adhoc

completed
2026-09-23T18:50:43.335467+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
197.9 s
total steps
301
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 with their caps toward the far edge; the rightmost bottle is roughly aligned with the right arm. I’m bringing the open right gripper above its cap to check alignment before lifting it upright.
move_to
right_x0.4400right_y0.2800right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7921, 0.6075, -0.3771, -0.0158, -0.0078, 0.9985, -0.0158, 0.7891, 0.6033, -0.3855, -0.0128, -0.0246, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.4017, 9.812, 1.8095, -0.0904, -0.0757, -0.1636, -1.0188, -1.0462, 10.2769, 1.873, -0.1148, 0.105, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.28,"right_z":0.14},"note":"All three bottles are lying with their caps toward the far edge; the rightmost bottle is roughly aligned with the right arm. I’m bringing the open right gripper above its cap to check alignment before lifting it upright."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right wrist view shows the rightmost bottle just right of the jaw column, with its cap farther forward. I’m shifting slightly right and forward while lowering toward the neck, leaving enough height to inspect before closing.
move_to
right_x0.4800right_y0.2500right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7979, 0.614, -0.3828, -0.0154, -0.0074, 0.9984, 0.757, 1.906, 1.3174, -0.1936, 0.5804, 0.4191, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.1829 left_yaw=-0.0005 left_pitch=-0.005 left_roll=0.0002 left_gripper=0.9984 right_x=0.4264 right_y=0.2746 right_z=0.1218 right_yaw=0.0459 right_pitch=-0.06 right_roll=-0.0513 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.6752, 6.5436, 1.7753, -0.0659, -0.0269, -0.0317, -0.3077, -10.0718, 9.0872, 1.6923, 0.5788, 0.3101, -0.0073] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.25,"right_z":0.065},"note":"The right wrist view shows the rightmost bottle just right of the jaw column, with its cap farther forward. I’m shifting slightly right and forward while lowering toward the neck, leaving enough height to inspect before closing."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe rightmost bottle’s body is centered between the right gripper’s open jaws, although its cap is farther away. I’m closing at bottle-body height to test whether the jaws can hold it near its shoulder.
move_to
right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6331, 2.0525, 1.2243, 0.0738, 0.4923, 0.334, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4639 right_y=0.2413 right_z=0.0516 right_yaw=0.0359 right_pitch=-0.0777 right_roll=-0.054 right_gripper=0.9998 state[joint_eff]: [-0.0342, -1.5932, 6.7624, 1.7949, -0.022, -0.0513, -0.0171, -0.5675, -10.5778, 7.0085, 2.0781, 0.1734, 0.0171, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_gripper":0.0},"note":"The rightmost bottle’s body is centered between the right gripper’s open jaws, although its cap is farther away. I’m closing at bottle-body height to test whether the jaws can hold it near its shoulder."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe closed gripper reads essentially empty, and the arm stayed around 6 cm high rather than reaching the low target at the far edge. I’m reopening and backing a few centimetres toward the base, where the arm can get down beside the bottle.
move_to
right_x0.4200right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6285, 2.067, 1.2243, 0.165, 0.4671, 0.3084, 0.0141] state[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4743 right_y=0.2508 right_z=0.0585 right_yaw=0.0669 right_pitch=-0.0231 right_roll=-0.019 right_gripper=0.0141 state[joint_eff]: [-0.1573, -1.5932, 6.6803, 1.8437, -0.0659, -0.0317, -0.0122, -0.6632, -10.906, 7.2821, 1.7851, 0.2808, 0.1832, 1.1209] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.045,"right_gripper":1.0},"note":"The closed gripper reads essentially empty, and the arm stayed around 6 cm high rather than reaching the low target at the far edge. I’m reopening and backing a few centimetres toward the base, where the arm can get down beside the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteBacking in brought the right gripper down to about 2 cm, and the wrist camera now shows the bottle body centered between both jaws. I’m closing here to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7074, 2.0186, 0.9966, 0.2817, 0.5034, 0.3588, 0.9955] state[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4174 right_y=0.2495 right_z=0.0208 right_yaw=0.0888 right_pitch=-0.0612 right_roll=-0.0322 right_gripper=0.9955 state[joint_eff]: [0.1026, -1.5658, 6.5846, 1.8242, -0.0611, -0.0611, -0.0171, 0.4991, -13.7504, 5.3538, 1.7998, 0.4078, 0.0708, 0.0757] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"Backing in brought the right gripper down to about 2 cm, and the wrist camera now shows the bottle body centered between both jaws. I’m closing here to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe right gripper has stopped around a 4 cm opening, consistent with holding the bottle rather than closing empty. I’m lifting a few centimetres to confirm the bottle follows and see how it pivots.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 2.0159, 0.9367, 0.3965, 0.5087, 0.3466, 0.4238] state[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4144 right_y=0.249 right_z=0.0212 right_yaw=0.0975 right_pitch=-0.0124 right_roll=-0.0117 right_gripper=0.4238 state[joint_eff]: [-0.0479, -1.4701, 6.5846, 1.7851, -0.0415, -0.0806, -0.0122, -0.4308, -8.6359, 5.5863, 1.8095, 0.1538, 0.0269, 1.3504] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The right gripper has stopped around a 4 cm opening, consistent with holding the bottle rather than closing empty. I’m lifting a few centimetres to confirm the bottle follows and see how it pivots."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe bottle still appears lying on the tabletop and the gripper rose only about 1.5 cm, so the far-side pose is limiting the lift. I’m bringing the gripped bottle nearer the arm while raising it, to clear the reach limit and encourage it to hang vertically.
move_to
right_x0.3500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 1.9057, 0.96, 0.149, 0.4831, 0.3462, 0.4479] state[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3973 right_y=0.2395 right_z=0.036 right_yaw=0.1133 right_pitch=-0.1159 right_roll=-0.063 right_gripper=0.4479 state[joint_eff]: [-0.0068, -1.4017, 6.7077, 1.8046, -0.0366, -0.0855, -0.0122, -0.294, -13.9282, 9.7846, 2.4151, 0.4518, -0.0122, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.2},"note":"The bottle still appears lying on the tabletop and the gripper rose only about 1.5 cm, so the far-side pose is limiting the lift. I’m bringing the gripped bottle nearer the arm while raising it, to clear the reach limit and encourage it to hang vertically."})
tool
executing move_to over 11 steps (1.1s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe overhead view shows the rightmost bottle has barely moved despite the arm rising, so the body was slipping through the jaws rather than coming upright. I’m releasing it and moving the right hand clear before trying a better grip closer to a cap.
move_to
right_x0.3500right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.8165, 1.5562, 1.0271, -0.3782, 0.4973, 0.3885, 0.4507] state[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3305 right_y=0.2339 right_z=0.1267 right_yaw=0.1735 right_pitch=-0.1978 right_roll=-0.1049 right_gripper=0.4507 state[joint_eff]: [-0.1436, -1.5385, 6.5846, 1.8291, -0.0562, -0.0757, -0.0122, 0.212, -12.2051, 12.0, 2.5226, 1.0379, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.17,"right_gripper":1.0},"note":"The overhead view shows the rightmost bottle has barely moved despite the arm rising, so the body was slipping through the jaws rather than coming upright. I’m releasing it and moving the right hand clear before trying a better grip closer to a cap."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe far-right bottle did not stand, so I’m parking the right arm and switching to the leftmost bottle, whose cap is more comfortably inside the left arm’s reachable area. I’m positioning the left hand above that cap for a closer wrist-camera check.
move_to
right_x0.2900right_y0.0000right_z0.1800left_x0.3900left_y-0.1600left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7986, 0.6136, -0.3832, -0.0154, -0.0074, 0.9983, 0.7956, 1.4963, 0.9138, -0.186, 0.4934, 0.3416, 0.9957] state[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0065 left_roll=0.0002 left_gripper=0.9983 right_x=0.3374 right_y=0.2299 right_z=0.1339 right_yaw=0.1927 right_pitch=-0.0887 right_roll=-0.0566 right_gripper=0.9957 state[joint_eff]: [-0.0068, -1.2239, 6.612, 1.8095, -0.0317, -0.0366, -0.0122, -0.9094, -8.8274, 9.9897, 1.7851, 0.2466, 0.0317, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"left_x":0.39,"left_y":-0.16,"left_z":0.12},"note":"The far-right bottle did not stand, so I’m parking the right arm and switching to the leftmost bottle, whose cap is more comfortably inside the left arm’s reachable area. I’m positioning the left hand above that cap for a closer wrist-camera check."})
tool
executing move_to over 20 steps (2.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe overhead view now shows the right bottle was actually dragged closer, making it easier to reach later. For the leftmost bottle, its cap is left of the left wrist’s jaw column, so I’m shifting left and forward and lowering toward the cap.
move_to
left_x0.4300left_y-0.0800left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5915, 1.5223, 0.7628, 0.0463, -0.477, -0.342, 0.9983, -0.1894, 0.8169, 0.5819, -0.408, -0.2638, -0.2024, 0.9955] state[eef_state]: left_x=0.3776 left_y=-0.1516 left_z=0.1021 left_yaw=-0.0095 left_pitch=-0.0588 left_roll=0.0277 left_gripper=0.9983 right_x=0.2885 right_y=-0.0048 right_z=0.1617 right_yaw=0.133 right_pitch=-0.0461 right_roll=0.0057 right_gripper=0.9955 state[joint_eff]: [-0.5949, -6.4342, 9.1009, 1.6923, -0.3053, -0.0415, -0.0171, 0.0205, -2.0718, 10.359, 1.7216, -0.2808, 0.0073, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.08,"left_z":0.055},"note":"The overhead view now shows the right bottle was actually dragged closer, making it easier to reach later. For the leftmost bottle, its cap is left of the left wrist’s jaw column, so I’m shifting left and forward and lowering toward the cap."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe leftmost cap is still well left of the wrist’s jaw column; its bottle runs diagonally across the view. I’m moving the left gripper toward the outer edge and down to bottle height to center the cap or shoulder between the jaws.
move_to
left_y0.0350left_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3008, 1.7065, 0.6552, 0.4339, -0.2771, -0.1993, 0.9983, -0.1967, 0.7906, 0.5373, -0.387, -0.289, -0.2146, 0.9955] state[eef_state]: left_x=0.4215 left_y=-0.0764 left_z=0.0519 left_yaw=0.0405 left_pitch=-0.029 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2838 right_y=-0.0016 right_z=0.1535 right_yaw=0.1531 right_pitch=-0.0386 right_roll=0.0091 right_gripper=0.9955 state[joint_eff]: [0.1162, -6.2974, 5.9966, 1.6825, -0.1001, 0.4518, -0.0122, -0.1299, -1.6479, 6.9538, 2.0977, -0.0317, 0.1001, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.035,"left_z":0.028},"note":"The leftmost cap is still well left of the wrist’s jaw column; its bottle runs diagonally across the view. I’m moving the left gripper toward the outer edge and down to bottle height to center the cap or shoulder between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe leftmost bottle is now centered laterally, but its cap remains ahead of the fingertips and the arm could not quite descend at the farther pose. I’m backing over its shoulder and lowering to get a secure grip on the body before lifting its cap end.
move_to
left_x0.3850left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0734, 1.7592, 0.5671, 0.6815, 0.0193, -0.0242, 0.9983, -0.1974, 0.7708, 0.4988, -0.3584, -0.292, -0.215, 0.9955] state[eef_state]: left_x=0.43 left_y=0.0318 left_z=0.0455 left_yaw=0.0717 left_pitch=0.0508 left_roll=-0.0325 left_gripper=0.9983 right_x=0.2814 right_y=-0.0008 right_z=0.147 right_yaw=0.1549 right_pitch=-0.0286 right_roll=0.007 right_gripper=0.9955 state[joint_eff]: [0.2667, -5.2034, 3.8222, 1.4725, -0.1197, 0.486, -0.0122, -0.2393, -1.6615, 7.1179, 1.8828, -0.1685, -0.0073, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_z":0.02},"note":"The leftmost bottle is now centered laterally, but its cap remains ahead of the fingertips and the arm could not quite descend at the farther pose. I’m backing over its shoulder and lowering to get a secure grip on the body before lifting its cap end."})
tool
executing move_to over 4 steps (0.4s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe left fingers are over the bottle body, but their actual height remains about 4 cm, higher than the low target. I’m coming a little farther back to a reachable low pose before closing.
move_to
left_x0.3600left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0727, 1.7084, 0.4423, 0.7849, 0.0113, -0.0074, 0.9983, -0.1974, 0.7589, 0.4717, -0.3428, -0.2924, -0.215, 0.9955] state[eef_state]: left_x=0.4046 left_y=0.0311 left_z=0.0438 left_yaw=0.0688 left_pitch=0.0804 left_roll=-0.0138 left_gripper=0.9983 right_x=0.2792 right_y=-0.0003 right_z=0.141 right_yaw=0.1552 right_pitch=-0.0282 right_roll=0.0071 right_gripper=0.9955 state[joint_eff]: [0.2803, -5.8325, 2.865, 1.0379, -0.1197, 0.0611, -0.0122, -0.294, -1.7846, 6.9265, 1.8681, -0.188, -0.0171, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.015},"note":"The left fingers are over the bottle body, but their actual height remains about 4 cm, higher than the low target. I’m coming a little farther back to a reachable low pose before closing."})
tool
executing move_to over 4 steps (0.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe left wrist view shows the bottle body between the jaws; the arm’s low motion has stopped, likely on the bottle or tabletop. I’m closing now to check for a real hold rather than forcing the arm lower.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0723, 1.7069, 0.4194, 0.815, 0.0113, -0.0101, 0.9983, -0.1974, 0.7475, 0.4458, -0.3325, -0.2924, -0.2153, 0.9955] state[eef_state]: left_x=0.4006 left_y=0.0306 left_z=0.043 left_yaw=0.0698 left_pitch=0.0891 left_roll=-0.0161 left_gripper=0.9983 right_x=0.2764 right_y=0.0003 right_z=0.1344 right_yaw=0.1555 right_pitch=-0.0321 right_roll=0.0082 right_gripper=0.9955 state[joint_eff]: [-0.0889, -5.8325, 2.7009, 1.2772, -0.1587, 0.1001, -0.0122, -0.3897, -1.7299, 6.8034, 1.9707, -0.1685, -0.0464, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left wrist view shows the bottle body between the jaws; the arm’s low motion has stopped, likely on the bottle or tabletop. I’m closing now to check for a real hold rather than forcing the arm lower."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left gripper settled at roughly the bottle’s width, indicating it has caught the body. I’m lifting while coming slightly back to bring the bottle clear of the table and see whether its base drops beneath the grip.
move_to
left_x0.3600left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0708, 1.6703, 0.4641, 0.6376, -0.0048, -0.0013, 0.5257, -0.1974, 0.7319, 0.4141, -0.3199, -0.2924, -0.215, 0.9955] state[eef_state]: left_x=0.3964 left_y=0.0325 left_z=0.0345 left_yaw=0.0772 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.5257 right_x=0.2729 right_y=0.001 right_z=0.1266 right_yaw=0.1553 right_pitch=-0.0354 right_roll=0.0097 right_gripper=0.9955 state[joint_eff]: [-0.3897, -7.9111, 7.0359, 1.5067, -0.0513, -0.0317, 1.0281, -0.253, -1.5385, 6.9812, 1.9072, -0.1978, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.19},"note":"The left gripper settled at roughly the bottle’s width, indicating it has caught the body. I’m lifting while coming slightly back to bring the bottle clear of the table and see whether its base drops beneath the grip."})
tool
executing move_to over 11 steps (1.1s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe left wrist still sees the entire bottle ahead of its fingertips after the lift, so that grip did not lift it. I’m releasing and parking the left hand, then approaching the rightmost bottle, which has been pulled closer to the right arm’s reachable area.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.3600right_y0.2200right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0738, 1.1603, 0.6811, -0.2474, -0.0071, -0.0013, 0.5287, -0.1974, 0.7113, 0.3801, -0.2977, -0.2924, -0.215, 0.9955] state[eef_state]: left_x=0.3429 left_y=0.0302 left_z=0.1306 left_yaw=0.0823 left_pitch=-0.1649 left_roll=0.0022 left_gripper=0.5287 right_x=0.2703 right_y=0.0015 right_z=0.1209 right_yaw=0.1552 right_pitch=-0.0271 right_roll=0.0067 right_gripper=0.9955 state[joint_eff]: [0.6222, -7.0359, 12.1915, 2.757, 0.1001, 0.0122, 0.7204, -0.4171, -1.1556, 7.0769, 1.8779, -0.1685, -0.0269, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.36,"right_y":0.22,"right_z":0.11},"note":"The left wrist still sees the entire bottle ahead of its fingertips after the lift, so that grip did not lift it. I’m releasing and parking the left hand, then approaching the rightmost bottle, which has been pulled closer to the right arm’s reachable area."})
tool
executing move_to over 19 steps (1.9s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe right wrist now shows the displaced bottle’s cap near the center but well ahead of the fingertips. I’m advancing toward that cap at a safe height and correcting a small lateral offset before descending.
move_to
right_x0.4150right_y0.2400right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1059, 0.7837, 0.5579, -0.3744, -0.1471, -0.0902, 0.998, 0.728, 1.5433, 0.746, 0.0784, 0.4408, 0.2882, 0.9955] state[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1639 left_yaw=0.0683 left_pitch=-0.0312 left_roll=0.0063 left_gripper=0.998 right_x=0.3463 right_y=0.2125 right_z=0.0913 right_yaw=0.1973 right_pitch=-0.0674 right_roll=-0.0424 right_gripper=0.9955 state[joint_eff]: [-0.4308, -1.853, 10.0855, 1.7705, -0.1538, -0.1734, -0.1783, 0.0342, -6.4615, 8.4308, 1.956, 0.3492, 0.2759, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.24,"right_z":0.08},"note":"The right wrist now shows the displaced bottle’s cap near the center but well ahead of the fingertips. I’m advancing toward that cap at a safe height and correcting a small lateral offset before descending."})
tool
executing move_to over 6 steps (0.6s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe cap has moved much closer to the right wrist’s jaw tips and is centered on their column. I’m advancing another few centimetres and lowering just enough to put the jaws around the neck.
move_to
right_x0.4400right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1101, 0.767, 0.532, -0.3523, -0.1551, -0.1051, 0.9977, 0.667, 1.7916, 0.878, 0.207, 0.3801, 0.2405, 0.9955] state[eef_state]: left_x=0.2876 left_y=-0.0007 left_z=0.1611 left_yaw=0.0787 left_pitch=-0.0177 left_roll=-0.004 left_gripper=0.9977 right_x=0.3944 right_y=0.2316 right_z=0.0604 right_yaw=0.2109 right_pitch=-0.0766 right_roll=-0.0399 right_gripper=0.9955 state[joint_eff]: [0.1983, -1.4017, 6.612, 1.8535, -0.0269, 0.0757, -0.0464, -1.1145, -7.7197, 8.1299, 2.0537, 0.1392, 0.0708, -0.0171] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_z":0.045},"note":"The cap has moved much closer to the right wrist’s jaw tips and is centered on their column. I’m advancing another few centimetres and lowering just enough to put the jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe right wrist shows the cap at the fingertip line, with the bottle extending back beneath it. I’m closing around the cap/neck so that lifting it can pivot the bottle’s base down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.112, 0.7624, 0.5182, -0.347, -0.1585, -0.1055, 0.9976, 0.6006, 1.9259, 0.8951, 0.3511, 0.3317, 0.1917, 0.9955] state[eef_state]: left_x=0.2862 left_y=-0.0005 left_z=0.1572 left_yaw=0.0799 left_pitch=-0.0211 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4213 right_y=0.2232 right_z=0.0314 right_yaw=0.2111 right_pitch=-0.0656 right_roll=-0.0396 right_gripper=0.9955 state[joint_eff]: [-0.2667, -1.6752, 6.8444, 1.8779, -0.1001, -0.0073, -0.0171, -0.6769, -7.0359, 8.1162, 1.8437, -0.0659, 0.2076, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right wrist shows the cap at the fingertip line, with the bottle extending back beneath it. I’m closing around the cap/neck so that lifting it can pivot the bottle’s base down."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe right gripper closed empty and the cap shifted sideways, so that attempt missed the narrow neck. I’m clearing the right hand and approaching the leftmost bottle’s cap, now clearly centered in the left wrist view after it was pulled closer.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.3550left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.112, 0.7559, 0.5034, -0.337, -0.1589, -0.1055, 0.9976, 0.5896, 1.9366, 0.9249, 0.4187, 0.3054, 0.1787, 0.0138] state[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1542 left_yaw=0.0802 left_pitch=-0.0195 left_roll=-0.0018 left_gripper=0.9976 right_x=0.4375 right_y=0.2331 right_z=0.0495 right_yaw=0.2295 right_pitch=0.0091 right_roll=-0.0041 right_gripper=0.0138 state[joint_eff]: [-0.4034, -1.6752, 6.694, 1.8779, -0.1441, -0.0317, -0.0122, -0.253, -8.1983, 6.5709, 1.6728, 0.2564, 0.2173, 1.2381] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.355,"left_z":0.09},"note":"The right gripper closed empty and the cap shifted sideways, so that attempt missed the narrow neck. I’m clearing the right hand and approaching the leftmost bottle’s cap, now clearly centered in the left wrist view after it was pulled closer."})
tool
executing move_to over 20 steps (2.0s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe leftmost bottle’s cap is now just above the fingertip line and only slightly left of center. I’m moving the gripper forward and down together so the narrow cap lands squarely between the jaws.
move_to
left_x0.4000left_y0.0120left_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0834, 1.2469, 0.4202, 0.2161, -0.1421, -0.1047, 0.9976, -0.2203, 0.841, 0.5835, -0.3748, -0.3187, -0.2428, 0.9969] state[eef_state]: left_x=0.3481 left_y=-0.0004 left_z=0.0824 left_yaw=0.0944 left_pitch=-0.0419 left_roll=-0.0066 left_gripper=0.9976 right_x=0.2941 right_y=-0.0055 right_z=0.164 right_yaw=0.169 right_pitch=-0.0247 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [0.5265, -3.6991, 6.3521, 2.0049, -0.0171, 0.1441, -0.0122, -0.1026, -2.2359, 10.0444, 1.8144, -0.2027, 0.0904, -0.1245] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":0.012,"left_z":0.033},"note":"The leftmost bottle’s cap is now just above the fingertip line and only slightly left of center. I’m moving the gripper forward and down together so the narrow cap lands squarely between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe cap is now at the fingertip depth, but appears about a finger-width left of the jaw center. I’m making only a lateral correction before closing, to avoid knocking the cap away.
move_to
left_y0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.033, 1.6352, 0.4492, 0.5808, -0.1116, -0.0914, 0.9976, -0.2291, 0.8291, 0.5571, -0.3801, -0.3412, -0.2592, 0.9975] state[eef_state]: left_x=0.3873 left_y=0.0105 left_z=0.0313 left_yaw=0.1118 left_pitch=-0.0393 left_roll=-0.0137 left_gripper=0.9976 right_x=0.2888 right_y=-0.0029 right_z=0.1552 right_yaw=0.1878 right_pitch=-0.0376 right_roll=0.0061 right_gripper=0.9975 state[joint_eff]: [0.759, -3.8496, 5.1897, 1.1746, -0.0415, 0.1978, -0.0122, 0.1846, -1.4974, 7.1179, 2.0293, -0.0513, 0.1538, 0.0513] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.04},"note":"The cap is now at the fingertip depth, but appears about a finger-width left of the jaw center. I’m making only a lateral correction before closing, to avoid knocking the cap away."})
tool
executing move_to over 3 steps (0.3s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe overhead view puts the left gripper slightly to the outside of the left bottle; its cap is already at fingertip depth. I’m nudging the hand back toward the bottle while closing to catch the neck instead of repeating a full empty close off-center.
move_to
left_y0.0120left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0631, 1.6634, 0.4366, 0.6937, -0.057, -0.0505, 0.9976, -0.2302, 0.8131, 0.5224, -0.3592, -0.345, -0.26, 0.9976] state[eef_state]: left_x=0.3943 left_y=0.0386 left_z=0.0394 left_yaw=0.14 left_pitch=0.0294 left_roll=-0.0165 left_gripper=0.9976 right_x=0.2859 right_y=-0.0019 right_z=0.1482 right_yaw=0.1901 right_pitch=-0.0346 right_roll=0.0066 right_gripper=0.9976 state[joint_eff]: [0.2256, -6.188, 3.5214, 1.5653, 0.1099, 0.3248, -0.0122, -0.4991, -2.1265, 6.9675, 1.9219, -0.2222, 0.0171, -0.0024] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.012,"left_gripper":0.0},"note":"The overhead view puts the left gripper slightly to the outside of the left bottle; its cap is already at fingertip depth. I’m nudging the hand back toward the bottle while closing to catch the neck instead of repeating a full empty close off-center."})
tool
executing move_to over 10 steps (1.0s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe left close was empty despite the cap appearing beneath the hand; the fingertips remained about 5 cm high, above that narrow cap. I’m clearing the left hand and returning to the nearer right bottle, approaching its cap with the right jaws re-aligned across the bottle.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.4000right_y0.2700right_z0.0700right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0425, 1.647, 0.4553, 0.6739, -0.1589, -0.0868, 0.0126, -0.2302, 0.7975, 0.4885, -0.3424, -0.345, -0.2604, 0.9976] state[eef_state]: left_x=0.4001 left_y=0.0145 left_z=0.049 left_yaw=0.1399 left_pitch=0.051 left_roll=0.0008 left_gripper=0.0126 right_x=0.2825 right_y=-0.0012 right_z=0.1405 right_yaw=0.1904 right_pitch=-0.036 right_roll=0.0069 right_gripper=0.9976 state[joint_eff]: [-0.5402, -6.5573, 5.1897, 1.199, -0.0855, -0.1441, 0.8718, -0.4718, -1.9214, 7.0496, 1.9072, -0.2564, -0.022, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.4,"right_y":0.27,"right_z":0.07,"right_yaw":0.0},"note":"The left close was empty despite the cap appearing beneath the hand; the fingertips remained about 5 cm high, above that narrow cap. I’m clearing the left hand and returning to the nearer right bottle, approaching its cap with the right jaws re-aligned across the bottle."})
tool
executing move_to over 23 steps (2.3s)
step 246
assistant
agent noteThe right bottle’s cap is visible near the lower-right of the wrist image and a little ahead of the fingers. I’m advancing to cap depth, moving right to center it, and descending to neck height before the next close.
move_to
right_x0.4400right_y0.2300right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1646, 0.799, 0.5629, -0.3531, -0.2459, -0.1616, 0.9977, 0.8082, 1.9064, 1.021, 0.0978, 0.6128, 0.4568, 0.9977] state[eef_state]: left_x=0.2927 left_y=-0.0014 left_z=0.1682 left_yaw=0.1304 left_pitch=-0.0076 left_roll=-0.002 left_gripper=0.9977 right_x=0.3886 right_y=0.2648 right_z=0.0577 right_yaw=0.0525 right_pitch=-0.0477 right_roll=-0.0413 right_gripper=0.9977 state[joint_eff]: [-0.7726, -1.5111, 10.0991, 1.6093, -0.232, -0.0904, -0.1441, -0.0752, -9.2239, 7.6786, 1.5751, 0.4957, 0.2466, -0.0073] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.23,"right_z":0.025},"note":"The right bottle’s cap is visible near the lower-right of the wrist image and a little ahead of the fingers. I’m advancing to cap depth, moving right to center it, and descending to neck height before the next close."})
tool
executing move_to over 4 steps (0.4s)
step 250
assistant
agent noteThe right wrist now places the cap nearly on the jaw centerline at fingertip depth, noticeably better aligned than the last miss. I’m closing around the neck and checking the settled opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.165, 0.7979, 0.5648, -0.3714, -0.2516, -0.1616, 0.9976, 0.6521, 1.9976, 0.9787, 0.3275, 0.5491, 0.3412, 0.9977] state[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1659 left_yaw=0.1348 left_pitch=-0.0212 left_roll=0.0055 left_gripper=0.9976 right_x=0.4345 right_y=0.2203 right_z=0.0345 right_yaw=0.0086 right_pitch=-0.0045 right_roll=-0.0421 right_gripper=0.9977 state[joint_eff]: [-0.3761, -1.5385, 6.2701, 1.9414, -0.1148, -0.0317, -0.0171, 0.6906, -7.0496, 5.5316, 1.6923, -0.3297, 0.3785, -0.0171] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right wrist now places the cap nearly on the jaw centerline at fingertip depth, noticeably better aligned than the last miss. I’m closing around the neck and checking the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteThe second right cap close was also empty; at that far pose the fingers lifted to around 5 cm while closing. I’m returning to the closer left bottle and approaching low from nearer the base, where the arm can actually reach the cap’s height.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.3500left_y0.0000left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.165, 0.7898, 0.5495, -0.3557, -0.2516, -0.1616, 0.9976, 0.6468, 1.9903, 0.9749, 0.4091, 0.5205, 0.3462, 0.0139] state[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1642 left_yaw=0.1348 left_pitch=-0.0132 left_roll=0.003 left_gripper=0.9976 right_x=0.4429 right_y=0.2289 right_z=0.0494 right_yaw=0.0218 right_pitch=0.0539 right_roll=0.0265 right_gripper=0.0139 state[joint_eff]: [-0.1709, -1.7983, 6.5026, 1.8388, -0.149, -0.0659, -0.0122, -0.5812, -9.812, 4.465, 1.1941, 0.2369, 0.1587, 0.9988] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.35,"left_y":0.0,"left_z":0.018},"note":"The second right cap close was also empty; at that far pose the fingers lifted to around 5 cm while closing. I’m returning to the closer left bottle and approaching low from nearer the base, where the arm can actually reach the cap’s height."})
tool
executing move_to over 20 steps (2.0s)
step 280
assistant
agent noteThe left hand has reached roughly 3 cm above the table, but the cap is still visibly ahead of the fingers. I’m advancing low along the bottle’s axis to put the cap between the fingertips without another descent at the arm’s reach limit.
move_to
left_x0.4100left_z0.0150left_y0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1234, 1.5749, 0.2745, 0.7372, -0.2264, -0.1532, 0.9976, -0.0223, 0.7918, 0.5655, -0.3508, 0.0154, -0.0135, 0.9973] state[eef_state]: left_x=0.352 left_y=-0.0001 left_z=0.0268 left_yaw=0.1509 left_pitch=0.0144 left_roll=-0.0124 left_gripper=0.9976 right_x=0.2936 right_y=-0.0057 right_z=0.169 right_yaw=-0.0362 right_pitch=-0.0057 right_roll=-0.006 right_gripper=0.9973 state[joint_eff]: [0.3897, -3.7675, 4.1915, 1.2088, 0.0366, 0.0855, -0.0122, 0.1983, -1.2923, 10.3316, 1.8877, -0.3394, -0.0904, -0.188] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_z":0.015,"left_y":0.01},"note":"The left hand has reached roughly 3 cm above the table, but the cap is still visibly ahead of the fingers. I’m advancing low along the bottle’s axis to put the cap between the fingertips without another descent at the arm’s reach limit."})
tool
executing move_to over 5 steps (0.5s)
step 285
assistant
agent noteThe cap remains centered in the left wrist view but still sits ahead of the fingertip line even at a low pose. I’m making one more short forward move to reach the cap before attempting another grasp.
move_to
left_x0.4650left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0673, 1.7737, 0.4763, 0.7792, -0.2169, -0.1303, 0.9976, -0.0265, 0.7891, 0.5571, -0.3843, -0.0036, -0.0319, 0.9983] state[eef_state]: left_x=0.4099 left_y=0.0141 left_z=0.0309 left_yaw=0.1871 left_pitch=0.0567 left_roll=-0.0091 left_gripper=0.9976 right_x=0.2877 right_y=-0.0034 right_z=0.159 right_yaw=-0.0145 right_pitch=-0.0451 right_roll=-0.0105 right_gripper=0.9983 state[joint_eff]: [0.3077, -4.9709, 4.8068, 1.3895, 0.2271, 0.1685, -0.0122, -0.1983, -0.9641, 7.2274, 2.1319, 0.0171, 0.1587, 0.0952] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_z":0.018},"note":"The cap remains centered in the left wrist view but still sits ahead of the fingertip line even at a low pose. I’m making one more short forward move to reach the cap before attempting another grasp."})
tool
executing move_to over 5 steps (0.5s)
step 290
assistant
agent noteThe cap is still out in front at the left arm’s practical low-reach limit. Rather than force the arm farther, I’m trying to catch the bottle’s body here so I can pull it back into a region where the cap can be lifted.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 1.911, 0.7136, 0.6762, -0.2203, -0.1337, 0.9976, -0.0284, 0.7635, 0.5125, -0.358, -0.0048, -0.0322, 0.9983] state[eef_state]: left_x=0.4654 left_y=0.0153 left_z=0.0341 left_yaw=0.2014 left_pitch=0.0541 left_roll=-0.0097 left_gripper=0.9976 right_x=0.284 right_y=-0.0036 right_z=0.1508 right_yaw=-0.0152 right_pitch=-0.0379 right_roll=-0.0102 right_gripper=0.9983 state[joint_eff]: [0.3487, -6.8308, 5.3402, 1.3553, 0.0269, 0.022, -0.0122, -0.5265, -1.7162, 6.9812, 2.0, -0.149, 0.0317, -0.0073] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap is still out in front at the left arm’s practical low-reach limit. Rather than force the arm farther, I’m trying to catch the bottle’s body here so I can pull it back into a region where the cap can be lifted."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteI could not stand the bottles safely. Every cap grasp closed empty: at the forward positions needed to reach the caps, the gripper rose above bottle height, and attempted body grasps only dragged the bottles across the table. All three remain lying down.
give_up
hindsightOn this setup, a cap can look centered near wrist-image row 190 yet still be ahead of the actual fingertip grasp point. At forward x≈0.40–0.48 m, attempts to close at a commanded z≈0.02–0.03 m repeatedly resulted in an actual grasp-point height near 0.05–0.06 m and an empty gripper (<0.04 opening); overhead confirmation is essential. Pulling a bottle body with jaws at x≈0.4 m can drag it toward the base without lifting or standing it.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0505, 1.9167, 0.7483, 0.7528, -0.2272, -0.1329, 0.0126, -0.0284, 0.7448, 0.4732, -0.3416, -0.0055, -0.0326, 0.9983] state[eef_state]: left_x=0.484 left_y=0.0189 left_z=0.0608 left_yaw=0.2169 left_pitch=0.157 left_roll=-0.0336 left_gripper=0.0126 right_x=0.2799 right_y=-0.0034 right_z=0.1412 right_yaw=-0.0143 right_pitch=-0.042 right_roll=-0.0101 right_gripper=0.9983 state[joint_eff]: [-0.3077, -6.6393, 4.1231, 0.6471, 0.2271, 0.0024, 0.7937, -0.6085, -1.5385, 7.3504, 2.0879, -0.1587, -0.0024, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not stand the bottles safely. Every cap grasp closed empty: at the forward positions needed to reach the caps, the gripper rose above bottle height, and attempted body grasps only dragged the bottles across the table. All three remain lying down.","hindsight":"On this setup, a cap can look centered near wrist-image row 190 yet still be ahead of the actual fingertip grasp point. At forward x≈0.40–0.48 m, attempts to close at a commanded z≈0.02–0.03 m repeatedly resulted in an actual grasp-point height near 0.05–0.06 m and an empty gripper (<0.04 opening); overhead confirmation is essential. Pulling a bottle body with jaws at x≈0.4 m can drag it toward the base without lifting or standing it."})
tool
give_up: I could not stand the bottles safely. Every cap grasp closed empty: at the forward positions needed to reach the caps, the gripper rose above bottle height, and attempted body grasps only dragged the bottles across the table. All three remain lying down.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.353 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]: [-0.0193, 0.7921, 0.6075, -0.3771, -0.0158, -0.0078, 0.9985, -0.0158, 0.7891, 0.6033, -0.3855, -0.0128, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4017, 9.812, 1.8095, -0.0904, -0.0757, -0.1636, -1.0188, -1.0462, 10.2769, 1.873, -0.1148, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee695b0d1feabfb83b6bd98b5ee23d674fcb775f4086030ac0934ed1c85ba00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa230859401f17aee40a3c190066282104d3a711a9c9892bd432afdb95c5e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb38ba2159add89af6bd2256ac187b69a4383f5224b7b7c0d15d93e4fe7854f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.782 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0894cbd571722803016ab41f911e5487d08b1cbfc8f4edb6ce",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-YGtC20MR2d8VeGsxWs1ZO148bzk79GmLJPj0MEwV2AEtBqxA0cMdyTET5LpOhrbKzhhx6aHzSQUe_dhM8siugiQx4OpaarXsYdDJob1ssNbuteMARpJnmwmQHQaM65XkSsCb5uOBUxuqkth5JtyRuzUuP1Pp4fUxcnacBE8tRQyR4nqMsINtNmVODwzAail_EOl_6SQX12DF4tchjhVVeEafjVbBqCpPYB_TXbLR8aFZmtfk8Ujo0BgdQDEPzfHEiRkQnW_Mg18tNMHElWSUZGHHUS3Au1bt2pjVJCDBHPozqJhsgsWawdq40Dnd0jzVPdmunpcKK--Sfb8_WTT31igB2oSJP50sanOsf78YWa-QTsA0pEclf5MJyoP-PNRadAdFxCfYfAv99F0cFOo8Lvb0rLDcRxXK4_pRiwQkO0cQu3gioT5e66iTDzFEv9PDyLW_DcETz07hVzLIHiB4WOjQZjHS2-eKbiaeNmTvUNdBMtRwRj8cV0EpkJrchTFRapc0rt65ja5X6bSkyYufKqhMY2lZylgEru72pIgrQETw8s5u-4TGgMTXkGozd5NOK7m03e2MQBw7U0ALERZpu5kW6-RtueeLPFnETfroUP15MfIzlthWBBd3TqoD-TVW2hcRQ8DRGIuzi3YgeXbaDMs4-9UuE8pVkhbDbfotO6cKxkmBEcJxCd0Y7tHo0lNyVYuoIM648zTA-iLbxSylbgf62BzV4HOXXK4zvFGIrUq7pyMjVJDrHYrpcS0dToc8_M-XjZxlT6haPtPwlrZE66_gP3_RDjGX7f7jij5LYTym43iKZRf_EoC7WFZcjJPiV5mfdY4XUEeWQS0n22JATyE0JFtZhqnIATJDBi4jSaDFgvd70W4_-Pv-8DB8-fI81njdC0ztUSgiK7qSste6g5SKAw8SdVoTrD2uDJebL9AtOefxW2RjmjYiyZS-87a84GadZTaLqMRw_oepaOs5fNutX8IZOJp7iRDsRpA33BxHQc8k1AWNLwPed4DOmzi4ekIK04nh7wFGtZhffaWxIEeafJtU5y-EuWCpKOb1uHWyXAc8N7fea9QQtjAw4ahxnZBpRUXwyrAa08BdUee1YMNMG8GziQqs5_TVXer31KmdKWofr8uo9Znl9FLE4YcNVfRIAFK1OPIbF8xH7__B5qklxNbwC1tJS2_zSsba77w8hUxtiiSnjjajigaTQSQsFmBs_aYhwA-V2p0Y7HYVvcxyKYiRj0tjSJ4X1-3Q8TaSlJ3ePJkUQA4clOa-Se8omEs5bKGUsdeIJAU9IKEtLpBPUplAQDUbg6z_D0oUEsBwkYRG5xFt-ibAXxmZx55EMI0Ri9ke5LnKCKJWNS9pbq7FEEkH_vsNQQvHrmULhKmsrsKsH0zBjMbhQ-SX9vFx8jEjAN2vY4wtaIF4pbdlSDj5vWMl2OJXJjYHXL5eBOQ1oHjDn9lRnVILaAHLiyJbOf938qc7yNRBjpB_73xegTQ==",
  "id": "rs_0894cbd571722803016ab41f97281c87d0a108bd79427c92dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.28,\"right_z\":0.14},\"note\":\"All three bottles are lying with their caps toward the far edge; the rightmost bottle is roughly aligned with the right arm. I’m bringing the open right gripper above its cap to check alignment before lifting it upright.\"}",
  "call_id": "call_gSbMnFIzrvrIOfhBmX48bSJg",
  "id": "fc_0894cbd571722803016ab41f97bf3087d08af7b78ec85b4cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gSbMnFIzrvrIOfhBmX48bSJg",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7979, 0.614, -0.3828, -0.0154, -0.0074, 0.9984, 0.757, 1.906, 1.3174, -0.1936, 0.5804, 0.4191, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.1829 left_yaw=-0.0005 left_pitch=-0.005 left_roll=0.0002 left_gripper=0.9984 right_x=0.4264 right_y=0.2746 right_z=0.1218 right_yaw=0.0459 right_pitch=-0.06 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.6752, 6.5436, 1.7753, -0.0659, -0.0269, -0.0317, -0.3077, -10.0718, 9.0872, 1.6923, 0.5788, 0.3101, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b4b593e506992cf4fc75c3268d9366a4e0c7bd77f17a07af5da1aa4cd33bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5a7b215d36c8128c3d9b45afecd735ec59876250eaef1992eea3185cf3bf89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1ea0739c4c84404e8cf93cab9f79c4a8acf5339da41442f4f2dd776f67e483",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 7.146 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]: [-0.0193, 0.7921, 0.6075, -0.3771, -0.0158, -0.0078, 0.9985, -0.0158, 0.7891, 0.6033, -0.3855, -0.0128, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4017, 9.812, 1.8095, -0.0904, -0.0757, -0.1636, -1.0188, -1.0462, 10.2769, 1.873, -0.1148, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7979, 0.614, -0.3828, -0.0154, -0.0074, 0.9984, 0.757, 1.906, 1.3174, -0.1936, 0.5804, 0.4191, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.1829 left_yaw=-0.0005 left_pitch=-0.005 left_roll=0.0002 left_gripper=0.9984 right_x=0.4264 right_y=0.2746 right_z=0.1218 right_yaw=0.0459 right_pitch=-0.06 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.6752, 6.5436, 1.7753, -0.0659, -0.0269, -0.0317, -0.3077, -10.0718, 9.0872, 1.6923, 0.5788, 0.3101, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b4b593e506992cf4fc75c3268d9366a4e0c7bd77f17a07af5da1aa4cd33bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5a7b215d36c8128c3d9b45afecd735ec59876250eaef1992eea3185cf3bf89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1ea0739c4c84404e8cf93cab9f79c4a8acf5339da41442f4f2dd776f67e483",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-h391zI0TgLrOBpt5GBT9SBLAfJ1PjygQ6B5MOndLccjW2xMg2syyYLRfTjD7AaGfeLbOzxHUolzm2_pcodzh2Ta2oTvciOxYGDF0dc_wIIMy14svZNgaR3N8A9wQCPK5Pn7hO2ZF8Csy_B0u29VQfQjYPBT3g-2xOjAGTK0xWvz_-4ENe0n3RyHZ4p88c8p_R9gg29xaSsrG3zzTqkYYMY7KwCEXI9sOdLyjV5QFEB8bT9ziIBs1v3bR1Cgx5GbsR0gBKWc4KBbV9lDszEPR6dX1hHL4GujawgzvPAUH677tVDfthyXdreT_1NwYHq54_4cMz6EAVxbYaquGupXfgtEBtGP-ymvMKTlfkmcG9Z6B_uUXncJ6YUGCGyTnMmt9J-Cd77xF7VLlMlp85bpssdng2AImcF-2BFuFxc2LrR5mD3FC4IEcUQmPgd7jiKR_SsOj79cJVbHZnmc4DkM2SqrJ-Enwm4fEu2JFXdWZJBmd49mTz_QV2S_vBBxbne34RSbibCoomsHvPgWfkqz9cHUjzjWjWcO9y5n9Y9Ils6dseE4ljbw4MZ1NRtRdIA2tiOnr7Tk4SxjqAy1QFS1q8b5AC3PWvt6x24SLnPrpfcRaWJa4zd6ioomcAG_C_fRoqIb9Zt2fQnzkcr8IqL648YeIgxLchXERywidf19Wwos3pZevcj2P5KJLQ1jc8E8jWrj9Fm413NEnisqMiRsyhrQYqL0TAslbiLJi_xS2vlbSIO2EU-38MH3qvvPifWfAkj-7xdYSPORfL_TcgskVaLy0rmnEBw2gKRMh4jOrmEtQRtvd8kbeAWYnSr6BreGPRR6-hAAd5RrWnbMXEZFEH0RZ2hwHm_BjTa5tjoXB7kFGf8_xhdVNE1nTAHXAmYAkdHphOSEjYED-9na71GpKLEirud2nTTgqy03n7orxDk_F42rQADlHJfDwJTayNMKxUui-nzfFvK1e4ZfppCizqqL4oHbMHC091Dt02x1AcUE2ZxfmcZqAilzMVqi1IL9070v1-zFRiuuivr-bU2-RIbKtpwXRRYz2sM5Bpbjj-IBPwj8vxId9BOj2LmC2bLsF7eOlSe4wRSnf0BOyXsAKrXmL9e5Nhx4K1-wh7-xYvhVZJTkkj-3GLf5tqKan5EUil-g7-Yww2DDSByW7vN6F10qskHjhogSV0EwL91ddmHrHqXgN6ID7lzGJpf1EYquFh4a2Hcm9-EAEFjPcbe6T44849dSo_lJzcIQ9kGiEPRp6lt8zgQ_Py5xzdCLTUmt1s6ivg2-QJR4yLuoa4IM8XFEI9tnhPP_F8Svy_7W97tkB2pPcDZSL16mJWsiHHRwA9VTkwG7456Hkq3gjEAtY7wLdjbW4H7AyV-BJdFbut-Z8j_Yg8Vmup2U6pVdufD1WSP-LAkshsPGgok17l5_tC89H6RB-Mup56MZ7clEdXF8bcT4C7bV8lsxqm0rNeeVUpR3c9waE8FClSN8JomzIm14WEs2ynBce3_ttFjJPVGIoiMMzBIC7uMTdyrLiahi31EJ7DD-_w_UE0Vwd4NGS_9LV6mNjdFAFwMOAzZBp3mwqJU4bT3YeD0h06memtRWLGTF3f_m481ibvd5K3cojvbBp3AWqlqx2qbJmt0dehAMiXhXztmpJLVd606nOdCgnpODPfwj0CJy-3h0ET7_Lbmvky-65ajXN3P3C92m9utPSGnyizuqNFW_ZG9JXdwT5wwsV0ealy3xIyTSSRhKBUqa_0al1X7ZUOqHABGs5qeHOV2cKJlawBAHDojSk08m4X2am9yM6sBFdT8CdKcKFPqratfK07pDA8FqfZNr-0bo1L68kM3PrL8iAiNYSQBmUX31jO7rx1yhUVvMYdU9wVbbRMGiyVhZ1od-cA0U0RtnDMvbJMfGcE9KwQxjG74FCZfmzyzGMlWNYy_ZYj3AmxrAm-fxMYDvvcDJps39TKIkDq0c1kPvFoE88ZpGEHMe-wkfHz3NsRgUwSY0poXjwaEVXaxfu0dchxEIAUflkWKLboF-dxTGMlpaIpus3qOTlSVEndJv2tGZ0S5IfnfWBEdzzxbG2yR-geROR39gyOpWKhd5CMtV4sQXfc9A7K2JEefsXcax4r_CdVtu3lveFmu-zDElWIY0G0Sqgi1A5zCoGsmaEoHdshV84BwNLEujlLivxu1oYwcLj8ixhR44W_HIarE8oOEnzVxeO6d3HW3BxGOrks6KoTLcXiVRXBIrbc2O9lvkb6e_t_bti3S63YLV-LsdZ-n0llfkXhMkw2VqXc8k_7-xuB8mlTxCbnPwl3q0_sLtFLRh1FRQsMiomfx93-5jVRZwvnTyyXaMvEgL9rsLXQtnu1evsPSitx_2pW6sS40suYR8DNaDM6M8et1vnvabShVTU0BIZ6QizeBq9zhLlPe4gM0OZDIWHzrW_Q0B3gV_mn3Ad8d9Wn7-mrwY9d_OUmPDTZ93HJoJXs6i5TTecSCP-4vabx-cLkqENkQlexdcg0-fHRFacxjaX7z9N19Xb7v_n4oMJUMarRP9x0namaIVl76-Ve1bdP61hVQS1k6sKVYNxr1_I7FiLADzf_Noitgf5KUaNeBXdudzc5xo1T1TPWGdwsqvyM92QSelcU103AXiWU2TXcbND7YKl0eLASFFnsD1K6kgWH_0Wr3pQKScDy3IKzw5-DUSLp059UWGGZ7GW0UUnWEjcdJrrJdRCzdmJdwO7PriHvObW181XureK9Z_FJ9_UVdMvfz7QemyHfn8ed5s2sRfdHXc6MI8iYVEzLWy17Yof06ALDsAwuEdwOkX9isD6DKvEsix3_5wT2MlncHoxp7s9U71NhD8d128gsC0k2pwnwTSlFtQ4y00U6Po3ywgvKdH5CxGnFJOR0Lbrt68q6A7VpVSXBrk1ECp-w5GjzSch3sR66UZyME-cHhtKyRzlULe62678rI2yyTAHhZl7y2XHXb63AyAMZ0FlQmX_khr9Br961nRIUoj9XNjS57KCIStsjFDHfet-L1cAvFE5gYF6J7TcgWja-yJ5CWyjd3U9IkshP34BDzRaDBMMMF51p-zb7xwVlO2EiDikD-l_cqUnOLRWa0ZhuaV0x84LSQMqaK04QKLHMZY-3utGHhz7qrR4ZKNVTYBtK4ybZ_3DEHFtDfqfnPhEwxJ0_KjY2PsfUxkD7IeoAspwJ9FwCM8TjeSQE6v1ZG5_744Dd22Y8x4ONt6n_wBb2paNWfHk8yRpmbtaLGY2I4hR9M0-0XYZ62bD4I3KtFGjRVx8IuYgBN0ZpbRpITDvuECCo-89-fibnXIfGYcwoP6gAfNELS0XoA9m-yaIDh-3Rg337ye8wFPPJXPCTL8GBmRlCV_Oo3gXgjOOrc2BYfRtQYP3YZsB8lGY2OaWwZt4Mx7DD7porU3OL8b1r8CEOgwBUEVi154QT3XwzW4up1h8Ec1_ewrdlPITH34aO_xbbCQvgDRkwWI2A3A==",
  "id": "rs_0894cbd571722803016ab41f9bf30487d08dd86cc3631e598c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.25,\"right_z\":0.065},\"note\":\"The right wrist view shows the rightmost bottle just right of the jaw column, with its cap farther forward. I’m shifting slightly right and forward while lowering toward the neck, leaving enough height to inspect before closing.\"}",
  "call_id": "call_Rww5CeStZ4bdmGvxgiX9Z1hf",
  "id": "fc_0894cbd571722803016ab41fa0e7e087d0a9c9e6408f8914b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rww5CeStZ4bdmGvxgiX9Z1hf",
  "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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6331, 2.0525, 1.2243, 0.0738, 0.4923, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4639 right_y=0.2413 right_z=0.0516 right_yaw=0.0359 right_pitch=-0.0777 right_roll=-0.054 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.5932, 6.7624, 1.7949, -0.022, -0.0513, -0.0171, -0.5675, -10.5778, 7.0085, 2.0781, 0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558a17eca095ed478d1cd9ed7192c6453452a714af617dac04c45f9f8cd243b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a25a50ef1902346a41126f844d09d36a3bfd8017d5e8e9f76a3f02b9d974ce25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3958019ed1ea9a60917a11cc92e3d602028ce447dd8486779337a58d97e4b21f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 6.935 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]: [-0.0193, 0.7979, 0.614, -0.3828, -0.0154, -0.0074, 0.9984, 0.757, 1.906, 1.3174, -0.1936, 0.5804, 0.4191, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.1829 left_yaw=-0.0005 left_pitch=-0.005 left_roll=0.0002 left_gripper=0.9984 right_x=0.4264 right_y=0.2746 right_z=0.1218 right_yaw=0.0459 right_pitch=-0.06 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.6752, 6.5436, 1.7753, -0.0659, -0.0269, -0.0317, -0.3077, -10.0718, 9.0872, 1.6923, 0.5788, 0.3101, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6331, 2.0525, 1.2243, 0.0738, 0.4923, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4639 right_y=0.2413 right_z=0.0516 right_yaw=0.0359 right_pitch=-0.0777 right_roll=-0.054 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.5932, 6.7624, 1.7949, -0.022, -0.0513, -0.0171, -0.5675, -10.5778, 7.0085, 2.0781, 0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558a17eca095ed478d1cd9ed7192c6453452a714af617dac04c45f9f8cd243b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a25a50ef1902346a41126f844d09d36a3bfd8017d5e8e9f76a3f02b9d974ce25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3958019ed1ea9a60917a11cc92e3d602028ce447dd8486779337a58d97e4b21f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-p-eMquqIU0wdkhDz202-nmbbyDxWhla1qFkEAY9JKpdTPhU0lv-qciVChGJOHxPbNIRfda_t96a41mo8q83bs6cKtk-1eOA-sGfNeH-Xlt4aWb9eBTAzcfKNOmDIsWSNlvusJjxla2FV_n_QqXk9emNRMGsFVypOomG5xZU44lUpbOcaPPjvu0nY7VtRlR_lMZP2L7wJumeHaFy0wS5iBFCUi8U5tHXcRYxePEmAIaxytqZ6grhfLgorCYyLlKvnb0GX80h4y7wzYP-Lgqx0l9G_Nb8t9wW5amjU2X2HAUh7SJUVFp7A_dNN0q1CdGfrtRsT4mmQex4mpJXO7YwN-VPvMDv-fpcwBLi59tdYRs9HRxlkh20vMEj9qPiEQ5PxOfioZ03Gdmh58L2G_3snDoEXn3MFfkBsF7o5M-e_4PKexmSGfl7k9uMH61JM2LZyRdkhXNT41NAkRszs6VnERD_2NHuY6UfHi8GBnkep9F0ffyquNHDTnwBweVdgCJJpEXHumXSfbjObibL5qhRHEaOQQORHkleXi5dp1nQfcybm_oAqBp4GvRDdXsFaMlN77uKO2_rPTOkQxzyi-yi9Zeuw13HpUyKV3x-94w1rPTAYXDHh2IE2NFtAx7gVO4IC_-ieK56Te_c7z4WX6NPY92nAs2mkhcE4M26JwavPUklt1u4tx6UNoyoZCiX6yPkydJihlFxkGmi7mc5mL2PmMiQXAW0YHEx9eAFI-hX_qDeJPRsK5v7tH3UxUaav3uXAXJWTmYw85VxHXyF-WKStdHg0fzlWM9yHuBVRv393KS_Z13fFaHFlJnYuIiUREVv3YPqQDNn1JEaO7Hdvth-YNj1q07hX7kRwmiIGsA2f_OTKC8aQVZHsXtZcYNBF7XXIFldkY2CDElJBiG10A0FQp0xANktXJdTczydRUHRkVeY-9GmpT8UZWYZSVx4zsX8X-ZAJ0QXhbTnio1wvqycGg5yNjv0CnQ3C5w2QLcMyiAlrQRn7kWvMir7wQGzXaPHLV1wFXyJ8l77w1CgoSQnF22QWEm_OCRrWkSP6fPWbvNvqNfJRYK9xF_2EdO5mADGyvKkh5T2_VtN6naSP49K-WTMkWwhND-CKBjg81AMsFHNeKnm5cIaTp3mj5eTRPUUOH2TaAasPoEnW6RLlLDuEst3ttiac-NyxfO9D3QqFTgwwy9w8_YGBEImM_S8hPVfkHlJoE0cltP6KNbguIYo0-rH3VHrmei-0TXtVbLE5aNtryIiU-eAe4bp2gh-16m27FV85gnBUT1XNy992SmGmH1Xwnxj2RZfKgg-x-YSxwryrtQlbrMEwoI2T2JI8onswiKZgZWHbdo1GT9HvsbpuHXs1jno6jfW2TaJ3vxVO-EhIUBYC3TLn5Qq3FtNdX2A_2GaAWxkBypg_SPCQhRvELEA_8-lfSjrMkjb4Of40LHDzia7h_IcrTNbLOYtBxjgTMuhhnUVrPAXd1laF623Rr1erz0b1w-ow1OfMHP4ic9zQK5-800Q7Li3IXlYwr_w5W4yIIGyRlIt_vntY_-LPnZEIDdH11r6r7Kk2TzOWcG0QeJM5Z9b_Dl64UMbnOlkp9FvzzevVkW6oRx4SQycRA5gvMH2Xg7TwpV3aeGVY0leHVSMGop_bV9O3gxFiMJTI6iSQ1NI4Mie6mgwjwT220R_99PhS7lyOQsjnf32JK3YNrio5ByVWBu0t2Ai9zFx2VIn1i7xd1AW8N4HXfhIYP9KdKKcFL_LXP7FYELk87FLiDO236H0715cuX6toAkT2V0oXm7WnS5slJXUZo5r5_U-4zVC7fl1PEk5nPdrJbdvca998XOy2u6bP5ZCd58GnWMjhkLWj_EbaHNXnel1TuwUmt__LoOxXFuQWAO6s2fnNEKWtTDc7YoD-PLf66gHxmFXBWJkQPOccCCUyrXHaFuVtFhISGGMfHKL3nS98yYk_1tA2JhU-zdJkrQXwzWUCMtOiyx02LO2Ckt4Vd9ae9ajcGxPjwGICSP_u3f2gXKZUTH51uia_UdFp8DaHGFO1Ol_73C7pr7EZ2lgINBXPx0_DizItVhafwnjO7X2SKjCOoLC_LCnWd8-vHrzhH2svXui5zeoLrhDU1wY6kfv3TXZewqEJy_flnZQ3yvlnqfEr6ORg0bORDGKnS0utLx80f8-aiK7e8ztjNEeJ5PnJwi9iVb9o6qxMm9hgZQlfQutb1db4q9yeEnQUK2xqpBDpqx7uG7yCqJmxsx7w9ovofbL9D8HBIYbEt_kj7BnECHMdGp8qgHPoUOVGmY_4Y3Ommv-BfwTT2l_AcQeTC8YfGx_KPdNHCd70vWU_Mim3y-02YvnZP4n7H6f9HWm9Wgyzhcb1Pogufs9b4_216Ngc14_p9o8h78gvcgT3BMSUu--huEJY6kJFqdV5TzSPretJCmjk92BC2-OJrx-Lat-JVVLTxgS4pdPz_0qiKmDsuWAb5k1k53oSYbVtNE6D_dVr5EvhIteJN6Q0KtT6VAaJUj0O6c7Cy7P_WSIfKHB8VvBKlbLPo8Eef-yZFv2IGzGd6usf4gzQS-4-F5eiaQQT_t0i2_DXbscMRW7JnQ5_oAVPXRbMLh6tlwFVekUgOWWXgpsZVqper2olaiWMLpA5oAj_6akiWlijDGzmNS0K-PXKqZhSAmwGoD9s-3OGz1KQnzv8Wl7FsLRA0_pGInpZxupllsHs3MOQP61oCKlGLGMkQPuioJiv6iI0JajEQTIRGsUKlT82-7hb6EbnCBUf7pcf_1xbTEydfjeP2q4F6eLc3kgg0MnQWWDerELdRuf-JU-j2CPOV0X1kdBJ1_hFR9JsH55mNBu7i1mjFicqAauWkDz6FnhJ3JuI2aRhXBOWXD2IbQ5hMBPr0bqzEJX1ymNru4EbWBd9SmwWAPADYXVKZWovnYV_7b9wM0naKPRtVNPKgTbYlQNwCfjSkYiGyxXUA04D9l5GnXQNHWQZTYVPAvND7BZCFNnfTxgs7SnzCvF_zWllUOuxMGCynbhg60MZq1_I2_fDiR_9C02GC-xPt2HfjLdtLuy_zLULKb1vecNGLYBII_0hSfaO2vckAMt1Av_aP79dZY4yjm5vuCsXYp54l549jlEO5j-iJZG-X08HLrow5SLIIQUILvpuzy1rlqBJx0TiQPQ2ZGZrb4WOjQdUAoU97TF8n_qUUne_LHPG0v6iqtFpUOqzZjY1_b0G01tEOEZp36FKieW-oq3eZpu1GY6oqiQT7mDwH3SI0rqi12eUa8QfUeIo4ven9QWoOXUuiO9KP3F3rVb7YX-bpYEaP7btt-AC2rasWQEX1nk80sEru5xEEBagsPE2-dDdUIZQUx31Fa5WRQb5ni5RIJnbt0dy195NxIYTiIiwE3pN2Ku1PV-p4zAOXNmRfKS7K8Zdt6V7_fDBe0tTr9TJJvU5dW8_WCbM_-hvU0ADsDhM3C3_d_Q3CgfMdqcSLWCxoMuwiHEFx0BE4f1BsQsBAW6BN0MoTwq6l9RTMXO-F9viuNpa6XIZzpvpk3di4FOd6dUubaGpVAvdxSqtwtv4EEslbf1tW72aYqNoH3lPyUyJoEAAFWbt6kFkQ0vUBS6PB9RgN-3SZqOgRfbw-BRCFaHoXWdyZRT5IgVN4xh75eeSNUP8NceV7t2kYF5CYGNVfiRhjXwfZDRjnhv8xEHvGxETDDs9liVYqm673_NMjIgtmAdX4MPvA7LAEt0x2_w6Q6idbsE69QyvesyQB_r_alPpNdejbPnwW4fA6db28NAp76g-THDvNeoMVl7TvIpcL4Yp6wbdGvbYWnKPcPVpRJuGJ-rlc4l6noU9Dx5VH",
  "id": "rs_0894cbd571722803016ab41fa320cc87d0b39a4d375f45bb48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":0.0},\"note\":\"The rightmost bottle’s body is centered between the right gripper’s open jaws, although its cap is farther away. I’m closing at bottle-body height to test whether the jaws can hold it near its shoulder.\"}",
  "call_id": "call_3yIslH6G0tlNHFPbA0thLwWu",
  "id": "fc_0894cbd571722803016ab41fa8867487d0b5730356fd12d0a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3yIslH6G0tlNHFPbA0thLwWu",
  "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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6285, 2.067, 1.2243, 0.165, 0.4671, 0.3084, 0.0141]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4743 right_y=0.2508 right_z=0.0585 right_yaw=0.0669 right_pitch=-0.0231 right_roll=-0.019 right_gripper=0.0141\nstate[joint_eff]: [-0.1573, -1.5932, 6.6803, 1.8437, -0.0659, -0.0317, -0.0122, -0.6632, -10.906, 7.2821, 1.7851, 0.2808, 0.1832, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ccb4fdf7e856aaab3f9b5dd874d63cbba6bfd8712f00e5a84617c4d603b061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232794b548078ee53a6a673751e26efec20c07edfbc5cf730a7e126219ea9a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbac30d6909a35fb2accbfd541ed9256a069addc6e58c640ebc6acc1b86b6ea",
      "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 · 2.92 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]: [-0.0193, 0.7921, 0.6075, -0.3771, -0.0158, -0.0078, 0.9985, -0.0158, 0.7891, 0.6033, -0.3855, -0.0128, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0007 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4017, 9.812, 1.8095, -0.0904, -0.0757, -0.1636, -1.0188, -1.0462, 10.2769, 1.873, -0.1148, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6331, 2.0525, 1.2243, 0.0738, 0.4923, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4639 right_y=0.2413 right_z=0.0516 right_yaw=0.0359 right_pitch=-0.0777 right_roll=-0.054 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.5932, 6.7624, 1.7949, -0.022, -0.0513, -0.0171, -0.5675, -10.5778, 7.0085, 2.0781, 0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6285, 2.067, 1.2243, 0.165, 0.4671, 0.3084, 0.0141]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4743 right_y=0.2508 right_z=0.0585 right_yaw=0.0669 right_pitch=-0.0231 right_roll=-0.019 right_gripper=0.0141\nstate[joint_eff]: [-0.1573, -1.5932, 6.6803, 1.8437, -0.0659, -0.0317, -0.0122, -0.6632, -10.906, 7.2821, 1.7851, 0.2808, 0.1832, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ccb4fdf7e856aaab3f9b5dd874d63cbba6bfd8712f00e5a84617c4d603b061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232794b548078ee53a6a673751e26efec20c07edfbc5cf730a7e126219ea9a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbac30d6909a35fb2accbfd541ed9256a069addc6e58c640ebc6acc1b86b6ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-xmJxZ5cFRCZYdoWz_XeVNuSk80ENsLIUuUKYAL_0IP1uKpJtEba1cok6IkzB-kuAo-ABKHinWEAtyPjRiTkNzsZZHl4lzhB3wS4YMJ3L-ThqVmt7kZFbXtxQgNHBOKM05dU5y-0roxbyNcMxb3lA6YAEkDJpg9AiNLJeUx41uhC-emZBj62xZqycoP3YrRsrMSJSC2SaX0dp48R5PIGMgj037WcrKM8K9X9-Lwgq5KwrftzrwCdW8902A2PCvuE_MRSTrLi9JRLNL8z0zkOzYkI3XAIFd0joKvl1Jop5SdQORPCHjxR1oJhGaHkcvITaao5OMeNF-i8Of2laf6bi6Go0uP6r6R1DiTd6OCBEr0nP-GUqym4SrY3FP7gWG8yq0GqtOHDW-_V_Nr3bL496ZO-kAlPJkkhJ_dMpp5MQj2o100vGM60FLsv6a_OfbpERutT1sWWG4pYm_reL1JLDwcIy6Oan7EytIhrzst4eF4VChbv1N6RqXEKJV8dEOwzYRcyLkpVUDpS-DljrQ0l8Ya887kskwV-TXskhiA0VGNgNgt6SlFYigimcziPZrjXAtdugi1qFEqw-0MnrrcnHG-ylYwe2viyH5K3jV3ByjS6MnrYvBNd6H-QVgiCQYUF8A7JUotWsGYTI22FafhoXeQr7KJBKd98tkOSRjZM4v2cvddezvmA8gvcTklavruaT_SODN1GZTvRNblW0KAb1gaxJccWB0khEdgx4e5_C4wBckljPt7Sfh_obJb0BJf-YWZpIhHV_r_xIkUeeRWYzDup6wj_-BqV91kTHVjYmXlavaDu6_kDJ-a3S_BsL8pSyx_zm9m8S9Klfdxkt6BFsHWV2hVbiQYwVM2hb_bYQk8WgEIoLcodZdY_4jEfnbt4BLAoxGzmTj2slOdNlqWep6dgU4wiomPC0XBikLrVYtE25yA7nrMJTjyx-Q9WeoWxmsrd1an-9HtXLv5j_GWRInR1s3Mrhr4YS-jyQxukYPBA3rbwwjS9vzitsVpNrKmDi4VBpDG9F_KBokVUz8yZ_eDoBeSE7jV84Pog2G8ld7uyOrHibPlyp3wcKVuRwtdCuEVJEG6_PlDh3LE3-xDA6YEeGXD-O8m_0VH8DiFTsUX06C59-mG3v1oheNLlkStSA2IywM5XU3Rx_4woxCTg9llRAxW3Hx7c07Bmqv7I0iL33mywz2_Xs-dbQhf-v3dFwfP7MeqzMhT27tEaIgciDVrxwppVTMTvv8hOwlN0dp6i_LyvlApFKrvODD-nodQPlnCYInkljpz-pamKnkO1Ep14h_HNW47wssW57bzfBUFRg7IGilwOFeVQ2-0lzpEoU9A1fU3vwpXVm3UafFqogZ54caaBENHIXWsQrIyYrpqvQrvhEQlzcrDjNi52g7HMGoG_MwkSC5TnQMbhftggBliuo5zRd79C_pteeu_bqC5qzKyzwh48BU65ZJr-XK29mcpPgR83VgB2X8DSevjq7Rrgi4navar3ghi2tTPh9AZXLvdun7CvwfU7bYiWC8VRDl6OtLhryYsL2ojCXW42z-QgY3c50guJcs2V9ElplJNHkz4kogSBrmq_9zQHUhN6NPlOXi-Ngr5fhjoaD2QQf3pVfPALdVzQvRmwXljVTlazGugoHFgJFYHJ_klupcwWiQHfpdZhsdK1epRoTORJPWFsEY7u5MopFmFeYDTObYslm5UzM91y7qwMEl-sR8HECrilY5R3LzlK4ywjuwv3Olf6-yyKfVTZYCIzKKhq5K7aZ7Jg0cMoESnElI0yt1z1hWD8ZlSCQgNdXJnWexd0yPPtPWbQJyVts5cSoaTd42D-x7j88koIJh_ld5-j9aQ5K9x9U1wd4r0eaTXfvHTdW8fkcQ-rsnKz_wdtb-_U3RbU2ifyQvur_1CNCrFHSam1LuZpfOsbsPHN4xkgTuoAhXisvhelfFtICmhS0wZTjK8yQ=",
  "id": "rs_0894cbd571722803016ab41fabf65487d09d0bd3338466d87f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The closed gripper reads essentially empty, and the arm stayed around 6 cm high rather than reaching the low target at the far edge. I’m reopening and backing a few centimetres toward the base, where the arm can get down beside the bottle.\"}",
  "call_id": "call_XZi8BDyTDjqT2jRwHIOnLiCX",
  "id": "fc_0894cbd571722803016ab41faed52c87d08f7628f18c546bad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XZi8BDyTDjqT2jRwHIOnLiCX",
  "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]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7074, 2.0186, 0.9966, 0.2817, 0.5034, 0.3588, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4174 right_y=0.2495 right_z=0.0208 right_yaw=0.0888 right_pitch=-0.0612 right_roll=-0.0322 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.5658, 6.5846, 1.8242, -0.0611, -0.0611, -0.0171, 0.4991, -13.7504, 5.3538, 1.7998, 0.4078, 0.0708, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea401fca483652c21070b139bb23e8912967df3cdcbd460f3bb75464a322703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb1304c0f4a5a081498c6f2e4892103816bbaf2ebe3bd72c073e52bda74833d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583d63b97eb43c724f343758f5c06a81d29b0eff37a3b2727c0bd5c77f9b30d9",
      "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 · 2.11 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]: [-0.0193, 0.7979, 0.614, -0.3828, -0.0154, -0.0074, 0.9984, 0.757, 1.906, 1.3174, -0.1936, 0.5804, 0.4191, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.1829 left_yaw=-0.0005 left_pitch=-0.005 left_roll=0.0002 left_gripper=0.9984 right_x=0.4264 right_y=0.2746 right_z=0.1218 right_yaw=0.0459 right_pitch=-0.06 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.6752, 6.5436, 1.7753, -0.0659, -0.0269, -0.0317, -0.3077, -10.0718, 9.0872, 1.6923, 0.5788, 0.3101, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6285, 2.067, 1.2243, 0.165, 0.4671, 0.3084, 0.0141]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4743 right_y=0.2508 right_z=0.0585 right_yaw=0.0669 right_pitch=-0.0231 right_roll=-0.019 right_gripper=0.0141\nstate[joint_eff]: [-0.1573, -1.5932, 6.6803, 1.8437, -0.0659, -0.0317, -0.0122, -0.6632, -10.906, 7.2821, 1.7851, 0.2808, 0.1832, 1.1209]",
      "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]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7074, 2.0186, 0.9966, 0.2817, 0.5034, 0.3588, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4174 right_y=0.2495 right_z=0.0208 right_yaw=0.0888 right_pitch=-0.0612 right_roll=-0.0322 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.5658, 6.5846, 1.8242, -0.0611, -0.0611, -0.0171, 0.4991, -13.7504, 5.3538, 1.7998, 0.4078, 0.0708, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea401fca483652c21070b139bb23e8912967df3cdcbd460f3bb75464a322703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb1304c0f4a5a081498c6f2e4892103816bbaf2ebe3bd72c073e52bda74833d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:583d63b97eb43c724f343758f5c06a81d29b0eff37a3b2727c0bd5c77f9b30d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-1yiKCSNDZj1KvXt7E8Gi_BCWQAefPRAVGQ8LhiVvaKO7gEU0Dkq6ACRbLcXZOUulSTy_c2lTpkYPTc05N-kB2cyCWCwb4tCMeoe06bJNOTForH-IrDuL1Adw_YblWLefl5chep3m4cEsk4418qwBHsgXPXwWy4XZTvxn5a2kVeBiDVx4YfLEbUdaBsbXh6myke2OVix-vuyKUmtyD8kpyx6z6V0u-mvnsHUCgif96j9zUiLigngMUPKmA6sH5unxFfNZTqoAxTmST2LQeB957FUriSBcr4K3YjzGmXpV13zUAJGCD2dEtJJyJ9kZTP30xlVoTugHG10Fojapcm_xqm7Zb_LS0zQ0dPW82D7HK_3eIJAx1qjzcFcBfVAsnPtrgEbDPxsebYFYKNmKqfnjUp_uOHuv1m8jwJ1Iar0KyUGt1kk4YeUkwKhhPTY9qqZ-iSPva2mUwk5yY9pTw_2JAOdfuFB5I3Egt4A1ic5gDzw51b0ZP9m_cMCV00yRIKkcqYQi-ApxaLFXMWyDc1O3yo556HSGQYkaQe_ZUyJ4q0I4R7G8f7aa5BjHdnZABbKHjeWOm0IRJJvbbfgqQ1SKIpEemPZhKelcA8ctnxG0MOxxOSmK6zS__S-qov6bmHLoBUMgRMjnMbGdGvv080bh_ZKt9n7wBhof70mejdQuI1Rxv2gqleyRf7F6EUO2c4VsmIIfD3Aig4N_FEbTjIpCFAtV-BfNI_v2fxV3Q72BMIeJwlRqGFxWqZS0UpgQkDSXdTdVzWlVz1yofbFwDhMOC7KGjfBEnGeClvAvTauvEoqC7EvWKNmIpMD4VdHld4bgBwpoXyjMiYEgQa2P-ZaOaVUTFN1TZr0coWvhYdvRsK0Q9Inm178RpMaf-s0uBI88Yx9djEudDGFbY5-v73AmYXDaCKegRDmrArYsFbvR_cyaN_hrfDS4ykODDwmNSASOPJqH2D5W4oxWucDLhqRPnz1i8jmS0xANJ0AdUNxO76l5ElrbGMvwzWIGZhnYEPolM44Xrjt3nRNdD-NZY2nm3uUke4tEIk8OGrXxurEPgvZjZ_xga_F_PI5DlUud_NmS0ZgjC5S31TZUvASGL0vgEE9IZSxhUS6zF-eWcRUh3t_FJuZEf8_KtI-qkMvQ85XCAwIkkPG9tx00Lm4iM0JPQziGMRtbQqtPlW_X0DJsiqeFc4Dnmo_VcoL03Pmv36HH7K455nRPrSeoeqtj6sNJ2VeKh69_fNqEZ0bsVfVFXGrv7XvQSziYI_1CXt8-g94Wevkx728K11ntVFAmI-IRSeylokS0S9QiBKtS2Hc-J613rWx0iEnRn5lgbSN3SD0NjVnHsIrjVBOGMkHH9zcwMLSnvivvO31LgYD53QIdlaMT9pDD1v9GlD01QKCZ1a2Z91sCTuFa36UpMp-Nenr5VO9XYX_cTlzuquxGIlQtIiu6PFfSewedZvzhPmxugJTtFeFC05lpaCdz6d8BOketJxGAopcmfHvqLpGrxk7R-M3zLysKw3rE-Eq9JPX7pfGaFsHl9DUqeaoSl2jQppzthTNzrfX49nfyrTER_baovLybhD2g2fa3ylLWwsCN9nA26SgKzYu3iQbgOYpfXWAfotA==",
  "id": "rs_0894cbd571722803016ab41fb315d887d095444c9156b13945",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Backing in brought the right gripper down to about 2 cm, and the wrist camera now shows the bottle body centered between both jaws. I’m closing here to grasp it.\"}",
  "call_id": "call_YGaw5a359xj6aShig2UiRYUb",
  "id": "fc_0894cbd571722803016ab41fb4457087d0bcef923fa76834c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YGaw5a359xj6aShig2UiRYUb",
  "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]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 2.0159, 0.9367, 0.3965, 0.5087, 0.3466, 0.4238]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4144 right_y=0.249 right_z=0.0212 right_yaw=0.0975 right_pitch=-0.0124 right_roll=-0.0117 right_gripper=0.4238\nstate[joint_eff]: [-0.0479, -1.4701, 6.5846, 1.7851, -0.0415, -0.0806, -0.0122, -0.4308, -8.6359, 5.5863, 1.8095, 0.1538, 0.0269, 1.3504]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0e5a87cc9687b66f1b6ed3cf90e8ea6c3290c7680995a09e03ee5213cf945f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe7da05175d3599d860185804ec7a8dfc822e7e011d5e5955355a5b288f036e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7e1a3b747cec65426a8b550962aa4d536498648c4f6f5f77d4bc264cc9f618",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.942 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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6331, 2.0525, 1.2243, 0.0738, 0.4923, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4639 right_y=0.2413 right_z=0.0516 right_yaw=0.0359 right_pitch=-0.0777 right_roll=-0.054 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.5932, 6.7624, 1.7949, -0.022, -0.0513, -0.0171, -0.5675, -10.5778, 7.0085, 2.0781, 0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7074, 2.0186, 0.9966, 0.2817, 0.5034, 0.3588, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4174 right_y=0.2495 right_z=0.0208 right_yaw=0.0888 right_pitch=-0.0612 right_roll=-0.0322 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.5658, 6.5846, 1.8242, -0.0611, -0.0611, -0.0171, 0.4991, -13.7504, 5.3538, 1.7998, 0.4078, 0.0708, 0.0757]\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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 2.0159, 0.9367, 0.3965, 0.5087, 0.3466, 0.4238]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4144 right_y=0.249 right_z=0.0212 right_yaw=0.0975 right_pitch=-0.0124 right_roll=-0.0117 right_gripper=0.4238\nstate[joint_eff]: [-0.0479, -1.4701, 6.5846, 1.7851, -0.0415, -0.0806, -0.0122, -0.4308, -8.6359, 5.5863, 1.8095, 0.1538, 0.0269, 1.3504]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0e5a87cc9687b66f1b6ed3cf90e8ea6c3290c7680995a09e03ee5213cf945f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe7da05175d3599d860185804ec7a8dfc822e7e011d5e5955355a5b288f036e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7e1a3b747cec65426a8b550962aa4d536498648c4f6f5f77d4bc264cc9f618",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB-4kSMpISJYZ8xvM6xAyAfd2acsOTVS7ls73jZ6Lv-ysBIT3fMGWKowVbsZ7Y_Z4AJlEIqx_Nc4_PqGeSGVtDdJs_oWVSL-PXNwOpAoZ-ttVCjES2-wTrBbtTB4LxlHrDZziv5y9FnayUVAJs2xdK-pSXtponHD3dnIgHpc1rXZoe8fFfTQwKnx5zwA26jqcKE6qXFpXzp_f6eEPmsEFfwrK--NMzW-5IoecnmkbwVMmb4j3UvmnDPC20mhPEOluucp1ZdWr80_nMic2RLfVHjT1Fwq6s4pIzB_5Uk2xrhPSVxigetc--Qe0ZIKZWwIww1jphxY9siV0eJwykA55TI59CDD_gtSjSWOMwq7TctegjHlJWUvM9sPe83LN772NHrBIqRRDZt2oCXRRKV-L0-Dz1WWe5rVcgCT_ed5xn3Z7TT5OwikDVHNQ48dZheAhDYFhNdq5vk9_kRvbkyfCxPv9cdCcd-FmkzQFRzkpEzS2_uxZam624tZCIqOvjMuFRfqi1kTCCa5UoBcyiaklynAeBu1dL5NQxy-37Jrkpbvqqh5uZA3RVy8qzg9tIG-eIFMK5W7N3_xi-GcMQlRkgKHiPLO7PNP1bAzR_1o6C968eYz6_bdeS8S-f3Kw3i2-yJmNaPOhVRwfSXlKy6x5q-mU2IT4fGmA8oOwkHPn_zPKETAvBMYTs9j9Zgob0Kidi0UaihcKZRUliM7gruN9CIAUhpwGEzLxT3i0ICONe6QTe2Djqht_orIWq4ByEmNQV_OPXwY2NuXEVPJkLb1JHeZvdyoR-o82cSjcc03Jz4Fm8NoEfVU4xFQ6_ZL03XeaBzGV9XlC0H_Ac2TPMUWfN0TN7ReNFdBGLUX4gobHJJmLnNYDUfg63FlHIXN-FRCx2SFyFhKC8BoaOT6qhStDLLfzS8mjzTN_jRm1HKGpBHk1AwRblVo6EUJXqdafNUkMh28NltPBebUHA3CrdlIoAGxef_1J_PIJ1qBrbBMy1B-bGeVQ6ZqwsXeqMun3Numa47CyBAnbwaEp7g3H2FenzqnpoblET6mT3qsfu3AhogDC0vUXrD-4cnXZ_qk0C4ZSx5RDrpxu2io2HJvznpfZHzLGvZK02a48GBIocsT_YgaHIZa11HQvfimEcx0F9HIIXK8zOSxKxHVMIsEvWpFMGTuRCEDUDg6T294XnGGE63BwolV7e2jzQ9Wut7jJtxzoeL524ygg-C9ZNQiny3cP2dfntN_f4l-sB9Kc3AVPSEWWHQ=",
  "id": "rs_0894cbd571722803016ab41fb739e487d08e9e6e12463ab992",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The right gripper has stopped around a 4 cm opening, consistent with holding the bottle rather than closing empty. I’m lifting a few centimetres to confirm the bottle follows and see how it pivots.\"}",
  "call_id": "call_y1Uuewe1QPKKTiA0Lw7pRFXa",
  "id": "fc_0894cbd571722803016ab41fb763c087d0a3376656b32ec0a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y1Uuewe1QPKKTiA0Lw7pRFXa",
  "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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 1.9057, 0.96, 0.149, 0.4831, 0.3462, 0.4479]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3973 right_y=0.2395 right_z=0.036 right_yaw=0.1133 right_pitch=-0.1159 right_roll=-0.063 right_gripper=0.4479\nstate[joint_eff]: [-0.0068, -1.4017, 6.7077, 1.8046, -0.0366, -0.0855, -0.0122, -0.294, -13.9282, 9.7846, 2.4151, 0.4518, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6111bbbd77934b96d3c188e5b48c99ac87bf5f73cfe866fea04310856c6ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb0ec30934ab627151dac815cb9497e34a72e33a2d15f49af285b53aba33aef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6094471cf0ce5179660386968b5f88b2eb849d06bb639fce66a5d6ca6ee2e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 5.668 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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.6285, 2.067, 1.2243, 0.165, 0.4671, 0.3084, 0.0141]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.4743 right_y=0.2508 right_z=0.0585 right_yaw=0.0669 right_pitch=-0.0231 right_roll=-0.019 right_gripper=0.0141\nstate[joint_eff]: [-0.1573, -1.5932, 6.6803, 1.8437, -0.0659, -0.0317, -0.0122, -0.6632, -10.906, 7.2821, 1.7851, 0.2808, 0.1832, 1.1209]",
      "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]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 2.0159, 0.9367, 0.3965, 0.5087, 0.3466, 0.4238]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4144 right_y=0.249 right_z=0.0212 right_yaw=0.0975 right_pitch=-0.0124 right_roll=-0.0117 right_gripper=0.4238\nstate[joint_eff]: [-0.0479, -1.4701, 6.5846, 1.7851, -0.0415, -0.0806, -0.0122, -0.4308, -8.6359, 5.5863, 1.8095, 0.1538, 0.0269, 1.3504]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 1.9057, 0.96, 0.149, 0.4831, 0.3462, 0.4479]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3973 right_y=0.2395 right_z=0.036 right_yaw=0.1133 right_pitch=-0.1159 right_roll=-0.063 right_gripper=0.4479\nstate[joint_eff]: [-0.0068, -1.4017, 6.7077, 1.8046, -0.0366, -0.0855, -0.0122, -0.294, -13.9282, 9.7846, 2.4151, 0.4518, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6111bbbd77934b96d3c188e5b48c99ac87bf5f73cfe866fea04310856c6ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb0ec30934ab627151dac815cb9497e34a72e33a2d15f49af285b53aba33aef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6094471cf0ce5179660386968b5f88b2eb849d06bb639fce66a5d6ca6ee2e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB-7SHvRO1J11RFiTwWNiqY0PYsVggAPOuCUObqDMyfnBEv5RMTrZOrnW4ihB00xJmIlBdLHuWzcO8YP6nqcc2QWhWIc9IJjjFy701WjTqC9Xna4oZA1WJx4EexN9KBV-URMDr61yaoHTyuYuJPlmbmN5sfuHP04Wmx5eWMnXnXCw3bnBZLcg4252BdNdB42oC-E2BGWq8rDfVDu9x_6BXEWAwNeIYsMscXr4Nu0FOe8eb4q5gGUQEy4TgNJH6e8rqcuTTQJhPJ9t8X_MKxozITlW9QbJIhs4GRphF-FqQMyOG8tf6huT8gUuJkY07Cr3jjlXtC6eq-Vs-3xQZ0Napvo2SjS448_EEnk_HlqtnHxSVvpQVipXEs-Qs_6A76eXRcCiiA86jtBLhHbWG6h10H7atw7zmzlVDOGF5raD5lzhjHqvjs7LlMJ_TKtR71yGcXTqjxH4wyMAR_6eeDb4ZF0xGVYtG3qHm_lJfbOLRzvhHCFy2h1hN87H-scJO0M8bo-rinOAIROiJ0mFafQTpZCJYR2kzSplOtvv1qveIzFG5E461SZE0e7v1wRYtjm_qlrrTDgYBs-ZPHzRekISE-FOwmHv1ke-zcXN6F4WRiNSr9FJcsJB2TZKeCdofYcbYzNWoswBF0YXMAE6t3VVGpFWhhO0xNXXw8fdeWXG4D3Uti0yKJpIKGyIZOZMTVUsNjdZleQINP2p7UfRXAc_DqAWxoUjzPsmMGEhcOIS1kIptIDTzA5XLNNiQxt-v0rbBN1gzN_o6Xn5qj3M_IR8InlDCW-hnXMnVqnlLHHoc2Mpx-BUJqf9K_k3iWZ9VWttKW9ULdJDVusYkosxC_Z5d53S3QR31rqhBtrncYx7C-urNveuA164NfqSyzj7cygYgGgFUYBqHO5N3CQs-cnupbxotH7Vh5ThaZ5qr8P1tLOKhOtu7hIM-w58uP9_vrqOhb3JZLqqAr1LrJqCK2aUmWbI6RaHnoF4BW4NVKKdrhPqU9xmTxlyGTRL5VUwWgzqTTsvPzvCdbqezm_nemBjni9_y07D5VhLPGGAYWVphhjb-VQ9CJCGt4zG3ebx45jJ2-0EB83IRq8MNvmC-6-wWTF5yFYf01AY2emxxvcmKFxG2L9FAQquQi24f4mtZh7bSQLE7SSnMZ2N5Dk9yYkXrRhO8CQOeXXc39yaBfRw8c7ttHDWtpwcL-ZgbyprIfDiOyZpdZY-JYqLvGtfvk-oc33FG6S3K8TS1-NsaDrhzOq1VsqKiD2GxaV955hYCNch1l-xyNnrZWCHwGaimqoB_x70z0qGuNK9jd5jmV1fAtRjql0edTSVoIDk5ZZidjv14hTL4deQMPE_Szy-c8cJESzhK7aIGQhyC_maN4bK2IoEs1IC1hRTDslAS9Sp0WJzsAgyHuC1yIAKGZBdEgAA8CxTqSm00OiL_5Qh6cqxOkP-HBL07ocoNfDk5qJ3gkfQM8WcJUO2YfJ5Cs55yUEL0jm2sD8BhInOSlBxtP8W99UYxO9LM9pCTuWt10vv0ZvmqPTPQlqn1dIzTthK1ZGvROUxbPG951j7qLRuNCrQlHyASeGcHKT-WPoqDVZjU3XG3MALBne2MNg2GR688t1iIg_9eDyOmMvOX6vqQr-ReI6BILOGwsWo6tLA2pxqnFej4Wd_p1AvDcxGeZOldpyhT9hTbLvpAGVhoOsF58UZSHF7abHZ2dsnH72JUraSO5RUvFR7j1OxKskihI-SoQNgLo4sW5AYT2YYwsFWImBEXKguOUOIpjatnjL5zhEUZO_DH4cLxEtrFlYkMkE_yUQ2iCVFvMzOzBoULTNUq9uJIJZBvSo0RK55wQsEOskcnU_J5ti5nD9po91Ji_HUF0Hd0HoQg==",
  "id": "rs_0894cbd571722803016ab41fb9643c87d09354f63794ed18aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.2},\"note\":\"The bottle still appears lying on the tabletop and the gripper rose only about 1.5 cm, so the far-side pose is limiting the lift. I’m bringing the gripped bottle nearer the arm while raising it, to clear the reach limit and encourage it to hang vertically.\"}",
  "call_id": "call_Kw8wEnKhvqCNWhyvSTT9bB2d",
  "id": "fc_0894cbd571722803016ab41fba90c087d09c139cd606dc3846",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kw8wEnKhvqCNWhyvSTT9bB2d",
  "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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.8165, 1.5562, 1.0271, -0.3782, 0.4973, 0.3885, 0.4507]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3305 right_y=0.2339 right_z=0.1267 right_yaw=0.1735 right_pitch=-0.1978 right_roll=-0.1049 right_gripper=0.4507\nstate[joint_eff]: [-0.1436, -1.5385, 6.5846, 1.8291, -0.0562, -0.0757, -0.0122, 0.212, -12.2051, 12.0, 2.5226, 1.0379, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da64a8afccbe77868a4a0729117ca2e977aa1fd7219ff64a57e5175d01d6082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bdd62418ae3446c25963c1dada9a878429ef5fd771aa5c6ca9e2c55192e93b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d497cd0fe3415bdbc1410f2e84fc307b3080ad2dd054b4d5e260315b7ef6fe20",
      "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 · 8.775 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7074, 2.0186, 0.9966, 0.2817, 0.5034, 0.3588, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4174 right_y=0.2495 right_z=0.0208 right_yaw=0.0888 right_pitch=-0.0612 right_roll=-0.0322 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.5658, 6.5846, 1.8242, -0.0611, -0.0611, -0.0171, 0.4991, -13.7504, 5.3538, 1.7998, 0.4078, 0.0708, 0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 1.9057, 0.96, 0.149, 0.4831, 0.3462, 0.4479]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3973 right_y=0.2395 right_z=0.036 right_yaw=0.1133 right_pitch=-0.1159 right_roll=-0.063 right_gripper=0.4479\nstate[joint_eff]: [-0.0068, -1.4017, 6.7077, 1.8046, -0.0366, -0.0855, -0.0122, -0.294, -13.9282, 9.7846, 2.4151, 0.4518, -0.0122, 1.0281]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.8165, 1.5562, 1.0271, -0.3782, 0.4973, 0.3885, 0.4507]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3305 right_y=0.2339 right_z=0.1267 right_yaw=0.1735 right_pitch=-0.1978 right_roll=-0.1049 right_gripper=0.4507\nstate[joint_eff]: [-0.1436, -1.5385, 6.5846, 1.8291, -0.0562, -0.0757, -0.0122, 0.212, -12.2051, 12.0, 2.5226, 1.0379, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3da64a8afccbe77868a4a0729117ca2e977aa1fd7219ff64a57e5175d01d6082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bdd62418ae3446c25963c1dada9a878429ef5fd771aa5c6ca9e2c55192e93b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d497cd0fe3415bdbc1410f2e84fc307b3080ad2dd054b4d5e260315b7ef6fe20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_C4TY1QuRW_KiYJfRUc07R3cX4Vxeau7AEU9YgzF-QqQQ9aTMWaBlL4822a4HlJatx82KVPYE9hvL_D7GHQEwM_QCe6roH17ErZgBAnSREJ4oyxkEO-ZYUEFkY49X4kIPGOiOhIBNtgf1CNRlmzwD9mDsXTyqNintEtvsVVVcFdsk1nbzXxxV5P3p1th24BgKM_6fFE9osI4iaiy8sxZEKxZFUfQeYOJlDDdMymvoVK4wN3dsDQxbEEpGMH3SXpIZFrQ5KJSVBfmH0qzWjWiiMJQ9DewjcEdhYPayhRmydXB79WSN0dUu0HHeDau11tBW9pdsEfh0izaGH9dA3Djj4L5h-oUeK8nbAn8SBs1xT3Vv21nHUn5BoCthrwGPld8kHKlxJy4cYaHiIUwXyZF1B7Ah3bAxD6UgDIY8sgFtsxgNd-IJIX0pXlxPPTNjr2Xz7HFDxC408t6NnQf_bxE4QOweyn2rIXvsz_M2MTzIxJZiptcvybYqZHn75phK3aB1ZlYKj-RroDldb3w6luCZM_hAoy8YFXYpPswl2Q_zbe5O_bfHJKv3DPayGtn3FRdphsXphbWxUfI4QI5J02R4uhN_r0TWyyOi4jL50bIAAkB97gxMFiTdIc6N94-xdyAZrMGc8zj63XYT9lOZG7jLqU4SuLp6qsNipuGQSX8gHzdfPnAQNAOlg_Jx9GWVzh1ydOrWCtDr0hr0BsX4h8QcYqupBcGMUCsujIz46z5CeuVticsOwMwW8A_wwBpPDFRXi_O2ahyQxdW18zLZMtCP46_iP4qY8NkIJ1MHEwst8vicAR1u56a4NSbUJb-hcWcyEggJGFOka7L66kdpsEJcj-cZRcZLvvXpxTH250y1SpU6-_EGkefz-bIadESUhy1o64DZJgEdop6FkyaRadPhJF2m0KCvDTwD8NcFfkZ2Va1HxF-tJgPMGbT8vFb2K1Vd3LbOxzgaYH6tInLBlXs1BqURPuJpIrWKqtKTdmUNMqK992LTxYMPf0RRMhuqD_9lvldSBkcocf9fSANhu8wA7eb786y9lXMNumZEg2twKbLq8Iewf2mufXkq6VwDm_hMrYxBUiq8ydMBY9COOt2syBNPs4EC_SwolJxBEUPHN8THS9G4SDcto8zL29kl0_sXOeHdioqSjNTfDebzOoU6t5FBLpiuIO8AKOSC4MJn0Sz10ZL-sc0Vok7OHkP3KrKXdKsSvdROsgvp68yzO7kHJEkqsItiloUbJTofJMpX0SaN0v7-LzbMWdWPF6RQS9fI-E7NOz3xwF6RHG4xd-aqFQqtGg-XJDrkdzDpnv69tR9Yppd9TbvcROv1u1OM5HFlIs-aa253BPtE18nXTFXFsE7JAJabUlDqPmI9xxr1rz559tpVEIjMCIq35sTwHgkIBmvEC73ZQbszGRHWfzxgzcJMIRI40PN3qUm2wwOY7ZevZnqte5llSEvbwLXyBISFymW9UZnqh7Z5vh-v20P3Rl8RVCVdS2N1MROwMc65lJitf2DMFMzbZtarDJz79V8ajLSZTJ-K-DwahQQeX4S6tABmkvL_DrUfrUcx6WYxL_5XzcU4PoDDFG-ijB_VzGiT9-ShMHb-EnB7JZjrVyTzFqegQO-mx9LT7kKU6SsnkF-0AGdxKSDL_dr2nwmN6hMmqzQToahdZhBNK2gfPlXPzV6bN8GOoYY97Hfo5RbkMVShnbkcTB1KvGBNJAB7KXYrYlQWDuyAvngHWgM745lPwmxyAZaXZwMflIofWBLkxDnLeLzBlEx5VBX4RkABr_IIxjaHlvvSrwhsozVYngZqONvQTqwYZHKtCSw7fQuvRQNHJOvoZmzBUIgAjtVCRMupySlBXerWjWgmPU_G-WdVxCWPBopwVAAQgNJYzHOiNc_tx9xVSeDamw2d2PSVOlTngpS6QDsOx6flOpTpVlOlrAg8Fb9BZgl4HPkRWkYJSGTgYrR-45Yq9ywAHNCegGZ6M4lmD8BQxdxiPkON9Yvw9J_0nAVYqfs1H3_rUTLfye5g3zPcqCBWpSKpmucK5-wmxHYy09ipQM18uUn-MUmOwKzL4sg2NVX-722AwzEUggrM-6nhJ-ebZaHPHv-DJQv-o3IsDGHqsl9P0dXwPubmiDHy6n9vYHc_K7E8k-eBB8HR2blMUOiyfJcDBAaPL-8t1kqWZk7V-TpHE6r6gqC745_fezVcvnX1jhSt_HUn_Frkp89hzpIJSCwsEBDK9jMcP5f-OBNcAzzu_gqdVX4X1OBA5WoMrGBp2HMArc6N92tH-o-QiwkTNheybYBPvVXg29WU7VS62fTlG4nqANskGvK2ddiTFFu4eSwRqbk6DUw-216_iUDdEgJiF96XAzvwxAEccmV6Oyidr55e8XvE3BDoyKLbEb8D23ZOJ_Pi7YweGwbXSXicbIvkNeM3FWz0a9bk7y-TVfj8UjY3vMXagRMr6IPFG3B5W3iaBlSIfU8eEILdTExGhzaV54mjANuLwDXWdbGWkaUK1gCcSyD_89MoDcJHXEK_czwvWN9Y6H3B_QJ90XkLOo1Etib4tm69AqCz4OL1qMIKOmbf-h7IFfaZL1NvFldEyONsWzNy8ZoSRe0iZEpoxPu3luqVdPibPBKOBIzYnMTx9zfDo9wrcH5fV20G8bKSaG2xMkvRQIcNQolig8OlyVwk0QhuTfcggDTM6-jXwSee2xIQm6iKIDUG6S2-kpv5QucGj55NeGbH1l1tNSx2jMcBufKuaa3ekYWtdzRPoZqqhw0h9qo3aR8rO4zzibv2M6kuH7FtswdlpcTQfawg8w0_zT8qOmZuyz1eD_rW6rlxgfAZQh_gtzKuroD30Ua8pEiw2K2FWW5pkqgBY2fLKRgHs34BvE09_BBnlmlgFRt0IbIa8lswUZJwJpYKA89lHPqE-yfECo6txRDwjQt1rYkoS0ObXv6Zk8JDocBZs0UNMSTCtOXSp95T0E7HNW-ydlsBFitb9wxQ5fUzBt8St-VywYVr6YDvC8hKRohtfZXRfbJMrFOmMnaP8XZkUGrCA867BzkXQgduLQxx2AD1f_ERK6hAjVKf7l_pU-vGmIab0QexrG9Mcv1oSDPwVlKXRnLI0fEOYOCVfzzjHA3xWXs27QcIAaB2BHrg0yybRVHB6mENYd9IscVh8N1Ks-ytgYzgXB7ydXQ1VxD3llswoYW_PZSp9jqys-5b3V2d479SUqi9IX6dQB9kOPy6uXFWlecPaywiqVN1yNF4l0HeYBj8se1Oo1Ku2Zn-BqbAq4LYhfwhS5r--ouco3yIU7Klf2oFOnH77tCbaN6bpKQvCJImBgh0x_FPcyIniLQJsh1OP9ZveTwLSbAXXfeVBwsnjdJXtrzEFAwJeLii9utPsjmKF4hHXAjx4XvuVLxmjEprtycrKT4NFBzc4USAPwqwSWshvKSAmxEGyTNUOfJLGwuhTXvo5RHHR4szBr8sE5q_CZB6mkg9WvA==",
  "id": "rs_0894cbd571722803016ab41fbd6c1087d0ae986aef91a37963",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The overhead view shows the rightmost bottle has barely moved despite the arm rising, so the body was slipping through the jaws rather than coming upright. I’m releasing it and moving the right hand clear before trying a better grip closer to a cap.\"}",
  "call_id": "call_z4hTjDWO7FIwl7xg5qT0l1Bt",
  "id": "fc_0894cbd571722803016ab41fc130fc87d097552d8dfb1eed44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z4hTjDWO7FIwl7xg5qT0l1Bt",
  "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]: [-0.0189, 0.7986, 0.6136, -0.3832, -0.0154, -0.0074, 0.9983, 0.7956, 1.4963, 0.9138, -0.186, 0.4934, 0.3416, 0.9957]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0065 left_roll=0.0002 left_gripper=0.9983 right_x=0.3374 right_y=0.2299 right_z=0.1339 right_yaw=0.1927 right_pitch=-0.0887 right_roll=-0.0566 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.2239, 6.612, 1.8095, -0.0317, -0.0366, -0.0122, -0.9094, -8.8274, 9.9897, 1.7851, 0.2466, 0.0317, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05597477d71561628307c26b48ee90e36416c0ea2ec2e1486953be365f40f24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc437c22fb6b2b52b29819aca7ea5363d720ade92fc81c836352d3e19bdc515a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41025cad27d602f6fb3b384dec5c1b44566b9608c6a50d8efcb84ef53c996faa",
      "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 · 5.435 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 2.0159, 0.9367, 0.3965, 0.5087, 0.3466, 0.4238]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1826 left_yaw=-0.0001 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4144 right_y=0.249 right_z=0.0212 right_yaw=0.0975 right_pitch=-0.0124 right_roll=-0.0117 right_gripper=0.4238\nstate[joint_eff]: [-0.0479, -1.4701, 6.5846, 1.7851, -0.0415, -0.0806, -0.0122, -0.4308, -8.6359, 5.5863, 1.8095, 0.1538, 0.0269, 1.3504]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.8165, 1.5562, 1.0271, -0.3782, 0.4973, 0.3885, 0.4507]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3305 right_y=0.2339 right_z=0.1267 right_yaw=0.1735 right_pitch=-0.1978 right_roll=-0.1049 right_gripper=0.4507\nstate[joint_eff]: [-0.1436, -1.5385, 6.5846, 1.8291, -0.0562, -0.0757, -0.0122, 0.212, -12.2051, 12.0, 2.5226, 1.0379, 0.1783, 1.033]\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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6136, -0.3832, -0.0154, -0.0074, 0.9983, 0.7956, 1.4963, 0.9138, -0.186, 0.4934, 0.3416, 0.9957]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0065 left_roll=0.0002 left_gripper=0.9983 right_x=0.3374 right_y=0.2299 right_z=0.1339 right_yaw=0.1927 right_pitch=-0.0887 right_roll=-0.0566 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.2239, 6.612, 1.8095, -0.0317, -0.0366, -0.0122, -0.9094, -8.8274, 9.9897, 1.7851, 0.2466, 0.0317, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05597477d71561628307c26b48ee90e36416c0ea2ec2e1486953be365f40f24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc437c22fb6b2b52b29819aca7ea5363d720ade92fc81c836352d3e19bdc515a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41025cad27d602f6fb3b384dec5c1b44566b9608c6a50d8efcb84ef53c996faa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_LMHnKM_zMwkFB7rM8kp53I2nKoCPK2hWNol1-tIH4pnHokXFY9czaLJ2sf7zWOZ0bRTbjdZTzkHUTm_X1WjyJDIDvj4kdsqTXWGAzcd1cU_S9RwiFfQUwYXUlLfJP5BriZpAYxfhIKkX4KAx6kTuLov-j5STW4ko200y1N1JGg5D5MmSPYyJMXX5TK6oW4hbEVBQLE6doVjv7zYd6Hxbkn8JimHpZ10vxb9a9l-YCpBKscx4ZQwkMBUxizchcraRE_owaM-GdDk9dUYJ6dxnDkvsDIqvE9Gkj6B3owfOvN5I8UYs47C8kwrPlhxImZQrkxpn5aNByTxOP9Yn-0XRanUrHo82xmztavmZMkvQ-nmyCCW1AcaEScZpu949uLnEeqisALts66R2lHsxWCiIXJnNGS532vC_8dYCiUC997wGbo-tc9HUIPtVq_ZbfPKZai544PD-d8JtTVbn9HYJ5GukOZ0EP1CVUWo9rTJxGZxk16GT4sSkHVInIazGL0okk11NTjYPbe23Fg79blUK0Pxfk_VkscmBChEf06w2zP5EhBqFPT1jjW2AGavNZoeEEY0cPyEL-yjuh6R1q8sRfSnnXnOcraFwfvB0T4Ob2_y3a3G_sPn616m1nI5TrYfln1ynzSVqX-z72MWSypTDqujRPBtyAIN8r7roDkzrX2kqB45i7IOh_YkYZtQZaEGBGFt3QK_SLM-McAGu5vWZMbwvypFVd1kXQcT7FeqGiORJBmYabZuVctVdVCe2-Z32ZOUMNcILqrK7GfpoowJqbZ_JZEsmoQpzJKXierrZT_PVo65ciKa_CBXb8VTzUNdtTFsqyyoMa3vnTLRmN46tIMynvXlNdQkh44wQdwTPlNtlxS0Dal_XTqcxZvaPYWK0Rqv6KrNUb4JOJeVf042jk0SNSE5rONQN8sj1suM9L5jcs4rI85dYUeiPxMIP79AfKyMjZZWy9OJ3iri8b3y06uOGyaz-pOt4e6HRhQXaozbxX7s5EFf4LqiGGlycNr9ySLObCfqwOhYWsVLoelCsVHj73HmmMev4WYruBFNl1sxItv5qxZ-ZW1TUh3Q3nEaoaRG_6TPZg02c5SasV8fuIg2aBHUHs0_jKiBqCrKUNlV_UErNgzmts4ay35RI_4H5dX7EWnyw6gYM2NiOQptl7s0RgkGGSacBiX62zQNEktrmFO5dSuZuPnX7xJ4OBmEZUOKHvz5t_x8hr9QkMEGwWIvLEL4SPPSRrb8rmUwB8KdcRPP_WTDh2F9CkoKgNakUn8IfgO22u716aCzU2_cmZEiMJGm6s24lC3KQ_GeuVjzQxuL_7Zsb9UwzRcy_qw1QXCsL2GTju9My1CBntZHvex_RJj_0Cz1X5Pb_m47hLzvvbjVPkv5-E21pN1s9vNnWPQRAN14XZt97KLtHs13hrfEOcmZ6Pb5gwzY4FqBQAjBcTNewjfWbhiSrFhl3fsUcaPMUz9Fs_C8eAiy-hg7Uzgm_lhmgyNCa6fAAv2GvIDYdknfWVUpvjGPdPHXc8gCpx54HZFd0mR-mvl6s6TkK2TQGocNh99_dGfYD138VD_hfLkfa7WSIi1opfUqsVFxgdXRk1cTSyFZolqLLW3Ajg7NWxZ8ErR1M0viHF-2V5llUYa62-ATtHDNEBWgi6-kVmeakwW5pFPbeXtmq04qgbwZyhk3dwYOH-TyCZgSJ9VVr2jM6aZIWfx5MXgCjKyGbpMNt1vaHgbgQYtxIVkADSqW_8-GuSzkoLNgBMzdokgqhV3knF4Z5hX65yLhnDSi0wBbiTmrcdWwre-CYfxfYPwm_sHVFeMGO3EtMS3Jyjq84cXByoNMCWzUIVmM5fM7UjdpVRejWWZVXQwyy_oFHipG_rdpf_oudk3Xd3B5ddebeieWrPQwO6YbUWiTRT5F6mWWcsTIoNmhz61Ezz9wKb9UtOdpkwYEnzFa4cBGNT9Y7SpXDnBbydHmX-OdZhH3w3_njA51sHIbnzenOGzpJXKitQnzUHgw-Xj9hMiu43J4KKkxWs77FsZqqHoq1WJCKOSKoyQc34vy0UcnaNS4r9-0KWddQRHwiv2nfk7oUqBL_g6JFPIebeF9-eaqvJIRbi1biO7GwvCJT_Ckw5LYJUO28e6-R9V_qqKNSA_d8ZGwuV_nbsyhMtHemfU4_DlvmTsyEmYMN8ao0fbdCe8edKPRBZTgJ4OF6QU8QhKwy48SufvePWxoJt9anYCLaQdd5KVsnzsDU0ZJqyN9hm4WT42E2yd2vkf8tjbgmxCtLFFjOv9ZgweE4dPMKnNh5V5zK6AIJY9FtVTiFtYWeJCooPSQyR-Dx1bCJqFJnTs5xrBnRDpBYRVU7n3Lx47Ba-idY9zS-1Y0fFbKZxsE4y0hdXJeDpZAHHZmGqAwI7Q8MjXWyhiOqNeYFyCCqArGhLi-nonPUdicWH6cofjIGDnH89icp7cHo3MQeYiOlXtzjwXcin8f4Fhcr-OnmupDV2n8ywL7uUxrX_F0t8nUVE6s46n3CiLDA7XjOOzOcS1fd8pGYdynFb0NNZy2_9lRXR0uDy4lCoQGAqD39PMhaSRgtV5VPdeU7g_rFdTT63YC_KY9JbIaw2iwhkrbWuSSjJaXfa16_GJkK2zUDhKj6p8mvIJom1-3jTpVeb93clzPInYSGB4g_jlURneeTBzOJgVeWg51Sm7BQElcUYKncLYrb6TEQBHDU9OOl6QQXzYlan5BHdnXXI-sRbiC8PwyigIZ7qxRxP9ey-4m86wuZKfKL9PYMpuT6_2m7R3rRQMTS0JRGyvCaE5J0sYL66hKITd9wLseNlQ8A20MJseWTtzIR4dxlgJIheAtCZfD_4_HYaEXyop1-jzBYihBO7qIF9ZsTuvcwiwCkAcTSUqM0pTJdFv9uudYk-naO7i8IZyul-qFJFBJx2IXAP9FjGjt9P6Zbr1w4nRf7PoHPTBVniUggZcsFGMC9Cw_U7DUBSTBZsuo957-SDTgVCrcjwwviScEEoE8cSAdI1r-P_LwGhV0lzmbIZ9NcZm0zmhoDLQJafBZsQYkRykQPy7oy4XSCxlTmKYqOoT4qlarPcfFlFpyYj4JvLBfwlrim_TYRje7V5JDGc_54dYPPDm5TTpzI6__Jk7cuheGQruVfBToeB_LHZFKdFTgJQQK8xz58FsAespU92no_F9PiSA_nem5m6xqTyVTv_0UUbLbx6ctbWA1_GhTtidM5hoKglYCZrdbNYPZJ3MgQm4LHCQ5quTlVwN7B3LbInIu3ZUZP56eA7e62kEFx_Na0KMw1JG1TThi7cjPfuLO22Ice9_jIVZ6WyfY3eKe6watq2n881k4D4KXGpE319ykOsJrM5_eRSOS97CeXFEt3FvT2rsFCKYxonRhGdKiQd4UtQhzHCG_8EtAF1ZPYRbsgficn0JK8gG92_6uPZmpM8SDPmGsxkBWgixvK7amaamfRRr6oi_jvzqWbEr1lELk82Nj8dqHeJh0vq-15XweCWhu7gaPprb92OoH5ZXTg5Vtd-Mpn3VNqHzX--zLowu_GTWqMVOAmDXs81BgkNnHfIGPLSbF-JLvX0em7U6Tm3nKVarwabJmxC1EbaOTZABq8EHBW4cyyr-2d0FhEfQ-lN7agr4ZCP5WTfOUY-",
  "id": "rs_0894cbd571722803016ab41fc3b4f887d0b6348748efb98d29",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_LHj_T7hwh0TSWQLFtBwMU3cGnHPyEb5rs51td15E7iYfwS6vfkEPyo31bGdkCmU6unpEMZJWNxeSDa3FcZR_3CVUmVHytP6nQXqp91ktXtcSxuz23xyvadZgW0jPZbrFg0QPjwmDDnvYlwgHiEU8F-aE5sQValh8eHvfvYWRu_yxMG0c90nw6P5DmVaJhNvDSe854py1bFOkamxV-SExrDiGLHxt3-qB2zjy-HKj7mOMENnOgS9BdQgh28dV3Inl5UmBxXcsmBuOV0Cnh0uriCpvktQKInheyd9l_9KKfsHT47Vk5ox76q53H-lS9S0sTNaoGV13ty9DknkG0bUCxZVxDGrSyo8NYTItaE6y0068hevtgesm99T9pQlkLz1LtWAYCaG-EVSTI6uxWky_ppZMauc6uh1AfQhtCC3r3z042GzzkSHnNvKURhsHB7mp00aDMq5Hz_Md4aBhJav-Kcsg7FE7SgsJ2IUfH2qZd5wMWi0s5NVvDvfGsna2uKEN0VXN7owYbvP0zj3yPX3_XN1TrM2shwS-RJudcCTNpEEOdnqovgn2lgNFI1MYl8TbHeqyV8HVWuh4fUIvpSmYYqWXXMHn72QC__O1zkSQ3BriaG3FEIJeEYNucSmfiLetSeu17Xi5bxm3MDx0qIR5vMRt1SLcv0qqZR4BUEGpVAba9qLuilOsQqLr-XMaPoB-ycftlhW3zSG4Meim80A2ed7Pq7BC8OJ_eHsqUXtnMmPRvVRKnS-ejPKatIi2nQKZa-YFzqvQKsJ-yz5etIynKyybFobxagFwBYGB9eGNn47n7XO1ujEcYSpMdnX1CRMq3mxHUZVo1qaFXsARHbI4yFis1wIN1GPum7gvyQCzNRHqLNVKffPFtOdrauTss5UIA2HKwnALYewmb8ubLQiKBnBp7--16DD_WCx6mgiKnFlc0Z6XrPQ4iMt5SE3bYG-JTRi_JHaDaGMEg9MBlzbVZ-pQ4ZEEbML0JoKLR5cz1Tuw8EVY7BjKU4jkQy-AxsD07aIVsDlggry_bUVWyBtPJmUUWu3GBOXPGc2fAsfmLjgz7pnISk6MRTaPisRxMBXjDHw-0Ct9sq_Pf7agYfLb6ba6vyVcO5FS1roBjRR7gp4bht3Z8Hck_Pd3vU2rGnb26M7dmgSOFmfiGr6FrfvcBM4f6j0EVPNAyjm09Pw4Yox7IEZnqE_J4Wd8npUdwhDtU6yqbAlfIEmrDuv5gzUr6qbCdBjJUhvfYmci2bGYQSPsEQLo50XVgj2bMTdKjEFucFh_2rmo6u3S4DPsqzc6WaMPFDgEpuAljL_6_AnVG3QudC7mHZtLKcgpf9O6wx1aFpTByWuyqTCY7CJbsmsFfyzK6__AtBRG1-pTjSc8UyZlz7rsb7D_t9cz67h22o8LH6WE5sTkPXDREpuOCwr2i_mc2T5g0yGpZo6czVX1nkhw3wfP0AdK-Yvj_Kj9ESzjq0kOLg0Vh28lrBdncU2cPMQMfTkFgEPY9pAqgcqHcOVTz93HLzRPFLxI-q8_MpQlJ6eJbEQLo7CQBxlhs63y3QM0T58mNHBiOwqfOAS7d-gjlR3NY8ngItyUk6qEQ7A2u1sAsZ1IgrxNz9Ux9zN6wOHBkiN_r1ln_UbSJUjq1rftHjp2EA4ZihcILF9b-344xY1QD8B_RnR_sl4Y2dqqPC9vvSID6QqZFtvNHAmhix9xdnHT94SCh2ALuE4vkeBzkpf91KcCQiKmetdUMUK63k81_nZ4vkPUlO7Bl4rGfESz6KXW5ySzRRdoaH2dX4gpq0cVe7zEmpEDY7_ft6NPvPRKfpeq72cOfQCVL_bDYBNFdsQW9fOBxt3n5bAbCbMh8BpoDqPFbcLrBZX_OQa3SOkKS-vYePMMWdzgEMYNu_wTVaXd0sOXHRiQ3VQYX5bSiYe6d8AZczcMWTbseYv6_OZCYdd7dsjL8n26Q0Pfk8kjShY3lIk1DIfxpJoc_W9cQCcK4mmanCh9pP69oQPbb37Wa5jDNqlqmQ2BkyAhdgAlo2vAMW3SvWDSoyih1j_0UtPoXsUl5xXQP2towNSxz1edgJ3D8Y_u0FoeNuln1t7K2b9uTIK8zn-HNbawu7ANB-TkyGbxeE5S9--OwB2i7wrsqm2IAFv0lTcGoI3b-qwoDWiz49rbfDOKI8mq-c1GNjSvFw_hPmElCTnA-49hxtfTr4msnDbCEneZPtCgNr3w=",
  "id": "rs_0894cbd571722803016ab41fc8715c87d0b87790166800876f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.39,\"left_y\":-0.16,\"left_z\":0.12},\"note\":\"The far-right bottle did not stand, so I’m parking the right arm and switching to the leftmost bottle, whose cap is more comfortably inside the left arm’s reachable area. I’m positioning the left hand above that cap for a closer wrist-camera check.\"}",
  "call_id": "call_44YaE86aYy0CgIXTWTlvV528",
  "id": "fc_0894cbd571722803016ab41fca489887d09123cc6890d3b2a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_44YaE86aYy0CgIXTWTlvV528",
  "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]: [-0.5915, 1.5223, 0.7628, 0.0463, -0.477, -0.342, 0.9983, -0.1894, 0.8169, 0.5819, -0.408, -0.2638, -0.2024, 0.9955]\nstate[eef_state]: left_x=0.3776 left_y=-0.1516 left_z=0.1021 left_yaw=-0.0095 left_pitch=-0.0588 left_roll=0.0277 left_gripper=0.9983 right_x=0.2885 right_y=-0.0048 right_z=0.1617 right_yaw=0.133 right_pitch=-0.0461 right_roll=0.0057 right_gripper=0.9955\nstate[joint_eff]: [-0.5949, -6.4342, 9.1009, 1.6923, -0.3053, -0.0415, -0.0171, 0.0205, -2.0718, 10.359, 1.7216, -0.2808, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff381ef922f7ac753c4ba11010d1f7fc7e74a7644eeacd8c6fcc0cb3c0ea9be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09075bd896c3c4ea8d115eb64105779431033a9222e80dc38a53d595d5192a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbf305637b702e09c3bbd01a6de3fa1ed1dee2f8b5e7a50c9ce2256eebb5773",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 7.167 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 40 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.7124, 1.9057, 0.96, 0.149, 0.4831, 0.3462, 0.4479]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3973 right_y=0.2395 right_z=0.036 right_yaw=0.1133 right_pitch=-0.1159 right_roll=-0.063 right_gripper=0.4479\nstate[joint_eff]: [-0.0068, -1.4017, 6.7077, 1.8046, -0.0366, -0.0855, -0.0122, -0.294, -13.9282, 9.7846, 2.4151, 0.4518, -0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6136, -0.3832, -0.0154, -0.0074, 0.9983, 0.7956, 1.4963, 0.9138, -0.186, 0.4934, 0.3416, 0.9957]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0065 left_roll=0.0002 left_gripper=0.9983 right_x=0.3374 right_y=0.2299 right_z=0.1339 right_yaw=0.1927 right_pitch=-0.0887 right_roll=-0.0566 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.2239, 6.612, 1.8095, -0.0317, -0.0366, -0.0122, -0.9094, -8.8274, 9.9897, 1.7851, 0.2466, 0.0317, -0.0366]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5915, 1.5223, 0.7628, 0.0463, -0.477, -0.342, 0.9983, -0.1894, 0.8169, 0.5819, -0.408, -0.2638, -0.2024, 0.9955]\nstate[eef_state]: left_x=0.3776 left_y=-0.1516 left_z=0.1021 left_yaw=-0.0095 left_pitch=-0.0588 left_roll=0.0277 left_gripper=0.9983 right_x=0.2885 right_y=-0.0048 right_z=0.1617 right_yaw=0.133 right_pitch=-0.0461 right_roll=0.0057 right_gripper=0.9955\nstate[joint_eff]: [-0.5949, -6.4342, 9.1009, 1.6923, -0.3053, -0.0415, -0.0171, 0.0205, -2.0718, 10.359, 1.7216, -0.2808, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff381ef922f7ac753c4ba11010d1f7fc7e74a7644eeacd8c6fcc0cb3c0ea9be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09075bd896c3c4ea8d115eb64105779431033a9222e80dc38a53d595d5192a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbf305637b702e09c3bbd01a6de3fa1ed1dee2f8b5e7a50c9ce2256eebb5773",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_Sfos_YIF0ye2Sy-CgL5yFFGOTZ-k-oIF1_MV1bI7YPrqofyaMzjhVHBor7FZZiyo1IzvtKxPHQqHTrFXEYCLbng54OrkBUizSgkRTpZjfmMGGt8rLizLD8YGTlkc8pFFbA0IReylO81jZR9C0xWcdJ7xoNuSsGJiDWhUS8pLOvqrZpt1JOzR0c8Zt43jP-EF1fwDJtJ5Ht3DlYJrnfMy4sOi3-LMNvbR_scBRpnsNar9tQ-AurigFtYUgSH0K1TkecOaYL7laXkWYqgRRaobDUzVlP8Nc98bgC9MHxipQ-MMB6J3t9ZhgQ0z9KlnESMCOgcc52PlYfIYf3MBHfMA0hnKYZopfQZQ8YeLq_ea_fIfP69XOgDSd9Ly37nfmVEzLuNzYuWOyAiK3Uuc1xjWOUTnyfhLEmfAzlqfhSmrHodHH4wStokOZ0k7zs4ikAhrbI3HY1FdXQMORYi1-6ZtTqsos48flRHWLtaxEIKiDNIiQfl9A4n3JoSgS8aHLvOvwr3V7ekNBvQiWeg1qAt2D5VXhAKp_2n_Mj7MmGKD3mExIID7JMW7rU6W6PSKN7Lr2k4m9_mLsfJPLcohdEoT6K3Wwj3KabYlVkwvWLbWIfROiowdX4siPwD2tRnMbwXPTHDLQfbroh8AkgRuMBueOaqhNMI4h9-gmk8RfqIyMXlLUQKyJ3BUQUhzALGL2RCPT4JvC8MLDEhyUfJ3M_ybGlHWUeoNOyKP-zsmtJJAPLSADtTgfPhHLc49ddU2GjfsJPB8Yn6P7DEBhjhCAJoXKghtfRqQOhs0ml8mNCyP030sXsT-p-cwsSj2GgTw4dB3UsZIHcmfutcTe12Hvw_jv0d5ysbZlpWQVhkFsbL07bssqSPwsCSdy8a85qIOt6S9yXujcxKLmTrXdQPoDmVXmsufu5cy1MpLy1_5i3-bNFxY8vgjYQXgBWI-_CrDGuPbIwQGVni6R1H8TkhYWconei6QM9enyTbcwmtj9MaHcssERBmhpOflMeJThFqDrDT_vIZ6zQrik2B3NlIurhLFUGGKP1syNrIvT4CLk8S9Zz050HYH6SExi1opnD3iNxv2hWjKkJVrRu5z5G9VqJz2wIgeEzS5V_Gu63Hu68N4y-YFXb_B7729-2f8tuHfESlbom0eIdKdG9Aa0iJ9dROit_zurEnSJ0vN_SrLlvhzpNdKtFc3Np-5Wq1Cl-VFVs9RQDqTg1FOH3m3eAzzbxuQbE41nM20lOFenNjy9WYVYKh0AJfOzE2or6onOJPT7_lmcUpb24PfXqgDNsrYTpI33bl4ABWuuQPQNHrI80sYKMA4kghQP45GT68EDEHmMMjLL2KglA7rJ3sc3EzbFvUYSnlgx-UTr8tkXRX8S5egVd9RFL1KETjWynLuLASfJ34KcUcUaiB2D-5gZW8l_huWZ1YAZRsfpHHI5BLOx2zQUT2Mqf6am_dbYAg2VmDQ2I5oR8DyGgPpC0zrSekEeB3RiIRmpr3uNTirQdm7rmbV-iHrQyTzOAamwVoaZ_prDgh6F5oiJfh4N_PY0DiC2lzbIcqH-VZFyg6d-9qagPO_gr7yLv_IfCOe9yOjX21CvaZhtlNk212RFnpTzeVRr4ZHrzmQi92ghGwA8n_6CO88wKXBqjxm723OJTYhMrEYzz9kfdo2937gambmLo4wKVMVG6lhc8tGkrp8zsH5E3ykfOV2VNYd9_cYJWn-kAy8dcBaR0kwfeDFenQ8zm_aBj4rs1N4t-tLJG-uZNT-4GzD0UE0xPNpRh7_1K-JL7awNZJ-C4zGCcYo--aLNY55832TZt1z_dDsOMeF0EMcp4gIh6KeJVWIcMwiCByIlhVxwmOTEAVyzAV2jtZ-8hMnxQ0-93hKWzbpFsqOHBOtB3P47y3BcRSzurXzfKl1unvMxAPj0gz3tmVvG32oy9Q2Er3HwVk06Zvt2d7UNKPzHs6eGo00ck0dK2vwbkjNhIDlbtlarz0EwmWu758NNdbtfhgoMIVyW0ruHxQEvG6bGPnHBGmshmbi8Hvdg3-_M-9aSiE13QQGBGv1I1wM7QlVwvlbiDlNGcijPJyt-INC46xqUV7gAKW7SJBFSR_En2bvg6aYDJKDWxg6z4UEmF6gYxl293aknskbFxxOcYQarXwPz8a3N9vRma5sqd4br4PW5bihnSsL3voBncwsTkGJ9fhfiVdiRb0NXzRTh9IZq-nAv5toDXRhEWRd_ry1uHfofJX-lLr212DLgWhNV1XskczbdOcuJJZz1YcGM1Y3i0pADIrxQ1UlTA3PglZ7xbE0JFNz7vc5LhotyWP4g_r2xKt1FwlJ-rDlBaEi1tamBREYjvKNWlFJLwh4ImccRzAQBDrmCeCv0qJ4SCHNEaJwBmxOM34dy1Fj18_YxgHSYUi0izpL33Ms6t-cDdDo2RHJsNxfydUWBPWUXsqhMbEJjMiMLCTi3-cC14Zg_8wQBr1S4SdE=",
  "id": "rs_0894cbd571722803016ab41fce611087d0a290ee143ed683fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.08,\"left_z\":0.055},\"note\":\"The overhead view now shows the right bottle was actually dragged closer, making it easier to reach later. For the leftmost bottle, its cap is left of the left wrist’s jaw column, so I’m shifting left and forward and lowering toward the cap.\"}",
  "call_id": "call_DeQJZ8b90rFni0XBp0XCbs0z",
  "id": "fc_0894cbd571722803016ab41fd1f33087d083c663eaecb9b725",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DeQJZ8b90rFni0XBp0XCbs0z",
  "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]: [-0.3008, 1.7065, 0.6552, 0.4339, -0.2771, -0.1993, 0.9983, -0.1967, 0.7906, 0.5373, -0.387, -0.289, -0.2146, 0.9955]\nstate[eef_state]: left_x=0.4215 left_y=-0.0764 left_z=0.0519 left_yaw=0.0405 left_pitch=-0.029 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2838 right_y=-0.0016 right_z=0.1535 right_yaw=0.1531 right_pitch=-0.0386 right_roll=0.0091 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -6.2974, 5.9966, 1.6825, -0.1001, 0.4518, -0.0122, -0.1299, -1.6479, 6.9538, 2.0977, -0.0317, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35da258b167208d4006f1430309ba68a0d46752217526f23375fbe3f23974081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c998f2f5e1745ed6a2f2a4d8d4a6d6043029ddc4a2c0b0da530b5fe8ea4fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb65f7facae8f183aa9fff1e0b6c0b5ad13ff44cd490eb7daa65c370d12f8b26",
      "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 · 5.223 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3832, -0.0154, -0.0074, 0.9983, 0.8165, 1.5562, 1.0271, -0.3782, 0.4973, 0.3885, 0.4507]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1827 left_yaw=-0.0001 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.9983 right_x=0.3305 right_y=0.2339 right_z=0.1267 right_yaw=0.1735 right_pitch=-0.1978 right_roll=-0.1049 right_gripper=0.4507\nstate[joint_eff]: [-0.1436, -1.5385, 6.5846, 1.8291, -0.0562, -0.0757, -0.0122, 0.212, -12.2051, 12.0, 2.5226, 1.0379, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5915, 1.5223, 0.7628, 0.0463, -0.477, -0.342, 0.9983, -0.1894, 0.8169, 0.5819, -0.408, -0.2638, -0.2024, 0.9955]\nstate[eef_state]: left_x=0.3776 left_y=-0.1516 left_z=0.1021 left_yaw=-0.0095 left_pitch=-0.0588 left_roll=0.0277 left_gripper=0.9983 right_x=0.2885 right_y=-0.0048 right_z=0.1617 right_yaw=0.133 right_pitch=-0.0461 right_roll=0.0057 right_gripper=0.9955\nstate[joint_eff]: [-0.5949, -6.4342, 9.1009, 1.6923, -0.3053, -0.0415, -0.0171, 0.0205, -2.0718, 10.359, 1.7216, -0.2808, 0.0073, -0.0269]\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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3008, 1.7065, 0.6552, 0.4339, -0.2771, -0.1993, 0.9983, -0.1967, 0.7906, 0.5373, -0.387, -0.289, -0.2146, 0.9955]\nstate[eef_state]: left_x=0.4215 left_y=-0.0764 left_z=0.0519 left_yaw=0.0405 left_pitch=-0.029 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2838 right_y=-0.0016 right_z=0.1535 right_yaw=0.1531 right_pitch=-0.0386 right_roll=0.0091 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -6.2974, 5.9966, 1.6825, -0.1001, 0.4518, -0.0122, -0.1299, -1.6479, 6.9538, 2.0977, -0.0317, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35da258b167208d4006f1430309ba68a0d46752217526f23375fbe3f23974081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c998f2f5e1745ed6a2f2a4d8d4a6d6043029ddc4a2c0b0da530b5fe8ea4fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb65f7facae8f183aa9fff1e0b6c0b5ad13ff44cd490eb7daa65c370d12f8b26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_a93nAFuva__jYIGx2YemspHs4XBymjXTQG9w_eOK4U7Xqm6BQ2o0bnsvuyNJSL19_gibgoyY8Q5aF3-ABc_O8acCA2R3CIJmCMpgnjwgssL7JcTFFTKUxfijkfB-34OE50EgDsq3BpEwOABbah1rWpiTjPCFvA7L3zAIrkC2LxgFQfoie3jWejXfPlW15kzKnwyQ8UV4UCIMaCTWbRnuMLQA2onabdsVk1ZPAlZnNHHKVsTExRTbpXSvZYKtaCA-H6V6qgPxWztjxQ_nuUPkI1lg9_MfCr2aIchxE4PF8A0W_pg6_e-Cn8K5hysQ3W_j_Mhmk7QGw64oIRCgU01zNo_MQhf12F1RYAuCJ-hcTkuIV0-_jzHuNr9izbJ_lv-YNJDXnc0Nh9vhPiR2iH7M1KP0uj16c7phdLdpYCVUPtxmTO9Lvl7jevpbFX-gnEQPkwHnP07LycZZEhRKtyC9aCNyE9HnOfRVjawPvAthLDDjS91-DzIOpQgc34t9XfgTCf3DDtxs2s_oMsmyJSZUTnDDi2qBlWLsNa560q3LMyeG6O3vr-gOAt0iwey4CYQ_ougMCLDDsINqjUverpq3w4oykSjawBwTXXUszM3QUcJwp_Ia05q7GheMsDCWplLmva5-6xeoPcQDzPttGxARp8IGA1OqpnRhZYAOQ-iHuOJHJMK0h33aLPygqI7K0e6_ZysTgWyFySPPP0gmWU7x3255s7Iu9s3745qwUOFKFUtd7GHtX_Tae1F8s0upMiElRMlcnJx3-0IaN_pkt70hgR6bIMcnEedvC5B2-J6qVaYPvYLrcOx5ttySg7C3z9dCt--Bmar9cObtdPKzDhFmEu9vGC6Gl2XaIMY-RuS3m6tkMVTvQewOj_HSEwcuJ5LqUoE6QtqqfWtKIJFUoFIoTvKfzRw99vUFbXctrLCDuQJTjI4PFCOi0pSdYmFCvmbNOzuAKjrUdcsZBZL77_Lh9fUANSPwNl87quvEkAUS8TzC9NVLp8L95jL1V6Tfy2Yv-mb9SI0TOM2D-XPzr0aYKS-vzG9UcXBkvUWJJMWSELI-fiOrSR88goIj64eCRtUjnIzO2yA9uaGAq1D-Q3ScLef5sVCdBbABgeqTPlvksk4Y6O1Wy5YMSXorFzd3zqdHemX20kMZ6gx9WkL-ijE772oCF6t8bBR-7d52Vbs26LTVxUMI5PUSVHuzCex6o1_o-Rc8F4ajs17eHB7wRcH7cP2niJqTEjFZmvVbCf8rP88PQi-Ebjkwyqqj1teIP-dM5FTfE9st4p-b4WtbQobYQEVbdMGvxj_71zqGMT5UOdM9YNFB0NJHpLLMOY3BYMsNXuubO4cvuYDHfIzmYdvfR5_hWbrofYCmHHkqeCGjQ-Gl1bO9qtqk7ajHARJjPCdHX2IZTTKMn4HbaMF-5D_8vEnW-LMtRJ3IGNiCNYcUADrgI7tJo_V6l8jGjtLgx5na8Ez0EyrOUs2oMZ5JFPseFiHLI5dqU2PFKM6GF-w9ypP2BKhemGV2lKvMiiZ1JDo-VzOwC8BZkO4HrUuFdwCdrd-4DfW5vlvTNC8fX6QXBZP6-qb-DcgiP5aGrf8yxRb0BtUAWamlSZpdlUEw4GLYUwuYIYlK3jLIv9t08vKfn6XCEMoJx7UaXj_rwUodHeiWO1GOvEU-qFUOygkzBd-IlmbWiD3ukT8Nk2v_OA8g__Nluk4YxVO2_pRknQteKMiJq-u6nGMJ6o1tsjC4NhYJF7Pbf4I3j8ig_ynDEPKjpfEPVWiE_O-OKcypKwfZJaPfJGiZO8xtzBWDEXPrkJos-X2bPeKiUW77o_4StJVwOo0CQO12G794gVI3KNi26W-OgSHWDGCEi9ayG3MM7NxAzCF_zIzHsfFuIii9atAwGScLlgtqU1taIELsMk0LlcMPXqEMI73iR6JNo9Xo8PgiokYvEsEakiRWeAvJAyi9mHtwCCghDzm5rilXpzEfnoT8EYyE6mhOXAoyXbVQW_9HC8z1EVHh-W77oamVekMYm_pSsz43ttUJSoc8a4-qtVzIT0s5qwNtO1IF0JQXRxPqMybqbgnq2GQzHIsDMizdDxKzfNddOn-JnPzIcienAKlOrGzp7GRT4s6Wi4_TLnhGIEGQ_EG_Roh5Gx1QN1e2V6nLTWV9_cL8xiGu-knUww0Lg7jgqmFcFPVIJQplX9VSjDGWo-4BAi9pd3o3zuBPVv6pJjcbkoOPoTZ-lVHSNfPRuCbJcgaD_J5eo_-sf57fWK_Ediu5VJ83Hw1OFFF_ypdRTpP5w0UPi0pfW_QqMUyS24Yz7g9W2vsGls1ER19m5PtkIIH8T5KUKfYR1NF8Wu28fuRpPzcS9qmpI37eJHHs39SJqrJTBXQ_7AeYwdaJI1EhAICbRhLBI8WXSDQIWqQj9RsoTE1xEUusHlutVXlJp826bmpOdy80RSCcJ9FLgrXseZ69xd9yQzRJ3A2JSmL7WvgCHMXenxvB9SljNxwWSBVg-uDGMHEs_O9sNEM-XoPMC2F_bHH2PO1RvY-3f-frhBS6u1u72mLqXwR5brlFFrz8dlM4t5YEtjEkcJPO1a9_InT2ogli4ZYzOwabc3x16I1La_bPLXGoLpZnhE5CHyGwarVJJZ-VEL09lA3fW-AAPE65MVFM6xcDsoEDWkkWQhgFq5NKaSW0xngEUWCFtLisvvhwpctTjzGZhrXUF75oVmVHxATGLJzdeCrTYgCxshR51fGMBGG1hwDjJgSIXMOPBH96oGczxdo4dzCTPCyaW5ynqV5F8ghtZXpjdqe45vyYCpy-tF-JeCV01ZD_dhsdhglUZ1gUf5bj0s8W3HiqneaTjUs60oUPFXJKbpJW-n7mCqooVWpTvqsAp7buj0QlxqoW8upu3n3H1ybiFsEmBWZ2qNzdbE0CLvgK1Bc6gushGI-azOULUwbyWSVFhk2pHQsmTuoE4SGCFa_tT9XTgUwESlRkaDy5QeiGz12gfHOMOmcfY4iEoN25nNr8Sn9lLh4aW1lys-RrdhnHOq0ArqKJsRuspqf1l38GRR7ZJ1JHlDpnBBXpE6KZDTPq97mDc8K1uxUi-1xBWFYT_p1ky1jmuU7DjPfMWrxKL-dLs6uUkmE-I1VoOHICYY-KL5ZQW8dFLKG9qCEQ7iXWiRK5pB2idG9mHB2aVC0bzqnp8brho2icKJR2g9chkAUUjlXyI7sCMjbiOHEkzGMu3_Wv3DxNO9Wjt9EBd-jIodj9hTgZDOGK1oTSBxhvn-V4mNp9r24TO-R3fxPVR5wt-dg==",
  "id": "rs_0894cbd571722803016ab41fd588d487d0a133bb2929e8dded",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.035,\"left_z\":0.028},\"note\":\"The leftmost cap is still well left of the wrist’s jaw column; its bottle runs diagonally across the view. I’m moving the left gripper toward the outer edge and down to bottle height to center the cap or shoulder between the jaws.\"}",
  "call_id": "call_Pj7faiMEgEF1JYBcGKq4YoNn",
  "id": "fc_0894cbd571722803016ab41fd9ce0487d08f5c921a09a8fbcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pj7faiMEgEF1JYBcGKq4YoNn",
  "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]: [0.0734, 1.7592, 0.5671, 0.6815, 0.0193, -0.0242, 0.9983, -0.1974, 0.7708, 0.4988, -0.3584, -0.292, -0.215, 0.9955]\nstate[eef_state]: left_x=0.43 left_y=0.0318 left_z=0.0455 left_yaw=0.0717 left_pitch=0.0508 left_roll=-0.0325 left_gripper=0.9983 right_x=0.2814 right_y=-0.0008 right_z=0.147 right_yaw=0.1549 right_pitch=-0.0286 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [0.2667, -5.2034, 3.8222, 1.4725, -0.1197, 0.486, -0.0122, -0.2393, -1.6615, 7.1179, 1.8828, -0.1685, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d3e7ed372fc63e67b3ffff756743541f9c7c444ee516897cd8e5cbadcb9e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae0dae117955c6bc7830807cfb9e3b883de8a64f1e9339aa9b94dcab790477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8426f822ae91fd39655919fcd55dfc3cb3f17acbcbbb8296013e1bc4549ee159",
      "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 · 2.734 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6136, -0.3832, -0.0154, -0.0074, 0.9983, 0.7956, 1.4963, 0.9138, -0.186, 0.4934, 0.3416, 0.9957]\nstate[eef_state]: left_x=0.2958 left_y=0.0007 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0065 left_roll=0.0002 left_gripper=0.9983 right_x=0.3374 right_y=0.2299 right_z=0.1339 right_yaw=0.1927 right_pitch=-0.0887 right_roll=-0.0566 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.2239, 6.612, 1.8095, -0.0317, -0.0366, -0.0122, -0.9094, -8.8274, 9.9897, 1.7851, 0.2466, 0.0317, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3008, 1.7065, 0.6552, 0.4339, -0.2771, -0.1993, 0.9983, -0.1967, 0.7906, 0.5373, -0.387, -0.289, -0.2146, 0.9955]\nstate[eef_state]: left_x=0.4215 left_y=-0.0764 left_z=0.0519 left_yaw=0.0405 left_pitch=-0.029 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2838 right_y=-0.0016 right_z=0.1535 right_yaw=0.1531 right_pitch=-0.0386 right_roll=0.0091 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -6.2974, 5.9966, 1.6825, -0.1001, 0.4518, -0.0122, -0.1299, -1.6479, 6.9538, 2.0977, -0.0317, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0734, 1.7592, 0.5671, 0.6815, 0.0193, -0.0242, 0.9983, -0.1974, 0.7708, 0.4988, -0.3584, -0.292, -0.215, 0.9955]\nstate[eef_state]: left_x=0.43 left_y=0.0318 left_z=0.0455 left_yaw=0.0717 left_pitch=0.0508 left_roll=-0.0325 left_gripper=0.9983 right_x=0.2814 right_y=-0.0008 right_z=0.147 right_yaw=0.1549 right_pitch=-0.0286 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [0.2667, -5.2034, 3.8222, 1.4725, -0.1197, 0.486, -0.0122, -0.2393, -1.6615, 7.1179, 1.8828, -0.1685, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d3e7ed372fc63e67b3ffff756743541f9c7c444ee516897cd8e5cbadcb9e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ae0dae117955c6bc7830807cfb9e3b883de8a64f1e9339aa9b94dcab790477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8426f822ae91fd39655919fcd55dfc3cb3f17acbcbbb8296013e1bc4549ee159",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB_gYfK-2R5MyMQbvaYqJNgoXoxOOw4UJevV_9QP7E3ssCb1PNuvshTjpKp85ktHJDTZsb0iMEnm3QUvWqgLiN9cra_eQrAxaaPZrAlOmlC-soiDhzMw6JAoFA5Zrowh8siIZ5Anao-bZ8tqVa2DhBVhWcZ7KmauGQZ94S0V8fjhzh2RUgx5UUQOVWKAwP7A7EkT3laoOT7bSz4I5b2EKBpKJUW8aXyEIlN-dmY2bIU2dWBPxoIS5jYKv685XyiwgDFqgh_iJghT2E-Y4E3v31sDYpPQevkPFsvfDmn_cfmXGzmKQUI9NaKDFpAjumCEVHb1OCOtZfPh_8ZW8woO6nid8rgNQQjOH1XftkY2rp1VJUVyAiG9K1IG8B2fPt3TDK-Cm7v9BX7ap_cageEvGM7Lo-DKleqlQWcxjjcDZW8PKoxNOfjT3ahGtzAz-s5w4bvk592De5s4fAf8tCMBStomcucfB9E6Gs6MkyQOS4H7F3tKK0s03HmxDGwzYeGC4C2g17VyvlbH8sgTUS_Qpbp-goIAWqFShAAWBe0m1qxoziQbDmwInpiZergMyari5rCoSleewsieQctQ4_2tEwGESMRmILuL4Qad1fQvG1FxlNdPtrBzBRGRzszYZgS7mmL7PSYPsiJAOCgS1_Z8hqzHpxsB0D_RLdtCcWS5zJSGL2r8GG8pzcR2DgvP7Fo6KUViBEwbbt52-hFXRzKNPz2bjVXhOHGyN3TJOMhxweUCtHoqp6LqvOzkhVWiYMsARNufC0Nz3erND7kpEruXOcPBLJbETmszqYlNXX1IFT1qIGItOiG--2m2psw1c9bI_w9bExf3IafCqM5fbHrmmgqxANiprAgDk4a9WnK066Dgmgk35EROcoLAkCTHbZzgBmnrDamWG-VHHRS6BOtHKWkoU99d7e4b0KerTO6zSpCMr5Hdrnf5GKt-WEtSyGzxAtlc-6miw2GsMBvqz3rN8IX82M0g3fYJtlt-fFEabQInYQ9ua-xYwr73AwiU8D5lf54uzcZpVMgAnV6leCx94040YuhPgmiv-UuHJWE5qAUT_a-asvz3dACHzdBD7cggyf4E0IiwPEZC6OmGX3ExQPzpZt34vQ2XgoyLf7NHTTs3Q9YQB80uvIYDGEQfIbvDjtjy3miKVS_5WbP_C5Mnq1BsVskRev9guVoeGxaOA8h_fN8-nYNnZWCu34wdVGVj3EhfYcuirWnyfhuqiDnP5XEc2dsUX-flcfEuwf9ybmOUwflbrItFGmVtfyXGB8VLuAf6mYSk51JNj3IJPbdfxaXpvro4R2iiQwSeaFN12xsRFiqiPcJjMuUYD8JzOwHovX-lCMWhXuF4TtA_0lnqV6GL4V8VgPDD3bVsVHQvJmv6vXfjJBOca2iNvr0ULowHeCptEqdZ42ugK5lNL8n4UUwT1ceUzuBLQsod299YVjeHr0Act31OabY_p3nHTTRrwk-hqVnmArBLSj2ZEh7JOth1BIiyL4UcgMxFAHc8was3IatOHeuLhObZZpOOrTkMTb6bdXASW7hSFeyo8-w2cw2r6pCfS_fmQihLQWGsCrCas9c3jidgtSq36u-1LvqIfV1S1GYUnJpE7hPNUTugnUfuZr2wZvFZ-YTc1d5iKGdZ7tO7vWSdDiDNWk6oCwUEss_4mW2MLe_WjDzYLwsXt-pW3PMYR1ZmZEBe07snvy42KxLVemiZ1agvKCiwTomGLMhECOZqgOgMw4a_xAqCB21MpqT9qtVzFf9mN6_HENETf4H-7QW3cFKx1_GRy1vjViytKqD1S6xLbTjBjKiyIHZI63RiQlTQF8DVm6m9uChF_19rjp5jHroNgLZ2pve8WJpuuAoUpTATv6Om-TUinO3QnccLgWA4AWyUF-HV6a-psomRtKcGE2gPpW3WuLw5J5mvujMb9hu2SF8RCBYLwOMn2HF3ZANo4fJNzFUtTclUAi9XcpY4pxlBlGt0wqDNQSPOcCypUw32G3pkqE6yvWUlJG_RME-h9xosijx1YnCAny_ICjarllAkOYHJdz_gs2svrvvV1IFbD7yGSShbqcVb6luJqIm5u1sqLeqCFG6wePL4x6H2jhb5JKujXggtCZKp6MI41vLj1yg3W4Lqw5S8SPg2xjXbLtb3-fCffWz-4MWhuPF0x2tVI0MKDlM7jsqU55arGbuJnzw-dvEeaG03I2lsKzidTOx-qlsODqWXB9EFeWtb59p6-dOwFwu7lHk6AwN38wXflMFkbBG0NeWFeOPOEba5diC6tt3jCcpCwI39N0PL6iD-mrsHkV9-OaxPtNSSfSXGN7sd5OBdl83GI2Lg04bX0AhF7ls_hu27bw0Dco_Ml1dlVWXMvU7qWqWXsREzgtpEIlTueeYW86UtfA4nW-bcywEkesfsvYUnvT5U6vxVbMlzTRhb7YZtFn0w1GHRl4LXlfB3MOOXoJ__7uN9iZgGilhF5LxXrRqGfRQUBn1ouw7B8mwXtXBCvBUVgExiITeteutM9mpsTyfxhSNo98hHJPu9giGaf2JWtl00VVNWu9RXFWi4Uep-04EEKJxVG92uGMcgAl4rVhxeGdqdB3b60sg2qzR7VGBTtNit3S3jvng3d-3N69Qj20XAU9xfdb8oSRaZQYpolhSnCLKZ3Bse-1XYrkvVzu6HpS8miKDGYqU8nORvR32NXBfJ",
  "id": "rs_0894cbd571722803016ab41fdccac487d09a5466b0ad1a4dc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.02},\"note\":\"The leftmost bottle is now centered laterally, but its cap remains ahead of the fingertips and the arm could not quite descend at the farther pose. I’m backing over its shoulder and lowering to get a secure grip on the body before lifting its cap end.\"}",
  "call_id": "call_FhYfMrR9wctIO6jA08c4H6dw",
  "id": "fc_0894cbd571722803016ab41fdf9b2487d0b4b5166521cfbe2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FhYfMrR9wctIO6jA08c4H6dw",
  "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]: [0.0727, 1.7084, 0.4423, 0.7849, 0.0113, -0.0074, 0.9983, -0.1974, 0.7589, 0.4717, -0.3428, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.4046 left_y=0.0311 left_z=0.0438 left_yaw=0.0688 left_pitch=0.0804 left_roll=-0.0138 left_gripper=0.9983 right_x=0.2792 right_y=-0.0003 right_z=0.141 right_yaw=0.1552 right_pitch=-0.0282 right_roll=0.0071 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -5.8325, 2.865, 1.0379, -0.1197, 0.0611, -0.0122, -0.294, -1.7846, 6.9265, 1.8681, -0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f610c2c3339aea6a6aecfe226a66370be472e3130eb63296cbb86aacd9876310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2245799f727ba46edc673b0ad3a9e338595f26307e15464d0741dadd96c012fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dd37d4440fd812db5898758c5d20926e4612936ba9b4145d58b0d779ca44b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.444 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5915, 1.5223, 0.7628, 0.0463, -0.477, -0.342, 0.9983, -0.1894, 0.8169, 0.5819, -0.408, -0.2638, -0.2024, 0.9955]\nstate[eef_state]: left_x=0.3776 left_y=-0.1516 left_z=0.1021 left_yaw=-0.0095 left_pitch=-0.0588 left_roll=0.0277 left_gripper=0.9983 right_x=0.2885 right_y=-0.0048 right_z=0.1617 right_yaw=0.133 right_pitch=-0.0461 right_roll=0.0057 right_gripper=0.9955\nstate[joint_eff]: [-0.5949, -6.4342, 9.1009, 1.6923, -0.3053, -0.0415, -0.0171, 0.0205, -2.0718, 10.359, 1.7216, -0.2808, 0.0073, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0734, 1.7592, 0.5671, 0.6815, 0.0193, -0.0242, 0.9983, -0.1974, 0.7708, 0.4988, -0.3584, -0.292, -0.215, 0.9955]\nstate[eef_state]: left_x=0.43 left_y=0.0318 left_z=0.0455 left_yaw=0.0717 left_pitch=0.0508 left_roll=-0.0325 left_gripper=0.9983 right_x=0.2814 right_y=-0.0008 right_z=0.147 right_yaw=0.1549 right_pitch=-0.0286 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [0.2667, -5.2034, 3.8222, 1.4725, -0.1197, 0.486, -0.0122, -0.2393, -1.6615, 7.1179, 1.8828, -0.1685, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0727, 1.7084, 0.4423, 0.7849, 0.0113, -0.0074, 0.9983, -0.1974, 0.7589, 0.4717, -0.3428, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.4046 left_y=0.0311 left_z=0.0438 left_yaw=0.0688 left_pitch=0.0804 left_roll=-0.0138 left_gripper=0.9983 right_x=0.2792 right_y=-0.0003 right_z=0.141 right_yaw=0.1552 right_pitch=-0.0282 right_roll=0.0071 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -5.8325, 2.865, 1.0379, -0.1197, 0.0611, -0.0122, -0.294, -1.7846, 6.9265, 1.8681, -0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f610c2c3339aea6a6aecfe226a66370be472e3130eb63296cbb86aacd9876310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2245799f727ba46edc673b0ad3a9e338595f26307e15464d0741dadd96c012fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dd37d4440fd812db5898758c5d20926e4612936ba9b4145d58b0d779ca44b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_j_GX2XfbDutbDynaHs1p5aAp1_SDAZWfDGvb9PMnsOyflRC_6L-6T1jj2N3EzWAupCpQBoAGJUrTq5W5gSlJO4Dz1Lmx6tyEODnpvRiQ7VF7eO22iCs0G4ymReiGb7sGoZK8j_RQVt11T8rQJ6AhUIH9yg4jt5Yr2HOxOc9NCM5eh3dAXRoSrzuc6c4j1Ubs4bKVt110EYdCUxf9nN3eXwoVotANA_xT3HZfLoQ0MvCtnqIhpp3yQUntTIQJQFgcSBy_g5ZPmFopEtfvfRA_g-4pvliu8sAy-vvq5adYPhlLoM_04DsNPGD9iaCNYAcbU1sqT_JMccfF9VePim-07h4wrx4l2XcuDHtqmrnQ3uQBn2zdPLVvUqiHWRNzvcQffILUpkOFLnArZxNx-w4gitb8L8HHuSoUKxLBMxjyruLWoEePJfVOTY06SpQSb9EX_HRU95cBXeHixTQzrH0TntHt7QrdDeoluL9TwFTMyIDPH43NL_JFvxoYjAsF8dfiz-woXEGlOwMMoO520b5sw8_3tRRgHnLrUTNCFRGOQZKxRv_ADp_fhC0HzA3Qx8LLXyMFvD1vdzpYOtnsSvqjYT3Ein3wgyq3N1QWhm4RduTZvmHXyvdmdsaxAV3v7fTWVfP9yFFkYarLAXRzlnsnheEoPyXkB_MFsqdpLBOKzWzGFypayHD8ANqfY7lb-9f6MhleZhTbRG__4t6QM8XtlgOAgJeD7L4TPJi3olnChSs2L91Ca6JoQP4PFPrE9CTiJjzgKfNBY6x6FvWUPYeEprP1eDbmedH1pnWgPhXl4Pvh5Ag9xKnwLO6Py50h4h-rbHQAZcfJNPd6wKldHRZ-YFxEjGt4R8LmoGNcO2Uc5ltonGTr42Kgm1Otx-jZGuISz9X1Oqc-SDfs1Qn-lZ2TV_ddRWt-IBwAHQ1IR52jqlmEyVB7yL89Jqq_pGZZAojbnC6QcV7qDU_oaTYZdmZWzxVQfyO-WM1NyULbRIezdqN2dAfCw7bPjVX_ZlUjPviEGAlkQllRxCiJsGcBpMO7eXTiYeIuuXYGuEyzLFmicxKw-IcNOYn0JM3w1S8tgKm9UFtqrmKVukwGYu1iC53zi1o4YZZ3NLmlthTqwpdEsb3vc_hTLwtV-RemzlQgSQwxPY9btB8tp660-dXVqNYnPi4OQfXJrMeSPY5s5LHdQ3NS-YoDeoMefVuPm8yVYW1oC9eP_8-MpbSJ2v7fDLiY4fwB9UZTP_pK0mVUYILe2gdH8umqur9Tp0tx9zOVi8aJBav4Bv4_WdVPkF6_95EF_9hCEyoxXN4Lnbq6srrmCYDGICODf4oqon2sb-UoeXyXzgDTG8efAxNS5YY4pol6Zrby4yVeD7lr85vGbLnBEkYExhCyvKwfx3GRhb8YfSI59qGrrjdB29jYkZeB-whi2ABuRXy89gR3DaAL3QolG1AVeKxVmdf7vND0W30DDUPBRXxZQ21xaHkGxel9br85e8A12zJQNE9SASpU05fUIjCh6PqfP7sBK4F90Pb3nLRtw",
  "id": "rs_0894cbd571722803016ab41fe20a4887d090b97ff8ed466c60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.015},\"note\":\"The left fingers are over the bottle body, but their actual height remains about 4 cm, higher than the low target. I’m coming a little farther back to a reachable low pose before closing.\"}",
  "call_id": "call_lg71ZGJIogefuiKHlu5fzO7b",
  "id": "fc_0894cbd571722803016ab41fe2ffec87d0a57a9fc5da0c314e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lg71ZGJIogefuiKHlu5fzO7b",
  "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]: [0.0723, 1.7069, 0.4194, 0.815, 0.0113, -0.0101, 0.9983, -0.1974, 0.7475, 0.4458, -0.3325, -0.2924, -0.2153, 0.9955]\nstate[eef_state]: left_x=0.4006 left_y=0.0306 left_z=0.043 left_yaw=0.0698 left_pitch=0.0891 left_roll=-0.0161 left_gripper=0.9983 right_x=0.2764 right_y=0.0003 right_z=0.1344 right_yaw=0.1555 right_pitch=-0.0321 right_roll=0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -5.8325, 2.7009, 1.2772, -0.1587, 0.1001, -0.0122, -0.3897, -1.7299, 6.8034, 1.9707, -0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca4474af49b5dd8174da702ae7e139197b98e479c1e3a7c0436579dd31042b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dcfee495ce609610ff6fe84a561f471ada9a556fc2ba21e44804a0acbc699d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488ad70c65ccc6978a5a7737721919eda24eec382b74e7f5f9edafbf443cd23b",
      "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 14 attempt 0 · /responses · status 200 · 3.525 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3008, 1.7065, 0.6552, 0.4339, -0.2771, -0.1993, 0.9983, -0.1967, 0.7906, 0.5373, -0.387, -0.289, -0.2146, 0.9955]\nstate[eef_state]: left_x=0.4215 left_y=-0.0764 left_z=0.0519 left_yaw=0.0405 left_pitch=-0.029 left_roll=-0.0079 left_gripper=0.9983 right_x=0.2838 right_y=-0.0016 right_z=0.1535 right_yaw=0.1531 right_pitch=-0.0386 right_roll=0.0091 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -6.2974, 5.9966, 1.6825, -0.1001, 0.4518, -0.0122, -0.1299, -1.6479, 6.9538, 2.0977, -0.0317, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0727, 1.7084, 0.4423, 0.7849, 0.0113, -0.0074, 0.9983, -0.1974, 0.7589, 0.4717, -0.3428, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.4046 left_y=0.0311 left_z=0.0438 left_yaw=0.0688 left_pitch=0.0804 left_roll=-0.0138 left_gripper=0.9983 right_x=0.2792 right_y=-0.0003 right_z=0.141 right_yaw=0.1552 right_pitch=-0.0282 right_roll=0.0071 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -5.8325, 2.865, 1.0379, -0.1197, 0.0611, -0.0122, -0.294, -1.7846, 6.9265, 1.8681, -0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0723, 1.7069, 0.4194, 0.815, 0.0113, -0.0101, 0.9983, -0.1974, 0.7475, 0.4458, -0.3325, -0.2924, -0.2153, 0.9955]\nstate[eef_state]: left_x=0.4006 left_y=0.0306 left_z=0.043 left_yaw=0.0698 left_pitch=0.0891 left_roll=-0.0161 left_gripper=0.9983 right_x=0.2764 right_y=0.0003 right_z=0.1344 right_yaw=0.1555 right_pitch=-0.0321 right_roll=0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -5.8325, 2.7009, 1.2772, -0.1587, 0.1001, -0.0122, -0.3897, -1.7299, 6.8034, 1.9707, -0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca4474af49b5dd8174da702ae7e139197b98e479c1e3a7c0436579dd31042b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19dcfee495ce609610ff6fe84a561f471ada9a556fc2ba21e44804a0acbc699d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488ad70c65ccc6978a5a7737721919eda24eec382b74e7f5f9edafbf443cd23b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_nmJk_SAtGwH-BI8Jkx75ORSqHP2uC7eIhxG0eJdGowEIYDRlw1NRomp6h0hrW0jSWy7UJLLDPGBZ2gb2SQ5Vf2tcxo_K0yMRZrk72bgC3cMHZXpkPYrvA5jP5hmo02WLxKo-DXFi2AH_5APIk9RPWu0Or5uVos7BAJ2xaO0yoFQIXLz00eDyA8Il4LAW0eN7OXhHg1LNrV74mGuYZoEyGzZZY3-ZMdARoWFG83VRnYkFlXLYccOgpInPmM3OErRu-wNyBtzpy8pJc_N3w24L1uPJeXQlLd7F_zQyk9gs8au8oBtLG9zCNipCngAD0Hs2TZNWLL1-DYARkzNVncYt_ZKrrbUI-dTLl69Lp4HCWzG5YoQKu0Y5chyMj2qgeQY_vjUCid-TApqoYw1gG0ioM5VtAuT0Yzl-TxDQWJzDHc0saeTq3c-sXt9B0COKpdSAGQwyBC4Rp2Rvyg1bTyXUPqIlf422MYdvu2uoBIf-b-pyD9rGDwRcfri87m2YJU49zC4tF5NFBsMjZ-qGyqUn6WJtywTw2HU5NMwXAtP-abj_FrOPLtKetCuMJWyq2HwreNxtAXHSAa-X8A27OIYZIYsw3ImDenYR9Z-ijLNm_Co2UFfvqqY5jr7M28E_E51Jo1KnfR0AoHv6CndtMXT-DZdv-fa-wkYCM4wEhX3X9QAJvDuIKYqVdF8HFqLvLICJlVMKITEiUf_DWOwk8Fq29Jl01KBfEgNSCJFHq0x4nE6h8nX6yyX3vNmGdzwsyGCG7IlhkoGUU19EN2pTEWN7xSCJaTVj1bmU130eca-Yx3y3jm9iKXKvOZ9EOJ0z5xvXRf5BDn9doUJDT6L3HafIzPLsed2Fr36j0uOQChFs5JzaRFoDo1YrKtXWU-c0jDHAfuch6imRdYY8VwAkhEIiV0-JnwUrEVpMWmBJfRQdKzHmQftTPU7O6wjJapD17x42xf0oeZym2xbezKQKuwAO01SvyDeWQ7gZ0iRHKtYvX1-Yl9I7tUIoyeCmvrmO2bw-vNkO6YPW1jauQqqri2P7UOICxW7vXH77VUStYuDyN96p_N_94Mo73Q4RFu_iTUXLMLkC8Ba4Bka1nNxvbpjcRFqMkdnYNf-ktaI6L8rhPaKWyQIYM9g7vLDJU0aeqeNWJiAv_3IHfYQ47HbnREi-SiJhdlpuikOEgNrizLlhwL87t8EX4wWEj8EdPtrOHRarUww3ywHMaRyXcBOf2bZqLXkVO0xD8vfCa3K8OtQJKAWrO01lET2T6DFCETGYxAMHMPsf7EZnLnbz-nJcLsAEgZfWqeyObxud99qwAnFQCNd4HoJYEoKJyTvVLLMwYrPvpiFdaFkYOvUjzJBJMa1Xsjw34IlABwC-ZTNJEGoqfBst77BPYyX8TJdU1FJVyQphODDlkLqtOtvNLwTeQLmhXec9S8QSFcIP2z5JfDHAIDHRB-7Han-wPzFNgzJkPqY05RQFkpM6tKat8LuYAlXA6RomG3jROd3LWwAsvkpL2DW3RfYSKyL_UWo3URu75mmL1tTtvBKR44s8HMKmpRU3frg_PVtl7fjR58IWXgGR8SzOF2wjRe0ZrREet4BBnoVlX-1sDDPLyPhbnxYCGvdYhNsBhSi9GZ7SCFZQLYK5aU_6W4Ynbl9IHBMZ2MbSpzstbWtJjvRF5SSHXtqwHLjE5aA==",
  "id": "rs_0894cbd571722803016ab41fe5bfdc87d0a7026c837d46de2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left wrist view shows the bottle body between the jaws; the arm’s low motion has stopped, likely on the bottle or tabletop. I’m closing now to check for a real hold rather than forcing the arm lower.\"}",
  "call_id": "call_v2xYL9wL6Ilg4DysKIXVawBU",
  "id": "fc_0894cbd571722803016ab41fe6b6a487d08f37cf5a92b5ed29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v2xYL9wL6Ilg4DysKIXVawBU",
  "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]: [0.0708, 1.6703, 0.4641, 0.6376, -0.0048, -0.0013, 0.5257, -0.1974, 0.7319, 0.4141, -0.3199, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3964 left_y=0.0325 left_z=0.0345 left_yaw=0.0772 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.5257 right_x=0.2729 right_y=0.001 right_z=0.1266 right_yaw=0.1553 right_pitch=-0.0354 right_roll=0.0097 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -7.9111, 7.0359, 1.5067, -0.0513, -0.0317, 1.0281, -0.253, -1.5385, 6.9812, 1.9072, -0.1978, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3f6dad1c09970dfe452c01e532d6d349668cc669ab089a323c0c2cd3577b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76aa446995cff795d125f797e6d465ce451fbeb6a98a3d50c8c6f9cb0c3c5558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8819231bbbc9704d370559ea6a4c7f3c15afbe4cea68ae7fb5f634122ed18ad6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.503 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0734, 1.7592, 0.5671, 0.6815, 0.0193, -0.0242, 0.9983, -0.1974, 0.7708, 0.4988, -0.3584, -0.292, -0.215, 0.9955]\nstate[eef_state]: left_x=0.43 left_y=0.0318 left_z=0.0455 left_yaw=0.0717 left_pitch=0.0508 left_roll=-0.0325 left_gripper=0.9983 right_x=0.2814 right_y=-0.0008 right_z=0.147 right_yaw=0.1549 right_pitch=-0.0286 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [0.2667, -5.2034, 3.8222, 1.4725, -0.1197, 0.486, -0.0122, -0.2393, -1.6615, 7.1179, 1.8828, -0.1685, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0723, 1.7069, 0.4194, 0.815, 0.0113, -0.0101, 0.9983, -0.1974, 0.7475, 0.4458, -0.3325, -0.2924, -0.2153, 0.9955]\nstate[eef_state]: left_x=0.4006 left_y=0.0306 left_z=0.043 left_yaw=0.0698 left_pitch=0.0891 left_roll=-0.0161 left_gripper=0.9983 right_x=0.2764 right_y=0.0003 right_z=0.1344 right_yaw=0.1555 right_pitch=-0.0321 right_roll=0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -5.8325, 2.7009, 1.2772, -0.1587, 0.1001, -0.0122, -0.3897, -1.7299, 6.8034, 1.9707, -0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0708, 1.6703, 0.4641, 0.6376, -0.0048, -0.0013, 0.5257, -0.1974, 0.7319, 0.4141, -0.3199, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3964 left_y=0.0325 left_z=0.0345 left_yaw=0.0772 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.5257 right_x=0.2729 right_y=0.001 right_z=0.1266 right_yaw=0.1553 right_pitch=-0.0354 right_roll=0.0097 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -7.9111, 7.0359, 1.5067, -0.0513, -0.0317, 1.0281, -0.253, -1.5385, 6.9812, 1.9072, -0.1978, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3f6dad1c09970dfe452c01e532d6d349668cc669ab089a323c0c2cd3577b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76aa446995cff795d125f797e6d465ce451fbeb6a98a3d50c8c6f9cb0c3c5558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8819231bbbc9704d370559ea6a4c7f3c15afbe4cea68ae7fb5f634122ed18ad6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_rzM8kO4JhsMjHrq03imZoX9ebzr32GQmWPiaheMxxVI_weSU_Ie0HwjJ2NUOBk2varLYkz0DlaSwLxZvGG9mtk46bNx64CEf0FenwxFWMnLn3uuvAJ63ww64gaAaxibeCmEq7pYqC_DgzdNzdKxPtTYYfCsO7bkLzn8VhCPI6c8sEAS_puAh8AykWmuIxIUoRKE3N441uY12jE0fFu-7FOLELXXOQc-ZpyswXn94adJdsQIEMy7pIPp5uYIYSjAXmQ0P6-Pz4KaR1kzdnvpk6RIIdJ8cSvx5NFl161K5riApQDko_znQRuizbn8qTeD08IXT5rioHsUENF0LklgbJnQRjKg2X2m6rQQ4Dfzo0BI3qdOv-CKcbWqmqPGEcBHAAPxZSxnYWE-GrGzOF8Xx1UfOt2dqMm9dLiv2_GRNWjYVcZjxjhvh2TJK9H7XVAABiwzPNgj7_fWGo5SkzZeqoRdWU9SHYb9BXs-PsGNfyPuM8RfU7BpaJTOoTCLnYNS4AB3C0yWx67gDF9jVV3n0oG5BvNymGZUEePF7T6WOJwbVq0LIFmUkZfFfH0P4TY2eD9lFt9jPcU9WX20wQZkQwVa0OmuBHobQOPWcOTnclHctJFnfn1yG5Hu03k-chQzjGCPh8vct45AAXXyLMXHWOWrCLkroun91dWMQdJ8kw3ydzf4w2n9guKW7_va8exWN1Hj2RcI35fWSplvltv9IUs4ibIhKsSkeyQuDFAzKLf5UqeTHHlMt-yszWV99YxxeBb1bh7wYi9YK9ZGOyBr-9H59xyZ36zONaZD6XgXnRvH7nqHovC1NG83h0bFoZmlIvkXEcSxkhnxYzIIgZ6S-CRUat79IJVSPj2SWb5XPCHIxL2x1W7bOPJdZ5fmSKNIYU6sV0mepKm-wZ7LB2HYBBzwrPcrZAGL-XFoLd2-or2l4XskhYPHq5VP3XXXFFHtt-bp_PKUMFr6ubQsOrIRxYn-qqKY9pYXYqkwMBVqoUCRQjmIoBeN6Muf0xz3y6bXbjJ6mermBVrpRhwIfhDJGfZSi0cgVaDop2mZa3xIOnroNNCB1Ul7lMiid7eoKea3oxNvIw3qp203EDmmiVvKHFt7vOQKvqTn8hjCwir81iOriH9RShvkU8ZNJx8l0Dt3aBRl93cFcCIwl7eLtz2y1h8_Yc9--ulPWgrHDREa3ogaUmQJ6cV-A4KkjiLJ6znESjYLpd4LOR4qOdEmxX-ABXsCEVYLW968GN_dITqVn1k8MH90ch15bVJkMok6jhBO00PYOM-etf961zVVuUON7_Yl-apeHb_YLUloMKjnb9dCuPrs_tAUKHigBjyuoOoW07TpthmraqCOoPyFJmmsQbI93MOwCHFPYwn_Skn5XYhcKIgLfziGPpxytcqDsxV3omFfu0AI2bABexlpVjuEeghRNmot8CTOKF6OiRNreHjfjfRiSoAcLrzX_bZY1opmpaPHwMz_nm9l7Lcc3OCjXDEEWenv9akiZXGh3ibGZzY1aptPDA_IvoxJF017DGhQfRt9Irk4031btVIrY-zAPyEQ==",
  "id": "rs_0894cbd571722803016ab41fea61f487d08315ac05bdf4964d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.19},\"note\":\"The left gripper settled at roughly the bottle’s width, indicating it has caught the body. I’m lifting while coming slightly back to bring the bottle clear of the table and see whether its base drops beneath the grip.\"}",
  "call_id": "call_3nPWjJ9NF3LIiKerzuZiaZSO",
  "id": "fc_0894cbd571722803016ab41feafc5087d09afe97cb96cf6ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3nPWjJ9NF3LIiKerzuZiaZSO",
  "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]: [0.0738, 1.1603, 0.6811, -0.2474, -0.0071, -0.0013, 0.5287, -0.1974, 0.7113, 0.3801, -0.2977, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3429 left_y=0.0302 left_z=0.1306 left_yaw=0.0823 left_pitch=-0.1649 left_roll=0.0022 left_gripper=0.5287 right_x=0.2703 right_y=0.0015 right_z=0.1209 right_yaw=0.1552 right_pitch=-0.0271 right_roll=0.0067 right_gripper=0.9955\nstate[joint_eff]: [0.6222, -7.0359, 12.1915, 2.757, 0.1001, 0.0122, 0.7204, -0.4171, -1.1556, 7.0769, 1.8779, -0.1685, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5feedc2ff9cf18ae18263c672750febe2b25c0d63f2fbede0ec8dff1c09b16a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9892a0a6a0ab6a50a1b4e548aac429bd63a33d61c989fed530d810ca27a4da45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6574adab595699a562214c3132fceeac23376d000f8420216188d52edb484d71",
      "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 · 4.454 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0727, 1.7084, 0.4423, 0.7849, 0.0113, -0.0074, 0.9983, -0.1974, 0.7589, 0.4717, -0.3428, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.4046 left_y=0.0311 left_z=0.0438 left_yaw=0.0688 left_pitch=0.0804 left_roll=-0.0138 left_gripper=0.9983 right_x=0.2792 right_y=-0.0003 right_z=0.141 right_yaw=0.1552 right_pitch=-0.0282 right_roll=0.0071 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -5.8325, 2.865, 1.0379, -0.1197, 0.0611, -0.0122, -0.294, -1.7846, 6.9265, 1.8681, -0.188, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0708, 1.6703, 0.4641, 0.6376, -0.0048, -0.0013, 0.5257, -0.1974, 0.7319, 0.4141, -0.3199, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3964 left_y=0.0325 left_z=0.0345 left_yaw=0.0772 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.5257 right_x=0.2729 right_y=0.001 right_z=0.1266 right_yaw=0.1553 right_pitch=-0.0354 right_roll=0.0097 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -7.9111, 7.0359, 1.5067, -0.0513, -0.0317, 1.0281, -0.253, -1.5385, 6.9812, 1.9072, -0.1978, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.1603, 0.6811, -0.2474, -0.0071, -0.0013, 0.5287, -0.1974, 0.7113, 0.3801, -0.2977, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3429 left_y=0.0302 left_z=0.1306 left_yaw=0.0823 left_pitch=-0.1649 left_roll=0.0022 left_gripper=0.5287 right_x=0.2703 right_y=0.0015 right_z=0.1209 right_yaw=0.1552 right_pitch=-0.0271 right_roll=0.0067 right_gripper=0.9955\nstate[joint_eff]: [0.6222, -7.0359, 12.1915, 2.757, 0.1001, 0.0122, 0.7204, -0.4171, -1.1556, 7.0769, 1.8779, -0.1685, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5feedc2ff9cf18ae18263c672750febe2b25c0d63f2fbede0ec8dff1c09b16a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9892a0a6a0ab6a50a1b4e548aac429bd63a33d61c989fed530d810ca27a4da45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6574adab595699a562214c3132fceeac23376d000f8420216188d52edb484d71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0894cbd571722803016ab41fee3f2887d08cb84df136055c61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.36,\"right_y\":0.22,\"right_z\":0.11},\"note\":\"The left wrist still sees the entire bottle ahead of its fingertips after the lift, so that grip did not lift it. I’m releasing and parking the left hand, then approaching the rightmost bottle, which has been pulled closer to the right arm’s reachable area.\"}",
  "call_id": "call_mj7imHZysZtjfovZ7wHxrU9m",
  "id": "fc_0894cbd571722803016ab41ff291b487d08cd8208a696302c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mj7imHZysZtjfovZ7wHxrU9m",
  "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]: [-0.1059, 0.7837, 0.5579, -0.3744, -0.1471, -0.0902, 0.998, 0.728, 1.5433, 0.746, 0.0784, 0.4408, 0.2882, 0.9955]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1639 left_yaw=0.0683 left_pitch=-0.0312 left_roll=0.0063 left_gripper=0.998 right_x=0.3463 right_y=0.2125 right_z=0.0913 right_yaw=0.1973 right_pitch=-0.0674 right_roll=-0.0424 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.853, 10.0855, 1.7705, -0.1538, -0.1734, -0.1783, 0.0342, -6.4615, 8.4308, 1.956, 0.3492, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6623a4fa07e266670b05aa0bdb2f3c2fc2a23a6d10c9e7e3cc90cf20e23e768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1172940b11cb028a5c1a44fbc74eb162a1089aa27902c0f9d77cc44f8d04a6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cc52c563943d86fbbadab9546262d4ec79a91325c65f9131547e6e82d91f3d",
      "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 17 attempt 0 · /responses · status 200 · 2.789 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0723, 1.7069, 0.4194, 0.815, 0.0113, -0.0101, 0.9983, -0.1974, 0.7475, 0.4458, -0.3325, -0.2924, -0.2153, 0.9955]\nstate[eef_state]: left_x=0.4006 left_y=0.0306 left_z=0.043 left_yaw=0.0698 left_pitch=0.0891 left_roll=-0.0161 left_gripper=0.9983 right_x=0.2764 right_y=0.0003 right_z=0.1344 right_yaw=0.1555 right_pitch=-0.0321 right_roll=0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -5.8325, 2.7009, 1.2772, -0.1587, 0.1001, -0.0122, -0.3897, -1.7299, 6.8034, 1.9707, -0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.1603, 0.6811, -0.2474, -0.0071, -0.0013, 0.5287, -0.1974, 0.7113, 0.3801, -0.2977, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3429 left_y=0.0302 left_z=0.1306 left_yaw=0.0823 left_pitch=-0.1649 left_roll=0.0022 left_gripper=0.5287 right_x=0.2703 right_y=0.0015 right_z=0.1209 right_yaw=0.1552 right_pitch=-0.0271 right_roll=0.0067 right_gripper=0.9955\nstate[joint_eff]: [0.6222, -7.0359, 12.1915, 2.757, 0.1001, 0.0122, 0.7204, -0.4171, -1.1556, 7.0769, 1.8779, -0.1685, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1059, 0.7837, 0.5579, -0.3744, -0.1471, -0.0902, 0.998, 0.728, 1.5433, 0.746, 0.0784, 0.4408, 0.2882, 0.9955]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1639 left_yaw=0.0683 left_pitch=-0.0312 left_roll=0.0063 left_gripper=0.998 right_x=0.3463 right_y=0.2125 right_z=0.0913 right_yaw=0.1973 right_pitch=-0.0674 right_roll=-0.0424 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.853, 10.0855, 1.7705, -0.1538, -0.1734, -0.1783, 0.0342, -6.4615, 8.4308, 1.956, 0.3492, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6623a4fa07e266670b05aa0bdb2f3c2fc2a23a6d10c9e7e3cc90cf20e23e768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1172940b11cb028a5c1a44fbc74eb162a1089aa27902c0f9d77cc44f8d04a6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cc52c563943d86fbbadab9546262d4ec79a91325c65f9131547e6e82d91f3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_5XNwW8vltuWWalpEzO5-Bw0KWgKpSqL44k-koSZqOiOv-PqISthdQZb8Ucb93etPi3KYX9X4dSNjcgNwubz5zUOw28WmO4oO8PWY3f8p8TQto-LpPVFeIqigFxDaMnyT0q-PI4txtm7KxXGiIBPgXvWen-Yk3EG-8jIrEbluiMn1dDRqsMYfJ9LK4nHsgaTQ6-KFa0xpkYi88ojNG_Q-hKOEFEMlrH4j4iRLAAZ-rAMn0FmZgqFAVzxLLrR98QWp2BrAzChY5913IJ83rWAZiye5PGaMK7YfPGPiMW_HPWe_nOiRaBCdXYn6vdd6sqN1_8ZKN9BFAkvlvSsRwiuoFfMAWUjlwDe50ZjM3btbZ3-N-2JpmNht0DEksZ0_y5JvDXeH9htCGiPVLxqfF-n-Q0ix9l5G_80Uv1f5jkztH2KWnqXgyYm1upgij9eaxQvOqPHb0I61J5mpHetYwHEC-eGfPPL-sV_4iS9noMyouILKztclFZsmL-ud0IV7gFjQBWCxD7EBTVZNR3ok9G0C9a3LjsDGWtEp1Ymq0hoBytw82RfFn-gnHw4Syc-WaujkQT0FkIynC3Bi4eBcVmFI8zZpo6w5VhzYoxeKIcMChE2ehTqAzZVzxWnmaKD4ew5-7qxe6HC9y3IIcYW43lUcrN6CiOCAr0WNtiYiMGhZNOGaOn01dlfRvYrVklCXvgGPp2rhbuFmXsi8ulGqQxE0RTTpdwwXOubELRkEJgqjCG8MUdN7lGted0pmpjgkclnMOe6KgtXzlaFn580R0GhyCnIRscxNvrf0oTPS29uhtufpbVpkwhyGNS3wb4PpiRpewIHyCUYUS9wls5PKdEZ_j4g17QHCmhIFiJ1nAQK5Xgi9usCUDDfmravZpEsI1iGOaat9YSrsFtZJoJHCrpIYDA3ooUYfSLGuC6ozYAyFZI1CCl1DCcQ1pxJRXxRQRNnvHw8R6dTpxNBQWWNfUFCdcd5EyFcTNbHB5yk4F00FHNI8Mj2SLEwDOSKpyIi29R7fGrEbeK59OCDofzUWUPdKoBuD8oFAkooTCg9VYzMSSGzjuXy_8J0m3L5LGt0yupffp6lJyg56ukzNnynIZkMqjl3xgZ5RKTtnvinAzLN4io0skr9jt3QYSRbjXAE7XNoGD0c-ARmCTCfNeRNQbz7myWWZEOo6eg-crCHT3pfwJ1_6q-RSMEAjQvV8Tqml5b_rFz9kpuVXqN5iOEw51jUOOirrSvSyPkuj9O65sFdjIgqFzScge7jyrCkgLMBmjR1UNvRviI62y_C3Be4Ll3v9sVMUMaaEAW3xYHtVw2KYDQa8ZYOmRLweg1BRJktQAkKPgUGg66udn7pAIOgzb-v5b_73rdk-e7jYEaVSY2Xb38JsJ6kGmn6GzWqUJR7KSPUMPmerjHtjy_SdfTMEW6i2APQYw4A280foy3VBCy8hEcuOl_Wdu3OVwg69P-vzrIysN_G6glGe8zoC8OvWmC-2OJ9Z4m90wMo_RYOMlg7kuIvtE3UWtCD0nJeFkG93Gv0SSSv_ayb1YqOfPbNi0w-mmNGnVOdiQ1pE_yEXHOC5S7_CndS_uUT-IlP1EYtEkQq5Ioew98DRP-wbUqxzaaGCAjSk9T5A9LucjTq4CXhkyGEuOsfEs8v-IkkEcxRKp3BcvDNoaEFNBbYG093SE8d75QC4sec7HqdtGvUOUpsWz1BD6POu5jDNgxduso4nLxgdDSp12MoEPFZtxkZ5pNSIcAFwARYAYLgqwq-YgeG01geRlUH71qK-CWRF0gKfx3TKOycEPJKE7x_8aZsrbDjJfeNFcDi4wSQ99Ls-c0FEbwoBHT1BAu5FgGE3KTpZMcgPATZD00fl7G7tqeoNZKBy4Hbr-cBsyPKnVxXlJmMOge-rHxhGVMxzH3Jxf2Poj8012_8x83J2wf8PSG8ykwzZZJo3Fzae2DPyznaCXYexGiV-bd2oYqq93ru-WK3FRxNzkxRGg3hF_Hp5v5m5VhFbnmKuobDYpLXejHWBn5d-xAb8Bkpgb-VQCjl_v0XNjqStj1lG_9D-3poKbPpr0Ix-NTp28J9Ya4XzePS-wqO-hiTqupU4LMM4XvpNjoIbaHXzcrLBK9tAecaxyPl9xZMcNtGhT20XeJMqN8YTSk3roXvKEnV7Nvjx6wJcD0sccGlhYPZByhSFzugadqbJx8asyBaAbjr5ud5hWtePs-MakncJvpVh641i13RsSDCai8tqpBl29wPXUhEcCLZE93063SIeUDjfqMYpq4B9ixvDRioVPYACGIXFvO2EFvXR-FKEsYN-K1xXJBsqdnve8J8ZlKCGvr2rPCwMMUgGHfYSLkh4=",
  "id": "rs_0894cbd571722803016ab41ff65cac87d0989b28d4823af659",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.24,\"right_z\":0.08},\"note\":\"The right wrist now shows the displaced bottle’s cap near the center but well ahead of the fingertips. I’m advancing toward that cap at a safe height and correcting a small lateral offset before descending.\"}",
  "call_id": "call_vaU2AIMRHvgS0AbjhJ527WDd",
  "id": "fc_0894cbd571722803016ab41ff91a1087d0a7e824fbaf01362d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vaU2AIMRHvgS0AbjhJ527WDd",
  "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]: [-0.1101, 0.767, 0.532, -0.3523, -0.1551, -0.1051, 0.9977, 0.667, 1.7916, 0.878, 0.207, 0.3801, 0.2405, 0.9955]\nstate[eef_state]: left_x=0.2876 left_y=-0.0007 left_z=0.1611 left_yaw=0.0787 left_pitch=-0.0177 left_roll=-0.004 left_gripper=0.9977 right_x=0.3944 right_y=0.2316 right_z=0.0604 right_yaw=0.2109 right_pitch=-0.0766 right_roll=-0.0399 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -1.4017, 6.612, 1.8535, -0.0269, 0.0757, -0.0464, -1.1145, -7.7197, 8.1299, 2.0537, 0.1392, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226c5f49f4a8cc6914c75cb5f9a84a0b87beabd5227ceb3aded5d9567f9097d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b434928b36eba998f8165634cbeff70d1de5d5fd7169ca7a17e3fdaa875929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d08feb681d8571e29521cff7ee1844ee06bc568bc00b78b20ed10cdb28a705",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.278 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0708, 1.6703, 0.4641, 0.6376, -0.0048, -0.0013, 0.5257, -0.1974, 0.7319, 0.4141, -0.3199, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3964 left_y=0.0325 left_z=0.0345 left_yaw=0.0772 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.5257 right_x=0.2729 right_y=0.001 right_z=0.1266 right_yaw=0.1553 right_pitch=-0.0354 right_roll=0.0097 right_gripper=0.9955\nstate[joint_eff]: [-0.3897, -7.9111, 7.0359, 1.5067, -0.0513, -0.0317, 1.0281, -0.253, -1.5385, 6.9812, 1.9072, -0.1978, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1059, 0.7837, 0.5579, -0.3744, -0.1471, -0.0902, 0.998, 0.728, 1.5433, 0.746, 0.0784, 0.4408, 0.2882, 0.9955]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1639 left_yaw=0.0683 left_pitch=-0.0312 left_roll=0.0063 left_gripper=0.998 right_x=0.3463 right_y=0.2125 right_z=0.0913 right_yaw=0.1973 right_pitch=-0.0674 right_roll=-0.0424 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.853, 10.0855, 1.7705, -0.1538, -0.1734, -0.1783, 0.0342, -6.4615, 8.4308, 1.956, 0.3492, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1101, 0.767, 0.532, -0.3523, -0.1551, -0.1051, 0.9977, 0.667, 1.7916, 0.878, 0.207, 0.3801, 0.2405, 0.9955]\nstate[eef_state]: left_x=0.2876 left_y=-0.0007 left_z=0.1611 left_yaw=0.0787 left_pitch=-0.0177 left_roll=-0.004 left_gripper=0.9977 right_x=0.3944 right_y=0.2316 right_z=0.0604 right_yaw=0.2109 right_pitch=-0.0766 right_roll=-0.0399 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -1.4017, 6.612, 1.8535, -0.0269, 0.0757, -0.0464, -1.1145, -7.7197, 8.1299, 2.0537, 0.1392, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226c5f49f4a8cc6914c75cb5f9a84a0b87beabd5227ceb3aded5d9567f9097d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b434928b36eba998f8165634cbeff70d1de5d5fd7169ca7a17e3fdaa875929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d08feb681d8571e29521cff7ee1844ee06bc568bc00b78b20ed10cdb28a705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB_94zfdOmUzhXjx3PXaG1LS9pVu4mTGzwx2i9jOi0RhVKMdeRdAGz_X2qrpoXumK4_y8jj0svMB4Bcooa22LwOGpzXvd3haEXVL94pnyA9uZKDtAJW73BI-VQR6M1TC_SlpEP0OFLP2lxCeN_y0ZOzCKd2wP-ESpRrWRFeHnJjdDjqmMmgxSRpw5C5X9_dx5RXVnpp7Z0r0ifo2fFLNvBVMvmdji1-_J8EmwCqOeL7UVPZlVobvksHivpdYv14AehOctNcSlvbgTUOmO2RpWcDlYA2in-k4PLz8DOdPpIu9s5r3YTEvUZzooG1Tzm0uSzpNKW-VSjBTCbXBF7QlWLhh5olHT_2SaDvgeBOxLrdFvvbcEl1-wUr9pFLVS282XsBZNyldom3jJJSTJL36OTreYQ6d6JVxdh9mmZVVYY_D_JsBuO86aQRc-u8nrgT0HG9yWE5GmYnxPX8kHFDhGoavnfwZ2z5k8COE0yOOP_39eMEiZYyuRyNGj2bCGMqGMKNMOuM9_RmmekbGTe93WxQNroaYQpJr4l5bV9WbmR2gymxC4rF2WI4GcGpPWFWIKYqs98eBVEcg883fhMAbjq7sm9eN9CDU2UI_o2dWA9YCfe442I7uhs7CIaiSHOyYvnBpPY2x-s2X5zz84u0GM3DmyF8pDuxRqhfAlKxp02juf70uwQCgc0P3EFFIEit8qBLuMQM7RnXXRCrNT0WsZ_cW1tBcVkeNplDi7_4DRDvGBDxUO_4hatmUPD85N1nVBx3GPm-C6ELIFrH86QPZ4qjL2u6Um7nfoPj4ie63NfLx1E33rQi9xSO-KI94T1hVmUUwG_J4hkwI6ScXnJNsyx2c6kHRGR1mJi4IGNgxui0s47-nZ_Ka_HP005pyXW4kfOf8htw7uwc_GudKoipP9Zn_MPGLqd_qXTJhCECdLogO6cUozD1uUTN0XK_V2KG7bQ16-9_qkTq-2eaSgC38Gffi9niOodm1A7uDo3lKzlnKrEuj7uIUG2iX8WA7MMXkb8EsCu9CRgjIRRzeBqf5HnYsExsVj9uEdhEwt9r80IKeJitjFM3BbjX-ADq08yf-FqYCSrT44TIVrTmh024pj_OpftEGgEYs3L6vPjlllC6wndbZc5udNRRbTTiWsBTYtYBBgnoZSIawU9tAGCEdYf5IVNxvUHqdH4Y8jM5KbN0hKnyHKI4aOpNzXuq1w3cUHRR1sA6V981DA4rbJGGxnxUAUOUjXYyMon6iXsrZZZoz3CCnZHqNQhH0Z86Hk7LE2DqicABb1_z46ihsvr56ok2u-HUdbc1krD8pudCro_RMH_sLOqj3AyfGWvSSEkM5xQIk6lMtqfAwrMY3dR0139Ycdbz2bNcVYxvgFCJAL3gLRwxt0DU5eOc6wRkDtqU9PukLkSA-rGO7oQtNlOXVqNn3ProQVGFvlOGmc0hhElfLaue8oiWIlJX_2kr-L-ny-wZEvqkxXo_73tguNPQMHCeB3w==",
  "id": "rs_0894cbd571722803016ab41ffb52b887d0a9e22e18c98e1341",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.045},\"note\":\"The cap has moved much closer to the right wrist’s jaw tips and is centered on their column. I’m advancing another few centimetres and lowering just enough to put the jaws around the neck.\"}",
  "call_id": "call_YDl72Oc5yIZTXD75GClKksjL",
  "id": "fc_0894cbd571722803016ab41ffca12c87d083d847f2331c5d2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YDl72Oc5yIZTXD75GClKksjL",
  "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]: [-0.112, 0.7624, 0.5182, -0.347, -0.1585, -0.1055, 0.9976, 0.6006, 1.9259, 0.8951, 0.3511, 0.3317, 0.1917, 0.9955]\nstate[eef_state]: left_x=0.2862 left_y=-0.0005 left_z=0.1572 left_yaw=0.0799 left_pitch=-0.0211 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4213 right_y=0.2232 right_z=0.0314 right_yaw=0.2111 right_pitch=-0.0656 right_roll=-0.0396 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6752, 6.8444, 1.8779, -0.1001, -0.0073, -0.0171, -0.6769, -7.0359, 8.1162, 1.8437, -0.0659, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9b5d453b60a045e5b66e3565cc01fb2417403f07e088a8df16c5479419460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64c0bcfd44bebe489c05c654bf012c394fd20224e4046dec4ad71f8aa8e48b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70dc028ae8d6c9a687542144ddf57a89f9d5571fd3e461eba5950035ee44eaa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 5.869 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.1603, 0.6811, -0.2474, -0.0071, -0.0013, 0.5287, -0.1974, 0.7113, 0.3801, -0.2977, -0.2924, -0.215, 0.9955]\nstate[eef_state]: left_x=0.3429 left_y=0.0302 left_z=0.1306 left_yaw=0.0823 left_pitch=-0.1649 left_roll=0.0022 left_gripper=0.5287 right_x=0.2703 right_y=0.0015 right_z=0.1209 right_yaw=0.1552 right_pitch=-0.0271 right_roll=0.0067 right_gripper=0.9955\nstate[joint_eff]: [0.6222, -7.0359, 12.1915, 2.757, 0.1001, 0.0122, 0.7204, -0.4171, -1.1556, 7.0769, 1.8779, -0.1685, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1101, 0.767, 0.532, -0.3523, -0.1551, -0.1051, 0.9977, 0.667, 1.7916, 0.878, 0.207, 0.3801, 0.2405, 0.9955]\nstate[eef_state]: left_x=0.2876 left_y=-0.0007 left_z=0.1611 left_yaw=0.0787 left_pitch=-0.0177 left_roll=-0.004 left_gripper=0.9977 right_x=0.3944 right_y=0.2316 right_z=0.0604 right_yaw=0.2109 right_pitch=-0.0766 right_roll=-0.0399 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -1.4017, 6.612, 1.8535, -0.0269, 0.0757, -0.0464, -1.1145, -7.7197, 8.1299, 2.0537, 0.1392, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7624, 0.5182, -0.347, -0.1585, -0.1055, 0.9976, 0.6006, 1.9259, 0.8951, 0.3511, 0.3317, 0.1917, 0.9955]\nstate[eef_state]: left_x=0.2862 left_y=-0.0005 left_z=0.1572 left_yaw=0.0799 left_pitch=-0.0211 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4213 right_y=0.2232 right_z=0.0314 right_yaw=0.2111 right_pitch=-0.0656 right_roll=-0.0396 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6752, 6.8444, 1.8779, -0.1001, -0.0073, -0.0171, -0.6769, -7.0359, 8.1162, 1.8437, -0.0659, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b9b5d453b60a045e5b66e3565cc01fb2417403f07e088a8df16c5479419460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64c0bcfd44bebe489c05c654bf012c394fd20224e4046dec4ad71f8aa8e48b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70dc028ae8d6c9a687542144ddf57a89f9d5571fd3e461eba5950035ee44eaa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB__DZz9nrx8MblGdPgC_RTfQVS-YCZKRVhJJVgP8tos4Cg5u65Emoj-w5EeO_XIKuZiVOT6YgfsiNr16qPu7kbavHYF7OqDt2ZKh52OfVFKIazdXOuOmBNwARIz5nwuZ_7lxCIb-5wcil0861IxZkxy0-MQlomYCd-b4G4Mu_-hXHuG48WnmKLwFd4U8PnCJDc2mUTCasCa7jIKBWF03y4K50UpkYb7Kr_8HNpKD68E5menPjtiLyxe84tqi2SqyoO3l0HovzNonLt6l0MVqg1sfiF3mB2Cg9zd74nWRiVKPUSA4YgvHE8hiYnHvBE_wUrp1-xaTwEu6lGprl8CZqSRA6g6uG7ENGusMQTiny2K2X6nlpv5ht0cKPfFfkwJCgakji5PIx2zs6RPx29O_K7nMIWyb5qbEHwsSx1bD4mKHXhxcOB371JRR3ROJTl9_qy16l8K52ZIdbkpZWKWAUKmx6Td1A7AmDMPQAEZX73thYd2CsKhPk8BqsReMtGDpkzHzo5oT75jogj7pZCKbVUxomzf5HpaHvAo7ZLCwpSzuQCAOlDHtgRY41wnt2K5GjVS_JGXyFyUZ5y1p6xl3fyvwbepGRKo4ixLd1YWOaLu7EN2EeuCPBg5XDkut78fICywR3EXDkGwxOJYoc4KYoTnIIHGDg-hDwHd-DHIj4uT0Wb6QmQdiBpXCyrfGMic6IED8WA4dX8g78-4Q-whdkN6HmrDwEDNLfZIWBiVN3QFfNMbCDOlhEL_-6KfZLLrDitlqegXKeQGpV5wGmf6NOH_Smf46iCJxRAsw7bt5la-4rFF8Z3voRKYjlDgezslJOvDk0z5VvEWeldLh61jdCUj7nTXEEOZy0gJ3bVyvckbGjsOxRx2vMwJ_VWxWHARyPy10JHn5oAWiSkR28B5-vmOZRIy81UBHUSJ5NmC6-BoShKzGXPb9OhMGw9ORJl63fuKIM9JgrIwvRaMHwa7fHW5J-GHTxMejcQN6bl433xDNzOab4koB2hoyV8RLKt4rYnKIPVCbeCfcP6ZjXTCDrLWPykjO0VpW5aUWwCjHlLvwzXlWI-q1k-FZZqITgFGged90wskFmm1YnyMRLKF1F727JBCMQr5ThKmixPGfq-a9NKp5nTbUjr2zzFVOPEdZjbWcZdhVgLWMH3UjS0VY7P_OH8Hl7hOJ3Hw0x-O4Ugy03EIEmZ5c1Kmt6vSeoEE48DJz1TvGKMClHPqMqUDK6x35BPavBBHSJ18N1voNAYiPWxThPT4K1834H6SROWW8O89buh_tvcmO9VMszXGJNxpk-u2jQupgcRzh_jQe-ovolWkiR-PpjSVmN4Fcw1q-ZbaoMgvXXbMcUCicI9SGV6MrYMCl3_hdb3uikwp-a5Hf0M=",
  "id": "rs_0894cbd571722803016ab41ffe807087d095387a82097f19bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist shows the cap at the fingertip line, with the bottle extending back beneath it. I’m closing around the cap/neck so that lifting it can pivot the bottle’s base down.\"}",
  "call_id": "call_6CLFBZMRTfofDdJBBcWRYOQa",
  "id": "fc_0894cbd571722803016ab41ffee3e487d09658925212e08ae3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6CLFBZMRTfofDdJBBcWRYOQa",
  "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]: [-0.112, 0.7559, 0.5034, -0.337, -0.1589, -0.1055, 0.9976, 0.5896, 1.9366, 0.9249, 0.4187, 0.3054, 0.1787, 0.0138]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1542 left_yaw=0.0802 left_pitch=-0.0195 left_roll=-0.0018 left_gripper=0.9976 right_x=0.4375 right_y=0.2331 right_z=0.0495 right_yaw=0.2295 right_pitch=0.0091 right_roll=-0.0041 right_gripper=0.0138\nstate[joint_eff]: [-0.4034, -1.6752, 6.694, 1.8779, -0.1441, -0.0317, -0.0122, -0.253, -8.1983, 6.5709, 1.6728, 0.2564, 0.2173, 1.2381]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc107d007e16dfb35eedfa847ac66a287289fde6c17aad79f1919aeb7e6a6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45507ab6182280dd1106f2b96b32259d83fc26f6f0196be6b533e0b4eb82a4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab42248f5f77a67047db7712f561defa0082bcea3b45a88e6a100b21204fb986",
      "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 20 attempt 0 · /responses · status 200 · 3.145 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1059, 0.7837, 0.5579, -0.3744, -0.1471, -0.0902, 0.998, 0.728, 1.5433, 0.746, 0.0784, 0.4408, 0.2882, 0.9955]\nstate[eef_state]: left_x=0.2889 left_y=-0.0011 left_z=0.1639 left_yaw=0.0683 left_pitch=-0.0312 left_roll=0.0063 left_gripper=0.998 right_x=0.3463 right_y=0.2125 right_z=0.0913 right_yaw=0.1973 right_pitch=-0.0674 right_roll=-0.0424 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.853, 10.0855, 1.7705, -0.1538, -0.1734, -0.1783, 0.0342, -6.4615, 8.4308, 1.956, 0.3492, 0.2759, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7624, 0.5182, -0.347, -0.1585, -0.1055, 0.9976, 0.6006, 1.9259, 0.8951, 0.3511, 0.3317, 0.1917, 0.9955]\nstate[eef_state]: left_x=0.2862 left_y=-0.0005 left_z=0.1572 left_yaw=0.0799 left_pitch=-0.0211 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4213 right_y=0.2232 right_z=0.0314 right_yaw=0.2111 right_pitch=-0.0656 right_roll=-0.0396 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6752, 6.8444, 1.8779, -0.1001, -0.0073, -0.0171, -0.6769, -7.0359, 8.1162, 1.8437, -0.0659, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7559, 0.5034, -0.337, -0.1589, -0.1055, 0.9976, 0.5896, 1.9366, 0.9249, 0.4187, 0.3054, 0.1787, 0.0138]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1542 left_yaw=0.0802 left_pitch=-0.0195 left_roll=-0.0018 left_gripper=0.9976 right_x=0.4375 right_y=0.2331 right_z=0.0495 right_yaw=0.2295 right_pitch=0.0091 right_roll=-0.0041 right_gripper=0.0138\nstate[joint_eff]: [-0.4034, -1.6752, 6.694, 1.8779, -0.1441, -0.0317, -0.0122, -0.253, -8.1983, 6.5709, 1.6728, 0.2564, 0.2173, 1.2381]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc107d007e16dfb35eedfa847ac66a287289fde6c17aad79f1919aeb7e6a6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45507ab6182280dd1106f2b96b32259d83fc26f6f0196be6b533e0b4eb82a4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab42248f5f77a67047db7712f561defa0082bcea3b45a88e6a100b21204fb986",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAGz_XPeqwDqD90RtG9DD3KSX_Eq9kF3_BR_D33c_ctvKwqj5kkYvvVLjqqSKj7c1x6XjgzTmaVPfld0Y6tpxhAeo7-4UUfoEYgkmOR6o7PvW3gg3gC8bbxn8xShTbyCS65VpqZfhuriJHG9ddWeDU-DuQZp7aZVWWtR_QIVUqMkoKkMvbcXDIjtbV5rIrfWmVKrQDQQIo2seutcn9KHnBHj0JzFEoT0DLLIsq26bzqTdVKqEumei2SfT1MK5OSY6dn7A3iTrZ9R9AgWdUMCpG6QIEn5G68t7Yd6hOEl7O_MaCO5lIFEqEt1ArFjcmG3M1Q_U9q8UKRfMasOf5LJ7-SZqWxK02Zuh7XQy3hkdTwOnEofP0_WX2ud8kdlBzjrjOs-B6vveJxl4IvlVU148vKZDBx81qMNO6CCYfFPeiTC-6029kldUPhernZPgm7IPBdLXMqsL1MnaOfyTqAHCdR5OxGkvSY6AAHi5YzznMzXhWFleSG7YUncVTie9TmI_wYvcvlDH3WgNCDEOgTYSn-SvnHSpXWcDnQu4Qbr4JUzJjsZJwmce_dEy-lhLM4gKrvFStwVH0beyfIJ-gWgb_YIwMsDgoR1fh-_YAHUJUhlPvCoDXDu-uVvCkM6-VfjES9wJ-29QskF5RcLqpIaOXZHqGrvCulbXaceD9bCqaf0Hn3-rpKTGM7m5wHeGHQ_u7eN8GX4h7plRJpN6ry6Rw070eUH_Bn7s2dmQg4rpwXW6esbIWzsdVe8PnfQw-L3ThEHpsSlKglKq6P7oL-nXL7T4BmvD8EqEPLLKrmLsXn5dg6SamgvLDOde1vRDK5MGrOUvNiiaT_MQLZjWgQStDt9b7bZ_ya-yqkPpK5BIKTBOErSMXwxJYfowTW3GFSbQczGocdSL3UGAbT1dg6hstJjOV23Tv-ubYB6e42dXkgvMDoRpp61SsFxlumeq0VGqq76YOBHYtMK8HYpLM8pVgZGKZmhf2sx6gDethDxKfDVZOiu9zL_dNFcJiIOM0cgIkmFLuWFUO7zyGpNtD8SuZq64IrLVFBsGOKfTB8BftcpxL98VNk4xdGxcrsAPBEK1CyEGaQJLJS0sZ_oRxoNrY0wdxOGDHZWsqPFH1deardY8O-Y-W90dPLCtLAh7XSocPzLBbCQ2EKmFMald0g2VxUHrs8hv2xYB54Jr9LxHbQYt1gpq48jKCkqOQHhewjbIh_1HjpHui0lL9Udn_XnTxl1z6SqTZY52AlujHNh1vzMATYoYjJmsyMlI4Hhur8s4G8Br3OSvLbC2GmdQbD5K-d0G7-fALwKXcEPgxGtjpZdHOaz7boQc-w9lpX7afi2SHTxtB4zati5TtyI7k-NhUrR5NnW0u2o-2Ware9cpl0Etl2cjvJw2rSrv6hD2y_LRrYLqw5lvnG25PoHapGq2HTjqQcQQutveXZKUhIk5S71U7apSN88npw-CREkSunz9HmKB46II44f6Ie-tzm9EIfMsPFEUq0UzE163MdZQkvsKwFLqUebyNJ-EzWpvlIWwYLvBENKH4F_W6Xq1sSLKHaigDxCxLiD58clBirMBklmvyvGk_mzWJmuHBkagUS2tUqnapSnWrSac-A-ciT8krOsf_OOtfohk0y9ilG5lvgCTf0NSns8xHWv0mlBuUenQY6VH-hl3YQNMN5WnDktbVbee2IXX8NsACwQizbWgheyhd12NwO6ES_77gkH8w_Yx-_iHKXHagoI89SeSsMIor19j7HESEJBpCEL9Jp56_IUfdcQNuoUMGnAfLGjTZTD5FjGti-6AqmVvCXdOXbMDZfnLp2uar4HP3-AupoJaHjkm5JgYPkrc9NuWEIywtHHRtV68VTwc5r9f0bhypyTh3NLsiy14krQ2r9OvVUtukkCC1_EwQyW0PdlVZahBgDS1-SIV6I2dnBvlXrVlhi9l4z97RiWAWxcHca6hdLtXxrWbjPV6Y9xkm83hsCq-1UAsRctKrLElAIuIXZyiv-msGENHlQzDAq3QVJPCge3yqjG0advwkx_9JbVfmHdAij32cuQw0ewOyhrPFbbfuKWguAcGRd3OIbnAOe2NEcdEjyShE_fHEK7DFOwuYQhuHzIFjhHDld30oJtqkyHUFsAbDVDvG1Z-aL7nX7baokyGtqQ2klBzzvkT6sx3E8l6BgcqDuTm5vEsAFYjUjv39HaaH0FwHaxXGEuW5iMpl-es6McXOwRq_kdp6HWPCaGMgQD04r9amLIlfrVVUpG7gVo2i0VwvwTIcSRpUYP9_-TLCN_D30a-6ZxkxAJ5wcl5MTLbygWp7665biMW4pMFTJNSvGjmCvHglyVVbRI2AH1AVDy6u8JCj4SRHLGFLTcahizJW2M7BPBZowf3CnlQRD8OYKAOd9R78mRyLQUtRec1bcpEHiQuTs68XOFJU4KWPM1I0Ckn67JD4hLw5WN5yGhBhVNek0w0IWuMv50W5QDLyJMr82dR49mQTwEGhRc1R-Fpy1SnIcEKFAKg_z8Iwn7ITjOSXBdcKa2CeB-KBvYgnOrIX3jKoR2A6PAjaQySMinyQtZQvYMxfpGljAxH57ni9Z7b9WKmrvzndL23EgFN531XfQy4PSAtnClSkF08yoEFSBpZSmbz-zlpb6x08NruBfGUmNyiIPx3B-xOkpqxnMhI_RviBQcbYaA1ZDlOWucLjlybrRZYXA7ygZR10Hg5CEmDNCIB6IyAHNvF2u2gPHuYtykqRdpdAKlNxc6hRLtY8Pu4Xx8Txhzlu7QvlEH6_DRikMosoA7aLuT7Yz7Q7F_B19AJ4xa5mTBKNxn6LSRvMTrUJfrQQEiXuoMF-aHdMxC2Iu1OWgesg5S6fBlJ-KMGvWMN_z0uqRVze8onbQIvbuZOgycn8i8pBeVkKqCXYbEo06DCY00CGkbuFSo7hluF1bxPVZPclO122ueNSdVXKu_gMMNcnDWOlg4_7Egj9VgAwsZ4XsNwrVbusPodowAmAuU4HdlOg-YJISnl7dPxT2A0rb6_2eLMQmSwCDk4F3VQ==",
  "id": "rs_0894cbd571722803016ab42001c85487d082dc73641fa9aafe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.355,\"left_z\":0.09},\"note\":\"The right gripper closed empty and the cap shifted sideways, so that attempt missed the narrow neck. I’m clearing the right hand and approaching the leftmost bottle’s cap, now clearly centered in the left wrist view after it was pulled closer.\"}",
  "call_id": "call_dXCIYz92ZKjGYYVr1zxffcWV",
  "id": "fc_0894cbd571722803016ab420059a9c87d0b2d1f3f483feb267",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXCIYz92ZKjGYYVr1zxffcWV",
  "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]: [-0.0834, 1.2469, 0.4202, 0.2161, -0.1421, -0.1047, 0.9976, -0.2203, 0.841, 0.5835, -0.3748, -0.3187, -0.2428, 0.9969]\nstate[eef_state]: left_x=0.3481 left_y=-0.0004 left_z=0.0824 left_yaw=0.0944 left_pitch=-0.0419 left_roll=-0.0066 left_gripper=0.9976 right_x=0.2941 right_y=-0.0055 right_z=0.164 right_yaw=0.169 right_pitch=-0.0247 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -3.6991, 6.3521, 2.0049, -0.0171, 0.1441, -0.0122, -0.1026, -2.2359, 10.0444, 1.8144, -0.2027, 0.0904, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5995a587de7586cec2cebb26922a4a4dc3ac93af402549eb4b2632ccd6af644b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ea46f2b8a347fb1b79904ff053e3923452410cbe314295ece4c81e4a34ef59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4bc1edaabca4340f2f4631dba435e68bb107c16a88d7685493a0806f10fab8",
      "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 21 attempt 0 · /responses · status 200 · 3.988 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1101, 0.767, 0.532, -0.3523, -0.1551, -0.1051, 0.9977, 0.667, 1.7916, 0.878, 0.207, 0.3801, 0.2405, 0.9955]\nstate[eef_state]: left_x=0.2876 left_y=-0.0007 left_z=0.1611 left_yaw=0.0787 left_pitch=-0.0177 left_roll=-0.004 left_gripper=0.9977 right_x=0.3944 right_y=0.2316 right_z=0.0604 right_yaw=0.2109 right_pitch=-0.0766 right_roll=-0.0399 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -1.4017, 6.612, 1.8535, -0.0269, 0.0757, -0.0464, -1.1145, -7.7197, 8.1299, 2.0537, 0.1392, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7559, 0.5034, -0.337, -0.1589, -0.1055, 0.9976, 0.5896, 1.9366, 0.9249, 0.4187, 0.3054, 0.1787, 0.0138]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1542 left_yaw=0.0802 left_pitch=-0.0195 left_roll=-0.0018 left_gripper=0.9976 right_x=0.4375 right_y=0.2331 right_z=0.0495 right_yaw=0.2295 right_pitch=0.0091 right_roll=-0.0041 right_gripper=0.0138\nstate[joint_eff]: [-0.4034, -1.6752, 6.694, 1.8779, -0.1441, -0.0317, -0.0122, -0.253, -8.1983, 6.5709, 1.6728, 0.2564, 0.2173, 1.2381]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.2469, 0.4202, 0.2161, -0.1421, -0.1047, 0.9976, -0.2203, 0.841, 0.5835, -0.3748, -0.3187, -0.2428, 0.9969]\nstate[eef_state]: left_x=0.3481 left_y=-0.0004 left_z=0.0824 left_yaw=0.0944 left_pitch=-0.0419 left_roll=-0.0066 left_gripper=0.9976 right_x=0.2941 right_y=-0.0055 right_z=0.164 right_yaw=0.169 right_pitch=-0.0247 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -3.6991, 6.3521, 2.0049, -0.0171, 0.1441, -0.0122, -0.1026, -2.2359, 10.0444, 1.8144, -0.2027, 0.0904, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5995a587de7586cec2cebb26922a4a4dc3ac93af402549eb4b2632ccd6af644b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0ea46f2b8a347fb1b79904ff053e3923452410cbe314295ece4c81e4a34ef59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4bc1edaabca4340f2f4631dba435e68bb107c16a88d7685493a0806f10fab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCALb52ND7Z9RbxVkE4v9HhP8YKTik6kLyPkExq0N1WyhjEDVTSbclyw7wXjtIl48YFRa1OAS7sucuwQOyOK0qj3M5jA3e0vvKd1BqYeRuOglYtOk3pFMrRdHhWizrqec80VoWXSC3MbbyZ90oqWDC4h1r509Qvw7hUd6OApUqz5pUtFtdY1CXWK_Sx7MWnLUdkVj41DSKfvFvqaLuaFcjXbOQ81nOCq3m7a_DbZxa_gDlfBpqeSsqQ8nfBiK7PnEvsoqQJEOAZL1ogkOGrD5cIwOooUTg9cMO5q1J7OSlAgm4GNndiclJmmAZq0oq5CsZYPLPS_GUYm9NRNuJhh9FdGmtJ9XEGaUOQpRp2lpdkNAdRVjW4lUBf8O3khm98Y2F-54Hyc4wGD81W-gkzem4MAw3XooPTz_VvV_EtlO_Z9Z36_zb0ByyIPHAD1JdqGlqrPOpAjAG35A7jSZo2oFtrwORKyA-8GPBkkbEyuluy6mA6aCIlW-8OY_Q2gl_4VZxGQNjxsq1NvoXGTNnb05PDKM9GDlhGgW8fN6jyU7AdXxZGMzMMfafgWJ7O1X6_0rslMbJTDZ1uz7rNyBU6Aj0qPrK4wEQMho_vXZ4Sh4JgOcrbFQy77YlA7XrrqxeOAtMxZU53anyS7O8xjEApmNlb-TPSs2dcVkwK5d-3y2YpwJXEbOUpeo2brugvE25Mdck-a4dHpmonJJlq3Kf2yNgtlTlZOVU5T9ySIsbTSz_qb22Pwx6htxyuYZC9EX8Hzs9hSKqoVT8ehRy3tjdLm9kCpN55dT5mB5pY1u3DOJuP4wlPMpOL0Q3Y2w8g4bs-lhEH_k3R2z66hZJ8EN3OKums8KzOAqwbK9uiQpcDTUcCE_cZKEk7eunN0B8hZ3zgMxnjKDUsBsq4t1vgbIHN5ZbLbe8T5CjahK_dJA1wZ0jatqUZT9np42-UqRA8ALVjm3rA-699DIsyCnWVQzXwLmrBabkfjyuoOPAOWs_ll6sbrVsCnzieyOSRZXmpwK-vrU8I5s5YMjKiyl9zQiY3E59h2Rnwvq14ktmzdpKH2iEHthCyTRHqE0Zr45OX9sMu-t3vBd2sm09V5wZLZaZ6V9bw1_xBFiWY1iX34BNAZ7QDxatwMBPi-9HqKUKeaUs1jp_gRqxeSWTc4PAJrtoTVbhhJM8CDm2GeS0UT_6YAV7OagEohhqQYBrlCf8Tj-rtXbKpOHzekHPPM3Kfth2Q_Vd--3G_GxET0RUVgiuw1obxW66mret0WrPapnOqDSHekBJyiLrED9C683rm9NID43kwNCYgoe7kGR6kAeYW48bs-jhHAAJPBnaiEpP7t9scitZR6OfuVGBwr6oz9naz6RmQSMYivw9DDKGGOMViKuweaSGSz3azw2GL9Tb_OwTHpM3WWpntVL2ZBi4dQj8_gz_WGcPKH4H2NvTujsdh4FZmWaUFsCISHjgHSs8224gnNSnW7_kwZFb1JPY5V0eVS4S7FkYoeSR202f52O-ZXORn4UbanyUqatjoMuw6gHhq_X_JGoIKogw1inZZ2G6eVZyVsX9kiadnlsdwX7CA8V1SZ700TzZjepa0arBgSP0GeApll_bSuckmx_qFM2fCrC2oc3p3uByEKFz0VpS15Jg64tC-XeL58NIZd2sfNaSjaPlUmHJm2JCpaJ8oosI7d_doJLHuRTKjhnfyqZJ9ble_t3cy_UivMcfVKHTDVrKFH6omMmFKKkbuEp5U5VYfs19166JbH4lwVPbWfmqgzg9DjdgMAUyySBs2qwvM1P41Xx7ol5PEt0rpEJKgS7IStYOCBqA==",
  "id": "rs_0894cbd571722803016ab42009903887d0bc9e1e44ed46e0be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":0.012,\"left_z\":0.033},\"note\":\"The leftmost bottle’s cap is now just above the fingertip line and only slightly left of center. I’m moving the gripper forward and down together so the narrow cap lands squarely between the jaws.\"}",
  "call_id": "call_DA9TAZunHm6soiE3GqotO3pv",
  "id": "fc_0894cbd571722803016ab4200add6887d0a4d2399f6d70dfcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DA9TAZunHm6soiE3GqotO3pv",
  "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]: [-0.033, 1.6352, 0.4492, 0.5808, -0.1116, -0.0914, 0.9976, -0.2291, 0.8291, 0.5571, -0.3801, -0.3412, -0.2592, 0.9975]\nstate[eef_state]: left_x=0.3873 left_y=0.0105 left_z=0.0313 left_yaw=0.1118 left_pitch=-0.0393 left_roll=-0.0137 left_gripper=0.9976 right_x=0.2888 right_y=-0.0029 right_z=0.1552 right_yaw=0.1878 right_pitch=-0.0376 right_roll=0.0061 right_gripper=0.9975\nstate[joint_eff]: [0.759, -3.8496, 5.1897, 1.1746, -0.0415, 0.1978, -0.0122, 0.1846, -1.4974, 7.1179, 2.0293, -0.0513, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966606192869dd559d1c73e5f139e0a15d57a4fa3ccfb35d09a68948e2b4a0ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b971b1679f91abe53dc8ff06438dd32ce31919830350d0793a15ed220d5cad53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70aeb2b364406e5f301dfbc7eec12b1e22fd2b424ae556df8dc459737720879",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.427 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7624, 0.5182, -0.347, -0.1585, -0.1055, 0.9976, 0.6006, 1.9259, 0.8951, 0.3511, 0.3317, 0.1917, 0.9955]\nstate[eef_state]: left_x=0.2862 left_y=-0.0005 left_z=0.1572 left_yaw=0.0799 left_pitch=-0.0211 left_roll=-0.0017 left_gripper=0.9976 right_x=0.4213 right_y=0.2232 right_z=0.0314 right_yaw=0.2111 right_pitch=-0.0656 right_roll=-0.0396 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6752, 6.8444, 1.8779, -0.1001, -0.0073, -0.0171, -0.6769, -7.0359, 8.1162, 1.8437, -0.0659, 0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.2469, 0.4202, 0.2161, -0.1421, -0.1047, 0.9976, -0.2203, 0.841, 0.5835, -0.3748, -0.3187, -0.2428, 0.9969]\nstate[eef_state]: left_x=0.3481 left_y=-0.0004 left_z=0.0824 left_yaw=0.0944 left_pitch=-0.0419 left_roll=-0.0066 left_gripper=0.9976 right_x=0.2941 right_y=-0.0055 right_z=0.164 right_yaw=0.169 right_pitch=-0.0247 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -3.6991, 6.3521, 2.0049, -0.0171, 0.1441, -0.0122, -0.1026, -2.2359, 10.0444, 1.8144, -0.2027, 0.0904, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.033, 1.6352, 0.4492, 0.5808, -0.1116, -0.0914, 0.9976, -0.2291, 0.8291, 0.5571, -0.3801, -0.3412, -0.2592, 0.9975]\nstate[eef_state]: left_x=0.3873 left_y=0.0105 left_z=0.0313 left_yaw=0.1118 left_pitch=-0.0393 left_roll=-0.0137 left_gripper=0.9976 right_x=0.2888 right_y=-0.0029 right_z=0.1552 right_yaw=0.1878 right_pitch=-0.0376 right_roll=0.0061 right_gripper=0.9975\nstate[joint_eff]: [0.759, -3.8496, 5.1897, 1.1746, -0.0415, 0.1978, -0.0122, 0.1846, -1.4974, 7.1179, 2.0293, -0.0513, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966606192869dd559d1c73e5f139e0a15d57a4fa3ccfb35d09a68948e2b4a0ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b971b1679f91abe53dc8ff06438dd32ce31919830350d0793a15ed220d5cad53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70aeb2b364406e5f301dfbc7eec12b1e22fd2b424ae556df8dc459737720879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAPpzsFmgCFsMmNtiyPRvOv6IqYp7y8P_S-dqfaOg_pZylb3y1lWhRgztA-M2NIN3FEirdq7NKOZVqCKM4xoeHkd5nWPfCae0DHscie9oX3HYX5We5voim8G_GJhHFfbV1td9bRTih0AGdrdHEiTX6OCemDW8mDZAgVuIIZSlBQMesRkbUTHVnRctaNhSyXz2Eeo4eNxZdOjx9kYvUAgcxX5mnWxRwLdDzi6maxzpO7PtbsRyI6bBz2riy2aIadJozSV51luWT7_Q4taEY7OywmI0IRuYLu9eRpoSx8ncA24RMgeZvRZnKp0knEWXHXCdbzHcCsiuD0n4uureWqx1QU3MlN9DDeo_CUw9BjqkY7JUUWlwxe2sMlqG5GUe3aIcewG6HEWv-2lAs7zPCl0fvMPmVSPpkqM5j5teTznjHKYaQBJjvRAdiGWBeRvM0wSrVsz5Tkma5_gaqP38mak4Z2EMgjmNHgZhr8UGshoZixIcID1bUpsi1DiKbb114Vj2uow_-MwncZN0Duqv4wDlCBC7qYaL4_oeof3T_avlGhIi0TcC8DfmWMJEnOkseNVD1MWerb-vTy_kLcgeJJkmpjT7dh1BsZYmmoEmLi08zr5zrx96THyE4zxNuuzAfTmDVb9fDVKBNwtvguF4UvA4WwRB7wPZk2fHe22W758iJSu6IXpeT3MStRKH0uCddhJ4x_eq4HrcoEAG2OCI8TNrpzMkpKRtQ4OtufG7Uu_uwlto6yoiqlwiqOa0pwtKeqpuTXB8vCcVY0iYLiTIbaZlKUjllMnft9AHCmXJ5HUobGfGaYlNp90IKMM7ullEj0gj6RFuG0YwpVumOqt-7wWnr43DhUs2Hnp7AacspXa74n40wtO-MxD137VbE3L-9MN4sH9E0mePjhTB_2q-liFEswE4sGB-NsroztQfc43vQjciTAMmLdhxsETZQenumpdUpggNk0Z0iRxch-yOZhon1LD7v_GXGPI8Mz289wJtwKTkAjGR-yDlnawAOfKsh-7N8SSQJSTYlMJ7DkvsHJNi9m4n7cZD6kwG1w9MZ3YvYPKVZWhYXkvi-Lbniurbc1CGQ4KQGDb4xXWMjdAin8q4t7jWZba6aZIndF8MNyJnu4yQEFC12cg_9SpQErAPkdCjgchXMBRDIhihU5_r1lANqq6y5wk4dd2KeR9H8BHRM1qrCA2gBbRLhwsbk1wja8p8XpNINyvVLYv-RAQVOTEf3WnI5wO-rNJ4TNDHYrW1LZg4oAAJ9i4jUNZJA1GQ0G3SGUZK-KHS_gafiqCNpe0ObaocmD_jUxKvQHqBfWSnmHMwFRbPnQlG5Th4j0j3kJhWR9RLH-bmtiW3kv2-T47_lreA9xx-PASyht6dwFzS39Z6W_WPx_oFwFlTWzk0RlxiVzyXU5w6vb8wLud_o0joa-p-N_0n8m7Yziuad3V2Hc89ZAh5N5-leUcKOmbgdRqOT0Cta6S0V34kw9xZuiRn0SCPQxobe_u-KB4Yu2wWRQEq9ib6uoogUJSusecaI2udvBb2hFwzuOElKzPah99aBwy2zyzxWoYk_spgJmwKURlvG0A_BwEFvfVuydnYScmwL0Pl0c7toxzngg2EyQHKRpp30iAvCRBiy7-LseTFYh0OuPiVG9K-4ifleiyWnw8SY87Qs4NDSfZ2GjqotDTIy8IlACSeJH7_DlSMgM22284S29pLnDCM0A_jeQW06d96t2J8XBPoWZbYlnma9SrVWeOWiVcC5deKobnhGgAGfEMJp81w3B9z1OTv-ZBDVGIYvr7RuKj-zug2GMWTPOAp-b5FcgUj5hNoE1jlU2cNrPObCVnFSsn0KisG4zz1AqyVJAzqjtB5LKNFBRAmxu9-dIc3Nd0KDyRamH_4Rmbyr2bBiyojEY4h5OAjWNH1BDcqaVAmB0cFu9JoXT810RvTwFtNv3zai2R1GKzjkxV28R-AiEK9Z-d4LjQDzLGDqzjpx05OK1blIlP5ujz9dQl0jYmVifdavC82wUsUPUMKxVAf-LSjNFQgrh30MjjKSLnYWlzXsd5iegsIaCbXC6ZdasincEdHsxUpdqoOOxAsb_q48-ZnuQe4fNn15Y4RFRp30BqOVP8BI3q6ImI0dIgh0pGTAyBfdgp5K1durO74b7rgdk8gDVODjaIA94fhDaZYJcjb9ismVZ4tgsUtKXKoR8Yg==",
  "id": "rs_0894cbd571722803016ab4200ceea087d0bce372afabcef461",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.04},\"note\":\"The cap is now at the fingertip depth, but appears about a finger-width left of the jaw center. I’m making only a lateral correction before closing, to avoid knocking the cap away.\"}",
  "call_id": "call_iutYGT7PBU29UjJ9NxHa1zf9",
  "id": "fc_0894cbd571722803016ab4200f0d5487d08be3440d709c4b0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iutYGT7PBU29UjJ9NxHa1zf9",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0631, 1.6634, 0.4366, 0.6937, -0.057, -0.0505, 0.9976, -0.2302, 0.8131, 0.5224, -0.3592, -0.345, -0.26, 0.9976]\nstate[eef_state]: left_x=0.3943 left_y=0.0386 left_z=0.0394 left_yaw=0.14 left_pitch=0.0294 left_roll=-0.0165 left_gripper=0.9976 right_x=0.2859 right_y=-0.0019 right_z=0.1482 right_yaw=0.1901 right_pitch=-0.0346 right_roll=0.0066 right_gripper=0.9976\nstate[joint_eff]: [0.2256, -6.188, 3.5214, 1.5653, 0.1099, 0.3248, -0.0122, -0.4991, -2.1265, 6.9675, 1.9219, -0.2222, 0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65539bf1668ff3314f9c5499bae29e45580a2f19352b3eaf6e8ce9ea3f282bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6be471fd2120e47f63f7d3c868463310a48011e337ab7296c198519a06c88c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c21ac66995acc3c92c492a24d6d7bed925b22b4cec1a0d3e6b1e10e0d466933",
      "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 · 9.076 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 0.7559, 0.5034, -0.337, -0.1589, -0.1055, 0.9976, 0.5896, 1.9366, 0.9249, 0.4187, 0.3054, 0.1787, 0.0138]\nstate[eef_state]: left_x=0.2852 left_y=-0.0003 left_z=0.1542 left_yaw=0.0802 left_pitch=-0.0195 left_roll=-0.0018 left_gripper=0.9976 right_x=0.4375 right_y=0.2331 right_z=0.0495 right_yaw=0.2295 right_pitch=0.0091 right_roll=-0.0041 right_gripper=0.0138\nstate[joint_eff]: [-0.4034, -1.6752, 6.694, 1.8779, -0.1441, -0.0317, -0.0122, -0.253, -8.1983, 6.5709, 1.6728, 0.2564, 0.2173, 1.2381]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.033, 1.6352, 0.4492, 0.5808, -0.1116, -0.0914, 0.9976, -0.2291, 0.8291, 0.5571, -0.3801, -0.3412, -0.2592, 0.9975]\nstate[eef_state]: left_x=0.3873 left_y=0.0105 left_z=0.0313 left_yaw=0.1118 left_pitch=-0.0393 left_roll=-0.0137 left_gripper=0.9976 right_x=0.2888 right_y=-0.0029 right_z=0.1552 right_yaw=0.1878 right_pitch=-0.0376 right_roll=0.0061 right_gripper=0.9975\nstate[joint_eff]: [0.759, -3.8496, 5.1897, 1.1746, -0.0415, 0.1978, -0.0122, 0.1846, -1.4974, 7.1179, 2.0293, -0.0513, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0631, 1.6634, 0.4366, 0.6937, -0.057, -0.0505, 0.9976, -0.2302, 0.8131, 0.5224, -0.3592, -0.345, -0.26, 0.9976]\nstate[eef_state]: left_x=0.3943 left_y=0.0386 left_z=0.0394 left_yaw=0.14 left_pitch=0.0294 left_roll=-0.0165 left_gripper=0.9976 right_x=0.2859 right_y=-0.0019 right_z=0.1482 right_yaw=0.1901 right_pitch=-0.0346 right_roll=0.0066 right_gripper=0.9976\nstate[joint_eff]: [0.2256, -6.188, 3.5214, 1.5653, 0.1099, 0.3248, -0.0122, -0.4991, -2.1265, 6.9675, 1.9219, -0.2222, 0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65539bf1668ff3314f9c5499bae29e45580a2f19352b3eaf6e8ce9ea3f282bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6be471fd2120e47f63f7d3c868463310a48011e337ab7296c198519a06c88c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c21ac66995acc3c92c492a24d6d7bed925b22b4cec1a0d3e6b1e10e0d466933",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0894cbd571722803016ab4201128f087d092e3f48d93ee913f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.012,\"left_gripper\":0.0},\"note\":\"The overhead view puts the left gripper slightly to the outside of the left bottle; its cap is already at fingertip depth. I’m nudging the hand back toward the bottle while closing to catch the neck instead of repeating a full empty close off-center.\"}",
  "call_id": "call_gVD665GlUsYx0hO65ct3QER6",
  "id": "fc_0894cbd571722803016ab42013abc887d0832d804e3cc8b67c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gVD665GlUsYx0hO65ct3QER6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0425, 1.647, 0.4553, 0.6739, -0.1589, -0.0868, 0.0126, -0.2302, 0.7975, 0.4885, -0.3424, -0.345, -0.2604, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=0.0145 left_z=0.049 left_yaw=0.1399 left_pitch=0.051 left_roll=0.0008 left_gripper=0.0126 right_x=0.2825 right_y=-0.0012 right_z=0.1405 right_yaw=0.1904 right_pitch=-0.036 right_roll=0.0069 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -6.5573, 5.1897, 1.199, -0.0855, -0.1441, 0.8718, -0.4718, -1.9214, 7.0496, 1.9072, -0.2564, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dad62182accf9e064e4a3ecc3e16a3926abe0a73c7858f7ea2cc0602dce9577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1350b65dd96b2468e0127e51b5355479ad85ad440c3447a9bf1089b3ca95482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d1caafb0df269789205fe6bea4cb475eba03bcaa7dd7b2831606da6fdf4fea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.817 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.2469, 0.4202, 0.2161, -0.1421, -0.1047, 0.9976, -0.2203, 0.841, 0.5835, -0.3748, -0.3187, -0.2428, 0.9969]\nstate[eef_state]: left_x=0.3481 left_y=-0.0004 left_z=0.0824 left_yaw=0.0944 left_pitch=-0.0419 left_roll=-0.0066 left_gripper=0.9976 right_x=0.2941 right_y=-0.0055 right_z=0.164 right_yaw=0.169 right_pitch=-0.0247 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -3.6991, 6.3521, 2.0049, -0.0171, 0.1441, -0.0122, -0.1026, -2.2359, 10.0444, 1.8144, -0.2027, 0.0904, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0631, 1.6634, 0.4366, 0.6937, -0.057, -0.0505, 0.9976, -0.2302, 0.8131, 0.5224, -0.3592, -0.345, -0.26, 0.9976]\nstate[eef_state]: left_x=0.3943 left_y=0.0386 left_z=0.0394 left_yaw=0.14 left_pitch=0.0294 left_roll=-0.0165 left_gripper=0.9976 right_x=0.2859 right_y=-0.0019 right_z=0.1482 right_yaw=0.1901 right_pitch=-0.0346 right_roll=0.0066 right_gripper=0.9976\nstate[joint_eff]: [0.2256, -6.188, 3.5214, 1.5653, 0.1099, 0.3248, -0.0122, -0.4991, -2.1265, 6.9675, 1.9219, -0.2222, 0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0425, 1.647, 0.4553, 0.6739, -0.1589, -0.0868, 0.0126, -0.2302, 0.7975, 0.4885, -0.3424, -0.345, -0.2604, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=0.0145 left_z=0.049 left_yaw=0.1399 left_pitch=0.051 left_roll=0.0008 left_gripper=0.0126 right_x=0.2825 right_y=-0.0012 right_z=0.1405 right_yaw=0.1904 right_pitch=-0.036 right_roll=0.0069 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -6.5573, 5.1897, 1.199, -0.0855, -0.1441, 0.8718, -0.4718, -1.9214, 7.0496, 1.9072, -0.2564, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dad62182accf9e064e4a3ecc3e16a3926abe0a73c7858f7ea2cc0602dce9577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1350b65dd96b2468e0127e51b5355479ad85ad440c3447a9bf1089b3ca95482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d1caafb0df269789205fe6bea4cb475eba03bcaa7dd7b2831606da6fdf4fea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCAemY2IKCtI-PtgiYr6IJAn35rLR1AqR8Or8y8cV3smt2dtgSwW4bSkjMXSFzpbxqDzWJsJXVFLMlu8GsPeRqSYmo5lBNLqpDBZdmVCBWdsZrGkpoFkCfozcWM8qPSSZ96WFuZTzPAxOr475DS-v104n5nYWMh63DAdUFOu6Xh9USiXuiBLxSKi7aroUaSx7spy6uTMC9vH6o5K2BrC4fkOPh4XR8NOXfgv_HDq8LAggbd3O5SyD6iUNtykE2rLGp3H5agchmO5GN5fFHoqdhwTo33xd__29oaGdI4Mv4cUHfK1cxW-Hov-7ae2DdfIV7c5bE07WpWBUdFY8wIsUvQL9zm_GUC0lGsSlGJj89KBsWJyaMSvaJ3TBGktWBwdbfcREY764IDdhfh7LUHVk-y2cF_GzV64p2M5wn_wy5ZQxL3sWsmjr-_C4MYkNe2tRsgDWAICm8TR4OyqVKH_r2qWwu_c3b8JkOIMe3btVx8zo55UgbNfqWg52qRxueE6XnnxnXLEfcl2OpH7CJEv7ywAwK75YEMe4eePeqC4_eUGbyuQnFpVAED1drsx6KOKze7B7BVbF33urZb9wOjWDCHs_HUo5qR_0oJ56Evb3Mr4Z4GlU1hQaKxZBefFWkxoF3kHbZa18yqo1-yzw32rzhc3L0kr96EMpgbH7xUlsB5s4LQVDejd-2wsOTpcEqZUW8Pg_FTZSyeoI9VLTdsUHga4nUS-tTixHUDD487mHEH8jfaOhHbFCj836GlQ7YL-GgESOgOlotDMBATPLdQEOLUYcAx97jPqJ9DzScdoRmje8DqYOfE7Ubzt0mH6xyNwUhfWOwl_854s2KmtWDnGfF4RAd1W77L8idMyYgLTI0EZ_rRSYWTzykKmWhuQ26yD_YGLlStJ1jFhVtZrPGn4ASfkFfbcg6G8KkQZ08wGaArWndUXKPSmGydgTCEC3xlHhqJI0TqdwlmnJjA7E3E0ejLiY8N733CsbcjZbefvW8dfR87uCLpeHQa3msUvIoblVxxbaaSat_77EgaIM-WFTBdp9PTEA6CjJYS12oekSzngIbVEvUw4h7jBdPcjhrQC7B4L6I299uRjjMeEKqFtzCDe91WJ6mOtE-SSUnibBEIRp_St0qDqBZg2oRq9iTPbfAt1OxhxL0SJiDn0E3WSo3QE2jnJRoKj9AMbKf8YzrJwxK_feAJ44KNqTajdv2WBlCsbH8ioHOOouEDnkC0j599RMtwSb5YNCHPsdTZqQCzeHQrGwFlP_jT69Ze81vP0SJKA7Vf0hMY2leKcMcjKFnDk15FPFmWBYWujKw4m3I0IZnHt4hynNvhWi3gEapPHQCidnoEaZK6aRECbsS5bxsLiPNGhgspMNdlzvkqG5fUmciFxGz6DOSopS0vHZ6kNr8MW2QJlXKVj9v_yhiwFqillojItG5A58EzM0EolVwz9dd4GMN9v35QfkBdEWajs5bYlqBm-hMzvQfWMq-nZv1xIOxGsfOOEIdFGI0ChhDfcQU1nDLwnk2aWBU7Xw4I4TLCmXCt9darGjG-Jo5YYJYn95QgKO0grliF9DIsYP2inu5BipAepyz2bPWxwENzdh7dm7TIn2fY1hrpy6U82dWeh5CGrEcWIxx9QQLKEpjSRuQuIQyQBTavHBmEBR34ZNJV6nNTFVJ1hunGi5q1K-oiU8qG3fAyN5G8Oms5jtDhtIUpinJl_LcoTUtjZB3voYym0zTZrNU9riGkM-IrAorHw99CnMGIvV2hk_U1jyFRmrYOJQH5woXq5fej_D1wPco9-vjM-8Ytm2SOfESviR-3qW_Bw0IgEv3jIWzca-EF4AznUZONBd6G6czH-Ft_wauDw8PqxZFClFFaFclurGTQEDW6WNgr6BA152PHMYzvtPkgBFHKf1pNzdto5m_M78lpaGJ_pz4m44c5hvlYKdbEjnViwtzlwPwwSEmUjVQF8e89I_R1V5jT2hiEa86hyw9Rul9b8ukZp4urMn-qMizH_bZRYR9XXmc29jP5EdULM5ZPZUEjT8fB-0SCp-BL9ibGSezQMGI14MzfPyKycJX58l8IFpfLriwhBv7XJ7wogL-J90Zg3nRmMXcln7wIrpfA1fhLIVCYybpel6g-Cms3YKxhvLRYaEzNR5NExs_Ny2SDUDoKw5GqTLYmEeT4GBXzG9V4Y_Wq4ggPSJEYoxL-BPe1739mHmAhVmH4Fkiv4sXS7My0ouxYQ9qsl86L3YvliZ5fPGqRCgJb24ZJ5fZgqPwtirSnCNbSf8fHxWyb1oCaEoZRIQZHoDEV4ncS8DdN2YqhsuAgk0Jct3eTKsdQeU6VNpZOaq8kVidwGJ2yUbc9Lj5jkP_E-yFOHQkNhoCxR6uiXGo1s4nTHPouJVxfZXT47N7s4cAf949Tn0ex2H17UU5dRCvwy_-w82IaZkM4tpjF0thiqsLOoP1jtcIEIaF77C_meLrPRHa_dxL9SoQTrBmeklW7YsBPKO8-4DlHY60VSu7BBeFVbIia4NmMKJQfeSzHRZmh4ck6fD-nDI-MoQDzumo90Kj6qIFhWd-NBbVaYRJFgBKvElkvNBZrHOlwx9xTyYBo20Zdo_fWsGAGA4n4xqzi8UDeoU4Ml5IrA_U38Oi3AZufyZWrKqRNbHu7J1O3uZfUFoc4VF0w5Cfx5iBEevNPoVBP6_BZFjGG8-u-Tw028KNUNqygHuLpYxZZ-Pwwn5Jus7LpX6ehI1ouhyewxb5d7RAKCHSoXpJJc0wkhLzyjkHLpbgSlBcWH11rLhTeUXabrQ9QlrGkQGSIhjsa9YTEhth7VhJuMrSWQagDvxR_N_-HhxjTswkdDU6DdfdNJcv6nQWqOmNXTYu29y1WS59dpmBVV1uU3GxPTRtE3okLv8dSjDwoXzlerd5JZzkwNuHmbbnFjPpqbGpaRcBK-J05is_pAriyaV_WT-KkZhudyokVzrxF1GlBvY-PqAg1cNImrSvogBBFXfs3kjzjDN_1BnnHvJTNKnUBK8kvkaoARE7V4-pGWPnj3fgNhJR3c9mLThkiTH3enMhgfyfTnagDZ6jCx5-_s6wArstZKKt5ByvXzL0XFqlBJo2rL5Lca5POV2FqQlwGIc9oY4EAGBx2rvBSWqJROrPO35a533uk321nkQrxyiacV1K4_loj4tj8O66nfLa13Y3wcmDbZ_4IUjZyq53rl-K_mRgGCveyjtN_IaYyc0P-CR5YvvUaWdgpz3xh1zOnqIPVpV6EgjfYikfMLzX_9zR0O15lnVpyvwVCs3YidOMlQ7HGobXgpjL7CZk5EbQBd2CweF-FNwcfXN7ahdNPI2bHr7Wj8R-inI1sYusK91Eqi4bnjPbRa0dpXW8Xl0pSLuv-TU68OAMb9lp7T5EBIHi293DF6emOFqNFzv9LEjnCsKuUE2BgqaJDuO-a5fIjWFrEATPWe5dDSR8o0TDPZhT3sYOR2ZMP3mWet2l3Vs1vIwbM-bSK6-XG2ylmw0wQm2aVXBMa8uuxUuH1RLcm2DVrSiq2cWVxZZAs-7JeRPYXveTBiBo-bGM14BGgww0X0iLfXGSS0s07FM_V1TJJXcRghGyYL4pqF0K2pMeE00Vv9GPhKIHL__muA3vPO8dHtsWA=",
  "id": "rs_0894cbd571722803016ab420167bfc87d089972bd2ddb40fff",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAeJOqxha0rpNIY8JUeshuPYroV9gj5u4hSy6kS4UrVJZ7-1qcGeseUTcRk6XZXUYdle-ULpLjpebPN71XgLX5xqMkMlma4qcxqT9Q0-dquErNjdmTUiCywuSbobdDfgasasJHQ9WNyz_ko71-WepdX-BFm83ae3Nwaanas2v2THOJBoiWOUE619QyMJ3w3dlTWCLOE54YKqW9A6Hqm2PGAXfZprCRShGZ9zzRVEZic7HN6NYo0sPSryyYf9LEFd34mmRUQRMAXR79ndLYeilPKA686UPG_vE0cn07Z8Ka_xcmp-pcHvT5VIN9M2-wHJzO-pWhfa1incb4qLsykfqj5xovUn86IwM0F0qx-_XRDkgOm1Gm3UHC5FxFq8uJ0LjI0RMi0rcuYrHAvG8ahCXzTxcuG6IYMtvt2qQ61G09JFSrg0KjQQSb6O2wrDNOgAcBZtks3YO6DBg7Sjg-UDe5xcP-BtoNQ14rlYowc0HW92JnmzOB5pCqhjBDRvMnR_DSdTvyHNi435wp-erd_BkNR2upgMw6bv1ei1OllfMLztCyoG_Isb-PbFCwXjNgzwxJQfy2RovtCmB6gpEmsOIf_zkJK_3GIOlBKnvBUrt3NTFYR2IETJLNwPdx7fC--InnWVgRC8MaSu1-3s0qzTXbwCg9l6bjjzw-TANBmCstGYK5yimpX3dsOAAQfSoRHMq3qOV7aDKlOiDdWZfu152LfQnwGnDMFq7zwX-EOm39yN9H7IWcer_bfAESBPcbxnkTuFMq3f3KojQVPxFPgLqs1ZXCf44FYErAJxkz2o2CTwzXVzuUkQYhm4tx5BbOfgwuIGug5hltC2Pn5UBMnnAFspTKrU9sojg6f0W4MrCIXEUcMMojzKOsHs8-0ossrIilgwsdPDKYxgcGXnBz0UYHqHPG1gTlNW48-1CEJCIXYjvZnwBErDUI2jwumNY7XthbFcvyHOe6yHGcXmHaxPbXbMWKW7mDoaugHcDpm09vKkg5PGcSoIhii43lAt6p3JUSahotKDI0vpX7lWDo-_F3yRxL6gXHeKACtpqd8MTVu49xUmvOU0_9yegNM61_w_0tlCNcChkqljB-a3NlKjT9Hj0C8w0LSOCNo4TrcB3A6FGXjg_g1LS5GpmlHDf4v5LQnt2ZvsGbII1aqTNglvx1vDCWIJ9NiY2jfEeDM4xzvPkbmBV2uulqm1Kgd-Slu78bI_kheLbIwUhAHDKkT6QSLg3aETGBykFIY10OengYHyg1617ZSkQUD8ThL_UyX9g7Om3M2SaG8f5-zAz3fxY3o8rptiq6sdsDYf1w_NIxY1YUaHABRxoVOdnypMP9h_lazV-dIKvktrfKukT9pOhxPx0wEjVbPeRf4IQxb-rwhDwNTSYn_cu6W03ivTrLImb-Tyx_TxiljBeCFWzniGBWwAPTeGO4I6g3ALJS5musy0dcwF2CVPqZ4ul--pDySIlUsMmwMnuNlmYALtivJ-RvnESg9qROhXpLbM6xBEiuPcQlQwW-idG7gDDGta4Xt2Xze3S1R9N68J8nGgcWN9BQKqfqiUJue5Qh60h4PcWnMvdaJ48jKmF6pUQ6isU9j-CEMEQ411MzUjviK709_96yNUNXxtWSHKSwilQIO39T3u1a-kD-OA-NfrzOTnflaX5YnAzS2cAQcbkwiNqnqwZOgFbrkiEqEufOALin1fWDVBCZVTfpmh12kkdFQEFcf_hDMwgx6ACKmNFgig3aY3BycFsk8tB6msKkv5vEEWgUV2WzULBBVg82-4fKpsrPHZxX7B9hSQA42Aqqq45glw2C34VvK0ANzPp1XX0n1yrlHIhcdPUVcIdyQNrD9uiqtHxWRD3kW1a8xk5TmudJFZ1nGG8WZaOiyhO-VIVOKsbxFPBbz9f0Fj4Q9sWrpuYM7X3gqnz_CLW_TkbGnYAU4Ad44DLixhvcGf2KvwVhSUIIA_QIgEaRFCemQtUBpg5vlDhwaVroXcj21lBmpJ3uMAYMi5x_UoPEibeGClqc_iuLYle0DJB1xOgC9P8Q-DemZtj6pIA-1k4T_fpuvW6aBdFrzHCMHWEQuJk_zc_xr3ePUGfczVvQdcZmQ7gsngZE2inookz9-rO31nMk1asRVUkI_hb6OPLaZ9ZYMphPTLuvZwsJmBP1eDIqeqa1TV7LQfknl2tXwfNujq_C2t8LOtHdWUrm-FgEfpnf3u2K0ajVBv4m58hmb3euQXbBODrYtSgko9fl3ayysXd-5F_QBWk2Y_Q==",
  "id": "rs_0894cbd571722803016ab4201b0da487d0ac0c6b2f3790c3e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.07,\"right_yaw\":0.0},\"note\":\"The left close was empty despite the cap appearing beneath the hand; the fingertips remained about 5 cm high, above that narrow cap. I’m clearing the left hand and returning to the nearer right bottle, approaching its cap with the right jaws re-aligned across the bottle.\"}",
  "call_id": "call_EusUBy8ZCLRvMvVFip6PPcWo",
  "id": "fc_0894cbd571722803016ab4201d77a487d0934030ae5f2651fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EusUBy8ZCLRvMvVFip6PPcWo",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1646, 0.799, 0.5629, -0.3531, -0.2459, -0.1616, 0.9977, 0.8082, 1.9064, 1.021, 0.0978, 0.6128, 0.4568, 0.9977]\nstate[eef_state]: left_x=0.2927 left_y=-0.0014 left_z=0.1682 left_yaw=0.1304 left_pitch=-0.0076 left_roll=-0.002 left_gripper=0.9977 right_x=0.3886 right_y=0.2648 right_z=0.0577 right_yaw=0.0525 right_pitch=-0.0477 right_roll=-0.0413 right_gripper=0.9977\nstate[joint_eff]: [-0.7726, -1.5111, 10.0991, 1.6093, -0.232, -0.0904, -0.1441, -0.0752, -9.2239, 7.6786, 1.5751, 0.4957, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808458ed5f9bebee12b1198cca90cd209730050504849bf408e115bf62719833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a803a78339bfa626fcb6ea9f903b1045e1938d46e6967d6f4bf2a23f366b87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a63ca5f5b50017e84c1a953a4e04e9ef4a2c83f039e76fb1f0f1de6f1aefd0",
      "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 · 2.364 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.033, 1.6352, 0.4492, 0.5808, -0.1116, -0.0914, 0.9976, -0.2291, 0.8291, 0.5571, -0.3801, -0.3412, -0.2592, 0.9975]\nstate[eef_state]: left_x=0.3873 left_y=0.0105 left_z=0.0313 left_yaw=0.1118 left_pitch=-0.0393 left_roll=-0.0137 left_gripper=0.9976 right_x=0.2888 right_y=-0.0029 right_z=0.1552 right_yaw=0.1878 right_pitch=-0.0376 right_roll=0.0061 right_gripper=0.9975\nstate[joint_eff]: [0.759, -3.8496, 5.1897, 1.1746, -0.0415, 0.1978, -0.0122, 0.1846, -1.4974, 7.1179, 2.0293, -0.0513, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0425, 1.647, 0.4553, 0.6739, -0.1589, -0.0868, 0.0126, -0.2302, 0.7975, 0.4885, -0.3424, -0.345, -0.2604, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=0.0145 left_z=0.049 left_yaw=0.1399 left_pitch=0.051 left_roll=0.0008 left_gripper=0.0126 right_x=0.2825 right_y=-0.0012 right_z=0.1405 right_yaw=0.1904 right_pitch=-0.036 right_roll=0.0069 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -6.5573, 5.1897, 1.199, -0.0855, -0.1441, 0.8718, -0.4718, -1.9214, 7.0496, 1.9072, -0.2564, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1646, 0.799, 0.5629, -0.3531, -0.2459, -0.1616, 0.9977, 0.8082, 1.9064, 1.021, 0.0978, 0.6128, 0.4568, 0.9977]\nstate[eef_state]: left_x=0.2927 left_y=-0.0014 left_z=0.1682 left_yaw=0.1304 left_pitch=-0.0076 left_roll=-0.002 left_gripper=0.9977 right_x=0.3886 right_y=0.2648 right_z=0.0577 right_yaw=0.0525 right_pitch=-0.0477 right_roll=-0.0413 right_gripper=0.9977\nstate[joint_eff]: [-0.7726, -1.5111, 10.0991, 1.6093, -0.232, -0.0904, -0.1441, -0.0752, -9.2239, 7.6786, 1.5751, 0.4957, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808458ed5f9bebee12b1198cca90cd209730050504849bf408e115bf62719833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a803a78339bfa626fcb6ea9f903b1045e1938d46e6967d6f4bf2a23f366b87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a63ca5f5b50017e84c1a953a4e04e9ef4a2c83f039e76fb1f0f1de6f1aefd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCAkHqjvOd9rs4aaTPVfaT0RRB9hIfrKz6x9TNqtamj0WauHH0NzxRBQvgQTa4eAcd2lEx49OqhNYR6PmUDBmWkxQMbfM0GDF4QkRd1q05eSrRBPgGbYTEm1okD7MiovghppJhpHLAg41Md7Hk8nVU7rwc_RRaEwT0WjWqOdZau3GPHMZPBb0qKaszwTheyXqfGyauiuuX0JTjL-iZwWd64PMpZ2LUkzBRrJxVJMeklS18xz-tFBUsL52zhSr-jpjsE2B5gDidS1N8KkAZHyS0bVfsXs8HiwvJpILCgARNgmAaPX4b4lmKJ8BxYjZlvHptcVs15owBtyi2Smy29JlyXfn59vwkJxyVCHNwqSK6D7jt9xIzl3-uaK99XuP_w_rGGdF5MnSfunnks0q9KizJfvRKlAclWWPGtIhVG0M64QXJZNcMEHJXdIqe9OVtz1BmfhAVwEnD2QYfI1PriQJ3A_hbXGqRo8MKwu1WIg7mbxUTXVAyfzD2FDq7B-bd36V2DBTjLWxdMHqbBhSAmxis_jIkmVCOAwkWQoxJZF8PsSRdAcn0_gYV8OF72EdAF6sGv7FDaKIxUEhdcilT6ndI6mOX8owhXlc9Jhmx8LTTGMnJ0Mg30PWxXjcPSklaC7lLgbqP8hGnGNQA9vunBQpxZA6c37yY9OaRlmtdPAbQdP0DNcnaZOCLiqmJ5I8VYhwIoLztZ1g5XQL39gSXz0Ki3PfV1LmowB0nEzKI5eRnVS5LOIV1cEVCBZ5jPDaDbm4lJNcupND9fwM8JQ-FRRk_E_9b9KMZXWjaP6inD_yM5yvV1EHak5XR-PoTSdXgoPD8c_8_XMjYl8oWr5ZaxrrWRCZ-NBFrbBjYFKT57nJAdN6VNapeADrIPAFo_PA5gvd7a-Vg2m72NwMi2-0cPijnIAl8PXl9Drm2mvhTmAImqqBao8JVHwNRQYhMOqZO5w-QMwJsipUFF3UbhQWs6Pp6dDgLC3UFl56lNCak7nWy3Qe47rqdPKUuao9UdOAGZb-kZLJ-QePcxBX6FW74txE2Xxl3X5Y33yeC71ohakQAfqFhKPXCMo9IFgQXQEpy7cZ0xzzBfS-exmkRdTBX54GYEoCI7VJ9jvaKpKG6c36egjdA9YReLAfgk4iBCi30zHvX0UcXrl0x6purisaXjC4KKYCn0UgJGytODj_ksySC0hFoM1vKY0aYeg4MwEJh1E6tU6IuURxK0mE5esFQXzMjlnYh6NLR-tQcTQNMgIF5FNHV9doatlvFng2Qmd3-zmbwxCRkNjr_PhUuvaehby1VNqVeCyKi2LUBAA-e5xSA3GQzf5yslok2A_E3Z5XE6KWcl3sVsH4kydMKnvL4z0WxxqidroSEs1j8FNnFLD_gGXsgnryFzrA5KI9MamrzC0_I9EPE5BoSdJS2NExma-aCW29nsoh4yN3BmVEvQkVyj5avncY7mNF9ZzUMB1b7UCnu4oaXbkPdFXXdzq3zwCqnyqGsZpXba6_OcxwCAyuVWeeG20vp7oyJtVw_yzlTS9yRrFdNC8yM3rHCWjj1jCrl7dpvsldocTSfPGuz8NqnKOeLg6l9YGI7AgWRQ1phLB1Wwtk_jHkZKxx-63G57dFq9c6GNzwtf6YWnuNdLLPUl1x_IqSMHwdTtJsSzku034D3Rjo1zHDoDhlQbaucEih1Umy5dDY898FPfhF2GO0YoPnL4BOGRnH5abHJHkeLKBWsaEbpEo6ubjB9YoC3i3Vx6Yv4vvu4KlCSg6ULozlb7eDOjnNIaXIqCVvkFdYGPANG6_xWUNeWLouBKj9S0L1rkb60fG2AFyeMZZmQavZSzEHauP3w35U5ZIxxocutnTW9AHuXYa-U1sAWs17mxU73kOhLNusDLK2m7JMRD_wRKPcwwByu2cXtkzt_IZJbpPWNzFEcGmfIK1fubIoPcvLMBN9EhPgw5-ZcFFdWdkXBkgGF-8gb5lfOFrLvwhrAtZ0b7E",
  "id": "rs_0894cbd571722803016ab42021d54087d08cdd6ecd1c0948e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.23,\"right_z\":0.025},\"note\":\"The right bottle’s cap is visible near the lower-right of the wrist image and a little ahead of the fingers. I’m advancing to cap depth, moving right to center it, and descending to neck height before the next close.\"}",
  "call_id": "call_f89Ekhcil6ATWZT9IQ9dRfqM",
  "id": "fc_0894cbd571722803016ab42023c5b487d09dd36ad25328c5eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f89Ekhcil6ATWZT9IQ9dRfqM",
  "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]: [-0.165, 0.7979, 0.5648, -0.3714, -0.2516, -0.1616, 0.9976, 0.6521, 1.9976, 0.9787, 0.3275, 0.5491, 0.3412, 0.9977]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1659 left_yaw=0.1348 left_pitch=-0.0212 left_roll=0.0055 left_gripper=0.9976 right_x=0.4345 right_y=0.2203 right_z=0.0345 right_yaw=0.0086 right_pitch=-0.0045 right_roll=-0.0421 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -1.5385, 6.2701, 1.9414, -0.1148, -0.0317, -0.0171, 0.6906, -7.0496, 5.5316, 1.6923, -0.3297, 0.3785, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d3228f2021c4a70cbdfd97ffaad9c3b13f5cc553275314c440051851802987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b95a696d7d678d650ab0d31c443604a0260fce2ccb15f8ffc988ae3181e2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba611887ce8f096c8fcdce9ef7017e29c28f9f70c6b71e0deafe4b6ab09c7529",
      "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 26 attempt 0 · /responses · status 200 · 6.836 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0631, 1.6634, 0.4366, 0.6937, -0.057, -0.0505, 0.9976, -0.2302, 0.8131, 0.5224, -0.3592, -0.345, -0.26, 0.9976]\nstate[eef_state]: left_x=0.3943 left_y=0.0386 left_z=0.0394 left_yaw=0.14 left_pitch=0.0294 left_roll=-0.0165 left_gripper=0.9976 right_x=0.2859 right_y=-0.0019 right_z=0.1482 right_yaw=0.1901 right_pitch=-0.0346 right_roll=0.0066 right_gripper=0.9976\nstate[joint_eff]: [0.2256, -6.188, 3.5214, 1.5653, 0.1099, 0.3248, -0.0122, -0.4991, -2.1265, 6.9675, 1.9219, -0.2222, 0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1646, 0.799, 0.5629, -0.3531, -0.2459, -0.1616, 0.9977, 0.8082, 1.9064, 1.021, 0.0978, 0.6128, 0.4568, 0.9977]\nstate[eef_state]: left_x=0.2927 left_y=-0.0014 left_z=0.1682 left_yaw=0.1304 left_pitch=-0.0076 left_roll=-0.002 left_gripper=0.9977 right_x=0.3886 right_y=0.2648 right_z=0.0577 right_yaw=0.0525 right_pitch=-0.0477 right_roll=-0.0413 right_gripper=0.9977\nstate[joint_eff]: [-0.7726, -1.5111, 10.0991, 1.6093, -0.232, -0.0904, -0.1441, -0.0752, -9.2239, 7.6786, 1.5751, 0.4957, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7979, 0.5648, -0.3714, -0.2516, -0.1616, 0.9976, 0.6521, 1.9976, 0.9787, 0.3275, 0.5491, 0.3412, 0.9977]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1659 left_yaw=0.1348 left_pitch=-0.0212 left_roll=0.0055 left_gripper=0.9976 right_x=0.4345 right_y=0.2203 right_z=0.0345 right_yaw=0.0086 right_pitch=-0.0045 right_roll=-0.0421 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -1.5385, 6.2701, 1.9414, -0.1148, -0.0317, -0.0171, 0.6906, -7.0496, 5.5316, 1.6923, -0.3297, 0.3785, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d3228f2021c4a70cbdfd97ffaad9c3b13f5cc553275314c440051851802987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b95a696d7d678d650ab0d31c443604a0260fce2ccb15f8ffc988ae3181e2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba611887ce8f096c8fcdce9ef7017e29c28f9f70c6b71e0deafe4b6ab09c7529",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAnhyII53ZUa5aKc-k7hEMwQS8b3mznj_F5UPqOrHir7Q5n_41HLJQxGxAtPOTEtK0UwOmuOoWTL-RRETQjaN4fU1uC46rs8T-6s8lvnLspsz_PjoFw7sczVy9M4c2R_JTIEB93cAT9h6IO05XSNjZBTJmcTnX7BUv0m2dB6DyQHmAXuHbtxr6mOs-sd94KpAY9V1EeiWHKUzt56dBlmaIx_gp-RbV30NQatDFFqm9oIYRGWydDDfYwGr96JYSuCTewpHCRhEx0Nwbbb5PeavRNEjEDWaQntkc4QEql0neXSnKZMhzgc1j8Zcc_nrcaB3z4Whs9XlsJIFGdNG8LXdaCeZzHsfYOVChhIWkK-38oqOzLtSxBrFEnphsUXRYppd8bueyg3J4U5QAU1i71uypcWdbAJhFXClqdDYrEVtG7TzuExq3mI-u_lO7suH0PBkRLOdPZ_zvo8cy8GaNRTbDu-Ky79iOt9zqujdmgODwsCM4M02PzTfL91Qpl00xdfMhPxM2N6brAwBuQTJftW1dpn4PWo_av8F5ZilV_nsgpWb0Gx82tqcAMaAiXqCeTLYueaxp82HqeyCiax-cvx2bBBml-lD_Au2KO9k5xjZmi1xk8LWlik4-M5d38Gn9Mc1c6_RpAem4uUk-XghEXYUXliL6PK6etKGCd7G_cA8TL7o_H8uAh_0lVU5ARJ-5_07-wm0GMejLeV8w8l7TQEHGK4hk07yjLW7kbY-Ehn9j_a0X2kRLgQADu4xEFLy85_LXb7RuosaSaUjye6KokgwzcheQOBs1rwi5PHYeNlUgDLSgU6oG4zwJs8Y0ojvIE5qJ4XpSrHrCiAXRx5Tfm0xsMC7Mp2CZOqyzG757Fjyd1RelL_wcTbqEIdcvYnpHdiqOYZhNdgAa2AcIE-Klj6hL4_gNkqm631lhI5FHCWpyjJHZp7oaEEnsy5I5VDB0hArvvnrBWUK_LKnNiQilZZUT88e4psw7nbvTa3RrHySr6fvx54d4kZwzNNYHkmdxHvblZWpQVY4o_OfWWl-0RT3H22cUDnmxSnzBpfncrQzlrAyv6mtA3h-ix4Mq1cxGGUbwphrkwJvjIazNzygaZfnSmIc_UhsXQjcGyrbSRlHScGkSOX-Twn-xGz-lEiHJdITrpnF6U68qoCnKoNBc6PEUFiPLUMAyTvGtSC1OA7h1t3qli81VL7hfffpRyVAYlc5oIxMSCYzVkL0tjBQPgNSgApGVkwOpugGjkBd2L3fJPfn0GXEIKKV4CmUXlzKJvX58gWJfLixuef3IZoJoZ2gnoPOvs1uL10EMR76GnipGmv7zXmosGcKfxMQfjhWDL4Fjy",
  "id": "rs_0894cbd571722803016ab420263f0087d0a62017291fdbc888",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist now places the cap nearly on the jaw centerline at fingertip depth, noticeably better aligned than the last miss. I’m closing around the neck and checking the settled opening.\"}",
  "call_id": "call_rrGeEFs6QwVgzmlZ92sOc08p",
  "id": "fc_0894cbd571722803016ab4202689d487d08a0d3b3f1f26adc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rrGeEFs6QwVgzmlZ92sOc08p",
  "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]: [-0.165, 0.7898, 0.5495, -0.3557, -0.2516, -0.1616, 0.9976, 0.6468, 1.9903, 0.9749, 0.4091, 0.5205, 0.3462, 0.0139]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1642 left_yaw=0.1348 left_pitch=-0.0132 left_roll=0.003 left_gripper=0.9976 right_x=0.4429 right_y=0.2289 right_z=0.0494 right_yaw=0.0218 right_pitch=0.0539 right_roll=0.0265 right_gripper=0.0139\nstate[joint_eff]: [-0.1709, -1.7983, 6.5026, 1.8388, -0.149, -0.0659, -0.0122, -0.5812, -9.812, 4.465, 1.1941, 0.2369, 0.1587, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa3bd3fa101f3f8134a6f8296808bea320ad759b31063b65c5baf5a0db5b42e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe4b9ce2e8361669c1a862ca5e157af5d3c6d0b6965313341c6c67cee342abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88276834f557dd268e0561e8009b2cdfdc9a8d18f48cd52e447be1d684e666cb",
      "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 27 attempt 0 · /responses · status 200 · 3.881 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0425, 1.647, 0.4553, 0.6739, -0.1589, -0.0868, 0.0126, -0.2302, 0.7975, 0.4885, -0.3424, -0.345, -0.2604, 0.9976]\nstate[eef_state]: left_x=0.4001 left_y=0.0145 left_z=0.049 left_yaw=0.1399 left_pitch=0.051 left_roll=0.0008 left_gripper=0.0126 right_x=0.2825 right_y=-0.0012 right_z=0.1405 right_yaw=0.1904 right_pitch=-0.036 right_roll=0.0069 right_gripper=0.9976\nstate[joint_eff]: [-0.5402, -6.5573, 5.1897, 1.199, -0.0855, -0.1441, 0.8718, -0.4718, -1.9214, 7.0496, 1.9072, -0.2564, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7979, 0.5648, -0.3714, -0.2516, -0.1616, 0.9976, 0.6521, 1.9976, 0.9787, 0.3275, 0.5491, 0.3412, 0.9977]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1659 left_yaw=0.1348 left_pitch=-0.0212 left_roll=0.0055 left_gripper=0.9976 right_x=0.4345 right_y=0.2203 right_z=0.0345 right_yaw=0.0086 right_pitch=-0.0045 right_roll=-0.0421 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -1.5385, 6.2701, 1.9414, -0.1148, -0.0317, -0.0171, 0.6906, -7.0496, 5.5316, 1.6923, -0.3297, 0.3785, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7898, 0.5495, -0.3557, -0.2516, -0.1616, 0.9976, 0.6468, 1.9903, 0.9749, 0.4091, 0.5205, 0.3462, 0.0139]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1642 left_yaw=0.1348 left_pitch=-0.0132 left_roll=0.003 left_gripper=0.9976 right_x=0.4429 right_y=0.2289 right_z=0.0494 right_yaw=0.0218 right_pitch=0.0539 right_roll=0.0265 right_gripper=0.0139\nstate[joint_eff]: [-0.1709, -1.7983, 6.5026, 1.8388, -0.149, -0.0659, -0.0122, -0.5812, -9.812, 4.465, 1.1941, 0.2369, 0.1587, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa3bd3fa101f3f8134a6f8296808bea320ad759b31063b65c5baf5a0db5b42e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe4b9ce2e8361669c1a862ca5e157af5d3c6d0b6965313341c6c67cee342abf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88276834f557dd268e0561e8009b2cdfdc9a8d18f48cd52e447be1d684e666cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCAvDxDRnRLkQAerHPfTCmQH255EpuP6XHzCJ1towcKOnBqkQtH4uls5POEogsbDnD-srNY40SdOm-yRf5sA7cYQIWGSPm5rAVJMcFvgODr5tSfn8xnYxBA-wv01lqRpmzqmFJ1Sdfk3y9xb0tQotutxSYwrHOy9txjH6m8j7fI-Fj0emhtVe5bOq1LVpsrN7h8MmqhtfWCTEngmvENQO6BNnrbi4zmyrtLEgJwRM-iwkQIKhAKjKt7hKBv71YezkTMnEf2xDZdRvk2f67WBA0PjS0NlmC3fFDmy1a0-AHzxtVjqhI79hPIEpyF36lMagYIksOa1VaNEjrtFxajLo2_RLRwBdFIQGCqi1kV4pIbhK3Bzb5CTqaN07b4JXb8jjoeiSsCKeMdw1NeK_AGC5fovA2an1OiNlqsF3b5suok8fMQOCqD3QNg2mWWIulCK7QJSoEgNj4sDmyXQZlE65C6GL2WD_mYUqFPLKKLpaejcVf4YMf9jSwewbIz948amyvyKL5aqWvasXnJcYx8UixoBeLRZ2uiC5Y3vaF8VrNarogbB-Y0NX0t1-LE3F2Kdg3QzXIYxdsuipwBe1HibUsFfyu3W35ImLk45WnU6z8taKlvk6MPEpuzuwjYNequfMHRNssi6eQB_UUPUfjSuvjuT0wEKWAh5kufuOUdQT62tuNUuCMPbHEV8VXOsjAUrp5mN4ZQo_8vvQhdlTIMI3k4UxIh7NZ94bKkp6B-m2JnvedBiROxbSeqrAvheCoM4LYzmhO2nXO5deHlktU0yqkNQQEDy0D8iq4EN_RGPR7HFNXtAzz6DXmD8WHMtp6GHiAT19XOjFNHreEymRiUNxeGjZ3TvjhPh0ms3rB8_KRbJDrbqAH4vpyBsCslK5tTw8U1Vgw5IqAcEJH5LqAl0S7OjTc453l-9QknXhPxS5nPHu28aONejHmOCf2kMbibVaxDdmFZBgxw2iw_OHbhv2RfpTiMt8TC0xYCrAcSMA8YNBy6Jxbg890JtL14_uIimsBNQTqxhm2I6aWOSkxYv65wohSAWh7gS4tbrPG-9NgSLcnShk-3G9Or5MwGr7s4SHhHguWjwwqwOHyEDRjg2G6Laauas2VrYajq90PWwGIVq9COtTH4_JzpnHPbCM0hBPnZ_9rXfMocDzfMqLhC5wY5P6LgYAN35FLjpejqRpv85mmdO6zGiSViOtGOdhcFsH-MInwIeavYfPTyj-WbGJfgDWRRDEM-M-yPzOJ45VXSDztNI3hxSxocCPAR_0Q65FnfaWxqocy87VJ7VzYwj7tnNfn4fMg1jQXNb0b4yi5fuHz0k_YVPC93IGjT3ube9yWMFHhgea6TnXrva4BJztHx-ET0nhxCK_DnN5bLAelBHIv-MFtr7hcrxv1o7YKkdxuQ8QIHQRYne2UiUVYU4N2zODm_JunWgRjHc66E9wQzlvOjs6-yocQIvARe1IYL3tl7p7zvdtGwAq6AszmSQZefV9DVRjQeaGeLz5ZGMQrpRUV12QLQn5QxfVbHZHzbnAsJCed6BVCoO_3D5qWdMo9fA8S-pBndMUPQBxhJDiNhMmWSPspOOwkrpYUi-uZHDgEK2uvNM9MenmyFwUQ06FrlmA7hnrGk908BewA9d8VkOXwehnBThR-qGeGQMo_iScrRhivXxmqHN_Y-K6e8i3M3e5mDeAtsLDL0ej4hXs4MkfU3I6QKMnasRhW2wyuJjKY4B-ogKwVMlF9eg3OPkn763ZicwoJJDOrj0qo_pX21jcpZUVlHyy7jNdJqKA_NhK1aW0s3XUtatmXEBCvBKiRHrEF_FcPyifNq7w4eo-iiK3EPNzdgSdFDopXp2qtuYgQwPeKZzWhP9dyZWhRAYhISmIQWBPW-er-VzzvLfyh3R95gMQrxBLLoXoHMW9uaD_kbMgPm6OxaD-GCW-m4GCsZ9Rh4pa0HDoxlMxVTxQiSjegCxSieW4jFO5OwHjutvk1R70g6YAe_Y5-HnCeC5SuJu2JLc-_U8E4gSyLKrmp_xWnPOJMclMVBP3se92Ci56sg4D4fbZYdyT8EgZmm3kEU38gXVBuu27eEZX3X5SMhSOellj3Mj4EyvYHh1J0gIylT11UShGsKXAGoUafBKFtgPtWiCNXUeToaEG3SJuFLaojJjFGQ6OLyZS7D7CGUt1gJqbWgyjy-m_3L1_FX5w1m0XthLwYWsxlECaINmLJqOtGd0qW8gZ75jCPzWud3GS6kc1PrDi0t8mQgtW0bjHS8XpWqBiU9MLQcVgOH3zI0DZY3OdJiekiqxrcM3sEwmJRCSeEgeV0aUFjOXf4SbHxU7-xwQF-THY-UaF7LapdzzJdVgZaUB1-XY0QYsYH81DJCgVMpjeEFVxQsXhtAM_DelF8Mdkcb0_ND7o2tdMXzSdyADEDGkSG0JHKkvw6oBI38ZQKbm35EZJphaQWeF5z7QvZoue4AduDOcH8wawt8ZaoeP-KsUKSlY4h74G-47Ay0gZzp5eqLlEh5VUXyJmLTzERrxBe9U7DksWzz69eaEfi_UbYcNnWkQaOZA0xGKn71PN8NLwREed_zdstLCcLJJmdHGb5MBY1vswBa1Yiy1EEvZ3DBu6IlIQDKCjZs_MWTwk-kkx8XscKgMX05zzXSFBM7neBwySBVfWAfv4VoKjzBvtSCd-DtuznWPdjErZK0jABsYZQfqfqLfTQOvz3u4ynpLT90VQrTFCt5xGBUN_LI45n9hB_yqhubgi0M7M-7OaYbp7akuXxytV_XCGVpfM09dGPzBOc3LxIWOqkhQhGd6ehuNro7rluFMh6rvTshMn1pvMc48_H1FSv-sZ0kh8Fy6d4rETXOzwOlDbRxCMs7OXOUXK7uSmfUG66q4jpQVixfwKe8k38kuioLPCL1SmA-_wHx3EQHyP8GgFKYHIoLwwkWbelOpf0Alu8mRR0plQ_WdcXmLjA1xbnGHGbsTlF5D-5xAY7TU23qr1omzpZFeri6NL_7_bHx41zXEAhttLa6MJACXx89y_90fehmxRBIpFCMsMgirn3PBz5TV8jB81NIx59xAs0w0hA03X5N_5Yo1KVukA9sskZcVQTcPa2Z9nhbWjSxJffd2EcAYNFyTcP5pOX5sHZogIUumkdhtq4j3ni7NQDJ9eeesgJr-qXvhwE25BJvRN1B6qmz0tngQoJdkMyiS5pJgUU0ZYI0smIp_qb-1R4huZJsyUzYX5HXqM6P34-v8uETMnvH9mKIMU-zgFK0c09PNclqnm6ApmH7Kw0zE1NXcuzX800bS6i4BEM2EbgMbWounedY9OD-j2wE--9n2J8XVcENQUvoeX4MvE-gKGsoW2Owo2fqjj9_wM79vovz2sTJv2wM4FU1Y0BX3wcVSkmMxXZrgo1RnsX0d0W_CDeIULliEk5h7R_uXm7vLNGiVWUmq0H9BuRsoZCPnexC_WB1G364rK--SN5v8NBsxual3Csr-S0pmzmRwXbOlNF--HCSePib1S_ugB3NVVzK7e4siaPGTYONrJ_dGHjGabVQiro18EYl74JUkLIs10F5frd4lhzWBOlw=",
  "id": "rs_0894cbd571722803016ab42029432087d0b4f74f3175734f6c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCAvS0WArw8jkQGnl8lxBX_KluXJ3ALmM_y6jmMakzGPenov-EJUWoanlYVGaHbtzM_WMGIN7W7ich4tjShtWhIoyeGXhvLQTYDLE-oTU46ih4AaDdMrmz0m9pXvEIpr_nDPsrDfAPnIA58uxr6iMnTP6K27BRjWqQdU8V6-9WJraRy9-yaI8IUyMZ-lCXHM2lflu2YgX-WE9r51rUR2n-5PJZNQs09vsmdsYY5OFu3RdMv23eMNA-7-WufmsGR1hajgb0b-Q5q60Bk0jjq_mprI726igANCPiGyTCwWC_5l1LTejnoH_M53q9azSl0FAs7CnFRvQa8PtgDbxnkEiiZK3C5tCCjN7SlNZag1KNhRzjKZZAhW2Meq5I3Esx4KnKR9KFdee1eCI3kI6ZsAukRdcFYHbVR_GW-CHDR2I8Imn9wWGJ8oOfFeGuQEUk9AHViKnkf155cprU4FgM2XUacnIKtWrKtYsMtKlvR_2aV4-UloXiA2aZ4Rk2CpxM2ip07wygm4Sm_dI7HADy5j48OaWN39SU8L13bixkvsUgnun3TNzMVt0SInibw5WqJTaZhHa0u0t7gHxlX958PjVANnYN-8AmWQGp3aTDgIKRswt1-PCeQnzDiQyMSyaKQQEKYO-A9cJTQkWUiZElOQp5GY5F10Aigidxt_6AhXC-Xd7VMa3hD3e2b1IFc3d-IuMkcWJFClW9yHOpjZyNYw2CugE0HVREdZaTres5tEjV7gDKXxrPRdnb5m1DCO3pdmTO2ZUNq84cKUAzZVQ2UCs876IYWKizc3HcAhzce-XX4GbOWy8HBt9xi5aKTj0DWwX4oe_EQn_UfypVoihOfwAITNVgpqv9KyxwsHDsRojrgVVAamDOQvFWFO15mojE8XAttQVfVagijEZn6ske4QAPIeFu94vjQjN0vWmRe2ZqFHMMk0OI6uB9DkBvFlXYNEhcewYrTQQ72vjci08Vw5JbjdF-lI7omt5OjVu2bjMcGwPKH3gq5ZHx_6j_hQaZvQNgNXtTQwWsqPZxhaIcdmbGYVWE4cn6a4A_VVltWW3xnUV0ksSP-IUBTVfap3pXqQWVlGW7uYdjMjXOVufMXQD8T3Wp4q4ikxCPpiUtNXFDHnRCcIS4jgWlarSUPwPWe6p-3raO0sCgLzFxBZJgmo9nonE_9B4y2Z0dqJ9wPiRit3mZ2qhTdx-kJTJZEC5QMQiU7OU5QbZtGziirEeECG4Ei7IWp25XTEdeKwENZ8QMWprYp8EoBLppXlKg3bOcz4TaPnXuvMfDZPvOVjh5LcotoMKI7vESJllDGBkJEv6oVkzzbYlVEeN1lHY9pJ-KBRYfEH71qcGxt-pHML_13w-pUdD4SAuqbEO3lpaQSpH7JEeC4Y5rX9Q0_IyjxX1j9ZUIIafNnPtNCkgzA2ne5MNY4EEHyfBTwFm7aolDvbFG_Am0rapwvGuDqIpmwFHribNq4XSRSrOEonvXAaYSIR-fsvkktc90dbcj0AoAyJXPkHxfcHLM8884mBSLPVRHBkV_cF7uRF20GmtCkrho6FtzVouQ==",
  "id": "rs_0894cbd571722803016ab4202d413087d081a866e1ccf9932f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.35,\"left_y\":0.0,\"left_z\":0.018},\"note\":\"The second right cap close was also empty; at that far pose the fingers lifted to around 5 cm while closing. I’m returning to the closer left bottle and approaching low from nearer the base, where the arm can actually reach the cap’s height.\"}",
  "call_id": "call_gCrYZH4cc6IeElOUm0JmV1YK",
  "id": "fc_0894cbd571722803016ab4202dd74087d085f59df6a629f5cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gCrYZH4cc6IeElOUm0JmV1YK",
  "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]: [-0.1234, 1.5749, 0.2745, 0.7372, -0.2264, -0.1532, 0.9976, -0.0223, 0.7918, 0.5655, -0.3508, 0.0154, -0.0135, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.0001 left_z=0.0268 left_yaw=0.1509 left_pitch=0.0144 left_roll=-0.0124 left_gripper=0.9976 right_x=0.2936 right_y=-0.0057 right_z=0.169 right_yaw=-0.0362 right_pitch=-0.0057 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -3.7675, 4.1915, 1.2088, 0.0366, 0.0855, -0.0122, 0.1983, -1.2923, 10.3316, 1.8877, -0.3394, -0.0904, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae89b36699172cfb9c7c955aa53e708e9ce29f9c72af6d3a25ed1224f9a232c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92efff303938ec60f7d0107dc462c4c861cc097ed2644af3f5fa92403db9fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d42c666cf78d28288c2c3671c47c3ba2eb0b9222e577400006b5aa92c62dfa",
      "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 · 9.273 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 114 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1646, 0.799, 0.5629, -0.3531, -0.2459, -0.1616, 0.9977, 0.8082, 1.9064, 1.021, 0.0978, 0.6128, 0.4568, 0.9977]\nstate[eef_state]: left_x=0.2927 left_y=-0.0014 left_z=0.1682 left_yaw=0.1304 left_pitch=-0.0076 left_roll=-0.002 left_gripper=0.9977 right_x=0.3886 right_y=0.2648 right_z=0.0577 right_yaw=0.0525 right_pitch=-0.0477 right_roll=-0.0413 right_gripper=0.9977\nstate[joint_eff]: [-0.7726, -1.5111, 10.0991, 1.6093, -0.232, -0.0904, -0.1441, -0.0752, -9.2239, 7.6786, 1.5751, 0.4957, 0.2466, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7898, 0.5495, -0.3557, -0.2516, -0.1616, 0.9976, 0.6468, 1.9903, 0.9749, 0.4091, 0.5205, 0.3462, 0.0139]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1642 left_yaw=0.1348 left_pitch=-0.0132 left_roll=0.003 left_gripper=0.9976 right_x=0.4429 right_y=0.2289 right_z=0.0494 right_yaw=0.0218 right_pitch=0.0539 right_roll=0.0265 right_gripper=0.0139\nstate[joint_eff]: [-0.1709, -1.7983, 6.5026, 1.8388, -0.149, -0.0659, -0.0122, -0.5812, -9.812, 4.465, 1.1941, 0.2369, 0.1587, 0.9988]",
      "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]: [-0.1234, 1.5749, 0.2745, 0.7372, -0.2264, -0.1532, 0.9976, -0.0223, 0.7918, 0.5655, -0.3508, 0.0154, -0.0135, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.0001 left_z=0.0268 left_yaw=0.1509 left_pitch=0.0144 left_roll=-0.0124 left_gripper=0.9976 right_x=0.2936 right_y=-0.0057 right_z=0.169 right_yaw=-0.0362 right_pitch=-0.0057 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -3.7675, 4.1915, 1.2088, 0.0366, 0.0855, -0.0122, 0.1983, -1.2923, 10.3316, 1.8877, -0.3394, -0.0904, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae89b36699172cfb9c7c955aa53e708e9ce29f9c72af6d3a25ed1224f9a232c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92efff303938ec60f7d0107dc462c4c861cc097ed2644af3f5fa92403db9fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d42c666cf78d28288c2c3671c47c3ba2eb0b9222e577400006b5aa92c62dfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCA0I1g0i6vnFJZ1_k2taUeDYi-cbnUJAuBPYCkFkO1vl2KO_TVdoM8XCRlfBM_sOXdRMAGLbFmTe3KAMQnLQp5EAxcnAikscC0yT61MnmDp2tn1iL7e2-kHV7dAXrhW8jVrSgrjtrGAAZ0-aJAfdAWpJs_oLa15J9ORajudHrIV2GoBg7emipdweIn8J0YNnxFHkqA2zURyuam6EXa847edvr0rX2AR4-fqrZXgrzlpLrRqrSMb7V665chuM8hl5L8BHXIL0Hkz36DYwMDXydNYY2OwQyjNO_t3XnlBAIYn4GjaDttGF2tbdJhq-WxlfexEZ3G7mk9J4pT3gfA2KmC5_ryXQo4gNPLoAp-jBAxcioZoSeDTscaqPo0Y_9KRDYs9bWBEmkO7phSHAF9TMau2LmOSoUZHKntc4y18wYINUGMzQboDnoXgmZDpZfH-8ZbIRSW_FjkZ0lo__ogddrBekmt9PEEAKIwmgAWjcaMav7t3TY2bs_4P9pUqopkAhlNnp9JGRb-YkmHxnpqt1rN2mNhqUH2hCCVj76pke3zhkNPahx_IEuHt8uKUzP0TtGQSOSeFXlvNSsUw-XHuemTe2qfV53S0I6V-XWH6ErviqrdRSHDjLMignWug1poGICE3BE7W3mu9K5pzzhiYhAaM6uUJNtXl1ov6OddLMSfOk3XWsAH38cBaPK90AW-RBSrWhqAPf6iw3pMKvm37_quyKc4Y-3QFlvc0qxWWqZd1qb4lsqr86ZZWnQrWGCLwvshQ166WB8atrzuICZ9LO-yHiRNqfoZ_8tMUzvoWD0Lt7iSEIvXtRrxcgkF7j07jSUNYJk9VGYH4fqF_ivYhVL83R4ylpD_D2K29TgQ5DyMGjWibRGEnlQzM_XEixnPDryFc41aWI55IjNsFZfpDow7Dlu-QD2IlIG8wj46LnQoowInjdRnQ-f_I0DVmbZ5USeApvRRwml8CsUs6i2nzhH91O3VQV6uBrlXBPsVtXOn9tT3FR4WJPjLtWSNnFRYFSo2v2mtwV_aCqmWZt97AU8uqkx64fCx5aXNfqiFEBbQuLpsJ1wRmmDmPUu_spV-4bSdhoJ8She81iVpenr3Fep6Pu-3_eBWCTwDRM607acot5ug0IK8erLC7AiOmyChUrSs7RYtIpV7l5YhKjBser97DL918icP3IojJqXqupOmgX0tBlgQwSOu8yL5A8Buk1eqojCe3wM2TkdSiV-UwIqrzo19zwfe4z_Pu3UcjlHMQs_Tw3xFpKqLefIojQ24Rcy39reKWd-EahGoUgr3KY8J9UtlWuHodELqdZjJCmFjdMHoJcGNTWFjMJ4rM1emc_R3wZVAHU9dm8l_GyDHK5Q6p7qa3rEAKkD2e-Pi10RdiuguO10HOYkpJk6o_rNWtcYKoGbafrcwD_3beUHGfzN2C-TyP21PSDn0fn70tdli-BfHjOuhTBLaTq1yd_5NkJjC68k-IZbZz8JfjErMOWU6wC-ipnfnkvukdCwRi7pxsvjOTncqRl9QO7WeIsUxkafDN1wW2x-ZmqEIwwqSx1848Iqbc1JuGmcdNwzBrTIJ2j9wZyv2WMhAqYBF66bEwr0IhqQyfV7YodXoDSE-n0SW1M8vg759EPMFvluIjBgmWpTugr7Ik1rcFAlYEosy-qRkdj4tVVGa3NDG2-zXk5Rpx-CL1RphbmGICSFd9RuxaBn2Ux3-5aJRt9WxP0mQ_ziuuf7ppI6m8JcpqL8og2EOztkEDpzKxqafu9iVGwxDfUqXgWia_45za3mlzE0EB7k-KNp0c75rRS8kAzyNoShhb5Z-JX9E4h-IIQ7Dz11GXnfhsg6FolpHIfNxVmXp-1HtXKX2sFpgX0YBPDZ3eCSub4QjsPa_EbBEF61o4ktVVYotxi6cNCk45_4Qfb-8BDH3u3evzUl0iJH0HgvuE2S0MyqEb2zWks-iIhRPlipIHYX0C4RULyAcvWcAwFEMYqenO0ZoBRjuMupYdn-Gqu4TdIOvttx0TOliGYHMnwiNYTiW1g45lovNQyWUyMXvODJbYeneGKYoDu7B7GF5LT-s74HYImRFXTNBHvhneuQSvIrJqbJRm_IKTw9QpZjTWcAm0ow5WdwPfdOnYEMB-bB3ufo_bsAkbiaMWCctQHncox9_s6SyWTxtzWo3P5G05PqO3UiFes_8TFX8d1Y0ckAFUbmpALPJS33XNPZwnlxhwRt88IV7qdDpZUtpM2R6pVh_2",
  "id": "rs_0894cbd571722803016ab4203235f887d0bc6502fc69f7311a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_z\":0.015,\"left_y\":0.01},\"note\":\"The left hand has reached roughly 3 cm above the table, but the cap is still visibly ahead of the fingers. I’m advancing low along the bottle’s axis to put the cap between the fingertips without another descent at the arm’s reach limit.\"}",
  "call_id": "call_yfeI4XPeFRA0CvgRE7ZXP04P",
  "id": "fc_0894cbd571722803016ab4203418b887d08e8c4d683c3e343a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yfeI4XPeFRA0CvgRE7ZXP04P",
  "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]: [-0.0673, 1.7737, 0.4763, 0.7792, -0.2169, -0.1303, 0.9976, -0.0265, 0.7891, 0.5571, -0.3843, -0.0036, -0.0319, 0.9983]\nstate[eef_state]: left_x=0.4099 left_y=0.0141 left_z=0.0309 left_yaw=0.1871 left_pitch=0.0567 left_roll=-0.0091 left_gripper=0.9976 right_x=0.2877 right_y=-0.0034 right_z=0.159 right_yaw=-0.0145 right_pitch=-0.0451 right_roll=-0.0105 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -4.9709, 4.8068, 1.3895, 0.2271, 0.1685, -0.0122, -0.1983, -0.9641, 7.2274, 2.1319, 0.0171, 0.1587, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec15f180acb582947d4ecf678669434fc24597deb53bfd7e5945d8b9043c55f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bd12c5a6f5944755ab85aa6dcda8ac53fe09d63a609999220fcb944b8eaf33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdcd9430fe372b01e7ea668f88d357f6ccda5b1752a0eab4099c2bcdc35470a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 7.544 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7979, 0.5648, -0.3714, -0.2516, -0.1616, 0.9976, 0.6521, 1.9976, 0.9787, 0.3275, 0.5491, 0.3412, 0.9977]\nstate[eef_state]: left_x=0.2904 left_y=-0.0001 left_z=0.1659 left_yaw=0.1348 left_pitch=-0.0212 left_roll=0.0055 left_gripper=0.9976 right_x=0.4345 right_y=0.2203 right_z=0.0345 right_yaw=0.0086 right_pitch=-0.0045 right_roll=-0.0421 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -1.5385, 6.2701, 1.9414, -0.1148, -0.0317, -0.0171, 0.6906, -7.0496, 5.5316, 1.6923, -0.3297, 0.3785, -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]: [-0.1234, 1.5749, 0.2745, 0.7372, -0.2264, -0.1532, 0.9976, -0.0223, 0.7918, 0.5655, -0.3508, 0.0154, -0.0135, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.0001 left_z=0.0268 left_yaw=0.1509 left_pitch=0.0144 left_roll=-0.0124 left_gripper=0.9976 right_x=0.2936 right_y=-0.0057 right_z=0.169 right_yaw=-0.0362 right_pitch=-0.0057 right_roll=-0.006 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -3.7675, 4.1915, 1.2088, 0.0366, 0.0855, -0.0122, 0.1983, -1.2923, 10.3316, 1.8877, -0.3394, -0.0904, -0.188]",
      "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]: [-0.0673, 1.7737, 0.4763, 0.7792, -0.2169, -0.1303, 0.9976, -0.0265, 0.7891, 0.5571, -0.3843, -0.0036, -0.0319, 0.9983]\nstate[eef_state]: left_x=0.4099 left_y=0.0141 left_z=0.0309 left_yaw=0.1871 left_pitch=0.0567 left_roll=-0.0091 left_gripper=0.9976 right_x=0.2877 right_y=-0.0034 right_z=0.159 right_yaw=-0.0145 right_pitch=-0.0451 right_roll=-0.0105 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -4.9709, 4.8068, 1.3895, 0.2271, 0.1685, -0.0122, -0.1983, -0.9641, 7.2274, 2.1319, 0.0171, 0.1587, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec15f180acb582947d4ecf678669434fc24597deb53bfd7e5945d8b9043c55f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bd12c5a6f5944755ab85aa6dcda8ac53fe09d63a609999220fcb944b8eaf33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdcd9430fe372b01e7ea668f88d357f6ccda5b1752a0eab4099c2bcdc35470a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCA-ffmoi9JxHv68ec9jqzWdA0Pun7y7t-xGgp5bcWHqe9NL_QzgB4k6I4xPkQjybYahExlVr1ug5QFdySIf0fyCj-8A-PTEo6quQqSQ-UIt_GLJ4Hoq8UDLYUEyELYbzZZE0M8Ats25KVhlYB0LVpkGc9o-1eM2YjUh2S8_l1PxnPQg95YhVo9Cik9kjepJFjENU67IDCq_NWQADliMbxxfsE5_rTOVSNgFdhLCPzl9VXsfGeKt_keW79_cxsGA17owHu_SWBAzJrmaUaVL0-hbXpleyDUtSAwrYmPhXcelu8Oys-_kh7yOhkNrmheCv36xmcrxDOrQdLHpHHf1yCOg_WDyVpSguJvPPvYzNIbEbe81A4WMZ60XuCq27gh7q2VVVflzeaM1r0bXA6eZ-uP4EAdMBm_ZE48dMcx_-LjidBghAx9YAPfb16KPGfzj2NtLPq9w4LSVhdjaWp8eCjrJD-hUAA9hEXlXybQ3heq7ZOU3NhSjj-jglcElPF-hlNSD75yas5-udPNuDLsn_9pTgGEbTdPk3V1XQPHwa7DWsH2Z_B2JmXd-veE41wsu34TDHmf1Ifoo7pNYLlUA3-Csuvx3ze0odOv4h5HU62iFkdblivK0oJ1Ohka8KNvY_aZzMW3sLAwwjHfhz3w_fa4gQzVWp03HM3PWJHtONqsZGy9xNhtwQzaUpityQ6Kj8amJSsOLI-_TkqjarZD5l79wtV133YNdZIguA_GgJy4yYpfVQiJZRESyGHonK3EdJcZW_cRvpvRwsy4_2sdGG0DC1m_LZkyqGTXREeJXdQ2kLNjJsJ-vZjEPNa1aZF8vqgUgADkfcjUJkAB-FzOD99yV0wDLWJWCTFDPR2Kozdi4Vx7yVl3T7DE6AwhnpTKwuwN9ASL821B7il39iodC3JHTvTKXIWIBsnVA4Rfy9OVHMIfZGVFbxsAjblTgkpoDyNcHKVQRYYj762DTDstU1M2jyto1FyzJzkfp9vnK_B5bg_6mo9JAHym6OIeplJXSFdn9ltkjXH1dx9ExVYjUH2cuB0CMTXDmRRQgeofw18EF8Hk_j46uyixKA5d7_2rSW6W7FK0RXNcBemlYk59vMAlsaOmBYVUofOXIJtKSBNPx380LJ2Bz3cxihNxygwDCtV0GqFkVtyo8KuU67El0bCa-mog1l0YhLOEqmslaOHi22r1-LIVhfwxRoMSrXMLftBvw90SDvTFC_Z0VvoYVo4wUsE5vWIr5uceHauOoAdZgw-Ja6mJwOI20eE88avqRpvCo2xx_991svGDT3t3Hbyh0OOV3J3IcJTnSp354sv5JbaCl7t2lJyNtU_QiarCzSQ7bP5YF6UGa7ZIygI4wj_alBGSwSrLZzj9f7sMA_VKJMPxoa5A3HVBzuVL9JdiHZZ3wuj0gn8mXlhvTX2ugh6Rg0d2Ja6nB-qmsXopSny0OnjAPOCzdkSYHOO9f_Ma8e5jpybvvvI9s0RTorPxfmA_3oPFjA-0xuX-YMgRF4MrIiE1le8EI_V6m6WjeRqlGklBV7iLu-BE13tkj0N4K1kGI09v8VEETK-RLNbtTYJxca5rIDqwGcWGXFmk-Jlh40aRymUn9Vv-dVpkhFtM_Cws4MZeXQ2tnR4PKMdR8k7qotZCoscLfd7JT6kHF8n61koFQIm7qxmrcbuNxaoc7t5cCHHVzdzN8YeYhyLe7eTbEzkfrVqODZ3TT3hRXhL4CWXp4GwYd4TKhq90Xdacm5-CmhJRY9Yy3a1-FGLoP_6ttCMPwEalxXCvdKK0YMDE4nUPjLz-qDGm8NzCm2QJRlgmf--YJ59pX-bQNqjDPF7XbE5bEFzjN-SoWEWQbgZNvEbwGofw_5ZF-tsutVXL0D5_jCDcOzmSwlbsQY9H-VTmUepalC-lotQsE6pEtXGQMdnEbvY7nwHg3oEbb-Ijf7uDIp_yBDZiKU20CmJp14U4ohpQ8tih6yAo8I3QrUsRiVrA-0lNI5UYxIgV5kBCEpM5FmmY_VzE2cphKRlQx1K1REbNBpKNFtcV0PnJaybHNx-RNSO0ooWRF95j5odArdcPJbJURKvLcOjObGE4VsXzpCnXdMghr76MB76bEa8ffCFRWjZ-IZaMwqdLxa8gHCCiBmBoS2IvqD_zSP1mQgLDDwWJNhXH8o6FUoLNO0CaBZJoHCHR-i4HmT0IbVxVvKVHzEp0tJtgsZ1VmuOp2l8lSSJS1mO0khTJvQFDrzU52EC62KlKsvNyaWaTJnALi4Mkb_zqoaW_EhRsICPyGwTwjQQzlTwuAZE3ygIyhgOlr0hEebn3gwFmDIEsComHGCqSFuWzXo1RMw_v4UOXjfaqViv8BEOEMSnuzeqkbF7Og0r_d9k7zx7p9EPaUqsXlrnEESN1210WlcqRJX3JogZjjl2px-VbFJDDQNcu5UjFuAH30DVjF8yYPI11NCsdNSBlpouVqV9Px4UIlTh0VTjUh8vFf8lULbid-e7eIMsM_5VWulBbPPzVb6h9xw-URzRCmuzSyYZQGo10a0SMHqCZYEeJfRZ45NPld-8pPt-kLanpEe3v4t6f-tJjVfr64U89SX3IQMdW53bh9WsAEED_LvDDoRy8V0tXop7k8z_RLoJaBglqm6tr8CrkqY16IfngK6vPFoQ_H4HHQA3--rI0zxHXQKX4hMbdPbzS1Vs9as1slD_J0uQtVASkoKjMFpft70zYDtoHfgEUl54zjyF-F2ekCDruQMlEkeGjCcDjh6af8aWREPrK-TuWpQDUnnl-0IfuPje47iMdAVmjIbXD9p1sTHlzyIlj8StnBYrGjmSm2Qwrrg77QI7QdjK79vfkXqaH_Mv4V-Euie_7VIm2qPlXHttM6UHJMfJm1fG0gfIen6gvaw2Rqb02BDCINfJlP1QjYO0_04V_jEvTi4ag7UolcRbtBfgXmD-3Mkr7wBVKcPZsxEHG9JrWuc3f3kK5YPclpxNUZMqcBt4FiOBO-1gEEQnU2-7K2fO_89hKOYJGr__F-uSSzSHpEsNLT6C_FNYF8JqiTzBxRfdjeGBWqTy3gqo8B2h-vuwBAwTkVcGzy2NqC9AYZbrFYhlRUqbe8OxH0iBQkR2Zjzd0-ALabnNATHKNjVQaobISjdFNngSRe5T5bKMcbn_4c0h7WizdW36MNA0w8rTr0jzLlnNPK0Mry_ILtO6u4C5fb-J-QmEdoxTiaxQMnHNtkSVZmBaJcyA15EKtHyobB_OuvBt8iwbSDylBGccOnRRyyXC8Izw6my-xk18p2jnHFWyEwETttN3ACAA1AK7NrmsvId9PAIGjliHy1f5FmI8McEmOfc1RUVCE6Ks2rZ4JOgeIJek2SNGgVOWud0NCJzqz2F-K_lu3AduRj3NMfTJu5fwlSs1DmELEWlYfx8AQ7rFij8_dWnorzNrvLaE2RhYgYubHaghmoDVncKX7uIDv_LyDq3upG8xdxTQH050XVjMsYRJBxqODYdz9Jug8aadgIwlRgpVokQoWUpURg54ynPI3hr6wwWX1XHnsCjIusb61UmfEtGYuX2p3DfxG9dYQeRifsVaau3YJYqf-ANaNdifF9iJKcNc0X7b058_k8DUmGH98TyEvCcpgTxs9TwGxOX9JmsLB7n4zz7QTucVLkPQpk2snd8WT-3EeJP6lRcFCMru7vkfHnKKEKahR-B31Pd5fmgl1uPVw5DBfWbnfcEuU22Du7eWJ7AYBJ6ycB930qkyunWYtdyobdlym0kudqkCe_jeY=",
  "id": "rs_0894cbd571722803016ab42036710887d0af7f510fe99ab0bd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCA-Q0B2LIbiTLb0c3MoaDt5TpY31Y5sZ2jRRdhuzvahbIwxnuNlBRRBq2M7PWM9iRxZKbSk9S1bzVbQrKlDMCcVQAWFXQ0pCpjhgeJayFuMtMhlXXNlKI0MIRdDRZr0zXt5hSM69J2W7IPz_7SnQnJPYi06aolCALa212YQD8byCWIWKa4V9CfrA7mZL0mtdFUb48hXOmmHhfC78MV0wM3BN4jxHI10o_WZqNMLWA0DlQ0Sqi2GUAuLwRTN9XpO0jXxaIicLSu2AfIsYYGEG_jHJIp2Ab6lZdQBIN0Nyz3BYLrdnj9dH4v7Xnxe9sYoTOQCZi_hJow2wXqVYMLbuNvHR12uXPBuDRjsY6PSeH8GeS3tiSlx9cgP01wId3vDWD05XS4YKZeq02H_8pwd9yM_atV0YrK5W9STr8RMt78Jg93t9unP8oJw6sQOy8X58vmut00naqsc39y6zHPliCZL_ejdkz9fec1cZV9JG_tm7V-FOQ0kpq970riJfZoqP7u3pCOgJWxMGMgIwhkQPO1y4FZRfKI59vcjLELMTAXq6gZnFTDlXotqnvYtNoz2YTNmH5s_t4mBTXhKMRx7nAndshPmYCCJFS0FBZVS6rZMwKb5RN7A27v-Yuji7zLHOp5HRpa3-1nP_DrgUZp15C_idY4EQrah6Bdb1cUpZsai8TLd0oQeYeHVcAHUSwgIM8GHCD_gQITKsDSzMDJuR2YTA7Yvt4VWlsQPBanCOgL4S7nduLzpadfuusUEbOl5MoOg_aw4Q53YcuJ2xOKslFG_84oY-AjTwlSbuYrOK2Xhxa1x9-9QlcjOpmokoIzV7fOShT056rV8hDWnw_684azS80QVEt3UHsYvFPMTW9OVbiVDcGJCUAD-6oMnUzU1_g3Cjxn81rcPgq1WN7jKp8zOAqoCvmjhWmYKz-_58v34mUq-K83todZPepHrKqKxFkOhp-rbu2Mlx6feJPHaC2XQ9wxJ8rcRMTzzWc3Eu6kVPmKKtIa0L-m44as7W5eNkd6WF2rndI7V-E02y7f0SPqxJSJ53klZ7j8bz4PTJpu9KMwOP3zWppPUVJAaZzpM0x1T4LCzD_c40sGMTVpIraPXHx5dWgcZ2K8EQSKUPHAZLSFDU_Ea_XSlq16arSaLCjBEn4skXcNq7Wb47uo5-tC2SHc_M4SfhS2CmWUQJJeTiwRbWAVFmFnPbjudNUV3tqLaNDrS4Wl3PGwqUzsVB8AVeY0T5fVDy7EnVzGQgg9sOpXttuKrG616-3NNVQgwKWWkF7DT6TvC--eSYEja6QBWR9kK7KVManiUXyKBLh4AZxM6hHV9RCSofhKIqDa_4KPcuaV365F4NXRCxmcZWQwypnIKTxXyd2Q64caz4bMjLKPLxUcPpw9LTiDISDC3HMsT6AA2QsWF5vyjulYhkinr3smJeixQywDYGozKn9-k9b5OdjLiBdxQLXsijBHX1SAIhgxCO3S4ZRB8RIG0ub_jVJeOJjrHkRL9GyUHavE-FL69Z9n9UQxhMS2o74c3HTecfWkCT_fr685jtAE1tFKO5ncwP5welWMQJbRDKo3ASyrJyAN8jjosfWu30jjy5F1u4CwL1KhuLYQ3XwnbUDToun55i5pnG-ccgQrhfCY-mr6rZxwy5fymeLchW2RQMYMKYQP81PozvX2VPvUmXnCtnLa4Qw-2dB1MKM07bk-phWt8Bzi5lhS0uVfdg5PNgAM6XXyvhjc1JhjXdk-Gng-248E6c2cjWApeSeRprmjXPo5EJtD2F1wvYXV0E0fyU4Ds692DBe3zPKxAiBDbP-dYwNH30vTaov0BGBdGFNvI7zOu-ppOIrx88wDKHgviwmIUmNtdo3sFQfnfjKAISXfHKALUBuBVNeUsKA7l-abnrVqDygvpFoLaTHkzua580XokUoXQB2ztqk12jauSEV7MPKnvP7kokNW5V8XwqKtWtQJ7Kw_CvFqUeFZ57h1Q3sweeQOi1wZL2hHuIoFL_2cDJimuffuhl63EFSZIOho8mP0y53INyhM_k_h2Gtz4zr4z_yAHzdQegAso7zSxDy_sJA==",
  "id": "rs_0894cbd571722803016ab4203b230487d0879055274ee979be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0.018},\"note\":\"The cap remains centered in the left wrist view but still sits ahead of the fingertip line even at a low pose. I’m making one more short forward move to reach the cap before attempting another grasp.\"}",
  "call_id": "call_FE9l4x081yjAK4XVqiLB0pUV",
  "id": "fc_0894cbd571722803016ab4203dbf4487d095a60b2f693288fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FE9l4x081yjAK4XVqiLB0pUV",
  "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]: [-0.0578, 1.911, 0.7136, 0.6762, -0.2203, -0.1337, 0.9976, -0.0284, 0.7635, 0.5125, -0.358, -0.0048, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4654 left_y=0.0153 left_z=0.0341 left_yaw=0.2014 left_pitch=0.0541 left_roll=-0.0097 left_gripper=0.9976 right_x=0.284 right_y=-0.0036 right_z=0.1508 right_yaw=-0.0152 right_pitch=-0.0379 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -6.8308, 5.3402, 1.3553, 0.0269, 0.022, -0.0122, -0.5265, -1.7162, 6.9812, 2.0, -0.149, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01248851509fbb1ee0a02681738cc5e957f19c1e30553fbb1db09e568fed303b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b22aad25cb0172690ca3419267d0cfdabf01e87522676ddb4a2b45aed238ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d80998c41eb270c3a853b07bfe0112f609e0707047ef0020a3301bd19da271b",
      "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 30 attempt 0 · /responses · status 200 · 6.727 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 118 changed as sent

message 123 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.7898, 0.5495, -0.3557, -0.2516, -0.1616, 0.9976, 0.6468, 1.9903, 0.9749, 0.4091, 0.5205, 0.3462, 0.0139]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1642 left_yaw=0.1348 left_pitch=-0.0132 left_roll=0.003 left_gripper=0.9976 right_x=0.4429 right_y=0.2289 right_z=0.0494 right_yaw=0.0218 right_pitch=0.0539 right_roll=0.0265 right_gripper=0.0139\nstate[joint_eff]: [-0.1709, -1.7983, 6.5026, 1.8388, -0.149, -0.0659, -0.0122, -0.5812, -9.812, 4.465, 1.1941, 0.2369, 0.1587, 0.9988]",
      "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]: [-0.0673, 1.7737, 0.4763, 0.7792, -0.2169, -0.1303, 0.9976, -0.0265, 0.7891, 0.5571, -0.3843, -0.0036, -0.0319, 0.9983]\nstate[eef_state]: left_x=0.4099 left_y=0.0141 left_z=0.0309 left_yaw=0.1871 left_pitch=0.0567 left_roll=-0.0091 left_gripper=0.9976 right_x=0.2877 right_y=-0.0034 right_z=0.159 right_yaw=-0.0145 right_pitch=-0.0451 right_roll=-0.0105 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -4.9709, 4.8068, 1.3895, 0.2271, 0.1685, -0.0122, -0.1983, -0.9641, 7.2274, 2.1319, 0.0171, 0.1587, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 1.911, 0.7136, 0.6762, -0.2203, -0.1337, 0.9976, -0.0284, 0.7635, 0.5125, -0.358, -0.0048, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4654 left_y=0.0153 left_z=0.0341 left_yaw=0.2014 left_pitch=0.0541 left_roll=-0.0097 left_gripper=0.9976 right_x=0.284 right_y=-0.0036 right_z=0.1508 right_yaw=-0.0152 right_pitch=-0.0379 right_roll=-0.0102 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -6.8308, 5.3402, 1.3553, 0.0269, 0.022, -0.0122, -0.5265, -1.7162, 6.9812, 2.0, -0.149, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01248851509fbb1ee0a02681738cc5e957f19c1e30553fbb1db09e568fed303b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b22aad25cb0172690ca3419267d0cfdabf01e87522676ddb4a2b45aed238ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d80998c41eb270c3a853b07bfe0112f609e0707047ef0020a3301bd19da271b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBG1xQHjj2xenuHHitFLnXHd_iZsAFDCMT4UqiYFUvK-rGuFG57VUkZL18heX0_KCGhVKAkA8pZONMTBGPBQB0uOmXLFUJzUs95vxWcgwqiY7aI24FFMgiPHOgKFdwaow4dT_wix7PpGkfrwwpNkfyGaB6CgWtgfcgyYls_RQpg6cZBIRL6Ym8RvZxcjtfqJ8VZjGC0H86lbxKhrEZl2waH9TJTkSHnIrnwbPdtcuozzaH8ffe4mTV_5zEUPH3ZdmRQXjroPt1sRzyIqFG9Hqes9SknOZK3XEvmDJUqJcug0UthjCSOPYyPrR1m55-CD6UUiSzCcgO5VRJ4ZUjXwHQn9HwwaNF0k_FXCgxqtaLNT-fUhRGU-9W9v3c3eXio53m1ZeDbrEZ3VPyv5KLyOy244kPaaUXbKWV0LDbC8tPRGPaJN5Rsr5_t1GZZVgzH3NMRkBv5pHBTCsQSCLE6SZEvCipg6OUdpAE53L3nhehhHMkmVem8uC4NC-TstuKRziFG9loxWIeTFtxqEVy3-nc6PrEBL4ETCf_k1hT8GkCtFQHHeIjuvB1wN_nsA2hq3y71ncrLo33zxLWfQvpfPPzg1GPGYv5EKQPaEOKQzC5adi2Vu0Or3z6eJJj15Nr-2rEf2uBWiMp-qT4QXHmSc7Z5SYnw9ql5hXijEyZd6X6rrSXPnNWz5u2LLPEEiXiZOqVqp6-H71xqi2uwlH8MixpyRBSZUzl9LUgIzEMDHqe9I0PGtkhL_R54LTEZhtoWfChA5xwW6j4wenLDck-oi13nZ8R-UtKN98SkwLjQgGMOauPibkHmuPeqlm9A5Z9gRAHzlP4nBC_lTH-W_vRRxWzsuqkAr7a6JV4ItYSHDwl8_MEm3cBq4BOetfpXGzKO4F2wJXXi07lnx9MkQwx5ydFrvHd9as-CO4H6f0w_AshmUjBjJ-j0RSJeXdQHqObXGa5kBYUXQNO_E02V_t5gUdxO1QAzUodmAm0z8b--vYKf9gGYiTNZ7L7xwLQ6M40snICP2HNLSNtB2i8U20_x5jAI6rQ6EfXsW9YPQAkQuBSC8omSuD5M3YauTufmWGnK7hyDFP-EYpxxklj1gOx9vvM1BMp0lnqWcwRNHbtpBM4vtsAE00pHvLUJknaKTjryNHQFQA2eINS0kjML4sjAUf4b6od7JUyJ7l13i8lkwV7847RSNNipo-Aa_M6FnHwprGiyfI9VTacqDNneJIg_Zq7Nm4IFvJf7M_BASJ7cqD4eD-4fSeiLj7EuYzsGOVHUf6BbxA2_DejBawSKLEwSeltEUkgAF__k3rV9kPMHJb4dnV8OCx6LgvmCWtKxNty62XUCSOhTA74GJ1YitfHKn3sgEuG9r4M7Gil2aju3XhCFn36LyXUecRXf_shxs_f7IBEzPcM8xAZzTqNdoFQWl4ROH0CWH6H8Q8qOwKHUZ7PtImEFzLb3SUxZ16VbsdG4SUfAaBDLHlpe3bKOOBmSxxB7BPSxtjdEMU09HVQn6S6q47FY4WRCJgI9GZ-wwnghmzJ7eLlM-5SaDCD-ku5eaMTRtAoK2TTgNG-jv3-GG_UBFXTw8IVkaNWNpy89n88DM6Qo5qj03dVMHo4dQY634j5HJq13ELfMgKFAf01tfEas5JuvuUmj6fsUwoxiXgsoHvFG4GIv_Lfw5B-lNaR8AgVGFO465i4qxj89EQRHzTpchIVQxJRP8slHkTwjY_fJznE8kIBv7X2jv2du1KVeKilSRkUDAXmLNtDA9tSOSKfbyNqGJiaqw5YQLBLClmrCsE5hRVJuc-2Jc5jNpJJvzUVZITVxo6DNK_ScuARP5VYes8TTi8mTIoM-saAwO4wGXAMekJNXebteoZIgHFMhTJSj_E0L3vNTkh7Ajl2MUuL1aPyAlG_MfTeefkv5P4i1dPMUtWInwe9GuXPJ5Vkyh0m0uhEsUG22IlavMPR397h51xCfqyfbdExV7ICVrikzOifZmyCBl_RUwXTY3NHMFGwLWvlloIPXoyhbvJvl4RqmVvhJkfrric9jem0h6eHpsBmDtQKm1O45XkcoeSyVU7iY6MRTSqWXFF0dQm1OLA-vhmjk3oPzVJmB3bgG-0fli6QCCw4c2FhY-9xBahRp6WiCM5mMxj4g-MJfWmhvuzHZ9C9kTBpZvMadusrUTzXuQImUNTwGpeBH5qoz9-f0Byj1CQpu06kjjRmpKcmja8a3Iyjpsa_8XgUvk-YYeaDEjGOSkkQEGcUbOXRMNX6WH-OV6wX58zhp5CvLVzryG5AJh1uOfkYbDnAMx5zOhjwfZe5s7XylLmxsYRoibD12kZWkO7fLugl2Q4Gc1d7a_lMV4IrdynV4WkHVHm10KJKGnvPQTdDgbTB3gDIe5-rsCAQ60opKefp0kg-s5ObUH9Say5pV5RjaxDg8Ez7-ht3w4tSX9p_cHFeR6Uz1DgT64JY38JDCRKcJC2KNpTOJssPpB5ISpTMFa1BWZyhu1heKb25BPGKtlVV2a1s8mrJrT8TXdFOz_TSesJ1-v3Y5G-FkJyWGL8mBhJh5_5ZSXbwwThePeVQNnT2vZ5iIea0wPIy5ANd3QoRhiikrmcOYZzQPRXRLk-H9CP2k0WQ9oC2h1XsR0mryO8zjhTtFVujfv9abRWMMcay8SRwIWDgRKxvkedILpxHj-hGK5fJMv5DgTQ3EgWWZsW00hK-bda9x_qmYvYiqq7ayDEZzYGpYRYgoem5s_t4z3vxQH2xnSVG6FzkTho69djZhJEi0rw_YoFdPSeFeGOCMWi7tP25ypJsq2LRCOKFpP1r5MKtnHdQeMK0fxBH2jU7uENc7Ps7wXCZXdXgRQTIoY_KRvikw2dIpuEK6iyHPq8bet4EYzp6fAoLSQ0REFLHlEhUZxjAY1jjLJ5b82sIBRb885T89MJdc-pBJdgkkXKHoDpoKFjHaIhXHjaxMceXud1SLHwFKrHI6xC8ATN2Ht9bFBHYDM0CIP7MDDw7hZt0SpP5JKOB_gACCbcaY5cr1THD-c9IwKjj_tQNMnLRJ4j8102Dgy7s8cfqOppW5XmEEa6nHfUpc7OaY-PZ6d7c_sHNo-Bs07QUbhx7xcy6zaOtpyLRNSVWg4aioKtSUufm-RYky3hUNzbvtYRK5yCQelwpL-3o5RERNriL4tfBXIcydHfRH7gW_K6vAa0H4MQ71nvQnfaHED9QCyZJ88ud9x8Vrf156u1NSTJm16AxV1cKjomE3zi9_l7oa6BVSqWJqwdMQ4tL5ev-2EFWsUOBRhrCi8Q1-I3au0kvQ5WE854dmphBL34oi_4_gEWEKB7A4ai0_4BfFO5vsuvVJF4KZkynyNsv1pZ9cTWbUzT3vMQ1bEhDkATmhxpcPlrlELFLrCiy_JMG_O8vGcL_M2n-ieJN13hij5ANTJMwrtjy9yotrR9pcGG4hdY66n3vOu-ThbN9vMbGzpBn3ybu7xfeC5S9Lm2GxJsM73FDB9U4gNhWJSUiUuQTjJl0538kRW8t-fEyZo7dZr9zE_3VEkwduwfQOeWrrXhkXvtDtIn_L2zvR1PXgjflTYTXOHzN8dcPVT29w1jxU5TM4Kkq6-GHO43-wdS3E45mQaBQI20Yf8h0eo38LpfBnMJIACd11YbJsR5dDj273iDcHwhEADB7iFA9rh3ntSqDChg==",
  "id": "rs_0894cbd571722803016ab420404efc87d0bdba1bd1fd57ed28",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCBGc4CpqcIFVmmXFnzG2DzlhvCVDdjcPLd7shM6Ifb8ytdKkEN2YfHbiUdxrgGarAnBYqHRM3g61Ui5rohhkgNeCM3IjEBR-YXUL89xd2EB6fKRwmVZ5oeiQS3fblpS5dnHAmHfwFBU6SMURvnPucR-W6QDCHVGaRziFe35l5KRspXORhkndc9JTYob4Fm6UEysg5hA6BEcdNi1CNTA36pWGEj759c0fQnUBqlrFodqtPk24BOw0w2n7bCU-VR7DXiNcBXgfgEzPK6ieCpSmXjds6EQUuDB19O-skHGNfKnKmJj4jdoW1ADdaGtvDiv-qxsYmNBPCTCmzbof56KAykLroWs-N3oB2P7W8kik6riHDedegv3UVtC6YOohwIdw76npStc5DQdMY2ctF1otLQM6shS4dyef2NK5vDJZLBIrhanXimBT3sk622VYRQE5TYxaDiTvplTfdGN-5CAchaOxDemerExMZX33XKV98vpEub5NjgHAs-pIs6QcbQRdtWFc1aqH5q66k_MBuMUKWRGpHo6Woy2Ztq1OR1tt1nSUbQs6FyLqNJ8JMknQwWxpeGthXbBMVthzVhVFShifs5Rbn8Aj7K4F7IWdH30zZRW_m-m_EEnMhvdFUgVwRI9ClT4Nz1ua7ThLgmaLDqL7F1kTs5ndvMErPPVaVS1ghw24ZsAJEU-TIzUp8P6P67kX3UT9pXLOScdzEeSnyFIztbZvUBN9vlvQx2vpSgBs--tMvMeRAIeUhJ-0UQ40myfL3Us3AK67Rdymhf65nlgk3MH53Eitw-qlAX8LeuQ0LKfr4q2RV0w_m1vlbv4Tl3t9BjUICeLvmCZBVjLcc5Xnym-x-CtzHMIImI9eha25ZoFwi4cXk_CaCzEMQ-5JoiqM3m0shGBB5bX_-aTisgGWFip0LNP2GqiKqZVH1Txxdksk-n7bF2RPGFPjnr6cpG03S3yKzD4WFS2UVVStCA5pDtqAvvyWoBFHHHWDZISfX9guUmZxjXopctBVY4AO2Q8_cv7Wpc3DzXWcGe-_FgP3FvSWDxjjEVyqAh0l6-LUzhvfc2GEtnLpDlMfzaCze8mo8HdOHdq6HyNpkmNbOK5HfaPAhOS_ocIq8yaozkgycxAClgCZ8PmTaYcgVK9OnpNAVqJrm0GCUvu4Gb_0kQczTxjrBu-zU4xia6KdSGnfXPhGgDqsLnP8LH9Y0abMvmUm4vStb4pVP-asML-pqvBxVTpHJ2qHBrZWyNmCrJAjU3vlVOvdvjcM40w7QP1iHGl4pCjVv2UUFuzBgSIfnVmB8VQ3US7Spipy2AQwQw4GAB4GNYx_v1rWipF54JpV1SWsAOoO0qweCq4yYP1ny1lfHLMo7LmlNUl0tU1r1D71fu1rFkbdTdksPb6aSYypMzKMPdzrQtAWEOXJQX0APf9gWL6hXHOQbplgHIJxR0RSM498fTe67VWJ1NtzZXVb6xeYo6w-LjXDLwgla8zIOMVVxNz_g==",
  "id": "rs_0894cbd571722803016ab420451cd887d0b5b4fe40a187f686",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is still out in front at the left arm’s practical low-reach limit. Rather than force the arm farther, I’m trying to catch the bottle’s body here so I can pull it back into a region where the cap can be lifted.\"}",
  "call_id": "call_Yq2XBoAOmC77aoP0BWZK6wjs",
  "id": "fc_0894cbd571722803016ab42045ab8087d0b60679aa3611d7d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yq2XBoAOmC77aoP0BWZK6wjs",
  "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]: [-0.0505, 1.9167, 0.7483, 0.7528, -0.2272, -0.1329, 0.0126, -0.0284, 0.7448, 0.4732, -0.3416, -0.0055, -0.0326, 0.9983]\nstate[eef_state]: left_x=0.484 left_y=0.0189 left_z=0.0608 left_yaw=0.2169 left_pitch=0.157 left_roll=-0.0336 left_gripper=0.0126 right_x=0.2799 right_y=-0.0034 right_z=0.1412 right_yaw=-0.0143 right_pitch=-0.042 right_roll=-0.0101 right_gripper=0.9983\nstate[joint_eff]: [-0.3077, -6.6393, 4.1231, 0.6471, 0.2271, 0.0024, 0.7937, -0.6085, -1.5385, 7.3504, 2.0879, -0.1587, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a68c174eee86b0acb5b45b3c8d8ed5cdf4d0533c5b711b93924277523c80d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a5686abdd401ea8029c6e97a042847a74a159ddd47af2c80424a333a368cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3863308792ab394e6d1b3aa6100914c541e9d0e48918f22c9b9ae9e4a0f691",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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