adhoc - adhoc_1be6a73c.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-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: 230 s
total steps: 402

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteAll three bottles are lying on the table; the rightmost bottle's cap points away from me. I’m moving the right gripper above its neck to check alignment before grasping.

move_to

right_x0.4300right_y0.2000right_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.6075, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7876, 0.6029, -0.3866, -0.0132, -0.0246, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5128, -1.4838, 9.7983, 1.79, -0.0171, 0.1099, -0.1538, -0.8684, -0.841, 10.2632, 1.8535, -0.1392, 0.0904, -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":{"right_x":0.43,"right_y":0.20,"right_z":0.14},"note":"All three bottles are lying on the table; the rightmost bottle's cap points away from me. I’m moving the right gripper above its neck to check alignment before grasping."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe right wrist view shows the bottle’s capped end to the right of the jaw column, so the gripper is too far toward the table center. I’m shifting right and slightly forward to line up over that end.

move_to

right_x0.4550right_y0.0900right_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6144, -0.387, -0.0223, -0.0292, 0.9984, 0.6033, 1.6875, 1.034, -0.0784, 0.4667, 0.3099, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1823 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9984 right_x=0.4147 right_y=0.1936 right_z=0.1208 right_yaw=0.0396 right_pitch=-0.069 right_roll=-0.0466 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.6889, 6.7761, 1.79, -0.0024, -0.0562, -0.0317, 0.0205, -8.1436, 8.8137, 1.8584, 0.3199, 0.2027, -0.0073] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.09,"right_z":0.12},"note":"The right wrist view shows the bottle’s capped end to the right of the jaw column, so the gripper is too far toward the table center. I’m shifting right and slightly forward to line up over that end."})

tool

executing move_to over 9 steps (0.9s)

step 26

assistant

agent noteThe right bottle is now centered between the open jaws in the wrist view, with its cap ahead of the gripper. I’m lowering onto its upper body so I can lift that end upright.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.6611, 0.8967, 0.1066, 0.2096, 0.1169, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9983 right_x=0.4464 right_y=0.0912 right_z=0.1003 right_yaw=0.0263 right_pitch=-0.07 right_roll=-0.0212 right_gripper=0.9998 state[joint_eff]: [-0.294, -1.7162, 6.4752, 1.873, -0.0122, -0.0855, -0.0122, -0.294, -9.4701, 6.3385, 2.2637, 0.1832, -0.0855, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.035},"note":"The right bottle is now centered between the open jaws in the wrist view, with its cap ahead of the gripper. I’m lowering onto its upper body so I can lift that end upright."})

tool

executing move_to over 5 steps (0.5s)

step 31

assistant

agent noteAt low height, the right bottle’s upper body fills the space between the fingers. I’m closing the gripper gently around it, then I’ll check whether the grasp actually holds.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.8294, 0.7303, 0.4435, 0.189, 0.1062, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.0076 left_roll=0.0017 left_gripper=0.9983 right_x=0.4368 right_y=0.0922 right_z=0.0279 right_yaw=0.0493 right_pitch=-0.0708 right_roll=-0.0169 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.6752, 6.3385, 1.8339, -0.0073, -0.0611, -0.0122, -0.3761, -7.2137, 4.7932, 1.9219, 0.1197, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"At low height, the right bottle’s upper body fills the space between the fingers. I’m closing the gripper gently around it, then I’ll check whether the grasp actually holds."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe gripper closed nearly all the way, which means it missed the bottle. I’m reopening and moving a few centimeters toward the cap for one better-positioned attempt.

move_to

right_gripper1.0000right_x0.4800right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2749, 1.8351, 0.6846, 0.6796, 0.1787, 0.0986, 0.0197] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.0083 left_roll=0.0019 left_gripper=0.9983 right_x=0.4515 right_y=0.0984 right_z=0.0571 right_yaw=0.0617 right_pitch=0.1082 right_roll=0.022 right_gripper=0.0197 state[joint_eff]: [0.0479, -1.5521, 6.4752, 1.8144, -0.0415, -0.0464, -0.0122, -0.1983, -6.8034, 4.0274, 1.0183, 0.2027, 0.0562, 0.862] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.48,"right_z":0.025},"note":"The gripper closed nearly all the way, which means it missed the bottle. I’m reopening and moving a few centimeters toward the cap for one better-positioned attempt."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteAfter advancing, the bottle’s neck and shoulder appear directly between the right fingers. I’m closing again and will use the gripper opening to tell whether it caught the bottle.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0296, 0.9983, 0.2668, 1.9438, 0.8341, 0.548, 0.1551, 0.0711, 0.9956] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.4752 right_y=0.1053 right_z=0.035 right_yaw=0.0896 right_pitch=0.017 right_roll=-0.0082 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.7026, 6.3658, 1.8535, -0.0317, -0.0904, -0.0122, -1.4427, -6.3521, 6.9949, 1.6581, -0.0269, 0.1197, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"After advancing, the bottle’s neck and shoulder appear directly between the right fingers. I’m closing again and will use the gripper opening to tell whether it caught the bottle."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe right gripper stopped at a bottle-sized opening rather than closing empty. I’m lifting the held end while moving slightly back so the base can pivot down toward the table.

move_to

right_z0.1400right_x0.4300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.2672, 1.9419, 0.8429, 0.5503, 0.1524, 0.0612, 0.4754] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.4782 right_y=0.1068 right_z=0.0396 right_yaw=0.0975 right_pitch=0.0295 right_roll=-0.013 right_gripper=0.4754 state[joint_eff]: [-0.1299, -1.5248, 6.5299, 1.8339, -0.0122, -0.0464, -0.0122, -0.6359, -9.5932, 5.5453, 1.3455, -0.0952, 0.1148, 0.779] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14,"right_x":0.43},"note":"The right gripper stopped at a bottle-sized opening rather than closing empty. I’m lifting the held end while moving slightly back so the base can pivot down toward the table."})

tool

executing move_to over 7 steps (0.7s)

step 68

assistant

agent noteThe bottle is moving with the right gripper, but its lower end still angles across the tabletop. I’m lifting the held end higher to let it hang nearly vertical before setting its base down.

move_to

right_x0.3900right_z0.2300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3012, 1.5543, 0.8337, 0.1326, 0.1558, 0.0772, 0.4747] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4301 right_y=0.1086 right_z=0.1239 right_yaw=0.12 right_pitch=-0.0088 right_roll=-0.0081 right_gripper=0.4747 state[joint_eff]: [-0.212, -1.4154, 6.3795, 1.9121, -0.0024, -0.0855, -0.0122, 0.0889, -7.3641, 9.2786, 1.6093, 0.1978, 0.1441, -0.0806] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_z":0.23},"note":"The bottle is moving with the right gripper, but its lower end still angles across the tabletop. I’m lifting the held end higher to let it hang nearly vertical before setting its base down."})

tool

executing move_to over 7 steps (0.7s)

step 75

assistant

agent noteThe bottle remains secured, with its body hanging below the raised right gripper. I’m lowering it slowly until its bottom meets the tabletop before letting go.

move_to

right_z0.1550

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.3424, 1.3262, 0.9966, -0.2821, 0.1631, 0.0807, 0.4747] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.008 left_roll=0.0017 left_gripper=0.9983 right_x=0.3923 right_y=0.1132 right_z=0.2054 right_yaw=0.1532 right_pitch=-0.0313 right_roll=-0.0137 right_gripper=0.4747 state[joint_eff]: [-0.1162, -1.7026, 6.4068, 1.8144, -0.022, -0.0611, -0.0122, 0.1846, -7.159, 10.1675, 1.8339, 0.2759, 0.1929, -0.022] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.155},"note":"The bottle remains secured, with its body hanging below the raised right gripper. I’m lowering it slowly until its bottom meets the tabletop before letting go."})

tool

executing move_to over 4 steps (0.4s)

step 79

assistant

agent noteThe held bottle has been lowered to table level; I’m opening the right jaws and lifting clear so the overhead camera can show whether it stands on its own.

move_to

right_gripper1.0000right_z0.2100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3458, 1.3548, 0.7952, -0.1249, 0.1627, 0.0841, 0.4747] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.3776 right_y=0.1094 right_z=0.1363 right_yaw=0.1541 right_pitch=-0.1028 right_roll=-0.0245 right_gripper=0.4747 state[joint_eff]: [-0.1846, -1.4427, 6.3932, 1.8095, 0.0024, -0.0366, -0.0122, -0.6085, -5.4769, 7.8017, 2.3712, 0.0562, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.21},"note":"The held bottle has been lowered to table level; I’m opening the right jaws and lifting clear so the overhead camera can show whether it stands on its own."})

tool

executing move_to over 6 steps (0.6s)

step 85

assistant

agent noteThe right bottle appears shorter in the overhead view after release, suggesting it may be upright, but the right arm still blocks it. I’m parking that arm to verify and leave room for the other bottles.

move_to

right_x0.2950right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.347, 1.2739, 0.881, -0.2375, 0.1532, 0.0746, 0.9956] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.3746 right_y=0.1106 right_z=0.182 right_yaw=0.1692 right_pitch=-0.0508 right_roll=-0.0164 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.3607, 6.694, 1.8388, -0.0073, -0.0904, -0.0122, -0.4991, -6.8855, 9.894, 1.8926, 0.0562, 0.105, -0.0904] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The right bottle appears shorter in the overhead view after release, suggesting it may be upright, but the right arm still blocks it. I’m parking that arm to verify and leave room for the other bottles."})

tool

executing move_to over 10 steps (1.0s)

step 95

assistant

agent noteWith the arm clear, the right bottle is still lying lengthwise, so the first lift was not high enough to set it upright. I’m returning above its upper end for a taller lift.

move_to

right_x0.4750right_y0.1000right_z0.1100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, -0.1593, 0.8463, 0.625, -0.3714, -0.2234, -0.1703, 0.9955] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3014 right_y=-0.0051 right_z=0.1793 right_yaw=0.1115 right_pitch=-0.0048 right_roll=-0.0051 right_gripper=0.9955 state[joint_eff]: [-0.0752, -1.7026, 6.5573, 1.917, -0.0171, -0.0806, -0.0122, -0.1436, -2.1402, 7.0359, 1.8632, -0.3053, -0.0562, -0.022] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.475,"right_y":0.1,"right_z":0.11},"note":"With the arm clear, the right bottle is still lying lengthwise, so the first lift was not high enough to set it upright. I’m returning above its upper end for a taller lift."})

tool

executing move_to over 14 steps (1.4s)

step 109

assistant

agent noteThe right bottle’s cap is centered in the wrist camera, with its upper body just ahead of the fingertips. I’m moving a little forward and down to grip it near that end again.

move_to

right_x0.4800right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2359, 1.7046, 0.9035, 0.1383, 0.0772, 0.0208, 0.9955] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4525 right_y=0.0985 right_z=0.0881 right_yaw=0.1509 right_pitch=-0.0894 right_roll=-0.0184 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.6068, 6.4889, 1.8144, -0.0269, -0.0806, -0.0122, -0.0889, -7.9111, 8.8547, 2.0244, 0.1587, 0.2613, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_z":0.025},"note":"The right bottle’s cap is centered in the wrist camera, with its upper body just ahead of the fingertips. I’m moving a little forward and down to grip it near that end again."})

tool

executing move_to over 5 steps (0.5s)

step 114

assistant

agent noteThe bottle’s shoulder is now between the jaws at table height. I’m closing around it and will raise it much farther this time if the gripper catches.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2211, 1.9354, 0.8276, 0.4808, 0.0505, 0.017, 0.9956] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4666 right_y=0.0994 right_z=0.0218 right_yaw=0.1607 right_pitch=-0.0548 right_roll=-0.0028 right_gripper=0.9956 state[joint_eff]: [-0.2803, -1.6615, 6.5162, 1.8046, -0.0024, -0.0904, -0.0122, -0.7179, -6.5026, 6.8581, 1.5849, 0.1148, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bottle’s shoulder is now between the jaws at table height. I’m closing around it and will raise it much farther this time if the gripper catches."})

tool

executing move_to over 10 steps (1.0s)

step 124

assistant

agent noteThat close was empty: the cap was visible, but the grasp point was past the reachable part of the bottle. I’m repositioning over its broader middle section instead of retrying at the cap.

move_to

right_x0.4000right_y0.0900right_z0.0250right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.223, 1.9381, 0.8001, 0.6971, 0.0254, 0.004, 0.0215] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4833 right_y=0.1087 right_z=0.0561 right_yaw=0.1906 right_pitch=0.1305 right_roll=0.0074 right_gripper=0.0215 state[joint_eff]: [-0.0479, -1.5248, 6.5573, 1.8828, -0.0122, -0.0562, -0.0122, -0.4718, -8.0068, 3.9043, 0.8474, 0.2173, 0.1294, 1.0965] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.09,"right_z":0.025,"right_gripper":1},"note":"That close was empty: the cap was visible, but the grasp point was past the reachable part of the bottle. I’m repositioning over its broader middle section instead of retrying at the cap."})

tool

executing move_to over 10 steps (1.0s)

step 134

assistant

agent noteThe broad body of the right bottle now fills the right wrist view between the fingers. I’m closing on this section and checking for a nonempty grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.2222, 1.7618, 0.5339, 0.6827, 0.0257, -0.0044, 0.9957] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0916 right_z=0.0328 right_yaw=0.1944 right_pitch=0.0261 right_roll=-0.0033 right_gripper=0.9957 state[joint_eff]: [-0.1299, -1.5248, 6.4068, 1.8339, -0.0171, -0.0611, -0.0122, 0.0752, -7.3778, 3.9179, 1.7363, -0.0171, -0.0024, -0.0562] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_gripper":0},"note":"The broad body of the right bottle now fills the right wrist view between the fingers. I’m closing on this section and checking for a nonempty grasp."})

tool

executing move_to over 10 steps (1.0s)

step 144

assistant

agent noteThe right gripper is holding the bottle at a clear, body-sized opening. I’m lifting it well above its full length so its heavier base can swing downward before placement.

move_to

right_z0.3100right_x0.4100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2226, 1.7397, 0.5529, 0.6941, 0.0139, -0.0086, 0.3428] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4185 right_y=0.0959 right_z=0.0511 right_yaw=0.2069 right_pitch=0.0786 right_roll=0.0001 right_gripper=0.3428 state[joint_eff]: [-0.1983, -1.6889, 6.4205, 1.8339, -0.0269, -0.0464, -0.0122, -0.253, -6.4068, 5.135, 1.072, 0.022, 0.0122, 0.2711] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.31,"right_x":0.41},"note":"The right gripper is holding the bottle at a clear, body-sized opening. I’m lifting it well above its full length so its heavier base can swing downward before placement."})

tool

executing move_to over 17 steps (1.7s)

step 161

assistant

agent noteThe right gripper is still holding something bottle-width, but the overhead view is ambiguous about its angle. I’m bringing the grasped body down near table contact before releasing it.

move_to

right_z0.1050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.2241, 1.3811, 1.3727, -0.5793, -0.0002, -0.0208, 0.3426] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1826 left_yaw=0.0034 left_pitch=-0.0072 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0971 right_z=0.2926 right_yaw=0.227 right_pitch=-0.0165 right_roll=-0.0038 right_gripper=0.3426 state[joint_eff]: [-0.2667, -1.6752, 6.4068, 1.8779, -0.0122, -0.0415, -0.0122, 0.335, -4.9436, 9.6889, 1.8388, 0.188, 0.1099, -0.0317] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105},"note":"The right gripper is still holding something bottle-width, but the overhead view is ambiguous about its angle. I’m bringing the grasped body down near table contact before releasing it."})

tool

executing move_to over 13 steps (1.3s)

step 174

assistant

agent noteThe bottle has been brought back to the table, but it still looks lengthwise under the right arm. I’m opening and parking that arm so I can clearly assess all three before the next lift.

move_to

right_gripper1.0000right_x0.2950right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0223, -0.0296, 0.9983, 0.223, 1.4822, 0.7013, 0.1383, -0.0036, -0.0235, 0.3426] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.3994 right_y=0.0949 right_z=0.0974 right_yaw=0.2302 right_pitch=-0.0714 right_roll=-0.0037 right_gripper=0.3426 state[joint_eff]: [-0.2667, -1.5658, 6.4342, 1.8144, -0.0171, -0.0708, -0.0122, -0.212, -5.2855, 6.5983, 2.1123, -0.0171, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The bottle has been brought back to the table, but it still looks lengthwise under the right arm. I’m opening and parking that arm so I can clearly assess all three before the next lift."})

tool

executing move_to over 9 steps (0.9s)

step 183

assistant

agent noteAll three bottles are still lying flat, so I’m switching to the middle bottle and approaching its upper body with the left gripper. I’ll use the wrist view to place the fingers more precisely.

move_to

left_x0.4100left_y-0.2900left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, -0.2169, 0.8726, 0.59, -0.3237, -0.3202, -0.2417, 0.996] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3036 right_y=-0.0063 right_z=0.1682 right_yaw=0.1727 right_pitch=-0.0003 right_roll=-0.0089 right_gripper=0.996 state[joint_eff]: [-0.1162, -1.6889, 6.5026, 1.8486, -0.0366, -0.0269, -0.0122, 0.4171, -2.0034, 10.2769, 1.7705, -0.4078, -0.0122, -0.2076] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.29,"left_z":0.13},"note":"All three bottles are still lying flat, so I’m switching to the middle bottle and approaching its upper body with the left gripper. I’ll use the wrist view to place the fingers more precisely."})

tool

executing move_to over 26 steps (2.6s)

step 209

assistant

agent noteThe middle bottle is centered in the left wrist camera, but the fingers are still high above it. I’m lowering to bottle-body height before closing.

move_to

left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.841, 1.8778, 1.2465, -0.1555, -0.6746, -0.5629, 0.9983, -0.223, 0.8753, 0.5907, -0.3508, -0.3412, -0.2584, 0.9956] state[eef_state]: left_x=0.4049 left_y=-0.2817 left_z=0.1203 left_yaw=-0.003 left_pitch=-0.0248 left_roll=0.0113 left_gripper=0.9983 right_x=0.2999 right_y=-0.0037 right_z=0.1633 right_yaw=0.193 right_pitch=-0.0223 right_roll=-0.0003 right_gripper=0.9956 state[joint_eff]: [-0.5128, -9.6615, 8.5949, 1.3553, -0.5104, -0.0952, -0.0171, -0.1709, -1.7709, 7.1726, 1.9267, -0.0708, 0.1832, -0.0562] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.03},"note":"The middle bottle is centered in the left wrist camera, but the fingers are still high above it. I’m lowering to bottle-body height before closing."})

tool

executing move_to over 6 steps (0.6s)

step 215

assistant

agent noteThe middle bottle’s body is between the left fingers at low height. I’m closing on it and checking the resulting finger spacing before attempting a lift.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.844, 2.0228, 1.0973, 0.2092, -0.6975, -0.5789, 0.9983, -0.2245, 0.8742, 0.5701, -0.3431, -0.345, -0.26, 0.9956] state[eef_state]: left_x=0.4102 left_y=-0.2852 left_z=0.0551 left_yaw=0.0194 left_pitch=0.0334 left_roll=-0.045 left_gripper=0.9983 right_x=0.2978 right_y=-0.003 right_z=0.1561 right_yaw=0.1955 right_pitch=-0.0321 right_roll=0.0053 right_gripper=0.9956 state[joint_eff]: [-0.2803, -7.8017, 3.7675, 0.7399, -0.149, 0.2173, -0.0171, -0.6906, -2.5504, 6.8308, 1.8388, -0.2466, 0.0073, -0.022] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The middle bottle’s body is between the left fingers at low height. I’m closing on it and checking the resulting finger spacing before attempting a lift."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteThe left fingers closed empty; the middle bottle’s body is slightly right of the jaw center in the wrist view. I’m reopening and correcting both sideways and toward its neck for a better grasp.

move_to

left_gripper1.0000left_x0.4400left_y-0.3200left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8459, 2.0361, 1.1393, 0.1589, -0.7136, -0.5797, 0.0144, -0.2245, 0.8627, 0.5385, -0.3237, -0.3454, -0.26, 0.9956] state[eef_state]: left_x=0.4135 left_y=-0.287 left_z=0.0571 left_yaw=0.0292 left_pitch=0.0275 left_roll=-0.0222 left_gripper=0.0144 right_x=0.2951 right_y=-0.0023 right_z=0.1489 right_yaw=0.1958 right_pitch=-0.0327 right_roll=0.0058 right_gripper=0.9956 state[joint_eff]: [0.0342, -11.3026, 6.2427, 1.1502, -0.1587, 0.0171, 1.0525, -0.4308, -2.1949, 6.8718, 1.8926, -0.2808, -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_gripper":1,"left_x":0.44,"left_y":-0.32,"left_z":0.03},"note":"The left fingers closed empty; the middle bottle’s body is slightly right of the jaw center in the wrist view. I’m reopening and correcting both sideways and toward its neck for a better grasp."})

tool

executing move_to over 10 steps (1.0s)

step 235

assistant

agent noteThe low sideways adjustment pushed the middle bottle toward the right bottle instead of centering it. I’m lifting clear and approaching its new position from above to avoid another push.

move_to

left_x0.4100left_y-0.3650left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8452, 2.2131, 1.3247, 0.0769, -0.7155, -0.6064, 0.9943, -0.2245, 0.8497, 0.5056, -0.3054, -0.3454, -0.2604, 0.9956] state[eef_state]: left_x=0.434 left_y=-0.3092 left_z=0.0237 left_yaw=0.0453 left_pitch=-0.0182 left_roll=0.0129 left_gripper=0.9943 right_x=0.2919 right_y=-0.0016 right_z=0.1414 right_yaw=0.196 right_pitch=-0.0341 right_roll=0.0061 right_gripper=0.9956 state[joint_eff]: [-0.5812, -11.1385, 8.5812, 1.5116, -0.2564, 0.1392, -0.0757, -0.4718, -2.2085, 7.0906, 1.917, -0.2613, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.365,"left_z":0.15},"note":"The low sideways adjustment pushed the middle bottle toward the right bottle instead of centering it. I’m lifting clear and approaching its new position from above to avoid another push."})

tool

executing move_to over 9 steps (0.9s)

step 244

assistant

agent noteThe displaced middle bottle is now too far toward the left arm’s crossover edge for a clean centered grip. I’m moving the left arm over the separate left bottle and restoring the idle right arm to its home height.

move_to

left_x0.4100left_y-0.0200left_z0.1400right_x0.2950right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9581, 2.1666, 1.6825, -0.4049, -0.7811, -0.725, 0.9956, -0.2245, 0.8364, 0.4717, -0.2882, -0.345, -0.2604, 0.9956] state[eef_state]: left_x=0.413 left_y=-0.3651 left_z=0.1179 left_yaw=0.0408 left_pitch=-0.0228 left_roll=0.0054 left_gripper=0.9956 right_x=0.2882 right_y=-0.0009 right_z=0.1332 right_yaw=0.1958 right_pitch=-0.0374 right_roll=0.0073 right_gripper=0.9956 state[joint_eff]: [-0.6769, -15.3504, 8.9094, 1.2527, -0.5641, 0.2027, 0.1148, -0.4444, -2.1949, 7.0906, 1.9463, -0.2271, 0.022, -0.0171] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.02,"left_z":0.14,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The displaced middle bottle is now too far toward the left arm’s crossover edge for a clean centered grip. I’m moving the left arm over the separate left bottle and restoring the idle right arm to its home height."})

tool

executing move_to over 31 steps (3.1s)

step 275

assistant

agent noteThe left bottle lies diagonally, with its red shoulder offset from the current jaw column. I’m shifting over that shoulder and turning the jaws so they close more nearly across its width.

move_to

left_x0.4550left_y-0.0800left_z0.1100left_yaw-0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1318, 1.4132, 0.7444, 0.0708, -0.1806, -0.1421, 0.9957, -0.2214, 0.8257, 0.5858, -0.4049, -0.3447, -0.2634, 0.9956] state[eef_state]: left_x=0.4108 left_y=-0.0188 left_z=0.1308 left_yaw=0.0852 left_pitch=-0.0257 left_roll=-0.0029 left_gripper=0.9957 right_x=0.2892 right_y=-0.0003 right_z=0.1642 right_yaw=0.2001 right_pitch=-0.0301 right_roll=0.0013 right_gripper=0.9956 state[joint_eff]: [0.2393, -7.9932, 6.0513, 1.8095, 0.0464, 0.1685, 0.0073, 0.6222, -0.7179, 10.7009, 1.6386, -0.1294, 0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.455,"left_y":-0.08,"left_z":0.11,"left_yaw":-0.35},"note":"The left bottle lies diagonally, with its red shoulder offset from the current jaw column. I’m shifting over that shoulder and turning the jaws so they close more nearly across its width."})

tool

executing move_to over 6 steps (0.6s)

step 281

assistant

agent noteThe left bottle’s shoulder is now near the middle of the wrist image, while the gripper is still above table level. I’m moving a little right and down to put the fingers around its neck-side body.

move_to

left_x0.4650left_y-0.1150left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1097, 1.6409, 0.8162, 0.1806, 0.1181, 0.0494, 0.9962, -0.2245, 0.815, 0.5564, -0.3962, -0.3454, -0.2638, 0.9956] state[eef_state]: left_x=0.4407 left_y=-0.0659 left_z=0.0889 left_yaw=-0.2475 left_pitch=-0.0777 left_roll=-0.0178 left_gripper=0.9962 right_x=0.2858 right_y=-0.0002 right_z=0.1557 right_yaw=0.198 right_pitch=-0.039 right_roll=0.0055 right_gripper=0.9956 state[joint_eff]: [0.1709, -7.6923, 8.4171, 1.917, 0.1538, 0.0611, 0.0317, -0.4308, -2.0855, 6.9128, 1.9219, -0.3053, 0.022, -0.0171] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_y":-0.115,"left_z":0.035},"note":"The left bottle’s shoulder is now near the middle of the wrist image, while the gripper is still above table level. I’m moving a little right and down to put the fingers around its neck-side body."})

tool

executing move_to over 5 steps (0.5s)

step 286

assistant

agent noteThe left bottle’s shoulder and upper body are now visibly between the fingers. I’m closing here and will only lift if the gripper stops at a bottle-sized opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2428, 1.8702, 0.7887, 0.564, 0.025, -0.0257, 0.9963, -0.2249, 0.7952, 0.5205, -0.3744, -0.3454, -0.2638, 0.9956] state[eef_state]: left_x=0.4662 left_y=-0.1163 left_z=0.0544 left_yaw=-0.2616 left_pitch=0.0439 left_roll=-0.0199 left_gripper=0.9963 right_x=0.2828 right_y=0.0003 right_z=0.1491 right_yaw=0.1975 right_pitch=-0.0338 right_roll=0.0032 right_gripper=0.9956 state[joint_eff]: [-0.1573, -6.4342, 5.7504, 0.7546, 0.1245, 0.3883, 0.0024, -0.8957, -1.8256, 6.7077, 1.8926, -0.2759, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left bottle’s shoulder and upper body are now visibly between the fingers. I’m closing here and will only lift if the gripper stops at a bottle-sized opening."})

tool

executing move_to over 10 steps (1.0s)

step 296

assistant

agent noteThe left jaws stopped on the bottle’s body rather than closing empty. I’m lifting it well above bottle height to verify it rises with the gripper and to let its base hang down.

move_to

left_z0.3100left_x0.4100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2474, 1.8832, 0.807, 0.4896, -0.0013, -0.0261, 0.5019, -0.2249, 0.7803, 0.4885, -0.3576, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.4623 left_y=-0.1128 left_z=0.0397 left_yaw=-0.2436 left_pitch=-0.0253 left_roll=-0.007 left_gripper=0.5019 right_x=0.2799 right_y=0.001 right_z=0.142 right_yaw=0.1973 right_pitch=-0.0341 right_roll=0.0036 right_gripper=0.9956 state[joint_eff]: [-0.1162, -10.947, 6.6393, 1.5604, 0.0269, 0.0708, 1.0232, -0.759, -1.8393, 6.8718, 1.9023, -0.3101, 0.0073, -0.0122] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.31,"left_x":0.41},"note":"The left jaws stopped on the bottle’s body rather than closing empty. I’m lifting it well above bottle height to verify it rises with the gripper and to let its base hang down."})

tool

executing move_to over 18 steps (1.8s)

step 314

assistant

agent noteThe left bottle stayed on the table during that lift; the broad-body pinch slipped. I’m reopening and aiming instead for its narrower neck, which should be easier to hold securely.

move_to

left_gripper1.0000left_x0.4800left_y-0.0850left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2932, 1.4189, 1.3823, -0.5495, -0.0429, -0.0536, 0.5029, -0.2302, 0.7635, 0.4553, -0.3424, -0.3454, -0.2638, 0.9956] state[eef_state]: left_x=0.4174 left_y=-0.1143 left_z=0.2877 left_yaw=-0.2396 left_pitch=-0.0243 left_roll=-0.0069 left_gripper=0.5029 right_x=0.2765 right_y=0.0003 right_z=0.1344 right_yaw=0.1922 right_pitch=-0.0352 right_roll=0.0038 right_gripper=0.9956 state[joint_eff]: [-0.1573, -7.9932, 9.1692, 1.7802, -0.0904, 0.0317, 0.1001, -0.4581, -1.5932, 6.9128, 1.8828, -0.2906, 0.0073, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.48,"left_y":-0.085,"left_z":0.045},"note":"The left bottle stayed on the table during that lift; the broad-body pinch slipped. I’m reopening and aiming instead for its narrower neck, which should be easier to hold securely."})

tool

executing move_to over 16 steps (1.6s)

step 330

assistant

agent noteThe blue cap is still ahead of the fingertips at the arm’s table-level reach, but the bottle body is centered. I’m grasping the body so I can pull the whole bottle closer and later reach its neck.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1635, 1.8809, 0.8562, 0.4175, 0.0551, 0.0006, 0.9975, -0.2314, 0.7448, 0.4229, -0.3206, -0.3454, -0.2638, 0.9956] state[eef_state]: left_x=0.4742 left_y=-0.0844 left_z=0.0448 left_yaw=-0.2218 left_pitch=-0.0449 left_roll=-0.0172 left_gripper=0.9975 right_x=0.274 right_y=0.0006 right_z=0.1289 right_yaw=0.1909 right_pitch=-0.0279 right_roll=0.0005 right_gripper=0.9956 state[joint_eff]: [0.5538, -8.3487, 4.6427, 1.7607, 0.0366, 0.1978, -0.1294, -0.6632, -1.4291, 6.9812, 1.8535, -0.2662, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The blue cap is still ahead of the fingertips at the arm’s table-level reach, but the bottle body is centered. I’m grasping the body so I can pull the whole bottle closer and later reach its neck."})

tool

executing move_to over 10 steps (1.0s)

step 340

assistant

agent noteThe gripper has a body-sized hold on the left bottle. I’m pulling it toward the base at low height, aiming to bring the cap within the arm’s reliable grasp range.

move_to

left_x0.3400left_z0.0550

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1696, 1.9057, 0.828, 0.5175, 0.0444, -0.0002, 0.4977, -0.2371, 0.7364, 0.3954, -0.3126, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.4769 left_y=-0.086 left_z=0.0431 left_yaw=-0.2184 left_pitch=0.0016 left_roll=-0.0094 left_gripper=0.4977 right_x=0.2706 right_y=-0.0002 right_z=0.1204 right_yaw=0.1852 right_pitch=-0.038 right_roll=0.0053 right_gripper=0.9956 state[joint_eff]: [0.1299, -10.2632, 4.6154, 1.6972, -0.0269, 0.0757, 1.0134, -0.5675, -1.7026, 7.0496, 1.8584, -0.3248, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_z":0.055},"note":"The gripper has a body-sized hold on the left bottle. I’m pulling it toward the base at low height, aiming to bring the cap within the arm’s reliable grasp range."})

tool

executing move_to over 11 steps (1.1s)

step 351

assistant

agent noteThe left bottle moved toward the base with the gripper, so its cap is now well inside reach. I’m releasing the body and coming back above its cap for a secure neck grasp.

move_to

left_gripper1.0000left_x0.4150left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2821, 1.4311, 0.3286, 0.4931, -0.0475, -0.0357, 0.4992, -0.2379, 0.7128, 0.3599, -0.2897, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.3392 left_y=-0.0858 left_z=0.0409 left_yaw=-0.2342 left_pitch=-0.0475 left_roll=0.0117 left_gripper=0.4992 right_x=0.2678 right_y=0.0003 right_z=0.1148 right_yaw=0.1843 right_pitch=-0.0279 right_roll=0.0008 right_gripper=0.9956 state[joint_eff]: [-0.4991, -5.8462, 5.9145, 2.2686, -0.1343, -0.1978, 0.7009, -0.6222, -0.5812, 6.8581, 1.917, -0.2808, 0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.415,"left_z":0.13},"note":"The left bottle moved toward the base with the gripper, so its cap is now well inside reach. I’m releasing the body and coming back above its cap for a secure neck grasp."})

tool

executing move_to over 6 steps (0.6s)

step 357

assistant

agent noteThe pulled-in bottle’s cap is just below the left wrist camera when hovering above it. I’m lowering almost straight down over the neck, with a small backward adjustment, to check where the fingers land.

move_to

left_x0.3950left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2081, 1.4445, 0.6987, 0.2165, 0.0021, -0.0235, 0.9955, -0.2379, 0.6994, 0.3344, -0.2829, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.4121 left_y=-0.0837 left_z=0.1273 left_yaw=-0.2087 left_pitch=0.0319 left_roll=-0.0066 left_gripper=0.9955 right_x=0.2645 right_y=0.0011 right_z=0.1081 right_yaw=0.1843 right_pitch=-0.0327 right_roll=0.003 right_gripper=0.9956 state[joint_eff]: [0.2667, -5.4085, 7.9521, 1.6777, 0.1832, 0.2369, 0.0464, -0.9231, -1.0051, 7.0359, 1.8632, -0.2564, -0.022, -0.0122] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.395,"left_z":0.03},"note":"The pulled-in bottle’s cap is just below the left wrist camera when hovering above it. I’m lowering almost straight down over the neck, with a small backward adjustment, to check where the fingers land."})

tool

executing move_to over 7 steps (0.7s)

step 364

assistant

agent noteAt table height, the left bottle’s blue cap sits centered but slightly ahead of the actual fingertip grasp point. I’m advancing three centimeters to bring the narrow neck into the jaws.

move_to

left_x0.4250left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2214, 1.6745, 0.5026, 0.5911, -0.0082, -0.0284, 0.9967, -0.2379, 0.6796, 0.3069, -0.268, -0.3458, -0.2638, 0.9956] state[eef_state]: left_x=0.3954 left_y=-0.0839 left_z=0.0369 left_yaw=-0.2107 left_pitch=-0.0195 left_roll=-0.0052 left_gripper=0.9967 right_x=0.262 right_y=0.0018 right_z=0.1035 right_yaw=0.1848 right_pitch=-0.026 right_roll=-0.0001 right_gripper=0.9956 state[joint_eff]: [-0.1299, -4.3419, 3.2752, 1.2674, -0.1343, -0.0171, 0.1148, -0.7179, -0.7726, 6.7761, 1.9072, -0.3297, -0.0171, -0.0122] camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_z":0.03},"note":"At table height, the left bottle’s blue cap sits centered but slightly ahead of the actual fingertip grasp point. I’m advancing three centimeters to bring the narrow neck into the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 367

assistant

agent noteThe blue cap is now at the lower center of the left wrist image, right where the fingertips converge. I’m closing around the neck and will check whether it leaves a narrow, nonempty opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2089, 1.7775, 0.5751, 0.6765, -0.0044, -0.0284, 0.997, -0.2379, 0.6682, 0.2878, -0.2626, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.4235 left_y=-0.0853 left_z=0.0398 left_yaw=-0.2013 left_pitch=0.0354 left_roll=-0.0077 left_gripper=0.997 right_x=0.2596 right_y=0.0023 right_z=0.0988 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956 state[joint_eff]: [0.4991, -6.4205, 5.3949, 1.4628, 0.0708, 0.0464, 0.0073, -0.8821, -0.9641, 6.5709, 1.8584, -0.315, 0.0073, -0.0122] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The blue cap is now at the lower center of the left wrist image, right where the fingertips converge. I’m closing around the neck and will check whether it leaves a narrow, nonempty opening."})

tool

executing move_to over 10 steps (1.0s)

step 377

assistant

agent noteThe fingers closed empty at the cap, so that forward position overshot the neck. I’m reopening and backing up four centimeters to center the bottle at the fingertips rather than behind them.

move_to

left_gripper1.0000left_x0.3850left_z0.0400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2096, 1.7596, 0.598, 0.6506, -0.0231, -0.0269, 0.0149, -0.2379, 0.6533, 0.2626, -0.2523, -0.3454, -0.2634, 0.9956] state[eef_state]: left_x=0.4294 left_y=-0.0835 left_z=0.05 left_yaw=-0.187 left_pitch=0.0504 left_roll=0.0027 left_gripper=0.0149 right_x=0.2569 right_y=0.003 right_z=0.0931 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956 state[joint_eff]: [-0.253, -7.4188, 5.5316, 1.2576, 0.1197, -0.0269, 0.9646, -0.759, -0.841, 6.8444, 1.9121, -0.315, 0.022, -0.0122] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.385,"left_z":0.04},"note":"The fingers closed empty at the cap, so that forward position overshot the neck. I’m reopening and backing up four centimeters to center the bottle at the fingertips rather than behind them."})

tool

executing move_to over 10 steps (1.0s)

step 387

assistant

agent noteThe cap is directly under the left fingertips now, but the previous low close still missed; the fingers appear to have passed above this narrow section. I’m lowering to tabletop contact before trying one last neck grip.

move_to

left_z-0.0100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2401, 1.6524, 0.4755, 0.6395, -0.0479, -0.0532, 0.9943, -0.2379, 0.6384, 0.242, -0.2443, -0.3458, -0.2634, 0.9956] state[eef_state]: left_x=0.3942 left_y=-0.0841 left_z=0.0459 left_yaw=-0.1826 left_pitch=0.0246 left_roll=-0.0066 left_gripper=0.9943 right_x=0.2547 right_y=0.0036 right_z=0.089 right_yaw=0.1845 right_pitch=-0.026 right_roll=0.0002 right_gripper=0.9956 state[joint_eff]: [-0.6632, -7.5966, 3.6308, 1.5311, -0.022, 0.0757, 0.0366, -0.9641, -0.6496, 6.5026, 1.8877, -0.2857, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":-0.01},"note":"The cap is directly under the left fingertips now, but the previous low close still missed; the fingers appear to have passed above this narrow section. I’m lowering to tabletop contact before trying one last neck grip."})

tool

executing move_to over 4 steps (0.4s)

step 391

assistant

agent noteThe descent stopped against the bottle at about four centimeters above the tabletop, confirming contact under the left gripper. I’m closing at that contact point to see whether the neck is actually held.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2424, 1.8427, 0.4778, 0.968, -0.0498, -0.0628, 0.9956, -0.2379, 0.6254, 0.223, -0.239, -0.3458, -0.2634, 0.9956] state[eef_state]: left_x=0.4177 left_y=-0.0906 left_z=0.0436 left_yaw=-0.1773 left_pitch=0.1647 left_roll=-0.023 left_gripper=0.9956 right_x=0.2524 right_y=0.0041 right_z=0.0846 right_yaw=0.1846 right_pitch=-0.0267 right_roll=0.0006 right_gripper=0.9956 state[joint_eff]: [-0.0615, -2.947, 2.1128, -0.2515, -0.0708, 0.1441, 0.1148, -0.7179, -0.7316, 6.5162, 1.8339, -0.3297, -0.0122, -0.0122] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The descent stopped against the bottle at about four centimeters above the tabletop, confirming contact under the left gripper. I’m closing at that contact point to see whether the neck is actually held."})

tool

executing move_to over 10 steps (1.0s)

step 401

assistant

agent noteI could not stand any of the three bottles. The body grasps slid or released during lifting, and attempts to grasp a neck closed empty; all three bottles remain lying down.

give_up

hindsightOn this setup, a bottle-sized gripper opening does not guarantee the bottle will stay held during a lift: confirm movement in the overhead view immediately. Repeated low approaches at the bottle neck caused table or bottle contact near z=0.04 m and pushed the bottle instead of grasping it. An uncommanded idle arm also drifted from z≈0.18 m to z≈0.08 m during the attempt.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2413, 1.8736, 0.4759, 1.0897, -0.0624, -0.0532, 0.0146, -0.2379, 0.6121, 0.2028, -0.2298, -0.3458, -0.2634, 0.9956] state[eef_state]: left_x=0.4259 left_y=-0.0898 left_z=0.0585 left_yaw=-0.1691 left_pitch=0.2538 left_roll=-0.0156 left_gripper=0.0146 right_x=0.2505 right_y=0.0046 right_z=0.0804 right_yaw=0.1845 right_pitch=-0.0246 right_roll=-0.0004 right_gripper=0.9956 state[joint_eff]: [0.0068, -3.2889, 1.7026, 0.1929, 0.0562, -0.0024, 0.9597, -0.9504, -0.6359, 6.6803, 1.8681, -0.315, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not stand any of the three bottles. The body grasps slid or released during lifting, and attempts to grasp a neck closed empty; all three bottles remain lying down.","hindsight":"On this setup, a bottle-sized gripper opening does not guarantee the bottle will stay held during a lift: confirm movement in the overhead view immediately. Repeated low approaches at the bottle neck caused table or bottle contact near z=0.04 m and pushed the bottle instead of grasping it. An uncommanded idle arm also drifted from z≈0.18 m to z≈0.08 m during the attempt."})

tool

give_up: I could not stand any of the three bottles. The body grasps slid or released during lifting, and attempts to grasp a neck closed empty; all three bottles remain lying down.

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 · 7.658 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.6075, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7876, 0.6029, -0.3866, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.4838, 9.7983, 1.79, -0.0171, 0.1099, -0.1538, -0.8684, -0.841, 10.2632, 1.8535, -0.1392, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbedd542f6132f47bcf252202cb1ac851c21772c17bb509787a3e73ed117e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9323972cb1584a252ee5388bbcf0f5235a0746875ca0a77ea7c50f7c65e417ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b678c973029a9acf964ebcb7df377ee1943135da6e89400d646d0fc441a9da5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.629 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
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  "id": "rs_031704c1cb641f58016ab43488dd8c87d0ad377ffcfe0b743d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSPYlc2MrTmvwrrpMqbosOLuwpjiebVGsn0oI1OGgRWN0joUei-icwLW-G1rld-Qs7FYm9ov1hrENE8K2ZksZphRhU8Asx3y4NEded_6uf2SyMAzR-rg-Risx5r6-c1SoXqVVRZErqDxs0VEyYbEMKRPUVZ7dHFKVsjq6sNLVYygX-2TbgA39ucoXSjTLh-WYX5KDCGRLeo7dAhBfb0d8_LVp-2XpA6cL9RLlFemrYw0zjpBtXJhLC52gupSjxjTWOysbHeZRMue-Y8HaVdECbvTQ5ayMjl_WDUfRoC9uqu9iUMZmVM3KweGXgarrUxFCg20DDa9dZpRVXs0mfKMS2Hn0GVtUIzWCQflkM6TOk8LU655UOFDAR-B-ActVE9PU7XyzRuEwDQElfDDWG6RD0oGS2DWg_NqpMv4OpDcw6Wdw7jZlk_yJbaFpSDTjAKWCUOywduKoSXRYJX50UmhTBy-3PMoFQ-iLvNv636nuJtKTr5FK1mIEtV9NgD6IzAwCSsEHlu-tbsCAY7r9eO8eiRL31jnl1ngW_KpR3nK84WRz-_Sx7R_S24Mm32Lrdi78hx3C-YTcXHsigzd-irGMJ6dCFU4Xv0caUFY-5yQyOgzU_r40WmJMJj_pwMCctxAitbR5sanv2mzQO6yl6NnusPtK4ZTfF3__pmlN1qLYq4DwRLq_pBqWtEKVLuU466VPPTRj0SoDDvofloG7370KJcK7oseqW5RfORGs1wGiTAqngBUIMsKGIPlU73jWfuA1wLZFagwKsj4yMMGK2zqtZmjFJ8IRUydzoXb3AYMjFYn0mM12QrzEPQLSxjI1_hR5rll8wfh8z3z1Z6XgrXMzIj-eFqSgevUaQ6R0RZcDjgZPWrG8_4_tSxu4KJWI6ONqqi8cf3ga9xxkf0gbCaiWFvgThBTADRDKMdXQJjb38OKsOGEHWYSyzmfRm8heA39oDTM4aBOyyjIgZyGRgvUSnBOyJwrDNiuZWRZyYcd2p_FvAUzm4PChLRiKOJUbTEo0hr4t7BoKF-_V_tBOF3CQSGGVdhAPkPm5qOOrebdA1-FvjuoPdsE5GUj7XSyfjC4rgxSV4t8T5sF_Zhwu1pi6B3hEq_MetVbGcoPhySZO0dBCW47RRkxONu9wC1TdUnu1ByFAlEc216F8GGnLAn7_FNO4FWU-S4HQ3ICZFuEL7Q0wYWKMvz0AVmZPaYnXRCGlhIkqc0Dm8AozXLKu_ZP12XeEibXn0OzJU76BtnfIwjvJey-Yc8oM9CKI6jIBkpSDkdS9857iHhQSQHSuOPYa8e15IkcuOQzdAjgmeWXLYi450FPQO3FM5H2l3CgEIxHabmz5TUVlRoUUmgFpGUXIM6QWNworS9hgwE3GwtL6OMmz1cQAFDPiZno1V-h62b5hYMUkRRlTocYwmYxVny2jjIXgV-PjNthHDd4heEGRatND8rGgM2Z232Vq4PTPkOVvL7Sf5vEP4AMqxLrJbFWhQV6lTH2qKBndZ4O9PrZkJ8ruTT9Eba5n6zSbRgyLuWaQ18",
  "id": "rs_031704c1cb641f58016ab4348defe887d0a90ff97eba35d767",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.20,\"right_z\":0.14},\"note\":\"All three bottles are lying on the table; the rightmost bottle's cap points away from me. I’m moving the right gripper above its neck to check alignment before grasping.\"}",
  "call_id": "call_4wSdWovFwbf1B4hhkKTm317w",
  "id": "fc_031704c1cb641f58016ab4348ed4ec87d08a61418cdb095c0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4wSdWovFwbf1B4hhkKTm317w",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6144, -0.387, -0.0223, -0.0292, 0.9984, 0.6033, 1.6875, 1.034, -0.0784, 0.4667, 0.3099, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1823 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9984 right_x=0.4147 right_y=0.1936 right_z=0.1208 right_yaw=0.0396 right_pitch=-0.069 right_roll=-0.0466 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6889, 6.7761, 1.79, -0.0024, -0.0562, -0.0317, 0.0205, -8.1436, 8.8137, 1.8584, 0.3199, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eb2e969699db1ed490234b4ccca7416eb6a2590800727d838fde947f5c124a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2accde372c13ade972450b82c5f2471fd74bd876d96d9c88e528acd370b59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc04bdd6f8714a6da5073880b49cd978c9fa22d63f58096cec62cbbf3a83bd31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 4.548 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.6075, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7876, 0.6029, -0.3866, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.4838, 9.7983, 1.79, -0.0171, 0.1099, -0.1538, -0.8684, -0.841, 10.2632, 1.8535, -0.1392, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6144, -0.387, -0.0223, -0.0292, 0.9984, 0.6033, 1.6875, 1.034, -0.0784, 0.4667, 0.3099, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1823 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9984 right_x=0.4147 right_y=0.1936 right_z=0.1208 right_yaw=0.0396 right_pitch=-0.069 right_roll=-0.0466 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6889, 6.7761, 1.79, -0.0024, -0.0562, -0.0317, 0.0205, -8.1436, 8.8137, 1.8584, 0.3199, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93eb2e969699db1ed490234b4ccca7416eb6a2590800727d838fde947f5c124a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2accde372c13ade972450b82c5f2471fd74bd876d96d9c88e528acd370b59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc04bdd6f8714a6da5073880b49cd978c9fa22d63f58096cec62cbbf3a83bd31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSV0RVEr3A0WjJWjgaI_ksPse_FyZf9wrs6OIXMkgqiZ0mqcg0wkA4GYWeEKWiBCwN1uCtnaeDW2NZBy04ncaJKg5Ez73EW3y_IehnEOr5YTeEXk-cU4RG7lTpIdSRFnaMVJC3FtOwHeXmHxmUyVjAB7uRcw1M71272DHJMPhUtBUesN0dTBLwhsOIdoem3m4eWpIxOCwpbHdJGDSDkf7CYc5XbGI0GVrkb5rM2LrYpnXgfIh6xQ3EfDwVHCsi-bO0ZhLMHw5dFVG2Yr828xVhex9XEfgWiE9ycryfJ5Bi7CX1yy9xgOGI80k-t2V6o9f50DhgvxVae3MOlGO3VR9ONq-eVIVCxpGn5a-k0Moi2UVogwIEKS4vWmE8j9z-Js2FfrbTVeFLk0hDV_iU5Lpo3q1umsMN-cOQE1VHB6eocYydUBGuxh4O5y8ALovCp5nL0ID7Qe1AhQWR0ibnT16XKg4fitHmGxoF6k_vQ29IENi4BxOxUFQBO4TIJYkYDE05UkK6JMphICcwtwI4AxEhOhOWyhTciU6eFVhmSLqUGbQwwZAX4WPE9w7d1tLYd9DuSZ4ExkKpm-8_r5MwneZlhsTDg63TLrEp5sl4FFQrY3xVJ0vV3N0EoNVhjtBmH24h5TSYeWOSYovTknxGpfxO0BY8kZfUa1M1HjHCXvzC8mPrfm9iEe1pXmA0jD250IUMFGORumnGnYw2PQKYCW6vX7N22QZitKGHc2adSjySgH7Pms1jhZDDMhgtaRgA_20pchKQzl8AJRFmCKob9N2vHadoyPRiDrLnN-8pRpOp4gm5ibqht35AQdoLSUYXMYEImjibunHVH3PLjE6G0pI5wxkAXi9cbMqrqYv_oOYSWftflbqsrOhlUPqR5931xEJEtoZcNyoiNzfWJDchQZEYFKjrxk0ZQ8RJuEFQ6yi_DJZK8QzN4B0NwrO5ClQ8BcVv6aoPctI62C27tIYERWY1MWmlTbgM5f1d8KW_K3MmE37jgaibBZ4DCA3MviUlHlNuAqr3pQikkjCstcQAmAzOkcX8DBtjjgZCR3-GSEEc76Rigr4coj52Brsa0e0QCGu0a8fvhwhVe6oH-tcvBK0oP-GpQrMg8js79cq1ywPFvE93niatNmrtz6hVVnloNSU6k8iqlRApOBTY-HfV0RHrAEMsMi9aqwCuJAm4RkhlvMgiwLaYYFn0hzaIF5RD_Pw6H5AxLN3dDgoSM90t2KMS73LRBlLh_HpZgP7L-QbvqRsnzsU5RACxM3NajFUki-niXrEO7lFkgzk-FS_9nf33C2gah0uFWKopd2JRxzp0ZK1tQ0NwMJGy1y2yFjmpwDhteyk8mhBPiQJi73fE0J6-wt2_qoq6-QOX3L88hQEhRxXoNkYkIBhpwgSzi_sQbYOZPIXGo8wHkqqnx9EbCc0hI3RhxapZjldGyivFxyofnKlsS8lJ45_Pc06uvUWARv_QtYAksUG8otLpMiP9xMv7S96dyc8ifKRrdgVYrco9sHhivEAlRaJDuUb4ATd4wmzujAK2v-GgDSjUxSUH-wbOOAjNRCdVN6GTVdnl78HlDQVu4rmjUTQrUC62y6MzzFZ8rDabC1sRyEwSKz4lZuIsy_PpshAX3JdNF7gw6I91lUmnwasdKuSX13H1DSXpATRY6OUWow09wdo3H6iGLE_QQFVI0txXzaSdFg3e8UbKEZ6lk_8sDdS01gSWLxKw-LBiUqV2B2TPuqft0GfkIH2Fj0MTyEAmItXZ4PiVaawU-lEKrs2RLIfwsJvGGiKMstW6yfg-lh8cxK2wYnszVAT24NT_Kv6HHEukX0TLjPrqmNQc27HchC9Ao7qjbV6qffWHAPCu8sfIOem7zDCrIeV9I1ZHjUrkm-IW5apCLkORljLiONENmG_0QQ8D_71cAqmi_VhUezVzqCGoI57UOgCsJgm_-X-bjNGR5nhFLiwgnIzrY8yJ3WpmxlV7XV5I1ZFxQaxikP3YLbAh1xs5svdnlmaoCWtzpGjpP1GS-kJPkcFzK7WS1sdU_LyhxMWrAuWNCooN4HMZVyqdXGQ3QarK9njAGECQA4toGq9MFQO25VgAQBlYpAZkFgFCAf2o1eqUmYQLW2KUmJX1QqkIy8ZsNAXLcSWsHDnOgbPchjuA6d1pq0Zm_t8owsWU9ed8P_1f-TWbvwVpGC4BbAmRdnh3I0EBuCRB13qkGWKb40C4I-eaLyh5ESRs5xQixI-4-SNbUFLsdbhCekqaZKimwpx20ZedeBrd-LjvkGkYR_8l8qcEPs9W4BmQbBPuBGzryFz9jnlpS7XlldlzR_64v3vWzfclb8-0gAXK_KzXnKfd4J_dwPSmK2RpgHYW__I_vlxUbyh_4eKPRH8aVIc1riZdCDek98IJBX_7-hQvcoaiBFTC1zfX7pV24yDDHPZXy-xKnI-OSuRyUTLSjP9fx3ihu7CLg4afbXqKDE5wP37Lq73j6YYJsh3ExSVERvDNgB--FqmYV0smjfZBon-dOrTxFW7JsfIDzEdK40NXB5YcP5lEZs3CGsLTdUYuwW-9Y2XDtOE46E3iW_MSsc0U7txgL47LUA-lfBE1YeBslHsNGvmtN-GUh9UnmerTgcdH_-Uc1F8E2BYalWDKFEhfZEpjqUzzgIgMp7Hisx4463WvPp7ImtmtIw9ZaLLD_xF8O0PdheJiKqziic-v-OGKQNBUN6hHu6iqHAXBpWuhAs7WNwbuqw5YdgfenoU4zWEqIoSC_",
  "id": "rs_031704c1cb641f58016ab43492092487d0bddf6368ee6f3409",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.09,\"right_z\":0.12},\"note\":\"The right wrist view shows the bottle’s capped end to the right of the jaw column, so the gripper is too far toward the table center. I’m shifting right and slightly forward to line up over that end.\"}",
  "call_id": "call_UGw2SBS1dKD2EsI9Zm5tL0jg",
  "id": "fc_031704c1cb641f58016ab434953a4087d08e1f61fadf856aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UGw2SBS1dKD2EsI9Zm5tL0jg",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.6611, 0.8967, 0.1066, 0.2096, 0.1169, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9983 right_x=0.4464 right_y=0.0912 right_z=0.1003 right_yaw=0.0263 right_pitch=-0.07 right_roll=-0.0212 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7162, 6.4752, 1.873, -0.0122, -0.0855, -0.0122, -0.294, -9.4701, 6.3385, 2.2637, 0.1832, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bfcf11b67ae61fe9c001bcc6ebd9aab366e6b96c6d8389cb01108a9a8b49d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db97820572cb34c615bceb83f5c009d8f0e6a7046364f42b4dcbb636d324f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda148cfacc8f7f35752e79d00215bcd993f511df2cc07fc2afe9947fbf6b15b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 2.286 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6144, -0.387, -0.0223, -0.0292, 0.9984, 0.6033, 1.6875, 1.034, -0.0784, 0.4667, 0.3099, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1823 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9984 right_x=0.4147 right_y=0.1936 right_z=0.1208 right_yaw=0.0396 right_pitch=-0.069 right_roll=-0.0466 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6889, 6.7761, 1.79, -0.0024, -0.0562, -0.0317, 0.0205, -8.1436, 8.8137, 1.8584, 0.3199, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.6611, 0.8967, 0.1066, 0.2096, 0.1169, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9983 right_x=0.4464 right_y=0.0912 right_z=0.1003 right_yaw=0.0263 right_pitch=-0.07 right_roll=-0.0212 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7162, 6.4752, 1.873, -0.0122, -0.0855, -0.0122, -0.294, -9.4701, 6.3385, 2.2637, 0.1832, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bfcf11b67ae61fe9c001bcc6ebd9aab366e6b96c6d8389cb01108a9a8b49d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db97820572cb34c615bceb83f5c009d8f0e6a7046364f42b4dcbb636d324f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda148cfacc8f7f35752e79d00215bcd993f511df2cc07fc2afe9947fbf6b15b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSbTgnoc9LU_rSh47ykRoDMfTq3sg0hv_xn4ABR3ZArMcqwBBIzT285hclVFxQMs7q4VuLIWXiDeueYWc20v4JLhJt-huqHSc0KANZs_kTkOQMz-VMT8CDDVCQIGICW9JX15ZcQtBPes-ALHa6srX-bzXV0DNMhbUe7TGX5i4I-RoQtiXKYUEspmHy4QY0vvLtsbMVz2JwuaNW_rfoTEWXPG37HWbiPGxc3kqqI1h3yPAqkMYE-m3NI-coXxhhT4Nml9-DZgRX7hwj6DulTRBDUUMgCAcNpBh1h5QuBnQxeBMbKa291aTupEC8Cn2tmb3n-Rgt_lcmTqUWA2GfT6YW1mARk7lv5jbqP0fZ3Noax3cLWX9dEKCxQH06w7pytrbufzm2pByUYz8wblv4aMlhPLqydRJORbbHiQudpmSdVxPpNLu6bcIi5C8LGmAe09JfnZgAZfWLQRLsSnpYbgiv3V2cI5qRJ11-MfkTBwIh6cy41UEwmt8WtdlJ7YYPLFVg811penUaQb5VrraHs6SW_kS_IWr86kqNgKpkmq5AaSZoXduYdpQ2bDrZlZhQjVYJfTHgiXMMLsrSjhT_iJXMAMOIwGbruFVVPV1l-cI8c0p_HwOQUBao_VJnB2jyrcAnaXehMs7TKxwYnGM8ZNuFEwQ6s_36OoKadNJ7rtJbdMA52YD-o2U5C_TKm-uh53xbCnj3llGxs7-4wQdu_KTi4-tQzJRemrc6WrOU-i6p0SHD56EoTzuW7VvbDmzV2q3yOrb-8aj66BNlhiQJKZdHh9sOZL_Z169Xajr9qnBJsDHxt1iH0Y4rMnT2oZon4gK-HaN6pwwYpPG2a8ZJ7mYo1VgiUomvv2tGRrHGF2p7xb-lx1sIwE3h0o0WtyHrwSGFWMCXzdBzix-zvBa-7NgcQ1xGrvcNkafuV1PETCo56wg_XVPiWUj7WwMMXniLB_LXXQktBroMjDnqfG6FMTlsj90qIdDj3RRTEq6efk6ypfC6SZMMPszKUou3CDSjmxyk5Z1NPENMGspIZpm1vqccZw_AhIbTWRF9BPuICd1fmYab-LBGP1n2ElDHkftU4uT1taVemf7irE5h2ErsLklkoNsYZrAzFs5ltkzVrCSqcFFbpUbV2TCTB2MtKsGfW1a68u5VptjS4OeRIz1I3P1uVOBL8pY0Y3CTDqCEqv8XX57_1GU0R0V60YDkH-wLfplJATSrjgbVm8qKGJa5hYhCrgb2t7WO0NyrgBA_WCF3hE9zNlTShcGeoqn9BBEG0BCuWDYryuSqKJwmTmDwF9rQgpOsVGaGNm2f-R-aaFTOhRQqYzoyRKLhbt4zKElWfQr3ffPBN1yisceJGEtBkQrBtQd9OGohdnZN9DrKHE6FEbqyARkXbcJ3vrggSweb_xxeLkDb-eQ67_i4EOkNqdanp7aaDKyPjZOFBx1G5jelG4fzNv9kJUtyWbTP7Cx5g7nwJF51DHYQBoF31LYrr4RjMsooc1nqfhrYK2Pas9HoFE1JA-8O0VYT9aUgFgc1ddlx7ZtTVhxxj-sT6LO_1rU7dLih-vXChQkWKRMup78k8uQWJt9CLNC3koKW_AkrWQdzfbGOj_r6V9G_PoEVx0p33VQqJwTrc2m37aaGk0aqkh7-thAbNSQTdHO3NcXYBqNX-mRMSkK-tqgW6TbM1gzkmIJpOT6DiVoI21P4H1SwTi5yH3fFi2FLodxZIAJzzyKAwum-SxyZ-lj49uCH-BJ_EwlZ3_P1e3tNX8LytXD4ZlEEsEx4PeRx_SudFsc7mq20P_rqOXPsrOfTHAJxQDCpfVNjQkwC-qkTTaMHqXZdvkyNSezI8Gc_gDzsUvWIsulLNi3PnJKJnwcLA0nMIqyXTkB9hW1jLmDGPsXj2T7BoOWPom12fqszwYfxZBbLPctVIA2jE5tYBO3nF-aynvbQGMystXnQ43s7VxL2_Hwtw9nAQNaDwbMqtcN4AqYSGqJtn0_e3EcwaCPz_LNk840xHijpzuDzZhSQf7FZEwTcPdtA3UH9MNw9lNhtY_ipivs1miS2DZhhuleosAC89JxxxLG5n5B1oh_E7EGVq5JcR5lCU5haHR2MT0OjLlgSmeVDMsbB1JU73cchAUx9NIvWaC5CDV_78KIBca38KJ-M_82pgw-7f3it4qUyvrY1UDmSe9bJCTWSIHbfHhezheEV_RM0wyAbWysto0VdNgkRRFw03uk_VbaAUoPwotNlzANrJkHZ0ETJwZ5GnLUq-FOxAwbCS8PaLZ8SxSD9dsz4xQ4-wFXqjOx941NKHVNeWVrrljzMszUzAne1nR-YjwZR9MPEQ4XF7DaX8z9G4WhtTj5HXngmKuVfICRdISq7qljGdz1i-RPXTGsOqnUIz0wqnH8LbUy0o_Dh-Y9fOkoT5zqC46EUrCNkb3DtoF-EinMbFru_8aofBEOBt9Zsh4eS3hPD_ZohSFRc-1KVfSq-9keSQd0fi2i1NeKpgyz11fsBAisAxLsn2bgK_H7np5XwiPBVbX67r1sl_Y4y-z7hkCPVAxfsS-mAMFKDVuZWUasGx41ZNQhyMsMLWfNELad6zvBEFoHSWIGRxA4y8IPDkic_2fXzeTRwykGk3AImFyfSL",
  "id": "rs_031704c1cb641f58016ab43497a3e487d0b2c64fa0f3073de0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right bottle is now centered between the open jaws in the wrist view, with its cap ahead of the gripper. I’m lowering onto its upper body so I can lift that end upright.\"}",
  "call_id": "call_lfPZ2vPSLUQRb1YZ3Acpk1BG",
  "id": "fc_031704c1cb641f58016ab4349a8ff487d0befdf47da196e236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfPZ2vPSLUQRb1YZ3Acpk1BG",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.8294, 0.7303, 0.4435, 0.189, 0.1062, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.0076 left_roll=0.0017 left_gripper=0.9983 right_x=0.4368 right_y=0.0922 right_z=0.0279 right_yaw=0.0493 right_pitch=-0.0708 right_roll=-0.0169 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.6752, 6.3385, 1.8339, -0.0073, -0.0611, -0.0122, -0.3761, -7.2137, 4.7932, 1.9219, 0.1197, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770253a4d8812d7afa0000f661a7f1b66e42a46678f3dc862045dbbaba550183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70ba727d1b59ffdae7891af7966aad242ff9bbcda1d1d2d9ebb065b6ff9e2a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3894febec05eb9af12fa6c2a498f50ea3cb1a69ef79ffb0ef459ea14f0be66dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 3.251 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.6075, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7876, 0.6029, -0.3866, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.4838, 9.7983, 1.79, -0.0171, 0.1099, -0.1538, -0.8684, -0.841, 10.2632, 1.8535, -0.1392, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.6611, 0.8967, 0.1066, 0.2096, 0.1169, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9983 right_x=0.4464 right_y=0.0912 right_z=0.1003 right_yaw=0.0263 right_pitch=-0.07 right_roll=-0.0212 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7162, 6.4752, 1.873, -0.0122, -0.0855, -0.0122, -0.294, -9.4701, 6.3385, 2.2637, 0.1832, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.8294, 0.7303, 0.4435, 0.189, 0.1062, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.0076 left_roll=0.0017 left_gripper=0.9983 right_x=0.4368 right_y=0.0922 right_z=0.0279 right_yaw=0.0493 right_pitch=-0.0708 right_roll=-0.0169 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.6752, 6.3385, 1.8339, -0.0073, -0.0611, -0.0122, -0.3761, -7.2137, 4.7932, 1.9219, 0.1197, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770253a4d8812d7afa0000f661a7f1b66e42a46678f3dc862045dbbaba550183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70ba727d1b59ffdae7891af7966aad242ff9bbcda1d1d2d9ebb065b6ff9e2a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3894febec05eb9af12fa6c2a498f50ea3cb1a69ef79ffb0ef459ea14f0be66dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSenppFIn0K6luxqxw2JItmzre3WdILPSCNcea6Bvhf1ZfHJ0PVuG-_JenDtmyPepX56Xq7QOp19s98fDLFBWVKrbSN-zy_CUG2uldGrsQlXBu_Wbr0qgcQVAqjM8vlqn0aUug7tMQokVXBRxzbibY7ZMgCcWRqYz3k2q5WBGvHzCJSfhRYjbpn6SpRH-ZypZYdKe2YSksHKSIplcv46F3esFhMIsU6la1l9D5Bv1Hxws6j1eCgiHWq3mIBp1TX0CenmP2KPxm5obv1mmq-nzE1jOA2QgrkwVHpZjOOBtAUSG9U-N_L9aci4tMjwMdLmwHPasNzsOaFEpdatLoP2lZYXNfGfuD95rxoDG2i7GC4yiLc21gBO_9Cv0b45wCwC49VDMsQD2P3TwRtS7BJx5yvWGu-d9jP_tupmFTNNcwd5exJTY3cZoqZuCwMGMPQr6nVg-Ppzhg0DBz39Wdxs7DHjKYHqzwtRHQSzePT19im39lFWznEAO6x69DN2wJDFpakQLQNwGh8P7L4pQzHuezHhGc-n9vjX1ZI0jrwX_gPHk3ivOtnsVkAjJQzBEy0sE9VeEc6HCv2WdJLHGqeWrVFBciYT0L3ja_ZvK42Gd5xzIh5K_2TGXZFxryIdzSEpUU0q-Km-8EjaCyzbcmfilHh1E5XKhS1fRYJxSYtzetWoHpg1dogv9DsS1YH5JNQgXICMfu5Uazg45O6wpSQbLF4r9VNCfS_pzLpaOXsp6PCs9ECu32zXzmaoRP9y0g8py2TcCnJQpvTw6A-MbA-ZyVN9Hb17VutjmBkiHlxtqjzWMw8pfz2TBdHrxRvf-nve_IyQ_1_hcK8K9iVM9nWgv886oPw33bfcXeiOd9P-2XKlcHrrXteWpIUQozvCVytnQlm4m1gYnvqR_pAsYoSb-1rWsOShqHxjAWCc4Bpub95Nk5Qo9fu3_4ZPUFvq2LS8ZzTefA7JG6oIiR79Bq6wyw1GhoMFXEq3TYzL0OHZD90y_osYMGfIyDrnu2NIi9jy4VTvXwGUKRSyTJnZ1ZiKogRtjuoNra4ESxVab85D0wrdZLpW6_vKijR7Kd2yJkfFdHS63SYZBvuR8w1_Yv8zY4Ssk3mnErNcqzg9dRhbDPnRSxz7DxFD1Hah5OP1ceC4xXjBW1T-cf6lSNOLUyiZ2R1a7-foBCRF84BugMKaLfa1hrjUZYIHcndbyGrpIW0C0DjTVdNag0K7JBhFCt0wxPazx8keERQeAVdf11JtpSDDzOQz4v87n_304AkVVUdIPdzbYvoZXtudREc12XItPy5jHtjYsQQPRTBppkggVF1nfy9Q1Fe6xAjCmKPwX90Y8Az",
  "id": "rs_031704c1cb641f58016ab4349cca1087d086cc52e42c228185",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At low height, the right bottle’s upper body fills the space between the fingers. I’m closing the gripper gently around it, then I’ll check whether the grasp actually holds.\"}",
  "call_id": "call_AsI54Cxq9N9PElCH1XxhCreX",
  "id": "fc_031704c1cb641f58016ab4349d310c87d0a973ab105447d578",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AsI54Cxq9N9PElCH1XxhCreX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2749, 1.8351, 0.6846, 0.6796, 0.1787, 0.0986, 0.0197]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.0083 left_roll=0.0019 left_gripper=0.9983 right_x=0.4515 right_y=0.0984 right_z=0.0571 right_yaw=0.0617 right_pitch=0.1082 right_roll=0.022 right_gripper=0.0197\nstate[joint_eff]: [0.0479, -1.5521, 6.4752, 1.8144, -0.0415, -0.0464, -0.0122, -0.1983, -6.8034, 4.0274, 1.0183, 0.2027, 0.0562, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd012b28d9a25fcc934580e8d1b6992e15eb8df0b159057a56b86640e9098b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190a868179dd91b3c0018045a5f4f7fcde7dc661f8b0586e75eafc9dc18a63c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78177628ce61c8e0a192d69b9054cd09204496862be9384b28a2a5dbf1047d15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.042 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6144, -0.387, -0.0223, -0.0292, 0.9984, 0.6033, 1.6875, 1.034, -0.0784, 0.4667, 0.3099, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1823 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9984 right_x=0.4147 right_y=0.1936 right_z=0.1208 right_yaw=0.0396 right_pitch=-0.069 right_roll=-0.0466 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6889, 6.7761, 1.79, -0.0024, -0.0562, -0.0317, 0.0205, -8.1436, 8.8137, 1.8584, 0.3199, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.8294, 0.7303, 0.4435, 0.189, 0.1062, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.0076 left_roll=0.0017 left_gripper=0.9983 right_x=0.4368 right_y=0.0922 right_z=0.0279 right_yaw=0.0493 right_pitch=-0.0708 right_roll=-0.0169 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.6752, 6.3385, 1.8339, -0.0073, -0.0611, -0.0122, -0.3761, -7.2137, 4.7932, 1.9219, 0.1197, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2749, 1.8351, 0.6846, 0.6796, 0.1787, 0.0986, 0.0197]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.0083 left_roll=0.0019 left_gripper=0.9983 right_x=0.4515 right_y=0.0984 right_z=0.0571 right_yaw=0.0617 right_pitch=0.1082 right_roll=0.022 right_gripper=0.0197\nstate[joint_eff]: [0.0479, -1.5521, 6.4752, 1.8144, -0.0415, -0.0464, -0.0122, -0.1983, -6.8034, 4.0274, 1.0183, 0.2027, 0.0562, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd012b28d9a25fcc934580e8d1b6992e15eb8df0b159057a56b86640e9098b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190a868179dd91b3c0018045a5f4f7fcde7dc661f8b0586e75eafc9dc18a63c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78177628ce61c8e0a192d69b9054cd09204496862be9384b28a2a5dbf1047d15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSiw92Ff8Bxiq_eNJE768XwtFGjymVPgazqDrs1cK2csXlvWgejn8YH_z8YlzVeeqfZrE5o70kkgt9rMSErlg1vNGh92-n07zv-zrVCfi0ifCsM6j2kMeFbNe_fD6i9UPFZ3iGTK1LDzR74P7syTrfy4C2jm8vOqu7tNjHiDjD9X5niyGHmxam0H7pehVtpvU-oXgKPYUla4XDRltvmSHpYNsfkCotP6T0V-w3lw7lDUzjWajULcixNQx7SCVIpOoQnKIvyfP2AX_9V6Z5zDJ7gVCc89erHSLMUgTifECpXtn0cWMCw_QbhjiYWPhRF_ql-gZ4XazzIjuaE0opSot7wyuWWsaPEZrN7UHJC2NSlLBfSskrQGNc_Vc9O81s7uJdQ7S3a16hgGoIark4QOcnXNb3xr8pZdPdW9DGZVhb36sYOUCVM0ulz4d5TMGJYHFEV8S11ODX0k1MXkLotvGT4ec1Q2WOaJRzh9a2SHvJIaBSyzUJMkZpOh0PFuay2m22u3GQ8EOiRtrLpByXkHAvXNl4s8EMpd5hettvWyYZfRsIGLI7vgmxpgDnJhUerZdlRBdw_orurw1AQLjp426_FYyEDrvFzrEjR89AclPRy5tgS4VNTR7hyxRiaIEvzCrXiibvKM6eD7LJAt7Fl_dmOZI9LZhOe7cNM-XMeqabfIZSuvHa2M4f-qNnRNhPtwnUsGrOrU3u7HQ_gfb0WBTTjn0B8q0wdEaH-boZDhmI-SxmvKzrvleaNw4uCEhmct366iXOiHMJP31QzPIoV4x0wNC6KMiB4Qz3lE05Y6yOCbTw1q7-5NNBK3E9a14fMrGk9FurbfJaUY1D0j95VLmNZDn2F7a0WqBaxEkXYj8qum55gjTqMGVZEio6zdBA9zFF80QXyk3M4Ug09p2jBHA4svd3U9pW2Q9O26auHrqAEdcVOCqoCJDVEJ4Y3BV3aWz9Z5bI0gNK_aKtwkg6I652B4elGLCcuZxXGEfINeIUqqh48C4EjQjcU9JcjqHK4cyzrjrWLTHaPfIB0M-oAKkI6Aa5YgxqiLzdhys3u3uQLs3P7LfaFwoGScBe3AF6mEajiyg-MM_zKy2i7M0uoafYh62ev9piO0KFH-CcdSyqIhNXvJZvf8V-NahZb8gEBICQiNTsGRvKV7MMFGAYhh36TMf4qodC_5FdcTdlyXAGCTlyJfpJ7rDqgk1RWw0LDZjQzxzsr6LxS3h01gv2X0RJaS5dgbQYQBI1_6iGfEt1zVlzNOF_A4VwIzuxOypABwQkbqgFTxiLaMheF9h1whN4gLZ5mFPnheG_3TM-IWHIY402t-JUMJB_X9_1z0pV2P9ONfVW4h-cUeAYVxIRPrB26OsHBfhuag1AbRX7huo1IJrDp17hGBdUgO7GMxJ0HTlF7TzQ8eqI9P_QjBiQaPJNRSL2KQynaWDIOUSIIWSFH0YqnLliio-Ze0Fh0OKDRywvlrHsL0cX7JNuJK-faN4VrMS32I3X-foMawYcmeAQqno_J0udPq09LgtxqS7R7dRZrN6gdrCkcPCCTtsVta6BUDDbCbN2G9v23Qm4cItbvt0WyEnq29_grgJNci-GO370eOzBJTWusolAiyS5Mzk0Kc0Zng-uJoAqKp4DBA-0ZSp6K9FVZlz44dltjMOj8_CFO",
  "id": "rs_031704c1cb641f58016ab4349ff0a087d08edd278228914226",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.48,\"right_z\":0.025},\"note\":\"The gripper closed nearly all the way, which means it missed the bottle. I’m reopening and moving a few centimeters toward the cap for one better-positioned attempt.\"}",
  "call_id": "call_Gc4Fton106hytsHSbV1oDNqD",
  "id": "fc_031704c1cb641f58016ab434a10f6087d0916406fcfb5d9f54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gc4Fton106hytsHSbV1oDNqD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0296, 0.9983, 0.2668, 1.9438, 0.8341, 0.548, 0.1551, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.4752 right_y=0.1053 right_z=0.035 right_yaw=0.0896 right_pitch=0.017 right_roll=-0.0082 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7026, 6.3658, 1.8535, -0.0317, -0.0904, -0.0122, -1.4427, -6.3521, 6.9949, 1.6581, -0.0269, 0.1197, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a610e7ef4744f9109dd594ceb9195cce7bcb3b3b78e21f6853bdcf44d94cf9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d230c5d2620b70eca58946dda4eafd371092dd803da0e84e573962790be5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2396246489169c7be440a1ada0cc4981c721a4c92ad508e4d4b1267a83eb487",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.933 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.6611, 0.8967, 0.1066, 0.2096, 0.1169, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1822 left_yaw=0.0031 left_pitch=-0.0087 left_roll=0.0017 left_gripper=0.9983 right_x=0.4464 right_y=0.0912 right_z=0.1003 right_yaw=0.0263 right_pitch=-0.07 right_roll=-0.0212 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7162, 6.4752, 1.873, -0.0122, -0.0855, -0.0122, -0.294, -9.4701, 6.3385, 2.2637, 0.1832, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2749, 1.8351, 0.6846, 0.6796, 0.1787, 0.0986, 0.0197]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.0083 left_roll=0.0019 left_gripper=0.9983 right_x=0.4515 right_y=0.0984 right_z=0.0571 right_yaw=0.0617 right_pitch=0.1082 right_roll=0.022 right_gripper=0.0197\nstate[joint_eff]: [0.0479, -1.5521, 6.4752, 1.8144, -0.0415, -0.0464, -0.0122, -0.1983, -6.8034, 4.0274, 1.0183, 0.2027, 0.0562, 0.862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0296, 0.9983, 0.2668, 1.9438, 0.8341, 0.548, 0.1551, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.4752 right_y=0.1053 right_z=0.035 right_yaw=0.0896 right_pitch=0.017 right_roll=-0.0082 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7026, 6.3658, 1.8535, -0.0317, -0.0904, -0.0122, -1.4427, -6.3521, 6.9949, 1.6581, -0.0269, 0.1197, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a610e7ef4744f9109dd594ceb9195cce7bcb3b3b78e21f6853bdcf44d94cf9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d230c5d2620b70eca58946dda4eafd371092dd803da0e84e573962790be5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2396246489169c7be440a1ada0cc4981c721a4c92ad508e4d4b1267a83eb487",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSlfplY0m3uooqc-Nh0IW3Aa1qEMha4VYV-wQpf1l4lRXDz2CU_Z855jv-NZAdB_N7NfH5SHNk68ivB5FC9a7DMgllPIvfrAqsGPet2OsNiva63QSMp-goROp6EGm4wGl0eu-8TFPAAd5j_CrqBimgWiuUT47bgmMdORKyDUtdxrHuHt2Ssfl5cTLoBD0V0L-8BeRFjIt-HHwWzRGpoOa2jT3RglLXlhUHcilNYV9zGp0hWJYsw-YA9YEie61pdLTGCN2nFdhLQSqt5k05nBNy27LFgleUtaPP0O4pNsUSO50fxqrlvhQlY1DM8nj5H0QlTLQS7ZiJymh6eS_0qdoQG9g0KUsS6Lv4u4W4j2ldGtW1OVO-YT3NWUK8D1PSsPAj2Ka1huAtf66R76uMu20jpmSW08ODzNqaUPGen2QyFSJO-El9re9RppaKyIRSfUi6A_Rh0cEUtHyTGptkkmsJ1ezRIbdRYE-YENwH4Ae8AvvIcOpPjpejXxogIcONvGXcGi7rhqVjdWj6GEkyCQ8r2C4NF3wzS92sKvxnk5abB3tHNxkYH4ZFzbblvok7OTT1B6DSClOTYX7jx_dfsBG9eERaJnMPgtpimySi-6yB2Czo8jYPxnWT4_unlDilUkZr86jE2Db4Uf1EMpD7oKDcMa7puitWqXWWxxG3vo4KQ7pC5m2YynxgBwr9Hve6PISioFKxNB4BKxs_uYcBC1uE3j-qQJsMC5q4NzqWTWF-TW2lCyR0lCsrAueVOtsvUTi8kTkOOD6CfWVVpr1R67nUi7jhopDNkahbXH7Kbn70i6nqGv69LISGK4jeVTrSywRSKdeZEprDJfhHj2fQsQB2lP3f3w5x4vu-D3rwBiy9VWMYCH60pSz5y-YjpaKpHOK5rZi_vCmK46PO0juKWhDIakVDZri9JBTGdCsz8pNf-CxNBG6y3yir_n828X873Iw9bYmt9xEbnBjV_iL_cHpw_nEelTiVFJCkPGbu8WT_XYNznJtTfxdG3fikzUiMfjEDFPA21XZSniRaWmUQKYmGWoZavyG2BN78ZDjeIZ8WLbbbZl7t1_zwlWNDlVZ0_DVNQT9QxK3YOaBRtNkv4YXQhWMgWH0v5CGj54EWkHFsziKcF4lU1Ng6yumjwa6_lcJ1PfsjKSZQsMvTkTKyb_xlIz7tPJMeg9kYPSHWz0DIdey5DqRVQeUs56-RnTKnEH3VXbDbVLwD2ARu5lHLnQsSTYDsGNhau5_iK29qi_q4OnsA8gS01JMF9JfYXCIKMmS7fxsidAcXpZh2llKJbAJ3Rq_Frr_zHORxTAT1sA8QMHxUfQOhUvItjzcoh97R-bJ5b",
  "id": "rs_031704c1cb641f58016ab434a3e03c87d0b52bdd5822b0a905",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After advancing, the bottle’s neck and shoulder appear directly between the right fingers. I’m closing again and will use the gripper opening to tell whether it caught the bottle.\"}",
  "call_id": "call_IUYDuqJQpAeviyen7yfqSXtW",
  "id": "fc_031704c1cb641f58016ab434a453f087d0b434fade0654e951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IUYDuqJQpAeviyen7yfqSXtW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.2672, 1.9419, 0.8429, 0.5503, 0.1524, 0.0612, 0.4754]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.4782 right_y=0.1068 right_z=0.0396 right_yaw=0.0975 right_pitch=0.0295 right_roll=-0.013 right_gripper=0.4754\nstate[joint_eff]: [-0.1299, -1.5248, 6.5299, 1.8339, -0.0122, -0.0464, -0.0122, -0.6359, -9.5932, 5.5453, 1.3455, -0.0952, 0.1148, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea490f2f82c0d299887eba7a4f5cb600bb30beb1b737592852c29fd2e8343d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2bb7168a9dc73fde915864a2db84c72ac4725547dd00c9dd95b04cdadd067a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe4ddfe6d9e3a497c037b26568a4133937cf25ef78b5c771c4a3042925d7ad7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 3.411 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.2745, 1.8294, 0.7303, 0.4435, 0.189, 0.1062, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.0076 left_roll=0.0017 left_gripper=0.9983 right_x=0.4368 right_y=0.0922 right_z=0.0279 right_yaw=0.0493 right_pitch=-0.0708 right_roll=-0.0169 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.6752, 6.3385, 1.8339, -0.0073, -0.0611, -0.0122, -0.3761, -7.2137, 4.7932, 1.9219, 0.1197, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0296, 0.9983, 0.2668, 1.9438, 0.8341, 0.548, 0.1551, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.4752 right_y=0.1053 right_z=0.035 right_yaw=0.0896 right_pitch=0.017 right_roll=-0.0082 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7026, 6.3658, 1.8535, -0.0317, -0.0904, -0.0122, -1.4427, -6.3521, 6.9949, 1.6581, -0.0269, 0.1197, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.2672, 1.9419, 0.8429, 0.5503, 0.1524, 0.0612, 0.4754]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.4782 right_y=0.1068 right_z=0.0396 right_yaw=0.0975 right_pitch=0.0295 right_roll=-0.013 right_gripper=0.4754\nstate[joint_eff]: [-0.1299, -1.5248, 6.5299, 1.8339, -0.0122, -0.0464, -0.0122, -0.6359, -9.5932, 5.5453, 1.3455, -0.0952, 0.1148, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea490f2f82c0d299887eba7a4f5cb600bb30beb1b737592852c29fd2e8343d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2bb7168a9dc73fde915864a2db84c72ac4725547dd00c9dd95b04cdadd067a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe4ddfe6d9e3a497c037b26568a4133937cf25ef78b5c771c4a3042925d7ad7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSplwkHktbjY2CEa9zTf4Vs81PFrUcevIc-tyMdrk8IT0rRBy6DayZPaKygMJ9N4q887gpUxEXooHSpNillRNDPiUVwfnVn6j56wJWm-u6L0hIhA6QaKmH8vuS8l_G-upWUVpbAe0-j7gQJCZD1gXCpQWaXOCt-NQu1VKqXrnKn1Q0_iJdIhk2p_8Y4dIGOMGiXewRhZ3Qbp1fhQx5HZJ9Yu8LGVm3YvK-BP4Zy85qHAADyUsMftgD-0SsLGeWM7SXkPA9S-8cmI4dithg7MBMXOxTf4NK5iB4J8-AEz1A50XQgwPlU9PgtbdMZDDxQeIiv0hsxv93gXkJVEgqBVqmDXEdMVN02oTkexTA697na3o6qyr5Lf4XdvvPeVimfqLvJoM_53jqV6_lkM_DkBUYvSFIDnZfiQfdzcJMGJyDEQLKwiHvZIbnCk62aySVeSzQFu911X-nhxfUv5SQ3rTHLGL1XgzG-PCu1iQxeWvapOlZTb7lFtXHVBQTI3QK9m6L6eMS-4GV3gcOGCG9ubuzLxalmVmKVA8oaL8xWu-QABgVDHQGoxyvL4yEtTNi8L8gQeWJmIjbKI9oo-UEGPDxaBKxbS9_5LQ099lIaOhClY56QABXjgC7KJu6TfsT-0iK8Ey8fTynZE2Htb-zmXXV6SOF4-437LTZM0YjnZEd2gDHPra2q-aZ9UE9fjTc7GnUzJjXFMgIhl6VAtMN72FD21JnCJXwZ5N36nwgwYHw8qYnGfQnrnMx-R6SocmP_m1OZjSoZ2y4_ylWzH5zM27l74lwFGyve7qXTP0D52i8m9O8KWyasWvOsQIoz048BG8JJTnJ4vcmD8WfXwtZRo-frIoVJEHy1-fi4eB1c0F9dti0KcvjYael2tWJEv28ZGPln8uUwVvuhNkLhHEEnaX47zXkydhUmgy8TS9yVwha0y_VOFO6x9FcUipcw37h4kb_Nz9idOJmvK88TdXJNdiWuZAzEzhD5WXU3e4HwMlO2cAIyYqa-ZJDnY6FiBm_sX5EKBLlNwKuKmGrH8Iqxcqqbr3WrMaUaBacLrY1eMCjitGBhkKWoDM1NbMH_LUbGN-jkIFDXoTzbleUr6M3QhrlVwQgTIAxyIsfgdYNxj0ti40ZS18EvVBYyb_l8E8_NrybquDfIA26OzHbaFE1sdL2nysqp1NkYDTyT5d8LvriGoneyEGTxNI4AKqeB0wcCtrEboJNuVnxvDCWZNvXVvtUGWKopnJs2xBHdEx1Lro-mNCCSYzzO-22yXjVuaMey7WRKru0CDfOFeeYiEWOHthBK4CntDZPsE8c5W6hx1bzVXVcwN1GSzoyKrfdzPbRzvdgZdMy3ihb-jUlI9xhbQDlQQ7UC1G-aspx-kirXBJtzmFUjHxndipAyIv4KjflwHr4R6YvvgZxeHLaJ-_3MwP5qsuMxbVaB5AZxBQLIw_8aWIaOaYFZJf0sjx1vZL3j7A27sDFJTTDVQ692mbfefFj94T4ljC3IrjFfd56qRuF7Iu6AxHXsoeVfOA3fluDAnkSOWRAYLCFiOwGt4ceMzZEpz7STq228ymWwbBUAmiayffTOLCOct3P4JGEMJ4j5Os90Z5PMQLfKFA2xEg_GfiUsX9RZwaei2VwOk9fyLrCuO0V5JWgk_AuvPjtJB1aL5yMpmBejZGE38v7DRAb9zjWNOtICFRMCoK2-HlDVFQhmeGTSyCcn9C9NAHas3VaiXNztRtfXS8XCxEuyLseLoj_LihXur3jczNQQ-9U36lm-ss160rti_27RvjDK7V0f2Fr-",
  "id": "rs_031704c1cb641f58016ab434a6f2a487d090ca9af5df53d15e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_x\":0.43},\"note\":\"The right gripper stopped at a bottle-sized opening rather than closing empty. I’m lifting the held end while moving slightly back so the base can pivot down toward the table.\"}",
  "call_id": "call_dLz6lWZBedPyI11NgKYVKpm0",
  "id": "fc_031704c1cb641f58016ab434a85e5887d081adaa113bb907cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dLz6lWZBedPyI11NgKYVKpm0",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3012, 1.5543, 0.8337, 0.1326, 0.1558, 0.0772, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4301 right_y=0.1086 right_z=0.1239 right_yaw=0.12 right_pitch=-0.0088 right_roll=-0.0081 right_gripper=0.4747\nstate[joint_eff]: [-0.212, -1.4154, 6.3795, 1.9121, -0.0024, -0.0855, -0.0122, 0.0889, -7.3641, 9.2786, 1.6093, 0.1978, 0.1441, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58796ce2a0c4b45c5d4a22b959fa95f8111e293e3e2c09ef8897f0640adc7a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa1f65c06731996c19459432d96e8c5377d465372552d78016990cf3c172d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5914cb32d385d9eba475279d9b9e4a6234ef0b9f96b141386a6a5706493f70ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 5.877 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2749, 1.8351, 0.6846, 0.6796, 0.1787, 0.0986, 0.0197]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.0083 left_roll=0.0019 left_gripper=0.9983 right_x=0.4515 right_y=0.0984 right_z=0.0571 right_yaw=0.0617 right_pitch=0.1082 right_roll=0.022 right_gripper=0.0197\nstate[joint_eff]: [0.0479, -1.5521, 6.4752, 1.8144, -0.0415, -0.0464, -0.0122, -0.1983, -6.8034, 4.0274, 1.0183, 0.2027, 0.0562, 0.862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.2672, 1.9419, 0.8429, 0.5503, 0.1524, 0.0612, 0.4754]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.4782 right_y=0.1068 right_z=0.0396 right_yaw=0.0975 right_pitch=0.0295 right_roll=-0.013 right_gripper=0.4754\nstate[joint_eff]: [-0.1299, -1.5248, 6.5299, 1.8339, -0.0122, -0.0464, -0.0122, -0.6359, -9.5932, 5.5453, 1.3455, -0.0952, 0.1148, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3012, 1.5543, 0.8337, 0.1326, 0.1558, 0.0772, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4301 right_y=0.1086 right_z=0.1239 right_yaw=0.12 right_pitch=-0.0088 right_roll=-0.0081 right_gripper=0.4747\nstate[joint_eff]: [-0.212, -1.4154, 6.3795, 1.9121, -0.0024, -0.0855, -0.0122, 0.0889, -7.3641, 9.2786, 1.6093, 0.1978, 0.1441, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58796ce2a0c4b45c5d4a22b959fa95f8111e293e3e2c09ef8897f0640adc7a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa1f65c06731996c19459432d96e8c5377d465372552d78016990cf3c172d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5914cb32d385d9eba475279d9b9e4a6234ef0b9f96b141386a6a5706493f70ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDStpkY4vi-IknYO4m5ORswASOy5wNPn_1_qv-zFE-LdzqWD9g0ajVKVEJpv1XpGNUlMMaY_DBhNLMpcdCr2FEGv-YS86TFaUANrs_BzJ3BY2ZeMP6lFGG2kwONkuheT4gS1mqScNy8NXnWhvX36q1gFA84nxSx1MTuBbMmb7az7yQU_igK9r6H3LbxZvXjDCy2RqFdfmin7rALiILiLqLcG9ftNVYXD0CUExM31NiZG6WE_pcdIw-wdozdhlz2sQxhLzx7-K_i2YMneRP-6Id5QgkNRSIGf75RlkgDvDXCqs_V3x9GSwnsJRog8H8wEkXi5ktDvjIQUe5YIvCAFw-xwc4FQPACT5JeOPw8VosVyVl97lVHIQi2pBzoOn2UKZB8SRZhRzc_2JPZF-j7DpbarUlFf640ZfmAGyj7Mdszd8AstnIaOzSCGgsFEYXzMJXQdQ6QrtfajQJcdRVEaR2HC6hai8hVUlCqTUYoTSK0mrrOX4CNrgo6b7Cf1YGKhXLaRG10MB08JT0Hj7Y2Nqbwz62TI4xbowQ3AekARR2S2IVtOAB5O9aDrlUGJ_iYOa5u109Q_7FOwAASwXYvjOuK7viszIk_JgNLKEkNO46B8BoljV5o6Tl5m5wplRtD-7envMd-MNgvPflwpwgnmlv3ve2GoLhLM4QYCt9pCEp34cbo7x7KEhrBpfRK5Bm4I33708ljJ4J5Krald1ocBHCX7Pu3zUGYd5CnbYedH3KWnGGY35vlNyUsxn1vz1lTS9l0dqtgcOh0dth5sgzu2qX8J0AeK6u7X6GIzElbCtDarBy6SNaxTzY35NppnbZRwS__ukZ6qDI2i5jVzoZvFYUjgALYuYrjispqujr0420ED-LuK1myMpOEI1_ce8QvFqldK2mSCDkyLTzwUVLnP35H-q5NPgcGxhX5vjAzBREJTfd7kPkLP-NfZ3g0r-AY8FrNIvFlvCED3oCqesEAxjDdm6xMSi2S4GHNdewz4h7WupMwY4PydaQemfltxNTTCbl9kpCoHUPbSo9Eh4jD9OfCFVgwLeXdZ3kSSDiNA3MyviVXytUJWNihduNmGuWiBgp8ooeclpAILujH1id8ft8Jvr41qSsxYhcoCwX-h1x-mMBxkylVXdi5LUa0GpJ31lYsszwTj9KSfBK6StkywXriYyitYuz_MiK2q4ichXt3JWvoO5XC6QfIpsORuEXoRbP_3opwfF_lKnqgbgm8lfhLknwNoYcgChhXbQAbz_Dj5POJH4Ewe4uY3Zp_AMbhQaH8QTl2eY21ECIUNob2yXQoxoeEuIHmCTUjIADt-2Kk_6zOcqhiOy_DWurKjCsbEi3uzXkldKgTnzEwsAqG5hOykFFR5zLwypi9nvBNCfEMcY0hJU5N5xRwrQSGoQ0kId3xxXlyx-qDYsRkjQEW2sqEYdIgiZx0Tpf574A4K7XKnKHWsqdUQbXqIKI0S4IP3_atNIX2eLlMsjYui9Nx3ybfJx-tXzUdqqjOCfeANhv32wphtYWruTMDYr5Lxkyi9dhjoygbLr3mag9hgd82xUHJEWxq5DunsFUwwR0Cp9wY6TY0hopFGSithtk2E28iqKpAQbcMg1lGSi1UYcWLLezypS11A1aZgDbPamadIh1YHrBQSB0PciT8iQHm_6KgT-93djnpVVweoQp0Mp9WMy--aGEstmf1GALgQ6k1pnN8xG1512xMjlGDUxqKFQqDimUx8YfdfR0wkgGM-pZX3GPm27w==",
  "id": "rs_031704c1cb641f58016ab434aaa50087d0a06af9cfa8d845be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.23},\"note\":\"The bottle is moving with the right gripper, but its lower end still angles across the tabletop. I’m lifting the held end higher to let it hang nearly vertical before setting its base down.\"}",
  "call_id": "call_Q0uGi2ohPWAnqDJb8ZUBhkW5",
  "id": "fc_031704c1cb641f58016ab434abac1087d0adef858de630b4f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q0uGi2ohPWAnqDJb8ZUBhkW5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.3424, 1.3262, 0.9966, -0.2821, 0.1631, 0.0807, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.008 left_roll=0.0017 left_gripper=0.9983 right_x=0.3923 right_y=0.1132 right_z=0.2054 right_yaw=0.1532 right_pitch=-0.0313 right_roll=-0.0137 right_gripper=0.4747\nstate[joint_eff]: [-0.1162, -1.7026, 6.4068, 1.8144, -0.022, -0.0611, -0.0122, 0.1846, -7.159, 10.1675, 1.8339, 0.2759, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9725f01e773b57ddd271e4bf4e9403daf86d8dd6db7199b123ae767e2071ecae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a85a7150b6f9515138443c26a4b7f1574d0dd83e882d48cb490c3c60fd8a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e474a170f22f818d3d11da77adc23bf362a10fc1b4ceb202864edb048e681e16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 4.464 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0296, 0.9983, 0.2668, 1.9438, 0.8341, 0.548, 0.1551, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.4752 right_y=0.1053 right_z=0.035 right_yaw=0.0896 right_pitch=0.017 right_roll=-0.0082 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7026, 6.3658, 1.8535, -0.0317, -0.0904, -0.0122, -1.4427, -6.3521, 6.9949, 1.6581, -0.0269, 0.1197, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3012, 1.5543, 0.8337, 0.1326, 0.1558, 0.0772, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4301 right_y=0.1086 right_z=0.1239 right_yaw=0.12 right_pitch=-0.0088 right_roll=-0.0081 right_gripper=0.4747\nstate[joint_eff]: [-0.212, -1.4154, 6.3795, 1.9121, -0.0024, -0.0855, -0.0122, 0.0889, -7.3641, 9.2786, 1.6093, 0.1978, 0.1441, -0.0806]\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 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.3424, 1.3262, 0.9966, -0.2821, 0.1631, 0.0807, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.008 left_roll=0.0017 left_gripper=0.9983 right_x=0.3923 right_y=0.1132 right_z=0.2054 right_yaw=0.1532 right_pitch=-0.0313 right_roll=-0.0137 right_gripper=0.4747\nstate[joint_eff]: [-0.1162, -1.7026, 6.4068, 1.8144, -0.022, -0.0611, -0.0122, 0.1846, -7.159, 10.1675, 1.8339, 0.2759, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9725f01e773b57ddd271e4bf4e9403daf86d8dd6db7199b123ae767e2071ecae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a85a7150b6f9515138443c26a4b7f1574d0dd83e882d48cb490c3c60fd8a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e474a170f22f818d3d11da77adc23bf362a10fc1b4ceb202864edb048e681e16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSzRjm5lwjj07lJF1BalSZipJw6l0VvUiXjJvRGXc1rjMmueqdbCjrvi64YJ2bvqAkrJvTR5miaXoeBrVok5bx-vC_4SYW-LJTL7n_bYwp1gDLrqj2Z0ITBy82PaJ2YRmAtAKRbmGl8d6NBFv2jzWdlr_0PWvRgQ0OJrlzfSlRQTqFojD3Z2t-8kKlk-FhfivUb8XmUOmq4e9i1gAfi952J-4TLIcqUsuu-wlQljA82Z95L1MkWDTwG59icHhNcCQC1uJ1_7W03mSSaOjEcVZmsTpdHCMkiZThxHch0pnBreG5lhCOdkIF076px0cGktvoz54YiTu-rzGTxfgR8jImfNBnBXOWxxmSUne9B69oxT1jb6Mw7uIkfguFQrza7PJtpJR03GoqxLRA3lDYZB-mU2bsvG68p0Kdp3hgelyfq6iciL3YQwfZ6g7qaYRMNiKPt_fFRwUKZnHzFmAdxF8-R2lsWSNSy_spgFegDYxeD3-PMnCwyTatRA_GcpF0cl4DKejOfoRXuTqE3XXcqVT_dUs7bQn0Vq78wevj6t3rosPpP51lTAjdke4SdjkRodWMcQYnWqUyozS5rzNYNUTVPeAzAMSWKXaVD3Vfl0nYx-UbcTbM8l6PpJc6qqVUUHv_xwueCZ2uYYYzPnQCd_zT29GbTdey6O9KItDsELKZKn5MwcqHDVkMGa_tVEU-P-yJ_NLSiN-vEVLxCB9b9xWJRFXtgkpc5aYqn3HMHUKmIbmyK8Uyqa841LewArjHc9cyyr1RhFOsaa9OLltGb3eHHZUmnzvAuzPwpvtzcuVNpUmFm2Y9Qfp1LZCQlEdYhteDipKV6oINS75xqAqsgmUa9xnuaEE6PQzLpzN0nc4ZuLmZaN3zLnUCobmPCMH1LWIE0WxKcRa3Nn4guJkDJQ4k80nOGP6aHiE8ksC19zcCQ9kkdmuY4fwL6WbspzIu58BzIraOSH6SaEX6Zlv68weR1-8vmjJqYlFw5A8a0_7jPU-vc9jKFcfS1QnWpxWWgUML83YOv2L5S8L0WTemukIaDaKYz8IN7fS_hg3TT1uVIkvK8my-zmxp_cuIS0N8koDQhLPpISJd13mEpWGhHyQTMeMXnTq58BUWbfQsw1e23YeacC7HdMRBfzcbUx7vO28B7tPXr7hFjaicGjPtY4pimHApyFCt1-Mv1dT5qcxnXmO92559JVublI2DP0Wnu2wqXx0xIYrXkocTD-lwWHSi7gPwcw-kvTftj_uiv6k7Rplw3nRx4sZkGMxPaqaCcNXRZXHW3YJ3QUkf1E2fvRkt6MwQN8om9eFL1MUz_K3XNZY5_bHLYOUEPlERgjSgUNoC-yVFelPuAClV99jPcn_l8sLuDyLJbbfbuIWfH4vKtQ8pOFMX2QFl2QN0F-ZbsFNmiDtFXOOLVXZzZ0sKE22C8HgTIEnX8LzFLk6w4izkqfPsFQFA2sD-dIkaQapM6xdFM2cKI6yCUxRe-tJExYrdRxzLEjuXirmuqdGCw4aBAxxAlV9CLtLGcJkStlMwZF_mQkGKcZoDXWFQG8osBa7cIhTOa3Him94F59tWlpFPjfMQga2EQ3H5CkMQf2mRxSFNlaPrfVQusxqZEeX0QC9r07XwTLlVdtz8qU__WLJtmfcYhveDEfgONo9st3oloNJ9Vrm_lFdtg7eu_lhB6hnGHOUHJaK_ofi169OaUqS1Lf9xtG6bM5SlypqCo5LZnvwlF_9uQ2Rj3HQCYTP5Z5u8CIgjqU4rY3pOUFr0XF7c8DqqwxS4SC0RZ14zMzfs4V9Mspb-mbpciV0dt1oDgRs8y8dXGHSzsqM-XjlpoBClpWAmmOTYqS-xZoHYcBPMxzgYeXABAZUsX0uWsZ55zUQ3WmMk6yPBvhD7oZB1rsgIX5XfsRHzTZ8mTpxkutJQGgOO9WxfOohnTYOVFbrflcmI4WN19GNyhOWc25wwN2Czeddn9KwMRPXbBFR2Ij4NTD-kUiWoNp2ZSagZ7BFX0x46MvJvnRiY_vdZ73U3RSFsrZ5MA9DBLNERoVhP7k23SNe10mqwBeXfp0VBpqQ9mHHTzHCXVEG7Tlqr17COp6joeTeDv7LhInx4bNblirfT4tYIi2y15rw3M-tgOFllgRg8v09B6oLjeBQzn_wLmrp-HqBd3Shs14T4XZfcryQ8bOUD_FHEYKgW_SiyP-sKU2cTdyxnLpfyDtjK6Jusoyl2693s00lty6nk1KUxKfTnQhx4-NSD-mijXsnBI2H8bnoKwBVBCj6H73LsDRI_q15cHH34xW3qyBkt1AbraU5tGats7SkPW2qLuCF9yRhw1x8S9hhyCu4VdTQDeAXa5p6U5n8JfSOetVfS6Ng2lsEHqF8ZF-6-1g-HA8PTQ4jicgWQRzhbB3TuGTKlSFodoeDxzM0lTSrQbt0sxdS-w_jWnW8aZ_g-hZh155DuUH5s9Ffq2hskANS2Qzze-jV2SykSxMmB2bqMY6oIKN0wdn8WHr5OH6KtIGgGMKdukiBX5DfdT-dkVdD0GWGf4tUlFLuUaiDEfvsk2I1JNcGvxWH0ANnif7z3uxtpmFWa2ZfFdHtna6NQLbACJlH5pdpJv_HXU0_MH1kDutHInJo8O5fsUIi_BupPfmBwQ_nMERagiu9hGRNDgNIa7XsP9_KZmpTsHZLDa7xKkxnQKuLm1GDbc-xVPPxIPXlGWs8BQLy7Mcsd6S-q-Ai5Xv4cjtH1cY3sSR94ITQ6KTSy5mXI8gxwfjaQMQdwY6B5Y_NkskeVfn7S7tqxwjFicEdf1cugtGCACVtkTpVNxLVRxPFkr0edhsb4Ct4eS2sCNpGLIuW1tNvYaGK-RoXSboNNvy_Ip_nc8bo-XC9YDHHGwkAfpWpLJnqjF1OHN9M-kNI-uM3TX3KeUoSVkEE4ifPwOK7XJmD0m0KcQqIMu10dTCh060Y9o1_RAJZQvFX0Orl7EIwgixUQpRypv8iuXPMGzJnTH_RzQKeOdPxrnlGpoOR1PtX_GbKW8s6JxumQ23IqmRyMEJIayl2Tlc1_gl8tmKoAt0jQ3ORS88nkLZrZ4pJfUleQlg7pIGzXqsoBPfygvXB7dKSAliNyNh7haU0-PRxn6G_ISyduZo2isaD4eb-hb2nZMflG2lUWwLXeuhqrnD0wm22U2kLSl2juxIuC7fxHoxeXgW2Te9uC1aj_fiBoBvYiXFlJ7FibgiZ_riH_ajadUCEmX-d2t4NPDyTqNbLPRPomB4XqBGWiLg7UZ7IO1-uCj6wGtNm7Xfmk9M9lk77Ty1qAZYxQEr00R6V7pRfW8KyD12eM-XsVks2vClvHqhscmq_p6o94GFWuuX6nAfmm7Kuaypv2w18dGpMvUmtQp3g_jmy5sRbfC7wcQbhSC0MgtIQZCcKWM5TuUazKIPwYSIx-wsQf6457HfwZoc3s92_WGm-0t0B9NJat9erPUNYDZr4Xsppw4qJoz9vVraFN3v6lX-g==",
  "id": "rs_031704c1cb641f58016ab434aea9fc87d092e28fee4c0f8bc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.155},\"note\":\"The bottle remains secured, with its body hanging below the raised right gripper. I’m lowering it slowly until its bottom meets the tabletop before letting go.\"}",
  "call_id": "call_9g8CsZLo4mVkBUdy2rgoVNLi",
  "id": "fc_031704c1cb641f58016ab434b2be7487d08a076b22c90f578c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9g8CsZLo4mVkBUdy2rgoVNLi",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3458, 1.3548, 0.7952, -0.1249, 0.1627, 0.0841, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.3776 right_y=0.1094 right_z=0.1363 right_yaw=0.1541 right_pitch=-0.1028 right_roll=-0.0245 right_gripper=0.4747\nstate[joint_eff]: [-0.1846, -1.4427, 6.3932, 1.8095, 0.0024, -0.0366, -0.0122, -0.6085, -5.4769, 7.8017, 2.3712, 0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbb8d81e7b5d4f8978c22d118a79b4a7d1b9a60c81a521e050008cf044962b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8629485dcc4e5908d00c677d52ac9698370f9e5c8ad77396fa4a841a1221076b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685de2095b5a3103fe530b177cb1a90e8f3962def9b8c717aab8597b707177c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.204 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.2672, 1.9419, 0.8429, 0.5503, 0.1524, 0.0612, 0.4754]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.4782 right_y=0.1068 right_z=0.0396 right_yaw=0.0975 right_pitch=0.0295 right_roll=-0.013 right_gripper=0.4754\nstate[joint_eff]: [-0.1299, -1.5248, 6.5299, 1.8339, -0.0122, -0.0464, -0.0122, -0.6359, -9.5932, 5.5453, 1.3455, -0.0952, 0.1148, 0.779]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.3424, 1.3262, 0.9966, -0.2821, 0.1631, 0.0807, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.008 left_roll=0.0017 left_gripper=0.9983 right_x=0.3923 right_y=0.1132 right_z=0.2054 right_yaw=0.1532 right_pitch=-0.0313 right_roll=-0.0137 right_gripper=0.4747\nstate[joint_eff]: [-0.1162, -1.7026, 6.4068, 1.8144, -0.022, -0.0611, -0.0122, 0.1846, -7.159, 10.1675, 1.8339, 0.2759, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3458, 1.3548, 0.7952, -0.1249, 0.1627, 0.0841, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.3776 right_y=0.1094 right_z=0.1363 right_yaw=0.1541 right_pitch=-0.1028 right_roll=-0.0245 right_gripper=0.4747\nstate[joint_eff]: [-0.1846, -1.4427, 6.3932, 1.8095, 0.0024, -0.0366, -0.0122, -0.6085, -5.4769, 7.8017, 2.3712, 0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbb8d81e7b5d4f8978c22d118a79b4a7d1b9a60c81a521e050008cf044962b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8629485dcc4e5908d00c677d52ac9698370f9e5c8ad77396fa4a841a1221076b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685de2095b5a3103fe530b177cb1a90e8f3962def9b8c717aab8597b707177c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_031704c1cb641f58016ab434b4dea887d09e300eb02772a289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.21},\"note\":\"The held bottle has been lowered to table level; I’m opening the right jaws and lifting clear so the overhead camera can show whether it stands on its own.\"}",
  "call_id": "call_Wl66xsqAUfLdr7FVw5oOuUFp",
  "id": "fc_031704c1cb641f58016ab434b7d91c87d08a1a81fafe371308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wl66xsqAUfLdr7FVw5oOuUFp",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.347, 1.2739, 0.881, -0.2375, 0.1532, 0.0746, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.3746 right_y=0.1106 right_z=0.182 right_yaw=0.1692 right_pitch=-0.0508 right_roll=-0.0164 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.3607, 6.694, 1.8388, -0.0073, -0.0904, -0.0122, -0.4991, -6.8855, 9.894, 1.8926, 0.0562, 0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503440778838f8a5a3b69b1c78b995a92f66580d688141594904d148cf4f92e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c102e2d6b4e25961a0d34a9e7ae8b26ecf75f8a5e5167a9ade4f6fd5bcc81050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033c12df7ae4de5f50c06e18b288e4b36b6d9d1db43f0ebe5fe42c0b17760219",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 5.924 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3012, 1.5543, 0.8337, 0.1326, 0.1558, 0.0772, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4301 right_y=0.1086 right_z=0.1239 right_yaw=0.12 right_pitch=-0.0088 right_roll=-0.0081 right_gripper=0.4747\nstate[joint_eff]: [-0.212, -1.4154, 6.3795, 1.9121, -0.0024, -0.0855, -0.0122, 0.0889, -7.3641, 9.2786, 1.6093, 0.1978, 0.1441, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3458, 1.3548, 0.7952, -0.1249, 0.1627, 0.0841, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.3776 right_y=0.1094 right_z=0.1363 right_yaw=0.1541 right_pitch=-0.1028 right_roll=-0.0245 right_gripper=0.4747\nstate[joint_eff]: [-0.1846, -1.4427, 6.3932, 1.8095, 0.0024, -0.0366, -0.0122, -0.6085, -5.4769, 7.8017, 2.3712, 0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.347, 1.2739, 0.881, -0.2375, 0.1532, 0.0746, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.3746 right_y=0.1106 right_z=0.182 right_yaw=0.1692 right_pitch=-0.0508 right_roll=-0.0164 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.3607, 6.694, 1.8388, -0.0073, -0.0904, -0.0122, -0.4991, -6.8855, 9.894, 1.8926, 0.0562, 0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503440778838f8a5a3b69b1c78b995a92f66580d688141594904d148cf4f92e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c102e2d6b4e25961a0d34a9e7ae8b26ecf75f8a5e5167a9ade4f6fd5bcc81050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033c12df7ae4de5f50c06e18b288e4b36b6d9d1db43f0ebe5fe42c0b17760219",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_031704c1cb641f58016ab434b9b55087d0a039748684cea519",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The right bottle appears shorter in the overhead view after release, suggesting it may be upright, but the right arm still blocks it. I’m parking that arm to verify and leave room for the other bottles.\"}",
  "call_id": "call_A9VlnHx1J8FEDYHiK2gVnWzd",
  "id": "fc_031704c1cb641f58016ab434bae73887d0a2a366c8203ac80b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A9VlnHx1J8FEDYHiK2gVnWzd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, -0.1593, 0.8463, 0.625, -0.3714, -0.2234, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3014 right_y=-0.0051 right_z=0.1793 right_yaw=0.1115 right_pitch=-0.0048 right_roll=-0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.7026, 6.5573, 1.917, -0.0171, -0.0806, -0.0122, -0.1436, -2.1402, 7.0359, 1.8632, -0.3053, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1082f99827c20717692952034540ccf7d6473d5bb930bbe1e2428e3071ce7ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4a76af71e8e23b9474d11862a0edb092d1ef3c00a6a5f06b3a0da107cf839f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5562314e07eff3796014a36d21e384aa1a579c3883fb28ef716b0b7f700040",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.574 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.3424, 1.3262, 0.9966, -0.2821, 0.1631, 0.0807, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.008 left_roll=0.0017 left_gripper=0.9983 right_x=0.3923 right_y=0.1132 right_z=0.2054 right_yaw=0.1532 right_pitch=-0.0313 right_roll=-0.0137 right_gripper=0.4747\nstate[joint_eff]: [-0.1162, -1.7026, 6.4068, 1.8144, -0.022, -0.0611, -0.0122, 0.1846, -7.159, 10.1675, 1.8339, 0.2759, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.347, 1.2739, 0.881, -0.2375, 0.1532, 0.0746, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.3746 right_y=0.1106 right_z=0.182 right_yaw=0.1692 right_pitch=-0.0508 right_roll=-0.0164 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.3607, 6.694, 1.8388, -0.0073, -0.0904, -0.0122, -0.4991, -6.8855, 9.894, 1.8926, 0.0562, 0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, -0.1593, 0.8463, 0.625, -0.3714, -0.2234, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3014 right_y=-0.0051 right_z=0.1793 right_yaw=0.1115 right_pitch=-0.0048 right_roll=-0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.7026, 6.5573, 1.917, -0.0171, -0.0806, -0.0122, -0.1436, -2.1402, 7.0359, 1.8632, -0.3053, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1082f99827c20717692952034540ccf7d6473d5bb930bbe1e2428e3071ce7ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4a76af71e8e23b9474d11862a0edb092d1ef3c00a6a5f06b3a0da107cf839f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5562314e07eff3796014a36d21e384aa1a579c3883fb28ef716b0b7f700040",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_031704c1cb641f58016ab434bdece887d08e83276197ce355d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.1,\"right_z\":0.11},\"note\":\"With the arm clear, the right bottle is still lying lengthwise, so the first lift was not high enough to set it upright. I’m returning above its upper end for a taller lift.\"}",
  "call_id": "call_bltD3H00Sm6QOZqgadIQ8sIH",
  "id": "fc_031704c1cb641f58016ab434c265f487d08491101ffe5645c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bltD3H00Sm6QOZqgadIQ8sIH",
  "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]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2359, 1.7046, 0.9035, 0.1383, 0.0772, 0.0208, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4525 right_y=0.0985 right_z=0.0881 right_yaw=0.1509 right_pitch=-0.0894 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.6068, 6.4889, 1.8144, -0.0269, -0.0806, -0.0122, -0.0889, -7.9111, 8.8547, 2.0244, 0.1587, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61161c6dfda3c37e32dd47001e41d64bab9f3aef8bcd02f2c06739e8d086bdd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046bc12eb0833b2e867bcb2289df82988df24c24a362fbfed4664e2023e185c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f66b56135f1de7dcaccfc7ed9c9f557cbede66bee23d882aed7428e3831df3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 1.731 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.3458, 1.3548, 0.7952, -0.1249, 0.1627, 0.0841, 0.4747]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1824 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.3776 right_y=0.1094 right_z=0.1363 right_yaw=0.1541 right_pitch=-0.1028 right_roll=-0.0245 right_gripper=0.4747\nstate[joint_eff]: [-0.1846, -1.4427, 6.3932, 1.8095, 0.0024, -0.0366, -0.0122, -0.6085, -5.4769, 7.8017, 2.3712, 0.0562, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, -0.1593, 0.8463, 0.625, -0.3714, -0.2234, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3014 right_y=-0.0051 right_z=0.1793 right_yaw=0.1115 right_pitch=-0.0048 right_roll=-0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.7026, 6.5573, 1.917, -0.0171, -0.0806, -0.0122, -0.1436, -2.1402, 7.0359, 1.8632, -0.3053, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2359, 1.7046, 0.9035, 0.1383, 0.0772, 0.0208, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4525 right_y=0.0985 right_z=0.0881 right_yaw=0.1509 right_pitch=-0.0894 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.6068, 6.4889, 1.8144, -0.0269, -0.0806, -0.0122, -0.0889, -7.9111, 8.8547, 2.0244, 0.1587, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61161c6dfda3c37e32dd47001e41d64bab9f3aef8bcd02f2c06739e8d086bdd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046bc12eb0833b2e867bcb2289df82988df24c24a362fbfed4664e2023e185c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f66b56135f1de7dcaccfc7ed9c9f557cbede66bee23d882aed7428e3831df3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTG-5vI3ItldhjsYZXdrhcSm9W-otJNU6Xd5pp9_i41VnxOthACFrYmLAR8QMwitZ078lmD_RCeR0dgUst0nFnrAr-vZYVjoRc1ZAE9rKaiy0QaR1WnDDIknrZA4x9uSA6OnXSftB4-F1Rr2Ls2xxuQkf9-lMPADBJY9iiitlCSOy4sMPFpMooO2mvitBmINad5lTkdD1S0_aHeN0SQewNThc5lZ5ghzB20iCuruB9-DxaJ9G9opGeCwimKN1vPzSdX0XPOUfec0TWof1keBIDSMSP3wI47NS4va6M6VIbQ7KCphrbL1m9jdxHmF0C6dAjSw2FJ5P2UCEENtpyBe_YcooEfmfir2QAv-zD8IYU8IO5Rlj7vYdoQKgWY87Uvsxia8Wgk4NliBSUixNWVzH_Iwq1TB1KtlirNfqXqBRIafN6qO7Oxk7yMLlTqU0TMAQJ7Um4w-iyaWVDd-qDXm4RW3CFn9KCJ7wyuZ0ohE8kndwRyZxBjO23xB9VpoLIa_yh3OL6rFGDnT-TsYyUwTG5c5Sw07ULIfCLQAGKtf6oCJGumaTWOOLnf7rktnD8m0R5L4SWE9X6KJZ-iLzRbzKKkpFRnLeRMV5mRSSx91PbJ_oL2WWM-6ZpuwGzEiOJN63FfPtkucjXDtNPlUXcvRZ7hW5xpQCTHHRNk5Ez-8V3kBnTkf_QJOJSPMPVE8wtXmVlf4axgDuXR2U9Tz68BCaOG07aIchKHDyxGj9ZQ8d4sOA8oS4tgP5g8-B1MXdwF2Uf6E_zKMKFAENHFotx37zwraQus6bnDe1qZmNt5n7UHW-vRhggTwZdmKuriPNJBlsm5e9MrdpTqzntcFM6HX2nAIp6kT5Q_yDOxh14pQhsiV4w3kHDKUnLF1sEyZgCoT8_t8dgn820mQAjMaq7BCOBaG2VMGTAYzxI0FTRSrGQZAmD71oVt_c3ok98DxJ-STndmU1OwjilaJgXiXVHBsHCxCG-0Gzx2PV3jIl_Xmu2tb3zCjwAMcoWlnfvNpWSjfgNKSQWbIcwHinoGHXHDfLB0K9z58AE4tZk36iXReCZkBMksJHDlPY29J1jdn_gPKP5I80OhRgH9kFqkwWSjSmyG8_gMMarWtk3avSgknT8Bx7RYBPXeDgAmdld8dbcn8Fld_Wo1XkBZh7sfSYmp6kdTO1waIZk8KYpU15T4n-Bn4HTqIAfUGNy9awGnxsA-2YH91z6AhoWK3E_hnEC8rphYXBaLm5l4gsNzBYan5Z2AVqVUoCrz-dbgxOX48ZS-9QSlTYmfyrS8ALEcQbEsKum0eQ==",
  "id": "rs_031704c1cb641f58016ab434c585d087d0999a5de5b4f340bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.025},\"note\":\"The right bottle’s cap is centered in the wrist camera, with its upper body just ahead of the fingertips. I’m moving a little forward and down to grip it near that end again.\"}",
  "call_id": "call_aD6Rxksn1EMusjVjdhYeHHjl",
  "id": "fc_031704c1cb641f58016ab434c5e29087d0804071183f1ebe17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aD6Rxksn1EMusjVjdhYeHHjl",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2211, 1.9354, 0.8276, 0.4808, 0.0505, 0.017, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4666 right_y=0.0994 right_z=0.0218 right_yaw=0.1607 right_pitch=-0.0548 right_roll=-0.0028 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.6615, 6.5162, 1.8046, -0.0024, -0.0904, -0.0122, -0.7179, -6.5026, 6.8581, 1.5849, 0.1148, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aab774b2105d5c2e213de35dd532598213cbad794a083e825035c68550616d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce27d9d494e5af2e21ffa9e6e331c02e42966019cf90016224a36075eb102182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e644d1a86e6e3054cae67c9762cfefac16c577300bee3c1c25b385c73d7a2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 14.63 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.347, 1.2739, 0.881, -0.2375, 0.1532, 0.0746, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1824 left_yaw=0.0031 left_pitch=-0.0083 left_roll=0.0017 left_gripper=0.9983 right_x=0.3746 right_y=0.1106 right_z=0.182 right_yaw=0.1692 right_pitch=-0.0508 right_roll=-0.0164 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.3607, 6.694, 1.8388, -0.0073, -0.0904, -0.0122, -0.4991, -6.8855, 9.894, 1.8926, 0.0562, 0.105, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2359, 1.7046, 0.9035, 0.1383, 0.0772, 0.0208, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4525 right_y=0.0985 right_z=0.0881 right_yaw=0.1509 right_pitch=-0.0894 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.6068, 6.4889, 1.8144, -0.0269, -0.0806, -0.0122, -0.0889, -7.9111, 8.8547, 2.0244, 0.1587, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2211, 1.9354, 0.8276, 0.4808, 0.0505, 0.017, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4666 right_y=0.0994 right_z=0.0218 right_yaw=0.1607 right_pitch=-0.0548 right_roll=-0.0028 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.6615, 6.5162, 1.8046, -0.0024, -0.0904, -0.0122, -0.7179, -6.5026, 6.8581, 1.5849, 0.1148, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aab774b2105d5c2e213de35dd532598213cbad794a083e825035c68550616d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce27d9d494e5af2e21ffa9e6e331c02e42966019cf90016224a36075eb102182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e644d1a86e6e3054cae67c9762cfefac16c577300bee3c1c25b385c73d7a2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTJFBnsurzmaM60-r3HNw6_fWkYNzutzw6LwtdOsfT8qYTMA6x1wvqgOsuvJXsuD0bWJqRq-mmchNFBRN8x3fnLHsOWEW1-yajC4wEIJ8xuBf_5Z1SBNAlgdn8QujB4c-ZIn_mOaWYwO088FzPCPB84bgxPAD7j1zqA8jr-N5WQhcubaYlJJoQ9-3vdLesPSkJozWv8k_MD8XmGcSqwz70W6N4BtwHE3ug_iHrykLArTzvFQ4vGpVF8nyKfxrmzfGKIPanJ5bo3SWbBit2JVt6xlW30V1PR6Y4eqaanb4IUVU0xkYcURJcZcADXa8BUutUqlewYP9NlZn_Abn4MhJzmyjSX-X83EtBHoUWOB4mibB1LQeeNHxemOGZdjBnUB-aGD2aQ8dysnZsjPssXKi_CGK4FJCtVO1GbHH_dsnl7H2s81QaCZcCYB9A59ztMhUHjnqTAQSfMu0BLt825ERXzztDKRtLJM4T8tStrmtmTQpjV4VA3b-EK2ezo4wUfIc69Ol7x2NnCeiqcnaeyrlhuvRhqI8aY8Ulzda3LDXOlB8UqULlo_36p0j7gkedTWXROV9GGizhgFLgkIT55cBeF5u74dDp4mRb4063xXMlg-UhkuJ2rf4_2B1ftzjZg7yJA43PL8p9d_TIRxUjJFXwqFBkc6w2EdTFhML8x5PXKF64gbios6lflby2qPOlvG2q9WcrcWQSphJ6IwLEWcgoXSu7NLKEPggbBflslKu5wqSWI-X2zAxFM47PkFdkIB0a2HxJoipHUujuBGpRa8rX3rsMWproVIjNGNyDcb4JqTyqAhLC85ozvCVo5YppmpM8P-SyeArZ2CClN5Fq3OHcoQXnsTVMGwEO7MZnwh_9RVv7idsgCnXmIn6hZaHJLESIkrDkBm3PcfQUKm-cDXoba7w1UpWVuLZS-C8Xi1kTNVPT7R201MmLwaX_5WKWm9M1le4RKl9_GmyM6ozedBMePagQXiRwVk2INtTV6D5O5U2zY8tgavsr7svShwASWkeKdZXxZ6rBStpN8wMQ2dFAO0v8YoCcpWJmHxRr9HmfGguuFxT6xWJy0oaBVUzRUoMLYe2mmdYMvB02lFYJaiDXLjC2BrX0e2yXwQ_JAeHWNSttoZ31A0pkrREGrKGmmJ8RnaVKfXlUY35HLKw7EcG6mMvaEpqCxjJoLkKB_DINKHWOa1q9h0PgcNuCAH-iaNNSboyj6ksGkuBbwaqHtgTEh1tbXD0uNX-uKdqQz5JpRd-M=",
  "id": "rs_031704c1cb641f58016ab434c8294487d09c0cc2d45031e223",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s shoulder is now between the jaws at table height. I’m closing around it and will raise it much farther this time if the gripper catches.\"}",
  "call_id": "call_tdZpZELnXYtXZeMwLz1vHnsL",
  "id": "fc_031704c1cb641f58016ab434c868e887d0ac2ff55ddb0b7065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tdZpZELnXYtXZeMwLz1vHnsL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.223, 1.9381, 0.8001, 0.6971, 0.0254, 0.004, 0.0215]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4833 right_y=0.1087 right_z=0.0561 right_yaw=0.1906 right_pitch=0.1305 right_roll=0.0074 right_gripper=0.0215\nstate[joint_eff]: [-0.0479, -1.5248, 6.5573, 1.8828, -0.0122, -0.0562, -0.0122, -0.4718, -8.0068, 3.9043, 0.8474, 0.2173, 0.1294, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6298303fe244e7338e9fd0a906dc868f878f478b3523ae8487ca7eac8f0a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf9af523f9de35d3343d4d73df78bf927e92ce8d7dabd55a324e7df864189cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd96b39f7c344a53c119ebd58cfad7ff6fa0d5ab50c1f0450690e30c2b18fa75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 1.902 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, -0.1593, 0.8463, 0.625, -0.3714, -0.2234, -0.1703, 0.9955]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3014 right_y=-0.0051 right_z=0.1793 right_yaw=0.1115 right_pitch=-0.0048 right_roll=-0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.7026, 6.5573, 1.917, -0.0171, -0.0806, -0.0122, -0.1436, -2.1402, 7.0359, 1.8632, -0.3053, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2211, 1.9354, 0.8276, 0.4808, 0.0505, 0.017, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4666 right_y=0.0994 right_z=0.0218 right_yaw=0.1607 right_pitch=-0.0548 right_roll=-0.0028 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.6615, 6.5162, 1.8046, -0.0024, -0.0904, -0.0122, -0.7179, -6.5026, 6.8581, 1.5849, 0.1148, -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 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.223, 1.9381, 0.8001, 0.6971, 0.0254, 0.004, 0.0215]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4833 right_y=0.1087 right_z=0.0561 right_yaw=0.1906 right_pitch=0.1305 right_roll=0.0074 right_gripper=0.0215\nstate[joint_eff]: [-0.0479, -1.5248, 6.5573, 1.8828, -0.0122, -0.0562, -0.0122, -0.4718, -8.0068, 3.9043, 0.8474, 0.2173, 0.1294, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6298303fe244e7338e9fd0a906dc868f878f478b3523ae8487ca7eac8f0a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf9af523f9de35d3343d4d73df78bf927e92ce8d7dabd55a324e7df864189cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd96b39f7c344a53c119ebd58cfad7ff6fa0d5ab50c1f0450690e30c2b18fa75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTYJBIVGk8xfbos7ZrzvfUIFwWr71Mgnc02qT1vUcRXFjBwYQ4huYY4jTL_Y_uygbv3p4SxtWrx0kMopVTfXjw3ajB56Yb_fRUtO35vd2u41aDm5sdNO-A2VDYep8gJBG5zAEcqB4qx5-NprEFhc1Aw-oD_fLSNv1Yta2MsQSrC2bEc0QwOy2Lvqzu8YZzTsq052AztoT-oH2E2vz5xrEZdPgWrGK6fOBQ7-AocntVrPuuWaWAuSTDZiLUxOfdu1J3lZs30H3-tV_NzlTtkvm-oT_wzqqmiI9GKjpvnWKgcnEqxPtwkykUK8QenNjUTP57cZxGbUlZuhvcZPT-DydaOrTskaevGlLvkyWN3o9w8ekvao9Ohh8MvQuPCnZ3XQOZuKSVWDYOzxdTtMlyPQE6-7UE7em4bGJ20PBmfdjJ6JDJEiyq9RthR-xczQJVvqNcfTi1_hoL90E7B9-ncwfv9aC81iV0FizopAtofxKQXGgbCNmQR_ifq83bv-OE9UzXj34q0_GWnhBOoRBaE9A_cTox8UoI_GbZlBuZdB5Lv90y2waMTMXfBZiAlwc1eE83m6flrtF0dm_fK5-Tg52nUlw-9yv9P3Y0s0o_mNhXcjxQm6KYLA0DpH1XSbQsW9WMYjMqhsA6EN9D1dN83DEytRkOr47byc1cDPH3sD_nsTEQHJsn5knI9mgqdE0zjRw6oew-gnGe_MS0LhspDJfURpXfRAnfYDJcVXuNZ9OZzcSxeLLWPMUlqFxzWCFm2SbEQODd7O9jRKGIQ215aRoW-kFqP7Fk7Q686LRWhtQRcd9fveu9iJ6S1sr-8Mc2F8S4LA8yCVl9CLsgtumjWl1yTzals7N1NJu063EQLvrkYPABVfOMbZ9rvLPacbtk2MZeZB4Cz_T6IK_BjjrYs8TMjZ8zVQNZEAWcUxs8oGESyZ2hqSkX6s9vbtowdjpWJyvqWjc1CxVWXYtSnQfZYwXqRjOW1rMh4yj9KybgLSjEM7iFRsINUqDoHMw8rlMvmveDTwrPHYdFD_VyGRrJzVSwdNIvC2HsoJMe_OkERAM20WOiFNMFeDeE30ll207hUo35szuk1JHgN0dv5RjpRKyICQpmqjB3mKdSx-yhMU2HbNUMFMU7g5zN1_yHDIQ9anYIssEnLCR8mpZx3_m37dc5KotHLib4OMCUuSLYSer13tbplDsjeAJKbXDZvgV1abivtYLaOoaIZXQV9dxUFuAiktQZMm7XOyEfBFWDxLExXeIyOqLow16WZfXPxGyd1X3vPHmuoc_J5w_jz2mAdqk9Rqf_-v6r20tu89ueIOGNtF_Opsw8UPwuQbMtDV8fJFJboyi5luaA2A0CDFyJChS9fGGbzZPevd-r4ZVjoigt9df2TImWLvEH_N4NFXqKfh033B7AvTz2E1m6WZ2DROVLWzLPOElCjnr-jdUNvYsGL1sdBR3MpMEKEEq8XuqquM03GkL3GLqXHIz575Oq1H85KzRxL48Ldzph2MRM-X1sZP5cpAcoqje8X2al8fJnfpbDYjlQ0_M7iTcYhs1lRkBCcoflimNTTy5-6EIoC_cDG9wjIKdsSkR1TvQTTMLFxJq2a9LM-JnIdDpzhwEjhiDB1UfCMzZFiG8jj9s0m1ud4SEbZZ-l4tnbkQHmXsDLqiZPUJL-xRKH7cpPjfHVPFgxmTnZte-pXJUzZiwVaW_S_Q0VMxJEPLvcFpZUldFknni3ZXEkmO_Dk27czHaCAV67jMjg7VvgxESN4JXsdpGagzUODlyfYCR__fuD9_DRCJ50Y6O39GKN025kws6P_ncMmuVAV58bNqu4MiYRV1LeiRRMkwVb11eT3x-f61cerWrHNfY0MUi4gwhOEm0OeR0lQIKdu6YjNpbhcvb353ki-TRiRDZHQNmz7EXfHJrmXX7zd9tbmhDoHY6jiL32PxrFXhv9XeDBu7gojjH3mjfzDd9uJGRKGD6pUONIZVhxzVcXP1jfEFASSiagtAe0PVSmvqQSS8EwTWKaHk4bs4WBDSg9MskgkgBSqy-ZNu261jPeq4fWUiOTm_Z5NOrIBJb--MAOt-H3WxuNjZyax0Hy0wKP2lueYpf2RURqmu1qQx7K6yBT4CIORo6ZqWOcF2uLs-mmTNZ67ULWo5qNyJvykbQlvGwxDw5ipvZA8GQcL1T16HBZ3FrWcSPSHdYdJBaOJ1rJLJQtKvvgxVR2gZ9fXs854WtyICifVV-VWOseo8IrxCsippW0BBpjXupBu2YfN6irjgpu0BB8DAs6pIouAJZi5zQymhI5QrlIcygrJVGVEfUiaw_Ddhz1PDqJMq-H-_HxrXO8OcN0oCHTpQHCLGVKiRZt70IGfvTFXaLlZR1r5W4vRjENK9Ekyi2XmBdT5b8eiF1WoXwkL-zNEx3NxDIma0X_GsQe0wU8kjDcysxCfyLINt0x9QcCv3DeQA5KskfPiwoWHySy-tC6AOM4FJpC46BzP0KeMe9BFFnkR3CSGM43PQiprz_LmWUtPUBO-pt7RQ6nkkf9Ew0rPmOe-5IlBsu0nzRXglp6muQjZ48z0G2BKvzqCmDDw3GWnKexGXMHzr_Ch-dVyIITf12_yY41Q050pv0HN7iOgo3gHO8x0PssrxsvivmETkmHjEYMB2P0u87F-pRFcUU8L1xEXsNXHOYwy6hvlNGEw9UjEy6p8g-vuxBawPStCVlOgFB3DdAnyjXA5IWkaAfv9_HFRKOYL6Bq7wi6kJ-tBHxpnxISzuHfV5qdMoqbRjIbt_jD1QdAz0lfoDRonRJQMR4oMk2CcEcXWrGSibSYSPqWREve7zPj5xrx66PO2iTl1tCsBehnVdu-hRfth8WscbCAMTL15UFcHKr-wy9VrIb2Sr4Uu0TPNKuOR6TWTrnLG9pew6LvVENJ81v61khMvUJF8qwb8Wvaqd0ECGuQgr2MLDt82ZFzNw1yL528u_D-u2P537Irc875jomYUr4Wx_YFK-mwa-ER7dXCSUQs4FTW5ol1X-B3OK6h5VINulblv0GJUtwxNFJWUFX_L5eIkQwo0rIprscKKndYJWJe0dJDw0nw_5hbKbXEo6mi2Vr-a8w7c7xFF_YScH_vCHIXldg4K4ybM3o0I63WB0RmCCd8V8aS1Px_C4P2L47xrO-IMxefqPPfuU8zSJY9wrsWtXGLPsAPqdPSdUKPzMYfD2kAKWqe68jH1Lfz7KIjYGB59D8XwGO6silKyzbTfJ99mcje321zCcHbg307oFbDQue_jssFwNFdGyw8jzayek7buW9p3cl8rTGlfYRlh3YcHfk5i2mEdxHQuL5LR-FNdjdWOCOsZTwXOooAXxWKgMH8dp4zOezMQcbzNmN5r0N994uirZAplPQ4WVHc8PAmZ7HG3sdBKozbFarfM4uV0Znl4fL7AIYy1IosrDpjHa9qiHvT2D5FXOUnqYzfh0UmOAnRf6IImLkyyg8NyACTiPkrFOEP7HA7Fi2P2BMT7an5OMqwAOREGn-Pn37DMc9UjhKbxSit1tvUYOyrl2e2QZ0i5AHD4N_v-RX2OfMlmBJdPfBGDHDQAHqE3sPjU2iTUi6PWZ3OTQasGXUUB9aB1JV_dNYCbKEeLOU123K53YTJKk9yFr-uGJuvn5mR-dIlKsPX9FrW4rIr-ShAQ60z2laIkoGXJpPU3-eCt-kCrJnZ5RsqQfJC3B6fhurKd2KZuXlkMXtoCCfXNYONArHBRXbaFVFE1Ei8epJX0wurxW5ReCcXLs1gCgVWXSe1wmTfU4FfFNDRMoCwzY3LSB27N-_bZv6cKpJ2DDNN5_MuiV0KA9kfGZmDDNP5n1UccLql31YVCbn24zBwRFFAJTtryJrI_UO2bokMh8lx5qEXv_5amyFSnf4tTo1KKQW6Br4r6KNd_SSLmRqSX481JUa5UlystxWGHPHkc-ybMU8MqlbFo8tcLP8Q=",
  "id": "rs_031704c1cb641f58016ab434cb7a2487d085b60fa3742d31be",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTYrEqVtJgWoryPlzyWDe-80y_pF8x-pTgoFa63VIseFNT_Pp-ahF7zd6r0fk1h26Jam-U28N9bOlHYI6aS0zTRnNXKE-aPbPmuBKGbmhz6RiF4HZvPEqbl9AGb1DfIBiwQ_qBTTjsFkgQhvEaJwg6U9OFxdNnPs5_nXDdUc0bBJthKQLER1fyKuUjvAqpI7xERPqPEcJkvWlt3-cFXQWi8CNB6warYgAzIcXQrz7BEW8Bye1zQGyANbfK6T_yq1t3yPSeoaYHOtJC9wGJQgwTM4kQZhPYW9T6GkbFhHQY9SC_WJ0nTtK7DpnJEqojn-cWsC_kkMDiqOGWRgwoCgNdkU_yX3oevtSz-GsAY9iSkKR7ixKhGwhK8mth8CxdCLY7FMEZkinu5JCfUZsots2Cfdmqg9tCGCoKW5jQp_0_O34WqmDSsj0hQ9VR3gJ-SAo1r9OAAE_i0WZQyrmZVTHkGrFC7pmR4GRDvumdsnsY9XkDEBXSSz_jygGm5t_IoUiXuNxu8nfA5JwIjEtAc9GRyEW7VzAEPTCCZq9vYMG23HRrmy0MGz0Y5tV-SQ6t2IQx3a-lUPw3FnCy38eDOcklR1kd2aTNVjiPEaJ6loWsszPkyRzE2_acuJF-cUO0xsnSrYoxuiGScIbqnNtw6Gbv002OdKSgRYJzax3MUdSLOfXUOZNbHZ4iFE_TtrOFovRpouQHTK9DW7fKeuo_Mq5TIJze9b6H836c1RhJwmVADAfu65W_03TMEbApQiEHxx6nIY5IZ5jtWaoUc2piJayqsxsMaivvw1SvL9e3DwOO5IYZNtM7yguiRfP2XZnDE8-PztTmsAhuw5nITYdSxB-2KNcytOGvoaI2B5QYPhqnrra61MH0AAMCbP07LgKPw36-IGU9lHYVcr36u3ILuOKQZ0odSa161gHhd06BEyvCV3ixnjOK4N8TirMuw78Q6wbNTPdl1nX9SI-tXwJIiPfcUJ-kt9Fp0CZfYUMm7b3hn1I1XQ6O0PR2kY_ZRKRPhG1NoxYtgYlYtEs5jDnYCcxrh0_wMLiPSQqDky5s8YmttVJueW2rHm1x54dKz65-LNN3dmUOE_wFqD_1CaZiEjPJ-wyGp-Hpwj-fzadM6cZv1rMQBAiYqs9kIhYdJBs-5zL7kB-462t2__zy_XEdGnESMTQSU7nP33szh0vuOw96eFc_bKn_dermbwqRKiR0AZFXE2C-wlDAVHiaxk1kfXTkfUz__6Ml4I0Q52qMvkEWLQaKrNnVdhtKXHKyRDm5gImkGRjCTh77vtPcuUH0aLdKhRofI-lzMqn1v8-C6ttLRzdy8dBLlPmnPrBk3zw7qXGQiq-p-cdnH-8xTnLeDzQpKsOllRq7_nZjzh8dB-9e0tRGlv2YhqRv4bu2Xghrk_Ip1SwmmChZ6idhXzTJ9qpoy295UNAXVlsSalixsc502SKbKMQyxWnWMThWV-0yAc4PgXsUWR5I0N7GjmTXwj3P1KkhQKFxO1uC05m8TMaRS4zD_0FM9Pv-Tb4HL8XX6z8ognAKzKJJvGW8CViP1Q3aJOq1O5n9mPkP27OEwzodS6-b7JUe8PLFbmwrvUNc8MkF-WF_3jSmulL4wQ8h42l0gWg5PT3HFqoQ4EjzcrgrfOX8ZXn944Nvjf3hDCKhQ3_mqtDVw2s7wrZGFkmbGfW3o5ePGNASR-czxFs6RwUo1Qxyc-3qvASA317U9tukUbAu_UgO7U7mYDTJ1mxMdkBdmDkxMlGGkgzE3sr7uxRdnF4tMGZ_rJk3mN_SX8zMsHLxN5O_hN8RyKbxtHEBn80Y30LgKpOBl9Y4IQjKBFYKRRCGw8H6Lebjd4OwzRa_UWjhZ67SN8NRQ2gXcsIDjONgrR_wyLw0EuUkYYkCy4-K_BW55k8IVqB7UG3Lr6tpcvi7iJZ-U2614c2VovB5QavLwqLnBubuvzfk7CSKIFJP4Hg-W66tkYOl-tl_IueX4Zhl4aCkRQvOovpvAPC9M606jlm7WQaASGumBGYQdv56HkjUwzhSDFUpfnuBj2aR98VC2LpuvMlh8OVWQKS78UQa60CIEEOdsWQpgWwt2xB7F4b6vRAo_KlYFbAnksYcLurLnNgwwn2MuLrRqJEzmz-JWXQ==",
  "id": "rs_031704c1cb641f58016ab434d42e8087d0b436cb7056a6a8cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.09,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"That close was empty: the cap was visible, but the grasp point was past the reachable part of the bottle. I’m repositioning over its broader middle section instead of retrying at the cap.\"}",
  "call_id": "call_k7Tyf70CMQBYnhefDssFFDTb",
  "id": "fc_031704c1cb641f58016ab434d634d087d0abf7c4bac7331200",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k7Tyf70CMQBYnhefDssFFDTb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.2222, 1.7618, 0.5339, 0.6827, 0.0257, -0.0044, 0.9957]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0916 right_z=0.0328 right_yaw=0.1944 right_pitch=0.0261 right_roll=-0.0033 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5248, 6.4068, 1.8339, -0.0171, -0.0611, -0.0122, 0.0752, -7.3778, 3.9179, 1.7363, -0.0171, -0.0024, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e220d4bdf976309045570547e3d9bff5756cddb88e0ec6ef63f3db557cf280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d585b40b048c300aaeb63201bb3c3bf488a3eac19e46d469d993b4339cb1e305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a224fe840926d5b95f821aa98a60132e10df3a709d50e10df64f17ea62edf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.247 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 51 changed as sent

message 59 changed as sent

message 64 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2359, 1.7046, 0.9035, 0.1383, 0.0772, 0.0208, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4525 right_y=0.0985 right_z=0.0881 right_yaw=0.1509 right_pitch=-0.0894 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.6068, 6.4889, 1.8144, -0.0269, -0.0806, -0.0122, -0.0889, -7.9111, 8.8547, 2.0244, 0.1587, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.223, 1.9381, 0.8001, 0.6971, 0.0254, 0.004, 0.0215]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4833 right_y=0.1087 right_z=0.0561 right_yaw=0.1906 right_pitch=0.1305 right_roll=0.0074 right_gripper=0.0215\nstate[joint_eff]: [-0.0479, -1.5248, 6.5573, 1.8828, -0.0122, -0.0562, -0.0122, -0.4718, -8.0068, 3.9043, 0.8474, 0.2173, 0.1294, 1.0965]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.2222, 1.7618, 0.5339, 0.6827, 0.0257, -0.0044, 0.9957]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0916 right_z=0.0328 right_yaw=0.1944 right_pitch=0.0261 right_roll=-0.0033 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5248, 6.4068, 1.8339, -0.0171, -0.0611, -0.0122, 0.0752, -7.3778, 3.9179, 1.7363, -0.0171, -0.0024, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e220d4bdf976309045570547e3d9bff5756cddb88e0ec6ef63f3db557cf280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d585b40b048c300aaeb63201bb3c3bf488a3eac19e46d469d993b4339cb1e305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a224fe840926d5b95f821aa98a60132e10df3a709d50e10df64f17ea62edf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTbToT0cNmxuZq_KgiPWaiGU7yHh2rozAi4trnZTXRUm9mGAcyjWzfPC5SjMhE9ddLCtUvyzbtF3wdsMefQMfbcjKrGwmJuEF7-4LnsUaRHvHVAvkT6Hg3ibMAZVSej_CIQEj94VR7qwTt85tXFJ9Qn1Pof0eFdmnW4GI0uiyEZGGpMKgbYORlbrruISSPwMsaoPooch1eMCRTIDWmAm9f3nE0GpJzIDXQGxuS-Sj1D0lPWNUld1lhG8Bs7SYj50_F2QP_5GY9lE7mCutow2Qm34sxOgLPP0SjaeZuZtq2Dyu5nBfqImS40F2RWJDWPtBwvMXY40DMW4-qeMEcxLbniyMN7jj_Ws8_Jz14nIAjA9oj4Kz_chz6aUPh6HjlmKa-wqnZXj7aF6J4GfaIw04nbP15mJzsvu9zBLlhylvDxQcrz1mW5W5WayTrfRCkL85gIR7STYpwHf7ZYo94L-7Z_79Q1DDLXSM_o1p7_7dY0x_zqsfkwF_iJJvuW8ydbdezxw8ltFL9IG96zxGxOjR6jJJjEklCdPElhMcQy16AYX1vTTlL8A5LvIByGS-9Fbug2_BvIXGEvRMqqQeN1gvstQaTJOvUtv-vTl74LHz9PRuqQitA86mWZ917u6eSzLW-i-4zo4Ric5hMeinDZU1BqVxthG4tDBNg_o7e8DEIc5q4BFrWp1QmP0T7sN6JvhxhwsgOshd31hPS-FVOKCWmBPywAh1l5r_mWkF-0GQNrqxdDbv6hEzNNb20WBLaJ0C4Mps4NOqELAdV2-LbB1ndkdBDElYIo6Zm7diUXC0pWAAse2iqpbdz73oJ_OyEF9wYkpZqD4yixgac-HQQei2_XHaXjLiOXKiFLatmw8jOFz67TOzB-w0hFGJn2OO6zV4IYH46ZhAaCl5RJ3QM6tbw1W92eVgWpy2080mMlNJl8H_dDiQaHPSjWAdT4LQ_k8DLICJOpYXTtFlcBVKGbyoR5NEBe7czHTlLMpS93qq8Uolu6WS4t1SerqFtutyMFAt6aFAEQUBKfTG9lwUqnBW6QdmlNSvcePZ632vEI1T8PVAVdiO1ETpJVqbxtDs-eAeIoBFpAekAHTqpnzA9KAzahBpeFtUfmQLZnMeB_8P-Rs_lArbEYmGRyqZAKUT0e7whAUcBjiJR5ShuVh6FvT6jpqv-IOQFlwMLqxkoLFQIO9KtIqihPpt8ocqIclXSxqzJfIHhyUYjN1QeTU4XP9cC3Sg2BGBozB7_h25gRnlGwVdFUPQO0XW7ANBt84wi3VQn8RXwN3jrSGLJb64SzJdC--czb4qlbx4uKfXKHASxu6zQK-1nfcpOCU7xVZtmRBmB5OLKbuCmL2HNEpCzqFcfowLTcKdmU8wuDh_U9HKMkeUsAYDA5A4ZpKYmJcuRqqCQ2",
  "id": "rs_031704c1cb641f58016ab434da679487d0b396570e9ecd3f45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The broad body of the right bottle now fills the right wrist view between the fingers. I’m closing on this section and checking for a nonempty grasp.\"}",
  "call_id": "call_BdXPPw9ChnuoNybiE1v4ql9l",
  "id": "fc_031704c1cb641f58016ab434dacf2887d09d41030791fdb3a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BdXPPw9ChnuoNybiE1v4ql9l",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2226, 1.7397, 0.5529, 0.6941, 0.0139, -0.0086, 0.3428]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4185 right_y=0.0959 right_z=0.0511 right_yaw=0.2069 right_pitch=0.0786 right_roll=0.0001 right_gripper=0.3428\nstate[joint_eff]: [-0.1983, -1.6889, 6.4205, 1.8339, -0.0269, -0.0464, -0.0122, -0.253, -6.4068, 5.135, 1.072, 0.022, 0.0122, 0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93419a1e767b027713254f3130ce859f78e5fd4db181e9f64c589c2f406079e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282d1a818799b4dcb24b72f1a4d8d76b179642de94352f8a982da421af6fd2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fea8b76724d13c27cb14dab894518b7950c3aa1e6d04593040fc24ad905363a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 10.01 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2211, 1.9354, 0.8276, 0.4808, 0.0505, 0.017, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4666 right_y=0.0994 right_z=0.0218 right_yaw=0.1607 right_pitch=-0.0548 right_roll=-0.0028 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.6615, 6.5162, 1.8046, -0.0024, -0.0904, -0.0122, -0.7179, -6.5026, 6.8581, 1.5849, 0.1148, -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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.2222, 1.7618, 0.5339, 0.6827, 0.0257, -0.0044, 0.9957]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0916 right_z=0.0328 right_yaw=0.1944 right_pitch=0.0261 right_roll=-0.0033 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5248, 6.4068, 1.8339, -0.0171, -0.0611, -0.0122, 0.0752, -7.3778, 3.9179, 1.7363, -0.0171, -0.0024, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2226, 1.7397, 0.5529, 0.6941, 0.0139, -0.0086, 0.3428]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4185 right_y=0.0959 right_z=0.0511 right_yaw=0.2069 right_pitch=0.0786 right_roll=0.0001 right_gripper=0.3428\nstate[joint_eff]: [-0.1983, -1.6889, 6.4205, 1.8339, -0.0269, -0.0464, -0.0122, -0.253, -6.4068, 5.135, 1.072, 0.022, 0.0122, 0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93419a1e767b027713254f3130ce859f78e5fd4db181e9f64c589c2f406079e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282d1a818799b4dcb24b72f1a4d8d76b179642de94352f8a982da421af6fd2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fea8b76724d13c27cb14dab894518b7950c3aa1e6d04593040fc24ad905363a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTf6y4K2O4efpZUTSLJSCddYQpHhaGeSaU9FqYLz37O0wDHOlmgqgtPmCDtelm2HqlrPtkax-svI-Niv2M1lNYo8bi7A4PVl4WjGp3B3ijfjQzUXyfNZpxoybYFRtM-lD70dOr-lRpv9rJIFkiaeaICDnotFhd6ilGnRPAyhgcF_7KuSk6u3nQjbhRDj7OgO01UYyAVGTBuH4wEolQR-WkywNrBiEU4782ScWwCj6xcO3yyfzL50Zl6JjrttiqvUyQKXMCXWKW-kpTOY6ApEhnYGY5Bo8TAZwe9oJQ363K4FY9nNYdk7HUAxOuSUChA6LuVFLzeeKcP92AugSXTYrhqVGYy5BjT42SKeGnqUqsGoGoSGMbiz5XKldhGo2J5h0ZzcK2D7jtOn0HyUHrLXH1Q7-UHZt-lIHxzRJ-eSpVq9IconcvL8qhMHraYkoWbCpmuAdnaFDRneT5kRWvoxfSK8Z4McMRVbAW_vwHVJLahHEinOyIbqM2UHcekAsFDQWV93VIXGMF50KOdmKFnnSU8UQYXTC1sat6dCR2I8Wa4oRsKvFXQ2Hz-ObdhH9RPJAUFstVzFQk-Y7DnecZ67Bp2AQCAxQYi9YLu2FIbaU4Yyrw75bDb4uMKQ2hOInKHi3p5TwNMTp-KScjy5MnN-ZMILobDV2uHDDJ-aLjcgvSHP5OBtAgGyKfUBG5n9mRM-gEM4aMhqvCfoV1HtOIPu1QCM_1X9GXUxXcWUl8S_3aLPJyr7w3OGQrAhpu0GhgeNLArVaqM18Z8wFM8GqcUQa6UNhZGfZjLcX9ZFYaxuCr6mo43InebljTCxnc1wDUJ6INP9KoUERgBIhsM7EthcCMENqAPeeSwMMvYKStP1pToBqFOZXw3I5oI4AGB4dIiyjwNK-fyiPkeOMmTbQNLQosaNGo0sAJA1bEHb83Pir_tiPcy-BfHb4WSvujCsA-L2x1d93ecjsIvmn_xDkQLd9U4P32Fo_4AQ5X_VXlnwWFLARbRVbEia-V6rwXBhDYBwTSPkU0mdE10_cTADuMHb6Oc0sBq5Iqqxi5kI4Ip_r0cLAs-SbnqnaHt7ULqvGVawmy3MjYds3ukUFsSXCV5fOo99mc5a0UctKi0TBpAIp7v6G_eNG9it_MbYttXBgYCwwt1wk2z1nAoH0QtJGP0Qm6ECQoTYpxNjWZpYAcEn6rQLW6L__KUNGzcBlQMGZh4F-KtA8zSyPXkSSETFl0Sbtc6O4Ql2vXRPMgSgja4r7G6ina1BQonzsi0uMHH91byyWv-FZRJMuIj34iU6TSmfftnMBOIfWRFj7al8unhfoIic_fLsIZiyD0iwsa0ECcRDmtggyeQ9fmKXweoQL0aO_nzql4PtXm56GwGvgCPS1yo8o2rKnKjqa_Cs4znrk4_mug5KUG4XyZ_pGWpPavDAgQh3R9dl5DHx6v-RZ3kwseMcS1gwr8m1qv885yjXR2jF6cNxAfRvC1a5GRPIqLeSkE73K4mYrVIq4nwCODqJj-o8fdUpmu1lBT_yT43F2khj789VXN9lpQQoKap3h_UTvfyeVBk1aNXv79_BEL93PoWdYUBBk-nAdZY3XestAks4n49tK4BYTWn7_pyWCXykf2mEwIFk09_Pd1Vg9bd1HEmIOYrMfct3Pv5gIAW6E1oRl5OWldwH86RsP6DVVpNGlHxBIiOTJ2I_w6lR78vRDbQaolV8m_HARFWfsgSI1yFHlPOc_j1mxt3s5Ki1EaONGjXq39SbZqw_6AslFjpkHur2urOnJLtLgMMrobyD8tIjHda1GseUlvU7lzASPHeAGNAk75EVgmeeU_vll5HwK2LKzgYrj15ueT8tqbMNgrLjTPoBybaGVeHEJKtff86MDTOCpLMosykxL9SeckUNGdLgofWQ1PJwlJoh3VHw3CQ3gvrQUGTKzouWBr902Kl4Q_9MeJ0I2ROVpGlsa4ZKeMLel3-2KrK_SN6vsvHFkDuFe0Gi4INxYDshrEC_0_p51FmBE57FckLVAOg59ogLHModALhmCVTGlPYcZO4qbWTMde-ck7JYl204wOyFL78bWa0AQ==",
  "id": "rs_031704c1cb641f58016ab434dd8c4487d0af158502f69e44a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.31,\"right_x\":0.41},\"note\":\"The right gripper is holding the bottle at a clear, body-sized opening. I’m lifting it well above its full length so its heavier base can swing downward before placement.\"}",
  "call_id": "call_V6KNYEgfrbbYSnWBZ86Mvqrr",
  "id": "fc_031704c1cb641f58016ab434ded5dc87d092cf9ca08ba6facb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V6KNYEgfrbbYSnWBZ86Mvqrr",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.2241, 1.3811, 1.3727, -0.5793, -0.0002, -0.0208, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1826 left_yaw=0.0034 left_pitch=-0.0072 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0971 right_z=0.2926 right_yaw=0.227 right_pitch=-0.0165 right_roll=-0.0038 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.6752, 6.4068, 1.8779, -0.0122, -0.0415, -0.0122, 0.335, -4.9436, 9.6889, 1.8388, 0.188, 0.1099, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc6724db3a5f8534ee7fe01b93c493619330dc49855525f59dd374347bcd7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6fc91d70bdb6516fc500be9a35672f42e33c67980aa8dd12a44ac8d702318d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462c25e2f25b1a58af8c21ec546063dafaf75802d405a1a1452be1449167b3b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.224 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.223, 1.9381, 0.8001, 0.6971, 0.0254, 0.004, 0.0215]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4833 right_y=0.1087 right_z=0.0561 right_yaw=0.1906 right_pitch=0.1305 right_roll=0.0074 right_gripper=0.0215\nstate[joint_eff]: [-0.0479, -1.5248, 6.5573, 1.8828, -0.0122, -0.0562, -0.0122, -0.4718, -8.0068, 3.9043, 0.8474, 0.2173, 0.1294, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2226, 1.7397, 0.5529, 0.6941, 0.0139, -0.0086, 0.3428]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4185 right_y=0.0959 right_z=0.0511 right_yaw=0.2069 right_pitch=0.0786 right_roll=0.0001 right_gripper=0.3428\nstate[joint_eff]: [-0.1983, -1.6889, 6.4205, 1.8339, -0.0269, -0.0464, -0.0122, -0.253, -6.4068, 5.135, 1.072, 0.022, 0.0122, 0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.2241, 1.3811, 1.3727, -0.5793, -0.0002, -0.0208, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1826 left_yaw=0.0034 left_pitch=-0.0072 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0971 right_z=0.2926 right_yaw=0.227 right_pitch=-0.0165 right_roll=-0.0038 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.6752, 6.4068, 1.8779, -0.0122, -0.0415, -0.0122, 0.335, -4.9436, 9.6889, 1.8388, 0.188, 0.1099, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc6724db3a5f8534ee7fe01b93c493619330dc49855525f59dd374347bcd7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6fc91d70bdb6516fc500be9a35672f42e33c67980aa8dd12a44ac8d702318d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462c25e2f25b1a58af8c21ec546063dafaf75802d405a1a1452be1449167b3b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_031704c1cb641f58016ab434e3653087d0868128641078603b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTrOLbubutlA7EaNoa8SGk9bAJMqlZOTt8B2YsPbOeSmIZ_7MV9ncATZi88QpHnHkJAucSdW4dKHB5zqRUm5eDuewe5BcVJvbhhg3m-pugC78cHBqr6TUx8IclmACR3bvrD33PZzJuAm4P96Olobbpmt_0JK6U_GBb2FjbQxQzC82aP3zpfcBA5B4qHBKsOYksyaVUrNdDRRNQdMolXgfWh1JfaX1iKjOEyfpJxph0pmxIRt8wG-58HMc7ZlAXQuQ_lUefraolRe4TmoLMAXJWxemEBJKKWYW1qqBGH4JBpHg3ECQZXggoUBkBJ5DSSbLuBJiymBycVu9GcCTsFzzgWTwMNmon2yYaY3vf3Vel0AahkJlm1oYCHRHRP4Rc0OCr6piMdhpZoSUqv9DHEVJIy50RMai8rrAlcSWl7zfInrso5lxXh72enG99FhNHdm62wlMsxeErB7WPhFtCOVN2XklzE0NcpNvB5nTdLdJYW9heBg2SZ9qT3MmnO8RQJtuUqa2kVQncsMWNoVbnRijKO6b8FJXXThWDahuR9GgA3laJ6xPQi7HUG7rzXspLNZf4JTKNtl0xHqWXuesoO6EezLDPii8QzKeAb2Ib79i_t_2EckHoDelzrzmnBUrE6o5_VJ2vzsSbGOPSfOav_iO1ta_xhgzn5e8NsVN7sFu1eSkQYRerQ4bNksOryq3pznQVRuPiQaUtuopHwHwoC8zvWvpvbDkoJvdUEGu0woheFVipzwUK7a0lQvcIZCNTg1SA_2LoXkzYyOP_rt4QICwZ-6qhj7Vj91tsN9dvoRLxHuEPvchi--V2P1WOkuL-zkjZezOpWscEKqPhC18aHlLOHPEZlQDWGAskgVaTjU8F-LTbSVUQJZafKclXZAVKU5EtLsZ0HR_t8M5gUB1BtzAYky-bVuNiQO1wnRZikRliTl7ICsi9ZzVoDfRQomknLOSMqahsKVdVzUehO0l1KRNYyI3xwFr2YXgKMJUGgVSQVkhcis-xlLjwjbEZJUNeA5bTFniyXCIJ8CnR2thUcvDPLgpZxW35VOA_flH_xJnOqJyqJUPFHiMO5iD-y5pKzu-PrAM8weuu186xT0l9aQFd9IGxfVtJMRv9OQ4G4zoh8z0ftOH-lzXrrtsZj9XajdcEWAD8Qbp3vZ4u_QZANBhGbWAtsuQVW9erdkxy4U-_66xqYBzsTZGXlN9zrLobTzTQgFt2uVUkPjEraNb9Yvgi7Ql9N1G06S-TAf_4YoPt0eHiqSnadAQglMOwAdlV7ufzJQWtEBTkXV79kuR3VP4c4LQ1cZoPgGtHlwRCcKfhcH17iLwEQ0THcyg95XYMUvQmOsU4w3HfovNsxjDzazi2CkwVvVUbzMEvOIGbdI4bzeF5XPHIvRiva15d2NnLfR7m_2fB9hfwrGpHuRuj-Vq-QAzH-9YIB_oMrmC6QTERkUGSfPQIUR_VGfUvRSy751XNPlAKeqJm2q4Z3pgqZ9fiuG___kYQ7JCYFJF2ckFYYdZaXSIlV_eGA-A2Gcri3rLEBFA-oo2dvrbqgdhHP9_qn-UkMvnDaMg2GqTk46CUQxeB4ZfhQi3-8cJCsVl_kuPtmTG7Do3h2NNDp04b0A0gbCdyuDnnmQdqxdnNnsYfMIPrfPCrEvYyE7ew7al5YAcOUfI8pA3y5FbfeYdLr7WoTiwVjxPyzagxuSeStLQD6IKKCFMn1q6cgGo1HE2eqrmdLsXw1-av-FusgBnFezTAHDXuoZgl0oFdOAdTOFEP30dh2Pp2vyhAy6-_dVs33dcT9R_vNuQIuilfOASDPK0kUUA8BK7YkMkMf2YuOpUopjAY1WWVD3PUTh7_Y9INWeRWrFOG9whnZ323Qs0l8HQ0YJVzSrecTIx88QGP_qjEnMfFDct6HcpiPVtFeKJYLhXXAmhPuphCWqEgNbuIQtxnJOutOdbhgx_ZWLw4gASzX-glJMxisBKQjr1upcW8nGXnUoNkjZERSjWFU2yMCS2Df_szEZEWsvk0O3mxVlWnScDOe224BYHbNHXfYRtMn0MvtmUOObyOxeQsM-sJkdik2Ba0Dt9HIjHm2MDag76dBJy3_nym_xcGpnD5Sx7CaKEr5sPgOmSxjPW0Du47jkypD0kt5rUH8M8oCNpA89LPywnp9wdCUH607ib2i9nEgSNzLVuGdwsc0ga-k9Sw54pMxWMGqdXUI8TcU_cDQP_R6G4kJHuDEMkz6yix9YSAfLr38poaeyvUNHZpaVsSEfFM4Ov5HYRgAJ1vVoaDvX0-HXeCe97S4qP1e9TU_RvWIhVxYnsQqsUkm6vpztXRP4onvjJRsxXjxlO-V9tICqggF8Bl_oPAuoEqIr74zmtIHy8Iu",
  "id": "rs_031704c1cb641f58016ab434e87cb887d0bf436dd662bf8d00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The right gripper is still holding something bottle-width, but the overhead view is ambiguous about its angle. I’m bringing the grasped body down near table contact before releasing it.\"}",
  "call_id": "call_LxSXwMOa11vvMIAIuQQUe8qn",
  "id": "fc_031704c1cb641f58016ab434ea2b9887d091a8c0e9cb5e35c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LxSXwMOa11vvMIAIuQQUe8qn",
  "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]: [-0.02, 0.7963, 0.6136, -0.387, -0.0223, -0.0296, 0.9983, 0.223, 1.4822, 0.7013, 0.1383, -0.0036, -0.0235, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.3994 right_y=0.0949 right_z=0.0974 right_yaw=0.2302 right_pitch=-0.0714 right_roll=-0.0037 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.5658, 6.4342, 1.8144, -0.0171, -0.0708, -0.0122, -0.212, -5.2855, 6.5983, 2.1123, -0.0171, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243fa5a57a67f6e4d4e1eae323138587d916f03a21dbcc4d1b699530cf7f9fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fed08df73429e363d33ae0323378196de25c90f24d913a46030f08b5afc41d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398b399f35a32f660c2ff6734003d3ef5a6a24c5c615de703d3f5e22cb6c4494",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 7.901 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 64 changed as sent

message 72 changed as sent

message 77 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.3866, -0.0227, -0.0292, 0.9983, 0.2222, 1.7618, 0.5339, 0.6827, 0.0257, -0.0044, 0.9957]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0916 right_z=0.0328 right_yaw=0.1944 right_pitch=0.0261 right_roll=-0.0033 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.5248, 6.4068, 1.8339, -0.0171, -0.0611, -0.0122, 0.0752, -7.3778, 3.9179, 1.7363, -0.0171, -0.0024, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.2241, 1.3811, 1.3727, -0.5793, -0.0002, -0.0208, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1826 left_yaw=0.0034 left_pitch=-0.0072 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0971 right_z=0.2926 right_yaw=0.227 right_pitch=-0.0165 right_roll=-0.0038 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.6752, 6.4068, 1.8779, -0.0122, -0.0415, -0.0122, 0.335, -4.9436, 9.6889, 1.8388, 0.188, 0.1099, -0.0317]\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 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0223, -0.0296, 0.9983, 0.223, 1.4822, 0.7013, 0.1383, -0.0036, -0.0235, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.3994 right_y=0.0949 right_z=0.0974 right_yaw=0.2302 right_pitch=-0.0714 right_roll=-0.0037 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.5658, 6.4342, 1.8144, -0.0171, -0.0708, -0.0122, -0.212, -5.2855, 6.5983, 2.1123, -0.0171, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243fa5a57a67f6e4d4e1eae323138587d916f03a21dbcc4d1b699530cf7f9fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fed08df73429e363d33ae0323378196de25c90f24d913a46030f08b5afc41d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398b399f35a32f660c2ff6734003d3ef5a6a24c5c615de703d3f5e22cb6c4494",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTvLNXbfuTaaMXAfoIeJJ-iAbcgNKDsUQFxQmFuHapaRkENIIC4I32cg7nvo2iMcJb0znQAdcaHZt4OLqnYEnC9-dqeyrtTyZ2N64AeriUnBEZprdjbYyOp1DLgprbxh2HZoUqCalqzCoZbnRlIZTntS7tHmR_T45GqQfDIueYXOFwbAS6w2BeM2bd58KRyk7GWaN4ddHp-GS4ErsNxAxnh4_sFjgtk57KSXjO84BvOgp7Dwlb5sw7Giy8i7UYP7Khz7qIAb681lCBLjp4Rf3cgKNx-AaSEs7ZpCQ-pEEGEgl3gnclmEGgyWGml7GMMgGLEegPdxQWGUfK4C_5iVIhs_hk1t-Hi0sffNG0937ftnTX3brRlTT0ibBTAihsoWpEBvf5hHv7lYHMaO2WjVhG0pFX0juJ9OtENimw-or77yjy3FvrEfHYsoOujGBTEBKZNjf57rG1vigcBVZwX6weDviIFa1lmnySkV_aGcS54xaCvS2Yyf4T14KGuDng7Jn8VEHiczMSDHLF_uhJMNBOOqy_HViEhDsGRMqW36pFNdOfBaqUs0sqgM9HlaF1q-FL-mUzfnWVUimr3yLYTcS-JzjoZ4LJ8-0YU8HkvyteX3aMu-6R-YimqNY6RrY1vCaC9sNuXR70VUjhJMzTFKGoUTfn5s_fzR7KrPSwgHi3nwbD8hvqVLrvnRCBe6U2GMu6KcTef1p90Mg-H4NjnLuuNcYCVfCvYDXTXQD-CWYD9ffarIGn8_1LEtnT7VBpBpkW5Tt-J0dmkK1ehM9YV75UwtnzIJQAPADXkt8bXAu314k813pp363uzRi493eJyy2M_YbTVBXB05qjKSjWpCd9l1iSxn8uzGwfvPhmd-YRdCghYZhtB5XWo9syN9R9fAV_PcSHwjtet8V-qCerhSPTwnysOUjJjDUOAgU531Q1CZt5Q0L4Cibz0uX-R0KUk1BblURdyNZDxrX7dTUKUYSJDHAmo8E-2oqRHy9Mm9lmfWAxz-dz1AziBzGSRBHbvN536rSWTakB4doYLQn_qBb5jw5_MiGy6PEoZshGjWnJMyYa0WX2WUxwXDAvaeERa5sVJZ8oUK8TrwTrp5SnADLqfuau6cDFsDF9n84SQ04XiqsRYu0tAO17EQpRmp-3Iq9CmmFa-6DLUoMya2OqwmpIInf7CVyogK28cVfeRH79T1_-qDDh05bIWmyTAB6jtTsiWnVlL6vwM91qXI8FMAmMX6uzyN2HYWQngo975dKETXlU0otUfaJVa7be1X3-g1wq-uWM6we1_sOAoyvWqBV8Kie9V1I-66zM2ri8ltgsRomsXi7PwvWU02dFPeMzMmfGXc-dilqHtc86L4SAMuaMrRCB2G5uLzzNfa8zjXTMBxhBMtnsA5UlyDgKFVO2QX4EdPLcRoAxbFIaAM8Jv6pqUFII5dJs5GmDrO6Yq-yIk4Vrkfe2gzHonmIuD8Gowni5tiey9qxhnixpzI1HtoGuLAcmr6qYjquhEnZZvs9_4NgmgofIQ58UhgnmCrESbucK6Inn9wzhaG_OF3qf0SbPUbW-t4ONX5acyb3I2Ff1STMo1dovYA1ytYcNC1cHvuwFli7OY1F3PRtN9gUfvp5FBW2niiuB0QioFK-eDLaQ-kCSFNmQMyBXNLdE2-WLE7c5eSnLyWKUYHOyI1tAn0Z5mvuWRWxk9uBbU72ih5x3mXFUxlNKh0-ZG0i0xpFYKZbmkF9KnRBiKisWzjxVGgw0aEmGNsUq9YqlMNQZAr-9pgwCA1HJr3IZQ24cEEHoVU3gvuc3rFDrwYGro2Lg9Z4rpOQ==",
  "id": "rs_031704c1cb641f58016ab434ed92ac87d092740578cea5a0db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The bottle has been brought back to the table, but it still looks lengthwise under the right arm. I’m opening and parking that arm so I can clearly assess all three before the next lift.\"}",
  "call_id": "call_k79lv6mxKkyE9gdEkSXo5ZfI",
  "id": "fc_031704c1cb641f58016ab434eea47087d09dd0a7883363c0b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k79lv6mxKkyE9gdEkSXo5ZfI",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, -0.2169, 0.8726, 0.59, -0.3237, -0.3202, -0.2417, 0.996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3036 right_y=-0.0063 right_z=0.1682 right_yaw=0.1727 right_pitch=-0.0003 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.6889, 6.5026, 1.8486, -0.0366, -0.0269, -0.0122, 0.4171, -2.0034, 10.2769, 1.7705, -0.4078, -0.0122, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4915f1701d1b5b706ede74e2f5388562c84e6947c770461593fdab60f2d587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522a0a4b90945a6ae60efc880c57400edf451f1664961061bfbaddd8113d3c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff3c3adf0adba2cff9aa6bcfb5872940e3383d4a8ced144d042973388d27a4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.879 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 68 changed as sent

message 77 changed as sent

message 81 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.2226, 1.7397, 0.5529, 0.6941, 0.0139, -0.0086, 0.3428]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.008 left_roll=0.0019 left_gripper=0.9983 right_x=0.4185 right_y=0.0959 right_z=0.0511 right_yaw=0.2069 right_pitch=0.0786 right_roll=0.0001 right_gripper=0.3428\nstate[joint_eff]: [-0.1983, -1.6889, 6.4205, 1.8339, -0.0269, -0.0464, -0.0122, -0.253, -6.4068, 5.135, 1.072, 0.022, 0.0122, 0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0223, -0.0296, 0.9983, 0.223, 1.4822, 0.7013, 0.1383, -0.0036, -0.0235, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.3994 right_y=0.0949 right_z=0.0974 right_yaw=0.2302 right_pitch=-0.0714 right_roll=-0.0037 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.5658, 6.4342, 1.8144, -0.0171, -0.0708, -0.0122, -0.212, -5.2855, 6.5983, 2.1123, -0.0171, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, -0.2169, 0.8726, 0.59, -0.3237, -0.3202, -0.2417, 0.996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3036 right_y=-0.0063 right_z=0.1682 right_yaw=0.1727 right_pitch=-0.0003 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.6889, 6.5026, 1.8486, -0.0366, -0.0269, -0.0122, 0.4171, -2.0034, 10.2769, 1.7705, -0.4078, -0.0122, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4915f1701d1b5b706ede74e2f5388562c84e6947c770461593fdab60f2d587",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522a0a4b90945a6ae60efc880c57400edf451f1664961061bfbaddd8113d3c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff3c3adf0adba2cff9aa6bcfb5872940e3383d4a8ced144d042973388d27a4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT4t1396itvy_YtMvKsNnHrL-wbDIcoeFG8kxD6dcKJcxaRba7U8N4JcaC7YB3aHJrluQqyaUdvDQlQQBQhgxIdkKe9Nl98shDNQU4gEFZYdCAM0tCO-CXV1ZoXZ1j1uVWaPxgz6W718KUC4gxWX01pnwAl5r1w0SIqhsng-3nmnJqJbncXF0i2f-scIqoDt5wLbQYCw7GmIFCeRms0OFdUky4tGfL7ZZ_lGhq6IvpcVF4hWPEj2JU-oPXJ-wqODEWFsGxFUaqvFPLN57qDCOUldEvVn-IFocLwO45ACjSTctUJJs9jnsBZvju_KsWybs9pMBxlylmNRPnxjS2nGUUvyl86gZ7r1puQDOE93LpJMT3bTxJEx7Osjsk3Qy378IOFt2y1fy-45IpLGVmpf14Ee-iXImO5my16bfn-48xRtLs4obMqE9FnkvD2ANxVY4taOlse68TQw4z3VGEKWaSrv7_1LhBGbJFGhGZeA7VtDUC7ix3OEeWjQvtKrCex1rympK7sGfEi6_LEMOlTImFTd6jni7Bv-zCpNOzx-LHVHOR2wb54Mp4LAGH2wYJqZNrT6z3N2WNpX53LngVy6vxwRPuA52_SEmxy6w19Jf31_roi9ordpEzweRUecl4goLCk0sci6Hmss0A39NhdClWtJZqp0Oo5NZyl6eSPzlvjLU3NJX6Qcg-fmz8CQWFoywNT-ubDW0ZvwijXWhMUn3YRLryyw6EZ5bfTFlUFW-OD54n4yfozO4wCW7XHWv1IoNhT2OXhRXQxNAL6Ls5yu-IRMGgv4HyqHw8kMhc109W1_Dlytn9xgIySbAz6FV-3deoTtrUVHCfvq5eXv8L2-0_y_oJZaWzGbfQXQfoGK6iab2DOd_kETuTkpxzVeyJPolCpRoTJcic_G6DV_KnxQWLp8DahDNNpOUfUFKJrImo0pJlW9pF6pGcw5A19v-LpdDohNW2e3fU2PZgMuLY3yIuBtnI2CYWXhUV9GE2Qmjyz4u9qNARq6ccTm4Efbj8KX2rj6vCy-jglgHcO98piSskIEqf6DaixNf3mEPEjJgKB4vV2ukXfhFjsr7zWNdnSfGInaSHSaYpmVkuC9CDvr03_YGv6WC0Ovxmx1SZyLDgo6VBAgw_1PWexOCU2gHHKOnr8isevlvwLNYI-Mc4TEarQJanxk2JsjdS53fxVb0-Sk_lCBR3pX8oGsenNT-aVu8XIGpmEzKlQfcBpRUUD_yFultMC8LORf4RCapXYpylHSzn1szTXvWsyikph_gYH4r-rIrdOkgV9hA5TwXwoChRboct6qaHStwJ0sTQEPAG30xS8BMKryHqFwYlYMXx5xU8drPEi9ABjKnUlw3p75hlqvzDykOvSWhtizbL2dZDSTwYJX8y3D8sTFiZ3DhjKLGGzywg0FQF1vo2KjhmYd9brGCZ7T7sGhHxMcNKM3hb29-XDVOxXpaRuGfh-0XsAGbcnmgxZrKIBuvX4yeSSANjR0jyy1cpkwBoogqQTHtZ8V8adOBLVL1hNnbZCtMMJi8sN0MQkjYlKTZAgC3VVLqY-aJVsbnlRRyVYiESsO6n6BC7yaztMNFBoeNY4AbjQWbRWX2Q5HZ7fvVzhKZ1clJLDtvhT0gSaUK7bQ6BgFKlFUzlYhFXi3mxX2WZlTB_bdckp7ScsWKxdmoR5Km4l3fUQicmZ3fvrp1FO1S9nD0DLHxCn-A3iSn8gaNlk-AZDkLGB4aO6RgBt5SEEXNHcOkXHS3jfF3TXdUyzD2_nxZqP1NlWhtRAlVAPc4dJNh5ULRzW0vKWK7teLgeqdxXpkLlmVuU9TDwb0JXavHxE15h0Yczh6TXLNGRJKrrznvyd6Nw_q_klDD3btjThbh_UwljimAyHULdjW72467WTgOU_W32129RpMYeFke-0jnZy0tMxs975kbIDbla9h9hw7jdkWt7n7crfEDjjl-Q3_nvWJUGfgxYnAwe__303ma4EvZMGFnrvTseLEwMXhhv20j2i6L1I8DRk6RxxwIfXuNjcBJh9yr_RnHVEBnd88yjFtozQkXXFlWLLLcwpDjfOYjCuGcVG8mEn2I1uTQ7GnE1W9bbHT9Ba7z3OQcyqz_idYN-tmvgJCzgTG9990TfA_I91vN1Ig0V-U-wgcV-bFP7qs2UGgUiQgBUPSFsB4i-h-ok8_29WzGuc5J8Ofe5as42GNdlFklRheakrqXRPUDx6LqDmMaf29b1sJXeD29B654n7unbspcg_tfwkn_NrBkknYd6VWdAs0WZfFzvRHCmGTUGNzMp7Fg92bCh_v_MNo4IGJ-SjqavfjbBv9VyRFUBwcf7W72oGWLbCdOmNm-RmKPqwXyB9bD2-HMYCMUhgMhBC_XxfwF2HWmxwDs4BDLxKaqIrq94jc3F497RMezeS3tMVLaeKdKfgBf1Ydy-MVBGnkE3ck1Ck44S6WV3F88QPoXN-KB7Z2WL04k_h65gf4gIDT-jcVLcJ24LIPMe2ReqSXaCgF1dEyGLlAqlDequ8jj9MBD8O4KevWmILUAbu_iNIUKeeUEdoE1GYWP7AYS7tqMrs8WiOjpWsGkRNbgLLF0Ru2Yf_03Vita7voPGIvpEjkY_-5qvJw2X78_l7mX94DIG-cKPPLN5iKc1gAsq_hQclf5yBKIqZP_GlLQaEqgsgN1aak6TJoYzYaWrDzNIuaUHh5yLX-_pEBCDnLWp0eJ8HhXRY2_3wlRYYbeZHgJNkZMHzOOCqpmrbnwg6LuNylg3hDWy1KvX9GhstMJs1UypgkYwXOw7D9kmu4UzVHPrzdQtD-o-Is83kj_95Ul9mElUaWnrO4xSTizFGOXqXuDGl_W37ZWt_R_MscxLrScqoVjZuJeYaLFjmnLUgBITbLOIVbqukvyQmIwghu322k0DQOUnzfKIJX5FdLdIhP9MbYVMgUViRAaQRZSszPdbrqIrIgWm2hypjivv2XfUjjAFyJ8DLqGklJT7LZI_yBMHimeQQFbvTFYxgMXxaj2_mA7gqbgfh0wzsedsQVLojQvPfCOFeZ5jI6Tb5wZSMt6RjFHQ-vtxT9CizJQSRbjdkKLe_3BOa3ytTSIcwCUuK6b-LRrY55S7ZhhaqykXXsN4ruhaKqQNjXxG8Pu_okk3Er-cmZd42MKo2zGnbfgS3wNBixF7u1W5lzqFeyL6G1QjIRxFCih4Qhepz4_1b-1b86jI4DqCQiWwMHcZvFsbO3YUb7brJr86AU8kbA1yyp8IlsIvbg3GPZYYeNOkVexG7gIYuY_Op4WbkkA63x0iwjxE_-jetxbqemyKk3w2nqVQy1VZzkErQGpb8bdY2sgBP7ljSeTCaN0AGdPky9jrTbaoAU0NG7JGTBZVcrU_YX9mr1ALTbqnlUnYmtegZoL_eNkQTnqY8TvjScd-qdyQ9ukAPcfILa3CNh1Q_9KBSp6wa3eVQdo1P6sb7yYQks0tUBOg5VhgsINJ1jM16VQKB1LtOCpkEL4fsvpFaMJHE00h35Bq_0rU6GhXSdZRwIDLVZ-gPKuQQD3BBarecQPwoYX_HHGCkJzYkDuOZUkkR6QlVBvaRG6UtK0Cg_tnHsoCH30E-Jnu_PYdas4CTZA0urQ2YLmT82uY2KRuyFmmQnWhfN41zwsPh8Q8Cavbwt6ghRY82L1GanAN1to7KqOqCnbkMMQS_ekiDu5bLQ2HHkOwrw7eQIvB9dfWE9Xch520hGnJEwS7zbpcfYWFZNOq8RL4RjbIriDOxvaWgbfnG9-3E9GD0lrPYWVPW3QW_b0_hk0rpBilY3nsumaU4qduyJnmdDC9xrnHya6ZblsLEVZj8hE6vERV7lFDIjkiNUoOo46y6MxC3cT3Ja6u1XZy6tx_LgiKCn9zCmk5sdwP_poU31cHpDy9xxW9EocfyEXKrQib_9x-94Ly0uqXOMoPSyawTrqB6Z0NTThDxtPJpm3H0oUaCpw3rgbd7sNIjnjeY-wlwV-yWKDrDPITAQR3zgWaqmmD-1Xlxiui4DAMMStqpJeRZdf6S8ogm0PYmteEf4ioZIMNC9jt9KLItpasmAg==",
  "id": "rs_031704c1cb641f58016ab434f2a85087d090979f402a1299be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.29,\"left_z\":0.13},\"note\":\"All three bottles are still lying flat, so I’m switching to the middle bottle and approaching its upper body with the left gripper. I’ll use the wrist view to place the fingers more precisely.\"}",
  "call_id": "call_ww8SLht8yhYs8jHpDAaTA18C",
  "id": "fc_031704c1cb641f58016ab434f7aa4c87d0b5cd58df05ba363c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ww8SLht8yhYs8jHpDAaTA18C",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.841, 1.8778, 1.2465, -0.1555, -0.6746, -0.5629, 0.9983, -0.223, 0.8753, 0.5907, -0.3508, -0.3412, -0.2584, 0.9956]\nstate[eef_state]: left_x=0.4049 left_y=-0.2817 left_z=0.1203 left_yaw=-0.003 left_pitch=-0.0248 left_roll=0.0113 left_gripper=0.9983 right_x=0.2999 right_y=-0.0037 right_z=0.1633 right_yaw=0.193 right_pitch=-0.0223 right_roll=-0.0003 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -9.6615, 8.5949, 1.3553, -0.5104, -0.0952, -0.0171, -0.1709, -1.7709, 7.1726, 1.9267, -0.0708, 0.1832, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b12e1c792367b714788410acc935c92b2fd67e93efa736918986df341febbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc42b217c23541c3de9a4ae0bdb68eb20f642265ae4fc8db9c6f8f5bf6c490c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3e730d250095c9fdb35c825f79e38b7428f5b1e98d92927ce294732efbef74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.701 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 72 changed as sent

message 81 changed as sent

message 85 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.2241, 1.3811, 1.3727, -0.5793, -0.0002, -0.0208, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1826 left_yaw=0.0034 left_pitch=-0.0072 left_roll=0.0019 left_gripper=0.9983 right_x=0.4099 right_y=0.0971 right_z=0.2926 right_yaw=0.227 right_pitch=-0.0165 right_roll=-0.0038 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.6752, 6.4068, 1.8779, -0.0122, -0.0415, -0.0122, 0.335, -4.9436, 9.6889, 1.8388, 0.188, 0.1099, -0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, -0.2169, 0.8726, 0.59, -0.3237, -0.3202, -0.2417, 0.996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3036 right_y=-0.0063 right_z=0.1682 right_yaw=0.1727 right_pitch=-0.0003 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.6889, 6.5026, 1.8486, -0.0366, -0.0269, -0.0122, 0.4171, -2.0034, 10.2769, 1.7705, -0.4078, -0.0122, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.841, 1.8778, 1.2465, -0.1555, -0.6746, -0.5629, 0.9983, -0.223, 0.8753, 0.5907, -0.3508, -0.3412, -0.2584, 0.9956]\nstate[eef_state]: left_x=0.4049 left_y=-0.2817 left_z=0.1203 left_yaw=-0.003 left_pitch=-0.0248 left_roll=0.0113 left_gripper=0.9983 right_x=0.2999 right_y=-0.0037 right_z=0.1633 right_yaw=0.193 right_pitch=-0.0223 right_roll=-0.0003 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -9.6615, 8.5949, 1.3553, -0.5104, -0.0952, -0.0171, -0.1709, -1.7709, 7.1726, 1.9267, -0.0708, 0.1832, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b12e1c792367b714788410acc935c92b2fd67e93efa736918986df341febbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc42b217c23541c3de9a4ae0bdb68eb20f642265ae4fc8db9c6f8f5bf6c490c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3e730d250095c9fdb35c825f79e38b7428f5b1e98d92927ce294732efbef74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT9Ryp98k8c8jqL9Fhp70AoLy7orplPF-JXhwdZTDkUHlb-qP9aK6sVZH6eGt2WmRPwG6zU_p1V2nBV2P2d-I-9qlVtUDkv1zkWbIhzDsCe81s7o8JI82265-CAKuCNq7NluqllaZI02PMkong1OFR0zntJ0sgZG2TtozfXKEyyFFV7Up6DscrPUU1Z5Sk6GcR845zmcHSbAhvQHRQHQQZa62INSkaEtAgfPDysYXLnOcM-tT5qdmVTj82G8qiKBpRVLngYN8G055TEa5Q3bppyy6LbQva8glfeVaJJ5Xw3lh9E1LJaN0uWwC1pRPckV0e_uOeOkTpmQrHLY3THeQ-2-LItPGb6yHpmVXl1F69O0Ni51xOQjfpfAdKGeBSKdoGTR5s-3HSotFYDAI8eckpayqm13bt_jlOBy-QWggqw9efYLKEnlDnfMLq6uTamhM1u7wrHQQJ-msOpzTSBmi7Jg04Cn5xh6UkKpt7BSGNeIc0axfYXl6CnS-kRdUCWlGfCfHYSxBmoctnhMDMsPQGnbIYrQxrWxlmdWPFE2sYaZrbGsZmSl6TmJodEyAYHS-9pguMAZqhIjTk3Qr2x4S8nF_kO8EOhMWIHmQ3ZZJIOjcaOu9B0VltsZan50Y8Aj7Y2FOizxDVR9foYBo-Olt4fRpmhJnm4YlSBP9Fo_t-HplYP6hvx9JMBvkymmHv2lLjoymZfj9TL5zJj3pX9qyqxS7-gfOZR-As4MxfNVQFtnrp6Rmem8oNMk-grGM7HoEJKVy7taKs_YjHJ_bKk37xpmm0uOOpw2uyqKZRj6lRai2fBu2K3ZJA0GX5IndnaW0jbGJgN7uXZQI3uEAhO33bdxvL9lCcAJ8D0L7J0J0qWUb5EYhEOKKZyEo6PrR7hDp5tH5QOcK1WW3ZVDk5HgIVol_xijgnOkON7h9luimWU5lYCkNWPXXlKV0R1Z0KT_JIHbXMQyFB8zvPLCiJjIYRu3S2nx7rNtEzbZVspZRJRaeeReAg_M2k1bBgV75m8qm-xIbl1sYbee2Zt2Yete1RNd9B0Rmst1_i7YxPNkq2al_-KPd_ZLYWh97eutxvth0fyxYru7QoGJJd7rdDbXZ2pzB837gEk1l0Kx2Bwi2z6WY9oQ01xVBy6cYbQK5di7YSt75QLcyBLRdS7E3gHHSfF7RBTwBuIaiV4Yh55bQjrPhODmSsPxgjVLTzNEuechQfLNPDUe82-7dnF4h7jc_WiQLYx4iTxMKIcpFqkppUzCDYyijVufwlYOKbKcokDDae6QfDMvWqUb_jNS4bLeFilP2baE2gnxCOTaHOZ8c1IGw-pDQHpVyk7fEpqpwoCOm8nqUqgyIC_8eK0SFl6YzVqFcdQZqllxTQOvXhO3NEmJuonPc6xejASik5d4QD6xA_EKRtIAIdE9CAJMH_yc9t206WddhlqXZY3DgSUXvgOsFiSu4xRoQlxulTpHdzl_9cs",
  "id": "rs_031704c1cb641f58016ab434fc7b5487d0a1d24ea24a73388e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The middle bottle is centered in the left wrist camera, but the fingers are still high above it. I’m lowering to bottle-body height before closing.\"}",
  "call_id": "call_NUf47Eo5ZZvnk2fevHZN6JxY",
  "id": "fc_031704c1cb641f58016ab434fd1c9c87d0b21cdb558a71fed1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NUf47Eo5ZZvnk2fevHZN6JxY",
  "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]: [-0.844, 2.0228, 1.0973, 0.2092, -0.6975, -0.5789, 0.9983, -0.2245, 0.8742, 0.5701, -0.3431, -0.345, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4102 left_y=-0.2852 left_z=0.0551 left_yaw=0.0194 left_pitch=0.0334 left_roll=-0.045 left_gripper=0.9983 right_x=0.2978 right_y=-0.003 right_z=0.1561 right_yaw=0.1955 right_pitch=-0.0321 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.8017, 3.7675, 0.7399, -0.149, 0.2173, -0.0171, -0.6906, -2.5504, 6.8308, 1.8388, -0.2466, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f15101f78f9a1f557af64898fc880c1c45945c3efb19edb1d7be2c51e622f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5da804bbc7f5b62c625cf994857ae2b1f1e46210d4fb685a382f7f0b5cc79bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11969f5247ff00c3f5d22a21838d08c58a75b49e60bd063f824d459e7cb726ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 6.016 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0223, -0.0296, 0.9983, 0.223, 1.4822, 0.7013, 0.1383, -0.0036, -0.0235, 0.3426]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0033 left_pitch=-0.0083 left_roll=0.0014 left_gripper=0.9983 right_x=0.3994 right_y=0.0949 right_z=0.0974 right_yaw=0.2302 right_pitch=-0.0714 right_roll=-0.0037 right_gripper=0.3426\nstate[joint_eff]: [-0.2667, -1.5658, 6.4342, 1.8144, -0.0171, -0.0708, -0.0122, -0.212, -5.2855, 6.5983, 2.1123, -0.0171, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.841, 1.8778, 1.2465, -0.1555, -0.6746, -0.5629, 0.9983, -0.223, 0.8753, 0.5907, -0.3508, -0.3412, -0.2584, 0.9956]\nstate[eef_state]: left_x=0.4049 left_y=-0.2817 left_z=0.1203 left_yaw=-0.003 left_pitch=-0.0248 left_roll=0.0113 left_gripper=0.9983 right_x=0.2999 right_y=-0.0037 right_z=0.1633 right_yaw=0.193 right_pitch=-0.0223 right_roll=-0.0003 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -9.6615, 8.5949, 1.3553, -0.5104, -0.0952, -0.0171, -0.1709, -1.7709, 7.1726, 1.9267, -0.0708, 0.1832, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.844, 2.0228, 1.0973, 0.2092, -0.6975, -0.5789, 0.9983, -0.2245, 0.8742, 0.5701, -0.3431, -0.345, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4102 left_y=-0.2852 left_z=0.0551 left_yaw=0.0194 left_pitch=0.0334 left_roll=-0.045 left_gripper=0.9983 right_x=0.2978 right_y=-0.003 right_z=0.1561 right_yaw=0.1955 right_pitch=-0.0321 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.8017, 3.7675, 0.7399, -0.149, 0.2173, -0.0171, -0.6906, -2.5504, 6.8308, 1.8388, -0.2466, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f15101f78f9a1f557af64898fc880c1c45945c3efb19edb1d7be2c51e622f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5da804bbc7f5b62c625cf994857ae2b1f1e46210d4fb685a382f7f0b5cc79bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11969f5247ff00c3f5d22a21838d08c58a75b49e60bd063f824d459e7cb726ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUBF59J6WM873NBVezTDthvBqXYZGTd-u-CWiP8dEdLOMhspSm-8GizG9gZbpPhBQe9K_bEgCMaWU8YANlSrOTI-wEJXqLJHe-PVCduloi8mVooub43IbPiOH_F2igA0m6U-heUhiWzcPh49DFZHuMqXjem7ncwEipx3Z6ZQowo8lT_r9bO4UVQoZE4cCrgOWh_zRhil3kKf0CtB_k519FaTOG66aBkz691NYw7-gm6ke6z5wywXkCu1c3yJhbLWY9XM9EAr5vch_OrNbZUrUSu1v87yVG74QQdW1cpHtMqXdmKjPttskK1YD1EZWmngH5h-ZOeCT3GKjEoHP2rbpg-qem3CCSteykKW_FCdFgS-Miqob-YafN5yKTMiq1vA64td0djyr-826CYrV7u5npAa33UdDQF0b1ytot6UDVjJYQ-J5q4AHc2TocQk51M_ZGKA1IXLSaeG3WCKAsYenKo2l_ESQcqkjuwgJScLdJGyL3GPWqPija9EIblExXO4BwdOIyJdQLNF9Y-yQ3HbrASRBPsJ2xxI3GnZelCSitojbrAuoh0b-hIrf54wo38-0Awxj-bDzZks0_ZkqbuAQerxLNRtJy6SfVfx0F_biZ9f0eUZfUYdVzeK-fXdGdLvRrtDUOEPfsO5EmTDSI0cpevmis7nIirKuXG5cEYSNwPfcwa_58-ZmgFMoeQOLqtZ7EiqhjQoHDzpulvspuCH-AGvJAMCTbgBk9MLOVoWYYzVUVbFWdYUvjSKgoNypYzjJFv4Dqr_UEqe99GQzGNyyvco7O0TVdoJ1kEZYNnZ0Z80ixMn2mqNe4egjm0LpUnUtfyeZEGdGVZOhIZoT4k9_Nv8bCPX8KuKASrGm_dNhFKXzwYaSXDe9W_xC8MXrmfXGswL1bYWeT3jDdmYzUtHIVG7-84bFBM2XAIwMW2n7fKEyA2bb_gqAWMlYO-OL-6WcOVOehU2CUG0L5_82C30SWtHiX3TLla6GwFEVWHu2xoN45fc_QgIZtIIbaBsFV3KCo2-siRgX2Pfbdbx9Xx0jwd5Q72iX_fUbP45YD-cp9LcPqMzcyo9WmvWkZRcptJNFkwijCcW0dbii2MJpLlZslEfwDeN7GcSiIwx0eDuNzTIGNl6qceJNVKVFViSxAjdk0crCkpOaCtKpe4gOELSmo8UcTfTKQFzJ0BwxBQLEAkP4nHE_5W6z_NrnMs7CPAFbumpx1G095wJdc3HVdAV8fOJN1OPp01mh8PeQgmskSJADHPNMeTiuu8e3-X1nugNa8bVmUWrfvyPPaKLsKJLqpvWsP1F3y9PItXvBHyPZiU52kIEPa3EbNJuM5dzcGMmBq3YcSU78kpbRCT9QD3gWAT6gaTfdirmT2KuS5-Y-n2O3wyeGbOjkuMjjYoYSaMjxkYUL0pftV5wm6FWMikWPRKGo_HJJEClmQN4sGjbiOeDNq3T7Nat_U-JrnwLs19O2sQJS6kMPJxSDVJqazOaQ-nftWgC04bBTpUbrmD3VnnjD1Ln8J_1Q0XsWlHFCmmiF4nldlKgC0CtcQAdlhBQVxO3ewDWdDPUfJrQBQa49hNU3tE6znid4EHlIw1N9e0nyB2",
  "id": "rs_031704c1cb641f58016ab435003f0087d0bb2019dcdc8a4983",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The middle bottle’s body is between the left fingers at low height. I’m closing on it and checking the resulting finger spacing before attempting a lift.\"}",
  "call_id": "call_ivz9AEUcV6dyP7GYEr6MPDI1",
  "id": "fc_031704c1cb641f58016ab43501338887d082cee2494168e453",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ivz9AEUcV6dyP7GYEr6MPDI1",
  "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]: [-0.8459, 2.0361, 1.1393, 0.1589, -0.7136, -0.5797, 0.0144, -0.2245, 0.8627, 0.5385, -0.3237, -0.3454, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4135 left_y=-0.287 left_z=0.0571 left_yaw=0.0292 left_pitch=0.0275 left_roll=-0.0222 left_gripper=0.0144 right_x=0.2951 right_y=-0.0023 right_z=0.1489 right_yaw=0.1958 right_pitch=-0.0327 right_roll=0.0058 right_gripper=0.9956\nstate[joint_eff]: [0.0342, -11.3026, 6.2427, 1.1502, -0.1587, 0.0171, 1.0525, -0.4308, -2.1949, 6.8718, 1.8926, -0.2808, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b012fb584539f71768379ab5506d4842625ba921daa7b497cea2fd98cb83b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7930543f9c0ec6a839b72105b5768c95a33acbdba09aee789654ec719aea50c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedcf2d4d329613726f15ee7f521dac72df33fe605f096148e6fddf5254b992b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 6.299 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, -0.2169, 0.8726, 0.59, -0.3237, -0.3202, -0.2417, 0.996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1825 left_yaw=0.0034 left_pitch=-0.0076 left_roll=0.0019 left_gripper=0.9983 right_x=0.3036 right_y=-0.0063 right_z=0.1682 right_yaw=0.1727 right_pitch=-0.0003 right_roll=-0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -1.6889, 6.5026, 1.8486, -0.0366, -0.0269, -0.0122, 0.4171, -2.0034, 10.2769, 1.7705, -0.4078, -0.0122, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.844, 2.0228, 1.0973, 0.2092, -0.6975, -0.5789, 0.9983, -0.2245, 0.8742, 0.5701, -0.3431, -0.345, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4102 left_y=-0.2852 left_z=0.0551 left_yaw=0.0194 left_pitch=0.0334 left_roll=-0.045 left_gripper=0.9983 right_x=0.2978 right_y=-0.003 right_z=0.1561 right_yaw=0.1955 right_pitch=-0.0321 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.8017, 3.7675, 0.7399, -0.149, 0.2173, -0.0171, -0.6906, -2.5504, 6.8308, 1.8388, -0.2466, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8459, 2.0361, 1.1393, 0.1589, -0.7136, -0.5797, 0.0144, -0.2245, 0.8627, 0.5385, -0.3237, -0.3454, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4135 left_y=-0.287 left_z=0.0571 left_yaw=0.0292 left_pitch=0.0275 left_roll=-0.0222 left_gripper=0.0144 right_x=0.2951 right_y=-0.0023 right_z=0.1489 right_yaw=0.1958 right_pitch=-0.0327 right_roll=0.0058 right_gripper=0.9956\nstate[joint_eff]: [0.0342, -11.3026, 6.2427, 1.1502, -0.1587, 0.0171, 1.0525, -0.4308, -2.1949, 6.8718, 1.8926, -0.2808, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b012fb584539f71768379ab5506d4842625ba921daa7b497cea2fd98cb83b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7930543f9c0ec6a839b72105b5768c95a33acbdba09aee789654ec719aea50c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedcf2d4d329613726f15ee7f521dac72df33fe605f096148e6fddf5254b992b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_031704c1cb641f58016ab43504c60487d0af8fe733ea528727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.44,\"left_y\":-0.32,\"left_z\":0.03},\"note\":\"The left fingers closed empty; the middle bottle’s body is slightly right of the jaw center in the wrist view. I’m reopening and correcting both sideways and toward its neck for a better grasp.\"}",
  "call_id": "call_FhYlqKZUwU6Nbv0eo1m16PRG",
  "id": "fc_031704c1cb641f58016ab43507cc0087d09387ece12920cec7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FhYlqKZUwU6Nbv0eo1m16PRG",
  "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]: [-0.8452, 2.2131, 1.3247, 0.0769, -0.7155, -0.6064, 0.9943, -0.2245, 0.8497, 0.5056, -0.3054, -0.3454, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.434 left_y=-0.3092 left_z=0.0237 left_yaw=0.0453 left_pitch=-0.0182 left_roll=0.0129 left_gripper=0.9943 right_x=0.2919 right_y=-0.0016 right_z=0.1414 right_yaw=0.196 right_pitch=-0.0341 right_roll=0.0061 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -11.1385, 8.5812, 1.5116, -0.2564, 0.1392, -0.0757, -0.4718, -2.2085, 7.0906, 1.917, -0.2613, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3611ce641eeca1bfa43b6d8f677fc26cfc69f9bda4f3f59e1761fe440f1c4253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca5d11f6a2807c52ede597fcaf5b4643eea76cf80cce9be129879fcb985450b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6a1b9e4c031b6298341d67dbf38b26c058cb0e7f832694ea37ce3ef9db0f20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 5.18 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.841, 1.8778, 1.2465, -0.1555, -0.6746, -0.5629, 0.9983, -0.223, 0.8753, 0.5907, -0.3508, -0.3412, -0.2584, 0.9956]\nstate[eef_state]: left_x=0.4049 left_y=-0.2817 left_z=0.1203 left_yaw=-0.003 left_pitch=-0.0248 left_roll=0.0113 left_gripper=0.9983 right_x=0.2999 right_y=-0.0037 right_z=0.1633 right_yaw=0.193 right_pitch=-0.0223 right_roll=-0.0003 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -9.6615, 8.5949, 1.3553, -0.5104, -0.0952, -0.0171, -0.1709, -1.7709, 7.1726, 1.9267, -0.0708, 0.1832, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8459, 2.0361, 1.1393, 0.1589, -0.7136, -0.5797, 0.0144, -0.2245, 0.8627, 0.5385, -0.3237, -0.3454, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4135 left_y=-0.287 left_z=0.0571 left_yaw=0.0292 left_pitch=0.0275 left_roll=-0.0222 left_gripper=0.0144 right_x=0.2951 right_y=-0.0023 right_z=0.1489 right_yaw=0.1958 right_pitch=-0.0327 right_roll=0.0058 right_gripper=0.9956\nstate[joint_eff]: [0.0342, -11.3026, 6.2427, 1.1502, -0.1587, 0.0171, 1.0525, -0.4308, -2.1949, 6.8718, 1.8926, -0.2808, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8452, 2.2131, 1.3247, 0.0769, -0.7155, -0.6064, 0.9943, -0.2245, 0.8497, 0.5056, -0.3054, -0.3454, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.434 left_y=-0.3092 left_z=0.0237 left_yaw=0.0453 left_pitch=-0.0182 left_roll=0.0129 left_gripper=0.9943 right_x=0.2919 right_y=-0.0016 right_z=0.1414 right_yaw=0.196 right_pitch=-0.0341 right_roll=0.0061 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -11.1385, 8.5812, 1.5116, -0.2564, 0.1392, -0.0757, -0.4718, -2.2085, 7.0906, 1.917, -0.2613, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3611ce641eeca1bfa43b6d8f677fc26cfc69f9bda4f3f59e1761fe440f1c4253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca5d11f6a2807c52ede597fcaf5b4643eea76cf80cce9be129879fcb985450b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6a1b9e4c031b6298341d67dbf38b26c058cb0e7f832694ea37ce3ef9db0f20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUQRa9cqueMO0VZOtdZb3fZVaelNhpDHYBGqzUr3blkyKjYNCzwLfN0zbsOwcB-YbjwKLXYMG-SOUiT_1lKbaJ4dcI4UIAfU5oRWd9TccwPpb2OyU05ocLP9hTWAyARDwDf6d-Rr4CBly5AhdzpPKjI1mKN3PNruYqBnIbXxAUSUW3uVq-gaARcOcYM3OvqnzyeQAn7OF3AeQWBeE12bjGNyA_LSzpVlSHkBOUWTi4ceuUlUGsnKAx3DULQaPygenneMSAyvuHngV4UPjBLev_LLEsxhdN31Nyox1LWASwuwikSaMq6TWRcr-TwwockA3AfdEnOJkhR-28jgQgeKDaIMiCUcSmCSrkW4hxTZnW95VTkR-JiiE4hm7kpa8HOnWZcL-DPsALNUBebFjNDOccMV0zz9ADg5CSG4qQ8X8Iy-IuJaDCoLaEET533hglKnkIKqYUR6MEAZji-57K8vDhK6BuvU5SuRCPWgVHFzcsdWXLce0YMGposz7xS3ulNlTN5-j17J2glbpTa0_tGAKMPGZ2kPfttzWgSVmqDbKeyIvzPzbfpD0WY2nyYp5tnUraWIMmQYF8ZAaB8eGa4Tgkj1OD_CbirOV-uWOEk84pK1Bo7VBwgisIBAobtsu4fK9ZrEj-MzVj9wIdfFrP3lL9HpigZfT04BAsXaZ4rkl5mH7y6dG9B4-S1Q9XQ3GelOfSh0UwtotbAh5uVIRMMfcQ3qYw3ShiOtxvlslvWK3f6eUzgoNbms1mfq81L4_4OodOQmpSTRRqGsIa9osqIIF8cJEoArU3q_t4xmN90bY47R3RSEaq7ZrMnJPYgmMCN-LJOMhQGtVMEmfn4qFlL7dY1hX7_ahzGnEH3yGQHQB1xq_Uhf_FM5GWBggfTeNdS4kd0LH_N3fcAYhyw1nojNOEIT0oZFSfkTdxb45qa2sLc7UYDcmkPz7JNuD5hgIh6b8bEiLwGDohVq113x2qW8SM0w0s-NQFOA3f_GnCM8MnjM00W6tyu9dxwQkXZJF7DebUvMVVUR3Ti1CdcWOXhcsKX2HMgLcSYPDDRzF65jfSZIdZqpqRAQi9QbxhRr0k0kp0CWJsG53y1ieKlp1Kj1Y2y0RiQEBgGMBKVWbYINLP8DipKrQIkgbg42pRq-bxxKyBVqB3lz4vbnBV9g3IwTM5pp0AR2V4oGhYy_b6r0CGmBBlcSobMrGZiebf81V3B5QZRaL72zyrnvqR8-ocL8UuMIL1XOXNz_Ap0HUXmaKO3z1ysLRAx75ce1eyONCHHOcn971su4aObfoaZNUr_30IdvjzpvLybFk-1OT5qZPdnhjrQ_ACafEwLhD-hFNTRbL-td9mgBWuOkflrZhMd5vDLKUGdJ1UgKkg62O2yF7osrB6U5GxLKYaNwVNubK9mMe3R1JEOdrqQGzONyfnN8wM3BhA99K0MFblm1AvAmHd9P7oyRjb5KRiioi82fCjg4QgxucFJC9WQfxZcv7LZsFUngGg8fPKnrf5YDK1ZUYFcA03EwZCPEnbPwrXQKjhDlw6JSU75KNxoGLjzVb_h6TlwC9ZD-hA9Q5lAss0to739RSLileQHKvR7Yyqs4KcSuTx-hpFsPq_nHmrRmU_zOeym2y2F5y6ReAIl17JoWn0OZuM9AwsimB7DRESXy1ipJ6-xHgOn38B4Bui2F13ilNtgWq5y5U0DqTn5zkSPvbY4m2_-v2IQ4R4hG6aAMHVzPl6EXGERH9ise4Dbn-MrBcR_Zs0EsnfMvec57zSAxEWGgATTD2bQXKxmeC4pD50jzOA_Kcevn2kP19d4sNPeQSR2Rv5CLOBKARAVXIa91smTMBne7pKO_J2H1DA3TzrqvR3MTnOLst_1t028TEhQ3LGy7wby0Zx7_RJfU-or2PtusjVM-ISTPQgXYUISyKRgVAClmpev7elri7VNLgco5Wv1IOGFcJan-1526bUmTT5LoFC95-tcmQVLqVdVNVCnTCjtQewMoCAfgNEn_rC62-LO0ug_EXjnZM3GmvzMYmtitllDuwUUngvq1SLQtzWNA5BLREc7WQpEJ5rWcRiGZC7xFByEFR77BWQ6-BzTXxL1qli1x1H-nNhMkpNTdGDVTA-EB3i7cazim5Hguzn6oDixlok54Qib_mc_6ORsXhyb-gZfIl-TgxuF8DoxD5zv-ieHrKH3nPTm9jBH1CI1d1nY9hQ4BwqyC6Sy_-RRiG6cK_BIMdCmUv_A98EuriU-9KFcUaCRzbrAytjncPO5vRuHV5Je4IxCr6io8qUg0AYIONkP5aN_1PiD4fc_UIOPEL5p9xJ_WY0djGolIis3uADvJUEDbf0XA28N5KhQo7MoPgId3SSp8Zm4TLTN-55nSmr-aOT2Gd5rEDobNeTwomgJnrS9T71XjIHfBwmE4dpP0GFg8QwM7KpJDn4siMdX57B-g1Zt6657M9dVrVvz7TJVQr0aNNbMoFhMT_G543GRe5jr528LobpEseW5u_gYUD7LoKaKgo-e3WSxouZkDua-usLTCCsf7BgEnEeC8Zj2IKhb6WJe4BkFYvYB8ggd8W352wJM_dackKFtr0dJ5hqrVuA48IBVhP2jBnfmFlME2fFUySrY6bcTti8jqbn1bg-Ko1MHg-h9q2Oz4yI0Vn7Nw1AaUxS26dok428Zu--VVKVwzofeX3Mzg1ljQDe3rZsI4UKgxKzZR5porJCUEn2fe2FHx8_9e8lv0WrIO5_LRkBejP_SsXkhcxKydTZwEulrGhbT7l3SIQMN1LLFso4L-i-s1G03-r55ReV8p3t3dB7S1HDvPjGmptSwvIbVLoLdcX0LdibRAfT5mq-BhlF1V_y9DZ_-7GyNlyXmtpvQQVl5BJQGjw2ugm0g3mQrPOt4Hip16LpN_pVTgkYPTeISigICO5YdYHjhLO44aDOdxQVFqxpG91KFUE_fiZukVSQk0LUKjOcUWdORokX8b81TNakrgg1wdrXoH9aiXyJXx6mr1yK_2-r661p_o5Xy2T6fYzRTJPiLmuaoXnxJpBKgcTIeUn_XJvpQtm9Xv8FjI3DMaoFFeT0_QdwEM6jenv9rERZinFBuiEqzqIjwtYbhiZuZlZvnGJ8fXm1vY8QZOhkG5qAzKEIA4NmJYQnPvHw-yGWMolfjYIm8C4HN5J5W2a1-Xg_faGMo24v9T51uBwBPglI9uzjeoPBpJYeNcziaYE4VFBVsKYytK0-yBPl7xd-QjruimC6_KZAVr9dHdXKwP1lcB2oI0c6i7hbKPfRji3eGaVAZU2YQ5MvMEdMYThBMUbVg06DVjczfvqQDgzQqGAqdYcAy_96oq8CMiSnCXHv2tODQ6kZoKTNcK6JBTlw-_pWcaRzQHIFHYk6qX5UR3TH4f3kfxRjUX6_33ES2DJAmwWBOixjknzG-PLlH-efC1Nqo_jLQjqL7FjSlFZSm4bmG_wPUuMUSf0f9wWK8ryhcn8HHJ72ZZoyP2pDYVIghIgwd4NPbwXOEseko-wY8ZxPwnkskHjF7M9IBpwTSXf0T-qgMcwAG3smMvZ888Xfre6tsIXzCh8pgFNE_-WlZB5u-7BRMdX4bg-pidmapAuBYi8tQcwet6qetKV5RgA==",
  "id": "rs_031704c1cb641f58016ab4350b096487d08bbc206c3cb7748f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.365,\"left_z\":0.15},\"note\":\"The low sideways adjustment pushed the middle bottle toward the right bottle instead of centering it. I’m lifting clear and approaching its new position from above to avoid another push.\"}",
  "call_id": "call_iUrede2Nm4finNqaZOO2kBf2",
  "id": "fc_031704c1cb641f58016ab4350f7e9887d0bf579423f77ead4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iUrede2Nm4finNqaZOO2kBf2",
  "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]: [-0.9581, 2.1666, 1.6825, -0.4049, -0.7811, -0.725, 0.9956, -0.2245, 0.8364, 0.4717, -0.2882, -0.345, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.413 left_y=-0.3651 left_z=0.1179 left_yaw=0.0408 left_pitch=-0.0228 left_roll=0.0054 left_gripper=0.9956 right_x=0.2882 right_y=-0.0009 right_z=0.1332 right_yaw=0.1958 right_pitch=-0.0374 right_roll=0.0073 right_gripper=0.9956\nstate[joint_eff]: [-0.6769, -15.3504, 8.9094, 1.2527, -0.5641, 0.2027, 0.1148, -0.4444, -2.1949, 7.0906, 1.9463, -0.2271, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80179d6242b8bde85f4b738174ffd0002b4735559f70dd7358e7c6c1d7323e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b873e85aa027f7e1fb3ceecba4dd6642a765b02c47d88be3f2bbf1d610c7578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876e1119662af1d62d3fbd2e2ae474b17da29fc9873a5e1b72ee29b4b532e427",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.459 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.844, 2.0228, 1.0973, 0.2092, -0.6975, -0.5789, 0.9983, -0.2245, 0.8742, 0.5701, -0.3431, -0.345, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4102 left_y=-0.2852 left_z=0.0551 left_yaw=0.0194 left_pitch=0.0334 left_roll=-0.045 left_gripper=0.9983 right_x=0.2978 right_y=-0.003 right_z=0.1561 right_yaw=0.1955 right_pitch=-0.0321 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.8017, 3.7675, 0.7399, -0.149, 0.2173, -0.0171, -0.6906, -2.5504, 6.8308, 1.8388, -0.2466, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8452, 2.2131, 1.3247, 0.0769, -0.7155, -0.6064, 0.9943, -0.2245, 0.8497, 0.5056, -0.3054, -0.3454, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.434 left_y=-0.3092 left_z=0.0237 left_yaw=0.0453 left_pitch=-0.0182 left_roll=0.0129 left_gripper=0.9943 right_x=0.2919 right_y=-0.0016 right_z=0.1414 right_yaw=0.196 right_pitch=-0.0341 right_roll=0.0061 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -11.1385, 8.5812, 1.5116, -0.2564, 0.1392, -0.0757, -0.4718, -2.2085, 7.0906, 1.917, -0.2613, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9581, 2.1666, 1.6825, -0.4049, -0.7811, -0.725, 0.9956, -0.2245, 0.8364, 0.4717, -0.2882, -0.345, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.413 left_y=-0.3651 left_z=0.1179 left_yaw=0.0408 left_pitch=-0.0228 left_roll=0.0054 left_gripper=0.9956 right_x=0.2882 right_y=-0.0009 right_z=0.1332 right_yaw=0.1958 right_pitch=-0.0374 right_roll=0.0073 right_gripper=0.9956\nstate[joint_eff]: [-0.6769, -15.3504, 8.9094, 1.2527, -0.5641, 0.2027, 0.1148, -0.4444, -2.1949, 7.0906, 1.9463, -0.2271, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80179d6242b8bde85f4b738174ffd0002b4735559f70dd7358e7c6c1d7323e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b873e85aa027f7e1fb3ceecba4dd6642a765b02c47d88be3f2bbf1d610c7578",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876e1119662af1d62d3fbd2e2ae474b17da29fc9873a5e1b72ee29b4b532e427",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUWCYUHiWVd2CWOgAc20HsapjAXuYxOkO3dAEgDxQ6JRPaVldjkJ2zamO3bLf1rUAr9dRdEEkdZO6_eqm4VaTg-VJpN10mLv4f_yBeGEdgVHfQuoNdSiLGDeY82FAeT5g97eqeUN-sUNwF2No6G9Qi-AHcyOYLf6KRfC3ZfIMUqKHmgtOB2bMbNOdXAbSWJXP29GmYlrgx66WNGILe7lySqvWFmgW-MMNYWb6JKY1BRFvXGKCy5bOQW0GGxOSzir8n9OI6LZuTL7KkpzL1vXgX14Ra-yWCWlfHQtDGcf3p-hZhsCr8dAWnbUqAnPvMtUDM1w9BqQ4BCc3V9ouxYlSHP5N8K_lDlz3kPtDkn4lQ0-P5G9U1vF8943rLIaGoSc7c2sgsQrhs1sxcSKKq-F-s0xrum-inziRC8xMjNGXpCjZtOBVVBmO_vZsBSkwbavbTo2MutV8qfwe8CB-2jO6ymxZkbR7VQoXWgqjHq7aAVT-HE-QhX01XrDwdGEU72XWxMco2BgIGIBswWUTrQfnjm-j2KW7-_GdgaGalmF2ePnxkCfA-uAcAeomGyqEI_zmvAgVh7_QJy4CZ4ERfytB_uPko38dDeAyEtNr1unEBV0rtIQmI1hIwxBA366IUhJzrAS_yMad_IF1Y1SXO_fcEQdvnU1rr-L9OnayOAmn-ULGOIgdsIUlGMkbCPj9LaSRkspbPDDV60Mu_tOqetqex-iBPh3WbZdmbi0v_HZGlzbDx9pInBbpyYC0bDst5kmRIse5h_zPxP-ShhX33S1VVYvBlRnfL7O0FnZBdMDnVlZRvgdN6DF1jYhB8m-FqsYzxbeaUiNX_vA8YyNSNAih9Un2tij7QmStBswONeAMXaddJHAqU6CcqUVTDUd4PZ1LoHKV6EBFyhk39Q7NIfSylmAGw-y_ElpIvtK2I1KtTwOdnNxcVBlimWAVKtPZEi9ZgPGWJaElRbdpzBREWn0XZm5HCtmfDYissuCcbh2-bdXL02qyeCKayCNdVWNAwkgXv5FrGx2vrkQD8REWJtFHjuVaKbGOKp89ySio_8EpBZg48e274VqKP94byvPwWol-2VNvEmRK7RkeVfjQRiMPdJPWfATQ53RaFD5DUXBaxB2hQktwnJRV8jdIEm6eOIqGfH20wMQtcTApTknDQr3F3TQQt6Tegv8cbxMH3JcYdIbO1jo6ouIurphoWhYNDmGmc69OGA_rXb3DKkeLZ5OAsmvZEzCsovW-OficrL_CT3_e0m6WIp4onT1DH18epJgqKgFP5EoxoeZeFRhRMtf4iMRgjsLqO8rgX5u39tcF8QWDJ2v0RzKXy07iIvv3GAU1DTVsnPqz3N_DBa3QnaWI8_9L4si8sxZJcoRjuve_QuqnHHX_NegnEIxpeD5UYhme3c1L-ABdkHC9tjnsfRIQWfVPL_n_E25i3HV6-yIWCvJBJLNdVMee359kDpIQLcacz_DcTw_wpQExNnpoequYHTqaMWXEe0r00MQ9ymdxtOMxshzo4urBJQEYUmBybuTYz2U1UUGJZDTkp5ommLZFVzFz6gQW-iuFJ99wTUYNvEUSk7vHzdEM-UNohl-V7DeTWrY14FJEX39rIGnDfXci_-w7JbeWa0EScEktHJul6OXirbtHxUuI5aGVpJmMCnylW2-XqOWlvH4AmAx8vi4DUsb4KVr7n71glDJmwxLavxYTc2xHRzME2kT_mrKrUUnacYgYS_LkulwC0iGiN1LyX8qJIRq3Mxf1-0jFly9fYAeR5elaRQmBmajlPj6rcY3voLyavHA7cYeQAZr724lvBtDwsLPNUGvVhUxrHB7euU3sT6TpAO9eDtOh_uuUR8jvWWbJpkek6OOoIZMEja2EMtqTP7RyVWShRxSWM5XpllgUuyFVkGBKL4YHKlDlaviQxX3sy62aQ5OJffWuNsMA1aTeBy3uaSmtaMbHbctJfxQA5kf5WW1Y88knTlf-Wk11v0UOO-ix_nQDz1qkkDdQwHEj9-PlroVKIQsNYLIBueFnGsMGQHO587rQycFCngfjQ9IY_f40i80CsgxqG0Xtnva9_Um0t3ckKM7qJTonMCZxS0fwqk_HgFMXkSXMbuo7DQs9YIrm70kxOk8O0XGeyeM-x6-FwaI__pR1Slbd_VFVzrlpEsqJmCSy3GZL93WGx29yUm57WKSlLPZJtPsFSbZjncQsaUOFbOxD4ICFxm0rIqOTj8HIGYwIr3NNM6HguuiU37awoovvU5LNt-OxbRcKdG0nWL08-40UwRGVQyopciSwNoo2drpjaFyWQmIrdr1rA6dAQ1DEe66NoXwuDAN6a2EKP0ud4RNDST7Xny05M=",
  "id": "rs_031704c1cb641f58016ab43512a3ac87d08a8b8e34addc2dbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.02,\"left_z\":0.14,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The displaced middle bottle is now too far toward the left arm’s crossover edge for a clean centered grip. I’m moving the left arm over the separate left bottle and restoring the idle right arm to its home height.\"}",
  "call_id": "call_CeG4M5obfFSbXoRp3DXat6Qa",
  "id": "fc_031704c1cb641f58016ab43515221887d09cec6377568e9587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CeG4M5obfFSbXoRp3DXat6Qa",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.4132, 0.7444, 0.0708, -0.1806, -0.1421, 0.9957, -0.2214, 0.8257, 0.5858, -0.4049, -0.3447, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4108 left_y=-0.0188 left_z=0.1308 left_yaw=0.0852 left_pitch=-0.0257 left_roll=-0.0029 left_gripper=0.9957 right_x=0.2892 right_y=-0.0003 right_z=0.1642 right_yaw=0.2001 right_pitch=-0.0301 right_roll=0.0013 right_gripper=0.9956\nstate[joint_eff]: [0.2393, -7.9932, 6.0513, 1.8095, 0.0464, 0.1685, 0.0073, 0.6222, -0.7179, 10.7009, 1.6386, -0.1294, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a0373fcc1cefb0746fd8b558ae05144bf7d1a2d9a33d8e7b8da34604bb509a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67d7dfc93f88aa48c955672a9bf3b146c9b8ea2bab5e44d515ab469686f67c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb27bec414d0fb5ae3df7d8eb5646d3f963b643df3d85a304add9f625a44cea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.693 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8459, 2.0361, 1.1393, 0.1589, -0.7136, -0.5797, 0.0144, -0.2245, 0.8627, 0.5385, -0.3237, -0.3454, -0.26, 0.9956]\nstate[eef_state]: left_x=0.4135 left_y=-0.287 left_z=0.0571 left_yaw=0.0292 left_pitch=0.0275 left_roll=-0.0222 left_gripper=0.0144 right_x=0.2951 right_y=-0.0023 right_z=0.1489 right_yaw=0.1958 right_pitch=-0.0327 right_roll=0.0058 right_gripper=0.9956\nstate[joint_eff]: [0.0342, -11.3026, 6.2427, 1.1502, -0.1587, 0.0171, 1.0525, -0.4308, -2.1949, 6.8718, 1.8926, -0.2808, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9581, 2.1666, 1.6825, -0.4049, -0.7811, -0.725, 0.9956, -0.2245, 0.8364, 0.4717, -0.2882, -0.345, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.413 left_y=-0.3651 left_z=0.1179 left_yaw=0.0408 left_pitch=-0.0228 left_roll=0.0054 left_gripper=0.9956 right_x=0.2882 right_y=-0.0009 right_z=0.1332 right_yaw=0.1958 right_pitch=-0.0374 right_roll=0.0073 right_gripper=0.9956\nstate[joint_eff]: [-0.6769, -15.3504, 8.9094, 1.2527, -0.5641, 0.2027, 0.1148, -0.4444, -2.1949, 7.0906, 1.9463, -0.2271, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.4132, 0.7444, 0.0708, -0.1806, -0.1421, 0.9957, -0.2214, 0.8257, 0.5858, -0.4049, -0.3447, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4108 left_y=-0.0188 left_z=0.1308 left_yaw=0.0852 left_pitch=-0.0257 left_roll=-0.0029 left_gripper=0.9957 right_x=0.2892 right_y=-0.0003 right_z=0.1642 right_yaw=0.2001 right_pitch=-0.0301 right_roll=0.0013 right_gripper=0.9956\nstate[joint_eff]: [0.2393, -7.9932, 6.0513, 1.8095, 0.0464, 0.1685, 0.0073, 0.6222, -0.7179, 10.7009, 1.6386, -0.1294, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a0373fcc1cefb0746fd8b558ae05144bf7d1a2d9a33d8e7b8da34604bb509a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67d7dfc93f88aa48c955672a9bf3b146c9b8ea2bab5e44d515ab469686f67c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb27bec414d0fb5ae3df7d8eb5646d3f963b643df3d85a304add9f625a44cea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_031704c1cb641f58016ab4351a62b087d0961784ee5215f3c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.08,\"left_z\":0.11,\"left_yaw\":-0.35},\"note\":\"The left bottle lies diagonally, with its red shoulder offset from the current jaw column. I’m shifting over that shoulder and turning the jaws so they close more nearly across its width.\"}",
  "call_id": "call_yV8HyisOEnIiftTYdEnYUAW4",
  "id": "fc_031704c1cb641f58016ab4351bb74c87d09af3ac66b79b47e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yV8HyisOEnIiftTYdEnYUAW4",
  "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]: [-0.1097, 1.6409, 0.8162, 0.1806, 0.1181, 0.0494, 0.9962, -0.2245, 0.815, 0.5564, -0.3962, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4407 left_y=-0.0659 left_z=0.0889 left_yaw=-0.2475 left_pitch=-0.0777 left_roll=-0.0178 left_gripper=0.9962 right_x=0.2858 right_y=-0.0002 right_z=0.1557 right_yaw=0.198 right_pitch=-0.039 right_roll=0.0055 right_gripper=0.9956\nstate[joint_eff]: [0.1709, -7.6923, 8.4171, 1.917, 0.1538, 0.0611, 0.0317, -0.4308, -2.0855, 6.9128, 1.9219, -0.3053, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0939743f00662d55370765768d51ed433a3c1bd9753fcb00fd984d493a8135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ced948b7b9c3f8a762677e1e288b3bb71b6e69a647e4f36317cb7fdb40c3c72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558ec3cafd797747c183a51d9ca7ec881cb134c50db70fa484a8bdf3f7be68b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.442 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8452, 2.2131, 1.3247, 0.0769, -0.7155, -0.6064, 0.9943, -0.2245, 0.8497, 0.5056, -0.3054, -0.3454, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.434 left_y=-0.3092 left_z=0.0237 left_yaw=0.0453 left_pitch=-0.0182 left_roll=0.0129 left_gripper=0.9943 right_x=0.2919 right_y=-0.0016 right_z=0.1414 right_yaw=0.196 right_pitch=-0.0341 right_roll=0.0061 right_gripper=0.9956\nstate[joint_eff]: [-0.5812, -11.1385, 8.5812, 1.5116, -0.2564, 0.1392, -0.0757, -0.4718, -2.2085, 7.0906, 1.917, -0.2613, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.4132, 0.7444, 0.0708, -0.1806, -0.1421, 0.9957, -0.2214, 0.8257, 0.5858, -0.4049, -0.3447, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4108 left_y=-0.0188 left_z=0.1308 left_yaw=0.0852 left_pitch=-0.0257 left_roll=-0.0029 left_gripper=0.9957 right_x=0.2892 right_y=-0.0003 right_z=0.1642 right_yaw=0.2001 right_pitch=-0.0301 right_roll=0.0013 right_gripper=0.9956\nstate[joint_eff]: [0.2393, -7.9932, 6.0513, 1.8095, 0.0464, 0.1685, 0.0073, 0.6222, -0.7179, 10.7009, 1.6386, -0.1294, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 1.6409, 0.8162, 0.1806, 0.1181, 0.0494, 0.9962, -0.2245, 0.815, 0.5564, -0.3962, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4407 left_y=-0.0659 left_z=0.0889 left_yaw=-0.2475 left_pitch=-0.0777 left_roll=-0.0178 left_gripper=0.9962 right_x=0.2858 right_y=-0.0002 right_z=0.1557 right_yaw=0.198 right_pitch=-0.039 right_roll=0.0055 right_gripper=0.9956\nstate[joint_eff]: [0.1709, -7.6923, 8.4171, 1.917, 0.1538, 0.0611, 0.0317, -0.4308, -2.0855, 6.9128, 1.9219, -0.3053, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0939743f00662d55370765768d51ed433a3c1bd9753fcb00fd984d493a8135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ced948b7b9c3f8a762677e1e288b3bb71b6e69a647e4f36317cb7fdb40c3c72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558ec3cafd797747c183a51d9ca7ec881cb134c50db70fa484a8bdf3f7be68b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUhVApqY1O8g2DJ24m82I8qrFkU5WvbMSxKEUZcEaWVLDT5R3sDZS5gOX154eyOOiV8p_YQ9JTNuhFGPm_inTpWKVRxAMqpDN0Wqnk60SEd67-ceOu805QCe2nEU0BSWlgEgR_Xuw2enrxGcBeoJ2rynCGYVBfn5i8wSt40ht4CoGazGmyjAEIrxYhAkS9TPRlUUQLlWgAzSdxQ3ZkbW8uKu8jzqKz5sp3Kxv-1Z77OA1teO_pC_CsFGFxKuDdzVIkBqV4QKVq0yRNZm-lYI0_ExlSHdxgFcqHCq6EK-yhyZca0m5JkRgIj6IYhbEMGCnnBddtCGzYVrw8QO3nQQqcuwew7ITkWngAtctTp7EblhsvUTVYvxV42lsq9aUGA0UNWL2kAIygUoMcBHyNjRod5IzUZ6L7SLOGnscGg4eFx3RQwtqu8blToW94yiYpdh8wsPzHAUTLk2omJixbbDoVRqHyumv1x3qSuT7uNWYeIiUGE6XjDfIyX8snVDO9TcWSpEcLdv7QiVnxPbexjvPcXKOIqrRXaHP-edaqyaajJ_OUK1sxZAvehACBldT1fkLyLDn2JFtmwoiOt_X_Steh8ReSvkr0P0oCwbrV-mSa9VkBlQUeI8QxGUe4jNH7YYDt-AXewOovcn8Go1YZhHHr1K8u7rq9Uq8SkWMSion7uk2ibT1W_0UufbDFMHem3LN25EscT3ZiRoCaux0Njbig-0gaQjcRO6qnP0iJBP-zB9H7At__1tFGlW_EFF8Cz26Ztpfb-h_EWsHI7OkUdLEnOAxHZr_7xtusWjv7_amxvL3OHVjJnjN1XfCeG9Pl-xiluvtBNzgMJcE9oEzMdl6A18GREbHlr_c25Y8P1cc785p0yiFsoBgH4eMbBUBG0JpVsCK4HYt16A7LNnD_3HxUeG1hXxMqI5DGTsHDoKVifoCA4oJZhFz1vitbRQ6T9FFLXb_lG39vFzuRCj_p_g_VeBLTLi4PB7BtvIRGVyCyHo4vO6XQfP_Q5vqG-KrbVX2ASVDcl6WtKKdVRAOigncnTBrbYa57pDo4CwziPPG0HdtVRPvw_97umWmZA-lWUTWejrHusP3j9UCSLCiYM3rR9dwEIlCqG2_VekWxXSipFZQajltCHwVsV-Nz7-uKn_Ky6xoi5T_M3U2dja-81OIQ3eInBCbA3XPnZFGpSJH999jtSVDCasrCNxjsnsMDJlOw1V4n90LluwjQDICyl9ljFbQF1mGu6RTIj3YVexkOlHmgoKClHZV0RkW29CSpMQciSjZlnGuRkxxVn4tIVDSozUP97H1-Bsw-J1g8LywjlV6DQQkHFNqFM47BEqrtIafwPpNQmxp3ULiiMryiZP37EL54tCTPavVYmNJdnkU43cy6Bn0tVEstN41dXzRsuzWqH2Niy1hhl0gPSBMfdgMFzN-GdRc_hzYacs-ZCNn1_z9D_8zrFS8JGWvozPr4GJNAovH5MGOVheJJt_6iBLSK0HZfs1I_PzpzbLmGUXum2ipLNvPxFzcV6sZqjwKDIpYErB9L5mVB0alqiV-wGkjtELWALIzw_uydAycO5Bc8zX6l3FnuEdQi9bORqtnriHDW-kWZY1hJQ9BvFBLfSJ1YtP5XU7quYGFLRr02ky5BkMqYk1yAgptQtmSuEGns8VThyVBcgxc0kSnAkSIE1-qUE4NAiB1jJgJm7xpelSrOtYAQC_Z8Wo92k_2cfvPablT5GS0WGuLsgQb0lCv3Os1AAs7VGKmBx585T8K1Y7-buVQy1D9bepV2XH-CPW0ilmJzLu9Dm9GlBYYEZ_7oMeVfDTv2ui3V-F3kxWnFeEhYT_3whqwU7kLROmSfNeo6_osqf1of1TfDQ8VIGcdLtf7PAfP2xz08YMvlU8bww5kBhlEAVEI7pV0P5zrAqj5CBRBmjNplgeLUWd4shbghY6DyxZ17HZSFELpZP4qz7Utls3fZxNKGYaoVfRXirORNGma9FNozqthvOYol2DXOJyb5hJUz7yQY5Q4EJu9uMTesmM9_V8kWXDm8WZlptqoMMeDC8IyV9J0MA0nQ9GY4kzk4pSeKc3kdnVQXnXYbGD8BQ-z5mLIdajLzLCRrcybMHR-t7ipciVWU13L4pghkJHtasVNDRX9tWMHDle8UtYO1IuujedCkH_JfFQFreVjaubY15ur39LwZ-E2-rGIvucYqftOgpjyAdk2NavmVjC_YDTWPktG_70Ktlo-lEbAivAwFppEeELNUi5YgREjX2ol4aYegM85wdpBcdyqAeCLCZHfw6YKrhacULhQ0nmCRItq1r_tYcP8BvBAm6pPTW-5rNm47OHDBFsjWb1X1yPSAVOVxrlGydftcfGHtbtJhIpeUYn3iTY0ia7J7E9ACePFBLWRBR3AgiAvylBpLbGrr8LXWGSs7v4-f5nuuNmish5gf0VUYjzJ4rN6XUvzT7o8gIgu9UU3lk355UO0Ca9DgV0RJX5U5wU_wwueLRYq9FkpvVSFu7Aq9VVQBR705J2bU8kj1Y0sG-HTiMPs6YydX6w1lgMD9OTI_8FW0j48kqyNvj9b73e49gzY_h1KcunT0_d4WN8BzhPhDvju0aymR9P4FPXixSDMzEl9mrtSVUCML5HmBCHOaZ7L07HGBA0yMQwRQz_gOr78cp1CeiCwEJXYZI2HKN5sxSToVjTzcuVAsCujS6ihsObrE_vFU4SchehVlqg0oq42K_lQjmlice_butnt-kVaVMDZmuEOoPRzyy",
  "id": "rs_031704c1cb641f58016ab4351e2b5487d096802e2941be4ed1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.115,\"left_z\":0.035},\"note\":\"The left bottle’s shoulder is now near the middle of the wrist image, while the gripper is still above table level. I’m moving a little right and down to put the fingers around its neck-side body.\"}",
  "call_id": "call_b44s6m0281E0kCRlNUAVBQxY",
  "id": "fc_031704c1cb641f58016ab435213b4887d083d8bba7587c76e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b44s6m0281E0kCRlNUAVBQxY",
  "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]: [-0.2428, 1.8702, 0.7887, 0.564, 0.025, -0.0257, 0.9963, -0.2249, 0.7952, 0.5205, -0.3744, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4662 left_y=-0.1163 left_z=0.0544 left_yaw=-0.2616 left_pitch=0.0439 left_roll=-0.0199 left_gripper=0.9963 right_x=0.2828 right_y=0.0003 right_z=0.1491 right_yaw=0.1975 right_pitch=-0.0338 right_roll=0.0032 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -6.4342, 5.7504, 0.7546, 0.1245, 0.3883, 0.0024, -0.8957, -1.8256, 6.7077, 1.8926, -0.2759, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94704c3bbebfd621645006c430e3e828492b77ab17fdf98a775dbf5a1646702c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f45bad1a251911fc53d2966b6483a4ccaeb05f784117d48dc2781ba7b9eec85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a7a5257486011e81ece63a49767afe4ea2cb7ddcaecf1a9c2f7990d8d54615",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.16 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9581, 2.1666, 1.6825, -0.4049, -0.7811, -0.725, 0.9956, -0.2245, 0.8364, 0.4717, -0.2882, -0.345, -0.2604, 0.9956]\nstate[eef_state]: left_x=0.413 left_y=-0.3651 left_z=0.1179 left_yaw=0.0408 left_pitch=-0.0228 left_roll=0.0054 left_gripper=0.9956 right_x=0.2882 right_y=-0.0009 right_z=0.1332 right_yaw=0.1958 right_pitch=-0.0374 right_roll=0.0073 right_gripper=0.9956\nstate[joint_eff]: [-0.6769, -15.3504, 8.9094, 1.2527, -0.5641, 0.2027, 0.1148, -0.4444, -2.1949, 7.0906, 1.9463, -0.2271, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 1.6409, 0.8162, 0.1806, 0.1181, 0.0494, 0.9962, -0.2245, 0.815, 0.5564, -0.3962, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4407 left_y=-0.0659 left_z=0.0889 left_yaw=-0.2475 left_pitch=-0.0777 left_roll=-0.0178 left_gripper=0.9962 right_x=0.2858 right_y=-0.0002 right_z=0.1557 right_yaw=0.198 right_pitch=-0.039 right_roll=0.0055 right_gripper=0.9956\nstate[joint_eff]: [0.1709, -7.6923, 8.4171, 1.917, 0.1538, 0.0611, 0.0317, -0.4308, -2.0855, 6.9128, 1.9219, -0.3053, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2428, 1.8702, 0.7887, 0.564, 0.025, -0.0257, 0.9963, -0.2249, 0.7952, 0.5205, -0.3744, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4662 left_y=-0.1163 left_z=0.0544 left_yaw=-0.2616 left_pitch=0.0439 left_roll=-0.0199 left_gripper=0.9963 right_x=0.2828 right_y=0.0003 right_z=0.1491 right_yaw=0.1975 right_pitch=-0.0338 right_roll=0.0032 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -6.4342, 5.7504, 0.7546, 0.1245, 0.3883, 0.0024, -0.8957, -1.8256, 6.7077, 1.8926, -0.2759, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94704c3bbebfd621645006c430e3e828492b77ab17fdf98a775dbf5a1646702c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f45bad1a251911fc53d2966b6483a4ccaeb05f784117d48dc2781ba7b9eec85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a7a5257486011e81ece63a49767afe4ea2cb7ddcaecf1a9c2f7990d8d54615",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUlCBYJFw-aLYd0dd1SaOC9OAUN1foexFkP-PNpG-iQi08YkwgrrRBHh41n8R--_-kKPDC1o9U6tb9DDfsntnHR94_HXogUnaUdrXzxfjw5HRAJy6vEiz7VFMYaBsyyDG7-iY07ph5sY7a6s63R_zWODOwQPvlLlhtTWpCmVDjvbIUg9APiuIPD6TgdX7fu2KYD7OHBo8ZzW2uqLRRdOeDFcS_OasGIc-6F_jMWzqnMXXvtCqCd_B-k9G-0pCZ8kbjuQgngIuk1DQQ7G2xX_QqMW8oiXmaTAamMKwp6SZI8lzr02Yfjl2dxpv5-Uluask9TVPTazsJs14djujOtmTAkOkR_xeHx0Dk6vCe9xSlIz_pNolFeC0iQm8lLQcvTxAEXnFo5tVECJNllnuJPuWcUligPr_1OpbV5zbKBEdY5s9Vfoc_ahPXJt51wY1tuP409x67T1kA9fcy1lGnoaJFxE_YnhphP6RlKH8dj0GJW9WoHEVq4hqYX5F0pHE_DEfoLeMTkMAqcgeWwB8hhc8CptuCij7YkBRWo3MF6whGtckUVwXKYF9xPHDlLerDeGiafDW9rmghGqNpIj_EVa1UbOuItkrIwEmWiVqhZ__In8g-inpyCGvrJ89_cH_4zDTLFgFZOg2feFXnA42tW_sekRNGLk2jsU1kE7A7As0F8TtQ9fNa9eC_ByY-Rgt7gNhg0Pg6_SMD0tDwMgOPEGkQxbq5SBoOEYruQTTDkNrrV_bCOMWZP9GiM9BHG9IIEmbg6ZMFLIClUa7ze1NX76YUKb6oNCzl0vlwcgNw7-Qpoy9i94XlKBLAoTwfSS-5HwXVhEKXW1WfpsMCqv4rapGiEiufBq0o54rB7WFKFxBZvU96VBGfQXlTjXOdZNBmUrNApFKktAvWIOEpsvvpZideHQIAMC2BX-ahu-vKXKQJUSnR2k9Y839bZqTbzde6ccRU8Rvv07DhjHCHpa-wY2lYGCC7P3SedEeAK70s1xZsa7R-ER4TBB_3n0qipaP8T9H2LD5BZMKU2UrDe_v5QoLPsp_WjXYLKRWACYiLgYETxAJpnOiqpPFIi2A57-fx3t3GtcX9TQNEd0Hs3062YCFQnaB7sXWhObVI8gNXVhF9n2306CdNxK-ooiVo9BGjhPcwDSDwK0c6KlNVAl6sVEjzzjK1m7FG9BLnyI4KOyst-LZRGh2GG5ohdQ9chKqud0HW3WbtsIL0hJUSkJ7cLxAf2VxaAMmOzPZ22YBAAqWEDuIb9zDsLmXipDR0RnUcgWVlJcYSJN9k7p_G_CX4PSFApLSfahcKuSAWbhhUuIDfb9PPCjIGsn4Z4JBZer0tNEVbU5SxByUbWCINd8HYC_bH38pPoQpvL-A0RylN3JuDaipMhvv04QQM27M_NJfECbFfGNhdpIsdM9IvYySDPRVhvJA==",
  "id": "rs_031704c1cb641f58016ab435246a6487d09666d8654c1189f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s shoulder and upper body are now visibly between the fingers. I’m closing here and will only lift if the gripper stops at a bottle-sized opening.\"}",
  "call_id": "call_kLtAhm9RTbHmfDG62R7Ksv8B",
  "id": "fc_031704c1cb641f58016ab43524cb4c87d0b2cef8107cdca6ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kLtAhm9RTbHmfDG62R7Ksv8B",
  "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]: [-0.2474, 1.8832, 0.807, 0.4896, -0.0013, -0.0261, 0.5019, -0.2249, 0.7803, 0.4885, -0.3576, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4623 left_y=-0.1128 left_z=0.0397 left_yaw=-0.2436 left_pitch=-0.0253 left_roll=-0.007 left_gripper=0.5019 right_x=0.2799 right_y=0.001 right_z=0.142 right_yaw=0.1973 right_pitch=-0.0341 right_roll=0.0036 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -10.947, 6.6393, 1.5604, 0.0269, 0.0708, 1.0232, -0.759, -1.8393, 6.8718, 1.9023, -0.3101, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6b234b125318f0f46f526f68a2a3da74e27bb48b8ec7412665fb643f49e0ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fe2689421c378fcee3cdb4b770d3d9f1d2f6b35e524e8b9543e2d5ff380dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab01e9fd6ca03018b4697d1bbc0b889f2fbbfe9dd6ce81d4e94ffd7a4ce923ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 8.425 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.4132, 0.7444, 0.0708, -0.1806, -0.1421, 0.9957, -0.2214, 0.8257, 0.5858, -0.4049, -0.3447, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4108 left_y=-0.0188 left_z=0.1308 left_yaw=0.0852 left_pitch=-0.0257 left_roll=-0.0029 left_gripper=0.9957 right_x=0.2892 right_y=-0.0003 right_z=0.1642 right_yaw=0.2001 right_pitch=-0.0301 right_roll=0.0013 right_gripper=0.9956\nstate[joint_eff]: [0.2393, -7.9932, 6.0513, 1.8095, 0.0464, 0.1685, 0.0073, 0.6222, -0.7179, 10.7009, 1.6386, -0.1294, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2428, 1.8702, 0.7887, 0.564, 0.025, -0.0257, 0.9963, -0.2249, 0.7952, 0.5205, -0.3744, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4662 left_y=-0.1163 left_z=0.0544 left_yaw=-0.2616 left_pitch=0.0439 left_roll=-0.0199 left_gripper=0.9963 right_x=0.2828 right_y=0.0003 right_z=0.1491 right_yaw=0.1975 right_pitch=-0.0338 right_roll=0.0032 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -6.4342, 5.7504, 0.7546, 0.1245, 0.3883, 0.0024, -0.8957, -1.8256, 6.7077, 1.8926, -0.2759, 0.0122, -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 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2474, 1.8832, 0.807, 0.4896, -0.0013, -0.0261, 0.5019, -0.2249, 0.7803, 0.4885, -0.3576, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4623 left_y=-0.1128 left_z=0.0397 left_yaw=-0.2436 left_pitch=-0.0253 left_roll=-0.007 left_gripper=0.5019 right_x=0.2799 right_y=0.001 right_z=0.142 right_yaw=0.1973 right_pitch=-0.0341 right_roll=0.0036 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -10.947, 6.6393, 1.5604, 0.0269, 0.0708, 1.0232, -0.759, -1.8393, 6.8718, 1.9023, -0.3101, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6b234b125318f0f46f526f68a2a3da74e27bb48b8ec7412665fb643f49e0ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fe2689421c378fcee3cdb4b770d3d9f1d2f6b35e524e8b9543e2d5ff380dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab01e9fd6ca03018b4697d1bbc0b889f2fbbfe9dd6ce81d4e94ffd7a4ce923ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUplfdn1EjVbSBcIgZm6_IHRwxuIoXlqw8aMCDMQeztaMYAzhzvKGEtVZZ0GAhS62wyH1_ABfd-tMxYadcv4GwudslY3320DlVCSBTrlpEajzij0JlRxbEf4lVFzOzEYWvb3OW5-tpmUdPn6EMTMP6prm_xvLielhwEJu-26efhDnMsEgfoLgCORwHVC1p3BhJ17pSKjO4aGL_OWVPslIyMojCWb9Hf3nZUYvfN89PWUodRgletoe-JcvqP2GlDkSnilCrcLBVi3o-KTS0xuUETufgV2-WQYW9OCk4os2z4151KdjmkTYl3OeFGmaYzDhAM09JW3E7jzhoVAQRbJltmHKxlI4Bkb5g-sL-06LLpgvRbV8KwOJdc2_Ja2_oWp9zlWMYzrdeiYWBnDHRH1klfsYmDFMUl8E79pvkacVEoRVGFFd4pgx9OlwaeHVJkModVjvoA_IuKRKXQh6ncp0qxqKARiSFs85hpKcbuTq4NL_D7uzX4mHXt3uWObQv1xX9kBGt0jl3Cq4Gje5OObRKYbPNKoaCwNNNCDmahFTHwvsuaz9QdRb4q1vaXQPqnyMMwCevsjwPhaTwALT-X-O8TbUKla56CYIQ441YSDmu66wrybWtPsv1uEhUAxR3ebwv-av2kQzzw3dT1xJ2DSwi8u7xpsiGGbkk4Qc9zqIBE6egLr3ok6qlaLkMpsHLo2fajLOiP67C4fsjkLy5w_NZBQWQpTVprM7FCBe4CjeiJZrx5axRjqjanHww_ZbSRAKyKd1wh3wlksY0wBm310Gqq0Bq8ZdEcLtKXmINOIY5ewFAS0wJburWxDTuo0M1DTlRxKwinhiXh7FA7D0J0a30tlga-I31RQtYXrL1r85Yul7Ej_E0VYr8iddbOosNu3xJwCp69qnjAw5xiVBofitW3dlQ5Q0Sm_5T0nZLA4Iyf2mg_n5CUjaaRiWdWdwf_QhaVcHcnG1_LDUNUytxTBSIHPz-J1spCd52vOG0bPr3f4Obmsih6MJupTIcDyqXsUVhFoYcUBCuQ9b4Hi_vaC_0B9OJftBGqICVqCughIbnouRdnP8T2HG_1Q62CAVhYFaZmNvaZVXki6on1NoWl6vTYpq4tDw4Ym4aj9GnXAXOoaIfjggJku7j2X-mtboT39jvSZV9hzd997pEkNFGWbsklj6M2BoMU5goPWaVOSVp1soVi2vwHwtwE6-cBTtp4hpAizaYGn8FU1LVtYO0Z3oGLE0yiwyfAYzPWvZISstzEuaN3PqC6m5ny9DWal_EVm_NHDNXfsH3nyK64dHI4qrmB5WMJj104eaMZYG4ZPevrorvspMBph6CeUSaxvixgui3p4Jn5r_H9bxg8JATR9dVo4scNMogotbwZzBJzUVj8EMmqFN0Ns-Z6R38Ihan73TqN3X5oKlJhZ_KzdJmduwEOcQ3Sw9R5Fa21yP9muQiR77uixTRlmVey2by7wnr1tbGeRgJS8xNKw7hvDsmc1dRuK13ni4IBDxhj1CHwKA-pCLfVpaN1FvbdDK_QOY-Aj8ZNeYOuhlHu14Ns8-WxksfpOcuprPQbNGCSI9Z2UKbp5dfA_4uVmcKkDM6mNsSKBo-A1jjeIYup5ZLiaaVqnc0fk2Ll4HtXWfM23fcqbDMp6g6PQH0pc9bYbDNytnU9UU6sEmKOpZnKasyzM4rhIp2s9wxaEd4ChH2bLUFPxH1wegVT8shsxB9Vau8Uh9uDzTHeniZx6u67X2griP-5oSySGdK9_XoaLJ6Sg1uP3xEFxaltAtsE_GPCW540beVXQ_QeaT7CkMzB1Oj7kDCpG-rHE4XSCWczGwrGrI6otk0hURRV1kztK-gCy8wXM6o80q2KsPG9eejH-UPMbBCilghxA0aozB9KWWb3U54UE1D8Kj2HCr2QFYRDHLKVZCjn4oiGarSn5y0JlCnRhyI883Sj7tSCuGD5En5e819nUM-CW5Xs-4bPAp9jaR6BDqNWGYFjBUg-UW1E2GlBlC54xhhOgtyF2rrxE65NGCVkolYMPOEg-9qC1LnP3MYInMb5v3IOVg6nqHgNl9iGtF5LvI-RIZjAe1lQwf-s75brE2gCPSwUReLysBdG3trmtwpEQg_ybPLaA8mGS_B3Y9-PuhUEGw==",
  "id": "rs_031704c1cb641f58016ab43527a8b487d0ac8804db13fcf950",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.31,\"left_x\":0.41},\"note\":\"The left jaws stopped on the bottle’s body rather than closing empty. I’m lifting it well above bottle height to verify it rises with the gripper and to let its base hang down.\"}",
  "call_id": "call_Bz5zTnLeTJqmp4bEKaVujYsW",
  "id": "fc_031704c1cb641f58016ab43529139887d0a8be85f8fd85bde5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bz5zTnLeTJqmp4bEKaVujYsW",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 1.4189, 1.3823, -0.5495, -0.0429, -0.0536, 0.5029, -0.2302, 0.7635, 0.4553, -0.3424, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4174 left_y=-0.1143 left_z=0.2877 left_yaw=-0.2396 left_pitch=-0.0243 left_roll=-0.0069 left_gripper=0.5029 right_x=0.2765 right_y=0.0003 right_z=0.1344 right_yaw=0.1922 right_pitch=-0.0352 right_roll=0.0038 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -7.9932, 9.1692, 1.7802, -0.0904, 0.0317, 0.1001, -0.4581, -1.5932, 6.9128, 1.8828, -0.2906, 0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9a7376402e6a50426de2dc271c306e0b6af36ceca6b8ce512e9a49eda3e715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ad46a51c367ec5d0cebca9b0f36a11d00ecdc02a8653b1f1bc43d2aa241193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8373738e9a067f965b20201561e948e8ce6355dca377a13138383b8718d02634",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 4.965 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 1.6409, 0.8162, 0.1806, 0.1181, 0.0494, 0.9962, -0.2245, 0.815, 0.5564, -0.3962, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4407 left_y=-0.0659 left_z=0.0889 left_yaw=-0.2475 left_pitch=-0.0777 left_roll=-0.0178 left_gripper=0.9962 right_x=0.2858 right_y=-0.0002 right_z=0.1557 right_yaw=0.198 right_pitch=-0.039 right_roll=0.0055 right_gripper=0.9956\nstate[joint_eff]: [0.1709, -7.6923, 8.4171, 1.917, 0.1538, 0.0611, 0.0317, -0.4308, -2.0855, 6.9128, 1.9219, -0.3053, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2474, 1.8832, 0.807, 0.4896, -0.0013, -0.0261, 0.5019, -0.2249, 0.7803, 0.4885, -0.3576, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4623 left_y=-0.1128 left_z=0.0397 left_yaw=-0.2436 left_pitch=-0.0253 left_roll=-0.007 left_gripper=0.5019 right_x=0.2799 right_y=0.001 right_z=0.142 right_yaw=0.1973 right_pitch=-0.0341 right_roll=0.0036 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -10.947, 6.6393, 1.5604, 0.0269, 0.0708, 1.0232, -0.759, -1.8393, 6.8718, 1.9023, -0.3101, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 1.4189, 1.3823, -0.5495, -0.0429, -0.0536, 0.5029, -0.2302, 0.7635, 0.4553, -0.3424, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4174 left_y=-0.1143 left_z=0.2877 left_yaw=-0.2396 left_pitch=-0.0243 left_roll=-0.0069 left_gripper=0.5029 right_x=0.2765 right_y=0.0003 right_z=0.1344 right_yaw=0.1922 right_pitch=-0.0352 right_roll=0.0038 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -7.9932, 9.1692, 1.7802, -0.0904, 0.0317, 0.1001, -0.4581, -1.5932, 6.9128, 1.8828, -0.2906, 0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9a7376402e6a50426de2dc271c306e0b6af36ceca6b8ce512e9a49eda3e715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75ad46a51c367ec5d0cebca9b0f36a11d00ecdc02a8653b1f1bc43d2aa241193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8373738e9a067f965b20201561e948e8ce6355dca377a13138383b8718d02634",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU0rVaMwcijHxsDIf8usx4OIrZ609jDHnYKQNn3sYMYYZyGx7-GAXQJUoHtG3X-XsG85ykepPVC8W4H47RUr_KISijCYVvDEw5pDtcH9ig6qPoy54oSP5vPxjYQz-KtPrC1OrHxcNXUS8Ohn580GLsSO2bjXozA9lmfecDB206z_7RBpOJ3zNuyaN49XxUSNbtr_iuKZwcMRQzoA9l97dgYqirhKJh40WZ8Mz-rowxZdwH7kHybQ0Vh1gbTQ0gUelAQN9a8CJGUmqqvuUOvHvv6z_fJG1bo4jNYT7WyfNJce-eVto6ACWIQ-ulrq5I7AUlVtRF1poRCbD90oQndtHqkOGzZN1zC6uRRpUxrjLGH_EEBPZfb0OYgZUfRzjyJb3jN1WTRni0gvQBCc82zXUSkOkvkkBeabTiosRIqR74yWo4VIgcabhIOViIf48n7U59vvABO8e5RTlIQ0Dpa5uTYCTzB_irvHA8OwbOJ1R8qRzYvADeABybwoHlsRTWleFrRG2k7KqnSEMuvzf-3QmmMkHii6n4S4yNBYrswon8Z4KPnTv3EwAK3WAec_wPbliANvxuvNNNDkMO4g2kDBJ-ow-r1i7DOLMTllnZRK8LFA8VKcVwVpxXEORAL9GWId5MVzu8p1wYdHr_lQFbWm1_TNz1rdd89wWZZCnmxMRBfMnh6HFdkH0Ujn-f-EadBfMJ9AnG5yfMDiw4DZi0QPYYxgLffE62XUr3FoN7od39QQAmfkRCu5OF_hC_NVCviq53Plil2HzhqVFB0UohiXIxoEAYSeFZ5pzPGQfFiRvQjJlYBcoLIG6ct6vN1AdJ0l1vfrizyr5s5w9mYY60cL3H6avQQO-wyefsukhUKozOvP7xoQNzjALQ8YJ0lWVuiGwk-t3bwYrZjTt9PNFwKyjzNRY-Dt3v-6QTHRx0es-UYM2m_ARmyHpC39GWge3gOKhDY-i6tYaTuuVqAYR1Z00N3nhBF6PGcqHvwgLs1uRAohJMpYOTg3H_Mp_hkkmgOgQgrQSqqx_6yc88eGSeygpvxHXqcUMdbXYb5ilSnN_zmRNL2C5rDOZtnbqg5jK-hE3G5NwW448PgZukVkxn8xFB8XIUyUp4TZ9tVaqJwNtdncjDgZMLElQiKftJjFHDO5S8K2x9zXnUWvliYROE9c1z4wugJR_sTQI69lVd6xCTQdzeKgvTglSH2mr1aM4yR2QBXk4paTx33TukvNcKkyf210gU9xr2iWsd8ZXPnkHnpcdJgzwGYSSE_RJZRccpEPW5YlGEd-KLwkIcCL2ebcalMy8Cp1AG66r--trVJ5LsBhjL4vbGI6qWGkbpzhfYv33Urp04Hd8vo5Af6Yx-u2g94pr_5SoiKB4nYWs_w5lf7-SbHXlX84uPOTtJIv011TeMIaP7N6C5qwLrpdGtJ0udC_qnoAmxs1QN5-zZit8UUxeGvVEuFB6H0528ildo-L47-m-at99wFJQ5aukneAJi68WYRK9pT_Z1fBFdPog3X3Od7avRwDHEC4biv5pfD0zYMIUFAT7Qo_6sAfkH-q76oODUbcgrcChDWZeLSFk396n2ZO7xJxuwFEcxhht2kZyfSE5IOSKhQ_X8Mj2H212f3Q-ill6H9KHP4BDgbF_neY7qHPIgZrGoQN3jgAbbnhHCv__k7iwh8JsGaI3T4_zFBP7c5QyNKnwTrh-simVKfjhmkKSx2W5YfCGK9l107Rpra7Wo2FnqyX9hcYqp-VghD7q3s4H_swWVplEkQmjcFi3GkTFqT7WaUG0orZGHx3X2zHulRoCzIHVlf2PkOJfvYSLq6ELVm6kM3nZayhWYbx9rCqdNR8EYa4MTGav15khz90mJjJ6V-xpEe-2HBhz3bnr1mhOWduDiOAthwKo9BXcWEiVlry2CCLpzI-6aj9gR3VMlmoY-IZSlNI4XNVrY_WIKIyAVKkyYo03U7-bSdyvrpLr2FqMsFlteZ9tP_25VQ8R87--SYAtI3YOo6FE8R_lBO8U9p0pHr90BBnCZL_U3YKpwdsLB0fb8C4ngcyQW5B4zELspk8_geriYnLrViyyGFrbeBoSIri58kZfge2VkpUfMMn3Zw7wAjHJSvuLsgmM-mPZXfRmCawMGN4IxhXQVyw_zHBTfRAI_sdN1KZ_n3bTCcka0wurR8CwFvmxpa0mo77nP_cL9hUgQijJYaTD0hT8EoJJ5TbFRPpihZL1igLqt-AhG2KVslJtLgssTwo0Jpv99ir-9dmpXDlWC0qPNwujpevCpE0EcMCh35w74O7XT9woIx-ni4Cz-Kxk8OSMAXMWwFyxcFNgqmY9QpF6G5lZRVxuSfYKgRmXaxsUWSAUCJ0Yi_RTZqwyP1b4tBxjzE13CjB3u1wUcyo3hHOxtUK0_MP6np7NQDpDMvlF6P92Gjk_KTLrSOcWtZ1a5JOPC9u2Rg931D5lMQM59-cFKiaH4m-gbnQQNDS6EUsz_zQPZD1kexjl5e67PYsHMTcnaoXvPGTTv0j2SBJl0GKNAMAQsOIxO0pt-h-WoJL1ULHuQUM82o1kavAlgK4MiUieJjsYRn9QKt_ZfHwEeVOTSScCW90VDcLgD-RQ2OHxYDmTGX_bfGStfswXpHWBO7w8pkuPP7MRtYsgt4bU-jHDlnh9gMSVkkezwvW4-S_hD--yYlkxs-PNQxV0eofrIZ151e7W5UGjVgT-MqqiVstFX_jat4eb-Bhf4IdqPhWtpqG15wQXHu44E8VVAZYkx_fvcE1SerL4eoADjxuZ6nhGRqSrKdMRbKkyWwK0N62smfoDoQI2SvfM7E8_NKXQprMcwTETp8kcQ1txhKS2O8UbCHvhZgDeLmCGvrh_QPHfafERWYeV0E5aJd5578Ux9HNaEB3zfdXtNrF2JdBG9is0elAOpaVQ3FGn93iTB3n3KKEn4uRTgOqhoAKyEzucJ4d016hSJdZgUKVzbG0ifE3ycZw0SUpul_Q_AbSc0ySzjewynBf5e9394IiSEcy0tlPMDZNZqouZtNz31k15x87hiIUz1tRG5wWs3qUgmGgTi4Nu6xmKXR5yGOIoMX8JKU7pRxoKmN5_Fs5IWuizv23u8cGycE4tFCpYQj8_j1m7cE5vBS3DZ2m5H0wOWv8KbA2MIEnj-hcsQf61FNvb8y1D-S9BewiX-NczALleGdLidUUxTC5C6WRQIk0jmvgB7Ulu9j8gsUkwACT7e6j5OTsI5qCbOQ58oiDfdzG9vMWiuFRcBEdT1DcTAFHEmHiCudmFPn9hODxYbbwtklCD05WRgi9fg87YnhRdlkUP2U31fYpMsIK5fZP5OYh2GyH2wDayEZNzy4cKG00Vdl2VHyBiglLnzbDYK2sVyKh_JYxWUcpcBNZbeJIEWEwNa1nzYrN8oexQ8RXUzmIeGz3AqPdP-2IcYyOWTW3dQElFesLWgEWBfd5CzyCjZlboU45-A9vec2_9xxqd2a5myVcM7-DH5GdycUiUrf-lf1RxEArp0PXZdou1XOLuZl23yomfmL9ysc9RS-J4fzYJWKgeBXvZxwsHY5HbensSsyvbWwODGA4FtCeuSM6Q906mL--WQZMQ0j1tL59kGf0gESpvUx_ZYVjkX0Z2p_ztqUMOWAX-Q3D7hNW1oIZlsz8Km7lY33",
  "id": "rs_031704c1cb641f58016ab4352cad3487d0989165d2b68359c1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU0iQwRti4OZ70k5shcdKTZpbd1fNOHIL5m-0Mv7NSda8_827Bo4LfdtNjJCAFNeAuvWnNH8pVOq10JOGhSCOQ8Gj0m5A-19WIH0KVDYSrITJL9kMvIQ15cebCrELBpu1XNY-9vJySiMXLYkMVH0vGGq0XHylv0_Hd8NztSymsLo4-gQzMQ55cpgX5ILBpSs7PlsS47tHtSrlxxj_sPpZdOTR1OVS9Rdl_-6li1LLrcvTh4KCU6ZX9UEVlCAoIr4C9BavGi6AbcBANzNuoVcpVYEbdIFEcArpxZfdsOVWU_N3JXqV4g2681RU4bDVq9rmqvZwU_WxFYMw38WXycfD-fjutypXpEp_j5AJRWd9TjtEj2ircsJ3uVSzUXilBSjdGO5KT-U5ZTQLCfpKS3SjT_IuAIWraifadElDDzhpiZ9R3lCLHSVimliP737bf25etusmuMkvPswUGsG9YDjHiZ3Wl2_EE3LIOoF8ih_fdcr1CKHo9pyvd1t3G5joOhxaB14azLuOX_fagQxJ58hK-z4fMrd56j0t7wR8oZKYzSZJOpYSvbcHth1gZhQ5XI5G3QxPm6EowHSTACMu4UQ6AUnf0gq1igWIHnsJiWbY2JR0zB5RpPVVT3fvFiXNqR_ivd-qHwueA511yhhBtMGm5B9uKfICplz69viHf6kK-3HbIeb3Zk3DH5zwaOXUyJ_nT11JMnaEzYJ1KqdwHsSl69D4hDMjMTWoiTANPfDs04Ym4620jswrdQhZ4nhjYJkmeDD8HKoQxQ1OjE95macd9POtP2FLtMrqKiifIIj_f9QZ2q-vz_GkA51q_vuixzgYqihYuR1NE19WNM9HMekyrSLR_kSPjLHB4keHWQ23Kc_Lx0JV-2eSCjA19o1mpzlsLrLMuFA40d3ZPPk0p-99LjPbhHKRYODZvMDfuPuAOAKHeJG6SKn58-gq4g46BKFYuT_7HTGG7IuE4fTtb2FAgp0J1Mwk1UbxmslMtJtwVBqBkzzYfXlFNgH1ckDbfSWBCaEi6ION_fVACFC6or1khaZtCV5Fnzql_mu_Nu7BUizJ9mzdVLG5YlWfWuElwfpIVDyYnGxopehVxFPv4878ENdHDQC8BTNuKGAhBcZ6HB8cq3LEWoM34KseHQVtn_K0d8uZWAbybBekd_FoTfReNFY2R4N3MYb8O01QfD03NjZg7dqGMfqr9qaAlXJRwFVa7NBvh1rTA_x2w4U1WZbAoaJ34rlZaeLwKbf2-aicEA4rKeuqrHFQBDdcXxOwQAfa0Rb7DR_AuJ0VhIaOLs29vDS_EASLf0ERqBRxbgbpOxWOAiVg_C6MbN9PjScWyKUapQDIZ94ap1Fit-vOUjvJzNcQiJxUG8mTb53dwXot_7LCd0GeIkTS2b75pkXz6i94lEeaQvlYKI2TYwb97AYuKmGCLSr3IDy2MjXmvAFJJjrmehWnsjUZnh9G4PieU1b7flrlFdHI6GGE5eCkacDOxOqgiLufRhk4sOc2uoXAhjl4Nlelq32xzutl4cIyYcxZVWePBPG35gDM23PsfzZC8v6nCwdVwSxNn7lv_Hj5EjHk9WUZHf48xLSssDA2iYc6Z_KenZ3Oq95hy3TRybS8N-InVKctydv5roxAogZqbXZnqaIeoY-eAHSCBtE_ea_K0tcPTMMDTHSEtImxzMN5JMAJhXbCN84FT4Wv6TFDyHxr1roZAJo7HwkKKFsvuMgO6SI6NRn7MkQnNsdfcbYLJyHShgi-u4ZMs282CIvkaWnBFawPGWs5liS255icrQPzy5S30T6MREP8hqwWKNOgSPoJci_cDIPnVe41B6fYw4tuEU2gNh5OA6NDT4215rJ1NnPjO5bwRtCYp6wkkdndT47GdMX8PI6lXsraIgHi8vPetRHalCglCx1p0wScHGw2SVfavAmQClnoSXUovgD33TjTiyf_YQB346lw5wugGSjBUyo5p6bOqvWI7heSBRoVGrpZQYWe2wJ331O_r5fDVG-qi5fI0VqTdjT6mYYf1iYLYgzZikJ54mXcWg3MBjdZS0mGlAAzBIAnnL_djwamuMHfXXbgRNlSC7qi6ssbBk-NzPOWynNOkzeTqZD2VeLWW52eWiEQ_350WtkKioUuFAQYxioDQ57X0vryuuXKyZNExsMRjmcjJ3lXnkqydA4Y5fmWGSg_Jhnye-JfSO6owH72isPM4NnVZxKYZw718cxwvIi2XysAqwAvD_wNGEMgIV5Syl2-NHM9IhNwPsQvHqW__xe70kncfo2ELvGvKYTzzOOLn2OSrOff1DxzXd7z-GFqxfH38dm4ody6dIBFvmS-WZfgRe2q844Gu-P2B1qRk=",
  "id": "rs_031704c1cb641f58016ab43530f28087d0a8c0604e6d890bc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.48,\"left_y\":-0.085,\"left_z\":0.045},\"note\":\"The left bottle stayed on the table during that lift; the broad-body pinch slipped. I’m reopening and aiming instead for its narrower neck, which should be easier to hold securely.\"}",
  "call_id": "call_zLEe3H4wTmR7i00VZlbCYPUn",
  "id": "fc_031704c1cb641f58016ab43533349c87d0a1421d380cd310d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zLEe3H4wTmR7i00VZlbCYPUn",
  "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]: [-0.1635, 1.8809, 0.8562, 0.4175, 0.0551, 0.0006, 0.9975, -0.2314, 0.7448, 0.4229, -0.3206, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4742 left_y=-0.0844 left_z=0.0448 left_yaw=-0.2218 left_pitch=-0.0449 left_roll=-0.0172 left_gripper=0.9975 right_x=0.274 right_y=0.0006 right_z=0.1289 right_yaw=0.1909 right_pitch=-0.0279 right_roll=0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.5538, -8.3487, 4.6427, 1.7607, 0.0366, 0.1978, -0.1294, -0.6632, -1.4291, 6.9812, 1.8535, -0.2662, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e512662e8bc898e5aff3007dee513d2c46b8798ac49dfac8278f29ed269a3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61cdd90cd6a5b458bd8bc2f79fbdfb1021dd94ec0104f719da49dd62e913bb07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca85bd0205a42be40d91bcccc418a7c4718557f5e8ff37aa3e8c8f2ec69cb74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.272 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 113 changed as sent

message 121 changed as sent

message 126 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2428, 1.8702, 0.7887, 0.564, 0.025, -0.0257, 0.9963, -0.2249, 0.7952, 0.5205, -0.3744, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4662 left_y=-0.1163 left_z=0.0544 left_yaw=-0.2616 left_pitch=0.0439 left_roll=-0.0199 left_gripper=0.9963 right_x=0.2828 right_y=0.0003 right_z=0.1491 right_yaw=0.1975 right_pitch=-0.0338 right_roll=0.0032 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -6.4342, 5.7504, 0.7546, 0.1245, 0.3883, 0.0024, -0.8957, -1.8256, 6.7077, 1.8926, -0.2759, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 1.4189, 1.3823, -0.5495, -0.0429, -0.0536, 0.5029, -0.2302, 0.7635, 0.4553, -0.3424, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4174 left_y=-0.1143 left_z=0.2877 left_yaw=-0.2396 left_pitch=-0.0243 left_roll=-0.0069 left_gripper=0.5029 right_x=0.2765 right_y=0.0003 right_z=0.1344 right_yaw=0.1922 right_pitch=-0.0352 right_roll=0.0038 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -7.9932, 9.1692, 1.7802, -0.0904, 0.0317, 0.1001, -0.4581, -1.5932, 6.9128, 1.8828, -0.2906, 0.0073, -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 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1635, 1.8809, 0.8562, 0.4175, 0.0551, 0.0006, 0.9975, -0.2314, 0.7448, 0.4229, -0.3206, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4742 left_y=-0.0844 left_z=0.0448 left_yaw=-0.2218 left_pitch=-0.0449 left_roll=-0.0172 left_gripper=0.9975 right_x=0.274 right_y=0.0006 right_z=0.1289 right_yaw=0.1909 right_pitch=-0.0279 right_roll=0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.5538, -8.3487, 4.6427, 1.7607, 0.0366, 0.1978, -0.1294, -0.6632, -1.4291, 6.9812, 1.8535, -0.2662, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e512662e8bc898e5aff3007dee513d2c46b8798ac49dfac8278f29ed269a3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61cdd90cd6a5b458bd8bc2f79fbdfb1021dd94ec0104f719da49dd62e913bb07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca85bd0205a42be40d91bcccc418a7c4718557f5e8ff37aa3e8c8f2ec69cb74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU62z3r_vMu8ngyoR5ZY4LXi8jXPSCMEZIvkkkTPpdZTeLPquEn5_pXa8VCbKzj0wLQKTFMLUrV6I-ck7vylQuvsvqIhx8fmcMSKczw28neqWqrlIbR_UP0aOqf0bF6mHNkbbrWKQz-ndvOJsr3r2DDRnKjl71mhbZ_p1Ir_mROvA4WHiUtl70ZB3kAYGuohu0OjDfVjx-XLPHnYBJxo364CuoqK4Q3KRAhBN516g4lGBZZdJJLVujHeliRZKUlBUO-swd9jkL394hbJT3ZGb6yJvHBKwAkFlmDt0809RvW7hraxMV77d8yCut6M5s5xEzTNWd0K8MAnORlhynFPkt1GRKCGefumMxeiszA9GnK_HIoQ4Hxi-_UwEM4pQtdTsh7TUCn83c1gGUttxVf3tfI793knglIteb0TUlSznjP_cpZStDT_WGB70BggtV_oQuzY16_9Jm0GsguQwSV78ExhBVQIWsevF5JcqM4ISY3fHM6h95j1MwoNJpenGDXmc9_gktZEfEJqb652v5DU_HNxVTn5Pqe8fdNU-a5puSzyDTORkgQKG3aig9-pM6qyye3eh4hIiGQJvVeMZjzv3TrrUTGvAecQaTRb9gU3Osq6fmdpKA6TeRpKwoujWxBgmbQIZoH2dqpKqmrDIuprrEchNyBLVbRD_aOx1Vt--1yUtGLy0tBJXABVIZZ0AebjMBRKHsD5eyqYt8V5CmFOig7bC1K2IdtjbN46gkFFlP7u-A2qZox5XzAfXBxiYP1bQD7ixdPrm11VwSPb0Cc3NQrblKa4sbIwm66JQDG_WkvvW5Yvs8Nu39Rccn5a9rw26ovazvVWIF3dzxZYXwvkuxdmfwN4ZaAoS22FFcLqMU8Q97w4yn4YRHTwq_GZvQFQyxnR8KDl9DLNEcvhIpAYzOSeDo9a3HtBxPoSXi4zNeQ524TOc3-wxUvBKNWOEQ9hAU1PyQMX-viEuZ0RVQhi99SnkZ58MC9GlnPpDPMl0ArAxjwuYI7bhaxXZAA8A9pgFbkL9Xs4-tQHeQtpybnzN8rJGd8Rhxg2JOcIp0TG6DxNRf80ODsL3TX55XjLk_1nAewCWBhnxLVwtJE5IhZQj29KvbKxZPLxuiHMgzAHHhGKiiD8Wf3U9ztE8x-iwj2LKVoi34Nu3VMqaUOd8JHeBXiqmMZBLbo1BMFIPJfuAqRpa8PPaQ4MwCoA5wSHc3FJNODYy9ZMO55vSNKYK00g0iVsABoW3FdAQqJoOjplj-V27O1UUu3CI_TrjM9W88SlM4hrKO9DLSd9Qkk0bIYhBxDtjF4UkX3a1ELIaNfPvTxiMI1DsJ3o-lSMcW3XPS9a9Uu1FhZOKYDR2ebxkOVW94BkfQ0QLGKOAziOLNHRjRlOiBemuUIQH_mGl6aHqEhYzrhP5XqHllMejAlMOAxqtdEz9l19-627TqCSKwEqG4rGVzlHawHHWWu_DLmTBPjqnVaYV8DMoy9FHzQ2029o0MjGnWhL2D3cYa0LZyBTwRfPrSMqJkG2PRqeZWVjr9OrfRCAOEVK7rYCmirj-EZammu_hNaKg3zxU8g1BwUNYQs7l-VDoZqovLskSV0tViXgdpZntd9uo3toI9LXynBpIngStUksb1ma3sC99AENyKvGiZ-NxIU84-Z4t2YhkUfIhA2Pv_Wf0ywxv4wEc5qZlldd2a1YpBet4aI3YQj42ZNnwFnslBicdL7bbnjT5zcJZ65HBRAS_liZ2hiyNDRcTvctRwmI3qSDdOepmvWjGE9lqYJsqJo8znbDhu4H2GWGF-G0DgbTXTp09EjDEd8fVfk2-ddPr43iR1kyLs1pAekJJyM3WbZvCzzKjOjpPsp3TduLQwr2X_bGflE9oIH7Ip_Tebep_Ff26_T_iVoEFtnA0gqsFv-3rzEkniI4NGD6NSdoiKojTYtzYlzKXYrc1-mMnPZSotfOSKPuJ4S1ToGKpnZM_o73ujdWsyAoKcsDutMM4FiKXD9KGxaB0i7aKIMlLF1nJCOTK92MN2_WcoGiPGz6iJQWMlIL76vsQKtSdrU4usi-Mg6nokNIm60ABmNUVznr8rTFJe-mcSSCofik0QvW6KDUFK-JL6H809BmQ95_2-UjcfLjxW2aGKED3GsmbvP4j0A3WVwQqXZ49VV074eMDNdZlslZSEzvZjGtpfKL2dhTNvne9O28z0v6D8kRpU84QXLduhz6NgyCT4TjK7E80FtrXdqtKSVpevKWoHrwO5aT13nVilSyMafRYyqddqRYUJF3EcbxpW7Pe9wbDRdWf48WrNIs7U2k3Qc-d5gQau35-ey9L8-NOnWNQylzFBi8KR2KRI9kcejwAh6g63DpjY1eJZUWv5blH_-vpPPZ5NKzwf9ecOQFKXMBsgmnHmyTTZvL1cOqsMC54pVMDLE8MvdFmQVRL7_NYRcPff1eCANto6YfCem87JVQQP3K4y2ZT1fLfUS1OoDdMmT5ScmufJqvivyVn6LlXWVtqgeWbpN9jkk2KQqiDuA8AXQFaJiEtATFXXuhvsTT5U5N_VtGYMeIPnmYazF87SkOaDmtz2iknOYiv40YRZKyxQBLAMTEAR3Gd6t55ZUlb6z4x8nPAIZ19r26uNc_OvdB-a9s5clzqkWeb_q9n_a_h4qLtZIzcMmtu6bqfoIFV011xP8s8-vNbNSw3GPpOkyxHaTtJUX-GpMSxmPd7cwKirG014PgxavckEjnMgepvl0iPlN9uMZqPU79-7ztmiCN95zph5ArXKZm5AmrX8d8h2xAoK4HCYe3DzEyIqATui3unYyhEM4aGij0PS41mRy-EsfxqeQKaktEzubMLPZBaD_4kBGTv2Zk34rVG1JaYrtIwYjbRdqUKzs6QrbWjqhV2snx9t9hIVUiXxGYxZh_7fo_Q==",
  "id": "rs_031704c1cb641f58016ab43536bd8087d094658baa19701f4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The blue cap is still ahead of the fingertips at the arm’s table-level reach, but the bottle body is centered. I’m grasping the body so I can pull the whole bottle closer and later reach its neck.\"}",
  "call_id": "call_tzr7BERGgXt3RWf8KcolrLVy",
  "id": "fc_031704c1cb641f58016ab43539ae0087d098047725c4e4f218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tzr7BERGgXt3RWf8KcolrLVy",
  "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]: [-0.1696, 1.9057, 0.828, 0.5175, 0.0444, -0.0002, 0.4977, -0.2371, 0.7364, 0.3954, -0.3126, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4769 left_y=-0.086 left_z=0.0431 left_yaw=-0.2184 left_pitch=0.0016 left_roll=-0.0094 left_gripper=0.4977 right_x=0.2706 right_y=-0.0002 right_z=0.1204 right_yaw=0.1852 right_pitch=-0.038 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -10.2632, 4.6154, 1.6972, -0.0269, 0.0757, 1.0134, -0.5675, -1.7026, 7.0496, 1.8584, -0.3248, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bdb2dd42d55a018bf90217eb0fa49713fdf691aab70fa633d070141fef5f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b766bcfae133d17bc0c8cc58438a0d379c749ef734f128cc116c4e75a36c30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa51dab8e4725312e56ba336126f30b41775a9df5cf50abc7e0f2930eb847657",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 4 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 117 changed as sent

message 126 changed as sent

message 130 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2474, 1.8832, 0.807, 0.4896, -0.0013, -0.0261, 0.5019, -0.2249, 0.7803, 0.4885, -0.3576, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4623 left_y=-0.1128 left_z=0.0397 left_yaw=-0.2436 left_pitch=-0.0253 left_roll=-0.007 left_gripper=0.5019 right_x=0.2799 right_y=0.001 right_z=0.142 right_yaw=0.1973 right_pitch=-0.0341 right_roll=0.0036 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -10.947, 6.6393, 1.5604, 0.0269, 0.0708, 1.0232, -0.759, -1.8393, 6.8718, 1.9023, -0.3101, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1635, 1.8809, 0.8562, 0.4175, 0.0551, 0.0006, 0.9975, -0.2314, 0.7448, 0.4229, -0.3206, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4742 left_y=-0.0844 left_z=0.0448 left_yaw=-0.2218 left_pitch=-0.0449 left_roll=-0.0172 left_gripper=0.9975 right_x=0.274 right_y=0.0006 right_z=0.1289 right_yaw=0.1909 right_pitch=-0.0279 right_roll=0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.5538, -8.3487, 4.6427, 1.7607, 0.0366, 0.1978, -0.1294, -0.6632, -1.4291, 6.9812, 1.8535, -0.2662, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 1.9057, 0.828, 0.5175, 0.0444, -0.0002, 0.4977, -0.2371, 0.7364, 0.3954, -0.3126, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4769 left_y=-0.086 left_z=0.0431 left_yaw=-0.2184 left_pitch=0.0016 left_roll=-0.0094 left_gripper=0.4977 right_x=0.2706 right_y=-0.0002 right_z=0.1204 right_yaw=0.1852 right_pitch=-0.038 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -10.2632, 4.6154, 1.6972, -0.0269, 0.0757, 1.0134, -0.5675, -1.7026, 7.0496, 1.8584, -0.3248, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bdb2dd42d55a018bf90217eb0fa49713fdf691aab70fa633d070141fef5f41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b766bcfae133d17bc0c8cc58438a0d379c749ef734f128cc116c4e75a36c30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa51dab8e4725312e56ba336126f30b41775a9df5cf50abc7e0f2930eb847657",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU9Ic-sQkBP5b1qv6ftvuTS-DQZIQTxMocZqF0K-pJFxApqJD_S6YOz_qYresE-dBI92D_PTUDftJ__6DuUdJbK7QKar8qD9CyhGZLzzCCAp9pqNFedadN7-YpRqplkDFVDGOIVqfT-Q4K9Dow1FXmte2cMC9DTAie5g-vnmvfru5jpM3cQ6Nx7vFHG3tbrZhW-GLqmKVKpi31sHzK83qWErHxuj3jD3ugJpU10RhbUrfLimYsfNExNcIzGj-5hLEFH0ormk4dfwYtuPwHaaC7QfvZT2dq7yOBQfBWvMKs9nI-_aZ51rg47BaOHESdr1JaYVO-BHl1e8JIO0O82T2C-rnXqMpQn09AgMEVoAcJm06b5cA-TS8Pd3VHctaFeyfHqaotEAwSPRd3OZHzH50Swyb8_CM80XTtVmPlVU0WGhVY91YKTjf9IeYygztzZeNsln9if2IIv8GyfAOIsnrlO1PvXAin4HvPK5SnOKLEN21fZES3vJSs7ZpFC5ePa9T8De9iES-WHFf3Rb01hobJ0SRRcvRorBbCQAiIP-9U9iXlqRAzMNwF2IahW7DIr5bIOy8qhNEVb5Jf4OVybMPPl5KKkK6K-0pdC-hBSGcI3eL1B-1hyEbNlArmCtC4ux21Z-W3NoYTA25v7IqjdmjPQu6aj8nWpX_9oxYZBpoq5yZyvyz2G97hMDOG5zfMzG8ZcbHiPERdYmSfBok1luu7M8mvup6mzccIRH6Z5_0MRj3MNYLTVMD2-ULMKQW9iP8nW8a4RfXMb5_zRQ_hqXqr0IjD6R89P57aIpr_pUziZVmD8L5ubXX9pXK7uKMmhMrXFGbhn7iYnjREtVZgnooRUGsPnWTdfVCTtI1KkKDTpQGads1gQ152yhMqNHSOGTFoGm1gMjG2_UnKZjIZCDg9nICFUO4ICQJPogNGPJCvwHhSqLDjuODPnRKUzSYYB__Ya6LMThjasZ7_fy4x2OnByqPz_BW6aUqpElt_bZMtQrXMolMG202oXx0GRrqsmAKpt8NOPbGgHIHrgoxlnKlLOckv1CrWI8FdKOqxcGmxtGF11UY2sTTxANlYhP5sFsMkvyyqyiG7JmtmqJc4q4Zr6P1ickROy5m7Kdrt2YsZGO54vQNi7H7LYqtldcEyT25BNrHzxMp_fI4_2Zc55UU6F2oQ-zn9IO7boa96u1pBS331FZXaKp97ZtVBTyc_OxntJWZ5Yf0RjQqZ5AB2Kg-go6T4pYZgwMltH2IEorN4pXvb1xfEAs-NPPfOq8orkrNLP2QSOicTvTDMnxdIK_WrFsCDWTJso9T7MIlDZlPTHrmydVtiU8yPYVE1DlUfi_-Nn",
  "id": "rs_031704c1cb641f58016ab4353c934c87d08a652ff697a71c0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.055},\"note\":\"The gripper has a body-sized hold on the left bottle. I’m pulling it toward the base at low height, aiming to bring the cap within the arm’s reliable grasp range.\"}",
  "call_id": "call_ObDSeMiDC87nCq1asWsXnQbn",
  "id": "fc_031704c1cb641f58016ab4353d076887d09866ecda97c64f18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ObDSeMiDC87nCq1asWsXnQbn",
  "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]: [-0.2821, 1.4311, 0.3286, 0.4931, -0.0475, -0.0357, 0.4992, -0.2379, 0.7128, 0.3599, -0.2897, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3392 left_y=-0.0858 left_z=0.0409 left_yaw=-0.2342 left_pitch=-0.0475 left_roll=0.0117 left_gripper=0.4992 right_x=0.2678 right_y=0.0003 right_z=0.1148 right_yaw=0.1843 right_pitch=-0.0279 right_roll=0.0008 right_gripper=0.9956\nstate[joint_eff]: [-0.4991, -5.8462, 5.9145, 2.2686, -0.1343, -0.1978, 0.7009, -0.6222, -0.5812, 6.8581, 1.917, -0.2808, 0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dd87fb14879f2f2753b066f4f100e5e6c55f8387710123cb8053b946a7b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16af7a466bc63882569359bb14e75ecb219098b51299cc3b23c355cc9db4b883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afa4da2f421edc1ca4630a9c56dc72eced6a4206c02a0952eaa5b11bef3c101",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 5.647 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 1.4189, 1.3823, -0.5495, -0.0429, -0.0536, 0.5029, -0.2302, 0.7635, 0.4553, -0.3424, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4174 left_y=-0.1143 left_z=0.2877 left_yaw=-0.2396 left_pitch=-0.0243 left_roll=-0.0069 left_gripper=0.5029 right_x=0.2765 right_y=0.0003 right_z=0.1344 right_yaw=0.1922 right_pitch=-0.0352 right_roll=0.0038 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -7.9932, 9.1692, 1.7802, -0.0904, 0.0317, 0.1001, -0.4581, -1.5932, 6.9128, 1.8828, -0.2906, 0.0073, -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 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 1.9057, 0.828, 0.5175, 0.0444, -0.0002, 0.4977, -0.2371, 0.7364, 0.3954, -0.3126, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4769 left_y=-0.086 left_z=0.0431 left_yaw=-0.2184 left_pitch=0.0016 left_roll=-0.0094 left_gripper=0.4977 right_x=0.2706 right_y=-0.0002 right_z=0.1204 right_yaw=0.1852 right_pitch=-0.038 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -10.2632, 4.6154, 1.6972, -0.0269, 0.0757, 1.0134, -0.5675, -1.7026, 7.0496, 1.8584, -0.3248, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2821, 1.4311, 0.3286, 0.4931, -0.0475, -0.0357, 0.4992, -0.2379, 0.7128, 0.3599, -0.2897, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3392 left_y=-0.0858 left_z=0.0409 left_yaw=-0.2342 left_pitch=-0.0475 left_roll=0.0117 left_gripper=0.4992 right_x=0.2678 right_y=0.0003 right_z=0.1148 right_yaw=0.1843 right_pitch=-0.0279 right_roll=0.0008 right_gripper=0.9956\nstate[joint_eff]: [-0.4991, -5.8462, 5.9145, 2.2686, -0.1343, -0.1978, 0.7009, -0.6222, -0.5812, 6.8581, 1.917, -0.2808, 0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dd87fb14879f2f2753b066f4f100e5e6c55f8387710123cb8053b946a7b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16af7a466bc63882569359bb14e75ecb219098b51299cc3b23c355cc9db4b883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afa4da2f421edc1ca4630a9c56dc72eced6a4206c02a0952eaa5b11bef3c101",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDVCfZTtnf_yLvLAL2k7FBzyee_jpoMrI8rps-tJWv4Fi-slKZOnrNzNNsMeTV3J_pdYbkQgTKEmusx-uRSMGKHyCkboJLXFbwHpAQQT6ek9VgRUS88-JR3BZhYibXpVQL_zWtqtsRjiZ_S4vMmDVXv0ZdasWIheBElsFjP_3xybWAwz4Xl4Gdt5AIpl__7k2W0dui1W8UdI5Lne3Zsi5QCGPlE7HgeqfbzlVCgB6bpAKwG4dlI2Ia3__4RIU1Eo-pZLsP0nTXFXu7iGYxGhJsfaX9AuozpXSQSDbGIj-oezOla9XGZqnt42cK_G30H0eshb4geBgHiSzPdSXIUnu3jq8B3FelIRi6T6YqEwjqn67o_fMIgmE4PnIAPBHhvTQ42b6a7C_R19DaIbPjDBleKZqkErqWjONFkqGlyGlvGBdPMtPo2jp0-RxsYPgmwiRVjwsU5vwJrBHuWB62R5X2GPbvGxDXokuAAdB63WYGGO4Vm3hKg9kXHbyjusmfKplixT_oGvD0VsVBmipwcPFHZ8eMjT37AAgWltFZKMjwV99Ckw5r6NjeZjDTfRGA4AuneB6b0jSFdwDJy9HdyyLwrzC2sB4di2q91FLC2PKf6OUrjiNPaXB3vAu9yVcklWbCz37YS0tTBhzJbFl_Z19xRveVhBDLXV4reRfj_Q0yzVJhrYiNeyOfyqMvo3cq-OL2ztuK9wVN_ewQiZi6KpTkK1_WofSUNrXwHGCq7m2BrR2nPT0slr2eTTY7a972MbzLyVTIYZKlUhi_mjRNbYKJdmZN64VnR_Lo4YYGqsqcpAyibe2PNzVDqHUpqpYS4B0NDbQoaxSG3YK6N9QI7vwXkPAOHzdxoXI0KlRyAaVYg0GSmk11ZBqKOXlj01Phu0n31-KJxIuRRGurph2WXBkVR0Jwa8Pqi5Dn6EmLQkCer_YmAF5zIA48yAEM-pM7Lj41W8YRvXi4rvgMvdM7sMVqWHZpduum2GTQ2u35cbEuahfnzNAjcWzYDG3Ep8qja2m8jEDPBYgQ0FB0mxXShjXfr2EutEFcVWMr1oHj5Ki7254fQsh1f7tma3quXmYp0mnxoexqTRqULaxA-Fiqp2t4c2MQAAazbbFR_DkAzYqnyBtPVNOLnMp6STyN1wt9bkPGvRxISq-7sz3WrIhu1yIkIHIf2pGuoJ15i9rZNU3qkWYpTS9HV7K4hJo2ox2N-IX1IInFsxfXqRxLXgW1tISeaNhGWsNOuYprP-Gllox5M0arrY5fkEwgxgyZlOSxkia970WS4Gta360h9TuBNo89UXsdabeWUaW3jk2JAJEhU7LnCbiKM8RTfLPMrhd0-z2_PqCBzIN4EynDgOoWnbyEv5N0YXKWEYeoSarjZoIy7aUr3rdcEHkcFoYzqI5kjLpG05Pwy3NdUrluvcKiyVHN520uq6gc8rEgoPopjekkXAuLKBbbw-w3bzK7iCW6g4AhG82JjZfSWhPyQMHdMw_fpLE7-frLkXNpipBqfmXmBh0QJvVYb4CZth17E68sNtWm8nOjmQxT9R0STYDtO8Ta8y6vuwzKMZHvAf9I3QVndUqVPI4dYVPnBnUgH87nJHJ7RRZvtK1fBMpQ0jONYG-MKCHGbaxTyEH8bAqN1LE6yc62Hxyvya3l1I1mLmu1Zh4hEugPheG24hX204sXac5Czn_vo2H3OY8CNCmJlvkCWcYEllD7krqaxeoHPKuoag1IvhjfMmZnROMVD2_qLfOmTOlzhPJWx16VmNy0j_e8QX9xYad1MtiLoddVWla7vUta0G7NBgot29onTRbID-NE0hUoMemVRG84Y0i6Hd6qVLy1ntBVS9wRKm4hn8Q9z561MiOaeAwP2VDTYjClhJO-apKPG-4zJgzNOhRKBZLwLQPdLpTmTIRWkf0tsy3qy_zvx4TLKIjsTbro6UzuDZOe1M9ToB-IHUK_qvxYq-VjCdnHjKZOk6mNkhxkPw_Wm4UP9OJyTQ9nYZ7P8wZhb1J7UDbvIZVxSV3nJFRBpM0BXYVdydvbFxgJGRJYa6B97Gn7ht0bP3hGkZGmhjzzfpxIL9mht5uGxLzJBZ4R99qz16HLBmG6ivCYDd2Pqyrh9yciPfKumpi0EKiw6hwqG0yf1Lf7E07OfJweYa44U1WqzH7V-gyezL34JRcsKKMl5TGhKbG4Hl-CH8S2zF04gBNliCsQ==",
  "id": "rs_031704c1cb641f58016ab4353fd6d087d0af3c309ba3f2d175",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_z\":0.13},\"note\":\"The left bottle moved toward the base with the gripper, so its cap is now well inside reach. I’m releasing the body and coming back above its cap for a secure neck grasp.\"}",
  "call_id": "call_GhXL4Nboij2REfxJGoVCThfR",
  "id": "fc_031704c1cb641f58016ab43541caec87d0a14aa44f861fb82f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GhXL4Nboij2REfxJGoVCThfR",
  "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]: [-0.2081, 1.4445, 0.6987, 0.2165, 0.0021, -0.0235, 0.9955, -0.2379, 0.6994, 0.3344, -0.2829, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4121 left_y=-0.0837 left_z=0.1273 left_yaw=-0.2087 left_pitch=0.0319 left_roll=-0.0066 left_gripper=0.9955 right_x=0.2645 right_y=0.0011 right_z=0.1081 right_yaw=0.1843 right_pitch=-0.0327 right_roll=0.003 right_gripper=0.9956\nstate[joint_eff]: [0.2667, -5.4085, 7.9521, 1.6777, 0.1832, 0.2369, 0.0464, -0.9231, -1.0051, 7.0359, 1.8632, -0.2564, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656850abecac7c4105b2680abc002638849d0e5c1e4fe284f44a8223a364adcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f521d2158f10b7f063c89aa7e307de3b05ce3735eddc3d5c440de0f8ab1094a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c56458a11064cb944494536a45c36105af192971c85b27bda9e20bc3e8ba558",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 4.543 s

model: gpt-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]: [-0.1635, 1.8809, 0.8562, 0.4175, 0.0551, 0.0006, 0.9975, -0.2314, 0.7448, 0.4229, -0.3206, -0.3454, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.4742 left_y=-0.0844 left_z=0.0448 left_yaw=-0.2218 left_pitch=-0.0449 left_roll=-0.0172 left_gripper=0.9975 right_x=0.274 right_y=0.0006 right_z=0.1289 right_yaw=0.1909 right_pitch=-0.0279 right_roll=0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.5538, -8.3487, 4.6427, 1.7607, 0.0366, 0.1978, -0.1294, -0.6632, -1.4291, 6.9812, 1.8535, -0.2662, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2821, 1.4311, 0.3286, 0.4931, -0.0475, -0.0357, 0.4992, -0.2379, 0.7128, 0.3599, -0.2897, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3392 left_y=-0.0858 left_z=0.0409 left_yaw=-0.2342 left_pitch=-0.0475 left_roll=0.0117 left_gripper=0.4992 right_x=0.2678 right_y=0.0003 right_z=0.1148 right_yaw=0.1843 right_pitch=-0.0279 right_roll=0.0008 right_gripper=0.9956\nstate[joint_eff]: [-0.4991, -5.8462, 5.9145, 2.2686, -0.1343, -0.1978, 0.7009, -0.6222, -0.5812, 6.8581, 1.917, -0.2808, 0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2081, 1.4445, 0.6987, 0.2165, 0.0021, -0.0235, 0.9955, -0.2379, 0.6994, 0.3344, -0.2829, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4121 left_y=-0.0837 left_z=0.1273 left_yaw=-0.2087 left_pitch=0.0319 left_roll=-0.0066 left_gripper=0.9955 right_x=0.2645 right_y=0.0011 right_z=0.1081 right_yaw=0.1843 right_pitch=-0.0327 right_roll=0.003 right_gripper=0.9956\nstate[joint_eff]: [0.2667, -5.4085, 7.9521, 1.6777, 0.1832, 0.2369, 0.0464, -0.9231, -1.0051, 7.0359, 1.8632, -0.2564, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656850abecac7c4105b2680abc002638849d0e5c1e4fe284f44a8223a364adcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f521d2158f10b7f063c89aa7e307de3b05ce3735eddc3d5c440de0f8ab1094a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c56458a11064cb944494536a45c36105af192971c85b27bda9e20bc3e8ba558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_031704c1cb641f58016ab435445a5487d08522dbd88d934c64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_z\":0.03},\"note\":\"The pulled-in bottle’s cap is just below the left wrist camera when hovering above it. I’m lowering almost straight down over the neck, with a small backward adjustment, to check where the fingers land.\"}",
  "call_id": "call_dkihbeSoob4Hd6NF5UCGiG85",
  "id": "fc_031704c1cb641f58016ab435480d4887d087a337469fcc6083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dkihbeSoob4Hd6NF5UCGiG85",
  "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]: [-0.2214, 1.6745, 0.5026, 0.5911, -0.0082, -0.0284, 0.9967, -0.2379, 0.6796, 0.3069, -0.268, -0.3458, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.3954 left_y=-0.0839 left_z=0.0369 left_yaw=-0.2107 left_pitch=-0.0195 left_roll=-0.0052 left_gripper=0.9967 right_x=0.262 right_y=0.0018 right_z=0.1035 right_yaw=0.1848 right_pitch=-0.026 right_roll=-0.0001 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -4.3419, 3.2752, 1.2674, -0.1343, -0.0171, 0.1148, -0.7179, -0.7726, 6.7761, 1.9072, -0.3297, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b84e00599b5dbfb61a486768ee229dd66c3f4d421d6b5b7e437abec44fd967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86538356b38d3a7103fd61096ba6facb6010dd1ef3584e5ad8bb9c817c95faf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb04e73a532199259daf80ea41f38f7f0d68a5facdfbe57b6b339e7e3655f59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.16 s

model: gpt-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]: [-0.1696, 1.9057, 0.828, 0.5175, 0.0444, -0.0002, 0.4977, -0.2371, 0.7364, 0.3954, -0.3126, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4769 left_y=-0.086 left_z=0.0431 left_yaw=-0.2184 left_pitch=0.0016 left_roll=-0.0094 left_gripper=0.4977 right_x=0.2706 right_y=-0.0002 right_z=0.1204 right_yaw=0.1852 right_pitch=-0.038 right_roll=0.0053 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -10.2632, 4.6154, 1.6972, -0.0269, 0.0757, 1.0134, -0.5675, -1.7026, 7.0496, 1.8584, -0.3248, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2081, 1.4445, 0.6987, 0.2165, 0.0021, -0.0235, 0.9955, -0.2379, 0.6994, 0.3344, -0.2829, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4121 left_y=-0.0837 left_z=0.1273 left_yaw=-0.2087 left_pitch=0.0319 left_roll=-0.0066 left_gripper=0.9955 right_x=0.2645 right_y=0.0011 right_z=0.1081 right_yaw=0.1843 right_pitch=-0.0327 right_roll=0.003 right_gripper=0.9956\nstate[joint_eff]: [0.2667, -5.4085, 7.9521, 1.6777, 0.1832, 0.2369, 0.0464, -0.9231, -1.0051, 7.0359, 1.8632, -0.2564, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2214, 1.6745, 0.5026, 0.5911, -0.0082, -0.0284, 0.9967, -0.2379, 0.6796, 0.3069, -0.268, -0.3458, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.3954 left_y=-0.0839 left_z=0.0369 left_yaw=-0.2107 left_pitch=-0.0195 left_roll=-0.0052 left_gripper=0.9967 right_x=0.262 right_y=0.0018 right_z=0.1035 right_yaw=0.1848 right_pitch=-0.026 right_roll=-0.0001 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -4.3419, 3.2752, 1.2674, -0.1343, -0.0171, 0.1148, -0.7179, -0.7726, 6.7761, 1.9072, -0.3297, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b84e00599b5dbfb61a486768ee229dd66c3f4d421d6b5b7e437abec44fd967",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86538356b38d3a7103fd61096ba6facb6010dd1ef3584e5ad8bb9c817c95faf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb04e73a532199259daf80ea41f38f7f0d68a5facdfbe57b6b339e7e3655f59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDVODVLfUOe8zVrBA4NinUUMQ_YG15GXZWNVYxebfjJcOBzkgI2PxhWRgdBAirg7OlNCEaFcfFQ8pYXyPWmiXsgmm8QD2oGxH2zgSjQ7NpkFQT6nasG4ifrbaBbUGaTXcNcBqaXOl9hy3JKaA8Rs8ELcoNMUX6FXOwsoyjdt4CUfJmoOVn7UgoRFpgBKINYfDSQIdNAzp2wxwzgHkN8U1uKMPi8I_x8DeyIiLUjugjvpxI5M1zWxOLebCP9VW7YOVKse9NKrH1NTrTfMoBq-BWdYCXw2CnrP9w0EV-cC3GshtWkVUuQ-r0H4O-pZJF4rz4cYHJx9UO8nUOQz38P1qX48dq2u4qawyzpKApZmQrZ1QY7acqBWXNTyjQYKkyxp08ZMQjyB-HLbIVNmEyY0QHBLJl227jzLRs6OD30ixcUkEPC0Q6qEIiGtqW1FAtTno8oHPbUgfhCQpUmPWHz9SNmGYMUwRCvSCXevMfRajWuurF5_EUh49f-zY72bXWYZbBXNBLDsbgZRV4bsGY_vXpH35NRINSXxmgCmIx0VcWIHyYw2KA7sgAVvwAAAXg7vQEnHFEZrim3jgkABmnxVW8LwyzLISqgIQdb4iSPbqvXJbsDIvHSmwteu9QMnHgytP5TiAfWXPO3LzCaehzI_xDq9F1h7D0Npt-ZAy8wJdd-PTLAHkTMET3Fe0AZet0g5Bt15CN7CxvD3k9ba54w4QHOCaohy3cNPCcKvCEQuyhxR42SUdhwci-kZtUpxRWj9CXCLsVy6qO8zZsYJlE_SxhjnROZ-rvd6Ynf_zq1b1HAfHq0Oa51tutQeywwRpf0iFaoWz46CL1lDzU8NCqMQHinS_sqiNFHJBzNm6Mw84kZ-Q8NzRD0VVYU1fSlDppAAh52eaiu_C2ZgxUvp5kfsN1gBkRAl-vSzuVr5LGs6O0cu7wosDAjDeYVwsmYe4A7RANPIVwO_s22nQx1BlYjyDh3ZUPVkWS2OmoOUpIMTxmImZ03WK8fEg-95lTDHe0Z8bZijzLaXrcMkLRrhcP4z10bND9bT8uy7hqprq9kee_4zkJBv61AJS4qRU3_jjif42Y4TNlQX2fde4dPeakCrscF0IyzqqIsAsxTxTRfrbH6B8v-XTnto0DuL9-pWr7zTb6cHHqPg1H1psoUJtmUnB5IEdDI4jNKOdBlCo5k3RzWAKY1uAg-c3aE2SeBL7nSZdy7HDCva033TOFFBXc8_Dp0Jz9CcEgyjQ1P26pISBDASCI58PwkLzXQtJYe5hsIJe0epI1XS4xZbQU8R95LQ6AdMcWq7Uvj4fzElnyCZdNtcBmv_FMk2pIaSjZ2aKNOzMpHYbAmW7lP6v54mha-p-_4Hld9Q6Q8K48kgPY-B8dMcs66yxkjj-9Q5vYIzHW-GSRN13OMu__J18ENPlnnsJL4cXXriKvrt-yxC4f5sIRjwgUou1aOkj5w75BLm2E3ldQyRjmj2BG-o1m3iLxfCdZjLngCwdTRD1qTACXqyZcHfsyFJ36oiZc5iTtNY87OKPP0n79jkeMmVP7xhMZSYnOj7iJtn5dEPd-i8JVsqIKUyibDr6ol3qnFgUDUkQxitLZcR",
  "id": "rs_031704c1cb641f58016ab4354c471087d09cf25b1a3b8c529f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_z\":0.03},\"note\":\"At table height, the left bottle’s blue cap sits centered but slightly ahead of the actual fingertip grasp point. I’m advancing three centimeters to bring the narrow neck into the jaws.\"}",
  "call_id": "call_7ZtEm5mNM4P6oaK07TMN9dzH",
  "id": "fc_031704c1cb641f58016ab4354d175887d0b8c956b205c22a9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ZtEm5mNM4P6oaK07TMN9dzH",
  "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]: [-0.2089, 1.7775, 0.5751, 0.6765, -0.0044, -0.0284, 0.997, -0.2379, 0.6682, 0.2878, -0.2626, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4235 left_y=-0.0853 left_z=0.0398 left_yaw=-0.2013 left_pitch=0.0354 left_roll=-0.0077 left_gripper=0.997 right_x=0.2596 right_y=0.0023 right_z=0.0988 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [0.4991, -6.4205, 5.3949, 1.4628, 0.0708, 0.0464, 0.0073, -0.8821, -0.9641, 6.5709, 1.8584, -0.315, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da18f86dc1eda64802726fed651d8219f14c4f31e5fcf5efa1f530ba89a81f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc13abd47f5908abaef222faccbb11527a0d4a29e119697319e2fbaf1049a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b13d0316b03f92631eb154e3cb003e3c6abdefa7e905d2dae9217c39114d5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.627 s

model: gpt-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]: [-0.2821, 1.4311, 0.3286, 0.4931, -0.0475, -0.0357, 0.4992, -0.2379, 0.7128, 0.3599, -0.2897, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3392 left_y=-0.0858 left_z=0.0409 left_yaw=-0.2342 left_pitch=-0.0475 left_roll=0.0117 left_gripper=0.4992 right_x=0.2678 right_y=0.0003 right_z=0.1148 right_yaw=0.1843 right_pitch=-0.0279 right_roll=0.0008 right_gripper=0.9956\nstate[joint_eff]: [-0.4991, -5.8462, 5.9145, 2.2686, -0.1343, -0.1978, 0.7009, -0.6222, -0.5812, 6.8581, 1.917, -0.2808, 0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2214, 1.6745, 0.5026, 0.5911, -0.0082, -0.0284, 0.9967, -0.2379, 0.6796, 0.3069, -0.268, -0.3458, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.3954 left_y=-0.0839 left_z=0.0369 left_yaw=-0.2107 left_pitch=-0.0195 left_roll=-0.0052 left_gripper=0.9967 right_x=0.262 right_y=0.0018 right_z=0.1035 right_yaw=0.1848 right_pitch=-0.026 right_roll=-0.0001 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -4.3419, 3.2752, 1.2674, -0.1343, -0.0171, 0.1148, -0.7179, -0.7726, 6.7761, 1.9072, -0.3297, -0.0171, -0.0122]",
      "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]: [-0.2089, 1.7775, 0.5751, 0.6765, -0.0044, -0.0284, 0.997, -0.2379, 0.6682, 0.2878, -0.2626, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4235 left_y=-0.0853 left_z=0.0398 left_yaw=-0.2013 left_pitch=0.0354 left_roll=-0.0077 left_gripper=0.997 right_x=0.2596 right_y=0.0023 right_z=0.0988 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [0.4991, -6.4205, 5.3949, 1.4628, 0.0708, 0.0464, 0.0073, -0.8821, -0.9641, 6.5709, 1.8584, -0.315, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da18f86dc1eda64802726fed651d8219f14c4f31e5fcf5efa1f530ba89a81f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc13abd47f5908abaef222faccbb11527a0d4a29e119697319e2fbaf1049a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b13d0316b03f92631eb154e3cb003e3c6abdefa7e905d2dae9217c39114d5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVQGBBnFpAFLbA04Pt7XEfGHmiJW71j0jWMlLSB3PULQgUkjhuBaUz45swtXgd_h_ok01hrpo26puDsYQsk6bZsVjockoDhoHnNPq58t2fjIx2tl7YFmc6s3OcGr3Kz9oEEK7Idv5GsOYy8_X8pEDs1AabKeafpHgBXKde1w4Xos0A73afg6P5GTYBhcHb-0D5jZtKsFS_Zab18Jst5sXLsCqS6MCNJTDSCCHEQfaihGNtZMvWhRl3uV-tUaD3-p1kgslJ6fsUTk78HwQWQkpSUfkfVy6wJSTMReDl2YEOMDaDfJHc1kzFsPOkHY-jSdqXFt1Va6W5T0h3-hFW94McRJ3INvmx2ZmbJZMoe-fQdZe1nF_wys-rUgIDWFbuL2Ef0BZoWmPWWucFrYNSJmmrCAo1c1Bh3jUTR8X2BqoghYGu7ARXTIe9nEU4VUh8IOkwv2CQzYDuessNlU3u--uanMZhnX1HVMTR49UwENXxBxxYiNomOekAy217cwM93HFZI3TLgq3DYPDWcnSQ2F8n-YB5tFxXf2cyoognlet6oWGv5YZ2wQnNxRJWNccyZNhxfbrYMiBlb_p-3r6xIdKojhQhjnTv3OMRA9OWQI5Hq0vpyy3_akwukFCpjhxtkF289sOLDALrj6XgRkNBrA11wL1YiZDXRQzFZhIKv3L3hsbGx5jj4XRRXEzCBIiI5oKLWa-6kAVQATL05HN0Tb8n_m3qtojoOMGQq_I57E7JscGT9b_PaMRD5ywjNwf3MnkJG0ZgzYmuZ0KBeVYT4UbmC4GGBMfJum8c869zj5dbr-A8mjtUKcIu3xbIAerB8uQdU_ldbwCZCc6AvKohz_JJC2fA8eQtAOQoK8QtP_KJm-_xKa2lkGqrSS5r8-dF_2pGE8UqiQGexU7KD27W4RVxmXGKsqMwgiDYXAdRolkcL33aWvLWV3O5YQR5pmAHSI7waHFNDI9xU_ERCyIuiVVSJxlaFjxJkMMxEakYxKRO7ESCvNanQpeWNgfHSxHHigpx10gsNVVB_vZWJ1nqqNjl7JVSxFv6SsU4fkA5GD6nb2jceJD0l6gR44hskWBp_vsgPMTCRD8FBT1dW_cpXKOe-wWG0PfGRpl99lPltLgCHV3F-PZnGWyh5TmAK_UzkwqBEPpxgNWKz-KgCaeCBhSe34Edx5ynS-GeHn2iJWBsO_bxuSdO2EbNwhdCRZLeWp0q0ZPviBWIhs2ECOdIZjHEN4TWD2gLqKMac3Mk1yMZNS3c1zQqrzvf9rj1y6YeeIIS2sIv_7exmlI-7JEHLH8dFEjFrERTqyNGmqZtpjlkszKDCxFbVOVyRssE_I2kE_9sw8vURDYtkJSUyTzipu9ymJwRqmJv9llf6JZg5ZpQvjHNeNqJT2qXc5N-ME571JsMh",
  "id": "rs_031704c1cb641f58016ab4354f73f087d0995ceb3b6018cb2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The blue cap is now at the lower center of the left wrist image, right where the fingertips converge. I’m closing around the neck and will check whether it leaves a narrow, nonempty opening.\"}",
  "call_id": "call_fn5w5gQM6VJDDbUpPEwX1zbN",
  "id": "fc_031704c1cb641f58016ab4354fd58487d09de8f63cdf2ef7e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fn5w5gQM6VJDDbUpPEwX1zbN",
  "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]: [-0.2096, 1.7596, 0.598, 0.6506, -0.0231, -0.0269, 0.0149, -0.2379, 0.6533, 0.2626, -0.2523, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4294 left_y=-0.0835 left_z=0.05 left_yaw=-0.187 left_pitch=0.0504 left_roll=0.0027 left_gripper=0.0149 right_x=0.2569 right_y=0.003 right_z=0.0931 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -7.4188, 5.5316, 1.2576, 0.1197, -0.0269, 0.9646, -0.759, -0.841, 6.8444, 1.9121, -0.315, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb891f7f39e5fb0c090963e2b8d642d15f570d793e5ff0d726e97fbe532df17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bd9b10d42b2eb352b26fe207d838d72cfd24f3da030ed284a5d833cc3752b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7f0763f50a041dbe0ad413229800fb961d962eb941ef67616e021223b44f15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.836 s

model: gpt-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]: [-0.2081, 1.4445, 0.6987, 0.2165, 0.0021, -0.0235, 0.9955, -0.2379, 0.6994, 0.3344, -0.2829, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4121 left_y=-0.0837 left_z=0.1273 left_yaw=-0.2087 left_pitch=0.0319 left_roll=-0.0066 left_gripper=0.9955 right_x=0.2645 right_y=0.0011 right_z=0.1081 right_yaw=0.1843 right_pitch=-0.0327 right_roll=0.003 right_gripper=0.9956\nstate[joint_eff]: [0.2667, -5.4085, 7.9521, 1.6777, 0.1832, 0.2369, 0.0464, -0.9231, -1.0051, 7.0359, 1.8632, -0.2564, -0.022, -0.0122]",
      "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]: [-0.2089, 1.7775, 0.5751, 0.6765, -0.0044, -0.0284, 0.997, -0.2379, 0.6682, 0.2878, -0.2626, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4235 left_y=-0.0853 left_z=0.0398 left_yaw=-0.2013 left_pitch=0.0354 left_roll=-0.0077 left_gripper=0.997 right_x=0.2596 right_y=0.0023 right_z=0.0988 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [0.4991, -6.4205, 5.3949, 1.4628, 0.0708, 0.0464, 0.0073, -0.8821, -0.9641, 6.5709, 1.8584, -0.315, 0.0073, -0.0122]",
      "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]: [-0.2096, 1.7596, 0.598, 0.6506, -0.0231, -0.0269, 0.0149, -0.2379, 0.6533, 0.2626, -0.2523, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4294 left_y=-0.0835 left_z=0.05 left_yaw=-0.187 left_pitch=0.0504 left_roll=0.0027 left_gripper=0.0149 right_x=0.2569 right_y=0.003 right_z=0.0931 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -7.4188, 5.5316, 1.2576, 0.1197, -0.0269, 0.9646, -0.759, -0.841, 6.8444, 1.9121, -0.315, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb891f7f39e5fb0c090963e2b8d642d15f570d793e5ff0d726e97fbe532df17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23bd9b10d42b2eb352b26fe207d838d72cfd24f3da030ed284a5d833cc3752b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7f0763f50a041dbe0ad413229800fb961d962eb941ef67616e021223b44f15",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDVW_TZbOhoLUw7beXXtjb2FhYqmO5SMMkH9Z8WO-FyXpKqlvz7tq15c0RfhvNOVwvPHfGjPPJoGXuCZRMaX6Ykg4co282w8OrV7wVMsi0e-LUkZfYgGoEeiLmCQvX-2dMwCUJoAWJnHXFkbJggDuNxml3voEA1QppZ0f1HJiRWy5nxadqKdxYBy1RjBQnf3cHIYJGwq6LxcOwgc4k8UEX75l9ME1nsnilzAkqBS5a8ksmMHr7uZuWgArcapk7AkMtZRieu024u14amkIouxSVs5cMtBHwBCpFoiWXeABJXhOv7R99Qu7le2_G-IpSvDEnAzWj-Rl2eopUpNj4OoDxC8Fe1RQFEfjtOw5GKQ7Sb9fhzjx4wzFum5F7sWIoqi8OlEmLEdatOtZ7QkQfde-8GO_FbYPFw6Oa0fgyZY8IStXMoCOms9X4oU0fqAHwK9USKRS3jy_Ne1Nqlp6tnGHsIL4DJy7z4ZzD5tX-_Y1XHrNgAuItZrevZ5szT6qHtLMhxxzvALevfL_w4J_KeFOnoYu0RKLYj5ghLKwmKxI6RZH15knAC-CRj3bsFrQ83HDxr5pLC3N9w29Lv17AKHKOf-Ur8UXvXI_1P-AFU9asbGg7iJbaQ2urEgW4b2v1_GjgyZbVnB8lAGqqDA83IO9mlwZfd8CYMFQrbVpbP9wHkitShKlK9aai7J9nX1ZjyW7p88gd3yrmLuJJ36VWdrvRP6GjSh27Qg6D7GHOznWq5BLRyORxBcJVVW0BFukx3nuhk4-TqC92mGxJcbThRn9TmOXZr7TGDEzV87PRhGg-eOhsTzru-TI47KaF1XZW3d5is_z2Ol5YbZcQfARS9N_vdMsjioMeKpGJ6fv_SiF1uNYN8p5HpWG8D2oYKKT9lpclGXGiEHSdKpRo23kUnYDw4UJov-n6B6xorLBoiamqaYlUVy8MoC8NXjBhC4p5OxHI-nzMml2FWxhANn4OFnGnTFnUpWxUZGhrPh18esAh_vY_8I4vyhKas_KObkFWHsxq41zs7aQpVc-r_wKIHb6aalFJXvHFIv561TS8yoyaiRYZTL3QKwBgC9qJHbH2zksK_Lp3IRzFuq2hcH0WkK7w9PS3_hZZUCMceoKb_yOXlmvB7nTah8YV6vFCwSVQKIDJ9k0gnFZXbstJw8YxCha0qd6rfkcYP0PAqPmONdK5daeTbtdnu5WAQV0rcA7FMO1GHtwHaWVAL9cdsKEGqaNIwlOVf2w_Rz0UHxTtlMwDAsAXCcJjvg3n9WtsZtnlNLLvEeKwF7wmWM74wHa0_xLOiXCq8JBrdqSOVE2Y_CUtvKUfKXQHXXTxwgPOzM719Ni0qb_mSIdJ4Lp43lauXJO8z8m6x7W9L1RRwoOU5vP9V7gSHMJfjEzeVmXl7UG7LK7OAhAPXXa7tpghN0UOuDH5kWcEbSPFklCX2R0tWHCes6oy1wtXrhbZy2N_VchbOQwqrv2qtxRGLmENrNw4RsFrZKTP69Hh1MrT7TNyMn6oOvPx7EjDShVT1MrxDHKgvx5eYdaeh8V98sSW2BwEh-Lz-ZVJGp0goS8tXLOtRaLP9cFkLE348Ecbt7tiB4kMWh5OvDad2zIzlAtS8LRpfK_wrH8JdM4HFSQBy7pknOxJA_DzJOeIC7u6oP1JhiN6lsH9O8FPWcgSazysP8bQnm7nAsKs9N8hJqvW4admkh--2ddIDIcJvHtTe7BvEgIUteZQLtzUMYmkvJ4G_XR3SMPXG9MTeii5dAkHSnzGv3ReeBjQeviwx0q4hTRreUSSakCXHxlAhBUd4HqdPTo0Z2XTbRcEBXc9Ji3uPgPRPfdIOC9_K7d5OsEzx-urxMEZVAcL3P8szl01T6urBjlccGV_wSgJHO-02L7ANBGIndgTGl86Cj-qnyk9XDYpmWOH54C9u_pyQasFlcnvrzTODdcDGQsaieDJNlmOaj6YG5_2U4VR4MTqY1VH1-oNj6tnwI5lDOjIkCZ91466FII3BbsulYNhA_hZTb1wLxPC1bC4ojj-HRB6BPUQnkr9NAYtUWgwjw6u0qVQlauYxzQfx1Z-GDMtU_2P1wsLPAkevg2xPOA7OX1K69GA5O4PIM4-B46NrgZz9xT2DvjgSQnKU-dNVgJg==",
  "id": "rs_031704c1cb641f58016ab435527ae887d08c463acc8e407321",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.385,\"left_z\":0.04},\"note\":\"The fingers closed empty at the cap, so that forward position overshot the neck. I’m reopening and backing up four centimeters to center the bottle at the fingertips rather than behind them.\"}",
  "call_id": "call_lyfdvIjEMv7MNBbhjmmuRXVC",
  "id": "fc_031704c1cb641f58016ab435547e5087d08dbab6ad64506d21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lyfdvIjEMv7MNBbhjmmuRXVC",
  "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]: [-0.2401, 1.6524, 0.4755, 0.6395, -0.0479, -0.0532, 0.9943, -0.2379, 0.6384, 0.242, -0.2443, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3942 left_y=-0.0841 left_z=0.0459 left_yaw=-0.1826 left_pitch=0.0246 left_roll=-0.0066 left_gripper=0.9943 right_x=0.2547 right_y=0.0036 right_z=0.089 right_yaw=0.1845 right_pitch=-0.026 right_roll=0.0002 right_gripper=0.9956\nstate[joint_eff]: [-0.6632, -7.5966, 3.6308, 1.5311, -0.022, 0.0757, 0.0366, -0.9641, -0.6496, 6.5026, 1.8877, -0.2857, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7806e93f03becf4d93a8b1bbff9d3ef3978f0535dde7d7189a45d45576d0b845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b6a97f92e3dfc291e1a75560de7378c19f8e1922377b0ca78ead2a7cc8ff53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94331226a3c2abf76b03af658021fe929fc4ec7241240c44606f90a1d793e0c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.52 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2214, 1.6745, 0.5026, 0.5911, -0.0082, -0.0284, 0.9967, -0.2379, 0.6796, 0.3069, -0.268, -0.3458, -0.2638, 0.9956]\nstate[eef_state]: left_x=0.3954 left_y=-0.0839 left_z=0.0369 left_yaw=-0.2107 left_pitch=-0.0195 left_roll=-0.0052 left_gripper=0.9967 right_x=0.262 right_y=0.0018 right_z=0.1035 right_yaw=0.1848 right_pitch=-0.026 right_roll=-0.0001 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -4.3419, 3.2752, 1.2674, -0.1343, -0.0171, 0.1148, -0.7179, -0.7726, 6.7761, 1.9072, -0.3297, -0.0171, -0.0122]",
      "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]: [-0.2096, 1.7596, 0.598, 0.6506, -0.0231, -0.0269, 0.0149, -0.2379, 0.6533, 0.2626, -0.2523, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4294 left_y=-0.0835 left_z=0.05 left_yaw=-0.187 left_pitch=0.0504 left_roll=0.0027 left_gripper=0.0149 right_x=0.2569 right_y=0.003 right_z=0.0931 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -7.4188, 5.5316, 1.2576, 0.1197, -0.0269, 0.9646, -0.759, -0.841, 6.8444, 1.9121, -0.315, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2401, 1.6524, 0.4755, 0.6395, -0.0479, -0.0532, 0.9943, -0.2379, 0.6384, 0.242, -0.2443, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3942 left_y=-0.0841 left_z=0.0459 left_yaw=-0.1826 left_pitch=0.0246 left_roll=-0.0066 left_gripper=0.9943 right_x=0.2547 right_y=0.0036 right_z=0.089 right_yaw=0.1845 right_pitch=-0.026 right_roll=0.0002 right_gripper=0.9956\nstate[joint_eff]: [-0.6632, -7.5966, 3.6308, 1.5311, -0.022, 0.0757, 0.0366, -0.9641, -0.6496, 6.5026, 1.8877, -0.2857, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7806e93f03becf4d93a8b1bbff9d3ef3978f0535dde7d7189a45d45576d0b845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b6a97f92e3dfc291e1a75560de7378c19f8e1922377b0ca78ead2a7cc8ff53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94331226a3c2abf76b03af658021fe929fc4ec7241240c44606f90a1d793e0c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_031704c1cb641f58016ab43559e82c87d09d70e64d777017ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The cap is directly under the left fingertips now, but the previous low close still missed; the fingers appear to have passed above this narrow section. I’m lowering to tabletop contact before trying one last neck grip.\"}",
  "call_id": "call_sMVh3tjXhkXNruBl8thXeygJ",
  "id": "fc_031704c1cb641f58016ab4355c0ca887d0bad04a72b983dd4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sMVh3tjXhkXNruBl8thXeygJ",
  "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]: [-0.2424, 1.8427, 0.4778, 0.968, -0.0498, -0.0628, 0.9956, -0.2379, 0.6254, 0.223, -0.239, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4177 left_y=-0.0906 left_z=0.0436 left_yaw=-0.1773 left_pitch=0.1647 left_roll=-0.023 left_gripper=0.9956 right_x=0.2524 right_y=0.0041 right_z=0.0846 right_yaw=0.1846 right_pitch=-0.0267 right_roll=0.0006 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.947, 2.1128, -0.2515, -0.0708, 0.1441, 0.1148, -0.7179, -0.7316, 6.5162, 1.8339, -0.3297, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce89ded48835d27722286253cef4641af46ad78fc20725655b7934c7f4d1fbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ee62b541d42bdd9a33947220242d7d6fe8bf621f9d30f0b852ceb760588a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962fc18f3c7ba4263ce72a6776f3facf3980f937e5f79690a0c8fa11e5d500c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.455 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2089, 1.7775, 0.5751, 0.6765, -0.0044, -0.0284, 0.997, -0.2379, 0.6682, 0.2878, -0.2626, -0.3454, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4235 left_y=-0.0853 left_z=0.0398 left_yaw=-0.2013 left_pitch=0.0354 left_roll=-0.0077 left_gripper=0.997 right_x=0.2596 right_y=0.0023 right_z=0.0988 right_yaw=0.1843 right_pitch=-0.0282 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [0.4991, -6.4205, 5.3949, 1.4628, 0.0708, 0.0464, 0.0073, -0.8821, -0.9641, 6.5709, 1.8584, -0.315, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2401, 1.6524, 0.4755, 0.6395, -0.0479, -0.0532, 0.9943, -0.2379, 0.6384, 0.242, -0.2443, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.3942 left_y=-0.0841 left_z=0.0459 left_yaw=-0.1826 left_pitch=0.0246 left_roll=-0.0066 left_gripper=0.9943 right_x=0.2547 right_y=0.0036 right_z=0.089 right_yaw=0.1845 right_pitch=-0.026 right_roll=0.0002 right_gripper=0.9956\nstate[joint_eff]: [-0.6632, -7.5966, 3.6308, 1.5311, -0.022, 0.0757, 0.0366, -0.9641, -0.6496, 6.5026, 1.8877, -0.2857, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 158 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2424, 1.8427, 0.4778, 0.968, -0.0498, -0.0628, 0.9956, -0.2379, 0.6254, 0.223, -0.239, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4177 left_y=-0.0906 left_z=0.0436 left_yaw=-0.1773 left_pitch=0.1647 left_roll=-0.023 left_gripper=0.9956 right_x=0.2524 right_y=0.0041 right_z=0.0846 right_yaw=0.1846 right_pitch=-0.0267 right_roll=0.0006 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.947, 2.1128, -0.2515, -0.0708, 0.1441, 0.1148, -0.7179, -0.7316, 6.5162, 1.8339, -0.3297, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce89ded48835d27722286253cef4641af46ad78fc20725655b7934c7f4d1fbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ee62b541d42bdd9a33947220242d7d6fe8bf621f9d30f0b852ceb760588a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962fc18f3c7ba4263ce72a6776f3facf3980f937e5f79690a0c8fa11e5d500c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVglmX0n0BNW1nw-3PkSw-Wm3NESuYEBdpb1u_bc2t1GJbaUopCftYcH7_RVQretDc_GG4ur8r61Va0-JhizFMhinBAmBFkO-ScfZmP9bIN7iqFZG-YmPrCRLOMa6WY2TIT_ALqHNtO7mIa2mMjxTEVOnDMo2jdMQ3Me0rNc2_JsaBfEUlZkZybgg5SXuo0lIKBXDWz487LeDau-vaWRhREy8N-zPjVkzQF7t9wVcV5d7uR26TLpPjtROHOXBcx7dkUrMJn0K09UzxE8R1DSRHAaX1Xt04yy9ccJT5Utid5sVtguM9ty82ZaDMdDn99g6LqhuQs5gmqgKCvjBCXhUZ_v6RkQJtxeu-Igf9_U_rmpdmDUov5ghG2PEHi0vewxbEH1ggfWCNwPNvjd_eHkcXKXSu7do1oe-z_t0EsVbT479ilxMeY557M5XuqfwxM2BaFDcNN7mTZtvsjmPaXiuwNhP10Z_MYXG0uD2zmN0RmvaeKde5gkZ9FjOtVoRw1QDBAe-fZ4nsloehJ6aQl-d7g0HsfTsFpLOUtGh6DTymTXIYmTQvKJ7NkIk71e5xMhsu0XdWPLBOFo105xYDTFMCb3eb5GQuC8iI85_bE42D18I9ELfMhzCUZtVEIVl9SMtJPVDJWjaBUEfhG5n2-ANIgPlCyIPgPEdXW6er8N-xm5MDB0p6WfiiIUnw9ltU5Ch_VVMvMdNRmxWZZYyohyxa7xB7aeTF3TrdwMP558Q70NIpO3dllXZuPdVKQpLEkh7c1krT7Pna9hZVZJnc-zKzTnF2xkCzQkeRa_DYbOQDM_BNcpPMO66YS_9JUmMpAolFEA1qgvazHnytvBpTcn6zSGiTxLB4KjGGNMYGp5dbDbpFo424PD9FreIIL9cSargzekeCpPvxh34n0ICtaZzCCzx7oLfYlnLFCHnjsUsjKPsc7wSqJMYe9xKaW23gIi80HAnxrEItXOjAGE2U3C55e8I75k4oYxgDMnomR0trT40hY4SYpi12W7U1nPaPFUS27I6vj0Yw9TAx1-Juy7g1oaI1OHltkSguxohxr87QA3UYd74LoV1DZFCfRXP6ns-RNLd-aE-HeiawW9YWtbZz9cyUYPtyIq_wF-zQ800Gdd0e2h7QEfqptzy0E15OWwvE9G5EWdbZ_yqltakUoJyPGhNZcszDz48YMT2qkG1eB2G0suuHIXMJD75HJYR5rOkrTwWvMDZLbM592NpKSc-CPvrT0jLT9EyIl48TOJElCL6iVvMYBTJRlU6z69_4n6wUXwlOYNhhzBHjOft9cUDDBGoZlYhIo_t_nL_gETE41IsnCi46KFDkvzZb4K1iGdyruYw9Yz-Wf85Yxm6-Mv2NkgMYtyHDLohNyluATutkGeNsPsHSiLZDNt37bGrbz86VMKoxMwR_RPW1gdRgJME7mV-JlMNYxwH2VBQ3JUZxhilQsOAiWPvV5gYDZkgm4EGR8EfwIFEngWB8BfhxNiZevz1CafOraiAhV4y5YDpQUzkhd-v9OkDq48K8_4q-EAu3mrI0HZxUrCpudKBretTQ0eqb1s9qKu5FNbbVy2Rgc9EqzqjxO7IZrJviKHMGvkMIkVGrmYXquwYJhJTQ4XxKxDz_XpMpdeQjY6eTSoSkqFXpqgzQcE6F4oPFjZJf5xPQDLhLI-y8sXvHztbbxzdot_w==",
  "id": "rs_031704c1cb641f58016ab4355f057887d0879e56c0f5b909fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the bottle at about four centimeters above the tabletop, confirming contact under the left gripper. I’m closing at that contact point to see whether the neck is actually held.\"}",
  "call_id": "call_tJyZsXY73zxtElT8Dy7XiRal",
  "id": "fc_031704c1cb641f58016ab4355fdca887d0a386b2960b68b36b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tJyZsXY73zxtElT8Dy7XiRal",
  "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]: [-0.2413, 1.8736, 0.4759, 1.0897, -0.0624, -0.0532, 0.0146, -0.2379, 0.6121, 0.2028, -0.2298, -0.3458, -0.2634, 0.9956]\nstate[eef_state]: left_x=0.4259 left_y=-0.0898 left_z=0.0585 left_yaw=-0.1691 left_pitch=0.2538 left_roll=-0.0156 left_gripper=0.0146 right_x=0.2505 right_y=0.0046 right_z=0.0804 right_yaw=0.1845 right_pitch=-0.0246 right_roll=-0.0004 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -3.2889, 1.7026, 0.1929, 0.0562, -0.0024, 0.9597, -0.9504, -0.6359, 6.6803, 1.8681, -0.315, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a39d23bcc203fe018a926eed16d68d906d2d35eced51affec5cb37a9f3e946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c669efd909ed1234ae4a6ab5cddb5a5322cb2b4ab68b2aa5eff2891351bb2fed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc16ac5f948c5667bdf100753d22d42f22efd59a5eeb514dc065e38530bafdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]