf54c77814d96fc397a096dab551b45d531e50db2ad7d123ca1249da457825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af294fa6ebb563fcad4be355e58e35f4914604d3ec1442fd29f233fbdb06664",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZVNngY9oEXxTcTic1KxVPs76dtARWVJjL2L7DbWRHiQ7OQXibewreFfiSovJc5JapQIewVt79YlLzOoOlBZ1F-sX_LtvovGDNCSpUedwxoO1QvJfpSuDDjiaba05v8h6kDAiBa8O_g07gNE_HTtA4UPBVy8pfDZZ9YYp8QOxm2f9ZJWHVHXB3U6JP4_DtbUtbBQCiD7w8r67kaNyRJF3PvcB7Lh1gL6e6m_bBux3sLtJGJm_Nsyp-TcQo4bPRmlyJRybDUtO7BHsX_O4Urv3TVShi03z2FEq7KBXYnoDgXAdQ8XA42rQfXUXzCp1m1lYm7ZOll1778H7adQKLUakOgt1yNhui_5aC86tJkZ_cBpId7aoPiLfW8Y47I7w4LFqV9maE4rsePDDh5JizgL1AVSl7d2dZW3aIv_XDg1shyLosV5J9x3b9Im6mpums42eU3pnofR2yYaWABcTbd6R-GDLxjUA7pkcnHNBmOV9juseLCg4vdQYSHsmsw3I9frAAG-ehkw2lsRd3q3hgXnJ-hLYNPjTK3oqAAiS6q27XgZWH_GS_5QmXx8JEuaJix7dPUPH5A2TrYMBVKOKzMlGLVy07GicHU577xg5OeSDvDkr4q_CDUtMHeTewWG5EWeMUHgtjuhjGBnmGfwYwMjuwdtnOaxMkiUkUyA0am8-R0jYfnxndUtvPXvmDc-MaS8HTS0gba9a6HJ2dDZ1zhcOea1d25rC4YnyYCkLtXR_YT2etMIBb1UXTqXce51yhT37hOP4GbAIPyH_V6bKUDEL1AJ7aotb-AWVWeUoN50P0EBxLRPA77Lb5VAM-cU8qA1ZfjR9ZSrjLAul75c6I9Pr_9sxTC3UnS9gNlRqMe3pxWS2j8T-lhfAsAUYEhnpQpbcfO4_NSeeLY_X0_S3vkstZuI_fi9sYzIJyaX_Cub_Gx9Y70rV_y7kUGR2GGW_7WOPPIq7bGpXpR06HswgOP8HwBqJi0i4uNO5tJS2YfCzA-AY7nSQsijfbCeLnKWXu7kV8p2MJP0zB1mSuKyq4SI46_NrcnrYZ0XhIMo1Oeh8vfc1_fnPQzq7zImB5cpXGp55N3aF07gptAHEC_hcMbV7XzUCg-wGotB1zSFOCwFA1WCqQDWnku7C7HFIVdWUgvjEzToRWxSI1Grs_y-KCEX-9tSHsK1ByFDVaE-VGJqTYrsf_yuICsWFUehmL5v3SEDk1CMEC_xapttQgdzS08I7PmnY00RfvZmzgMdnZKwCwdgEHqOynUxgZ4lTQJZj5XuvcetZ8Rs7T8Wrm2G6zqwp_W8mfuj4PDcwy1TjNeTG-8Dv8HwJBLv8EhT1oOjqtOFAJTxf53vTAZA823lLtT1WWKHuQNHq0YkcOPefNHEqRExojmdRzxbW7e-gD52uQPRRqOCP85wIjkfzzJ0BlzqaztgDVohHLErgA7C3W2EsEg2o21RI1yY1zVY7gtcx6Jn14gvEeNHhef5HTeipsDqxQyVva0h7Cr6lFIqOtwgzQqiqCE-adwzrvYujMAplFAQXQlzKblp27lu9EqmNYKTd5MlspgGRn5ZOyyXQP_Hc29KUp0lanHLS5bYgRtNk49NmB0N6xwQb6KCJTkvt8lZwPVdyjFTK3nWVB9UgLODhTqZkw=",
  "id": "rs_0af40c221ff6d149016ab44651e71c87d0a7be61d35c5393b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"From the reconfigured pose, the nearer half of the left bottle is centered on the jaw column and is only about 6 cm forward, at roughly x = 0.37. I will move above the bottle body at this reachable radius, then descend for a secure body grasp.\"}",
  "call_id": "call_593M7Dfi3M7qYLrT2XFmKgPD",
  "id": "fc_0af40c221ff6d149016ab44654526c87d0a08c3b564bcfbf77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_593M7Dfi3M7qYLrT2XFmKgPD",
  "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]: [-0.6479, 1.4334, 0.7925, -0.1043, -0.5484, -0.4213, 0.7514, -0.0193, 0.4568, 0.1139, -0.2451, -0.0284, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3595 left_y=-0.1521 left_z=0.1255 left_yaw=0.0201 left_pitch=-0.0522 left_roll=0.0357 left_gripper=0.7514 right_x=0.2395 right_y=0.004 right_z=0.0659 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 5.9966, 1.7021, -0.2125, 0.0366, 0.1245, -0.2667, 0.1026, 7.0359, 1.8681, -0.0415, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54e67f41863337ab78c32756701a861971d87d6bc424f530f8e9ea21813785f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99146058b76731d03bf339f20dbf03ecfeea86e11620152e893cc48c4b996cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df15baa08a0aa4141c204968b7c006f4dbe7f2f1d666d47dfe9b11ed7314db2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.009 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0307, -0.4225, -0.3141, 0.5525, -0.0193, 0.5076, 0.1642, -0.2455, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.1539 left_z=0.1125 left_yaw=0.0207 left_pitch=-0.0455 left_roll=0.0186 left_gripper=0.5525 right_x=0.2456 right_y=0.0038 right_z=0.0775 right_yaw=0.0007 right_pitch=-0.0202 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -8.9504, 8.6496, 1.8535, -0.022, 0.2076, 0.0806, 0.0479, 0.0479, 6.8171, 1.8828, -0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.1755, 1.0245, -0.5625, -0.6117, -0.4957, 0.7983, -0.0193, 0.4755, 0.1318, -0.2451, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3087 left_y=-0.161 left_z=0.2377 left_yaw=-0.0318 left_pitch=-0.0001 left_roll=-0.0148 left_gripper=0.7983 right_x=0.2416 right_y=0.0039 right_z=0.07 right_yaw=0.0009 right_pitch=-0.0202 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.7248, 9.2923, 1.3846, -0.3101, 0.1245, -0.1441, -0.1573, 0.1299, 7.1179, 1.8926, -0.0317, -0.0366, -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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6479, 1.4334, 0.7925, -0.1043, -0.5484, -0.4213, 0.7514, -0.0193, 0.4568, 0.1139, -0.2451, -0.0284, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3595 left_y=-0.1521 left_z=0.1255 left_yaw=0.0201 left_pitch=-0.0522 left_roll=0.0357 left_gripper=0.7514 right_x=0.2395 right_y=0.004 right_z=0.0659 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 5.9966, 1.7021, -0.2125, 0.0366, 0.1245, -0.2667, 0.1026, 7.0359, 1.8681, -0.0415, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54e67f41863337ab78c32756701a861971d87d6bc424f530f8e9ea21813785f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99146058b76731d03bf339f20dbf03ecfeea86e11620152e893cc48c4b996cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df15baa08a0aa4141c204968b7c006f4dbe7f2f1d666d47dfe9b11ed7314db2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZakQtgv5wwizf_JWYfxKYAIjYhKX0mlW6bmBRAT78W146www9-4GiExRc_yqO3Ibt6vUJ2cXelYe6vldncOOUmBBGCJ5mXhKUL-X0odQ-c_I3GZ0v_ln9wFhFYNTSlrgf4nLmQhNDEcSXpTph2B7Y6FLKYgBEiW7Sl5ISDg8geySG2uV-tXUK9fjJD-76K5kLbSRkr7Y8LiHAUNizMgy4AmoA7lu4jJQzpw9d1cGxSRCzImwRVlUGges0rzhL3fGPppajoH8AlqSLqSH2LxhtMDoKaJ8qNfkGkj2E04KBl8WbLScy1U_wlowcjoPC1UdtMQSskhDAYDNg7hCHxFydB7APbA_nGWWis1jAHGx3bXlHID-qlJiyluD0ETKU4IeqcykiLLvNkG460vgHS8VqXcDLVs4Y39OwXNO--6vZ6bp9ThRG821fTEPzZ-RZQ0MDYNEvmcOTSJ8O8ivesZnW5E9K2uDeT0g5hhy4NAgE-EMKO8xQIGUutR5lWdyBKDdqYLaFvXtStGgbxeMTDMkOj2IgekGLz1sL5O8ZW38aPh3bYL_Px_CVsA73diGJo1sATnDuIQvRGctE61ZsiX_O5wAQN6cwN8anaIofSMXvVPr0bj5-Zzj7jkGv4QeA_7rVcg_0WYL2zzESq2yl3Lsf7Sef_ZV_F29ZfsaF5-gK_uIGIv9Hd5xVoot8Q5HlQ7sJTi6WNasrsj1nLDRdvvPr1Ryx61sFTrRJ9SbP2jL4XfLmJDbKQoK7kYOgSML7dCMvubqjOoDhwuPuaq_Fg3kDUmFhcSbRKNAW5mh5_6ICRlnpfy2K3y6cq_hhdOdGtojiHM6QhyS8oN4zX-_96xkpvnFYepKw_7MZeiTsWnR808QJdhBddUcVjVb7jct6icAAp11KbsJJIKLBudfWPl1_prApXwZYwvZX7skkBlpzDkMK2-_nFwX41Dp29rfArAaeD-AWQQtrfTESFbnddJQXC2PUG3gyiJ9EgtV3XSZituWIEuXwxkWflaTwqAx3kapG_h-aLcaLKxGEJ248VYHqdj6INz2XGQef6fYX1jIjzvg-KgwePGA9jefru_beg_1WvUDOMYOkLYgEuHCDI_HVnExrXUgb1nMiCw38VTIcKZQmwVuTZVc-QsaspuiiC3hWbmyQF4On9kgBD9KkHM1lgg_KzAMG838Yw-O9uFvJPHCFA2vPxBmoo6dYIHYJ-4dHqZ-XV0K6bJ36eWluVnyiEBZNJoZ_s3xzy3yG5JlxZHpg5_FBc9y3_ZVPHoXfYgZL4qhC-gtaz_tdg6xi5Gg4J2slxzgHiRnEHbsKwIFkQnHE=",
  "id": "rs_0af40c221ff6d149016ab44658986487d08982802440118a46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.025,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"The left bottle’s lower body is now centered between the open jaw fingers at a comfortably reachable radius. I will descend straight down to body-center height, keeping the jaws wide so the bottle is not displaced.\"}",
  "call_id": "call_aaiOzoebYYtB0qnKBX2dh5RW",
  "id": "fc_0af40c221ff6d149016ab4465913b887d08c521f56b0b0e56f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aaiOzoebYYtB0qnKBX2dh5RW",
  "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]: [-0.6407, 1.7542, 0.5838, 0.4362, -0.535, -0.4183, 0.7509, -0.0193, 0.4374, 0.0982, -0.2455, -0.0288, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3637 left_y=-0.1544 left_z=0.0207 left_yaw=0.0151 left_pitch=-0.0491 left_roll=0.0243 left_gripper=0.7509 right_x=0.2378 right_y=0.0041 right_z=0.0629 right_yaw=0.0016 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.4325, 4.4376, 1.7314, -0.188, 0.1636, 0.0904, -0.1846, 0.2667, 6.8991, 1.8877, -0.0562, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70aa872943ba90e5e6a76d85226660a2b7b87b6332ea3b880c6db7fdc2ed3331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5303e60a3b5c2d4aaec8d7f7c441c6c10b3817a7a3be0731ace1483b12853ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96aae9cfaf5db82a7c389b380ab2a1f8027c23cdb645b764b702dcdd248c98a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.206 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7439, 1.0332, 0.0338, -0.4225, -0.3141, 0.5516, -0.0193, 0.4923, 0.1482, -0.2447, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4511 left_y=-0.1541 left_z=0.113 left_yaw=0.0207 left_pitch=-0.0428 left_roll=0.0171 left_gripper=0.5516 right_x=0.2436 right_y=0.0039 right_z=0.0738 right_yaw=0.001 right_pitch=-0.0202 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -8.8821, 8.6632, 1.8144, -0.0562, 0.1587, 0.1538, -0.2393, -0.0068, 6.8581, 1.8974, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6479, 1.4334, 0.7925, -0.1043, -0.5484, -0.4213, 0.7514, -0.0193, 0.4568, 0.1139, -0.2451, -0.0284, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3595 left_y=-0.1521 left_z=0.1255 left_yaw=0.0201 left_pitch=-0.0522 left_roll=0.0357 left_gripper=0.7514 right_x=0.2395 right_y=0.004 right_z=0.0659 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 5.9966, 1.7021, -0.2125, 0.0366, 0.1245, -0.2667, 0.1026, 7.0359, 1.8681, -0.0415, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 1.7542, 0.5838, 0.4362, -0.535, -0.4183, 0.7509, -0.0193, 0.4374, 0.0982, -0.2455, -0.0288, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3637 left_y=-0.1544 left_z=0.0207 left_yaw=0.0151 left_pitch=-0.0491 left_roll=0.0243 left_gripper=0.7509 right_x=0.2378 right_y=0.0041 right_z=0.0629 right_yaw=0.0016 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.4325, 4.4376, 1.7314, -0.188, 0.1636, 0.0904, -0.1846, 0.2667, 6.8991, 1.8877, -0.0562, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70aa872943ba90e5e6a76d85226660a2b7b87b6332ea3b880c6db7fdc2ed3331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5303e60a3b5c2d4aaec8d7f7c441c6c10b3817a7a3be0731ace1483b12853ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96aae9cfaf5db82a7c389b380ab2a1f8027c23cdb645b764b702dcdd248c98a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZehg0YPg1Fb411xC1O7I686NWkg057iJOODVvqomLOhFR5rEqR9Dwx72ukvma4XH_brMaYeDXId_RSkABAc1bJn9fGdNN2BFT0v79x7cMaOkwBFoIKZ6BM4UFiu5owQWAiOJQUt6fAJAftOqg9EvxtBvsLxYrp9Y6tlwOZ4JExOOK-Zw1XhWaVbtYCpOMzG40lyREYvdOIZOTIoJv1IlLgUhQ7tiHNxAMSG6o_8aBcRng78BmB7YKOhopM9PC_Piz8obDzXyyDblLxgUW-xmnpzl9y1oR5svdGlKsoFlvjv_2A3G-1S1j7Po49rEiDBV6IQb2H3XcsuH3AQYlsxy5mEJGnHVLh6qSx6h3P3ZeQFQl_B24-dp9ylNi-Pfi-c_cvl5MXZO-fPOkSaceWzwDko5bMaIBaz1nWRGGhiSR1wUcJkNZv5fMr7LaLJMUn5mtz89dlmmG2MnN-adUf8asHZAkY7I5Eq0HyVQrh-JnfWxiX2bZUBuycDvR4DEzVwVzQ3ziA6siuffCMdzy6yELz5Vu2-ypz5tTgCPnFIbNiiNbgwwQiP3CbY_K13UPw7-bha2F8pnk_zj_WJ5ZEy05BYHwVVWXUVFP7BzQ829t9hwtkVkHpRnHPS3A3MGSTpsKtLoSN3Sj5v0xtlU_XKHdZr4HKraS6F9aSeTudAMHbXrNpHylXmcQR2SlKRZPudVZ4suE6gJsiliWqQejlGiPjz-1tSdSN61X4U52NEQ6yBayIDjsAuPSmBw3YTD_xr2NlAo1hML1QtwZXbr7R9M9slVbLCpZVQHQ7dP6s64TYIGfBHQe-QGVhCmNw0x-cPIm3VHLbxjWYaglnzqLMcYVrVBQdcBYeze9GxeCfzV78AetIR8lsI8O1TYSI89iDtcy8NLaTS_EXWco935u0fVSwXzMVLPjGqpopWhNMBY40S6Vdo8w0VUtMfJswaSHY5W4j1vR5zzdBXAhY9l88z2sisBIDHhTTD3g5SeuptpFpbC3hGCm_JnUGFPAs21GZEsVnTiS9lbp6eoybOEYE0dNzJLi_kNidZQlZRFABXiUD5Hdmn9uVeWLI1dZ5Jo9P0AZC2q30inuwNz_mHgWoSQXy5Q4eRqSJRKpTjrHNEfthtg3q8beVn_-f135fo6eEAwaxfllri7EOo_Ax6wjhYFrpg42x-jJgCLZ75P8d07nTSCoHnHEEiObFvlPUsQPBfncBELwWzbrQD_NTNXLByf1r3HBcNGV1W7jOKfWv1Jsu2Drp_eYpMrTcOD5Pi8P6VT9poGshiOjy_H8SYbK2ASW2Oa7SgJJSssgt71JxWznOXwpyfGu3R5qAmcyfOrUltU-XbPuzzXbddTX5TaTeQkr_YalwZ_DcrjQZ9sXfjjVLGaMHXThWsK4XE1-Sj-Dtvthn4sjjb_NtJ9ebdQ9TDmj3yX8zNSECTuX_PTSEB3Fi5XoZSR3OO7a3L1Ph3w-sFsnL3ETDm6zL2xqNX4b4vTQF-oaNB_Nd-zCG_dwAH32-jmpuobKg-KZP2KRffx2GKIyrJN-1plmc6_k9byXeW_TTLxueKhxQ08CV9_svmW6X8Ih6Uah4-Up9tomjh49Ze6APNO9UwwEcENqoJckZ-g26pZ70hRFYqu1p1J7JmGubVf_SaXlql26ucUpsmrzmc2hfWC98s1vJ1PT4u3VQxcNyfaSj90rGH9CnOs5d4Ohdudqk2c2tfQ9xyb0kVWCN2-tLhA1Sf6cdrcTqz_oJtLFvsA==",
  "id": "rs_0af40c221ff6d149016ab4465c649c87d09029e09c8246b865",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.18,\"left_z\":0.02,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"At table height the bottle body appears just to the right of the open jaws, so the grasp point is slightly left of it. I will make a small 2.5 cm centerward correction at the same reachable height before closing.\"}",
  "call_id": "call_1fLoyQb4eTNLJnT17cdTCqE4",
  "id": "fc_0af40c221ff6d149016ab4465d6bb487d0a01eed7217fee0b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1fLoyQb4eTNLJnT17cdTCqE4",
  "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]: [-0.6994, 1.808, 0.58, 0.5159, -0.5655, -0.4313, 0.7509, -0.0193, 0.424, 0.0921, -0.2451, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3594 left_y=-0.1739 left_z=0.0149 left_yaw=-0.0137 left_pitch=-0.019 left_roll=0.0156 left_gripper=0.7509 right_x=0.2376 right_y=0.0044 right_z=0.0631 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.694, 6.8308, 1.5067, -0.4127, -0.188, 0.0855, -0.2393, 0.0889, 6.4479, 1.8584, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54bb10263d8b6840f86e1e7912063460ee86616653704c478e008df9736542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef466f9e031cd4afcc800f4257a8d8bfc8cbb1f8e879dc43bc1a826230a9fdba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26910c2cbd1ee97524b7297b236e41ceffcc226030ebff63c0d2bdd50cafc054",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.549 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.1755, 1.0245, -0.5625, -0.6117, -0.4957, 0.7983, -0.0193, 0.4755, 0.1318, -0.2451, -0.028, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3087 left_y=-0.161 left_z=0.2377 left_yaw=-0.0318 left_pitch=-0.0001 left_roll=-0.0148 left_gripper=0.7983 right_x=0.2416 right_y=0.0039 right_z=0.07 right_yaw=0.0009 right_pitch=-0.0202 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -4.7248, 9.2923, 1.3846, -0.3101, 0.1245, -0.1441, -0.1573, 0.1299, 7.1179, 1.8926, -0.0317, -0.0366, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 1.7542, 0.5838, 0.4362, -0.535, -0.4183, 0.7509, -0.0193, 0.4374, 0.0982, -0.2455, -0.0288, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3637 left_y=-0.1544 left_z=0.0207 left_yaw=0.0151 left_pitch=-0.0491 left_roll=0.0243 left_gripper=0.7509 right_x=0.2378 right_y=0.0041 right_z=0.0629 right_yaw=0.0016 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.4325, 4.4376, 1.7314, -0.188, 0.1636, 0.0904, -0.1846, 0.2667, 6.8991, 1.8877, -0.0562, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 1.808, 0.58, 0.5159, -0.5655, -0.4313, 0.7509, -0.0193, 0.424, 0.0921, -0.2451, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3594 left_y=-0.1739 left_z=0.0149 left_yaw=-0.0137 left_pitch=-0.019 left_roll=0.0156 left_gripper=0.7509 right_x=0.2376 right_y=0.0044 right_z=0.0631 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.694, 6.8308, 1.5067, -0.4127, -0.188, 0.0855, -0.2393, 0.0889, 6.4479, 1.8584, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54bb10263d8b6840f86e1e7912063460ee86616653704c478e008df9736542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef466f9e031cd4afcc800f4257a8d8bfc8cbb1f8e879dc43bc1a826230a9fdba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26910c2cbd1ee97524b7297b236e41ceffcc226030ebff63c0d2bdd50cafc054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZhwMlkJyb4VOVccoXe2HN0hzzXWsZ_dJN2qc_QeP19BvdF8SeStgJI4SDQaMy6yy9yqr_bMVuw_fQv6UiEn5YwppP9tNtIfuB1UhzJAYyMUawysSrZsVsTUcp0IE9oy6M167u9QvGMlzxM0CYPoSIYz8DRFk5ULAiMgYn5bOoryWYOKT_uvoTSNCMpC8jMWG1KIgryQ6KpE5jV-hxP4MHikK3JIaewaY-e_N5l_xILwtxqeGRJlnoZ9v36li5lFaazA_8fVJRCbHDuYhtHNG3ve_DcxUGH1sMcGHdAS99dac4Ywj8lKRp1L9T3woPIXO81IMhsrEUH9Gp4dLeWdiCRkYzwu0clQPwyguscFqg82f5_p9lq3CcIMUqrAq8hDGt8e8bckIaXfCb9tHfSevq8fCurlgjX0j5fnLyUCdfCmeDrnqVlvLd10nevSrEXmaUqiwmKQtWPXF7Gl8tQkuS71VbgvrjGoMjOc1V2GQgqOhLHrVSzUDKx_dxO7V115QF2RTcjPoepgeLjjQjtNkZQyzI91hH0GBp_3lqaIvwU1aPJGYc0MwmFXKUuIQpMmenl7IhF-J_RWicIgomK7SOguE2UXmLF1baEIjEKlJpr0QDfepKZSfzPoXsZLp1Zov1278RznVlH9STcVHEaEugD0_8JjmTIlRssCkGiKG8Mv3ZVrG7pdaSbNf5Jo9r6Wvfe-h0AjvqiWDOYFdmU9Wka5AeYZhTuTArDP2Nao3o7RVzYONPC8SL2cybb9CBt-A2ABoQxOXiMa26coaQUgrcpHjHgQcFagX8NprCZuK3GElIZnyu85f2aBEVgKLept5BKwG31BMRVBDYlbjBxI7uOrHU5CYLa22HF7ugTW_krqMljHqpowPAJL2DezYUUlPTjrTUGU-NNxA3ENg_t5hnFBXfU6DvFD7oZT-FJyjUmJCqKK0PSjfGnt1GIikD1Tg4bTM5sAIBW4t3q8J4VqADAQ8Bc3I7-gGX4yCq_kjYi80QINVbWCimzAU9dmCEeuwQLzXlgDHZsbO951Kux4Ru6eI4qvj7-6V_A8CMAptzp6Hj9jA-nVNbdpTbXuJgk4O4Yo4q6skQpZ20QYa-3j3Pqdwk8u2nVcNksOQs1eQcGaUtLAB9SduZ-X2v0KwvJfWakKBU6EqRuWrTtu6qVq3zN6uc7x7yDkz60UXRjrdrpr0cZxaWBZs_xPeUr5E1sN6ZOahAZ1dCkP7VGwFf4SCV-wX4rRpfEzpFJTACd1RE_kPfZp6I5DvB6p954NKNZG8D2FgzRZUg0BCvROIM3qaNFt_kEqYlKi5FSgE9dPqD8mgQyplgFIXfsPKwkFJoh3TvN",
  "id": "rs_0af40c221ff6d149016ab446603c6887d0b8418e31c91d1f33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.02,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"The first lateral correction moved the bottle toward the jaw gap but left its body still right of center. I will continue another 3 cm centerward at the same low height to center the cylindrical body between the fingertips.\"}",
  "call_id": "call_WG1NH9pHPPXwpap74O3HaQ1m",
  "id": "fc_0af40c221ff6d149016ab446609a8487d0a095f0b2e89f684e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WG1NH9pHPPXwpap74O3HaQ1m",
  "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]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5838, -0.4492, 0.7509, -0.0193, 0.4232, 0.0914, -0.2451, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1805 left_z=0.0161 left_yaw=-0.0111 left_pitch=-0.0083 left_roll=0.0073 left_gripper=0.7509 right_x=0.2375 right_y=0.0043 right_z=0.063 right_yaw=0.0023 right_pitch=-0.0083 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.694, 4.6154, 1.6581, -0.315, -0.1099, 0.0904, -0.1162, 0.0342, 6.7077, 1.7998, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54646bf7a294433976bf229cb0de0a61b5f0b90a0c139a228e40bd22b328c082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50644b8d6dd3187616c97512036839adc83ee09ffae9901245b31708da3b291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224dcf7c0088f05503febfca4d69942b21f03178990df6bd1c7fde58ea340345",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 5.235 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6479, 1.4334, 0.7925, -0.1043, -0.5484, -0.4213, 0.7514, -0.0193, 0.4568, 0.1139, -0.2451, -0.0284, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3595 left_y=-0.1521 left_z=0.1255 left_yaw=0.0201 left_pitch=-0.0522 left_roll=0.0357 left_gripper=0.7514 right_x=0.2395 right_y=0.004 right_z=0.0659 right_yaw=0.0012 right_pitch=-0.0194 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 5.9966, 1.7021, -0.2125, 0.0366, 0.1245, -0.2667, 0.1026, 7.0359, 1.8681, -0.0415, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 1.808, 0.58, 0.5159, -0.5655, -0.4313, 0.7509, -0.0193, 0.424, 0.0921, -0.2451, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3594 left_y=-0.1739 left_z=0.0149 left_yaw=-0.0137 left_pitch=-0.019 left_roll=0.0156 left_gripper=0.7509 right_x=0.2376 right_y=0.0044 right_z=0.0631 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.694, 6.8308, 1.5067, -0.4127, -0.188, 0.0855, -0.2393, 0.0889, 6.4479, 1.8584, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5838, -0.4492, 0.7509, -0.0193, 0.4232, 0.0914, -0.2451, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1805 left_z=0.0161 left_yaw=-0.0111 left_pitch=-0.0083 left_roll=0.0073 left_gripper=0.7509 right_x=0.2375 right_y=0.0043 right_z=0.063 right_yaw=0.0023 right_pitch=-0.0083 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.694, 4.6154, 1.6581, -0.315, -0.1099, 0.0904, -0.1162, 0.0342, 6.7077, 1.7998, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54646bf7a294433976bf229cb0de0a61b5f0b90a0c139a228e40bd22b328c082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f50644b8d6dd3187616c97512036839adc83ee09ffae9901245b31708da3b291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224dcf7c0088f05503febfca4d69942b21f03178990df6bd1c7fde58ea340345",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZl2QyHC5ULXLoGSReaQLET_Nl8k2kiDguxcndIxk6tlYXG7q4fHeQr09ADUQYx5J4nD9nrCY-_9FZGlvlYz1PiS6KVPqK2MkYkIqPon-cP6nAEnJ3_q_BlKBCvFyaef24kOo1K1GDG7Nn_7miw99HDGbELW7LfMLnM-i5Tg0NbaCPrXs-IiYwz2c6rjqWlbxnaHsoZ-Wcx7IYHPYyjtJrMeHDnqU5ATUBtGTBMBvWFuqc1QfB9pPWm0JKzWRptX1CuLwtR7om83eRwXtzIaRFUziMF7P6QggTyEFZvKRP7T4ktXw5S1VUwbwzxcFg2LtHNz3O_GuYQXn59i0v3TanNFd0G2YnxEwoEA6oz3WOE1WFVno3WYkHYfvsbMWyM0udaiHZRggPxNEDGm_2qHXXDYLXFyyPgHhmyWKYMWAUQGU2juSby_PMmdOfVs5khPifd2D4QbEIL9-07cZpznoZbzvptNaD2nADkZwZWDmuZDPolbq7XiXOKdI-u4OJKRYIbuG87_Bi6OJ96vOS9CK37kgxfliVAK-Re9hiOf2bkS9pcGjuhj-Gsd_dgjCFeJ11ZLlMTpGG8_IyYnh0iIt3LX4WiWLuxjSvL4qy6AgBFw3SFqlpBoU4ju6HJwG_2_CIViWiI6rLSpeXYnocqw1e_c6IO8hr5J0dvd2AZp8tcG_etaFUcU-NhS4jy-xOm_uJ_ZgWE1hjrmYwL0d4o9nXGkM192uPQ659FxC1N8XvfUbfVH4q4sOdgfBRk0CEWTOR7cb87q2R_COvrbU8RNgHIv2l7r1juoWGkeMJV9lFaC1hsB8_QhfYnP5qxepmuMD3HLhMk04Pj6qe7pIlnv1ETi4gYRQ8hCNWupDnJB2z5D39JBg95VeyN8XredF48VnITDbRseUsJHe1OFVn87-7k0pU3ALMhrBqesNI3Ace3B6mawV0wI66P-XvlT4tstcWosv2HrFt_78DoYabFc7WkP6GVdjpVvJtbNUGD7TgOS9s1vOmLtR2CFAwACJRCMk96z8q2twnihDmEzm4oUIIMzDL6nwkzLge7cwkAPvXyruySKCC-G2v3AbXYXYOPCeIhOfBs2loNjeEqADGWegfRqUqefDSar4iVoBdvkpaAY7o58sBoPJKpF6_uRl0L3_KhRTYn8Zv8xlduV_7mCGfj4u6c2xTH1vUcguUj021Lk-f5hak95E5wYlvvperVlrOTnT8B1XDjp91mr_IX9RCMCnW3qdNG1HnfMkLUO5hlkQ3RS_j8TZHg-QgY_Q3L5PCsu_8HTx7umy3YQH5QEHZSTSx9rsLIHmjkPIyLku6je07fLafdKSQVhptVvl6H37ITW_ycqOGHPF4HKOsff4k_521XNCP-YdQENLKrr0MB0ND4F-7HH2NPlDQy0lguUhcko3dtAMdD4U-LcuhCFawT0vhMXUQPPhLcJXIvCCEK_5qKswbRVKqAQ554cr4biQk2S3sJjqKOwkt1mWZ-hgDf-jmSxpsuRtTbLoNa3j16UP0X0_h_t25fuZ06Yb02QEmtckE-inN2HZiDDGsQfSc8c8305zKq8cjW8Av0brDdoEivXRD0yyHA3MWerPd1lsZJnvvynG6Oi29qpxQOx7_KELEaslpuRwS8amYdD2BNbLH7Gf1EXyNm29jfDqq1OlBE",
  "id": "rs_0af40c221ff6d149016ab44663059087d0b164a2440a1f633b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.05,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"Tracking stopped after only a few millimetres because the fingertips are scraping the tabletop; the bottle remains right of center. I will lift 3 cm while completing the lateral shift, keeping the jaw opening wide enough to clear the bottle.\"}",
  "call_id": "call_g4psf7Dj0eNhzfZUF5Uzubhe",
  "id": "fc_0af40c221ff6d149016ab44664002c87d0ad1ca08b8f54b596",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g4psf7Dj0eNhzfZUF5Uzubhe",
  "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]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5842, -0.4488, 0.7509, -0.0193, 0.4229, 0.0914, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1804 left_z=0.0161 left_yaw=-0.011 left_pitch=-0.0081 left_roll=0.0078 left_gripper=0.7509 right_x=0.2374 right_y=0.0044 right_z=0.063 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.7077, 4.8342, 1.6484, -0.3053, -0.0513, 0.0855, -0.1026, -0.0889, 6.4615, 1.7705, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1521d160040404c72adb5511c9bb721c951a1d6f26b0b86e8cb7e3744b4973",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa3544bf31c4fff7cff4644793374764e0039a0ea859594e4c45ec3645209d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33814b13dea44972bc3d5691392f8269e76b75c861895067f5609dc9d74b0f96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.706 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6407, 1.7542, 0.5838, 0.4362, -0.535, -0.4183, 0.7509, -0.0193, 0.4374, 0.0982, -0.2455, -0.0288, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3637 left_y=-0.1544 left_z=0.0207 left_yaw=0.0151 left_pitch=-0.0491 left_roll=0.0243 left_gripper=0.7509 right_x=0.2378 right_y=0.0041 right_z=0.0629 right_yaw=0.0016 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.4325, 4.4376, 1.7314, -0.188, 0.1636, 0.0904, -0.1846, 0.2667, 6.8991, 1.8877, -0.0562, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5838, -0.4492, 0.7509, -0.0193, 0.4232, 0.0914, -0.2451, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1805 left_z=0.0161 left_yaw=-0.0111 left_pitch=-0.0083 left_roll=0.0073 left_gripper=0.7509 right_x=0.2375 right_y=0.0043 right_z=0.063 right_yaw=0.0023 right_pitch=-0.0083 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.694, 4.6154, 1.6581, -0.315, -0.1099, 0.0904, -0.1162, 0.0342, 6.7077, 1.7998, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5842, -0.4488, 0.7509, -0.0193, 0.4229, 0.0914, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1804 left_z=0.0161 left_yaw=-0.011 left_pitch=-0.0081 left_roll=0.0078 left_gripper=0.7509 right_x=0.2374 right_y=0.0044 right_z=0.063 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.7077, 4.8342, 1.6484, -0.3053, -0.0513, 0.0855, -0.1026, -0.0889, 6.4615, 1.7705, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1521d160040404c72adb5511c9bb721c951a1d6f26b0b86e8cb7e3744b4973",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa3544bf31c4fff7cff4644793374764e0039a0ea859594e4c45ec3645209d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33814b13dea44972bc3d5691392f8269e76b75c861895067f5609dc9d74b0f96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZqdVfKrn6fC2_6QzDEjtaAJ-ikXmrVkwLNYMNdyct3Bb3gvY1Dp4gpU-BXDSNf1GGrwgdMeIO48C5LZZJ5E6KzHpCdenZt4cbyai9PvH455lBBCsrc6D6XTk85pr19IoMHkprkoU1y1Do-gTSYodDf3gkL8RnXKekZ_ISFOyNspK_V77-SWb6whBblxQTcpAHOGSTyOz_EcebHuPPt0u90ykrtH9E8DmRcEj9jB5vSb9Yj2wTmrnLRogkSKI_CA2C2T-FdD87jcAQHKDPBvIsvHM7G1ZhhEeMxY8XahP1zGlZBI60z4k9cua34PeTih9lMX3B48ojl7dh95G2e7lXw2Typ6CdawMd7ybNzzfNc2MuhdvJZqKWQdeIlh0H1HeajUl8CrhNuccMQn1SCSBkqmxCf2l1DyM3euAO0Waf8OvnWSdLikFj2UBNL1ZRwr_Uc1X1QPriF_iMveotrgstm87hBXIoprGumW8DOpWRRsgunx6TcF4TaaRHhdN6Q596g4KXHLfsvtWKDQX7YA4Nt1VJwQLSesdms36roErQrRN8FrtJ9zDn0XqSXazlwqf9_oB8vKKFN9fnScka_xsSZF1aWoBo9bNxjsSh4gwBNg4QgHQcDkgsickm6ctmwHn7OY5W94fGo4tfQfiXV8CVaNwSW9H7XvKIfTKuxHWSTg2pjSZtxFhlXR9WosWQrvE7ftuAp0V_OCUfRXufd3fFHutkVlSdo__Lw2oW5-sTudPjw1QzpCITo-0stnbhqo0T60sCh5LnYUyHAId22lMd3f92W4CUcEkxwWeRddjhE-_Pm2P5zTSr16hKiB14WiOyRTc_ZkzUvyXRaLrflUSYE6mxw_p7jtwMBuhbDIWynUov_yAEydEEIG4n2h7cXd9Cyd4JK4g-boezNwD6T6UCkX9PjLVa6oflOvbSLoC8uw7YOu5EhzPxfKah8OvWKTfIGbMGiASnxNNdMzv5noS77F10LZZsfokHhJDdISkxmnFcYrilfWtYdnc0TIHqj8A4kQBWh6cFUHFgzfzC480vDT_XYW3FnL4E4A3r_F8rE5IhIUjHoJl28LITheeeaJ65Ud_o3garb-42zZgeRF39nRGFt4XXcBve9sVUVhgnrKtRtJv3EIAVt-YzzKnNxKtC_2_oJlTNaSPBJLtAS9HrfZkAMqj5jBpNEPq38MWN1ODoWrdvGjpOzXMs9JTPzQ2UzJ3ENj6ticSekBmV-7IId6orkgWnGt40gVRhMuilCesMpFILnNFrV8nhmeaA844pEYWAjSTTNiFyNS1UtWMDrLpw2EOBqRgyp7w4v0Voys6KNtGqn1uElhzVwQbucLCRki2Ir1kFaywujrMpSwP7Y31AVh8b7hUQzvEEFFM2ubhh5KRbFISPNRioLvpre2ve323i3g16_8AX1ETGkhQIE6vggzUWlCz-BhhScse5frs0Ff-jhKYOWo1V5JXXoZeGtcRJS8mt87vDmUItvXEfHtlc9pCRaDlsJBGTtWUg7HmLV3ytmyKWvW2jKmHy7Upyof5y92lcQepsJM8927LlFxQTgeuOoZzAGzIl_xkjOczJzgLoP1TcRa8DsnJUoVX1zfEod-KBLdFtH5tT7RMRQHIlYoOTOGPB2DlOiSm4wruDZKXHNSKRHRXpQCCt888lK0ryJrZHdOet5u0yJm2CWq2M74NvTo7TiE3Cn2-UvfiTRRv-CbX5N7nFOHusFo6Y3mA_dx3HZXoHrDCNBXxdvsnnV_TlcyfTtOjKxmqjEE6j_wYkNfi8Ib4oi01mnvlupsgs84pDJdpWC0ibBuRxO1yugSjdwNOBA501qFPZJgeM__CbotkCCqQXf5xhx5byYz6jf5hfTkEww5oD1XI83xcIT2T3mowYCYobg3nnYkTai6LP1dGQY_VzYUrl65-CxXMrLHJX379x1tRCW1cFz13aDMiJKKu4_2-NcrRvjo6wAQg1rpURvkXPjYCWE-7X5yMjcMRIW72cC-HDxGxjoEnWdAmoHvMpY353-MD1FeozImXIfXw7_wfqFbCtBjRjNwclDx39DVUCCSG8qkx-s9KWy4xM9dBHjf0U6zk9QdCFwciRGJc5JU9yZZ5rtkpJ_PVKfsAFvDzu_qs45eYmtVZ6HbDm3_j1Ywtuam-BYpgBaLwde97lWhFnbH-4F0PYb4ZCwFSDjVSVwzhTfPTt5CroMwijyJ0TLrJD5acjGSjbdA1o1Kb4v7YZ3R3TTC_fD9l6vYt20VQrwWgCGlrdbQvda4RI1aqSZVK88GC7hmRASTizEUtod0dNotesZK2FFVI50v6unbPpPUYo9hWq6Gg==",
  "id": "rs_0af40c221ff6d149016ab44666a72c87d0baabd3c012c7bb7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.22,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"The arm remains mechanically stalled at table height, so small local corrections cannot free it. I will again retract and raise decisively, this time keeping the measured body y-offset, then make a vertical approach from directly above.\"}",
  "call_id": "call_6UrWqzmFb0gNXXbOQMtwiAMa",
  "id": "fc_0af40c221ff6d149016ab44668f84487d08270b47c3a9f7d1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UrWqzmFb0gNXXbOQMtwiAMa",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0397, 1.3575, 1.1793, -0.6952, -0.7876, -0.7567, 0.7985, -0.0193, 0.4187, 0.0868, -0.2455, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2837 left_y=-0.2288 left_z=0.2365 left_yaw=-0.0195 left_pitch=-0.0063 left_roll=-0.0318 left_gripper=0.7985 right_x=0.2369 right_y=0.0043 right_z=0.0618 right_yaw=0.0023 right_pitch=-0.0087 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.6821, 8.7043, 1.1697, -0.6032, 0.1441, -0.1685, 0.1573, 0.4444, 6.8308, 1.7753, 0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f539d69001a666a04e2711ae7dc0a3e08072fe934ffd7ae0ed37f08e38df5bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03674647de9d9bfb6e24f554f78ffac28e99b67ff34c9d0f6404cabf3aed2f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8aa733ddad304e12f6378df08560a40ee89191a2f8e5ee26011f012074e6430",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.017 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 1.808, 0.58, 0.5159, -0.5655, -0.4313, 0.7509, -0.0193, 0.424, 0.0921, -0.2451, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3594 left_y=-0.1739 left_z=0.0149 left_yaw=-0.0137 left_pitch=-0.019 left_roll=0.0156 left_gripper=0.7509 right_x=0.2376 right_y=0.0044 right_z=0.0631 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.694, 6.8308, 1.5067, -0.4127, -0.188, 0.0855, -0.2393, 0.0889, 6.4479, 1.8584, -0.0171, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5842, -0.4488, 0.7509, -0.0193, 0.4229, 0.0914, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1804 left_z=0.0161 left_yaw=-0.011 left_pitch=-0.0081 left_roll=0.0078 left_gripper=0.7509 right_x=0.2374 right_y=0.0044 right_z=0.063 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.7077, 4.8342, 1.6484, -0.3053, -0.0513, 0.0855, -0.1026, -0.0889, 6.4615, 1.7705, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0397, 1.3575, 1.1793, -0.6952, -0.7876, -0.7567, 0.7985, -0.0193, 0.4187, 0.0868, -0.2455, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2837 left_y=-0.2288 left_z=0.2365 left_yaw=-0.0195 left_pitch=-0.0063 left_roll=-0.0318 left_gripper=0.7985 right_x=0.2369 right_y=0.0043 right_z=0.0618 right_yaw=0.0023 right_pitch=-0.0087 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.6821, 8.7043, 1.1697, -0.6032, 0.1441, -0.1685, 0.1573, 0.4444, 6.8308, 1.7753, 0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f539d69001a666a04e2711ae7dc0a3e08072fe934ffd7ae0ed37f08e38df5bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03674647de9d9bfb6e24f554f78ffac28e99b67ff34c9d0f6404cabf3aed2f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8aa733ddad304e12f6378df08560a40ee89191a2f8e5ee26011f012074e6430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZuiCuHHfzw-RqXyR47ZorK-IB5ehL8-fePNDSQp4gLMEy8YIzVEEeBsSprqCq590R-NRjH5x4roFwvoJYCd2miCJNZycU64YKHOpB8uavJpolaQe0AsKSA7SmU7vobfzqVoI2Iqhp5WUEOoRL-0pRRbk4iLcNKHoPYyvX0ED_mlilzK4qP986EW7HQ2j5cNSI3ad3f-VThxgYOAqIztQoxDVtl938H-RGZQDfOaxV091UnDRL3iqwmwxDxb_OX6Ajk9ZO3uDPhmTiVaXNssaoJWm5FY_RIrIilwAiFgA4z1_Kg2ibnRT_vsboZ8YrzbIndgJUIFAVemErmNbtuO2nWPRik_j-mtHaJ1juthIyB0rpiWC6ItBx1i3h3bM0Ue99rZlYYvwnMMcIPEfyPUl94ngq9A_TvArzSo2U9L4mbSJpjEW7Ux6Vr_bJ7DXJupdNGJBSllLdECoQlsCQzUpmcj0xO4nOX4hPvKfIcpVYXdkb3EUEWhz7O3QzYD8kIlYHrvJD742Pqae1OKBHKbBxvvTjrPJ5WbvTJwnZeKAwmUIf5rBxoEBLMyPZvIWrf5GcwG5Dl01ttfWBOf2csjXtUvkaYHExtAJZMrxuaSh2bqrHCt4MnLDHRkYFecKk7t6XqRNyi45XmFtBMONifeFR8Bvli2Za1lXVD0lD0v0kFzZ57ptXEuKwU0kybOPMdKqc1cVZu53S_6M1c1tGZE4Y1LEyfOYzDixGp_rnXQDl-2_A-HqEIh-nKYZAxKKojIwd0ZW0Ad5D5VEy1MhNcoPItFV5rAz5dDKfaCAM5Gri8OQJkzxq1A52boi9bTt5By42lAbldbLwdsRh2kRkGBohkGewvIenef6jMpOvA4Hsh0zmN89hVKCqG9DAy_3bNvUjxyEOO200GGnUGG-6MalrRu_yN0embB4mmTRC57kMLtB9Av55_rNTQqcZ7K1Cf6R-Wp2Iv-tDxd8Bs7hsQy0DriBVhBJcmrenbiHXZjDqg6a6CLq8JdyTry8wB_nGAR12ePZuRuaAkcgWwA4mdtykHRKaUQV63EtqNBzwu1gbedzXeqvU-FB1wsEH6RDKthGeDnxq-TSK3G30u1hPfc7-NUWOGW94AV8h-d3obwNAHoQWY9TaNNi_e9pd-ZGOYQqd4KtwP29yWypYWJlSRs0Sy_9aJJMtmrCB0BM_KDASXhf5vG6k6upmKpBsoVskZsUGFALc6f9ieLNw583G7PUpGXOufMzCagZnRmgNAqP0CTy7GejF-F6sGGTUvwT_e93Wr6E2JcSh-zqskzAUPBab5jrRM_HDrL6G32Aw1wHBK4G4jhk88U-ADV_SlcV50PD22cnQyQSrva8ItNgpeed-ifJCmo5D1wPnfCblG5RAa8koQcs8V7kZz45a3-hcoJ0kOEqXBZDHCisuvI8lBbtu_EDHCfZZIaMsMZyQsI2--bP3lDld2zjqXC85HDLolf_CvlwQYZuzCJJjbEq-nnyzW_cWPfqRyoWN-Hj0JWr1G0tA=",
  "id": "rs_0af40c221ff6d149016ab4466d569087d09a0d6b30776bc901",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.23,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"The free-space view now centers the left bottle along the jaw column at y ≈ −0.23; its nearer body section is about 8 cm forward. I will approach directly above that body with no lateral correction needed.\"}",
  "call_id": "call_D5VuhbRqO608EWO9EuAz6ZQ9",
  "id": "fc_0af40c221ff6d149016ab4466e1e5087d0bf2574b36cc5b467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D5VuhbRqO608EWO9EuAz6ZQ9",
  "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]: [-0.8402, 1.602, 0.976, -0.202, -0.693, -0.5934, 0.7989, -0.0193, 0.4156, 0.0849, -0.2455, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.2212 left_z=0.1294 left_yaw=0.0283 left_pitch=-0.0373 left_roll=0.0257 left_gripper=0.7989 right_x=0.2368 right_y=0.0043 right_z=0.0616 right_yaw=0.0025 right_pitch=-0.0075 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4051, 6.0239, 1.4725, -0.2369, 0.2125, -0.1294, 0.0068, 0.0342, 6.735, 1.8046, 0.0122, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55db4654522ce7158e68235c095e7d13ae2691bc883bf4b2799ff9dedd9b427",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c678d47dfcff2a8ba84a52207dd034dcee684215dc9fd5c26967972583f4f583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f2df59a7461bab0e4c0284795dffe79ec7603eb8e2a1980cdda2809baaf507",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.689 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5838, -0.4492, 0.7509, -0.0193, 0.4232, 0.0914, -0.2451, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1805 left_z=0.0161 left_yaw=-0.0111 left_pitch=-0.0083 left_roll=0.0073 left_gripper=0.7509 right_x=0.2375 right_y=0.0043 right_z=0.063 right_yaw=0.0023 right_pitch=-0.0083 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.694, 4.6154, 1.6581, -0.315, -0.1099, 0.0904, -0.1162, 0.0342, 6.7077, 1.7998, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0397, 1.3575, 1.1793, -0.6952, -0.7876, -0.7567, 0.7985, -0.0193, 0.4187, 0.0868, -0.2455, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2837 left_y=-0.2288 left_z=0.2365 left_yaw=-0.0195 left_pitch=-0.0063 left_roll=-0.0318 left_gripper=0.7985 right_x=0.2369 right_y=0.0043 right_z=0.0618 right_yaw=0.0023 right_pitch=-0.0087 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.6821, 8.7043, 1.1697, -0.6032, 0.1441, -0.1685, 0.1573, 0.4444, 6.8308, 1.7753, 0.0171, -0.0513, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.602, 0.976, -0.202, -0.693, -0.5934, 0.7989, -0.0193, 0.4156, 0.0849, -0.2455, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.2212 left_z=0.1294 left_yaw=0.0283 left_pitch=-0.0373 left_roll=0.0257 left_gripper=0.7989 right_x=0.2368 right_y=0.0043 right_z=0.0616 right_yaw=0.0025 right_pitch=-0.0075 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4051, 6.0239, 1.4725, -0.2369, 0.2125, -0.1294, 0.0068, 0.0342, 6.735, 1.8046, 0.0122, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55db4654522ce7158e68235c095e7d13ae2691bc883bf4b2799ff9dedd9b427",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c678d47dfcff2a8ba84a52207dd034dcee684215dc9fd5c26967972583f4f583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f2df59a7461bab0e4c0284795dffe79ec7603eb8e2a1980cdda2809baaf507",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEZyJ3YVVjXybPZwFw_07zO9JmvMe2VayAh3OA8uHahQo46qtP9AdnlEhJ7_TzbtiMXDqTSzmqokyVO7QzsWgiJaR8xGA67_ueTLIgqUol-HzdVggqjQwRiW_tahtEBJ4jJDjzBX-AtyyYbSwQc0chqdiGHZbEYbJK2G9qM3-mTLLPSOCVlZ8mKBfFzUjcqo-fAapk4tCUMWC5XoD6uaeP19IPzmmZr7Q_s4GATicFWHGgdT7wcfo2MMMUETczd1TkWvx6GWkWc_bUYq_V2gqMMQ_piiRqzF095yjCdzNvZjAUwkvS56atsxvwH8_WqdO9-t3z2YoLFIfvL9D711GP9g1Lki-ujsU98S8rRYuVNDkxU27W9CnPFUA164pTI5g8H5U3CL74sOC-F905-J1kGE6u8L8nLWK5y7Xcm9rR_NX44tMn3ZaJbfaGiKkgx3mVm3yKmb555J4anbPn3abWDcNM_zahV3ZygOa6xmIl9B8KXKpf5o_wNtTDL-EL-lCXc0HR9SXJrg4gqRdt1b6a7ZUjOqSWhS5QF7mT7qDU1x-X6AWuJIzMj0spV-511ec345HQ9i77YlF3rp7JgoAPMbI3mv9IPTB_rb9Yxf2eGG-ybcKfYYyxAtqqXJ4LdfDX8gqBLJFfkZV7inwxVhOKGQhjy11RZ3_4I4g9SkB7aweYyACbFpUcLnCK9vTk9J-UQSWnYSwJw_hXNZ4EXItm50kFVm8QW0EZsaNF0hysEJ1lR8HG7dlfP-VFlFCxqOGH5sa2CFTKGbt07j9LpzEZbjX3BARVURKoFGTJ1WlNXIpyxUB73eUiOCTHJxysLlm_YUjQciPkaNJPJZ56wlh0nTfPC_lXr2Rwe3XpxpbXqCD71cFkf44JGx-N-VMhyXn-eam8aOvrdInz0_ey2tLFmvJN596tENhjwbIB3iIzXp4CwfDQPwlgWi5TOXqDV-IJtfGKynnYD2GYogjNVhuYPbRanai6Cat9T27mTcKL90yE7kx6zMNVoCZ0q8iB5kqHOdKf3V1Ql-5Mr2z8bFGR6zzsaPzyphhZ8uF411ZiwK5U6YKFn5qUSy1hrj4QaHcxW3IW29cbQX5JbtDgyhBlWyPFTiceoZRGdgsoHLdcn6tuxUoNNYEQ7ALdMtys31WUygcZy0mb7LjDhR61z9x3R51Y_38j15x5fwEo7TNPgotY5PyWBZ3MVGIYvY_y9bYaUAipD-2yebENYDoEE35vOaDGvgyVIXQ649NNL6ALW2X7UghvyLXt_fzwEMKmN9Ffcsgb6wL2ruYXl6mbcPGf_vp_ESgHEGrO09CJ0EqYTomLdUGDLBP3c8HohEU61cgTSBT13cx5wwSf_4pvQMEjULTW8JqIc75nIhoJNM6gnnuklqp5ogOX_orMnFJ4cORRgwDwDbINk9dKqAYZ5r275i0tCfycO1mTGOIaOZtMH5nyXETg3UezyuMDjeGNDQL85kPlVps7BAzfutRd4irCu2sbXoCmOF1SrgacRPovnHEzo6QhB8qPsroHVkc0pLDYJgqu7DSuBjSfiPt24EGDJ5oXysHIXS5iBhY94wuT0Lil6aVqIfmOV6fipB8ebD94BwrD-TF9hh4GTc1f4L6AXuCjEmPEITNnbISM8AexFUAe2lzkgpbVaXuMacSI-PgJBmXq37sonXlgTNqX0zZjici2ZsJZQlKYeJN7R6u0R1zGF86JiDGNwHih2wMRCX99enTkHEec_xQBi6PCWP1WJ33A==",
  "id": "rs_0af40c221ff6d149016ab44670bd6487d08e5bc2d82d9caf15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.18,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"At approach height, the isolated left bottle’s body is now clearly about 4 cm left of the jaw center; the previous low view was distorted by contact. I will shift the free gripper left to y ≈ −0.18 before descending.\"}",
  "call_id": "call_AdZQudl0y6ccP6jpeCudUH4G",
  "id": "fc_0af40c221ff6d149016ab44671d2a487d0be74209eae6a2c5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AdZQudl0y6ccP6jpeCudUH4G",
  "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]: [-0.7433, 1.4952, 0.807, -0.07, -0.6308, -0.5102, 0.7989, -0.0193, 0.4118, 0.0803, -0.2459, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1791 left_z=0.1198 left_yaw=0.0345 left_pitch=-0.0234 left_roll=0.0132 left_gripper=0.7989 right_x=0.2362 right_y=0.0044 right_z=0.0602 right_yaw=0.0029 right_pitch=-0.0087 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9932, 6.4068, 1.7656, -0.0708, 0.1099, -0.1197, 0.1846, 0.212, 6.8855, 1.7949, -0.0171, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6473c59a00dae8dc31970e32978900931fb92077acdce4e1ab6aef502a86f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236d5202844986334f801500f28548d410a864ba63a59cd666a89a55c8023261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6ab260c5bfa24b73b09cf3f4b1aa7689d0321e14422046c0ccee9dd6763924",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.104 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8175, 0.5896, 0.5198, -0.5842, -0.4488, 0.7509, -0.0193, 0.4229, 0.0914, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3587 left_y=-0.1804 left_z=0.0161 left_yaw=-0.011 left_pitch=-0.0081 left_roll=0.0078 left_gripper=0.7509 right_x=0.2374 right_y=0.0044 right_z=0.063 right_yaw=0.0026 right_pitch=-0.0083 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.7077, 4.8342, 1.6484, -0.3053, -0.0513, 0.0855, -0.1026, -0.0889, 6.4615, 1.7705, -0.0024, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.602, 0.976, -0.202, -0.693, -0.5934, 0.7989, -0.0193, 0.4156, 0.0849, -0.2455, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.2212 left_z=0.1294 left_yaw=0.0283 left_pitch=-0.0373 left_roll=0.0257 left_gripper=0.7989 right_x=0.2368 right_y=0.0043 right_z=0.0616 right_yaw=0.0025 right_pitch=-0.0075 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4051, 6.0239, 1.4725, -0.2369, 0.2125, -0.1294, 0.0068, 0.0342, 6.735, 1.8046, 0.0122, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 1.4952, 0.807, -0.07, -0.6308, -0.5102, 0.7989, -0.0193, 0.4118, 0.0803, -0.2459, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1791 left_z=0.1198 left_yaw=0.0345 left_pitch=-0.0234 left_roll=0.0132 left_gripper=0.7989 right_x=0.2362 right_y=0.0044 right_z=0.0602 right_yaw=0.0029 right_pitch=-0.0087 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9932, 6.4068, 1.7656, -0.0708, 0.1099, -0.1197, 0.1846, 0.212, 6.8855, 1.7949, -0.0171, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6473c59a00dae8dc31970e32978900931fb92077acdce4e1ab6aef502a86f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236d5202844986334f801500f28548d410a864ba63a59cd666a89a55c8023261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6ab260c5bfa24b73b09cf3f4b1aa7689d0321e14422046c0ccee9dd6763924",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ1W1G1feWqqCEopCU9Wvm6nEY3yJvFiY-XyJCpBe5M-VjfqGif79wWTucX0PUoSDY4ABFmCGs8qMtdYIaRjJSZPHA2VVOihKqr4lnq9_QlbRN3PICt0FkZVuwGViR2RdNtVWGi7VfCzQGavwrznr6uYAbluKf5wH2mbrK3wzuDwr0LF7Ry9WDE_ubwUDRqGgKfsFJhCMT6O2OTbticbDvpg4j63am2zsUHZW6C1d4_wU0ljwhGLECJZts_culDFAv10MVuThhvKsyp-huovFcI6JR7QEuAp45aktNk6aIzXmcadCQUh0UKU0217A7RM0JIXTRX_i4058X9T00Bi_IfndSYPeTGfJdExnYhi-bIdcZeuIRGU9cCtBj94vZuiVp7Y8vubIQZxklpxdqwkzUaGOxXNl1SgBZbt7CgC8h6LdkC-LQr83BiNPH0ZKu7MhTWoAk4sod_srmXGxOdZkkStbgGOjftMWrZfASQYgnN0MK4L73V_SzTIWnPulMr0C4R_CWCllmHDZU2WcQG86XRXs--D78bxic1bgh4rMXmbxDV94eSADCL0zSMWl195v4-VRfiBP-_wA5w9k9NUEI_Z8aSQRVZy2LhMRp9-cOJkXjR5TbeZ1Im8XYtz3yfpi4N9UfKf8p9J-I1V88P5du6oTwZ3Us7MTW6IZoY4Gnj5ZzabxfnmggBPJawmMCk1ugtwIUPsCJVbktNZaQ1w1TeMQUof17ulQ5380P7kWHkJarYBWBwYgFXwy-ULfhgr23GK5GqFtq-dp8lOMuNozRMbekNsvVQ32qGFkL96I5QWwmPM7LL_9MrHqRxoqwVO_kALvUItvYgEE70tcPIYX9jSAN50Xbq0K1KgGyVhvmehEJKVB_yPsNdgYYibNqOV6odlVpyMPgI_iY62w528wX_rseg2ftavel7rq_Njq4zxMgr7i9ZHVfOXPTBXVG77Gz5pwnrnx4E39ZCjigwdQaDoJFRsEUllj368VdcLYUSmU4L90WY1YvGLLPsQwh-58wCK4i0MK9aVY1A-ehQu-3bcX1Yh5bc0n5a0rCSjWvmTOCDN2MlU8JiK2QwjIyjvTa2Vf5iKhkPYEEl8jZU3x2c5mShoPtAe2tb5kUk3jI_ChHOAqCHjYbQ_NFw04pEeqE5d9Jek9uoskVjvPZELr-rhWWsJ9XzNrwtZi-1m2jHiuMWubAFROyB6gQaZmA6GQ2ZJ76AogSb0ytM4LjwTXbIvfm_MHUnrZsXmZDYXPevRo979SNAfy9bVpwXGOo0KWNbY6oAQGHb3vZvSBrum78bPQ==",
  "id": "rs_0af40c221ff6d149016ab4467460c487d0b407f2c021b39ab3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.18,\"left_z\":0.025,\"left_yaw\":0.0,\"left_gripper\":0.8},\"note\":\"The left bottle’s cylindrical body is now centered exactly between the jaws in the wrist view. I will descend vertically to about 2.5 cm, which matches the body’s centerline while keeping the full opening.\"}",
  "call_id": "call_FEj39zZ8pxuNnFGAPO2F0xs3",
  "id": "fc_0af40c221ff6d149016ab4467497b487d0a62a85bd02becaaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FEj39zZ8pxuNnFGAPO2F0xs3",
  "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]: [-0.7315, 1.4841, 0.7971, -0.0563, -0.606, -0.4931, 0.7989, -0.0193, 0.4103, 0.0795, -0.2459, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1784 left_z=0.1205 left_yaw=0.0184 left_pitch=-0.0244 left_roll=0.005 left_gripper=0.7989 right_x=0.2362 right_y=0.0043 right_z=0.0602 right_yaw=0.0023 right_pitch=-0.0079 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.0342, 6.0103, 1.6581, -0.2027, 0.2271, -0.1245, -0.0615, -0.0342, 6.5436, 1.7998, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e90796444ee5b324b3bc2e82cf9c9b0a9c988eb784581df6230e8b7b227dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25905253979818180468ec8d38d9eb4b43bc9b2f5d1cdb24dea26f103a347dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81f03bab6e5e37f6ee39a3de71601776a58b08a49e17f0ef3fb7da2a6d1add0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.256 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0397, 1.3575, 1.1793, -0.6952, -0.7876, -0.7567, 0.7985, -0.0193, 0.4187, 0.0868, -0.2455, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2837 left_y=-0.2288 left_z=0.2365 left_yaw=-0.0195 left_pitch=-0.0063 left_roll=-0.0318 left_gripper=0.7985 right_x=0.2369 right_y=0.0043 right_z=0.0618 right_yaw=0.0023 right_pitch=-0.0087 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.6821, 8.7043, 1.1697, -0.6032, 0.1441, -0.1685, 0.1573, 0.4444, 6.8308, 1.7753, 0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 1.4952, 0.807, -0.07, -0.6308, -0.5102, 0.7989, -0.0193, 0.4118, 0.0803, -0.2459, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1791 left_z=0.1198 left_yaw=0.0345 left_pitch=-0.0234 left_roll=0.0132 left_gripper=0.7989 right_x=0.2362 right_y=0.0044 right_z=0.0602 right_yaw=0.0029 right_pitch=-0.0087 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9932, 6.4068, 1.7656, -0.0708, 0.1099, -0.1197, 0.1846, 0.212, 6.8855, 1.7949, -0.0171, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7315, 1.4841, 0.7971, -0.0563, -0.606, -0.4931, 0.7989, -0.0193, 0.4103, 0.0795, -0.2459, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1784 left_z=0.1205 left_yaw=0.0184 left_pitch=-0.0244 left_roll=0.005 left_gripper=0.7989 right_x=0.2362 right_y=0.0043 right_z=0.0602 right_yaw=0.0023 right_pitch=-0.0079 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.0342, 6.0103, 1.6581, -0.2027, 0.2271, -0.1245, -0.0615, -0.0342, 6.5436, 1.7998, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e90796444ee5b324b3bc2e82cf9c9b0a9c988eb784581df6230e8b7b227dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25905253979818180468ec8d38d9eb4b43bc9b2f5d1cdb24dea26f103a347dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81f03bab6e5e37f6ee39a3de71601776a58b08a49e17f0ef3fb7da2a6d1add0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab4467756ec87d08c434217ef727d00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.18,\"left_z\":0.05,\"left_yaw\":0.0,\"left_gripper\":0.8,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The vertical descent again stalled in free space at this extended elbow configuration. I will lower while retracting 5 cm to change the elbow geometry, and at the same time return the drifting idle right arm to its home pose.\"}",
  "call_id": "call_uGKHxWnGdqI1Ix2jwCgOsgOQ",
  "id": "fc_0af40c221ff6d149016ab4467a387c87d093d17c71077fa7f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uGKHxWnGdqI1Ix2jwCgOsgOQ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8783, 1.5246, 0.5037, 0.1864, -0.6846, -0.5777, 0.7989, -0.0193, 0.7811, 0.5461, -0.3744, -0.0299, -0.0437, 0.9999]\nstate[eef_state]: left_x=0.2969 left_y=-0.1773 left_z=0.045 left_yaw=-0.0238 left_pitch=-0.0466 left_roll=0.0394 left_gripper=0.7989 right_x=0.2873 right_y=0.0033 right_z=0.1582 right_yaw=0.0065 right_pitch=-0.0407 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.6359, -4.465, 4.8752, 1.4774, -0.3932, -0.1392, -0.1245, -0.1709, -1.5248, 9.3333, 1.6288, 0.0171, 0.0464, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97749c31f640c4dfc04446c9a451427c41751bb1bf6626ec9cc82599c295b4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5283c4b01409d46a61da16e44ce59a82505838da3ce87254ac7f9b2abccad924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6046a1212e3d3805b6d931a0fff06c71365037b190a6432de5bd34668d01603a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.526 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.602, 0.976, -0.202, -0.693, -0.5934, 0.7989, -0.0193, 0.4156, 0.0849, -0.2455, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.2212 left_z=0.1294 left_yaw=0.0283 left_pitch=-0.0373 left_roll=0.0257 left_gripper=0.7989 right_x=0.2368 right_y=0.0043 right_z=0.0616 right_yaw=0.0025 right_pitch=-0.0075 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4051, 6.0239, 1.4725, -0.2369, 0.2125, -0.1294, 0.0068, 0.0342, 6.735, 1.8046, 0.0122, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7315, 1.4841, 0.7971, -0.0563, -0.606, -0.4931, 0.7989, -0.0193, 0.4103, 0.0795, -0.2459, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1784 left_z=0.1205 left_yaw=0.0184 left_pitch=-0.0244 left_roll=0.005 left_gripper=0.7989 right_x=0.2362 right_y=0.0043 right_z=0.0602 right_yaw=0.0023 right_pitch=-0.0079 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.0342, 6.0103, 1.6581, -0.2027, 0.2271, -0.1245, -0.0615, -0.0342, 6.5436, 1.7998, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8783, 1.5246, 0.5037, 0.1864, -0.6846, -0.5777, 0.7989, -0.0193, 0.7811, 0.5461, -0.3744, -0.0299, -0.0437, 0.9999]\nstate[eef_state]: left_x=0.2969 left_y=-0.1773 left_z=0.045 left_yaw=-0.0238 left_pitch=-0.0466 left_roll=0.0394 left_gripper=0.7989 right_x=0.2873 right_y=0.0033 right_z=0.1582 right_yaw=0.0065 right_pitch=-0.0407 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.6359, -4.465, 4.8752, 1.4774, -0.3932, -0.1392, -0.1245, -0.1709, -1.5248, 9.3333, 1.6288, 0.0171, 0.0464, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97749c31f640c4dfc04446c9a451427c41751bb1bf6626ec9cc82599c295b4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5283c4b01409d46a61da16e44ce59a82505838da3ce87254ac7f9b2abccad924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6046a1212e3d3805b6d931a0fff06c71365037b190a6432de5bd34668d01603a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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  "id": "rs_0af40c221ff6d149016ab4467d398487d0980668a0308dded3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.18,\"left_z\":0.04,\"left_yaw\":0.0,\"left_gripper\":0.75},\"note\":\"Lowering while retracting worked; the left bottle body now fills the open jaw gap at low height, with its nearer end just forward of the grasp point. I will advance 4 cm along the table to center the body between the fingertips.\"}",
  "call_id": "call_xhR6qtyFekJCE4xXugSPDakR",
  "id": "fc_0af40c221ff6d149016ab4467e57c887d0b698f8397ca3ae02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xhR6qtyFekJCE4xXugSPDakR",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 1.665, 0.5217, 0.3389, -0.6533, -0.5373, 0.7515, -0.02, 0.7582, 0.5041, -0.3645, -0.0311, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1647 left_z=0.0254 left_yaw=0.031 left_pitch=-0.044 left_roll=0.0349 left_gripper=0.7515 right_x=0.2817 right_y=0.0034 right_z=0.1472 right_yaw=0.0069 right_pitch=-0.0498 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 7.5556, 1.7753, -0.2271, 0.1783, 0.0904, -0.4308, -1.388, 7.1863, 2.0635, -0.1148, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b4ddbf3ce3c2a09c1290feec929597b7b9115709cee7923ec58dac353f2e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4880c7265164032bbeda5904394291b90887e55512121bd89cf94dc15719be73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e5ba971a6c87ab738ae415421519a995b3503501b2d1dcde396ae9ab71c84b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 3.074 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 1.4952, 0.807, -0.07, -0.6308, -0.5102, 0.7989, -0.0193, 0.4118, 0.0803, -0.2459, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3541 left_y=-0.1791 left_z=0.1198 left_yaw=0.0345 left_pitch=-0.0234 left_roll=0.0132 left_gripper=0.7989 right_x=0.2362 right_y=0.0044 right_z=0.0602 right_yaw=0.0029 right_pitch=-0.0087 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9932, 6.4068, 1.7656, -0.0708, 0.1099, -0.1197, 0.1846, 0.212, 6.8855, 1.7949, -0.0171, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8783, 1.5246, 0.5037, 0.1864, -0.6846, -0.5777, 0.7989, -0.0193, 0.7811, 0.5461, -0.3744, -0.0299, -0.0437, 0.9999]\nstate[eef_state]: left_x=0.2969 left_y=-0.1773 left_z=0.045 left_yaw=-0.0238 left_pitch=-0.0466 left_roll=0.0394 left_gripper=0.7989 right_x=0.2873 right_y=0.0033 right_z=0.1582 right_yaw=0.0065 right_pitch=-0.0407 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.6359, -4.465, 4.8752, 1.4774, -0.3932, -0.1392, -0.1245, -0.1709, -1.5248, 9.3333, 1.6288, 0.0171, 0.0464, -0.0317]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 1.665, 0.5217, 0.3389, -0.6533, -0.5373, 0.7515, -0.02, 0.7582, 0.5041, -0.3645, -0.0311, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1647 left_z=0.0254 left_yaw=0.031 left_pitch=-0.044 left_roll=0.0349 left_gripper=0.7515 right_x=0.2817 right_y=0.0034 right_z=0.1472 right_yaw=0.0069 right_pitch=-0.0498 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 7.5556, 1.7753, -0.2271, 0.1783, 0.0904, -0.4308, -1.388, 7.1863, 2.0635, -0.1148, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b4ddbf3ce3c2a09c1290feec929597b7b9115709cee7923ec58dac353f2e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4880c7265164032bbeda5904394291b90887e55512121bd89cf94dc15719be73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e5ba971a6c87ab738ae415421519a995b3503501b2d1dcde396ae9ab71c84b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaCrDPu8qCvZmwkDYg5-2fyPCzyWYoiVzdRbdF1rTgaxmlOfI9ZdYTp5KURe113XYDI2deIkY5fGCuqaN9EG7BMv5HX9KgyV7TNjZmHXco0vUtRGHW_VfVgAvEdIeW_5E-OnddarpmdQOqsa8iDf_wrFih9Yis0owWUISrpQAVGjO3r7mKZp3Tko33Fq-x4DLqxTotGCDCfX_EyKD48dcTD5mM-g725ZrT3WxmRn3Sy-RUHpKHywpxil1Jd8CKWcLoOjDbeFihlbf4sn-uYZv4TTac2naE4NxurEyHr93nBlnboOMiCAUoCjS4qknc8gGhWIl5DRfp2wSR09i20_EbdHEW787BBzKHsTJO1jC_19sf2JCcr5NokZtnl3PCD2ajR7T6KM6vwjfcBi8R5mDzWlRyQazTFoSdV7NtB1z6JOiurQM2scri9cDQ7q72sxA6p2v_IjDwds0p7MXcg6Ooh51Lqi6CyoaODcJj5xWCcPQylMutTEFY8TDENH_llA5VZlqJtfwibCgl70p7Fi06ahHQc8prZbrrTHIOtTuDqMt1yYicBEKXRWSfOmMAYXpasOegeVzAznogyjhcAaqG-20hlgDSrSaGkINLoacDMcFm32oLPVLAM7DoGJKeC6ViVu8oqMWS9maQ60F8GonthjFlGV1J1IXTyQNYZ_8SIcuhJ-QNX_u2N-zvasi3WgXOiQkSGusEd6u2bL3o-rCqJWZ-fFtlEtFeGM6PCmNEd1gN2_zw3iYFokc3oU5fdefWxM5n456EjR0m08ic44nAJl4vHuSJ9i7EXoOpKTdoaasOqRpd7GWFjnHNlNKQ4tBJuk868kodbLamTVDw_To34MeQYCq51psNkHq9RsRgm4nuSYRxtS8NbxPCN4qKEWeAr69VHbFWQ2g_0hsgH6uPCioGeJPaWmB1FnSQIbpH-my8XVvYXV7kqZhwPBmQSaWB7qEvJ4a32cNMf1PHqohOETcFr0Ndhop2xLK4iDqr7ypiXb8_zZPgtnDe-huRn3KyDH8u3mzGWf1gT9XKtfsymN8F2zQir8EvbCw04eIhBM-cj-E2I9hO0rU5VwT_3g2wFnX3FFXKMxL2gIsBEX2hzcGkEJUDX2wKnjaqUahaCltdmuTe4x9ZnaTvaw-2tXHnF44kkRCcsaAUVyzArd5afbBaxa983ZR8crIYTCkc3DuU8vgPyrXA08S0DIKa6e_0BzwNWzyvVrJrvKrIWarl9PAk86f_l8QAEJxx_0TLkDHapzdHor2wXRQF00I9rr8jIieUKtW5YC81CQiCtUx9UtMoHkUS28Q7eJ0ZYDTSNx0-k9_FjV-WpbLM7ZAS1rGSZe8uBTg1cQSdPCaYtRmw1JB5f2u3Y2Pui8gZQ5yOsrhyPlJlvl2Mpxy9Om44Royew",
  "id": "rs_0af40c221ff6d149016ab44681019087d0a58704abe9de1c15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left bottle’s body is now visibly centered and fully inside both fingertip rails at table height. I will close around the cylindrical body and verify that the settled jaw width is well above the empty threshold.\"}",
  "call_id": "call_XRb0p62z8VC47yVJN5xNwrJa",
  "id": "fc_0af40c221ff6d149016ab446815e7c87d08e7bc9fb7cb79497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XRb0p62z8VC47yVJN5xNwrJa",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7792, 1.6764, 0.4873, 0.4599, -0.6617, -0.5278, 0.5083, -0.0204, 0.728, 0.4553, -0.3355, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=-0.1669 left_z=0.0301 left_yaw=0.0307 left_pitch=0.0119 left_roll=-0.0075 left_gripper=0.5083 right_x=0.2777 right_y=0.0033 right_z=0.1387 right_yaw=0.0101 right_pitch=-0.0394 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.065, 3.9453, 1.4921, -0.3004, -0.0708, 1.0281, -0.3487, -1.4838, 7.1453, 1.9853, -0.0659, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b4c67b86d3dae1fd27b059229fabe6dd5dbd6e604caa5f1b98f7676c503535",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5aa7c5143867ab64e067bd5a01869721c432559a627fec6a09f3742ad0c1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8029f49a699a23606c8c5bd13b3682e2dfdfda753c59b7dcdc415bcc9091cb26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7315, 1.4841, 0.7971, -0.0563, -0.606, -0.4931, 0.7989, -0.0193, 0.4103, 0.0795, -0.2459, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1784 left_z=0.1205 left_yaw=0.0184 left_pitch=-0.0244 left_roll=0.005 left_gripper=0.7989 right_x=0.2362 right_y=0.0043 right_z=0.0602 right_yaw=0.0023 right_pitch=-0.0079 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.0342, 6.0103, 1.6581, -0.2027, 0.2271, -0.1245, -0.0615, -0.0342, 6.5436, 1.7998, 0.0024, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 1.665, 0.5217, 0.3389, -0.6533, -0.5373, 0.7515, -0.02, 0.7582, 0.5041, -0.3645, -0.0311, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1647 left_z=0.0254 left_yaw=0.031 left_pitch=-0.044 left_roll=0.0349 left_gripper=0.7515 right_x=0.2817 right_y=0.0034 right_z=0.1472 right_yaw=0.0069 right_pitch=-0.0498 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 7.5556, 1.7753, -0.2271, 0.1783, 0.0904, -0.4308, -1.388, 7.1863, 2.0635, -0.1148, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7792, 1.6764, 0.4873, 0.4599, -0.6617, -0.5278, 0.5083, -0.0204, 0.728, 0.4553, -0.3355, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=-0.1669 left_z=0.0301 left_yaw=0.0307 left_pitch=0.0119 left_roll=-0.0075 left_gripper=0.5083 right_x=0.2777 right_y=0.0033 right_z=0.1387 right_yaw=0.0101 right_pitch=-0.0394 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.065, 3.9453, 1.4921, -0.3004, -0.0708, 1.0281, -0.3487, -1.4838, 7.1453, 1.9853, -0.0659, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b4c67b86d3dae1fd27b059229fabe6dd5dbd6e604caa5f1b98f7676c503535",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5aa7c5143867ab64e067bd5a01869721c432559a627fec6a09f3742ad0c1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8029f49a699a23606c8c5bd13b3682e2dfdfda753c59b7dcdc415bcc9091cb26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaFlAZW87S2vZ36L5PPx7_GAqniXcEL5EEnXqv5xNymIVnjpyMhWmOpLY_CCus0NQcYEf9Jf62o4VX9saLMm64KrOolbiRBXt1GHN-RltxPS4u5GSkCs9RD07LYSMA0qog_w4AvJcMOqK9RZg1t2_FfDhht97PZqXVzWXDTUl0C60l0Yqrksw3vyxdxoGhYXncYMi0W2AW21b94bTb14oRHQOOFV7jmFPOYbJu-newzFzScFIEGQ8mOoiKBeyUQ4Fx-Fn3DWuZaAGBMQmIR06TkZiW9JMuriyI1Qo7-SdTPJhVFHvB_6nwGoHwW-eHAo5LDc3TsYh8ID5fBExLqEJxy4vRp7n6-mpYGIMEFlaS0Kh_shFvEU5eO1jMDY46QdyWXsBFYmNKzisktlPzAO_UYbQRLh1_TaQlwttrpEJha-7KU2fZLKoyeGlSGRs03QDJg6G-X1mqKcQXCP39ruiLj4EyxturhZLun1NBfgFjgJoNlcaMka0zen3CSwwzsez5m-xlHnrnG6v_4kz7za42MLmQl4eBmSimdG-kwzapOepJbbr7ZgpN7GNJONJOvxFQ3PKzp3YkiyDPw1TcB8yqlsiHqqJRrznlZtlMaB5bxp34L-M2hkIkXEfdZgglkZFI3V2XinyncI02kOSVNgzcEjAOKUO5dTNPGQVu-mRnPFXgx_rnUXEp1NjZLtgq_VrzMOmSD8E3nn9ujYfv9Gu20nRDXKuZeI8UXC94nHPgpjVtljqm_DW577s2UyvdWgarSE24JLmdcA0iHjY4biqJAoDFR-scX6h35vDMwa5_Yrkckrt8p6y4A7BjpsCPWSpmv53EfsUsQBWomiGljioqCOyr-fn3wpsATRFcvYSpHCVlBeOfbxOhihC3FbB5UqcBWxOYsS7g2xnXKWh0QVo5tUdHcpTSgWFvUe8S6Y8kUWYZ9UsSShjGrQQMxfvypEnFZkgfJmibI7i8CgLogN82d854ZsukGWwnr-kaZRKsf--vrsDdLOKlgmQXl97at860rEXHpV4H5JmC1nCHXmc4xJU2j0rtmn5HnEt6tMZNXL94VhREWsl8yuhNXUhsOCvNu-fgdB4CGTouXu6WOFUKaIuyXLck9MP1QSe9MF4q4iNpR7Y1Ks7mBJNC2FDlfszQxisUyrO4z7ldehGWFvUlPG-jzlpJBLKHOwncz6CqcrlF21_AP40Qtp-ssmBp8orJxDVVmx9yHKso1PPOd8wa14SLwsjOeu0KE3CG2knfRZdNhlXi-WksUKcDgDMA_lIZoLUXQs6tOGNimuLTPp_uDCa4EMH8iJWeP0WT3VQ4KRPlhxoXBXeuk0H6Tgjj8N1yPCooXFCyw_az8UXEkSKrAte5JUxMVfMskBx4vcmW38ahUDF9o4Q1bTI_dL4Hg1qapxnz9P3hIuTif-38Z-e0oQWb5ZJ7fWidHQPKKdt22wO8-CAQGVhDcz4i50xyBEIxR3r4lVYwgZWlprZwEdnem7OyfiVTrjH-GQ6Lh4UMKPuCN5MW9DTUKjIPaZqv28zNXnNZltBj_xNGlGWnVSAN_Ww==",
  "id": "rs_0af40c221ff6d149016ab4468433d087d09dc6dc4637ccfd96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.167,\"left_z\":0.2,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The jaw settled at 0.508, about a 4.8 cm held diameter, confirming a solid body grasp. I will lift the bottle well clear of the table to let gravity pivot it downward if the cylindrical contact can rotate.\"}",
  "call_id": "call_uRsrWEBRgQlA6CsOQAT11jVA",
  "id": "fc_0af40c221ff6d149016ab44684f49087d09765de04cb4a393e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uRsrWEBRgQlA6CsOQAT11jVA",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7639, 1.3338, 0.8577, -0.4095, -0.5705, -0.5232, 0.5081, -0.0212, 0.7055, 0.4187, -0.3164, -0.0311, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3153 left_y=-0.1649 left_z=0.1404 left_yaw=-0.0155 left_pitch=-0.1457 left_roll=0.0591 left_gripper=0.5081 right_x=0.2744 right_y=0.0033 right_z=0.1316 right_yaw=0.0098 right_pitch=-0.0345 right_roll=-0.0092 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.5795, 11.8222, 2.1563, -0.7741, 0.3394, 1.033, -0.5538, -1.3197, 6.8855, 1.9951, -0.1685, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2d6d956b935001f7497209418c6d0601fc822f6d8cda258cbb9b17eb532798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c900a1cafd6d46c816aa30e07a83787558db25cda355c702d7c2a12745e25f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b305391b4c6426a089fc94aa7dca0cab0b90cfc5f3d7f6046e2fcf3aac8ed490",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.108 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8783, 1.5246, 0.5037, 0.1864, -0.6846, -0.5777, 0.7989, -0.0193, 0.7811, 0.5461, -0.3744, -0.0299, -0.0437, 0.9999]\nstate[eef_state]: left_x=0.2969 left_y=-0.1773 left_z=0.045 left_yaw=-0.0238 left_pitch=-0.0466 left_roll=0.0394 left_gripper=0.7989 right_x=0.2873 right_y=0.0033 right_z=0.1582 right_yaw=0.0065 right_pitch=-0.0407 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.6359, -4.465, 4.8752, 1.4774, -0.3932, -0.1392, -0.1245, -0.1709, -1.5248, 9.3333, 1.6288, 0.0171, 0.0464, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7792, 1.6764, 0.4873, 0.4599, -0.6617, -0.5278, 0.5083, -0.0204, 0.728, 0.4553, -0.3355, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=-0.1669 left_z=0.0301 left_yaw=0.0307 left_pitch=0.0119 left_roll=-0.0075 left_gripper=0.5083 right_x=0.2777 right_y=0.0033 right_z=0.1387 right_yaw=0.0101 right_pitch=-0.0394 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.065, 3.9453, 1.4921, -0.3004, -0.0708, 1.0281, -0.3487, -1.4838, 7.1453, 1.9853, -0.0659, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7639, 1.3338, 0.8577, -0.4095, -0.5705, -0.5232, 0.5081, -0.0212, 0.7055, 0.4187, -0.3164, -0.0311, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3153 left_y=-0.1649 left_z=0.1404 left_yaw=-0.0155 left_pitch=-0.1457 left_roll=0.0591 left_gripper=0.5081 right_x=0.2744 right_y=0.0033 right_z=0.1316 right_yaw=0.0098 right_pitch=-0.0345 right_roll=-0.0092 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.5795, 11.8222, 2.1563, -0.7741, 0.3394, 1.033, -0.5538, -1.3197, 6.8855, 1.9951, -0.1685, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2d6d956b935001f7497209418c6d0601fc822f6d8cda258cbb9b17eb532798",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c900a1cafd6d46c816aa30e07a83787558db25cda355c702d7c2a12745e25f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b305391b4c6426a089fc94aa7dca0cab0b90cfc5f3d7f6046e2fcf3aac8ed490",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab44688441487d083f4cb73b5234ea8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.17,\"left_z\":0.2,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The bottle lifted successfully but stayed horizontal in the firm body grasp, so gravity will not orient it. I will carry it about 8 cm inward while elevated, then set it down; this relocates its cap into a comfortably reachable zone for a neck lift.\"}",
  "call_id": "call_jj5mdyOseDWt2pnI2qFgjBma",
  "id": "fc_0af40c221ff6d149016ab4468d108487d0930878a248c4bab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jj5mdyOseDWt2pnI2qFgjBma",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0752, 1.1419, 0.7952, -0.6979, -0.7116, -0.7559, 0.5068, -0.0277, 0.6853, 0.3878, -0.2977, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2299 left_y=-0.1751 left_z=0.1491 left_yaw=-0.0905 left_pitch=-0.151 left_roll=0.0798 left_gripper=0.5068 right_x=0.2719 right_y=0.0016 right_z=0.1265 right_yaw=0.0034 right_pitch=-0.0265 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.9009, 11.7128, 1.8339, -1.2234, 0.022, 1.0281, -0.1162, -0.6359, 7.1453, 1.9951, -0.1636, 0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e88b2179310dde989d9f93373a413f4a788b05e594c3c14babcbf1f7b70598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eee0f5b47040f83c284e88ccbcfca0b4be125a82bf0caaadbb70da969d65f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fa32c4561145c9d5b3552ac2dfe2dc06d4d2069cef8a5a87c7bc970b1ac2bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.266 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7788, 1.665, 0.5217, 0.3389, -0.6533, -0.5373, 0.7515, -0.02, 0.7582, 0.5041, -0.3645, -0.0311, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.3249 left_y=-0.1647 left_z=0.0254 left_yaw=0.031 left_pitch=-0.044 left_roll=0.0349 left_gripper=0.7515 right_x=0.2817 right_y=0.0034 right_z=0.1472 right_yaw=0.0069 right_pitch=-0.0498 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.2154, 7.5556, 1.7753, -0.2271, 0.1783, 0.0904, -0.4308, -1.388, 7.1863, 2.0635, -0.1148, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7639, 1.3338, 0.8577, -0.4095, -0.5705, -0.5232, 0.5081, -0.0212, 0.7055, 0.4187, -0.3164, -0.0311, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3153 left_y=-0.1649 left_z=0.1404 left_yaw=-0.0155 left_pitch=-0.1457 left_roll=0.0591 left_gripper=0.5081 right_x=0.2744 right_y=0.0033 right_z=0.1316 right_yaw=0.0098 right_pitch=-0.0345 right_roll=-0.0092 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.5795, 11.8222, 2.1563, -0.7741, 0.3394, 1.033, -0.5538, -1.3197, 6.8855, 1.9951, -0.1685, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0752, 1.1419, 0.7952, -0.6979, -0.7116, -0.7559, 0.5068, -0.0277, 0.6853, 0.3878, -0.2977, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2299 left_y=-0.1751 left_z=0.1491 left_yaw=-0.0905 left_pitch=-0.151 left_roll=0.0798 left_gripper=0.5068 right_x=0.2719 right_y=0.0016 right_z=0.1265 right_yaw=0.0034 right_pitch=-0.0265 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.9009, 11.7128, 1.8339, -1.2234, 0.022, 1.0281, -0.1162, -0.6359, 7.1453, 1.9951, -0.1636, 0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e88b2179310dde989d9f93373a413f4a788b05e594c3c14babcbf1f7b70598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eee0f5b47040f83c284e88ccbcfca0b4be125a82bf0caaadbb70da969d65f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fa32c4561145c9d5b3552ac2dfe2dc06d4d2069cef8a5a87c7bc970b1ac2bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEaRFIUrvK0AUe4R_fJLDU-OhEd3vgGxJAV3Endl1jRZy0MR_v4yqp-N3FWJLCFHatOTUepxiZxbu0M9Bq7yyOEbsHj3SKTXiYRydQRg91DmxhYHF4bYD1p70hnt9tRiiGFaXEcg-AdAUZgy-hqFppeJAarJKsUAjPq6xAGdP_j4XtDMoyaPVRRQvNjzE8mF_Ui89CVfTvT3V0G7IfsesQ2GObUYD1Ir90EkEuSHZtr5A-BjICplOjQs0l68clrr6WovNzWD4Z7_zTh8H0IGTLPatC5v8rT6d5MO8AN1jNPX1BVqVhoBrpJs-8NHljNYrU1KbqJBnkK2Zm9mzYRx5FgrDCE4H5-qBdveJ49V4tD_x80P-v2v590xhVpD736Se3K3XIQFlk0rqGQEDkY3EKtxEvB79RahZelEUmZh4Qv2GTU20bJgkNeX4ALA6ITNtklXjHY61vIQ_R4jl66U2wHgaCiCOgJfiGq5w4tHiXSl2mtKFatwgr3If3L2vGYA9rBvQfitd4f8C6SBHPONpkHKtu9jMUdLWrssoEoarttBOG1XZi3Swdxpl4K-llU8qDzLPZt_Hsol09WCoTJxsY9oXn3kQmSaXJKSMa702aIjpm-x-5IaIzMQZmJtJPv-PXKqkHOK68xSN3YIyD2UryrDAsc4HgUo0xFMzy014wBpd90iSv1brqB6uyfpXUe0_VH8vyLfCjKsBStfiBKsF1PFyxEvNLA0IVtq4V5xHLMap9XHw0CsIJa15YoT_c4Uy2VgtP_v8w5HmBwz6WOi-q7Jj5NC3HsQ0WD2vcfmffh317m7fjXthZ8zd92sZ6X_ZCklsiR62X9w9m04BOQk5fjy7RAJaNEr7_DQR7LyHtTSkDbIsBDTaQ7zjPIZIZLaZ0eGO9E_6i20GbbrJ9fsXAcEGwCGazQ5unCOub-ZWwSQk93FRfRrAJFAwtgc4PULGMFhfYX8U65zmMxGeI2VZe95TltAt9d1nzGOUzzABiPRCcKUTt0T5DxJZYUT7ed2yKtnyRy0RUnAOHOgmKkmKN5y2DFZ88R4jwB4YYsn026vsrX-jc3g98jR0Rl1C1HZHSKRg26qOLesxdt41fAsqRFCARMlMiO8tGgYlizvY-zoZV3FSKA8kivy1rLXxCpmbwrHbiF5TAze4D456rHhYLP3IB6lHYEauBUGBY9B2eMDGk38cpAuIKbcs2I7qWJXAC1rtpojHJyOqgcNAuDVVLgG6w==",
  "id": "rs_0af40c221ff6d149016ab446907adc87d0b76e69d3740919f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.17,\"left_z\":0.03,\"left_yaw\":0.0,\"left_gripper\":0.0},\"note\":\"The held bottle is now shifted inward and remains horizontal, clear of the other two. I will lower it to the tabletop while maintaining the body grasp, then release it in this new location.\"}",
  "call_id": "call_bKYiKSbCt1oMlYUyNXqtHLYj",
  "id": "fc_0af40c221ff6d149016ab44690aa0087d0a02a090457b22ba8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bKYiKSbCt1oMlYUyNXqtHLYj",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1053, 1.4223, 0.3653, 0.0471, -0.8555, -0.8158, 0.5024, -0.0303, 0.6712, 0.3614, -0.2905, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.1642 left_z=0.0319 left_yaw=-0.0111 left_pitch=-0.0249 left_roll=0.0647 left_gripper=0.5024 right_x=0.2687 right_y=0.0009 right_z=0.1195 right_yaw=0.0005 right_pitch=-0.0314 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.2051, 4.0957, 0.9548, -0.0904, -0.1734, 1.0232, -0.7179, -0.9778, 7.0769, 1.8974, -0.149, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4fce2d8ecbaeb86031a9f965f42309dd16a9a2060dae9772d8bc6435a4348c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543437b1ca9c89509564d93270293c4eff480e7ec4a8066258c92a45e6ac1115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5000d1ffa84d538f08b8cf6e0dd8bcf1d5fd0011c0de4adb0ec03ad2b3838f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 12.26 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7792, 1.6764, 0.4873, 0.4599, -0.6617, -0.5278, 0.5083, -0.0204, 0.728, 0.4553, -0.3355, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.3286 left_y=-0.1669 left_z=0.0301 left_yaw=0.0307 left_pitch=0.0119 left_roll=-0.0075 left_gripper=0.5083 right_x=0.2777 right_y=0.0033 right_z=0.1387 right_yaw=0.0101 right_pitch=-0.0394 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.065, 3.9453, 1.4921, -0.3004, -0.0708, 1.0281, -0.3487, -1.4838, 7.1453, 1.9853, -0.0659, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0752, 1.1419, 0.7952, -0.6979, -0.7116, -0.7559, 0.5068, -0.0277, 0.6853, 0.3878, -0.2977, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2299 left_y=-0.1751 left_z=0.1491 left_yaw=-0.0905 left_pitch=-0.151 left_roll=0.0798 left_gripper=0.5068 right_x=0.2719 right_y=0.0016 right_z=0.1265 right_yaw=0.0034 right_pitch=-0.0265 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.9009, 11.7128, 1.8339, -1.2234, 0.022, 1.0281, -0.1162, -0.6359, 7.1453, 1.9951, -0.1636, 0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1053, 1.4223, 0.3653, 0.0471, -0.8555, -0.8158, 0.5024, -0.0303, 0.6712, 0.3614, -0.2905, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.1642 left_z=0.0319 left_yaw=-0.0111 left_pitch=-0.0249 left_roll=0.0647 left_gripper=0.5024 right_x=0.2687 right_y=0.0009 right_z=0.1195 right_yaw=0.0005 right_pitch=-0.0314 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.2051, 4.0957, 0.9548, -0.0904, -0.1734, 1.0232, -0.7179, -0.9778, 7.0769, 1.8974, -0.149, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4fce2d8ecbaeb86031a9f965f42309dd16a9a2060dae9772d8bc6435a4348c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543437b1ca9c89509564d93270293c4eff480e7ec4a8066258c92a45e6ac1115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5000d1ffa84d538f08b8cf6e0dd8bcf1d5fd0011c0de4adb0ec03ad2b3838f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEaUPf6xONCYaGy3-t88IvqPGaeT5rFUAxoFRPmInik8FT98fiswWxuro6f5zqY9lMR3Vs5ScuDphf9n7po1_P7sG5_H8hpRasXvCpDQsKI1Sl_uMgQEecji1OAnMNWC9mjenDf1WPaXT6Gh0JCzE_qeQMk3MDNDtoBbv5zMLYqyd8boFJDpG8BfE2c6pjGP2sxbH4jTXZ-BJzWxrrTSCRep6xuEmaNkRr7HVoqjUb0vXIM9bIEamvs4v5uMcr7XtJoucyT9lhjDGLnR-SR-OFczGkh5Pjc6XLfU0w3cqw78RfggZXr1immFYsYw_00egVXwX_2zgF1f1tFVtjLOKU8_Bs4RdnZbJGrD9GoCG2759VZHHNQBBJhOswBfdQbfzgL-iMzkb-RJacM39EhUijIsVWKCLm_8vKQaZZaHh7rQugiGvCiRF9JBHLMwSKFmeH_5MM9cq_F5P_9WdpofVLL0etBT1alUmSbhSqxmeMXgRMka717zvvw6kJbZBF5GxK6eX_PGJFl-1b3Cvh9SMiDuyiwSm4orJHFuiehQ14bk4itRS5HW1-7MzPjv6yom9scbqTRMO-QI1V3-q8cEYlA61l4iWfeJiuezY5MNtZz01eAIHethhoFiKiviZw7RGbdH1uGBveJSCzDHdmjNyu707EakgYH0TJm57wfKSFKDgBxMasmHY3U2ik8BPJycUbf1VcCtRcDH474MFpz_5VYZjmUsxZoP2MWr9rvH0stONi46dhekdWD6fcLnzpYUGX2WLQcSq5-EwNB80b8KXoJx0rHPDQS9nnYKT2mS1W1OLxjNuZJCTkDOGJipA1mCpCN0fVFfJsg0DsT_yEFBESp1H6ihOablxWHQBqJYR60HKab7plx7UTsYvOgwjtlhvjT1a0y3sgTrWAF8GbSuAl6WjZ3wsJc8frHivPjOTz9BF0NQwtawyLKRgMDZkPKu8JMD_9K0UPbNXPWIAkmA8Xo5zzv4cSpe35LxWgqctnNNdsh-mpQVCIEeZ60nC8awp3Z_vjPflOEtCUA8ZbbUhgSxVB8HQAZ2KnKZlkr9AsqRXCrfZXiH85sWBcK1thCpaMT31MFEylY3fvdWUtWm9fNTEOghckHv0ZAzXoIVAA8CcVWLRmdsM_BB_bcI9fVsE46V3iRexPCH7sWA9_098Fyb_lffF8WPWf_UCYvw1BZV8WYztUKt286h65-qpqyM9U_y",
  "id": "rs_0af40c221ff6d149016ab4469417a087d092edbd6eb8333509",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The held bottle has contacted the table at z ≈ 0.032 in its relocated position. I will open the jaws fully to leave it lying closer to the base, making its blue cap accessible for the upright pivot.\"}",
  "call_id": "call_BGu8ot81QjmmQkDrGErr7Yl2",
  "id": "fc_0af40c221ff6d149016ab44694394887d0894b590e727f4d58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BGu8ot81QjmmQkDrGErr7Yl2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.4178, 0.3241, 0.1429, -0.8532, -0.8158, 0.5018, -0.0341, 0.6533, 0.3298, -0.2825, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1654 left_z=0.0314 left_yaw=-0.0126 left_pitch=0.0006 left_roll=0.0113 left_gripper=0.5018 right_x=0.2647 right_y=0.0001 right_z=0.1111 right_yaw=-0.003 right_pitch=-0.0371 right_roll=-0.0086 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.0803, 4.1231, 1.2479, -0.3394, -0.0513, 1.0281, -0.6632, -1.0051, 7.2684, 1.956, -0.1832, 0.0024, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978570c28f4cf5c9ea88d46585ced073e40112f5acd95b931976bd06f4a62484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8dd592dca8a32ba1d9d587840b3c2131259aa5e8c3554949bfc558d45acfa2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a17c58c8135c9abbdcdb89ef299b8d6a15d71f808f7a3a53847a63367c4a1db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.282 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7639, 1.3338, 0.8577, -0.4095, -0.5705, -0.5232, 0.5081, -0.0212, 0.7055, 0.4187, -0.3164, -0.0311, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3153 left_y=-0.1649 left_z=0.1404 left_yaw=-0.0155 left_pitch=-0.1457 left_roll=0.0591 left_gripper=0.5081 right_x=0.2744 right_y=0.0033 right_z=0.1316 right_yaw=0.0098 right_pitch=-0.0345 right_roll=-0.0092 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -9.5795, 11.8222, 2.1563, -0.7741, 0.3394, 1.033, -0.5538, -1.3197, 6.8855, 1.9951, -0.1685, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1053, 1.4223, 0.3653, 0.0471, -0.8555, -0.8158, 0.5024, -0.0303, 0.6712, 0.3614, -0.2905, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.1642 left_z=0.0319 left_yaw=-0.0111 left_pitch=-0.0249 left_roll=0.0647 left_gripper=0.5024 right_x=0.2687 right_y=0.0009 right_z=0.1195 right_yaw=0.0005 right_pitch=-0.0314 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.2051, 4.0957, 0.9548, -0.0904, -0.1734, 1.0232, -0.7179, -0.9778, 7.0769, 1.8974, -0.149, 0.0073, -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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.4178, 0.3241, 0.1429, -0.8532, -0.8158, 0.5018, -0.0341, 0.6533, 0.3298, -0.2825, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1654 left_z=0.0314 left_yaw=-0.0126 left_pitch=0.0006 left_roll=0.0113 left_gripper=0.5018 right_x=0.2647 right_y=0.0001 right_z=0.1111 right_yaw=-0.003 right_pitch=-0.0371 right_roll=-0.0086 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.0803, 4.1231, 1.2479, -0.3394, -0.0513, 1.0281, -0.6632, -1.0051, 7.2684, 1.956, -0.1832, 0.0024, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978570c28f4cf5c9ea88d46585ced073e40112f5acd95b931976bd06f4a62484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8dd592dca8a32ba1d9d587840b3c2131259aa5e8c3554949bfc558d45acfa2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a17c58c8135c9abbdcdb89ef299b8d6a15d71f808f7a3a53847a63367c4a1db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab446969cf487d0b6cfb1322c6e14c4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0af40c221ff6d149016ab44697cec487d098b2333b93a7c0c0",
  "summary": [],
  "type": "reasoning"
}
{
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  "id": "rs_0af40c221ff6d149016ab4469d163487d094db592112b7d1ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.17,\"left_z\":0.09,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The first release command did not change the 0.50 jaw reading, likely because the bottle was pinched against the table. I will lift a few centimetres while commanding full opening again to unload the jaws and release it cleanly.\"}",
  "call_id": "call_ilipQEw0ndOHgto4xthEsGoG",
  "id": "fc_0af40c221ff6d149016ab446a0506c87d080dc2058e7803649",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ilipQEw0ndOHgto4xthEsGoG",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1046, 1.2411, 0.458, -0.1333, -0.8463, -0.8318, 0.995, -0.0349, 0.6273, 0.2955, -0.2676, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2402 left_y=-0.1751 left_z=0.0831 left_yaw=-0.0075 left_pitch=0.0113 left_roll=-0.0353 left_gripper=0.995 right_x=0.2614 right_y=0.0 right_z=0.1049 right_yaw=-0.0038 right_pitch=-0.0307 right_roll=-0.0088 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.1915, 7.7607, 1.1013, -0.4567, 0.0952, -0.105, -0.5675, -0.4718, 7.2821, 1.9658, -0.1538, 0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417307a508773b41c559e84c56abbe7e76e2dbd3fda9a614ee3ee0b02a801319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddbe94ac92bbbafa4ec5f7501c09730864f7354bfa103822ccdcbdfca6c16c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb7e1398c55746bfc85a555e02222229d1381f8e28e59820835fcecec93617f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.989 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 156 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0752, 1.1419, 0.7952, -0.6979, -0.7116, -0.7559, 0.5068, -0.0277, 0.6853, 0.3878, -0.2977, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2299 left_y=-0.1751 left_z=0.1491 left_yaw=-0.0905 left_pitch=-0.151 left_roll=0.0798 left_gripper=0.5068 right_x=0.2719 right_y=0.0016 right_z=0.1265 right_yaw=0.0034 right_pitch=-0.0265 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.9009, 11.7128, 1.8339, -1.2234, 0.022, 1.0281, -0.1162, -0.6359, 7.1453, 1.9951, -0.1636, 0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.4178, 0.3241, 0.1429, -0.8532, -0.8158, 0.5018, -0.0341, 0.6533, 0.3298, -0.2825, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2361 left_y=-0.1654 left_z=0.0314 left_yaw=-0.0126 left_pitch=0.0006 left_roll=0.0113 left_gripper=0.5018 right_x=0.2647 right_y=0.0001 right_z=0.1111 right_yaw=-0.003 right_pitch=-0.0371 right_roll=-0.0086 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.0803, 4.1231, 1.2479, -0.3394, -0.0513, 1.0281, -0.6632, -1.0051, 7.2684, 1.956, -0.1832, 0.0024, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1046, 1.2411, 0.458, -0.1333, -0.8463, -0.8318, 0.995, -0.0349, 0.6273, 0.2955, -0.2676, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2402 left_y=-0.1751 left_z=0.0831 left_yaw=-0.0075 left_pitch=0.0113 left_roll=-0.0353 left_gripper=0.995 right_x=0.2614 right_y=0.0 right_z=0.1049 right_yaw=-0.0038 right_pitch=-0.0307 right_roll=-0.0088 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.1915, 7.7607, 1.1013, -0.4567, 0.0952, -0.105, -0.5675, -0.4718, 7.2821, 1.9658, -0.1538, 0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:417307a508773b41c559e84c56abbe7e76e2dbd3fda9a614ee3ee0b02a801319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddbe94ac92bbbafa4ec5f7501c09730864f7354bfa103822ccdcbdfca6c16c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb7e1398c55746bfc85a555e02222229d1381f8e28e59820835fcecec93617f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEamw9BqO62iFZ9MOdGqHMg7m7lM1QV5eThsCmHcKT9HodEVS1HMeH54sotPJV5cOkBHvEqrETpFh7giSJPrBA7ulaLXCibNip_OhoXDMpKK041riL2erZbS_bx-a1Db9P_ClvJgbBiYP1e3gJ_QrrpvnOnHxLL6YS-IjjpPyvhw4BZ5KruVK6oX4ufmrJM1h-IMkF1qP4Cb3y3JNOvQvOBvJ5sDIf4Z31zK_jmJoCmnAvx43bbq-DON6u_xm2OMMHcQ1B3S4qSoj60V2hQZ_z6ZVtPdeWQo8MA07h_XJQd1b6k6YRB9PFE_UNQHXOaX8_WpZzim5_IOicMATpET_FuXGoXWLogch8I6Vv9BUai-AA0Mbpws9eDcS3Ll6keURfMlluMo5YA4v5lIZOyP4bzTDRZYYhHm5fF2QA7OMYlRZh6GJ1waNvr9mLhbL4Az2qRSQYYR2iiYL77K65-Wc0Fvp5RgNXnT8Hr80xqbufZxlELl8kmTrF9P_6wsPYbd7DEnTMbMGDm3eIhG0Sf-cKAntl3-Wix7iQK8FB9J1rBpbBTKMsPtwW3k5I4qBPxZ49Hwp9QN5yLuL7pkEI_fuuN2x92qFVEIUGYfaTIFc5ZzlkXzeM2nGavSFM_EAV_hv0TCPqus3GeG0k588vVfl-ubzUo_BuhqwDYmUrcHjtcUPB8Xothi8oDsosm--8cqLziw5riqswsIeSqqIOlDfqyqYOd3anpbPoVxLaH_ZygFtqt4o-hgf1DDKBvEm1ISBpdEZAnaFNgdGyJeMf_Ru1gR3ONdL0-764c0k8Niy5uHBa0WWYeg-waoUBUvSHX_DR7RoVGGG2wKzNr8RBIPDN8qCT2c23joH6JPpRnlag_dLJduBHgdSAtNEcVREEc0FZXP2-Ku2VEOX19A5Razqv9y5OK6OvMcUclARQB0gXzMmyDWhsYNp_7g8UN3XagTaoQMfgkhm81Er4tH_NaStaOPXvDBqHbiAbRM5u6mLTx3tFN8QV6aC2qNPpW-xTYmh3B1TvQeaIFx5K-f6IDcGd9TyBR4-t2lXI-N2wRqrbcKn7XccdpY8KWo9Y2kngZJqzqm2_FitphFmVSoUVMKdEYaMdvs1Yzmbm2g-4kWt-tiOdtMasKZdcG_5TLNGdAKpHC6ysuWxReDGhSU7D-tvpxH8IOekw1XVPX6Y8C6uCK8h8Qtege4czzk7DyBKxq9V7eV9g3qHDdnE_4d7VT_3xZLGuQW9sbbraHFAoFRlvo67DjyT4pWMhSPq1KJB9W-GOMIY8Gd3X6eNWNY4KWkWnSBjMsxD75zA8mBjbEsPv2EVMHT3rfIn4b3zdvAWYGhYR9tHJlywxHCTO2MYef9nKCe1t49lhPD4WCDwfYngTf17V3dvWBCAT8yvqPM2wt0Ht7f0kt2R-caZ7hCH595BAoq3R9RV74wV77thDolH1e4enX0Jte35Xss3FN90aA9gaPY65MP4-O4O6i4o5fKEbesegf-TxMLsyQq1YowO-VMEPhItDQy-twaDGcoueb95bVRXWs2FEUdVYt2UB1q1YWv7sBsn759aCzd-g0zaRN1iGSYhJtSU26sbFW9-7fmMUwuueq26aWkD_FHNVmd30K6HS-c5Gxx8P2Api2sr9tBj8hYdRLhY1f-Y5r1bLjv0Y7cFaygBvFX84HyG47zdbcR5zqefD5L3p9pWu7eqtnEnZCWxrCoD-mIIx9MQQCz3f22xRaoJ4HY7MN4IwafcD_8wbF0MZbGk-GCDWascT4WxLIzhj33hwiuHhkytexeWyTQSFCwCag6hgMq8hiPwL5A_N8-aRH0mRb6an4CEFKxcQKElxxFZSBvj7yBMaEK9XhhTmEf9Pa2-VtIOdIQX-H5pq2Lov43gc5Hu7yKzZVAKNTRZxMTGdxi9L2pjLEn41_-5PiwM6usep6KR3l0AtGtltayzJtSTKR2AsOUehFOYqksNZ8RAHNzqSg-xdhRtNp2",
  "id": "rs_0af40c221ff6d149016ab446a34d7487d080253d1f2f13f8bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.025,\"left_yaw\":0.0,\"left_gripper\":0.5},\"note\":\"The bottle is released and now lies about 10 cm inward from its original position; its blue cap is centered on the left jaw column and is reachable at roughly x = 0.35. I will move the half-open jaws directly to cap height for a neck grasp.\"}",
  "call_id": "call_HPL8VGWpp29aDxW9vlJG6Ket",
  "id": "fc_0af40c221ff6d149016ab446a4fb4c87d0a83738965c1b0038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HPL8VGWpp29aDxW9vlJG6Ket",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7296, 1.6966, 0.5381, 0.4751, -0.6624, -0.4984, 0.5068, -0.0399, 0.6067, 0.268, -0.2619, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=-0.1621 left_z=0.0414 left_yaw=0.0661 left_pitch=0.0442 left_roll=-0.0149 left_gripper=0.5068 right_x=0.2579 right_y=-0.0011 right_z=0.0985 right_yaw=-0.0086 right_pitch=-0.0318 right_roll=-0.009 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3009, 4.0684, 0.8913, 0.1343, 0.0611, 0.5055, -0.4581, -0.5812, 6.9265, 1.9316, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefff9c950c254a16d33db8d95fd38950fba635fb48d79fd65218d7db5417da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b6daa3403e4d914c3f8981fe0f6573c5e84a00a746a18415304c957f8c4b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe66958770257d7f513e7d157f2cdeffdd7adfb46e6139cb3d27fa6519ee60ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.533 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 156 changed as sent

message 160 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1053, 1.4223, 0.3653, 0.0471, -0.8555, -0.8158, 0.5024, -0.0303, 0.6712, 0.3614, -0.2905, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.1642 left_z=0.0319 left_yaw=-0.0111 left_pitch=-0.0249 left_roll=0.0647 left_gripper=0.5024 right_x=0.2687 right_y=0.0009 right_z=0.1195 right_yaw=0.0005 right_pitch=-0.0314 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.2051, 4.0957, 0.9548, -0.0904, -0.1734, 1.0232, -0.7179, -0.9778, 7.0769, 1.8974, -0.149, 0.0073, -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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1046, 1.2411, 0.458, -0.1333, -0.8463, -0.8318, 0.995, -0.0349, 0.6273, 0.2955, -0.2676, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2402 left_y=-0.1751 left_z=0.0831 left_yaw=-0.0075 left_pitch=0.0113 left_roll=-0.0353 left_gripper=0.995 right_x=0.2614 right_y=0.0 right_z=0.1049 right_yaw=-0.0038 right_pitch=-0.0307 right_roll=-0.0088 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.1915, 7.7607, 1.1013, -0.4567, 0.0952, -0.105, -0.5675, -0.4718, 7.2821, 1.9658, -0.1538, 0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7296, 1.6966, 0.5381, 0.4751, -0.6624, -0.4984, 0.5068, -0.0399, 0.6067, 0.268, -0.2619, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3497 left_y=-0.1621 left_z=0.0414 left_yaw=0.0661 left_pitch=0.0442 left_roll=-0.0149 left_gripper=0.5068 right_x=0.2579 right_y=-0.0011 right_z=0.0985 right_yaw=-0.0086 right_pitch=-0.0318 right_roll=-0.009 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3009, 4.0684, 0.8913, 0.1343, 0.0611, 0.5055, -0.4581, -0.5812, 6.9265, 1.9316, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefff9c950c254a16d33db8d95fd38950fba635fb48d79fd65218d7db5417da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b6daa3403e4d914c3f8981fe0f6573c5e84a00a746a18415304c957f8c4b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe66958770257d7f513e7d157f2cdeffdd7adfb46e6139cb3d27fa6519ee60ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEasDKfjvS3XFb18F5bN3Jb1KcUnUJNRK693yFFgpUF5DLmIKm7AibbE6LBPcE2B__91D0BG-0RD9oMTq6mORxRSVwioqia8j4ysa3VzXrxMkd6ilWNs_PK2_OaF4PtRSXoSsXCKfeI7wJ_G1cQhew0nx-HfpNR0DwjjYpeENGI5Gqh_Ei4YEWP-fPjr0RhxZDDytk_skExEiJdpZy9ABK5pv4fcxPTwjz_QLVNAwSQIkbw5mWopdOa9mMJrphxqRg7-d7IZo2L5ewwhp7C5dkjk2tcF6GdAA35a-Xb4uxOr24sdIKfvzRFL0S_YgpoVDBWHOk2sPfCI7EHKDzhNkt1XNuWNN1zRzSWpnUXhfZ05swqPChB_Ed_hglHYDqBleSbUi-uP1aMYTrdFuJcOXziHLLBiYVmgRBCFZD8P-v7Ejh1ARH7iky4Qayw3lkGHKNQ5XBDJewCz8K-bpg4maJGZK752imq4pZx6Z3nGntBI4MaLOxERU57mFzTsodk2An_cgjVB-irmZthXAnDGpIHVN18cQrG-V50H2O3mqe9HSZmfgbFchvIkc6YswCWU6xRmAJKoeDY9_G96kDq6C2Y67w7nHko1Ga82H-iY2keWoSYOWHzv3D8lCdWROB01i-Gf3JFN0VTQgRIDwbD62HvhhaEVFilQqUrSh6q2jtc1mwzdckZChYLkBmmuOf77yUNhHO5hsx7u50R9HNOsosbyrojOv1hqcMmfO0AApOAh5NE7FQJBK04UsIRuADmfurUVPAS0_itQKt401zMyLwDShyt1FlvZsPJZtUqcktd3qCLkRYmf5W9bOkr6xooP-8rJSozBFcogn4HAwBUBPTnkUGL0PsjbojJza5J10g1E7MXk2Tuvz_MWCWLWZWYLc725ghX3vCDRq3Ccfw6ATpCwibJnlWvA1LG0IWVzNR--1qUdV9fSQ7mzs8LFbK44bWmQBAcHMCSiaxjFE4bEW-i1QQ4D4BncoeQcalq730AXAG1svtnvsvY-RxIdiMGvghwVoV92WOmAZvVP3dTnxKGaU67TN95yFGlspmfkMtyomJuek09qLaCzTsSYFauM0T97Ql1X5IXNP-cLjw5QZAeoGyREqT1sb5JDEnoRA8NgkjwKekUYHlvmYecjKq_haqttJiraKmIaF0AiDOqHyf9gxJdxLEDTr6-h5-zZXj_j8qmjmEKV9EVrGYEaeN4YuQnqt0ZTeJHkzkjlAMdfusRy5EciZLEzO2KdgbiqAnrlCuNG8N6PAhPZyK4hjlOub0A9CE6yOGGfTjfenxFV2q7YS3WRBKMdtQ09qmktmgQ9yVQ-mgCYt97rC4uCpwynGVHHk316u-NwTY-JGRkc8jpmh_yHrcQP6OWZcvgr4c8jf6Svz1e2bMRecviVEZewp5zjCUQs9dMLPDBPLR6qvaEviR20S4VhlL2V3mtlPB7P5ow9i8CxaOkQpplaE38fPFP8CI8c-VnmYeaeGLLkBGVX0rBQa33TGKrNbXEds7JcXQEwWcG3HDcrYPibNJKIwN40WisM6wDJNOkQv0cCCHpY4WBRNMvmXgt9bpZP4uoVeyf_nSXrDf8AWI73xBArmKQIcSPw3F5O5gXWZ3y8is4J7IPhgiymmaPEBWTcu_X9M6nCOIlwYic0BhpdCD4cQd-MA7xaCMEttM8zF0c0om4HLTLUOlZZsvHwt7NsaaEMirJ-tRbloBaFWstBaDswOPAboEsqGrYH38ZZa0Hy0M02fo0OM3MvQvcpbJQNoiq1Kj0y84X8fORTWTPfARgLk570jRH2ecYrN1Yl37xIhfYHV1lahf0Kzc9SQGytYdmIqIYU7LWv30Vp370b2I7K-wDDPqz4LiGOt3Z1PB_clRQXmdFxI7hxYNiQ0FBx0HGnRvW09CDUdLq8ICAnCYFW5Hs2Wr39xYleBfIK5Ei1xzvcnu3b2oXCFUZaWI9YO6fs0Vaj1e-Jc1Osd28s-4fKketu8dXbSemngYweta7q6WEVZdMcqPO6D7_hZAshzFkN02I_GcDbaQNp3M3xFG2_ClQT8pcrVCe0Lcsbt0heS2Jh7jbi3T7Pn6SaHUJHfO4sP_DPrRgRc-uMtTAs3RWLe4Zzd1AR0jxzrbpNT-mI9cv4TH81_duLyNl8hpymYzdHkSFxel5HmGLofSuMrsYdozCJR0Nj7aH2BYDp30hyHj62S22OH-0uF0bD03_W6UhUPLk0UjP8BeS_vnotOBWC_Jx1sH6AhmE8U3DDiFV_xOKZA33-AVyjEc8SWM7ZsWHgrx39dlgPB0pWIS1iT_VDoxLO1c4H_DTkvupqJMmabZPoHiFJ5eumh08HFhP_jlb3LHr36WrX3MyJA18dXqYuquazIHbYBUOK2q3XpuvqCaa1kjixfcaCRn0FnAMJEuJCUK3RLCnr5fNunnkyPVpR2oPWlllOzKfJdaKBeW6NevegAec1OaRb2_8LfmaEtXxQiNPFvrycZdGHG4uiaLfw-Ki-lPSMDrLQJ91v_PGLc1INe511qimFRovHsNn1peqJjlZMRE-w4QqYtudkZPKZduU4gkO0WjdzVcZ-1Fi05NrxIhAx4DyjAJR7xftCBdNYwGdzJi4jeP16nCW0FopP2w4r",
  "id": "rs_0af40c221ff6d149016ab446a8419087d0aca13abc994430e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.17,\"left_z\":0.025,\"left_yaw\":0.0,\"left_gripper\":0.5},\"note\":\"At x = 0.35 the jaws are still around the bottle’s lower body while the blue cap remains clearly forward in the wrist view. I will slide the open jaws 7 cm farther forward along the bottle axis to place the cap at the fingertip convergence point.\"}",
  "call_id": "call_nsxEUEi6nzuookVeP15XIsmZ",
  "id": "fc_0af40c221ff6d149016ab446ab37ec87d0a10a570904623e03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nsxEUEi6nzuookVeP15XIsmZ",
  "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]: [-0.5823, 1.8702, 0.7517, 0.5468, -0.5446, -0.3969, 0.5019, -0.0414, 0.5861, 0.2413, -0.2607, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.424 left_y=-0.1653 left_z=0.0506 left_yaw=0.0712 left_pitch=0.0836 left_roll=-0.0518 left_gripper=0.5019 right_x=0.254 right_y=-0.0014 right_z=0.0914 right_yaw=-0.0101 right_pitch=-0.0368 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -5.8462, 5.1077, 1.033, 0.2369, 0.1001, 0.1832, -0.7316, -0.6906, 7.0085, 2.0928, -0.1783, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a007af28a5c347e0f50ebdc4e038cd348ddc4a319a713dfd150ae8a152ee8d10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651cb1dddc6171efc6333e1d6b9de30037d391594f415f792df8c0d5b326b02e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f60f1c66313be67609a3d88727f510fca1af235a94df2ba608d0010c3ef502",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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