adhoc - adhoc_2cc62379.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: 189.5 s
total steps: 247

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 capped end points away from the right arm. I’m positioning the open right gripper above that end so I can lift it while the bottle's other end stays on the table.

move_to

right_x0.4300right_y0.1700right_z0.1500right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3767, -0.02, -0.0082, 0.9986, -0.0154, 0.7879, 0.6033, -0.3866, -0.0216, -0.0353, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0029 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.4838, 9.8256, 1.8339, -0.0611, -0.105, -0.1587, -1.0462, -0.9504, 10.1949, 1.8877, 0.0122, 0.1343, -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":0.17,"right_z":0.15,"right_gripper":0.65},"note":"All three bottles are lying on the table; the rightmost bottle's capped end points away from the right arm. I’m positioning the open right gripper above that end so I can lift it while the bottle's other end stays on the table."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteThe right wrist view shows the bottle's cap ahead and slightly to the camera's right of the jaws. I’m advancing toward the cap and shifting sideways to center its narrow neck between the fingers.

move_to

right_x0.4700right_y0.1300right_z0.0850

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3874, -0.0235, -0.0074, 0.9984, 0.5236, 1.6058, 0.9783, -0.0849, 0.3935, 0.2409, 0.6512] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1817 left_yaw=0.0025 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9984 right_x=0.4126 right_y=0.1641 right_z=0.1283 right_yaw=0.0428 right_pitch=-0.0773 right_roll=-0.0467 right_gripper=0.6512 state[joint_eff]: [-0.3487, -1.5795, 6.5573, 1.8046, -0.0122, -0.0513, -0.0317, -0.0479, -7.3778, 9.1829, 1.9316, 0.4078, 0.3004, -0.0708] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.13,"right_z":0.085},"note":"The right wrist view shows the bottle's cap ahead and slightly to the camera's right of the jaws. I’m advancing toward the cap and shifting sideways to center its narrow neck between the fingers."})

tool

executing move_to over 5 steps (0.5s)

step 19

assistant

agent noteThe right cap is now near the center of the wrist view but still ahead of the fingertips. I’m moving the fingers another few centimeters toward its neck and down to bottle height before closing.

move_to

right_x0.4800right_y0.1100right_z0.0320

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3862, -0.0235, -0.0078, 0.9983, 0.3687, 1.7882, 0.9062, 0.1833, 0.2775, 0.1558, 0.651] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.182 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.0023 left_gripper=0.9983 right_x=0.4479 right_y=0.125 right_z=0.0646 right_yaw=0.0289 right_pitch=-0.096 right_roll=-0.0396 right_gripper=0.651 state[joint_eff]: [0.1026, -1.7709, 6.3111, 1.8681, -0.0317, -0.0952, -0.0171, -0.8, -7.9248, 8.9368, 1.9853, 0.022, 0.1294, -0.0269] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.11,"right_z":0.032},"note":"The right cap is now near the center of the wrist view but still ahead of the fingertips. I’m moving the fingers another few centimeters toward its neck and down to bottle height before closing."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe previous descent barely progressed, and the cap is still ahead of the fingertip line. I’m keeping the height steady and making a small straight-forward approach to put the jaws around the bottle's narrow upper section.

move_to

right_x0.4850right_y0.1200right_z0.0600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6102, -0.3866, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1805 left_yaw=0.0025 left_pitch=-0.0114 left_roll=0.0027 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651 state[joint_eff]: [0.0068, -1.7299, 6.612, 1.8046, -0.0366, -0.0806, -0.0122, -0.4718, -8.7316, 8.294, 2.127, 0.1636, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.485,"right_y":0.12,"right_z":0.06},"note":"The previous descent barely progressed, and the cap is still ahead of the fingertip line. I’m keeping the height steady and making a small straight-forward approach to put the jaws around the bottle's narrow upper section."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe arm has stopped advancing at this low pose; its open fingers already straddle the bottle's upper body in the wrist view. I’m testing a gentle close here to see whether it can securely hold that section before lifting.

move_to

right_x0.4550right_y0.1270right_z0.0640right_gripper0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3862, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0167 left_roll=0.0029 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651 state[joint_eff]: [-0.2256, -1.9077, 6.7077, 1.8486, -0.0269, -0.0806, -0.0122, -0.3761, -8.7453, 8.4308, 2.1221, 0.1587, 0.0904, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.127,"right_z":0.064,"right_gripper":0.15},"note":"The arm has stopped advancing at this low pose; its open fingers already straddle the bottle's upper body in the wrist view. I’m testing a gentle close here to see whether it can securely hold that section before lifting."})

tool

executing move_to over 6 steps (0.6s)

step 31

assistant

agent noteThe partial close stopped exactly at its commanded opening, so it does not establish a grasp. I’m closing fully to check whether the fingers actually catch the bottle rather than empty space.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5953, -0.3752, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8654, 0.3035, 0.2329, 0.1272, 0.1539] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0025 left_pitch=-0.0129 left_roll=0.0028 left_gripper=0.9983 right_x=0.4527 right_y=0.1276 right_z=0.0613 right_yaw=0.0678 right_pitch=-0.0484 right_roll=-0.0179 right_gripper=0.1539 state[joint_eff]: [-0.2256, -1.5248, 6.4479, 1.873, -0.0073, -0.0806, -0.0122, -0.5402, -8.3214, 5.3675, 1.7802, 0.1245, 0.0122, -0.0171] 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":"The partial close stopped exactly at its commanded opening, so it does not establish a grasp. I’m closing fully to check whether the fingers actually catch the bottle rather than empty space."})

tool

executing move_to over 2 steps (0.2s)

step 33

assistant

agent noteThe fingers closed almost completely, so that attempt was empty; the cap is farther out than this arm can comfortably grip at low height. I’m opening and moving back over the bottle body to get a grip that can draw the bottle inward.

move_to

right_x0.3700right_y0.1300right_z0.0750right_gripper0.8000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7948, 0.5911, -0.3721, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8291, 0.3679, 0.2302, 0.1246, 0.0129] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0028 left_gripper=0.9983 right_x=0.4507 right_y=0.1273 right_z=0.0599 right_yaw=0.0717 right_pitch=-0.0218 right_roll=-0.0107 right_gripper=0.0129 state[joint_eff]: [-0.1709, -1.9214, 6.6667, 1.873, -0.022, -0.0952, -0.0122, -0.4171, -8.1162, 5.135, 2.0586, 0.0171, 0.0513, 1.0769] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.13,"right_z":0.075,"right_gripper":0.8},"note":"The fingers closed almost completely, so that attempt was empty; the cap is farther out than this arm can comfortably grip at low height. I’m opening and moving back over the bottle body to get a grip that can draw the bottle inward."})

tool

executing move_to over 8 steps (0.8s)

step 41

assistant

agent noteThe right wrist view now shows the bottle body between the open fingers, slightly off-center. I’m shifting a little sideways and descending toward its midline to grasp it securely.

move_to

right_x0.3700right_y0.1090right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.791, 0.5823, -0.3717, -0.0235, -0.0074, 0.9983, 0.466, 1.5417, 0.564, 0.3553, 0.2962, 0.1764, 0.7955] state[eef_state]: left_x=0.293 left_y=0.0019 left_z=0.1726 left_yaw=0.0025 left_pitch=-0.0179 left_roll=0.0029 left_gripper=0.9983 right_x=0.373 right_y=0.1339 right_z=0.0671 right_yaw=0.1011 right_pitch=-0.0203 right_roll=-0.0073 right_gripper=0.7955 state[joint_eff]: [0.0342, -1.3607, 6.8171, 1.9463, -0.0073, -0.0611, -0.0122, 0.1983, -7.4325, 5.7504, 1.7607, 0.4078, 0.1538, 0.0611] approver: 8 step(s) modified (delta_clamped ×8). 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_x":0.37,"right_y":0.109,"right_z":0.035},"note":"The right wrist view now shows the bottle body between the open fingers, slightly off-center. I’m shifting a little sideways and descending toward its midline to grasp it securely."})

tool

executing move_to over 3 steps (0.3s)

step 44

assistant

agent noteThe open right gripper is now at bottle-body height, with the clear plastic body filling the space between its jaws. I’m closing on the body and will use the gripper reading to confirm contact.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3702, -0.0231, -0.0074, 0.9983, 0.3893, 1.615, 0.4557, 0.5041, 0.2569, 0.1471, 0.796] state[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.1708 left_yaw=0.0022 left_pitch=-0.0202 left_roll=0.0027 left_gripper=0.9983 right_x=0.3634 right_y=0.1044 right_z=0.0285 right_yaw=0.0723 right_pitch=-0.059 right_roll=-0.0203 right_gripper=0.796 state[joint_eff]: [-0.2256, -2.0855, 6.2974, 1.9658, 0.0122, -0.0464, -0.0122, 0.335, -5.8051, 5.4632, 2.3321, -0.1099, -0.1197, 0.0464] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The open right gripper is now at bottle-body height, with the clear plastic body filling the space between its jaws. I’m closing on the body and will use the gripper reading to confirm contact."})

tool

executing move_to over 8 steps (0.8s)

step 52

assistant

agent noteThe right gripper settled at about a 4.9 cm opening, consistent with holding the bottle body. I’m lifting it modestly and drawing it inward so its capped end becomes reachable for an upright-placement grasp.

move_to

right_x0.3400right_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7834, 0.5644, -0.3637, -0.0235, -0.0071, 0.9983, 0.3866, 1.636, 0.4076, 0.6159, 0.2417, 0.1337, 0.5115] state[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1681 left_yaw=0.0023 left_pitch=-0.0202 left_roll=0.0033 left_gripper=0.9983 right_x=0.3608 right_y=0.1051 right_z=0.0261 right_yaw=0.09 right_pitch=-0.021 right_roll=-0.0097 right_gripper=0.5115 state[joint_eff]: [-0.253, -1.7436, 6.4479, 1.9658, -0.0171, -0.0171, -0.0122, 0.1026, -5.1897, 4.7521, 1.9609, 0.1734, 0.0611, 1.0232] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_z":0.12},"note":"The right gripper settled at about a 4.9 cm opening, consistent with holding the bottle body. I’m lifting it modestly and drawing it inward so its capped end becomes reachable for an upright-placement grasp."})

tool

executing move_to over 7 steps (0.7s)

step 59

assistant

agent noteThe gripper still holds the bottle, but the attempted lift stalled near the tabletop and the wrist effort rose. I’m reducing the lift and drawing the bottle inward in a smaller step to avoid forcing the arm against the table.

move_to

right_x0.2900right_y0.1000right_z0.1050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7738, 0.5491, -0.3527, -0.0235, -0.0074, 0.9983, 0.4183, 1.2572, 0.458, 0.0261, 0.2344, 0.1379, 0.5114] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1659 left_yaw=0.0025 left_pitch=-0.0148 left_roll=0.0028 left_gripper=0.9983 right_x=0.3128 right_y=0.098 right_z=0.0606 right_yaw=0.1208 right_pitch=-0.1759 right_roll=-0.0491 right_gripper=0.5114 state[joint_eff]: [-0.0615, -1.1966, 6.6393, 1.9219, -0.0513, -0.0659, -0.0122, 0.1299, -6.612, 12.2325, 2.7668, 0.4225, 0.1441, 0.9499] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0.10,"right_z":0.105},"note":"The gripper still holds the bottle, but the attempted lift stalled near the tabletop and the wrist effort rose. I’m reducing the lift and drawing the bottle inward in a smaller step to avoid forcing the arm against the table."})

tool

executing move_to over 3 steps (0.3s)

step 62

assistant

agent noteThe capped end has visibly shifted back toward the robot, so the body grasp is repositioning the bottle even though the lift is constrained. I’m pulling it a little farther inward to make a later cap grasp practical.

move_to

right_x0.2100right_y0.0950right_z0.0850

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7689, 0.5476, -0.3458, -0.0235, -0.0074, 0.9983, 0.4843, 1.0229, 0.3222, -0.0921, 0.255, 0.1604, 0.5145] state[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0026 left_gripper=0.9983 right_x=0.2648 right_y=0.093 right_z=0.0537 right_yaw=0.1561 right_pitch=-0.1899 right_roll=-0.0527 right_gripper=0.5145 state[joint_eff]: [-0.1436, -1.5658, 5.9829, 1.8584, -0.0122, -0.0757, -0.0122, -0.253, -4.0957, 10.0444, 3.5922, 0.5934, 0.0904, 0.8571] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.21,"right_y":0.095,"right_z":0.085},"note":"The capped end has visibly shifted back toward the robot, so the body grasp is repositioning the bottle even though the lift is constrained. I’m pulling it a little farther inward to make a later cap grasp practical."})

tool

executing move_to over 5 steps (0.5s)

step 67

assistant

agent noteThe bottle is now closer, but pulling farther stalls; its cap is visible near the arm's reachable middle area. I’m releasing the body and clearing the gripper so I can approach the cap directly.

move_to

right_gripper0.8500right_z0.1600right_x0.2900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.4915, 0.9993, 0.3218, -0.1356, 0.2607, 0.168, 0.5141] state[eef_state]: left_x=0.2904 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.2589 right_y=0.091 right_z=0.0525 right_yaw=0.1531 right_pitch=-0.2075 right_roll=-0.0578 right_gripper=0.5141 state[joint_eff]: [-0.2256, -1.3744, 6.7897, 1.8437, -0.022, -0.0904, -0.0122, -0.294, -4.6974, 9.8256, 2.884, 0.4713, 0.0659, 0.3443] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.85,"right_z":0.16,"right_x":0.29},"note":"The bottle is now closer, but pulling farther stalls; its cap is visible near the arm's reachable middle area. I’m releasing the body and clearing the gripper so I can approach the cap directly."})

tool

executing move_to over 7 steps (0.7s)

step 74

assistant

agent noteAfter release, the bottle's cap is centered in the right wrist view and is now substantially closer than before. I’m bringing the gripper forward and down around the narrow cap/neck, with enough opening to clear it.

move_to

right_x0.3800right_y0.0940right_z0.0580right_gripper0.5600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.4438, 0.9333, 0.4198, -0.1616, 0.2466, 0.1417, 0.847] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.0084 left_roll=0.0025 left_gripper=0.9983 right_x=0.2828 right_y=0.0907 right_z=0.1054 right_yaw=0.1379 right_pitch=-0.0799 right_roll=-0.0246 right_gripper=0.847 state[joint_eff]: [-0.0615, -1.0188, 6.6393, 1.8584, 0.0171, -0.0464, -0.0122, -0.1709, -4.4786, 12.6564, 2.5372, 0.0659, 0.0904, -0.0904] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.094,"right_z":0.058,"right_gripper":0.56},"note":"After release, the bottle's cap is centered in the right wrist view and is now substantially closer than before. I’m bringing the gripper forward and down around the narrow cap/neck, with enough opening to clear it."})

tool

executing move_to over 8 steps (0.8s)

step 82

assistant

agent noteThe cap and neck are centered but still in front of the fingertips; at the current position the fingers would close on the wide body again. I’m reopening and advancing over the body toward the narrow neck, slightly raised for clearance.

move_to

right_x0.4180right_y0.0920right_z0.0630right_gripper0.8500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.2974, 1.5078, 0.448, 0.4007, 0.1226, 0.0521, 0.5627] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.3587 right_y=0.0911 right_z=0.041 right_yaw=0.1439 right_pitch=-0.082 right_roll=-0.0175 right_gripper=0.5627 state[joint_eff]: [0.0479, -1.2376, 6.3795, 1.8095, 0.022, -0.0904, -0.0122, -0.9231, -4.7111, 7.3641, 1.6581, 0.0269, 0.0464, 0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.418,"right_y":0.092,"right_z":0.063,"right_gripper":0.85},"note":"The cap and neck are centered but still in front of the fingertips; at the current position the fingers would close on the wide body again. I’m reopening and advancing over the body toward the narrow neck, slightly raised for clearance."})

tool

executing move_to over 5 steps (0.5s)

step 87

assistant

agent noteThe narrow neck is now on the finger centerline and near the jaws' approach zone. I’m advancing a small final amount while descending to the neck's height so the close will catch the neck rather than the bottle body.

move_to

right_x0.4300right_y0.0930right_z0.0290

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.2466, 1.6432, 0.5842, 0.4419, 0.0692, 0.0166, 0.847] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4021 right_y=0.0923 right_z=0.0487 right_yaw=0.1576 right_pitch=-0.0442 right_roll=-0.0095 right_gripper=0.847 state[joint_eff]: [-0.212, -1.4427, 6.8308, 1.7802, -0.0024, -0.0171, -0.0122, -0.7453, -5.9966, 7.2547, 1.8095, -0.0171, 0.0464, -0.188] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.093,"right_z":0.029},"note":"The narrow neck is now on the finger centerline and near the jaws' approach zone. I’m advancing a small final amount while descending to the neck's height so the close will catch the neck rather than the bottle body."})

tool

executing move_to over 3 steps (0.3s)

step 90

assistant

agent noteThe cap is centered and the neck lies between the fingertip tips in the right wrist view; the low forward move stalled again. I’m closing here to check whether the jaws can grip that narrow section.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.6075, 0.4412, 0.0662, 0.0162, 0.8488] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4093 right_y=0.0922 right_z=0.0549 right_yaw=0.1547 right_pitch=-0.028 right_roll=-0.0066 right_gripper=0.8488 state[joint_eff]: [-0.1436, -1.4564, 6.5709, 1.7753, -0.0073, -0.0513, -0.0122, -0.6632, -6.2564, 7.2547, 1.8339, 0.0122, -0.0073, 0.1832] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The cap is centered and the neck lies between the fingertip tips in the right wrist view; the low forward move stalled again. I’m closing here to check whether the jaws can grip that narrow section."})

tool

executing move_to over 9 steps (0.9s)

step 99

assistant

agent noteThe fingers closed empty, so the cap was still just beyond the true grasp point. I’m lifting above the bottle first and moving directly over the cap, rather than trying to drive low fingers forward through its body.

move_to

right_x0.4500right_y0.0900right_z0.1500right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.601, 0.4763, 0.0647, 0.009, 0.0128] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4119 right_y=0.0931 right_z=0.0596 right_yaw=0.1599 right_pitch=0.0005 right_roll=-0.0094 right_gripper=0.0128 state[joint_eff]: [-0.0752, -1.4291, 6.7487, 1.8242, -0.0269, -0.0757, -0.0122, -0.1709, -6.2564, 4.3419, 1.8046, -0.0317, 0.0611, 1.0427] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.09,"right_z":0.15,"right_gripper":0.65},"note":"The fingers closed empty, so the cap was still just beyond the true grasp point. I’m lifting above the bottle first and moving directly over the cap, rather than trying to drive low fingers forward through its body."})

tool

executing move_to over 7 steps (0.7s)

step 106

assistant

agent noteThe elevated view puts the bottle cap just behind the right fingertips, with the fingers above it rather than blocked by the body. I’m descending nearly vertically over that cap/neck position for a cleaner grasp.

move_to

right_x0.4220right_y0.0920right_z0.0360

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0071, 0.9983, 0.2089, 1.5856, 0.8867, 0.0879, 0.0216, -0.02, 0.6457] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0023 left_pitch=-0.0064 left_roll=0.0029 left_gripper=0.9983 right_x=0.4425 right_y=0.0936 right_z=0.1229 right_yaw=0.1798 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.6457 state[joint_eff]: [-0.2393, -1.4291, 6.9265, 1.7949, -0.0171, -0.0269, -0.0122, -1.0735, -9.5248, 9.5658, 1.79, -0.0269, 0.1734, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.422,"right_y":0.092,"right_z":0.036},"note":"The elevated view puts the bottle cap just behind the right fingertips, with the fingers above it rather than blocked by the body. I’m descending nearly vertically over that cap/neck position for a cleaner grasp."})

tool

executing move_to over 6 steps (0.6s)

step 112

assistant

agent noteThe cap is now clearly visible between the fingers, slightly ahead and right of their center. I’m making one short horizontal correction to align the jaws on the capped end.

move_to

right_x0.4430right_y0.0830right_z0.0360

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.2146, 1.7409, 0.625, 0.4973, 0.0162, -0.0158, 0.6463] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4174 right_y=0.0917 right_z=0.0356 right_yaw=0.1877 right_pitch=-0.0473 right_roll=-0.0053 right_gripper=0.6463 state[joint_eff]: [-0.0752, -1.4564, 6.5299, 1.8144, 0.0024, -0.0855, -0.0122, -0.335, -6.2838, 4.9573, 1.6337, 0.0122, 0.0611, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.443,"right_y":0.083,"right_z":0.036},"note":"The cap is now clearly visible between the fingers, slightly ahead and right of their center. I’m making one short horizontal correction to align the jaws on the capped end."})

tool

executing move_to over 2 steps (0.2s)

step 114

assistant

agent noteThe right wrist image now places the bottle's cap and narrow neck inside the jaw corridor rather than its broad body. I’m closing to test a neck grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.1936, 1.7882, 0.643, 0.5701, -0.0154, -0.0292, 0.6463] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0049 left_roll=0.0024 left_gripper=0.9983 right_x=0.4305 right_y=0.0908 right_z=0.0374 right_yaw=0.2006 right_pitch=-0.0039 right_roll=0.0019 right_gripper=0.6463 state[joint_eff]: [0.0068, -1.2376, 6.5573, 1.8144, 0.0122, -0.0415, -0.0122, -1.5658, -5.7915, 6.7214, 1.7509, 0.1538, 0.022, -0.0073] 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 right wrist image now places the bottle's cap and narrow neck inside the jaw corridor rather than its broad body. I’m closing to test a neck grasp."})

tool

executing move_to over 7 steps (0.7s)

step 121

assistant

agent noteThe second neck close was empty; the wrist view shows the cap falling to the right of the closing jaws. I’m reopening, raising clear, and shifting the right gripper about 3 cm toward the cap before another approach.

move_to

right_x0.4400right_y0.0630right_z0.0900right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1963, 1.7924, 0.6556, 0.6373, -0.0273, -0.036, 0.0128] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4418 right_y=0.0964 right_z=0.0545 right_yaw=0.217 right_pitch=0.0718 right_roll=0.001 right_gripper=0.0128 state[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.8046, -0.022, -0.0659, -0.0122, -0.2393, -8.0205, 3.8632, 1.2234, 0.105, 0.022, 1.0769] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.063,"right_z":0.09,"right_gripper":0.6},"note":"The second neck close was empty; the wrist view shows the cap falling to the right of the closing jaws. I’m reopening, raising clear, and shifting the right gripper about 3 cm toward the cap before another approach."})

tool

executing move_to over 6 steps (0.6s)

step 127

assistant

agent noteThe cap is finally centered left-to-right, but still lies several centimeters in front of the actual finger closure point. I’m keeping the current height and moving straight toward it before closing.

move_to

right_x0.4670right_y0.0650right_z0.0640

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0986, 1.6699, 0.7132, 0.3283, -0.1028, -0.0959, 0.5964] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.431 right_y=0.0645 right_z=0.0647 right_yaw=0.2153 right_pitch=-0.0535 right_roll=-0.0006 right_gripper=0.5964 state[joint_eff]: [-0.2256, -1.4291, 6.7077, 1.7998, -0.0171, -0.0366, -0.0122, -0.3761, -9.1282, 8.8274, 1.9365, -0.0757, 0.0806, -0.0904] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.467,"right_y":0.065,"right_z":0.064},"note":"The cap is finally centered left-to-right, but still lies several centimeters in front of the actual finger closure point. I’m keeping the current height and moving straight toward it before closing."})

tool

executing move_to over 3 steps (0.3s)

step 130

assistant

agent noteThe narrow cap and shoulder now extend down into the finger-closure area, nearly centered between the jaws. I’m testing this closer grasp before attempting to lift the bottle.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7681, 0.5476, -0.35, -0.0235, -0.0074, 0.9983, 0.0914, 1.7733, 0.767, 0.3786, -0.1265, -0.1043, 0.597] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.4493 right_y=0.0671 right_z=0.0518 right_yaw=0.2325 right_pitch=-0.0509 right_roll=0.0063 right_gripper=0.597 state[joint_eff]: [-0.212, -1.1966, 6.5299, 1.79, -0.0366, -0.0806, -0.0122, -0.2803, -7.0222, 7.6376, 1.7851, 0.1294, 0.0904, 0.0562] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The narrow cap and shoulder now extend down into the finger-closure area, nearly centered between the jaws. I’m testing this closer grasp before attempting to lift the bottle."})

tool

executing move_to over 6 steps (0.6s)

step 136

assistant

agent noteThe fingers closed empty again; the cap is just left of the narrow closing point in the wrist image. I’m reopening and correcting sideways toward the cap, with a slight descent to reach its height.

move_to

right_x0.4580right_y0.0870right_z0.0370right_gripper0.5500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7681, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0914, 1.787, 0.7883, 0.3832, -0.1284, -0.1101, 0.0123] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1675 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0026 left_gripper=0.9983 right_x=0.4558 right_y=0.0681 right_z=0.0549 right_yaw=0.2371 right_pitch=-0.0386 right_roll=0.001 right_gripper=0.0123 state[joint_eff]: [-0.2256, -1.5658, 6.4205, 1.8046, -0.0171, -0.0611, -0.0122, -0.4581, -7.2821, 7.4051, 1.9658, 0.0855, 0.0952, 1.1697] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.458,"right_y":0.087,"right_z":0.037,"right_gripper":0.55},"note":"The fingers closed empty again; the cap is just left of the narrow closing point in the wrist image. I’m reopening and correcting sideways toward the cap, with a slight descent to reach its height."})

tool

executing move_to over 6 steps (0.6s)

step 142

assistant

agent noteWith the jaws open, the cap sits just left of their center and just behind their tips. I’m moving slightly forward and toward the cap to place it in the middle of the closure line.

move_to

right_x0.4770right_y0.1000right_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.767, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1181, 1.8221, 0.7734, 0.4595, -0.1085, -0.0994, 0.5463] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1679 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0026 left_gripper=0.9983 right_x=0.4583 right_y=0.0772 right_z=0.0489 right_yaw=0.2413 right_pitch=-0.0141 right_roll=-0.0049 right_gripper=0.5463 state[joint_eff]: [-0.2256, -1.3333, 6.4752, 1.79, -0.022, -0.0562, -0.0122, 0.8821, -6.2838, 4.3966, 1.5263, -0.0073, 0.1001, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.477,"right_y":0.1,"right_z":0.045},"note":"With the jaws open, the cap sits just left of their center and just behind their tips. I’m moving slightly forward and toward the cap to place it in the middle of the closure line."})

tool

executing move_to over 2 steps (0.2s)

step 144

assistant

agent noteThe cap is now centered directly between the right fingertips at their working depth. I’m closing to capture it and will check whether the gripper stays open around the cap.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.165, 1.8736, 0.7994, 0.4938, -0.0975, -0.0868, 0.547] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4641 right_y=0.0983 right_z=0.0425 right_yaw=0.2721 right_pitch=-0.0062 right_roll=-0.0014 right_gripper=0.547 state[joint_eff]: [-0.1709, -1.3197, 6.6256, 1.7998, 0.0024, -0.0904, -0.0122, 0.6906, -7.1179, 7.6239, 1.8779, 0.1245, 0.232, 0.0562] 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_gripper":0},"note":"The cap is now centered directly between the right fingertips at their working depth. I’m closing to capture it and will check whether the gripper stays open around the cap."})

tool

executing move_to over 6 steps (0.6s)

step 150

assistant

agent noteThat close was empty too. The overhead view now makes the error clear: the right fingertips are beyond the bottle's capped end, so I’m retracting and lifting to line them up with the cap from above.

move_to

right_x0.4050right_y0.1200right_z0.1050right_gripper0.5700

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1688, 1.8896, 0.807, 0.54, -0.107, -0.0906, 0.0128] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4706 right_y=0.103 right_z=0.0477 right_yaw=0.286 right_pitch=0.0319 right_roll=-0.0038 right_gripper=0.0128 state[joint_eff]: [0.1162, -1.4564, 6.5983, 1.8291, -0.0464, -0.0611, -0.0122, -0.1983, -10.0171, 4.3966, 1.4432, -0.0024, 0.0562, 1.0818] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.12,"right_z":0.105,"right_gripper":0.57},"note":"That close was empty too. The overhead view now makes the error clear: the right fingertips are beyond the bottle's capped end, so I’m retracting and lifting to line them up with the cap from above."})

tool

executing move_to over 6 steps (0.6s)

step 156

assistant

agent noteThe right fingertips are now approximately over the capped end in the overhead view, while the wrist view shows the cap off to one side. I’m lowering vertically and adjusting sideways to put the cap between the jaws.

move_to

right_x0.4080right_y0.0800right_z0.0320

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.767, 0.5476, -0.3485, -0.0231, -0.0074, 0.9983, 0.2607, 1.5478, 0.6994, 0.2901, -0.0479, -0.0574, 0.5657] state[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0053 left_roll=0.0024 left_gripper=0.9983 right_x=0.4125 right_y=0.1225 right_z=0.1014 right_yaw=0.3103 right_pitch=0.0136 right_roll=-0.005 right_gripper=0.5657 state[joint_eff]: [0.0205, -1.0598, 6.5846, 1.8291, -0.0024, -0.0659, -0.0122, 0.3214, -7.6786, 6.0239, 1.9023, 0.1294, 0.149, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.408,"right_y":0.08,"right_z":0.032},"note":"The right fingertips are now approximately over the capped end in the overhead view, while the wrist view shows the cap off to one side. I’m lowering vertically and adjusting sideways to put the cap between the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 161

assistant

agent noteThe cap is straight ahead in the right wrist view, but previous closes were made around 5 cm high—above a thin cap. I’m advancing toward it while lowering to roughly 1 cm above the table to put the jaws at cap height.

move_to

right_x0.4550right_y0.0830right_z0.0120

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.1238, 1.7008, 0.5674, 0.5499, -0.1452, -0.1158, 0.5666] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.4101 right_y=0.0804 right_z=0.0425 right_yaw=0.2866 right_pitch=-0.0054 right_roll=0.0007 right_gripper=0.5666 state[joint_eff]: [-0.1299, -1.388, 6.7487, 1.7558, -0.0024, -0.0513, -0.0122, -0.5812, -4.6974, 3.9179, 1.3797, -0.0659, -0.1685, 0.0757] 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_x":0.455,"right_y":0.083,"right_z":0.012},"note":"The cap is straight ahead in the right wrist view, but previous closes were made around 5 cm high—above a thin cap. I’m advancing toward it while lowering to roughly 1 cm above the table to put the jaws at cap height."})

tool

executing move_to over 4 steps (0.4s)

step 165

assistant

agent noteThe cap remains just forward of the right finger tips, and the actual gripper height is still about 4 cm despite the lower command. I’m making a short forward approach at the low target to reach the cap without closing on air again.

move_to

right_x0.4870right_y0.0870right_z0.0190

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.1181, 1.8992, 0.7074, 0.7002, -0.1699, -0.1329, 0.5672] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4598 right_y=0.0882 right_z=0.0414 right_yaw=0.3116 right_pitch=0.0874 right_roll=-0.018 right_gripper=0.5672 state[joint_eff]: [-0.1436, -1.2786, 6.5299, 1.7753, -0.0171, -0.0122, -0.0122, -0.6632, -5.5726, 4.6701, 0.823, 0.0562, 0.1148, 0.0464] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.487,"right_y":0.087,"right_z":0.019},"note":"The cap remains just forward of the right finger tips, and the actual gripper height is still about 4 cm despite the lower command. I’m making a short forward approach at the low target to reach the cap without closing on air again."})

tool

executing move_to over 3 steps (0.3s)

step 168

assistant

agent noteThe right arm cannot get lower or farther forward at the right bottle's cap, so repeated closes there will not help. I’m parking it and switching to the left bottle, approaching its capped end from above with the left arm.

move_to

right_x0.2900right_y0.0000right_z0.1800left_x0.4000left_y-0.1200left_z0.1050left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7666, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1177, 1.916, 0.7258, 0.7124, -0.1696, -0.1329, 0.5672] state[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4659 right_y=0.0887 right_z=0.0431 right_yaw=0.3112 right_pitch=0.1008 right_roll=-0.0208 right_gripper=0.5672 state[joint_eff]: [-0.0205, -1.2786, 6.7487, 1.8046, -0.022, -0.0464, -0.0122, -0.5949, -5.7231, 4.6974, 1.199, 0.0415, 0.0659, -0.0073] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"left_x":0.4,"left_y":-0.12,"left_z":0.105,"left_gripper":0.6},"note":"The right arm cannot get lower or farther forward at the right bottle's cap, so repeated closes there will not help. I’m parking it and switching to the left bottle, approaching its capped end from above with the left arm."})

tool

executing move_to over 14 steps (1.4s)

step 182

assistant

agent noteThe left wrist view shows the left bottle's cap ahead and left of the jaw center, while its wider body runs toward the robot. I’m advancing and shifting the left gripper toward that cap before descending to grip height.

move_to

left_x0.4300left_y-0.0750left_z0.0750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4541, 1.5082, 0.6785, 0.144, -0.3683, -0.2481, 0.6023, -0.3069, 0.8894, 0.6239, -0.2634, -0.477, -0.3695, 0.5672] state[eef_state]: left_x=0.3845 left_y=-0.1129 left_z=0.0867 left_yaw=-0.0134 left_pitch=-0.07 left_roll=0.0272 left_gripper=0.6023 right_x=0.3135 right_y=-0.0105 right_z=0.1963 right_yaw=0.269 right_pitch=0.1053 right_roll=-0.0761 right_gripper=0.5672 state[joint_eff]: [-0.4718, -6.5573, 8.4718, 1.8486, -0.3639, -0.1001, 0.105, 0.1162, 0.0615, 8.6632, 1.536, -0.2955, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.075,"left_z":0.075},"note":"The left wrist view shows the left bottle's cap ahead and left of the jaw center, while its wider body runs toward the robot. I’m advancing and shifting the left gripper toward that cap before descending to grip height."})

tool

executing move_to over 4 steps (0.4s)

step 186

assistant

agent noteThe left cap is now closer to the finger center, but the bottle's broad shoulder remains between the jaws. I’m moving forward to the narrow capped section and lowering toward tabletop height.

move_to

left_x0.4590left_y-0.0490left_z0.0220

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2783, 1.644, 0.6594, 0.3344, -0.2672, -0.1829, 0.6012, -0.3145, 0.9741, 0.717, -0.4553, -0.4976, -0.3939, 0.5672] state[eef_state]: left_x=0.4141 left_y=-0.0661 left_z=0.059 left_yaw=0.0435 left_pitch=-0.0612 left_roll=0.0086 left_gripper=0.6012 right_x=0.3072 right_y=-0.0075 right_z=0.179 right_yaw=0.2878 right_pitch=-0.041 right_roll=0.0148 right_gripper=0.5672 state[joint_eff]: [-0.3487, -6.5162, 8.6222, 1.6435, -0.1978, 0.3834, -0.1294, -0.1299, -2.7966, 9.6205, 1.7509, -0.1587, 0.2125, -0.0073] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.459,"left_y":-0.049,"left_z":0.022},"note":"The left cap is now closer to the finger center, but the bottle's broad shoulder remains between the jaws. I’m moving forward to the narrow capped section and lowering toward tabletop height."})

tool

executing move_to over 4 steps (0.4s)

step 190

assistant

agent noteThe low approach to the left bottle stopped at the shoulder before reaching its cap. I’m lifting the open jaws above the bottle and crossing over to its capped end, then I can try a vertical descent instead.

move_to

left_x0.4750left_y-0.0650left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2684, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.9596, 0.6746, -0.4236, -0.5014, -0.3946, 0.5672] state[eef_state]: left_x=0.4191 left_y=-0.0681 left_z=0.0623 left_yaw=0.016 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3045 right_y=-0.0063 right_z=0.1707 right_yaw=0.29 right_pitch=-0.0364 right_roll=0.0141 right_gripper=0.5672 state[joint_eff]: [-0.2393, -6.5983, 7.7744, 1.9365, 0.0562, 0.1587, -0.0269, -0.6085, -3.3573, 6.7077, 1.8291, -0.3346, -0.0024, -0.0073] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.475,"left_y":-0.065,"left_z":0.15},"note":"The low approach to the left bottle stopped at the shoulder before reaching its cap. I’m lifting the open jaws above the bottle and crossing over to its capped end, then I can try a vertical descent instead."})

tool

executing move_to over 6 steps (0.6s)

step 196

assistant

agent noteThe left arm did not move at all on the raised approach, indicating it is obstructed near the bottle rather than merely short of its target. I’m fully opening the jaws and withdrawing toward a clear, safe pose.

move_to

left_gripper1.0000left_x0.3100left_y-0.1100left_z0.1800right_x0.2930right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2687, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.947, 0.6357, -0.3958, -0.5014, -0.3977, 0.5672] state[eef_state]: left_x=0.4191 left_y=-0.0683 left_z=0.0623 left_yaw=0.0156 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3018 right_y=-0.0055 right_z=0.1624 right_yaw=0.2916 right_pitch=-0.0351 right_roll=0.0107 right_gripper=0.5672 state[joint_eff]: [-0.1026, -6.5846, 7.8974, 1.9756, 0.0562, 0.1392, -0.0171, -0.5402, -3.1658, 6.9265, 1.7851, -0.2759, -0.0024, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.31,"left_y":-0.11,"left_z":0.18,"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The left arm did not move at all on the raised approach, indicating it is obstructed near the bottle rather than merely short of its target. I’m fully opening the jaws and withdrawing toward a clear, safe pose."})

tool

executing move_to over 9 steps (0.9s)

step 205

assistant

agent noteWith the left arm withdrawn, the overhead view clearly shows the third bottle nearer the centerline than I had assumed. I’m approaching its cap with the right arm at the correct cross-table position, while parking the left arm.

move_to

right_x0.4100right_y0.3000right_z0.1100right_gripper0.6500left_x0.2950left_y0.0000left_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6113, 1.0893, 0.6704, -0.2237, -0.4797, -0.3428, 0.9975, -0.3145, 0.8867, 0.6155, -0.4309, -0.5014, -0.3943, 0.5672] state[eef_state]: left_x=0.3172 left_y=-0.1184 left_z=0.1654 left_yaw=-0.0309 left_pitch=0.0018 left_roll=-0.0123 left_gripper=0.9975 right_x=0.2909 right_y=-0.0016 right_z=0.1636 right_yaw=0.2908 right_pitch=-0.0311 right_roll=0.0107 right_gripper=0.5672 state[joint_eff]: [-0.2667, -4.1504, 9.8256, 1.5604, -0.2662, 0.0464, 0.0024, 0.294, -3.0017, 9.7436, 1.4725, -0.2662, 0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_y":0.3,"right_z":0.11,"right_gripper":0.65,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"With the left arm withdrawn, the overhead view clearly shows the third bottle nearer the centerline than I had assumed. I’m approaching its cap with the right arm at the correct cross-table position, while parking the left arm."})

tool

executing move_to over 26 steps (2.6s)

step 231

assistant

agent noteThe right wrist view now clearly centers the third bottle's capped end, unlike the earlier off-axis attempts. I’m advancing toward that cap and descending to near the bottle's height.

move_to

right_x0.4450right_y0.2930right_z0.0410

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0093, 0.8021, 0.598, -0.3691, -0.0113, -0.0132, 0.9976, 0.749, 1.8233, 1.0576, 0.091, 0.3382, 0.2001, 0.6486] state[eef_state]: left_x=0.296 left_y=0.0028 left_z=0.1772 left_yaw=0.0059 left_pitch=-0.0108 left_roll=-0.0087 left_gripper=0.9976 right_x=0.3957 right_y=0.2928 right_z=0.0934 right_yaw=0.3362 right_pitch=-0.059 right_roll=-0.0312 right_gripper=0.6486 state[joint_eff]: [0.294, -1.9761, 6.9675, 1.9023, 0.1245, 0.1685, 0.0024, -0.0342, -8.759, 9.2239, 1.8926, 0.4127, 0.2857, -0.1538] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.293,"right_z":0.041},"note":"The right wrist view now clearly centers the third bottle's capped end, unlike the earlier off-axis attempts. I’m advancing toward that cap and descending to near the bottle's height."})

tool

executing move_to over 4 steps (0.4s)

step 235

assistant

agent noteThe bottle is still left of the right fingers despite its cap being ahead, so closing now would miss. I’m shifting toward the bottle's centerline and descending to a graspable height.

move_to

right_x0.4450right_y0.3330right_z0.0220

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0135, 0.799, 0.5949, -0.3721, -0.012, -0.0032, 0.9976, 0.6693, 2.0094, 1.0653, 0.3267, 0.2836, 0.1623, 0.6497] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.176 left_yaw=-0.0029 left_pitch=-0.0138 left_roll=0.0001 left_gripper=0.9976 right_x=0.4362 right_y=0.2866 right_z=0.0492 right_yaw=0.3225 right_pitch=-0.0181 right_roll=-0.0105 right_gripper=0.6497 state[joint_eff]: [-0.1436, -1.5248, 6.4342, 1.9072, -0.1099, -0.1001, -0.0122, 0.2256, -7.6239, 7.1043, 1.6777, 0.022, 0.0659, 0.1001] 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":{"right_x":0.445,"right_y":0.333,"right_z":0.022},"note":"The bottle is still left of the right fingers despite its cap being ahead, so closing now would miss. I’m shifting toward the bottle's centerline and descending to a graspable height."})

tool

executing move_to over 4 steps (0.4s)

step 239

assistant

agent noteThat sideways correction moved the cap farther left in the wrist image, so the sign was wrong. I’m correcting in the opposite direction and advancing toward its narrow end, still with the gripper open.

move_to

right_x0.4750right_y0.2630right_z0.0270

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0135, 0.7952, 0.5823, -0.3721, -0.0151, -0.0029, 0.9976, 0.7433, 2.1372, 1.1885, 0.3908, 0.3138, 0.1616, 0.6499] state[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0226 left_roll=0.0022 left_gripper=0.9976 right_x=0.4433 right_y=0.3383 right_z=0.0447 right_yaw=0.3718 right_pitch=0.0434 right_roll=-0.0059 right_gripper=0.6499 state[joint_eff]: [-0.2256, -1.7162, 7.2547, 1.8877, 0.0122, -0.0366, -0.0122, -0.8274, -8.5128, 5.9829, 1.4286, 0.3883, 0.4322, 0.0024] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.475,"right_y":0.263,"right_z":0.027},"note":"That sideways correction moved the cap farther left in the wrist image, so the sign was wrong. I’m correcting in the opposite direction and advancing toward its narrow end, still with the gripper open."})

tool

executing move_to over 7 steps (0.7s)

step 246

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0132, 0.7887, 0.5652, -0.3641, -0.0151, -0.0032, 0.9976, 0.7517, 2.1517, 1.2026, 0.3973, 0.3141, 0.1753, 0.65] state[eef_state]: left_x=0.2917 left_y=0.0024 left_z=0.1669 left_yaw=0.0 left_pitch=-0.0252 left_roll=0.0019 left_gripper=0.9976 right_x=0.4434 right_y=0.3446 right_z=0.0438 right_yaw=0.3723 right_pitch=0.0491 right_roll=0.0081 right_gripper=0.65 state[joint_eff]: [0.0479, -1.935, 6.5846, 1.9756, -0.0171, -0.0855, -0.0122, -0.759, -8.7726, 6.3658, 1.4237, 0.3541, 0.2808, -0.0073] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 7.2 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, 0.7933, 0.6075, -0.3767, -0.02, -0.0082, 0.9986, -0.0154, 0.7879, 0.6033, -0.3866, -0.0216, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0029 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4838, 9.8256, 1.8339, -0.0611, -0.105, -0.1587, -1.0462, -0.9504, 10.1949, 1.8877, 0.0122, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e013dc87eddc5fda589f35583e95d7b18c516fe7027a89d7821f9cbdab63dc18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa237e57cb31add33b43854c085a74978c639953d0e3c0a1fd72a3d5e03151c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb008fa9782b4082c2d049571a52c182919bd444aa26a0c6643d02060f626af0",
      "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 · 4.148 s

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

{
  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab435b8515c87d0a81ea8b9cd06da97",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDW-AyFTUOsxkWuaDWASHPw4JSldZ4X6FEYcsfa_ZtPWKhn6RZQ0oo34G6qRrU2ah4t9Rw5IaQ-vhXGPxO8DcW3D4pgpiBoJASMvwUnTp7_fmbHgmZl7fhjYa_nlYKZjPK6MVG7STy4EdpZETuGcMX3nmm6mFT3nbik-liCmuWI5augOxPN08HMTafZM6kGHuIe9pbbHA_VVSbZLasfFShs_m5EIpONZAnbceEmITxtXqJdWIR966CYIxYM7X5-NZn-bpuIPpAMzeJgd42SR1_7Evgx1l_kNZLcEukmnF-MbqOjluonx04O_egLntyLOxrcl6u64ox023ukyVrHIdL4n7kBmF3EcnekGobrVtPmpPik3CNnby3KkrwZkSx7qe9dQGIyCzBF01GeJchULcnqHc6StcKuWXcWWINms08s7eb4WZ-CnK46rCesgOVIZvQxE5NPVMtNHgTwD5G5m8N2WpSFDmOmlgIbZf45DQVboxXgzz5hHKjkvTNm-nAC4O6E4YAA0PMQLs-DmllRRaJl0ZEtiqIPxcRlBpZND3_mSvqpJA_PWOy6pLZB983TVHQG4oJqgpLTC_WR7gv0wgJeH_WdohmS0nNm-Z4XUVDIF4igakjT3yQOq6a8CWxblrQzSmq3SwXL-DTDY2nEJgyuyk1WSozjmuyf8Uluo19qqDGv_AKyiYp_3l9BujJG8vB29sCrUZ39ooEfnXbvHwvSLJxyVRfUvTOPyxjEUtMP0gsilbOWsxhfyKJY6jRsJQ7QyCz6B8vZoVq1LoWp4wyYRuv4Kw2gvrV-rYIy6Qyk_NjQDd4hRNkrux_F_ryMgTHE8pCwtQSVMiwDvfaUPbPCgwkEv8E2uxEhcNc3m-bqYrVucnGUu6f-rmWyEPgxOVCiIf3ef-2-_mPS2MJSmGkuFDiHU-INmGqsTLAqirdGZuww2j4jdAjaTHQuqqmPmDIV8qyyjfSdIfepFfj7G_kvUzyL9Gm1YDl8_hg0QUVbhoAeZDHjERImpbbT4_hIkn_ollgO4g5c1hMAXH64J-hE0S1vq0YxHu__Gat3LBrIROCaoagJNgmOM8wLw-jsrzJb5y_J6xIdB_DQgRJwvWMh9O0tlmLdRTzECZwqM5hvotBLSq9vrUlv-GQnHNo-j3a7NrinqgsbsQq9LPlPej09DqTZ3EwICHKF6REW3NOoQyhEi7wu8g2MDLevyVx4EdJg5Mg6nMoeWBlaqbwq9nnzn6zEcHrApIAGs6PICMu6CEg8=",
  "id": "rs_03f64694d3d3afb8016ab435bd605087d089fadcac02076669",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":0.65},\"note\":\"All three bottles are lying on the table; the rightmost bottle's capped end points away from the right arm. I’m positioning the open right gripper above that end so I can lift it while the bottle's other end stays on the table.\"}",
  "call_id": "call_wEBcf6TZXiqHeb4nj5xxSqaL",
  "id": "fc_03f64694d3d3afb8016ab435bdade887d08e574b73e953b142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wEBcf6TZXiqHeb4nj5xxSqaL",
  "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, 0.7982, 0.6136, -0.3874, -0.0235, -0.0074, 0.9984, 0.5236, 1.6058, 0.9783, -0.0849, 0.3935, 0.2409, 0.6512]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1817 left_yaw=0.0025 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9984 right_x=0.4126 right_y=0.1641 right_z=0.1283 right_yaw=0.0428 right_pitch=-0.0773 right_roll=-0.0467 right_gripper=0.6512\nstate[joint_eff]: [-0.3487, -1.5795, 6.5573, 1.8046, -0.0122, -0.0513, -0.0317, -0.0479, -7.3778, 9.1829, 1.9316, 0.4078, 0.3004, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b96dced56f7e86f9c394cdc01eece7efaf25f17bfe99a8bc6bd72d576a5f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058ae6502f8ee657baf69a404eeba682ba743956cff7c01e577f4e81567b8813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a4cf2f6fbd85e91541ccf8e6df90825a8d715d5c15b0f2898408d635f3203e",
      "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 · 3.084 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, 0.7933, 0.6075, -0.3767, -0.02, -0.0082, 0.9986, -0.0154, 0.7879, 0.6033, -0.3866, -0.0216, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0029 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4838, 9.8256, 1.8339, -0.0611, -0.105, -0.1587, -1.0462, -0.9504, 10.1949, 1.8877, 0.0122, 0.1343, -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, 0.7982, 0.6136, -0.3874, -0.0235, -0.0074, 0.9984, 0.5236, 1.6058, 0.9783, -0.0849, 0.3935, 0.2409, 0.6512]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1817 left_yaw=0.0025 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9984 right_x=0.4126 right_y=0.1641 right_z=0.1283 right_yaw=0.0428 right_pitch=-0.0773 right_roll=-0.0467 right_gripper=0.6512\nstate[joint_eff]: [-0.3487, -1.5795, 6.5573, 1.8046, -0.0122, -0.0513, -0.0317, -0.0479, -7.3778, 9.1829, 1.9316, 0.4078, 0.3004, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b96dced56f7e86f9c394cdc01eece7efaf25f17bfe99a8bc6bd72d576a5f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058ae6502f8ee657baf69a404eeba682ba743956cff7c01e577f4e81567b8813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a4cf2f6fbd85e91541ccf8e6df90825a8d715d5c15b0f2898408d635f3203e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXEuqphlXn719w6zzL6sxpO-QjH4_Hm8dTWtCYOoLz8sMy9Tj9FjVZDYo5jg-HT2j5Dn9vRmKye0rNZNzQBk5sTFO1TjlJfz_6QJYYxON8FA2I8g4wAI8qXR9r5tlt06GypYeXs8arqeHso1NCK8BuQVqIXp0qM_Zh8avQrQwTuUFIQJD8crtUEYxjDwd0cxanxEd2-R4-5zXK-q5iwcapzp5DONhyje04RnTAXpxMsG34gQRah4PSuYdCJFHZVc9Mqwk-bUs3FKsrdLPvD7mjioCs8rVdQvsmDfwIK9nWVNicjhQKl-BUXIT6D9ZyJit7gChP46PbblO3kvJtB0Jc6jS4K2FzUxa07Go4K3N7fYXxis6tybXD3U6gqJYHZreT1PoSNFIKNTNR43qHPw0c5B8jeU3n1L-MK8MVN0IsLeJyvA9xsnrwX-wbbK977MSJm3TrgkhuPfBFF2Om7biP0TXYZh90opUNUURsSy5wQ8PMAOgkNTKxWyzSN3S3OzzMg2l-AdDnIkoJVzg36a0jpqf40LiiPuXa_ANwl2Sl_gGevP1aOugJ7gCY2vErqHj2Pn0F3ICTouOAFTAHCpSg6QZNm1HCS_uYPH-IrNgppE6RJxPyJlET3qOxstz52aQgG25YuG_D9yUEfi9Jww4IS2ycRWhPdWn1rtsHoKY0_p1jS0R9CUG7kuNUAKsatsCwGNQiVW-17x2pCKNojBZvGKdJAPRsrunxo7h1Fk8u7tYlSkHCoLdj6AeA59LdvtqX5cFpzNZkO4hWhy3GST4dOuQD_UAsdoj_ZX8BIo6NghBudAI6ZwKDjX79Oc1Vfx-IITg5ZRshkhvilfht1D2cSAAToG7tqfOS_L_8EL2CAoBzLAg2V1njomGINKY6iHb2uncCTrDE1C2MZuaZZ8jdmSyOZa-vG7q2Q3SK4Mhrq9cFDdP04J3oS8LwPSgX995xhBFUe44vLS4ckU94ZD9kWR3c3y4HtBNFEVE8-8aQ5tdHBi_Xse-1W51XXaj_3g4Qf-2JKt4dBNbLcQfAUGgg5ALXM1VFOPHab7fLIEgYpmEq5MDlScZy2LvStwbzYp2wMx60E3d3ZXwZgYmXirsQQk8rz9sSFRH7MMXgtUwXg7kmtyCaoxXayNiH03CyEXy0cvmOPBnWNLaIrMS23X_q-oys89A4NvOdoP5Qp3Od6SdJHW-d0bitwJf4eRf6nWwxaLc--QDn-ujTgsE1ToVMXPRCg9HexHR6pagEK9eJCWq8hbd3maExJeVx6jjD6E20sA9N1eR53RE0W4U_t2FxXxN1NXbxLaMlgSF2rbOOvlmeryM0E4HSvqPT1Yf45qrP--audCkoIkBhcxJRwtH98FQZH9qTPtQWgXRU6_TqVmVpc8JVuzIYBPK8OgGdji5WCwrOq7K3p0n_S9nIG8ynr7Qp1IzUL6jmyHLTuGusJHTmDVRudZ5g5wSKB1cf0Dv3Qube5MFWpATRBzwrX7ewhgmeSEKb6taaRIvicOx8PQ_MwrqnL3ToDxZLjsJt_wMxAycLdcbSn47SK6p_XUVCC0UQWsS8B_eteJzg78uLUflvBfLmmOYEan3aR14JC5xKGzYEbrCAuj1mIW9oL1gvzeetaYQAc14wkO8DtiKWVvr8mGf9qvFw4HiVSBrBUpGc4EPRpn3g8GIBqvndJadoaqCO0qeKQ984lKM8peFbCXUeqSg-WNgn-Eh4e3rt8rYIYBYKDWkgd3iY9frz9IcK_jG7eqtKTuexGss2jmZdx2GPI-v9GFKzzXRmhNt_qzKCYQboq60ozfQ4EvyysdcByyzpHTFQDMO1P15VfU4cImluWVFwmWhwMDjiB7j5jypuYI3heNcTrAdahxEbAw4wdb0vvf2tJLUMPlscfz8O5_ufcm3Z2vgycnN8mvAVEQMnurp7L7OCX3aN5aEQZQ-eC639VZB9mHk5ZQW2xALeQrh-yCyrI0EfL5vNINVaxb8ahvdL4O2IXmda86cBLWD-F3aC4Rnm72XyGQ9OWDUQt-3b2IOsPJLH2GDY4--3-S8VGPUTvYHa1nGWyPhU5juGcpZ6yhlV0Nw-c1auqws3i5fIDR3KEPHx6LmZRK9XtXz0N0TkxgEGzOTxnwxY1YUjFvONlwFs43ond_qLAW8MiORtCnzhWuUx-8o77Geyxpk_ElsrUUdSHugvLuZyGsdkt5tXSfhD74KliH8ozEkTKG1SiEBFvTz1DkMjW7BkzwqYWzT91ImOuSre_jAy5OmmPGReIYp08nlKUrLQhNM1-L9rmAr152IEwjJ-3oiNcjHxPInRMckrRnGxxTSy-N19rAg==",
  "id": "rs_03f64694d3d3afb8016ab435c0de7887d098c7a7f95dccd8b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.13,\"right_z\":0.085},\"note\":\"The right wrist view shows the bottle's cap ahead and slightly to the camera's right of the jaws. I’m advancing toward the cap and shifting sideways to center its narrow neck between the fingers.\"}",
  "call_id": "call_0pofHD7L2EVMaVnIkxcdwT1f",
  "id": "fc_03f64694d3d3afb8016ab435c32bf887d0ba9a829da2255abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0pofHD7L2EVMaVnIkxcdwT1f",
  "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, 0.7975, 0.6132, -0.3862, -0.0235, -0.0078, 0.9983, 0.3687, 1.7882, 0.9062, 0.1833, 0.2775, 0.1558, 0.651]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.182 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.0023 left_gripper=0.9983 right_x=0.4479 right_y=0.125 right_z=0.0646 right_yaw=0.0289 right_pitch=-0.096 right_roll=-0.0396 right_gripper=0.651\nstate[joint_eff]: [0.1026, -1.7709, 6.3111, 1.8681, -0.0317, -0.0952, -0.0171, -0.8, -7.9248, 8.9368, 1.9853, 0.022, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436f615f7a78f07d824861f29a1c1f82bd124ef5f0582475f79752de7138efe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2a4f23299d6fff2fa6c3d37abf7e6aecf3b4cfd88d299ecc813d7ff833bdc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d706549dda7d9fa64915369b6e8a375ba8c2f7f49c8fbd944c79245a962b8599",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.228 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, 0.7982, 0.6136, -0.3874, -0.0235, -0.0074, 0.9984, 0.5236, 1.6058, 0.9783, -0.0849, 0.3935, 0.2409, 0.6512]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1817 left_yaw=0.0025 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9984 right_x=0.4126 right_y=0.1641 right_z=0.1283 right_yaw=0.0428 right_pitch=-0.0773 right_roll=-0.0467 right_gripper=0.6512\nstate[joint_eff]: [-0.3487, -1.5795, 6.5573, 1.8046, -0.0122, -0.0513, -0.0317, -0.0479, -7.3778, 9.1829, 1.9316, 0.4078, 0.3004, -0.0708]",
      "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, 0.6132, -0.3862, -0.0235, -0.0078, 0.9983, 0.3687, 1.7882, 0.9062, 0.1833, 0.2775, 0.1558, 0.651]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.182 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.0023 left_gripper=0.9983 right_x=0.4479 right_y=0.125 right_z=0.0646 right_yaw=0.0289 right_pitch=-0.096 right_roll=-0.0396 right_gripper=0.651\nstate[joint_eff]: [0.1026, -1.7709, 6.3111, 1.8681, -0.0317, -0.0952, -0.0171, -0.8, -7.9248, 8.9368, 1.9853, 0.022, 0.1294, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436f615f7a78f07d824861f29a1c1f82bd124ef5f0582475f79752de7138efe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2a4f23299d6fff2fa6c3d37abf7e6aecf3b4cfd88d299ecc813d7ff833bdc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d706549dda7d9fa64915369b6e8a375ba8c2f7f49c8fbd944c79245a962b8599",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXHUGDqTTIels0FPtlkMhspnbK9mnEhjuqX73OiXBG_5oBet6c5oMIldwLVa6dwM6_LkDKonFou1bA_WF1siFLeNO9aEKaaClYcNZvxDcUAzdd_ZPTNzMEFEbOj0h54CHYIBI68pH1J_2qQdgnztRRhKGOMtE1id0CZ4_V0jDtzkDe95z3Z9nwhc_dIz-rCGD21YBRP6Ysnl4oeTsPKGTfIJ66T_S1WAYgDXUDLgb8pCPhS-BhTyXAZCjU_uWe4fol6iuqUJ9oZgnkBAqLAObtsB3W3OHFcPeOMbBEnNIDR5H7pMCoKvVgIUFh2iFtgWyfRAPd8iUA0YK5RJuE4W11G3B2wv5I3o-4-4AFCXYAkP1jkYvZMGlZWi0KUgEzhP4BcrIHdKAfUP0vVTQXLzX-9vq5vGzHDfQsb7H2xY9evSQ7nXm7H5Y8umloR9TtcKoqdbGhmjVqpaUjrJdkfVcbojI3BKxHcBmRR-R3MRIsJlAlQmx32zuCAvGO54kKobrxihzcUmbTSYbwZ_XGoB04nl_JfyR5PG2eqBsIGlkao3JveRSliSBfYhL_9KSum2WpPOcOQwm6_dyQGjvHWQN1Z2yAGt8m0tTFSxM0WeNTr301QoH8n3uCER-IhvBXcqsnVJrls4SWE2GsoDJ5TWhirNcKlIwHchbkbqe7XcsNG_fC_wXWJOT_j55f5WyIvv2EdKo_qFamicuL6eaEgghQpu4_xHwdAQQKmIRSq9W_aNWaIC3TpOi9Dui8StKlFsexQug1kKpSp91iHQWJod3VpVfcpYsTezMPgLg4lVvc18YFEtUQzpCGHOxxgpdWJK_9JLqXrLdfnL0yfqRza5ReJ9mqocCXTvyFyj-mJFOzhNKxH_vA-C7M2k2yShMh1vAcCSlghrz_ronQc0-ppiY5sgSpP95d3R5Jyqh0FFhA81_XgTMU7YUnHdZpoOgfh9F0HyoIZN48QqIhJey_bPUuIWWMaj_pwDm3G3N7tHrQkl9srZzLJBdevKspJi6Av3tsfmCduU3q5llq8YMU0CSHEPJAqcS3J4rM71LM-kFJUbg1dm5C2hJafBIOHolNMikHMj6RO9LKoY6_MqzGXKvBMWCjEz7J-VYB20AqpgHG7YCDlucKwlhWmsjxN-lv6mD0F3d9mLFpE4wE4p92_20ByHe7nmO8o-d8EcPUIIDFbmHo9RbKDkA3dxtUqKOeVyJVePYKmDC-oseRNjthTpIefffR9LB7uuicNq0mVDsoXq_rgAQSPU9bLDZhmmoOCW_YM1pqNle6NU4gla6c1CWfj4rEawjFkDHNCV2-UYOxAd74lfmJJ00osLE3bta54AmEHpTAxwJ0tdNG5LKKxWKEd4-L_urpdBAK14JygQQ_RnYzUQY_J9KnyClA0aEwMhUKQTRFivSkTLA4waeGeHfeB2V0jwLopangpC7AG2fOPedgV42mmO3B8t2Ov220p5OpGKaozZRwBMisCQvc_4iIuJoxrBU3HDEJXfAuWRI6Jrstyaf1Td5_g9hTkXwT39Y7uUKWgaQutt0eXjgFGnzWrqR-qZhZY8NR973xESf_QvX0HsVODHnGJTTQO5tdJxa959aWMqT9vHVrV_wuVmlpIVd1X_xvo3eNfj9xiOPmj82SIX3TDoEotqIjXylcXedQSteV2F6z8fULqiac1bzPqss6bR-4IoP9XTvVBTJB-FA0XrSEmE2yh-RtryNuzR3-pCNX3INdeH0-GYacxaVs2MBhZHLU5-Ro_t7ziwoDEk_laob_B87UwiVp6V_t03LUHTJ9M0Gkc9ebV0j35WVKyhxeJxP-ZaYfAGoPL2AcNCag=",
  "id": "rs_03f64694d3d3afb8016ab435c54ee487d08e0d053315279aac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.11,\"right_z\":0.032},\"note\":\"The right cap is now near the center of the wrist view but still ahead of the fingertips. I’m moving the fingers another few centimeters toward its neck and down to bottle height before closing.\"}",
  "call_id": "call_w9r4Fz2wgqi1wRlDcZ34crqA",
  "id": "fc_03f64694d3d3afb8016ab435c6cbe487d090f8ddc10435f9d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w9r4Fz2wgqi1wRlDcZ34crqA",
  "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]: [-0.02, 0.7975, 0.6102, -0.3866, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1805 left_yaw=0.0025 left_pitch=-0.0114 left_roll=0.0027 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [0.0068, -1.7299, 6.612, 1.8046, -0.0366, -0.0806, -0.0122, -0.4718, -8.7316, 8.294, 2.127, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1bf357d2987bd7d83eb8795c44ca67f22e596989940f9a2ada8d02fbe7a3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfdf0cbb0defb6def49066268c6e51cc483000cfa49e6a73960a0345acc07ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679fc04fd79ac49241c1172b09737c6b563869e0f6d166e4d28aed8d72530dec",
      "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 · 5.525 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, 0.7933, 0.6075, -0.3767, -0.02, -0.0082, 0.9986, -0.0154, 0.7879, 0.6033, -0.3866, -0.0216, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0029 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4838, 9.8256, 1.8339, -0.0611, -0.105, -0.1587, -1.0462, -0.9504, 10.1949, 1.8877, 0.0122, 0.1343, -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, 0.6132, -0.3862, -0.0235, -0.0078, 0.9983, 0.3687, 1.7882, 0.9062, 0.1833, 0.2775, 0.1558, 0.651]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.182 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.0023 left_gripper=0.9983 right_x=0.4479 right_y=0.125 right_z=0.0646 right_yaw=0.0289 right_pitch=-0.096 right_roll=-0.0396 right_gripper=0.651\nstate[joint_eff]: [0.1026, -1.7709, 6.3111, 1.8681, -0.0317, -0.0952, -0.0171, -0.8, -7.9248, 8.9368, 1.9853, 0.022, 0.1294, -0.0269]",
      "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, 0.7975, 0.6102, -0.3866, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1805 left_yaw=0.0025 left_pitch=-0.0114 left_roll=0.0027 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [0.0068, -1.7299, 6.612, 1.8046, -0.0366, -0.0806, -0.0122, -0.4718, -8.7316, 8.294, 2.127, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1bf357d2987bd7d83eb8795c44ca67f22e596989940f9a2ada8d02fbe7a3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfdf0cbb0defb6def49066268c6e51cc483000cfa49e6a73960a0345acc07ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679fc04fd79ac49241c1172b09737c6b563869e0f6d166e4d28aed8d72530dec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtDXK-Zyd39btubLWXqgxZGbmGTb1P_fpFX2VMhrOinqTjorrCGRUB3TEjD2uLFI-wrgcRrQlprmZAjdo_cAZMjH1d1QzFZXQqYFVfaRZUuBIWxy2mSQZKPWy9lTU4opRMvd8fAgvJ0W4iwQhuB6tvaF-jJjXHQPhEGii98ZVlkn9XfaxakMSyteLwNVQfaDHw81h1HIH0GEWK1_hZMXCmy7xLC4WJy53sSPkRLbjcHgiuM4KGvVToiYgmxlxWrmH_yyQpVPGVgYI6mD25PTw5Fn9zMtRHmJBMGQ3ZbR6DXVZCLLYvalMTzNHKa3PdejbXSH1bwoILFTLjLdWbwpe32DinX3Kdzjiue7Qe73Wq2W3NMrLwBphfybD3eoGfqX8_S0H92-uIDz809I9XcxCw0ZBdDZduMjoiglewiWDzIzD2JhhpKgg54HDobuet7LKBBbDNYM0l8fihYW34arvup3PQhAuK6tntXj_vwyTbMHlM81jnUUUl2n9o3P968VB_sYuuDgGRDgcRUTJWIuYR0GfXZYRXcUqGJit6taG-fjyw_ZNWHWCHLLmvhE-RQfSPqYsheZrdHcr28pZvXaYfx7hkWQZMCjHnh6sCEntKfP1xTNJhJ0ruWPCcGH9eksthGJ9VNHFe_klRa85kxa-17UrTjPmAuW6y9Y8VSR8_ifem_uPHjuHM7lnUYVYtbOdxFVdmkJyBn_RkyO0oaMDUvh7BjxZeie3YpxJodnm9gHOWiv6KsIk0dUuPkaZFpUArreCHlU0T4-fz-jf7DE02PBSOUWaYE8xlfd9DOBm78yGvQffwG-IZlnJy3DYUQNfLumpIa3exTxE3iyt9TinhCdRPuLjOrkOc72r90TO8NTSvMzsPZ1ldtRiHIivlzeTEseyo-aQM-LRZbQ8Ltmo8nVvMqEV1XvjC9H-BKJ1aSjDbmDzgJ3xPcWrh4wd2q7NA6aADzZf6LbOS17gngvJpzKWB974u93yQYxyaEw-orVBK1g_H3-NZ_CLs5isT_jc-4NDtMgG0LWtduVj-SaIOWfGGQER5XVZ16Dcn0DVuYutZoe59aLRkSCTjqfISwlc32EIrZj5xxxrJa0JAB_9S6pfsioizIiEzem5wQ-wsFqMcvTStmKMQTsJgetEpSaTBJefHUEsAV5tK6wp_EB9sPO9MIUohAQ-nQHxoR2PmCPbr7KU74TovRzfswgBkArKXnDtab58VolVKOxn4kP0EiJyYoROqwo0pXNxnXP9CbKAFMC76PFxGGhkyFXW6_UzCe4eXYrnsv2GIQ3YztNpn5o3SMLJrjlKyDYu3_Vur-6llAQZBDmk-D-QVTIMsfAs99Krs0SfBe1CJZbIQNME5tdTgyO3K3-nndz4k3iag4ChRbeivT_lw_GA4mOy-kduEdRnkwBejZjC1_F48X0eJVB19KIO974Obs6FMceAiAZ4EVe6eUUGIruftn-zlnIMxq69gYAvXT1i32nI4rv6u_4sSMW8bHxywZ77W3dWZ15K4LDpbgSv_DBENjhAf40OT7mgcjE9w42Y6t7guo_LiPoXFn4_qoqnA8BX05umVeeKAbkNehX_vqM45z-b-Qv24WI2q9bhASH1-2LuxbyvM9NPdzyc9SikFFRP9E7kYMbzvjzfDxrPcKlvZnIw9Yp26Sc8pYiA4Ad5_wybxMhe3vY3EGcTXuEle3vIghuUUbBOJTHe87EZ-Qx3rAoyCbvqGwnd58xCFCM2PBpYzCtpV1Ul2orTSR64xKPp7QmvocG5vT1o9zRfJUjclKgmhqVeMxmVcODIlcmW3XaQ98jvQfZYRMr8dSBWbj1tIaAcJNQB-CMVYZDXO0V3n592IWbNEGr4LsRS0zR7qhO341gZjKljOQXJPEmlrQ6GMKyHRcU1ESPkRACxRFP1siDbJWUGpesg",
  "id": "rs_03f64694d3d3afb8016ab435c8b7c087d09ffd44655b36212c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.12,\"right_z\":0.06},\"note\":\"The previous descent barely progressed, and the cap is still ahead of the fingertip line. I’m keeping the height steady and making a small straight-forward approach to put the jaws around the bottle's narrow upper section.\"}",
  "call_id": "call_vajUnmwMP85TqO9yqZL2ABvd",
  "id": "fc_03f64694d3d3afb8016ab435ca258487d0b959cda852262db6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vajUnmwMP85TqO9yqZL2ABvd",
  "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]: [-0.02, 0.7975, 0.6044, -0.3862, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0167 left_roll=0.0029 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [-0.2256, -1.9077, 6.7077, 1.8486, -0.0269, -0.0806, -0.0122, -0.3761, -8.7453, 8.4308, 2.1221, 0.1587, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf2a0c9895dac543df7356d395c32db3c9cd1363c4822f2c76f6362e76452a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383b01c4148e755c543be039c5f442e2b13574d6267cf29e033debd3967d9878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd88afc957743fcbdb71919119081d0fd53c012d8be1b22fd6291614ba70680",
      "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 · 2.179 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, 0.7982, 0.6136, -0.3874, -0.0235, -0.0074, 0.9984, 0.5236, 1.6058, 0.9783, -0.0849, 0.3935, 0.2409, 0.6512]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1817 left_yaw=0.0025 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9984 right_x=0.4126 right_y=0.1641 right_z=0.1283 right_yaw=0.0428 right_pitch=-0.0773 right_roll=-0.0467 right_gripper=0.6512\nstate[joint_eff]: [-0.3487, -1.5795, 6.5573, 1.8046, -0.0122, -0.0513, -0.0317, -0.0479, -7.3778, 9.1829, 1.9316, 0.4078, 0.3004, -0.0708]",
      "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, 0.7975, 0.6102, -0.3866, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1805 left_yaw=0.0025 left_pitch=-0.0114 left_roll=0.0027 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [0.0068, -1.7299, 6.612, 1.8046, -0.0366, -0.0806, -0.0122, -0.4718, -8.7316, 8.294, 2.127, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3862, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0167 left_roll=0.0029 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [-0.2256, -1.9077, 6.7077, 1.8486, -0.0269, -0.0806, -0.0122, -0.3761, -8.7453, 8.4308, 2.1221, 0.1587, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf2a0c9895dac543df7356d395c32db3c9cd1363c4822f2c76f6362e76452a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383b01c4148e755c543be039c5f442e2b13574d6267cf29e033debd3967d9878",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd88afc957743fcbdb71919119081d0fd53c012d8be1b22fd6291614ba70680",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_03f64694d3d3afb8016ab435cc271487d0b5b045e8091a54cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.127,\"right_z\":0.064,\"right_gripper\":0.15},\"note\":\"The arm has stopped advancing at this low pose; its open fingers already straddle the bottle's upper body in the wrist view. I’m testing a gentle close here to see whether it can securely hold that section before lifting.\"}",
  "call_id": "call_gIgpwUhQ248Tz925aq4DRhwD",
  "id": "fc_03f64694d3d3afb8016ab435d00db887d0ab33f86d905d7842",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gIgpwUhQ248Tz925aq4DRhwD",
  "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, 0.7956, 0.5953, -0.3752, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8654, 0.3035, 0.2329, 0.1272, 0.1539]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0025 left_pitch=-0.0129 left_roll=0.0028 left_gripper=0.9983 right_x=0.4527 right_y=0.1276 right_z=0.0613 right_yaw=0.0678 right_pitch=-0.0484 right_roll=-0.0179 right_gripper=0.1539\nstate[joint_eff]: [-0.2256, -1.5248, 6.4479, 1.873, -0.0073, -0.0806, -0.0122, -0.5402, -8.3214, 5.3675, 1.7802, 0.1245, 0.0122, -0.0171]\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,$blob:7b62c7e292e8931c240d0c3d2deac15a0d170acc4b7fa9cd74b3c04d17e6b346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d18cd07b77cdb7f2aea018c599034c60a7b9cbc8dfe391c2d667d15c7d17ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e622914dc95f48a01a55d8df9f10635d33edbb815241be641797e87ca50f49",
      "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 · 8.198 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, 0.6132, -0.3862, -0.0235, -0.0078, 0.9983, 0.3687, 1.7882, 0.9062, 0.1833, 0.2775, 0.1558, 0.651]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.182 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.0023 left_gripper=0.9983 right_x=0.4479 right_y=0.125 right_z=0.0646 right_yaw=0.0289 right_pitch=-0.096 right_roll=-0.0396 right_gripper=0.651\nstate[joint_eff]: [0.1026, -1.7709, 6.3111, 1.8681, -0.0317, -0.0952, -0.0171, -0.8, -7.9248, 8.9368, 1.9853, 0.022, 0.1294, -0.0269]",
      "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, 0.7975, 0.6044, -0.3862, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0167 left_roll=0.0029 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [-0.2256, -1.9077, 6.7077, 1.8486, -0.0269, -0.0806, -0.0122, -0.3761, -8.7453, 8.4308, 2.1221, 0.1587, 0.0904, -0.0122]",
      "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, 0.7956, 0.5953, -0.3752, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8654, 0.3035, 0.2329, 0.1272, 0.1539]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0025 left_pitch=-0.0129 left_roll=0.0028 left_gripper=0.9983 right_x=0.4527 right_y=0.1276 right_z=0.0613 right_yaw=0.0678 right_pitch=-0.0484 right_roll=-0.0179 right_gripper=0.1539\nstate[joint_eff]: [-0.2256, -1.5248, 6.4479, 1.873, -0.0073, -0.0806, -0.0122, -0.5402, -8.3214, 5.3675, 1.7802, 0.1245, 0.0122, -0.0171]\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,$blob:7b62c7e292e8931c240d0c3d2deac15a0d170acc4b7fa9cd74b3c04d17e6b346",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d18cd07b77cdb7f2aea018c599034c60a7b9cbc8dfe391c2d667d15c7d17ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e622914dc95f48a01a55d8df9f10635d33edbb815241be641797e87ca50f49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXTRcjlb4SiVXReFtTN367jLMdtMMTsroCsdxZ3FV6hfEd3GCFlspIRWA1mtD90m_fd8LkgPCxCmPRNA70RdNuDSPpsLrQ60txsXE3KI7eP57kCo2GBKdI8OiH9CcCzdwgHV0tyA3nBAfcFEN_XVSTHNm2x14vmUpz4w5jw1oK5GP-P4SZ9NztyBI9bFAKHT6EmEwtpkRJ9YOm7LefoJy5k_7AxH-QN-CreoW3SgknMTCgL_HhbpRDkTv-gk3nu1ouMYkvo9dGrzycVC0cO8undO3mWfriQfnbSSD59VC0ewkWfxe2kE845tT_y89xYRtHwhB6N2IDdZ0yPC6c6CGGpGSw__ms8qoyGRqfH1vrdtlkwZB1bK41uyVuNYOT0ID6lCmuvsUH9uOz-_loq9TNj5SsalhxwhKMrexgdIjZa_oH1XW-OFPNICnXwtC_R69-nGq-H9vDP9IwtXXGW1QEgXQP_rBioCo1sVE3cSmtKeF8-EvfPTj3hOL_HYuQdYWOoIb4XTzcLJDsqWQHKisgB-MacSyMvN1_cLaiYiMCG9qoWcAi9tBaoZozJ6QFdrty2ROgE4UHC6h_ahyYeTlfmtRW91pQsFOlCiIe8YoKIIzc57ZpqNCpPC4HPlCf3g5IeH6ljIZRW4j58jKsez1zc1WvPqn8QOXExvtRl2gTk9nbNJpSsyK_94-p9OqvH3N6c5fZdlhhh-4ZgromKKSEhKBXO8Dit3ibSDS3E2JKdMMaOwAq1kxJDRnwLe-n72FyaWN9tKKlKiFWMd83hU1RMNTEZKo7MKTjgnmUWNFBXnSBPfR7PjN9e1fA_Rjk00Zoylfa3QhcyDqtCULeutIIWw9ZHGn4UnTPXFbQUSVpzfLKjKEYQ_urtOtyxv-0uM9SLOE1gY10nCaVCADd82Gb_q7cgrNnEr0bAD3s_uPNPUv_rG6hplhqUrVQ7i2VX83kCHosaSH-33-DnV6pbjM5SxVx1nVGDimOhgfmxzWSdyzLrWwHcsH4gwClJI_ave9KyMszi8bfRBz-h66fqqDnwy7eetR8QYksUadYS3swA0eLthbEf7wO-yT5A4kMnvYNsAYnhOM4t4w9_WzwZ7y8rsAdv5fubkFHTJ-_1K3GUwgJ5oVZuKrgzm9k98bsx_08MyM_HZpTGPGXGkkE924O_yWlrpva6_LlLBYdRC8XUBnp4tucNcrAeiYe2Z_MF-UfhetNRDfxnTWWGKbJwZX3Ck4ciG89OJiPQQf_gbq2L7Eyf2uWwknEScowsx6s-GuvsZOormGJG0vYHKrgTmla1IM00QqTX6vuU8nc_Cd1q0Hu5N8xYZOkRcIzSziAME7lYUBxSihdoiGg7cJrh0tdpsgC7zTw7typJjuiZ_kIrPNk=",
  "id": "rs_03f64694d3d3afb8016ab435d23ccc87d08d60bbec2855b4c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The partial close stopped exactly at its commanded opening, so it does not establish a grasp. I’m closing fully to check whether the fingers actually catch the bottle rather than empty space.\"}",
  "call_id": "call_njovmG99gqIQxSdc8nlofvTZ",
  "id": "fc_03f64694d3d3afb8016ab435d2a0e487d09bc9f26609fbbd0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_njovmG99gqIQxSdc8nlofvTZ",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7948, 0.5911, -0.3721, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8291, 0.3679, 0.2302, 0.1246, 0.0129]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0028 left_gripper=0.9983 right_x=0.4507 right_y=0.1273 right_z=0.0599 right_yaw=0.0717 right_pitch=-0.0218 right_roll=-0.0107 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -1.9214, 6.6667, 1.873, -0.022, -0.0952, -0.0122, -0.4171, -8.1162, 5.135, 2.0586, 0.0171, 0.0513, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc3e4b7ab3d36f467b6e6b3a1254ab2b53c247e279613993d36e6724aefc36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0a7c8e8fd04043487fba002cdf7ef79ae5eb3183912e07495424075a91e1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c398091d4d0cdfc4a6d5816c758ad003c03a48b95defafd1731ab21ea0bca027",
      "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 · 2.399 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, 0.7975, 0.6102, -0.3866, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1805 left_yaw=0.0025 left_pitch=-0.0114 left_roll=0.0027 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [0.0068, -1.7299, 6.612, 1.8046, -0.0366, -0.0806, -0.0122, -0.4718, -8.7316, 8.294, 2.127, 0.1636, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5953, -0.3752, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8654, 0.3035, 0.2329, 0.1272, 0.1539]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0025 left_pitch=-0.0129 left_roll=0.0028 left_gripper=0.9983 right_x=0.4527 right_y=0.1276 right_z=0.0613 right_yaw=0.0678 right_pitch=-0.0484 right_roll=-0.0179 right_gripper=0.1539\nstate[joint_eff]: [-0.2256, -1.5248, 6.4479, 1.873, -0.0073, -0.0806, -0.0122, -0.5402, -8.3214, 5.3675, 1.7802, 0.1245, 0.0122, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7948, 0.5911, -0.3721, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8291, 0.3679, 0.2302, 0.1246, 0.0129]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0028 left_gripper=0.9983 right_x=0.4507 right_y=0.1273 right_z=0.0599 right_yaw=0.0717 right_pitch=-0.0218 right_roll=-0.0107 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -1.9214, 6.6667, 1.873, -0.022, -0.0952, -0.0122, -0.4171, -8.1162, 5.135, 2.0586, 0.0171, 0.0513, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc3e4b7ab3d36f467b6e6b3a1254ab2b53c247e279613993d36e6724aefc36f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0a7c8e8fd04043487fba002cdf7ef79ae5eb3183912e07495424075a91e1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c398091d4d0cdfc4a6d5816c758ad003c03a48b95defafd1731ab21ea0bca027",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab435d6149487d0b8d327ba1a194915",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXbugUe-d1P5bP5VkTIjkNbVvYZAN6Furfack6FpT682YNdCzcy1_cINYlGEDbDH4nzZe9tmDPAZt55NKQiJ98H8-0trufrKGxlXiOuJ7Cz6cYNcLFEBfFW8RIqN1BAuKLPJas2h7vrqDUbO6R8SM_5f4P3zaDReD0LQGuABDipIl3S_E5Fo3u04PCxrALkQgsVgR3vRAMZyAfPM7RJFijbbPncMVGZiAtoni39xSg-tMkkPv-dPBcC_bVVYepuwE7Xb5WpCK6v3IM6CUHUc-JpM8WrhM9K-1Qe0cDSXH8O3QXqjZ-TUgdoC-dWht2eCk1S_qKIjABbuQOpb37ujLZYyZYWqTJ4UOwk51hj0rIDCEB7CCbXX0Lq_9O73vOVs7atSMhUJ1IcBKZQX_VNB4BeOLCb0XogKyVdCdjC0X8azQY_VEzxj0CVdJJ_mkizdy0pjlN2nm4U3iub-cFgh0BSSZYAqaUUtsi7AEDLqALae0rc8JtfzjbuhnwEq9hEdeEGjLCrUyqPR95XDBYG1vsNPACZdAEQPc8jtryBeagSC6SwdXTORuZw_G0OhlZwnu81M8u4pKukYGsI3lBt-5899XZ3aFWlvtAh7LrVkDueOBraauCW-f2BT43IJ1zw_c9E3DCa5sHEnRUdqiGXsGSwhOzj3xM-_kgoOCEznvsVEi50grFmzfmBvUWgj3vUiAm80v1fh5GSRN-ZYZyAd4RJeg99BXqT1J-rracMfU5xAUKSYG-m7MetRWjb8wdprkvaKBm-zqNsH6VGJVlYv9xtMQQUIpRfKfgYP-M2Dh9SjA3c3V-G7iCbnaOLsyyMji3OA5PvKK0u49YPZTYhJim5jN2Prlzi9l_W28DefYHLG2ySLDBNK5PiFm_OsXLCW_vadHLj4savwE0bE470EJIjglzHnyEGGLXCJkphabidfg9RerDQYVpJrbHI28JQp2ZT849dQ_l3OFBNY2LZDEMDaytMjJhtlGhZ9MszoJZcnfXSS4YQZiR8zWh_Ac3FkjzdyEMOav3vdjjp9QLeSkhh8zUo6WDvZy1ag3OlvNvo5mAQ5cUBHYkcgj-Xooci9habg0DvtJ42WjBeknSKaYDy2h2cErWRZGskRaEsV5OC_Lku4EnAqtcdodDAQSuC2KN7QfL-u0MRBy4MR_vJuSax7DQu9t8waG_-I6rt8ZllRuLyRkDey2PKg_qg_h5Ok9LP",
  "id": "rs_03f64694d3d3afb8016ab435dac45487d0875f9d9e078dc918",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.13,\"right_z\":0.075,\"right_gripper\":0.8},\"note\":\"The fingers closed almost completely, so that attempt was empty; the cap is farther out than this arm can comfortably grip at low height. I’m opening and moving back over the bottle body to get a grip that can draw the bottle inward.\"}",
  "call_id": "call_th62aiZzJAfg4R9qDsePC3ez",
  "id": "fc_03f64694d3d3afb8016ab435db1d3487d087b387b51613f0e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_th62aiZzJAfg4R9qDsePC3ez",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5823, -0.3717, -0.0235, -0.0074, 0.9983, 0.466, 1.5417, 0.564, 0.3553, 0.2962, 0.1764, 0.7955]\nstate[eef_state]: left_x=0.293 left_y=0.0019 left_z=0.1726 left_yaw=0.0025 left_pitch=-0.0179 left_roll=0.0029 left_gripper=0.9983 right_x=0.373 right_y=0.1339 right_z=0.0671 right_yaw=0.1011 right_pitch=-0.0203 right_roll=-0.0073 right_gripper=0.7955\nstate[joint_eff]: [0.0342, -1.3607, 6.8171, 1.9463, -0.0073, -0.0611, -0.0122, 0.1983, -7.4325, 5.7504, 1.7607, 0.4078, 0.1538, 0.0611]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e0a72eba50f6094f746ece7b8a1e8b3b67829003c6cff0771f8bef161612e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd6279585f661836ea0bf4d53644533f923258d5b9b06452d394247095e6380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbad7867a492f231616119532c4540da695425676d1e0aabf58bf7d354c41b35",
      "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 · 1.978 s

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

message 19 changed as sent

message 27 changed as sent

message 32 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6044, -0.3862, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.9062, 0.234, 0.2382, 0.1291, 0.651]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0025 left_pitch=-0.0167 left_roll=0.0029 left_gripper=0.9983 right_x=0.455 right_y=0.1274 right_z=0.0639 right_yaw=0.0618 right_pitch=-0.0749 right_roll=-0.0276 right_gripper=0.651\nstate[joint_eff]: [-0.2256, -1.9077, 6.7077, 1.8486, -0.0269, -0.0806, -0.0122, -0.3761, -8.7453, 8.4308, 2.1221, 0.1587, 0.0904, -0.0122]",
      "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, 0.7948, 0.5911, -0.3721, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8291, 0.3679, 0.2302, 0.1246, 0.0129]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0028 left_gripper=0.9983 right_x=0.4507 right_y=0.1273 right_z=0.0599 right_yaw=0.0717 right_pitch=-0.0218 right_roll=-0.0107 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -1.9214, 6.6667, 1.873, -0.022, -0.0952, -0.0122, -0.4171, -8.1162, 5.135, 2.0586, 0.0171, 0.0513, 1.0769]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5823, -0.3717, -0.0235, -0.0074, 0.9983, 0.466, 1.5417, 0.564, 0.3553, 0.2962, 0.1764, 0.7955]\nstate[eef_state]: left_x=0.293 left_y=0.0019 left_z=0.1726 left_yaw=0.0025 left_pitch=-0.0179 left_roll=0.0029 left_gripper=0.9983 right_x=0.373 right_y=0.1339 right_z=0.0671 right_yaw=0.1011 right_pitch=-0.0203 right_roll=-0.0073 right_gripper=0.7955\nstate[joint_eff]: [0.0342, -1.3607, 6.8171, 1.9463, -0.0073, -0.0611, -0.0122, 0.1983, -7.4325, 5.7504, 1.7607, 0.4078, 0.1538, 0.0611]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e0a72eba50f6094f746ece7b8a1e8b3b67829003c6cff0771f8bef161612e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd6279585f661836ea0bf4d53644533f923258d5b9b06452d394247095e6380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbad7867a492f231616119532c4540da695425676d1e0aabf58bf7d354c41b35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXejh6pkfiDyoPButVR4ADR35HcyModpp1b-63DHE6At9_fzOKDsfvkPYICGKn23o7cvJivUI5peaN46i0By6UauzulWG8ea_Ht2c7I38VpZzflybbr7Jeh7nKP8ZpdZXHyExFSP52_QE9zP1FpOKcMaQ67H02RF0SU7KoTa-FPwcv2dyuBErdlezwPcJg2JGePc_Mwf0TIZkLfBzl61KlRuyhhC5PCwP2JHwgC4uXaqwpSPlKm-WF4xvldmZ2I1SbdL9CkpXpHtpl_GXVs6EtLHkgjJKsVXnrznGGJdmwpc4nPvvpcquKs-cZM77h1zcH-iPLVJM3Balz648z-NnnT9nlIaPaoIcXt3NFLj_10lJObvM3g8H3kxouxaK39DbKIQ3jaXpV2j9tH5uxJUNtoreC893UO8Av4ZMRtClppvmjQAwNgVcxICbFSmqqNBOm_wShxXaras7QwcebrrRSoQKn37HpKoC_yFLYp6EIjtOpTch5Xwy6Sc4tVkswlmxFkeYYQmbgjjXy4mCf782glML_9uJ_Ru8ywAMKnsaYKd2qfDcsPDZGmwNqVkM8PxH-7coIx89xPx1VsJbKtRwaCBSYBZCgimoc_H7NgmWIEiKtR8Zko5lRHS1dSun2_oi1uihG-5luXYOezXJz0xH_oEvjmea6ndzbVHBLcho1LKgxKlh2YxhgiD4QT5gN7SnbKKqwQGfneTAkFhXPTZ8wkA3ZH1Z5A3LzwnAICskI3zl4L4G_-g66BnFEjVj4H2bL1gEQ5DpeJhWt5ywL4u5r73Bg-pwgvg75VA4JJMrjgMcccjZ_iAdMHma2h49MqzI6hqFLYLPxk1EFBJCL8WwnLs__j6mHTX5XLFxxatVhGiXB5lccxOvj7uHkASswmpOFsbLv0dFB-5Nr4bJ_j-Un2xcX0e3eK84SOVbk0aS1L_Gy-UJQx4bDrxA2jICffWtAyxSEOoRYniOdZhh-mIvLBDQQF6J7Ied9ldCXpKVSKb0f4uBhOTKFCQB7lJeRZoRWI7Cb5oDAZ53Yz8t5cH-_QKi_x-AaBEBkfgpvEoYZNkBL_iQTE8bt2LIAGSPAote-VCUQydJZxzrFrYK7oCfUJcHAr3YxqfCsTZYue7mkz4_KjLSJiNpSz1rEIL_QanT3T1k9nHllZS_KG9oKbNaLpwwaex2y8ZStRP7xvv1vpqo33GCShkJVysW7WfrXcQUaEVpcO-el5ZPuFTaqeiYXEp5IEYK5Nt7GNhJnfuBdoMLEdwk_eJFwT2Am7Feq1MoyqvIXAfVx4BNMCwJgBkoAiusob8dfDHhJnbXhGN2NYtapQ0_5-YR61pcpq7R3Txu-n178enPoqRMUmy0DpbXNUrWNtn1i2YehRU1UL3XB62skyOa0mUqJVLa_p-wcyu8R2a4KVEjlIVqLIIBMsyxbFhAqqdKjdgtZVo9Ryf6WOVNvd49XV4qELshiFKmfbWM-OxrP3vaqzTqWDJoQAMhRMDR0Pr4qWHWq7_bXkz27TQagXXpjxMCEcF4Xly1U37jWx7SC_a_ESJDCwH1SGKj6acVwdAeHo24wfrDC5BybPSLo5sjNbnA9AkWBFfp2CjznHpu5D1MdBDf6TiX90f8oc4K1v28-vL6DEMabwove19nc=",
  "id": "rs_03f64694d3d3afb8016ab435dd5b4087d099f08ea2fc24f897",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.109,\"right_z\":0.035},\"note\":\"The right wrist view now shows the bottle body between the open fingers, slightly off-center. I’m shifting a little sideways and descending toward its midline to grasp it securely.\"}",
  "call_id": "call_Po8XDOeD2PvvhwUfqZPyFSdr",
  "id": "fc_03f64694d3d3afb8016ab435de301487d0af502f1ddd152ff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Po8XDOeD2PvvhwUfqZPyFSdr",
  "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]: [-0.02, 0.7891, 0.5766, -0.3702, -0.0231, -0.0074, 0.9983, 0.3893, 1.615, 0.4557, 0.5041, 0.2569, 0.1471, 0.796]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.1708 left_yaw=0.0022 left_pitch=-0.0202 left_roll=0.0027 left_gripper=0.9983 right_x=0.3634 right_y=0.1044 right_z=0.0285 right_yaw=0.0723 right_pitch=-0.059 right_roll=-0.0203 right_gripper=0.796\nstate[joint_eff]: [-0.2256, -2.0855, 6.2974, 1.9658, 0.0122, -0.0464, -0.0122, 0.335, -5.8051, 5.4632, 2.3321, -0.1099, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cff5c528f8b6f949183ad8f17117a36e0b770c8f1fa9e3684fbc28517f94e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8cae2f4b780df80a0e2c375eac349da7a0e430634c15508a34f05aaee1ef8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ab13fe6fc2903521e74515c92d8a921a8f099f0efeed7633fdfe25861aff86",
      "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 · 2.586 s

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

message 23 changed as sent

message 32 changed as sent

message 36 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5953, -0.3752, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8654, 0.3035, 0.2329, 0.1272, 0.1539]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0025 left_pitch=-0.0129 left_roll=0.0028 left_gripper=0.9983 right_x=0.4527 right_y=0.1276 right_z=0.0613 right_yaw=0.0678 right_pitch=-0.0484 right_roll=-0.0179 right_gripper=0.1539\nstate[joint_eff]: [-0.2256, -1.5248, 6.4479, 1.873, -0.0073, -0.0806, -0.0122, -0.5402, -8.3214, 5.3675, 1.7802, 0.1245, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5823, -0.3717, -0.0235, -0.0074, 0.9983, 0.466, 1.5417, 0.564, 0.3553, 0.2962, 0.1764, 0.7955]\nstate[eef_state]: left_x=0.293 left_y=0.0019 left_z=0.1726 left_yaw=0.0025 left_pitch=-0.0179 left_roll=0.0029 left_gripper=0.9983 right_x=0.373 right_y=0.1339 right_z=0.0671 right_yaw=0.1011 right_pitch=-0.0203 right_roll=-0.0073 right_gripper=0.7955\nstate[joint_eff]: [0.0342, -1.3607, 6.8171, 1.9463, -0.0073, -0.0611, -0.0122, 0.1983, -7.4325, 5.7504, 1.7607, 0.4078, 0.1538, 0.0611]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3702, -0.0231, -0.0074, 0.9983, 0.3893, 1.615, 0.4557, 0.5041, 0.2569, 0.1471, 0.796]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.1708 left_yaw=0.0022 left_pitch=-0.0202 left_roll=0.0027 left_gripper=0.9983 right_x=0.3634 right_y=0.1044 right_z=0.0285 right_yaw=0.0723 right_pitch=-0.059 right_roll=-0.0203 right_gripper=0.796\nstate[joint_eff]: [-0.2256, -2.0855, 6.2974, 1.9658, 0.0122, -0.0464, -0.0122, 0.335, -5.8051, 5.4632, 2.3321, -0.1099, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cff5c528f8b6f949183ad8f17117a36e0b770c8f1fa9e3684fbc28517f94e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8cae2f4b780df80a0e2c375eac349da7a0e430634c15508a34f05aaee1ef8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ab13fe6fc2903521e74515c92d8a921a8f099f0efeed7633fdfe25861aff86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXhNG9Ip291n_nGlFWtwiZ0dnP1oSjzCjh7Pk3HmyW8hyabLj_3qc_Jnu8sQ0mUulQlRcf_QkDy-3QNNpndMg3Z-e9vCT2p3x0xm4zw_FxPZwgrJZsGVBvCqrB58lWkhWpbZryzrkyStRPjzCu1-ukLczjbwPJnvWh8yPQx0xxWii19IR1OPq1Ej54-mMkQSiDSlP2xBhJgYBhuGTmdGWM7w3V7X5Ol86HqPdFcx4BhwBS_VS9AUT9bJZzPasoghLCtRmPihQcxxmKbuDRj__SQ8YIlPjDj5X_bhTaYEX5Okck9uDLG1A4VP9AWohd3jhUYWSIRfp7Idx4GxIBbULiCTaMI12pNMgpuL98KwrIvERU1nvSYsMBK-7FNHwD4Zo20mEEe4NN1q7ApfMQgpOmfiBG5Yp1Ngds2gXPsF8HUMmEO__tKwy370nkXEoCRWltmxxkyrRVYaF0VTvlDUn0kLbDUqh1kw_raxM7T6b-muUe9-70dkDxzZR_99ynFsfP_isVv2yBsrDaXzFBiNItMluYQKnw2Gp5Qa2SD63J-yqKW4s_zPBjuDQTGaaTO2ybhh0s8pmvzR9xdWLrpSkf3kNlzBIxGu955r12es-uDUDKh-AxIIBeOlpqa5249-25ZsXEC8XrI1TjGD3S39VT8TQzaVCQzx7kVzDrH5Bu55t1G3erxbKT5vOaGC0ezLU3o4KM0dryKbmU7ZBikz9Nilke7GVVMnxrv6QOIP4UYKBOH_inCbeUyVo55ug_1SsCvqTF_izyy6h-BIbLDfOuSCynbf-o0UdmDKQNJuHXRx3HnapvgZZL4XJA-B0UJP33Yjfrl3fVkNtMTve9nNgzirliu1DgIS8NAHK8Q4N_L3Tdi9nR-EXSAgduAYkvYMuVS5JOOcTGG4WHkyuDBNpUH9p7XfgoYsYGRPFFpFr2xDySgQVpcJN0o8S4FkfXqX-V3UbeuOtwkwY7rJBkepme4af9gcHp6l1-htoQfTMvwBY1Y8RLfLHm9Gf-b3kQX6xB3lh6p_h6XXDWsixBxh03ZlDe7Qy4JjShDmIbTKqr0VYEMnS7349BLFFgliR2ChuYNF3j2RQNKmh9vqAp_hfHQ1n1kyVMQ72UZ2pJDVUPIzCTolP4xhPlW1IpdNQ92kyG89M6DQR7M2Cs0eusW1sVXl7FfIOwZO6937vkXBlmFnzkJyig7yP1yZg5-h8EoFSxQ78y5ItYFqiGv4-pV7YZoeFIV-DaDrGlPNUMZ1utpss5oYC6MtZD2ro7zIT_tH5IRTkc6w2MXbVmq9SUoH7LHeIEUQOCcwjugYXJ_C4e_HZmgCeWsJYEuQQnloYjjMrZs",
  "id": "rs_03f64694d3d3afb8016ab435dfed4887d0ae699ffbf424463e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open right gripper is now at bottle-body height, with the clear plastic body filling the space between its jaws. I’m closing on the body and will use the gripper reading to confirm contact.\"}",
  "call_id": "call_PwpPAakekoK1ATik5vaPEfPa",
  "id": "fc_03f64694d3d3afb8016ab435e061a887d0af2422d32638e352",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PwpPAakekoK1ATik5vaPEfPa",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.5644, -0.3637, -0.0235, -0.0071, 0.9983, 0.3866, 1.636, 0.4076, 0.6159, 0.2417, 0.1337, 0.5115]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1681 left_yaw=0.0023 left_pitch=-0.0202 left_roll=0.0033 left_gripper=0.9983 right_x=0.3608 right_y=0.1051 right_z=0.0261 right_yaw=0.09 right_pitch=-0.021 right_roll=-0.0097 right_gripper=0.5115\nstate[joint_eff]: [-0.253, -1.7436, 6.4479, 1.9658, -0.0171, -0.0171, -0.0122, 0.1026, -5.1897, 4.7521, 1.9609, 0.1734, 0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fedb143f0dfdbc5aeb172aa72f5bb88c21e356ba9c19249882f20586ae85913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2b640ba7a045a65555cf511608b5fec9a63a8a4f860961e665320afafb6e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e23aa54a8cff324577891deb479748a484cf669eb6213ff9ad91027051e839f",
      "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 · 3.37 s

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

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7948, 0.5911, -0.3721, -0.0235, -0.0074, 0.9983, 0.3538, 1.8084, 0.8291, 0.3679, 0.2302, 0.1246, 0.0129]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0028 left_gripper=0.9983 right_x=0.4507 right_y=0.1273 right_z=0.0599 right_yaw=0.0717 right_pitch=-0.0218 right_roll=-0.0107 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -1.9214, 6.6667, 1.873, -0.022, -0.0952, -0.0122, -0.4171, -8.1162, 5.135, 2.0586, 0.0171, 0.0513, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3702, -0.0231, -0.0074, 0.9983, 0.3893, 1.615, 0.4557, 0.5041, 0.2569, 0.1471, 0.796]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.1708 left_yaw=0.0022 left_pitch=-0.0202 left_roll=0.0027 left_gripper=0.9983 right_x=0.3634 right_y=0.1044 right_z=0.0285 right_yaw=0.0723 right_pitch=-0.059 right_roll=-0.0203 right_gripper=0.796\nstate[joint_eff]: [-0.2256, -2.0855, 6.2974, 1.9658, 0.0122, -0.0464, -0.0122, 0.335, -5.8051, 5.4632, 2.3321, -0.1099, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.5644, -0.3637, -0.0235, -0.0071, 0.9983, 0.3866, 1.636, 0.4076, 0.6159, 0.2417, 0.1337, 0.5115]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1681 left_yaw=0.0023 left_pitch=-0.0202 left_roll=0.0033 left_gripper=0.9983 right_x=0.3608 right_y=0.1051 right_z=0.0261 right_yaw=0.09 right_pitch=-0.021 right_roll=-0.0097 right_gripper=0.5115\nstate[joint_eff]: [-0.253, -1.7436, 6.4479, 1.9658, -0.0171, -0.0171, -0.0122, 0.1026, -5.1897, 4.7521, 1.9609, 0.1734, 0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fedb143f0dfdbc5aeb172aa72f5bb88c21e356ba9c19249882f20586ae85913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2b640ba7a045a65555cf511608b5fec9a63a8a4f860961e665320afafb6e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e23aa54a8cff324577891deb479748a484cf669eb6213ff9ad91027051e839f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXk7-45F9fE6eIgKtGp_N8_OUOaOkJUynp9tqsqfg0Eu-FC6wMUcjf1BSWqulksIkfep4QRyPJq1NnmCUDkrBSYAu64PJmWVm98aRMgcjqHktXt7q1iog22ha72UWneCKpZcd35fyWO9t0KjXGnn8htT-ElRfH9dtmLEiaUrfcQ1gsLCAGc8QSFFPEfh7LtO-VpBuwfQCwMGLGPMRe_4yiqP-lJWLc6Pq67G8JdiEC2czMa48fR5OuYyQuqTcdz3LumIiOC3RzpUGiSPxGivr9SFa1gylCWCqCBGMxkBqYM5fuaPJhyNEh6HhtnB7hX129k8vI7ZHvgULg9vgx3pW7EQsdCWoasbrFKlr5l5dO8YkgU3lJ4dVXsmul3XjRMQPxnzDUq1FSoOQ9y9zlasQ9SNUijaslAOII7JB5TTqLiMIdcIvR5xVp8NW_po6iuM-s241D9v8itPKPAtaaaPDqXMNkj_QDJWmqpM3uW4zOdkrRUl665Y4oZB2NmIf3PasZMioH_m3UTtzyau0LeUkFSaLi6SSoFd79RUbSyfya9GPdXadqtI_JNwSm-HqZAwpSwnHca09X9Rttqn4kTgGuYVBUpbPR0YKUWIjt2Z5RoYNMZNFIuZZPIO90_UHl32GoBhg0BNHhRGnrGlTr_6_C2bLkzJPekkR0cRKYuCRFUlgCOKWirwijNBQIabu-J9iPXWFTkbp4DWUL52A1-MoDZ1m-etlldV5Iwk4c78tj8nrn_fwMGoJZbqRnnAmwakhkeklLVoic2v_HYGRjAimXB-4tCHtBl51oIQLZrTcBrG5Wbk8gOEI-CFHCt4CawQV_oNGUTFqlb5aUbf5kXKkr8TWZCjndXtupSxk27ruisFq424CWIjswCdLg3GzrNId9U91CWfd6qliE5XB-X3PNoaUvy7kzbPgCHvsXORhPCCTGBW0ydQvrNw997oIQRAVn107J-r_iYHv9aJ66_UzBbsgAHaiqXVPqEsxRJ2Uzkt4ehmTnS8Nr0CrCEN7F8c5wt7Mmw4nIMSaSjvhBcqE3nr3FMpd58bp2OTMyYa2WGdxM3IhNE529Ge43reFiDHU6mrs3O5oqawjmR_ucF1pX1vhmczv4oKuO9P-QcvY9VdNy-SX2z0w9niMhaJuGyujixljBbWW9zydQvgBRFAD-6DePYsL-tyZcCKcHG0laZ75S8CxPQZdclKl75baguGYYxfwVR_L6QnGEodgY7_65vMZu4YugZ1hScxoEW2F7zQTZBSHyrHWd89x5TefiHtQZxo7WdcgrKhHo3-j-U_K75mX15qTt65UTwdoZWb-72GSJC8Huc1OLdByQ3LTqnIwrvcRYTJ0yQmZvm6aDS0Xq9DyGuUEesSQPpgmcpAZodz6bsbXOzv89bBurvYWvTtve-tgYh2cMuAY-z6co4LuJyg3Smf8C35CuF1EPrQ8r9RA5xNDRev_Cgrfl6VD1XrlMTti33tv8jnwGlTzM_go6eWPiYTztnpDcIELqU26YDPqtY_3QQikg3HkioFGqmbpnylMZoeex0tnSsZo2PiIwwv1F13f9Jqe_QbTbnYeahkRR-i_m0IKAp00T_fuLotPGVvxPpqYlekeNvXsrgNp2MPoHJOoQ7OGq0vUk28_eDxZFw-nXtxLkxgbjDume6yRwlh2wBHzaIurnR4xPEXLbkNg==",
  "id": "rs_03f64694d3d3afb8016ab435e32d4087d0b87de72d90e26fd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.12},\"note\":\"The right gripper settled at about a 4.9 cm opening, consistent with holding the bottle body. I’m lifting it modestly and drawing it inward so its capped end becomes reachable for an upright-placement grasp.\"}",
  "call_id": "call_AtkypWgMGBAQRCIQdJRUpCBE",
  "id": "fc_03f64694d3d3afb8016ab435e3ab7c87d09eab52b9f013f46c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AtkypWgMGBAQRCIQdJRUpCBE",
  "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, 0.7738, 0.5491, -0.3527, -0.0235, -0.0074, 0.9983, 0.4183, 1.2572, 0.458, 0.0261, 0.2344, 0.1379, 0.5114]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1659 left_yaw=0.0025 left_pitch=-0.0148 left_roll=0.0028 left_gripper=0.9983 right_x=0.3128 right_y=0.098 right_z=0.0606 right_yaw=0.1208 right_pitch=-0.1759 right_roll=-0.0491 right_gripper=0.5114\nstate[joint_eff]: [-0.0615, -1.1966, 6.6393, 1.9219, -0.0513, -0.0659, -0.0122, 0.1299, -6.612, 12.2325, 2.7668, 0.4225, 0.1441, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0ee77f5c873aded5c69bc8325e64a0861c0a9c82525841513772df2a80731c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c2b96bda00538c48b2fbda4f851c122bfb1c92d9f80c8e8a6a428282f2e334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f9bd5ad109b4f386523049b067cad040041cd8a5252fea3c1f33ba43df5979",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.739 s

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

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5823, -0.3717, -0.0235, -0.0074, 0.9983, 0.466, 1.5417, 0.564, 0.3553, 0.2962, 0.1764, 0.7955]\nstate[eef_state]: left_x=0.293 left_y=0.0019 left_z=0.1726 left_yaw=0.0025 left_pitch=-0.0179 left_roll=0.0029 left_gripper=0.9983 right_x=0.373 right_y=0.1339 right_z=0.0671 right_yaw=0.1011 right_pitch=-0.0203 right_roll=-0.0073 right_gripper=0.7955\nstate[joint_eff]: [0.0342, -1.3607, 6.8171, 1.9463, -0.0073, -0.0611, -0.0122, 0.1983, -7.4325, 5.7504, 1.7607, 0.4078, 0.1538, 0.0611]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.5644, -0.3637, -0.0235, -0.0071, 0.9983, 0.3866, 1.636, 0.4076, 0.6159, 0.2417, 0.1337, 0.5115]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1681 left_yaw=0.0023 left_pitch=-0.0202 left_roll=0.0033 left_gripper=0.9983 right_x=0.3608 right_y=0.1051 right_z=0.0261 right_yaw=0.09 right_pitch=-0.021 right_roll=-0.0097 right_gripper=0.5115\nstate[joint_eff]: [-0.253, -1.7436, 6.4479, 1.9658, -0.0171, -0.0171, -0.0122, 0.1026, -5.1897, 4.7521, 1.9609, 0.1734, 0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7738, 0.5491, -0.3527, -0.0235, -0.0074, 0.9983, 0.4183, 1.2572, 0.458, 0.0261, 0.2344, 0.1379, 0.5114]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1659 left_yaw=0.0025 left_pitch=-0.0148 left_roll=0.0028 left_gripper=0.9983 right_x=0.3128 right_y=0.098 right_z=0.0606 right_yaw=0.1208 right_pitch=-0.1759 right_roll=-0.0491 right_gripper=0.5114\nstate[joint_eff]: [-0.0615, -1.1966, 6.6393, 1.9219, -0.0513, -0.0659, -0.0122, 0.1299, -6.612, 12.2325, 2.7668, 0.4225, 0.1441, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0ee77f5c873aded5c69bc8325e64a0861c0a9c82525841513772df2a80731c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c2b96bda00538c48b2fbda4f851c122bfb1c92d9f80c8e8a6a428282f2e334",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f9bd5ad109b4f386523049b067cad040041cd8a5252fea3c1f33ba43df5979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXoBi9vaJXiGaSDmJySIklGAS-CQceVWkGjC_GvPcUCZpUnPonoi9Ex5O_qRx4mzVRugHSIWV8c667h557gduCcEi21YH4oe7E6cvFTwSKtdcRIu1Jlyeo7NmNAfjWnepDR8UZVuYUjWc5UkXuOAoU33HD0B2xj1qAlEWdDr9RwUzcvzse7NmG057ffav7rYyU4j2w4eLCCViL9ypYmNPHlqQDNNLFN3MV5sREB40ocsEb9KNpRL3R9vV6_SXi7n8ZNgUdK7UrwUoRq4dhMqXbaoxZBno_ywMhgbLrrp4g3DyYL3qFfZKWL_05Rfy-665gmXqmSCPCfJuWut4qdIkbtM-c_Fx6Qc1Q6uRL_RlO3zwY4sfL8NeqjkcT-fjNvnpEkeAQzuuSQUcbnona7fKH5y0gwNv9eBmLRb0CfmcL6YsTjVF8POMAqLfqd-8PO1EZF-UveKOlU1XJ4vXYj8phtVHGoJ5-031hBOlO9dlu1MWkhBTIasi4BaA0vlyy_pQ8SyIvljDKqxYOLtydFiizVieSKEt6ZvwiVUmOV3ZHYgIurxTa6dIZ5FeQ6ROC2qiDFpCAwhsk7T88EpZCV0JmglcIzbKLRLuFCbajPloogMTRelbgkZSn9pDFGFI9ShcxWAidnJEPT8JROL0Mbs_ik83RW9LvnLMUhvxVxraYDiG_WjVURBfRt5QUjpXqVoocCNzdlEv3MueXCG2g7SUxPsX89ckq0y4q-oGALTQS1m1A_RO2ZQKyMqhyH8HjbBq0mWXGL0TTWzzHZ_4eyZKODnMvWxU3IafTV39Vji7vfnBPEzGsjKtj9q3yQT3ixc6xEv3QmM6p3tYQNp72rj6ksavtxbbxPtHZ0vJBi_-GXemJZUPmwmPBRE8LmBNQI3HyZnApU7AaW9lLu4syhGkfODAtb1ELF87LlXOviRbXV03LjihES2QEYASiroJs5HgjAtmxCykK7as5fDJj-z_c28CGwl1tuFBqtqOs6IcfgeXyy5B1zqjQMd7EMxmYPIcBiPIrv48TEyEamzQ8tncFxuOW6nxNqmXAOe17XEqi4jOfoXCy50Y6I0dXOTjvq05yzlmbQKmdikFkI2TF5sxjiFTCHTSFwqFRdKJIawpA16QhoOQtg4gAuLiVlK-NKmVAlvSLGNOC2MPkjnnDLiMu837MlblbDvB3MEoML-BysMJMsbZYJzxpeJN1TX5_cQVfVSob8XKLp6CW0TJtR0etcdI9UBrhl2EXzoRgk6W6MQ1TABnCdzbMm40tmlN1-YCf1nQ5TR4E5R_CfyLfvbJWo8L_UjQe1_TTTz6gQnaPFjxpcWXs07vc_IW3qgyTlJgKY184vFii3ORpueJO9W1N9PI1bSdpH5LDezNiu2bEX52ZpQmyKHmkYFIX20lwJNI5H8iNypWxaiAcgYaCn3jVtDxGNG7C2MHHAhIouiiaz6d91Ka0lux-_qsg0uIur-UJC2i1YRQn3O4N2BtsUYBF0QBCrNYCnUjyJ0O5LeglDUqIHV8-fmogl7BH7rsBEZugpd5QQwPqrHNntHgMCZHkAIzevF7PvwXVzMNAR82pIpv3Y0ciMiRrszRTJxbqjQ0m7nbzhRlVlDRISAZou4B1VXkmOw94xMUndbeefM5Tdbh0ditAv6GcqNA1e4i2MYgno4KIPEbdPidjGg7bguj3KSnaqEI8Bj3w9D1Tp3dFSAoqkpB2Y2f-rxDt62xFIJQN7yZb5tTAK46y5UebmaN2VBkakMbC06lyweKGjCLV8dHjR072nOrnxtQS1bERZPSV5UY-wkA0lD9-aeljAV7w3fHVHnfEK7YXbZKy_vEWtK2r37d7lFrSnbIO7ASj5koGCeiF7WBkX2khf84jwIocXY9RGz1Xe6NI5U_69CugTOu83fEsmpwQTqBa18tViQhmXcH-RSuoVShY8vnH5uyrtAXHg_pz4QY_uKMJbY4krvJJW4hkWmuyc7nIIuuifeKFhhQvCQ1tp4al28epEZAE1Yj2oNiAVQqgfmyM-RPsVmy3WnTrPnJP6j8As-YtUjKGOEQhS6FJQIlt3qKIMePuaTErvLEAPI1leA8jqmgarrZziuG-dkmAwHRuB7QIOdN8x",
  "id": "rs_03f64694d3d3afb8016ab435e5c89487d08656fe85a233cbfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.10,\"right_z\":0.105},\"note\":\"The gripper still holds the bottle, but the attempted lift stalled near the tabletop and the wrist effort rose. I’m reducing the lift and drawing the bottle inward in a smaller step to avoid forcing the arm against the table.\"}",
  "call_id": "call_hRS8Xi3lXuheVXdllPjOnE5w",
  "id": "fc_03f64694d3d3afb8016ab435e7a78087d09df652221fdff0b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hRS8Xi3lXuheVXdllPjOnE5w",
  "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]: [-0.02, 0.7689, 0.5476, -0.3458, -0.0235, -0.0074, 0.9983, 0.4843, 1.0229, 0.3222, -0.0921, 0.255, 0.1604, 0.5145]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0026 left_gripper=0.9983 right_x=0.2648 right_y=0.093 right_z=0.0537 right_yaw=0.1561 right_pitch=-0.1899 right_roll=-0.0527 right_gripper=0.5145\nstate[joint_eff]: [-0.1436, -1.5658, 5.9829, 1.8584, -0.0122, -0.0757, -0.0122, -0.253, -4.0957, 10.0444, 3.5922, 0.5934, 0.0904, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e65db702e2484d02bf9a3920ee59854ff276bcc5e79ddd1e302bcadebd66153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f697c7a7e02a0c3221180a441b16fa07fd8e5ba1a0c29175a8d2e5b0f45aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e113945ec3ece3fe4a2e1a8ac215e9205177d3ab7bc371584b7c3476944be8",
      "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 · 2.84 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3702, -0.0231, -0.0074, 0.9983, 0.3893, 1.615, 0.4557, 0.5041, 0.2569, 0.1471, 0.796]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.1708 left_yaw=0.0022 left_pitch=-0.0202 left_roll=0.0027 left_gripper=0.9983 right_x=0.3634 right_y=0.1044 right_z=0.0285 right_yaw=0.0723 right_pitch=-0.059 right_roll=-0.0203 right_gripper=0.796\nstate[joint_eff]: [-0.2256, -2.0855, 6.2974, 1.9658, 0.0122, -0.0464, -0.0122, 0.335, -5.8051, 5.4632, 2.3321, -0.1099, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7738, 0.5491, -0.3527, -0.0235, -0.0074, 0.9983, 0.4183, 1.2572, 0.458, 0.0261, 0.2344, 0.1379, 0.5114]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1659 left_yaw=0.0025 left_pitch=-0.0148 left_roll=0.0028 left_gripper=0.9983 right_x=0.3128 right_y=0.098 right_z=0.0606 right_yaw=0.1208 right_pitch=-0.1759 right_roll=-0.0491 right_gripper=0.5114\nstate[joint_eff]: [-0.0615, -1.1966, 6.6393, 1.9219, -0.0513, -0.0659, -0.0122, 0.1299, -6.612, 12.2325, 2.7668, 0.4225, 0.1441, 0.9499]\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 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7689, 0.5476, -0.3458, -0.0235, -0.0074, 0.9983, 0.4843, 1.0229, 0.3222, -0.0921, 0.255, 0.1604, 0.5145]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0026 left_gripper=0.9983 right_x=0.2648 right_y=0.093 right_z=0.0537 right_yaw=0.1561 right_pitch=-0.1899 right_roll=-0.0527 right_gripper=0.5145\nstate[joint_eff]: [-0.1436, -1.5658, 5.9829, 1.8584, -0.0122, -0.0757, -0.0122, -0.253, -4.0957, 10.0444, 3.5922, 0.5934, 0.0904, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e65db702e2484d02bf9a3920ee59854ff276bcc5e79ddd1e302bcadebd66153",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f697c7a7e02a0c3221180a441b16fa07fd8e5ba1a0c29175a8d2e5b0f45aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e113945ec3ece3fe4a2e1a8ac215e9205177d3ab7bc371584b7c3476944be8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXrKgjoqAsSZk0Ysx03uM89eb1EvtN4uuygEWl3x32_GTxlQoarCOqk3Zx9eK_8k5LX2ttGXbMe5H_dVK_1rtizeYWsI16NF-oD7LWy1hirywAqzkid5m2UJ3_F9m3Kx72isiPKiBjj14eVFHSNrKWWS7cf7VKvhGnFYjvfOhcPQju7qyOeO1rC1Sn1TIW-hZoMpbFvTLjjZDCuhVAr89MxxBhrb4aXxcAKDhMddFoed4nwOL77WZEdj7Hmnxr5tZrm72haeyX-Q5psnKX9YyQ0-ZBYEhPqz9HXaR1KgIGTop8EkwOJ-untx_45XyCtqMQGgURQpbZBZhL8qdQ5Y0FNz8sA9o1Meoy5te0Imb2JHPWYaNOaMdbeohrKW0oXFtddB5sjj40P45ZWoDkSAWTPXhzd-QhlB6vhtLJ3YSZ8C7VAf6G1Vj_MOTS21rjwP_IVRLBc0zlGTjqu9vQ9cakLJ-x73E7CNRbPSrremaCYJS8C86ip9ggj_VpM4muaCORBpbvcepiSy83MwgYW1ciTk4SQtdu7Poot7-66Gz4YRYxP7LezJ40jD1c_YY-iLmUg0aXegbPr1ASpwCa4xPf5x5vgiGma7WhvFY5Y2pROdsM_j1TiO3C-9ShLqT8EQ619WOWODoKTP8VigM1v1byEjGLF5cKBSH5dJmrGOG-24fYO435MOLp3pQmNBGrUh7Zzy5-EQLN1UKBFd4DGXqnxYBxse997KJ3ER-RXQ4353amj9NB7bu_AFrMtL0CDVLjtSl7e-VTcyNlxPccsNt6n4EGfWe1RAKnQi6aK_tpG3rEUDaLXdLfI5IT5SnprWb9ndg3IJ6Ky3oDl-VfVKpuArGG4kYALbPflxs2vp2TBLiuNKswffh3evqlJyQuNsINeI13KV0LMG8f1vfWb1ZTPHkKQkf2kLOVHNoYmpqnxBdiMpilzkwliT5tb68OE3WZ3XYgvD5Tn1pboaWrzJzqjzrEgTD1t1WNGgxEasZbHDs8rfR8BZWoP0QA0ZDu2Mq-s2kd5y8-1Y_A61Im-g43OtPn4j-1-q740kq2DRyd-YT2H5So8NRTO4k_VTMOwYNBv6XanfGMDleGsc1Ihu28PzenoO5F5DFYLrl4lqJblIdabcmkVUQWZ2Kwn0gtshNWbTekyGt6quIRGSeOhgqnuhaMM6fT5Y9nGDQVOeLfebth2Ib_6lsC3-jSjHD6GyFG0cmy71IwXrtEeUV_pPWzZfvDNUxtVwzLpBcVFjLWDI1g4gVLotBItYsrB5JJfmd3fey7cxrEQjhOSgoQ9qM6nI2CzHf3z0ukT5NDXf2hJqZOxycJ7n5jH9gOu0wLmLH-6Iitxl9uspMMOYSxp7Araa6Wro08JbHIO0FF19Zg1EysQeC-xHi-30ygeZI4hWeTI4BvJujv2h5HlWgILXIaLGQkyJC-NpLXqhRHYnKKVcbp2Vgtk9VGP0lgO1DwEqZOeeVQTIG8M2Z6fBpt1LQSc7gmA_rHVCF_Y6sEw_N06uMGgIKfMIAhbva-kgo9Sz3nWXGnzTTcwLGqHTtHYs29ivgK01N_VA_87QaKPL8wOOklvuywt8MgCAA8yvnM46zV-evg1Ssch81WJ6yMV77YQmv5Gk6waf8y4kFTws_zS3QMnEQ9FAkRjlyKI0TPgMRC-ormJtJPzdPsg6tFeGZ4E1QDMjOAi6pi7NLqychFeOADrgNCdHdhAA-RCzVG20CBZkx0VlOePJPyP07uM2gjfwZdgdUbSU2gvhqKBS7h1xmIpFoo1w0-UNRKprtbBw2jo",
  "id": "rs_03f64694d3d3afb8016ab435e96f2087d0a7d98b073dad67ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.21,\"right_y\":0.095,\"right_z\":0.085},\"note\":\"The capped end has visibly shifted back toward the robot, so the body grasp is repositioning the bottle even though the lift is constrained. I’m pulling it a little farther inward to make a later cap grasp practical.\"}",
  "call_id": "call_9qu50txQuLcYPWcY54J938ve",
  "id": "fc_03f64694d3d3afb8016ab435eaa35887d0953558d1113d23ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9qu50txQuLcYPWcY54J938ve",
  "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, 0.7692, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.4915, 0.9993, 0.3218, -0.1356, 0.2607, 0.168, 0.5141]\nstate[eef_state]: left_x=0.2904 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.2589 right_y=0.091 right_z=0.0525 right_yaw=0.1531 right_pitch=-0.2075 right_roll=-0.0578 right_gripper=0.5141\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 1.8437, -0.022, -0.0904, -0.0122, -0.294, -4.6974, 9.8256, 2.884, 0.4713, 0.0659, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a15a0c3c461ad01267af23693f4ac809ee56e4a774624274cfd8d319e09975c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d4adf152ada11e46d138b0f2ab9ad8414d15f14f01e1e097e07899ab870fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb24ec57e8c4017f01e01ebef2409f9e74c7c40e5ef1c31e0d42fbb21c5701ea",
      "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 · 3.948 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.5644, -0.3637, -0.0235, -0.0071, 0.9983, 0.3866, 1.636, 0.4076, 0.6159, 0.2417, 0.1337, 0.5115]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1681 left_yaw=0.0023 left_pitch=-0.0202 left_roll=0.0033 left_gripper=0.9983 right_x=0.3608 right_y=0.1051 right_z=0.0261 right_yaw=0.09 right_pitch=-0.021 right_roll=-0.0097 right_gripper=0.5115\nstate[joint_eff]: [-0.253, -1.7436, 6.4479, 1.9658, -0.0171, -0.0171, -0.0122, 0.1026, -5.1897, 4.7521, 1.9609, 0.1734, 0.0611, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7689, 0.5476, -0.3458, -0.0235, -0.0074, 0.9983, 0.4843, 1.0229, 0.3222, -0.0921, 0.255, 0.1604, 0.5145]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0026 left_gripper=0.9983 right_x=0.2648 right_y=0.093 right_z=0.0537 right_yaw=0.1561 right_pitch=-0.1899 right_roll=-0.0527 right_gripper=0.5145\nstate[joint_eff]: [-0.1436, -1.5658, 5.9829, 1.8584, -0.0122, -0.0757, -0.0122, -0.253, -4.0957, 10.0444, 3.5922, 0.5934, 0.0904, 0.8571]\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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.4915, 0.9993, 0.3218, -0.1356, 0.2607, 0.168, 0.5141]\nstate[eef_state]: left_x=0.2904 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.2589 right_y=0.091 right_z=0.0525 right_yaw=0.1531 right_pitch=-0.2075 right_roll=-0.0578 right_gripper=0.5141\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 1.8437, -0.022, -0.0904, -0.0122, -0.294, -4.6974, 9.8256, 2.884, 0.4713, 0.0659, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a15a0c3c461ad01267af23693f4ac809ee56e4a774624274cfd8d319e09975c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d4adf152ada11e46d138b0f2ab9ad8414d15f14f01e1e097e07899ab870fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb24ec57e8c4017f01e01ebef2409f9e74c7c40e5ef1c31e0d42fbb21c5701ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXuof2gKwJIFO9UzXJwb_ZiOS2j98bqbPVMXm7y14WNX2a3BtkblWJg9CM8Vw096pHk0FV3gqu4OANLeXNipFwhddwZdc23WA0PljO8DLMt16PZBIcisBPmQt18aQ7syK6vmKoKcDtjfGrteMXPEkyisvUHsb0-y0qBOz4pp7NneJKmiprBvc3V58AINWkbdRNiv0Jw9rwgi-bU4kkmEGUg1tzUxEb4jIJewgPGyugZ9UtaDWNxOfU7d7Xq9MzXAFESp1R28jEyYVj5SQdf8pca4PG4pHc0My5aROUy5NbHmhzJt2wBzFxjAATmeBrbJNs0Lj54CZesXByeugAu86W8Cl9pPAxeiNqeEf0USQuEUq4oG3kTSST5fzh8RnV9U80w3gRtwIwl-W1fHSEIfQ-978KHIJ-asSxPbB-2T_P7MFXB3DqmXvn8m6S2GKKW1lzURjcrSC2fdzHq9ptCSdLR8LM5d04YMmKf36U1-jVkIlF8boF0nIrkxoYd29RxuaYIIL67hynKpvBEGE_PAftt2jKr7VZKx0eCuSt_BAHfM_1awAX_n-SBb1Wb7ztbbKLYcu2-lqMJYi78ftTzHeMCvrO9bMh7y6C7szik__EKpAbIlbh3C-M3wvedcG_FOjHiaz3WDkHQI8T4jEza27t7iefKQQAJx6G2p2yWG7avI1zfzBpeNBOP5xsU-WH_JWfNup3JVCZi5IKepM9feVhJos5i7KeAtShfzUExYRCrpFtzRnIt6cBTyQ8fpPuvxGnlQqDGCxGsrGt7qt2daHqyevyohTcWs_lnzvy_qVUtmfLICfnwCzR3QcTIvEM3OECqQ5v9_NMlaayaTE97qZc_WQyEwEty6vdDBCpSAigxbk0Q2KancglhTlQmdSHpMYSPOMsyH8hzeyWClKzAYcxXfTw7Xyl_2scTzlSienvZXQ6M2b7FdR0IvAWfsJfCKHSlkKfvI2vBQHhpSeDi17saIjn4BtSeGhEe9TZgoHotJLbZeHTkQx6RMArWH_SV5NjsBHdw426HrhKgHSlbWJrBPLWCvT6ZxCf-pZTwCulBOT8_MSj4VttrUXq74aWXSbd78s49NYX084KfG4mAZPIO9-n2xDgjT7j2lweQ8IfjTeuR0KknrZO97yyyHYdVgjMNlZSXaHfjmUaPW4Lh77_zd_dMIgkG76m3pX5cQ9kqw1_WmGcNpnzvcrKoNN2LBa1CHpwJY-c3zQw0mMBwkKjBAF4Ien3hcOUAEvirtNwkW5FbSX5SQdvPq2cZTcBHRIqqOByUUjMaf-0qU_BZ5eOSUTqT6hkZNP4CYHyoNTBQi1T2a8j3an5KDeFTlr_an1ncGwVZcnB_tEBPyzGdZCdKkARGqF5dfwKANBL-dUbreZ9A_wxpBAi1ZjYuSfjMEQFteYU3P0dkS5QO7ZVOmYQYu4ik8o6oKsiccNUbAEvG8oqZ_cVTLEs-HCfagDQNx-t0FnwVo5jpigLGgQRtB9itZWVKrHXJnSdtSZ25PJay7WfKDLDZ5cXmHqNJHpk8RWhqkNZ9BB4rMCInjglV9m_eR2BQrC9M7SJxLUND1FngBBRBB-0crYjFeuQ4jRM4U56f9NnvEMbVR_WRIYtBV0oCvBDHnzPGyWpH-FMEPcE22u_5RefDTB959c7yuAdxFYh_f0lu1cvIIKFVRpZa1MCw02z0CNFZJUrm8cT8GQYtH1jpwSbY18LsH7hSZ0dRivpO1gZfXeHc1kU0sFdcXsYVpw==",
  "id": "rs_03f64694d3d3afb8016ab435ecea1c87d0a9402fc17340a299",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.85,\"right_z\":0.16,\"right_x\":0.29},\"note\":\"The bottle is now closer, but pulling farther stalls; its cap is visible near the arm's reachable middle area. I’m releasing the body and clearing the gripper so I can approach the cap directly.\"}",
  "call_id": "call_BUbOH6IWGVdtn90gUr6TNPpD",
  "id": "fc_03f64694d3d3afb8016ab435edd37087d0873db99dd875f425",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BUbOH6IWGVdtn90gUr6TNPpD",
  "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, 0.7692, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.4438, 0.9333, 0.4198, -0.1616, 0.2466, 0.1417, 0.847]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.0084 left_roll=0.0025 left_gripper=0.9983 right_x=0.2828 right_y=0.0907 right_z=0.1054 right_yaw=0.1379 right_pitch=-0.0799 right_roll=-0.0246 right_gripper=0.847\nstate[joint_eff]: [-0.0615, -1.0188, 6.6393, 1.8584, 0.0171, -0.0464, -0.0122, -0.1709, -4.4786, 12.6564, 2.5372, 0.0659, 0.0904, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2327454564e7eda07f02fdd9665001c896016452540339219c00c9086bd5c81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eff3fead764af194adf3401877ddb28b806bea49cd03c7de9a0746e4e1daa3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c0112ed6d176318ffdaf99723fec4c68b0250023cd248a2eeae3e1a0dd52a4",
      "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 · 3.022 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7738, 0.5491, -0.3527, -0.0235, -0.0074, 0.9983, 0.4183, 1.2572, 0.458, 0.0261, 0.2344, 0.1379, 0.5114]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1659 left_yaw=0.0025 left_pitch=-0.0148 left_roll=0.0028 left_gripper=0.9983 right_x=0.3128 right_y=0.098 right_z=0.0606 right_yaw=0.1208 right_pitch=-0.1759 right_roll=-0.0491 right_gripper=0.5114\nstate[joint_eff]: [-0.0615, -1.1966, 6.6393, 1.9219, -0.0513, -0.0659, -0.0122, 0.1299, -6.612, 12.2325, 2.7668, 0.4225, 0.1441, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.4915, 0.9993, 0.3218, -0.1356, 0.2607, 0.168, 0.5141]\nstate[eef_state]: left_x=0.2904 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.2589 right_y=0.091 right_z=0.0525 right_yaw=0.1531 right_pitch=-0.2075 right_roll=-0.0578 right_gripper=0.5141\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 1.8437, -0.022, -0.0904, -0.0122, -0.294, -4.6974, 9.8256, 2.884, 0.4713, 0.0659, 0.3443]\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 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.4438, 0.9333, 0.4198, -0.1616, 0.2466, 0.1417, 0.847]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.0084 left_roll=0.0025 left_gripper=0.9983 right_x=0.2828 right_y=0.0907 right_z=0.1054 right_yaw=0.1379 right_pitch=-0.0799 right_roll=-0.0246 right_gripper=0.847\nstate[joint_eff]: [-0.0615, -1.0188, 6.6393, 1.8584, 0.0171, -0.0464, -0.0122, -0.1709, -4.4786, 12.6564, 2.5372, 0.0659, 0.0904, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2327454564e7eda07f02fdd9665001c896016452540339219c00c9086bd5c81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eff3fead764af194adf3401877ddb28b806bea49cd03c7de9a0746e4e1daa3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14c0112ed6d176318ffdaf99723fec4c68b0250023cd248a2eeae3e1a0dd52a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab435f03b0487d0b1cd8158a276d716",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.094,\"right_z\":0.058,\"right_gripper\":0.56},\"note\":\"After release, the bottle's cap is centered in the right wrist view and is now substantially closer than before. I’m bringing the gripper forward and down around the narrow cap/neck, with enough opening to clear it.\"}",
  "call_id": "call_X6BOXZpHl1e6AKNnDLamG8xk",
  "id": "fc_03f64694d3d3afb8016ab435f2413c87d094e1cda98168f330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X6BOXZpHl1e6AKNnDLamG8xk",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.2974, 1.5078, 0.448, 0.4007, 0.1226, 0.0521, 0.5627]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.3587 right_y=0.0911 right_z=0.041 right_yaw=0.1439 right_pitch=-0.082 right_roll=-0.0175 right_gripper=0.5627\nstate[joint_eff]: [0.0479, -1.2376, 6.3795, 1.8095, 0.022, -0.0904, -0.0122, -0.9231, -4.7111, 7.3641, 1.6581, 0.0269, 0.0464, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf0c3a1329b3ccc80779d68e5a378adef3c3b40720aff7d1f26ffd4bceec391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4cb647451eb26971376d2272499d18fa759769f6bbcfdd1165c1e771395ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72c2378b6e07ec4622dae47fbb6a0ab55e9d7b64ffdcb207709fda3513bba6fe",
      "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 · 2.607 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7689, 0.5476, -0.3458, -0.0235, -0.0074, 0.9983, 0.4843, 1.0229, 0.3222, -0.0921, 0.255, 0.1604, 0.5145]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0026 left_gripper=0.9983 right_x=0.2648 right_y=0.093 right_z=0.0537 right_yaw=0.1561 right_pitch=-0.1899 right_roll=-0.0527 right_gripper=0.5145\nstate[joint_eff]: [-0.1436, -1.5658, 5.9829, 1.8584, -0.0122, -0.0757, -0.0122, -0.253, -4.0957, 10.0444, 3.5922, 0.5934, 0.0904, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.4438, 0.9333, 0.4198, -0.1616, 0.2466, 0.1417, 0.847]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.0084 left_roll=0.0025 left_gripper=0.9983 right_x=0.2828 right_y=0.0907 right_z=0.1054 right_yaw=0.1379 right_pitch=-0.0799 right_roll=-0.0246 right_gripper=0.847\nstate[joint_eff]: [-0.0615, -1.0188, 6.6393, 1.8584, 0.0171, -0.0464, -0.0122, -0.1709, -4.4786, 12.6564, 2.5372, 0.0659, 0.0904, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.2974, 1.5078, 0.448, 0.4007, 0.1226, 0.0521, 0.5627]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.3587 right_y=0.0911 right_z=0.041 right_yaw=0.1439 right_pitch=-0.082 right_roll=-0.0175 right_gripper=0.5627\nstate[joint_eff]: [0.0479, -1.2376, 6.3795, 1.8095, 0.022, -0.0904, -0.0122, -0.9231, -4.7111, 7.3641, 1.6581, 0.0269, 0.0464, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf0c3a1329b3ccc80779d68e5a378adef3c3b40720aff7d1f26ffd4bceec391",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4cb647451eb26971376d2272499d18fa759769f6bbcfdd1165c1e771395ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72c2378b6e07ec4622dae47fbb6a0ab55e9d7b64ffdcb207709fda3513bba6fe",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab435f4becc87d0be9d4c5fdc4c81b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.092,\"right_z\":0.063,\"right_gripper\":0.85},\"note\":\"The cap and neck are centered but still in front of the fingertips; at the current position the fingers would close on the wide body again. I’m reopening and advancing over the body toward the narrow neck, slightly raised for clearance.\"}",
  "call_id": "call_2U5ybhZnOE5rGxsncGa5fKPG",
  "id": "fc_03f64694d3d3afb8016ab435f60fb887d0bbc2bccd5d25ef06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2U5ybhZnOE5rGxsncGa5fKPG",
  "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, 0.767, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.2466, 1.6432, 0.5842, 0.4419, 0.0692, 0.0166, 0.847]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4021 right_y=0.0923 right_z=0.0487 right_yaw=0.1576 right_pitch=-0.0442 right_roll=-0.0095 right_gripper=0.847\nstate[joint_eff]: [-0.212, -1.4427, 6.8308, 1.7802, -0.0024, -0.0171, -0.0122, -0.7453, -5.9966, 7.2547, 1.8095, -0.0171, 0.0464, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ef17ae1333ecc57569548f25ab404fdba2cd5efb0375f41723d6d351fa1e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a2b753284afc18a588d3d593181ab8423b647bc6cda9bfdca9acabed69b7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b4a3df67bbfd650776a173d6b62881b4028eb75ecf0c1a363cbd9b86a5fbb5",
      "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 · 3.181 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.4915, 0.9993, 0.3218, -0.1356, 0.2607, 0.168, 0.5141]\nstate[eef_state]: left_x=0.2904 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.2589 right_y=0.091 right_z=0.0525 right_yaw=0.1531 right_pitch=-0.2075 right_roll=-0.0578 right_gripper=0.5141\nstate[joint_eff]: [-0.2256, -1.3744, 6.7897, 1.8437, -0.022, -0.0904, -0.0122, -0.294, -4.6974, 9.8256, 2.884, 0.4713, 0.0659, 0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.2974, 1.5078, 0.448, 0.4007, 0.1226, 0.0521, 0.5627]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.3587 right_y=0.0911 right_z=0.041 right_yaw=0.1439 right_pitch=-0.082 right_roll=-0.0175 right_gripper=0.5627\nstate[joint_eff]: [0.0479, -1.2376, 6.3795, 1.8095, 0.022, -0.0904, -0.0122, -0.9231, -4.7111, 7.3641, 1.6581, 0.0269, 0.0464, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.2466, 1.6432, 0.5842, 0.4419, 0.0692, 0.0166, 0.847]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4021 right_y=0.0923 right_z=0.0487 right_yaw=0.1576 right_pitch=-0.0442 right_roll=-0.0095 right_gripper=0.847\nstate[joint_eff]: [-0.212, -1.4427, 6.8308, 1.7802, -0.0024, -0.0171, -0.0122, -0.7453, -5.9966, 7.2547, 1.8095, -0.0171, 0.0464, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ef17ae1333ecc57569548f25ab404fdba2cd5efb0375f41723d6d351fa1e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a2b753284afc18a588d3d593181ab8423b647bc6cda9bfdca9acabed69b7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b4a3df67bbfd650776a173d6b62881b4028eb75ecf0c1a363cbd9b86a5fbb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX5NfNebimZ9Xi6LcLYJKQK1qb1ndIBBWNuRtnJE1ClnVErG8PDg3sXoWehdDED3CgNSgLaa5BtenA1KR1ip_JZCCaFKe96BL72grAnaYQF-E3UzldIal7a8786MRsqKO2Hoqpx_97J8fUCRmSnamT2nlbYvry9Pyk5Tbtc6A6PF0OjMCoXMupoSr0KmNUe0vXXeaJKsOjF30WavHrrfhE9kAmxlSy2AXA0CmcP7b-ckJ_rmo5t7aeGrEYtNUAyugy4uBxYdzcrMG_xoqKeJZuLGLtH5kSFiH391bJ8ueLiW80JD87mziRjXFx9ATXWlWzJLgbXrLgVgwJXwAG59ECzzi90SupzxjrwPa6RKYdcaXPbUsbnkIPIAGyVCUZQtnsljEL2Np-CZwIwFkoZBggzYx7SA0FfpBgjOdQv7eMESegUxmKqW6jAlj3QeS2Za98CV6IDzxQBhxorsur2YJqcusA7lK9vicmVSAfCj41QIZsRMZpFo6HEL2_hFpbciABeQcz3TNwvSRkLnZ0lXVf7Pw0E3P1eYhiJPw47UjEwtjl_BBQvuobqeLMX-Oj87EgzUmSfaMfrHnCSYP9v1w5se2hzu9-qPT-0Zb3XLt8q3A-E7FtfSIMu89E5ZQHnmA-tPtp0Kz6nLSKckQa75bgkldFUcBUUf1UhuXsvuShPRGUaUD2toljwGRoUJE4-9Ww4FLNkQeWsZ4QIcJrTA--iraDSa3c2Fm3BqFl6O_yRqTKseb490OsbGtrSqD9dpHGeMi_JtSQRjGVPtd9oka5G_Lv-nhz7AXlmrLEf8ETuDVcn_km3AmjgKeR6zyeR5YmaZ84O8GGS73u_0Mr3isWh4B3-QLHkBv5Y8PzktAZQDOpyIsNd6p-GShUKuaNXWT99IlSa_rQyn9GvkwdzWHtBz8DykuQixpc5UgCvRYvvnqIXQDxU7Amiq5RElznSaaKBttlNq3Z7zNG9KvStQ-bS4djfuiRTfIa7JjCUGOMB0H_cFxVz4ztZPzYMBq_HXYNX071YoaO0ck-BWiw-mo-q9f_cdmZRlHXVyFIE3ee9kgG2Tt9vjCfn9mVpOfvenWr8NVCLNspOX5E0BXA2esGphPdG4UzLZEx4jOAe1rZ7ZatqQNpsRsDmoJuz1eGRfMTajS2HMpnQVDxEFZvkVU5LxSYy4EaBSjYsChUdiEuLho27A18kcBUeJEa7XtvBuWjtrH_vKGbx477lHUkB5IH1VFvXPq15wNAXi6tMCsNoQyJjRJ-myd4l-orBcoBjB3kRRbCU6H269m2bBqz944E6anTNB5FQyFyUcMS4U1VxEIQHovr51Kqa3_CCro5TKBNevzuOSd5d6z7U_quAcKMwtMAp37RODSh2vT2XINU8UJHk6qvTtD97xyMSiOh7FvGso6CrJ6BR1B_f9aEoGeXwtp4eRqnqZiSfIi5Z4A1qUmk=",
  "id": "rs_03f64694d3d3afb8016ab435f85a1887d0987a3671ee093718",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.093,\"right_z\":0.029},\"note\":\"The narrow neck is now on the finger centerline and near the jaws' approach zone. I’m advancing a small final amount while descending to the neck's height so the close will catch the neck rather than the bottle body.\"}",
  "call_id": "call_3D2KV0zmAYtp6JLfaTn5YEDq",
  "id": "fc_03f64694d3d3afb8016ab435f90d0887d0bb8f7db4fadca6ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3D2KV0zmAYtp6JLfaTn5YEDq",
  "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]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.6075, 0.4412, 0.0662, 0.0162, 0.8488]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4093 right_y=0.0922 right_z=0.0549 right_yaw=0.1547 right_pitch=-0.028 right_roll=-0.0066 right_gripper=0.8488\nstate[joint_eff]: [-0.1436, -1.4564, 6.5709, 1.7753, -0.0073, -0.0513, -0.0122, -0.6632, -6.2564, 7.2547, 1.8339, 0.0122, -0.0073, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c6680ef2aca7ce9d406665881d568f2715c301333754ce44b352b143fa1abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff5b9f1386870c82f16b7400959d951cfc0ff351f7f44dd2db7335c33ff362b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6b715a0cae6c823b0ad0e82ee07dbe22d7a7b5c982fcc8a4aac04e18d9202b",
      "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 · 3.595 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7692, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.4438, 0.9333, 0.4198, -0.1616, 0.2466, 0.1417, 0.847]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.0084 left_roll=0.0025 left_gripper=0.9983 right_x=0.2828 right_y=0.0907 right_z=0.1054 right_yaw=0.1379 right_pitch=-0.0799 right_roll=-0.0246 right_gripper=0.847\nstate[joint_eff]: [-0.0615, -1.0188, 6.6393, 1.8584, 0.0171, -0.0464, -0.0122, -0.1709, -4.4786, 12.6564, 2.5372, 0.0659, 0.0904, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.767, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.2466, 1.6432, 0.5842, 0.4419, 0.0692, 0.0166, 0.847]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4021 right_y=0.0923 right_z=0.0487 right_yaw=0.1576 right_pitch=-0.0442 right_roll=-0.0095 right_gripper=0.847\nstate[joint_eff]: [-0.212, -1.4427, 6.8308, 1.7802, -0.0024, -0.0171, -0.0122, -0.7453, -5.9966, 7.2547, 1.8095, -0.0171, 0.0464, -0.188]",
      "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.6075, 0.4412, 0.0662, 0.0162, 0.8488]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4093 right_y=0.0922 right_z=0.0549 right_yaw=0.1547 right_pitch=-0.028 right_roll=-0.0066 right_gripper=0.8488\nstate[joint_eff]: [-0.1436, -1.4564, 6.5709, 1.7753, -0.0073, -0.0513, -0.0122, -0.6632, -6.2564, 7.2547, 1.8339, 0.0122, -0.0073, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c6680ef2aca7ce9d406665881d568f2715c301333754ce44b352b143fa1abc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff5b9f1386870c82f16b7400959d951cfc0ff351f7f44dd2db7335c33ff362b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6b715a0cae6c823b0ad0e82ee07dbe22d7a7b5c982fcc8a4aac04e18d9202b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX93GJRtDRWTjmQA89wIIi0AsaHvGlHZykU8oLL9GBhByLO8hm62bnzh4U_gLTyc1D68PbDWzwjjNHimDdlMYIRRV0SaIKnS0NWAp-cBqBXx-plFpV38qqQzhjCwCLSaJEPF25W64yYBqN6nRq8u-8a2Wis-XyflB2pTfHo1EmDDzUBkD7vqtib92sdWA_UtKeFDJiDX4cCCBff8V-e8bRRPIf4zmmacDv_fK6ZL-DlhDSeQky28cmgBIO5NUy741RnGqf_VChEMy6PRvYaohdvCW7inbsNC986MLAiyK0fVQpcEbsDvQWSCwi7f8U5va-fJNKcMsxpVKxB2GeEejIhg6EXTk8LMxV5x6KXYZ0aXzP8J23o5PaO13fLHCZwiYqt1SqSNGh3J7PuxwxqxVpK6NczHGBb4agj4g60pApdfB5MTORVhxRuTKqktjiT3fO7MPFMqr10uD76_0kJFdeU8UnGaEkA_kY3dgoudd9QTHViiY_WpU4FX-kx9Lm_UeqOXNJ0chlaFYSUqn45IdcHKh8xJ054BDX1T7DHLTvl5zwyDL3E28OWSGXeYOSFBR7hhq3yoa35SI1wG54Ldij_ehuU_bg5z4XwspYXtJJcmuzkfGecXyYGzY8KqghxJfqJLzhCMQg0hsN8lHlMCMnvFyRqNwtKHH9Y8hN_dLlvxZ9S6WU5f0PEDAQ5YwPhfiTWWtI7dd9-kj7-LERXFi8fLi3TPDSmyQPTmPaVXvWaYeHENQ3cKnGYuAWtOnxQMM-xsQdPulTG1jBLbLrHETy4BuKMppnfmNIgD-lCDhimm7co6ZOC-jSE3YO2l6PUhZAajfUdq6L6K-zbi2S7gfXBMZa5naedmVJtci26zOlwIUqFGWtpsxB-uTOsK6x-GewBfZWqcYxIv8ne9KEqQHLxpByMEtDt8ku0kB0RxAbK9arwA8I0xAFcB5yNhWSvlHJiVCH_zxzPiXRm2XkHFKZCEWme8fL9HAhiv59oev2Km9S7KUKlCPuOAePSTkQPJb-fyobUQ9qA2JRxYc8NdOCuQXv6mEB1SxRJ8tbQT-yOEfGaNc9tFvyibLoOWsoyooh-idX_C8dNqnVoPo_nbXZ3wmhK5121Rj4-nIEwgwr_kJpDALle5YdBad5NpS2zdLDAqBu7y1ayFL-q2P2GGhTWJHfHgCLOaI3Rvh8IeqIvhHGC2ua49Q8YszEcfl5ibC2vrZru-bv_zBYHp7FUj1FjiFcEqHb48MYs4ZaCAhRMGijbTf19mE1x0qLOIVbczaXiy0Hki9xHrPL--MLzzl3XO-v9WdC7OFZ5BIU3HAqMEwNkewCRhk4jF8zsvqI_h-NHPS9KtKpwrKz3iPcdA1B_q1YZPO3Rndjauw8KauXT-xYXo7TKhGIAaJho255bcZrYviwHNRyzy7xoikO23ZOroBNRtlFrHqj87r42os8ksiZGuSqrZmpKWaXlOepR75HGJy4NpKWjOrnWjxpOyoEBQlK0LBPcwuFnb9Tpt6yX4CYVBoZERB5M70SMWAY-E3qwSAHTw1fFe8PJ3kBap6nzqmmwgk1cJ2TKx2ijaNiLeZ7ZPubx4b3A31EguWruvyg4w65zz4HL4qI-Bh6BymhDQiT17MOX3k3nkrv0DVyfQ1WuFghN-OKZdypsztoPDfZYGubrzD94_tvZN7SiZFCZKz-1dOh-MwapBnVXp8stJ0pYL4-SSMoPAi9gtzM5JBq3NkGXrww4vEtOdRofvKbNdHoHQkk6TL6IOK-Oq0hDY8jcqX-6l0RzJyppvTWAICZUjMu7STX-q4gA6iroaTdNraS-O1FLjaDStafqyG57cs9PTk-m7xglqhqihoSDh0oV1ziFC7ZEH3ggXvkDjQlksBMBXc4lCiZvMRPlNItLzLXXpnVPW8W7CkAZUkkoopAd",
  "id": "rs_03f64694d3d3afb8016ab435fb1b6087d09b202900cc89a44d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap is centered and the neck lies between the fingertip tips in the right wrist view; the low forward move stalled again. I’m closing here to check whether the jaws can grip that narrow section.\"}",
  "call_id": "call_WU7gwImA02KYIh9VncYSL2aN",
  "id": "fc_03f64694d3d3afb8016ab435fcb41c87d089c6d65f67e4d355",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WU7gwImA02KYIh9VncYSL2aN",
  "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.601, 0.4763, 0.0647, 0.009, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4119 right_y=0.0931 right_z=0.0596 right_yaw=0.1599 right_pitch=0.0005 right_roll=-0.0094 right_gripper=0.0128\nstate[joint_eff]: [-0.0752, -1.4291, 6.7487, 1.8242, -0.0269, -0.0757, -0.0122, -0.1709, -6.2564, 4.3419, 1.8046, -0.0317, 0.0611, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0d20aea479fad53d00f883e01e605356025b5e44dd224dff00946996514ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad375a740aba99dfe58441fb651507128b829b6f4a9f45ab66964d92c37fc052",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523ca35a84abd8f23b6f7c315640d65963dd1de4fedb861fceb9d86da8941fbd",
      "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 · 6.738 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.2974, 1.5078, 0.448, 0.4007, 0.1226, 0.0521, 0.5627]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.3587 right_y=0.0911 right_z=0.041 right_yaw=0.1439 right_pitch=-0.082 right_roll=-0.0175 right_gripper=0.5627\nstate[joint_eff]: [0.0479, -1.2376, 6.3795, 1.8095, 0.022, -0.0904, -0.0122, -0.9231, -4.7111, 7.3641, 1.6581, 0.0269, 0.0464, 0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.6075, 0.4412, 0.0662, 0.0162, 0.8488]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4093 right_y=0.0922 right_z=0.0549 right_yaw=0.1547 right_pitch=-0.028 right_roll=-0.0066 right_gripper=0.8488\nstate[joint_eff]: [-0.1436, -1.4564, 6.5709, 1.7753, -0.0073, -0.0513, -0.0122, -0.6632, -6.2564, 7.2547, 1.8339, 0.0122, -0.0073, 0.1832]",
      "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.601, 0.4763, 0.0647, 0.009, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4119 right_y=0.0931 right_z=0.0596 right_yaw=0.1599 right_pitch=0.0005 right_roll=-0.0094 right_gripper=0.0128\nstate[joint_eff]: [-0.0752, -1.4291, 6.7487, 1.8242, -0.0269, -0.0757, -0.0122, -0.1709, -6.2564, 4.3419, 1.8046, -0.0317, 0.0611, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0d20aea479fad53d00f883e01e605356025b5e44dd224dff00946996514ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad375a740aba99dfe58441fb651507128b829b6f4a9f45ab66964d92c37fc052",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523ca35a84abd8f23b6f7c315640d65963dd1de4fedb861fceb9d86da8941fbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYBIcnS4Uh8Z1tgpTPExZyk9Cwl-iFr0LLmCZjl6qCN73Bkk6lB8BtyzJ_ZS7AdgeLCyZgI_E6D79n1m2wT9bBmu-TzAMdq23IiQIb8G07Bwmf0ZxEhw2rnsGvsfAMPaiIQ-zZllEvmHqSBkzdqWfdYIUdPyxZRQ0sFjqHvQb8nxpY3SAAUVsfvTrIhm8Fy-H-7kOnjU-XOCqVRk14ScBehyr6EUf1gAznLZ2NgDXM-XwjCFdvjuFuVUybvh4T2vE0LIBUyCUi0V4lIevRzBzK55PlOGJlkPOEE35f4yF4W2H1qnDNPkZgqZMFBxNlwu_F1mCbONC5Jo4gHiDB-ybBHiDqbAlv8e-b0nHBorq8uc_ZJMLjR3Pmn4ppiPT7LFV-SFDdZycYGHLjm9ikqBiPDQPXXuolB4FYc9agntSLQz0EvJvTkwt5p5UciLvsO-nhOMrlvm6AgySu0rjTmsJeIcz-rj8vnF5yn7293JulpE-zPVt69CbZiiTEWxi3dghQ7JfzaeWRDfYXjh2GmUT7iCLQAyNo64hjxcOACpu3McBzCzGCF1uWLahCtnk_JQCn_PXcarqDehPNAcf4VxKeh_TsMpj0rYM0CpzPOnLyXW_FWkC_AboVin1Lvso7oO1G9Z1TSjVEfZLfK8wxdc3XroObUKJbuXyMauBdC0YZKrZdfigDcSjOLgEPptxlczWYUuy-bnB6YSjavvV3-bn9vH_mW7EC6F7TyKS-y7Uifl9cZxlmL7o9XY8VueE2SE0Sh4euFhTCyBu-6oh1O-ZR50ztxefLfvn6eD3OkhfSW2XQCfQs90FDqlwwp1CJshVPPVaH9OsDInzffTgJ57AHKti4UE6BwefHRIe7exCsyhlo7rn8w0osBmPitvaScDcfDvIX7EsEuR2f66O0fgMJJ27uUrzRzupCpSIZ3TlW_ADrlvSkl2yH7eplcE9AQql_MTCygsTfU2pfMG_3OroiKg1TKjx1fiiKAvY5pQTgO6z4bMY2JA-ffu5Qq4vJ7ABnDg3CRZZUC44Z4oGgU4nlI_ZCcFWIwwOuv8DMjdC0EJOT8f7xewk7LChkHbishvTJpi2ioEe9YmYqifNBEuVdTDFEp68zvVw-ZCSmgn57duBtygd5oRx1XOHMgWuidMMHy1cIpoVeVdncibCfqewWnugWYD_R_JGS6pcwmjQEnShWZM8kKgYN_LGLd101678FGaT-JcfuI7GSRDHTcjz1Omi1JMyCZ_EEFKu6oZnl2DhVaYehABshHTZfJMHYCxyanKWz1Dh7kdjfYnBueKgBHxiONkEy7lhyvCwbY0dsFW-9HIb4k8T1gdAALwGoRi_5nrAUDzgDlXUBy5CU3Jh0vy-uvPOjydHjrzDBCx1hV6aUeWGlxi7y-rR5vFFlpl6W2RLVsQjeCgWIgZded8Bo7elUnDwcg81kg6cboG8gxk0yOOYm3lXlvQ4KXw4uqlKaoh5n2OXYFBJNEWzIEkZ2WHmADq_viMbcRJnnhy3BFLcGw82cjO1yd6tyoy7C1hWo5YuVfHMBT3wPfUFjQ11Rsowy4p_BTQ_M0vlGVjofMOLFCPSFCLO92LQKLT_1NkPzdHoYyibqbuX12KAp7QnceFTiw_hGRdHVrse3x7fCWmk3OkPiMhYnJDV7mpLe4facJyjwAYGNfXLhsPOWdzm0XQFG8APyEoLVMc0OFIMcie1kl32Xst0OqjLwGMKeBPenYomO0tn188oeFh-mJyzEl7oJV5XyhYAC43-Bfc78ua25s9ShEPoQUE2AoEL_FYqG_j3XHxa5FZYvWkIo31m_CE2nqRZ_M09WtpI4KF89tS29sehQVDnE62Bpq8k344oQaiv4qIoXorJ9aSkkX0ae8aVJRnwFPJMqfsAenIV_RLqUbT5PUfXIRkjq-lQFKXHfZ1UtL2_6kjKWoHEkxWZeqjcSBxWX0-TgQNj4dREx-u9MqcFGz8Pq2QuL-uLl-8h-PSZgkkjluGqnMMMxz8b9l8y86-aa0ssbrPtu3Z32hqfCltrhh7VDvvxVrjM_98CIUwjHMZHtEpeTaw-8rkEZvaFJmbAmSqlCwFFPszXWyx66atKtb2ZIDl1JIZUFHYWbQ",
  "id": "rs_03f64694d3d3afb8016ab435ff0d7887d08e5c26fd2c668324",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.09,\"right_z\":0.15,\"right_gripper\":0.65},\"note\":\"The fingers closed empty, so the cap was still just beyond the true grasp point. I’m lifting above the bottle first and moving directly over the cap, rather than trying to drive low fingers forward through its body.\"}",
  "call_id": "call_8ffT6TN50P9JsUGwFELyzP0j",
  "id": "fc_03f64694d3d3afb8016ab43600e94c87d0915553a7babc79e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8ffT6TN50P9JsUGwFELyzP0j",
  "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, 0.7673, 0.5476, -0.3492, -0.0235, -0.0071, 0.9983, 0.2089, 1.5856, 0.8867, 0.0879, 0.0216, -0.02, 0.6457]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0023 left_pitch=-0.0064 left_roll=0.0029 left_gripper=0.9983 right_x=0.4425 right_y=0.0936 right_z=0.1229 right_yaw=0.1798 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.6457\nstate[joint_eff]: [-0.2393, -1.4291, 6.9265, 1.7949, -0.0171, -0.0269, -0.0122, -1.0735, -9.5248, 9.5658, 1.79, -0.0269, 0.1734, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b9559882ab75a090d431489b4ee0afc07eca6f98339e1cd5531c2a59845602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d58fd90e81c39ff1c3e921fc9f8e3b9db0492ba2eb35ffc2fa9e8a48e993bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df477c22170ecbbd1a03ace12d65e7fe9f262addd5fe49fce504695bc6b8e9e",
      "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 · 3.561 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.2466, 1.6432, 0.5842, 0.4419, 0.0692, 0.0166, 0.847]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4021 right_y=0.0923 right_z=0.0487 right_yaw=0.1576 right_pitch=-0.0442 right_roll=-0.0095 right_gripper=0.847\nstate[joint_eff]: [-0.212, -1.4427, 6.8308, 1.7802, -0.0024, -0.0171, -0.0122, -0.7453, -5.9966, 7.2547, 1.8095, -0.0171, 0.0464, -0.188]",
      "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.601, 0.4763, 0.0647, 0.009, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4119 right_y=0.0931 right_z=0.0596 right_yaw=0.1599 right_pitch=0.0005 right_roll=-0.0094 right_gripper=0.0128\nstate[joint_eff]: [-0.0752, -1.4291, 6.7487, 1.8242, -0.0269, -0.0757, -0.0122, -0.1709, -6.2564, 4.3419, 1.8046, -0.0317, 0.0611, 1.0427]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0071, 0.9983, 0.2089, 1.5856, 0.8867, 0.0879, 0.0216, -0.02, 0.6457]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0023 left_pitch=-0.0064 left_roll=0.0029 left_gripper=0.9983 right_x=0.4425 right_y=0.0936 right_z=0.1229 right_yaw=0.1798 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.6457\nstate[joint_eff]: [-0.2393, -1.4291, 6.9265, 1.7949, -0.0171, -0.0269, -0.0122, -1.0735, -9.5248, 9.5658, 1.79, -0.0269, 0.1734, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b9559882ab75a090d431489b4ee0afc07eca6f98339e1cd5531c2a59845602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d58fd90e81c39ff1c3e921fc9f8e3b9db0492ba2eb35ffc2fa9e8a48e993bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df477c22170ecbbd1a03ace12d65e7fe9f262addd5fe49fce504695bc6b8e9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYJcJjJh0cxd0Y14lRTc_o2r_60dt3eSsN90_sLM8DKwUpqWHv6fqiJcqsdmYyxvoJr3JnmH-Pkt3wZM-vM_fwShDok189dN_qczpwxKrTs686ecM1DtnRYgXZBWYf9tKek9J1Bk-gsSK5E6rutRZx4ND4mg_pjTuznmjUb6WD-CDiiVJeyHDO6VSpmPHG-pa0YKjMKXBxNEHD_OyiV7MgOFXKtXN4AUNTcb_HaQKdJ2TmCgLVrMEMFyXShuXtYUhGnXn1SwuAGYy945B7x88zDpEJuA4QT3pErMxsYPi1hKpds_3fCrWgYwVEd6JRo-hIGVOtI8MDE7hvLzATc_3suPo8PbVyHoIcYLFDLAJaOOj0Q4MH_4qgBIVFYDk_O59GfgfWW_p9W0YVCKgKEpfr-fi3tbQfJzNkctpd4KMW86o3VKOfHpo-K0WGvBwjZG7ssZ2zwhjY5C5jYHoi8FXvjFarr9hB-HLH0dqc5_MnayiTWsoAMnYNQI9KiO581-8r4TlpkXg6V4-KFppyHedBtJaPPCssClsaCfavV7hwkqSwlpMArxMTWJ0PZErHC4G6hvlrE3CgX-2QF_KCrQb91eHi0yE4hU9ZJtQBDet4Ju1B5xdaWP4R33dNglfpuxUB3IVEr4nEwOzY01f22Rt_LdWEKJWI6tTA5np7GFUgcdxL-Q7ldJred6dAKDJN1dO21DSJx5GS-cAxYJybrJf2DgYvj3BSk81ODC3iXYbJjIFQMGV11UlhxYYUrVXz6pVCDZIATiWwC7TIpazrmT17V49SKssbRQyk0D2q1VtpTrsWWefdb5LbKKxtZ4KFKZA1AwHKPJrmvQh6TrkovNPGlux1fU7OcrDRjHM92SWibHEQLKRisHivYDqNIf1kfWjwomX4z0r_Vv03xa4LGJMoy2hUv1A2FuAuz3pvEJmB-jMiS7W_UHY92MIypiqfYPNk8cNyxhhn049mZJdcQxW3jPCvUGmI4K6YCqji4EtxDN6nzL_VYFBvs0DbR1ku3WEgWEvCnDhMXZpJQuRw4xJme2SPEE88fL7MtoEq5fdZXd9MWkYjwKCycfCB5JuUr9QBOaZ29moUgx_uRBdK7ojyibb4YSpQWkVwUJF7FlvMatMdfXgCR9S86DJUvS9jmoy21mqcVO5uGV0PMlWue5fP_mYe6MxcBKCUCKLjM1fKTaNh6aVWD11-tiJnncbpkPwm8DQoZqBjQIqhyQM77xYnlfNdCaynBoGNLUqW03DJhcbNuQ7PRwJY2Sx8WG6iJMf5lQ8BOSRVppwkJ8YFAdNlLiAzyd6gaq0fBnUx-W0f1z5O5UpZM7IKOEvhXW-XmMwx3SSJOYHq3Ws6eXkn7znjzWFl69ONClL3D_GG__rltT2SAQpuAXLlGSEjzXsA41H-0tIubDan5sUn86OAqNR7yXNS1_flGYhRADqvfQx1tdC6pB6m5jKuP__6zw_fKCYyCrCklh7l9BP_0NvBQiw-3uTKWwgkAavLNXZGTQUiCuuy8cZyRJzJMhTQ7uwlq8bad4hRVujOuiEAVkwOjvxs-tz3CgZdkR5uq7Tvmi14VDBRcSbv8BIwnD-LdTF4XRDrCNi6H0FChWuAOAc-Rb9dUUaZIASXyTalyRNdSgJPe9CYqSCUrQrKi4Ghk_CeJ6Gjv-dcO80hlteftAByfILxy8NrxduP__4I8SdyA4GN9imWiHm6UnvooQXjw-YTGOlxnJMEtTi5XPg35mp_JIV1UGfnWOdjL0ROUP1jDUBvdKhk1GE5PQ0DzthEqkSOw38L3D8ZtkQZodY1YLZBPjn22GQ-4QvqcAPgj4dOYz9HqbmDx5kxffat-fHehK1x6p6vxJMGAuX2nYbViG5sYtnWVDLR3JiZJtY-rDzjF-KuzNcol8W9zZ4xgNXI16mHskcmsL-adm9AoM78OZr4LCVM_kyqiNxT--lVfYEYt5LR-UcsXZToIH04Jax0qrEve8qqs8Bw_G1ANo24lOPye6fqWSL1-nl3gvgxViPZUycgzVjh4ZVHxRPf3zAPB-KbNdl1AvWVe9z4EQDcJE6fbrjbS33liqtnmBRgWCqSLr9spZ0Vmf8Ec1jZFE5DQ3Vp2tGsds7th4y3mEl1W8miaDek-4GWi1_OIsnrjbG5wxOXkYsgbdL5vMeV2sWj8UqK_4iD1afl9wqXjrWDb9x4QdJkfyR09wRkulpAnSVKhtMg1rPAg7MTRQbSxuKFWVoZBxlkW2gS0mJXqEaOughgHUKQS6P417ARWF3B4Cbfq67cl0ExX-0_G8R8OlaIkz5THLWK1B8cqIU7T32rYdlRjByyT-QsmjRnxkIG8QkQkzHPPUEvZU8N2mF9HRqDmdm4sspUzm641zXAjkW0yFd3Q0fZ_9FlSAiShBeIcr05ShX9F-zsGDE4FXQlQSoqSQz6rUeMQpXmQ0R5WqP5e46GrlbpZz4cnvAqWOcGko3LxWQdXaUFRIhaVUxyRpR9DfVPjgHu8anckGgL6UgGBQUzB3_61k_CJV4gFh8Vlq4T-w9C_5XlMz0rTfs6ctfnGqqRgQV-rs5pfVBTHF_TDHJ_8sQdv-NfIFmBCYMfbLQU_SEO4XUtaPGPVa6NwvBLd51dkgseicQ97VPufSc5o8qRQZj7c5Y7cjl4Ol6HnaD8WYIupTdK0WbjsLsDq6YL1NXvfn7fp54Qu_WuLoDdpHKuAHXNOaTHb2SAlO0ixaLh_LkBz8nkP8-asZg8o7p6V7LpiFEOQA3PbyoKc8CovIql8zCyVnUMmmoM6JBJMkpxhlrJsrsQKwNUlRvpT5QB-V74VbZvsHEkacQLkuK-iAL0ygF-A6J2HU79tPEeNSVAGuWhk9Q8mBuMLuouQowjw2Kqv9arxhxE8bGIUNSV7r_Sb6nGFYJmcrXcZV68hjmPcmM5Fu1HTgWkRXGWOp_xhP6Fgvmj8y5Md5vUiBRH2X4741wHxaIXzTL_lP2hpl9RPhEojpeX2C6_aYPmDgssDbklEkEgRSZnnNOz2s31XKLDc3YR3_fwgBHS9REs7DBk7QQ-6bG0jZ_W5zEonugRkQ-r5NUAQHJIP69AJBE4H_IoFEcUaor4-VPaXofUmyqHMQ78JUWXOwYDd2ME_VMivLRL1RoomiAUQhMVcY2HRUUI7aKmtCfZoEm6GWeYK_0WTRRyjZlq1HQivNkMMeZUEqZ07sDpVhX5oCV4TxbbBxLDWiPDbc75W3XbcW5K3jc0ASHpkqBh_xiFt_7Kj_eUvyY8rgNaJ3eZ3shLrdANmemFJd9Qm962VWUjPpOkgCNkxdBMOHNs4fY0d_28U1MjsN_4J7L2fwHd8F5gKgdURB1Fgu-dSW-bSRG2iA63fBztGl4HPIWnrVb7Fg8GRpM-QWtJmGtUAbyutee5-dA49QMUGq3jGIvt4Bbh8ezEc1aRAyaDvjlNhizHuf7Mco-3d5eQtbvI9",
  "id": "rs_03f64694d3d3afb8016ab436037d9887d0bc92ce427fc2c434",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.092,\"right_z\":0.036},\"note\":\"The elevated view puts the bottle cap just behind the right fingertips, with the fingers above it rather than blocked by the body. I’m descending nearly vertically over that cap/neck position for a cleaner grasp.\"}",
  "call_id": "call_XIqLQwrIzwt6J2MOaam3mEZB",
  "id": "fc_03f64694d3d3afb8016ab43608711087d0ad3b694a35198a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XIqLQwrIzwt6J2MOaam3mEZB",
  "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, 0.7673, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.2146, 1.7409, 0.625, 0.4973, 0.0162, -0.0158, 0.6463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4174 right_y=0.0917 right_z=0.0356 right_yaw=0.1877 right_pitch=-0.0473 right_roll=-0.0053 right_gripper=0.6463\nstate[joint_eff]: [-0.0752, -1.4564, 6.5299, 1.8144, 0.0024, -0.0855, -0.0122, -0.335, -6.2838, 4.9573, 1.6337, 0.0122, 0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700d8174e15501765616f8a51442edd0d4dc5724edbcbff84e26b187c8e51dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac77c938bc4905bc67eba7b5a460c1d641ff10909ec9ef537a09dd1cbdcb1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0e62849374b21931d46fac4117de9af918c3e2488ddb474144e2e5edbb403a",
      "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 · 2.553 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.6075, 0.4412, 0.0662, 0.0162, 0.8488]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4093 right_y=0.0922 right_z=0.0549 right_yaw=0.1547 right_pitch=-0.028 right_roll=-0.0066 right_gripper=0.8488\nstate[joint_eff]: [-0.1436, -1.4564, 6.5709, 1.7753, -0.0073, -0.0513, -0.0122, -0.6632, -6.2564, 7.2547, 1.8339, 0.0122, -0.0073, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0071, 0.9983, 0.2089, 1.5856, 0.8867, 0.0879, 0.0216, -0.02, 0.6457]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0023 left_pitch=-0.0064 left_roll=0.0029 left_gripper=0.9983 right_x=0.4425 right_y=0.0936 right_z=0.1229 right_yaw=0.1798 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.6457\nstate[joint_eff]: [-0.2393, -1.4291, 6.9265, 1.7949, -0.0171, -0.0269, -0.0122, -1.0735, -9.5248, 9.5658, 1.79, -0.0269, 0.1734, 0.1001]\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 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.2146, 1.7409, 0.625, 0.4973, 0.0162, -0.0158, 0.6463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4174 right_y=0.0917 right_z=0.0356 right_yaw=0.1877 right_pitch=-0.0473 right_roll=-0.0053 right_gripper=0.6463\nstate[joint_eff]: [-0.0752, -1.4564, 6.5299, 1.8144, 0.0024, -0.0855, -0.0122, -0.335, -6.2838, 4.9573, 1.6337, 0.0122, 0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700d8174e15501765616f8a51442edd0d4dc5724edbcbff84e26b187c8e51dc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac77c938bc4905bc67eba7b5a460c1d641ff10909ec9ef537a09dd1cbdcb1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0e62849374b21931d46fac4117de9af918c3e2488ddb474144e2e5edbb403a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYN1U4ZkYTkZD0-L9DBoBuvFH07HDHlVYAgT1cSs3On91DVRu-16vXVuezAAJnGRRxwecuNLiTY1lh2Pv5uur9BN7N-OW_pl8_2tKrnL0s4A9W-AcNRvPYgM4g_FFZc4tdTJVpV80ba05GwQ4YXDh0cgyk_5xhRVV2bVcOI9g5pS5eFl8iIy71Agx010uJGL2Cc7mBh4nLhN7vSguGehjizbKj0I7_gmxJ77PyElIDt75QbTTu3Ssv3mkaHlFHT_nMYPYyzxZE6qq6S1MJRWSZx94wZCfUphnI6aNAx5AsoVLCbKCYc2MDe4Refls8gPKB3Z6dZUFHPoCoC5nTFdw79iSaC42Ym1xdIjVbW6pMWhSd7wcbzmPrfk6F3b-KMjGSE449sime9QedpOCMhYAvs7GTX62MzRze6e-W0j8RYJ2rWezn-MsX16yNg-KAzZi5MPB5XZoncLHu6OqaYqFkI6GLtv55p3qJplPH0VKDfwBHhkjy1HYVS62wcdqi-jkxDnE8in-ZeuLh3JVCQL2Jjic0J_1PpELjGA4BHR-brPnVNsnQR2ZzZ_ra1Dn_nwmkii2xhiQC2xwpcAbAjLyHu3vh4xMVu3mHIfEB7couw7FIpaeXTmabB8Hghn9wzbY5lQ8dmxCKZBuHstfXXFCc-KpcBe48_uFu1QIg1qVzbQJaps-x5OUu4zBISNeyewxncALk2d2-M6feV8K9oHMdNywwLUiCN7dHtV2cXbh6LzBiTj9HPgcxVwwANc2o9LmrTiKNGB5dRhd9AVMlVxBmZFjeY45KLqJZzzwPxtb2dEsmEZ-ForuCqtZpS_2tvMEGwENZpNlq3jHtpq7Lhpm61Mqej5-_57Cj2mVEXO0Gq4up4T01ZLk1i6RvwMfWJxCo2pnVW-VTlFj8cN40kbkldie6bjouadEiOo9mveTEYGiy4AlQI4HF38Iw9EcR_xeY11NnJNG0It--nGkyy_RiXIOHGbuEsCrJyum028kIw54x1rjuYYxpl12C7Kaq9x4bQQKuYgqFKOdjzr6GwEE_9YZioCoxOIvyRpYjNa5svTN9-V3Nd2ggmNmWz3UCw_rnYsniDeJWzl69C1dg-mq0c698H6TKM89NgwU-2YziUZ0LsrO0gVFDRkiX1K2R2b-c6sXIETTLxY7la1Gxj_nuVa7borkOpTKg3k8ej48kpNA5k2VES-QtLvTDAU6m_a31oPsxeT3jyOkXmF5iIuozaM4AMJu4kjvohoZEE6U_XdtA0-b2AOb0k1Onvz9dVRmzpSZfAVcUYbxQR8RHDjkPIChg9TF_EMpsB8Bmz0Y-SjDDpF-MJQTI0JCRzCXasAzEMjIFA8JtVur-4qcRUAKFRywGkNDFw9mHBaVWxaplF_l6CrliF80t0l23dRcKHER4A9UejKLH8zCPRvgoTKvihi4sr_dZtoEWcZyXu1O1ySnSRHgcFvx6Q2oLFBTOHycUud6uoZqVMy89MYP1ZiVRbo871LkF8zBTBWpbGt5cfJoxJ_984zj1-hnkF5_s2KK_2quzY6e-0iBMFrgTYtdbq3RwoAalPL2j9b0xbDEBBHGE3eoj6MuUe3rTalNpHvYyAZh-zM_rMeUAa2fAfqAmtETxGa60SBhjnNweAeJw-49mf0pZQxG5rhgHW3bmrZ-iyc23FxMPO7m16JLlogjnhc4S_LUbroFm7Q1oStLTnS4VS-cardqOKK29SDtbdYBIeBAtjeshKb9tYsW9l7uGNKNFh0AhDvzdFjPvIB8sewvFskrlXwGZ4lzL-JUTAFe87OdmJYDmHcj8P0UzpjmNzGasTl2dug734n-7tmOfY1_nmZBUWIqGWMKVyO_m4WpG7LVv8uSXl9GdR71VbqdNG3FSVAQ-UWJ0yO-dTmT8CG8gvErOas1KMFeR35mKtj6Sx",
  "id": "rs_03f64694d3d3afb8016ab4360a955887d0a35ae2b40e612856",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.443,\"right_y\":0.083,\"right_z\":0.036},\"note\":\"The cap is now clearly visible between the fingers, slightly ahead and right of their center. I’m making one short horizontal correction to align the jaws on the capped end.\"}",
  "call_id": "call_OJlcpLqs1NKe9zTfWr00NJXW",
  "id": "fc_03f64694d3d3afb8016ab4360cbd0887d0b171327c4683b908",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OJlcpLqs1NKe9zTfWr00NJXW",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.1936, 1.7882, 0.643, 0.5701, -0.0154, -0.0292, 0.6463]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0049 left_roll=0.0024 left_gripper=0.9983 right_x=0.4305 right_y=0.0908 right_z=0.0374 right_yaw=0.2006 right_pitch=-0.0039 right_roll=0.0019 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.2376, 6.5573, 1.8144, 0.0122, -0.0415, -0.0122, -1.5658, -5.7915, 6.7214, 1.7509, 0.1538, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013636b76163c71a1183ab42f8c40088439a1159ee6e9cbe1dbdc0753c918d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a9cc60dccaa05430797a925f17e8b587958e4e6bbb71405a30a2a18c72756",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce135bc24357f526ae9d3081dfe87f54878ce591193e84620bb8bf569aa6f73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.502 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.2409, 1.6493, 0.601, 0.4763, 0.0647, 0.009, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4119 right_y=0.0931 right_z=0.0596 right_yaw=0.1599 right_pitch=0.0005 right_roll=-0.0094 right_gripper=0.0128\nstate[joint_eff]: [-0.0752, -1.4291, 6.7487, 1.8242, -0.0269, -0.0757, -0.0122, -0.1709, -6.2564, 4.3419, 1.8046, -0.0317, 0.0611, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.2146, 1.7409, 0.625, 0.4973, 0.0162, -0.0158, 0.6463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4174 right_y=0.0917 right_z=0.0356 right_yaw=0.1877 right_pitch=-0.0473 right_roll=-0.0053 right_gripper=0.6463\nstate[joint_eff]: [-0.0752, -1.4564, 6.5299, 1.8144, 0.0024, -0.0855, -0.0122, -0.335, -6.2838, 4.9573, 1.6337, 0.0122, 0.0611, 0.0513]\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 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.1936, 1.7882, 0.643, 0.5701, -0.0154, -0.0292, 0.6463]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0049 left_roll=0.0024 left_gripper=0.9983 right_x=0.4305 right_y=0.0908 right_z=0.0374 right_yaw=0.2006 right_pitch=-0.0039 right_roll=0.0019 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.2376, 6.5573, 1.8144, 0.0122, -0.0415, -0.0122, -1.5658, -5.7915, 6.7214, 1.7509, 0.1538, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013636b76163c71a1183ab42f8c40088439a1159ee6e9cbe1dbdc0753c918d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a9cc60dccaa05430797a925f17e8b587958e4e6bbb71405a30a2a18c72756",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce135bc24357f526ae9d3081dfe87f54878ce591193e84620bb8bf569aa6f73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab4360e8ff487d0b0170c6a0b583730",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist image now places the bottle's cap and narrow neck inside the jaw corridor rather than its broad body. I’m closing to test a neck grasp.\"}",
  "call_id": "call_VL6hrcN4UM5juKAqHqR3pF9Y",
  "id": "fc_03f64694d3d3afb8016ab4360f0ec087d0975d9d716964ff9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VL6hrcN4UM5juKAqHqR3pF9Y",
  "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1963, 1.7924, 0.6556, 0.6373, -0.0273, -0.036, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4418 right_y=0.0964 right_z=0.0545 right_yaw=0.217 right_pitch=0.0718 right_roll=0.001 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.8046, -0.022, -0.0659, -0.0122, -0.2393, -8.0205, 3.8632, 1.2234, 0.105, 0.022, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0237316ccd2585eaf84b03ce364fc4073576d8887f64a6831a391ce0d79ce61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddd022406de614495f9f5263de41b472612c732417d41242292c54f1af68beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f7ec3ed7111e33bb8af9dfb2afa8e85de4b51efb2ef0176f38db6898ce210f",
      "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 · 2.635 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0071, 0.9983, 0.2089, 1.5856, 0.8867, 0.0879, 0.0216, -0.02, 0.6457]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0023 left_pitch=-0.0064 left_roll=0.0029 left_gripper=0.9983 right_x=0.4425 right_y=0.0936 right_z=0.1229 right_yaw=0.1798 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.6457\nstate[joint_eff]: [-0.2393, -1.4291, 6.9265, 1.7949, -0.0171, -0.0269, -0.0122, -1.0735, -9.5248, 9.5658, 1.79, -0.0269, 0.1734, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.1936, 1.7882, 0.643, 0.5701, -0.0154, -0.0292, 0.6463]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0049 left_roll=0.0024 left_gripper=0.9983 right_x=0.4305 right_y=0.0908 right_z=0.0374 right_yaw=0.2006 right_pitch=-0.0039 right_roll=0.0019 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.2376, 6.5573, 1.8144, 0.0122, -0.0415, -0.0122, -1.5658, -5.7915, 6.7214, 1.7509, 0.1538, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1963, 1.7924, 0.6556, 0.6373, -0.0273, -0.036, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4418 right_y=0.0964 right_z=0.0545 right_yaw=0.217 right_pitch=0.0718 right_roll=0.001 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.8046, -0.022, -0.0659, -0.0122, -0.2393, -8.0205, 3.8632, 1.2234, 0.105, 0.022, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0237316ccd2585eaf84b03ce364fc4073576d8887f64a6831a391ce0d79ce61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddd022406de614495f9f5263de41b472612c732417d41242292c54f1af68beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f7ec3ed7111e33bb8af9dfb2afa8e85de4b51efb2ef0176f38db6898ce210f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab43611d9d887d09d7f48412adaa7fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.063,\"right_z\":0.09,\"right_gripper\":0.6},\"note\":\"The second neck close was empty; the wrist view shows the cap falling to the right of the closing jaws. I’m reopening, raising clear, and shifting the right gripper about 3 cm toward the cap before another approach.\"}",
  "call_id": "call_NzSUSGzDH5lDby6ehBtzy9xe",
  "id": "fc_03f64694d3d3afb8016ab43614186087d0b27091ebc0f709ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NzSUSGzDH5lDby6ehBtzy9xe",
  "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, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0986, 1.6699, 0.7132, 0.3283, -0.1028, -0.0959, 0.5964]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.431 right_y=0.0645 right_z=0.0647 right_yaw=0.2153 right_pitch=-0.0535 right_roll=-0.0006 right_gripper=0.5964\nstate[joint_eff]: [-0.2256, -1.4291, 6.7077, 1.7998, -0.0171, -0.0366, -0.0122, -0.3761, -9.1282, 8.8274, 1.9365, -0.0757, 0.0806, -0.0904]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01ec7d56e96ece33a2a62513d9a70e606d768079edc88f493a43f7dac9202fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512a89da6dfb425e869aeffa0b30de0ee0c6e69e41265765bf4af2c5de178fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b54632bb985c73aa650d0e2301346bfb63d47f0efa66ac6c0c87052aaff281d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.275 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.2146, 1.7409, 0.625, 0.4973, 0.0162, -0.0158, 0.6463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0022 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4174 right_y=0.0917 right_z=0.0356 right_yaw=0.1877 right_pitch=-0.0473 right_roll=-0.0053 right_gripper=0.6463\nstate[joint_eff]: [-0.0752, -1.4564, 6.5299, 1.8144, 0.0024, -0.0855, -0.0122, -0.335, -6.2838, 4.9573, 1.6337, 0.0122, 0.0611, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1963, 1.7924, 0.6556, 0.6373, -0.0273, -0.036, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4418 right_y=0.0964 right_z=0.0545 right_yaw=0.217 right_pitch=0.0718 right_roll=0.001 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.8046, -0.022, -0.0659, -0.0122, -0.2393, -8.0205, 3.8632, 1.2234, 0.105, 0.022, 1.0769]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0986, 1.6699, 0.7132, 0.3283, -0.1028, -0.0959, 0.5964]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.431 right_y=0.0645 right_z=0.0647 right_yaw=0.2153 right_pitch=-0.0535 right_roll=-0.0006 right_gripper=0.5964\nstate[joint_eff]: [-0.2256, -1.4291, 6.7077, 1.7998, -0.0171, -0.0366, -0.0122, -0.3761, -9.1282, 8.8274, 1.9365, -0.0757, 0.0806, -0.0904]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01ec7d56e96ece33a2a62513d9a70e606d768079edc88f493a43f7dac9202fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512a89da6dfb425e869aeffa0b30de0ee0c6e69e41265765bf4af2c5de178fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b54632bb985c73aa650d0e2301346bfb63d47f0efa66ac6c0c87052aaff281d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYYGKkNwdUOX-C6NSCglkTqV0DJ0882qlDgnyy4puAwy8VsSq5T6q6D_WgcckzzDc7XxQiM5ns8rkg47oVHur8MoN2gaKWkvlogeFX8TKjJx3KEy8KXv3yS3JPWy6wxvQp3QIDUuDQYO8xQWSPLaYfrl1qQF5LDUs_lqFo7AiJvTxQ1ABngHIe2arIvniZhCQ9QjbFn1sYZYSJIWYVoXB5CWZ3FkGrOPxKk0tUWY55jrRLRhe-lActsVS2yiJ7KjvK5X_lf4W95Owpu9WlVxITtYDdI8HC7ZDzT5ZG_6-ExJ38UzdKRQR1h3rPMpdD1lfdLYStdLxKeb61ODY2qlWuLLsC01UtJLdZotc6xZBaCL3azIa5RakZCIk_ECcDVaT9H77sK17IBP-P3kLD7pmceEKgc3h3jMY4IFDq0denZIBt3JdVN-KwsvcmxmcZ-UMjT9fkaA0KlEYIByD477_dvwzZje21-xD7lks76FtOv-hVV6Y55BFuNcY0LU95bcsuP2WALWdBnJnJOf0BMWTcHddnJy2d2mdUnxHG4fnqCoFORsonNboSvu0oPfVR3urKLmmfOEMMVM_vSaccfQQA8-7dIRpYm142lbDIoF6Geh9jlzhrU-GBxagXc9t7VKi0ywsOdHrPc9VKTbTh70XQ0tBt8Dy1wZEPjPZXvNNxhBAfCUcsCmRGQCLCnDCBv1sY2pKQhYbORG_fVnJLCbJXP0bAE0g3iYd6E1qHckXnO0Cmjt9djpFJEsSxjPplANZ5nKPoMHyNtn3FSuAN08iPVTd719FJv6XwOm1PVFh2EbPsVbGS1lWQ5mut_-zfKtodv-MQZC39Pr_tSiobYB35sk0YEyJ4mpFtfwaMNHoV3RM_J0InmnP3IFOdcVBA7qU0v-KJh8hfQmLxxkZsCJr8FoHtSadh36PzrXznj6uWQC1k3VU5A-H6UIC0TW0dltCUTlKioky_lzyPLDb3FIyy6qyNHVULd12xV0iu5D-ECJlCVXW6gWULxVf9acmoTSEEF6yT7f30RJ9NcrqS8pxJSjnzwOfseyhKSpfxjUJEY-ktBvWzqYfTOoh5SeI_POyI4B8UR0lscB39mnn8TvH90fDfZs30NZQx80gTlzsQ2cGlM68qR9stcsNJvLrFF7VnYhzqdXLRkawqvFh1ekY-SjfQh4WbFiONJtsDogDBg6f1T5Tc1qLCCkd2OlsWJIs28eQ7MSg8CMdLso53dUTUpPl3nfV7eUYUxwSEpO69zhX1UV0SNqRrXgLQWtELL7KzdJgzIYykaj7Ill4QVcBcR7LXIZ8e9Szb0yN8LWqWwuaivUHl2_u9KOG1Vrdzg-vCfKWEnZdRagTErCZgq8PMk50RLGNX7lyFUi6fP2YzNF2a5VzAh65SaBEjjW2sC49k73M_OVxR02ZgejyioVNTwUvrmmsUrnBApAxkKju-NlSWa3fVet7XNIdNiOmhE_UdLD26RqxwMn57jSUMSQWV2XVYs9nyyHK6tCAc_lJmEQdr484sz2ztU78b2H5rn9m3YJUHCS0mjDnR_BaxeIrNQSPQgLhygSTwlA6fE4EZkVHU=",
  "id": "rs_03f64694d3d3afb8016ab436169a0087d09fbb041ce3a8be3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.467,\"right_y\":0.065,\"right_z\":0.064},\"note\":\"The cap is finally centered left-to-right, but still lies several centimeters in front of the actual finger closure point. I’m keeping the current height and moving straight toward it before closing.\"}",
  "call_id": "call_L8JeTqVsIQpuzvdtXdm94wJq",
  "id": "fc_03f64694d3d3afb8016ab43617919487d0b38cc5a4fe491d57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L8JeTqVsIQpuzvdtXdm94wJq",
  "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]: [-0.02, 0.7681, 0.5476, -0.35, -0.0235, -0.0074, 0.9983, 0.0914, 1.7733, 0.767, 0.3786, -0.1265, -0.1043, 0.597]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.4493 right_y=0.0671 right_z=0.0518 right_yaw=0.2325 right_pitch=-0.0509 right_roll=0.0063 right_gripper=0.597\nstate[joint_eff]: [-0.212, -1.1966, 6.5299, 1.79, -0.0366, -0.0806, -0.0122, -0.2803, -7.0222, 7.6376, 1.7851, 0.1294, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f77d05faba8ac951f965a019bedf2b6a908ceea1112a7582da3a8876a2c48db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b934febc2ce2e475198cbd53b5c9942089a59b8ad7a0e9942e452f4eeb8e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70af1005a51636fe691bfc1c1a3b83b2f332e5ccf457f8cf931b643db09e7007",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.28 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3489, -0.0231, -0.0074, 0.9983, 0.1936, 1.7882, 0.643, 0.5701, -0.0154, -0.0292, 0.6463]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0049 left_roll=0.0024 left_gripper=0.9983 right_x=0.4305 right_y=0.0908 right_z=0.0374 right_yaw=0.2006 right_pitch=-0.0039 right_roll=0.0019 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.2376, 6.5573, 1.8144, 0.0122, -0.0415, -0.0122, -1.5658, -5.7915, 6.7214, 1.7509, 0.1538, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0986, 1.6699, 0.7132, 0.3283, -0.1028, -0.0959, 0.5964]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.431 right_y=0.0645 right_z=0.0647 right_yaw=0.2153 right_pitch=-0.0535 right_roll=-0.0006 right_gripper=0.5964\nstate[joint_eff]: [-0.2256, -1.4291, 6.7077, 1.7998, -0.0171, -0.0366, -0.0122, -0.3761, -9.1282, 8.8274, 1.9365, -0.0757, 0.0806, -0.0904]\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 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.35, -0.0235, -0.0074, 0.9983, 0.0914, 1.7733, 0.767, 0.3786, -0.1265, -0.1043, 0.597]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.4493 right_y=0.0671 right_z=0.0518 right_yaw=0.2325 right_pitch=-0.0509 right_roll=0.0063 right_gripper=0.597\nstate[joint_eff]: [-0.212, -1.1966, 6.5299, 1.79, -0.0366, -0.0806, -0.0122, -0.2803, -7.0222, 7.6376, 1.7851, 0.1294, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f77d05faba8ac951f965a019bedf2b6a908ceea1112a7582da3a8876a2c48db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b934febc2ce2e475198cbd53b5c9942089a59b8ad7a0e9942e452f4eeb8e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70af1005a51636fe691bfc1c1a3b83b2f332e5ccf457f8cf931b643db09e7007",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab43619aaf087d08890993e393065d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The narrow cap and shoulder now extend down into the finger-closure area, nearly centered between the jaws. I’m testing this closer grasp before attempting to lift the bottle.\"}",
  "call_id": "call_apGpwS2qeMXt1dthriOxeJJ6",
  "id": "fc_03f64694d3d3afb8016ab4361ac6b087d0a049bc5cc86656a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_apGpwS2qeMXt1dthriOxeJJ6",
  "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, 0.7681, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0914, 1.787, 0.7883, 0.3832, -0.1284, -0.1101, 0.0123]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1675 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0026 left_gripper=0.9983 right_x=0.4558 right_y=0.0681 right_z=0.0549 right_yaw=0.2371 right_pitch=-0.0386 right_roll=0.001 right_gripper=0.0123\nstate[joint_eff]: [-0.2256, -1.5658, 6.4205, 1.8046, -0.0171, -0.0611, -0.0122, -0.4581, -7.2821, 7.4051, 1.9658, 0.0855, 0.0952, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2505e0a7f1e7ad7d469707d7772548d97f9c352fa904ecabcbede154d4c3a6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90143c0f19e3b4c7864ce9e64d907746427db48f8fe81581811419bf6e2708a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b138ebee89be8eafa53b703b9d2bb1f9d3d9590e29f3ffb2bd10a98e1fb1197",
      "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 · 3.86 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1963, 1.7924, 0.6556, 0.6373, -0.0273, -0.036, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4418 right_y=0.0964 right_z=0.0545 right_yaw=0.217 right_pitch=0.0718 right_roll=0.001 right_gripper=0.0128\nstate[joint_eff]: [-0.2393, -1.4564, 6.8581, 1.8046, -0.022, -0.0659, -0.0122, -0.2393, -8.0205, 3.8632, 1.2234, 0.105, 0.022, 1.0769]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.35, -0.0235, -0.0074, 0.9983, 0.0914, 1.7733, 0.767, 0.3786, -0.1265, -0.1043, 0.597]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.4493 right_y=0.0671 right_z=0.0518 right_yaw=0.2325 right_pitch=-0.0509 right_roll=0.0063 right_gripper=0.597\nstate[joint_eff]: [-0.212, -1.1966, 6.5299, 1.79, -0.0366, -0.0806, -0.0122, -0.2803, -7.0222, 7.6376, 1.7851, 0.1294, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0914, 1.787, 0.7883, 0.3832, -0.1284, -0.1101, 0.0123]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1675 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0026 left_gripper=0.9983 right_x=0.4558 right_y=0.0681 right_z=0.0549 right_yaw=0.2371 right_pitch=-0.0386 right_roll=0.001 right_gripper=0.0123\nstate[joint_eff]: [-0.2256, -1.5658, 6.4205, 1.8046, -0.0171, -0.0611, -0.0122, -0.4581, -7.2821, 7.4051, 1.9658, 0.0855, 0.0952, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2505e0a7f1e7ad7d469707d7772548d97f9c352fa904ecabcbede154d4c3a6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90143c0f19e3b4c7864ce9e64d907746427db48f8fe81581811419bf6e2708a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b138ebee89be8eafa53b703b9d2bb1f9d3d9590e29f3ffb2bd10a98e1fb1197",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab4361d390887d099902f62268acc96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.458,\"right_y\":0.087,\"right_z\":0.037,\"right_gripper\":0.55},\"note\":\"The fingers closed empty again; the cap is just left of the narrow closing point in the wrist image. I’m reopening and correcting sideways toward the cap, with a slight descent to reach its height.\"}",
  "call_id": "call_QSJtnQLUkiXQl8lYrw5zR2Zh",
  "id": "fc_03f64694d3d3afb8016ab4361ea05887d096b26569c6e0ca56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QSJtnQLUkiXQl8lYrw5zR2Zh",
  "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, 0.767, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1181, 1.8221, 0.7734, 0.4595, -0.1085, -0.0994, 0.5463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1679 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0026 left_gripper=0.9983 right_x=0.4583 right_y=0.0772 right_z=0.0489 right_yaw=0.2413 right_pitch=-0.0141 right_roll=-0.0049 right_gripper=0.5463\nstate[joint_eff]: [-0.2256, -1.3333, 6.4752, 1.79, -0.022, -0.0562, -0.0122, 0.8821, -6.2838, 4.3966, 1.5263, -0.0073, 0.1001, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0637ac6e4fdaf01ee62d0ae8656a2faa05e24dd07474292a94c48778116abfd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d9b55dc58c78367619301b8c013e898ad8987d1cfd0c8db1b978d86a652507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979867e23ec39eeda088ff0f4f257d8c0e3023c8fb1cc5184b607d0651f89fb6",
      "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 · 2.974 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0986, 1.6699, 0.7132, 0.3283, -0.1028, -0.0959, 0.5964]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0025 left_pitch=-0.0064 left_roll=0.0026 left_gripper=0.9983 right_x=0.431 right_y=0.0645 right_z=0.0647 right_yaw=0.2153 right_pitch=-0.0535 right_roll=-0.0006 right_gripper=0.5964\nstate[joint_eff]: [-0.2256, -1.4291, 6.7077, 1.7998, -0.0171, -0.0366, -0.0122, -0.3761, -9.1282, 8.8274, 1.9365, -0.0757, 0.0806, -0.0904]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0914, 1.787, 0.7883, 0.3832, -0.1284, -0.1101, 0.0123]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1675 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0026 left_gripper=0.9983 right_x=0.4558 right_y=0.0681 right_z=0.0549 right_yaw=0.2371 right_pitch=-0.0386 right_roll=0.001 right_gripper=0.0123\nstate[joint_eff]: [-0.2256, -1.5658, 6.4205, 1.8046, -0.0171, -0.0611, -0.0122, -0.4581, -7.2821, 7.4051, 1.9658, 0.0855, 0.0952, 1.1697]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1181, 1.8221, 0.7734, 0.4595, -0.1085, -0.0994, 0.5463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1679 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0026 left_gripper=0.9983 right_x=0.4583 right_y=0.0772 right_z=0.0489 right_yaw=0.2413 right_pitch=-0.0141 right_roll=-0.0049 right_gripper=0.5463\nstate[joint_eff]: [-0.2256, -1.3333, 6.4752, 1.79, -0.022, -0.0562, -0.0122, 0.8821, -6.2838, 4.3966, 1.5263, -0.0073, 0.1001, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0637ac6e4fdaf01ee62d0ae8656a2faa05e24dd07474292a94c48778116abfd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d9b55dc58c78367619301b8c013e898ad8987d1cfd0c8db1b978d86a652507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979867e23ec39eeda088ff0f4f257d8c0e3023c8fb1cc5184b607d0651f89fb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYjVidcCNAMC8ly6CK05jM7Z6ts1tckV6JWybQ3qW9LvRVVqI7s-UDvr54Mzblf0i4QJih5t0HrJVS3ZrJLbFL746rh7MUTpkEQOaWbxnJKfcpJwHkpsQ5m_jrjzNcSSIt_2SIQbM_c1TGgCGtA4u-UcHnFUkPgt8GQkpDQrdRZC2Yzca_jORxnsX71hdgfpidu_U6ZB7BRp0C_W2c2yJqVqOhJovDaEZY5fEFQ62ucyWiX5CPId78gdUaRyTfYONTyJLZd7Tb2cTUE68bhagOqSQXFkb_N8KfO6CgByjdgHnPNzv-IG88QQMMwvNaCO5RgdeJN9OtAGm27ND9_eO8Ilb14BouKn43VIiKh4efvQsuFBDktXm3ixfH9AHsFl-fvRms0e8Wb_tRADl3SNwtPh4ABUnzVDK_Z1gmy52qxGwA5GOu99j3nbZU2MGMX5R2cxq7KYrOE6jjFqtImdJDB-tWVz1gw1XtsOlbE3fugeew9MN0J8YQ47Nq0bXx788NMwSaxfhM29XsDPGZgPzuWovW7LjTtwd-offLrew0B5PzgNB4IFz6UnZkRTbMiTy2j3tYlwbRGG9rESNxytBCiH4r9VXDmDjiKE3cAds16NB1lN7HT-IQPqG1hHGO0QkVf_nnWe8_CsY0MMB6WoxjuaChOBapJeI2lMCY7PyEWTjoRxqKnihQXow3Z3O3_6SSnnbcuNxAqVrDKpzqrUdkny3hkSE1rtfi3xiHXJ_AGCyKQ7_ZUKXmEChLR6kluhxgK5oQLzMpx8_4eFZsKkbtxMMboKV41IpPiZilb6FEdXl5IwCBtvr9l2Unz-Ho-VZ42nnnzsXgpYQyjWb11vOpQphqEinDczTVJkJc9jL9G4YJh4tJvlvFFKXx1yJXkX2RoZ1iIs1UGtf4Yegk_605yImOXc7v2Q0fEcifXKCCSS4nU8RvgudOUWgJ0HuzF-tOF0-T428FxSlAO3I4MZc46aZ_A804O0UmdQk5qAYsUFnnv2GvZMhiHRmInPJAx9Uxy0TYz85fceF_oE6xvwa33zhSik0mQm6YdoVwUeczNfHkUXjpPkv10CEtqPbJbNO4RP3rayRg6aWw_R3swm7SLtye-Ike-Q4DH9u_5wPzAAeIfgIa3Ja20X_4CUufZm0txlEwiafuje-4v_uEoPirK-Oq_bXmMA_S0Mc0xEjQsRAYW36SlZmDWaaZw3AoLeQ9nXWCIkjQaPyH2_njudWliz4ufyJ_oLVf8H_Q3cckrkCmvYjZ2CUe-N_Cnd68_pcf1FGefDKQA5mRxXtOjxAPhr76KVcd4XxiWW0q8yrenrtCvmdentgZ4ElgL0Xjws_P3LPjWUOFbzLnazr_D5xsKaK5dCeOtWW6JIMlQXuSXYSZzHQq5dWAICjhK8xDAmI4OMGkK0Cj2o-gg9fq-YIYyyinVx7ob9sBWiYiKaFJ7YYBMBMBhecfaOMZ6nQRgo-eteuCxO8tuY94u8YaeEcF4oYBA1WKYrAo_GLgsWDQTqMoN2VYCIz7FGkfG8ycxq0jEWCplOjbGRRf-uFTRguVhf10e5sXGApy3z1O_hX3Ik4eXkiuPXMhR2UxcJacKigT-BBYF2LfOKs_4QAPV_CkWLHM5Uzq3K7b8TYzToAMpNvPgbaaTU_yuCYPP-F3BAkkHwEXwmLrkvqwWz5fizTy2xFoeszeB2-_77GzxtEnfTnPARH6W0a6zxjfVMV5MbYbZYJmwSPopppOPAu3MQRx8k8Jvqr-edfEhJgAGvhq6cT_DQi18PKWn4tMK9ZSvMChd1eatkdmX10LMK8pU2D42QcwXabNuPchEunoRBf0TKHjWVH93q1w2X3soa3Ii9IqKrt-kucfwbJcOg21Rd920L5Z7fYj4HtaGsECN6nG4YHEue_jjMVbdSJAd0c4wP1gugrJks78kBER1vTzyjELC8p5052Fh05oAJ3JgJAdmBxEGunWH3CdOkR2RvgTkdzHE4qwRewQrlafjC3beHX2feroGk-YtLuf8wwJmxZ0RIbxgl4GHY68HZy4f6VZiTsMcQ7VqANRXUJvlFAunAO4lT6qxENDkIBPcVtQSGquv2bRpXWIf043nAk4GjqXHgO9jy0jeFcyPGamqxnmjJdgnhjtPpzQzn8Y6rfvxCiCmZ58kCULPu9-rNFDHZ2Ohx7yYE578Mpuya81aC-JFJjpfAQ==",
  "id": "rs_03f64694d3d3afb8016ab43621306087d094baf44b7048c2a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.477,\"right_y\":0.1,\"right_z\":0.045},\"note\":\"With the jaws open, the cap sits just left of their center and just behind their tips. I’m moving slightly forward and toward the cap to place it in the middle of the closure line.\"}",
  "call_id": "call_zdYyI3PTdf7psU2ppXrARvqh",
  "id": "fc_03f64694d3d3afb8016ab4362363e887d0a72775f1accd481b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zdYyI3PTdf7psU2ppXrARvqh",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.165, 1.8736, 0.7994, 0.4938, -0.0975, -0.0868, 0.547]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4641 right_y=0.0983 right_z=0.0425 right_yaw=0.2721 right_pitch=-0.0062 right_roll=-0.0014 right_gripper=0.547\nstate[joint_eff]: [-0.1709, -1.3197, 6.6256, 1.7998, 0.0024, -0.0904, -0.0122, 0.6906, -7.1179, 7.6239, 1.8779, 0.1245, 0.232, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5f3b82843d15647041cd5c5aa7fb60a57c78266f9a59315872f4ea69049db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95d6025495402ef1e7662374d3a350d3268778ece241bbf0d2b4040f301fdec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27c3d908e523d6d62cbf08a27542cc4cf3d631be806c6f6d963c071e52eec8d",
      "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 · 8.47 s

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

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.35, -0.0235, -0.0074, 0.9983, 0.0914, 1.7733, 0.767, 0.3786, -0.1265, -0.1043, 0.597]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1673 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.4493 right_y=0.0671 right_z=0.0518 right_yaw=0.2325 right_pitch=-0.0509 right_roll=0.0063 right_gripper=0.597\nstate[joint_eff]: [-0.212, -1.1966, 6.5299, 1.79, -0.0366, -0.0806, -0.0122, -0.2803, -7.0222, 7.6376, 1.7851, 0.1294, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1181, 1.8221, 0.7734, 0.4595, -0.1085, -0.0994, 0.5463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1679 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0026 left_gripper=0.9983 right_x=0.4583 right_y=0.0772 right_z=0.0489 right_yaw=0.2413 right_pitch=-0.0141 right_roll=-0.0049 right_gripper=0.5463\nstate[joint_eff]: [-0.2256, -1.3333, 6.4752, 1.79, -0.022, -0.0562, -0.0122, 0.8821, -6.2838, 4.3966, 1.5263, -0.0073, 0.1001, 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 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.165, 1.8736, 0.7994, 0.4938, -0.0975, -0.0868, 0.547]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4641 right_y=0.0983 right_z=0.0425 right_yaw=0.2721 right_pitch=-0.0062 right_roll=-0.0014 right_gripper=0.547\nstate[joint_eff]: [-0.1709, -1.3197, 6.6256, 1.7998, 0.0024, -0.0904, -0.0122, 0.6906, -7.1179, 7.6239, 1.8779, 0.1245, 0.232, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5f3b82843d15647041cd5c5aa7fb60a57c78266f9a59315872f4ea69049db4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95d6025495402ef1e7662374d3a350d3268778ece241bbf0d2b4040f301fdec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27c3d908e523d6d62cbf08a27542cc4cf3d631be806c6f6d963c071e52eec8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYmSzcNXLreX5RyVXgOna_VXHUktWLHQeCMFdQgtwTZioWRFSP6W-IYioOAQPOwLC6Z7d7qng1dWFfn7tSHK8u_-XA7fVGydPBgNEYsw6bf5Ir7-Pzn0vPqtERvpmGy3EDzu1GV5YzBmHwx4Fsr46yQaS1u4sy15YA2qpYM5McqqkxCv_eQX2uuFzFJ3Hg2q-iglEwmvwJk5bMuS6Bxhh_yTTfMe2DID1dtSAMqWgdtofiTeLhOhc1gTKLi8jVsCyxB4S9tWgE9BSYHyl28etsKKZhKTSHG165Kw6y0aSzyEYTskWRswf7LaDsaCWQNfJ2Y-Wtf-OGYp6rc4G2EN7QwyxTPylLDIMaCTeJlACZlAjM-GS1V7GByvmk9KHfdEj4LtdLnZL3fFt_ovV88YYCvM27KZaXYASlYYbRlOu7vN9yylqFD0CfIJZGcuSoEqRLuvMa3ZL-JTiNnQvRDUMWKSKQ3Jc6dVRGkASDzp1vTeIgWFDCujkUNGVVaocx8VvtB88PjK79Fo0yfn-gQoRx6pasx_JrN1l7qQzLoPHYkaZKi2uLX3zQcoQUqios75k4xMjRJdGopADmHc_FCCM3I51r-T2KCCYLwT9QI1iPTaw_hUEeTxfsd-b3ebyAndZUgw_RmMsp5HWBRaME3DYt5oqvnddQhYd0LsOcPdRuMC4x3WZjM8L2mXEJogoWZOixw2ljpxpH5jptjALRxEwQo0JBX4ajDpSHkLDc6QitPD_dKWAwjxX-2iUcHpr_tkfjqp69hr3OEyVSuAVECMYee_xfHha3WjHwwm0WCnTEvBO1sU5jnfa5lNeXQix3FpadEUeNo8WXcb7vjEpUxYb2lNAjQxGKzriKfi-yNsg32m-x_fasz3utFG1L1ZcrCfsHpYNDPknJfZX-x_uEO8ix96KlYmR3CVNyuKe_Xv9ehUnFoo7JpxRO_KtIfNn719_yvNgvsKgzKeUkHCoFTYW87kkTM1Cq4G9y39qKcZ3Z1PKX7RbEWaO_SbeDFtjQVXJq_TOWgAUHiJxuk-3VxNcStUGzF5gyKdzns-xL8djHL-JWORD_BOTxNrRAQwfTC3RU8NxqnrckqbaDQB1-fJx5qzY9Dbd1U7_aZuMyArwEJ2ak9RW27ZM6zxcEfsmDtcUN8u5mf5lm6yRhzK8XkecASqksmPi3RvKKnGYNlq1FlOit9fw_3aoqzsEkP_YcjvROGp8FPsqtEa9bgZF8EcnHJWvT1Fu8ynXvaxIDRnZzryeSQbZhdQEXIKhvE5zkBvTGIU9jRbWqIPqbyqgtOMP5szw==",
  "id": "rs_03f64694d3d3afb8016ab43625feec87d0a344a7a1d87f3b0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap is now centered directly between the right fingertips at their working depth. I’m closing to capture it and will check whether the gripper stays open around the cap.\"}",
  "call_id": "call_cht4EA5xoA5gz8kMVFWU0LgH",
  "id": "fc_03f64694d3d3afb8016ab436263e4887d0bcdcdb963db73d70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cht4EA5xoA5gz8kMVFWU0LgH",
  "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, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1688, 1.8896, 0.807, 0.54, -0.107, -0.0906, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4706 right_y=0.103 right_z=0.0477 right_yaw=0.286 right_pitch=0.0319 right_roll=-0.0038 right_gripper=0.0128\nstate[joint_eff]: [0.1162, -1.4564, 6.5983, 1.8291, -0.0464, -0.0611, -0.0122, -0.1983, -10.0171, 4.3966, 1.4432, -0.0024, 0.0562, 1.0818]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23760d7057fc0a46dd527d5cac3bab2bbcfa2e1ee803003612c82df5df5b6da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac34ac2d0cbb854b14e152ed81daf0bd308775641804e2c7e78b14ef9247431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f215450308ca77aa99bcb15fb98b4494f75b48b3fb3d0b298c483536c87afbdc",
      "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 · 3.828 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7681, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.0914, 1.787, 0.7883, 0.3832, -0.1284, -0.1101, 0.0123]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1675 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0026 left_gripper=0.9983 right_x=0.4558 right_y=0.0681 right_z=0.0549 right_yaw=0.2371 right_pitch=-0.0386 right_roll=0.001 right_gripper=0.0123\nstate[joint_eff]: [-0.2256, -1.5658, 6.4205, 1.8046, -0.0171, -0.0611, -0.0122, -0.4581, -7.2821, 7.4051, 1.9658, 0.0855, 0.0952, 1.1697]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.165, 1.8736, 0.7994, 0.4938, -0.0975, -0.0868, 0.547]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4641 right_y=0.0983 right_z=0.0425 right_yaw=0.2721 right_pitch=-0.0062 right_roll=-0.0014 right_gripper=0.547\nstate[joint_eff]: [-0.1709, -1.3197, 6.6256, 1.7998, 0.0024, -0.0904, -0.0122, 0.6906, -7.1179, 7.6239, 1.8779, 0.1245, 0.232, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1688, 1.8896, 0.807, 0.54, -0.107, -0.0906, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4706 right_y=0.103 right_z=0.0477 right_yaw=0.286 right_pitch=0.0319 right_roll=-0.0038 right_gripper=0.0128\nstate[joint_eff]: [0.1162, -1.4564, 6.5983, 1.8291, -0.0464, -0.0611, -0.0122, -0.1983, -10.0171, 4.3966, 1.4432, -0.0024, 0.0562, 1.0818]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23760d7057fc0a46dd527d5cac3bab2bbcfa2e1ee803003612c82df5df5b6da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac34ac2d0cbb854b14e152ed81daf0bd308775641804e2c7e78b14ef9247431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f215450308ca77aa99bcb15fb98b4494f75b48b3fb3d0b298c483536c87afbdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab436291ae487d09a9738ed1afcdb92",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDYwPx4mLhMwlos9bgSfM1jlp8NwNxpli1KR5Vis_GUIlGTuXF_njY9UubK_oIf9vqaRH-YqM5eLhvcgoHWwddQ87T6AtuhEFe28fk4BizovuoLZFwXUUr7IKgOaEKa7O2hxrwDrcFxy8REi9dN14p1vjf_EpLBhgH7fkKby4_3TqYfO13EJxKbn9OMCQCiOw4nh_EOMWO6CYOSxbtgWgXo_aBbHpkwi6b42aUUd4QIRO4Al3kD63Oxjodr2_WrAj4QHFZyQw5mCXC9Fz9Q8X64GMcuLP9D2vxCSyUijE0cNdEQkqIjBP7JJHr9s2uNh0L1nNLLbM64K0FkAw_FqYvdNrpcIRGojglM3rzlM4objIRvgCZaAKWD6w2KDMa2E9_O8zAlOBtyOkhQOZspQrU32Sjae_XPblAuoqMLPRu79hlV4cucUFAIs1wOAuAA5oPGjUjjnIbSzIHphQE4-e3cgKaKMxmMQkJ2-i3nAeeg4Uq4Yqz0ogWmeBEi56_gCHqRHbKu9CnBGA7rVIXlytjIAjZrh7eSUg920Oa1RAxPtUIJTuW3X3G781vtCSeUyhrNq4SQGWx3KFqdwXb9Yi-nbs-S2PtZYfSP4R9hMKXkYVjbQd0XOsCvmFveqLsbTiUzL1CRp2otFkk-2LXqiaaBbIQGdg59SyVj5St7e6P7ORPXAb9xy8G52h-ZWeCUaRJWbqMDz1LWH8vSGjws4vGILVoxlt49O-C0XmrjuK2HWYNX32uJzWVE37KRfmf4ht6H4a4BHqgBPboawQkV7CoCSphnGKsG-nsTqA3FnICave5DTiwpjUxMoDjSKtsYahk4Ll90kzfn5g6TnXuzZOT3Q2GsOytXNBG14s4Dk3qONlknwzwCb5oOjmdNa09zzAyhbOOhJLRi_O7GT0YDBOcslyevftOOqNl4P5u72FbVvpTpaEClHz5-hd6I6Jvhx2oaJFl8r2dNkbc-M7LWqo1A4J4vOwompxddMPA9HjkUextUHkOOZlu0OM3RyHfd5EpJOGNdipF8H7hhm6czJJNC1oFlBU5BBt9-NXIZ8v6w1eZRJGA2MsbW0nkSEYE1xzRD9lo-c_fLSTsiDhjeHC3Il5oDSRQAaEzUyDGG6kLU-9RtcqMycHdYffPVxBx-wuewyApiMq7h6ds_JcA_nyVHAu0g0toHvp75l5_HeKZzNrW3gZCafPtiepoRKeQHfjju9R-SYX43kjl8I629tKoDlwYPDVgIbW9L7g3-7R_yvs0qXlYJtnM_yymFIJ4wVN1UCY4OKx8g3YkaMhwSyABI9Ru_Ca5HbqpR4UvxPhOcCoY9Miem6oKMTWcc3Ob34Fg_zimzoSf7xpWmuh0EsOk8pYOif1QGX4kzXhtDiiKaCXnrgSvEME61tq7Zii9PddELohiY9t_RM9jlupWfey7jllKaIbkhoUSeVEQ8RqxOfm3CZedWk9ATWDpzftQQhWpfbvtOPU4XY01sj1ixbTMTNpkUAqg09iWMCIvATpfpXQSZavbba4q0hZqCvWg36d_v6G1_BZBpjASa-w9_B8igJze5UHvzZqjnA4fMLnoevaVWbYiB-NDWr-c8cbHal5D6UJTQWTtO3VHNy81cWEWRb7BqT0HloYER5h1DoBJB2ftGkInGcQbNcLI4i5WFBvWUNw3zI9f1P-yhSt4dNtmVAIVpmxB4k0eMLFKsVqSyuXkRWFi2cbSuaI6PCE2bgYjeI",
  "id": "rs_03f64694d3d3afb8016ab4362dc43487d08f536ce5004ccaa5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.12,\"right_z\":0.105,\"right_gripper\":0.57},\"note\":\"That close was empty too. The overhead view now makes the error clear: the right fingertips are beyond the bottle's capped end, so I’m retracting and lifting to line them up with the cap from above.\"}",
  "call_id": "call_qr6H2nGJ2wIeaWuk3TIWqzab",
  "id": "fc_03f64694d3d3afb8016ab4362f142087d0bbd4b186302141f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qr6H2nGJ2wIeaWuk3TIWqzab",
  "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, 0.767, 0.5476, -0.3485, -0.0231, -0.0074, 0.9983, 0.2607, 1.5478, 0.6994, 0.2901, -0.0479, -0.0574, 0.5657]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0053 left_roll=0.0024 left_gripper=0.9983 right_x=0.4125 right_y=0.1225 right_z=0.1014 right_yaw=0.3103 right_pitch=0.0136 right_roll=-0.005 right_gripper=0.5657\nstate[joint_eff]: [0.0205, -1.0598, 6.5846, 1.8291, -0.0024, -0.0659, -0.0122, 0.3214, -7.6786, 6.0239, 1.9023, 0.1294, 0.149, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b930e67691489c7aeac3d7e4572e11f08cb05d6c732cb27bcaf400c5878c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a3f6ae99db28997ad3e4f3601a92e5f5d7ffa1fc87be6f638f4bf7e6a633ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885207f74cddf62c3850af8c504fcf1482efd52cb719b90ef9adc2f5ba38f928",
      "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 · 4.145 s

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

message 104 changed as sent

message 112 changed as sent

message 117 changed as sent

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1181, 1.8221, 0.7734, 0.4595, -0.1085, -0.0994, 0.5463]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1679 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0026 left_gripper=0.9983 right_x=0.4583 right_y=0.0772 right_z=0.0489 right_yaw=0.2413 right_pitch=-0.0141 right_roll=-0.0049 right_gripper=0.5463\nstate[joint_eff]: [-0.2256, -1.3333, 6.4752, 1.79, -0.022, -0.0562, -0.0122, 0.8821, -6.2838, 4.3966, 1.5263, -0.0073, 0.1001, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1688, 1.8896, 0.807, 0.54, -0.107, -0.0906, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4706 right_y=0.103 right_z=0.0477 right_yaw=0.286 right_pitch=0.0319 right_roll=-0.0038 right_gripper=0.0128\nstate[joint_eff]: [0.1162, -1.4564, 6.5983, 1.8291, -0.0464, -0.0611, -0.0122, -0.1983, -10.0171, 4.3966, 1.4432, -0.0024, 0.0562, 1.0818]",
      "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]: [-0.02, 0.767, 0.5476, -0.3485, -0.0231, -0.0074, 0.9983, 0.2607, 1.5478, 0.6994, 0.2901, -0.0479, -0.0574, 0.5657]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0053 left_roll=0.0024 left_gripper=0.9983 right_x=0.4125 right_y=0.1225 right_z=0.1014 right_yaw=0.3103 right_pitch=0.0136 right_roll=-0.005 right_gripper=0.5657\nstate[joint_eff]: [0.0205, -1.0598, 6.5846, 1.8291, -0.0024, -0.0659, -0.0122, 0.3214, -7.6786, 6.0239, 1.9023, 0.1294, 0.149, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b930e67691489c7aeac3d7e4572e11f08cb05d6c732cb27bcaf400c5878c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a3f6ae99db28997ad3e4f3601a92e5f5d7ffa1fc87be6f638f4bf7e6a633ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885207f74cddf62c3850af8c504fcf1482efd52cb719b90ef9adc2f5ba38f928",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDY0vLE3gBAEMhGoShYyrVXVIoc_YoNdjKQrvj9nnd7KN9FUccGrmgN5Xb7jVVWowOI0uwDdH6FROmidnnqelQLc8nwfwUHRoiWkNY3FC1atwMfi27oXU0_dWioBQ6qHMBI0nZ7-84JshKhyxAEpvlLowgz7Z62UsPosEDsVysM45TXm0TSRvXf0fX_d2cb64xoTQBVDuOwvaTUubrJmZtOk9j2TXXHZ6zXYngaskFEdWHdKuNJAxWFnB5XCoEO_cYrFHPvn1II8XwpMdzGnx1EVmg9d5x3YKK0diMCPOdowuMHZKNMwLOHBbOeZHY62YRZycBj0PngWQ-4nWmCzN1oGX6v30QOxVozCrQ8c9SRNHg2afoGxUFibxbDI98JCI7cyG3hmPSjV5amWunNZv7nTzDCccS4s9trAWucbVb5-kUhVnXDIuD4owkcWEV2l_UFaEoE3sZPomRz7b-aICigKpqodrWACM5owmn0R9RFALXZGB1SoSTIW08qWgDFlJGr1Fz7eVcUP1RPSrcQEv6fJINCxBOfzF7PqP3EGK1k4S__-6da5mGB42d2IT4j8ugONfLQK3riyTiCOsLC-XBcqinYE9zt3OUA06f7q_NGthd6Tik28V-HvWF6n-J2B8sFBnp6WTG185dAr1LxwvygOFOkLRh4XnMjMl9CWSHavsW8OpTgAEuTBsxeRQqELjLNZmr91IZrBFgRszsXVVXB0zURnPKajxBX7DF1be60iJdTNtDNQfKGt2lsKz_lhrSLUxGZ2qr_szQYh6hhQ5CfQKkIxJ5QRtF_0vyyzZ_7zvyTMRMrzr06P_pEPLKc2hfk20QA1dWK6FzoRnCZv_R6fMKukbPhLitacSrRhFx6sYXhS7hQDWSqZV7HMpseEiBEZH_j4A-6AQzIZ_CTQN6kS8sQM1WSUGNTbejGWtnoJNrMUlfSbGvR--lSuVkcDXFui5gSWwAzWVBSPKCUociBHjQKea_usRFfQ4G7QJINC5tWHnnSiAR3B8FBFVXQX3RRWqQvN9vK2lZtUFVfQpnnCMgUVL375VUA8g934vT_qbRr5n0au_MdB5NHNvZRJF79lC2QA0y76o9uohlKuKaHcHjJXFAMzUh9WQse0cFgYOwClCDt2gk5V0WGFpkOp-ispEPObIOY3_f-vN_7Yru_Oc_4I_JgrYtIWGbV9By-wLzg323rtTOeGWPCGCPeNFulIWRYQVZatTJ1LdghLNP4Q3FCY5s_uWmB6Ddss3srurjtYvCZMnfU-jxBtLOHkc8vIt9FTGgoQGxCKA-Wycfhp2VQmSVr95CeqpntWiu1NPZJlYS7WqKND7ADgM3e5LIrUODCZqUskNI3aelLmDXph458U91GSIAo_-_k-Ua9TmKxhqsORCZni9_R949l7nY0b1_WgjSfJyqmxniqxvuMfqnuEkwLCSBL6djIjtmIqYE3sPS7U7HmTGr7LEgMAs9Y9tbrNCC8W0VPzQLpPP546O8V7LdI2fkBVN3AYXWduGYDGSDGHznoGnXBYg2zj66f5A-WwI27KFEwVUdZbT7IXOWvaWlnzx_nqKYhI5xa5ZDIe4Gpp3AROVPU9GBGmarfLlZ40h6PufoyQNlls_pfhshRxOV9ftRUjZCVUdWNW-3JbttVuizXAshAYPJrpu35AmqrUTZh8CZajnbe9EZOI2qoB73aqu_1xT69QA3Q9zyU1QuvItV4njk03PeW6cnC5p6a8Gl7rrycVhS60fhm5k1SyI1lqqYy1zodE3oPHwxn65BAU1MVnpbSVuYlKPEK8syIfCYA20qFXyZEPClpjg6XpqYDnKckZG_8idcxD78aiM1lN-pPTJgG2FQiud5E97t2lcBbi4VoGeln5tG7mz9-9L-efrcwNiolN9GY4K464byo-soUdhPXlrmXkDOmcD0nsnJ3WNF1Ihs_eJr2yvNqEQLVlXhkfNJoCJRQsPWW9-wk7gE6conJbO4PusKSa9fteZmTlhCsHitVLKKZilPNFS5nFRWdu_prhjbkeNKQuvF7hsOQ14uGjy27-dBKY6FNtljE47zOlCj02NFnUlXMxxGwOW0r_hASC63dVdxiX7SZDucGsSJhPuPQonDDWk3iFBQfkziJTFkts3-hrJPg-ifrQlRL7p22GmiAms7tOwrgf-dDipJ4nnYR3jJmRDWGilERfzsuL6jIrku1FiGjLcVJjoM6qHRrIHX3VRgPoYnjL6W9QaAAsNB91bedG8qPOYqBg1YxcS4n8t2KLNnQv2dDEC60vdoQ9q1KDQG7XbmhO0NM3DvtYFeAn43NCy38DeXfXPSHTMCwYRhumape-_hzkDpZMO_Urk_M3LR6sB7iNOdEK1YV_wWyQ0dNgS7GHTZ69hBZu9TI0Sh4gzu-qBl5trAJVjTniKxHKYw74FXMla9go4I47zHU-Ze-gP9AXYsVixWgCuVpaaOYnvgIdh_yUArJWvZdJMO73jJM=",
  "id": "rs_03f64694d3d3afb8016ab43631952087d0a1578277025de3ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_y\":0.08,\"right_z\":0.032},\"note\":\"The right fingertips are now approximately over the capped end in the overhead view, while the wrist view shows the cap off to one side. I’m lowering vertically and adjusting sideways to put the cap between the jaws.\"}",
  "call_id": "call_VXTqAyfJEcsMjhhqIO0s2JuT",
  "id": "fc_03f64694d3d3afb8016ab436339fe887d0be6fdeb4d7e750ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VXTqAyfJEcsMjhhqIO0s2JuT",
  "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, 0.7673, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.1238, 1.7008, 0.5674, 0.5499, -0.1452, -0.1158, 0.5666]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.4101 right_y=0.0804 right_z=0.0425 right_yaw=0.2866 right_pitch=-0.0054 right_roll=0.0007 right_gripper=0.5666\nstate[joint_eff]: [-0.1299, -1.388, 6.7487, 1.7558, -0.0024, -0.0513, -0.0122, -0.5812, -4.6974, 3.9179, 1.3797, -0.0659, -0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef39b6ef6ecbd2de026b0a8374d59565e75275076f3699cd3af72aafc8973c16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c46b0e2d6956cffb7b572148ce878a4bc23b8043746dc122e65c2f1a7328a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764bf0856573e759a1bc50993631783acde883351714f301464187d0ea5b3a21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.94 s

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

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.165, 1.8736, 0.7994, 0.4938, -0.0975, -0.0868, 0.547]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4641 right_y=0.0983 right_z=0.0425 right_yaw=0.2721 right_pitch=-0.0062 right_roll=-0.0014 right_gripper=0.547\nstate[joint_eff]: [-0.1709, -1.3197, 6.6256, 1.7998, 0.0024, -0.0904, -0.0122, 0.6906, -7.1179, 7.6239, 1.8779, 0.1245, 0.232, 0.0562]",
      "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]: [-0.02, 0.767, 0.5476, -0.3485, -0.0231, -0.0074, 0.9983, 0.2607, 1.5478, 0.6994, 0.2901, -0.0479, -0.0574, 0.5657]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0053 left_roll=0.0024 left_gripper=0.9983 right_x=0.4125 right_y=0.1225 right_z=0.1014 right_yaw=0.3103 right_pitch=0.0136 right_roll=-0.005 right_gripper=0.5657\nstate[joint_eff]: [0.0205, -1.0598, 6.5846, 1.8291, -0.0024, -0.0659, -0.0122, 0.3214, -7.6786, 6.0239, 1.9023, 0.1294, 0.149, -0.0415]\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 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.1238, 1.7008, 0.5674, 0.5499, -0.1452, -0.1158, 0.5666]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.4101 right_y=0.0804 right_z=0.0425 right_yaw=0.2866 right_pitch=-0.0054 right_roll=0.0007 right_gripper=0.5666\nstate[joint_eff]: [-0.1299, -1.388, 6.7487, 1.7558, -0.0024, -0.0513, -0.0122, -0.5812, -4.6974, 3.9179, 1.3797, -0.0659, -0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef39b6ef6ecbd2de026b0a8374d59565e75275076f3699cd3af72aafc8973c16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c46b0e2d6956cffb7b572148ce878a4bc23b8043746dc122e65c2f1a7328a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764bf0856573e759a1bc50993631783acde883351714f301464187d0ea5b3a21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDY4iAXOn-Zg6Mpfl_72A6TscSmH2yUdUkF-cgfakn6HMqbAsSporwcbu2j1lX72YePeRhpnpXOTHWTgrpTNxwr6Z1wMYJPNLHQ7E4cDd2vzp19RGzGcb7Rph-KIxg4db5WWnljDt5p0AozIp7k-7NlXKMzP-cmblA6VBI4a436i3lfNNNm7rbconeV7MCBU2Ph-sGD55GZrKkOKlncec317HcqTfcGbPPS1_QzeglvfJZtz7uZrAHy2xIvZbZN6lSc0iBiqFfbBi1_hy6TJ4mVc6wIL6qglbXuekpJf6ACLdmbQ_wsRw4mPO0GtwG6lh6EWcn_NdIUMoVJ_aObTOwxH7r_OIgzTBwkcOhUSYEfYekscf1Ld5U47hSezq648Gq1A-5vDzgrGdopdg33U8kIXaak79QJlA3gtvwwaYrco4ODm_g-fjtFwavaJB_yxF7fNObZ0r1_kUjsS542vVP95-VVS5JpyVZjElwBtinTUXMr7cHLc2vf-OwWR1O3xNe_6hDo7H2hU6wdUFJ4qNsoHF3pqUHJcnMiBflrde5Z-BoAhpkLMJtQ2bTk-OkP52SfNGj--GxyuH_ABjND8phMk0ztEmwye1cIsvk0_2cnV2KsEvsos7K30Y338assy8yG27lhOBdlbxIJ83fPsarR4bUtfsvDBFNCqpV5R9Ci2tZJ3LCNsPb1ngogrSZBb1zZYozvShiWgwm5fR7sSXZ2Vc-DkJU7UjM1CWdDll97SGtOuBiztKtt4ORFj1jmC0ehDh5YDt712UJPxt3wEwLbMmPEc2bslN7SLSo7Cbb-Sq9B6Q9950rubSksZT2cBksM5Us6fVt4ywJMSLs3D0neopn3oQZwgXy-AFqesha_e8u__WiLc-wwIyeElTPA5ZKgnEn1xIL_d6nTpMaU_sUFWWbQ-6eD6Fe-wYzQWKJmI68wVfOcLLMJWfo627OslFoUNfxWnZnZUfu-LyvtA2kIp651eHWelRweRV653NJlIqI-rHNO_XaKAGr9RQQX8mCPr3OF3NDbwJxsGBYQzJMuxqnI5AeW_hgxbflcZtNqB4t92sjGTpqatW4Uf3S-tsUVv_xXhfFzQ6xe-IM1IXjO6_lFePD70FC_NlnBaucdqUXsZcutpwz044YdhFxsySBiz-H67VtZdnaw16SzMqKdwJWAotNTtGF_yb8mmak6PycTkxSJB7j9_3oH8WR1YTYscXMzDbcjG0CovZcaSDCf4HbC-DtPjpXv8N47Lb1IIOHNlVNPLVgtWnKGuCpStGLH11kUHID_AvDwdoYI6OvFDJaFqL6uCAXwiTcu4Zao4Gt7OuO6UnP8G5dDiDhTcwiRKN_vJwDOAE090WMzv_QYriGufn3W4UIgqf624KumDhLWHVTcxiuhKsNpoXONAHOk9jUu7qGU1du3WFyZ6-6ugHqkJiBqBcuFyIDvIm-owVJnbxlpiCXEw1_nz5kbawTAbpguVLuYBbfUOZJvFlbb-NkEH4nw13blnIBVAOjyEnzZhDERlRW2oFbmlXGqGFFajOvFv1VKh3EKMeULlRqFHOyZalEA6ybMy_MyW1KwaF4p3Lvt6eRE4d8lQx56TGTBUAciX-WctjhYp-KopvftTQKmvzJlysYm_ZYk64ApPoqk1H37_NFwDlEFzQnXmLU2ehZopvOoXM2Kgv1YtInh-GlPvPfl60VvYGHprspESrjkQORObO-cN4AzK5tsJ8a4ZKShkm1C2ct4MNHAdC7j1PX9xy784BGL7ytK49UA7sHGw8JedDVQkBX-rCT0X09xJEFo2L1YnP_bn85yD0jv8HhaJ1paWYsVKgKRs12ggzZBP73uEqPSOB1aKxdHuIbsn0ggVooa4LW6BlvgqMAB-eoIBwSHk1QYv6rzQRE1up1dnz1BBka4qvknvfPInnAhejRa89dzYFKFYSzxTU_R8SJfyaeaFsZj9xBSBKtWceNM3osa3a8L5OpuvisP8wcoIXbF3m0JY9tP-3YCDJgRTdyLA-Kr9JfP0GJHmGXiYGx-ii_zW-pfVKrAu0J8ZVbok_yfXxn0KPxSGtgG4wqp75d1g7gcaVybpgyiCX7oJFaI=",
  "id": "rs_03f64694d3d3afb8016ab43635fcd487d09af273abc1d7f3ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.083,\"right_z\":0.012},\"note\":\"The cap is straight ahead in the right wrist view, but previous closes were made around 5 cm high—above a thin cap. I’m advancing toward it while lowering to roughly 1 cm above the table to put the jaws at cap height.\"}",
  "call_id": "call_pkoDbduwaGAhUxAnwsWFfZwg",
  "id": "fc_03f64694d3d3afb8016ab4363807f487d08126bf1517deecc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pkoDbduwaGAhUxAnwsWFfZwg",
  "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, 0.7662, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.1181, 1.8992, 0.7074, 0.7002, -0.1699, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4598 right_y=0.0882 right_z=0.0414 right_yaw=0.3116 right_pitch=0.0874 right_roll=-0.018 right_gripper=0.5672\nstate[joint_eff]: [-0.1436, -1.2786, 6.5299, 1.7753, -0.0171, -0.0122, -0.0122, -0.6632, -5.5726, 4.6701, 0.823, 0.0562, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af489b686549a6be88b0562f475dba6ffe065229f567741f432cf4b204c03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7865e038ee79d98c528d37e311f6045de5ed5e1583ff5e2fd14e604b867691a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f045410a68b979adc4d5fc1cf586523c084e0091945e1115ee3022c57b9d48a3",
      "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 · 5.018 s

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

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1688, 1.8896, 0.807, 0.54, -0.107, -0.0906, 0.0128]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.1678 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0026 left_gripper=0.9983 right_x=0.4706 right_y=0.103 right_z=0.0477 right_yaw=0.286 right_pitch=0.0319 right_roll=-0.0038 right_gripper=0.0128\nstate[joint_eff]: [0.1162, -1.4564, 6.5983, 1.8291, -0.0464, -0.0611, -0.0122, -0.1983, -10.0171, 4.3966, 1.4432, -0.0024, 0.0562, 1.0818]",
      "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]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.1238, 1.7008, 0.5674, 0.5499, -0.1452, -0.1158, 0.5666]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.4101 right_y=0.0804 right_z=0.0425 right_yaw=0.2866 right_pitch=-0.0054 right_roll=0.0007 right_gripper=0.5666\nstate[joint_eff]: [-0.1299, -1.388, 6.7487, 1.7558, -0.0024, -0.0513, -0.0122, -0.5812, -4.6974, 3.9179, 1.3797, -0.0659, -0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.1181, 1.8992, 0.7074, 0.7002, -0.1699, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4598 right_y=0.0882 right_z=0.0414 right_yaw=0.3116 right_pitch=0.0874 right_roll=-0.018 right_gripper=0.5672\nstate[joint_eff]: [-0.1436, -1.2786, 6.5299, 1.7753, -0.0171, -0.0122, -0.0122, -0.6632, -5.5726, 4.6701, 0.823, 0.0562, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af489b686549a6be88b0562f475dba6ffe065229f567741f432cf4b204c03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7865e038ee79d98c528d37e311f6045de5ed5e1583ff5e2fd14e604b867691a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f045410a68b979adc4d5fc1cf586523c084e0091945e1115ee3022c57b9d48a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDY9LaQN5qiOvvPQZKIWb1AvhcX2Pc-iiKOnRer9cZJkjDUrrq9rICB96bIvkRMgsng8314qsIIuPvOIK831CFNtW2uFgniQac4t6A9cMi94MwW_B4PFInGvYWVNb9yxzBO3CQqySsVKlduo6bC0VoNfhO1rgJo0u8Z1OZVyvEAeWMLxS0SXVEST_YjrNsCe8BdEhvRF4BRY7fn5o-RwaYDujsJr4ZGtDe_eljeZOL-LYmfAEW8LVX9Ce0Lm0yKl8bofuR9BgGFY7D8Cxq7JCEmueRAchjJmg8IZuL1FD8Q8HT8jVQwDeZJSw-iP1RQS-1FQfkPbBCu2untE4h4ObUU4RzVry8hAiefMf6heyFMrTiQhZkAVd0mm38aqHdmAhstQ-fQFOWAOewYQ5VLtHfjIhyKG-1C3v12KqlfuMbKNqdM7FVN_KDfDQ03etF7kn9MJwROZTypbBLDVG7XmfRgO61jo6S29AK0VjEZtI_OMDSwUfIdFm7VrkIY8XuMEmFRqtHcZa13aTljO7BlnTcS38fzN_Gwz2WjnPdl2nD8H4_x2Isv3fZOEpOQ9FVmkMDxgF091zqf0DW2s4WAJ8zSEDCIuP93tHhAF6rli2MBKL3iD5wfv1zkJLKZxWcunKwVIyZg1pmbqe_L_IUiwX2y82Kb3gfujVT-QwOEf_InJo8JNv2FLRFGiotTBfhpzZf3xH0pQ3yntxQwSNGZUQHfP2J1dWqUOUWypWaH1qGob8LamCbxIybDkUz9xOScWVz5eUPRz3irzCnq66f8lL0wrAIYd_TxlEuD30L_O_5E2XoaK2mnQo-NPPkJ2T4ldU9meXruaYKpsuZJ1EfzTX4TgfPU5nhiElSMQ7nfCU2-bLxmVyUbfg-msju_gXUrd6T4bimvkex0hd43g8dDRcT7d1YsGfPNlRpLysjbZ3YY7peJhIf0UUS5QvOA5t6Y_8STt7Ej4hZPrKRVdJ6bfqAaVyE2RlusECMAhN7KzJsEzKRQGtL2x6_iicenuO6YjLZcNZlcMM3xfXv6rSP-vrTCcxNnHI57THj_KleRzWyGrlNAboNGyQEI7EJQTrTQx8IIK8gtTwftNUWB6dI4Kx9N1lE2gpMRfvz5DxOiCmLi_nlrmBDzaSshn_JvL5RWgHJzb5adEx5trQHWQgReToRDcehHXJXs7IKiAT3532KB1y6DbWVjeoEy4ETnr8X3kCQ5KQ5Pupo71GH1K0MNk5C7V0K1qKhmjdkaYEY_dK2Ryum_pI2x4CD1IGThfBOeJcuTdS08u8GbjMQVx7_UY0-9O4djIif5_sSshIv1PaP-Q3CSuf2M_8_b5mXr5i1Ju9MaD1SEGD-hWfwgo-6NOwEzKxpvoiXU78LR0PcUOzjV1NNZHZyWYtIf5S5lUolvExP2AAGAbULnt468Wa04GnM5fSXq4BpYklxVk6mcbHk8qAK5--M835jbxGKnN-OSPnzfyPnLt5zx4k9nNC3ZWU2brLwLNmpcxsXyUVcfzdnQArZqDSdY9T-LtnVNjyY4qSRfJ3lGwq2_LH8_8qdoLJF3YDD3NBhrVhubKEFD8pcaEoM7Tu5Jp0boEAS1t7S8uO5b_s8vnTkb7QCiAoTkPdpVOzOKI0knXIu_W5QH2WYB8wxc=",
  "id": "rs_03f64694d3d3afb8016ab4363b23f887d0926d6102d154490f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_y\":0.087,\"right_z\":0.019},\"note\":\"The cap remains just forward of the right finger tips, and the actual gripper height is still about 4 cm despite the lower command. I’m making a short forward approach at the low target to reach the cap without closing on air again.\"}",
  "call_id": "call_mtzPiTTYVv4hfeQUu1KXKbrg",
  "id": "fc_03f64694d3d3afb8016ab4363c1f5c87d0ab85150802ff2339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mtzPiTTYVv4hfeQUu1KXKbrg",
  "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]: [-0.02, 0.7666, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1177, 1.916, 0.7258, 0.7124, -0.1696, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4659 right_y=0.0887 right_z=0.0431 right_yaw=0.3112 right_pitch=0.1008 right_roll=-0.0208 right_gripper=0.5672\nstate[joint_eff]: [-0.0205, -1.2786, 6.7487, 1.8046, -0.022, -0.0464, -0.0122, -0.5949, -5.7231, 4.6974, 1.199, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd272c04566eef4fa196b07a5a050a84526c49e5fcf33a14a7a2ccba5a6e586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0810c3e762253b35e36d9366fc2aef3af2460e002dd1737fc7b1a22d331f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a53f5351a914c8eaa01a99d045c723e593b339d165db8c5b21755d5c865fca",
      "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 · 3.444 s

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

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.767, 0.5476, -0.3485, -0.0231, -0.0074, 0.9983, 0.2607, 1.5478, 0.6994, 0.2901, -0.0479, -0.0574, 0.5657]\nstate[eef_state]: left_x=0.2903 left_y=0.0019 left_z=0.168 left_yaw=0.0022 left_pitch=-0.0053 left_roll=0.0024 left_gripper=0.9983 right_x=0.4125 right_y=0.1225 right_z=0.1014 right_yaw=0.3103 right_pitch=0.0136 right_roll=-0.005 right_gripper=0.5657\nstate[joint_eff]: [0.0205, -1.0598, 6.5846, 1.8291, -0.0024, -0.0659, -0.0122, 0.3214, -7.6786, 6.0239, 1.9023, 0.1294, 0.149, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.1181, 1.8992, 0.7074, 0.7002, -0.1699, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4598 right_y=0.0882 right_z=0.0414 right_yaw=0.3116 right_pitch=0.0874 right_roll=-0.018 right_gripper=0.5672\nstate[joint_eff]: [-0.1436, -1.2786, 6.5299, 1.7753, -0.0171, -0.0122, -0.0122, -0.6632, -5.5726, 4.6701, 0.823, 0.0562, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7666, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1177, 1.916, 0.7258, 0.7124, -0.1696, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4659 right_y=0.0887 right_z=0.0431 right_yaw=0.3112 right_pitch=0.1008 right_roll=-0.0208 right_gripper=0.5672\nstate[joint_eff]: [-0.0205, -1.2786, 6.7487, 1.8046, -0.022, -0.0464, -0.0122, -0.5949, -5.7231, 4.6974, 1.199, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd272c04566eef4fa196b07a5a050a84526c49e5fcf33a14a7a2ccba5a6e586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0810c3e762253b35e36d9366fc2aef3af2460e002dd1737fc7b1a22d331f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a53f5351a914c8eaa01a99d045c723e593b339d165db8c5b21755d5c865fca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZCs6-X-l8nXlcRyl-8MHJZFAr8JXFUHnc4HLqvx9svsOUtthf05K9x9itDs3KGA3hxukdVo75sZlwNgjDAnGdFqXLfaHjKE_47dCnoynU31GTghR2P-BQsCCpefzYc97Ueq8sL6e7mO-pqHtct2fG109ZZUj3sVcByr-DEZmIFnCv69b0_sCTvGuxw3DDNTtjF9UGHAHvAqXBxybscP1Ogq6tNkFdn8zOkCtwaJZ9025vBjgm_cmhYCzmgU8dGtFrLF4Id5_agMo5qv7GBow9NsXgW4ghB-0uz_nhQURh2_4UTdcMciIV9DPYQx4ozsnXHkgiBJs5Id1pVkuEOK5Y4YyqAiVKKYrvoK26HPr0L1fzjBQ1SaaiIYt3PNX85Z6NnItAJIEa5Zz9QuIQg5udWCqXqiKzrbbxU7qy9AxXGd_ZtgalbFq7-KHviADw--Tsj2fWYw3Z3o1fhWYuZlcmx4rTk7ym7VMvX4XHPZ0hWEIDjPQpQAOMAtH_0O2RNLvEHmsxwa1CHJXG9jruVlZNTyx8LRMCdqec688QFNA9r9ixAvQws0Ls0YQSBKhbPMbC5MIXBh7tZckdwRKyS7spEubfeZK0-chr9TggRa75k4R3Tty9nUApdBRGN042p7RwASo68ePXBVW2H6O_OLWmspDpLrqcALto7IqnO-X58p31byfGOfceQoY3yhw14cLjm0dfWSIhzgVE7_QMhhFy_Hc0bgns-iF0b3PhARMknn7ypiS5yjgBx6QzCPjf2AtRsczMENBrkVtYf6Qw3a4tR331veptIB76wP_kuMhlogNNiEZzOEwr0Za1Lt0vZ-BGZ67fdZCki-M-bxNIvBb2mZbnxU7oqEpacZzsAsJM27LvE7rZrUMEkNzm4vXzOLFIuv2GEAYnYvm-Q_LNJbKEgV96xPOanaP_1HlMXJ8sA31ycT10G1i-vFlDejKp8yZBVGpRpkdo5Md1m8-Y_amygUrvXEANgvffUqwosWgD1FLVrVVSFxxoUCzgq5uT6URuxhPdHwUblHBGL0_tNvWc_VbSBo7A9WQQRKDe9bybXk4mnZOMNzc9XmthWwSMCE4Lu_U6_l65q-GTwRLFF2aSZe7vqaX-O-KKJE2ugjYA8_N8Yk_Ps4iG35tv2gYlYMGQg6NHNCzhx3oBLMTrBnDuUDxEX9pMf1ddstsk0XcgUh_maGPRLbIK8sxKZ4C24MYt-_bwHK2LMGrmtbX23088yh3OSOlzEnj8qoods_EweaQfb4DduM9h6E9l7EGUzd_NIkh3bj8wD2NYrQ51l5kBELVI44Z3vu30KEnHa4-fbmn5EFNIBsPu6y2Q2lc7RttFBC4bg-SxHxq0wmiw0egZfNn9wDL1ow97BfTx0XCJcalgvnxcQeYgivBz7S7UpamhMePEzkYTS-ilfNdjWAZnqQxwGgViCfaDEJYeQYbT-H7iLSQ84TRKN90LZwW_J9V-2wO67XS6d9ppivtKg701LDYID-IbSbCwDlHe0aLY2fptUmudJGZn6p0lJSMOiJfWK3QcTTJP-IQRey0JXrte78YdEwldfrMHidmyg5uJw8M7AxWFCKFXORXOuucZm12lVPIItjy8rYHIEoZPSa-IM8rf5M658Gy0ecBAj2Bdt-LbeZH--SV7LHZZBGFlEIElZtyAQArSr6BlAignm1cGHvsykWnod6xzTP6Mw73IUQroGkJkgBw0zUlcJIu2PhgJSX7NMW_b8ge9SFNnVx4ipTZfL_DAlKKbGc0dzQGcB6_iz9zxl6TkjQSth8pNXBBlyQqM8uMDWaVEqPrJ6ynvVom-y_2i01z5zH36O78O3X8JQY6sxjNZylcCVv7a2JGAr5hs9osm15vFZwtUofMKtNQbvT8_8O65gZt4Iu8Fcz6XMHeHRzb-0FZtXGdXiVI1iN6mX5bT8VGMJeee4SlXLGKTLBfFoYuVWleYmvWlFAAEGBEq8Tx0Jj5SIITI851QI-AFKnoBNGdGF4gDVCbObiE5Y3dBF0uBKiCp4ANK2g7uSV4lyO0XrhS1ja0_eK_y_Q3l6L9CV6KJKRIc9FsQem0zODzOpmXyP8Up71jvfyWiM95EG_nVtCAKI4V1zNV6-niefQH8Ge9aI0R8uzK95fvb4hTDLbuUMpqCLTa7IXVBCA6UYNKJdCf3Vns65zOucwynQARazxEdZQZHIljuIKreIldaqG1xmaoessF9a5so21hb17gkASaU900O6nwBNmSPXopbXZLJ7w_ABzU8oOmEmTY8NWEMGwYCeuqeGkwAxvBz1F63MNf1l63RCfJLeDjBEXNxNCC5IF6CPZ97tghtIFA8Ak8EJyK2qJhBdiBrlDfI_ufhAQPTiyNyZEWAyp7cC_Szc9htf85QFgIBUdVKX0iNg3h1ZeoZBooi220NhqVUzZLIGwEpDjzXc9RdxHdbOj38mxAtUDF0nomQeU-ERF8fPrYxEITHJVd3I3HdrQedzrQuwwUAfGeNCerOr2oe5RcXuOAKa-nBS17_bKVu1T77JRfMmOVWjrKekJ9wgrF-rwJD_IoP3rjWqK7BCIsd9uurHem6ZwxqEu_F-8FM_s81WUbhJjcLI6Sw9lBbTyaz28-W6IDFoiGt9Byz-VJqePS9CYD2DAsEEbY9QL4wvATzZpEZVQPIzmiHTf7eT_jPtP-RkhyNp3aQcGcOfhy899to5DK0IHZkSyEH8eDs9Jo7BlAWCHRrKcxj34ce28W1w-VR2v9XMFKEYfcuomZUVEpiS0MRpRS2vgk8oektlqxme1RetYSyeViJiIlk=",
  "id": "rs_03f64694d3d3afb8016ab4363e81a087d085e122a9fd837f89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.105,\"left_gripper\":0.6},\"note\":\"The right arm cannot get lower or farther forward at the right bottle's cap, so repeated closes there will not help. I’m parking it and switching to the left bottle, approaching its capped end from above with the left arm.\"}",
  "call_id": "call_ZloVQw2gZZPE7AH0ERAsLXSD",
  "id": "fc_03f64694d3d3afb8016ab43641683c87d0b2c58249eb206329",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZloVQw2gZZPE7AH0ERAsLXSD",
  "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]: [-0.4541, 1.5082, 0.6785, 0.144, -0.3683, -0.2481, 0.6023, -0.3069, 0.8894, 0.6239, -0.2634, -0.477, -0.3695, 0.5672]\nstate[eef_state]: left_x=0.3845 left_y=-0.1129 left_z=0.0867 left_yaw=-0.0134 left_pitch=-0.07 left_roll=0.0272 left_gripper=0.6023 right_x=0.3135 right_y=-0.0105 right_z=0.1963 right_yaw=0.269 right_pitch=0.1053 right_roll=-0.0761 right_gripper=0.5672\nstate[joint_eff]: [-0.4718, -6.5573, 8.4718, 1.8486, -0.3639, -0.1001, 0.105, 0.1162, 0.0615, 8.6632, 1.536, -0.2955, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563e29889cb9b2a30d26032609c96c5d67e80019f9b397464ac04ecb0b36726e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6250de4311ef75a758bdd9caf22fd87a6c557324376c03e6472c6936bf616ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbd3c8c58c621d8c5f15230c3a69e27ba513ffad23f4f65df0f31bce929ea58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.032 s

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

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5476, -0.3492, -0.0231, -0.0074, 0.9983, 0.1238, 1.7008, 0.5674, 0.5499, -0.1452, -0.1158, 0.5666]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.4101 right_y=0.0804 right_z=0.0425 right_yaw=0.2866 right_pitch=-0.0054 right_roll=0.0007 right_gripper=0.5666\nstate[joint_eff]: [-0.1299, -1.388, 6.7487, 1.7558, -0.0024, -0.0513, -0.0122, -0.5812, -4.6974, 3.9179, 1.3797, -0.0659, -0.1685, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7666, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1177, 1.916, 0.7258, 0.7124, -0.1696, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4659 right_y=0.0887 right_z=0.0431 right_yaw=0.3112 right_pitch=0.1008 right_roll=-0.0208 right_gripper=0.5672\nstate[joint_eff]: [-0.0205, -1.2786, 6.7487, 1.8046, -0.022, -0.0464, -0.0122, -0.5949, -5.7231, 4.6974, 1.199, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4541, 1.5082, 0.6785, 0.144, -0.3683, -0.2481, 0.6023, -0.3069, 0.8894, 0.6239, -0.2634, -0.477, -0.3695, 0.5672]\nstate[eef_state]: left_x=0.3845 left_y=-0.1129 left_z=0.0867 left_yaw=-0.0134 left_pitch=-0.07 left_roll=0.0272 left_gripper=0.6023 right_x=0.3135 right_y=-0.0105 right_z=0.1963 right_yaw=0.269 right_pitch=0.1053 right_roll=-0.0761 right_gripper=0.5672\nstate[joint_eff]: [-0.4718, -6.5573, 8.4718, 1.8486, -0.3639, -0.1001, 0.105, 0.1162, 0.0615, 8.6632, 1.536, -0.2955, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563e29889cb9b2a30d26032609c96c5d67e80019f9b397464ac04ecb0b36726e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6250de4311ef75a758bdd9caf22fd87a6c557324376c03e6472c6936bf616ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbd3c8c58c621d8c5f15230c3a69e27ba513ffad23f4f65df0f31bce929ea58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab43644ee0087d09f4db0f92daee477",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.075,\"left_z\":0.075},\"note\":\"The left wrist view shows the left bottle's cap ahead and left of the jaw center, while its wider body runs toward the robot. I’m advancing and shifting the left gripper toward that cap before descending to grip height.\"}",
  "call_id": "call_Cu8wFBUPjhceTIGxXLMbZdyT",
  "id": "fc_03f64694d3d3afb8016ab436465ca487d0894b80877618cd2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cu8wFBUPjhceTIGxXLMbZdyT",
  "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]: [-0.2783, 1.644, 0.6594, 0.3344, -0.2672, -0.1829, 0.6012, -0.3145, 0.9741, 0.717, -0.4553, -0.4976, -0.3939, 0.5672]\nstate[eef_state]: left_x=0.4141 left_y=-0.0661 left_z=0.059 left_yaw=0.0435 left_pitch=-0.0612 left_roll=0.0086 left_gripper=0.6012 right_x=0.3072 right_y=-0.0075 right_z=0.179 right_yaw=0.2878 right_pitch=-0.041 right_roll=0.0148 right_gripper=0.5672\nstate[joint_eff]: [-0.3487, -6.5162, 8.6222, 1.6435, -0.1978, 0.3834, -0.1294, -0.1299, -2.7966, 9.6205, 1.7509, -0.1587, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b76df1f148c4ad2e11b40acb3711dd84011a65550ac6d5d4711891f6e8b928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e29da2f22ae1a61df7d04c77feb9427305308860e9b61384411374b712a466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c074df75888620a8a0bf7790a157448bca49ab4bf6cd5833f3f4142ae32cb37e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 6.241 s

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

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5476, -0.3492, -0.0235, -0.0074, 0.9983, 0.1181, 1.8992, 0.7074, 0.7002, -0.1699, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4598 right_y=0.0882 right_z=0.0414 right_yaw=0.3116 right_pitch=0.0874 right_roll=-0.018 right_gripper=0.5672\nstate[joint_eff]: [-0.1436, -1.2786, 6.5299, 1.7753, -0.0171, -0.0122, -0.0122, -0.6632, -5.5726, 4.6701, 0.823, 0.0562, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4541, 1.5082, 0.6785, 0.144, -0.3683, -0.2481, 0.6023, -0.3069, 0.8894, 0.6239, -0.2634, -0.477, -0.3695, 0.5672]\nstate[eef_state]: left_x=0.3845 left_y=-0.1129 left_z=0.0867 left_yaw=-0.0134 left_pitch=-0.07 left_roll=0.0272 left_gripper=0.6023 right_x=0.3135 right_y=-0.0105 right_z=0.1963 right_yaw=0.269 right_pitch=0.1053 right_roll=-0.0761 right_gripper=0.5672\nstate[joint_eff]: [-0.4718, -6.5573, 8.4718, 1.8486, -0.3639, -0.1001, 0.105, 0.1162, 0.0615, 8.6632, 1.536, -0.2955, 0.0024, -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 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2783, 1.644, 0.6594, 0.3344, -0.2672, -0.1829, 0.6012, -0.3145, 0.9741, 0.717, -0.4553, -0.4976, -0.3939, 0.5672]\nstate[eef_state]: left_x=0.4141 left_y=-0.0661 left_z=0.059 left_yaw=0.0435 left_pitch=-0.0612 left_roll=0.0086 left_gripper=0.6012 right_x=0.3072 right_y=-0.0075 right_z=0.179 right_yaw=0.2878 right_pitch=-0.041 right_roll=0.0148 right_gripper=0.5672\nstate[joint_eff]: [-0.3487, -6.5162, 8.6222, 1.6435, -0.1978, 0.3834, -0.1294, -0.1299, -2.7966, 9.6205, 1.7509, -0.1587, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b76df1f148c4ad2e11b40acb3711dd84011a65550ac6d5d4711891f6e8b928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e29da2f22ae1a61df7d04c77feb9427305308860e9b61384411374b712a466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c074df75888620a8a0bf7790a157448bca49ab4bf6cd5833f3f4142ae32cb37e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_03f64694d3d3afb8016ab43648b4c487d0b0d0497945e52dd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.459,\"left_y\":-0.049,\"left_z\":0.022},\"note\":\"The left cap is now closer to the finger center, but the bottle's broad shoulder remains between the jaws. I’m moving forward to the narrow capped section and lowering toward tabletop height.\"}",
  "call_id": "call_ZxXQHpYciEKve6brYgFsAN4c",
  "id": "fc_03f64694d3d3afb8016ab4364a636c87d097f37145c342310a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZxXQHpYciEKve6brYgFsAN4c",
  "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]: [-0.2684, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.9596, 0.6746, -0.4236, -0.5014, -0.3946, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0681 left_z=0.0623 left_yaw=0.016 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3045 right_y=-0.0063 right_z=0.1707 right_yaw=0.29 right_pitch=-0.0364 right_roll=0.0141 right_gripper=0.5672\nstate[joint_eff]: [-0.2393, -6.5983, 7.7744, 1.9365, 0.0562, 0.1587, -0.0269, -0.6085, -3.3573, 6.7077, 1.8291, -0.3346, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46b4a5ca2372428c3a0ac28a3a88cbeeba8c0cc2ea39bc115aa92e121badf5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e02d94075ea055878e59ee405694762d1aec606bf578f073e816de9ebd5868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5efb7cc162c8300f10d5229127e9f1f7e48879b213c7959fe5ee84b8f04323cb",
      "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 · 3.62 s

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

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7666, 0.5476, -0.3489, -0.0235, -0.0074, 0.9983, 0.1177, 1.916, 0.7258, 0.7124, -0.1696, -0.1329, 0.5672]\nstate[eef_state]: left_x=0.2902 left_y=0.0019 left_z=0.168 left_yaw=0.0025 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9983 right_x=0.4659 right_y=0.0887 right_z=0.0431 right_yaw=0.3112 right_pitch=0.1008 right_roll=-0.0208 right_gripper=0.5672\nstate[joint_eff]: [-0.0205, -1.2786, 6.7487, 1.8046, -0.022, -0.0464, -0.0122, -0.5949, -5.7231, 4.6974, 1.199, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2783, 1.644, 0.6594, 0.3344, -0.2672, -0.1829, 0.6012, -0.3145, 0.9741, 0.717, -0.4553, -0.4976, -0.3939, 0.5672]\nstate[eef_state]: left_x=0.4141 left_y=-0.0661 left_z=0.059 left_yaw=0.0435 left_pitch=-0.0612 left_roll=0.0086 left_gripper=0.6012 right_x=0.3072 right_y=-0.0075 right_z=0.179 right_yaw=0.2878 right_pitch=-0.041 right_roll=0.0148 right_gripper=0.5672\nstate[joint_eff]: [-0.3487, -6.5162, 8.6222, 1.6435, -0.1978, 0.3834, -0.1294, -0.1299, -2.7966, 9.6205, 1.7509, -0.1587, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2684, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.9596, 0.6746, -0.4236, -0.5014, -0.3946, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0681 left_z=0.0623 left_yaw=0.016 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3045 right_y=-0.0063 right_z=0.1707 right_yaw=0.29 right_pitch=-0.0364 right_roll=0.0141 right_gripper=0.5672\nstate[joint_eff]: [-0.2393, -6.5983, 7.7744, 1.9365, 0.0562, 0.1587, -0.0269, -0.6085, -3.3573, 6.7077, 1.8291, -0.3346, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46b4a5ca2372428c3a0ac28a3a88cbeeba8c0cc2ea39bc115aa92e121badf5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e02d94075ea055878e59ee405694762d1aec606bf578f073e816de9ebd5868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5efb7cc162c8300f10d5229127e9f1f7e48879b213c7959fe5ee84b8f04323cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab4364e18fc87d0b248506185b203cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.065,\"left_z\":0.15},\"note\":\"The low approach to the left bottle stopped at the shoulder before reaching its cap. I’m lifting the open jaws above the bottle and crossing over to its capped end, then I can try a vertical descent instead.\"}",
  "call_id": "call_bQ7lIKEwWewKrafdiDpnijWI",
  "id": "fc_03f64694d3d3afb8016ab43651232c87d08e14552b5e40a3ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bQ7lIKEwWewKrafdiDpnijWI",
  "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]: [-0.2687, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.947, 0.6357, -0.3958, -0.5014, -0.3977, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0683 left_z=0.0623 left_yaw=0.0156 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3018 right_y=-0.0055 right_z=0.1624 right_yaw=0.2916 right_pitch=-0.0351 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.1026, -6.5846, 7.8974, 1.9756, 0.0562, 0.1392, -0.0171, -0.5402, -3.1658, 6.9265, 1.7851, -0.2759, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5336e4afba01ab3ef8723745dd949ddfc73b5f87aacd98725c86d07249f16f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0f4822001a8b8aa6d063ce729f4881fd30621a5836040d430a39da91091d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8555bc9ccd2ed09859399e4aa835fb087cef8f8d1188a20528ac96fb67a6b8a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 6.578 s

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

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4541, 1.5082, 0.6785, 0.144, -0.3683, -0.2481, 0.6023, -0.3069, 0.8894, 0.6239, -0.2634, -0.477, -0.3695, 0.5672]\nstate[eef_state]: left_x=0.3845 left_y=-0.1129 left_z=0.0867 left_yaw=-0.0134 left_pitch=-0.07 left_roll=0.0272 left_gripper=0.6023 right_x=0.3135 right_y=-0.0105 right_z=0.1963 right_yaw=0.269 right_pitch=0.1053 right_roll=-0.0761 right_gripper=0.5672\nstate[joint_eff]: [-0.4718, -6.5573, 8.4718, 1.8486, -0.3639, -0.1001, 0.105, 0.1162, 0.0615, 8.6632, 1.536, -0.2955, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2684, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.9596, 0.6746, -0.4236, -0.5014, -0.3946, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0681 left_z=0.0623 left_yaw=0.016 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3045 right_y=-0.0063 right_z=0.1707 right_yaw=0.29 right_pitch=-0.0364 right_roll=0.0141 right_gripper=0.5672\nstate[joint_eff]: [-0.2393, -6.5983, 7.7744, 1.9365, 0.0562, 0.1587, -0.0269, -0.6085, -3.3573, 6.7077, 1.8291, -0.3346, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.947, 0.6357, -0.3958, -0.5014, -0.3977, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0683 left_z=0.0623 left_yaw=0.0156 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3018 right_y=-0.0055 right_z=0.1624 right_yaw=0.2916 right_pitch=-0.0351 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.1026, -6.5846, 7.8974, 1.9756, 0.0562, 0.1392, -0.0171, -0.5402, -3.1658, 6.9265, 1.7851, -0.2759, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5336e4afba01ab3ef8723745dd949ddfc73b5f87aacd98725c86d07249f16f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0f4822001a8b8aa6d063ce729f4881fd30621a5836040d430a39da91091d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8555bc9ccd2ed09859399e4aa835fb087cef8f8d1188a20528ac96fb67a6b8a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_03f64694d3d3afb8016ab43654864087d0931e51c46f9664bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.31,\"left_y\":-0.11,\"left_z\":0.18,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The left arm did not move at all on the raised approach, indicating it is obstructed near the bottle rather than merely short of its target. I’m fully opening the jaws and withdrawing toward a clear, safe pose.\"}",
  "call_id": "call_tqbSJ9GdzhtANqdnTCKvdhl3",
  "id": "fc_03f64694d3d3afb8016ab436555ab487d0812aeb41e68e0aca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tqbSJ9GdzhtANqdnTCKvdhl3",
  "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]: [-0.6113, 1.0893, 0.6704, -0.2237, -0.4797, -0.3428, 0.9975, -0.3145, 0.8867, 0.6155, -0.4309, -0.5014, -0.3943, 0.5672]\nstate[eef_state]: left_x=0.3172 left_y=-0.1184 left_z=0.1654 left_yaw=-0.0309 left_pitch=0.0018 left_roll=-0.0123 left_gripper=0.9975 right_x=0.2909 right_y=-0.0016 right_z=0.1636 right_yaw=0.2908 right_pitch=-0.0311 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.2667, -4.1504, 9.8256, 1.5604, -0.2662, 0.0464, 0.0024, 0.294, -3.0017, 9.7436, 1.4725, -0.2662, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9008a3ec685d432e1d3f65caca0e24993965820184f0fca99bb824a097868f58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66e15dcadcd063cd6a596f6fe5f421813a21521d65952ae0808d341953a3b74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939148dd397905302047e3490149b9e065d76e87915110eaa4825734d1e963f2",
      "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 · 2.442 s

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

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2783, 1.644, 0.6594, 0.3344, -0.2672, -0.1829, 0.6012, -0.3145, 0.9741, 0.717, -0.4553, -0.4976, -0.3939, 0.5672]\nstate[eef_state]: left_x=0.4141 left_y=-0.0661 left_z=0.059 left_yaw=0.0435 left_pitch=-0.0612 left_roll=0.0086 left_gripper=0.6012 right_x=0.3072 right_y=-0.0075 right_z=0.179 right_yaw=0.2878 right_pitch=-0.041 right_roll=0.0148 right_gripper=0.5672\nstate[joint_eff]: [-0.3487, -6.5162, 8.6222, 1.6435, -0.1978, 0.3834, -0.1294, -0.1299, -2.7966, 9.6205, 1.7509, -0.1587, 0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.947, 0.6357, -0.3958, -0.5014, -0.3977, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0683 left_z=0.0623 left_yaw=0.0156 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3018 right_y=-0.0055 right_z=0.1624 right_yaw=0.2916 right_pitch=-0.0351 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.1026, -6.5846, 7.8974, 1.9756, 0.0562, 0.1392, -0.0171, -0.5402, -3.1658, 6.9265, 1.7851, -0.2759, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6113, 1.0893, 0.6704, -0.2237, -0.4797, -0.3428, 0.9975, -0.3145, 0.8867, 0.6155, -0.4309, -0.5014, -0.3943, 0.5672]\nstate[eef_state]: left_x=0.3172 left_y=-0.1184 left_z=0.1654 left_yaw=-0.0309 left_pitch=0.0018 left_roll=-0.0123 left_gripper=0.9975 right_x=0.2909 right_y=-0.0016 right_z=0.1636 right_yaw=0.2908 right_pitch=-0.0311 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.2667, -4.1504, 9.8256, 1.5604, -0.2662, 0.0464, 0.0024, 0.294, -3.0017, 9.7436, 1.4725, -0.2662, 0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9008a3ec685d432e1d3f65caca0e24993965820184f0fca99bb824a097868f58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66e15dcadcd063cd6a596f6fe5f421813a21521d65952ae0808d341953a3b74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939148dd397905302047e3490149b9e065d76e87915110eaa4825734d1e963f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZdakRBCQy5pJJVTdMo4xzSLdClytmJaqnQyw-hiC5PXNjPNuHK_izPHXdGPZd7KvpXsBJPUfnT2engAaR6TmS73pJknq0O0uEjxjAUwVZmUDTn5dWdSEwSh3XvEvwoCohF6tuTc6nf69qF6oZ8PdzU1gZrsFyqi9JOvO8B-w0mqZQOID6EBUdOQ6pMFPDqE12eBDn8R2IfLUA8HatimxJZSb8DpMjrEd-UXnTYsRDX1eVs1_GHZxDViUEsek-urRtAcNmXJOG7s3ZpqO5R8A2GT4OEMu6dFKN4brJtkxSO2GkozuWasCKEavia9_oJRTOmy4MwBdy3hZcmoAhzCHN_Ksgz7CtumgHgkrIgIWosANO4jqjv4CwZf9fB1EaG8ZWv3hmHoN62kKltLJcIn3kQuD1FDnpUmy5bEBRUo5xEZF7tNYAlj0ql6TC4nO-CvOTuf2gpxkC9agHS2elFXPLJf_ymHdWexCsRZqXRR1JgEHqv8K2VqfkM4nHFWfTtYn0wiVewtCjSiytaMOVSoCvkuG6g45RXh7up-zYi5DECL9Q4oo4EA5866FykenUt3G4UoJHMMJoPulZTB4-IUthHlqnEPEWoAg5KYfVz97786daCStCLwVCPsI1V_CjpfQ4sd4ewsujNctY0DR9w0LCPKxwgBdZYjilsm_jf-y5O_swyaPfpBvutEC9A2Ol4kAMUclOZWD1q68isrbGxkiqOKytswfrk50vdPyyhd5TvZtBM5myxrZZvZ7jHnX7SNu_uG2TGAseAsrDH3hIvT_Wp5_S0fUbzDddAoEFlLWpRdNdZLT3iwmYFBWlCnJ7gXUia835smeoon2TklQ9rj16XeEhtkPuwogRDnq3zF43lgqxeTEdxsfRNDZC6KAybA7xnwl_Agt0L8k8yGGRGAn2y6T3Ri-TZLxwmonYZi8_BiGwXWis5iS4KchuFYIzIe8u5Cq663LC34-8S1hLAgMAOUuiiu3xy4SJH-Tr3xCCJRQ5uq-70iXqa_5apuTuFcUVq16z79-5kfcu_1IEp4AY0v8huqRX_SQgz_GOLr5349MjBI9Ls-gKuw4O9itbAiG7gJud-ONhYdFJECzAQfFUU7xdLbPvZ8DUVrN88LuVGSkGLXTHCYPirJ1QO6XTP93smq5rDgycj7rEUti0MCXWntsFfaPEOQ9AQeRpKUhJuO6UJJWfUjWfbCMgYp3I-YM8WvDD6d_aQ6xpssDWtBd3zkKc0yVJL3cObCBTbG8Q3jamhXo3ilg5rHBdAkvrose0GxPJqDtH1YrH6pCw__sXmYGryHQegbywA0WftD3fibzyzi4Xp7b3mpi2bjoYL4ntA_JJlOpaF3XrMpG7j0-522L2YwgEzVs3kPd1xNwD59x1OQj6OCem45Ig6G-7ssKelE_yBUOWH7YFcixJbx4oJz36Ai3Sb084pMFXI5gyAT742oH9s-wDu23y957xHFf1U7g-HnEAhmwgU6ZWYTEDY3tsHUVRRZIVILUUDpIqnOmEsPQQXTAZcnNmvpDY63NRrTYFG5Feh_-4PPmoSAdD4EEDZeL9Q-tpTJP-gO28EWYY6Bj5IPqslMs7Tj42i9vv9hp3bU4k3_FEpBwZLEI3x-5W4mL284xAc_DW3oi_O_DBBcenXYXRaGz3e71LMZdxBiNySlpnN3s3J8Gt3J1khckv12RS6iLUqIvq8dkdyw-LN7qDjRg_F2dHvxC0BryUDEvtyVRUxBzX8jvkdsSWBYmp-38n3vhaVnA_PR45_mLiRQsbdEMHz3W0sp9EDEo-3m0HshE3BivpXTNoPaV-xkFVpi4vCqEIZRMt8BVLyDSOSGuNkMq8VmmCJbOr9eFcEY_iJl62Un2Eu6XMY4UbVMknX--6ID049cVIBZO1e2I0YNZiV9tRwOnJvgtpOl--pzTWdiGg0JrEOZAEwSnTO5-RmyJC3KNH3z_Xq9M-_exYFa7KGMwubRP9mOTIzsLOziHF83GTjOcKvznSVOnHzVto2F9XqEBUYqj3gsJhJFMG4pclyJ9nmS71G1dc46gvAb1ybFw5IJUFVkGlBXn1PBCveGLGqkWgJVyvlK42V2rrrpLdINh1HNN99nfpg7CC2dw3AV433Cu-gAdqyhmzzD-Nl7Q1CHvYcNTHr9y0aM-nBGNvCtoP0I2xpsZ_PHBj3mdOO5N_X6QRwu5kIHViGiLCF5IlNupeCcJaDcPz_GadWLyc6txstMnJe10GBW1UsqwhGwTASzM6KCGTOfpFVyUtLClybpRaBuNpEoS43QUhJc98aGpbnwr6uTco3uNcHrNZ64iKbTmTPtK356_nNvUDKKmwpgGWr_YjFS8OSCtAafhaWDEv3_UhZaLXUzesDVYBuFutNSMHrTLPl7xnKnzgJJ2OKHLl63gYVWgLbXTEGyR3JXBPVdsYgqR012C4f1OsmUK4Oyx9iunAemEMxgxf-vYQi2885OA_0Ecj6N-tXM4vXgyNUm8ILmuf7CEYjw33Sjcz4D8YRAddXpseRyU1bT7V2rsjixcpEZCrDjv4DdAawu3BJrUoHZTrJUWdi3iYElVZNWS5DNBIlhXC72EfUnbEcrJ8836yy8eIsehG55CVqFFLzIYVM6qutXQef_GQoQ8jpSgUpj0Gvy_Z4_QYzIeOh2Nwwcw8srA6P_0b9YChS2ZkW_0g5QVarRZgTC1Huq_zGiwUZi2CG9wZNqZq8kMasU-dLWpTdvzIA2t8H87u8Lzx4sbce6m1_zcc2UEvh1cB4DiJtH6a2orCgXAbwUNf02_YmRBYdsn7hJLxtCTfxQnbv_mLsP6lR3t1-mXss5aLniHRnja5UcSZHGrIt2jq4NJ0-8m7YEb44yUt69sZTTX2nl3MrL6iv_b5Se8Vt42WvARG46fzlNq19CVrvfOa6kXoFKmLupMNmmULJzUdhAxGkkbP51F54HOWY3UCNbVdTFEvomgphzO13aprI0SgjY3_50y3CPQp1qPlNZZLcccJLPhhTdPyUmjIznEEPkWs619oFz_9skjUbDhBWuWr_8CVHImC8e4iYDzE6Mtfka1C1hY88MQvBbLHJ1q3CnjgtP1W7z3zqQBCEqnoOMX1jiMRXSFf7rTgjXl6e2TzmCcnXWxZN3Bl9IkqBI-lp6wTnBU6VuoJCKMILLcmQ7kG1bvUZSvSpzyuLlw_47Mw6YRuELxj7mMUdCzJrj5GjbJL6ocMh7pyz3a-G7lUdC-vyjBqCXAvRykwXYkAR2uR_6SSR2Rgj5GDgZLE_21VhN0SMJ_BUy-N0M0wLkPcX2svRL0ZwJO-2UFfiiNnoTMxM80oRu4PPEqbsBDFvx8nrxhy_gbCmIRAkFEZX4oILvWC3JrvprKJFLiGr_iW2LVXjBVXeJyzJLpCklZYEespR88lFzDXSK1BSbiXoYWf55lVnleXfVcmCE3gid1Qr3CoeNioecJPLsm9lAgRwb42dTu1lGGn-_uH9tX2uQNox8ay80sZdSayQE9ejX5E_r1hBo109ia3OJi4MuoLpi0OJYgLpbqL98Ckl9A3NQD82VrYg5gcgmJJQfzUwW6Ug-EM9RcWIX9DtSmYqLC7m",
  "id": "rs_03f64694d3d3afb8016ab43658671887d09ccc1de1f3c78990",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZdTmiyUcU6Zfq-O-uHpv_AysgM0QtEMuEurWw5jgq9nZwLndeUoi_Iq4YgfeS-h9m0KM3DvyoyvfqlunXdfZchBasuLTjhr97hufqRcZuKlyB2x2_JS6R45EnmydUpvgDhOPzPnQ9ZH5V48DkHbZj590jd2hKT_t8EnrM64xwx5M6hkepL88U_GaaYWpibWK36lYXTEL0bA_in6m_NQ4WXVvAU29WLBBImGluByyE8WrLEkgWMryFVK9Dg6cDJftjz6NSYTIKYJcTFvRkZkQcw5O-dHPyQAoXrPyXFcOW8lKfbCpKge1vKkVlIN-unb2nFMsS8OBi7gUTSdpvxERTCwnG9CWxQJ6Adjoq0n9kuzgpuZ-uSPHxY1UMqrV3tw_D7rmWo6M3JvVHtggrffGgh8HRDTA0wUXYJmSKsZMwgwwdko6FvNP5gfzGqDAYABCead7-ekwTkkUXBqDxVrUkbFpzl1JJyZ_l9pykI5O3wSRXOikXvV5dKDPk1fkXY4H9biGAAeH1iiRvDNiwtOxaMDStcNzsvmO1BXYd-K269hBBnsbPMx309JtveqtG2vKrnQ_vHkonQAre9t-xVz2grZdeOPPY2XI2yo6tgtVPtQ3Q8WQWAxuC3ZagLHahK5NvkUZVhkNfnCvbBy8Vs3Y4a6tt4p0hKqkggdVg69GtzPGpbVVTnhhivx72pRkD6zhlBV5xlX_UTopabmGDHdXI0yUAN78BwrhiAapER9LdaPJbX2XHD4E47QWB_LfbNkCEEOzxJCrR3M0ABOLkuZ1WCqkwhYtnXMcSjXjd-Kya-CE0i-2Yn8fXAd9Ek6RFsqeWDJVhVyMhxKzAHolWGKZiPdz93pfQ-SqheKFEdPYXz8qdApZnhA6TeT3_tEke6jgqZWRND242r7Bhln92cj0LTXCUU3C3pM9wnXXatvU28d6RQ4cWSy_pIY5Iqu6w8QW8WJqmeggstn2UmxlgoYxNgzxTs2IIzOcvgJSiFAsaoxPKhQY_g1vkfn4G8HTzIE1Hc2UWpx4s0LKiHkGr2v25Fk4Ch8sESZSjkoqGLOalVkD5oAZLDMJB5eXhyyW7jbmG3QSW_vM7jnjinPKC-xqpFTDesOy1bW55dnJ7U4bmZ-GDFXbewN8RTjICclaGK5AhE1qC4vn9MlzAdEX-cq787HsXZ1hpjw5JnQNy25MOnAZewvjpXbAXU42ON5KB9bd98YS0fZCR1wOTBROi0h2hhU4MfEnsw3eClM2uac27_ENoHSXYyb0mskgcL1f5uSsjm",
  "id": "rs_03f64694d3d3afb8016ab4365c949c87d0aa01e76937a722e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.3,\"right_z\":0.11,\"right_gripper\":0.65,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"With the left arm withdrawn, the overhead view clearly shows the third bottle nearer the centerline than I had assumed. I’m approaching its cap with the right arm at the correct cross-table position, while parking the left arm.\"}",
  "call_id": "call_awnslmIQ67KIVAR66llK2aoY",
  "id": "fc_03f64694d3d3afb8016ab4365cd15087d0a2521c758d6b812b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_awnslmIQ67KIVAR66llK2aoY",
  "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]: [-0.0093, 0.8021, 0.598, -0.3691, -0.0113, -0.0132, 0.9976, 0.749, 1.8233, 1.0576, 0.091, 0.3382, 0.2001, 0.6486]\nstate[eef_state]: left_x=0.296 left_y=0.0028 left_z=0.1772 left_yaw=0.0059 left_pitch=-0.0108 left_roll=-0.0087 left_gripper=0.9976 right_x=0.3957 right_y=0.2928 right_z=0.0934 right_yaw=0.3362 right_pitch=-0.059 right_roll=-0.0312 right_gripper=0.6486\nstate[joint_eff]: [0.294, -1.9761, 6.9675, 1.9023, 0.1245, 0.1685, 0.0024, -0.0342, -8.759, 9.2239, 1.8926, 0.4127, 0.2857, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349fbff326959f30b69b973f0561701aca09c4b5e8640d1667a2b8becde87744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9752621aca716d68108a9e6251fefdc9b3b040eb115ac386363e3f00d8cef0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9af5adff2cadf0a24d7172a64a02da9821ea6e5aaf53db9bfcb2b6aeb3cf324",
      "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 · 4.477 s

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

message 141 changed as sent

message 149 changed as sent

message 154 changed as sent

message 141 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2684, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.9596, 0.6746, -0.4236, -0.5014, -0.3946, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0681 left_z=0.0623 left_yaw=0.016 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3045 right_y=-0.0063 right_z=0.1707 right_yaw=0.29 right_pitch=-0.0364 right_roll=0.0141 right_gripper=0.5672\nstate[joint_eff]: [-0.2393, -6.5983, 7.7744, 1.9365, 0.0562, 0.1587, -0.0269, -0.6085, -3.3573, 6.7077, 1.8291, -0.3346, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 149 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6113, 1.0893, 0.6704, -0.2237, -0.4797, -0.3428, 0.9975, -0.3145, 0.8867, 0.6155, -0.4309, -0.5014, -0.3943, 0.5672]\nstate[eef_state]: left_x=0.3172 left_y=-0.1184 left_z=0.1654 left_yaw=-0.0309 left_pitch=0.0018 left_roll=-0.0123 left_gripper=0.9975 right_x=0.2909 right_y=-0.0016 right_z=0.1636 right_yaw=0.2908 right_pitch=-0.0311 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.2667, -4.1504, 9.8256, 1.5604, -0.2662, 0.0464, 0.0024, 0.294, -3.0017, 9.7436, 1.4725, -0.2662, 0.0562, -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 154 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0093, 0.8021, 0.598, -0.3691, -0.0113, -0.0132, 0.9976, 0.749, 1.8233, 1.0576, 0.091, 0.3382, 0.2001, 0.6486]\nstate[eef_state]: left_x=0.296 left_y=0.0028 left_z=0.1772 left_yaw=0.0059 left_pitch=-0.0108 left_roll=-0.0087 left_gripper=0.9976 right_x=0.3957 right_y=0.2928 right_z=0.0934 right_yaw=0.3362 right_pitch=-0.059 right_roll=-0.0312 right_gripper=0.6486\nstate[joint_eff]: [0.294, -1.9761, 6.9675, 1.9023, 0.1245, 0.1685, 0.0024, -0.0342, -8.759, 9.2239, 1.8926, 0.4127, 0.2857, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349fbff326959f30b69b973f0561701aca09c4b5e8640d1667a2b8becde87744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9752621aca716d68108a9e6251fefdc9b3b040eb115ac386363e3f00d8cef0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9af5adff2cadf0a24d7172a64a02da9821ea6e5aaf53db9bfcb2b6aeb3cf324",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZiwXXebyUez9BjoNWs9x3ipO1-PMjZzaXc8UKaJmxV72jrWu6uQe3nXUjo3UqDmd-TuENlA_ZcfYY2oISCaTizrVmIjNf5My_mZr3Ne8irFZAs93gp06gl93zL2hNbGVJyW5CEAGXybJHHK82UO2MaKzq6U3C9WxnFL8vbwkyyfWmeR0mmNTX3BHj5swqMwzgak3PeAFuMMA7jNgFxcW--MsJOsc0Hc8jAgeoF54TIu5gVktP-gqrtoy0zYbStSgd6R9vV5pIxCN6dJGhAQjKTlWdxEFpb2NSg6LejkN2ySJBqXMq_q_YY9lK8jAT6MZShWQ6Bg_QBO2IXNza-pLGDVEOfSDnZlYTz8G1ip254RwutGx4UOlbjzI0Sppy8vu-2jsCblZlFhM2_8bnLDzExnHhm4T-nqHmaYEUHWmvIrY9nyuVzA7zAipXgp82ptElj3GJ-RlkhWNMppiIyh8PvL8cJpgcyXp1DRtEu8dR7BEyADBEZYx7nsMEOXs3bEH1mOTjP5725a3oDX6yGqVckp6v5_LS2jJw1BQZogtsDGrneFwe980kCHK-RaBEPROQAX1R8QtEK0nC4nvLkQyILrWphOqsTPmES4Q_JQoQI-MMFfXMNaUzhZ9v_-m4YrqY7cOM2KjVR0wwZrEGchZPpJYfUBZ22XQXLyb2AzBBqioXeCW95RWyCUeBHV1QMUMhM8uOIX5_vCJKzjNownRscghuRE1XL_yzQjyyQnWjQLYUOompOk-P5HR8JbzA9vXaTsW8eUoZclWUnptX7Fow4ICqu5D0HKRInRJgDtWgQjgbV137v72aZcKD9pOFM5bCdRDEoKR7VGdmXVSIjXro5CNhVyltaMGFxKBAhsbB5xt8nAGr-RSWz0W0E_YNfzcgob-J8di3AZjLgx6EuO8lZUuVOi9yX4mjGK2_NM8hRfGMX05N_sMi3ZfMGKbKI88ISSl3zsWcKHuRv2aDYM3bR8cdFZYvEkTEQZUJ1hWUWaPpjFubbX8yxZWe0tPDkIyJorYN8iRZ_Rd-FF84VqnCjm5zxuenudFwGBW3X3cDEetZc1YG2Uzm55I8v9sT6teXk9V1eb3455YggX_VYSV6u9iekgRghMiAQ5icS1bF-Ohza-r_mR0xtMHq4cjwOdKGK3nb8i7y8-aW00-fz2wdAL7V5_b3_PDWVISW0Zcz63MlDIsnLQLuIuME2IaMA4xmH6yInM9C6QTW4R0A_YlDAv6Sh1k6M-EvcbK91ZHRQkxgexDwpfpoZZW_R_6iDOLz1xJcM8kJqj7q5_YLZj8PCFqGH2sfu9XGR6dXa5ia-EhLKsHyO1Im6vNo_9sQNmoHjpSsGzohnG7W8HLWdtkny9_Gh7GJKAoCm8kXJyWYBc-qgOXYDMKR1u6COMbFv2bQvZNnin7DFLH-Uy1uZhEaYNbVX4Vsf3BPTsTo4KIOIgry1J1pavl-Vl60gHlTl3sG2",
  "id": "rs_03f64694d3d3afb8016ab436615f6487d08efb057cb6020a5e",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.293,\"right_z\":0.041},\"note\":\"The right wrist view now clearly centers the third bottle's capped end, unlike the earlier off-axis attempts. I’m advancing toward that cap and descending to near the bottle's height.\"}",
  "call_id": "call_FdDdVx8lF9CJpLzwqA01jd3h",
  "id": "fc_03f64694d3d3afb8016ab43661f6e487d086825c06f1a0731c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FdDdVx8lF9CJpLzwqA01jd3h",
  "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]: [-0.0135, 0.799, 0.5949, -0.3721, -0.012, -0.0032, 0.9976, 0.6693, 2.0094, 1.0653, 0.3267, 0.2836, 0.1623, 0.6497]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.176 left_yaw=-0.0029 left_pitch=-0.0138 left_roll=0.0001 left_gripper=0.9976 right_x=0.4362 right_y=0.2866 right_z=0.0492 right_yaw=0.3225 right_pitch=-0.0181 right_roll=-0.0105 right_gripper=0.6497\nstate[joint_eff]: [-0.1436, -1.5248, 6.4342, 1.9072, -0.1099, -0.1001, -0.0122, 0.2256, -7.6239, 7.1043, 1.6777, 0.022, 0.0659, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b160b6f01f4aa71da4d347def5a1d2394b2566b05f5e1a015b114e19dfa2989e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b967247ed7412efdc77d78dca8d190b53b0969008a74a9104d40ec7fbaff26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1a205d5ff2ec7b45a5151bd2589e4996fe27f5289b1147dc97762c229798e5",
      "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 · 4.288 s

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

message 145 changed as sent

message 154 changed as sent

message 158 changed as sent

message 145 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.6512, 0.6628, 0.3634, -0.2394, -0.157, 0.601, -0.3157, 0.947, 0.6357, -0.3958, -0.5014, -0.3977, 0.5672]\nstate[eef_state]: left_x=0.4191 left_y=-0.0683 left_z=0.0623 left_yaw=0.0156 left_pitch=-0.0423 left_roll=0.0065 left_gripper=0.601 right_x=0.3018 right_y=-0.0055 right_z=0.1624 right_yaw=0.2916 right_pitch=-0.0351 right_roll=0.0107 right_gripper=0.5672\nstate[joint_eff]: [-0.1026, -6.5846, 7.8974, 1.9756, 0.0562, 0.1392, -0.0171, -0.5402, -3.1658, 6.9265, 1.7851, -0.2759, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0093, 0.8021, 0.598, -0.3691, -0.0113, -0.0132, 0.9976, 0.749, 1.8233, 1.0576, 0.091, 0.3382, 0.2001, 0.6486]\nstate[eef_state]: left_x=0.296 left_y=0.0028 left_z=0.1772 left_yaw=0.0059 left_pitch=-0.0108 left_roll=-0.0087 left_gripper=0.9976 right_x=0.3957 right_y=0.2928 right_z=0.0934 right_yaw=0.3362 right_pitch=-0.059 right_roll=-0.0312 right_gripper=0.6486\nstate[joint_eff]: [0.294, -1.9761, 6.9675, 1.9023, 0.1245, 0.1685, 0.0024, -0.0342, -8.759, 9.2239, 1.8926, 0.4127, 0.2857, -0.1538]",
      "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]: [-0.0135, 0.799, 0.5949, -0.3721, -0.012, -0.0032, 0.9976, 0.6693, 2.0094, 1.0653, 0.3267, 0.2836, 0.1623, 0.6497]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.176 left_yaw=-0.0029 left_pitch=-0.0138 left_roll=0.0001 left_gripper=0.9976 right_x=0.4362 right_y=0.2866 right_z=0.0492 right_yaw=0.3225 right_pitch=-0.0181 right_roll=-0.0105 right_gripper=0.6497\nstate[joint_eff]: [-0.1436, -1.5248, 6.4342, 1.9072, -0.1099, -0.1001, -0.0122, 0.2256, -7.6239, 7.1043, 1.6777, 0.022, 0.0659, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b160b6f01f4aa71da4d347def5a1d2394b2566b05f5e1a015b114e19dfa2989e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b967247ed7412efdc77d78dca8d190b53b0969008a74a9104d40ec7fbaff26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1a205d5ff2ec7b45a5151bd2589e4996fe27f5289b1147dc97762c229798e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDZn_RwgotSEKgLD7TqsZ4Qc-cpjJ9QxTvZLUclju-fwFKLJshfbi7t2svjf3DLHt6yqVu1fn8qLbAw8sbF3Ql8NB682zpsPGaWF3lVRNGR9lj458j2HAV1TH-jeuWJsW6MwPSBUroHcF2YK5Uqo27Ok3lvnFCQcJlz7QjXEolhhNaivRTSjwZgOhzimR5mOUd0d6gzJfin8lmsMmd3bky_HNFuZtTCreeGogqwKF0HPr9TtAY6WmZ9tRO7cfjd1zztljnVGuUEGDpqS063RmFyzDu-SuJ6HwFa6YEQRmDQIx1YLeRvHzI60jWPmFd4G_GliDNT1iKcr1OjmPfifj-Fan34aKMPevWrwv-vc-Zux57gaHv3cYPVcRZOxbImVqnBe7UlFo1WepPmRvy_a89BS6Lqq_zlBgFWtk4myvL5tGBVsHIUf66F8awUvjfLOsR1gbJQuzWpoHVGGa7gPpJ0X_YUudKWjQ5Hssvf7te9mgb1yTaz6Ytu8D1lXjnr-pOI5_ouV54mlMEhrRKoDczhKNMTBCX38b9c7ogcWqVPOaOx4hk03n7CuL1JqEkPFJur4ikPcB13lHxASrWda-r61q6kMOyZ1HwMnJJl0HfbD8vToXnWHCwttHdFaryoCnnzt4rDdB1IH4yYXlNUF5Yn6lCbDQnUPSf4u4rW_iD6txIyt4bcPsoXh8eg2Z8fBAgLoH2Fj5XzqdE0qLB_8S2VFMxHVLWNhNUKbnTeTp3y1G2bsoNxapP828SqbhW3GWy4AUnreDKZjEhTnB1OQe9dLZOHrCAy1-zF4TwZkyMN0G2E5ZQrOYhL3KUTo9atDvk3Hry73or8k3N2S1KsoCu_FLBplWYeRoT63-T4WasguKu6HmNJXdUkUVsItxvN-D26wC6Ps2OVfQm1UDFhhqlM8YSoU97djVKBUiqqgXVU9wAQDcXyEpiJaSmPrWjMjEF_aOjy-jwjS6e7teZ5a1xiV5-lAaae5sxkEoHqDHKIsp1OD9Ju8Az0G6CTaWM87O-9bdjKFx6FDK2FxoLWONNvNQv30joTgukxsR0M6eHbhrMqZN5if4FqODi4iZQRZzMqE-vwDSFEgnML0nwKFK_PzSPlW4B_l4c4SwEXpd7f50dkDUJkecTDQzK958HLv4reO3HxI8Na9NMKT2eZCIsF_d9fLe_RKCETFxjQjiEaiC26lF5Ok87HjaFPrk_1E3AmoV3fzCwekntHwiPxW-Or-DwLgnskwCrZiOxJrRtji10JCnqEYdiqVw6MzknY2r-QnQhIumydxrWVnJODJVN-lp1j3ARnTXejrr_1LrAGg0dd8hifSzd_TiUfgR-zAHiVPwyvGkDqceXlKak3cmFgYIwC2BP8Xz3AFNIchyLTUSqm3NqnOIfnEzf7bIp2AqKQAO8AGh6Cf8I2rFREInpytjMU-CetSRLKoNaVh7RCGCzsogY_bYXgmh4AXfMf2vS9P5pIt_26gaMkMv3q7YldB59jrJI4qFBDdYFhDMrMmvBjC5cfNdtzZRScJL1GmCli2Ds_2XkUCATTYf93B3feFOs8A8baP7tq8rLMKn8G8qFCx7W8oyV2SVisk8yfSD6oLZu2DNe2TvWdy2IK8TmYNKu0EjMlBifxyp4SWpK2VYSVCNIgiQ6g8INZLObIkmmB6nmYvHHlPovAshM8m2lGH3ES5xOVeBhWu4viNw9QOwv9eP2HXcEZGm4wmpko7rEA1rNA674J8qdYjz2TMCkvuwXZEJ-pjgKpDw9mSX55bHR96bGanPDiLg0rU_5MI5OJuByR2tXftpAAex5rzSn80WZtRuLVEV0YIgdn1EZBDf_woy4cbYXzkX4hwlsZg3sufdUbqUsrN6WssrfVMXHwcwU6CiMwaOvq1ZC9MTgZUJY1lXL1VAvcumMuLQASWryZOeutneuiZ7syw5OtZpmAHn_barogVxGrVXbnGJk6rLose02u4Qe5WPWK3lls37Y6S1Oy0kTwW8dsxJKr-OS1gN0Vmd85NeYiW-ELGlo5DYYdbById8ENMKRvcwAYcdzcZHc0DOFItYsegy1_FOZYqK3nsoaafOnwYUgBgWSlxUnDv3IzbVSOePNA9cd6-MYGsceVV2BYKHAHSxYAJApXR2P9H7d7Y343MIRviTEqBELv5wUS1UR2VgzMr93uEI4UmpZow9TlGFS2kfWN8IM-4jCE_-T469ho1iFYTm8tunvA=",
  "id": "rs_03f64694d3d3afb8016ab4366429e887d0a38994ad801e6968",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.333,\"right_z\":0.022},\"note\":\"The bottle is still left of the right fingers despite its cap being ahead, so closing now would miss. I’m shifting toward the bottle's centerline and descending to a graspable height.\"}",
  "call_id": "call_dmMsL9Z0BjfHnPsUhDXcpnCH",
  "id": "fc_03f64694d3d3afb8016ab4366686d487d0a9b801c281711e56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dmMsL9Z0BjfHnPsUhDXcpnCH",
  "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]: [-0.0135, 0.7952, 0.5823, -0.3721, -0.0151, -0.0029, 0.9976, 0.7433, 2.1372, 1.1885, 0.3908, 0.3138, 0.1616, 0.6499]\nstate[eef_state]: left_x=0.2932 left_y=0.0023 left_z=0.1713 left_yaw=-0.0006 left_pitch=-0.0226 left_roll=0.0022 left_gripper=0.9976 right_x=0.4433 right_y=0.3383 right_z=0.0447 right_yaw=0.3718 right_pitch=0.0434 right_roll=-0.0059 right_gripper=0.6499\nstate[joint_eff]: [-0.2256, -1.7162, 7.2547, 1.8877, 0.0122, -0.0366, -0.0122, -0.8274, -8.5128, 5.9829, 1.4286, 0.3883, 0.4322, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385a06981b17ef61b65d9028dd299c8cbe2a67b314661c2815edfc1179f51de0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df90c9281e79afd74b404bb82631f07d9cb001c8a0b03fb0e8d0cfc33943298d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2813976144d032d48d3e7d5c1f6918939074684d642aab1596db51fb41b869",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]