adhoc

completed
2026-09-23T19:05:48.007851+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
234.9 s
total steps
397
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on the tabletop, with their capped ends toward the far side. I’ll approach the neck of the rightmost bottle from above so I can lift it into a vertical position.
move_to
right_x0.4100right_y0.2550right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3771, -0.0227, -0.0326, 0.9986, -0.0154, 0.7879, 0.6033, -0.3862, -0.0227, -0.0341, 0.9983] state[eef_state]: left_x=0.2955 left_y=0.0017 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=0.0031 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [-0.4855, -1.4564, 9.812, 1.79, -0.0317, 0.1587, -0.1538, -0.7316, -0.9094, 10.2496, 1.8486, -0.0366, 0.2027, -0.1929] 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":0.41,"right_y":0.255,"right_z":0.14},"note":"All three bottles are lying on the tabletop, with their capped ends toward the far side. I’ll approach the neck of the rightmost bottle from above so I can lift it into a vertical position."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe right gripper is above the right bottle, but its neck is still a little forward and to the gripper’s right in the wrist view. I’ll move a few centimetres toward the neck and lower the open jaws to its height.
move_to
right_x0.4550right_y0.2250right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3885, -0.0231, -0.0296, 0.9984, 0.7559, 1.7596, 1.132, -0.1402, 0.5735, 0.4118, 0.9982] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.0096 left_roll=0.003 left_gripper=0.9984 right_x=0.3983 right_y=0.2486 right_z=0.1245 right_yaw=0.0404 right_pitch=-0.0522 right_roll=-0.0422 right_gripper=0.9982 state[joint_eff]: [-0.2256, -1.4017, 6.5709, 1.8046, -0.0366, -0.0659, -0.0366, 0.0479, -8.4581, 9.0598, 1.6337, 0.569, 0.1538, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.225,"right_z":0.085},"note":"The right gripper is above the right bottle, but its neck is still a little forward and to the gripper’s right in the wrist view. I’ll move a few centimetres toward the neck and lower the open jaws to its height."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe open jaws are now centered laterally on the right bottle, but the cap still appears ahead of the fingertips. I’ll advance slightly and lower to grip the narrow upper section rather than the wider body.
move_to
right_x0.4850right_y0.2200right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.6193, 1.8984, 1.074, 0.0784, 0.474, 0.3157, 0.9982] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=-0.0016 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.4375 right_y=0.2173 right_z=0.0688 right_yaw=0.0327 right_pitch=-0.0779 right_roll=-0.052 right_gripper=0.9982 state[joint_eff]: [0.0479, -1.7573, 6.5436, 1.8535, 0.0024, -0.0757, -0.0171, -0.841, -9.2103, 7.5829, 2.083, 0.3297, 0.0269, -0.0073] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.22,"right_z":0.045},"note":"The open jaws are now centered laterally on the right bottle, but the cap still appears ahead of the fingertips. I’ll advance slightly and lower to grip the narrow upper section rather than the wider body."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe right gripper is low over the upper half of the right bottle, with the bottle centered between its jaws. I’ll close the jaws and check whether they hold the bottle before attempting to lift it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6128, -0.387, -0.0231, -0.0296, 0.9983, 0.5682, 2.0541, 1.0958, 0.2352, 0.4332, 0.2668, 0.9982] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1822 left_yaw=-0.0013 left_pitch=-0.0073 left_roll=0.0029 left_gripper=0.9983 right_x=0.464 right_y=0.2125 right_z=0.0275 right_yaw=0.041 right_pitch=-0.0739 right_roll=-0.0556 right_gripper=0.9982 state[joint_eff]: [-0.1846, -1.5932, 6.5846, 1.8095, -0.0024, -0.0708, -0.0122, -0.5812, -10.0034, 8.5949, 1.8926, 0.0513, 0.2466, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is low over the upper half of the right bottle, with the bottle centered between its jaws. I’ll close the jaws and check whether they hold the bottle before attempting to lift it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe right gripper stopped at about half closure, consistent with holding the bottle’s roughly five-centimetre body. I’ll lift it slowly so the base can swing downward and clear the tabletop.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6125, -0.3874, -0.0231, -0.0296, 0.9983, 0.5625, 2.0602, 1.1202, 0.2638, 0.4137, 0.2604, 0.4948] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1817 left_yaw=-0.0013 left_pitch=-0.0088 left_roll=0.0029 left_gripper=0.9983 right_x=0.4741 right_y=0.2192 right_z=0.0376 right_yaw=0.0556 right_pitch=-0.0394 right_roll=-0.0268 right_gripper=0.4948 state[joint_eff]: [0.1026, -1.7299, 6.4889, 1.8046, -0.0269, -0.0464, -0.0122, -0.4581, -9.4154, 7.5829, 1.9463, 0.1832, 0.1001, 1.0379] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The right gripper stopped at about half closure, consistent with holding the bottle’s roughly five-centimetre body. I’ll lift it slowly so the base can swing downward and clear the tabletop."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe gripper still reads a firm grasp, but the overhead view is partly blocked by the arm and I can’t yet confirm the bottle is dangling freely. I’ll lift a little higher and draw the gripper back from the other bottles.
move_to
right_x0.4300right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.5625, 1.8568, 1.3415, -0.2176, 0.3885, 0.2523, 0.4957] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1817 left_yaw=-0.0018 left_pitch=-0.0084 left_roll=0.0031 left_gripper=0.9983 right_x=0.466 right_y=0.2189 right_z=0.1406 right_yaw=0.0783 right_pitch=-0.0972 right_roll=-0.0459 right_gripper=0.4957 state[joint_eff]: [0.0752, -1.5932, 6.3795, 1.8144, -0.022, -0.0317, -0.0122, -0.4034, -13.2991, 9.6205, 1.7656, 0.2759, 0.0611, 0.0806] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_z":0.25},"note":"The gripper still reads a firm grasp, but the overhead view is partly blocked by the arm and I can’t yet confirm the bottle is dangling freely. I’ll lift a little higher and draw the gripper back from the other bottles."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe right bottle remains aligned under the gripper while the grip reading stays at bottle width, but it has not visibly settled upright yet. I’ll raise and retreat a bit more to give its lower end room to rotate down.
move_to
right_x0.3900right_z0.3300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6094, -0.387, -0.0227, -0.0296, 0.9983, 0.6212, 1.6905, 1.4063, -0.4194, 0.4118, 0.2573, 0.4957] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1805 left_yaw=-0.0016 left_pitch=-0.0111 left_roll=0.0028 left_gripper=0.9983 right_x=0.4298 right_y=0.2251 right_z=0.2131 right_yaw=0.1168 right_pitch=-0.064 right_roll=-0.0415 right_gripper=0.4957 state[joint_eff]: [0.0068, -1.7299, 6.694, 1.8095, -0.0122, -0.0611, -0.0122, -0.2393, -11.7402, 9.9487, 1.8877, 0.3346, 0.2418, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_z":0.33},"note":"The right bottle remains aligned under the gripper while the grip reading stays at bottle width, but it has not visibly settled upright yet. I’ll raise and retreat a bit more to give its lower end room to rotate down."})
tool
executing move_to over 8 steps (0.8s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe bottle is still visibly lying in its original tabletop position despite the raised gripper, so this first close did not lift it. I’ll reopen the jaws and make a better-aligned grasp instead of continuing to pull.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6025, -0.3862, -0.0227, -0.0292, 0.9983, 0.6907, 1.6283, 1.6718, -0.7464, 0.4358, 0.2768, 0.4957] state[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1775 left_yaw=-0.0018 left_pitch=-0.0172 left_roll=0.0032 left_gripper=0.9983 right_x=0.3945 right_y=0.2339 right_z=0.2975 right_yaw=0.1566 right_pitch=-0.0554 right_roll=-0.0389 right_gripper=0.4957 state[joint_eff]: [-0.212, -1.7162, 6.6803, 1.8877, -0.0464, -0.0855, -0.0122, 0.0889, -9.9214, 9.4017, 1.7753, 0.2857, 0.2662, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bottle is still visibly lying in its original tabletop position despite the raised gripper, so this first close did not lift it. I’ll reopen the jaws and make a better-aligned grasp instead of continuing to pull."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe right bottle stayed down after that attempt, so I’m clearing the right arm from the shared workspace. I’ll approach a bottle from a different angle with the left arm next.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.5877, -0.3779, -0.0227, -0.0296, 0.9983, 0.6937, 1.5921, 1.5658, -0.6827, 0.429, 0.268, 0.9955] state[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.1733 left_yaw=-0.0016 left_pitch=-0.0202 left_roll=0.003 left_gripper=0.9983 right_x=0.3886 right_y=0.2323 right_z=0.2794 right_yaw=0.1697 right_pitch=-0.0631 right_roll=-0.0452 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.9077, 6.8444, 1.8681, -0.0024, -0.0855, -0.0122, -0.5538, -8.3897, 7.3915, 2.0635, 0.188, 0.149, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18},"note":"The right bottle stayed down after that attempt, so I’m clearing the right arm from the shared workspace. I’ll approach a bottle from a different angle with the left arm next."})
tool
executing move_to over 20 steps (2.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteAll three bottles are still lying flat, and the leftmost bottle’s cap is closer to its arm than the others. I’ll bring the left gripper over that cap and check its alignment before closing.
move_to
left_x0.3900left_y-0.1450left_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7853, 0.5743, -0.3714, -0.0227, -0.0292, 0.9983, -0.1791, 0.8173, 0.6243, -0.4263, -0.2443, -0.1875, 0.9974] state[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1705 left_yaw=-0.0018 left_pitch=-0.0199 left_roll=0.0033 left_gripper=0.9983 right_x=0.2917 right_y=-0.0057 right_z=0.1764 right_yaw=0.1049 right_pitch=-0.0276 right_roll=0.002 right_gripper=0.9974 state[joint_eff]: [-0.0889, -1.5111, 6.5983, 1.9658, -0.0122, -0.0415, -0.0122, 0.0889, -1.7983, 7.1863, 1.7851, -0.315, -0.0269, 0.1929] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.145,"left_z":0.085},"note":"All three bottles are still lying flat, and the leftmost bottle’s cap is closer to its arm than the others. I’ll bring the left gripper over that cap and check its alignment before closing."})
tool
executing move_to over 14 steps (1.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe left bottle is very close, but its cap sits off the left side of the wrist image while the jaws are over its body. I’ll shift the open gripper leftward and slightly forward toward the cap.
move_to
left_x0.4150left_y-0.0650left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5476, 1.5719, 0.6552, 0.2085, -0.4423, -0.3328, 0.9983, -0.1837, 0.8043, 0.6018, -0.4206, -0.2626, -0.2066, 0.9977] state[eef_state]: left_x=0.3755 left_y=-0.1362 left_z=0.0688 left_yaw=-0.0165 left_pitch=-0.0666 left_roll=0.0294 left_gripper=0.9983 right_x=0.2888 right_y=-0.0033 right_z=0.1714 right_yaw=0.1259 right_pitch=-0.028 right_roll=-0.0024 right_gripper=0.9977 state[joint_eff]: [-0.3487, -6.6393, 7.8838, 1.7411, -0.3004, 0.149, -0.0171, -0.3077, -1.7983, 6.5436, 2.0147, -0.0122, 0.1978, 0.0171] 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":{"left_x":0.415,"left_y":-0.065,"left_z":0.05},"note":"The left bottle is very close, but its cap sits off the left side of the wrist image while the jaws are over its body. I’ll shift the open gripper leftward and slightly forward toward the cap."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe left bottle’s blue cap is now in view, just left and ahead of the jaw column. I’ll bring the jaws over the neck at tabletop height, keeping them open while I refine the position.
move_to
left_x0.4750left_y-0.0180left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2607, 1.6756, 0.5774, 0.4931, -0.2489, -0.1967, 0.9983, -0.1856, 0.7956, 0.5751, -0.4095, -0.2665, -0.2073, 0.9978] state[eef_state]: left_x=0.4094 left_y=-0.0605 left_z=0.0466 left_yaw=0.0373 left_pitch=-0.0217 left_roll=-0.0081 left_gripper=0.9983 right_x=0.2863 right_y=-0.0028 right_z=0.164 right_yaw=0.1276 right_pitch=-0.0338 right_roll=0.0012 right_gripper=0.9978 state[joint_eff]: [0.1709, -6.0786, 5.5043, 1.7363, -0.188, 0.3004, -0.0171, -0.7179, -2.0581, 6.9402, 1.9267, -0.2173, 0.0269, -0.0073] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.018,"left_z":0.032},"note":"The left bottle’s blue cap is now in view, just left and ahead of the jaw column. I’ll bring the jaws over the neck at tabletop height, keeping them open while I refine the position."})
tool
executing move_to over 6 steps (0.6s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gripper has nudged the left bottle slightly, and its shoulder now sits between the open jaws in the wrist view. I’ll close here and use a short lift to verify that the bottle actually follows the gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0994, 1.8832, 0.7551, 0.5781, -0.1333, -0.1352, 0.9982, -0.1856, 0.7799, 0.5426, -0.395, -0.2699, -0.2077, 0.9978] state[eef_state]: left_x=0.4699 left_y=-0.0196 left_z=0.0396 left_yaw=0.0688 left_pitch=0.0178 left_roll=-0.0304 left_gripper=0.9982 right_x=0.2831 right_y=-0.0016 right_z=0.1565 right_yaw=0.1307 right_pitch=-0.0354 right_roll=0.0035 right_gripper=0.9978 state[joint_eff]: [0.3761, -6.7761, 6.0239, 1.5849, 0.0415, 0.2955, -0.0171, -0.7179, -1.6205, 6.8718, 1.956, -0.2125, 0.0122, -0.0024] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper has nudged the left bottle slightly, and its shoulder now sits between the open jaws in the wrist view. I’ll close here and use a short lift to verify that the bottle actually follows the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThat close was empty—the jaw reading fell almost to zero—and the jaws were ahead of the bottle. I’ll reopen and move back over the wider part of the left bottle, which is within the arm’s reach.
move_to
left_gripper1.0000left_x0.3900left_y-0.0700left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1051, 1.8717, 0.7742, 0.6262, -0.1684, -0.1307, 0.0104, -0.1856, 0.7628, 0.5056, -0.3729, -0.2703, -0.2077, 0.9981] state[eef_state]: left_x=0.4819 left_y=-0.0175 left_z=0.0627 left_yaw=0.0912 left_pitch=0.0982 left_roll=-0.0237 left_gripper=0.0104 right_x=0.2803 right_y=-0.001 right_z=0.1487 right_yaw=0.131 right_pitch=-0.0331 right_roll=0.003 right_gripper=0.9981 state[joint_eff]: [-0.4991, -8.253, 5.0667, 0.9304, 0.0708, 0.1441, 0.8816, -0.8137, -1.2923, 7.1453, 1.8926, -0.2418, -0.0269, 0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.39,"left_y":-0.07,"left_z":0.035},"note":"That close was empty—the jaw reading fell almost to zero—and the jaws were ahead of the bottle. I’ll reopen and move back over the wider part of the left bottle, which is within the arm’s reach."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe bottle’s main body is now visible between the open left jaws, but it sits left of their centerline. I’ll shift a few centimetres left and lower the fingertips around the body before closing.
move_to
left_x0.4150left_y-0.0300left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3386, 1.6882, 0.5343, 0.6434, -0.3653, -0.2359, 0.9946, -0.1856, 0.7456, 0.4721, -0.3573, -0.2703, -0.2081, 0.9981] state[eef_state]: left_x=0.4091 left_y=-0.0734 left_z=0.0597 left_yaw=0.0785 left_pitch=0.0883 left_roll=-0.0174 left_gripper=0.9946 right_x=0.277 right_y=-0.0004 right_z=0.1411 right_yaw=0.1312 right_pitch=-0.0338 right_roll=0.0029 right_gripper=0.9981 state[joint_eff]: [-0.294, -6.2291, 3.6581, 1.1502, 0.0122, -0.0269, -0.1197, -0.8137, -1.2103, 7.0906, 1.9658, -0.1978, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.03,"left_z":0.018},"note":"The bottle’s main body is now visible between the open left jaws, but it sits left of their centerline. I’ll shift a few centimetres left and lower the fingertips around the body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe left bottle is now centered between both jaws in the wrist image at a low height. I’ll close and check the settled jaw spacing to see whether this is a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1848, 1.7779, 0.548, 0.7029, -0.2737, -0.2001, 0.9961, -0.1856, 0.73, 0.4404, -0.3424, -0.2699, -0.2077, 0.9981] state[eef_state]: left_x=0.4227 left_y=-0.0268 left_z=0.0389 left_yaw=0.1362 left_pitch=0.0568 left_roll=-0.0222 left_gripper=0.9961 right_x=0.274 right_y=0.0001 right_z=0.1338 right_yaw=0.1307 right_pitch=-0.035 right_roll=0.0034 right_gripper=0.9981 state[joint_eff]: [0.4034, -4.5197, 3.3026, 1.0085, -0.022, 0.3443, 0.1343, -0.6359, -1.5795, 6.9128, 1.956, -0.232, -0.0024, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bottle is now centered between both jaws in the wrist image at a low height. I’ll close and check the settled jaw spacing to see whether this is a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe jaws closed completely without holding anything: the bottle was centered in the camera but still beyond the actual fingertips. I’ll reopen and advance the grasp point about five centimetres along the bottle before trying again.
move_to
left_gripper1.0000left_x0.4820left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1722, 1.7885, 0.548, 0.8219, -0.244, -0.1581, 0.0107, -0.1856, 0.7116, 0.4065, -0.3233, -0.2703, -0.2081, 0.9981] state[eef_state]: left_x=0.4356 left_y=-0.0288 left_z=0.0595 left_yaw=0.1045 left_pitch=0.1567 left_roll=-0.0294 left_gripper=0.0107 right_x=0.2711 right_y=0.0007 right_z=0.1269 right_yaw=0.1312 right_pitch=-0.0317 right_roll=0.0022 right_gripper=0.9981 state[joint_eff]: [0.0205, -5.3265, 3.3983, 0.696, 0.2076, -0.0366, 0.8767, -0.7453, -1.2376, 6.9812, 1.8632, -0.2613, -0.0171, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.482,"left_z":0.02},"note":"The jaws closed completely without holding anything: the bottle was centered in the camera but still beyond the actual fingertips. I’ll reopen and advance the grasp point about five centimetres along the bottle before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteAfter the forward correction, the bottle’s broad body now reaches the bottom of the left wrist image between the fingertips. I’ll close once more at this position and verify the jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1555, 1.9411, 0.8082, 0.6258, -0.239, -0.1646, 0.9945, -0.1856, 0.6933, 0.3782, -0.3126, -0.2703, -0.2115, 0.9981] state[eef_state]: left_x=0.4864 left_y=-0.0303 left_z=0.0444 left_yaw=0.1179 left_pitch=0.0709 left_roll=-0.0132 left_gripper=0.9945 right_x=0.268 right_y=0.0013 right_z=0.1209 right_yaw=0.133 right_pitch=-0.0309 right_roll=-0.0008 right_gripper=0.9981 state[joint_eff]: [0.6085, -6.0103, 5.6, 1.3016, 0.1538, 0.0513, -0.1734, -0.8274, -1.0462, 6.8034, 1.9023, -0.2418, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the forward correction, the bottle’s broad body now reaches the bottom of the left wrist image between the fingertips. I’ll close once more at this position and verify the jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe left gripper still closes empty at the bottle’s forward end, where it cannot get low enough. I’ll move back to the near end of that bottle at table height, where the arm has more downward reach.
move_to
left_gripper1.0000left_x0.3600left_y-0.0850left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1509, 1.9106, 0.8646, 0.5507, -0.252, -0.1837, 0.0101, -0.1909, 0.6785, 0.3492, -0.2974, -0.2733, -0.2115, 0.9981] state[eef_state]: left_x=0.4965 left_y=-0.0273 left_z=0.0645 left_yaw=0.1438 left_pitch=0.0839 left_roll=-0.0275 left_gripper=0.0101 right_x=0.2654 right_y=0.0009 right_z=0.1146 right_yaw=0.1302 right_pitch=-0.0293 right_roll=0.0005 right_gripper=0.9981 state[joint_eff]: [-0.4581, -8.759, 5.3675, 0.9988, 0.1587, 0.1685, 0.8376, -0.3897, -1.0872, 6.9949, 1.9316, -0.1978, 0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.36,"left_y":-0.085,"left_z":-0.01},"note":"The left gripper still closes empty at the bottle’s forward end, where it cannot get low enough. I’ll move back to the near end of that bottle at table height, where the arm has more downward reach."})
tool
executing move_to over 11 steps (1.1s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteAt the near end, the left gripper has reached the tabletop and the bottle body fills the space between its jaws. I’ll close here and check whether the gripper now stops at the bottle’s width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.469, 1.8473, 0.4274, 0.791, -0.5003, -0.3473, 0.9952, -0.1913, 0.6598, 0.3225, -0.2893, -0.2737, -0.2127, 0.9981] state[eef_state]: left_x=0.3703 left_y=-0.0886 left_z=0.0005 left_yaw=0.1151 left_pitch=0.0199 left_roll=0.0059 left_gripper=0.9952 right_x=0.2622 right_y=0.0015 right_z=0.1087 right_yaw=0.1307 right_pitch=-0.0292 right_roll=-0.0002 right_gripper=0.9981 state[joint_eff]: [-0.253, -5.1214, 2.6598, 1.1746, 0.1001, -0.3639, -0.0513, -0.7453, -0.4718, 6.9265, 1.9512, -0.232, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the near end, the left gripper has reached the tabletop and the bottle body fills the space between its jaws. I’ll close here and check whether the gripper now stops at the bottle’s width."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe jaws now hold a roughly five-centimetre bottle width rather than closing empty. I’ll lift the near end and draw the bottle toward the base, bringing its cap into a reachable area for an upright-placement grasp.
move_to
left_x0.2650left_z0.1450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4633, 1.8359, 0.4271, 0.7803, -0.514, -0.3676, 0.4863, -0.1921, 0.6449, 0.2962, -0.2825, -0.2741, -0.2146, 0.9981] state[eef_state]: left_x=0.3706 left_y=-0.0841 left_z=0.0032 left_yaw=0.1425 left_pitch=0.0249 left_roll=-0.005 left_gripper=0.4863 right_x=0.2589 right_y=0.002 right_z=0.1018 right_yaw=0.1314 right_pitch=-0.0334 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [-0.212, -7.1043, 4.5197, 1.243, 0.0513, 0.0464, 0.9353, -0.9231, -0.6906, 6.8855, 1.9121, -0.2613, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_z":0.145},"note":"The jaws now hold a roughly five-centimetre bottle width rather than closing empty. I’ll lift the near end and draw the bottle toward the base, bringing its cap into a reachable area for an upright-placement grasp."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe left bottle clearly followed the jaws: its capped end has moved closer to the middle of the table. I’ll set it back on the tabletop nearer the arm, then release the near-end grip so I can grasp its capped end.
move_to
left_x0.2300left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7433, 0.9657, 0.4694, -0.387, -0.6167, -0.5755, 0.4872, -0.1978, 0.6254, 0.2661, -0.2672, -0.2783, -0.2146, 0.9981] state[eef_state]: left_x=0.2555 left_y=-0.0912 left_z=0.0998 left_yaw=0.0602 left_pitch=-0.1208 left_roll=0.0433 left_gripper=0.4872 right_x=0.2563 right_y=0.0018 right_z=0.096 right_yaw=0.1291 right_pitch=-0.0283 right_roll=0.0007 right_gripper=0.9981 state[joint_eff]: [-0.253, -3.7675, 11.453, 2.4054, -1.0476, 0.0562, 0.4567, -0.4855, -0.4991, 7.0769, 1.9365, -0.2369, -0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.23,"left_z":0},"note":"The left bottle clearly followed the jaws: its capped end has moved closer to the middle of the table. I’ll set it back on the tabletop nearer the arm, then release the near-end grip so I can grasp its capped end."})
tool
executing move_to over 7 steps (0.7s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe left bottle is back on the table with its cap now much closer to the left arm’s reachable area. I’ll release the body and move the open gripper above the capped end for a second, higher grasp.
move_to
left_gripper1.0000left_x0.3650left_z0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9195, 1.3197, 0.0605, 0.3317, -0.7933, -0.683, 0.4913, -0.1986, 0.6075, 0.2428, -0.2626, -0.292, -0.2146, 0.9981] state[eef_state]: left_x=0.226 left_y=-0.083 left_z=-0.0022 left_yaw=0.0603 left_pitch=-0.0362 left_roll=0.0787 left_gripper=0.4913 right_x=0.2532 right_y=0.0046 right_z=0.0911 right_yaw=0.1396 right_pitch=-0.0264 right_roll=0.0086 right_gripper=0.9981 state[joint_eff]: [0.1573, -2.1949, 2.6188, 0.6129, 0.3785, 0.2125, 0.4029, -0.8821, -0.5812, 6.9265, 1.9121, -0.1441, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.365,"left_z":0.105},"note":"The left bottle is back on the table with its cap now much closer to the left arm’s reachable area. I’ll release the body and move the open gripper above the capped end for a second, higher grasp."})
tool
executing move_to over 11 steps (1.1s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe left bottle’s blue cap is centered in the wrist view, with its body extending toward the fingertips. I’ll advance to the shoulder just below the cap and descend to bottle height before closing.
move_to
left_x0.4300left_y-0.0650left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4297, 1.3388, 0.5228, 0.1886, -0.4412, -0.3355, 0.9976, -0.1982, 0.5877, 0.2226, -0.2611, -0.292, -0.215, 0.9981] state[eef_state]: left_x=0.3575 left_y=-0.0769 left_z=0.0968 left_yaw=0.1005 left_pitch=0.0028 left_roll=-0.0144 left_gripper=0.9976 right_x=0.2505 right_y=0.0052 right_z=0.0869 right_yaw=0.1402 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9981 state[joint_eff]: [0.4855, -4.3145, 7.8427, 1.5751, -0.0366, 0.2906, -0.1392, -0.0205, -0.4171, 6.5846, 1.8828, -0.1197, -0.0464, -0.0171] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.065,"left_z":0.012},"note":"The left bottle’s blue cap is centered in the wrist view, with its body extending toward the fingertips. I’ll advance to the shoulder just below the cap and descend to bottle height before closing."})
tool
executing move_to over 6 steps (0.6s)
step 228
assistant
agent noteThe cap is still forward of the fingertip line, so closing now would catch the bottle too low down. I’ll advance another few centimetres and lower gently toward the narrow shoulder.
move_to
left_x0.4700left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3027, 1.832, 0.6205, 0.6178, -0.3923, -0.2577, 0.9976, -0.1986, 0.5674, 0.1989, -0.2615, -0.292, -0.215, 0.9981] state[eef_state]: left_x=0.4259 left_y=-0.0585 left_z=0.0284 left_yaw=0.1465 left_pitch=0.0189 left_roll=0.0114 left_gripper=0.9976 right_x=0.247 right_y=0.0058 right_z=0.0808 right_yaw=0.1399 right_pitch=-0.0289 right_roll=0.0092 right_gripper=0.9981 state[joint_eff]: [0.2803, -4.547, 3.6718, 0.9011, 0.4127, 0.022, -0.0122, -0.2256, -0.2803, 7.2, 1.8877, -0.1343, -0.0464, -0.0073] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_z":-0.01},"note":"The cap is still forward of the fingertip line, so closing now would catch the bottle too low down. I’ll advance another few centimetres and lower gently toward the narrow shoulder."})
tool
executing move_to over 4 steps (0.4s)
step 232
assistant
agent noteAt the far edge the arm is stopping about four centimetres above the tabletop, too high to pinch this bottle reliably. I’ll retreat slightly to regain downward reach while staying over its upper body.
move_to
left_x0.4550left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2634, 2.0075, 0.7937, 0.7586, -0.3923, -0.247, 0.9976, -0.1986, 0.5434, 0.1764, -0.2611, -0.292, -0.215, 0.9981] state[eef_state]: left_x=0.4851 left_y=-0.0571 left_z=0.0402 left_yaw=0.185 left_pitch=0.1437 left_roll=-0.0393 left_gripper=0.9976 right_x=0.244 right_y=0.0064 right_z=0.0762 right_yaw=0.1398 right_pitch=-0.0271 right_roll=0.0085 right_gripper=0.9981 state[joint_eff]: [0.1983, -4.9983, 2.9333, 0.6325, 0.3687, -0.1832, -0.0122, -0.1162, -0.1026, 6.6393, 1.8828, -0.1392, -0.0659, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_z":-0.02},"note":"At the far edge the arm is stopping about four centimetres above the tabletop, too high to pinch this bottle reliably. I’ll retreat slightly to regain downward reach while staying over its upper body."})
tool
executing move_to over 4 steps (0.4s)
step 236
assistant
agent noteThe arm did not follow that low retreat command, indicating its wrist is caught near a reach limit. I’ll raise clear first and move back over the bottle before descending again.
move_to
left_x0.4150left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7883, -0.3885, -0.2386, 0.9976, -0.1986, 0.5205, 0.1551, -0.2607, -0.2924, -0.2146, 0.9981] state[eef_state]: left_x=0.4925 left_y=-0.0581 left_z=0.0439 left_yaw=0.1826 left_pitch=0.1693 left_roll=-0.0456 left_gripper=0.9976 right_x=0.2413 right_y=0.007 right_z=0.0717 right_yaw=0.1399 right_pitch=-0.0252 right_roll=0.0084 right_gripper=0.9981 state[joint_eff]: [0.0752, -5.2308, 3.0564, 0.7985, 0.2613, -0.105, -0.0122, -0.212, -0.1846, 6.7214, 1.8828, -0.1783, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_z":0.12},"note":"The arm did not follow that low retreat command, indicating its wrist is caught near a reach limit. I’ll raise clear first and move back over the bottle before descending again."})
tool
executing move_to over 6 steps (0.6s)
step 242
assistant
agent noteThe left arm still did not move away from its awkward far-forward pose. I’ll ask for a higher, closer free-space pose to get it clear of the bottle and restore room to maneuver.
move_to
left_x0.3000left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7887, -0.3885, -0.2382, 0.9976, -0.1986, 0.4969, 0.1352, -0.2619, -0.292, -0.2146, 0.9981] state[eef_state]: left_x=0.4926 left_y=-0.0581 left_z=0.044 left_yaw=0.1824 left_pitch=0.1697 left_roll=-0.0454 left_gripper=0.9976 right_x=0.2388 right_y=0.0075 right_z=0.0677 right_yaw=0.1396 right_pitch=-0.0228 right_roll=0.0073 right_gripper=0.9981 state[joint_eff]: [0.0889, -5.2991, 3.0427, 0.8083, 0.2711, -0.0952, -0.0171, -0.3624, -0.0479, 6.735, 1.8632, -0.1392, -0.022, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_z":0.28},"note":"The left arm still did not move away from its awkward far-forward pose. I’ll ask for a higher, closer free-space pose to get it clear of the bottle and restore room to maneuver."})
tool
executing move_to over 16 steps (1.6s)
step 258
assistant
agent noteThe arm has cleared the bottle. Its capped end has been pushed far away again, so I’ll regrasp the near end at tabletop height and bring the entire bottle substantially closer before trying to stand it.
move_to
left_x0.3700left_y-0.0900left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5217, 1.0466, 1.0676, -0.6834, -0.5541, -0.4397, 0.9976, -0.1986, 0.4755, 0.1139, -0.2638, -0.292, -0.215, 0.9981] state[eef_state]: left_x=0.3129 left_y=-0.0685 left_z=0.2703 left_yaw=0.1539 left_pitch=0.0119 left_roll=-0.0271 left_gripper=0.9976 right_x=0.236 right_y=0.0081 right_z=0.0624 right_yaw=0.1398 right_pitch=-0.0246 right_roll=0.0077 right_gripper=0.9981 state[joint_eff]: [-0.1709, -3.6171, 8.6085, 1.4823, -0.3053, 0.149, -0.0122, -0.4444, 0.3214, 7.0359, 1.8242, -0.1587, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.09,"left_z":-0.01},"note":"The arm has cleared the bottle. Its capped end has been pushed far away again, so I’ll regrasp the near end at tabletop height and bring the entire bottle substantially closer before trying to stand it."})
tool
executing move_to over 19 steps (1.9s)
step 277
assistant
agent noteThe near end of the left bottle is directly between the left jaws at table level again. I’ll clamp the body and then relocate it farther toward the arm before releasing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4957, 1.8393, 0.4538, 0.7052, -0.5648, -0.4179, 0.9975, -0.1986, 0.4492, 0.0952, -0.2642, -0.2924, -0.2146, 0.9981] state[eef_state]: left_x=0.3675 left_y=-0.0872 left_z=-0.001 left_yaw=0.1765 left_pitch=0.002 left_roll=0.0078 left_gripper=0.9975 right_x=0.2342 right_y=0.0085 right_z=0.0595 right_yaw=0.1399 right_pitch=-0.0177 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [0.5675, -4.9709, 3.8906, 0.5397, 0.4908, 0.0806, -0.022, -0.4718, 0.2256, 6.694, 1.8388, -0.1441, -0.0464, -0.0171] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The near end of the left bottle is directly between the left jaws at table level again. I’ll clamp the body and then relocate it farther toward the arm before releasing."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteThat close was empty; the near end is a few centimetres behind the fingertips this time. I’ll reopen and back the gripper up along the bottle to the same sort of position that held it earlier.
move_to
left_gripper1.0000left_x0.3250left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4904, 1.8507, 0.4538, 0.7334, -0.577, -0.4225, 0.0103, -0.1986, 0.4316, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.3703 left_y=-0.0844 left_z=0.0006 left_yaw=0.1939 left_pitch=0.0199 left_roll=-0.0008 left_gripper=0.0103 right_x=0.2336 right_y=0.0086 right_z=0.0592 right_yaw=0.14 right_pitch=-0.0094 right_roll=0.0025 right_gripper=0.9981 state[joint_eff]: [-0.4308, -8.0342, 3.6034, 1.3065, -0.022, -0.0317, 0.8571, -0.294, 0.2667, 6.4752, 1.7851, -0.1832, -0.0366, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.325,"left_z":-0.01},"note":"That close was empty; the near end is a few centimetres behind the fingertips this time. I’ll reopen and back the gripper up along the bottle to the same sort of position that held it earlier."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe bottle’s base is now visible well ahead of the fingertips in the wrist view. I’ll advance along it at table height until the body is actually inside the closing plane.
move_to
left_x0.4050left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5808, 1.8015, 0.3321, 0.7967, -0.6468, -0.4801, 0.9943, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.3363 left_y=-0.0891 left_z=-0.0 left_yaw=0.1878 left_pitch=0.0419 left_roll=-0.012 left_gripper=0.9943 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.2256, -6.4889, 2.0718, 1.116, -0.1197, -0.3101, -0.1245, -0.1573, -0.0068, 6.612, 1.7607, -0.1636, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_z":-0.01},"note":"The bottle’s base is now visible well ahead of the fingertips in the wrist view. I’ll advance along it at table height until the body is actually inside the closing plane."})
tool
executing move_to over 6 steps (0.6s)
step 303
assistant
agent noteThe bottle’s broad lower body now extends down between both fingertips rather than stopping short of them. I’ll close at this low position and check for a nonempty jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4484, 1.9385, 0.5709, 0.7341, -0.5869, -0.4156, 0.9955, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.2146, 0.9981] state[eef_state]: left_x=0.4029 left_y=-0.0813 left_z=0.0021 left_yaw=0.2406 left_pitch=0.047 left_roll=-0.0093 left_gripper=0.9955 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.1398 right_pitch=-0.0069 right_roll=0.002 right_gripper=0.9981 state[joint_eff]: [0.4855, -6.2017, 4.4786, 1.3358, 0.2222, 0.105, 0.1197, -0.2803, -0.0342, 6.5709, 1.7167, -0.105, -0.0415, -0.0171] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s broad lower body now extends down between both fingertips rather than stopping short of them. I’ll close at this low position and check for a nonempty jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 313
assistant
agent noteThe left jaws stopped at bottle width, confirming a grasp on its lower body. I’ll carry it much farther toward the base while lifting it clear, so the capped end becomes accessible without pressing against the far reach limit.
move_to
left_x0.1800left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4385, 1.9167, 0.5922, 0.6609, -0.5877, -0.4274, 0.491, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.404 left_y=-0.0773 left_z=0.0038 left_yaw=0.2567 left_pitch=0.0241 left_roll=0.0001 left_gripper=0.491 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.4171, -8.6632, 4.7521, 1.1648, -0.0464, -0.0904, 0.8864, -0.4171, 0.253, 6.612, 1.7216, -0.1734, -0.0708, -0.0122] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.18,"left_z":0.16},"note":"The left jaws stopped at bottle width, confirming a grasp on its lower body. I’ll carry it much farther toward the base while lifting it clear, so the capped end becomes accessible without pressing against the far reach limit."})
tool
executing move_to over 18 steps (1.8s)
step 331
assistant
agent noteThe left bottle has moved with the gripper, and its cap is now near the middle of the left arm’s workspace. I’ll lower its near end to the tabletop before releasing and regrasping the cap-side shoulder.
move_to
left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2728, 0.9623, 0.6521, -1.1362, -0.8597, -1.3952, 0.4934, -0.1986, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.1735 left_y=-0.0969 left_z=0.1272 left_yaw=0.1683 left_pitch=-0.1425 left_roll=0.0223 left_gripper=0.4934 right_x=0.234 right_y=0.0085 right_z=0.0607 right_yaw=0.14 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981 state[joint_eff]: [0.1026, -1.5248, 8.7316, 0.7302, -1.8193, -0.0708, 0.7057, -0.4171, 0.841, 6.7214, 1.7216, -0.1685, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.01},"note":"The left bottle has moved with the gripper, and its cap is now near the middle of the left arm’s workspace. I’ll lower its near end to the tabletop before releasing and regrasping the cap-side shoulder."})
tool
executing move_to over 9 steps (0.9s)
step 340
assistant
agent noteThe relocated left bottle is lying clear with its blue cap much nearer the arm. I’ll release the base and approach above the cap-side shoulder; grasping there should let the heavier base hang downward.
move_to
left_gripper1.0000left_x0.3000left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3872, 1.4746, 0.2146, -0.3927, -0.9985, -1.573, 0.4958, -0.1986, 0.4244, 0.0864, -0.2646, -0.2928, -0.215, 0.9981] state[eef_state]: left_x=0.1701 left_y=-0.0832 left_z=-0.0051 left_yaw=0.1691 left_pitch=-0.0113 left_roll=0.0954 left_gripper=0.4958 right_x=0.234 right_y=0.0086 right_z=0.0607 right_yaw=0.1403 right_pitch=-0.0028 right_roll=0.0005 right_gripper=0.9981 state[joint_eff]: [-0.1026, -4.2051, 2.9197, 0.0122, -0.3004, 0.0513, 0.6276, -0.335, 0.4718, 6.9128, 1.6728, -0.1734, -0.0659, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.3,"left_z":0.16},"note":"The relocated left bottle is lying clear with its blue cap much nearer the arm. I’ll release the base and approach above the cap-side shoulder; grasping there should let the heavier base hang downward."})
tool
executing move_to over 11 steps (1.1s)
step 351
assistant
agent noteThe cap and red shoulder are visible ahead of the left jaws, while the bottle is safely resting on the table. I’ll descend vertically first so I can judge the cap’s position at the actual grasp height.
move_to
left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6544, 1.0363, 0.6014, -0.3344, -0.6971, -0.6037, 0.9974, -0.1978, 0.4244, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.2939 left_y=-0.078 left_z=0.1476 left_yaw=0.2161 left_pitch=-0.0002 left_roll=-0.0247 left_gripper=0.9974 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0026 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [0.1846, -2.7145, 8.335, 1.2821, -0.3101, 0.0904, -0.0855, -0.212, 0.4444, 6.8034, 1.6972, -0.1783, -0.0513, -0.0171] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.012},"note":"The cap and red shoulder are visible ahead of the left jaws, while the bottle is safely resting on the table. I’ll descend vertically first so I can judge the cap’s position at the actual grasp height."})
tool
executing move_to over 9 steps (0.9s)
step 360
assistant
agent noteAt table height the left bottle’s cap is ahead of the fingers and slightly left of their centerline; the body is what fills the wrist view. I’ll move forward and left along the bottle to pinch its upper section instead of its base.
move_to
left_x0.3750left_y-0.0400left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6636, 1.5116, 0.2592, 0.3779, -0.7216, -0.5831, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.2853 left_y=-0.0704 left_z=0.0063 left_yaw=0.2151 left_pitch=-0.0545 left_roll=0.0847 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981 state[joint_eff]: [0.0615, -5.6, 3.8496, 1.6044, -0.6374, -0.1636, -0.0024, -0.3897, 0.4855, 6.8308, 1.7363, -0.1343, -0.0171, -0.0171] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.04,"left_z":-0.01},"note":"At table height the left bottle’s cap is ahead of the fingers and slightly left of their centerline; the body is what fills the wrist view. I’ll move forward and left along the bottle to pinch its upper section instead of its base."})
tool
executing move_to over 7 steps (0.7s)
step 367
assistant
agent noteMy low forward approach pushed the left bottle farther away instead of reaching its neck. I’ll check whether the jaws can at least hold its body here before deciding whether another placement attempt is safe.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3401, 1.8481, 0.3847, 0.8455, -0.5373, -0.3649, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.3699 left_y=-0.0312 left_z=0.0004 left_yaw=0.283 left_pitch=0.0415 left_roll=0.0022 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981 state[joint_eff]: [0.253, -4.9299, 3.7949, 1.3114, 0.3248, 0.0562, -0.0171, -0.2803, 0.5128, 6.8034, 1.7167, -0.1538, -0.0757, -0.0122] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"My low forward approach pushed the left bottle farther away instead of reaching its neck. I’ll check whether the jaws can at least hold its body here before deciding whether another placement attempt is safe."})
tool
executing move_to over 10 steps (1.0s)
step 377
assistant
agent noteThe jaws are holding bottle width rather than closing empty, this time around its shoulder. I’ll lift it high enough to see whether the heavier base hangs downward, which would allow an upright set-down.
move_to
left_x0.2500left_z0.2900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3275, 1.8172, 0.4053, 0.7765, -0.5156, -0.3748, 0.5312, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.3725 left_y=-0.0308 left_z=0.003 left_yaw=0.2833 left_pitch=0.0198 left_roll=-0.0066 left_gripper=0.5312 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981 state[joint_eff]: [-0.4034, -7.1863, 3.8769, 1.2723, -0.1734, -0.1441, 1.033, -0.3214, 0.5949, 6.8034, 1.7118, -0.1538, -0.0611, -0.0171] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_z":0.29},"note":"The jaws are holding bottle width rather than closing empty, this time around its shoulder. I’ll lift it high enough to see whether the heavier base hangs downward, which would allow an upright set-down."})
tool
executing move_to over 19 steps (1.9s)
step 396
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6209, 0.9203, 1.0573, -1.0325, -0.6327, -0.6113, 0.5343, -0.1978, 0.4244, 0.0864, -0.2642, -0.2924, -0.215, 0.9981] state[eef_state]: left_x=0.2479 left_y=-0.0445 left_z=0.2492 left_yaw=0.214 left_pitch=-0.1191 left_roll=0.0328 left_gripper=0.5343 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0026 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-0.2667, -2.0855, 10.6598, 1.9316, -1.2234, -0.0708, 0.6422, -0.4034, 0.6085, 7.0632, 1.6728, -0.1734, -0.0366, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 396): [image omitted: streamed camera frame] camera 'left_cam' (step 396): [image omitted: streamed camera frame] camera 'right_cam' (step 396): [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 · 7.395 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, 0.7929, 0.6075, -0.3771, -0.0227, -0.0326, 0.9986, -0.0154, 0.7879, 0.6033, -0.3862, -0.0227, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 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=0.0031 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4855, -1.4564, 9.812, 1.79, -0.0317, 0.1587, -0.1538, -0.7316, -0.9094, 10.2496, 1.8486, -0.0366, 0.2027, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6327904381f2ca858d9693e5ee055a9dd7e985beb17b42ac8edb0d3bd20006f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b569221b7a114ad7cef715bd873dae912a541bc71067f5b53207452e485bd836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91c2d552b8867cffbe2b17aba4522347b4256b1ef2755fc2bfda4fd55fd8560",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.31 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_03c8d19d02446f7a016ab42319d7e887d0a2e73dcc154d7894",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCMgzB719d7RlRPMlqISg2jJH5Vwpr1GPHdPTJAGFdTRda75Kh2O3VDocriuKmcpi4bH5EEgxMOVcQiMKCG1ETZKvEsd5mIA4eMdGa-g7Z0sNMOHGPa0ZcQczudxDa8_CaQ635sbHr215UBPdH0FxxLm4MogSZQALCqQmaYiUXsv9L3CnL-T4KxE9TBSj2xlZ3kzzYZftCpgTFxdBlAu_2aPIf3uZsad9LAwyNBqm1kThasOwtHICE0zfLjRtPCpD4ZOXjfvirInj67zvwVfAcgoIQzAuqaA6s6xVUqNQm0SkFb5GZVBi9MrW22hf-xTsjv8BAbdfnr9QUbhJj-vU39pqynPc--LEIJHq_VTQYLvgtoulSAyy8SIUsgBk_BptuFkoxkkG6R_i20cvhrfmWIKpNXnNd7cePhPzp4oBK3b5gnXl7Tdq3VbR3dXCfMCf0-F8Dv9s6vp7g1j0RAT7r8y1IHG66jYQJvF9sDcfE2UauKt_QaDiANLgJG-xkb4EAL2kpf2ICK5yYGME_vM-HwLLL_feUG_C_3uVJeE1FeGgOhlY33p6Zqvz8rA_YvlDBVfyGA3rNyFQvSXHYJ9ylvibSTKwmv5lpPzjNRYnGqnY4RWSxV6JDEPkboVtmcZF51oi3qCcaUJrBv3pVFfeglXfion57ibXqkwcuvM1tEwwdrAb6xh7yKCQtPQO-6KK47BeAOk07lemKNc9WwaFbnGdz5Xy8W7dD9K-k6-Z9AVdurPHlO7z474hYQGwpHb4CtnHxMvlG_Mi_9-nDT_Ox5PDA0dq0KfQ4GEHjNS7UNnkCbqEjc9BswI2brTjr-obVvevDBJFKJE1Q4bQ_cXcau18KTGPppKz1Ex4UZ705pcs0HPULasq8VPcs0WRQ9Z2Zlyhmjzjrs8aWNbs9PYM4rEA8t7YIarDzEPjlz02h-V3NhVr2u0RZsM5Td43E26HccO-FgvDAV3wbXpP5vPDJNUbDx50ehikcmgAaZEqoBBGeFWzzrVqMsN4JWU0ueDex8rasZG5QPhLlyoy351tzWN14Pwt4CZ7aeEpEyJ6vo-j7Cl1Ufn6ayCJwXfkrzscXFqHFvVnc-3x3WXBKMCz9XRN78ZwRoOTm9OfhsICgtQ-rbOUpDKG04CBeiiB2_sTFgLq_QyLDK4-hrli1PazQImXWSDWeGrytuSox-irgPJT-T2MGr2OJ1XdzeGSiz2QUus4tfoEdjQX_U_O4MxLiTyY6ewS7BiAi91lmkszj1G-X73OibTQFrIw_cJGUO9oerhlYp3WvNeF7m0CSyljk2kpRV-41rgUNEq9ACB0R2DvnBZIJJ8a4fsrtTb-yPXW8KObnyx475LzmbuSTl5aPyrNKcaPBDNaD5_kytkWtFQG9B6Lo_MwAHAh0yARpLBFf_HhFHHPBGXFCHA1HbehIVG951IAA6vhNgr_xrRQ0CYhZ7FgcwwhczBpBWbBsYYBnVgN582pTxMcdRZ-AjZZKpIXquyHl5Rp8svMjrC-2cinl4CnxSoNLhDZj_HSuK19aSSmVct4hheaKZ5Ge5iQP9wkVz3GFBxyz4h8mIYPm3APzn_a4f1VD2I55B2RuFjsJxn",
  "id": "rs_03c8d19d02446f7a016ab4231e65a887d0bdd0cf30c6e100fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.255,\"right_z\":0.14},\"note\":\"All three bottles are lying on the tabletop, with their capped ends toward the far side. I’ll approach the neck of the rightmost bottle from above so I can lift it into a vertical position.\"}",
  "call_id": "call_4DweShJ99DjUledTfqPXRQip",
  "id": "fc_03c8d19d02446f7a016ab4231f85b887d0bc8d12da9b7ac8e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4DweShJ99DjUledTfqPXRQip",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3885, -0.0231, -0.0296, 0.9984, 0.7559, 1.7596, 1.132, -0.1402, 0.5735, 0.4118, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.0096 left_roll=0.003 left_gripper=0.9984 right_x=0.3983 right_y=0.2486 right_z=0.1245 right_yaw=0.0404 right_pitch=-0.0522 right_roll=-0.0422 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -1.4017, 6.5709, 1.8046, -0.0366, -0.0659, -0.0366, 0.0479, -8.4581, 9.0598, 1.6337, 0.569, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973c5d6864b6135a5093b78bbb44693488617b34fb12b213d2d57069aebcd727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ab1867c712c39d9cc2d8ebb7c95bf258cb6d55dc9881fd15cd4883359c1c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618190acf20d8ed2d929940dd9f926d5db37b2775afea87f8f94da5c4d33f2b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.585 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, 0.7929, 0.6075, -0.3771, -0.0227, -0.0326, 0.9986, -0.0154, 0.7879, 0.6033, -0.3862, -0.0227, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 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=0.0031 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4855, -1.4564, 9.812, 1.79, -0.0317, 0.1587, -0.1538, -0.7316, -0.9094, 10.2496, 1.8486, -0.0366, 0.2027, -0.1929]",
      "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, 0.7971, 0.6136, -0.3885, -0.0231, -0.0296, 0.9984, 0.7559, 1.7596, 1.132, -0.1402, 0.5735, 0.4118, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.0096 left_roll=0.003 left_gripper=0.9984 right_x=0.3983 right_y=0.2486 right_z=0.1245 right_yaw=0.0404 right_pitch=-0.0522 right_roll=-0.0422 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -1.4017, 6.5709, 1.8046, -0.0366, -0.0659, -0.0366, 0.0479, -8.4581, 9.0598, 1.6337, 0.569, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973c5d6864b6135a5093b78bbb44693488617b34fb12b213d2d57069aebcd727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ab1867c712c39d9cc2d8ebb7c95bf258cb6d55dc9881fd15cd4883359c1c65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618190acf20d8ed2d929940dd9f926d5db37b2775afea87f8f94da5c4d33f2b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCMmogwyx9Xe4qi0R_rMGzPQG6Hrh6M1vyB07nKaOtL1tiOgUQtK0k92E8XQ_gJYyEH9uxyDQlBVRTd4_J33NUmqL92E2MtV3Vd2Hol_dqvjBmXthZLSp_W9xSzCoM2EFvIHM1-G33Shj5iFf1dsSdirzBD-ATls_mEUSh51yVTVF0iHfekUFFc_B5pLUnb2tFSE3EWGOR4MD79vheORKKgOc6rYUCPXLzunrv4Xcd1WYueanWWhBv5G5EwLf7RZbJoRch3KRis8NhnjXW9xACCrToXwB2JxjaA9ibFryJOontDkzZ2ot3BQBrqUyxv1yxwZSwz5hM5ELRsaJVVsQ3Khqcr93E6_IpmXWeohg3J3KKrMccbPXVP-H7QC42jXhGxvv4egUuZga2JMsf_XzrNcDZs0URIuUIBBMMQrdzFEFeMd3aDlbbIhLi0O5yNHMhuk52DY1AgcADAw-ZTVblYUyTkdFV2ltRTLKhdUYN8kwV3mUkSMw1oXtT9e9AkL9vSZvhNf-0pA_3UcZPuq1wN0AOdOntg7mtGRNLKmTvDyAQwLikeFytXfxWXq1ypnAOBrCI8ufb8qQWlqi_joDibmrPz1Zrh1A5UTwoH7aEAUyX1o5ATffRYjzE9SkSb19Kn9vfmp6s_Ep_6dODtXoYazrDpbSPDx6nZyFzz7M9ltVJuxV9ydwCTMK2BsaA1Md9NW2QCenFwgPbjFsYyJge4sr5fo1-6c7o3CMcDYoT9nb9R5drdAQeJEkf0YpM-kiwCzgS8q7gGzjU9-t6mZSBy4kGeYt57Lo5pJNLeG_IdlI9u5t70i4N-Tn8xlnTfz_T_Cv03_LZKHt1rk6j9z-xJHM85I6ln3ZGDiXCMK7cS3UoP-iRfC8-4BuEZijO096TtFfRNOvR-5bH4OVryBR_jfMNaiXkJd_6F9BdN9VnYrD4JjNS7H0uV6wEMIqZBFJACTSFmj5QvU5IFNfFD7NfG88a1ewxdIWc-eUrxvbcdPf3iYKqCRhzNQACcamfx4ITKMFNIxsX4wMhkm9egmcf68xTutb_lA6EMf2qrtoP0ncKn3TDqHY7jk8TJNr7Tjy-_ctoHcgR7g-ZU7lrNX7ygP1ILi1jUXtEDYpkAMdMP_0dxnmkFFujbmZQRlcS_pIs390PK7WhbrQvluW6q9lnoV3I5wB_nhQ-LYLILgtWkmcN42qV2iTqBeDH3hR7qSoei2QYDi8edh0swQo9ZGqb9cK0YgeaJdWL1p1JStOCZMclg0NZJQaQ9tE47PAt0T_4L-IMndWHHNp9gIqMrjlMSYZrMSdwA_p01nN4dq7QIphm50FPmsqKGyJFeF7VUP-WxQWfW9WI92hXFtavJNaBWDTTEpAxcFR4AwP6AWfBelUHtvwTOoIJAFl9Bh3808zWIZ2PzepAhnl4sEN0ttQ6ec6xxDn7fffN1ny3fGmnydb_ghXWA0eEIHGSzPVIKVJy91COddDuCXJZisauVsSflWI2ABrrJC6GUT9tH6aVVk4-G51GiEPFJZlcPI6uSKL0qO5yGilyHc81L4KOZIM1l95VSscoy5BfFHhdv1v2qWTYbexbbC1mElfNbSG78ntPuPlwkXrS0JE7rymlkiP-FK-bpGKYPuwEk4U1D4CPVbKzVY9QLg3TnwizNEqzUt2FKrh0ODqbx-EEB_nl6L4XuyjsHY8pMQNlQaC_MIaY2aoDCuhs6_mp4O2_cUkB5957T57cw8HMRPrserm9VR8_4AYrTyxPTQDgX-puVinEQjYOnoLKD9Z_s_GE8_xxAcy6fXRuFf4qedHvAS03fAa9lL9ZqyN1g0Agm5Mx6iLIJByp9tKXwBdPdFTPWXkXUKJsWiFt00b90eQr9D5MNC9eOsvBe_SZevhZjb1KH3mxntmFs4imTe-yww9-ZqSzrRbFMiR9DdEpNx1aXiOvU_k6dMZM82ZOsMxvTwKbvJ8rh_QV7jlhNkaBYbqR-y03kocC2lmmRnqQ7oqEiMLUhjw6GMw1sP6g3Sun9QaKrLM9eJOdDzMXIzCYrn6RdYXEBVdct9gRSJJsf_yZB8ntmsQxcrftqPziOC2dEfYie5lfydO_yslNO7-0JLQ9y1VsHzqrxQ0A5QtMyYVMamRCt7oLlWa0ODQwpMMk9Yo2OFYKdhhEEHSYd_dwecLH6cZiuq3nWNtylG6ALVVF8tlhWfSvgODsii8fbq7REaOmNwePrpt38TMA_qCOsEA-n-bwoe831wFEQmdFjABC8IWCuhoz1Nfmr9lTPbCRt5yXSqBxFXm04mIMLEBDHldCDjuAZZo0B-FZB_H3GBS-lCVOsohiEZrAmwyPeqrPieG6dEIX7lTNcBmifCChIW2MtxDKHDQvgxui80rRb9LNEmFt08Uh8yVR86N-fVP7r7RQBJFYctPIQ=",
  "id": "rs_03c8d19d02446f7a016ab42323c92c87d09394cafbba2bb103",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.225,\"right_z\":0.085},\"note\":\"The right gripper is above the right bottle, but its neck is still a little forward and to the gripper’s right in the wrist view. I’ll move a few centimetres toward the neck and lower the open jaws to its height.\"}",
  "call_id": "call_TONgBuPfbKP5eMLuKYFIBGpe",
  "id": "fc_03c8d19d02446f7a016ab42325d52487d099d5c904624a7e2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TONgBuPfbKP5eMLuKYFIBGpe",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.6193, 1.8984, 1.074, 0.0784, 0.474, 0.3157, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=-0.0016 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.4375 right_y=0.2173 right_z=0.0688 right_yaw=0.0327 right_pitch=-0.0779 right_roll=-0.052 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -1.7573, 6.5436, 1.8535, 0.0024, -0.0757, -0.0171, -0.841, -9.2103, 7.5829, 2.083, 0.3297, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d497f7ca64bd5d461012405f05b8ac5024e9e83a37d6f97fb381acab7ee2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed67280cd957fe367bae5064102d7b000fe2b0ebc85d645d54e15b6d8e2b892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9bbfebdbdf35b5a2d3e92f967eaf092de32e79d7792165cbf09d3aac48c1d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.996 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, 0.7971, 0.6136, -0.3885, -0.0231, -0.0296, 0.9984, 0.7559, 1.7596, 1.132, -0.1402, 0.5735, 0.4118, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.0096 left_roll=0.003 left_gripper=0.9984 right_x=0.3983 right_y=0.2486 right_z=0.1245 right_yaw=0.0404 right_pitch=-0.0522 right_roll=-0.0422 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -1.4017, 6.5709, 1.8046, -0.0366, -0.0659, -0.0366, 0.0479, -8.4581, 9.0598, 1.6337, 0.569, 0.1538, -0.0171]",
      "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, 0.7963, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.6193, 1.8984, 1.074, 0.0784, 0.474, 0.3157, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=-0.0016 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.4375 right_y=0.2173 right_z=0.0688 right_yaw=0.0327 right_pitch=-0.0779 right_roll=-0.052 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -1.7573, 6.5436, 1.8535, 0.0024, -0.0757, -0.0171, -0.841, -9.2103, 7.5829, 2.083, 0.3297, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d497f7ca64bd5d461012405f05b8ac5024e9e83a37d6f97fb381acab7ee2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed67280cd957fe367bae5064102d7b000fe2b0ebc85d645d54e15b6d8e2b892",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9bbfebdbdf35b5a2d3e92f967eaf092de32e79d7792165cbf09d3aac48c1d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCMrUvvw0iIE2QR2juq7fbXN-2U4S3UgkelrqiNQE4L22p8hPJp4B7v7qibZSM6VWlWjYUVwQ9gZ2ZuS0EW2w1ehqNhaf5v3WJUjgQjHGj9Z7BifsPJRqhK2qsrqgJQddPVBpV3a5p1RYPPwirW5eO46RM-vfThZE6UyLABr3AhFvdpKFKJunR-jzjMThWn5kLOU-Hx9tAzsgDjvPZ0OQE18W8Gez7arE6AvDMdXxurpyJlYKgTsWzGYcBskGSui4ZhDEhYTNA1kS0jn_ermwiolkcp9XDHw-alJyxtIZAU1E-YIaVxb-7DA40bcwrBc9Jzp3TGOzIC0RAGM1MPAEKbvp8WmD2dCaDR_jHoEI5YrBGVxXG_-FdKlpRBJv5DC4mA282MIRH4B2oUjcLwECUKdtZ3ie8Ox6klBtsZN6w_hRdRCv3BSbgDOoY8M5-gG1ZUOO0Ig-dHAvMshe9MymZFwI0ujf2oU3GXfqphzG4jIoHWMhFia91DWqpPqjV_4ET1Pm6DN8RPsHZwQx2BNdwBXKidJ-iuFDJjiZ-AFnOsGjxsGzeujUaV699-IB2Cu5fZD52OWc5oIMfCKyIkMIEcBmlSlheC-dJ-ceUSfmtmP9_vYX84FKdCt4dJtuIZaNV61LvXpCHyy4b8TjJvtqw5J72dE-J5OUCNicJg9L-qAE1k1w8hWfb0hzjgvnAtV97D0tOUQnCh4CkoXucysPc0TOa_TDqGd476nKviYcBcrf3fT-n8korh-GrZlwygFkQT7zgCogX3O7a3L3_8jBzHQQkC6YMRKVGRGPzK--1cpczPxDrpfeZcVbjj-9SJXIdoTXHswTs0kQpGKXKk_rGlNb_8EYXoYjjqKNrM5Am6UdKzalsk_WDfvSLS6Yy05CkoeQ2OYP8RNiuyIBv-BtfVVGPGzcRyUxNXToWCdVY9Dp-KGuwu4Vn2xJh_DmuhWQcROYLH-ahOcWTKkl9pgLAwxzE8MBMwqXaabhWcVmF9woGW-1-7UQMbFpbvXduHl2vDYrc4fk1AZ-NlOFXilR3Xi6xbNihT_1tXQ4DiEQHB8RMNodKamGkhUKx1RqsgHUBKszQr1N5SR7kaOZ2qf1NoN6tB_95vQHVf_4aYvIC9WH1LMXu2WXqRzdWKLkJ7FeMo0lBVrSOU9W5vLQEhM3kacgQxuiVZ9ZqgdNky6UHg4EqGA5dHWFhRwgxsR-3TeK8cEebk1knNRc859MiAyoQjYJ6IfMKtcNipJjJCks-Agi5AkkurcH84SQbwTXN8PvTubKU2uJVnEGWnx-9tS3QMx-pUcNF7cEhxSIrBRTdbK_6eiGSKqdJw132FPS23iZN4lQ3UWy4ErdJZHZV3Mc6G-eKTuuGjP582xouZqDlfpIxcVPyAV8sEl7lIHsTtIyJVkZPdc_RtjtmQropE38uY7k3P7cvd7CeA1UGT6FSIJ_knGURoAdB4u3nOTYaMQL5epNFNFtYo-J5O3MxVKlOiulkuIZ3UnlY6ilDkxJ2R4jHoWXoFSSvo2rOXr22MOmmct3RDpFOstxo4u6lNdRnKQ172u9s5XADnpmvJkvl8HWTvI85fHKdKwTyST6wt5GuMu6R7wtX9T0eHlnVLsD1NCRAUw2ykByeUfPAZef9ceB2MQlUsOT60n__dv3IjP2A21dXoozsI5umA0-vval0WzJlCWoyKVD1aGF7M7kmZnTnzPuy7T0UIn-pJ-V_kC7C9AXd4cxxaigofLnH32Sj5b0RAVAfHKMVA8cy81ywJrLiHLDkq-ax0eQM7jykfUQQNjmXigT9aQeqJgDe-wo_pQXf3jKNcoBCwOpwf9jqgasv7gZaamIUMzSOgUnBe8Wb9Y3lZVHgX3Nw-KhlskqJNAeyzvaWFVB8W7o2If6M82WKGO0nDN6QSn-72BswzTEuuya5fmCO1jT63yZ3WDHdBIULN6obhM6QGC6484UsimZKOOrcoOnRVBwTyr3vBJhwQJqpPeCbgQyRLmG-FrK7drX25lqHn2KYQTBnxaepW8VURy9Oqy15s3HRUtQ5lMlGGvDAazfmJ1GA7UyV5M8M3s0OmOT0r-odpxkK2thm76Oy1FrUt3aUnzsJZt5AzvmPRwIcCU7UGDIl07aivFwsfNwrpdNcnxTU3tYFxfuCVvzjY9U7THkKsvXEd32Do6BtAgKSfg0FBdWIhn1zlM7SNMtJPKBlWFxlWmvKGtKkDviNzE0vXVO6pCeV5FoWbB9ITxwzeGUURp7KxUbbAPCcQC8khHhkAZCjhgZxDKqAY_2LOC_YgfZdPpwkLhpB-l8fJhTqPBNzikC2n1mbygnhvp30RgfDz_NpypoqHf4Xs2ca1A_fE_NWSekX2dA-7BsyJukm_xU2NzpdOBQeGt3ldTDk9nLHgfNvcpLDYPkA7pz21n9gnEdVMzh84N6zcI5biA6F53uJtG02z_gDxr1InK-AtkRLDBJs-lOnKzrJ7YTcCsomymE4YeZcNSpqUyqJkYUaV8oXuOi98kXzi5Ykda0K48z1vDmjY1uk_OpEI2wpk=",
  "id": "rs_03c8d19d02446f7a016ab4232856ac87d0a10d4f4a8a64a648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.22,\"right_z\":0.045},\"note\":\"The open jaws are now centered laterally on the right bottle, but the cap still appears ahead of the fingertips. I’ll advance slightly and lower to grip the narrow upper section rather than the wider body.\"}",
  "call_id": "call_LGowyQjmeDvJsGlKJlYeIZlw",
  "id": "fc_03c8d19d02446f7a016ab4232af50487d0af154ab3a6d2110e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LGowyQjmeDvJsGlKJlYeIZlw",
  "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, 0.7956, 0.6128, -0.387, -0.0231, -0.0296, 0.9983, 0.5682, 2.0541, 1.0958, 0.2352, 0.4332, 0.2668, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1822 left_yaw=-0.0013 left_pitch=-0.0073 left_roll=0.0029 left_gripper=0.9983 right_x=0.464 right_y=0.2125 right_z=0.0275 right_yaw=0.041 right_pitch=-0.0739 right_roll=-0.0556 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.5846, 1.8095, -0.0024, -0.0708, -0.0122, -0.5812, -10.0034, 8.5949, 1.8926, 0.0513, 0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535d309ba1307e07df6b80c97a822fa921607c067863548755a27cca8376a429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73c84d27ed3b1bfe2777088e250fc2811512054762aaa3c1c00d4d9bcba2326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ae18b92774f28b55a96852eefcf6c21fecc746845c517908344c9c5966eb64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.018 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, 0.7929, 0.6075, -0.3771, -0.0227, -0.0326, 0.9986, -0.0154, 0.7879, 0.6033, -0.3862, -0.0227, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 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=0.0031 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4855, -1.4564, 9.812, 1.79, -0.0317, 0.1587, -0.1538, -0.7316, -0.9094, 10.2496, 1.8486, -0.0366, 0.2027, -0.1929]",
      "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, 0.7963, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.6193, 1.8984, 1.074, 0.0784, 0.474, 0.3157, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=-0.0016 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.4375 right_y=0.2173 right_z=0.0688 right_yaw=0.0327 right_pitch=-0.0779 right_roll=-0.052 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -1.7573, 6.5436, 1.8535, 0.0024, -0.0757, -0.0171, -0.841, -9.2103, 7.5829, 2.083, 0.3297, 0.0269, -0.0073]",
      "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, 0.7956, 0.6128, -0.387, -0.0231, -0.0296, 0.9983, 0.5682, 2.0541, 1.0958, 0.2352, 0.4332, 0.2668, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1822 left_yaw=-0.0013 left_pitch=-0.0073 left_roll=0.0029 left_gripper=0.9983 right_x=0.464 right_y=0.2125 right_z=0.0275 right_yaw=0.041 right_pitch=-0.0739 right_roll=-0.0556 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.5846, 1.8095, -0.0024, -0.0708, -0.0122, -0.5812, -10.0034, 8.5949, 1.8926, 0.0513, 0.2466, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535d309ba1307e07df6b80c97a822fa921607c067863548755a27cca8376a429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73c84d27ed3b1bfe2777088e250fc2811512054762aaa3c1c00d4d9bcba2326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ae18b92774f28b55a96852eefcf6c21fecc746845c517908344c9c5966eb64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCMuo9OC0LwBAuHVuDFOe2eGeHiV4gzhGWD6uWrmtOs57LOqAR9drQWQFzsAR1JxJ_-kX2pC3-KXq7dAnrvUDUgOgYYpmgUbQQNlhAA6al1e3gsdcGCMaTz6qBtrlfqfuqSQpNVf0yWunZsA1m4dryplCPabcP3CGZ1jLtKb8nl6xWs3gIWZ4C6T3aTU-HHDoP-I-9E4jPLEGd6WaqkUGYekIOhTHBylqjVsaFC35VRN7LExuxyYlyQBpKcSMswdhsLh2eovYNK6Xs5KPLMiFmM5s1JBWA1_3DfdEsE0m6gcTPENaBh6x7p_0dAbNStzTE9G_pSFcUQyx42v3c9puBMLaGMWoAlhZcR4u1uEBsADpoPyNdV8iEwuI1qJsj-R31rvMqQZRifOu7DGJfxYaqzPQdrX9Q42vrWoY59R_NE2FvmTvs93zed-XfTF4A8fMXu213vsqHCOtyKnKXrrHokBq78JIkDAMEJIXsXu0O8UuXp8A1fZCv7aGkk5XWFbvRWOzJBCtx2pyvjsn-NazYjctXLL2EAThaSi06m_qApIIFbOM5GosYWeF_EsOluxcuPhCpCjOqQ9VZzIRuGU3IeLyN32bZFMsi_lybcSYbe0Dzp6mhUs398WYp_Q9h54Y1YdiY6AY2k4K3eVF3JEQn4kJU72GMfPGwQlI06ufLIpQL5vYzq5WMQNDQw5oZ4YhmeicusyWeiI0sQ6VErEvkc_LpapfG0pk4ThSM5S54lHmOlfyxpAi4I3JqTpOmiRonBk67cBlUHSbiCTR49ue17PzuuLcs0XcmvsTy9eF8cf6tK_KbgIYj0OTeeU7H9AAVvkANbEURC3LzCSrdOugGhvQ042IWVTngLpL03sHOqVBFc4oVfiIcWmZsqozCh6PtLPz1Mcc-d0JVQMTizdoOz6TG9HecsAr3LvaMn9ieQdu8MZtLh_2qVjKXoroutLgRXDPDqN338h86l8A5lJ8_eYnkX9XSTeEoaDQgvuBhh-zQYSlzpzC3V7DaqqEPqwecgUIypeiv5MPbN8mqNX3kmlco5a82xDHDqowiwzaTg1l9gRHPx7v8idOQNVC7oICCyJliAohwB5xlh6YsqUCak7X1gF_Tz0gpnZvgfIdtFcFxoLY-hLvRAU61Z-70aZtox4_3vmNr3CdYKAwraYyt5_HLUanbt0Qg3kdoUsQN2VUN4_1pOaaewhocmeHD_ajl3I0A4ZiBoxggyAzpTNSa8_iCbVjBws32yXYNEl_fovkb1Xgx8ZysgRHwxqFCgNMW02tdHoex3y5HapBK-PF3hb4pg_MJNDI7IqKtRd23Q867R1TPGv6TOZGw2_h0DALN_3bJYpTiZaR_bNbqdQinAQWPEeiNGpJO7QU363jMoV1ej9b1uRL9EmQX7336lGQK1ZHnxCy2wG7H0VnBT_NQFPQL98FEMpx5jUlMvFkh0RIz5K49UQ4W2vstVTTt3SyWbfgJUkR39h9IOPOsYCBh3AtY8fqt3hSUw8dgC6LpBilgMN4bVWv0yKLuZOW5bC_W01ZfbfeYuO488_MvEF-w2ljHq4eUerJsGeAhrYElwxv2g3Y0kW6woFH2tC3bC5iMLdk2SNpdvoFXwRw4vRW2VOBQ==",
  "id": "rs_03c8d19d02446f7a016ab4232d2f2c87d08d6b024855615433",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is low over the upper half of the right bottle, with the bottle centered between its jaws. I’ll close the jaws and check whether they hold the bottle before attempting to lift it.\"}",
  "call_id": "call_cZauLVolnLNwWNWHyYzmB53b",
  "id": "fc_03c8d19d02446f7a016ab4232e389c87d0b19d54d80a8d0458",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cZauLVolnLNwWNWHyYzmB53b",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6125, -0.3874, -0.0231, -0.0296, 0.9983, 0.5625, 2.0602, 1.1202, 0.2638, 0.4137, 0.2604, 0.4948]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1817 left_yaw=-0.0013 left_pitch=-0.0088 left_roll=0.0029 left_gripper=0.9983 right_x=0.4741 right_y=0.2192 right_z=0.0376 right_yaw=0.0556 right_pitch=-0.0394 right_roll=-0.0268 right_gripper=0.4948\nstate[joint_eff]: [0.1026, -1.7299, 6.4889, 1.8046, -0.0269, -0.0464, -0.0122, -0.4581, -9.4154, 7.5829, 1.9463, 0.1832, 0.1001, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63269ddbaa9adbf96ed463161323cc595154f3b4a49617e82e1031b9676cffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:666865f3b53fd21aa1f763331ed0d23b2eb5519ae09e77341d8bd27afa74ac43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e073ca939afe8a4d25fdb2179e5d01de99c14a8ea3e971b98c9367404f5b2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.37 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, 0.7971, 0.6136, -0.3885, -0.0231, -0.0296, 0.9984, 0.7559, 1.7596, 1.132, -0.1402, 0.5735, 0.4118, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.0096 left_roll=0.003 left_gripper=0.9984 right_x=0.3983 right_y=0.2486 right_z=0.1245 right_yaw=0.0404 right_pitch=-0.0522 right_roll=-0.0422 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -1.4017, 6.5709, 1.8046, -0.0366, -0.0659, -0.0366, 0.0479, -8.4581, 9.0598, 1.6337, 0.569, 0.1538, -0.0171]",
      "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, 0.7956, 0.6128, -0.387, -0.0231, -0.0296, 0.9983, 0.5682, 2.0541, 1.0958, 0.2352, 0.4332, 0.2668, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1822 left_yaw=-0.0013 left_pitch=-0.0073 left_roll=0.0029 left_gripper=0.9983 right_x=0.464 right_y=0.2125 right_z=0.0275 right_yaw=0.041 right_pitch=-0.0739 right_roll=-0.0556 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.5846, 1.8095, -0.0024, -0.0708, -0.0122, -0.5812, -10.0034, 8.5949, 1.8926, 0.0513, 0.2466, -0.0122]",
      "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, 0.7963, 0.6125, -0.3874, -0.0231, -0.0296, 0.9983, 0.5625, 2.0602, 1.1202, 0.2638, 0.4137, 0.2604, 0.4948]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1817 left_yaw=-0.0013 left_pitch=-0.0088 left_roll=0.0029 left_gripper=0.9983 right_x=0.4741 right_y=0.2192 right_z=0.0376 right_yaw=0.0556 right_pitch=-0.0394 right_roll=-0.0268 right_gripper=0.4948\nstate[joint_eff]: [0.1026, -1.7299, 6.4889, 1.8046, -0.0269, -0.0464, -0.0122, -0.4581, -9.4154, 7.5829, 1.9463, 0.1832, 0.1001, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63269ddbaa9adbf96ed463161323cc595154f3b4a49617e82e1031b9676cffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:666865f3b53fd21aa1f763331ed0d23b2eb5519ae09e77341d8bd27afa74ac43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e073ca939afe8a4d25fdb2179e5d01de99c14a8ea3e971b98c9367404f5b2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCMy4_gxPah9els6Bz2kLB3_Quv9sCHl4pNthMWnGvAZ0hIGC_-iQyAcWEnHVshg5RmdRY4gf2zWWjMfsqOHA_tnf5rHuPeOGj8HxdDAC-8lr0zyPwM3tMGUE2ISxHEi59FhoZrR8G2Da6GgPt3uo9iZxL-8slcHb_Y3s-P5DdW69RfXjCyDLtxKVew31b8GJNYU3fOHztYvVAzhDfsTSzqtQLcZg_JEIkDmu9SgE4tKNJvIKkykajxux8Jcl_xD5vza5AKowN07UpqsmL3MuRgwr4xCTEjhGyoUU9gkyCzKn6_RPn7xOIgt0MSJgbtsMddkO47plEKyNXpT3rvs-zXWNaDvNwsUR-xF8oQSfr280LasOhS0c8iM6fGxQlfKiIkO7vcT_qreZwjr2LZ3EWEUFo-InO_cyfrq5OIx7tQDvdcK2M0ighuWeaKDXQAwM9HNS-vdSdNGf0nlmhn9V8Fd6NGEcKwuElGjzPpqM8286DY0jl0yBDm2MDkf5Y0wlVOtoUYKlUiabEZ_yohqJAnzslWixX0nvwqPSqPtIYjXjzoVZNeBWUtH2SJ4FUj1Y63uQtUHAo7q1VUj_vW4J4XyQ7NOtCC77C2rvY3Jwx9_ZbhawCJ0l4tutCqN8YW682YHlcNInjlPK2u1FJ0HSrgLSkosBH79uztLh5U6eByr7LK-NjHL3vYhoHocpUusu1ePM2_QW-QKxb0oAeMusMXRCc_AljSP_OvWiujjKfsskmbmXemk6ZyJfOVVc5l6719fLYGtyfbmM6O4heNvGcKjZL_m3NNt4oNLX5mREVQMxNlTKsTn-rpY2fxSKvwIONuqXtMV2WWQPOIP4rVXTZjOn85j88PWZu8ijbb7KnZtYgesf5SZoQHE70v0Fq731653mcQXejKrC6hKHh8R0Ds7sRXUDddaxqYqRHRGHfP9CmJwKZGZJlxdyfBfWgVkvNLOwuSdVLzyIKPz2KsPRm5051gjzDszs_S0cy_LUyk3z4lhjWoSO5y6XNOo5E1Ep8hfQ1Pozw2_RO6HA1U1U7qtexUpsOWfAwdadw5tkctAXTv-lxNbrKHFwVVhlySeRgExfvVXO3fAGHaaupcO3k_HLrLz5lPG8dvoXWOOkU6poo7OtAmQAaPZTe8nnYeFvvcWNAEun0K3TSiYWRQceIujl2wPuYDhjirC43XTz9qOeANmFskNLTg_9HVbOtxFr2RND0Wx2SbXJQE7GTozBMCIqblzB5j7_6CHlo7a8GFFXw-GBDwJp0Rx0bErDt6P1gXVS6GWwRnbkNhWLJSR4upX5WsKT9JlLls_9VhO7o6DkmabGC7pNlSSTvj1ycC5oRCxRv3zN8M9vC9tUGdCnimCVgrxzR0tgxOINePpZqNrlmcDYrqazoaB5s7Umo13jaj8j910LFUebthUDda-NZ2H-Mx8w5rdDhfRl48pjbqtRpCXh0UA1zGL5z54_GcSxfvO-zlDaXaLvA8hPGxrdfiku7KjPgNFofHyhLxVgl5BBO8bb4vXXP2Z2AF1e5KvK_KL-6dgxeHzd4R5vHRqGvtDTzYGAYnCsgwIvznpb_G9vJ_6kpGA-nWjBXJvxIIxdl1VicK-bYSZ2bqnuX9-ooftdtMETndRR1NYAkrREewDq62LSTarwMiokPxL_nNrf--apzltoPjABsyLdJJ7RGjASbJajYeHhwaWEri9HIIMaGPOy6hbZnsWNHbup2g0eSj7",
  "id": "rs_03c8d19d02446f7a016ab423310d4087d08915084ceed5c25f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The right gripper stopped at about half closure, consistent with holding the bottle’s roughly five-centimetre body. I’ll lift it slowly so the base can swing downward and clear the tabletop.\"}",
  "call_id": "call_yHtbN6y6WUcSO3D9iIvcViE4",
  "id": "fc_03c8d19d02446f7a016ab423323a8487d08e2e2cc5d41ddc9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yHtbN6y6WUcSO3D9iIvcViE4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.5625, 1.8568, 1.3415, -0.2176, 0.3885, 0.2523, 0.4957]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1817 left_yaw=-0.0018 left_pitch=-0.0084 left_roll=0.0031 left_gripper=0.9983 right_x=0.466 right_y=0.2189 right_z=0.1406 right_yaw=0.0783 right_pitch=-0.0972 right_roll=-0.0459 right_gripper=0.4957\nstate[joint_eff]: [0.0752, -1.5932, 6.3795, 1.8144, -0.022, -0.0317, -0.0122, -0.4034, -13.2991, 9.6205, 1.7656, 0.2759, 0.0611, 0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21d9b8229ae7002a83e7d27a34db844da33094950e37e2266cb36ddf6cedd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb50cbbeb0a03b9aa4b288a5ed5d4b0f48b816fc11eac15ba10a342a860a7b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b0c9c1fd8616bf3984ab41fc760a3eb736607581913e529f1fe0bbb4208ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 8.234 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, 0.7963, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.6193, 1.8984, 1.074, 0.0784, 0.474, 0.3157, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=-0.0016 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.4375 right_y=0.2173 right_z=0.0688 right_yaw=0.0327 right_pitch=-0.0779 right_roll=-0.052 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -1.7573, 6.5436, 1.8535, 0.0024, -0.0757, -0.0171, -0.841, -9.2103, 7.5829, 2.083, 0.3297, 0.0269, -0.0073]",
      "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, 0.7963, 0.6125, -0.3874, -0.0231, -0.0296, 0.9983, 0.5625, 2.0602, 1.1202, 0.2638, 0.4137, 0.2604, 0.4948]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1817 left_yaw=-0.0013 left_pitch=-0.0088 left_roll=0.0029 left_gripper=0.9983 right_x=0.4741 right_y=0.2192 right_z=0.0376 right_yaw=0.0556 right_pitch=-0.0394 right_roll=-0.0268 right_gripper=0.4948\nstate[joint_eff]: [0.1026, -1.7299, 6.4889, 1.8046, -0.0269, -0.0464, -0.0122, -0.4581, -9.4154, 7.5829, 1.9463, 0.1832, 0.1001, 1.0379]",
      "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, 0.7959, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.5625, 1.8568, 1.3415, -0.2176, 0.3885, 0.2523, 0.4957]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1817 left_yaw=-0.0018 left_pitch=-0.0084 left_roll=0.0031 left_gripper=0.9983 right_x=0.466 right_y=0.2189 right_z=0.1406 right_yaw=0.0783 right_pitch=-0.0972 right_roll=-0.0459 right_gripper=0.4957\nstate[joint_eff]: [0.0752, -1.5932, 6.3795, 1.8144, -0.022, -0.0317, -0.0122, -0.4034, -13.2991, 9.6205, 1.7656, 0.2759, 0.0611, 0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21d9b8229ae7002a83e7d27a34db844da33094950e37e2266cb36ddf6cedd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb50cbbeb0a03b9aa4b288a5ed5d4b0f48b816fc11eac15ba10a342a860a7b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b0c9c1fd8616bf3984ab41fc760a3eb736607581913e529f1fe0bbb4208ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_03c8d19d02446f7a016ab42334bb8887d0b7d6fc067cb16b32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.25},\"note\":\"The gripper still reads a firm grasp, but the overhead view is partly blocked by the arm and I can’t yet confirm the bottle is dangling freely. I’ll lift a little higher and draw the gripper back from the other bottles.\"}",
  "call_id": "call_9Pq8yx4E3eHTgWe4zOjHOolJ",
  "id": "fc_03c8d19d02446f7a016ab423378bd487d081326230c71f50f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Pq8yx4E3eHTgWe4zOjHOolJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6094, -0.387, -0.0227, -0.0296, 0.9983, 0.6212, 1.6905, 1.4063, -0.4194, 0.4118, 0.2573, 0.4957]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1805 left_yaw=-0.0016 left_pitch=-0.0111 left_roll=0.0028 left_gripper=0.9983 right_x=0.4298 right_y=0.2251 right_z=0.2131 right_yaw=0.1168 right_pitch=-0.064 right_roll=-0.0415 right_gripper=0.4957\nstate[joint_eff]: [0.0068, -1.7299, 6.694, 1.8095, -0.0122, -0.0611, -0.0122, -0.2393, -11.7402, 9.9487, 1.8877, 0.3346, 0.2418, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac34a1127a9ed4ed92c95eea588655c740164657be7c90ac517ca6d90f89eef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a69cb87e7d1b0008187bc0e9c7c00b2122d266bd2c7a516a585b8440c77fff39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5e6fe7b1d482c1d91696dea9c631e3b0b3d821f1988ba53cd677eaa4086105",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.948 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, 0.7956, 0.6128, -0.387, -0.0231, -0.0296, 0.9983, 0.5682, 2.0541, 1.0958, 0.2352, 0.4332, 0.2668, 0.9982]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1822 left_yaw=-0.0013 left_pitch=-0.0073 left_roll=0.0029 left_gripper=0.9983 right_x=0.464 right_y=0.2125 right_z=0.0275 right_yaw=0.041 right_pitch=-0.0739 right_roll=-0.0556 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.5932, 6.5846, 1.8095, -0.0024, -0.0708, -0.0122, -0.5812, -10.0034, 8.5949, 1.8926, 0.0513, 0.2466, -0.0122]",
      "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, 0.7959, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.5625, 1.8568, 1.3415, -0.2176, 0.3885, 0.2523, 0.4957]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1817 left_yaw=-0.0018 left_pitch=-0.0084 left_roll=0.0031 left_gripper=0.9983 right_x=0.466 right_y=0.2189 right_z=0.1406 right_yaw=0.0783 right_pitch=-0.0972 right_roll=-0.0459 right_gripper=0.4957\nstate[joint_eff]: [0.0752, -1.5932, 6.3795, 1.8144, -0.022, -0.0317, -0.0122, -0.4034, -13.2991, 9.6205, 1.7656, 0.2759, 0.0611, 0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6094, -0.387, -0.0227, -0.0296, 0.9983, 0.6212, 1.6905, 1.4063, -0.4194, 0.4118, 0.2573, 0.4957]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1805 left_yaw=-0.0016 left_pitch=-0.0111 left_roll=0.0028 left_gripper=0.9983 right_x=0.4298 right_y=0.2251 right_z=0.2131 right_yaw=0.1168 right_pitch=-0.064 right_roll=-0.0415 right_gripper=0.4957\nstate[joint_eff]: [0.0068, -1.7299, 6.694, 1.8095, -0.0122, -0.0611, -0.0122, -0.2393, -11.7402, 9.9487, 1.8877, 0.3346, 0.2418, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac34a1127a9ed4ed92c95eea588655c740164657be7c90ac517ca6d90f89eef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a69cb87e7d1b0008187bc0e9c7c00b2122d266bd2c7a516a585b8440c77fff39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5e6fe7b1d482c1d91696dea9c631e3b0b3d821f1988ba53cd677eaa4086105",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNB3EZlcrCLapz7rfSNlvbNT5qG66qEGRO6dWKIeQFpzZ1SenHSnxfhv3byrEOZEGyEEr7xle0WctssOlYH1R3UXQ41FB--xvTGMzImF_tn5Q__R8DvkLELAVCZWLdIO1-kdsKNEHvzhL0F36HWRGPp_x8RMNXowcHQ_HUwLDqaOu9iswczMX1Em5POrkjmq8hAwr54-7mp-QfzXDHxGWqi_P7GtmRDhWcEwoBWuCwmSRFQHZtQ34lPfkFWclxkZqU8Q04qC5OwoedmPEOyld2ov1VsMfTyyM7xCspoGvYkbLaoG2EeorxkVXeHhKw_EfrjpdOfUDir348GGnLYdH8-5mFVGjP-qtBrupNZGJXng_wDLebXcZkQarbPr14JChpPwonRfYtT3qNAZTRlX0gscTusOhkmnTWIT2ucD3X0XBuWvDCP-wLHkBHyqrHUVK7eIEfTSVaA3OX8qJd6a19NU9bEcESFD2AJ1VrFxrIGS4c96hoFTjSMOqr6ynZeTC_iaX0PWBYBHgFJVKSaWRoFcTuB8fnwF7EyPMGQN8yk9arFF2tH4jDQfPTHXPdKfcruJf14-LqWapT1wLkaNTqranyXvYXYgGdhnNaGf7D1r_oSmLoALck_Q2brSGADafUTyUxh9SBqAJkDncBR2a2HzEICQBwfZ7kqxX0q9o0y6N4Dl5P4FuDsXVpx3H1W-aJ44-8JsGwlkcIcgYgaApbYT4TAlOErgQZl2RjzxcLTi8chv_F9rL0KXnKJa5oYyyhyfKzlzrI17Vuo9MzUDTTDkBN7DiefMQKq2bXjI_PAWyMnjnaPSy0cshgsY1Vgn4oLnM1t1iQIxuM6BIH_B4mih3CTbY1OhyW52akPI-t4t-r8vS_ggHqNKDlScz9IbqHnuhZO19WrjYg8OYFPmb_F403DcrWtXLc0IaQOa692CDcAiAnqKTEYWr_RhkCEaDhNJGofe4fDPdzprZh5SDdjAcJ3FPCYwiOu7waPj9uCZA3UPXYLa5x09MwME0WagReE-YMb2RXzQuxYNriTt1wPaAiO62UmR66pbOq_29d4RzJXO8W2-jZu2Nks4Ocwqb0Rax-BpNkzBDdjfye7dkQLcfLIz9H2QibgnAhY1MWXwVT4Swj51gG4dJPeoMrsHW_pAMndGrrWqD15AXMOoOGBBY2JUJnFrupy81AqNy4bnla4FpqnaFps2CKk8TYKwvhGe5EX4spXIo1oaZ0sLal6WjEss31XgWXnV2z8t9Mtz3yUfUN5FSvWskjPBJ0w04A36U2K0WBID7ymQlGpGD-shWukM3--y9VoHsEgvns6o80aRvZVjzK9eK8ODUvHO0Ej_n4bKpNQDI3Z0cqvY7cN8b0T-x82rINrUpoKyzfCMrGdVrbq_DtATESK86Og9nEbo_viTdhaLkj8CR-1dWsn0OyM9mx1nxS2XMOhyKbSAse7KQXUEgNCDZ2wfcjubfahxndwX0O0hM2-oWMgus7nrGlysX1PrYrhOkzkHUc2BymxPEEsQhZg6QNLCuVxzw6lbcz5MnsAz__pAAcCKakO7ZP0zDXBuO2R3veEtbBxoJub_36bUFOJhkt2h0vI0SUuUC83DtkaSUvek7sXgZnYjDFz2ipNMF3bq3oHkxBz734QVfnolHKzUGQGX6_cwXvpwsBAbABVxrGToTnVpaowBFQg8x78uD2dxE7kVxYbt3Z8t0epNum4b2w8CRHWZnYqrUgQMFfYEh9a94ZySAUPKO5p2L0MyH86pGObER3IgksWOMODJDsAHFfHzXUKL_uaogVGDcnAgiV1cKXk0dIoaCbQL-JZutI-EG_FlCPkxYnIvy0yptik6Yg_dDMRUiM09WxzHrqZpYPE5hZB0JxclKB7WkLLGUgMFxAehbVECm_ueQIqSQUgnpvKLw8Kx5nhgjhZYEFWkv67WHjIk9vmNk37EINYT9U7htGxJwQPZAFBgfiLPZJjqteUG3jkxz6473QxY7J8WxVhl3iEtjlz54Y4HF0hlsaHN6hL7BLq0SiBfxDAfY5YIIfoSCdiv1eSO5fi2qIesiH4GoS6DYprYIlw6NnQX7E7BzYrQMl7rvCVO6T3s21h_YkSBxQysjk3H8drpgMN6aPZfJ9yUQ8QDU9oRpdn2m50IVL8CEOowGXCG1wy02KSVYLXz2pmUQwqzhlnriNYDi6dKg6yJLxVqqYiB6tKlYJocC8k9vbe9MP9aEV_zxjebgr5-_hWlmVfTPEfEK4pX_zrM9OAnglHFkkmZyIOV1Szpn2PS8dSQT1PaaJ8OYfTw0Qy1I5hWBg7vLlCDTPEmslIOWa6g9t4_qrbuCbN0d-9ZVWML_FINPkCfv03yCbZ2dO05awAbXInLmxOptbVjO0GDwgACNGGzXeLQ9oognrNVsBD2MBq0s79SXD8HVdjBDRv3_N7xMM0M2FspSzToBf11c3iJEheqC8VnnzbDZQ2aNhB58T3ZjFWR_N0s8ricujVXiYXCmN-jwL8YSNGVKb7BAF2xQaOt8YH7-dMrtzUVx0AbnEf2TKgVlsl5ZIf-wbTB9BuTxXC8K05y27dj9O5GtacsLYPqlczKEYWeMlC3kuxc1jgB3j3WT4pCYaS5rGHAykrrvWw-8RrAyKZrglASPXthxTjJ2-b0wrss7U16o-X7UGDgun9rQciZM6KdmGPSrngUUOGaEqvoXa53jPwn8DX7llKDRw6r-2sFwqeki1SOyMrziSNmmonBJLSkdddC3fLkvSCxKz-Y8EyWzXGTCt6OVCLu2I-nyYBsf1cSpxORbc1Zs7Io2A5f73VGt8ivD0qmMFoujpfNbhDuhHCQAhPfcc7ffqWe16HiAg57mYV1skN3esDsFZVGbpJ10hipK5MCMalJroiMtJj2__vJx1uw-FVlpxdJbsKmCxBcC53Ts-V_5FfILx7s6_3ZNEHl9garpr5wKDbASSRvNaR4oj9cFTqESh4W0jTiuLHnuEH6yEeCOFNgpjCDN1BR5lezyyhpGuhEDs45i93e5nhDwtcd6NDcwFLOlnxj17NdpLRYLxXKO13cial39DgfmGIsc_ckd9JzF04KTyJwLOkUsZTSYSrgZjCHjzzt-EAo4-xYHy-AP2q5iwc-vE6lKK3RELsSt-jL0lOiRG1bw9QqwaH8RCZTrx01JYraDNrYh24mY12RWxep-NcsP2rDYlvrHNP-7IHw43TdO3EyxE2F7fFRO7TdLod9CR_pscZ0RzrETEBpjif79nE_JU8Y50EQzYkuvyuk4ZWFzth7sc4Qv2HsKkj-hSyPxWTLxuGoQ7P55IjPWBLIXVaganxldJSBgLpWlh0XOmLuPRFKOzG3PfM6Rs9xNyQr4Vc4PRea26fXvZjyljuc0yYs3rL24_HqF9aLotN-MgEnuWC_4hLoezXsqTMDaxYt_CNTujN15J7cvBusEs0cakOVakyUHZLLETpT7zLtZLDiMbO4zGSXPF5MK9xa7230Ro1VIeNK7F6n7v6Vh_m1RLE5_d9AAKPeqOFpaljEdasB5OTXcoDdvEb1O0DU_Q9ttFmg-yGAxgGQdySnzS8JDe7ZkAzxUh7cBwk7oxpkxQyraMXIfppFlIZOB2A3Oeq81KQZ5bQL52oYjrthbcDxCtmICWyLoA6Qy-MaFfolgCm2U1XZwDto3t77HaWq2ibx-IDon4CwNHmoWiulBFGo7APbYs7Av9p_fJ1itflzdWm_SwC_x0omRWwu2JnkIFuHZywfkJ8XnpKJYPbGO-d85uqchsVpWitXLTaxcsfYPrjcStd66Nuy--wRCYH9GDYPeMnL5BRKrcjnY9QCKsAneasSUEig8dRI_ZaMrJopnKDBuuGCKbrp6anHQ6VdqkulaSA4n0dRnIlTwVmtRFKP6q1VNfWO2G5IIHIsYiPFJVHwhapmWbHf7P11vx9gtIBniMlObE9miWICB4Y3B1MJ_686Ph0Zx_8qhZRQ_YvANviRZx4CEGAy3rPAGoN6ZkB_BiQDzsix1VtjgWeGxMrukzI0svhXiC0R5L6EpSQ6eHi0xLd24FSCEutFGoubA==",
  "id": "rs_03c8d19d02446f7a016ab4233aa7ac87d0b84e17b799bdebaa",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNBtMDd7ZPzS8qzRz7jIKRQymkhgm8TUYxHP4AEeOKVGP1fzvVkrIHIdOgN-79XWp6eVnEyNlCzxJ3uh_zWgByBvvimXtzY25CsWy8sikkZV3S9bOz8tqQygwQeL3lelK269b9aXX2bxNMpfolUfWsHaBO3kvJ5yr4FtalXHJ5fJtc4hKcvvcq3UAX87XPhUXSplE3vJetRAgLiJ8tuDpJAerO0bUWPR5WQH4nDMCavujbcRevGwMDscQiFLOyykb_0avDJigBYV8k0nzanRjKq96YTQC60AYNeNZHCtbvhEDkNOE6L4AXVDKY2MBayY7byIbw8JxwOrmHQAe9eBB41pJOG8b5FI1CohIXGmn-ef2T-emu10OqCV9xpY64Z5dBtedKBp-VTL4TsFPEBvkeVt0nCWeKVZVt8Tlo4iqyS32-p1cKiQ1_tfaF8MUK0gmFCj0VnbaoXhuDIkHtGsFtxAc72r_5ycgYVRevJPc9x6FYLI0IcyqaxesWWz_zIAGoyPPE5ryP0xXodTptgIgXTh-ujvfmJ1uBxxlZbNW56Q3JGK4Un3IkDh68HtJUEvw30mWKCpa3r8xCACKnrD1rFmVaeHJJ5RdGHv7nHoKLuUPsddDzfl5lQAJIuOo75kdo6db0xeU9YAyjGzB_mxX_6q5LLB3K7uZMDEX68mWQLsBKkZGkUQJURlWbCV3s-MDZe230mkoqmSKKhYgEeR3AWbxTLGIF8wS3b2yY-O9PbNSeEleUFpmYJQ9De5K3pdAQI0I3HsWq_xEFGK2fvoRE6si5B5jLbEllVIgzmIpvl18qmWkEHdypzKcpbVE-VRQF7KyKAPIR9DY8Mrn99nO8W0lSX54GoW6f-rklwRnC0jo1zd82d0gBAAgwOXT-m1mwsZMkMZwpMfrEAZiqaEU1h9Dx14VjKGEHRfjX6wAAAiYwyQPRnYuKfAkNmxmC0j5l--ggWqkQ7tFrOyR8oST-VpudWzGRAFpUNw2p-cDJRl-Flx3whgYCsFhSCeiGPgyvuU2K3-iza7I4--MTOypPDjCmB3QIpJGDB3ke5mPFVZd3IqQjoW0TMiEnBHtoqilOIp0mx03hEGV1j51aKKK938YW26jMeD-EDMsrJjHPAscSxzuWvDd5RE_PAyExaCVYYsA7hXOMow0rOaeKGHq-WMAtGbDQfLSeqynWG2bkQZEwdpYPP5rheWaLzo4G32vb88wCkAUPhRwjFE4p_xgbTvuKiki-bBfi-73AoSZbhxyYA9W2NnBeCxca9beLhmXxIFYD-boEv57e3fgTdSbJKFnxa0QPw41EwpUskQKHbYO-BMgGSPyv21vPokV0KWs6WwmRWguYLZVGutBH9bQkCgwVx7YKjrCHaas7PsmbYKiJO3ZwjIFBkMVTCuszr3Gtt",
  "id": "rs_03c8d19d02446f7a016ab4233fec6c87d08a2f8f2f07244fd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.33},\"note\":\"The right bottle remains aligned under the gripper while the grip reading stays at bottle width, but it has not visibly settled upright yet. I’ll raise and retreat a bit more to give its lower end room to rotate down.\"}",
  "call_id": "call_mX262pLLAPu5Jm6E4jWxVJpG",
  "id": "fc_03c8d19d02446f7a016ab423403e0887d086486feb5eed8cb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mX262pLLAPu5Jm6E4jWxVJpG",
  "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, 0.7959, 0.6025, -0.3862, -0.0227, -0.0292, 0.9983, 0.6907, 1.6283, 1.6718, -0.7464, 0.4358, 0.2768, 0.4957]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1775 left_yaw=-0.0018 left_pitch=-0.0172 left_roll=0.0032 left_gripper=0.9983 right_x=0.3945 right_y=0.2339 right_z=0.2975 right_yaw=0.1566 right_pitch=-0.0554 right_roll=-0.0389 right_gripper=0.4957\nstate[joint_eff]: [-0.212, -1.7162, 6.6803, 1.8877, -0.0464, -0.0855, -0.0122, 0.0889, -9.9214, 9.4017, 1.7753, 0.2857, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c1fd6fcc9bd42938ad3e82a723b42ab8f0285531faf57c8c1bd4aa55a6a579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff935f72467e4a295c8666a4d80e4a0152f934612547d6c31ce2d3df78ba471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeb0cf4070d12e2b9c51cf89198758ad369b8f412d457f640cb99fe0e3e479b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 10.87 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, 0.7963, 0.6125, -0.3874, -0.0231, -0.0296, 0.9983, 0.5625, 2.0602, 1.1202, 0.2638, 0.4137, 0.2604, 0.4948]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1817 left_yaw=-0.0013 left_pitch=-0.0088 left_roll=0.0029 left_gripper=0.9983 right_x=0.4741 right_y=0.2192 right_z=0.0376 right_yaw=0.0556 right_pitch=-0.0394 right_roll=-0.0268 right_gripper=0.4948\nstate[joint_eff]: [0.1026, -1.7299, 6.4889, 1.8046, -0.0269, -0.0464, -0.0122, -0.4581, -9.4154, 7.5829, 1.9463, 0.1832, 0.1001, 1.0379]",
      "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, 0.7959, 0.6094, -0.387, -0.0227, -0.0296, 0.9983, 0.6212, 1.6905, 1.4063, -0.4194, 0.4118, 0.2573, 0.4957]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1805 left_yaw=-0.0016 left_pitch=-0.0111 left_roll=0.0028 left_gripper=0.9983 right_x=0.4298 right_y=0.2251 right_z=0.2131 right_yaw=0.1168 right_pitch=-0.064 right_roll=-0.0415 right_gripper=0.4957\nstate[joint_eff]: [0.0068, -1.7299, 6.694, 1.8095, -0.0122, -0.0611, -0.0122, -0.2393, -11.7402, 9.9487, 1.8877, 0.3346, 0.2418, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6025, -0.3862, -0.0227, -0.0292, 0.9983, 0.6907, 1.6283, 1.6718, -0.7464, 0.4358, 0.2768, 0.4957]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1775 left_yaw=-0.0018 left_pitch=-0.0172 left_roll=0.0032 left_gripper=0.9983 right_x=0.3945 right_y=0.2339 right_z=0.2975 right_yaw=0.1566 right_pitch=-0.0554 right_roll=-0.0389 right_gripper=0.4957\nstate[joint_eff]: [-0.212, -1.7162, 6.6803, 1.8877, -0.0464, -0.0855, -0.0122, 0.0889, -9.9214, 9.4017, 1.7753, 0.2857, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c1fd6fcc9bd42938ad3e82a723b42ab8f0285531faf57c8c1bd4aa55a6a579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff935f72467e4a295c8666a4d80e4a0152f934612547d6c31ce2d3df78ba471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeb0cf4070d12e2b9c51cf89198758ad369b8f412d457f640cb99fe0e3e479b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNFA_m9VdpfI5jGZR_wKH1tjG-pNTzx5jryY6chnzq8P0LtFPJOpq1nYYdxDdzepNUEeIwq7KJuCBF_03zG9e8ChdapaicvbfYV4137izZ5Lve7YdAxuaOFv3tWNQW_YE2BmxSqcGjoseMwuhJSAgmGcLrZmSWQwYKm6V0sZBqHTo-YouwaMya7DI30dwFRH1S_o375UoWGXlICjnmAWAS05Eyu88NWlVtz8RTA-fgvzYNigTNmmkifdOc3gAFeHOSx0nqT19p161T2yf6TciE42vIV0xDv2k6RCwlUZtRI4YXtaAhKl6IPhjl-0UcOVEAUJ5VZujqbB-wh7Ze-BfiMO7moq_x2M8NEXPXvLU_Z95JwKOVYIY4rjEXXsXEGR-TiMQbyJ8dJ7cU_BGHzxOqoYDQ1H65CyMrLNddTL3PcjAfga99qrfq_D-_bJpDOB-SlDr-zdNAhqxF6CADIYOi0tTs-KTWqwS2KJ5lxamLZbkqktCt-j5Mmfjp-xgZR7zDTHihFUI5nUMVwy8y5SXJ0i1pRa517LD5ekKPJfRJjOeU7C8lRRITnCtebxGxm2WkhsJ5-CP7jVXfqAKMsmzPDK7KejSC6jR7SgahjMEK1v7_RdkVApwQDaUp_BuH2ugT4qN0Yr7A3vat0G47MpHD2l3MZbtn51yO18f0Yf1z7_Agiyjkr55399BZQYe2tdWl-9LvMnP4ySQoK24u4sKBWV-Bmim6GGkB9_m2NnvX_mNUnjAOSlz5KZkWzcGWjbjOLKOXrdj2i_mw_JatSXgrjdRwTqo2MqKL5BgtSdXv7fwRrUqIZhosV0WbZNDKI8TDfnvt0Au210gdHbOpn_wRSqfWx3dwQZCV8MKRSorTFa5QuKEhtvgoWY3kndtmKTlIfnOWqUlwN_a2ENBkHu88K24Wqw8LyKOJi3ssBPeKlhJB47i6Tcs6WIDNV9B9SwckYks3zxVaaFwPMagZ1G3-3hiL4nd6LyyWsc5EyiTNH7gfuD-VC0PpIR5mBkdgpz3rF6nFkfmnyQE1Q9xgvjpBnSxlhcQuS4brkQbsHdT_J6IqVYo7w4y6x2PfYiVfgPzw3YQrf49nmxmdXpGrwTHn6Tji-hnWwco0FiUStQurHlgY0LHPwK3ixgdBOMvJeFYGUMCVKwyyWOAwQSGIkGob_u5_0J8a32ss3BwxI7TXmgvm8aTK36F2UjVCnRvVAkxaleUXY45Rs0vY5DDsLxP8TpKoeYskcIGl2wwHzR995Xg7HAl5c7fVL855BrOY306d0VVp7TNSxYWrq3LvXd_B1oy5ONUI2t3W2XYGgMnk_P8nGDiK3Fs_wA1WoJcMXlVUJ-RzJtNdcbJMJ4QL3Mfrqu6jw-ghpD-QVbOO4HZEsq17DatfJWOV3rfp5caKY6_xMrLuLqz5tZK5BQhv2Fs7k4fnxS4BNbgHm2a7p0wGQe0W1afJEj1JmFeaHvZqg33HkK9xECsOGhCB58hZBAcMJPdztJOxGtRHJPE3JrrcyFGC9Sg850WbE_rgqPFUt-_U1df56f3aNczoe9igF47ELvSekVhuvAfZVujLTfIRfOI6UF2tRlnozV2rvyadT4qRlYIwQk0Ik0EkWrMJ2RiMijCaFsv9OgQgSCBX-sivN5_w74dDI04rMJwtamaAFuT9nz09huBk2_mfnJ0AZF0Hx-aEnMrLqs84ZqXlinKXnYwG0h6sSTWGLXqu-BZ3_BMcl0r88OizsPpxhtx1xPzhlKTJnkDOXsMGJYnXxR8HI64JbXEbmwT0c16JX6sxsf4HGzFyITgLEWuaIDJrfr2wIm_qPRtkvkPOYrSJRVsDOGvhSnPX-GTXXRqMWJJUgXu24HHoN7r-2u4_l_xaN1cHRYluLmlfL19DbPdu0siJObSk9gBIGB9OLR-GZaBXlX1x2WM-DoFtGxId60ZEdnhCxAOAGZ09QyvQdvS4CLR_lgvc=",
  "id": "rs_03c8d19d02446f7a016ab42343d44887d08431084848b2276f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bottle is still visibly lying in its original tabletop position despite the raised gripper, so this first close did not lift it. I’ll reopen the jaws and make a better-aligned grasp instead of continuing to pull.\"}",
  "call_id": "call_cQk9UMg5OLou0A7CfuotdO4h",
  "id": "fc_03c8d19d02446f7a016ab42344ec3887d0babb7dca1f67be43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQk9UMg5OLou0A7CfuotdO4h",
  "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, 0.7925, 0.5877, -0.3779, -0.0227, -0.0296, 0.9983, 0.6937, 1.5921, 1.5658, -0.6827, 0.429, 0.268, 0.9955]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.1733 left_yaw=-0.0016 left_pitch=-0.0202 left_roll=0.003 left_gripper=0.9983 right_x=0.3886 right_y=0.2323 right_z=0.2794 right_yaw=0.1697 right_pitch=-0.0631 right_roll=-0.0452 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.9077, 6.8444, 1.8681, -0.0024, -0.0855, -0.0122, -0.5538, -8.3897, 7.3915, 2.0635, 0.188, 0.149, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596f19f25bfe21d124b03345d4095bcf8cf3368ef4b53557b4611f5e0f437117",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835343069ae77a117c78b8be540111024abe96eb8dbecf57204289c03db2d32f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f956f33dbfebb4fe14519c34ce33493bd119bad0cf2f19ae3702aa8304d624be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.829 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, 0.7959, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.5625, 1.8568, 1.3415, -0.2176, 0.3885, 0.2523, 0.4957]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1817 left_yaw=-0.0018 left_pitch=-0.0084 left_roll=0.0031 left_gripper=0.9983 right_x=0.466 right_y=0.2189 right_z=0.1406 right_yaw=0.0783 right_pitch=-0.0972 right_roll=-0.0459 right_gripper=0.4957\nstate[joint_eff]: [0.0752, -1.5932, 6.3795, 1.8144, -0.022, -0.0317, -0.0122, -0.4034, -13.2991, 9.6205, 1.7656, 0.2759, 0.0611, 0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6025, -0.3862, -0.0227, -0.0292, 0.9983, 0.6907, 1.6283, 1.6718, -0.7464, 0.4358, 0.2768, 0.4957]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1775 left_yaw=-0.0018 left_pitch=-0.0172 left_roll=0.0032 left_gripper=0.9983 right_x=0.3945 right_y=0.2339 right_z=0.2975 right_yaw=0.1566 right_pitch=-0.0554 right_roll=-0.0389 right_gripper=0.4957\nstate[joint_eff]: [-0.212, -1.7162, 6.6803, 1.8877, -0.0464, -0.0855, -0.0122, 0.0889, -9.9214, 9.4017, 1.7753, 0.2857, 0.2662, -0.0122]",
      "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, 0.7925, 0.5877, -0.3779, -0.0227, -0.0296, 0.9983, 0.6937, 1.5921, 1.5658, -0.6827, 0.429, 0.268, 0.9955]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.1733 left_yaw=-0.0016 left_pitch=-0.0202 left_roll=0.003 left_gripper=0.9983 right_x=0.3886 right_y=0.2323 right_z=0.2794 right_yaw=0.1697 right_pitch=-0.0631 right_roll=-0.0452 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.9077, 6.8444, 1.8681, -0.0024, -0.0855, -0.0122, -0.5538, -8.3897, 7.3915, 2.0635, 0.188, 0.149, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596f19f25bfe21d124b03345d4095bcf8cf3368ef4b53557b4611f5e0f437117",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835343069ae77a117c78b8be540111024abe96eb8dbecf57204289c03db2d32f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f956f33dbfebb4fe14519c34ce33493bd119bad0cf2f19ae3702aa8304d624be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNRU-gmW73IqgzmT8Um1gfFv3Ua15NWVt_wbcYah99waJ6xnnKLcGDmBMXU_g3YY534KmmwCtD1CowrgD_K1l-Ri5wntCaoXHvfGlQaGCcRT1iQ6UmUSVVHwPd2piCAt9vM9DgGGv980qBnXtj1StL15YyKIF8z7CaTSzhz4IlBH7agfIWLisAZ5s1V5O1em-lcgTe5w5EVIqtIPOu95MFi63ltRdpx8l2zxrAHzP5zdFTEVPNu6ZYAiEK9nY__RfjRs0im1ojtlA_aABd4vqt1dF4L7Pvx73N-aRlqZvEv0jyYlzi5V_we4mpSqFiVFCq4fXuFn2D28SYveArQzf0Nc8u5dN2_R6xqvPC-hfQJkBEzogBLLgrz6so3xW39VlMuSNRmXPR0MSkOjONdwB4lfcM8ftw4dMHTZsxEG8tCTxWg2x3LCTb28-X56xZNc_57wBfH1mNZR8lijr1Nh4KdUth7IC-aIdnuswmYTew9r3QCINKqhcEcv9nX2gxrR94wjGOTWS8-5j-X-s8KVOT8WpLnTtU3Oa0Zq-fQaa0MXuROOmAtplLqyJ6PgojRTbuWLW8JB9pKbMVVWf_CVDWVOFrKq77cRlQ9Y62EDD16x6cudpZpS4XpjYavr3yy5Er1JXe3OP7o5jdrgy4wmQMyIVntbB2jptXt-aBpcruAPjve7e4633DVGIyBjFG9E-PaiqQfz98CICjpDMl9a_0rCrI6BegCBT93l7_9oqSYswUW3Uqn7hbCezdpDKvClwWhhnG_crl5XHOuB_Y6WQ1uhGIRyjVAitS5xuRMQuKGf0Lxk6CVr0hMUocXRNrajGVoyKtnjCm8YxzuN34KAeqvhNdTUU836kbnGuweJgz0ftVf6RLnushE-TGRYJ0Hpk_WS02kRV72jxpa5sMM29KrMPw0LbL8d9BhcL6RKYWglSt9wC-wwww0sXmv2pNgWb4XXRgx2KX_Oe2ukcAy4GkMZp4K5dPBELn5W5_pmpo556EADegilBSaudHvr8BiWpmOyGzXxI10nYfkfi0YNQZqismVclEXk7lZNICMFhN8yj9SyHe1stR1vIRWX5YBJ43Ylm20qP1VP-3vtG0ECICoojfpM5cWCf2BtDmyWybn53seLfBiQEab-0a35dwLarhKmvLVpBjnruD74o4hPxQdSpN8jXjvBDwdRC5M5Zhu3oYS3fo_D7DhEBdrdojVzzUeNtJflOgvhCEpi7w9UdbbuNOKA4H9SUJHZW2wGIv9iW2vlf6H1tIWE4ktxR42y4dNQXDly2DVDN6AsJEe6at0Fc3rzWK0brp1IVyHUiG6Mp3EaPuUJwjBy3XIIHIDAHGMl9C8GuxdZaYPq9k7ewne7h9O9inlzD4GtdII3D8rpKrloMirKbHtyBHekxCEhQqHXy_QsTlniHbzMVd4N_R94hgUBwFBvvDs1EfkQwISiNz76bBqb48stpaInxdJDM1fb03S_AH1kyUyXlGyiQRtAfzK9amrtS2tUpUXw3OCai-2K3x8Q2NXF6a-5kQi61-RJZm8GAl4wnfLz3nTvzFDsXBNbCSz9hkvagPMGUwlLyfp2ng6FA3iGrJQ09hmjZ4NUE0JkwiNVUcFQgAFEYkxr1H2K9LJzxdp5HzVe1PxzqDMPxTcs2bvEuMBl2Q3WkovoFdc92cFzYOYNBphh8UYxbgzojzafO7DWH4moJUdUBFeowD0hF5PM49BKKi_sUkyq4H1kEwK_trA0vCCk-8gZ2yOc2wskPi4Z6WKxXBL47qfNs-PlgIXXG48klGBi74f7JNf4YjksdcOwiWDr7JuC9kGerq9qCg5A8-7D0dEGBHyYjgwVvcPrqNTH6-z0nY3KsGuBoM-HMSmx6LQg0o_z9G9P6_sXbMOGIheH9XzJFIXHSYFj5VjxycRD27PIhfKpZhpd_cTqbzndkea7-AttyY50lhxfXU1uXooQkUHAAzhUu9gooaIS26pRHUsJomU8QggIaPkNw4OQlba2udRRih9Mxhy3_VkUYPtPLItbFPwMSDaUEVDXdd2m_sj9Mxs24lCWfMDmzlZsJ6zjIhbpEJCSQAVQTUw9eZagELDHEk4cuDN4iZCTjqm7rk3v66DDeeQPdTJe9BNRzYOOpzzvuo123d9BZ05nuasEK6CndLjigealWYLAOGSu6PqB9iwiD2s1qOYazo-x10DKvyVW-XGVOiCK87qkdURvWnmytxubpOmatRt0jHIe7cpo6RDzqHAo6UQujowNUfZ-hxLs1pZaP1zMc0HAMCYO_ohs2_Fgr5poN_oqkRe6wdcbjhg-oPmDoBuuUWdIYlYXv_kq4TSeBBOVe0tIZSJ6CdHxCm2BrLdtY5ixL7Rt1VC2zq45S-D-0ZB_4AGy8IgtdaVJnbcwva6e3_4aQklI4tsKtdTX07jP3fQh58ppRiHyLT7vIunBKe9D0bngQTaSQreMzxuiwVMQMRrRzVJjfyFtS5TbcbhNK-IpaW3AlNUv37FAppJ_kwEQaUiWFBSvNjKRrs-bZD-319X5vzyMGb7lDPw5LdnUx73qFwcc4GlI-1Twk1aG6cvK5SakeGJRFZ7lSDPp4b6dKwZO-r3hROCOFg_fdrlS6KRCmHL6eqDYPKn9JmluRiOkiCgO12Iv17SWGCJaQYEYlomInlfeuSJUwfcGJSmhM4dSpIFqbTxxdk1hn7yOCakzklyUGdVuhJkeZmGdHMaRxU23qhHEkBkuT5vlAQZ6xQrVmMYoKbmvolCyPgeyrc_VQxnHH9Z78NfLZGZP-Tt-Jig0bZfHFPg9AO7y0r2488iZqFjglePylUlac1Pgi2B8wxIt4QrBZcKtuTPkj6YnECXwU3C6N4Ff5aV-3mfeR-XPAJ2QwaQk_52nemfq5aYr94ApViOBrZ4bgnpt4yfiXDWwaH4zg3PVD5lQDFYn40QQyyeTgSMZeI8Txi-E8yJzmQ4a-8CxLgJRtRs5QSx52FMSHT799wyTrdy3UmO4LNgG2f5iJzzItlC_EFW94FuN_Ko_NtvrRThcFW4QuTX3sHV6t_fFK3riND6jtEq3uNgdSMN0ZgnzWzYeb3VclPpmNSRzlHdTI9SUIwsrZeyRCwLNWSzUdHvvMews4wPAlhCG_ClXABamnnkxEvweTV4qdbNuRwx5mDqayHtDMK2NU2UgQiGvaZjHnL3aqrv5SPMcqK3fpL0Sd5Ol-uG3jDp9wwJ4xsYN23DDZ7b8s3ffdMfvf3YUgP74YmUCRbIdEiuDIiQdI2lKqJGA9zscXcshfUrNfnOcwsz4KzGOmE7ic4WN_aMBab9N3SbFeGKAgTM87UZjmMigACm47UmyXc0OCpuwv0gkcXn4U07NX7wfE8J_0QYi1-B960gzsFGuUpNkwXeTWbcwhP87lSBXyLHCoCpdMjVK7OEWoXsVpgr1tsx0gsgNO8UuNBT5wUV8X7BJRwlED1VHFmp-qXYkhWRMWw2WfNrjLEuDz0h53N5dSTStSlMGiIWrKlxCo0mVtqE8WqcxtOGakz7TyfyfVphbSLvdmmfnB6ur77Suy4ZhQ4wEYDZ6l1Dfv3VeU8RYqXVAPy91keILNDbh2wL5DZ9ej9GYTykqgjFrjpEB6KCwaEuMzi3BFwWlPWp9KcI3o1Di1ODz27RuhJ3R7Hq1MRSAAs85_2XuYSAzzy7M9loIQbSZFVX6tsC-LmUUb3AUOH_O17TORq_GA8FYfRnRHBc5e_IVEHPZ79s3enAsFqioQIaZcR2cQcRBd-INKCSAft0_zF-qZ99tg1BDKSLpGTdk9P38BfA8CDrFfFyqJWHgkanqTtlq_yr5lE9qlcBJyrpNfpIq37PcHLA",
  "id": "rs_03c8d19d02446f7a016ab42348320c87d0ab50154018167e99",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNRDGfiNsptUnRtsytUJg3rDy4Nh1iUQHDhmJbMmsuS3Z2YXpFsXPU3qcHnQALFTJe-NQsu_FM_umF4dh1e9fcrjgn1fOX4B03VOmQjcnUtcqLUZShEfEAo-oK935LShAROLLUxU-u3_SoVGCw07AbMegJ7RhxLUjcXxL5vdFOCFNIeMszsI9cINKvFVL6M9jCg6Vcp0vj95VfLlKgYlLfHKbjCpoYmDNe_rziUPc54NwKPxtnkB8jnceOY9LSTeL6916orAOCGMy_8aDPiP4ihsqwfymXNgFRbvFhNST0ULKdnToTC_827oUhxqHXexDnyuRpqKm6JOr8UbbWua1rlIFU5wGFcOzeArbtALaiZHLWLnLsu0LkV1X6l-4DsLKHpsoIYjmcpjAqJcJMFxDM5JquiL1SoVVwYQLYks4YWiiAfp00yfbQxdvRvSf9hp5ytsbFR4MGixvqJeNRKvS9J2YX8PSZavufMtYx26xRg_bBCxKt1C3sfPXXnGQ8XMldaDDZUyIPMkq5FXv_yknDMOxHePnof9RSkO-Fs1PpPxAjQ2ozngtggxMmpI3varbJHlAFbfGIn6ALx1Oeg18TWwunAZ2em1ULxMBixnm4a8VYWrA4YlRhOIuM_HzPpr241DTDNWKjBzRf5HTmx9c6HddlMGmdAk7YLOv_by2e5Oms3Zb-zYne2XSnyfOh3jrxxuTJemqywFAHwL1cDyGg0hqys7tZBcOowDKXOS2GxlgwZoiE1owP4xHTOmXJAn6cENDIFt7td0QdA7moHCwoUpuV0pe-JzbpPohfZ3kKOviThf2x5WKUshh0ta2QA8L_KbX7APkyaD6L5d7SBB-k7ulsSkMmZltsd86E9s9prikHVDYQMDDVUQYVGiGuz9yKDROjj63AHH7SixDixlrH0yyaQAOZ0tgOQ0_uPuzB54WDVc2fdf3NpN2exzcYc4C6WlYPZJJAljQFPLUTtwaAKH-CHGurkLFw1x2_fJdZUZDckWtuMxpS7ESY6ah6zJ6ZLCkg9WcSPtmo5a_ljfeTZLmpEyWDMPYiPm_nHfkRmFnl61kX1froIRJcmtqz3DqC_bUFJ1Hb_KpD0iBpVvtZKdquFz2w3wdfINIuq3seLELfFCJ2ZeGW3ezWrIxuNLTn7DZIu20XtsaV50pgcU2_VxZ3zKppXQHQXAgSO8Akfmq8pQd2vT7wM3UYqndjFNeYUj_2AROTtSNgQ67SKTfs-SN9-CQ2ksahit7LEAWnriuDk_C48eTnhfn0AaYHEe3QJBSdpyPxiL6g6lZjeKZZpf8uRdqic7jjRLdU_F3tNG5rz5XFwpEK8kQG-ifkzSP8qJfhltLcjrz-301C_DldNlkAmUEr-ZkG93E4QN9ND8nRpKtj9BZkkNSItk5oz958xKl04AhAO8MQRawvVu9eH834iuhIOBv-CsS_33I1LvdsLpRD7ENooOjvVU3uDLq-VEzh0Ti436DoJOirEaZBkVwwCZ6s33topEpsKwKo2ws51bEOvkj9-dJClGYKpCD5hvQa4iWt4lw3iPsk2THH63mmqrd5FwhwGwkWrabk5DNsXHUbK1zQwD69GJKx-DnHPUNbqYSldw_cRu8DGP8t8vtnyX3Gy6JE7ysluyVHH3PYNAliXvSnArC_ORk1sYot-x5mJl018EEV81rxNs3T8ziOzkNr2lEv_2EEMhgdkH5Jb_lmC9t38WiR3u0Y6MOU9a8l7ZLP-e50vQ34AwMvRm_gMu7D1GbjXPF7urNT379cjtweYgxbQdpspfxrTpPOyZTRzbkX6d2oZHlHbI4HkUM3kpYzXC8zVHBM2Hqf_2tbB489R3j88rlN8k9Ai5pu4AhsjM9nvnlARaB1oFo9r7KXCsDf55HA_kPCiiNSqQZZkFu3UVjtXk_rZyTuoLrRetuUBIUXsvraCdp7rzw4aBu4wqX26eSCVqOHF9W7jV_sxHtAw8UzbcvBX3IkbLuCbNaRdnHFygptA1Id0VGC1Sg5TDD8L_Az8MZRh9btIqfHNT5W-EJuwws4-ZWTOUxC7MWySo-z_X9V4YOY5lzwWZ3KTRM09FJBMuuxCjzs9vWmnpZfc6aZgzLDQHxsFt-TP_woTUbYutJYG0_JebS-OT0wgYpA8DuCkXObVua84ChMDMQzR3FFPjzhEyaGmpwdLyqU6OwmUpjrjjWi0pSSgk_2ooBSGRF8bWhkjmYpXgYVjsvLfBYOnhOYF7r00q7No_tZ0YgJanDw1QBjUyveyv0jo6SC9A_bQ4Idb2KEZDKXOubv5MEZWmz-JWoO715IkIPPV-Mt1MckES6mB0Uz-tp83_UCyGjhUEHv8xf-YQ6x7tJ6HfvtEwq6OgP-3TLGdm-Nl_im0WspuYcIorTGjicppdNQ5W2ZcEbZXvIWisi1SDdDIUhS4lReCtqosR1SG_ubo5sjlVk1_97lBfGimjTXtVNG1CaeRUvwNPxE6fi8rIhtZMwXIc4H5avNIHwuwmk0Bg9gnqcbaFYUn30d2wUarLREsylZv78ldt2_t5N1gAN93IYA8J8cPSagOoR45ghdXbgbU-ttOvN9Pli5Eoya4DxbmxJ3Y7qWUI5-kbU1eW7ey9qIA-YHYkMr8xf2KGSTXQPcFkxETddpoVGM8fF01s28blpVnbCqc7vInyFbvvHWUUdcWhEkNB3jrQOfEVmsqs6fzjJiXJHBoZ9vjDJYvQKKS1ZXUIoANo_9Sxyib_Qwv2eBdjvBiqJ0470JqyH7XV2gCUDGvsT-LFEqiOxWJEqsM9dwEQH3m9OEQza-A5I-XkU3Esj9_9kyZxFyaDMGhLVm-ajnAwRAJA5oOqyvd9uPimM89d9jLFXIjmmNnaMvR2uYGLxxsrcoF4Mr2Q3PTFqIetPFdLPCTCDghkBSIbCRYJovWWmEeLOEkk4M=",
  "id": "rs_03c8d19d02446f7a016ab4234d26f887d094c2c39ae8903673",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The right bottle stayed down after that attempt, so I’m clearing the right arm from the shared workspace. I’ll approach a bottle from a different angle with the left arm next.\"}",
  "call_id": "call_AB3C4lXPd4ORAWG5obFWqc7O",
  "id": "fc_03c8d19d02446f7a016ab42350835c87d08ad75b0102eeeae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AB3C4lXPd4ORAWG5obFWqc7O",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5743, -0.3714, -0.0227, -0.0292, 0.9983, -0.1791, 0.8173, 0.6243, -0.4263, -0.2443, -0.1875, 0.9974]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1705 left_yaw=-0.0018 left_pitch=-0.0199 left_roll=0.0033 left_gripper=0.9983 right_x=0.2917 right_y=-0.0057 right_z=0.1764 right_yaw=0.1049 right_pitch=-0.0276 right_roll=0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -1.5111, 6.5983, 1.9658, -0.0122, -0.0415, -0.0122, 0.0889, -1.7983, 7.1863, 1.7851, -0.315, -0.0269, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1397528a4066f5f3152553b1321bb14124f661e5678fced92905116d8082e424",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed8a110829894585e44fd74090f4c1bc1840babc44a1edab7667486d2aedd61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152ac591a48b9af4c91eeaf478b4ffae48c70b05a2aad70cf676d0bf69179bc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.631 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 36 changed as sent

message 41 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6094, -0.387, -0.0227, -0.0296, 0.9983, 0.6212, 1.6905, 1.4063, -0.4194, 0.4118, 0.2573, 0.4957]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1805 left_yaw=-0.0016 left_pitch=-0.0111 left_roll=0.0028 left_gripper=0.9983 right_x=0.4298 right_y=0.2251 right_z=0.2131 right_yaw=0.1168 right_pitch=-0.064 right_roll=-0.0415 right_gripper=0.4957\nstate[joint_eff]: [0.0068, -1.7299, 6.694, 1.8095, -0.0122, -0.0611, -0.0122, -0.2393, -11.7402, 9.9487, 1.8877, 0.3346, 0.2418, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.5877, -0.3779, -0.0227, -0.0296, 0.9983, 0.6937, 1.5921, 1.5658, -0.6827, 0.429, 0.268, 0.9955]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.1733 left_yaw=-0.0016 left_pitch=-0.0202 left_roll=0.003 left_gripper=0.9983 right_x=0.3886 right_y=0.2323 right_z=0.2794 right_yaw=0.1697 right_pitch=-0.0631 right_roll=-0.0452 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.9077, 6.8444, 1.8681, -0.0024, -0.0855, -0.0122, -0.5538, -8.3897, 7.3915, 2.0635, 0.188, 0.149, -0.1734]\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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5743, -0.3714, -0.0227, -0.0292, 0.9983, -0.1791, 0.8173, 0.6243, -0.4263, -0.2443, -0.1875, 0.9974]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1705 left_yaw=-0.0018 left_pitch=-0.0199 left_roll=0.0033 left_gripper=0.9983 right_x=0.2917 right_y=-0.0057 right_z=0.1764 right_yaw=0.1049 right_pitch=-0.0276 right_roll=0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -1.5111, 6.5983, 1.9658, -0.0122, -0.0415, -0.0122, 0.0889, -1.7983, 7.1863, 1.7851, -0.315, -0.0269, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1397528a4066f5f3152553b1321bb14124f661e5678fced92905116d8082e424",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed8a110829894585e44fd74090f4c1bc1840babc44a1edab7667486d2aedd61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152ac591a48b9af4c91eeaf478b4ffae48c70b05a2aad70cf676d0bf69179bc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNZeiTmCoi9Kn6onOzQeAz8cIm1yYwp1mG5BKAJZVY07E3HhMWv_91pN2442qa3xUoRoQVcNL2iU4hkwv7Gr67sJeFhOkk5JNmECaBOYpSSJvRIhib_qPYwEbhz2q10UIedpPzMdFLfvZeeELXYtbY1VqtvfJciUCsv8g4mtOotvZ2adajQkk8oCqovqpbvHmSEFtXn4CPnHCN6kYMO94o5sKe1nBUQ60ebmChQf1SBzKZA3jJ4-gFPXR4iC9rDAZWJuQml5Ju66iMxUbwH2OJCpKcM2gsw9SBOpL50D2MlDTPsVg49wdK6WGkxO4NJe56xeSrS8c8GsFC7gixh29VIDIpah2qEcoVzEGMsMoCc0KyT_A0RoZr3nY-rh6Dkz3uXlI1KVxsu8FB8z8mCApjYUWUedeQ6_9P_NJklbJ72npD82GpzVI8Wm5PimVUQTc6pj4s-N5iUNupFQeCFypAm9mR8knnzfQ9ITOgUUyN7eHvj02nUiy9st2s8ea3m_OnN1PSJeSN4pHq3FHYfgnklZ-fcDa8TUX0vOyL5ace-gZ1xLj_o0p-VID1omlNnlSnDr2W-gaFaRC5YNU-FZn_zEn7BrchE_m1bxTqz96ka45hTtgb4DlDbNcRMSfePH7WAExdFXnvBdXE0TOGBwYzQVmroZRPQvAbMofbgOqOWFQuvfh1_WsjunxIiE40uF2tdf7DbWbEPQTUJOI_UXowR6Iv6D26iQXawrXQkRu3oUD87z7oPTzxvAI4LCoJapzvBaOxkK0P6ANMfKIPBlwcHPIL4Yd43PfNk5Nefp-MPHG9Qia8u-5g19tc44VOXuE3Jnul32iqyklLFkkpBhfLBaI87pnNdkLp69yRJS2gU5upSy7FHSaakqEq_0jhVhH0JKada8N2K9WB8Klr2jOGKPKa2zIwaysAvc6edrnjTj4TqDku9Pcok5fC5eMTz-l3vMmnx4gA9zSpXg2lo_CMyhWDxSguy8WifMePr_nMCXYNa8CSHVx772z5N_eMul1cCTWMZlljBBn65bdNzL7pA1N88KXr5tveW_KQ7aw9_yvNciU4jX21A1CV-Y0HIKSjaoToH3Cj5JAilydmYlvR2TtSSyySDX8oOMHVZReU-eNHn6r6Uc5Rvg7lbMc0ZzYp6edKmaZLo6-M4qjma0DwvrTLl-_7uzKdj9TW_K4IUWSKSVLm_c77krSM_pBdQmqKKnz_YP2RlkH_5h5o8IvoYOMXnLuF71g7OcwN824T8wUETw_PqDw6Wu_Z7_RoSTaIH0pR7IpWM6A_x_JLoUxgn5rkO3EFIxndSmsd746Ohz0YzStidGzt26sI7sPVPosnaKm9FXX5IfHt2KSWu3Oas-l0sW2F2Giyco2Gkwt6t8DBSraDEhfXEuppfG37ICGZ1njaEmKEwO0rVHCjNhNIi2_XU9W5VadaJ_IpVGoCi0seomn1UZ71lEJXZ42pBV1p3plC1e-61-jXq18V9yW5swW-UxKRkzxWwWFxujJRe2U8n-XJBsaRFdee91Wpinr6cSIGZ17SYsRkY_nRwsOgied0ss95mMNfZDjP8I_uonORSVLbjeTz0KvZaG_IozkT7pxySbSlWkm_vVNePsvAEbiSaz052dzZksIYiya8GJualwZU5rqIIzKPVE5bSDjfgaGRkXV0ROB9Yd-115s9qS8fZpQn8oOS7cNVQ4SB3vkADJR0cGxNl3C_mXfZTa2-Ld1GK9t_W0KL6Jjj8u7x_kFJoMPtUxHv671SEC7zICGxS7g8cxOb__YFSm1BHGQKNfhjFnbwkG3vcZttX7TXvqo77SSCZnJxgDOr_xJ7IxLqnp-26ipHzJa1O8-YlifAG81t5aEiOU89crx5Va6sHLfL8sLXJaFzEyd-O5CqulwCkSViyfMm5XCbcx_ILARNI8Nl_r_Zbas9cltlghKK20CxB25DegoOP946xCnX-M4bMguJqk6-AFDa1ob0gIBa_sql0rwtzgTSjYutN5NAiCyjc-OX107IX0FMrA_JkrScWhElhIT_ufllOvLRhYAdPl7goxnGB78ls_KB2-vO9D_XrdCDDJlOdIuRB5HMzHNwXpc4IClLS_iko44OMTYuLrNh1StD_bmqH4jAnmTHQxB7ffWv9DUCyAGyEjZWD7cvv-1vZ2rYcHPo3hLTVushUKbMx7oqwpNl_0sA7ZhxU77vWEzOmB3esuO_QDV-m5YRIRquWY7_U8G-p9er7bpN0",
  "id": "rs_03c8d19d02446f7a016ab42355b45c87d097a02d979e76e6a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.145,\"left_z\":0.085},\"note\":\"All three bottles are still lying flat, and the leftmost bottle’s cap is closer to its arm than the others. I’ll bring the left gripper over that cap and check its alignment before closing.\"}",
  "call_id": "call_9OAT7Pj5SL4JWICKKXIAkYFq",
  "id": "fc_03c8d19d02446f7a016ab42356cca087d0ae56d59fb30def53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9OAT7Pj5SL4JWICKKXIAkYFq",
  "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]: [-0.5476, 1.5719, 0.6552, 0.2085, -0.4423, -0.3328, 0.9983, -0.1837, 0.8043, 0.6018, -0.4206, -0.2626, -0.2066, 0.9977]\nstate[eef_state]: left_x=0.3755 left_y=-0.1362 left_z=0.0688 left_yaw=-0.0165 left_pitch=-0.0666 left_roll=0.0294 left_gripper=0.9983 right_x=0.2888 right_y=-0.0033 right_z=0.1714 right_yaw=0.1259 right_pitch=-0.028 right_roll=-0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -6.6393, 7.8838, 1.7411, -0.3004, 0.149, -0.0171, -0.3077, -1.7983, 6.5436, 2.0147, -0.0122, 0.1978, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a8b2bd85df321be67e318b4f9c7508fa286783b0154d6227db696c14d781ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d21e40836f7769694fb57518cdc7abccfc9642d5c8fef361a31024dbb0004f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7456d0f140f92b0c73e27eedd9741da4d74e213352fb7b3502151e1ed4f3c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.256 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6025, -0.3862, -0.0227, -0.0292, 0.9983, 0.6907, 1.6283, 1.6718, -0.7464, 0.4358, 0.2768, 0.4957]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1775 left_yaw=-0.0018 left_pitch=-0.0172 left_roll=0.0032 left_gripper=0.9983 right_x=0.3945 right_y=0.2339 right_z=0.2975 right_yaw=0.1566 right_pitch=-0.0554 right_roll=-0.0389 right_gripper=0.4957\nstate[joint_eff]: [-0.212, -1.7162, 6.6803, 1.8877, -0.0464, -0.0855, -0.0122, 0.0889, -9.9214, 9.4017, 1.7753, 0.2857, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5743, -0.3714, -0.0227, -0.0292, 0.9983, -0.1791, 0.8173, 0.6243, -0.4263, -0.2443, -0.1875, 0.9974]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1705 left_yaw=-0.0018 left_pitch=-0.0199 left_roll=0.0033 left_gripper=0.9983 right_x=0.2917 right_y=-0.0057 right_z=0.1764 right_yaw=0.1049 right_pitch=-0.0276 right_roll=0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -1.5111, 6.5983, 1.9658, -0.0122, -0.0415, -0.0122, 0.0889, -1.7983, 7.1863, 1.7851, -0.315, -0.0269, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5476, 1.5719, 0.6552, 0.2085, -0.4423, -0.3328, 0.9983, -0.1837, 0.8043, 0.6018, -0.4206, -0.2626, -0.2066, 0.9977]\nstate[eef_state]: left_x=0.3755 left_y=-0.1362 left_z=0.0688 left_yaw=-0.0165 left_pitch=-0.0666 left_roll=0.0294 left_gripper=0.9983 right_x=0.2888 right_y=-0.0033 right_z=0.1714 right_yaw=0.1259 right_pitch=-0.028 right_roll=-0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -6.6393, 7.8838, 1.7411, -0.3004, 0.149, -0.0171, -0.3077, -1.7983, 6.5436, 2.0147, -0.0122, 0.1978, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a8b2bd85df321be67e318b4f9c7508fa286783b0154d6227db696c14d781ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d21e40836f7769694fb57518cdc7abccfc9642d5c8fef361a31024dbb0004f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7456d0f140f92b0c73e27eedd9741da4d74e213352fb7b3502151e1ed4f3c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_03c8d19d02446f7a016ab4235b74b487d0b2bbcb890f981983",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.065,\"left_z\":0.05},\"note\":\"The left bottle is very close, but its cap sits off the left side of the wrist image while the jaws are over its body. I’ll shift the open gripper leftward and slightly forward toward the cap.\"}",
  "call_id": "call_gxQNqxhP74DssfD5r50232BR",
  "id": "fc_03c8d19d02446f7a016ab423602f9c87d08eb5ab02f20d04be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gxQNqxhP74DssfD5r50232BR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2607, 1.6756, 0.5774, 0.4931, -0.2489, -0.1967, 0.9983, -0.1856, 0.7956, 0.5751, -0.4095, -0.2665, -0.2073, 0.9978]\nstate[eef_state]: left_x=0.4094 left_y=-0.0605 left_z=0.0466 left_yaw=0.0373 left_pitch=-0.0217 left_roll=-0.0081 left_gripper=0.9983 right_x=0.2863 right_y=-0.0028 right_z=0.164 right_yaw=0.1276 right_pitch=-0.0338 right_roll=0.0012 right_gripper=0.9978\nstate[joint_eff]: [0.1709, -6.0786, 5.5043, 1.7363, -0.188, 0.3004, -0.0171, -0.7179, -2.0581, 6.9402, 1.9267, -0.2173, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431ca25d436984e9671785c86e38d3b4ac62327a90ada37b1ba676691aa6c687",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf4437ea0ab36b7eb3456ce22b4f4e852d1d73466436fe86777fbf649a7aac5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0997d5ac1c69fc8dc74202a9dce6a8f6ec99796f927a19f2a1828e82428232ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.704 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.5877, -0.3779, -0.0227, -0.0296, 0.9983, 0.6937, 1.5921, 1.5658, -0.6827, 0.429, 0.268, 0.9955]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.1733 left_yaw=-0.0016 left_pitch=-0.0202 left_roll=0.003 left_gripper=0.9983 right_x=0.3886 right_y=0.2323 right_z=0.2794 right_yaw=0.1697 right_pitch=-0.0631 right_roll=-0.0452 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.9077, 6.8444, 1.8681, -0.0024, -0.0855, -0.0122, -0.5538, -8.3897, 7.3915, 2.0635, 0.188, 0.149, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5476, 1.5719, 0.6552, 0.2085, -0.4423, -0.3328, 0.9983, -0.1837, 0.8043, 0.6018, -0.4206, -0.2626, -0.2066, 0.9977]\nstate[eef_state]: left_x=0.3755 left_y=-0.1362 left_z=0.0688 left_yaw=-0.0165 left_pitch=-0.0666 left_roll=0.0294 left_gripper=0.9983 right_x=0.2888 right_y=-0.0033 right_z=0.1714 right_yaw=0.1259 right_pitch=-0.028 right_roll=-0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -6.6393, 7.8838, 1.7411, -0.3004, 0.149, -0.0171, -0.3077, -1.7983, 6.5436, 2.0147, -0.0122, 0.1978, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2607, 1.6756, 0.5774, 0.4931, -0.2489, -0.1967, 0.9983, -0.1856, 0.7956, 0.5751, -0.4095, -0.2665, -0.2073, 0.9978]\nstate[eef_state]: left_x=0.4094 left_y=-0.0605 left_z=0.0466 left_yaw=0.0373 left_pitch=-0.0217 left_roll=-0.0081 left_gripper=0.9983 right_x=0.2863 right_y=-0.0028 right_z=0.164 right_yaw=0.1276 right_pitch=-0.0338 right_roll=0.0012 right_gripper=0.9978\nstate[joint_eff]: [0.1709, -6.0786, 5.5043, 1.7363, -0.188, 0.3004, -0.0171, -0.7179, -2.0581, 6.9402, 1.9267, -0.2173, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431ca25d436984e9671785c86e38d3b4ac62327a90ada37b1ba676691aa6c687",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf4437ea0ab36b7eb3456ce22b4f4e852d1d73466436fe86777fbf649a7aac5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0997d5ac1c69fc8dc74202a9dce6a8f6ec99796f927a19f2a1828e82428232ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCNkmUcsceJuJ60Qk7-wlP60lHi4pSTmi_ezQZbLQOv6uDgmHrZGqwSNvW3iYHBujBq9eXdd9cHoxVWCdM7IjZ2IbPqvFfNMm34ZKZyERP9wtIF-vzHin_ZRbB6HQoZrvYASitJnLg9WlXEaCZj2LqP5X8YPvtIA6KEeYDWRhEFuxtsAD6FMkxNwMJX7FyKJWsOc1zf13jtOILg5j1ljFqVq3gF3e2kctWvuxCSeW2lyk1YXdXABATvBFmFpHrnyyussaBDgCUhqBa-I91uNWc278G1DAxUBmt8czeAo9stgSUMMkT3wN_WPV8TpTO2toT-GpAiXIlt3KQyeoYFovhTGpIOVzoZrTXkPShtJJSxBe2rF4rKKqPtNTi268yePQrwyVBSpQIIxeUPwD2GHhLm5UNLDKDxu3mHqPpXYGEERzJtklSGJfWyxniNAtyXptpKa-p68vUKlORmlJ7h4B6E5oRxRz1jILGvS6uCdzz8lEjQ4eCuU1j6n2wFIvekpK_eYO3T6NkPEucqjrPNMMtWDzTGn_QIvSjl_-owCQz76kIznuJ5NwU0hOr1k3iv8VYJafTLRVU3AMprzyfRzsdaGbf-2OiU2GeRp_xp3SsXKqaGQ6P4MHa40vhF-caS_4_qb2K3PK4tVn10IWclyjApgDcQhhOd0_i5C3MAXygPBaJHzvf6G__Rw7LsLu4hDzmZDRmStWusUUkgEfg1uSozGdKHlHfnsRT6kndxs_3F-jUwIYxcdbCbVtISibftq3ehO2iXl3hWRNLPPgQQvtDQQK-4dBIVH2zsq0u9HdfwNaLxc7-6wDDYs5FUyRTKBFDelXSFqiP11aN4DiGtmC2iQvPoIx65rj0skshBJVIx7ktp7TkBz4vXd6dZbnpJTtSX3u7bnWO-xA1BAfWjRj4waosUomNBd-FcyrZLArTCfbeF8ddZuxnXYlLV6xC4Y1wH2D79fWBaDpIao_yfSKhcIa3eivqHnwivzAe5SwhayNu3o5nGjUlBa26EPsW2ZsuZuDE43N5epYmTuQbmLQ3IEYm5FWgTPLCRcguBlOowi8Kn6zdiwyz3wCsrzGF_jKYUV9oGPQprmukBxMdPAyWphP-AM-oMzpoE8Dg3j1lYGgcmAKW7sc-NC4b44O7iX2coKMGmlcMeEVdxc69SalaHLKIxzpiMpugG3wxJBOC1KcpA5QU4hj98nqzh1Hw_IjkZ6386ZFauwFFCR05jBWpyWqmfm5zJgD84E2bH0TnCgT9ylPAJB-4MKfs0bj9DDEoylTMQ1GOWr0xwDOPIdGG8V-SIKM0VDCdu6649Nl9Ed_KZHCQ0Gcx1eE9NcICddge80eFy0Z5z4iAhca5CwG7g9q8Z4wELP7zG4GrYWxGBonPmoTt0g_VllYUABq6HbIMA4VnGAxoHOBgjruaTZ-vnfNbHMy3ZSZfDxeH3GwIceqj7MY6u-NSSgfUuprIm_EodrV6Q5MQxsXtf3WYtzhUuERkJC3WJtLowU74ReG6_dwf-aPlg_YQepKvkaNFPPrjMv8lisQK9b0uLkKIraUrLD1MAOFyCD7hDue4AE2a9rvI62TY4zGagTCLdhRVKcVwvZ4s_z5B5Okt8ZU9agWXcj5CKYKoWfBFGuyXDCm9t8CQbmk0y3ddytD4tql8N20ons-KzBIbXjhQrUTuLv_ajOt4tBpi3F4oZ5EBBGfWrI11XiImNnY7q42P9goOZ34pzHvTlsUyKKif0SDVV6OXQpFRC0etsjUSk1awwQyJgyy7w=",
  "id": "rs_03c8d19d02446f7a016ab423627eb887d09d34a6c3684ffcd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.018,\"left_z\":0.032},\"note\":\"The left bottle’s blue cap is now in view, just left and ahead of the jaw column. I’ll bring the jaws over the neck at tabletop height, keeping them open while I refine the position.\"}",
  "call_id": "call_MZbf67Jv9f7ZRQcF1VAp3twX",
  "id": "fc_03c8d19d02446f7a016ab423642a7887d0a5c3876a86d80042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MZbf67Jv9f7ZRQcF1VAp3twX",
  "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]: [-0.0994, 1.8832, 0.7551, 0.5781, -0.1333, -0.1352, 0.9982, -0.1856, 0.7799, 0.5426, -0.395, -0.2699, -0.2077, 0.9978]\nstate[eef_state]: left_x=0.4699 left_y=-0.0196 left_z=0.0396 left_yaw=0.0688 left_pitch=0.0178 left_roll=-0.0304 left_gripper=0.9982 right_x=0.2831 right_y=-0.0016 right_z=0.1565 right_yaw=0.1307 right_pitch=-0.0354 right_roll=0.0035 right_gripper=0.9978\nstate[joint_eff]: [0.3761, -6.7761, 6.0239, 1.5849, 0.0415, 0.2955, -0.0171, -0.7179, -1.6205, 6.8718, 1.956, -0.2125, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb2af28abe12fef1d8a101236146563ad60396250ff303ef3bab2da7f6e33c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa692cb03a4ccaf9eeb54d31838c507ead8fff999986202ea7760482194ef7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73339aa0ad9b1571d92608fb0137126fa6cccc2829a49f2372cf5222a56d2e9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.355 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5743, -0.3714, -0.0227, -0.0292, 0.9983, -0.1791, 0.8173, 0.6243, -0.4263, -0.2443, -0.1875, 0.9974]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1705 left_yaw=-0.0018 left_pitch=-0.0199 left_roll=0.0033 left_gripper=0.9983 right_x=0.2917 right_y=-0.0057 right_z=0.1764 right_yaw=0.1049 right_pitch=-0.0276 right_roll=0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -1.5111, 6.5983, 1.9658, -0.0122, -0.0415, -0.0122, 0.0889, -1.7983, 7.1863, 1.7851, -0.315, -0.0269, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2607, 1.6756, 0.5774, 0.4931, -0.2489, -0.1967, 0.9983, -0.1856, 0.7956, 0.5751, -0.4095, -0.2665, -0.2073, 0.9978]\nstate[eef_state]: left_x=0.4094 left_y=-0.0605 left_z=0.0466 left_yaw=0.0373 left_pitch=-0.0217 left_roll=-0.0081 left_gripper=0.9983 right_x=0.2863 right_y=-0.0028 right_z=0.164 right_yaw=0.1276 right_pitch=-0.0338 right_roll=0.0012 right_gripper=0.9978\nstate[joint_eff]: [0.1709, -6.0786, 5.5043, 1.7363, -0.188, 0.3004, -0.0171, -0.7179, -2.0581, 6.9402, 1.9267, -0.2173, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0994, 1.8832, 0.7551, 0.5781, -0.1333, -0.1352, 0.9982, -0.1856, 0.7799, 0.5426, -0.395, -0.2699, -0.2077, 0.9978]\nstate[eef_state]: left_x=0.4699 left_y=-0.0196 left_z=0.0396 left_yaw=0.0688 left_pitch=0.0178 left_roll=-0.0304 left_gripper=0.9982 right_x=0.2831 right_y=-0.0016 right_z=0.1565 right_yaw=0.1307 right_pitch=-0.0354 right_roll=0.0035 right_gripper=0.9978\nstate[joint_eff]: [0.3761, -6.7761, 6.0239, 1.5849, 0.0415, 0.2955, -0.0171, -0.7179, -1.6205, 6.8718, 1.956, -0.2125, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb2af28abe12fef1d8a101236146563ad60396250ff303ef3bab2da7f6e33c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa692cb03a4ccaf9eeb54d31838c507ead8fff999986202ea7760482194ef7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73339aa0ad9b1571d92608fb0137126fa6cccc2829a49f2372cf5222a56d2e9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNojl6skCbB7NHUWhepqDQ7vi5A-rV1vwJNBooAI2IzXzY0v4-EWYoS66hBxx8HIb9USNt8tANep8MhtRi6mV1vOEUmzoSH94IKeAhFj4ro8iMabQXqR36JdypbdBEhz0Ev1NJSI9DMjBwmiGOJbXmfzxIRD7j60A1RvNeRS_F65kUecWFyTPHnu3n-cFW_OMNVFAjdM6_mEk06h2piUaFPraZ-NVPJFNVf75ewiehVZ-O6y0W2fw47TNuTp22X5HItNjkCEbI8I-4dVH2RLxZkFT3ZiJx_37p-2vnS4MRpPzGTEtH4-8fH2M8S5Jleosri2L9LYLCtTHZ02Nqcjhls8h2QRRIX61OYbZEKpc4EIuAJtZpflAkFfS2BIAs0MzoxRXy1a6rp-_b8CC7y9yBKgN0Kd8ElnV5wdXnHqAefNlCGbulvpDDJf4XyQzhckC__V7nUhMjclv1uQvnCuM9SP0s5MpcS3rDRjARsvTjRVYMh1c8U8njxpy5iWOvJekBCoYCnjQuOxlYAFL4KE_zsDS14CeoL-nBAyNe0HZC1rK7FVg0GFQeN8hO3ukJcLBVwiqMYAgDkPf4KFQVNgY3UoWMwXpQ3K_cZd4L6x3tdoR1PUXBJEJgQK2pS0R1VULYtUwGyCTzGE6tmbqnXRg_6xBnKk-D4PKE_-zxdJLAWZ1nhkgX-DF3ExQymAXjysB-JfrGZk_-kLa1Dv1SJ8hHnUPnsvsfcua1z6T3OG1P1sC3FQT0rdcUXl_zZ6M0Wg9CAIwUgpAlIA0SJptZ7kiQPTPzdn4FzxHXF3YZHA9_blOhuKylK7jofYCFmSFBxV-CrqV0zyFopi5bsgiePUCdPaeXegoW7KJlzX-GWtsI52rySrVHLs_AhG6hQ7JrKj3uW7q9Cug9R1Yn2UG1_6QSx9m81-ztDbwqe3aIO4POLnkzGIVJrdfFG-cf2ynxdQ05BJyclO9Uqva6U-gz6zwlXiJ41qK6EhWaV2xtKWhC442Xf5RJesjd0UYZ_EFZfVigz8C73Hw_QjUniI8dMjPzjnaYUl_GcfRDm5esb1Ssom9w84CoJS27raeTqd1MAvmq4YWK1JQjlYkWoHV7GgJZLnFYUmT6-5HBnLjX_dz_Gi5rVhKPrkmKzAws5BfRflTst_O9yu5su9wHS7FVdg3QlSFTFds60QFZ5gOU4SxOZTQeMHRdJprLJEh0lu-Vhu7Q9rNMbydCGu89eTHUC3BgsQUEZO4BvOSwJceT8Q2m3uvsDwabT0lqm8cPfWM0mN-7or_75koVVXfAdZqKyHB2HIcHcDwFH9ydoNRoXsxlYGikAd2qtaJKtX1Ptte63_EjfJvTOpM22aF2o5P4iZjTsobZpMfr4prCx5-pVia7WcCOXpZWlWJ-u13f-m8_1O_TrE_dhe9MsKu1E2-Za8n4DmAzfmx1Wu7BheJx7zktIy41IPJJPJahc6hBHScdEf6JugP4jxmGmozwwJ7eyrbXC2YqefXsVmAKNwcDKzEkaNHeUSWNC-HWXPB5Qq6peqwutc9dBljlUo6AdgYPpT0t-7HXvxhjCKFPvfHZsr8TtDj3UvvPOr84oqekSRMiSbZHkWCnx8EdgLHj-aOFU-W1lbuBaN8u3C68xxEClSKtKpQo45UqyGm8ObbKmqTJRdQM-bA1jK1dEymL9aDrGkZCOZ1EWN9haRZw8kOTxxAaRehjZ4Kh4sj3n71m0T3E2-7GJ8SuFR2BIAi9t2hcOIQt7SgvjwSrifsvOdUOHAJhJ-m3XkZHhIasJUBr9vuMIsNi6lDu5sWiRXHJCsX6R3MpxstR-OuhZovrZhDmF6CNdfWI=",
  "id": "rs_03c8d19d02446f7a016ab4236681dc87d0820cf33a4fe567fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper has nudged the left bottle slightly, and its shoulder now sits between the open jaws in the wrist view. I’ll close here and use a short lift to verify that the bottle actually follows the gripper.\"}",
  "call_id": "call_DFG1IVJUokjUrWqBkHU11GL6",
  "id": "fc_03c8d19d02446f7a016ab423677e6c87d0adb9d7c99a33b3ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DFG1IVJUokjUrWqBkHU11GL6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 1.8717, 0.7742, 0.6262, -0.1684, -0.1307, 0.0104, -0.1856, 0.7628, 0.5056, -0.3729, -0.2703, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4819 left_y=-0.0175 left_z=0.0627 left_yaw=0.0912 left_pitch=0.0982 left_roll=-0.0237 left_gripper=0.0104 right_x=0.2803 right_y=-0.001 right_z=0.1487 right_yaw=0.131 right_pitch=-0.0331 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -8.253, 5.0667, 0.9304, 0.0708, 0.1441, 0.8816, -0.8137, -1.2923, 7.1453, 1.8926, -0.2418, -0.0269, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec18d61880f2f72af5653f50738aab7b619d92172178dfdfd6ac000bfc7b1f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bddd4deda92cb992aad5a37abdebc72c0f5442f112da2351595892d5ce8406f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960c991d85737b0c91855a7faa9dcc06b4d3a689d5526267fefcc3f339132e3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5476, 1.5719, 0.6552, 0.2085, -0.4423, -0.3328, 0.9983, -0.1837, 0.8043, 0.6018, -0.4206, -0.2626, -0.2066, 0.9977]\nstate[eef_state]: left_x=0.3755 left_y=-0.1362 left_z=0.0688 left_yaw=-0.0165 left_pitch=-0.0666 left_roll=0.0294 left_gripper=0.9983 right_x=0.2888 right_y=-0.0033 right_z=0.1714 right_yaw=0.1259 right_pitch=-0.028 right_roll=-0.0024 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -6.6393, 7.8838, 1.7411, -0.3004, 0.149, -0.0171, -0.3077, -1.7983, 6.5436, 2.0147, -0.0122, 0.1978, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0994, 1.8832, 0.7551, 0.5781, -0.1333, -0.1352, 0.9982, -0.1856, 0.7799, 0.5426, -0.395, -0.2699, -0.2077, 0.9978]\nstate[eef_state]: left_x=0.4699 left_y=-0.0196 left_z=0.0396 left_yaw=0.0688 left_pitch=0.0178 left_roll=-0.0304 left_gripper=0.9982 right_x=0.2831 right_y=-0.0016 right_z=0.1565 right_yaw=0.1307 right_pitch=-0.0354 right_roll=0.0035 right_gripper=0.9978\nstate[joint_eff]: [0.3761, -6.7761, 6.0239, 1.5849, 0.0415, 0.2955, -0.0171, -0.7179, -1.6205, 6.8718, 1.956, -0.2125, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 1.8717, 0.7742, 0.6262, -0.1684, -0.1307, 0.0104, -0.1856, 0.7628, 0.5056, -0.3729, -0.2703, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4819 left_y=-0.0175 left_z=0.0627 left_yaw=0.0912 left_pitch=0.0982 left_roll=-0.0237 left_gripper=0.0104 right_x=0.2803 right_y=-0.001 right_z=0.1487 right_yaw=0.131 right_pitch=-0.0331 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -8.253, 5.0667, 0.9304, 0.0708, 0.1441, 0.8816, -0.8137, -1.2923, 7.1453, 1.8926, -0.2418, -0.0269, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec18d61880f2f72af5653f50738aab7b619d92172178dfdfd6ac000bfc7b1f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bddd4deda92cb992aad5a37abdebc72c0f5442f112da2351595892d5ce8406f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960c991d85737b0c91855a7faa9dcc06b4d3a689d5526267fefcc3f339132e3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNtcgF-j1Nn-yuGniykXgVjyZq6TzVRPXSLuWS-mVGPtnTxpvwm6FNur41HIIjBX0Cfd9FSdQe1tT27rm_BjE_5xgrAzZLpqxYii1hBEX9lkijTraejKHp8jUhqpH_7-keWzFcVPyHgXu_jFzdghhbZVPdYO2l7ymehUlT45FDRsWk0v44tDgzH24zu327RRrbpeXuK0Ly2EtJFPT_ep3PE13RRt0Rx7qDZesyKa0weZlksu_HPv-cTEfoaxSnckQvbmdYVae69VCzSOfb0f05hOCmuxlNO_kDMFhXa1YxzF9qkSgx7UbtoXHgdZA1sWv4uQHxTjT9CjLCvXJXtuLTzWmaHVtgkV19YLVkdXe6IQHOIy5oqK75b2GlI6DIuIl3nynxMiHDSHXvBTDFTDFZiIDx6WrQuqz4syWSVRDnefCkzOKtE3CaQF4FlAbSEQua1WH3g34KkevYdC_batVuvg34rkT5gjuWlXq7_zB80rU1Dl9fGxOPQxiJ3Oe2jl8r31P2Gl1BnENjicVNwVpkBTsI6NchfMn7Zj6JChcFuDRRDnYGsxq0QUvC71ygw6i5CfSpy06y7eJuW2xntS8fR_4_djLhbi_Sjfsq71-7LCxWm83TM7EsgfWCnD9DNPutKKg2Ygp6qWPZGCBeO-JocrDzCL2rAml2rDQO_cdl7AT9tNfb_ZNfHw6VHEPU0kkGo-I6F38te0-ElgJe4wBAa5S6qCvqYduStBwAETebgI2ENTJLEpHxGJU865DQzArK6u6kv0xYEMONKQkvcn7pddFq6OQzT2yg-Uv_MQfi_mr2-SrwOsd7Q0D871sPag1j5EYKJIFoRCVcyoVhBy83-9GBDTUms5Om86xDfhWm9v-2axmZkVaztvQc_xBuyP7SdI3epsuXXGbfB48GdqUZMGycrlZ8_J4KFmazTZnWhkWq1sMtpKxw7ypRF8poSwO73ADVP8r6DfsSJN5SezxZGiiyCFShFy2zmS-yGUwfpviPrvVErd29hGlhKPtjSOd-ee6HKpXvmu7_yCktWMN2rcbiMMspE6XXW121jlMjs00g24maZPLCssnHaiLdcIMky8xwDTIKDLGKyn1aHHqARvhQLjUUJxyJsxKPxNrKZhfIq1QI2njok-p8Y4p0ZUMHfXdPLjPz0YHKjYNTmPjQ-B-7WQ0OmBsEG53u29ERM8j9wh_5fI2sPnDcCEIRg3e5VHNL6c2vBAfpGxBWvvY0M76ADyZa417P3Wrhx1rE4kvzwZdRmlAS_lSJGsSQXfeE4sN8mMAHuILECtuTe-VHeCpHQre9dttJZmfSgCnhQRKi8JMZwSrzZvMcIm_Kol2gzfqqEgvzvMUHB4d0x6IH6wZwt6JPkiQwlTXeTMX9PZTukY0VMj6YZ5k37lYutv0vIwmekJmRuSyMFq8zDlzMK-y-CA0Y13MV7WIZLZNgMmoVDv7pcn8Epznu2Z2EmgjG1eqY510YOG0HcuGZ9wCWNtfjvtio_5Dcfhgqsa0bJ7gwWka1EA3X-OAtK7n_-D1QAeVl-cXobMYyvhRsWBT2bww8Dw5He2NFsAiGpXJrkkX_K8h0jwcS6qazsovF32nan3lIHVkQR7zd5DNMw1C7TwqU5ux7ShaAO2_Q18gdEasWFKu5d4Neq5by4g9th1CiRz_iHFSeikVs7CDCPgnHWNwJaQWG1dKmOlnd3kA504-ZHdHnAc9CaZPkuuw1BhhCmgCm1ASNXfIgjV432cByMnnXebDsGtoVCErWQkbqXh0WrkthNBztNLEbgn6XiKTUOK9A_fD098QMFMh27NjDS1FOTv3Bf3mSQb7tiZAdZpxrnFX-3om6n4TvoE4j-9oQ-fiPax_0D2_ZMBiy-YVPFlWCw6LZwcpsHIZiCHOI02rYGq4pDhHl6o6rI9wiq-eyaF641jGHapSXb7YxTsjmWV2hoy1iBTcM-9CYZJccLeY6TCRqDqmh8tT_DwWrrE0QnxLX77DZG7HRepTDaZe_k5JRmN7kNxy9q-1enJUDpz47a4Ld7vouVAjBjSzCK95nH45p_l94zEK1nMO6YJrmkWosvvB6LoEeF9KD56MDAgKn5Jn79SGDykvSdFc6I12nhc58-l1fmjLcHr3us7-Cq3kS9PxJjSc0GjcVE1HbBjaXXzu438jOcY8Nlqd4MRK9fLUNUaVIQcZxKIiuGGnC4x7zvFsh9XcQhuKmdVcx5SKAyJhn3sTMHYgfvHfPMk3u03GkQ8XFwqaopyg8hWfFfOQ==",
  "id": "rs_03c8d19d02446f7a016ab4236a708087d0879b5ccdde4c6f65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_y\":-0.07,\"left_z\":0.035},\"note\":\"That close was empty—the jaw reading fell almost to zero—and the jaws were ahead of the bottle. I’ll reopen and move back over the wider part of the left bottle, which is within the arm’s reach.\"}",
  "call_id": "call_4oN0FClRdAtZYnrsw7GQPbyA",
  "id": "fc_03c8d19d02446f7a016ab4236c82d087d08c933925c7a21fa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4oN0FClRdAtZYnrsw7GQPbyA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3386, 1.6882, 0.5343, 0.6434, -0.3653, -0.2359, 0.9946, -0.1856, 0.7456, 0.4721, -0.3573, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4091 left_y=-0.0734 left_z=0.0597 left_yaw=0.0785 left_pitch=0.0883 left_roll=-0.0174 left_gripper=0.9946 right_x=0.277 right_y=-0.0004 right_z=0.1411 right_yaw=0.1312 right_pitch=-0.0338 right_roll=0.0029 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -6.2291, 3.6581, 1.1502, 0.0122, -0.0269, -0.1197, -0.8137, -1.2103, 7.0906, 1.9658, -0.1978, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04914e70cd4201b2be2d824be9920823fa067eab07c61807b71ed867523465e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49aa75768722f10ffa23fc4377a277acd829c4afe44fc2ce1f7964b35077855e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020022defb45541a713a442ee5417871a70ea1256d2d918d489423c2b7426199",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.62 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2607, 1.6756, 0.5774, 0.4931, -0.2489, -0.1967, 0.9983, -0.1856, 0.7956, 0.5751, -0.4095, -0.2665, -0.2073, 0.9978]\nstate[eef_state]: left_x=0.4094 left_y=-0.0605 left_z=0.0466 left_yaw=0.0373 left_pitch=-0.0217 left_roll=-0.0081 left_gripper=0.9983 right_x=0.2863 right_y=-0.0028 right_z=0.164 right_yaw=0.1276 right_pitch=-0.0338 right_roll=0.0012 right_gripper=0.9978\nstate[joint_eff]: [0.1709, -6.0786, 5.5043, 1.7363, -0.188, 0.3004, -0.0171, -0.7179, -2.0581, 6.9402, 1.9267, -0.2173, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 1.8717, 0.7742, 0.6262, -0.1684, -0.1307, 0.0104, -0.1856, 0.7628, 0.5056, -0.3729, -0.2703, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4819 left_y=-0.0175 left_z=0.0627 left_yaw=0.0912 left_pitch=0.0982 left_roll=-0.0237 left_gripper=0.0104 right_x=0.2803 right_y=-0.001 right_z=0.1487 right_yaw=0.131 right_pitch=-0.0331 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -8.253, 5.0667, 0.9304, 0.0708, 0.1441, 0.8816, -0.8137, -1.2923, 7.1453, 1.8926, -0.2418, -0.0269, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3386, 1.6882, 0.5343, 0.6434, -0.3653, -0.2359, 0.9946, -0.1856, 0.7456, 0.4721, -0.3573, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4091 left_y=-0.0734 left_z=0.0597 left_yaw=0.0785 left_pitch=0.0883 left_roll=-0.0174 left_gripper=0.9946 right_x=0.277 right_y=-0.0004 right_z=0.1411 right_yaw=0.1312 right_pitch=-0.0338 right_roll=0.0029 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -6.2291, 3.6581, 1.1502, 0.0122, -0.0269, -0.1197, -0.8137, -1.2103, 7.0906, 1.9658, -0.1978, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04914e70cd4201b2be2d824be9920823fa067eab07c61807b71ed867523465e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49aa75768722f10ffa23fc4377a277acd829c4afe44fc2ce1f7964b35077855e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020022defb45541a713a442ee5417871a70ea1256d2d918d489423c2b7426199",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCNx4oiklNL5tFhaxy6Wqwzw4YaBcBddPJ7Gbn1vgRBwX-Ytz9hgunOwN2LLeYvgylsqqa0A5iCTk0J_kkW7-Q8fZHhzB1jOXFbzhcxRGjk9Qmx-tnud8bjCTbXPDA-cCLhO3Nwf8wpEoS1naW7_gbiLA0AOfJg5VQVmM9J02vFl3ZoPIpMGc8Y6FOJiZy0RPNjgo-mMbN4gcZ-R2w_WKRk7gPXZTgdjPODSQAvHHa_MrAcgHASQpmiSotv_Y9Wlbar6r0HtsqTY38ogsu4kieaKcjmcRbVQSZFbdmushRylFJT5ovHOLoCcrTX1V1vD6-6y7wayyIH8Y0EdvJHo3-z7lO2mEhBJgGZK-LveI0RkSRwLShFHP6P0Wpi_e4G0eeLxamFzs9kUXmKQjA7DsEQuP_CzryJ7U-Ud6l7wXceyhIT64nf20Ycb650QIaaXXlcdI1DuqLB7Z1xBVAVGt2fHB-lm4oZjYxxLElP3goxQ83hsFfsa6waEqbaC3PgdderPhSyx4FQkyTXSExNVskWqZOrLFQwajdCoh2X39DKp4X9cRLTOZHBLWmDh74uZN5Gj0xkmnYzdrTGBPpOWrXjYbwNldU-e5RHgHVZtSJLNNXg5KjQGaXdZ7G_d6aqFV2TWhPxM0kTASY0SJnGMkp72gNmwL1jv_ShcTj6Cj0XoVVAxz2zaP1ur_99YIzVmddbL3nuv3qinDyrEow7W95nF2wllkrV07w7ZNrlHONF8kgkwy_bvtKsxD7WnLW0euftGx9-gGobTqcGP7fUzeW6k7jVILahnV5378yRrQNwSpotLSWuNFwtjvCBe52fgMutOTlQMIQbbvekHyXWua8v0Zjdz84wB6XzFKIjMMpg1XTEogz9B-RurLZ5R5Cau6mq9qqGaWJjKZqZdxOwPa9eTuGUD4LTDM43qFgwyPFEULpUErFcwcQGSup7JkWvdIEiL1Rfyp_RI_8f1CK7pacugU0N4dwtbC9SRoUP4txb_h86P5qPwfB3-lHG_tyimBPAxSS533c5OIN4iADvc2tWTdklR_iNV9yyXW7XSdvilhsOr91ZHBUt92quQGQQtFleRuGnn8fzEHMNzM-EFITg_r8mZ6-wtvKMkQm4OxtaEBHUHmvqElch1mB0ayJK_hCcAFvr4vVk1AXOE5AW6SrrymsBvlJUi1ODRXOt9FvM9ICtI_o5ccLp6rqtPhZR-yWxDWpDypOgtO36Gnr4h70XTt4YxFOJCkJeIAMDZK7zFHVYAdcTYorsmfgKXGe_Tg-TRYhQb9cNY3UYeiRPDuj22OdtG4nT_Ldm8Z_RSumT5e3wol5iVSL8DgJmXC7werbmedUEgnB91miBZVLt_xftD3LIDaLyWRFICi6wnnJMDbhqcgpkulDxxi1WU0OKMy09sTBEUP8hPjAO3jr9vdJmOdCMc7PagTrF6kl7MXjqSx4JySvL5GkYM8tR9ii5zS53DSjwE0lQg2Mb7Uqo6HfcP45zuDfwjhhW2R_SZ3rcs9WTzs9hoLAdQFQEUtjg6QcHZAVcqIShNgqs8dqos8NFBEd5-BntGQyiaWiyRZDlelLhL1WRsphlY51IGG9fqtkQkUUdGPkwRbWGCVFnJCWwk4YxrvT8eNEhCV4P3KmggSL6IOMaeJOV8jZk2AtLRhRAh0RhpAUQKZf4W1xqw5yp_vw==",
  "id": "rs_03c8d19d02446f7a016ab4236f567c87d0833e1403a838c57f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.03,\"left_z\":0.018},\"note\":\"The bottle’s main body is now visible between the open left jaws, but it sits left of their centerline. I’ll shift a few centimetres left and lower the fingertips around the body before closing.\"}",
  "call_id": "call_cWRaHHU7qT7xjCyOTtCAah0u",
  "id": "fc_03c8d19d02446f7a016ab42370633087d0a3397a38c9e21c9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cWRaHHU7qT7xjCyOTtCAah0u",
  "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]: [-0.1848, 1.7779, 0.548, 0.7029, -0.2737, -0.2001, 0.9961, -0.1856, 0.73, 0.4404, -0.3424, -0.2699, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4227 left_y=-0.0268 left_z=0.0389 left_yaw=0.1362 left_pitch=0.0568 left_roll=-0.0222 left_gripper=0.9961 right_x=0.274 right_y=0.0001 right_z=0.1338 right_yaw=0.1307 right_pitch=-0.035 right_roll=0.0034 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -4.5197, 3.3026, 1.0085, -0.022, 0.3443, 0.1343, -0.6359, -1.5795, 6.9128, 1.956, -0.232, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3074a0b537f6c4d45ceacffd96dddfe195171d71cf887aefa778b573920549a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40f8bbf54aa3a2248b6626ceaf2b1c2c73b0d4c84b45a0d3f9d32a97aa1f1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2577c09d70a4ffaa10a41820c3e227bd39cf5f30608a6d68fe0e62f6199e49dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.19 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0994, 1.8832, 0.7551, 0.5781, -0.1333, -0.1352, 0.9982, -0.1856, 0.7799, 0.5426, -0.395, -0.2699, -0.2077, 0.9978]\nstate[eef_state]: left_x=0.4699 left_y=-0.0196 left_z=0.0396 left_yaw=0.0688 left_pitch=0.0178 left_roll=-0.0304 left_gripper=0.9982 right_x=0.2831 right_y=-0.0016 right_z=0.1565 right_yaw=0.1307 right_pitch=-0.0354 right_roll=0.0035 right_gripper=0.9978\nstate[joint_eff]: [0.3761, -6.7761, 6.0239, 1.5849, 0.0415, 0.2955, -0.0171, -0.7179, -1.6205, 6.8718, 1.956, -0.2125, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3386, 1.6882, 0.5343, 0.6434, -0.3653, -0.2359, 0.9946, -0.1856, 0.7456, 0.4721, -0.3573, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4091 left_y=-0.0734 left_z=0.0597 left_yaw=0.0785 left_pitch=0.0883 left_roll=-0.0174 left_gripper=0.9946 right_x=0.277 right_y=-0.0004 right_z=0.1411 right_yaw=0.1312 right_pitch=-0.0338 right_roll=0.0029 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -6.2291, 3.6581, 1.1502, 0.0122, -0.0269, -0.1197, -0.8137, -1.2103, 7.0906, 1.9658, -0.1978, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.7779, 0.548, 0.7029, -0.2737, -0.2001, 0.9961, -0.1856, 0.73, 0.4404, -0.3424, -0.2699, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4227 left_y=-0.0268 left_z=0.0389 left_yaw=0.1362 left_pitch=0.0568 left_roll=-0.0222 left_gripper=0.9961 right_x=0.274 right_y=0.0001 right_z=0.1338 right_yaw=0.1307 right_pitch=-0.035 right_roll=0.0034 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -4.5197, 3.3026, 1.0085, -0.022, 0.3443, 0.1343, -0.6359, -1.5795, 6.9128, 1.956, -0.232, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3074a0b537f6c4d45ceacffd96dddfe195171d71cf887aefa778b573920549a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40f8bbf54aa3a2248b6626ceaf2b1c2c73b0d4c84b45a0d3f9d32a97aa1f1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2577c09d70a4ffaa10a41820c3e227bd39cf5f30608a6d68fe0e62f6199e49dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCN1_5UynIegSiJko1BUX5gdaLYLgT8FdgSdU7qx2ChHxe2yblAFT7Ot-_YPUvPoccIm-V4hxnQ-RvmvRMLPjphftqy8hmgcTZqxFKrRIv0nyor7V5NVWkoDZk9n0t473grf-NTcHy6N84GbSinkqvVYP3mhrE-euaJ-8QBZyEqgFpkUS8FomzPuWTDKAhWn3F3JATgCHyccM8Jpd-7Qh6x1imlSmMo0RujMGQitQPVXtVQERfyzgbYkSdbWFW3r4fNYirbOnyGnkkmXQv8Q8jwaThOHxN6vjGrV7Xh7A8yNj5cuW9hhh4JuKFb8o4MERyGDlVSJFQfB3PQxfXh195essfzNJ--VVFvI6Lo4zZLns6vYQg4chkV7craG8gDN7zz0pdM5ZXEOVTQqjaUViNKqW-Y41iIKHTCNItvg3bp66iN-qctNCxKQdF_GdMakS5cz6IvTHDcEZ3rqGXukti6ktGrDrpffEib7VlhgL9skded4el5ZjjqVykCvEOTDhZnqDIBSI25hWLMZGKF6LCrH_VcCQupcxWl2QIAVjsZp2rIMELyaMVaNfpA--Qnlm5oszpT9jJno6U7ftRkUb_UuigXpu1nESnQQZUD-BfwlSPdgi65xF18lfl0ABYWWDIK92A7ImD3B0vT-ZBgHFbjY464aWVwh31inUYBOWJ9jeB1dkrku4CfgRKO2fi5FQOgFNRtXZyeKIOCcVPcKgbn8E2aLHt_AbGkaHAy0f_h-mLNNxBg9oxj8KvCZgPmjhzyuHneZ3X3xZrQxIP4YptPSUPhdC55GM0Yczu-Vmwlx7GuOpjPhT2tB1RPef3v5rpA1mzIx-vQPlu4n6E1titc3Tk273sVcW5tk_Bm9lfIbxIvb3aJ_cLhK78jo1licRrrRxWXYPevKTfMun3x_jBGUjLFbm675FbVbuqmC9l0dj6IYBEt0ZZfARA9L8oa7RYEXVrYbEbfqIZghdlbLtW5JEo3lI_pD7ozuWiFxoNSh1xEjLw2u0amd9VuoVQXolWYNcb1szEFNiyMnb4kYUWtUpBkvqtiC2daCt1rvW_U5oKd_aM_2AMnuF9m2zW_0_U9ihp8dZCFXA0vJYZqI4_bSXCu1vC59RiMlq7iTpwdPPREIIO4txcD_l-iGdWGTARuOE4pBwDTI2XKbRxoB0AbuCteHwt6iLMrM05UKeu90_kTwbInoM9JEqXcR7Y6bBYiI63cKXKU8X9VlTULznSpnRUTONn8OHmbnCNVz-zan4KOwKJO5PIgtZ0VeLfQkDnYDEy-CkOk7e2WsH9dgu88K7oViYumgIUcCrBQ3EC4KGUhO0RofTf_KSUfC8IlhR5NiWLrwE-KnXL8mi99ztXMokz9-_t43Fy4mfCXGanjSsyUZ2vUSAdRVLAYDzLYxdG7qGmqwT1eJ6BnG7rhJ-QopmMP2-s2TJyaMNlm1J1Nw8aUfJ2QN6XfGMaLIPP6sy4R1",
  "id": "rs_03c8d19d02446f7a016ab42373830487d0af451596155e3991",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle is now centered between both jaws in the wrist image at a low height. I’ll close and check the settled jaw spacing to see whether this is a real grasp.\"}",
  "call_id": "call_8amWDhVagE6QWPGAtdGHMCjI",
  "id": "fc_03c8d19d02446f7a016ab42374374087d08affa491e5859707",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8amWDhVagE6QWPGAtdGHMCjI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1722, 1.7885, 0.548, 0.8219, -0.244, -0.1581, 0.0107, -0.1856, 0.7116, 0.4065, -0.3233, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4356 left_y=-0.0288 left_z=0.0595 left_yaw=0.1045 left_pitch=0.1567 left_roll=-0.0294 left_gripper=0.0107 right_x=0.2711 right_y=0.0007 right_z=0.1269 right_yaw=0.1312 right_pitch=-0.0317 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -5.3265, 3.3983, 0.696, 0.2076, -0.0366, 0.8767, -0.7453, -1.2376, 6.9812, 1.8632, -0.2613, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c98bc3662b8b4cfa0fe66a811c923c7e61b891feb4c7b67c558ef917997e47f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a53cb80fe824add13738c2196f4e8cabc8644336194ef135c012fd9c82eabb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caae6da634b042c319a0ccbfba17d779eb914423b790d43343c8d8fd92a3fb17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 1.8717, 0.7742, 0.6262, -0.1684, -0.1307, 0.0104, -0.1856, 0.7628, 0.5056, -0.3729, -0.2703, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4819 left_y=-0.0175 left_z=0.0627 left_yaw=0.0912 left_pitch=0.0982 left_roll=-0.0237 left_gripper=0.0104 right_x=0.2803 right_y=-0.001 right_z=0.1487 right_yaw=0.131 right_pitch=-0.0331 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -8.253, 5.0667, 0.9304, 0.0708, 0.1441, 0.8816, -0.8137, -1.2923, 7.1453, 1.8926, -0.2418, -0.0269, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.7779, 0.548, 0.7029, -0.2737, -0.2001, 0.9961, -0.1856, 0.73, 0.4404, -0.3424, -0.2699, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4227 left_y=-0.0268 left_z=0.0389 left_yaw=0.1362 left_pitch=0.0568 left_roll=-0.0222 left_gripper=0.9961 right_x=0.274 right_y=0.0001 right_z=0.1338 right_yaw=0.1307 right_pitch=-0.035 right_roll=0.0034 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -4.5197, 3.3026, 1.0085, -0.022, 0.3443, 0.1343, -0.6359, -1.5795, 6.9128, 1.956, -0.232, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1722, 1.7885, 0.548, 0.8219, -0.244, -0.1581, 0.0107, -0.1856, 0.7116, 0.4065, -0.3233, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4356 left_y=-0.0288 left_z=0.0595 left_yaw=0.1045 left_pitch=0.1567 left_roll=-0.0294 left_gripper=0.0107 right_x=0.2711 right_y=0.0007 right_z=0.1269 right_yaw=0.1312 right_pitch=-0.0317 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -5.3265, 3.3983, 0.696, 0.2076, -0.0366, 0.8767, -0.7453, -1.2376, 6.9812, 1.8632, -0.2613, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c98bc3662b8b4cfa0fe66a811c923c7e61b891feb4c7b67c558ef917997e47f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a53cb80fe824add13738c2196f4e8cabc8644336194ef135c012fd9c82eabb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caae6da634b042c319a0ccbfba17d779eb914423b790d43343c8d8fd92a3fb17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCN5TDWgsmlpuZc7trVD9lCLoB82bAUJcKAqVKDjASjAecNz1vcwBFoeHFWxkDekQweciCM26moaKDjP6T617uUomJ55eeyZSCNIMrPZOLaRjVnUuBeS5QnAUkymHf9I7dmebQBgT2M4lqD3T-Yqlp59tTpprPjiO-U-apjfAR6rRij60OBDWRcHStFI6q4ZNiQBTm0Rt0MhnkQa9yBoxiWLKJH8nCzM0XdQh49ki8RXCSU_EC0UBDUQvcjAdSjZXrBnAfNsO86ZcwjyjgBOp9whbihej5IG3y0Ou-FC4qxe5Q1JRfWWDksxVHeIfX0svyznohRZ9jOdDlPcH5aqdbYuhhfEcU9uMuuVfgD8A4M_OAXw85dYmd7dUzgNQ7rlDggSeFuBUxJokOE-qULqsW4DbJA5a7tlzKsy73czUrAkGjWWPlJwFE-_mssvduCRWyrhwkarcbMsbo5L4uWD4aXACn3cq8K8ISISeJeu9LwbLqKRyKBinwruBcyzG5IyYbbl6MOezD4Q8r8SZUowevUgVv2fhLuK6yXcsaGiNZUnOLqHnakuWUZFQlFVBT1jtbxrKSTxU9yrA_8pc6X3gWigCd4GlFv9OZi4MSwJ8rZ5cNbGD7J3-LLSlVmM4y9ve3jFZz7T6KrXSnnddMKkoIJhLBhaFry6ttsAGvCGX8XPVdyXm920KLZ3SJXMS8sKmAuacCIlhsd_R5PwN_bG2odtewu03s0m4dugqmb4gKivEAXwpaa0FXA25npQJ5fsiCGECTWuJ1pNx09mm_VE_9ofm2j2HzaEKf8KJkmY926-SeNku7EIrCzFfZbI_FsGPDKiLPeJQOVCIXrGCFc_QJmmZrouI2mAX10IyZDlrmNHxEZXrp54jeISqSI9eX3FSnU5PPngfgCB1d7wdnCQoeWhiVXP4v4-adGk2sJPeXTm26PxYH3h-Kn3c_Jx00wpt8GjMcmo_FBFLkUpIXKl-X55INsb1AxTHooEKaYPUJSzx1UFTNJ8YeYDX4cVQZI6aKQxCa0ylzHgA0KlBkgcHoT1GmGn7NJOKwY2sDtEDFsqdq9cx1j4iXBq-43iM00zk4reSX_U3ZVMG9tMdnKI03t1ef3bgdd4z2dZQUGgYNItaeVCmGa2fY6yt5eo3RZIojCNV-DXbHYjU9o6VjH_4372HPpGVAAgTa-qfL1EiFIHXouFw-C3AanYga3jmAf1YP-_MMH60ZbkjNcKE19K5Oj-90An-xlrNgmPYNVpX2HoRhIqaLu-xaRYun6XfDPwVFcZtw9NRWLWbwxhRXtNrekQ2owqbXsNXrFQavGB7MCdWSYQzEjfyd1LVlH4tSUxgxkGljQsL6HTjVm9HdzNwsiFuTtFJ6B0pBCC6F3jl-Dvms4kkOr8322LLQInINBeJeO8FYDy8-qtdokH6D4vXbjt4NnRJH_jbLi7xU8zuph1NQLpHTzM7HRQiWrs4yz1NNacxsLVIwSX2SDy-Oi6Xy4QhVjHvaqXcZGmdKd4O28t8fwZRjnuJEX98g1Mnz_l_ueUiXmsFf4WvUSJszK1-mKSity6_dJuHDCUH3Nz2jZFIYqzlVZew5Qvrv0g07Zh1p2xrMki61KXI-6DmGTcr-_fm5pK5ZESFqpcVc-fR5QZmB9gglNjS-45nDMgQEbWSH4pn_dHwNkt_jK4a3dHxdxO3vy-H7a_b8fTNkPZ7z90oyBq_wdcsyFNSKbY_Rgqzoz-olMVai6rIGE8vnSNaCMD15QQLIfzCSolDLH4ak7ir2IOOyiOoNVyi285yTUUP2kcfJSOGeM0jFiRn8jSJQyE6COL5pcpbr4c9_frJh45qL4N8rGyGypbDD44Qlb7iK2F-1E9hEvp_gk14J7tcZvGjDafnxCj8t2G_t3z2oqmeV-cYBZH_YYkMy_mtjTElR8_J9oeBa-R1x2D1bZ5RVA8gb_ff5EjXit6_eyKb5ttZb7R9_bQy9tUzduv1aIbVvhJ1U13I3XGo09ucCm99PknPFIjzDLX12f6RBvBmusV4ZOn1T5I58bG3G-xPXs5AASxWPfxW6gngn7XpjBLORWguTkRqYfBZougpUJfekcbKiI1T8k9YO9uXSZhU0qRoaewSAd-UIhM4RxkiSf5JJePvA==",
  "id": "rs_03c8d19d02446f7a016ab423770afc87d08c4a970dd12be38f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.482,\"left_z\":0.02},\"note\":\"The jaws closed completely without holding anything: the bottle was centered in the camera but still beyond the actual fingertips. I’ll reopen and advance the grasp point about five centimetres along the bottle before trying again.\"}",
  "call_id": "call_fVbWY6ABeK9Llgiek4y5oPdH",
  "id": "fc_03c8d19d02446f7a016ab423786b7c87d08ef8fa8fb8c48e1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fVbWY6ABeK9Llgiek4y5oPdH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1555, 1.9411, 0.8082, 0.6258, -0.239, -0.1646, 0.9945, -0.1856, 0.6933, 0.3782, -0.3126, -0.2703, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4864 left_y=-0.0303 left_z=0.0444 left_yaw=0.1179 left_pitch=0.0709 left_roll=-0.0132 left_gripper=0.9945 right_x=0.268 right_y=0.0013 right_z=0.1209 right_yaw=0.133 right_pitch=-0.0309 right_roll=-0.0008 right_gripper=0.9981\nstate[joint_eff]: [0.6085, -6.0103, 5.6, 1.3016, 0.1538, 0.0513, -0.1734, -0.8274, -1.0462, 6.8034, 1.9023, -0.2418, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ad10eaf9d9d5447746e3aafd94b543b0ff32d2ab7ed54f2ac06ab7ee7e3d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25568868a41ae42bd2a70253f548f717b9d98276938ebf4e135c14f3970be41b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee5e312de8ce73660e870dea33732423404fefbea4f2b2c87942949cbb1cf5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 10.48 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3386, 1.6882, 0.5343, 0.6434, -0.3653, -0.2359, 0.9946, -0.1856, 0.7456, 0.4721, -0.3573, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4091 left_y=-0.0734 left_z=0.0597 left_yaw=0.0785 left_pitch=0.0883 left_roll=-0.0174 left_gripper=0.9946 right_x=0.277 right_y=-0.0004 right_z=0.1411 right_yaw=0.1312 right_pitch=-0.0338 right_roll=0.0029 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -6.2291, 3.6581, 1.1502, 0.0122, -0.0269, -0.1197, -0.8137, -1.2103, 7.0906, 1.9658, -0.1978, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1722, 1.7885, 0.548, 0.8219, -0.244, -0.1581, 0.0107, -0.1856, 0.7116, 0.4065, -0.3233, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4356 left_y=-0.0288 left_z=0.0595 left_yaw=0.1045 left_pitch=0.1567 left_roll=-0.0294 left_gripper=0.0107 right_x=0.2711 right_y=0.0007 right_z=0.1269 right_yaw=0.1312 right_pitch=-0.0317 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -5.3265, 3.3983, 0.696, 0.2076, -0.0366, 0.8767, -0.7453, -1.2376, 6.9812, 1.8632, -0.2613, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1555, 1.9411, 0.8082, 0.6258, -0.239, -0.1646, 0.9945, -0.1856, 0.6933, 0.3782, -0.3126, -0.2703, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4864 left_y=-0.0303 left_z=0.0444 left_yaw=0.1179 left_pitch=0.0709 left_roll=-0.0132 left_gripper=0.9945 right_x=0.268 right_y=0.0013 right_z=0.1209 right_yaw=0.133 right_pitch=-0.0309 right_roll=-0.0008 right_gripper=0.9981\nstate[joint_eff]: [0.6085, -6.0103, 5.6, 1.3016, 0.1538, 0.0513, -0.1734, -0.8274, -1.0462, 6.8034, 1.9023, -0.2418, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ad10eaf9d9d5447746e3aafd94b543b0ff32d2ab7ed54f2ac06ab7ee7e3d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25568868a41ae42bd2a70253f548f717b9d98276938ebf4e135c14f3970be41b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee5e312de8ce73660e870dea33732423404fefbea4f2b2c87942949cbb1cf5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCN91ArupQskRBZUZ-rBaDhrQJUQEqPyjSB4W4AeVbexIj05I7BTrrJ1FKWPzEe5bSH3n3FHfu81R-F14vgJuLT3J9I2KxZsPcX8BnKWMmPbNMBlLsCZh7xsAuqhLo0hru6nNN2v3n5-gq5_mJE5aoB2I_f1nno8f8-IvVbB1_FJEygKLELzfrtzIbezrjHe6syhevGQsA36eu79aMS6k_HeWYVAwUzLbYptl9xyT9fA6eORbrd0iqHMomjGMFTdje2qTJt7qRwO7WNcwj3NUUbFv3-1zZGWvS1CaNmJlcREW_5TEyjW8PyvBW-BBRn1GipP2Xu-BRee3wfcZO5_aLog59FUPAuEV1EPMVYhrPSVm-KVM1trAhY2SBkH-xk-X-5xMDr4e9sEzgvXr68d6rz8CYoranJNI4TWCYpv0WGQ-81DDw4o4pOSZXA7InwbYv0nUK1eixoeztEtsW5xJgtlW9E4J-i2SEtqFQ_AO24zn0eODnCB_b4l18o22cTjw2x4TujcMxKezIlNJmFBJ-dcneUZE9bmW7MxDgWxA_U9kUkzZKwwiimMXKDRVZ0Am_G5nXXn-WltO2Jkn4mijRN2ZOChAu5iBP84D2HVj6ij-PVpQs37Xc1RNrYWq9_fZ7eKIzQgWBRr2cVom81KRJUkyfdnbIzN9u6-aoV-lDupTKVijwCFZnIp9lHGBcVXdKTycPze6cjO2ZmjmXw9BXpT-L_YUwAY8kPjN1SufuWAT5FfQnAPya6X8LXM-Rv0XcYNKrAmjRIEzVsXdkKE6D8ZA5v3yUu_bwIH5VVMYLcwrrIGKH2ZTbFIoWIrmpxJgdtnTlWiQjHyjah2kc5IXjrzf8iOoWqQWzT15CD-lkndTGA3ML5FCewqkS0kGpzJ9LAG_2PJk9lFAtIZacMBCslukLT5r7-SXqWAj_tWSAbuZeF4xG5Z6709DOMQDGAGWN1KbEdi2g2zGQTcS8NA8xesTDecPXPjxrR5unJfhfztJEJC0r8xsBNyIurZS83zmHfOTtyRYywtPYppmG2pUxOvhedKnkUqN16vODGNg258uRrHlLdcOoQ91yuL2-d8vcwL_97ISS2njGA5epbUSy75KpE-kTFKS4sDhoySKtYLY4DP8n5HiH8_Yd7FZGA24z6XUGT7sUMb5T4IrwCkIpWIuqZvPYYMZ-8rYPTBUQicGyW93REDMWQvO0GOkj9IS1RHeXvc5ETe0WPrSVasoO814wGpnAgNJyrUKG5kbLO2_Q0GMQyKTWOYVe-ODqYUgMmAzWe7xeVx5JdZEKxKdHSc6OtZQThX69AVDU-wPh0BC13puAb_yvTn09KZ-1dUaueCP_Zh2aH3uSbrpiyXN508qa1qkrx4kvE3n7BaxLwZRklAANyy1cD7zknY5i7RkCfw99ZMQAhnAbRnPvK1ETnr1GU1hXjV3SzERThTAunrhTl1ylArIkKw9Dzdv0F8l2nbpxJGjOJbsVWcX8EwEh8WrMUG4Cjzd21b52YIskVH0E4cSNlsSO8uU-jPmSnP03o9GiZZImfFCvPk3Y1hh8TGyyiTfHoplS3JaTC_jOWdcTJus0NuT6xxdWybXZIXmRCktnAPhy7JNJSsYnXAVOuS9NfiM4-Z8MXwBUVtInOicIYMvfYwG-9H9b2Z3_YHB1lHcBFbXdOgEUTZUyHsHmddxAcCFBoJkmjbIzXPZU_mWilGa4HH8tV6Ekenlp8M6DvkQ49NbHc5wOYgQddeupLgnw==",
  "id": "rs_03c8d19d02446f7a016ab4237b9dfc87d09d745a9c53a48a52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the forward correction, the bottle’s broad body now reaches the bottom of the left wrist image between the fingertips. I’ll close once more at this position and verify the jaw spacing.\"}",
  "call_id": "call_SjMSc1BnBCpiFncjEcEKFqGd",
  "id": "fc_03c8d19d02446f7a016ab4237caf3087d0a84589d3379d77e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SjMSc1BnBCpiFncjEcEKFqGd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9106, 0.8646, 0.5507, -0.252, -0.1837, 0.0101, -0.1909, 0.6785, 0.3492, -0.2974, -0.2733, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4965 left_y=-0.0273 left_z=0.0645 left_yaw=0.1438 left_pitch=0.0839 left_roll=-0.0275 left_gripper=0.0101 right_x=0.2654 right_y=0.0009 right_z=0.1146 right_yaw=0.1302 right_pitch=-0.0293 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.4581, -8.759, 5.3675, 0.9988, 0.1587, 0.1685, 0.8376, -0.3897, -1.0872, 6.9949, 1.9316, -0.1978, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2944fbb626c7bcdf70215515bc59b65ceddecad98d634838c0404a2cb25bf635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de203306f8d005a466f21b3bacc31c023ffca79c177f985fd9ca53cb116294f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84af35bee1117d566b6511bb6e50c5b1d6d984e90f8941064f68b0598538acfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.497 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.7779, 0.548, 0.7029, -0.2737, -0.2001, 0.9961, -0.1856, 0.73, 0.4404, -0.3424, -0.2699, -0.2077, 0.9981]\nstate[eef_state]: left_x=0.4227 left_y=-0.0268 left_z=0.0389 left_yaw=0.1362 left_pitch=0.0568 left_roll=-0.0222 left_gripper=0.9961 right_x=0.274 right_y=0.0001 right_z=0.1338 right_yaw=0.1307 right_pitch=-0.035 right_roll=0.0034 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -4.5197, 3.3026, 1.0085, -0.022, 0.3443, 0.1343, -0.6359, -1.5795, 6.9128, 1.956, -0.232, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1555, 1.9411, 0.8082, 0.6258, -0.239, -0.1646, 0.9945, -0.1856, 0.6933, 0.3782, -0.3126, -0.2703, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4864 left_y=-0.0303 left_z=0.0444 left_yaw=0.1179 left_pitch=0.0709 left_roll=-0.0132 left_gripper=0.9945 right_x=0.268 right_y=0.0013 right_z=0.1209 right_yaw=0.133 right_pitch=-0.0309 right_roll=-0.0008 right_gripper=0.9981\nstate[joint_eff]: [0.6085, -6.0103, 5.6, 1.3016, 0.1538, 0.0513, -0.1734, -0.8274, -1.0462, 6.8034, 1.9023, -0.2418, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9106, 0.8646, 0.5507, -0.252, -0.1837, 0.0101, -0.1909, 0.6785, 0.3492, -0.2974, -0.2733, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4965 left_y=-0.0273 left_z=0.0645 left_yaw=0.1438 left_pitch=0.0839 left_roll=-0.0275 left_gripper=0.0101 right_x=0.2654 right_y=0.0009 right_z=0.1146 right_yaw=0.1302 right_pitch=-0.0293 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.4581, -8.759, 5.3675, 0.9988, 0.1587, 0.1685, 0.8376, -0.3897, -1.0872, 6.9949, 1.9316, -0.1978, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2944fbb626c7bcdf70215515bc59b65ceddecad98d634838c0404a2cb25bf635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de203306f8d005a466f21b3bacc31c023ffca79c177f985fd9ca53cb116294f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84af35bee1117d566b6511bb6e50c5b1d6d984e90f8941064f68b0598538acfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOJaUSYVMkU4xtSgtuQoL7VVVZmQoOV_GYt1ekrArVEiMCXw287TlPO546h_Xjg10uW4atIFb6jS-GK138jcOHOF-PBvr-ua3R0NaLyhq927YTYzS68lp1KeywDFmW1To9Ixtj2nyEzm2NpWITszs9eL9DoXMNMX27YuJ6aJ-OPwmeltnjOJ6HYvVxfPAO6Sbe1e2XJm1AFpTflusKhPtoaSUNNVQ9uLauXeSQdnTQ6h3c5ABHPOeyDMkTbmQPWlDsgv8LLPdUj6MffwrdLodd_nHFW0NEbzcc8jAnP_zULUCpoLZzMK2DI61aF36qUFZaE49EgDFVsxQqz0lMw8zAyGSb0ux1EOruWiBlQgTNy8QK1AOxW11sy9z5NESje6XfDqixiNSlDxLaf1NWyRwTwIEn7U0aN48ThVcigm6mei3jFK3po-iWPQx8wKf9cvIOYQORbPHGHPnJ6hbATadizCsN4Dq6j5eu85wZgVV3JNkHE960XrddByRRvGJ_eUUZIRaCaEzLlAe9jNomi72JpYFx3DejQjATtz0lUVZC_Sw7FqxMjc5ASvJ4xqQjVBjRiK7anQYvqOOQYCotHcoS9tRlzeFGOPy5079PL0zmNx5fyGX9-ZzcEm7jDHBnto6ahWoV9NzsmkQKQ20jKc31FH_tvYIxc3GQGeOGyX95NVN3bNRMp7I8OnRXT-HEs3nLB43XSVDKAA9Vd2HNqqKoWVsW5PJXcZYiQXlwglFircARC-VqBzog5tahBhi8-J1cd_L72BE6zWN2aHARCOP6OuD6726wmeuj7ENLw2vK8vdRucZV0Z9_PEYboBI_Gg8hn6a6w9HfPN7C_LUIRHLT5yYoCMkRC9K7SeOQt2RoxqCoyWIzGwyDqaJswgfok7ZZnl8hj9esmU5l6hl80AII2os3mbDoddITMebfrlvsREd4PK4CiBccTIllZNDus40fI1vzCaSh-I_4gRWHC9rXO2CjmfL5WhdKcEnXPno89R_CTTvdH32N7HZAG4qcUFMIe4tb_eR2Sw764SKuclT8oBg3lq3hSan1j0_ScY3AZ-jOTR3Ul_btvTrCUvAZBvPXdD0nM7fQtNsrYgnRF4fM03v8tzpp-HhWgtfRx2vgVxI6oCh_mui_uZrwhX62XLbvwg4chp5eEJQHhCAefFd72UWjHZilJzTSEQLUbdLpdQHCAMfczZzJPFCB6ar2H8h2I5c-09xmJs6ra6pdCuHST6MxVCz6nSL6xbYPNEh-CpxkwXEt6wXj96vG5v9x6QwH8g571nM57Pr8zBfidTCSppltZqPemQpwFpFTJs7ecZrbYte_Nfc4e7MWuHA3F0ocs9ZdKDz5pcx6YXAOuOdPxsMDsFLQVdQ1aq9uDPH5NYaRJiu6wOP-AmMUzw9uL-GOfBZnZ-Fv8ZFgBP1go99qIYv0QrSmwo57pUAPxXa01MfbYBzea5kWClZOS35dHZC76V22XhElsHdhqFjtnrFgrqsJ2uIKnBvbd7jIqVYYINVgvHqu_z4I27kCvTpUeDquJmoiFPWVio8Ss3JH16VSL63t3IbfPN3ylhJIw7CYd40VRNDGdTR3UVBY7_GJC3tuRtpHUrbUz4upgUG7PVsrP4AesV6Pial1xdbY--tRTNESObRsN-ZPo_CXgxdzvzqA7QXKMdoWMIexYCQVvjkLvX1aVqItHI-Mq7Gcv9lPppnXYFa0ZTzw5gArz3Fuj6OXEuuYH0YpNhODy8GgQURcRSr4t3DbH1SC7IFtQSzhJFsECUIqMEAT0iH49YTiAnhIAM-7qLLnY-JectCI1Qof7Fk38UkO9ot4Idc8xGcSF4J1QQ30uXVFBGykfoh74q6Mcwehvf5zXQOvtmgSxAT5bkGftcytAIVkLmnhkaDlIl4RWczP1WYmqOzr4bcUxaAxjKM_Lo4g59k4cHzYeU2n77qHlTTJhvagrCwu5P68vzt9vnuwF1C5XjXKyea_xkwd1dFyl6Pa-RZDv_GaoTX7MI52ACiLzm4X9i3Y7NfTTZINhOM3KJfOM5Y6vMa1NPjsJM0AaZ5RFmpVAVEvbIOSPzRR6ghGEV8y9N_41lrIdP7gG9Ld2saAcZN0lvDLXleYNyEH6z2u1rxHkSx6_uXrrazIxMPD2qS5_kNGf6erCEeoTwt5d8giP9MUoS2ofGDtf1cCAZ-_G0DNJf0I_JbQgDBv-gXiTXGUqN7vdPSugf1_I18HcrmxrRaty1CDDhnWrk3_hVoseTSIh7zKyHScRmZG6p5ymE5TLqzVd_C1rZUrzyCsHB1umeyKO7QqiiEQmwO83aOFpIkn4jWcysPaIdX6Xo7ZDfwD_GfPkEPu7RrE_SmZovViAhISUqjjR8NB1QhCo-_kwvbv9PmaDLJ-gyY7uR5CYtI0qu8yeqHjOJv4pK4nBN7cC3L3ixcRbkMKwtjR8uIAqW3S43rLOtpCenxV_s_dDqdnKuDyyzS2rca07gWPHanCZX8fnNbcNgxRYi6ajmE6vrO2yaRUeNYO0-HJnkdiHDxdc7p8JLJg1DUQuOcQmmuLj3Mtr1_fAH43UWs56ML1HsC3T66fxXgnrF7ah7agSk1e3QYR8GmgmdaKKMx2evS_yyMNOFoYMO_8s9bMkDV88SfgQmSvADDixY40o1QDGHLvPwUlnmAoYGXv2zn-UomasG2H9uC3ljHZBYK1XnU3K4hsJnu7RP_6GwVt9O0369HLcnkX7bOsZdBjsU5xFicxo9WVVVdpe6LMs6KQkzJ34vnINCOqaggho55ts-FgCnkDxsXLka3KRclGIEpB_VUPLiQR8uN3EqcxdDWx7aGyT2k9_ypHLARwcXw_OdY5gbKcC9TRKlH0k5a4Ing0kuPDlxaZ9TloaF2PeahwC57b4Zw6tkSsy1I0fKd5I_2tXZ3h4tzJXjINVCi00QDLconFeNBVMqM2O0ot77IfSPXNfzBjsnH43Tvt2CDhTuYY70RdjvZj1IAb4i_RoLyxeTkHd51FsYqy1RZ4CnrzjUFK2rBXraV4EIDk-yLhrKtvGLM18bDs9xOvduVfshmiu_GipgJZBvSE9HwxAMRR1Um4Cr-EmPRsRAfmm8osg8vhK6FVgTYcZgF0GwWoT1-Nh0gsqsvlf5TgUjbS286I0qqak5YVdDl5T8gHpm9q-PyLJb8528bxW2n3Dj-P7mDQFhNT3QOtG9ftK7qqMXATwOh-aW02Z-Ek1Y1gYX5OOymPtI-8_0nkQV6PCXC0f2iyZ1ZJ949lQe0AefFlieuN-mWnqJDI3xV17ma5GRrDGMZLImsQQLZ9ObZJZs9aRDelm0IpG7-36i4owm9Q4V_yt-uBp-tjBkqQoJBw9LSybumEHDBs1dE7upk1BAcN4Zc1iYwzmOdHglOsrqjbj-IuR6nNV8gCysDnZQjbCqx2zleZFkFeKnNQugD2_gX6SXK-W79tJUwDaqlTvblXsLWcV8HzSbAnl5I6WIYuNGVSAl4yOJGpUKIdC2a4dI92Eg-Ltge46hlUGjPanvKpUZ8kwQ_Cv2ORlVW-GZ7tNkx6ITBQvxhIGVz7uYc507FYyN-EO5rHhaBw0s1kojxDXtmIQMpgCfpafL07iESSOCK9Pc7ZIIHvUwi0pGwBiUJdQAoZdmoJFf3fkMc5sDDnevvyMO3RqHO3Fu_SzpWfXzls0e018WZeT9gGr4hz_VBXf6yKL3JUmp8p7oweiBIZ51JlQTPA7w3sGQoA7Rb052l6I5vWt84rvXviuDLn-6_Yz8bsMuD1d7yZk5Qah8-N6YXngWz0o3wVZRMRtvaP8Biyl1nN9vrkDhR4eeSM3aGlp6Nb1FGlC6KPSX9-55YHuciD192ysfSDr9yU8LBSvGoNeSgatWm1xFFUODl__kcQ3NulC7DPzMBx1t4c7XkS6xtJkFHvEDeOlxZIjdDGIsh5KHlrUi7O3_7q2RmGEKQDLKleDWkSG5LuVqXXuP3rt7ww6GU9WGl235J0mKWINNzh2Cwj204YL5j1O4rii0O4=",
  "id": "rs_03c8d19d02446f7a016ab4237f8ec487d09ec27f627852c985",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOJ0SxrV4XfbMWhYbeHA2jyW9Kyg6y5-ONzOmuJDbJA5k-0OSlumkKik9Y39R0cnTsnWEZYXyXmoGObIYUbLzlAuiTAF2SnySbsao23L4RgDmjqHtRRlTXO5uqDqgiL-D7KUTo0Bru-Uqqv2_4Rac7XFWNmygh6jY34QXJpANfIdbThOLmlsZGaUOi0pNOl4Np_tLbXO_uePii1kVrQ0O-JzdX18ueBEGtgqYWibM5h_CkSRzZWwqcHhCAMjSduk6EJqKBSQU_5FKKwjjQNQ_4mjSJISSpp9vS36MVDjMD_EjqJQrIGUGaMLIevSgIKfi-NEEgRnl0IrL3cIZXP04epG-pDVDTVdLFBEEUDi1ecOKZGiUEfC9ngOYKKMikCLjndn36AXEvcMJ7VwcYdUFLL_peFMTSYWKIuhINqRNp-KGy_6UKxc1uc6qglS3Wqc8ySqJfvJx4KUAebouep8a2ed7wao1NfeGtgUaC5W134yo4InJQZ7IJuI9VRQyObFTZIW5-vQa7755qDyLSS1peYU4UpaUKRhUETn_HpgHaQNcfIifaE5b2Zt6pWBN6ZGsRmIvD3FI4XJYLxcKDSBqqJfmyIXkdM61V-Qi0st3Lmejn8qibDFdILSuR7HAsnwMLbnfF6sF4PbvwXhMljPVXmiV3-xzjppQHN0kMccMKoD8ppMqEJHBLPS7CAyRPuT1BXa5w-x65H7rX3AAb4UNE5E_oRbF_eVIOf7NfYmrk88m4PtpIWnGZVIbJHlMESQT7thOnTMF4JfP5eE0ODbKK34q7G4Qs5SuGruSJm0kwkHkwwpyjdJS3W0Gqu82oDmn9bMKHrCV-T0it0P8RIlQL5TOP3zX4KRjz5B5kDMT379AWjvG-9hqmoFEp03vCb0wd8iSIVltKpoMCG7HQPz15n0ggdBUW-CdxnfE3eCV4ZZv6DpAWASKQmYj8yTLn1WMu4tXnUpaqAQMHx6ctLQcOR0cxXA1kPPvQSOmShHVgjMGJVYPixL6Dj9UkBEyreWzS7driX4qPctfzQ1LJ834PiFfg-IOJwK3xFWmNkg7J0xMWfZx8VlxdN7rBIojmFFHnX9hUKqqcExfNlaXLZ7zsOAXp0KxJqQD9_E1TIvut-T_hpwrhIBVpb9bByaUIbG3sKo8nbWeGwb7vNrTNBaYjfwzTz60KTy0wJd0Qx58ZXrp62qQt01q9b2Z5EttHrtdEfLL1OJ-RPrLnvRHfBfbYAQ7OJ6mlfrxoDmtKz96gjNpqspUW0yLVgo1iUH2XgAVRhEcMal-VeGuomVVxXMHdu4oK2o9_fFDgKK8JrQ0MBSvH8wNzr0M9u2wvAGHHm4_nrhf-jMBCmkKWF3x_JmW-y0aCU2JlI3uZJ0Xf2Azo9bpCYA3DMC8NZLMwXAt38s7eGGtB_xZdLRTFBkHhDVwu-jMcheU_8zA3-O4coVVtSS3S2EQmemzZB8IxIzvUCmPoBKVMx1OuNy8QNhhNko9WoFPdbU6yFWFkQWLos82W-3kUPHIPOnIYUPlZoU8wOjoC3ta6jd4Q4VvAbvfh94O2_CkCVKyRxtxEcWXonMWYDTuvUywnd5d3bpCMPWWyul6shgnR0x-XNulcLjFbjKNr8OqbsSTkNsHREduzqFdq0djIWzS1ddCx5Hsi1sonhwclrBeYh9tm7oJ-NnqtEFS-fPYHvWdU8WR2PGXY9jCzMkb2lEfyTejEXckMK9xN1JTNuFQg31AaWZloHNuyVy34tSSk42_BVgkg4XPGhP8lFzYXo2orN662TbfEx95qjhs0etN7pAzNiDf8neN8yY1wnmp8aSgjghWWGKIBGW2BzT0KY_PqiXHePnBa50VYLfmNT7ZedQo_V0f5oLcBg58kd3AvvWwBr_k25BrJRUIuYGbM4T-6B8ctRvy9D0-64NsO4LDHtyXwCM2IhXj7yjtOw9YviuA2V0tcejvaZ-_EzPygpdSPOEAwwk_1FgN3LwDBn2IzxVyG8HXRzCi6i81eDPrjyyh9vW2KFFR4xZFNO11QwMXXporUaugSo_YuSR9TMMaIDPNcAyfQL7nzqubb-5ljPWPgnr8OhrLWsyT7NrFHGzkyKCdf8467qWaocy0M5meMKt2QLHTljYcWy0vmsY64sGUWXb0OBEp4veNtZk-NQzcFI7U4NX2aryFiIssuIqBxW1-vToP9h3wLZ38b1RqUW2C_ybBILM7UAdExotTYBt5lHfk4v-rQlny2pY_mUJ3AmYH1fZ-C8sR4NhePcc0WJdiESp6d41rqUlKDJjZCXiLfpDXNrHpGa2GCEXv9TlsFhwfUy5qraYuUueMiJYuLHZqQYijqhdgtgv5hEnY9vE3cqRdmpMreHI2-M0rSxRuxG7BD6hTdCaEhoi5-Sg3baEsc8roqxistbDR9Z6EAXRa_qi8prItm38-ZUfkneY5ulKvq5ODK7lpMrWSjcKQj1Fuzoxykt9J3pC-75EHEQcKGiHA_OeQDHVmx5NKgRu5eTOiMFb75hUOAWx4K8q9XQ9dSDDvLrREpQ8CWH0A73sj31bVzDWJK8VkfRUsWgbH9Y5XKU8ChsgBQHgYPdYBNOpxMHJhHfWDBkX9G6kVYcRbIqJ_FOfFnsEvvc-bGGwKGv0H6VBTQ0k0cBnEJ5xcJRUVNkS4p3LKIZrQvfO-cliO9HdcdSCyw1ghSawiBM2C34i6OEB6ru0Kpw1TCyS5-PefFzQz0Uvh0vybuKhTUS-r8bXh5mlWymb3Pd8NoT1DSp9QoYGjBErljVzaOsmkvmBlGbO5q2GZ9x7idiJ5pGP2N1TFrU_GpwVC9Oz-jTJNvRJctvFew2pAl7k4n3uZWV8VGXbDuphi3QEM22b0Gq2Dt_HIjAyb2PtRIk2bxXl2CiQCboeqqOHACwHq61Cd4K-DuSaR7fPqSNPIT3IBLxw6w9RFkH8pfoMXTblLM0DqGnbYpRLTjE5C9wfMaroOHraQpuo2hTTDNvzhxPHcFKM-u-FFQwaXteA8udCQbrCnaoBUYuORSlK5Ip2jlMSnSkqxQjaFJ1DT5lX9RJHBvVMTXN6RojDzB9GoIqTVKQeaKev0A3Pqe5eEZu0bHlru6C7Dqly1x6hUlVXHxnqPlmmib2ZTUMn9asqFY1M1vyzmjrCh5CTPNyI2t1HKXyGkiesp9Okm-NHrGlEWm3XQdvC9T46d5aLTy1AgC3TiDA",
  "id": "rs_03c8d19d02446f7a016ab4238478c887d0b0b0f7ceda9b8e87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.36,\"left_y\":-0.085,\"left_z\":-0.01},\"note\":\"The left gripper still closes empty at the bottle’s forward end, where it cannot get low enough. I’ll move back to the near end of that bottle at table height, where the arm has more downward reach.\"}",
  "call_id": "call_6mNapDY2wcFqtoa6LfbtoMDG",
  "id": "fc_03c8d19d02446f7a016ab4238833f887d08d2da74502b94365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6mNapDY2wcFqtoa6LfbtoMDG",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.469, 1.8473, 0.4274, 0.791, -0.5003, -0.3473, 0.9952, -0.1913, 0.6598, 0.3225, -0.2893, -0.2737, -0.2127, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0886 left_z=0.0005 left_yaw=0.1151 left_pitch=0.0199 left_roll=0.0059 left_gripper=0.9952 right_x=0.2622 right_y=0.0015 right_z=0.1087 right_yaw=0.1307 right_pitch=-0.0292 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -5.1214, 2.6598, 1.1746, 0.1001, -0.3639, -0.0513, -0.7453, -0.4718, 6.9265, 1.9512, -0.232, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d677906a63b49c103ffa879df8202ad4e77ef6106b3b6bbab86c739488e1424f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25b71039fbe913a9f85c86732cd7083be6d412f6dfe4805dfc14c79c2de8e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbd3d011a37f0cdb7fab3f66ace3a1324e84ff71a9e347180d30df2b01f5b3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.153 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1722, 1.7885, 0.548, 0.8219, -0.244, -0.1581, 0.0107, -0.1856, 0.7116, 0.4065, -0.3233, -0.2703, -0.2081, 0.9981]\nstate[eef_state]: left_x=0.4356 left_y=-0.0288 left_z=0.0595 left_yaw=0.1045 left_pitch=0.1567 left_roll=-0.0294 left_gripper=0.0107 right_x=0.2711 right_y=0.0007 right_z=0.1269 right_yaw=0.1312 right_pitch=-0.0317 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [0.0205, -5.3265, 3.3983, 0.696, 0.2076, -0.0366, 0.8767, -0.7453, -1.2376, 6.9812, 1.8632, -0.2613, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9106, 0.8646, 0.5507, -0.252, -0.1837, 0.0101, -0.1909, 0.6785, 0.3492, -0.2974, -0.2733, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4965 left_y=-0.0273 left_z=0.0645 left_yaw=0.1438 left_pitch=0.0839 left_roll=-0.0275 left_gripper=0.0101 right_x=0.2654 right_y=0.0009 right_z=0.1146 right_yaw=0.1302 right_pitch=-0.0293 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.4581, -8.759, 5.3675, 0.9988, 0.1587, 0.1685, 0.8376, -0.3897, -1.0872, 6.9949, 1.9316, -0.1978, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.469, 1.8473, 0.4274, 0.791, -0.5003, -0.3473, 0.9952, -0.1913, 0.6598, 0.3225, -0.2893, -0.2737, -0.2127, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0886 left_z=0.0005 left_yaw=0.1151 left_pitch=0.0199 left_roll=0.0059 left_gripper=0.9952 right_x=0.2622 right_y=0.0015 right_z=0.1087 right_yaw=0.1307 right_pitch=-0.0292 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -5.1214, 2.6598, 1.1746, 0.1001, -0.3639, -0.0513, -0.7453, -0.4718, 6.9265, 1.9512, -0.232, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d677906a63b49c103ffa879df8202ad4e77ef6106b3b6bbab86c739488e1424f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25b71039fbe913a9f85c86732cd7083be6d412f6dfe4805dfc14c79c2de8e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbd3d011a37f0cdb7fab3f66ace3a1324e84ff71a9e347180d30df2b01f5b3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOMuSfw4-par5K33gWeGHLS1I_AjDatABoUTZj4pl3uQEJpTsGB0hgOsz6GbHWOp-4FNbwBmd8zwo1ipoZhM_RUxFZS9FSx20sEQOhtm3zlTvlqU28VEP_1_84Sok0twFNeWtJb0ozenWFrB_qWLYrVkqiOWUcxtDAJiiY47QAeL8l0uzmqBCPALQlcJ69z8MLJ0R0rtm_U6veA4r46AUfLQ3PqJCAIPbumGqpGRS8-kZYVEg2Mz3CE81kvZPkmHb6FslT6Ct4CDWlmau4Ck3PTJr73ysvhdQA95MjEI3XOYfEzDvKuA1pL3edtusrNWB3PEBH9qv2cG5gABflSe5hWf4fZwZWDIyl7L4jzjgvA-h_oWgEyRr-8134VojJJu30C_rmMGnI-qxUgi4Po2f4nbmEwhK_SrUOA_vKjDAe4NyervGijlo-HV80escu630a_z9lgaMsb0uTUxCw1BHonsIoN6OwxETA3IhPdu-8ohUEs6H6zHogw7jH5GZDG_iSz30e0dmH3tCnFFMf8luZtpEz5YAP-luIyGkLuedHwtuk7c_Awvc3ttxbz_yMPfLv8Mj4MxXrm2cX3gs8I3iccIzUsEMO0ogaDz4dvhfzooNzBP43_dPYiTT8tt1kcnX9F9oWHq_GCGarcqJeyQIQaoAWtyxCBOrIdVSwkRCPX4zWWgJTR3mZpt4n09-eBvpdO1BqdYaKMeiS2-m4UZzwMJLzy5OcCkhMtq7_eoVJGV30D92Lex2KC0jDx8AoAdpTkdWELmwWSXNSj_aI9W5ColFR0XkfXAhSV0fA-ccIblfhBiIeiawX2Zb45tm-lUGr2oyMcR30M_Wk1ss6fVl7ZZDNgVn9UkjAEu6f3zCPSc29upsdwn97lLs_gO4mWJF7hAyEkd9by2riKW9ZPygyPrI3vzr_D3mwqF2oekOhwnkRLcm5O0UYjEnqLfycDymWflHhQgGY8CwZKa0DbWPfmeXyH-Z-IueTrOzQBOFRGyT1wX_K0V4AncMA2SkiwdjDgJ08OpSG7M1tGy8nTM8OQa9meOyb1CLsiJd_9If4elEkmI_TSSaYzkf1dLK3WqPqSljkj17cTUR2zMcJoK_q5peDRS334rvwgb31X_XVVIlFQrqOjixNmLPhTvjTI_ODonlm-iOjRnvXEr_OyC_RiJPxigmzskWo0E9B9Rv2OyXZMkZULH5s4DLQB_jxo7_K_shN-igy9LG5Mhf8vb8TH8KFhSP6N9-PHWehGlXyDeAXkqSz7qFfQ962aLW4vAK5RcwZVSzU7Fptivp8Jiq5eNT8jNuNedwF9s8vtY51x0LVReQzRXlVxl-pOIapYNdFkK0Y3BqCAGMi6cAasFvoWGnBSwa39sD0f-_FPb5HiGgJqRNirnGYJU42ssmp20Ar2Zv1YADJzA-uxTHi2LoCKHvHi9nF9r2R5WrgFHG8zHjbqCk40TwJX6Ir3fK7FWvUO",
  "id": "rs_03c8d19d02446f7a016ab4238b0cb487d0917914bd5360a755",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the near end, the left gripper has reached the tabletop and the bottle body fills the space between its jaws. I’ll close here and check whether the gripper now stops at the bottle’s width.\"}",
  "call_id": "call_S4jNr3TkU41OMqScbGFnLzib",
  "id": "fc_03c8d19d02446f7a016ab4238bcfb087d0bac5db368dd5925e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S4jNr3TkU41OMqScbGFnLzib",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.8359, 0.4271, 0.7803, -0.514, -0.3676, 0.4863, -0.1921, 0.6449, 0.2962, -0.2825, -0.2741, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3706 left_y=-0.0841 left_z=0.0032 left_yaw=0.1425 left_pitch=0.0249 left_roll=-0.005 left_gripper=0.4863 right_x=0.2589 right_y=0.002 right_z=0.1018 right_yaw=0.1314 right_pitch=-0.0334 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.1043, 4.5197, 1.243, 0.0513, 0.0464, 0.9353, -0.9231, -0.6906, 6.8855, 1.9121, -0.2613, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ce2e4d2b072dc524713f8a45063e43803e1458582c996533d175cc291192f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb17a5031db2f510040893ac735c20890b2cc062155d95f891a85c0342a81d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca8b710ab934dc2a0c8ac9fa6220ece69073dbd1c73a70fb88ffabb6f7fd874",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.679 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1555, 1.9411, 0.8082, 0.6258, -0.239, -0.1646, 0.9945, -0.1856, 0.6933, 0.3782, -0.3126, -0.2703, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4864 left_y=-0.0303 left_z=0.0444 left_yaw=0.1179 left_pitch=0.0709 left_roll=-0.0132 left_gripper=0.9945 right_x=0.268 right_y=0.0013 right_z=0.1209 right_yaw=0.133 right_pitch=-0.0309 right_roll=-0.0008 right_gripper=0.9981\nstate[joint_eff]: [0.6085, -6.0103, 5.6, 1.3016, 0.1538, 0.0513, -0.1734, -0.8274, -1.0462, 6.8034, 1.9023, -0.2418, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.469, 1.8473, 0.4274, 0.791, -0.5003, -0.3473, 0.9952, -0.1913, 0.6598, 0.3225, -0.2893, -0.2737, -0.2127, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0886 left_z=0.0005 left_yaw=0.1151 left_pitch=0.0199 left_roll=0.0059 left_gripper=0.9952 right_x=0.2622 right_y=0.0015 right_z=0.1087 right_yaw=0.1307 right_pitch=-0.0292 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -5.1214, 2.6598, 1.1746, 0.1001, -0.3639, -0.0513, -0.7453, -0.4718, 6.9265, 1.9512, -0.232, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.8359, 0.4271, 0.7803, -0.514, -0.3676, 0.4863, -0.1921, 0.6449, 0.2962, -0.2825, -0.2741, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3706 left_y=-0.0841 left_z=0.0032 left_yaw=0.1425 left_pitch=0.0249 left_roll=-0.005 left_gripper=0.4863 right_x=0.2589 right_y=0.002 right_z=0.1018 right_yaw=0.1314 right_pitch=-0.0334 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.1043, 4.5197, 1.243, 0.0513, 0.0464, 0.9353, -0.9231, -0.6906, 6.8855, 1.9121, -0.2613, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ce2e4d2b072dc524713f8a45063e43803e1458582c996533d175cc291192f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb17a5031db2f510040893ac735c20890b2cc062155d95f891a85c0342a81d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca8b710ab934dc2a0c8ac9fa6220ece69073dbd1c73a70fb88ffabb6f7fd874",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOTeNfs-aU5B9XQK_Pa76t2qpMmiAwl9inNDIMKE47pQGez7Ej-9YrrP-M3yPGA9PeRHYXAdWlEz0aQypPrqqRC109k-_IjDbkO1ukiujWNu71jQjn0XC689mDyqbfh8IG77454O1taWsxrnkuTny1P1JBWv-1v12iZlOUs8LNW5rtZ16DN1SITC_CAAvs-fvyi3vEy3plRFA4nsJo3nUfxvUsF7wIJgolK4YPz5in4L4CumffTjMgb2n1o_iDp2y9gYo6J23gUbXTk6KoWnKBmtzBc3jSn9wbPkG4W1QkEZRkZKdMHfe98kg3pID6TGHBjer-v3XK3NrwPOWEdAhpG7HQJbACQvmK9YLGE-c7G1pJDB0Jksrf4Z0VuRv73mVcpZ6uHH4vNmqc0iQCtKPczgMuMI9mK8X-UEd2_yOKslKqK6apL8Y7odg0LHdyWsz34g118Yk5b8uBmrdKU4ffK0mfdnAy11j95_m6Q-tNfEe56zbniHp-9KSMOeUxLLbpAqzecGuC1gQDtQVcHEN91oUskkreBUNMEh8vEnsdb8X3V_rH-Cgyi7oBlnmhMJRNACoASKZ32gWy2j8DERwWf3pda_PXzBwON1zN-rojxIAFjwPP0yk_u00zD3MsS4x6Xc58oJ6Z1j6wRcd34UNVW9DnX324vvmPHD4hI9d1nTgxENF5Cf72EaWeF8Zk65xUnNHiGJzkInYKe6P24ohgqIaLQ5J4w24JH1oOVqlP5Z5yUgSNxLo0vFV4xxikvPWkkqxV1_a6EN-IJM4hsYUerns_k50cTO9EhgfzQ5w2oV6br0VDgupw-2UbGd1LjcH9BgtEUyqC3jjrHV-LPieT8Q14Pga4Cx8mbExTO9wOqTalOggI05bbAmvTTPsj1m_F_3WgUi0UQKCmFvxI6lbAQbt8ZVkhD8Z8QviWNa4-rP-2appoeFQQgAzr6nOl5lZuzh1-mZAhAyjYgYk_VY31R-X6T7UYSJkxz8Z8iamzi8UrP-kNdW9_I54K0Pev92IxKcvBEtc6RIdXWqlvGFzlkBzRekDCnoBLbaJubxaDv2FN1X28qlY6tRP_xuEFR9k0qA0N1WnLVSp8jTOvm7sNsSfGAK1SoMwEE40uuvfNF2GM1Rv-SCI25X3eCbzVuG73nifpmVIVfB4G4Ohx7cTX7HbXIt15aHWwW4V_RDNQMDfULuOALu34gROaujPbWdAM4drSaLUAwp6MtoDgLgKuD2DDqW8du7SSYDpyT4MhyIsAgxf85XLvF1el6zxLt9XnVCgwTo5z35nr7m_NYr7Xggpc6s0W_Pq0LVFhdYjYAa37-FsuhoCbKU0Xm_sMVdNCIN-QZm1hTgoNYoUTkz6OPsQEpDSJSUx76LlLkvmpI28ztO9RUatP084P5R2spKy4jwyC08JYZ4D4D-3tJq3_cMt82UPX3TGgc4BuNbqveO38wd1K3KToiCBViqLAKw0r7cAW1LYTsJ6VHgb7wUKTtzjM0Kt7QJX-Ea2dQr0b7Zsduzql6CzIfo7hyeUBs7ySkxawxmHdfJ6PQ2sRhQoCb50gHzKTSecYFEof_E8EAahFrmcTXag1LGxMTY86RE96d4htBleG_AVllHJX-PP_2zM1b4AXfWvng8YX2-Wt7dDZMzlPnOow-rcA4eRlRS6cDPrSBccLuBXxnoGkSC0gDDYifPKi0oX_EcRMVucxFeYUrrfeAUJ7iY-Uf50jFGHeyP4WYHKOU6362pp63842asZ18Tj_DRv2RG4VTXiWEzwaAZaL1hxShhqNMukM2cm56e2x4turICpTxPoKlZwGkmGSY0IN4nOTzyh4q_DCykMXD06jJs30yXiRQIYRIZIgQRiVn-zVj53qpmLEAzfsJ-zV7MoVeJHXx3gnD_qdwdGqY-DW4xdJq0-U5poitpS_hdsZtCH_F5Osw0R0BFU0LPOh_oGov2g1u9yolOCpMf-XMLHR8VSLMLN82hMAPfRIUbQS1s1FSPISXt_eJlHhhhZWLZ-wReHiMSX8-Zj-bJaQbzVB_RROUEz2C2wFx3numIi5mM6JVebdOTbrnQCkm5WDtYU1H8C9kFujUL1n5dvskY9Po1-j6dl-ED2O-zlIU29JgQT7bcmClwJ3vWQAUS8_P98fpKkK6ziVB4czp1jcnDZCbiIMk1myd6AZ7ybVVhyZtVtNemzBp36Kjs_Et4Q==",
  "id": "rs_03c8d19d02446f7a016ab42391184c87d0a3fbccda16916f1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_z\":0.145},\"note\":\"The jaws now hold a roughly five-centimetre bottle width rather than closing empty. I’ll lift the near end and draw the bottle toward the base, bringing its cap into a reachable area for an upright-placement grasp.\"}",
  "call_id": "call_sPX7yjTgmHZXpc9DvFfifx9A",
  "id": "fc_03c8d19d02446f7a016ab42392d37c87d080c39779f0213b20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sPX7yjTgmHZXpc9DvFfifx9A",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 0.9657, 0.4694, -0.387, -0.6167, -0.5755, 0.4872, -0.1978, 0.6254, 0.2661, -0.2672, -0.2783, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.2555 left_y=-0.0912 left_z=0.0998 left_yaw=0.0602 left_pitch=-0.1208 left_roll=0.0433 left_gripper=0.4872 right_x=0.2563 right_y=0.0018 right_z=0.096 right_yaw=0.1291 right_pitch=-0.0283 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -3.7675, 11.453, 2.4054, -1.0476, 0.0562, 0.4567, -0.4855, -0.4991, 7.0769, 1.9365, -0.2369, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0e91b6ddaba64628152930918b7d743a0cfc42ab22a5e4d78234df1814cd55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b12a9a164a6a2f6023057b1ea1829c067e9d3768e23ec2de8ed4407689df71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b072562bf52ff650f77fb34cdf051d0b0efca9943c08e4f9e1be4d78a7715780",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.441 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 1.9106, 0.8646, 0.5507, -0.252, -0.1837, 0.0101, -0.1909, 0.6785, 0.3492, -0.2974, -0.2733, -0.2115, 0.9981]\nstate[eef_state]: left_x=0.4965 left_y=-0.0273 left_z=0.0645 left_yaw=0.1438 left_pitch=0.0839 left_roll=-0.0275 left_gripper=0.0101 right_x=0.2654 right_y=0.0009 right_z=0.1146 right_yaw=0.1302 right_pitch=-0.0293 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.4581, -8.759, 5.3675, 0.9988, 0.1587, 0.1685, 0.8376, -0.3897, -1.0872, 6.9949, 1.9316, -0.1978, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.8359, 0.4271, 0.7803, -0.514, -0.3676, 0.4863, -0.1921, 0.6449, 0.2962, -0.2825, -0.2741, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3706 left_y=-0.0841 left_z=0.0032 left_yaw=0.1425 left_pitch=0.0249 left_roll=-0.005 left_gripper=0.4863 right_x=0.2589 right_y=0.002 right_z=0.1018 right_yaw=0.1314 right_pitch=-0.0334 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.1043, 4.5197, 1.243, 0.0513, 0.0464, 0.9353, -0.9231, -0.6906, 6.8855, 1.9121, -0.2613, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 0.9657, 0.4694, -0.387, -0.6167, -0.5755, 0.4872, -0.1978, 0.6254, 0.2661, -0.2672, -0.2783, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.2555 left_y=-0.0912 left_z=0.0998 left_yaw=0.0602 left_pitch=-0.1208 left_roll=0.0433 left_gripper=0.4872 right_x=0.2563 right_y=0.0018 right_z=0.096 right_yaw=0.1291 right_pitch=-0.0283 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -3.7675, 11.453, 2.4054, -1.0476, 0.0562, 0.4567, -0.4855, -0.4991, 7.0769, 1.9365, -0.2369, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0e91b6ddaba64628152930918b7d743a0cfc42ab22a5e4d78234df1814cd55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77b12a9a164a6a2f6023057b1ea1829c067e9d3768e23ec2de8ed4407689df71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b072562bf52ff650f77fb34cdf051d0b0efca9943c08e4f9e1be4d78a7715780",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOYByBQJTqTq3SxdA2q64ELOb2vPIdVtiBPj_7OgJuw4JEtZdoJv6iD_x9S3-GzO5EJ4uGOWXp5nDSqE3vhgA2kI3PR0eSOQHrUby80CI4CEwRkAGE4uwd2DCS9F4fhpCIR2RIIbBYyKyS-IbXU5xG-TjENeFUAFpxWxqnuP5ry6h6Vi2KH_U_XAvVcmDbgDeMGEgyfLvjpPBHjsvhENhjwe8Wzm5oJyRisNFdLTCTcVvBG0gc21pe6zrROE-BhcxRnqsFa10lR211TJbNcy79kbxFgvWCw3CXFQkLFxBouij0vn6vB0WFrTiGyiJBAjG6N1ZDQyVahJeDatwkwL6f98gEJYrOM0Pqd2UOTNvNXpvRUEHpc36-NAvTav_fhdzk6QS3P2xjV70ocVKpw100CKD5fOpe2-ZArd3bJFPsFIQTDJpXscEJcyN0CSPsDfaLHwanl3RJaoA7saIMEO80of7aWcMhdu_pheyWY8J-_q2d8Ml3AGu7njuAx5TikKAnvqCANTe08SHlNaQgPIrCUnPnXCv2-06vb4isjof4JTGtxGn7k9NWIwUbtC1-1DOC1hQo-9fX7KEYcg7fvIXsPXda7log3FKdCJ3LhMEx44VRE01qjEqLPP3bZaHpxlDHutlOvTdpiyZP2F15jNjAoMXi2bI_c-zvIkcdpMJ-B_IyBRlIE2StZ0SNcEi8SfqtkvF_jhudzTI2_nTkeAWiJlMp6qFjGPGbZcIcBwvZ8q_OfuTkL_Ofh-960W_w8nB2QCoR_KFiB7tXWelXhqt3WKdI4mjF5NWfRz0ppSxwbS90E-EdAna9N78cgJuN09WfJi0WH0AOU9uRZziJ_eQNztRtzzftvQmgXteVRCoIxfPJCN03pXm-cB0_rhRloPY8IvIfErGXWNUXVRLIRSwS5BPXLGduthG4UWpzKWT_s0rTbiUuZmYi-_3m6P9894RDTzsSxJN9cuuM_2ZHSCJjdcAfDcRpumxjA-2dPSQFuLnptEJD-chfp3F2DPFrODLirz9FpXj1LnstZNjOeqYglNe6Ti0tJJbLjDhw1CiTKajfizLL1Y28W9hqOxsBeRZ97KQYSodyKUBodfBC_UbdUpIav8Fr356HT5Kq5e-8cf4bIe0jH6FpYyFMBWj9LPZ2sbyvnHeMmMfTlbHN7wmjduZp2hhQ-PXpHjPpppeQ2qjZLLa195EgGCoxCTucrJrisMBW5JCkqLyYVZRpk2c8kZCRe8v0eywDDoYNSJ6OX1trgaWPU4xPgR-TMdfgzfUQKnPYn2ky1au7rnn8Lgk-Roa16M5MCa4RXWny9ZD0NMx9yFaReC81KGLAcxxuAxv3aNowRp1NJbtdual5UUwkKv_r4vGUvN-pCU7QP8IUzA8-DKuJ6qh5ssPA3-E_3AAfEo_qtMQX-Y1j2H65rD6rL8ANmUqja6A5XNGl9LDcxgNKVYpItrztoyMbt58WqULhcE2gY22e5Bkhqijx5Vvdd8wKlILhODnKcZNGrbt-wku7-KXX9qooVXd2elvmI-QFmu3kpHV1yg4zVgmiV_m_MAY0DHoZxz58aYYVsr7PxtYg5u8xTgBz1TnAc9ZoScqU2FQkTSt4M831BWhTvfVKAIlCKSMgmA9hnjoEI7Uuc6oqQYqSOUJBG7U9izq0Sn7CqeNfUwgspKyk2aYU2BRm6SB15H0OpBqmsG3R3F5YLzvhsXKYyNp7k16mLgR5ebE9CkAduccWCE7ckuRxPfkOaR7lZoE6qKMuwxYJiKeKRkGvAQKFFcP9arpuiI3M3BwvuJgEjpOfia5b3P2N9RBvQZ7zSxOCG_4pNWwKmdO45h1E4Jvo8ISfwrvYU5V8Uu_2T6gHdEQmXWmVqwszZhoasMxp1Ht4RIrzTMcYT6odRkB0xP54KwVncERwxRmA2rB2hCiPr4ippybejR4w0UDofxoh4_j5eOcQ-DIXLnTDT4JWVkq-g7negK3jSS26G-iSmsDbZ0eoxR-7qK3mv651B1O6jGtDs2yAcmMhYmjS7JH8PqnvqkehXuPFKYNJtqbc8sRN6Ix9xuCjulLjcstffRwwK-aJ9wYm2lzjFPVriyVLUeFKeosHWkJx7HIBGiW7oqNoDD8-6nF_WK736nOvJE4GRbOS1f8OFLoQub472WglYe7ZX1q2r6uwEO7wsY8sQ4MLm0199lrSH-IkXM41OQ7GNzmJZTydoU2fFu42lvJ4lBLaU8yakHJdwjuwjvYN3qISycWpE9Cf-UuRHglC7FtOWUnpN3CCVoZvGWbXEaBYdnnf7a_t9XK_Be6Myhlz3",
  "id": "rs_03c8d19d02446f7a016ab423958f1c87d09f61e96bbd8922ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_z\":0},\"note\":\"The left bottle clearly followed the jaws: its capped end has moved closer to the middle of the table. I’ll set it back on the tabletop nearer the arm, then release the near-end grip so I can grasp its capped end.\"}",
  "call_id": "call_D4oDwPaNvTG1gWHNteU5aX5U",
  "id": "fc_03c8d19d02446f7a016ab423977ec887d0a0b73bd79ef94399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D4oDwPaNvTG1gWHNteU5aX5U",
  "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]: [-0.9195, 1.3197, 0.0605, 0.3317, -0.7933, -0.683, 0.4913, -0.1986, 0.6075, 0.2428, -0.2626, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.226 left_y=-0.083 left_z=-0.0022 left_yaw=0.0603 left_pitch=-0.0362 left_roll=0.0787 left_gripper=0.4913 right_x=0.2532 right_y=0.0046 right_z=0.0911 right_yaw=0.1396 right_pitch=-0.0264 right_roll=0.0086 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -2.1949, 2.6188, 0.6129, 0.3785, 0.2125, 0.4029, -0.8821, -0.5812, 6.9265, 1.9121, -0.1441, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cac01edfed67257b07dc83bc7cab6e74592dfeb65ca2579913cad19ca6712e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04d584e903707886d634f13a564bb70a3f1d2bc2f243e38256b0d6654a09660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6e09bc7a7756e1b5ee31aea2f2e41c4a30d3be1d438b2af4d52a1e67662818",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.961 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.469, 1.8473, 0.4274, 0.791, -0.5003, -0.3473, 0.9952, -0.1913, 0.6598, 0.3225, -0.2893, -0.2737, -0.2127, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0886 left_z=0.0005 left_yaw=0.1151 left_pitch=0.0199 left_roll=0.0059 left_gripper=0.9952 right_x=0.2622 right_y=0.0015 right_z=0.1087 right_yaw=0.1307 right_pitch=-0.0292 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -5.1214, 2.6598, 1.1746, 0.1001, -0.3639, -0.0513, -0.7453, -0.4718, 6.9265, 1.9512, -0.232, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 0.9657, 0.4694, -0.387, -0.6167, -0.5755, 0.4872, -0.1978, 0.6254, 0.2661, -0.2672, -0.2783, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.2555 left_y=-0.0912 left_z=0.0998 left_yaw=0.0602 left_pitch=-0.1208 left_roll=0.0433 left_gripper=0.4872 right_x=0.2563 right_y=0.0018 right_z=0.096 right_yaw=0.1291 right_pitch=-0.0283 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -3.7675, 11.453, 2.4054, -1.0476, 0.0562, 0.4567, -0.4855, -0.4991, 7.0769, 1.9365, -0.2369, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9195, 1.3197, 0.0605, 0.3317, -0.7933, -0.683, 0.4913, -0.1986, 0.6075, 0.2428, -0.2626, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.226 left_y=-0.083 left_z=-0.0022 left_yaw=0.0603 left_pitch=-0.0362 left_roll=0.0787 left_gripper=0.4913 right_x=0.2532 right_y=0.0046 right_z=0.0911 right_yaw=0.1396 right_pitch=-0.0264 right_roll=0.0086 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -2.1949, 2.6188, 0.6129, 0.3785, 0.2125, 0.4029, -0.8821, -0.5812, 6.9265, 1.9121, -0.1441, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cac01edfed67257b07dc83bc7cab6e74592dfeb65ca2579913cad19ca6712e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04d584e903707886d634f13a564bb70a3f1d2bc2f243e38256b0d6654a09660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6e09bc7a7756e1b5ee31aea2f2e41c4a30d3be1d438b2af4d52a1e67662818",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOeislZqFR9N5c_r2XfGc7paKy9CzY9G9F3movwRXV42929TtDsCYBHgosNj2_INH95Qqh_s1LpGVNcvgToPuxMbmbk5JGh4OYGKJwPGbu6lid1qXHiYfE4SfuWs9Xc3KkSaVLwD96i-ES0m5HuWNSU52mni-ksyM03EajaywsAfnZVsgOBu9opJd_4G00IgaWE2BF4mjjHnDdXc480FoDWoUZ2ZSfmgq7SURrxoNLLNPnRZh9N3TgYyXMhGaHquwsE-4eQ4llcf3rEGHZ6mA7J9qrolf0QH3aCXIxFtU2fW6YCRqy_vX0YIJKJCw4wgzg6cS4IOKimZxafvZYAuqIjfqAnsf0bfvdy9_19QxfufP-B6oWY55F5udsDgnS35UWBBovcVFukKHkUeM4ao872hkW9uIoP0b9GRXnOvgywNDHg12FeAOWh3I0uomTN-AvNM9foLTfONAc2N3oaNQcdSRmvAhyvlXtbhenbl-HKqktchWNhIFCWjg1Cu8YITnqezGZ8qbcWCh7NZHQcVqbrK93Gcxi3fLLsaR5zbguqs6_ud9XVPGvjGfUXFuFZEcwOgsjv0L6RGVoFBifiz_PM7wWEDNKoqPELnPR3LOhpzURbkz-NWYySauc-2ApJi0ul35FNRMOa2W69X_ttZG4pIPHRMX2PJnfLBrUfppGDcNjhPM0m4AVf65SUvPz1w4xkUFO19xVAKfQ36AsEUgEiiUHsagJ0RbEiJWtmPmenh81YItqtHBiSLASF7XdXpLDyTrYfHR3RqOfGQAp0dyo01oulz5og4tM-hvPo3fsyOz4BqYCuYV8IfzpWocxQ7qYmdjqHEq9FtE6KXsavSvD3Ew-glOxLDJ7rqiDwoKCCjQIKKLSaHiFGT_znMUpruojx6mhjeKQnioW_SXCXDuUfWpdYNsqKWuIprptikHAz3BsV9-8PzahtIUw5756UT8CmvRy0BpdKXvvlrrp8a9ujcylXsAoJBwQsUMgx3LUiUIDi1iGxDV7KsYbIR995-9HkEIYQ5HbXAEd818SsV7bfFgc5k-wGfe42FAXJ88_Tgm3Tx13H_dkbI8Yk46cHGG_2jgWmQY5P5EobJMsFEiv91AAS1VMM3I1mk2GcuIZmRCpBUYvYeu7PeFA0ufCiMAr01GfeIKX7uwyS2qAueBy71IcQoTJ0Rx2xD-PssY2LAA6wgWide_V87chrS-r4huszPJKEPrZkdjxLSzIUXkXPdAHKuOCRQIACgkljI-sHZx23A8_vycQF5vIMdSTTA6V15xX52FFFT2q1UMgeeNMoIk1x470TbjIjzf0khRqkRMrxKMmlYqTbB43cRwzeZddxyxEcNPUGOzUtqV2iDszw8BKJ_a_dBy2_IjRRsCRs2o-D-rWcN2y2hQR5_KRejfYVXam64k2EXlR9Bid_PcyKml99biYYyC_4GMqetwSBRzhLa5d7aEUGVjx9qBcYilB1egVTqOFF7SOrBrZxJmlpa8Tpi6OudPr5e--p-HoIbUdrhEUbXfFmyyt9Fg92Z0Wr-UwHv9qHkvRgu6iU4TmspYSwFSbBUGByQJwERp6xjKCYHcTeIyd6lhXwdMeqUCWiulO09cYeEjHAWKnVJyHMX36hUlwpYdx45oJDgXN-z5xcl3VpzcYWYARNnxuYq49MH8WdtMM8sSBq6O45zP0hOYYtvhYxOdoq5bWhIZHMoQUw4yKMPRJbCG5MWrbQVkQR__Auk9RVvh633nD9d-EI2nkUjLzXcSG1RbutL_MlimlRpC0Tizt2yoU7QD9vmnrnJkyVcgJSHtLHpVt0XhPaQPwjaV6dFSt5B7q-ms_oE0v9KR_4hcnWALIQmCsBifmVJktzFSTHGV6ttBAIAI3zA2QECJzkXZkL8P1eXUJgvl0=",
  "id": "rs_03c8d19d02446f7a016ab4239b6aa887d08c6e35fd1a166ac7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.365,\"left_z\":0.105},\"note\":\"The left bottle is back on the table with its cap now much closer to the left arm’s reachable area. I’ll release the body and move the open gripper above the capped end for a second, higher grasp.\"}",
  "call_id": "call_8Bo3gjMWL4np4OzowV4h7j4S",
  "id": "fc_03c8d19d02446f7a016ab4239d37dc87d080e987abd23e8ddf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Bo3gjMWL4np4OzowV4h7j4S",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4297, 1.3388, 0.5228, 0.1886, -0.4412, -0.3355, 0.9976, -0.1982, 0.5877, 0.2226, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3575 left_y=-0.0769 left_z=0.0968 left_yaw=0.1005 left_pitch=0.0028 left_roll=-0.0144 left_gripper=0.9976 right_x=0.2505 right_y=0.0052 right_z=0.0869 right_yaw=0.1402 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -4.3145, 7.8427, 1.5751, -0.0366, 0.2906, -0.1392, -0.0205, -0.4171, 6.5846, 1.8828, -0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004d60b74cd29c2e3cddfee0f065a113b7d91ee436f1a2a8f555a2998f6fdd6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04945ab50098b9f95bbddea5e59992ae1cede8c565e90d76e6df111fc94ae5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902ed26f9895b84700d96e2fa723e46526088b5ca9cbbcd34a45b2409c477560",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 4.61 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.8359, 0.4271, 0.7803, -0.514, -0.3676, 0.4863, -0.1921, 0.6449, 0.2962, -0.2825, -0.2741, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3706 left_y=-0.0841 left_z=0.0032 left_yaw=0.1425 left_pitch=0.0249 left_roll=-0.005 left_gripper=0.4863 right_x=0.2589 right_y=0.002 right_z=0.1018 right_yaw=0.1314 right_pitch=-0.0334 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.1043, 4.5197, 1.243, 0.0513, 0.0464, 0.9353, -0.9231, -0.6906, 6.8855, 1.9121, -0.2613, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9195, 1.3197, 0.0605, 0.3317, -0.7933, -0.683, 0.4913, -0.1986, 0.6075, 0.2428, -0.2626, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.226 left_y=-0.083 left_z=-0.0022 left_yaw=0.0603 left_pitch=-0.0362 left_roll=0.0787 left_gripper=0.4913 right_x=0.2532 right_y=0.0046 right_z=0.0911 right_yaw=0.1396 right_pitch=-0.0264 right_roll=0.0086 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -2.1949, 2.6188, 0.6129, 0.3785, 0.2125, 0.4029, -0.8821, -0.5812, 6.9265, 1.9121, -0.1441, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4297, 1.3388, 0.5228, 0.1886, -0.4412, -0.3355, 0.9976, -0.1982, 0.5877, 0.2226, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3575 left_y=-0.0769 left_z=0.0968 left_yaw=0.1005 left_pitch=0.0028 left_roll=-0.0144 left_gripper=0.9976 right_x=0.2505 right_y=0.0052 right_z=0.0869 right_yaw=0.1402 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -4.3145, 7.8427, 1.5751, -0.0366, 0.2906, -0.1392, -0.0205, -0.4171, 6.5846, 1.8828, -0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004d60b74cd29c2e3cddfee0f065a113b7d91ee436f1a2a8f555a2998f6fdd6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04945ab50098b9f95bbddea5e59992ae1cede8c565e90d76e6df111fc94ae5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902ed26f9895b84700d96e2fa723e46526088b5ca9cbbcd34a45b2409c477560",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_03c8d19d02446f7a016ab423a06d0487d08c70f185035cddc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.065,\"left_z\":0.012},\"note\":\"The left bottle’s blue cap is centered in the wrist view, with its body extending toward the fingertips. I’ll advance to the shoulder just below the cap and descend to bottle height before closing.\"}",
  "call_id": "call_QJE3pIl6SeYJo16TFjBtycDW",
  "id": "fc_03c8d19d02446f7a016ab423a2a35087d09591b2f7117c2099",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJE3pIl6SeYJo16TFjBtycDW",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.832, 0.6205, 0.6178, -0.3923, -0.2577, 0.9976, -0.1986, 0.5674, 0.1989, -0.2615, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4259 left_y=-0.0585 left_z=0.0284 left_yaw=0.1465 left_pitch=0.0189 left_roll=0.0114 left_gripper=0.9976 right_x=0.247 right_y=0.0058 right_z=0.0808 right_yaw=0.1399 right_pitch=-0.0289 right_roll=0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -4.547, 3.6718, 0.9011, 0.4127, 0.022, -0.0122, -0.2256, -0.2803, 7.2, 1.8877, -0.1343, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43f1faaa72c7c6f38b7a6fd3e33178a5a959b70dc3700eb7f194848b0b2c650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad2ca69fb4513afab0e145bb33ab2a378eec42ed36c4db5ce7e05b8b5c62567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8869caf785595cdfa337988eeeb606519d1c4cdda4bfb31b309a8a6a280bb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.576 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7433, 0.9657, 0.4694, -0.387, -0.6167, -0.5755, 0.4872, -0.1978, 0.6254, 0.2661, -0.2672, -0.2783, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.2555 left_y=-0.0912 left_z=0.0998 left_yaw=0.0602 left_pitch=-0.1208 left_roll=0.0433 left_gripper=0.4872 right_x=0.2563 right_y=0.0018 right_z=0.096 right_yaw=0.1291 right_pitch=-0.0283 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -3.7675, 11.453, 2.4054, -1.0476, 0.0562, 0.4567, -0.4855, -0.4991, 7.0769, 1.9365, -0.2369, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4297, 1.3388, 0.5228, 0.1886, -0.4412, -0.3355, 0.9976, -0.1982, 0.5877, 0.2226, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3575 left_y=-0.0769 left_z=0.0968 left_yaw=0.1005 left_pitch=0.0028 left_roll=-0.0144 left_gripper=0.9976 right_x=0.2505 right_y=0.0052 right_z=0.0869 right_yaw=0.1402 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -4.3145, 7.8427, 1.5751, -0.0366, 0.2906, -0.1392, -0.0205, -0.4171, 6.5846, 1.8828, -0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.832, 0.6205, 0.6178, -0.3923, -0.2577, 0.9976, -0.1986, 0.5674, 0.1989, -0.2615, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4259 left_y=-0.0585 left_z=0.0284 left_yaw=0.1465 left_pitch=0.0189 left_roll=0.0114 left_gripper=0.9976 right_x=0.247 right_y=0.0058 right_z=0.0808 right_yaw=0.1399 right_pitch=-0.0289 right_roll=0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -4.547, 3.6718, 0.9011, 0.4127, 0.022, -0.0122, -0.2256, -0.2803, 7.2, 1.8877, -0.1343, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43f1faaa72c7c6f38b7a6fd3e33178a5a959b70dc3700eb7f194848b0b2c650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad2ca69fb4513afab0e145bb33ab2a378eec42ed36c4db5ce7e05b8b5c62567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8869caf785595cdfa337988eeeb606519d1c4cdda4bfb31b309a8a6a280bb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCOowbixikMTPyhK1LVxLhPe8NuXpRvMSnSvQizlbSahqXDQciS0iHeFYUS1xNaBHNLkvEE8qTTu7Ms426EGr2AiRwtn17ISg00CHEYjMVUKBA2jn1myBvCKtRMtKwd7GVATqXksbKMRisZWN-M-GPZdvdJv4OWpxyBvn3z_8RLbrg-i4n6YGo8E5rvemWp_ofR6YMKzU6xCG13wl_I1_60Y7BG2GmVyEg8qJwRFXqbNK1J7FnBp0A2ZhrA04Vu6O5UEBpYfF0TmYsP4uMKgwEYtTX6u3G747a2PIERc9P2u1nDMjO72FvUbSnyGnzRZrcQeMHBMYH06wvWsAz0vaUI6G8ma0Gnt95yWnnmnT2_QCauYl6czm0iqIRf4Gtn0ivZaK6K0mcMklnSI8BY3ZQBfWdmPtod_np2CMtHG4Q4uslCcR44efQmXO0lAsMPSD3zwJEQm1VSv6w_OwTjn7GyWvAjc-WvpiuG3ZGjmHtOLOvrtTLOdcgxfmCLRisf0o2qFJNY5QR8nSS5NpaQjf7rzsAlB0zkK9ZjRbm-LpLUlMF9n0HkiuV5WN8WrGEOyihREGaXSpZZqcrbFXomfa2ubDKJPhFwtTBxzfI56pQPjPRoJGQTSvGsv38xDsZQfl74gP8RDPwamwS44p4iRUrwTpgJtQLYhq4pH6xiPzK5OabWYmpAeRq_CrVOI5etSnwl5v0p38Tqnvl7EVzZxzT2elZSH9Z3YQdG8Q46vGjhaSXG09gElPXNmtsLsUcwlw1h3HExo0--Vl_QFVMjvJ-h57nW2D8o_zqJxcBtI5AgE22S1WlT7HWNbgjdOE6baqSdY58aR1FHo2ME_RbW2s3n_zfllIucPk1n_PKt12LpwXXiV8uKk480Z7TmZzCm4KYBPdoTzqJP5-u3oDdoOcAc0IAGzWy2Vzdcvv4aSL_R_4xEjfIfpILyxGsCy3YpPzLuFaVft4jF_ZF9ZSZT-o34yui-DE2t9xRxhcd8fYrBBNGt7yaxETy9tvE-j_7_KJ2eW-dZJKyUSYlVNRNsROohIn0NnHRKPOn9aMAwLEf2czdWGCLMSOPcOQQsrgK6Y0-1qvFKw9-_W825KOLU-FkJFvKCHKtvylsm0HoWH5N8WA1UT6cPqnlY6ztgKc4dwJTFd_2lUSgUGkQOK-78kPpVON615zAXY2naEGcg4txT4JhFJlTEv5lmX_LZxehXtn0JUFNeRy51omK5NNCQO4SLkqJdB_006CEBDgFKDLGQuE8LuMF5bGandGAB4_O2_KUVo6308DScKYcgNYwxmcDzS4ICvVEump7bVoAjcddxYrFURGFWGf2MI_R1_E99R1Ko4hqc_m3pbKgA4AfSC-8vgjP8Mq1ErNbNkFbs-4F2-9HRMUE-b9qlEjxnQeirBtcvs6-eMpZ_VGYK3aXcrJK4ELudJl7egPrZqBaEQP1EbpHLYEpPhdd4Ez2VJhGay5kuPL517dEufboQZ3EaThazdmjCak19gMrSQh_fu_p_5uqobfCtfqebcPGaMY7GskzPaYYQSwjp_oEUV2_i0yp0mndnS7IVbG3fS3f0CR3A-473PnYjjlBxQJSc2u6sYQhJzqsAgsfPmccuJVKbGJD_vi5njFzYsRJZlgkDCVnwMrWD_Q7MnumnfCiIcx9twQYoejG3VElu9dBcuQIJPe9i-KLwOMoJpGjL9A2NvHV8z51cFOjR0qw5vnpVe2VEa_3iY07LQIpwbSCfUbUFlRjgDL1fQweHFdeTV85m9It3T4KJetsCkT4tBk8ewWsxE0gqPxOpBhLzFJf7tQgPoPvkVzTwJ_iGcr9xbNlFGPPEOb3iIT-IKvkt-OvrLOVL5kwMJU57DjurhZ9Xm2QLJffrMEOp20KUlvIBDh6bd1IOSVdaMbq66976HvXiRvfKy2MdS_BQ7sdtTRm-7Gjv0V_NULzkBr5dQAucvzVVoNcgWY-92Gwf627iqpY06z_SrgIzGuHdJgdW9VxhrMmiuUwWq1jwPo6GXwm0ZEp17Frx86J_XDkRezNFFYIWmLO_njvnTja_btITPHBGp9PO_TvRXQAaGM5RrK0TZw4HCkoRM-GjNRa75Y64oDI7IBG44lCMLaYV2pWpU7AfTQqCLMSFWD6vLKFaBZZGAgclCe6t30e3jIgj1ttuVly019xiEw51elv9ar5ayjl6KQ-n7K8WELXxI5pte5lGqc_MTx6tlbe3H2HnfClFi6_ByzaHggN1WfJ4ajXNnHPNs772dywH7KcnKvvawXuqjcruaD9e5rfdURhQrQoCORJbdctIZqNtoVuwJdOhyOcSsd9-2_NugnaYsrRAAkxOw5b26gBqdP2yQzKEcK_RAJcTsjyZuADPhWnR7iyvc0SBCGrKJy5gikTdu88SCggWufOy7Qf6XrOFo21wpsmtbGt0xavMFLCdw7lUD5r0R2f48RxGqUUxsMEzHxfhlKLv-mUNLAPmCT-zvIvqkJ7rTA8wxJ26at5LFEL1XZ97dt3lfOjjifOe3aEl6u179n1wkvkAJ0q_ZFa7YUUocPhau5Bn7oisHIl4BDJnJAMcus_Hut5ui7P-wHDSH2tHqBDJafEE8ofSmiu_UfbMcPnJP_rdECTylvWPvPuOu1MsssOkGba84uvtzpnDcnM6sJt2mGRiw4Sj5UnGc3NihJ4YDFKoYW6A8zin9xg3huMdLDQox15v-4NlA3hdpZs0k9AsM7utO4Hc86pscYxxUkPTRlg7Sp9Eo6TCZiyGJkbVE6j6hYtdR2mBaS6RGIXb09tQrwS20EE2i_T0T5vBPLHhzxCOj2nUo9eYG",
  "id": "rs_03c8d19d02446f7a016ab423a4e83087d0bb2352dca95cf0ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_z\":-0.01},\"note\":\"The cap is still forward of the fingertip line, so closing now would catch the bottle too low down. I’ll advance another few centimetres and lower gently toward the narrow shoulder.\"}",
  "call_id": "call_ttOedTHxuS3P60wm9uaLq4P5",
  "id": "fc_03c8d19d02446f7a016ab423a7895887d0a1a7bd2245414ce0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ttOedTHxuS3P60wm9uaLq4P5",
  "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]: [-0.2634, 2.0075, 0.7937, 0.7586, -0.3923, -0.247, 0.9976, -0.1986, 0.5434, 0.1764, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4851 left_y=-0.0571 left_z=0.0402 left_yaw=0.185 left_pitch=0.1437 left_roll=-0.0393 left_gripper=0.9976 right_x=0.244 right_y=0.0064 right_z=0.0762 right_yaw=0.1398 right_pitch=-0.0271 right_roll=0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.1983, -4.9983, 2.9333, 0.6325, 0.3687, -0.1832, -0.0122, -0.1162, -0.1026, 6.6393, 1.8828, -0.1392, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d9ea3faa4a4be6d28c352a26f7f79a2276d8a52d597a91e7b97e03c05d2f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6a58a3a13248dab67cc700834167c94b8eaa4ebfe90fbc76e56dc4e8edbac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd992abd6f0872c9aa0e0fb43629e9cc627814e2d84b4516a7cc0623d898ea9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.692 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9195, 1.3197, 0.0605, 0.3317, -0.7933, -0.683, 0.4913, -0.1986, 0.6075, 0.2428, -0.2626, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.226 left_y=-0.083 left_z=-0.0022 left_yaw=0.0603 left_pitch=-0.0362 left_roll=0.0787 left_gripper=0.4913 right_x=0.2532 right_y=0.0046 right_z=0.0911 right_yaw=0.1396 right_pitch=-0.0264 right_roll=0.0086 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -2.1949, 2.6188, 0.6129, 0.3785, 0.2125, 0.4029, -0.8821, -0.5812, 6.9265, 1.9121, -0.1441, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.832, 0.6205, 0.6178, -0.3923, -0.2577, 0.9976, -0.1986, 0.5674, 0.1989, -0.2615, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4259 left_y=-0.0585 left_z=0.0284 left_yaw=0.1465 left_pitch=0.0189 left_roll=0.0114 left_gripper=0.9976 right_x=0.247 right_y=0.0058 right_z=0.0808 right_yaw=0.1399 right_pitch=-0.0289 right_roll=0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -4.547, 3.6718, 0.9011, 0.4127, 0.022, -0.0122, -0.2256, -0.2803, 7.2, 1.8877, -0.1343, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2634, 2.0075, 0.7937, 0.7586, -0.3923, -0.247, 0.9976, -0.1986, 0.5434, 0.1764, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4851 left_y=-0.0571 left_z=0.0402 left_yaw=0.185 left_pitch=0.1437 left_roll=-0.0393 left_gripper=0.9976 right_x=0.244 right_y=0.0064 right_z=0.0762 right_yaw=0.1398 right_pitch=-0.0271 right_roll=0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.1983, -4.9983, 2.9333, 0.6325, 0.3687, -0.1832, -0.0122, -0.1162, -0.1026, 6.6393, 1.8828, -0.1392, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d9ea3faa4a4be6d28c352a26f7f79a2276d8a52d597a91e7b97e03c05d2f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6a58a3a13248dab67cc700834167c94b8eaa4ebfe90fbc76e56dc4e8edbac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd992abd6f0872c9aa0e0fb43629e9cc627814e2d84b4516a7cc0623d898ea9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOsQltCYYiKeQoOC3-lv3idg4Xl0k55ydMeeRdFJCnRXQB0HqpdDz3EanSc7zb37Jx5k4FxC7Syao5sg4xFWF2obS-6CAnTbCOLFAVze2pHcQBi3qetbYQNC6jGRLcSgYhiygkCOoXm8xfOsEoXZIXYvGuIVEGUB1hXiDtEyCGyyIKbr5fcSWjFw_oiYxtjDAUXy_lGY_XkFQzQMlyZyQHbWUJCq-xdggK6x5uYe_8Qsx7pYLEOOLbcgxqi0Sze6uY1G4Hna9qmxnphDV54sh5cILuHzoq3pJgzZ78Hybia2iIbHFT91Hyy8jn2qrKR5ZQBJZCEnu_nKPebJYcNEqt0BFsjOrU4A_LHoQE-SF-tcAKQ34JQUtOQaXcdOlElWCTw81zIm8QQbd2u86pie5sxy7drf7NH6oDFsZLmw-efRR0_GM_ZI9e0tOJ8F3ENZk60HGlopWYdA47yc_qpWGTkk-gDzqfa4pyjYXFZNUOFP19HEng3WOzWvQNSgioERQYjpsMGGTXQKzh_q7Rjgd7UuEGEjN1CIGS_ks4VLX_JtChxfQuwYQIJBFcYVWCgkaD52iv6H-WJAsuEhL_cRqrhdQCEqfFBzfIGNLxHM5PcfIFOlsUA3E_acfTPC32Zyyl6qQs3uucMeRB6tObsfBIdsy8b-fzEuw3vY7zy8QrCFe2E9y5yzwxPjDlRAxeutAWywq-KTimyohEa-oJqzmem2hFDYwej7HNfITD7YstpZi70byh1gT5CHIwBLJkUeILgQCq7bb_uA7U_do3CULvbQU09WAvq1PX74ApfsyozUFaqCs3K1JBxkrIwUvl4qZ4poO9BnLo4XgwB7FChM0p2RcLWCYihcfEmZ6Kv1Cuvlt9yFuRLvzdLl-NUNNRnvuTr2vqtt_TSzGi7GsXoPzdG3FH6iax9urh9qM9zKf7q9eWV8kMqogGhGcy1MckdDlJ-Vrmt1NjA-GILTE7EHAGbic1NpByjuOYd-pZQhZLvjB4nkD_Jz8tudEID-wnfND6U39--n28t3R4R-lyckydgV6EFT9hdrS73dLExwUYuY4WUCvzNejFezPUkiKu4QeNnaLjoWurESgduprYhgqt_8qqZkvP2Yz7KljkjUR6HWAo7fKLb_aQvUplZCz8Ii6uj0ZelDr6uvUhdqopdF1Yi0s4Od8gavhxrE3WrnkJd_hTBUXQWL_IJuONw2HRNALE-geARWz-l7nnvLbN0dCtmBfVaXHzWhQljuD0y7aR3HJyMBHKk-jzVCf2N4uAwEiUDPzfd6npZi4yIwsc21ZUHGuAxQr6XGYlgQaSD9B1w7WjEPqE6sZ2lpxWW2WxpMtTMrmi3QPdo7TFjLhI9f0foxeyt4wKbOi58cz4PbZAkQ5HI1LCpRRvFye83WQba8UTWm0fK027OzITyJL2SgF6vj52kTxJqr6orrHM1sxdqOe4_A0cHivE8Xpte_W_v9Yegiiin9XhbgejsLabbOUFgsgTfp2Dqb4LradY7-EIZ6WviU7B_-OQZ1xArejrNnYNz-gOU3nMNkkDBlY8DLnNrxhBgaBmo9QBJwN1Iz1FOt0zgEDeBwrkzfhbNeIMSeIO2uA8CUiGZbYS7RFWMK4qu3rerf3u0FuBEesrKWG-OsA6zwZhW9ZCm34O7lw9uP-Jc3xSguZ5EEld-U6xgUrszfQ6l6l7WUCKNpMrzzgdDFhwgTH0_TNfH8XmTUiqsONbuEntIDnEJixJubbDhGdlEVazWgoYgrwBlzEtoK1YJhKX0TFYCaADJSyZ1Cqjv9VAV9-7CJVUg4jPQJReJMnROhcA0-grZzvFN6GkVgFc4g3Ps4ZfwSTEBWnX9IrAY0DtvAP0Ni2bAcQZeCzrC9Muh19BArJ0uykcTMFt5rfywbvnnjcErPorM2PEAMWWH_V6BiNnxSwSTuKHxzR0qQCIXVdIIeVkcn9sHmqkR4jtFHIZi2XjBfLCjji-jaWukyusF0myVwVa_yqe0juSCQ0JGqmN2a7hQhEcwtbPDNSm6AgEXGNf2EUxghIKWdgBoFaZ0CXCBLJRKQ4Bd63jmXxS8VUID7EtMW5PShzNFPHVf0sMW6T_A9eHCFNdxfOoyDXkn",
  "id": "rs_03c8d19d02446f7a016ab423a9f8fc87d08486e31f8c2330d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_z\":-0.02},\"note\":\"At the far edge the arm is stopping about four centimetres above the tabletop, too high to pinch this bottle reliably. I’ll retreat slightly to regain downward reach while staying over its upper body.\"}",
  "call_id": "call_xcZjVqN56YVePWjOqEwxXoBc",
  "id": "fc_03c8d19d02446f7a016ab423ab819487d081cc248589388f11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xcZjVqN56YVePWjOqEwxXoBc",
  "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]: [-0.26, 2.0274, 0.8127, 0.7883, -0.3885, -0.2386, 0.9976, -0.1986, 0.5205, 0.1551, -0.2607, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4925 left_y=-0.0581 left_z=0.0439 left_yaw=0.1826 left_pitch=0.1693 left_roll=-0.0456 left_gripper=0.9976 right_x=0.2413 right_y=0.007 right_z=0.0717 right_yaw=0.1399 right_pitch=-0.0252 right_roll=0.0084 right_gripper=0.9981\nstate[joint_eff]: [0.0752, -5.2308, 3.0564, 0.7985, 0.2613, -0.105, -0.0122, -0.212, -0.1846, 6.7214, 1.8828, -0.1783, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d6acd523b7072350ffea4caf3cba2ccd75be52afd8176e80c3cdf26b653173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0284c9c1a104de9f81082fde2b3427a2b9207cfbedbaf83a8498aa8c47447694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5133f2cbad771bb904b626c023185785facb8702516e95291e17767667bc59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.712 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4297, 1.3388, 0.5228, 0.1886, -0.4412, -0.3355, 0.9976, -0.1982, 0.5877, 0.2226, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3575 left_y=-0.0769 left_z=0.0968 left_yaw=0.1005 left_pitch=0.0028 left_roll=-0.0144 left_gripper=0.9976 right_x=0.2505 right_y=0.0052 right_z=0.0869 right_yaw=0.1402 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -4.3145, 7.8427, 1.5751, -0.0366, 0.2906, -0.1392, -0.0205, -0.4171, 6.5846, 1.8828, -0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2634, 2.0075, 0.7937, 0.7586, -0.3923, -0.247, 0.9976, -0.1986, 0.5434, 0.1764, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4851 left_y=-0.0571 left_z=0.0402 left_yaw=0.185 left_pitch=0.1437 left_roll=-0.0393 left_gripper=0.9976 right_x=0.244 right_y=0.0064 right_z=0.0762 right_yaw=0.1398 right_pitch=-0.0271 right_roll=0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.1983, -4.9983, 2.9333, 0.6325, 0.3687, -0.1832, -0.0122, -0.1162, -0.1026, 6.6393, 1.8828, -0.1392, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7883, -0.3885, -0.2386, 0.9976, -0.1986, 0.5205, 0.1551, -0.2607, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4925 left_y=-0.0581 left_z=0.0439 left_yaw=0.1826 left_pitch=0.1693 left_roll=-0.0456 left_gripper=0.9976 right_x=0.2413 right_y=0.007 right_z=0.0717 right_yaw=0.1399 right_pitch=-0.0252 right_roll=0.0084 right_gripper=0.9981\nstate[joint_eff]: [0.0752, -5.2308, 3.0564, 0.7985, 0.2613, -0.105, -0.0122, -0.212, -0.1846, 6.7214, 1.8828, -0.1783, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d6acd523b7072350ffea4caf3cba2ccd75be52afd8176e80c3cdf26b653173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0284c9c1a104de9f81082fde2b3427a2b9207cfbedbaf83a8498aa8c47447694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5133f2cbad771bb904b626c023185785facb8702516e95291e17767667bc59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCOvDmZXkUZan9cXGKRx3x0nYSXG5jY7KBVqi1wkb3vChIWRqCwYL6cEdDuHsphu66Clc_o89rrYzmVFzDwQBCp2RTci34CpI8BVOj3CTYoxVS3jROmQClNCrv2q9VAuJDkxVVrs6C_4_s3tzlBFjqr0uyYc-kOSwhVHVW9QbfY_FhzY6TvF0PT6uM-TOJC8CY835dM32qri1oriRe7PZburC9ocWbQ2PZATlfTCAlzfK-iLHvZDx49LXpoYFuSrtE3VZPL8POtGE0gUg_WEkD6aa3_F6syUrxp7YXkmAqTQvd-7ClsKKfIpsXquJ8MxPUQ-ZVnn0y0cyfj-WCMHB1pPQelPRdr-gpWHZBk5BFWmLF_l01IqYxxP6a111e2VI5bEYMMLX5IpbWuQeNcghZzFaEzAQMxQrmaminy_q8xEQBm9TzxLvTw1R8yEbjuwGAr2h0NTibSintm2aQXUZQ3O6l4C8q8KquTSHcMpxgNuvwzYtlLW2kq1fe3VAmaNmo3AHDj4DTbZGtkw1IL_it8HyQapVktMskNKRU6wQ4aGLn5BSax7Iw_KgRaBB7cM6jeKV7i5PqxleHmQphsox89OFcLSVSoCMm__4hqPoNXcNen37ARixcovoZ9me68igqMsf2RhHh8_GsNgeDGfvx6PvIyDT0KoqDKP6Cl7OS_mKkXLJdq1wIe0zJE-umugJ2CLd5n-71xo5zrM75i07MOj-2sfcN3re3Noj7oG4zDZ6Er7x3xf8nurN58ngufYqcBOWsjRYgQ7fPfRzPomHuvmYqifKwV-Z3s492YAa4cbp_dPR8lcIEObDf7NfLp1jTynDMfYtTK4LCAm2YSoyLnekcIrXG2XOMtdgDBg7QeFlx4RaAm69ktt0DzNNNkAlMpg9j_pErpGiIrN-r8wqlxUPArrEV0A1C_EcTdZWZXUk19GMuFtcz5Xvg_shq_GxAz9GFkl4iN6iGsapTnd4Oy_do2uiMYaTQSq-LHpcNmE7neeVYVM6xvcHRPMNya74Hqe3mrTTzhc6T5DnWUxobNCh93Cw5o9Iapgfyx0l91pTiNL7yEED3OguGeT70aLVTrPqnMphJJkPJz5iRP6oKSZUyGBIIHiJ2ckb3D_3Gm7ZtastMig5qd8pihYobkQRp4wGrP46-Fe_352oH_1UG369Is1BkoIs2u_xZ8kldb-iSm4V-WjfVn1TykOo132y-bxS_ENMTfs1CWJuO0yMvEUFMFq8vNwzHQhcha07HDObpdSY8ZYGi4eLXFEoXDxXLKHNc0cUh_Dal6baHtkiGu-BoigUZW42Bab4BYm_q4jm3OZjdTs11uT86bPIgX9wJToDW_YYueA8fAgLsIOG-kHNoPaLCiqKMp5aC7PXL17hXVYUIuzSNng1rRQRcU9GU1F40yuCUff_wqb-GbVn3DZwWiG17n7hr6q7M7MiJIWsKheayyCmuRvFnKzuMKNiImA",
  "id": "rs_03c8d19d02446f7a016ab423ae030487d0b0b0c43875f50fb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.12},\"note\":\"The arm did not follow that low retreat command, indicating its wrist is caught near a reach limit. I’ll raise clear first and move back over the bottle before descending again.\"}",
  "call_id": "call_FJajAcJ4Kl15aEHEITcOjt9i",
  "id": "fc_03c8d19d02446f7a016ab423aead4087d0bd3d04e62ce18123",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FJajAcJ4Kl15aEHEITcOjt9i",
  "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]: [-0.26, 2.0274, 0.8127, 0.7887, -0.3885, -0.2382, 0.9976, -0.1986, 0.4969, 0.1352, -0.2619, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4926 left_y=-0.0581 left_z=0.044 left_yaw=0.1824 left_pitch=0.1697 left_roll=-0.0454 left_gripper=0.9976 right_x=0.2388 right_y=0.0075 right_z=0.0677 right_yaw=0.1396 right_pitch=-0.0228 right_roll=0.0073 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -5.2991, 3.0427, 0.8083, 0.2711, -0.0952, -0.0171, -0.3624, -0.0479, 6.735, 1.8632, -0.1392, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7363d22a5de88ce54576622f8d96821fd394eb61f94c803c1392498be2c4d4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cb629adb82d84cce27622f44b49decc501ede0daf04bf58db9cd65c71991ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea20d7f12287461e620f15b8b94a535c626649fbdce831ab1c661af0f600ce8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.866 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.832, 0.6205, 0.6178, -0.3923, -0.2577, 0.9976, -0.1986, 0.5674, 0.1989, -0.2615, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4259 left_y=-0.0585 left_z=0.0284 left_yaw=0.1465 left_pitch=0.0189 left_roll=0.0114 left_gripper=0.9976 right_x=0.247 right_y=0.0058 right_z=0.0808 right_yaw=0.1399 right_pitch=-0.0289 right_roll=0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -4.547, 3.6718, 0.9011, 0.4127, 0.022, -0.0122, -0.2256, -0.2803, 7.2, 1.8877, -0.1343, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7883, -0.3885, -0.2386, 0.9976, -0.1986, 0.5205, 0.1551, -0.2607, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4925 left_y=-0.0581 left_z=0.0439 left_yaw=0.1826 left_pitch=0.1693 left_roll=-0.0456 left_gripper=0.9976 right_x=0.2413 right_y=0.007 right_z=0.0717 right_yaw=0.1399 right_pitch=-0.0252 right_roll=0.0084 right_gripper=0.9981\nstate[joint_eff]: [0.0752, -5.2308, 3.0564, 0.7985, 0.2613, -0.105, -0.0122, -0.212, -0.1846, 6.7214, 1.8828, -0.1783, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7887, -0.3885, -0.2382, 0.9976, -0.1986, 0.4969, 0.1352, -0.2619, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4926 left_y=-0.0581 left_z=0.044 left_yaw=0.1824 left_pitch=0.1697 left_roll=-0.0454 left_gripper=0.9976 right_x=0.2388 right_y=0.0075 right_z=0.0677 right_yaw=0.1396 right_pitch=-0.0228 right_roll=0.0073 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -5.2991, 3.0427, 0.8083, 0.2711, -0.0952, -0.0171, -0.3624, -0.0479, 6.735, 1.8632, -0.1392, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7363d22a5de88ce54576622f8d96821fd394eb61f94c803c1392498be2c4d4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09cb629adb82d84cce27622f44b49decc501ede0daf04bf58db9cd65c71991ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea20d7f12287461e620f15b8b94a535c626649fbdce831ab1c661af0f600ce8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCO04pWhf0-aTYSRZhxIqG_eBrLGfoqPEXHD4yB_TBkMqHn9wI1beNZ1EEwXUJZHSKELkkZ09Wv0Aa7KcVwdE9tRYD0vYX3-GTy7okTeOI4kXHcUyehSr9nXj9VLOR3FsRBgg0NpC4WyK0EQqYpkTCXI6F3uHDps2jkwryBAX-OVOMSFGiovSWwHk7kyCVWfaN18IiEcnLVT13ucjjHU7h18jXuYY8rJ4BOf8IpyEPewesngbXHLQOsKnwMlcBc1Gbl3re5nt6ImmvgqB8OG4-Nep-njTDG9OejqZg_QFQ0zCXz5JA8O5tVPQcksA0O5xkiWlekiS2ziAsvjhWS4w0CXT9_y-Vev_tpCo8cR_he-hbPOx6EsQ9hBVxuTxWL5s5SGS1ueoL_KCCzoqDJrpeZDuF7784U5uysFeT8--zAWwo5yVM87oANmOHhkXCfzw9UO-evc7j_4B3nRCiUVjlfOr64BHCztsMVL0zMZxaalCQ9fzj-Uiy9z_ypCkidijyl-j_FNVR18c9F26qhryuSZMzea8aSNB4RaHME7geH2P2UW5leL_CCnACUTj0446wLSYWvd_6qBvOEiPua0mIfU-ef6TY2lp9X8pnoYuLD2ZjR5g5Uqj-LRF2P3VMDfvubXJYu1qoETIH1eEjGHEsFhWidwB1JrwbFCQHmNxtyfbOtxx8QfkRBg1YpwqDNHWCmR8tUgzgdssQhXFPpR2EdH2GSmYTPXg0yN5ZGZN5SW2ToJikl2mecAW77QRImtox4maCQAuW7zbFCFoJhz9adL6yQZbL0_3e5pzzuFB2NyASbOj46-q55m9DgwvZHDBkYWysu3vWDcUK-LCds-HhYUmXAVh59gGdsbwUuIopSVnJBZlem2VZp-YtvkzygN-wjgojRcdVvLm6_cnFMdGQ51y7vbPFQBUW16KhFoESAFfd-CcYc7osKSEsXIkchNjSf4GGyQIUet1nOxoeUMgDMqIIMcAvDUW0miWxOII-53MAue0kG1cEi0okjo9sZ7eDedO3bR0w-A_C6HLSJ7e-pVsh3B6qNRWO7a1DroRirZmYhJfRfmMgI73ee_8geGLZxnyrm6IRFCg-X_CuUVe4BPW7U9he6GX-vTnucKzZ31QVTIZbbjSlCFoL54wRwRW4gJJHjqvTYoVw5-Ne_UqFA9DzLK3emdFJZCEvnbZTGkhfC8W3LOPZWirLoyL9UCcWzh28JpvO0YU-RtbJyL63Gpd2_sbkGzC0Hq4E0kYomejvCLmx8vBwWxBlZBB8GxyKJwWjtcuk7Dr8YAQaC3gfNX3-LPbEXxL1A0Jsjh-Wfj2mX1aRU0TUdes3f3ErG8KSLqq1jV8JiMtYuZRfUtBBqfKI7YaNVmkvHmJ4UUOtc0Vq08vnOk8J5Nr7VjRPslUjaGnq77-8kR3UJsaBm8qlupV0BG6zrbWvIBIAk-40UyH9t8EjviGFookHP_QOMDhqK4LVKskh4JNNZlpx9wE_BaJe9irG4eVWi8qDHkdkUEK19P3hp_4C-i04nhahi_GoNVwWKBzAGigJMIYfNoMV15n3JZ9RQXU5aEEx6f96jxIfLM1TsAxW3CSEctZ6-oF4tp4mzikrom-EcDTInhX38_U-EaIm2mhkQWUNO_YhckZtob58ibKT9f4vnNMnIYncBcjTz4BPtJ9ebVyb9U3NaKZru_jHgajawoUeygr88VeEVgqBgOMFZbMBhMGFUCWWByTe94WaEP2lKA7SGi92zSr5dZ4pBU38n4PjaDr72UtGzj_JIZdn7SOC-ja7TUSSZ0YtSedf_N7XzfllOhBHtq5e-8sF-Zl2jP1-26NpuBaNw=",
  "id": "rs_03c8d19d02446f7a016ab423b23b8087d0ad18b7a7045bfb72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_z\":0.28},\"note\":\"The left arm still did not move away from its awkward far-forward pose. I’ll ask for a higher, closer free-space pose to get it clear of the bottle and restore room to maneuver.\"}",
  "call_id": "call_0hIivzTCkNvYogcZkLkAt6KX",
  "id": "fc_03c8d19d02446f7a016ab423b3a57887d08f4d41cd5c0943f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0hIivzTCkNvYogcZkLkAt6KX",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5217, 1.0466, 1.0676, -0.6834, -0.5541, -0.4397, 0.9976, -0.1986, 0.4755, 0.1139, -0.2638, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3129 left_y=-0.0685 left_z=0.2703 left_yaw=0.1539 left_pitch=0.0119 left_roll=-0.0271 left_gripper=0.9976 right_x=0.236 right_y=0.0081 right_z=0.0624 right_yaw=0.1398 right_pitch=-0.0246 right_roll=0.0077 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -3.6171, 8.6085, 1.4823, -0.3053, 0.149, -0.0122, -0.4444, 0.3214, 7.0359, 1.8242, -0.1587, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c09f8e7e0987529f23136583f45e5630d90272ea89a5ade1c3fdc7b0fd1a3f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb0401dc978893e4dd5800a1655bba6f35e97164c6d98f55362928816b4eff0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf51a88be3cc5dd8c06dd296b98c26287bc0f9d9d12d2e71d54c5f3c5cb1f14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2634, 2.0075, 0.7937, 0.7586, -0.3923, -0.247, 0.9976, -0.1986, 0.5434, 0.1764, -0.2611, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.4851 left_y=-0.0571 left_z=0.0402 left_yaw=0.185 left_pitch=0.1437 left_roll=-0.0393 left_gripper=0.9976 right_x=0.244 right_y=0.0064 right_z=0.0762 right_yaw=0.1398 right_pitch=-0.0271 right_roll=0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.1983, -4.9983, 2.9333, 0.6325, 0.3687, -0.1832, -0.0122, -0.1162, -0.1026, 6.6393, 1.8828, -0.1392, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7887, -0.3885, -0.2382, 0.9976, -0.1986, 0.4969, 0.1352, -0.2619, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4926 left_y=-0.0581 left_z=0.044 left_yaw=0.1824 left_pitch=0.1697 left_roll=-0.0454 left_gripper=0.9976 right_x=0.2388 right_y=0.0075 right_z=0.0677 right_yaw=0.1396 right_pitch=-0.0228 right_roll=0.0073 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -5.2991, 3.0427, 0.8083, 0.2711, -0.0952, -0.0171, -0.3624, -0.0479, 6.735, 1.8632, -0.1392, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5217, 1.0466, 1.0676, -0.6834, -0.5541, -0.4397, 0.9976, -0.1986, 0.4755, 0.1139, -0.2638, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3129 left_y=-0.0685 left_z=0.2703 left_yaw=0.1539 left_pitch=0.0119 left_roll=-0.0271 left_gripper=0.9976 right_x=0.236 right_y=0.0081 right_z=0.0624 right_yaw=0.1398 right_pitch=-0.0246 right_roll=0.0077 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -3.6171, 8.6085, 1.4823, -0.3053, 0.149, -0.0122, -0.4444, 0.3214, 7.0359, 1.8242, -0.1587, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c09f8e7e0987529f23136583f45e5630d90272ea89a5ade1c3fdc7b0fd1a3f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb0401dc978893e4dd5800a1655bba6f35e97164c6d98f55362928816b4eff0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf51a88be3cc5dd8c06dd296b98c26287bc0f9d9d12d2e71d54c5f3c5cb1f14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCO7uVNhCTS3DgYofT_OueuK9SoPa5aYAWhv7BYoZ0eGSOcbMBr2_LK-B-RrKF8dM_oGl5x0_EdLwQQdBdkEHyARg3MViOTUAurbibRSkEOsz5u2n3f2b-alP2cGrm8KJUDP-bvAQI7qZ2aoA21hg-VJYsuCYrPVYIo9DPYj6bCRAgDZAenEfKd0TymOoRKBOTsm194yIxtx6c7Fet8XXflwwCA2lb7eCJq8OSekQDhmV9_v86acLJYGjN4w8rS9IK5OZeOAkjVQaQ8QbtfRoXwjsoVYTWFRJx3dR-WJ04rAi_EW2MMjtxygVzz_gCdhBRl_FNqcRpCdZ1FoHLa0aD3WwST6AVv3GigJJPt_i4V0vqAsdCKw1Qje7SxSMVsLbLZCm3ziTjtsqgtwm1Hr4Iw2_478w7x-01AVwJNhKHIo0opHPVGg1BU6YcOIq_obAm558f5J60d1B-ZYf61QpUhAdKHWxFdLwSiQ2RAS2k7Frlyb7YdfxcDBKejmi03yj8r4NInoibZOTCwOA6sqlLqD2_MoHwWCRKbZ7HDYyjLpDwyxvSd4o9mK3QkySFkcm1IkJVzlgODt1KHVL94Q3GX50QEE9AgDmW5tQg6PuNWfEiJbT9W8HShNFjrx5aBELSjF7SOWseHXku7gebXzjU97hsXdIKgmbGa6dqRMd8XrTxCzTaOLnBcpFokeRO1LLsa21zknyeUYBCHcCxXgCmy58_dVXqp0qY1qFIn6esKfuc1_j73TCTc3SrjQcZz5pcbxs_VsxMwZrXlP-4zBsPtiwEgMVMatgoPa4NxEtLrSBqUxeiUR7A8sNh6q7ns9TadDZPyI8r3QzE1rnRfddV42dmw3eiRPrOkqt1_wG5WD86gyNIRFngW5jUZ3doPXoec4CzYDEjPTCGhNCtMj873vdTwLgTq3uK3GGWT9DKOf6wdgBdf6DEyV7s4xrcQEluDRD792H2ffs1kobAA_6ddJ0NAoFXKinOZgGb5t03BAhQOzFu6iNpoWQb-007z5-tzsIppy9C0B4jVXrDUFUInJTT6vpC-V0LBBb9lomK5qZ1iPvF9Cnp7GFUPzNRpdUkQM2BGrmDtUJzAGdz23bDyuVdy53jG075rVPpFrJiOHXCphPZdu-cd5Aw_2PYTBw8NPRIPuUhREaAPOBMjJeehNfJ3ksMJV0KzQLIUtllE7xO9FYPS6wYBVqxTLirY6jpMzwaxC8OEagRW1RnQRZd9GsUgG4DajSvRoQanjQsgbZVNbhtMTtwta4EOJS_4gx_qmuqudytbBrGc-V1QaI9zagRAape3VjxEhMN8aHttjvNVIiQ23mpB7YtSpVMcwfWUnsx91hSjPg8a9gvjfu1pDJg-vS7RS49Px1rN-QFxujgu3MkdrlP538SYSLjv6uEPJuLY6NEZpLks2EpXs1U8oElokJRsuir0VO8p3SthhrSoZDhVp3Sj8jpWW4jb7yM_poEYBTM0jxYkwC5aACmduLmIpL9NTT-6sI2OkTy41PXaAsISVC8jQL3Ys4ZnNp5l2i7g5WugwXIXKTuhYi0MStR4sGkyu_rqBHLCtx-T6qxl5TlSJJ14fndEC7I7iwmVcWSMK1f0m-39tvLNxFgucDpYShni5BoqFMTeGt1eLXe5rXBG6X1lqNCu84xinXqbKZsdg0F86TMjSPSKknaM7OsFpmFp4ETT4Y8sR7b5C0RWfxoyWqYyk1cJ_1Wq88ofntSmvn8z9ROPP20LueCQjHlYGcR1H_9_PTr-HHMnOc553y-imi8wT_zadUpOwUy7LCIavfhx9DfGXEfXbik87tse4WWNRDJCTsrV8XUpxHwqU3Ptb4MGB5kHlB-3abCLUCKESWNoJoa5YPeDYjUuzg6hDkHzzrY0IwS6I8ojSd1qXcRoexbf0dUBQCjpkJ6GNPCyNcrQUBiGQp5aM1HNivfOBK9lzh5IMI1ThoSHiK3lCOrl4NKKqiUfacaTc1MzZWqYzhVWgZFYdiwH8P-ApUQ4r8h24GVxxhbzmFyD79n9mT1TrPhLc6CQHa2iRjpj5rV0ayBuM76cpbmD7kY9nuii3KmGnYNlEr2C-kl171rMbaBkQ7xgh1xwcQnbRkISuiltTdu7c-VDV5TiaSB7QQ2scCUIfwCFhBXpCr8Yp3XFZCBwKOe1xQpkiNXPmrkqQQeD3dRshyyjdZXwEAJ9YU8E6zJLFhFJqTLgpUncavuyNMgqzCxHp8So5FObcAMvZpl_WiNNiauUsPjx8uulCEZNPXBYdnQdS6A8zsxJ3_BHZq-8i_vQ_YwZ-uWcwpCcRpIgLSBgSDhhLD1jGYuKG-y5mdBCF4pHgo533fkByCSpdbntbAUgJ3eDBCvDV44Cz2iSj56YAhzNKoV6-SdaarQ6IIZd_GY87c7HpW85REWplijnwC7hA-tB4_RXpSFziRg26SppEsFYesQrUUJa42d8NUde3NJG-kkz3mP6LCeVWFji95Xgr1gNLNAJkKz3JYH8iDdamR5KOpOsvF0Txr9cuo3WYZi3ByFIRKWf_BJJ3RZsb2LPGw3M-OIzVBds982VQ34Z3-ka1xZxG2yVXZMkLw2c5llQGs78xp48eqeQ=",
  "id": "rs_03c8d19d02446f7a016ab423b76f6c87d0bf1afce3d257bdb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.09,\"left_z\":-0.01},\"note\":\"The arm has cleared the bottle. Its capped end has been pushed far away again, so I’ll regrasp the near end at tabletop height and bring the entire bottle substantially closer before trying to stand it.\"}",
  "call_id": "call_1v6b6R298VLgpvDhskG95KK3",
  "id": "fc_03c8d19d02446f7a016ab423ba250c87d0aebf0c4e1905882b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1v6b6R298VLgpvDhskG95KK3",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4957, 1.8393, 0.4538, 0.7052, -0.5648, -0.4179, 0.9975, -0.1986, 0.4492, 0.0952, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3675 left_y=-0.0872 left_z=-0.001 left_yaw=0.1765 left_pitch=0.002 left_roll=0.0078 left_gripper=0.9975 right_x=0.2342 right_y=0.0085 right_z=0.0595 right_yaw=0.1399 right_pitch=-0.0177 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.5675, -4.9709, 3.8906, 0.5397, 0.4908, 0.0806, -0.022, -0.4718, 0.2256, 6.694, 1.8388, -0.1441, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de896b43fb0b6e9462beeb50498317c5d7821a80d9ee77d80f0dc1c0b65711af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e01e748e02573fc81931c55adde378512e4121d2b3ce0f5ccde770a4977edb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee917bceadb71f64b6520dbb432e903d69944b23d9def6f743ffd81651b60e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.583 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7883, -0.3885, -0.2386, 0.9976, -0.1986, 0.5205, 0.1551, -0.2607, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4925 left_y=-0.0581 left_z=0.0439 left_yaw=0.1826 left_pitch=0.1693 left_roll=-0.0456 left_gripper=0.9976 right_x=0.2413 right_y=0.007 right_z=0.0717 right_yaw=0.1399 right_pitch=-0.0252 right_roll=0.0084 right_gripper=0.9981\nstate[joint_eff]: [0.0752, -5.2308, 3.0564, 0.7985, 0.2613, -0.105, -0.0122, -0.212, -0.1846, 6.7214, 1.8828, -0.1783, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5217, 1.0466, 1.0676, -0.6834, -0.5541, -0.4397, 0.9976, -0.1986, 0.4755, 0.1139, -0.2638, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3129 left_y=-0.0685 left_z=0.2703 left_yaw=0.1539 left_pitch=0.0119 left_roll=-0.0271 left_gripper=0.9976 right_x=0.236 right_y=0.0081 right_z=0.0624 right_yaw=0.1398 right_pitch=-0.0246 right_roll=0.0077 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -3.6171, 8.6085, 1.4823, -0.3053, 0.149, -0.0122, -0.4444, 0.3214, 7.0359, 1.8242, -0.1587, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4957, 1.8393, 0.4538, 0.7052, -0.5648, -0.4179, 0.9975, -0.1986, 0.4492, 0.0952, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3675 left_y=-0.0872 left_z=-0.001 left_yaw=0.1765 left_pitch=0.002 left_roll=0.0078 left_gripper=0.9975 right_x=0.2342 right_y=0.0085 right_z=0.0595 right_yaw=0.1399 right_pitch=-0.0177 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.5675, -4.9709, 3.8906, 0.5397, 0.4908, 0.0806, -0.022, -0.4718, 0.2256, 6.694, 1.8388, -0.1441, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de896b43fb0b6e9462beeb50498317c5d7821a80d9ee77d80f0dc1c0b65711af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e01e748e02573fc81931c55adde378512e4121d2b3ce0f5ccde770a4977edb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ee917bceadb71f64b6520dbb432e903d69944b23d9def6f743ffd81651b60e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCO_0y_rRlt25oSRP7Sb4mH8pOXOF9pjz5wyeBdKKpJLde5TP6iOPMk6oGuhbLAO5jtYQJ52FUTuPGoS_MtGEtj_fWEuyPRvhD4zfmT7BraEbjNyGXzjNdR6XiEzpxWJlMXsHDoVO3mIKGkekJlblt69WiJYi-aYD2SR5ZJrxrl0jiqYQRdpuF739Lws9ndKAxjd8IpE_bWMV_YQGlwTz-uZaEHgXmwBbWX1g-0pagmVpa_jDswQANgL3FQsDmoBiO5DtwYcbcj9GBca2LPalcuYr0ix-Ti6WgtsaI7xdw5OLrj7FCSCn0AQ1Ii7mgsJIhqD-BofSvQWV-Y1cvCRbwX0jUmzYSKVv6qmJKWOSMd8Qq7-qzwLIngbWcV5OMUEPG0BxTo2M1nOVGXPychKu4xVmYHOjvmQFY2mAJqxRmo0VHcTu1_D6M4CNMiATf1DtFn59wnrNMK-UXdLBq31hJ0XchFt_aBdwOVQn5NrV1ASHysTkKyHgnpfkOapWw0p-Bisqaf61CkBzcT40WLa22hvu54_vxV4e5l_PksNx4N0SlXMxuuX_L0LCSazY0UtAKU6OqEX9GKZ907yD2PJjZ3PiuHIyphk-lpygDXfrwv9S3DrecrBufurvr6-O20COsEgxvHlY5nhmFL_bbJxa67polOA-RlJexo7TW1M7ZMsHUXk3XPpBX10LntqLMZet3JuBrt9VkWdrx-6vjXQh_F0X77VmXztTjbZi-MYqyOEUAxOcJFlGLbKi5jhs952h5IgAVWTRBtwSlCM2FCJsekGEXPi42ephLlJeWReU8p4PutMrD5z4lJW-9HomkewkFpC2Bk8BKc3B4vxrqdr_UIr8F-nwJE5Nhc4zADZnozgqyAeh_YsnlnEtnkJEmKo3yJsXfWtJYKyF09Wz8Cycd3Watr9j5DXgA177MkHQf7DoZtIBtsfMkle-LtrYVuwi4lz6_rf1VhIvgfh1slzGlw8YI0jey5-ITIQFwtU8kU2jojB83EMhaEbR9Y4xakGelmACYRfl04dpo-SydIgVGPEnUtzcKdAJ9xzQzSCBkw5dqSZuD6SFkX-cyJEQycmCVxHu6KCAxb_c6spL6k6-LvVscP8U49A3qspHW0A1ShDJx8Ym6jIU5vU3w3-YW6Exo_pGVsu8qeeEkrjXLdUewHdmarnDJtQbUpLkgSiolOOsaM=",
  "id": "rs_03c8d19d02446f7a016ab423be272487d0a27d121d8c823591",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The near end of the left bottle is directly between the left jaws at table level again. I’ll clamp the body and then relocate it farther toward the arm before releasing.\"}",
  "call_id": "call_5gO70SuYu7kZyQAbRixOtRPD",
  "id": "fc_03c8d19d02446f7a016ab423be3a9887d0a6159a844e18c6f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5gO70SuYu7kZyQAbRixOtRPD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 1.8507, 0.4538, 0.7334, -0.577, -0.4225, 0.0103, -0.1986, 0.4316, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0844 left_z=0.0006 left_yaw=0.1939 left_pitch=0.0199 left_roll=-0.0008 left_gripper=0.0103 right_x=0.2336 right_y=0.0086 right_z=0.0592 right_yaw=0.14 right_pitch=-0.0094 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -8.0342, 3.6034, 1.3065, -0.022, -0.0317, 0.8571, -0.294, 0.2667, 6.4752, 1.7851, -0.1832, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fd8c18d9be33f80c0d01706b4def6f5956c98738a3fd870f49b5619a06f312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c8cd54b2583ba08d26140315d179cc7c22b1fc36814fd68253997cbcfee204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6421b9008a50691405931246e5bb91c3a7ef7857a4b351dcca8a6a70e109fdb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.227 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.26, 2.0274, 0.8127, 0.7887, -0.3885, -0.2382, 0.9976, -0.1986, 0.4969, 0.1352, -0.2619, -0.292, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4926 left_y=-0.0581 left_z=0.044 left_yaw=0.1824 left_pitch=0.1697 left_roll=-0.0454 left_gripper=0.9976 right_x=0.2388 right_y=0.0075 right_z=0.0677 right_yaw=0.1396 right_pitch=-0.0228 right_roll=0.0073 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -5.2991, 3.0427, 0.8083, 0.2711, -0.0952, -0.0171, -0.3624, -0.0479, 6.735, 1.8632, -0.1392, -0.022, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4957, 1.8393, 0.4538, 0.7052, -0.5648, -0.4179, 0.9975, -0.1986, 0.4492, 0.0952, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3675 left_y=-0.0872 left_z=-0.001 left_yaw=0.1765 left_pitch=0.002 left_roll=0.0078 left_gripper=0.9975 right_x=0.2342 right_y=0.0085 right_z=0.0595 right_yaw=0.1399 right_pitch=-0.0177 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.5675, -4.9709, 3.8906, 0.5397, 0.4908, 0.0806, -0.022, -0.4718, 0.2256, 6.694, 1.8388, -0.1441, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 1.8507, 0.4538, 0.7334, -0.577, -0.4225, 0.0103, -0.1986, 0.4316, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0844 left_z=0.0006 left_yaw=0.1939 left_pitch=0.0199 left_roll=-0.0008 left_gripper=0.0103 right_x=0.2336 right_y=0.0086 right_z=0.0592 right_yaw=0.14 right_pitch=-0.0094 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -8.0342, 3.6034, 1.3065, -0.022, -0.0317, 0.8571, -0.294, 0.2667, 6.4752, 1.7851, -0.1832, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fd8c18d9be33f80c0d01706b4def6f5956c98738a3fd870f49b5619a06f312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c8cd54b2583ba08d26140315d179cc7c22b1fc36814fd68253997cbcfee204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6421b9008a50691405931246e5bb91c3a7ef7857a4b351dcca8a6a70e109fdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCPEvISybQ8Y-rTZSeBjOEO2bBPIprLF7DuuB3gVLadjXNfHUK1QcUz-jenmYOFGMb2Is90vYEJhhI5vgCddHCMGgtT1lGII6Aw-jJyCwLf0NiVmoerkRxxEHt_BZDrr_0R2wsNR1zImFmyygO3RBz_wU6HX50jbjs12CPncES2hzl7lzqff1ksM5SALWuihAOz0OgAdsGk7S5Mfz_zhsQxwJckX-1doWD5j9wrqytC0k6ji7LPa_PaHpYh-PS0fQZpn668xNEaT2sy-aWRZMtQzjFPcoImrZjmvcFNHwzsMQr2I65unyHMSbOlBVSwp787mKa78mDNCS--U92rbMSwTM9nL-TKJshGvRXRxFF63tgTzu3bydprYqevEqagnCcsLVGfryYMub9ks9wE6h_nO0mxa_9dv6WFnR1GR926gKBikSI9ZQXeByQeNUZ6FE08G6v25dKxVl5UwnTxOIRnoILj_gssA-JgPEcldKqmldorZDxleVu3GqHwkh5X1ydQMugiUS8O19KAuv9AdsB6TXCcZmLZEhGCRh9bDZ8C6CwWLv_1YG0Pw0aUBn0tlu4a9SEwSYbJ5-r4yZRLrQ44z1ITYd0lefTb_OZ8quzDrnRu1MHkps-VDBVAfxVMa_x6w0_csIyLXN66si4SmGb30XTFKMtAmG9TcKbZjelTFDO7fPsRS1apm_wifiDwN0-p_3BlsC3rXJAES29IGb7z83I5t8v0OMGNJy06QClMM1QGdXhwP67_vTNf3Z576ysGrIWUDlDGZBBfhW_Pcz6iQn07Qh2EynNSvB5zX1zpYqasTmvv_b1u0G8gBJLlhbb4ueqNS0hb59kO2LBeN7QeHWSynBmgErv6OpSoloeteApTBNBxGWx3vulTUnQgIorJu2UBJ-XTT5Ma5FGcBDLA0UwnqbXuULF_sSE1nKyeTt__BV2JZQsm6vSeEBjXpV9s3mY6GJ-u3KExdaLQFv0h2qGlaDq_qBoKSYJxex2k-EapaOdVUonBlEJnAe6-jmwEtwUIMBLPrSHjs7ssEyA1Gd_V2xndy0H4Hit6jqD6uwBnXGE7yg6t0mgIBr96aclc1S_vlrnRK9-DhZLagfq-7J-td4mceEikzYc3glcUjXTrnXYhdB95FchNXU0NXBL4O9aORkBVqBJTBb5bepRmp5FgN15A_kXH8_eVgLjDhCrxkTJMJDe099TTYJRW_sMvGE63idgOyBl9drOYcIw0l2mp3ZanOH_a8jLY4a4IkUCqQVRFXh5Q8cOcglPxInQfQFvfimWbnejIOAGZcJkVW6ZrejpGe4K9LcjmCjNfCjL8Ltezp9sjAwLrjgl4ccYh1CXr1Zlrdl5D01sa-3YCMAUGOv_cNvjT7iR3Pylg6h2eboiB0NFyzP6_PisQvnAym_6E4TdgUKVjIX-LT1xpi5rT_ww4YOpFCz2d6MfJGlZDWPcUX4aBhPkbz4hAsSH7wmwCsFpmVcBYjWioTKgs2XkV0DL_KLRcY6nf-oJWiZx1wHCl8SyNeEGNgvBaag8c29oOqgvb7fi8nVTDzy8Ec20kUhL7pz_o7U3GbCDMpTDiIh_ldIpqSsplpEUWlhT3ifnkhUdQg4l1DDic_nnRymCjBF_6vUplp9gW9KO8zsbfExKxhj8M-n8Jch2gK9StsZBxMpP5dj-Y-rd-OHD-nmFMvGMs9FTej9krfPtNamGzXkG7hLEXP_SicFPnCkjOWmOjg1xS0hCwTDsByFIYuTA==",
  "id": "rs_03c8d19d02446f7a016ab423c21f2487d0bcfc310714f89eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.325,\"left_z\":-0.01},\"note\":\"That close was empty; the near end is a few centimetres behind the fingertips this time. I’ll reopen and back the gripper up along the bottle to the same sort of position that held it earlier.\"}",
  "call_id": "call_mal1VuqjEk0WqVYyvrubEm3c",
  "id": "fc_03c8d19d02446f7a016ab423c33cdc87d0b735403125b1a16b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mal1VuqjEk0WqVYyvrubEm3c",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5808, 1.8015, 0.3321, 0.7967, -0.6468, -0.4801, 0.9943, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3363 left_y=-0.0891 left_z=-0.0 left_yaw=0.1878 left_pitch=0.0419 left_roll=-0.012 left_gripper=0.9943 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -6.4889, 2.0718, 1.116, -0.1197, -0.3101, -0.1245, -0.1573, -0.0068, 6.612, 1.7607, -0.1636, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dda733c382349aaa375e51458c44d664c9eba9a662281eb53104a4e6fec462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693fd6eb6b5fc1f043f1a57825bd5c3c7abb052b02ec643af9da944bf0600ea2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd0d534b280f6bab2f66fd67ee067d6848ee6e78f7b6b26e0456e42f6eeb79a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 2.102 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5217, 1.0466, 1.0676, -0.6834, -0.5541, -0.4397, 0.9976, -0.1986, 0.4755, 0.1139, -0.2638, -0.292, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3129 left_y=-0.0685 left_z=0.2703 left_yaw=0.1539 left_pitch=0.0119 left_roll=-0.0271 left_gripper=0.9976 right_x=0.236 right_y=0.0081 right_z=0.0624 right_yaw=0.1398 right_pitch=-0.0246 right_roll=0.0077 right_gripper=0.9981\nstate[joint_eff]: [-0.1709, -3.6171, 8.6085, 1.4823, -0.3053, 0.149, -0.0122, -0.4444, 0.3214, 7.0359, 1.8242, -0.1587, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 1.8507, 0.4538, 0.7334, -0.577, -0.4225, 0.0103, -0.1986, 0.4316, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0844 left_z=0.0006 left_yaw=0.1939 left_pitch=0.0199 left_roll=-0.0008 left_gripper=0.0103 right_x=0.2336 right_y=0.0086 right_z=0.0592 right_yaw=0.14 right_pitch=-0.0094 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -8.0342, 3.6034, 1.3065, -0.022, -0.0317, 0.8571, -0.294, 0.2667, 6.4752, 1.7851, -0.1832, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5808, 1.8015, 0.3321, 0.7967, -0.6468, -0.4801, 0.9943, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3363 left_y=-0.0891 left_z=-0.0 left_yaw=0.1878 left_pitch=0.0419 left_roll=-0.012 left_gripper=0.9943 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -6.4889, 2.0718, 1.116, -0.1197, -0.3101, -0.1245, -0.1573, -0.0068, 6.612, 1.7607, -0.1636, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dda733c382349aaa375e51458c44d664c9eba9a662281eb53104a4e6fec462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693fd6eb6b5fc1f043f1a57825bd5c3c7abb052b02ec643af9da944bf0600ea2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd0d534b280f6bab2f66fd67ee067d6848ee6e78f7b6b26e0456e42f6eeb79a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCPKRQvjLT49X9BlinyYefrAHeNSlItg_NtX2bCFclT5-cxQVcsAKDd4hv5Eb_agux-ip9tCB9KSm_FVTPgmhWujK9eqARpTX_6cIaD5n7P2B3wCMacjOf4iy4wmTSsXuAysC-6FHJFEc7RZ4pHLAN7OzEf0Lx3YrB9FpuZctcyvY5Btlorn6TOdCJ-ZgXfniBegCs94XBsw_gFAIXnjr5Q2mFb2WKU_ogj_g6SyNkqymb50nflezzTLRjJdjPJdw8tj9ln1ZW6dMG3kfyzrvM6KmBy4PAxFmvF-v-0aeh6cS4kTIoAeGpSMajwH9tUbsn3gWWutSGJaVF9mGVkpL-b90TSFRy3M3r5fLf2Q2az8fQ3ekjcBiENCY3Cuir7hVYgl_w2LPZDyxO4OvZgWiIwNEAOxRKPEV53HW595Pf6LfFF2ct8rrvpW41udvITci-oy5RBW7U3owr8P5eeVr6zsNY4UyoUU3_pMjY7AHiFSpj3BE1KUlIZP5zdWSyLEzBPLOcPFXePPCVpygV8jYgh_oeloAfp5NX1p8VYzXLuW8mBRY-x3J4p8rQl1QOiMYZmbpKcZBM8P_cqcHuXBETbdWuJ6KJZbIXWCwuaKNPBNoIf_el9ggk2LSMP3AaUXdEHit0y-OW-qp6CDfK5ZqwOksMP-nSOXSql-psy2LGj9TduYSMuwW2C4oIKiPTqWKdEL5813-BbGPZif27625WU6AG9k3DdC2GZ1DqL8pWUygK9xdRAxm15ewResR03VQDuILSt6ezkckjsfcWvWGymFStWi85o7fbLqUun5sL0w2DgUIs01m8HZBCFQndcff3FVIO3gztjOtYV-zbm0ChGpIazmZa-XmkhPsuqG9APR3c9xQB-8FdgTtbUVhFkQeFHswqC9pYqSNp997s8BWFnE7zOIPSQCj3htlR1ECOYVXhjd_os62XrIz8ZOOllO9mE5nsMYFxXgDNuPtstP8e70VlZJFnqF4fKyGzW4FLrVJ5MF8AmRenS5poLciHsVh9RjB65gNQJ-S1Ce_IGj4aNysxIWJbYTyMWF4-Q45aBxqcPUgQFWlAlGTCCbxq3QCn9x5BkEkzdClbrmOwrFQCJ_50VCtf5x2bR4xFd5SNNgyS0an4_3S_lq3zOeL-HUOnDxdPo--0AK1GRw9S0HMaHFFTWNUVvFirzjPMwUTHH27X5cTQOfiOkguzA5DYVSXVJHd3W-inQJqSQrWN3fHz8wbptu3_n9F4-wsMBbPrke64DNGx1BZfzHz5FkVAKtXqjqM925kA6zykCjJ4j6iMTpmZO7EWHv03fCUymwF_IgmcX5yszEDT47eIdems8vpV8nh-oTnYvO2BtPKRKrshXZwKXK_v6wcMwlPsSSaK-Vt8SiihnLOrAVKirgGEZ9SbfuB4wGOlzepwnm6_pbo75FeNyvXV7_SeE-rofB2LSp9witszONNp3BRl5TMfHptUfFxK1BKYd3AgjOFBy_YQkyTVHuGU02Y0wrPKuOap_lGnojlSZQVqN9uzqgUgoGp-AkmhlbJjxSufZv1yFN2skUON2o7NwYRrKEARI7iMf5qMyMBWC0QMaAy7HHA4EjXUxGS2nQzpWX5ym2zlOBqQrDgraf-eb7E7zeKNV4o3NEj8LJFS4HkmGG-x5sUOy-2KeLDd4itFXxyVTeP1lAExQMfkOK6j1fyW6VRHzy8ZFRdH7f2zMEHlmBtetoKLe1WMcDJAJIZ3zLh4FMgVevoGJl57EpLPQlfZMJFIpL4yE8QLEsJPCvxh0IKagz_63TcGNCtBssb-2HJufAT5IHOaCRxZ2b3Ioqn1b-Zp0SuVpsDCgkgPIxZQ-QhVy8nY8wGj-581Va7dR-wQyZWhPMqbCiUwDPmxZOqNR5VfgWpUXHKem8FNE2McpEVh-f-ASmb56_R9Igy0u0cHPOlAFvesUk-UeKJtVu53WudP4inCPuBJndHIraBkJrFxrKiyrOWR2NRYc1OJX9DrVZsZoSnEoaZ_o5xmsTmIyT4xl9Bn1N8QnMxaCaKbGWOicspYoW0vXSt1d5O40J5xEsdghaOQDzC4_0p0YQyR6MMp1AOiZ51efdx2nR-d2IjojolYX9TO46210D3ZQCN5zYWwMwoDM-8GI4GHD0OIJMaLv0zysGMHNRkXqHwaUxr7DlceGFlK9u_Fo_a-2KGt6umgnORNL6u11wIviGQMvg3Wxu0D3D8ISgLe4wAu87fkX-wbOHuNDHt0CGgME_iaNp0UkoioV2QiZbg8nOLGtvWOEMJmlZUKk=",
  "id": "rs_03c8d19d02446f7a016ab423c7ecd087d0a28c7436f0fbb409",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":-0.01},\"note\":\"The bottle’s base is now visible well ahead of the fingertips in the wrist view. I’ll advance along it at table height until the body is actually inside the closing plane.\"}",
  "call_id": "call_jv12PaVwaplz9xpkjYoG2s2Q",
  "id": "fc_03c8d19d02446f7a016ab423c9c4d887d0b66bf290ff514990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jv12PaVwaplz9xpkjYoG2s2Q",
  "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]: [-0.4484, 1.9385, 0.5709, 0.7341, -0.5869, -0.4156, 0.9955, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4029 left_y=-0.0813 left_z=0.0021 left_yaw=0.2406 left_pitch=0.047 left_roll=-0.0093 left_gripper=0.9955 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.1398 right_pitch=-0.0069 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -6.2017, 4.4786, 1.3358, 0.2222, 0.105, 0.1197, -0.2803, -0.0342, 6.5709, 1.7167, -0.105, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba4fb228c6247545d1324047f340137e19ff25ce387005898515862dde41f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7297ea7ecd59be6cdbada73b2e4014147ac443643e0f670e4158723fe02f2b09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78403aac681dfbf11e34fb38cd5eb92595b11fe97a1eac8897621dfeb779faed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.131 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4957, 1.8393, 0.4538, 0.7052, -0.5648, -0.4179, 0.9975, -0.1986, 0.4492, 0.0952, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.3675 left_y=-0.0872 left_z=-0.001 left_yaw=0.1765 left_pitch=0.002 left_roll=0.0078 left_gripper=0.9975 right_x=0.2342 right_y=0.0085 right_z=0.0595 right_yaw=0.1399 right_pitch=-0.0177 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.5675, -4.9709, 3.8906, 0.5397, 0.4908, 0.0806, -0.022, -0.4718, 0.2256, 6.694, 1.8388, -0.1441, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5808, 1.8015, 0.3321, 0.7967, -0.6468, -0.4801, 0.9943, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3363 left_y=-0.0891 left_z=-0.0 left_yaw=0.1878 left_pitch=0.0419 left_roll=-0.012 left_gripper=0.9943 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -6.4889, 2.0718, 1.116, -0.1197, -0.3101, -0.1245, -0.1573, -0.0068, 6.612, 1.7607, -0.1636, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4484, 1.9385, 0.5709, 0.7341, -0.5869, -0.4156, 0.9955, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4029 left_y=-0.0813 left_z=0.0021 left_yaw=0.2406 left_pitch=0.047 left_roll=-0.0093 left_gripper=0.9955 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.1398 right_pitch=-0.0069 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -6.2017, 4.4786, 1.3358, 0.2222, 0.105, 0.1197, -0.2803, -0.0342, 6.5709, 1.7167, -0.105, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba4fb228c6247545d1324047f340137e19ff25ce387005898515862dde41f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7297ea7ecd59be6cdbada73b2e4014147ac443643e0f670e4158723fe02f2b09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78403aac681dfbf11e34fb38cd5eb92595b11fe97a1eac8897621dfeb779faed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCPNpo-VIuZsbihKrr0QQEm4-zSfmwzpg28oeGHi81t9MbB3-mXVPElxcQ6w6K9-CkCP8SkIww46jBDhAk5fWvKw-PtUUC4Looiwr1x0Wa303duYst8zTBGJo5QNZSHLfnJBegpJghY4rtQ7_X5l9vFN3W6k-6RLEz3VwaEQ2-crwVuHVKHMj8pAmODJ5dlXTGLc5V0_htNAsYZHr_4dOxdKcbrLUwFm75olpz3XtSpaDYC_n6rUcTSLu0xXDI4LsVg8eILZkxDg8o3KYT9rkmA2i-Uyc5O1jKilcRCBd4VzXIyqihs4DxMfT_cGXjud_oZ2VZAXVnPbuJ82sKPavywjkK7iTt6ril89bVxfpSS3moumhpqar4053z5JglsRB5UfDinHqS-SIay51skPRJKqPG9JpR8Sw-EgDn4LMoI0IDObKht_5Ld2yzRRDM98OF2iF9F_ZcbaGWl6dmPHgkJBcFPoTdElBdQw3XkAgRF4roKs1OpnDiC74siOlVpK88pJeE2IlRZedcrIbkKAXNwXqI12lHr5xhrwE1kZKK3UCvjfEGH3ktRkx_SVPLFCZbue2MV2G3sLF3sVzyp7OdYaY9-y4UbmrkwA2MSbTpp3evRTM8x6Im6JFl60BLdwpYm1nFeOtF2rFeGo2-RZOn2kQk5FB1kiMaL_Ghoc4FpJ5pkUR1rJclPmPgaSHI6nYpC4gvooYWlDOrTAy2p5seQVmmZ8tLNqDtGKcAne_TPcZL0wDX7GqHGHRkk8eUcIvNSA4MydCMA0Ih_ZJ9YBLM-qq9s5wE2mv1UowWoVwuMC8TVcqDhO8rfrGHS6HEQqEIk4Bssq47K1RduafpmfbDMIBcDglCnaIc-PCK9uJ6pOWSfibTEmyzrVZAkUqvAw4xeXmLCQc2h5PV-dlpDwW0Ti6BI-SKx0xfrXoheA7dGvbjrZqaLf8KoJtAoGwCrx0s2jUpuT2EHUd3J_pGz6VFHCn-OqrT1_6plL5yt0QOXCymfbwywFf8adj_bhlz76AklIGmEaDoNMlcBfoxeyeteyAmxXKh0ZhrnjUZX8yiwilp7iAevBq3H5QNtUCezochsvF5neLli1gNQqCkzvtHao6e-1nVOVXCoE3pj3KdZ3VGCwbhKn_hxhkpPCyGR_MVUiLTF-yXT2xgU6LBXdUv7DLzR4OWulqsdi_m0bcIkR44-DM6SNfQvxR-7RKwLxmD6_8hTHK-guIhF65drRbYk8633n-p1Mc8HhMf0bQX1msQtWeNclGWH9JSvb2JFClJ9fk3YoaBQ4UKBBQGP7J5PFNpbNyjWn2VKY0RAS91f5qv_Uqe5C-NcNodzvgh8NAnsQ",
  "id": "rs_03c8d19d02446f7a016ab423cc434087d0b2b4f81a2103485a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s broad lower body now extends down between both fingertips rather than stopping short of them. I’ll close at this low position and check for a nonempty jaw spacing.\"}",
  "call_id": "call_KsraGSwUzZNkr3WDaMwpEF1a",
  "id": "fc_03c8d19d02446f7a016ab423cc8a2c87d09e7beda5e79f7015",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KsraGSwUzZNkr3WDaMwpEF1a",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 1.9167, 0.5922, 0.6609, -0.5877, -0.4274, 0.491, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.404 left_y=-0.0773 left_z=0.0038 left_yaw=0.2567 left_pitch=0.0241 left_roll=0.0001 left_gripper=0.491 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -8.6632, 4.7521, 1.1648, -0.0464, -0.0904, 0.8864, -0.4171, 0.253, 6.612, 1.7216, -0.1734, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211c12e1348664a6eddc63945975f0c42f17fb64f3e2344d2aa690ae45d9e5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71d8aebf91d3d3fe37cb0dde1deaaf4f8cb548f22a07f7abe3bab392709c509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2817d67beb5d7317beb0c36a504f6846f2850b20755e767a62e65618e1ff85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.736 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 1.8507, 0.4538, 0.7334, -0.577, -0.4225, 0.0103, -0.1986, 0.4316, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3703 left_y=-0.0844 left_z=0.0006 left_yaw=0.1939 left_pitch=0.0199 left_roll=-0.0008 left_gripper=0.0103 right_x=0.2336 right_y=0.0086 right_z=0.0592 right_yaw=0.14 right_pitch=-0.0094 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -8.0342, 3.6034, 1.3065, -0.022, -0.0317, 0.8571, -0.294, 0.2667, 6.4752, 1.7851, -0.1832, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4484, 1.9385, 0.5709, 0.7341, -0.5869, -0.4156, 0.9955, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4029 left_y=-0.0813 left_z=0.0021 left_yaw=0.2406 left_pitch=0.047 left_roll=-0.0093 left_gripper=0.9955 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.1398 right_pitch=-0.0069 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -6.2017, 4.4786, 1.3358, 0.2222, 0.105, 0.1197, -0.2803, -0.0342, 6.5709, 1.7167, -0.105, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 1.9167, 0.5922, 0.6609, -0.5877, -0.4274, 0.491, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.404 left_y=-0.0773 left_z=0.0038 left_yaw=0.2567 left_pitch=0.0241 left_roll=0.0001 left_gripper=0.491 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -8.6632, 4.7521, 1.1648, -0.0464, -0.0904, 0.8864, -0.4171, 0.253, 6.612, 1.7216, -0.1734, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211c12e1348664a6eddc63945975f0c42f17fb64f3e2344d2aa690ae45d9e5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71d8aebf91d3d3fe37cb0dde1deaaf4f8cb548f22a07f7abe3bab392709c509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2817d67beb5d7317beb0c36a504f6846f2850b20755e767a62e65618e1ff85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCPR7cBYj_IRzjwvu9RE5b-vNjkeFZRksmyCaAQlk9QbBjReNxo6ZrzMU0MYGHca8zXjcZbtgvRGtr3ND1DcShLyTfmVowFuczOrl5mwfhd53Pyy4AbICEovskYLScuUG513Epo6PMF96SvQLQFI2JD1c25tKhIzvWdhh9u2cPtWxwrByFgObR1tEsGUtx4yQL9YT1ru9Y72vYmoh9BwyimZw7K8Hig6_Z2YKbAL-5fH8g5mvS7Ad8xYKOq0Nk3n9hbp4Aeyb9wYlusk08JDhqTFyCnlmBeG52XnIAvw9j-CwjPk7gVLHE97fUV--wHNS1S1SJqFsgAzFCG0ge876smrENthXgoOVimvmNKltXGmXbLdCvNfltPAb33Yb8HHcpDIO0ZzxlUSJqlbPkALPAY0etTgJpgIHgu6qZPSQqApxgGiGekSiE-H8APV85FArwYLBk0L4oKuL4XKoH3yZrX6pbVKUd0V5ZJH0JVl5IgQhGmTcuEBH0Qj0d1FlwyOk3widD9wvDCqePz1JveVYBJQ83Euwf18bH7DXp3K6tT128aCrpUogtwA5NPiuhwLsG7ZQPAZm7mU8CUuWBmoLNElt9u-BOMKWlSyDCNkgTt_4QelCgCi-HovgH3P2_J9o3qgIRiBLFb5ifOTMNJKOwcb9Y1KwhKJIMbkj-fDZk0IteSKDuMjk8Oyitlv0gCcYpUTNY2wLg23QFTUUdp5lT-d6R_hOHOASk76_2wddLIuO5pgv64XEjlvBr4rT0isJx7CP7TFPu906O1gK25mRm4mDW_ZoftNmDbSwRk6w7z8WpDFwNhi_--50DZ0NeOKfQ4aog-9qXCn4z_PY7ckLbHsLkUlIwkFhdOTgGsiZMMAGIJxM-dXandqHxfcdoBTo9pac-EEdU6CkWs8uXy5GxTNv9JrD8KutQye_xr8tmyRel9G6HPJ9PrJjDHP2bjhJG9RdG0ZdNeTQz9-coZdNKQ1qj_kwH_iaJJ89BZ6IVPCRi_4R3pXDZJLe1Y8eW3dJtZOTQC8DycFwYi9StzCeisCmlxG5LJtgp9u11TZ2sgC5f8vCzPVElF5MsZiMVkmETOOWfjGx-_4DVShFP9VAk8uY2xG6avfr8WRgpa-bBNCcPeuSMcyJlaPChJiiDMO9TLfnpq0-gegCqpnxAqy3Co9OoPJsIXyUv4vufTZWgwX5aPSrnszKjo0SqPtJIJL7KC_egC9cgnND5Er1-TpVQ5V8Sv39bK-4USbAXeCpU4rUwpAa3ZJymRQJq606CcVqJp7iCIOAxTUGozeDUG8dm8YI3wbNrWBK_JtFvRMHIgGgrvnBQYgbQRCC3U6TikYNfQ6Q6a1myo7BlX_-iOTZoLQQr4UgK4k4mx5zF7W1eh9Ay9DVtcs5FoTmI8ItG-vkZjfB1wZm-Hy-4XfVDLo4A9z5g==",
  "id": "rs_03c8d19d02446f7a016ab423d00b5087d087405336538721a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.18,\"left_z\":0.16},\"note\":\"The left jaws stopped at bottle width, confirming a grasp on its lower body. I’ll carry it much farther toward the base while lifting it clear, so the capped end becomes accessible without pressing against the far reach limit.\"}",
  "call_id": "call_q5GP5URzmj18hrsE80XQ6M6N",
  "id": "fc_03c8d19d02446f7a016ab423d081c487d09392cff55c25d63e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q5GP5URzmj18hrsE80XQ6M6N",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2728, 0.9623, 0.6521, -1.1362, -0.8597, -1.3952, 0.4934, -0.1986, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1735 left_y=-0.0969 left_z=0.1272 left_yaw=0.1683 left_pitch=-0.1425 left_roll=0.0223 left_gripper=0.4934 right_x=0.234 right_y=0.0085 right_z=0.0607 right_yaw=0.14 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -1.5248, 8.7316, 0.7302, -1.8193, -0.0708, 0.7057, -0.4171, 0.841, 6.7214, 1.7216, -0.1685, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1624b74e568c25dfae1bc277c19ac7d4c8e9f802096e9b3fe710496b3b931bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc827accb9fdbafd98fca4555fa205e46ac6c246ed195ad65b93db3eb977f96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b18348759b9a4c013792ba0638bd63c4389b29ae77b69e78cb4c81fe327bfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.988 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5808, 1.8015, 0.3321, 0.7967, -0.6468, -0.4801, 0.9943, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3363 left_y=-0.0891 left_z=-0.0 left_yaw=0.1878 left_pitch=0.0419 left_roll=-0.012 left_gripper=0.9943 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -6.4889, 2.0718, 1.116, -0.1197, -0.3101, -0.1245, -0.1573, -0.0068, 6.612, 1.7607, -0.1636, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 1.9167, 0.5922, 0.6609, -0.5877, -0.4274, 0.491, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.404 left_y=-0.0773 left_z=0.0038 left_yaw=0.2567 left_pitch=0.0241 left_roll=0.0001 left_gripper=0.491 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -8.6632, 4.7521, 1.1648, -0.0464, -0.0904, 0.8864, -0.4171, 0.253, 6.612, 1.7216, -0.1734, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2728, 0.9623, 0.6521, -1.1362, -0.8597, -1.3952, 0.4934, -0.1986, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1735 left_y=-0.0969 left_z=0.1272 left_yaw=0.1683 left_pitch=-0.1425 left_roll=0.0223 left_gripper=0.4934 right_x=0.234 right_y=0.0085 right_z=0.0607 right_yaw=0.14 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -1.5248, 8.7316, 0.7302, -1.8193, -0.0708, 0.7057, -0.4171, 0.841, 6.7214, 1.7216, -0.1685, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1624b74e568c25dfae1bc277c19ac7d4c8e9f802096e9b3fe710496b3b931bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc827accb9fdbafd98fca4555fa205e46ac6c246ed195ad65b93db3eb977f96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b18348759b9a4c013792ba0638bd63c4389b29ae77b69e78cb4c81fe327bfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCPXoKkejgNLlj976l_l43luHE8SJEspcZDiKtt5fd3BYVao2glo2hm0NczoFB0S-ArdrKJ9nkfDblRBhT0xvtfeSfnjprKfitJQw-HITK4Vc2d7D8ey7kYcmhV0ju_-vC8LFph633wMdqQoZhGIGuQkeNRaH03PZWdWKF0JKgn_EovYg_x4rSJwSlRMIwXiIeLWABAwBJGo2rmXvguZiXU5I5YBOZn0VOjJ-F1tYVwF8TPoYkGs_Y8KaCqziyVV3jpLPPeeAezlSQT3EtAN47-jb0rj2aisTwCfH7KYkhnqlzWlm9IXTLP-ma-W2uledhbm3fs_9I9sqjrcXP1KU0N-oXZT6XIuq5FGHVOoNYcGhUVKLl11Z6xTfXKAOGttoQwZYxqtJFSeeObAQ6eRqe2rVRfG7WS8yusnuHVglJefnhYcIqhOhcZGiJI0rlacwHy9vd47oTE5YrGemTV2x2DpMqcKj4YiAiQqNqDmuxCceUOfEJWsIK99Ibhz4xgCeRwfz_E-6cHRGHg50mJckezALoObufkLRxt6yXrOTpQIjpbV6lTz5fP8h10Gqf22lEkpBxfeIivcKRCa5ukqneDucpOM9CZBan7CZPyfw6Gyc4geLch1ERC8f2F6zsDJeB7dclordzxhUxdK_dIwylZj4ceeMldJLq6uOFSCTbNzKx1o-OpS82vZXRhSysfYAyCt7gNuUiFQnBG_9AazG-N4tmBamtMCCpO73MEvy7JbqQ1PTAvcMgxWkqhjY_EEwoOubchLN3L8gKBgp2EYILz442sTJivs4NYjbhfvdTvW6lPnq6g7aR4ko2F9bfZygPWOh1I2x93JsG7_MOQ07rgg9IklMnFsmGPXEWcTVPeRgt8TsR46xQakPFcpiqUthZFuaxoO3k9qAmnE_ZFXkguy-ahQFOKhaS8g3uWC-rAzz2Ntpb953Sr9DbCzFh05pBmFRVwwlnDU6nF4cZv8P8-KHlY3fI6-bIHxlooB_fjfxzO-oiCVrFKJ2KqXrDEHFX4pUT_FiIV3lk5iaxebH9umo3lQL2XHtac9iV3Pm7OJMnf2GsCw2LcFeomRyffgc3evZ6tllB29HQGsmWUURdUls3TV1WqQ7Set4ZhwIDaqE5eyf_buZNTFmOMmwfLyRz0vNPW5jJVDaM9LNt0Jhv7et79hF9Fb98TvIWiCw3VNnZMbPWwpEsEcZMjh_T_F-onaOEqRyguhp1dd8gHctGUWjeS0Eu8iIpmXJ_D55WfB20kvL2iAUC0KW8rawJIJZQODvkIAqDFjSO1IjqssU__1KxFd2XvBAir-P7k4GO7IcwxwwHH6yTnXOnnDfoyCcQrJMQZrN0LTC-0rciYOnVvEIlSBGgvf_fKKpuaUBqlvcoOwajuIohA9P3BSgPGl8cQIHrQzqtK4vetQ_pN0j0-qyUNr_Ke54lfRc5Lh5uHmUDPF8s28l_k1itZVSF1GnzFoexXEEqaHaU1wLgaMDWZyJQ==",
  "id": "rs_03c8d19d02446f7a016ab423d615ac87d0ac84688f8f4b79ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.01},\"note\":\"The left bottle has moved with the gripper, and its cap is now near the middle of the left arm’s workspace. I’ll lower its near end to the tabletop before releasing and regrasping the cap-side shoulder.\"}",
  "call_id": "call_ww8u7hStQg2p7RWl8U7B8lhi",
  "id": "fc_03c8d19d02446f7a016ab423d6e28c87d0b2aa11f1acace780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ww8u7hStQg2p7RWl8U7B8lhi",
  "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]: [-1.3872, 1.4746, 0.2146, -0.3927, -0.9985, -1.573, 0.4958, -0.1986, 0.4244, 0.0864, -0.2646, -0.2928, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1701 left_y=-0.0832 left_z=-0.0051 left_yaw=0.1691 left_pitch=-0.0113 left_roll=0.0954 left_gripper=0.4958 right_x=0.234 right_y=0.0086 right_z=0.0607 right_yaw=0.1403 right_pitch=-0.0028 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -4.2051, 2.9197, 0.0122, -0.3004, 0.0513, 0.6276, -0.335, 0.4718, 6.9128, 1.6728, -0.1734, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfadb352eb756040646d1cf3d8235481a6797eab1ac5273d24803b0bead317c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b28e87bca241f37c55451fb55bf6f78b8fc0519eb7fe141ac243673e524a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337fdb571fda62fdd99b1b8221b23f97c16989d406a344aa321b55f2a8e15d3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.716 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4484, 1.9385, 0.5709, 0.7341, -0.5869, -0.4156, 0.9955, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.2146, 0.9981]\nstate[eef_state]: left_x=0.4029 left_y=-0.0813 left_z=0.0021 left_yaw=0.2406 left_pitch=0.047 left_roll=-0.0093 left_gripper=0.9955 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.1398 right_pitch=-0.0069 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [0.4855, -6.2017, 4.4786, 1.3358, 0.2222, 0.105, 0.1197, -0.2803, -0.0342, 6.5709, 1.7167, -0.105, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2728, 0.9623, 0.6521, -1.1362, -0.8597, -1.3952, 0.4934, -0.1986, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1735 left_y=-0.0969 left_z=0.1272 left_yaw=0.1683 left_pitch=-0.1425 left_roll=0.0223 left_gripper=0.4934 right_x=0.234 right_y=0.0085 right_z=0.0607 right_yaw=0.14 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -1.5248, 8.7316, 0.7302, -1.8193, -0.0708, 0.7057, -0.4171, 0.841, 6.7214, 1.7216, -0.1685, -0.0317, -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 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3872, 1.4746, 0.2146, -0.3927, -0.9985, -1.573, 0.4958, -0.1986, 0.4244, 0.0864, -0.2646, -0.2928, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1701 left_y=-0.0832 left_z=-0.0051 left_yaw=0.1691 left_pitch=-0.0113 left_roll=0.0954 left_gripper=0.4958 right_x=0.234 right_y=0.0086 right_z=0.0607 right_yaw=0.1403 right_pitch=-0.0028 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -4.2051, 2.9197, 0.0122, -0.3004, 0.0513, 0.6276, -0.335, 0.4718, 6.9128, 1.6728, -0.1734, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfadb352eb756040646d1cf3d8235481a6797eab1ac5273d24803b0bead317c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b28e87bca241f37c55451fb55bf6f78b8fc0519eb7fe141ac243673e524a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337fdb571fda62fdd99b1b8221b23f97c16989d406a344aa321b55f2a8e15d3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCPf03SvidQWuBXR4_QpYQkvuWByS_w4_wK7s9iqOd7nZl-jv7XFBMZQtDSPiGaA5kAkUhFnXah9TcDbVPuLXDUxtKzYKxTydEM-JqtAoxlBaphQ9MVpLHDwzulmaLLGGC5DtMsOd9yoNzvx2pdzap2PE3kweGttg2y0Bx24KkQDrXJOVfms7Oz1QhDD6yaDkoVfMSaJcyDwLS_4PLWj8Cd79ZMq8iaWdb3tiVY2PFZqQd4-dJccay0JYIQpIE7ZTHsiT4_UqKPhuZgDnv9numAyunrdSA4_QQSdq3hhJwuTQUi6J6Par2X-hhvNdo0NY7JxAbaGCVXaYZfX48b2v9DbDnPf57n3Unz9HvLQY7xo3C4wzQULpWwlREUzsXA62rJK1DhlsyVXZXubTFNwfVXNr7vJVeRlzqixkmDzVIBGASC-FFHuMWiMiDUg5ajkztLkFqFaOxjoUwp5ndc__Po84KosSzUsMJgn86NPvNof6wqc2XmQbU80jOgPKKMxpSBLLVeQ-PmuVN_CrZQuJwixTP3F8emL8GCu-PatavjNbTe47Nyb9qe1rnGVwGHEfcvkgDZxCNw3kkoioe66K4hogAvelaJAfOPcK5jgzLtmYd2_UIZYe0Gipw33WrHnoOS9a0fE0ENcCaqfECFiCe9xg-jvhAXrtC-pSgDlVBBVRXu7OTrlKilaHNolY7wTBVOuOOpnq2wqPxv8MnE4cf2CTHI0hqYesJfWci5C38JVdaYyzdkTDhPPvOcGvYk_nMFqEp9uSlebmg77RjJeiYigxgySMHN779gmzMUdzGHljPGN-CAfPfGMcuf-JfIMvk1FuWEyo5Ejz90N5aS7a5O49Vlff9mZYO_uiwzqoqK0xEyhkF-PGJKIwARyB3sxiCSOABkKXtL0lUKdUmXPf6xveRs1GvlDUhvnN9mVDijehLtSxKrlXWPY335JCb0EOXnh3tQW6BT4y09cKyHj9kXvA63CUVJnB5yYUPlPdWLbIDtoK8za9VRY_ZACfEWsHWjBM5IvLxMs89q9Aq2cOfI1HhzE27oV2kiYeSwepJK30dwiqoUaP2xObMsAJ7EOw7AFROg5WP0HZJIeeLbTC8l89WW0X6QENn5ob6K7vsnJTOk96S2_B14Whi8r560ZfCqaO4ZtA3yErVdQ_OSExPZtPqmEpjoUb1d0aR9EDcs4YSm4sYS8jzf2YrrXlBG1qqrAYkf-dlUASACQkZ0M7X-piI5AnB2_1fP09__Cc4uBatI4IRcl9j99yq_3SmLaFRRBDS2qPyywAHM_9qxXZft2pwAhz0P48MRdDRcTVkZ77iNH5XS2ip4QxAYgdJ6nICeI48bEzctPXy7xY-Og_VQxG5llIoJTQPlHyaBuKBwiSJWXXlakc1JgDmy09fYK4X0lwSdBkvZcJ9TQmwu9VlcdOJNh8HhrKWKSzj-CIJWbaJR9v0scFPdOQO-WjSz6diks8xf81zxIwS60AFMIj3QzFEEeQyZHuFpCuE3kDMeBK4rWGLAn2PFOLC9APXDeiiSHdtJYuDdV_USnRKqlpnajSzDs6Sx0lC4uUNEQHq5OvcOivy-VLu5JGNhlyywmxeB1wZ0wusT0P8q7cpOD4mkwF0t0u4vFChAW8c868mdZN2VuVhV3RnYi22U-Uhccx2I6ZDbHUoA4qN-w871pQujlTP9vDZgEPv4z3Q0oAAsj4kZ9PtTfC7P1Y5kWv89LhpNq3IXqFjjNdXCeQ1q_gV7Kxg==",
  "id": "rs_03c8d19d02446f7a016ab423db8b3887d0ad803e27334d9b41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.3,\"left_z\":0.16},\"note\":\"The relocated left bottle is lying clear with its blue cap much nearer the arm. I’ll release the base and approach above the cap-side shoulder; grasping there should let the heavier base hang downward.\"}",
  "call_id": "call_33bsvlbBo9GMDcxPwgqWPmKT",
  "id": "fc_03c8d19d02446f7a016ab423dccc2487d085b049ba25705b31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_33bsvlbBo9GMDcxPwgqWPmKT",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 1.0363, 0.6014, -0.3344, -0.6971, -0.6037, 0.9974, -0.1978, 0.4244, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2939 left_y=-0.078 left_z=0.1476 left_yaw=0.2161 left_pitch=-0.0002 left_roll=-0.0247 left_gripper=0.9974 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0026 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -2.7145, 8.335, 1.2821, -0.3101, 0.0904, -0.0855, -0.212, 0.4444, 6.8034, 1.6972, -0.1783, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf8f5a740136c37eb8f135ee3b79eec7d158a0d7972944fc4da23f76ea4f8dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b88a20aba4ae7b13dbbf650a09335118a63d6a5cf67690f7899cb35fb82d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6894bc7ffb92f7c2be0aa725f334cb8b2698201fab9825f58039ec4f0e7836",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.008 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 1.9167, 0.5922, 0.6609, -0.5877, -0.4274, 0.491, -0.1986, 0.429, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.404 left_y=-0.0773 left_z=0.0038 left_yaw=0.2567 left_pitch=0.0241 left_roll=0.0001 left_gripper=0.491 right_x=0.2338 right_y=0.0086 right_z=0.0598 right_yaw=0.14 right_pitch=-0.0069 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -8.6632, 4.7521, 1.1648, -0.0464, -0.0904, 0.8864, -0.4171, 0.253, 6.612, 1.7216, -0.1734, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3872, 1.4746, 0.2146, -0.3927, -0.9985, -1.573, 0.4958, -0.1986, 0.4244, 0.0864, -0.2646, -0.2928, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1701 left_y=-0.0832 left_z=-0.0051 left_yaw=0.1691 left_pitch=-0.0113 left_roll=0.0954 left_gripper=0.4958 right_x=0.234 right_y=0.0086 right_z=0.0607 right_yaw=0.1403 right_pitch=-0.0028 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -4.2051, 2.9197, 0.0122, -0.3004, 0.0513, 0.6276, -0.335, 0.4718, 6.9128, 1.6728, -0.1734, -0.0659, -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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 1.0363, 0.6014, -0.3344, -0.6971, -0.6037, 0.9974, -0.1978, 0.4244, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2939 left_y=-0.078 left_z=0.1476 left_yaw=0.2161 left_pitch=-0.0002 left_roll=-0.0247 left_gripper=0.9974 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0026 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -2.7145, 8.335, 1.2821, -0.3101, 0.0904, -0.0855, -0.212, 0.4444, 6.8034, 1.6972, -0.1783, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf8f5a740136c37eb8f135ee3b79eec7d158a0d7972944fc4da23f76ea4f8dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b88a20aba4ae7b13dbbf650a09335118a63d6a5cf67690f7899cb35fb82d6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6894bc7ffb92f7c2be0aa725f334cb8b2698201fab9825f58039ec4f0e7836",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCPlB_EMD5QuygYU84THqI6grDB3tVW6vJZJhugUXQxxxc1UEXY92IKgYR6xAJo-lZS4mwKzvfXEZJl-MmYmg7s6ESddBE5xKIMtooBYEBVHXcDo5-8QL-F7fCYexyjBTDZNM1UO-i50ZES6DUpMKRzdFy4svrYPTtz-NpCZFvdHdmr1VOqsY13oaDCcVEtzCyE6sN0tktvsqhO62-THod33tw3G069UDyQxFNHZQk_pjnphqg3dlCdEQzdghYfWXqrbgONUi5SjiHf3eLInY8tll9jkIuBKd1TdLKjhu4NDzgUfGHWZynWwYQbMDmxhafwbm1Y6sWdDXBKHoZ4nr615y16doTr_QgClI32y_9gTBbjnJetkqrYKq8bB_ohAuBP8y8dOl5-NEx5_VpEAkYQqHCJ2XevpGhAdGrLom8Ave6nLEZzv8f6Tbgy6Kc84dEJSk-28XXXl4o05ftEMZ2g1JGJRWm9z-GDerbO_AryDrJLJNICzviGcgnpLkz98TnmvL-34VoSuBWDqNxj6CxBhvSuHj33yOCbmFF3yEdkxyYTvEcHzaYIniz4MIsi2UBoxjIeKIwopdUPomA0JtVLq1xj8LDDmaUHf4ZX-doo45gaEVksXpkto7L_fzzr8wsho-SuM-05L_MGRNoMG78vn32zM2NRKt4jNY2NSk5oW_hmRnBfnKjCs7l5UKl2QqegTi1WvLwtUHz5EeyryOi_6Rls-1CaiD1j3zRcfgY8tinaMgdrj1_hFrn8Uvav8yvm3utx8yCeBdJuN0Q68DJiYI5yW1fjrRc3m1OzQJm4EkMPvb5bHvWXpUu8oymIO9E-KJYkSlZqRRz3eAy-J38A4AsGL08Bejoa2shKk6XwQrqe_goIYAaZfkyIJaWBJOcEOAggskZ2w6ZA8eRY38lDaH_egjPVH-7IkI5tDwWS31zR0d55E1qJhqmk0HWn_egUzM7FJQgLhw-eC_-oJwOJUH0N4OtCu3w7h1t8MXXbEDiBFYdrTqqI6_xAwKvh0yDOlHJEjZRN4lXODOmqHlrxVy85hXsksSxR_3GNk7Fhotw8zQoT_4AppP9IQ0TYRGwvXdO8J5mpGUEFPU_72X-4UVs2v2h5cOT4XuqLLlnvZREaRMqMAPix7f5qe3jqralDPIsnmmfrtIVX7Q1Sih32jSiYMUrI5hBuxqoovO-mPOUCbBJTYKjrDW3OtcMcYebdI-GVjWnp4Y9JI8emNQ2PbTc5tHDwu5LKnCCbLMc2jLvQV_7KUpQT-VjOCSSbDt6oRpdwVzwcM_AZIP2TD2_ObYfgqSLTPFacKVLoI-ZDkfv8vXAnGiEgD55NLeWSFL2u3m6hEldod5FuEimEZXzwVf5w5FquFUPC5SNq8Uftt2g-HVJ-GHhF0o8DJHSasSc7vRPknAAdGrWwn-r0_ON1DSML5eRzwc690UZeYaP_19sVoSFN4q4cgyFoVAlxMGIf5FruzZzQsuxiFTlu6pwmBCM7V17p1FI42DxDoGqC1z0B0FkWd4AGAgZjMILqeBtPhN-X_gsrg4-Lfq2z9bfa0mvnDSq5KyOPZnIsTquHpkuqrbdvE7YY-iywQEV_k4L4I5gI49S1cNtxoYMOZTN6aJ-dGT4_dFxFEiR6S62w0dc74BoDVCODbo5Aa9AQq9Hw2wLb07hh4rXDG8QfRaFdK_wdiOK0ps6-oHvgN5jGY9H1sD9yV8Lb-C4abyPkuFKCIDRhOxW5s4a0VKE6dd7yjPbhjpc85EWrwIqpnl7cPoXahIq0ERy0qPEUrBUGlJgaSKZBTElRMkumWK1PkNpOeH1uKS7IqsszLSTlBloYaPGTJZeHdRwwvycUTUgov8-Y5Aov9qDik3Jo027WNyj7s0XeCnMjkwJqVDNkkWTMgyh-vUvh6jM-9KdRwEt3zBRw4bgDsYZoNBNQ6gz7_q2ddmMV6ccTXGAfDJvo5z4R288eAmKkSN8WCR_WhBY1VZKJhej5M_sAdVM5F7wMI_cbV4MMAVLx30y2Nf8VYfM6W35kP40bRz2CtHDzV8s1CRw3RQaDq1hQw59go3XyElPBjrDb09QCllUo77A3sHojhQmZVvhwJN9Q8whAIpSV_WZMCBwcXNOmhIX-HA8D2L2fEnisAv-t7BW6C5lCgQM_YawDCj4RdFxFUzrSNDnwMninZIHA06-jrYurbJbQleLfOZJlq2g4_cZ0bxwfKpqb_A5ObxXOGJlU9ZlHlNmX-1LY82lj_McNBmn6iQBz54ZdiWis53-C6mcVh3-MLEEqzs9bBGLjeq7ykHP8AlOsnHxpRmRrUeZCUMUlvtvSgxbflo3oeJF1pzUxGksWLjQfAevI7tdmPyoytpGWmPHNGHLWl_l8P_PKq4La9MqKNOAsNTc891pX0c8mVfxn3W2faMOc=",
  "id": "rs_03c8d19d02446f7a016ab423e1f5d887d0ba63afa06e583a1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.012},\"note\":\"The cap and red shoulder are visible ahead of the left jaws, while the bottle is safely resting on the table. I’ll descend vertically first so I can judge the cap’s position at the actual grasp height.\"}",
  "call_id": "call_SHzJNYFirEiHAEP8anghh5J0",
  "id": "fc_03c8d19d02446f7a016ab423e450e487d08f23854f85a52c5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SHzJNYFirEiHAEP8anghh5J0",
  "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]: [-0.6636, 1.5116, 0.2592, 0.3779, -0.7216, -0.5831, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2853 left_y=-0.0704 left_z=0.0063 left_yaw=0.2151 left_pitch=-0.0545 left_roll=0.0847 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -5.6, 3.8496, 1.6044, -0.6374, -0.1636, -0.0024, -0.3897, 0.4855, 6.8308, 1.7363, -0.1343, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65fb868846d81c88010f3978bf7bc72ab7fc4f115bea3f7102df9ab30e1e95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0e16ce92b9613624319583d5c10d1ae41c0e97cbac90aae32d092bbe9d67e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b538b5a024dbb942cb8c1ed5b1eef5a598d3b2ebad9dbc1261e78cdfd5baf881",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 10.73 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2728, 0.9623, 0.6521, -1.1362, -0.8597, -1.3952, 0.4934, -0.1986, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1735 left_y=-0.0969 left_z=0.1272 left_yaw=0.1683 left_pitch=-0.1425 left_roll=0.0223 left_gripper=0.4934 right_x=0.234 right_y=0.0085 right_z=0.0607 right_yaw=0.14 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -1.5248, 8.7316, 0.7302, -1.8193, -0.0708, 0.7057, -0.4171, 0.841, 6.7214, 1.7216, -0.1685, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 1.0363, 0.6014, -0.3344, -0.6971, -0.6037, 0.9974, -0.1978, 0.4244, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2939 left_y=-0.078 left_z=0.1476 left_yaw=0.2161 left_pitch=-0.0002 left_roll=-0.0247 left_gripper=0.9974 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0026 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -2.7145, 8.335, 1.2821, -0.3101, 0.0904, -0.0855, -0.212, 0.4444, 6.8034, 1.6972, -0.1783, -0.0513, -0.0171]",
      "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]: [-0.6636, 1.5116, 0.2592, 0.3779, -0.7216, -0.5831, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2853 left_y=-0.0704 left_z=0.0063 left_yaw=0.2151 left_pitch=-0.0545 left_roll=0.0847 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -5.6, 3.8496, 1.6044, -0.6374, -0.1636, -0.0024, -0.3897, 0.4855, 6.8308, 1.7363, -0.1343, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65fb868846d81c88010f3978bf7bc72ab7fc4f115bea3f7102df9ab30e1e95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0e16ce92b9613624319583d5c10d1ae41c0e97cbac90aae32d092bbe9d67e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b538b5a024dbb942cb8c1ed5b1eef5a598d3b2ebad9dbc1261e78cdfd5baf881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03c8d19d02446f7a016ab423e755a887d099a0e5eef5c52da4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.04,\"left_z\":-0.01},\"note\":\"At table height the left bottle’s cap is ahead of the fingers and slightly left of their centerline; the body is what fills the wrist view. I’ll move forward and left along the bottle to pinch its upper section instead of its base.\"}",
  "call_id": "call_8URrRUDlBl29JwogIuH9rORL",
  "id": "fc_03c8d19d02446f7a016ab423e917c887d08f644141affcbb69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8URrRUDlBl29JwogIuH9rORL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3401, 1.8481, 0.3847, 0.8455, -0.5373, -0.3649, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3699 left_y=-0.0312 left_z=0.0004 left_yaw=0.283 left_pitch=0.0415 left_roll=0.0022 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.253, -4.9299, 3.7949, 1.3114, 0.3248, 0.0562, -0.0171, -0.2803, 0.5128, 6.8034, 1.7167, -0.1538, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:069578a4e408ffbfbf57389a9ea5d4cad516e9db241e9f66d5532a7916ff3764",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eda0d6666c68c574dfd8c6400d73b2829fc7fb47a94b080b0007ec88d7eda0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da85d91756efec7514e9da41edd8f7d2fcf2bf19e045054431ad582094aa74ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 3.413 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3872, 1.4746, 0.2146, -0.3927, -0.9985, -1.573, 0.4958, -0.1986, 0.4244, 0.0864, -0.2646, -0.2928, -0.215, 0.9981]\nstate[eef_state]: left_x=0.1701 left_y=-0.0832 left_z=-0.0051 left_yaw=0.1691 left_pitch=-0.0113 left_roll=0.0954 left_gripper=0.4958 right_x=0.234 right_y=0.0086 right_z=0.0607 right_yaw=0.1403 right_pitch=-0.0028 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -4.2051, 2.9197, 0.0122, -0.3004, 0.0513, 0.6276, -0.335, 0.4718, 6.9128, 1.6728, -0.1734, -0.0659, -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]: [-0.6636, 1.5116, 0.2592, 0.3779, -0.7216, -0.5831, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.2853 left_y=-0.0704 left_z=0.0063 left_yaw=0.2151 left_pitch=-0.0545 left_roll=0.0847 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -5.6, 3.8496, 1.6044, -0.6374, -0.1636, -0.0024, -0.3897, 0.4855, 6.8308, 1.7363, -0.1343, -0.0171, -0.0171]",
      "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]: [-0.3401, 1.8481, 0.3847, 0.8455, -0.5373, -0.3649, 0.9975, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3699 left_y=-0.0312 left_z=0.0004 left_yaw=0.283 left_pitch=0.0415 left_roll=0.0022 left_gripper=0.9975 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [0.253, -4.9299, 3.7949, 1.3114, 0.3248, 0.0562, -0.0171, -0.2803, 0.5128, 6.8034, 1.7167, -0.1538, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:069578a4e408ffbfbf57389a9ea5d4cad516e9db241e9f66d5532a7916ff3764",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eda0d6666c68c574dfd8c6400d73b2829fc7fb47a94b080b0007ec88d7eda0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da85d91756efec7514e9da41edd8f7d2fcf2bf19e045054431ad582094aa74ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCP1FDvZPdYGj-v-Rf01bzOkK2tDUeLPnairVwyFSd3GiG_73XMYVWbSagcDIdzGIBSNFPuTnFoRGLd8YFrJpfj9PzFCLEEMVFTXU_haVEQjOzOfQtwfEusT-gyB6fhkHmbOyd3AqyA2lEj5GfimSAcCMdWB7RhRNZw0UJ_UyqFaQXet4ECpB6hYtPXcfz8fwSpyJyI3xeeY7tTFN8R-lt-BGl1InPspt3kUT2h4T-WHjrJvSY8Cd4U9DawiVVV75qiNwg6eRWdF_QxxvFO3E07Lo2ItF5EKBuB4zVdFuNA5fmq_0AWVvqHDbOYxj13QdSGkhWIPDC4-TieMl7ZZ3v-HUkLgCDzUiBcA9fvYEVtr9x7RfTTWYnc8ZuPBe6PJczNbs1aHrH2Fy2wU1e3MEVFmWQwyRe5Iw7qBlvjMkihKAW_kXArMmQgqoHzEncZwJW3RAtAyP6_O2G8z8QhUmD2WXT11cYQvFdyxdOg6TBnQMzQlAUroplJnqoeqTEYJgy2BVYRSOWuyqYF2bVHYs9O_N0TmFf92ODEVI7uv5cWX0zbYU7Ohzo1PKqXf_adiNo6MnqLNStT2YbOsPc7NQ1GhCfbw5-xdCvKUGzJAbCDYal4HO6Uw2bHGHTgcUsn4ffOHonHRRvJ2Az_oYNzL-P2Y2Bu5hmd-QTkf6mdffHOwxGfngBXOeVX2IkYVZQeqlQMgInC0U9BiythWW82Sp8MhK0mwwVDppqZaUY5XFE-WPs_p4p0TSRXrGLYTZCSpBIfCBIrnb-v_hGAXZsEDIDsf2s2jWSiT2wIqejw6hdjBcjRvNG6mRWi35ngbZaCFDGGxj0L8YrouYn0hTIvW6a4eFMlq3oBaUhjQGVY7QAgCJo3uyK7OHIHYokHifqh5yfp3JOhQHl0prbDCk2LaTGepthmfzVTnXcUj4YJBz26dyHFj5pct1xHFs4-bIkAnkqObHLWKV00iDSVn1nclEVFlf_q7Kz5sCUwISOGpdG82w8Hgfjy-ahf3clHgwoSvYlJ9_cQwXPfM--eMVq7gNP68_wRx9iaYe2kKf1N4iX2qdPi_ALcumSHlAbKx4dH2raitDmFtCqpVbBjWHFNzP8h8pJKpTh1nBBmTQNlXVBtD_u10HVnIK3ahpOw8WUzoFTJuQv8a0IlwZ8Sfs5zgCoyxZN2XoAaIKK4MxQWmqEnEqx3PaIw7RrCedGqz_hvPwPGrO9gRoIwhxq4hW7N793JE9vbUZGYIXS2P9LFUZlf1J5WI9NfRdyJ8jAYq2TH82sR5BEbxxX-R4uVG4yjZWfOKcwpDznqzYJmzhkZ7grs_ofRgs73VboNDAYo5AuzXBe0x7w3augyu6MWRg5mxwZZtF4epTBpFSFNia_sCNiBnkZO2NqZVT8AQsLbutos6t_4W2xdOOV3xZdrgZfmx_kyhj-VUB0jKsPhsu3NNuNSLVuxKtgSbjIqpJFCL-I8v6jug2tc0409COw_ZyZtDF4n4KAOIHFa-l9AJmv8yktXtykh0Yq-yBEF38FvzFD7dRPIQ5QnnQ_np8BWHv03kXSGyNP7nHzYcolsJZMS77PeEXWhuxlTnd1XRIjMW--kSBmtwv3JEC7L-s7ocblW6yw3FNfYXVerys3ybCgiewLzj6IB-17tilXTABYcYW3wIs45oBN0hD_-CRMfCN_jtamsNt0H32t5_dn1ZDEjEC77FEnYIRnuzaBHANxxz1hutUntZ2GhSqfbkLZlTVQT6XzZ7OULICdit63slaea7DD7wgk-uhsBBpNtgQg18f9QF4omtJqD1h96YS26d2sBt-9cuh5PsMVCNwY3jxtUOV1touNo8xzPNofn_HJQhzYCFI-SflGpuXDa7TEXLmRgBxsS-jmI0VZk5VOClKkXpGQ2F0xk7cQsSvywplW4C1Iq_y5rRu9f9J7LzJK0vT-E3ui8sA-12-BiGIUN21MKM5BlHITL3sAK6397P4hNkQ5CmqnLKPExK3F_MdrDyTOCzxU77akZGKE4vsQk3ZsnQHCPw5CTrYJIl6S3UaICa3SDkIY-YE6gR0ceSYPL3up2RYDe4LfaYtH-F7gyYrV8gaJEWZV7e4u6QYeKOD9ZxBATPyEIl3ec7IvEgODA37Z_4cCCU-KQglgSpIh9Be1ydszM9xaa5Hbpn3jH1z4PdBA0adDU5JiPnSLSF4G9PsbHLVdNdSHj_6Nj0RyY9Wfv_MlTydn43LT34FmpOgrn5IpGeENRct_w4Vv-B8bywfB2BtKCzPZl9x_iUCwIVjiqpQM8FfjePryP54v1c6qHndKn39v6WXQCu_sriPBCkSFg6hwKCZKTh0XJQvMC2xTDoihldFme3jCHO2qWLf5wiKz3nDGwdedhXJZ9QdEH5o0HVYQ8nlg1_l7nJTc3E0ahZ8ubQE1PhFkj7SlHBKnsLgD7I67jrka6dalt1InU6DNq7TJvNtyVnvQ1qmHMl6qXkN583azg79jWqiLB330oqZcXqpIig6pqUC_M8iGAKLzU1s-BG6kjJvIrKawOohVZwM6zY8ZVIs7ppjDh8S4Cf6JiB5QANEBpi3GPe83KGUhbs0NklxgrJaMDY7P_TcnLNF51smboG4XW1UD6DelVmTD2yvLLwcA7qZx9HOBzD3Rfme62BrhgC-E-F4v_MRyI1Jy9lw2XEsUxTKZEpUqHVvPjowQhrOl52qkw8xtmnz6NAQs4bk2y3hGxFnRU8SJDwpISjlgSUc1cRr0NQ55JWbizaJreVDFSAbDpKIs3CZczGxSVyHjyp16McRDE6_qPJS0NTymre9QjOAS0bUsTSl2-gG1VFWokHKriw7jbrP3cdM9hT5qrmM5dhdU6D3GM-aBeEWrdhzawKSyNhh86Ccnt4m4EBcd3nGgQ3yinYNiS6wgncfQylxhWNih3wD89805TezVySSg3hCO8QpgJJP-EYVA03oM0EYXBhD2PcdEvndXa1Ol5-9qL6xdTJ_xE14V-crSRVVRidTd46E53IVdqkREkoEPktd1ZyAsXvq5EKXKlP0Q0iJANj0zttyys9ixiA_oypkXTmDxwYrep9akdp-tBlmWSM--hD7_D6MlzBdddWzqTrKCTYkgUmUjHQZOcTzZqlPac4qqtFGUCA5WC81D76iKSGp_ryk14uzMiHaJO31oirxg8bObQ9qTbascsfax5JYd_h3wwSQwz5pJsBJbAEz6GQjS79sZNpuHSzaUQRBn7tM9f11Zctu-hkfdyC9FFyhQOLUFY5DAPxeIbmpHxfdRw8aZHa2GOz8hQIoQqUtL2B3am2HTJdU4q6yUIyrGdop8RiIya1Hq38rW5cN4BlU8SifaiEyrZEZ3p_DULcjCJRzSF6cJ8DJioVuSYiXcRSgk20ZoVYnpeBvCj0wx1HU9h1Vf5R5AbBJwWaTxD7whsLD5TV4-Z_s8p4ay1Pz9v99BvD9UT1r0X4tFxpQVJ4avP_yuWuMi5VeUKfj1Le5rhrfJPg_f4hY-bpBktvDUlkHTkg87kIY4zR3gWpcUjxoosBh-wftaHgJtijYM-L51TReIBwcyuvObnZ7XDsVsTo3N4vdVfJrpv9qqRRWZZla4fzzmygNbgnT-WjO02iKLNueea1vwhOoK1G3np6em4Y4GEK_R0lQWioA9-PjDDacJblXJPJjlZQzNh3lS4GU1VSCyyAmjH-i3uRM3EsaTyJe48qZwF6kN83EuCW6zlGe2UrvfaQrnjXJhL6sgORgtHekK_dyHWhHYTr7_V7fxajOm_o2vHc58z6QmI86Vjd6zw3cj-0mzq-cvPjXRzy_Xk9Busx1C8R4oIjE9oUVXlc_bgAkPYaod-wyPK3uiM_5Z1RUyQ9OP7Ys1H2tVwnNtVa_CGla82pfMZYiryjMe4=",
  "id": "rs_03c8d19d02446f7a016ab423ec0e8887d08523f9a39925e4a5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_03c8d19d02446f7a016ab423f0c03887d09e23b47b2a5649b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"My low forward approach pushed the left bottle farther away instead of reaching its neck. I’ll check whether the jaws can at least hold its body here before deciding whether another placement attempt is safe.\"}",
  "call_id": "call_ZolKjEEDYKBJGvJsaejStjAt",
  "id": "fc_03c8d19d02446f7a016ab423f48a9887d0ae889e288b956a64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZolKjEEDYKBJGvJsaejStjAt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3275, 1.8172, 0.4053, 0.7765, -0.5156, -0.3748, 0.5312, -0.1978, 0.4248, 0.0864, -0.2642, -0.2924, -0.215, 0.9981]\nstate[eef_state]: left_x=0.3725 left_y=-0.0308 left_z=0.003 left_yaw=0.2833 left_pitch=0.0198 left_roll=-0.0066 left_gripper=0.5312 right_x=0.234 right_y=0.0087 right_z=0.0607 right_yaw=0.1408 right_pitch=-0.0029 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -7.1863, 3.8769, 1.2723, -0.1734, -0.1441, 1.033, -0.3214, 0.5949, 6.8034, 1.7118, -0.1538, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cf2cbe617b6f7ca88dc7d5915f9ca7038bb5808922827c6f1d9ca52b3bc6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc14d71f15e9e5d3b127e52e7caaff2fec67d271bdbb65776aafcadb76ba079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b6d1c9087873fdc83c55ca6f74063de2f609e6a412d544c83b57cf7cc81458",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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