adhoc

completed
2026-09-23T20:34:04.504074+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
194.2 s
total steps
332
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their necks toward the far edge. I’ll approach the rightmost bottle’s neck with the right gripper, keeping the jaws open and above the table.
move_to
right_x0.4200right_y0.1500right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7921, 0.6075, -0.3771, -0.0257, -0.0288, 0.9985, -0.0154, 0.7876, 0.6025, -0.3866, -0.0288, -0.0345, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0022 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0041 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.4974, 9.8256, 1.7949, -0.0366, 0.0952, -0.1734, -1.0325, -0.7726, 10.3316, 1.8193, 0.0513, 0.1685, -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":0.42,"right_y":0.15,"right_z":0.15},"note":"All three bottles are lying on their sides, with their necks toward the far edge. I’ll approach the rightmost bottle’s neck with the right gripper, keeping the jaws open and above the table."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe right wrist camera now has the bottle neck centered between the jaws, but it is still farther forward than the fingertips. I’ll advance over the neck and lower toward its height before closing.
move_to
right_x0.4550right_y0.1500right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3862, -0.0261, -0.0292, 0.9983, 0.4793, 1.5333, 0.9024, -0.0788, 0.3489, 0.2138, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0023 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4011 right_y=0.1445 right_z=0.126 right_yaw=0.0436 right_pitch=-0.0875 right_roll=-0.0459 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.347, 6.7487, 1.8144, -0.0073, -0.0317, -0.0269, 0.1026, -7.0085, 9.2103, 1.8926, 0.3248, 0.2271, -0.0073] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.15,"right_z":0.07},"note":"The right wrist camera now has the bottle neck centered between the jaws, but it is still farther forward than the fingertips. I’ll advance over the neck and lower toward its height before closing."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is centered in the wrist view, but the narrow neck is still ahead of the jaw tips. I’ll reach a few centimetres farther and lower to neck height for the grasp.
move_to
right_x0.4900right_y0.1500right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0254, -0.0292, 0.9983, 0.4259, 1.8023, 0.8501, 0.2409, 0.305, 0.1856, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4324 right_y=0.1419 right_z=0.0486 right_yaw=0.0412 right_pitch=-0.1006 right_roll=-0.0425 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.6479, 6.5299, 1.8437, -0.0269, -0.0317, -0.022, -0.7043, -8.2256, 8.6085, 2.0391, 0.1343, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.15,"right_z":0.025},"note":"The cap is centered in the wrist view, but the narrow neck is still ahead of the jaw tips. I’ll reach a few centimetres farther and lower to neck height for the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe right bottle’s cap and narrow neck are now beside the finger tips; the grasp point is still slightly high and right of the neck. I’ll lower and shift inward a little to center the jaws around it.
move_to
right_z0.0100right_y0.1350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0261, -0.0292, 0.998, 0.3923, 2.0037, 0.9562, 0.474, 0.2821, 0.1471, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.998 right_x=0.4856 right_y=0.1516 right_z=0.0395 right_yaw=0.0493 right_pitch=0.0233 right_roll=-0.0123 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.6889, 6.612, 1.8193, -0.0122, -0.0464, -0.0317, -0.8821, -7.4462, 5.7368, 1.5214, -0.0757, 0.1538, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.01,"right_y":0.135},"note":"The right bottle’s cap and narrow neck are now beside the finger tips; the grasp point is still slightly high and right of the neck. I’ll lower and shift inward a little to center the jaws around it."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteAt this far reach the right arm cannot lower below about 4 cm, so the jaws would pass above the neck. I’ll retract slightly toward the bottle’s shoulder, where the arm can descend enough to grip it.
move_to
right_x0.4650right_z0.0150right_y0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.279, 0.1452, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9979 right_x=0.4917 right_y=0.1536 right_z=0.043 right_yaw=0.0507 right_pitch=0.044 right_roll=-0.0048 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.7436, 6.653, 1.8095, -0.0366, -0.0757, -0.0269, -1.0462, -7.4462, 5.9692, 1.5604, -0.0366, 0.1294, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_z":0.015,"right_y":0.14},"note":"At this far reach the right arm cannot lower below about 4 cm, so the jaws would pass above the neck. I’ll retract slightly toward the bottle’s shoulder, where the arm can descend enough to grip it."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe low, extended pose did not retract at all, suggesting the arm is stuck at its reach limit. I’ll lift clear first, then re-approach the bottle closer to its body.
move_to
right_x0.4450right_z0.1200right_y0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0288, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1452, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0511 right_pitch=0.044 right_roll=-0.0046 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.7026, 6.4068, 1.8486, -0.0317, 0.0024, -0.0122, -0.9231, -7.4462, 5.9556, 1.5263, -0.0659, 0.1294, -0.0073] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_z":0.12,"right_y":0.14},"note":"The low, extended pose did not retract at all, suggesting the arm is stuck at its reach limit. I’ll lift clear first, then re-approach the bottle closer to its body."})
tool
executing move_to over 5 steps (0.5s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe right arm still has not moved from the extended low pose. I’ll request a larger retreat upward and toward its own side to release any reach-limit lock before handling the bottles.
move_to
right_x0.3800right_y0.0800right_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1455, 0.9998] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0508 right_pitch=0.044 right_roll=-0.0043 right_gripper=0.9998 state[joint_eff]: [-0.335, -1.4838, 6.3932, 1.8291, -0.0122, -0.0611, -0.0171, -1.0051, -7.241, 5.9692, 1.5409, -0.0708, 0.1392, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.08,"right_z":0.23},"note":"The right arm still has not moved from the extended low pose. I’ll request a larger retreat upward and toward its own side to release any reach-limit lock before handling the bottles."})
tool
executing move_to over 13 steps (1.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe arm has freed itself, and the bottle is clearly visible ahead in its wrist camera. I’ll approach the wider shoulder just behind the cap at a nearer, lower-reach position.
move_to
right_x0.4250right_y0.1050right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0257, -0.0292, 0.9978, 0.2852, 1.2629, 0.9527, -0.3, 0.1833, 0.0963, 0.9998] state[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1809 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3838 right_y=0.0827 right_z=0.2064 right_yaw=0.0517 right_pitch=-0.0269 right_roll=-0.0124 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.3744, 6.5709, 1.8242, -0.0122, -0.0708, -0.0171, -0.7726, -5.8188, 10.0308, 2.0342, 0.0855, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.105,"right_z":0.035},"note":"The arm has freed itself, and the bottle is clearly visible ahead in its wrist camera. I’ll approach the wider shoulder just behind the cap at a nearer, lower-reach position."})
tool
executing move_to over 12 steps (1.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe bottle’s shoulder is nearly centered but the jaws are over its wider lower half. I’ll move a little forward, left, and down so the fingers straddle the shoulder rather than the base.
move_to
right_x0.4450right_y0.1200right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.601, -0.3866, -0.0261, -0.0292, 0.9978, 0.3218, 1.7641, 0.6552, 0.4915, 0.1783, 0.1043, 0.9998] state[eef_state]: left_x=0.2936 left_y=0.0023 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9978 right_x=0.4192 right_y=0.1105 right_z=0.0374 right_yaw=0.0881 right_pitch=-0.0347 right_roll=-0.0047 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.7573, 6.9128, 1.8193, -0.0513, -0.0513, -0.0122, -0.294, -6.6393, 4.4376, 1.6874, 0.3053, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.12,"right_z":0.015},"note":"The bottle’s shoulder is nearly centered but the jaws are over its wider lower half. I’ll move a little forward, left, and down so the fingers straddle the shoulder rather than the base."})
tool
executing move_to over 2 steps (0.2s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe cap remains well ahead of the jaws, while the label is under them. I’ll advance another three centimetres to place the fingers around the upper body immediately behind the neck.
move_to
right_x0.4650right_y0.1250right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7906, 0.5919, -0.3775, -0.0254, -0.0292, 0.9978, 0.3214, 1.8732, 0.688, 0.5869, 0.1802, 0.1005, 0.9998] state[eef_state]: left_x=0.2934 left_y=0.0022 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4339 right_y=0.1149 right_z=0.0224 right_yaw=0.0883 right_pitch=-0.0159 right_roll=-0.0045 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.6615, 6.7624, 1.8681, -0.0317, -0.0708, -0.0122, 0.5675, -6.694, 5.7915, 1.5214, 0.188, -0.0464, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.125,"right_z":0.025},"note":"The cap remains well ahead of the jaws, while the label is under them. I’ll advance another three centimetres to place the fingers around the upper body immediately behind the neck."})
tool
executing move_to over 3 steps (0.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe right gripper now straddles the bottle’s upper body just below the shoulder. I’ll close around it and check the settled opening to confirm whether the bottle is actually caught.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5827, -0.3748, -0.0257, -0.0292, 0.9978, 0.3214, 1.9266, 0.778, 0.593, 0.1776, 0.0956, 0.9998] state[eef_state]: left_x=0.2925 left_y=0.0023 left_z=0.1726 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.4589 right_y=0.1237 right_z=0.0321 right_yaw=0.0932 right_pitch=0.0254 right_roll=0.0025 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.894, 6.5983, 1.8926, -0.0415, -0.0513, -0.0122, -0.4308, -6.9538, 6.8855, 1.7509, 0.0171, 0.0317, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper now straddles the bottle’s upper body just below the shoulder. I’ll close around it and check the settled opening to confirm whether the bottle is actually caught."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe settled jaw opening is about 3.7 cm, consistent with gripping the bottle rather than closing empty. I’ll lift it gently and check whether it follows the gripper.
move_to
right_z0.1300right_x0.4600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7834, 0.569, -0.3714, -0.0257, -0.0292, 0.9978, 0.3225, 1.9381, 0.8139, 0.6334, 0.1555, 0.0956, 0.3864] state[eef_state]: left_x=0.2909 left_y=0.0023 left_z=0.1686 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.4729 right_y=0.133 right_z=0.0482 right_yaw=0.1121 right_pitch=0.0863 right_roll=0.0274 right_gripper=0.3864 state[joint_eff]: [-0.3077, -1.853, 6.7897, 1.9512, -0.0415, -0.0708, -0.0122, -0.5128, -7.4051, 5.559, 1.0134, 0.1978, -0.0122, 0.4225] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13,"right_x":0.46},"note":"The settled jaw opening is about 3.7 cm, consistent with gripping the bottle rather than closing empty. I’ll lift it gently and check whether it follows the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe bottle appears to move with the right jaws, but it is still nearly horizontal. I’ll raise the held upper end while drawing it back, letting the heavier bottom swing down toward the table.
move_to
right_x0.4200right_z0.2100right_y0.1350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7734, 0.5495, -0.3634, -0.0257, -0.0292, 0.9978, 0.3347, 1.7199, 0.9367, 0.1722, 0.1558, 0.0803, 0.3857] state[eef_state]: left_x=0.2889 left_y=0.0024 left_z=0.164 left_yaw=0.0002 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9978 right_x=0.4571 right_y=0.1338 right_z=0.1026 right_yaw=0.1329 right_pitch=-0.0309 right_roll=-0.0104 right_gripper=0.3857 state[joint_eff]: [-0.3214, -1.7436, 6.6667, 1.9414, -0.0122, -0.0708, -0.0122, -0.0342, -10.7556, 9.2923, 1.9414, 0.2271, 0.1001, -0.0855] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_z":0.21,"right_y":0.135},"note":"The bottle appears to move with the right jaws, but it is still nearly horizontal. I’ll raise the held upper end while drawing it back, letting the heavier bottom swing down toward the table."})
tool
executing move_to over 7 steps (0.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe bottle has not visibly tipped upright during the first lift. I’ll move it into the clear space between the right and middle bottles so I can verify it is being carried and have room to set its base down.
move_to
right_y0.2000right_x0.3900right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3489, -0.0261, -0.0292, 0.9978, 0.3763, 1.483, 1.0332, -0.178, 0.1612, 0.0811, 0.3857] state[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9978 right_x=0.4197 right_y=0.1392 right_z=0.1791 right_yaw=0.1695 right_pitch=-0.0468 right_roll=-0.0163 right_gripper=0.3857 state[joint_eff]: [-0.1436, -1.6889, 6.6803, 1.9658, -0.0073, -0.0269, -0.0073, 0.0479, -9.1009, 10.1265, 1.8584, 0.2857, 0.2369, -0.0171] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.2,"right_x":0.39,"right_z":0.22},"note":"The bottle has not visibly tipped upright during the first lift. I’ll move it into the clear space between the right and middle bottles so I can verify it is being carried and have room to set its base down."})
tool
executing move_to over 6 steps (0.6s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe right bottle stayed in place as I moved sideways, so that apparent grip did not carry it. I’ll clear the right arm and approach the leftmost bottle with the left arm, aiming for its easier-to-reach neck.
move_to
right_x0.2800right_y0.0000right_z0.1800right_gripper1.0000left_x0.4000left_y-0.0950left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7567, 0.5156, -0.3447, -0.0257, -0.0292, 0.9978, 0.5884, 1.459, 1.0912, -0.2871, 0.2955, 0.1764, 0.3857] state[eef_state]: left_x=0.2861 left_y=0.0024 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.3846 right_y=0.1991 right_z=0.1968 right_yaw=0.2181 right_pitch=-0.0503 right_roll=-0.0233 right_gripper=0.3857 state[joint_eff]: [-0.1162, -1.6615, 6.9128, 1.8877, -0.0317, -0.0757, -0.0122, 0.1436, -6.5299, 10.2085, 1.9707, 0.2955, 0.2418, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.0,"right_z":0.18,"right_gripper":1,"left_x":0.40,"left_y":-0.095,"left_z":0.12},"note":"The right bottle stayed in place as I moved sideways, so that apparent grip did not carry it. I’ll clear the right arm and approach the leftmost bottle with the left arm, aiming for its easier-to-reach neck."})
tool
executing move_to over 17 steps (1.7s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe left bottle’s shoulder appears left of the left jaw column and ahead of the fingertips. I’ll shift the left gripper toward it, advance, and descend to bottle height before pinching.
move_to
left_x0.4250left_y-0.0500left_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3759, 1.4395, 0.6746, 0.1001, -0.3138, -0.2226, 0.9978, -0.244, 0.7929, 0.6197, -0.4477, -0.3374, -0.255, 0.9977] state[eef_state]: left_x=0.3853 left_y=-0.0896 left_z=0.1007 left_yaw=-0.0099 left_pitch=-0.0659 left_roll=0.0215 left_gripper=0.9978 right_x=0.2858 right_y=-0.0072 right_z=0.1794 right_yaw=0.148 right_pitch=-0.0096 right_roll=-0.0056 right_gripper=0.9977 state[joint_eff]: [-0.3487, -5.8188, 8.9778, 1.9365, -0.2369, -0.1001, -0.0122, 0.0889, -1.5932, 6.7214, 1.7998, -0.2906, -0.0171, -0.0952] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.05,"left_z":0.028},"note":"The left bottle’s shoulder appears left of the left jaw column and ahead of the fingertips. I’ll shift the left gripper toward it, advance, and descend to bottle height before pinching."})
tool
executing move_to over 5 steps (0.5s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe left bottle fills the jaw gap at its upper label, with the fingers on either side. I’ll close and use the jaw opening and a short lift to test whether this grasp is secure.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2077, 1.7527, 0.5846, 0.59, -0.1947, -0.1761, 0.9978, -0.2489, 0.7898, 0.6155, -0.4713, -0.3622, -0.2703, 0.9991] state[eef_state]: left_x=0.4217 left_y=-0.0503 left_z=0.0369 left_yaw=0.0333 left_pitch=-0.0043 left_roll=-0.032 left_gripper=0.9978 right_x=0.2817 right_y=-0.0033 right_z=0.1747 right_yaw=0.1717 right_pitch=-0.0264 right_roll=0.005 right_gripper=0.9991 state[joint_eff]: [0.5265, -5.0803, 5.094, 0.8669, -0.1587, 0.5934, -0.0171, -0.4308, -1.2786, 6.5709, 1.9609, 0.0073, 0.1538, 0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bottle fills the jaw gap at its upper label, with the fingers on either side. I’ll close and use the jaw opening and a short lift to test whether this grasp is secure."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe left jaws closed nearly all the way, so the first grasp was empty and nudged the bottle forward. I’ll reopen, advance a few centimetres along the bottle’s axis, and try to capture it farther from its base.
move_to
left_gripper1.0000left_x0.4700left_y-0.0500left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2161, 1.7443, 0.5884, 0.6758, -0.2337, -0.157, 0.0139, -0.2489, 0.7784, 0.5907, -0.4641, -0.3676, -0.268, 0.9993] state[eef_state]: left_x=0.4334 left_y=-0.0496 left_z=0.0605 left_yaw=0.0487 left_pitch=0.0956 left_roll=-0.0209 left_gripper=0.0139 right_x=0.279 right_y=-0.0017 right_z=0.1683 right_yaw=0.1749 right_pitch=-0.0306 right_roll=0.0123 right_gripper=0.9993 state[joint_eff]: [-0.0889, -6.3932, 4.9162, 0.9792, 0.0464, -0.022, 1.2381, -0.3624, -1.7573, 6.8034, 1.8584, -0.1783, -0.0659, 0.0073] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.47,"left_y":-0.05,"left_z":0.03},"note":"The left jaws closed nearly all the way, so the first grasp was empty and nudged the bottle forward. I’ll reopen, advance a few centimetres along the bottle’s axis, and try to capture it farther from its base."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe bottle is centered between the open left fingers, but the far reach keeps the grasp point about 4 cm above the table. I’ll come slightly back toward the base to get the fingertips low enough to close around its body.
move_to
left_x0.4500left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1955, 1.8877, 0.7654, 0.5819, -0.2287, -0.1608, 0.9946, -0.2489, 0.7628, 0.5583, -0.448, -0.3676, -0.2676, 0.9995] state[eef_state]: left_x=0.4699 left_y=-0.0486 left_z=0.0437 left_yaw=0.0661 left_pitch=0.0368 left_roll=-0.0109 left_gripper=0.9946 right_x=0.2763 right_y=-0.001 right_z=0.1609 right_yaw=0.1747 right_pitch=-0.0313 right_roll=0.0129 right_gripper=0.9995 state[joint_eff]: [0.4718, -6.1197, 6.147, 1.4383, 0.0317, 0.0806, -0.0659, -0.4581, -1.7299, 7.0359, 1.8291, -0.1929, -0.0366, 0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_z":0.005},"note":"The bottle is centered between the open left fingers, but the far reach keeps the grasp point about 4 cm above the table. I’ll come slightly back toward the base to get the fingertips low enough to close around its body."})
tool
executing move_to over 3 steps (0.3s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe left arm is again stuck at its far, low reach, so it cannot close around the bottle here. I’ll retreat upward, then try a lower grasp on the reachable part of the bottle instead of retrying the same pose.
move_to
left_x0.3850left_z0.1400left_y-0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1993, 1.9137, 0.7219, 0.7166, -0.2405, -0.1646, 0.9957, -0.2489, 0.746, 0.5301, -0.437, -0.3676, -0.2676, 0.9996] state[eef_state]: left_x=0.4699 left_y=-0.0483 left_z=0.0449 left_yaw=0.0755 left_pitch=0.1012 left_roll=-0.026 left_gripper=0.9957 right_x=0.2734 right_y=-0.0003 right_z=0.1547 right_yaw=0.1747 right_pitch=-0.0317 right_roll=0.0131 right_gripper=0.9996 state[joint_eff]: [-0.9231, -4.9436, 2.4137, 0.7155, 0.022, 0.0122, 0.105, -0.4034, -1.5932, 6.8444, 1.8974, -0.1636, -0.0415, -0.0024] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_z":0.14,"left_y":-0.05},"note":"The left arm is again stuck at its far, low reach, so it cannot close around the bottle here. I’ll retreat upward, then try a lower grasp on the reachable part of the bottle instead of retrying the same pose."})
tool
executing move_to over 7 steps (0.7s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteA modest retreat did not free the left arm from the extended pose. I’ll move it decisively up and back to avoid dragging the bottle while the controller recovers.
move_to
left_x0.3000left_y0.0000left_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2039, 1.9247, 0.7055, 0.7883, -0.2443, -0.1684, 0.9959, -0.2489, 0.728, 0.5018, -0.4244, -0.3676, -0.2676, 0.9996] state[eef_state]: left_x=0.4714 left_y=-0.0502 left_z=0.0496 left_yaw=0.0777 left_pitch=0.1442 left_roll=-0.0401 left_gripper=0.9959 right_x=0.2706 right_y=0.0004 right_z=0.1491 right_yaw=0.1747 right_pitch=-0.0296 right_roll=0.0121 right_gripper=0.9996 state[joint_eff]: [-0.5538, -5.1487, 2.7692, 0.9792, -0.0659, -0.0073, 0.0024, -0.1846, -1.4838, 6.653, 1.9463, -0.1832, -0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.23},"note":"A modest retreat did not free the left arm from the extended pose. I’ll move it decisively up and back to avoid dragging the bottle while the controller recovers."})
tool
executing move_to over 14 steps (1.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe left bottle is still lying lengthwise, with its base nearest the arm. I’ll grasp that reachable end and drag the bottle toward the base, bringing its neck within a low-grasp reach.
move_to
left_x0.3850left_y-0.0700left_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1173, 0.8738, 0.7708, -0.4435, -0.1856, -0.1513, 0.9959, -0.2489, 0.7055, 0.4717, -0.4026, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.3109 left_y=-0.0002 left_z=0.2224 left_yaw=0.1029 left_pitch=0.0255 left_roll=-0.0229 left_gripper=0.9959 right_x=0.2688 right_y=0.0009 right_z=0.1453 right_yaw=0.1765 right_pitch=-0.0166 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [0.3624, -1.7573, 9.4701, 1.746, 0.0806, 0.2759, -0.0073, -0.4308, -0.7179, 7.0085, 1.7998, -0.2125, 0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.07,"left_z":0.028},"note":"The left bottle is still lying lengthwise, with its base nearest the arm. I’ll grasp that reachable end and drag the bottle toward the base, bringing its neck within a low-grasp reach."})
tool
executing move_to over 13 steps (1.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe left bottle’s near end is now directly between the low fingers, and the jaws straddle its body. I’ll close around the base end to pull it toward the arm.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3607, 1.6791, 0.4759, 0.5022, -0.382, -0.2707, 0.9959, -0.2489, 0.6975, 0.4572, -0.4026, -0.3679, -0.271, 0.9996] state[eef_state]: left_x=0.3721 left_y=-0.0661 left_z=0.0166 left_yaw=0.0879 left_pitch=-0.0809 left_roll=0.0367 left_gripper=0.9959 right_x=0.2666 right_y=0.0015 right_z=0.1408 right_yaw=0.1767 right_pitch=-0.0225 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.6496, -7.241, 5.012, 1.8828, -0.2662, -0.1538, -0.0122, -0.5538, -0.9231, 6.8581, 1.79, -0.2222, -0.0171, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bottle’s near end is now directly between the low fingers, and the jaws straddle its body. I’ll close around the base end to pull it toward the arm."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe jaws settled around a 4.6 cm width, matching the bottle’s body. I’ll pull the gripped end back along the tabletop by about six centimetres so the neck is no longer at the arm’s reach limit.
move_to
left_x0.3100left_y-0.0700left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3653, 1.7168, 0.408, 0.6815, -0.384, -0.2855, 0.4878, -0.2489, 0.6865, 0.4393, -0.3962, -0.3679, -0.271, 0.9996] state[eef_state]: left_x=0.3698 left_y=-0.0668 left_z=0.015 left_yaw=0.0913 left_pitch=-0.0139 left_roll=-0.0066 left_gripper=0.4878 right_x=0.2647 right_y=0.002 right_z=0.1368 right_yaw=0.1767 right_pitch=-0.0228 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [0.0479, -5.6547, 4.4513, 1.9072, -0.1832, 0.105, 0.9744, -0.5949, -1.1556, 7.0359, 1.8242, -0.2271, -0.0317, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.07,"left_z":0.035},"note":"The jaws settled around a 4.6 cm width, matching the bottle’s body. I’ll pull the gripped end back along the tabletop by about six centimetres so the neck is no longer at the arm’s reach limit."})
tool
executing move_to over 5 steps (0.5s)
step 186
assistant
agent noteThe left bottle followed the pull: its cap visibly shifted closer to the arms while staying flat. I’ll slide it another five centimetres toward the base so its neck becomes accessible for an upright lift.
move_to
left_x0.2550left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4931, 1.4502, 0.2401, 0.522, -0.4515, -0.3412, 0.4888, -0.2489, 0.6724, 0.4198, -0.3923, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.3094 left_y=-0.0747 left_z=0.0208 left_yaw=0.0487 left_pitch=-0.0468 left_roll=0.0124 left_gripper=0.4888 right_x=0.2623 right_y=0.0026 right_z=0.1323 right_yaw=0.1766 right_pitch=-0.0242 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.4359, 5.4359, 2.2198, -0.4615, 0.0073, 0.525, -0.4444, -0.3624, 6.7487, 1.9316, -0.1978, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_z":0.035},"note":"The left bottle followed the pull: its cap visibly shifted closer to the arms while staying flat. I’ll slide it another five centimetres toward the base so its neck becomes accessible for an upright lift."})
tool
executing move_to over 5 steps (0.5s)
step 191
assistant
agent noteThe neck is now much closer, around the middle of the left arm’s working range. I’ll release the base and move above the cap-and-shoulder region to make a lower, better-positioned grasp.
move_to
left_gripper1.0000left_x0.3700left_y-0.0750left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6765, 1.1316, 0.0956, 0.3054, -0.5491, -0.4351, 0.4895, -0.2489, 0.6586, 0.3988, -0.3828, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.2539 left_y=-0.081 left_z=0.0235 left_yaw=-0.0071 left_pitch=-0.0443 left_roll=0.0119 left_gripper=0.4895 right_x=0.2604 right_y=0.0031 right_z=0.128 right_yaw=0.1765 right_pitch=-0.0222 right_roll=0.0065 right_gripper=0.9996 state[joint_eff]: [-0.1846, -2.3316, 6.2427, 2.2784, -0.5983, -0.105, 0.6764, -0.4308, -0.5128, 6.8034, 1.8779, -0.1538, -0.0513, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.37,"left_y":-0.075,"left_z":0.12},"note":"The neck is now much closer, around the middle of the left arm’s working range. I’ll release the base and move above the cap-and-shoulder region to make a lower, better-positioned grasp."})
tool
executing move_to over 9 steps (0.9s)
step 200
assistant
agent noteAfter opening, the left arm did not follow the command away from the low, folded pose. I’ll raise it while retracting farther toward its base, then approach the newly accessible neck from above.
move_to
left_x0.1600left_z0.2000left_y-0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6952, 1.0863, 0.0898, 0.2565, -0.6106, -0.4755, 0.9971, -0.2489, 0.6468, 0.3801, -0.3767, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.2509 left_y=-0.0727 left_z=0.0278 left_yaw=0.0425 left_pitch=-0.024 left_roll=0.0158 left_gripper=0.9971 right_x=0.2584 right_y=0.0036 right_z=0.1237 right_yaw=0.1765 right_pitch=-0.0228 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [0.0342, -2.4274, 6.3795, 1.6142, -0.315, -0.0562, -0.1587, -0.4034, -0.7043, 7.0632, 1.79, -0.1978, -0.0269, -0.0073] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.16,"left_z":0.2,"left_y":-0.06},"note":"After opening, the left arm did not follow the command away from the low, folded pose. I’ll raise it while retracting farther toward its base, then approach the newly accessible neck from above."})
tool
executing move_to over 12 steps (1.2s)
step 212
assistant
agent noteThe left arm is free again, and its bottle now lies close enough for a neck grasp. I’ll fly in above its cap, keeping the jaws open until the neck is aligned.
move_to
left_x0.3500left_y-0.0850left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.4353, 0.7071, 0.7509, -1.327, -0.9516, -1.29, 0.9971, -0.2489, 0.6327, 0.3595, -0.3691, -0.3679, -0.271, 0.9996] state[eef_state]: left_x=0.161 left_y=-0.0894 left_z=0.1888 left_yaw=-0.0451 left_pitch=-0.0289 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2563 right_y=0.0041 right_z=0.1192 right_yaw=0.1767 right_pitch=-0.0218 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [1.0051, 0.5538, 6.7761, 0.2076, -0.8132, -0.0366, -0.0122, -0.5812, -0.759, 7.1179, 1.8291, -0.1587, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.085,"left_z":0.11},"note":"The left arm is free again, and its bottle now lies close enough for a neck grasp. I’ll fly in above its cap, keeping the jaws open until the neck is aligned."})
tool
executing move_to over 15 steps (1.5s)
step 227
assistant
agent noteThe neck is centered in the left wrist image but still ahead of the fingertips. I’ll advance over it and lower to about two centimetres above the table, where the jaws can close on the narrow section.
move_to
left_x0.4050left_y-0.0750left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4046, 1.2232, 0.4797, 0.0452, -0.3359, -0.2527, 0.9971, -0.2489, 0.6201, 0.3408, -0.3668, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.33 left_y=-0.0741 left_z=0.0864 left_yaw=-0.0032 left_pitch=-0.0912 left_roll=0.0228 left_gripper=0.9971 right_x=0.2539 right_y=0.0047 right_z=0.1143 right_yaw=0.1766 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [0.1709, -4.4376, 9.5111, 1.746, -0.0855, 0.2515, -0.0171, -0.294, -0.6632, 6.8034, 1.8242, -0.2515, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.075,"left_z":0.018},"note":"The neck is centered in the left wrist image but still ahead of the fingertips. I’ll advance over it and lower to about two centimetres above the table, where the jaws can close on the narrow section."})
tool
executing move_to over 6 steps (0.6s)
step 233
assistant
agent noteThe cap is still several centimetres beyond the fingertips, while the bottle shoulder lies inside the open jaws. I’ll advance three centimetres more to grip the narrower shoulder rather than close on the broad label.
move_to
left_x0.4380left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3099, 1.7477, 0.5064, 0.6552, -0.2955, -0.2043, 0.9971, -0.2489, 0.601, 0.3202, -0.3611, -0.3679, -0.2707, 0.9996] state[eef_state]: left_x=0.3995 left_y=-0.0702 left_z=0.0274 left_yaw=0.0303 left_pitch=0.0039 left_roll=-0.0006 left_gripper=0.9971 right_x=0.2516 right_y=0.0053 right_z=0.1106 right_yaw=0.1765 right_pitch=-0.0215 right_roll=0.0062 right_gripper=0.9996 state[joint_eff]: [0.3624, -4.3966, 4.3966, 1.0281, 0.2271, 0.0855, -0.0122, -0.5812, -0.3214, 6.6803, 1.9463, -0.1685, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.438,"left_z":0.018},"note":"The cap is still several centimetres beyond the fingertips, while the bottle shoulder lies inside the open jaws. I’ll advance three centimetres more to grip the narrower shoulder rather than close on the broad label."})
tool
executing move_to over 3 steps (0.3s)
step 236
assistant
agent noteThe shoulder remains just above the safe low-grasp reach, so closing there would likely miss again. I’ll move back over the bottle’s near half and pull it farther inward before trying its neck.
move_to
left_x0.3400left_y-0.0700left_z0.0170
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2794, 1.8549, 0.6277, 0.7025, -0.2935, -0.186, 0.9971, -0.2489, 0.5877, 0.3046, -0.3584, -0.3683, -0.2707, 0.9996] state[eef_state]: left_x=0.4382 left_y=-0.0688 left_z=0.0353 left_yaw=0.0501 left_pitch=0.0614 left_roll=-0.0059 left_gripper=0.9971 right_x=0.2498 right_y=0.0058 right_z=0.1072 right_yaw=0.1768 right_pitch=-0.021 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [0.7316, -6.2701, 4.8205, 1.3602, 0.1294, 0.0122, -0.0171, -0.4308, -0.5128, 6.6667, 1.7802, -0.2466, -0.0122, -0.0122] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.07,"left_z":0.017},"note":"The shoulder remains just above the safe low-grasp reach, so closing there would likely miss again. I’ll move back over the bottle’s near half and pull it farther inward before trying its neck."})
tool
executing move_to over 8 steps (0.8s)
step 244
assistant
agent noteThe left arm stayed at the shoulder despite the smaller retreat. Since the open fingers visibly straddle the bottle here, I’ll test one careful close before resetting the arm.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2714, 1.8729, 0.6483, 0.6991, -0.2913, -0.1829, 0.997, -0.2489, 0.5747, 0.2897, -0.358, -0.3683, -0.2707, 0.9996] state[eef_state]: left_x=0.4436 left_y=-0.0671 left_z=0.0341 left_yaw=0.0546 left_pitch=0.0603 left_roll=-0.004 left_gripper=0.997 right_x=0.2477 right_y=0.0064 right_z=0.1035 right_yaw=0.1768 right_pitch=-0.0224 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [-0.0068, -6.6667, 5.2308, 1.2869, 0.1441, -0.0269, -0.0171, -0.4718, -0.2393, 6.7897, 1.8681, -0.2466, -0.0024, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left arm stayed at the shoulder despite the smaller retreat. Since the open fingers visibly straddle the bottle here, I’ll test one careful close before resetting the arm."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThat close was empty and pushed the left bottle sideways. I’ll clear the left arm and switch to the middle bottle, approaching its body with the right arm where it is closer to the center of the reachable workspace.
move_to
left_gripper1.0000left_x0.2700left_y0.0000left_z0.2000right_x0.3650right_y0.2900right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2668, 1.832, 0.6956, 0.6666, -0.3035, -0.205, 0.0136, -0.2489, 0.5598, 0.2737, -0.3508, -0.3683, -0.2707, 0.9996] state[eef_state]: left_x=0.4573 left_y=-0.0666 left_z=0.0622 left_yaw=0.0829 left_pitch=0.1148 left_roll=-0.0368 left_gripper=0.0136 right_x=0.2465 right_y=0.0067 right_z=0.1011 right_yaw=0.1768 right_pitch=-0.0168 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.1299, -7.2547, 4.8205, 0.823, 0.1587, 0.1392, 1.2527, -0.4171, -0.294, 6.612, 1.8291, -0.2222, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.27,"left_y":0,"left_z":0.2,"right_x":0.365,"right_y":0.29,"right_z":0.085},"note":"That close was empty and pushed the left bottle sideways. I’ll clear the left arm and switch to the middle bottle, approaching its body with the right arm where it is closer to the center of the reachable workspace."})
tool
executing move_to over 24 steps (2.4s)
step 278
assistant
agent noteThe middle bottle’s body is visible ahead and slightly left of the right jaw column. I’ll align the fingers with its near end and lower to a true table-level grasp so I can draw it inward.
move_to
right_x0.3550right_y0.3150right_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1509, 0.7078, 0.6216, -0.4873, -0.2153, -0.1589, 0.997, 0.8589, 1.7786, 0.8982, 0.1459, 0.5056, 0.3519, 0.9996] state[eef_state]: left_x=0.2758 left_y=-0.0001 left_z=0.1908 left_yaw=0.0983 left_pitch=0.0029 left_roll=-0.0077 left_gripper=0.997 right_x=0.3518 right_y=0.2823 right_z=0.0692 right_yaw=0.2232 right_pitch=-0.0549 right_roll=-0.0371 right_gripper=0.9996 state[joint_eff]: [0.2803, -0.7316, 9.6205, 1.7998, 0.0122, 0.1001, -0.1001, 0.1162, -8.0752, 8.5128, 1.6874, 0.5299, 0.2759, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.315,"right_z":0.018},"note":"The middle bottle’s body is visible ahead and slightly left of the right jaw column. I’ll align the fingers with its near end and lower to a true table-level grasp so I can draw it inward."})
tool
executing move_to over 4 steps (0.4s)
step 282
assistant
agent noteThe right fingertips are low and centered on the middle bottle’s near body. I’ll close on it, then use the settled opening to determine whether this is a firm grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1516, 0.7166, 0.6292, -0.511, -0.2176, -0.1596, 0.9971, 0.9154, 1.9751, 0.8906, 0.3759, 0.5228, 0.3737, 0.9997] state[eef_state]: left_x=0.274 left_y=0.0003 left_z=0.1873 left_yaw=0.0999 left_pitch=-0.0208 left_roll=-0.001 left_gripper=0.9971 right_x=0.348 right_y=0.3138 right_z=0.0211 right_yaw=0.2553 right_pitch=-0.0275 right_roll=-0.0127 right_gripper=0.9997 state[joint_eff]: [-0.5265, -1.0325, 6.5846, 1.8828, -0.1978, -0.0122, 0.0024, -0.5128, -8.8684, 6.6256, 1.7363, 0.3883, 0.1392, -0.0073] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are low and centered on the middle bottle’s near body. I’ll close on it, then use the settled opening to determine whether this is a firm grip."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe middle bottle stopped the jaws at roughly five centimetres, consistent with a body grasp. I’ll pull it about nine centimetres toward the right-arm base while keeping it on the tabletop, to make the cap reachable.
move_to
right_x0.2550right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1516, 0.7063, 0.6151, -0.5049, -0.2176, -0.1596, 0.9971, 0.9161, 2.0159, 0.8913, 0.4, 0.5236, 0.3771, 0.5244] state[eef_state]: left_x=0.2727 left_y=0.0005 left_z=0.1848 left_yaw=0.0999 left_pitch=-0.0186 left_roll=-0.0015 left_gripper=0.9971 right_x=0.3477 right_y=0.3138 right_z=0.0074 right_yaw=0.2533 right_pitch=-0.0398 right_roll=-0.0201 right_gripper=0.5244 state[joint_eff]: [-0.4034, -1.1009, 6.4205, 1.8779, -0.1441, -0.0171, -0.0122, -0.4855, -9.8256, 6.0923, 1.7411, 0.442, 0.0513, 1.033] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.255,"right_z":0.025},"note":"The middle bottle stopped the jaws at roughly five centimetres, consistent with a body grasp. I’ll pull it about nine centimetres toward the right-arm base while keeping it on the tabletop, to make the cap reachable."})
tool
executing move_to over 8 steps (0.8s)
step 300
assistant
agent noteThe middle bottle followed the pull and its cap is now visibly nearer. I’ll release the body and lift the right gripper clear before aiming at the neck.
move_to
right_gripper1.0000right_x0.1700right_z0.1800right_y0.3100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1516, 0.6971, 0.5991, -0.5022, -0.2176, -0.1596, 0.9971, 1.1534, 1.8759, 0.7029, 0.3367, 0.6697, 0.5362, 0.5292] state[eef_state]: left_x=0.2708 left_y=0.0008 left_z=0.1804 left_yaw=0.1 left_pitch=-0.0227 left_roll=-0.0005 left_gripper=0.9971 right_x=0.2548 right_y=0.3129 right_z=0.0065 right_yaw=0.2933 right_pitch=-0.0495 right_roll=-0.0417 right_gripper=0.5292 state[joint_eff]: [-0.4444, -0.9778, 6.7624, 1.873, -0.2027, -0.022, -0.0122, 0.2393, -10.7145, 5.0393, 1.8095, 0.4957, 0.1294, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). 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
move_to({"targets":{"right_gripper":1,"right_x":0.17,"right_z":0.18,"right_y":0.31},"note":"The middle bottle followed the pull and its cap is now visibly nearer. I’ll release the body and lift the right gripper clear before aiming at the neck."})
tool
executing move_to over 12 steps (1.2s)
step 312
assistant
agent noteThe middle bottle’s cap and neck are centered in the right wrist image, now much closer to the base. I’ll approach from above and stop short of table contact to check the neck alignment.
move_to
right_x0.3300right_y0.3250right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1516, 0.6857, 0.5812, -0.4873, -0.2176, -0.1596, 0.9971, 1.4372, 1.4395, 0.971, -0.5068, 0.8341, 0.7971, 0.9978] state[eef_state]: left_x=0.2703 left_y=0.0009 left_z=0.1781 left_yaw=0.0999 left_pitch=-0.0145 left_roll=-0.0026 left_gripper=0.9971 right_x=0.171 right_y=0.3171 right_z=0.1605 right_yaw=0.3274 right_pitch=-0.0182 right_roll=-0.0143 right_gripper=0.9978 state[joint_eff]: [-0.4581, -0.6085, 6.6256, 1.8193, -0.2125, -0.0122, -0.0122, 0.4855, -7.5009, 8.7863, 1.0965, 0.4176, 0.1245, -0.0708] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.325,"right_z":0.075},"note":"The middle bottle’s cap and neck are centered in the right wrist image, now much closer to the base. I’ll approach from above and stop short of table contact to check the neck alignment."})
tool
executing move_to over 13 steps (1.3s)
step 325
assistant
agent noteThe middle cap is just ahead of the fingertips and slightly left in the right wrist view. I’ll move forward and left a few centimetres, descending until the narrow neck lies between the jaws.
move_to
right_x0.3500right_y0.3350right_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1516, 0.68, 0.58, -0.4839, -0.2176, -0.16, 0.9971, 0.9714, 1.7805, 0.8581, 0.1593, 0.5148, 0.3626, 0.9991] state[eef_state]: left_x=0.2702 left_y=0.0009 left_z=0.1797 left_yaw=0.1001 left_pitch=-0.0068 left_roll=-0.0049 left_gripper=0.9971 right_x=0.3129 right_y=0.3101 right_z=0.0566 right_yaw=0.3218 right_pitch=-0.074 right_roll=-0.0507 right_gripper=0.9991 state[joint_eff]: [-0.4581, -0.9094, 6.0786, 1.873, -0.2125, -0.0269, -0.0122, -0.7316, -7.7607, 8.4171, 1.7363, 0.2906, -0.0317, 0.1343] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.335,"right_z":0.018},"note":"The middle cap is just ahead of the fingertips and slightly left in the right wrist view. I’ll move forward and left a few centimetres, descending until the narrow neck lies between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 328
assistant
agent noteThe cap is centered but the fingertip gap is still behind the neck. I’ll advance another four centimetres at the same low height so the jaws close around the neck, not the sloping shoulder.
move_to
right_x0.3750right_y0.3350right_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.6792, 0.58, -0.4847, -0.2176, -0.1596, 0.9971, 0.9424, 1.9816, 0.8879, 0.3878, 0.487, 0.3313, 0.9994] state[eef_state]: left_x=0.2701 left_y=0.0008 left_z=0.1797 left_yaw=0.0995 left_pitch=-0.0068 left_roll=-0.0046 left_gripper=0.9971 right_x=0.3364 right_y=0.3285 right_z=0.0174 right_yaw=0.3332 right_pitch=-0.0389 right_roll=-0.0272 right_gripper=0.9994 state[joint_eff]: [-0.5538, -0.6906, 6.4342, 1.7363, -0.1636, -0.0317, -0.0122, -1.1009, -7.6513, 6.7761, 0.9451, 0.0757, -0.0415, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.335,"right_z":0.012},"note":"The cap is centered but the fingertip gap is still behind the neck. I’ll advance another four centimetres at the same low height so the jaws close around the neck, not the sloping shoulder."})
tool
executing move_to over 3 steps (0.3s)
step 331
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.68, 0.58, -0.487, -0.2176, -0.1596, 0.9971, 0.9314, 1.9991, 0.9112, 0.4541, 0.474, 0.3271, 0.9996] state[eef_state]: left_x=0.2698 left_y=0.0009 left_z=0.1791 left_yaw=0.0995 left_pitch=-0.0097 left_roll=-0.0038 left_gripper=0.9971 right_x=0.3481 right_y=0.339 right_z=0.0286 right_yaw=0.3351 right_pitch=0.016 right_roll=0.0168 right_gripper=0.9996 state[joint_eff]: [-0.4308, -0.7043, 6.4342, 1.8437, -0.1783, 0.0073, -0.0122, -0.6222, -7.5556, 5.5863, 1.6093, 0.1978, -0.0513, 0.0024] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
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 · 5.656 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6075, -0.3771, -0.0257, -0.0288, 0.9985, -0.0154, 0.7876, 0.6025, -0.3866, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0022 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0041 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4974, 9.8256, 1.7949, -0.0366, 0.0952, -0.1734, -1.0325, -0.7726, 10.3316, 1.8193, 0.0513, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464517a07fbf08fb48bf6d76b0fc5eff904fe1150fafd120b8e8a6882fe04257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa04c8e95c08d1ef7ca47fed85d8f04be9d03a147c1b0cd5f552269f07709fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5af6b0b06fbd156f706e2972e38493fa563a56a4a42e14976d4f0fda596cc4d",
      "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 · 4.302 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0ca80820094c0fa7016ab437ca6f5887d0b2e98365b914bcbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.15,\"right_z\":0.15},\"note\":\"All three bottles are lying on their sides, with their necks toward the far edge. I’ll approach the rightmost bottle’s neck with the right gripper, keeping the jaws open and above the table.\"}",
  "call_id": "call_3rM24zTdNNgCGyexxuZ5SB83",
  "id": "fc_0ca80820094c0fa7016ab437ce679487d094e8762d3df1af45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3rM24zTdNNgCGyexxuZ5SB83",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3862, -0.0261, -0.0292, 0.9983, 0.4793, 1.5333, 0.9024, -0.0788, 0.3489, 0.2138, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0023 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4011 right_y=0.1445 right_z=0.126 right_yaw=0.0436 right_pitch=-0.0875 right_roll=-0.0459 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.8144, -0.0073, -0.0317, -0.0269, 0.1026, -7.0085, 9.2103, 1.8926, 0.3248, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2393bf75ae2b76aad3afde1121cc8c0eeb10a589773081408170bf39aeb2180",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c0f25dadaf032ae4c040228afb0c49648b52a48b9edd8662f89f4ffdb1cb32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9212abf3fff2925aad357a74011febc6eed9801f4a6289aa268edb120a9c055a",
      "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 · 4.103 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6075, -0.3771, -0.0257, -0.0288, 0.9985, -0.0154, 0.7876, 0.6025, -0.3866, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0022 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0041 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4974, 9.8256, 1.7949, -0.0366, 0.0952, -0.1734, -1.0325, -0.7726, 10.3316, 1.8193, 0.0513, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3862, -0.0261, -0.0292, 0.9983, 0.4793, 1.5333, 0.9024, -0.0788, 0.3489, 0.2138, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0023 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4011 right_y=0.1445 right_z=0.126 right_yaw=0.0436 right_pitch=-0.0875 right_roll=-0.0459 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.8144, -0.0073, -0.0317, -0.0269, 0.1026, -7.0085, 9.2103, 1.8926, 0.3248, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2393bf75ae2b76aad3afde1121cc8c0eeb10a589773081408170bf39aeb2180",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c0f25dadaf032ae4c040228afb0c49648b52a48b9edd8662f89f4ffdb1cb32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9212abf3fff2925aad357a74011febc6eed9801f4a6289aa268edb120a9c055a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfUuj0SO7XL9o_dx6CRT3169NYPon3DM29rXB2-PYH-9HTSJUG29cOVl_kzYsfb0_KnozR1f8KHnkMj39UK4-PD6mjhG7SJ_jH1DIvLqkXAcfgsSZ122e1dQU6hSqg8T1ejflBFIWrnZXEuVi79YZ5fSphrd_EtENxx-SRizH5HRMvfgCrXghBs2lKPbkd2TbZpXNCGCnzU4Y-OYvaxoK1pA_WPyPGZXL8Y4dQlFQT8-pFrE6vs0z02yUWtzaLK_Iep1BFNC65bph8UVHuFsN-gfRRus-tltU_5py7-egvRXGZOZ_Zbw-72OACOWNRikePqcv3VO7z9wZAenWotvIdF4zEX7vYXMn0M8HQw7cuvzlPE5xJ0QIIFqyNIBFh8Q6iRTZqqk49v7CPuRbIr9xOEcZLAL8ytoAM5-QvRfy_NamCHn2lwUtjLtXjdXnecMxm4IlHQ1cWXRsQxQIiCSKLeq9OAvJrlgKEcHdB1_iEm-J8JeLeIC29ZuqOnnzu6JFN0foDqSsxDWeXfkKoYiXQIhjHbMwKkMRSrGN-Igh9sFC4Tq_Fp_DMG8GkReYopntsGFGphk66POsgPqsBimQkYfoq_pCkyu1QD5y2twN5ZHAdw8vvCW6CQMaO11JpBlhH3nzNEiKwJ5I36sUGpE3I5OZ8amfY3P3QmozbCf72UOxr1ZaqsoZuMPp_7UNYUUZI1lRmlgY_PI00auRB7ntPUmWrJz65wonPrkVTdhT0UK49QMxI9BuNSBcUk-7dpXQG4_9ywskusKU0sh0YqFejl0qgTZhjK_lvb4H8hBIT3cqIDrpF8HFPK5zznHYCZLXYFywmNx4Tre3ABlo32sehi98NrE61YrPvVli-0SlgpZRt-Glq2BPWYKd9OP_SBc7_IUgjEu8HUVa3_I_ncLNiIjSPpDg6d29b40MUuewAUHTyJ87A66WNjVspIuBhilNCFDvWcmu1uvAZpG_KVzGmDpRIRnu5g1Baue3JBw9s0Fhjk_sOMrH8A2e__3hm8YbPo-XACf3BYFFSOkoRZU9ilfctJhFV0D3J5BGAUGIm1ojqSG4pmvgXXvFPWpKbs268Ra5nTBjIL80h6IX9_2tHr8xBd67BuWYQS5DIR6R_xpFrI77_IqHEvbY8okXTSnw7ZhVdiTpZJykCh3F1jHNXgKl_4OjOywkFZZ9pPg3xD_JOLQYUo8EhitZd7ESqi4Nc6Mn_O7u0DGD8Xbbgc1TaiTKTh-p7uCEa6m_I5Uaie5a34oMgRt2Jit41wTPXZIH3OIlgvtdqFYFlanCn48CjqbXTVNw0LRN6Qgw_0ZxdyJ_XwhhBghkWUSuL8fb-27ygnhETyNDAh9F9mxW5dsuTPxSGT6gVZuY_QKxcw5oA7as0jfnA5-NB97n0F7KD7L4rme7o2fwTZT3Fw1NSlpoSscmQucpObbguvfe3GlMk4_-ZHCA-jgzmcTVtpIkxOHE48e0jZxQOSS2KNNh7oOft-qbbEAYfF6RUvVZAnnsy2QeIi4J3QlXHDdYBU4SvmrYSyHZhauCm7b-VVcnzFYiGuU83XRHlPjxhKGVjsS6QbjoMgvg3F7UvVGBWu0af-8mlCo_8O0RAicOCab8JmLbp2Gy7oXdUCZ6XFDs9tOpZMl44B3osNP3Hr2rQ8axs1o_ij2hJDJI2Oi-HJ4VRicngwRXWp2Ve5XycMt6hWcn1Xh8hyDjpxY5eyC87NgZzb5r-RKOvALQTb_xCZvheYSPTqXSme1DY42SLSCOLayqqq-TfOaJ_f_ZqfgrO-Efmf7rmIQMYR0MXCCqN3bljelWIneYCPdOmCJKtc-3uMwvowwsjr4VGRnuBOVCBvKgxo4ntuOvcdqVZ5YH-GMnrw2Px-3s4Kg2q6f9rY5t2W9W2qY2e05LLCL-B287YP7rgHygogfaXl_qhk2kHGhN4sE1N7zvYUyvC7eC3RQ7TWKPVxaDV7waYgsWeZkXVbya-kC1EQ4YqwYx6ezK2NJuRCP9pom3iB2b5ZoUnhHNZJ7fSAN7FUx5ZYVO-mjJlUjhDEqBo1e3taAQWm-eGtShCIYlcLzcXU0nuWPHuzj47rOGhYCehefYbDqCXRcY-3yQOMQu2J8r3T11K4uSKB1dzvcC_hHnrrOGBrK9fhT9zpiT6LBg8qCoJul88YjbrTC97MLDC5-6nkzcVYKuZiTPqBl_mEWh_zpF8h1JhRig7rH0dwmXgpbyoRcwi8DFCTK8LZZsyCnyHj5JL3i8xSJ-JxBQ9jBZge-K3vHwJyTfWpad-8GZsTV-LslDhX225dpsotEYGAGoX8Gfc6QWOM1qSFrjjf2nniamKThbnEQ-c9aJz7Nc2lLwgM0N4oZijuxmVvjJJzP7SkHcKc_0gGVb_inFLKHw==",
  "id": "rs_0ca80820094c0fa7016ab437d1914087d085973587fafc98f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The right wrist camera now has the bottle neck centered between the jaws, but it is still farther forward than the fingertips. I’ll advance over the neck and lower toward its height before closing.\"}",
  "call_id": "call_mjeYIBGBwBwC9gJXjSV7UX6N",
  "id": "fc_0ca80820094c0fa7016ab437d3f8bc87d0867356f200d9378e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mjeYIBGBwBwC9gJXjSV7UX6N",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0254, -0.0292, 0.9983, 0.4259, 1.8023, 0.8501, 0.2409, 0.305, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4324 right_y=0.1419 right_z=0.0486 right_yaw=0.0412 right_pitch=-0.1006 right_roll=-0.0425 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6479, 6.5299, 1.8437, -0.0269, -0.0317, -0.022, -0.7043, -8.2256, 8.6085, 2.0391, 0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ceef1002a4d168cee8da44e4a80852e1be5ebb58d1ac809f55d5477613ca14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98c4e65ccefd744934334fa4bb9ce64e9cfdd497c48474dc25fe5fb5d2dfcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8604d3e332896fc53ca3f9228d0084009465048fa4387b80c9412f7603bd45e8",
      "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 · 3.838 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3862, -0.0261, -0.0292, 0.9983, 0.4793, 1.5333, 0.9024, -0.0788, 0.3489, 0.2138, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0023 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4011 right_y=0.1445 right_z=0.126 right_yaw=0.0436 right_pitch=-0.0875 right_roll=-0.0459 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.8144, -0.0073, -0.0317, -0.0269, 0.1026, -7.0085, 9.2103, 1.8926, 0.3248, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0254, -0.0292, 0.9983, 0.4259, 1.8023, 0.8501, 0.2409, 0.305, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4324 right_y=0.1419 right_z=0.0486 right_yaw=0.0412 right_pitch=-0.1006 right_roll=-0.0425 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6479, 6.5299, 1.8437, -0.0269, -0.0317, -0.022, -0.7043, -8.2256, 8.6085, 2.0391, 0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ceef1002a4d168cee8da44e4a80852e1be5ebb58d1ac809f55d5477613ca14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d98c4e65ccefd744934334fa4bb9ce64e9cfdd497c48474dc25fe5fb5d2dfcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8604d3e332896fc53ca3f9228d0084009465048fa4387b80c9412f7603bd45e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfZAmJMttrWdpO21QOnoOwVogxAPd_22Ov2utPAgcun38gsgeqoJJK8qD8aLDJ49iep669MKz19ZPz0lqtvk_9TUP3SQhRuKRh0gHNMWoNkkFvtjvarrcV0gs72RpR4d5JcMwYdaMKdrLVe_MdsVjsGuUl6i3Aop6aQhD2Lq4IwtNbxkeXbJLnWAFeNdzXjPuAgJCcUhxS8PS2T6saNRO_TRRdOg-VwIyY4s6vdJJT5pT6RKysC9x4Tl_E8Kup2BeiTINUpXvt1STsC6JIfGeSq2hUlsXCPBvbv1u466RUefagg-Ywf6vPB9GolzfHnGWufbyE7fWZId32JXoW6cKm9FtFdb9LVpAJAuFPZ-t8dnDUImmRTHV-8iD5Ylv1Z7AqAMr0LAjX0FN_QwYHP0o2sJd2ED_is6bp7za2lsuoAMwWeXscQfnK_1qmArkRbiXQueFy0KhKlcTeEV4rBSeeBvzczZUaPXoHx5AsT_WeEIAkuENQOCCsnhHaGTVAZOcl9cjkeW9Sgv1z9mdqoqtq5SL9JN6dhaTYAB8hNe1FcHlQzjOor3Dasd0Qt2n5AlMR9FBDUkVu5S3ME_SUC4CzCjvb9vX2rMZCKEGMYKJ3KVTP6ufDln1YNFoqktYRmVCns9Xpw-45cZ-WQEizatlBWkkj41o93jxYpzszL5FGUDd3kMCyDS8yuBJEjGa0dMgNn2_mflXai2BH6aPGDsUErji85s3whGdPEXKVL24MHfOmWunvyYRXCHA7eWFIivfaPAcRe3sVquO7PkDsGZcol3Del5Idg6oIvqubMcGz9uur33vIBhFnG_dPE0KOUaPtEQxFpMVOErQrOY74FnT2wjanj4vVF8wyzBHFjNxk1M3fMmdu78jsvPvAODfS4tyidJJn9B-iyTlx9xxuD1WoHg8SJwdvoNdzYtx652sykq-bS5B2FIs4rAGYcTpUWJQhgbhBQ1Gf5WLLukbXbBHA3XAcfqQvk61TR-wT_zb3qMUy3-cMSJ3R1k08_jzuj6pPOAedtQDmEcgpJmCL0q1prqh2UoZm_F3vOt1mlEWk0ayVUw37ZeEbDlWgoXEY85v5K08jsiMrfhCOJJIyZb2cyltdMVwBou73BB74JJRcDi78au8sft_BIJWN1AVRJ3-z6Gpg71i2KrqfeD2XyWkODK8ojAJY9Qc0FEMJJMm95w8IsJmvb0FRyMyNbUeRNOvCwG96NDBWzIwoXYhpoixhv3b3wd4PIIziZxLR0vgSPBJeM9W9C_3xQvH75dVDGbrlvsZq-kv1_mfTe5B_X1MOR6UA7Nxtx2X_JGUA8Z0vYCVda7Zo1y8_qYe0SFO-uPYTWRGbLwifxut85D_kcNQVFZAVi0sHJkalunJ95AgWt4i1nGJcBu18qsWVDSCO2uC6ExdN1jr9Xe0aA129kSd6dthfRWpCIZTPozFrXP5IaZS8jF_eN7XDZNr6WTBxqllH2Zd2F4Vt1RHSs5t2-QYp25Anes0msw4DBE3hNf2pCOto024TOX1DkWHDzVW4NJkKxNL0mzbtIBy72_3vDu9LD-hmq42-yoMBOEuAJ0UAv19e9bC26Yz4U2PjNW6NKUar7auJSTAmvXazUeJPv_-8J8e2Tn3Ng1Zu_rCRDPRxpc_BldKzUA7eSq5OdcF6BLJIv-uJcb-6FRB3d5Px4XNqNBoOfvHp8vzzlOHVB2ltLm5iC1uRgpiW6SlXvqEi0Ch9a3rRI6MCaKY9XivCN_F9edN6Iii_D0t_QgiXfVePwxPewGM3kgZdUAlvxyQT3M0hLAP4Ti2XSTYdEsB5WMBP1YbCAkuOMEyWEizPDQkPTQoAxODywFSf9k4AeVhYjKA0WrXMVvaMapNgCLPorRArkQJrhptN1MXaA_XnQWjP4KBoSka4jeAWsU48oFYGyoMNH0cJJnapt4DNZjb_bOKHrXywQHQsYQXixJN3XRYKZVdQnGnCajjGMn8VUprNMv8siVSI6o0hHItkzcMCQmQeU7V_bZgAuknx9ncGcIG_LGOxdC2ZkZq67PO5ZWJieoP8eye-h2cU1O4X81qGz9j4pX-voPq_CAXRPpxsaYRnPqOm3eFlQmcTZ-CUfcEf_u9YH_wN6CUHT6RXM7jMFPU4G4jaaOLlsKzIguTg1ovab_onoU29hR7B5vFGNIfFv0_GJr_Hz9eJYgzJ-oY5KGYNVW_xl7uZfwzQ8-dwMA8qPx-AUlZ_dX9e1QuT_mHWO-hdBqshaXCTcTUS3JfyucJ2VPXTg82XwekevZszTzEeWVnqaTFx5l-GPzbq_9kLvo_uZ",
  "id": "rs_0ca80820094c0fa7016ab437d6174c87d09788ecb6e50c23a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.15,\"right_z\":0.025},\"note\":\"The cap is centered in the wrist view, but the narrow neck is still ahead of the jaw tips. I’ll reach a few centimetres farther and lower to neck height for the grasp.\"}",
  "call_id": "call_MygBgcQwuvzfq3o1xrPhlYyI",
  "id": "fc_0ca80820094c0fa7016ab437d85a0087d0a9620c73b0abfcd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MygBgcQwuvzfq3o1xrPhlYyI",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0261, -0.0292, 0.998, 0.3923, 2.0037, 0.9562, 0.474, 0.2821, 0.1471, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.998 right_x=0.4856 right_y=0.1516 right_z=0.0395 right_yaw=0.0493 right_pitch=0.0233 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6889, 6.612, 1.8193, -0.0122, -0.0464, -0.0317, -0.8821, -7.4462, 5.7368, 1.5214, -0.0757, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89c4e338ad3ed2ee4675da83e0002f3da6b63ce92fe254df00a1acbd50df966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c1a9c95b4087899bd014c4a27bb062a366f2f3fba7a3a70ec879d226305831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ba5cbb901815906789cd8f9a0ddf20d86ef99c1e3760230e05474102c025d2",
      "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 · 4.08 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6075, -0.3771, -0.0257, -0.0288, 0.9985, -0.0154, 0.7876, 0.6025, -0.3866, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0022 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0041 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4974, 9.8256, 1.7949, -0.0366, 0.0952, -0.1734, -1.0325, -0.7726, 10.3316, 1.8193, 0.0513, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0254, -0.0292, 0.9983, 0.4259, 1.8023, 0.8501, 0.2409, 0.305, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4324 right_y=0.1419 right_z=0.0486 right_yaw=0.0412 right_pitch=-0.1006 right_roll=-0.0425 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6479, 6.5299, 1.8437, -0.0269, -0.0317, -0.022, -0.7043, -8.2256, 8.6085, 2.0391, 0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0261, -0.0292, 0.998, 0.3923, 2.0037, 0.9562, 0.474, 0.2821, 0.1471, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.998 right_x=0.4856 right_y=0.1516 right_z=0.0395 right_yaw=0.0493 right_pitch=0.0233 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6889, 6.612, 1.8193, -0.0122, -0.0464, -0.0317, -0.8821, -7.4462, 5.7368, 1.5214, -0.0757, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89c4e338ad3ed2ee4675da83e0002f3da6b63ce92fe254df00a1acbd50df966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c1a9c95b4087899bd014c4a27bb062a366f2f3fba7a3a70ec879d226305831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ba5cbb901815906789cd8f9a0ddf20d86ef99c1e3760230e05474102c025d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfdfff6U-EbogUjx75VEKHyZ_k-v0UxhhKlMCYBfY3LyNrwQg4CKL6mLlN0fZWwQtS71aIxbOxxxv7LpQ-45AZm4X6aT2s2Sth2ZzKfCa9LdsFdldTgzSXmwzKag5-NASBKlQ-TXn5yLnEOKtTtDfLg5vnwVALlsYn1VVoqHT4AIHXwUkUar4OAjx9oLGIA-N3mO2dZJfgYcW1pDiFUSrq2VjA9v398Zy7W1082DMz7IEghgmjUViYxYa_67fkFslzBELNqK9zxZtGRODSIKCfFLOS6Z6DoSAHcvij-tUYMsscs6Lfv5yeUxAlWhkKGEI_-4v7OmIn8nhb7tCFA_6DnVgxrT7bxheAKc5NQN80iFMjX9_ucUABYvnimMLV4rKVEEaE4m13zZfwhl-one2kHUV9yF2xe7ZM9kiyY4ante6Omm5VB22WG6WIkfc0JbRSESrI12bdrEq5qWU4o31tJtyAHoBnrHLWUo4-mbuhI1nWRbUkPga5p64RKNFUF6Mi8eigj2Qkji5Np84Ndj57ledOAqHi2QhUWGZhlHBI_YxPBJNx8qqEIhwSlyOfWDZ02BCBGdcvjJMJxuYnh_IeojA0UD3gAU4YzqKzOEe3oj-0Ge3-qgw3AMzuJ8S0dvIDwVtt9zJHFR1jKMN_mpr_QwRHZLiNatZjXzPBzv2bb2r34su1QAnmk-PBLBlvbLnVHcuxB0E2jiMh1N8nqSIsWdL2eONYwSmtp2US1WJY8Kc6KL4igZK05VsetS4fTogZeszp2vizeur8FIPXUkVTQXVYGJc31sknqfoMJ_hsTCGTk3L6C9pl_AdeSZeNE8uy_aj3uzRD5X4Zyo5WxA7ar48-hqkcZ5j0xDnImXI6xOTyX9EFWI8qE2lQkVCRRLxNhsBUxQaDRRjoxaXvusRz_LGAiBu8D-GQ2Bgr-jOqVF_wkXTfP8VJ0zx_I2T7Uk_9bbUZCEoSpFRUwCNxJ9xLffkOcnJU2eIHIDTvwa5uKUvfDSBjptLYuR2_vvYXkD8Aon-Y7t5hlR0UfHrimUDwmYw8WAmpmZO0cAQTTLi4hw7ZVVZPTww0mRBRnpJfw8GZXzgR5TkB0rPRIiYCK4p3LoncIINduvc6S7PJ6RSxjAPutybqxkf0qFR6YM6JaXsqHCBuCscNYNgvt4ZCUS5FwXT5sMzypMXFozGYNUyW5FYhm6GOorRgV6ZMuwNJFw7hVoI4KwX6pf2PVEVxeQlgZypJkmaoJQqIv5mTxY4x26j3lUyZ-LB2Ua8gVab0aeOKmM3k-MC9DRVX34Pb0SfUL50TEh2SV4LIAgNMfjwkEcC-Pan0PCNjUvR6MArcSWO2UqDyf_-oM-52NxcnRpJCfRsraaVZXJMYPS-4zlWuyyo64NaqwhjIhKC8lCou08ZWavzdFSJVDOEctrWXwQiiHyDlA0sNgQp0all9oZn6sgc-M9k9CJzYaFIQxoPKTXBCNVcdHfKzgDYqebI3WLqBaLQVhkhmhesqdBTTebEeL5wjBLyFJ9GgJM1JyQzczjmIdpTdHrjiz6dAu2pThPq8bA4wEZiCycF1Z9-RqttV1-LlSmXoRgMwtfmZ5BkYzbkKOl1MXkBF38brFK5oT3SiPiRJcy8gy2vc6nLOHiv2w-buihTol8swsYiaKYXJBnsN_ZQmSwk4dey_N0EN2Gv4PG5cAR5GGK52n7vCsFfvPI7VcpOa_ub73BqHaSc6EfYHplvCHqjEmEL9_pCEAfuM_S1bb6ixYtO7u7LRDC08nyItxrQ3oKMOtZyL_I3tqkLmmi9z4c6jtVFPckp-p8RxR4uSW-mC-g4Zt9V0BS55tyoOyHrximhHtYOOWBZR-OXUtK_5qLS_yKnxU8T5xnDr9zkSpTvU7YXgYMZNlShBNObLrmNgJRxoNCv_X1ijBh_hIuB2YqHm2emoLSAOahoRjoNGalBmZ_3fX5solWw6FjjOpekTmrE4eBoyP84Ih1HxW_-d_Oo1K10jhcjvQBq-EYg==",
  "id": "rs_0ca80820094c0fa7016ab437da9e6c87d0904c76a963ba02f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.01,\"right_y\":0.135},\"note\":\"The right bottle’s cap and narrow neck are now beside the finger tips; the grasp point is still slightly high and right of the neck. I’ll lower and shift inward a little to center the jaws around it.\"}",
  "call_id": "call_yEhYi0rmEcGkpALvo5rOxXqa",
  "id": "fc_0ca80820094c0fa7016ab437dcb2dc87d091c81c12ed6a5407",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yEhYi0rmEcGkpALvo5rOxXqa",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.279, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9979 right_x=0.4917 right_y=0.1536 right_z=0.043 right_yaw=0.0507 right_pitch=0.044 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7436, 6.653, 1.8095, -0.0366, -0.0757, -0.0269, -1.0462, -7.4462, 5.9692, 1.5604, -0.0366, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7778485efa893722f4e481047850f9e56f892366eac70460db6473906cd08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e8f5002c135cdc43e5012441e90b93df8bc8e31745a28ce7f31edcdbf928ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4cb43e28ca8326566482706f5430e92c798dbd39941155882835dc35e0ec4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.459 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3862, -0.0261, -0.0292, 0.9983, 0.4793, 1.5333, 0.9024, -0.0788, 0.3489, 0.2138, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0023 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4011 right_y=0.1445 right_z=0.126 right_yaw=0.0436 right_pitch=-0.0875 right_roll=-0.0459 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.347, 6.7487, 1.8144, -0.0073, -0.0317, -0.0269, 0.1026, -7.0085, 9.2103, 1.8926, 0.3248, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0261, -0.0292, 0.998, 0.3923, 2.0037, 0.9562, 0.474, 0.2821, 0.1471, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.998 right_x=0.4856 right_y=0.1516 right_z=0.0395 right_yaw=0.0493 right_pitch=0.0233 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6889, 6.612, 1.8193, -0.0122, -0.0464, -0.0317, -0.8821, -7.4462, 5.7368, 1.5214, -0.0757, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.279, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9979 right_x=0.4917 right_y=0.1536 right_z=0.043 right_yaw=0.0507 right_pitch=0.044 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7436, 6.653, 1.8095, -0.0366, -0.0757, -0.0269, -1.0462, -7.4462, 5.9692, 1.5604, -0.0366, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7778485efa893722f4e481047850f9e56f892366eac70460db6473906cd08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e8f5002c135cdc43e5012441e90b93df8bc8e31745a28ce7f31edcdbf928ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4cb43e28ca8326566482706f5430e92c798dbd39941155882835dc35e0ec4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfhEYaHnrteW1X43CKnGy-n4y4Wg48wRHkLXW_ZjhPweR027EBkvaaskFQocr-kL2I4dPjH7_l69tHHR99Vu1TWGHNqpLJeYVygBnm3QS7qmEsN8XJ1BsAuYe-C3yXOiT8za7BF7ekbR-tOl99dfYNUKSJQ5LBhrgGhiznnAAReAJRhmd5F4IiUfHZOPL9Bxt6L4vJgv30fAPY7mVBUcq0j6xiLL1wV4s5Q1pcxQtUgtspirvUvf3JMaDuQoXE5IhvkGoa334P19fnkgeGXISm0bUPdXblfrD03La5uSVYbvXBYSJ9lOY0XQALbXv4l8-Q_M7XIEaEuFN5uK5FCx4f7_naCjv-YVBBgmM2gHFihmd_IU1BRrb8zg7SuQ9gC2qDqzw7YOpmUpv1oddd6y_pkoJrIHfZpK3-aS9X7WOJcWH8WztQlMFjzkZ2dkOrQqzwVERxskKoHYDpHpsJxjzI8c33Pj559xS1gUL5RVHgQhlYHpozhqXrxxd_vg534drIUrVtNQ32ZI0N2s86NTUoXy8CNWd0XtKBMh--ZNsv_Ycm_fzkJ-2NIxhKbjRWEt-pPH7XV60qUaxO-cgi48RdjuGmVpsQxnsxIUelhZmRpfJXvXnetCWnPbP4JiX3g_rukgzldqctPD_rbG4dpjg4a3c-jzlRvc2K5pst1xqX4LFaYXYfpKcDuyXrtTUTbAwwamoVEsOx-CuTGHrLnQ-0WzEifffUCUxPO_CZp86AjlAjYpgsqOw6wRsSy5iD6KZx42NERbYJoB7jDN8PsyuofO8Tx35o3OQfDzJpavkBEmDHwHkRNexfnPuiTZQ8cX1ssPC7A-XsG-o4Z0UwsRS77JI_wAJM2NeN_zLCifkY1UYJh-VbY4CDdbD_kCB0cW7BCLdB8P_xVFR09OY-YKaSU_TKkINkbHXJhyx_QP3zSpWh_O6KfIcmTxVMdZTZBH5cMGZv1b2Lhg7HkEcjY0lgGfZWahBNX9DRpNAhAkdjPEY1s5ohqAi9omWrY2vfe8N_3XYaVrsabKojpPb5XmkfEUhpYBNpJN07IgB2h4j7gtKCChl9KfgqVsVVTXmOsiZBG1WVAiJu-NvFhJbnoErzeElorK3evkMgB5si43okrVlpo1AfD2AjkbrrdxviJ5FMzjDvkazv-M7Kyt0cpEdtjkRozkjQT6DSjHXG7i4sxurg2jagg2fkKZp1MhTCoDg4B5ZuOwzISnz1e0w1MCLriVuD2mSWilaPsHHP1GhArutp4tDMVF3YqTYaibm39NYHD6ho5qKR9RLlFWIST7i--LsxhIuGm0sDhzs_4TrpkPmPJyk8T1K6HNdgi_IJdm99vEvq91m6X3cKsfMIKkwmaHirvOprE2NgKGbJT2Hsk5HEur5nkPrbGeexxu3hgEdBkDT3tzwEfzSQ5Tn0mbY8SWYiuw67dpmnzJTA9UxgGH_dlqfMu5QyaJnR-Vz_okD1QTcDfNsSgpRW5MzSBNiHLLpjdg15tWCETHnXcN8ecw1e0dNN9s1I8Sn3q11Y4nar45Q_YdAFsRQ-_kNYWTTBdDxefO4StqoR_zmpuCulWV1d4lOiC_PMptcwtgXuDMIIjgIngkzBsiA83PlhKZvBimJAihhgqQt-vC2vZ9x_2JOEHN9eY7ARl0qNtCxK1A5Eiu_opkC6EN-cXgNh5cBdnlMOBxSBGAY1sAf1Spv17Vk1bm3NW3iqAcDDckDruvJX2gXLRT-TIg7D8IVv_W9jjPiMdlaX7HdlmvrnScAnwDEh6uqjfdj_2gqsJFqLWzsj1DW_2vPp2YknGlWfbaj9-jJhWw2UGaiDrRswGcn3IVGYm9TgzFKzoyaW7tGppMJzQOsClHOgbQxjVWXfgXla7i6wtT31S6HmfCWsI6vL26wbIJDEfP0qDO8nqblychaStyd5bQSU6UkzSOJott4IQ3nF5Y263_Bra3XFBILYBHDUgUC_fJqbJbQErsQWqBK2wQiu316rDwABwId8Bhxe2xs4Dxk4XuvmhY2K0NXmPf6vDFkWItaMi5P8QsgqHuORBYRv3Zpx0kAMmjkkW_hCm9FMx6aR4Y497fhuBPA5dbBlr4GLAkEQzp1ieSDCYOL_IN-WJ6Bs6CIMegYjJDYOtA8ahp3N_4DxN9avf6xBXKeFwdXQKSBW2R3WjZIG4M2ugt1jeh-IVdIgBmJgfipLQtJMkCn7fSApuajJzVdKR1ssryV2ibtwpdSGS38DWb1McJ3wEymHVG7-n0bh7B2GtjhgALoHu4QL7Lt_NM4hs84vbIvFNG7AcweyMb7AHzpTp",
  "id": "rs_0ca80820094c0fa7016ab437de7a7887d08ca38e5e14a733e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_z\":0.015,\"right_y\":0.14},\"note\":\"At this far reach the right arm cannot lower below about 4 cm, so the jaws would pass above the neck. I’ll retract slightly toward the bottle’s shoulder, where the arm can descend enough to grip it.\"}",
  "call_id": "call_hiVijt0TUrjIgcfehjVN12mD",
  "id": "fc_0ca80820094c0fa7016ab437e0aa0087d0a9713d576aec94d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hiVijt0TUrjIgcfehjVN12mD",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0288, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0511 right_pitch=0.044 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7026, 6.4068, 1.8486, -0.0317, 0.0024, -0.0122, -0.9231, -7.4462, 5.9556, 1.5263, -0.0659, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c058b9dbf2cae9beac10b2abb24c2421442c4b7091f94dd63b9fe96a694805b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0a08f9fe44b2bbaf6c636c8a42855bda81ac51cb8ca9dd1cd448e4a0d68d59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e046dc83a9c8698ac2fc3d2a7dcf843faa72a35f547ab039156c4f9197c160",
      "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 · 3.431 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0254, -0.0292, 0.9983, 0.4259, 1.8023, 0.8501, 0.2409, 0.305, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1824 left_yaw=-0.0001 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4324 right_y=0.1419 right_z=0.0486 right_yaw=0.0412 right_pitch=-0.1006 right_roll=-0.0425 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6479, 6.5299, 1.8437, -0.0269, -0.0317, -0.022, -0.7043, -8.2256, 8.6085, 2.0391, 0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.279, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9979 right_x=0.4917 right_y=0.1536 right_z=0.043 right_yaw=0.0507 right_pitch=0.044 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7436, 6.653, 1.8095, -0.0366, -0.0757, -0.0269, -1.0462, -7.4462, 5.9692, 1.5604, -0.0366, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0288, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0511 right_pitch=0.044 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7026, 6.4068, 1.8486, -0.0317, 0.0024, -0.0122, -0.9231, -7.4462, 5.9556, 1.5263, -0.0659, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c058b9dbf2cae9beac10b2abb24c2421442c4b7091f94dd63b9fe96a694805b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0a08f9fe44b2bbaf6c636c8a42855bda81ac51cb8ca9dd1cd448e4a0d68d59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e046dc83a9c8698ac2fc3d2a7dcf843faa72a35f547ab039156c4f9197c160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfktqgorok_J6jZ73IvHyJ4R4vqPZJoy6FhX-ctJuoQkKgoOfxlDoYK9kJgBmxNHzL3Cltxdd8ZWxxO9344natBJpo4eSBegLp_iezuYQUvE1ATPTeKn5taPanKe9HhmU4MtiNAyaDaem30OpilnbP4qhUydt6mmXuzAvWuHKsB5aPligBS9CX-3tRdlQDcdqvRVMC9O0gQpS704t5mGQ4K9gplVvh5kJL4_353B59MGINBc07KOKuHvkwUn_bUGeas8iGrfi2CCoLpWG37nKEN_578bwMylt6anbfw-GkmLdVfXXUp_oP-3p3v4DkzSGdbPbaiGzkDw2jSDVmYDYXcqoD4YwWy9yeMwL3D5DJC0uPIpKOba3LfvuN_ZURYLfK8wG65ZjEnkZ7mOTupU2U9nmTzQt5AtleUu1oUTVoKbZ-pI9Eze3RjvOZNdU09pBZjeAuEphibDTaeuT7K_YJFImzYaNxiKuDdHJ6mMQemrOoZUHYn0kGxvaBznPHbS1nWgoKQvD4TdHzNH5Qs9n8QwHOiI37A1VbZAhqht0_4jnv0g3_vO9a-yrogtixEs5ActYa6r2-032iHmvRqSuFT6-NTlxjs3VfFT3mlBPYhm1DZQJYoDrzYmiLypnlm3BFOxgfCSjl-XFkEGkA2BhK2cosEv41vFsGXLsusOtCIPhkb-JHDtVFaZSlxWvMXbzkWnlKShZa4K_XheLWxpJvlneVY8HW88ogfLRwVfL5ojIiXnL_LK-xtZYAUUmz_u6dgsjIacTU_fU9gIItez2BIBA31f8KYRo6TkeLQL3gOe1Qrq_jV-d0ahG4xQjtAa7DfgsET4iPRdK0Uw6SDeqydKKE1uhLI_MH31N3YuzSTdTCLTYZqAe3kxT4z0ckHKKPFp_Pjsbm_ObTNOqrOTDw-vc41-bcG2ySAjpZ7CHCxN0k2MKzoSd0ObMAghH9VmKF8Q4e7QJNk6IeUIU2MC0j-chlw--rGn-KI2NXYYLqrmLccKjMu_yBXeMJAu32jau46zl05NJjPHdbE-jTRwn4IGpIqGRYLBT3HvA2a2xbKWj4eernc1jLgoRKSSfDP7fPewzgoblWXKPdcfk9CSCfrB7Lutk2TYU-sArVUm7ZrCYrdfduGcTOOddCsSb6SRs354lLCg65wqxDFKaWxJcigd2Di7vpWZHIi6WLqTiSR7aVMDrMSjvQ_4wHINR1evNns92a2JL7p2oyHkVibJ_lhX_oXdHOIntJwrGHo-8fTb5_Ft-AFMZE10lDK0qD5QqTETVA-h2mA1uYXEw_7d977q0ELJJ7V0THbGU3W196MgTzgH4TpOUVjccXnGpCDX4DfvGumLrmnj8v1Q0_Ei5tQKcfxJ8bCB_xdaOreioh9Dz0JUuNY1bBFy5hyrVGpl2QV",
  "id": "rs_0ca80820094c0fa7016ab437e2e0b087d08299334ee90d88e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_z\":0.12,\"right_y\":0.14},\"note\":\"The low, extended pose did not retract at all, suggesting the arm is stuck at its reach limit. I’ll lift clear first, then re-approach the bottle closer to its body.\"}",
  "call_id": "call_Bz4c400wFFElhejq43fAGmTl",
  "id": "fc_0ca80820094c0fa7016ab437e36d1087d09b92c23aae895981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bz4c400wFFElhejq43fAGmTl",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1455, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0508 right_pitch=0.044 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.4838, 6.3932, 1.8291, -0.0122, -0.0611, -0.0171, -1.0051, -7.241, 5.9692, 1.5409, -0.0708, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbdf3b410762ef9dccec7ef00f52bd285e64066a43f02001751d29ae06ec5145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99228e2eba74b5547c307639feace5add11a98b378d6be1b5b9d9ddacee2ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744885bc4486b111c939c498777ba8b2ffbeb660112bc0fe6a6f535997a51fa3",
      "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 7 attempt 0 · /responses · status 200 · 2.717 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0261, -0.0292, 0.998, 0.3923, 2.0037, 0.9562, 0.474, 0.2821, 0.1471, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.998 right_x=0.4856 right_y=0.1516 right_z=0.0395 right_yaw=0.0493 right_pitch=0.0233 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6889, 6.612, 1.8193, -0.0122, -0.0464, -0.0317, -0.8821, -7.4462, 5.7368, 1.5214, -0.0757, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0288, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0511 right_pitch=0.044 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7026, 6.4068, 1.8486, -0.0317, 0.0024, -0.0122, -0.9231, -7.4462, 5.9556, 1.5263, -0.0659, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1455, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0508 right_pitch=0.044 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.4838, 6.3932, 1.8291, -0.0122, -0.0611, -0.0171, -1.0051, -7.241, 5.9692, 1.5409, -0.0708, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbdf3b410762ef9dccec7ef00f52bd285e64066a43f02001751d29ae06ec5145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99228e2eba74b5547c307639feace5add11a98b378d6be1b5b9d9ddacee2ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744885bc4486b111c939c498777ba8b2ffbeb660112bc0fe6a6f535997a51fa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfoZS_PlKKHwABxHzl9E8Lfw2Qao5sKUvDYe2zqG-qAOTqOBIIdoUCXMKjkchnBnERDnzfWu7XRHIREY3KjrYeACAHeKUEZr3P-ZqQStscrnzdtBVQqY0MD1ZrTK8ANIFE0ki9o_mnkRteiGMhbcHNknnVNxLovCuDEupfjAZJewQHd0x9BfC6pdCPux6wRuP7xvbDyS7q3eRqO10DsYRI1aPAw1-cBc1Ja7Ytla4s-adXqclsISgfUZzR1PgLd5-BkoU7_uBeotNCs3FCOT4dwP2j4OoO-zPWL6xXkAivcVBJXuBzanTUHO4aRhNovsmEcg802Ws-i5Tn8w0L8cPWDd-V10fEjn-TOGySPzQ0j9rqOclYNuOuu6eRVsU9ujLido2ktE_VJg2DdfqOcdlBDcPYHT7t7_SlTPguSukKZuX4xhvTRbspz9i2ygpmR1eJT1FMRnh4q8Wg0pYCx56hjuddrO6Qo7PTMc2p-xzQBi1XY17Qeyyc60eC1EG2IM4IPsMNgd5uIM_hBYZ1axWK7QQdqPL60AV4-zsJUcVhikATn154WRqztuGZu_68PAFp-DHpYEdjucXjV1SYmDESFPUtdlgcfokbFSAy2xgL0OsHBlrC2G_1wVCmxWV9nsmN2kh9tWR8yTS6p2SaRnmeVrAiZQ4nlgiyT-qWSvMUM6BHd5S9xlqlY6-QP-9at2hErsSsN2j-xLYjNQtj5RzQap-NWfQ59-s2uM3hCdP2aTrrFLisLfD6gq507LeNa_hSHJT6GrwLgTAi6udyPJoqjwb9w2pQRm1LM2qyamMWjpyGw8UdDQCaIrMUZr1Sdsl0QCHMwy5HDdtNbvYXO7c7h-iNcCXSRlcQQyoiZ48Tv9bORp5FdJJLxy34S5TggjkkRqyw98u-haHl79wUdBWuNm_awAn2ON0-MiJazxBwEE823T1ygmoFZWWy4B_6ECwJLl6YkUDrUitB8FXXqlrxpdF3RmRsNjyJCuIgUf5hepgD59LFJYQneYpUyaYg1MZWpimcNMdG5i92Z-znh3W6f-2FXcxRFyESwLXQ8K3dLyvKQLiK6ziG2hsSRVScq67FaFj6ZSHSQR_0uSXqmG1Fp2576cmRkPlUL_-oTvDCKzXaM_jOyyt7qGPYWzVAEcu2mjXYl4PzNr0Gx9g6rYH7jlqma6EDFo5Us06jRN03aGOIWepSbWA5S4Y-gQuJZnfdLRZf76-0BS5p_J8zbULAPy1cAJWDUDIHsdHjFD8tH60BABcMdCug16YfjWAGOd8uqMMRFhVz6jpx3gJRfJZPxyr74aWilcp7LefBZVrVet6TwpqS_kiwiEf3q0JtpT4pGvuJ21JdoVXnpW4Nv0_YmVS3nt0AA4ovfzHqOuZI8QjRaOwLPoDe0o5O2IiLxB_RDZgmChgujfHkZ_4VdnCBOnQ==",
  "id": "rs_0ca80820094c0fa7016ab437e6e09c87d0bb8ea1e226ff1b94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.08,\"right_z\":0.23},\"note\":\"The right arm still has not moved from the extended low pose. I’ll request a larger retreat upward and toward its own side to release any reach-limit lock before handling the bottles.\"}",
  "call_id": "call_M4sCiNxi8NrVw0LQgfaCKN0S",
  "id": "fc_0ca80820094c0fa7016ab437e752e087d0aa814fe6b18ddeed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M4sCiNxi8NrVw0LQgfaCKN0S",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0257, -0.0292, 0.9978, 0.2852, 1.2629, 0.9527, -0.3, 0.1833, 0.0963, 0.9998]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1809 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3838 right_y=0.0827 right_z=0.2064 right_yaw=0.0517 right_pitch=-0.0269 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3744, 6.5709, 1.8242, -0.0122, -0.0708, -0.0171, -0.7726, -5.8188, 10.0308, 2.0342, 0.0855, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:312528fc7addeb816bd42c3d7e490ba301e4c8f3d0b7b53c1f94f139da5074e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce62f34d75e22db586cf31b0891d2281a92e72df24ee061a749a2cf2332994b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a8e6863750d4ba20bf1a0022d868efc6406f6a63b1e53c748af09d277c6c8a",
      "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 · 4.199 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.279, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9979 right_x=0.4917 right_y=0.1536 right_z=0.043 right_yaw=0.0507 right_pitch=0.044 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7436, 6.653, 1.8095, -0.0366, -0.0757, -0.0269, -1.0462, -7.4462, 5.9692, 1.5604, -0.0366, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1455, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0508 right_pitch=0.044 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.4838, 6.3932, 1.8291, -0.0122, -0.0611, -0.0171, -1.0051, -7.241, 5.9692, 1.5409, -0.0708, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0257, -0.0292, 0.9978, 0.2852, 1.2629, 0.9527, -0.3, 0.1833, 0.0963, 0.9998]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1809 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3838 right_y=0.0827 right_z=0.2064 right_yaw=0.0517 right_pitch=-0.0269 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3744, 6.5709, 1.8242, -0.0122, -0.0708, -0.0171, -0.7726, -5.8188, 10.0308, 2.0342, 0.0855, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:312528fc7addeb816bd42c3d7e490ba301e4c8f3d0b7b53c1f94f139da5074e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce62f34d75e22db586cf31b0891d2281a92e72df24ee061a749a2cf2332994b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a8e6863750d4ba20bf1a0022d868efc6406f6a63b1e53c748af09d277c6c8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfsnbC76YABeFPcOpzWrf-Bc_oNJ_RQLKkpQcMjHUanpHCzhiIen8GJA4j_P2znJu_P68rzfjlLkOcT-owpnoyEEjo0MDDvRmX2uUuC8VyE3UUS1TX3SXrIFKg8giVoC2we0cWEyUJmsRwROnecelNnMqRU8MSTzbglKa4Q_VH9ELY63vz5oCKqCnAU1-HBsyMwwR6-i2pdfQ2do5SMQ9cFrm7iqpigE7aKGeTwlduY3VHnVX_XjHaCLI51NA0SJjd7lkZc1t1LvkTtafjeQZ0VrFSOoiIrbv0UyqOdkcsSjUUEqgQW5o1LaQ2pGzr0SemFjlOs6l4bc-J8yBZRvWZc7qrcGDRL3wgfFufMclWJsS-l3fxvh4BWs0v251bZG2uRWTcjB0XVO90HAXSq_HimNItXxrvgTpN_Fbn1Aq4Jo7duus2QkfdqxxG1SLptRCQIiABy0p-6-I-scS6oBAq0FJ9BXbbkLo2IRjiyRaVlSqHUs3xhU6qLc75A91f0HbVk_DlDQOcoXj_g3U-elA2d5sigPPw4XfByf8pbbAzNUyp0m7Jt6ioMpVSD8TD6MKzgGZRUzduytlZKRXks_WUxle-O11e8K-BAvgcNRJCS5iWw4uYu7gETZeyvTY6nFZP7MxmQna0GFQnqx9SySNrPyNXVjVjYmK-G3r530VuLWmmzGpaaLd3OGbu-Cil0LVq21twPJZB6QsJZcz46OcRA0n3wHKG03WvnM-71ztvNCOhBMSByolAXOS5fUBxu1lDr_aNTyMaEUsI6QRZ7N1ABaOuER5BXNEEaTNjKXs5JrCAJtfCErFl0h6c82bJvsALQsysUV7xfjLrwNjr4PQxUzA13g-HRR8qv_V3POgVv1Cu7KKca11SQLpiblg57EtsZSdvum_WCHN1fA0UNp5oR3Qse4GYsVe5b1rPxuMlhB9c-RgABUvzK7dzjGQP3nuUbnrOb75uwmYD_plcD6AJJ1ou_4o8Yue0Z0OadautLswc8CLqwdfdaiRI-O1wB2BhGfkF9ZV6aZAYZMKp-KHCwuscZpxTE0TeygnC8Q-4IJBOxrX7kREumNSOoPtq9iTeITkXmxBzX0aaKThapYn-LVYfQKu2E9WQ2_-0qxgfF5gTjPN5401FHkY9-JwIHFN3k75iDnwJGfRBMec5Ccop3xKoEa-9kSAwQ2xkrklZmgm5bhjsLLvniGXXnxrQ0LHg4xsGGpE0Y1X-LqhqBuzD8Td-xYMfar2EEwrnfCxmhgiepNB2pAKWwpPj8CZc6wtIjBbGH9hAESz90zIk8sHV7YMepmWZuMTmqzWDbaTpqdl_IM8drB_7QHsC8JXLDVBzR5rQ57Beae0TXF9t8aFmGyqZoXE3JEK28rA2vXjxundDpzAybNLu0M6g5TrjfYAilld--gtNgxZabsTHfmhcwodx--LYtDPh8ZbopCmnkQYSmUN5YQxXklWjF3aatPVk8kZfzG5mENuJ28NsF8AdfEWmKglGZCDY1Ehv0-VQA2EBYz_9ddBqxO4jjnz3iqjUVzNyc4coxyGFxAz2YLRIcw8PPlpyEoqxXdledwy1xorndW7sSF7_dg_K2oExtZtfzrGqBohP82K0KYYAvZSD2zx_nePGJC8-q7klkJuK1SzdJs9MABNUkye0-D3My38U-_JmJ3JKbscj_JAJqiYBNZoBujsmZ8pe2TVnU8HH45eKAV_qLjOeqikIUzUDldUIBx_Grc9zMUzDFT7CawnWu6uZarFDFCGux-INPqYqAlRU6Sd_39FToLuiLx7tySbWk",
  "id": "rs_0ca80820094c0fa7016ab437ea4a3c87d0beb741ce2c366b5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.105,\"right_z\":0.035},\"note\":\"The arm has freed itself, and the bottle is clearly visible ahead in its wrist camera. I’ll approach the wider shoulder just behind the cap at a nearer, lower-reach position.\"}",
  "call_id": "call_MbUXhICbhg0SxXgKgbSLs8mO",
  "id": "fc_0ca80820094c0fa7016ab437eb6b3487d0854ead74d3565499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MbUXhICbhg0SxXgKgbSLs8mO",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3866, -0.0261, -0.0292, 0.9978, 0.3218, 1.7641, 0.6552, 0.4915, 0.1783, 0.1043, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0023 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9978 right_x=0.4192 right_y=0.1105 right_z=0.0374 right_yaw=0.0881 right_pitch=-0.0347 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7573, 6.9128, 1.8193, -0.0513, -0.0513, -0.0122, -0.294, -6.6393, 4.4376, 1.6874, 0.3053, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee72d0a693ce5aa12492f0aa972e37ffc468c72c2673e4ba7f210b101744a63a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8fa0c645ecb4de2dfac78a11f265b10daf09baf5fb93b76cc18741677e6861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622060132dd6058f31b527698cce26d2f0a5ad4216d72c9289e93840db3f0191",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.27 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6136, -0.3866, -0.0261, -0.0288, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1452, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0511 right_pitch=0.044 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7026, 6.4068, 1.8486, -0.0317, 0.0024, -0.0122, -0.9231, -7.4462, 5.9556, 1.5263, -0.0659, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0257, -0.0292, 0.9978, 0.2852, 1.2629, 0.9527, -0.3, 0.1833, 0.0963, 0.9998]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1809 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3838 right_y=0.0827 right_z=0.2064 right_yaw=0.0517 right_pitch=-0.0269 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3744, 6.5709, 1.8242, -0.0122, -0.0708, -0.0171, -0.7726, -5.8188, 10.0308, 2.0342, 0.0855, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3866, -0.0261, -0.0292, 0.9978, 0.3218, 1.7641, 0.6552, 0.4915, 0.1783, 0.1043, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0023 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9978 right_x=0.4192 right_y=0.1105 right_z=0.0374 right_yaw=0.0881 right_pitch=-0.0347 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7573, 6.9128, 1.8193, -0.0513, -0.0513, -0.0122, -0.294, -6.6393, 4.4376, 1.6874, 0.3053, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee72d0a693ce5aa12492f0aa972e37ffc468c72c2673e4ba7f210b101744a63a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d8fa0c645ecb4de2dfac78a11f265b10daf09baf5fb93b76cc18741677e6861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622060132dd6058f31b527698cce26d2f0a5ad4216d72c9289e93840db3f0191",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDfx8WDLILzSM0f7BA79ksjRq0zU9WnTL8cthXgVSRqIikePvjf2nzu1rAVIB5oVcwJVbvMIQKEiaUfJvx9eh-qb8yDblZIMDs5UYr9EgU-bB03w9EUoyrkmR-HTlFbKJrzvRneD2AP_ardD9pg6sBsCb8KCaAOV-Q0yi9_RqQLzRcLsw8LVSbl0VvbCmGTGKxUR1i_SCYTXo6J3-gUJbp9c5IbzU2s9Wta0yhl3QIprzyTV01s2z9LRcQrKWLFknTxWKWh9G0dQpDKs52P9CgqdBMqPQrjlpiSAFitn16ojrFev96akzNoA4is4EwqnvlFgcrWAbbm-p0HE1lk60CtnavDNAV-JNyyamY8hoRnUm9L_b0TWFuaqo5HXJF03lJguEAceyuQ5MmBSaIinIZBAc6NlofyDugCI3uRR333DvsYRUZ0-z_2743_lemZZhEmSBye4-S0ryE_5gffDPass3bCSbjsmyfZVp8_SX1XEE89c5zBojiQvBJpTBD2ygOgBKHMxlfpkwWupaEby5VlCLMz74k2ijOnG-11VinRT3dUEUbfhtAlgy1RcL51Dn1seVRhhVNSzAFOY98xrmg5t24Z-7ISYXVEndwU5G_770Er_NFCmYtBkgDrc2JpQEg5oMIXMiJ1LPC2F43w6fLAb4FQHvrdKZQfZg_Yyw9sYm1BL0vN4pmgSOr5ekE77GuNqnhusDiNLVzHwuJt7F0scyr-3otSNzqxYpUiP90r22b09NW8ufsCWbuDC7_l209rhB_shaTINW-IVM7NGI1Bc8ldCvbjDwIPyKMKt8QXCJ8HuH7e7Ob57YgSIoWHfPGTuBsjS7G2Tw-GxUV-WOe8uIGEWBPyAY4WQXp1ws0fz3_AFQYZnNWDzqXV4wX7_qRYUl_DXmd2fIgMMIOFeiYcJ7mOvKAtdiPawDyHiEEcDStCHNUDlTxWWmqjRIPuxY0KyFchVc_3xAQEMQQwg2lHMroUfN8yVGIr9D-bbjxn7yrLCJOJfjUhK-9K7dvtNtqbTAWWGqcmDFokhBNYbfjQYMeyUBDCesdC7DFuQoNrB9eWG5tacJOPynzouVf-dgBjaotWbl3lgQKHqkDRbQ9sXdwpZMUzksAEj3jAYePQ1xOt6QsS3WGYSLdRh7luXynWWp8nHQtbLfOBxbG_th6WNIDsTiEqZRRYnzQeHQA-Zbm-Q5pNQuRkc9IS84EGQRDwSxGu-zd7dRXK23Xivo3YkEMpVyy55DzYb2WqqccAKj8ff_OsmQDuoIIm4uu7geL77R8e10-asnL-awioDjvaklWqbW6AdpLj23nqQ6V2lY4S4VrbK9b8iHl7XvYHu8xklbaSI77FbeuVlqdnGLprrgvWYnWGyXXPAHNTb3-euXnlNFF2NC89K94GZkNJp-7wJdXOHDKwzwQRJIVNclwDMWbzZ4a1jvzu69QyaABbEBQ0GdIH_13ps44xih9AHveD2h3UfUjV4NamKffHRSkNShBR4LLWH7tv3D0EszTTIYcUEmI1_HKx72LED8g73Q7nVo6ZjA1A00uJT9pSpO7USHLstQhgOWBnjDhmiZCPc8FZxSJVMTi_Gu4eh-kclQiAjfXhxHw5uuumk6J7_dsqjLP6uhKhPaEWnjBqaEmyUk2NjjQ5akYnbukSGeSB8EUTLsIyOkqQkqLopPGDWeetquIQs9HHV5rnSqTt9WtlH9YnP8DLOMlWR1IJuenY754qN8cHZd0TRguyvaolgPnazoEcRB1lZ4PLgJX3Xz9NrKzsNbaDxBdUiHTfvvSA_B4CMzz3BRetzw_ZpDsmoXA28EOotgwACd45OVR92_IP9oluGYWc-nvFj7fKszHyZ5s-mS-T2m-6Tdrq_AvgsHpjYM8O1sipUsHvKKW6aibm2da-sKUZ2qqLsnOqLibcWghAi_2x8Di-ktm3f2_Ob2m6dPrAESXe080MBLSTN_qZJHIHzx7yqDRFRI3QLmjAoqRd-EgnOHp-_wmuiz4TQ-XA4d-1DYbW9jR97OoDubCLHoa3TLrT0YkoSQm59lTPmiAT8ga91eaZjXVPjvHbhIzOR-SqPDakQEsLBhg-uyeXMQ2A0Yly1VCqYaWdpn3Lg-9IwuYK_L6VAx8YvoIgnG0zUSQ4FJPOPuQPsvpQKXmWUNgbRhTyoGI--_AdxmaEqEi8ToxS-ozNQg-A1-CcRq3jUAk7On0vUeuL8TuGuBaBFI1Ye2SXC4VH0Pzl2EyTkRFSD_TDdeYIRKWBr2I9GBzwfbjO-mRYfFcOFP_E_BGhnxLJrKdEUjavolcnShbUt7WtQM39h3yiKT-RBFHnv5FiOzWJX4ouBruaWQs0WtEIOtPJPDPykFRoquAQ8v_UAwNeyRYeqP8YFytQ8aUpr-27aElXnJUMiuBWUJ_N1Y7UMnqmblRTxMu1iEg2_GdQKyQIEfUiqc0teoHi62mUl0ecAp9S6aDMuGZU1rHkPcAxX6bS2OeCGZ5PM7nPlYaw3gks7TW318cx_q_aIzWy-Vm-dncfv_dc0scIa8ik5RjezdxU=",
  "id": "rs_0ca80820094c0fa7016ab437ee57a887d0aae3236c8df9a26e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.12,\"right_z\":0.015},\"note\":\"The bottle’s shoulder is nearly centered but the jaws are over its wider lower half. I’ll move a little forward, left, and down so the fingers straddle the shoulder rather than the base.\"}",
  "call_id": "call_vqYxjpH4sVPUIWcCcJl5yFbm",
  "id": "fc_0ca80820094c0fa7016ab437f0a25887d093479385e4859e60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vqYxjpH4sVPUIWcCcJl5yFbm",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5919, -0.3775, -0.0254, -0.0292, 0.9978, 0.3214, 1.8732, 0.688, 0.5869, 0.1802, 0.1005, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=0.0022 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4339 right_y=0.1149 right_z=0.0224 right_yaw=0.0883 right_pitch=-0.0159 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6615, 6.7624, 1.8681, -0.0317, -0.0708, -0.0122, 0.5675, -6.694, 5.7915, 1.5214, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec305f5266f7080a7d698c225501651e08a6c64a91c996cfce5dd48e7ba53c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13a8177443a324f5406700168e2907560854e6f6e0617d324671571124a9673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c919f362400ad699d26b7f5b2cf9a2e537bc6ce545842b4a491609d9232b2a79",
      "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 · 3.205 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9979, 0.3904, 2.0163, 0.971, 0.4942, 0.2787, 0.1455, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9979 right_x=0.4916 right_y=0.1537 right_z=0.043 right_yaw=0.0508 right_pitch=0.044 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.4838, 6.3932, 1.8291, -0.0122, -0.0611, -0.0171, -1.0051, -7.241, 5.9692, 1.5409, -0.0708, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3866, -0.0261, -0.0292, 0.9978, 0.3218, 1.7641, 0.6552, 0.4915, 0.1783, 0.1043, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0023 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9978 right_x=0.4192 right_y=0.1105 right_z=0.0374 right_yaw=0.0881 right_pitch=-0.0347 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7573, 6.9128, 1.8193, -0.0513, -0.0513, -0.0122, -0.294, -6.6393, 4.4376, 1.6874, 0.3053, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5919, -0.3775, -0.0254, -0.0292, 0.9978, 0.3214, 1.8732, 0.688, 0.5869, 0.1802, 0.1005, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=0.0022 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4339 right_y=0.1149 right_z=0.0224 right_yaw=0.0883 right_pitch=-0.0159 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6615, 6.7624, 1.8681, -0.0317, -0.0708, -0.0122, 0.5675, -6.694, 5.7915, 1.5214, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec305f5266f7080a7d698c225501651e08a6c64a91c996cfce5dd48e7ba53c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13a8177443a324f5406700168e2907560854e6f6e0617d324671571124a9673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c919f362400ad699d26b7f5b2cf9a2e537bc6ce545842b4a491609d9232b2a79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDf0rHVFzSGuG8kwJi9xZDWenyx42AUqnowNgsj1EMmmW7GrMmFmDByr8nMmDJ59yueMx0Da4GwS5s7tpg_9-buO90TTWHYB2pMjf-8tA0yBeOTPe5vGU7zf5VJsODERzD-mBUjeKqR7EcMZoY0ktYGQSuyZCAU0vBzCtKh6YTbz37CDM6WR49lSzfdejGXJIUuPhY6MdTA2eQ0PLk7zl-TO1GlcZOp1XE8MlXKO4VGjQjX5M-0IQdnUiSnXktu2KDiDhk1StArqj9Iocwc0Q2xxgdm-vVetYWNAIK-YYI6RvH6DjD5YZaGRSyjUOmhkT0DsT1QJdVHBzCgyqKyX92tioJIJIqWYNsWDjprVAd-bXy1sf-0zGHsJvVcNOyDIr4Ou7RslofuBxMR7VRcJkMp3vZ_xWgqm9X2ypquwNhhigUvQV8SZ2WhnDopUgDKdiTTWjqWKHtoQmO4Q2idEYP2XqfeM40IlIHG6yCli4lpfSUDTNf8TEHk0ZOoSD023i3a3rt22Iwo99Cem0kHrJ6j_LF16dGvEgS5GsujpNMNzpVDe6TvDu_RIXvH_6ZfdnHipHjmWp8HgO7hSUDkNYzy47usQ4x4Er_llz7cggwdHnfSwQ6rruzFL3ds57zP2-v9KciJYOEUab7xgtibDMLMM5W7Lk9jgzHi7r9RccASMgcazv-jz0WdShrvxLIjRjMNN-k-_iZbX-5bdNdN8Kn3owvtd8IpFx1wKG5rFZiSlTcFvwOpPoNR7Pwwy1P3cBwqTlbMNNASWz-Iwt0BMa71jkoLKEzlzb8ck9-XiOkb0j3BZ7pou5RCwSxeEX_E90Sm4A6b-E1Q2JiAGFg6baNN3kpLKRN48AKEBQR-FqJAz-Klm2p1bVr7jfrfeua0k0bBZo_OpN-so0MTznWF1e2U6ZeTTkdENkaDKFP2cq8xacaOO6KXMYn8qGDSK1IxNQi7ZHPK8f3zqg8ecBnjYBaUMOxpJ43-nfwqHMEGUxpngV89vm_-joFm3xSG_wCEX6k835IZH79-wRcHibhGPElIkICTDJrLz9L2XHHx95hyi0nx6ggXjHsGtETZ14xqCjiV94QHlSbyvUQMuOOvY0oNRY8lxtTe3WfdxMUTtswIpRqKVRUbbYBMGY_xC6q29JtJcEwumEenKoK-JrhNKr1e-_DIQh6_SoMUqftluumcP2DDghlhUQkcfbiT1KZSST-7ahDXFMgvN4oBdeaIA_f7ldJWADYU_OSQai27JkQjY9dqgcWBIB5F4WwJnSZgtgzvlJJlU72QGUoJ_4imd7Ig2cXmErABeJW7opWYukVamesIUVeLYgsqAyyNe2cZgvl2J9Z59W5tWhgxXWm23m3whi3_5AGbCeHVaxYNnxRGkmt86CQPo0HXPCo0oRSm4iGtyBsDRgslz95MnSCDpbR13ztJYxZhAqRS72DfR5pmsEICxIo-OrKtj8JHSm0niSjgzJuajQcqlzKOu4Ri-m7Z9byCx8ASIotLVHNg8u2t3njRqtrTtii7zAITDqbOF91RHkUUmocnICGico4p2AExHYTxSk3cQlmxSI3YIVzdZMD5Co2BEsfp1TyIm7J5CHLHNYsbmozR4IpcRvX9DyrpEuZyckx2oZOj5vOaMjWQA0uhYW4HJqBXSxfEcgy_NMtGoBQ1nVTstgHTQNCZjJbPXuqIMq_XleloDDPkt3h1HPzaBe4i3dfRA2Eb4OYEtafWcXpvp29Gb987krD0NiSGtNMAGoRhpUIqdwxZcW9YrFOA=",
  "id": "rs_0ca80820094c0fa7016ab437f26fe887d09aa3f1810804cfc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.125,\"right_z\":0.025},\"note\":\"The cap remains well ahead of the jaws, while the label is under them. I’ll advance another three centimetres to place the fingers around the upper body immediately behind the neck.\"}",
  "call_id": "call_rToTpEtqRTWmCJqh7m0Y3v3y",
  "id": "fc_0ca80820094c0fa7016ab437f3ebf087d08ae1a50eb7d9022e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rToTpEtqRTWmCJqh7m0Y3v3y",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5827, -0.3748, -0.0257, -0.0292, 0.9978, 0.3214, 1.9266, 0.778, 0.593, 0.1776, 0.0956, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=0.0023 left_z=0.1726 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.4589 right_y=0.1237 right_z=0.0321 right_yaw=0.0932 right_pitch=0.0254 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.894, 6.5983, 1.8926, -0.0415, -0.0513, -0.0122, -0.4308, -6.9538, 6.8855, 1.7509, 0.0171, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12a24ec64e0ead3ed6785977b3ba145b5048f76f1a8bd1c43205fa3fbb5df03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0221d9f1cad6c5223543ddad29f681cf551307e3a3547fb76b6cca8ec7ccf6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6fbc4863a50812a8ec6c16141a0811c665e9c02921cbf1a1c6aa03223f7c1a",
      "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 11 attempt 0 · /responses · status 200 · 1.811 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0257, -0.0292, 0.9978, 0.2852, 1.2629, 0.9527, -0.3, 0.1833, 0.0963, 0.9998]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1809 left_yaw=0.0002 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3838 right_y=0.0827 right_z=0.2064 right_yaw=0.0517 right_pitch=-0.0269 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.3744, 6.5709, 1.8242, -0.0122, -0.0708, -0.0171, -0.7726, -5.8188, 10.0308, 2.0342, 0.0855, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5919, -0.3775, -0.0254, -0.0292, 0.9978, 0.3214, 1.8732, 0.688, 0.5869, 0.1802, 0.1005, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=0.0022 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4339 right_y=0.1149 right_z=0.0224 right_yaw=0.0883 right_pitch=-0.0159 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6615, 6.7624, 1.8681, -0.0317, -0.0708, -0.0122, 0.5675, -6.694, 5.7915, 1.5214, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5827, -0.3748, -0.0257, -0.0292, 0.9978, 0.3214, 1.9266, 0.778, 0.593, 0.1776, 0.0956, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=0.0023 left_z=0.1726 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.4589 right_y=0.1237 right_z=0.0321 right_yaw=0.0932 right_pitch=0.0254 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.894, 6.5983, 1.8926, -0.0415, -0.0513, -0.0122, -0.4308, -6.9538, 6.8855, 1.7509, 0.0171, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12a24ec64e0ead3ed6785977b3ba145b5048f76f1a8bd1c43205fa3fbb5df03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0221d9f1cad6c5223543ddad29f681cf551307e3a3547fb76b6cca8ec7ccf6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6fbc4863a50812a8ec6c16141a0811c665e9c02921cbf1a1c6aa03223f7c1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDf481EknrozKfnBB4P8outnOol6gyVFs-6Ws0G58J-UxRJccwENvEptlrXI7nvBrNk5Wp-2pIpVeBpvjeFf5tq4vYlw102PIrPUipbVoGjVAWXgIrDpFMf-Y8jU-fDH4es1seAD4rDd6oKoLiOeT6C_P6aONS_-reS63UhJSHFHdmJMxj-16zqICU9Ovhgbzs4SJ6qdLFy1wUQ48-5jZTRG8Huxv8762ZJqiZK-p53VJ3oAR05SeivfZhOLuI2aX2puMyTkfj8tcVMOM_SBpaVs47YY8N6k0HPJNA80qpBlPDkSgdnI1PAOZn1a_KXCgMEbw2BkGlEZe0myMjBzJ-B6c5FW_PfhhVYuNj4ZklCg006pmZRBgAaYYjbkjxqNO13_BNfJj81mqJzrwCvai192T99jM8txNeqypgVHA0st6M7NIh2P9JR_dZRWDGIkes2cnnVVh9L2IzwjyttXNDyIfWl5ltVFFzOoMbeqwYNtt_d6mVFTJWlNDTDT5qBPcCWl4deQo4xiB3IB7PuC0cfJd1waONjia2Q5i9m0bj5_zQuPVDZAsPPw08JY3t1bdLpYGGm46-9usrT7-jKjnOmGIM40YE6ep6H9-HLyGqoENvM_JM6T3BNgT-x3b13QOSQKNkd_m1I4yH2ht-6wkFeYD3akvWJYGjieww6eCEAQkVAmbdx2hCyXgnUi0196RfmLeHHI4qcqfX8EhFxqka-pQsoEgoBheZrcVPT52adNfnEjUV7J29khstpUpzF3_eokc62VUBmLWpe7yBraK3nJdqrb7BLjzfvBSnkgwHIAhqKp6XQFBckn1LYRkCM22G3KejlGcuNxhB83sUoMGcUnfxRp-BxMekvnQvmZKpF6DXqH-b9ho-mEW2L27kU7mEWW2Op-lBn3RZxXqxeHMYFjReViDWBHtF7tHTaiLgoH7RbxB2Z9iOn7oUwcqOF2Upa7LO53XEDsvTzXNXxrJ38rpkd6CwJhTbxNcdO6vXMqQ7Tvw0_DOGdKqdsEWc9xCsBaBgrJDvin8fqcX0LZfGHkQcKiG4_1Kg3zWHj5rOIYkLNHsaiWSoFdfTHq-aC6I9TV2d6ELogQywjWysn2zzbPetQx166l2ay1PPaOTJw3ivsPI9RwbYixUivV-nCMfs843m6zqZjNA9tVSX6cT4Z0-L3vuYyc2Po9L4lChHt2NCxI9dvVTty9r-jRuh3GmkFR71_TEiuM6SX3jHFu3x1Z7ZNgtM7uLr6lpWQZ624WZCpr1VDHfeADjOZUNAqEwdwbQu4JBBze72HPnzvS1tJK775B5dSROa3n9c5iP-spwod9f_hd4fTq86hC-OP2uDGzW8v1rYpwN4x5Il9HT3EPRRKGIMwoGfeiHRAXTxJFKa8aMKnqWKVI1e7jf97gkXjlnayrIR3XyicVwZ2UOn90R16OQaO4FDa21TO3I1JcWlgD-DhTktAU2xZmvQtOO72W4CdEEc0EmtahYp6J9I_eahVUs-w43CDHhfjlXG3lTR0oP_BKNKQZL9c0FjYj7sO0uC_LJK4IQUOWIvpRzw7Hej8DfdQbTcQ7PZejYeqDsTy7ilFT9_VFi9xyAJnHoi0dx2e073kW0vC8-qIpH3wh3jv0ycHnNWbWvm5mW1qZpdCzcifwvhaPb590pbix0G9OArvbT7m6ZzcT24m0RCiMQD0wRLERzaw9JAGRj49nw74Nh1eeFBA1Ks_iLVoZUYmtaeDxSSFq5MSmLabCamd4vdYUXkcpGdYFcqKpwPqTwmYTmHlg9r9r1KN2SUfYsdCdjrIWH9Cm7SSyKzlWYs5BnoGr__VJZBOkTymk6BNY5Icjlsbg_kD1vMcANJcBRVBD5y6cVDRa3osvn7z7sZlnSlp4cdq2w9fq-BeGuPz7R3EYD1jupn547BTMxoPT06i_-m7KrZw4gdjkdczMwGUNKSJimc7V0D9IgG-Ts0U9kYBFreWECJjMktRO_WL2sRPJ636pG4mxQC4fDLtRdExRUMTLOfbhFwmrptWEDsjg3SPtZvZW82lp4dLHTGV3GezdC-z9vjoKNVyOEXUNcItlkw==",
  "id": "rs_0ca80820094c0fa7016ab437f6088887d091ddc4a512fe2f54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper now straddles the bottle’s upper body just below the shoulder. I’ll close around it and check the settled opening to confirm whether the bottle is actually caught.\"}",
  "call_id": "call_50g10V0YVijvEgGKzRH0DmN0",
  "id": "fc_0ca80820094c0fa7016ab437f774e887d0b44baaa844fec88c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_50g10V0YVijvEgGKzRH0DmN0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.569, -0.3714, -0.0257, -0.0292, 0.9978, 0.3225, 1.9381, 0.8139, 0.6334, 0.1555, 0.0956, 0.3864]\nstate[eef_state]: left_x=0.2909 left_y=0.0023 left_z=0.1686 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.4729 right_y=0.133 right_z=0.0482 right_yaw=0.1121 right_pitch=0.0863 right_roll=0.0274 right_gripper=0.3864\nstate[joint_eff]: [-0.3077, -1.853, 6.7897, 1.9512, -0.0415, -0.0708, -0.0122, -0.5128, -7.4051, 5.559, 1.0134, 0.1978, -0.0122, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a96fc6c68ae0b9702975573ecd4f938d4a3e12616ddff0411c05f8bc199f3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa71cc69af921edfc7f54b55043b9480efce5a1ed452237d137a1cbfad42a01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1760fd8a157357763f0bf4392822f0b7c4c8693ca0c7280b7feb0a0e4774d2",
      "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 · 4.494 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3866, -0.0261, -0.0292, 0.9978, 0.3218, 1.7641, 0.6552, 0.4915, 0.1783, 0.1043, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0023 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9978 right_x=0.4192 right_y=0.1105 right_z=0.0374 right_yaw=0.0881 right_pitch=-0.0347 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7573, 6.9128, 1.8193, -0.0513, -0.0513, -0.0122, -0.294, -6.6393, 4.4376, 1.6874, 0.3053, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5827, -0.3748, -0.0257, -0.0292, 0.9978, 0.3214, 1.9266, 0.778, 0.593, 0.1776, 0.0956, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=0.0023 left_z=0.1726 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.4589 right_y=0.1237 right_z=0.0321 right_yaw=0.0932 right_pitch=0.0254 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.894, 6.5983, 1.8926, -0.0415, -0.0513, -0.0122, -0.4308, -6.9538, 6.8855, 1.7509, 0.0171, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.569, -0.3714, -0.0257, -0.0292, 0.9978, 0.3225, 1.9381, 0.8139, 0.6334, 0.1555, 0.0956, 0.3864]\nstate[eef_state]: left_x=0.2909 left_y=0.0023 left_z=0.1686 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.4729 right_y=0.133 right_z=0.0482 right_yaw=0.1121 right_pitch=0.0863 right_roll=0.0274 right_gripper=0.3864\nstate[joint_eff]: [-0.3077, -1.853, 6.7897, 1.9512, -0.0415, -0.0708, -0.0122, -0.5128, -7.4051, 5.559, 1.0134, 0.1978, -0.0122, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a96fc6c68ae0b9702975573ecd4f938d4a3e12616ddff0411c05f8bc199f3e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa71cc69af921edfc7f54b55043b9480efce5a1ed452237d137a1cbfad42a01c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1760fd8a157357763f0bf4392822f0b7c4c8693ca0c7280b7feb0a0e4774d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDf7UwccjMjNSPx1JvzrW7f-2fI-4JOsrUn29XSZaQZgdR6Q-0gKulZk5viSnKoBiKLIKuS4HxbNhbx8mXkff-DFK_cp5VusFaKqzEf7awIGshdJX3QK9N37-TAbvYXCV3cO0OjKDGrYElB3KpMR92jsc_d3qn3ENvFO40__1MWKZAA487ty6boAwysfU8l8UYwopxLoNdwro_kdjx9Xvq6e7hk55UckikVEhif0eP2Cwka7X5-1KIUth_xbTvnX23Ojmw6WL2ozgGnpaB6aNXOqYT7JJnx003F6jIRCQbLYZw5ZSgjeZGXmlk8WJgiTBtf4kL8adYFIkHQBtgrhE0UWxXLRu2FcWw3yd3y0qSsvVzhEfINRm0PZfE33dT_VJ1mgNsFHYrQW1dZw5cwftmQULQPbt69hstehgpn9oQVRySQCKMxFqlzmR59K-CXmtuekVAMpm-xKEpqkL4O4R0FYxbZKBix9cL1eDxu63MDhpsfMEiq50Km_R4eMgqVWtS-HfrmNBc9nzCbXbmB_tAE-1N9hjZcU6Iytc8guZKBSnQbTV-cI4iHnEvLSzMs6VkxMYmpOZrHFvxBGp3HpsyowFdE_AqtNqVPbP1tMceyvDtClvTRwLAMJQla9p11wfu8Iu5swJdmMJRsOfxdOdz1At_edL69oMD10nDTveUjCRUiW3_6hStsJuqHpXE4xFNPNimhrEo-VlcDzfuoP5QFqi75SwAu3oQZhabnB6LcVkFpr8ugXMG2P7DrUdU3XnWp656FrA15nHi8lNbhBQ8xPpfPZ3FpI3brw22m8y3eLsQc85_ZC9a9nhlF0W3HJ0NthSVAO6qq2stWF8J3Ja-P5wAI24k8CJ3P-OhF9Ahdzx5InPCO2OOBV-Z_oe3s4m8FeUNlpLzaOXxO7Ij5AiQN40OKeufh8Mhzxpks-MqGYrMbZmIEV32dIQQjhoPpk5CusehITLQKkgiJxXRHn3MAN2JS2sGS802uv32d_cWOTcLk1GwV7wymvOmwFssNlnY7qvmeVAv9fm6Rc_Hvq2pPUBNBv5tZ6oGL8Ymlg9y4yoIBTUhHa7DQxlMfPGi5gWEgRKkfJypsbrB8m9caruTilzessvrclrYKVCx-8MLc4GzBdpaN_88q2vUVQj8TWR52UjbnfdSfBzY2ivs4SMtnTWxii6m7t8fxXtbflKPqbLlHcMpLZLUm7YJAzt2GwX5anGlptqeaQFRXtsvqWjpQNRNT_Qby9OvB6b0l9lwA2pnlO161uxV3zfnK2lKODSUV2",
  "id": "rs_0ca80820094c0fa7016ab437fa331087d0b548d6cefbe8c4cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_x\":0.46},\"note\":\"The settled jaw opening is about 3.7 cm, consistent with gripping the bottle rather than closing empty. I’ll lift it gently and check whether it follows the gripper.\"}",
  "call_id": "call_hrn4dEBnkxg2k94hFUb3jDDX",
  "id": "fc_0ca80820094c0fa7016ab437fa62d887d0bff4cdd410a9c497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hrn4dEBnkxg2k94hFUb3jDDX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7734, 0.5495, -0.3634, -0.0257, -0.0292, 0.9978, 0.3347, 1.7199, 0.9367, 0.1722, 0.1558, 0.0803, 0.3857]\nstate[eef_state]: left_x=0.2889 left_y=0.0024 left_z=0.164 left_yaw=0.0002 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9978 right_x=0.4571 right_y=0.1338 right_z=0.1026 right_yaw=0.1329 right_pitch=-0.0309 right_roll=-0.0104 right_gripper=0.3857\nstate[joint_eff]: [-0.3214, -1.7436, 6.6667, 1.9414, -0.0122, -0.0708, -0.0122, -0.0342, -10.7556, 9.2923, 1.9414, 0.2271, 0.1001, -0.0855]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e918567e4a05e97acdfa306d5dcad1b1e3e53285f846188f8c41908d08a742c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da92c57d9e293d2bd7d88b0eb6cfa5a0b8349db48f8bb2b983cadd306e053c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f9a3df54eb8f7a57d56e35b9ea73fb6cd6239b4b77b7dae39559dea3ccf9e9",
      "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 · 3.083 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5919, -0.3775, -0.0254, -0.0292, 0.9978, 0.3214, 1.8732, 0.688, 0.5869, 0.1802, 0.1005, 0.9998]\nstate[eef_state]: left_x=0.2934 left_y=0.0022 left_z=0.1759 left_yaw=-0.0001 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4339 right_y=0.1149 right_z=0.0224 right_yaw=0.0883 right_pitch=-0.0159 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.6615, 6.7624, 1.8681, -0.0317, -0.0708, -0.0122, 0.5675, -6.694, 5.7915, 1.5214, 0.188, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.569, -0.3714, -0.0257, -0.0292, 0.9978, 0.3225, 1.9381, 0.8139, 0.6334, 0.1555, 0.0956, 0.3864]\nstate[eef_state]: left_x=0.2909 left_y=0.0023 left_z=0.1686 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.4729 right_y=0.133 right_z=0.0482 right_yaw=0.1121 right_pitch=0.0863 right_roll=0.0274 right_gripper=0.3864\nstate[joint_eff]: [-0.3077, -1.853, 6.7897, 1.9512, -0.0415, -0.0708, -0.0122, -0.5128, -7.4051, 5.559, 1.0134, 0.1978, -0.0122, 0.4225]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7734, 0.5495, -0.3634, -0.0257, -0.0292, 0.9978, 0.3347, 1.7199, 0.9367, 0.1722, 0.1558, 0.0803, 0.3857]\nstate[eef_state]: left_x=0.2889 left_y=0.0024 left_z=0.164 left_yaw=0.0002 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9978 right_x=0.4571 right_y=0.1338 right_z=0.1026 right_yaw=0.1329 right_pitch=-0.0309 right_roll=-0.0104 right_gripper=0.3857\nstate[joint_eff]: [-0.3214, -1.7436, 6.6667, 1.9414, -0.0122, -0.0708, -0.0122, -0.0342, -10.7556, 9.2923, 1.9414, 0.2271, 0.1001, -0.0855]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e918567e4a05e97acdfa306d5dcad1b1e3e53285f846188f8c41908d08a742c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da92c57d9e293d2bd7d88b0eb6cfa5a0b8349db48f8bb2b983cadd306e053c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f9a3df54eb8f7a57d56e35b9ea73fb6cd6239b4b77b7dae39559dea3ccf9e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDf_vWNMksb52DKnMpYC45kLz6DHbf6La5Hbn9sSJzOqlLG2IrMFlG-1P_0UG0Q_IyVI6n6Ww0azkzvdDqmFiZooleW-57c8-nX_m-X1mR0HlYDEdX5kEPrAfAmDWxCberC2H2D6rDt_XNPmZEWx7EiCy7roHQxK6m8E-8npo7gXr5kjNbfXKC8ikpMjAsI-mdpYVZz5HLtyAlThngDHR_TB6-ig2PSwuOw_uZqaBJQzzX0CEBniAVO_ucuTZT914o8GkktEHAU9JBRCRL_KabIR_0qnB0R-PPmCGxjgXjXV934ap0LKqF6XIXpHzzcvCDo2p8M77GS6tZ_OX8EYWKdvC_t5Ad7UUyo05T1LsRePb0m9UXqobyNOz-aMdkv3Ks9rF_RnOh2EzS7Ga9vclEA0BYPnIfE108GU0lpfx8yl2KzoiekReC6OPGWiM6-Nhmt3M0O0WHaIm5xU_eDogPjjdwoYXoIKeicLMY_RMJtvxy4M900f_GCkyfSVNV21OAn6wJ-Uom5IzVoT-BqkVZ8R9OWyCDapphzAG2MReHggnYxHLNWzIWZ7yeoc0VhJ0wQogFaRPgVqOq-MPyU6FEzKIThCxq8GHJKqN7BUw2m5tOSJUyDQ5LRAKA2rBLLCyCocwJW_m61ha6GHXH1JW30e8bE_DrnDtmwqVyhdWPV2GHdPu46mm7DiaS1lIEBT0F1cbb_PWgM2eN5Y3giXQWRS3pP0D_CuYgOZw1NHkbBmPyVL_8susPLhawyl-KN0nISeqGVa9nBy1dDCTXiV3n2WMOBnNv2scBXE8W3tkaJ3IYRx6j4CwPOlf99JwkjnjeNiCD2Ugl0e222q3MzscFUnMW0HGFRZyuIXWMVyhORm9nQVayrTStu6EBFMEZ6YAxpbCv4I61BdBzJ1cGpO1_kf08iTb_8m-T-Q2KRGFGQ8a9q5zinxXbGfSY0K9V73GgGgI3FAgqjjNfsgepGqZqRiyY2pEKAJNXJ2W8pgKbxzdZKWdkSXm9fdDdGRJIU7FEQadBp8bbk3J6NP9-kBIiYqahlg61X6LGJmyKEQJ3Rs-C2eSYyRFFnXfoKB0A8PkMqD0O0dz8BI6BACtlHFT16slhOeXmhUf5C4E6JhX5G1FEA8Ks0PMaKMkdiSJBBHR-f3ZTvFk2nW6IGvWkDsMDtAIjK5C3JpIbxHu3c6S0fZytJxSKa4g9dFOuL2Kt756_Mb7BT4mUMOw4I-p8OTkzgWEuH3ZZ5O1wLXhunzwvXBTaReR2sdUhevyjLbVdT15TrezwRKPh6V52A0Yl_zg8B7G0jwuaDGPgj9PQQHAE2Xl_gy53rQpDYTRJfHRw5Wb1jqbxWN4Sl6jlNYO11OjzzXc46NSaNHqrTrLKAgzn1jy0GQ7eo0_34nmP6TRM93jNds6R9HVaTWrRlBBZmhVmDrXG3ljtSi-1JNPTAwHkhbfKQkzyCrI-NTqSx0NBsKdx0DpSl7IwdjpMKM0G9a32eoNzNNBC3sKofDm5s-dHqjA10mmDJBWh47t1cYnVvYw_GEC45Y4iTKgqXP_GNSH3c20Upd3KMPcI7RdpIRP3v_sqS8aCbX3b5Sv4oJhq0TRBBp6vrfO1aoobWhFxWJ0HVT4s6MNRU43iyRhhq2XEqtZeWSoitTnP8l3-Q7WXfzTwPHn0liVGOgjDF1iLJ2kAew4n4Dt7NO0N3Jq3GkUc07S6Cj6-ftj_JzzqxbOg6Wyp8HrkKQbwwoTfemImq1uhf9l4QlsxfbT62y8r38qcX8N5kZmHqgCIa5hnKmlZrFQTig6pJnV7aM1ok0zL20EZAhhNxMy5JTT4WZy6zqjrQd2uEIRALF8RGAiouWorhikuh14qdJ0BBSC8BJTUMngN2i-xID-cxwZpTpCBSvZ7FdcTbHaAFTxakXBygaW412rbDfQQDKW8aYYpi5FSvGZfE40rLRgGommuUxY2kurGgIeRVK0voTu9jBmpZREJ0DT9NH5LFQJ4z4M_SUPYHwYXlXXc-Shczh8sjz9rUys24hXyVFV_S9nmK45hSOMNjjLCPFR92w_rgdtN3yFgkdeBqDu5YVy1vSs4A2LTNRDdbsEHQzZo0aGKJvTXY9EEo_kqyGYEMAJkMIziowSw5zCdAz1EeuHETXEV4IRhIZfHDZdkP0A6LpUcyoWx5j25EyaXv6AeGAKcp_RfjBHhLcZm7j8NItJIylqYelbyh4XPUDaMZCSSd4vEsPHY8v3Clexd5O-RBcVCcfJpa9F-82ZYrgkutOVz7BHf8D-ZK9rLy-DU2wB05mfHGUy0zQJUbi5X1PGqXqKZTtVdxKo6TOv_W5QFaXaKH2EJvNqAmrkzcPUEpeWQsc8CHlv6uBhOdNR0vJlRofJueHWksRaLtwvF3SxuC59A8YSqktemD5lp1PtJd_Zt2eIx2ZtjJqU4MTLInjY7FoKcea8tZwrLjkgXRlSKt5sW79eTuH8stn8SK3Cg9r-DltnsIrUCxNlYcKSWcltwM7m0_wbcD3gVvnPWSZEPOzqOuIODgcuZHmMrO1hnqkMUF7SZxsBuYEDfOI7BXfuCxb1MRZigjRMVyAYe2xVBUiL-Wpwh7J7PPL6p1K86_zSWeK1s8fDJjEvx5KkzBQ",
  "id": "rs_0ca80820094c0fa7016ab437fcce5c87d09dc0ae03f30466cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.21,\"right_y\":0.135},\"note\":\"The bottle appears to move with the right jaws, but it is still nearly horizontal. I’ll raise the held upper end while drawing it back, letting the heavier bottom swing down toward the table.\"}",
  "call_id": "call_SvCMU3nzpP2I7b8GjqHrwnW7",
  "id": "fc_0ca80820094c0fa7016ab437fef9d487d0ab982f2b40a67ad2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SvCMU3nzpP2I7b8GjqHrwnW7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3489, -0.0261, -0.0292, 0.9978, 0.3763, 1.483, 1.0332, -0.178, 0.1612, 0.0811, 0.3857]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9978 right_x=0.4197 right_y=0.1392 right_z=0.1791 right_yaw=0.1695 right_pitch=-0.0468 right_roll=-0.0163 right_gripper=0.3857\nstate[joint_eff]: [-0.1436, -1.6889, 6.6803, 1.9658, -0.0073, -0.0269, -0.0073, 0.0479, -9.1009, 10.1265, 1.8584, 0.2857, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6557a7efe1ce047ee32a0a41524c137832776183ea4e324958a09c521f32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf130b62a6d2be870d9427611be18c602f36b5f666f371f20e4b5bc69ebe7c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1dfc3b0da5546dcd9100ce30fd236f37c2af6c38fec731119355859ebe76a5",
      "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 · 10.27 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5827, -0.3748, -0.0257, -0.0292, 0.9978, 0.3214, 1.9266, 0.778, 0.593, 0.1776, 0.0956, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=0.0023 left_z=0.1726 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.4589 right_y=0.1237 right_z=0.0321 right_yaw=0.0932 right_pitch=0.0254 right_roll=0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.894, 6.5983, 1.8926, -0.0415, -0.0513, -0.0122, -0.4308, -6.9538, 6.8855, 1.7509, 0.0171, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7734, 0.5495, -0.3634, -0.0257, -0.0292, 0.9978, 0.3347, 1.7199, 0.9367, 0.1722, 0.1558, 0.0803, 0.3857]\nstate[eef_state]: left_x=0.2889 left_y=0.0024 left_z=0.164 left_yaw=0.0002 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9978 right_x=0.4571 right_y=0.1338 right_z=0.1026 right_yaw=0.1329 right_pitch=-0.0309 right_roll=-0.0104 right_gripper=0.3857\nstate[joint_eff]: [-0.3214, -1.7436, 6.6667, 1.9414, -0.0122, -0.0708, -0.0122, -0.0342, -10.7556, 9.2923, 1.9414, 0.2271, 0.1001, -0.0855]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3489, -0.0261, -0.0292, 0.9978, 0.3763, 1.483, 1.0332, -0.178, 0.1612, 0.0811, 0.3857]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9978 right_x=0.4197 right_y=0.1392 right_z=0.1791 right_yaw=0.1695 right_pitch=-0.0468 right_roll=-0.0163 right_gripper=0.3857\nstate[joint_eff]: [-0.1436, -1.6889, 6.6803, 1.9658, -0.0073, -0.0269, -0.0073, 0.0479, -9.1009, 10.1265, 1.8584, 0.2857, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6557a7efe1ce047ee32a0a41524c137832776183ea4e324958a09c521f32ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf130b62a6d2be870d9427611be18c602f36b5f666f371f20e4b5bc69ebe7c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1dfc3b0da5546dcd9100ce30fd236f37c2af6c38fec731119355859ebe76a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgD5dSbkmb0P56KDNpKdJoehzwvZXw8ms5-EmS2LKBeMvaEkNKDr3qCeAUQFfeUN9FOL0F0Qj25W7ht0OaQqIPxKR78pZseV_CijZI6TBkRiyHEpf2CiKaQqVM3Ytb5ArIk6mfHvjxMDFb8exxgG9zEn4aWsmq2yLPvjFxB5Az-wSk0NME7Qee0caQNmHf5Q4pz69yI_DyGkZX06-tzNwkW3drWSaMjlmA17r0swZsugTgH98EMoDjQ41R-MZwW2aEL757r_cT18_b6BFMbq-rkrMdC9CVK9CUHmsYyL3b5VIhjNiz7sd46cmAgA8hbmTjx6P_XAiMfyIxtHwHBlUE1TAF3ZIRD26AgxD05R2PKYGg6KWdsnuRmm8DAR_XoLWwsth5uarfn5SSmUAznk_RNsUsPb3Elbcf_Jx11_l7u9bOaJnwcwYOyxd4Ql84Tyh59WgtgmR9XJe1CUnj0jfU8ZdA33y1KHbyry5cTjDJB_lRqCEopUViIDolB_Sn98a9ga4Vgn3_4CSAhXBx63tliDLryQ_Zv-fx4S0vUHfEjlD2H2Uq8i816k0BKBrsp_MpPu0WTHx_nUx_44zJGaJ6abj50T-y2lwD2N6_a_pih-oKwzxFzm4rS7sX2kEeo9Dht7nfRJCYprgvt3ZkrF3ZxxW4wE0LY4Ks4MUlLY8PzlxAJFFwuhU68aS-xvC2jabsRaBYvh6BjQyK60h_06d0SGOdnZagkG5_BzSq5k7SBiP_CsA6AV_tbsGwo9VXJs11Mgkp0YEB05LdoCchf7rwYruGdZ1VQE7mPcJRYcxUgi5TtvESZhpQtSladqPqXkI7znhgHkgq4_guzGKdwiK_f0ti0VJhDoJRfwdEfEDzR8PIPaymh8lOyfVWmgykVCh7VC7kz98pmsNTtG7LFPkJgWr99koH33eh8glHa1q_8svqR1xwHlYg0Z-XGu4Lm5x2sTe_VwasSBXXX2xCUzJcWz0y-N5U5_SPvtIaPuY5gWQkWQ2FCN8BJGhFjq7HSsAnbg8EYZrQ4D_xSdYo0HdVVYfptN3P-cHwtQPPBVqX4FNJLDj-HOQ7Y_mxsl52FuSWcowOGupGJZOS1mpXgQzJu8By0jv4RnTSZricmSoz7RbF6PPzkhtMXVZnHd23NfamNEiITjI5Jv5B9h_lgVdjMWiHswefZ-XtxBkUE9D36vXiCVKljDtm5bfRI83VvVML6T4Rg4I_UmBTBf3Mp0Bbiozv3sBAjcsQ5wO3o11o4BRmiKd5_zbkBTSw1da4mH4Ok-ET1bAzh3dLOmdwGJFKRFRF27Kw53ILASnWBI3zCTnTFI8zAP70FOkn5GJZJLyn450K6ghaC6vIioZ71g14rCheF-g894ucTQrwlbrUbChOWxkpyZuUP69TmhYklMy4mgdeJqMAfqvye4K2eKoK51B3dEUBzSR8UodO52psMzaY3Rvbaa4nrsEQnXhdVJWPdIq0pqiEjb_Gd1zOt5TCqzkHtAELfnRK3Vk5jZlOSJvdLHH6EmLpr2VQxb3nw_eucFHSt1gjydtlm_JE0LFhKsSMDxWbUMRYh7td-wWT7AQgHfNc1hoYMB851W0Vf_EiHmTqg9jnGvbGpBeh-lweY8a2q45pRwE70vcIm8eTm7T2tE6WxLBy8meETw4luDsxG0BMMWQQvK2q4D8rs_HbWQzsEE8BSbv2K5OFpuQAwHa2hVEzByVlSdmJo8WH7zVy_zgVLNikYCnZZC2LM_BNLyShywuGUyem4dDUgyPxkzZJjyM6Ce3LoqexUE49sP12iee0ZhZjKBanpV7xtFpKpDYOgLW2UGyDPp7j-dm4ONPaV9JgkBjx8TnV1S1rNvttEUiF0aZPVgMcne0iGhujWUFGNZOfe9HlCbMlFU-NBFAOmH3dy0cYdRvoHA_EeOzppZhtM_aOtar-Ts-JnZCoSTd7nM5SwiqNzSMF7fAYVPn3RtNmnSrTQcWZ50aYPZpXD4956XSj4e2EpUaLT9CocbA==",
  "id": "rs_0ca80820094c0fa7016ab43801906487d099413b6cafd13772",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.2,\"right_x\":0.39,\"right_z\":0.22},\"note\":\"The bottle has not visibly tipped upright during the first lift. I’ll move it into the clear space between the right and middle bottles so I can verify it is being carried and have room to set its base down.\"}",
  "call_id": "call_OQOyDtOa7dyCC9Xrqk3SwYwn",
  "id": "fc_0ca80820094c0fa7016ab43802f51c87d09988336cdc66bbb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OQOyDtOa7dyCC9Xrqk3SwYwn",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5156, -0.3447, -0.0257, -0.0292, 0.9978, 0.5884, 1.459, 1.0912, -0.2871, 0.2955, 0.1764, 0.3857]\nstate[eef_state]: left_x=0.2861 left_y=0.0024 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.3846 right_y=0.1991 right_z=0.1968 right_yaw=0.2181 right_pitch=-0.0503 right_roll=-0.0233 right_gripper=0.3857\nstate[joint_eff]: [-0.1162, -1.6615, 6.9128, 1.8877, -0.0317, -0.0757, -0.0122, 0.1436, -6.5299, 10.2085, 1.9707, 0.2955, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3e481bd639408a07b16a33dfd73dbd657763e15395e5a610d03f492ace57d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce8f52d8033fb3b05e02a884fa000c56e9c4b7606b87a181c666a9e1183c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238e63db9d68082bca3683b7b5270fecf42bc341215c967246385a72794f9cae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.478 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7834, 0.569, -0.3714, -0.0257, -0.0292, 0.9978, 0.3225, 1.9381, 0.8139, 0.6334, 0.1555, 0.0956, 0.3864]\nstate[eef_state]: left_x=0.2909 left_y=0.0023 left_z=0.1686 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.4729 right_y=0.133 right_z=0.0482 right_yaw=0.1121 right_pitch=0.0863 right_roll=0.0274 right_gripper=0.3864\nstate[joint_eff]: [-0.3077, -1.853, 6.7897, 1.9512, -0.0415, -0.0708, -0.0122, -0.5128, -7.4051, 5.559, 1.0134, 0.1978, -0.0122, 0.4225]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3489, -0.0261, -0.0292, 0.9978, 0.3763, 1.483, 1.0332, -0.178, 0.1612, 0.0811, 0.3857]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9978 right_x=0.4197 right_y=0.1392 right_z=0.1791 right_yaw=0.1695 right_pitch=-0.0468 right_roll=-0.0163 right_gripper=0.3857\nstate[joint_eff]: [-0.1436, -1.6889, 6.6803, 1.9658, -0.0073, -0.0269, -0.0073, 0.0479, -9.1009, 10.1265, 1.8584, 0.2857, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5156, -0.3447, -0.0257, -0.0292, 0.9978, 0.5884, 1.459, 1.0912, -0.2871, 0.2955, 0.1764, 0.3857]\nstate[eef_state]: left_x=0.2861 left_y=0.0024 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.3846 right_y=0.1991 right_z=0.1968 right_yaw=0.2181 right_pitch=-0.0503 right_roll=-0.0233 right_gripper=0.3857\nstate[joint_eff]: [-0.1162, -1.6615, 6.9128, 1.8877, -0.0317, -0.0757, -0.0122, 0.1436, -6.5299, 10.2085, 1.9707, 0.2955, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3e481bd639408a07b16a33dfd73dbd657763e15395e5a610d03f492ace57d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce8f52d8033fb3b05e02a884fa000c56e9c4b7606b87a181c666a9e1183c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:238e63db9d68082bca3683b7b5270fecf42bc341215c967246385a72794f9cae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgOeJ_GstM-s_RFT7ZqWTVgOpYw4guBr6FvWDpnfY0NS1fDb33L4E5GyaaZiVWpXiX0uXilgCf6veeIcv0J0wTS3CVoEhdBQxhnJINklMbF_H6LD6XIVurvMgyPOOnWDoABLGBtyXw8w9zQ3sI_Wwizp88Wtp3unS0IXVCFTFlEGERGQ3kyS2IppQXxR6QPN9Y2E6mbNcuuK27l58m42RAxE4eiqIUqSDsirKR01So0880RmYiJ-1W8qbK0aDImuVEN2TpbMZDgo43czbYbhvcsyIl0bmneotJcAq56289RnK9mBQwD_u6M66_1Yp89RSIXUMF9zL6fyeB5epybLNZMu_JcJP6nA4lhupl9vq1GnwqCuCrlaZuNH0nXLF5RRVWbicmOccrzjmxpWIPvRk5hTx0Rh834LS2lo_Gu2hChSo0n9hUjZ3uit6xghb7ZjqB6cUgBDTx4nFe4gQBfs-B59hRl7cPwNF8Vwa_sqTJ9pxZqvrCWjYnvHNnR2uT3VB8eApXTof3f0QzSk5WodNxkFedzdvqezu_e85hebuyp44Z_FPdX2yR9wBZ2y49f0QGR1GB9HSoHNaMF-F8WSf9Lx1Yr7eEwf22Afja-p0VynKlW2lNUOxZP2k_Q6y2OhSoXNrNxWcGYCWKYyM3AVMT6o5D2DOLGablwm0HPsBvuPGoRe_QbK45Xx-pboU83tmWHob3fm2c4Rf9CjTl3PdS-b8I4EqX-VJsqXsM_TilzDKiIoxXYMuadyMleRHxcUwkPbhiiggnarty3GzHcxjXgfTsNRKof4nCUw-kVH-9T1DTh5GdG5b0GgE2BAplBdnDuAu6QbaJAk-1mEb1-RDM3La3TEjYDVRCi62lZiZWUk4dX17ZJe9SQrZAQNiHkju8P7WqCA4ON6QpCVDgpejbJFk3lpCO1NSUgbDh1oSeJt4KQ1Mdmf2Hjy4fVMqyaE3YpanLtVTo1HLxVS_-TzNYQOiLWbXE2EJfowOwQI1kxT_JYu0mO7Aj5-6Xm4tMycnAzvCEL1i8wDh9Hbw-IdOrM4NlAWIcjbgKc8ntuaL7FJPiNNDISQ9ObZpPjnSdVmN5rkg-lreiVTBy4iw3hhY9OsX2C5AZmFgzWMX8I4pIkELHYSE_FxVe9oXhtpvhcPlcUfkjl6JhuKV-1rH7dI_mNcuFAKbpYdGgdBvcOTXIiheczS2kVzuQb9KXagvQhkoAr6OOWd4MY3jUu5XW7IdYHoqHAxBKjo2Vu22fbCL4JsUUtXlVMlgOg5T4mendXMg-ZajHJZ30nb1bvjH2S7SJsuE8KZqRuq5tVZFU7ApeCeK_V83NSMZL8XtKKM5R_xU2iV8GhjeqiJnBeHxDXAUSkMJDq-M823b5HuguMwXX3RMmYoRG0YIVn1PX_8eDT5eI9jNZz03V9Gmj_dsk1ldO5vMqI_LVfTNyCi0h3o1dLG0m-cjWvM1pdaBidcNZyHlCZOBaEuTx7hgA8wvph2jj3HoP86eVOmo-THYuhV956lsbmbfn8_Nz_I5FxdSyunPQHPvk1bfEthV6gUaA1YU3UXJjZqV3skSznNwB3zg6VTZp5gVKaAPVji8Rbu21GtV18hbhkcqsS71wLB6AISJPW_sIggZZR726GkMnZVbheQNmTffpMTaLNsELXhmPwPH2bMFKvwKqDk2r9eKjyelrWYw-PYof7cEShozei-41BMzBnzKPlUXLDIkrbn_LyRX-3FUOEa3MDRZjSAB3w9cgalosqhnEeCuAxg7Ualr-eKpbHwduqBPKy0GD5yQnCTmx8V2uVO6PhlsSvJutaxRm-nGz7FWUQVtomMYkMnMSUfmk4FWm6IWQeAEzpVw3pcXDAHOA9ixC0_KZ8fvMK1RzmVbNN-LvVb_WV7V6ddK3ENGYPuu49pL0k2jeCwLfLqtVLNx4OT42BQVKEGyvWQqHHNu7PKJ5d6LWdkUuoLnlDTCMcmc1WsJYWWwwkTm5vrVXjJABaj4Z2Z-HPiAECWKl53oKmhge1Hw6v0so5J7S5iMnKaK2CoTbU-C-Jr936vGynP1m9wR_LMu-zK0cewjKfSYb3xBt91Q6rV-97nHJjeN18dtl73kJWTMs4QzgHmvCpUtNel0Iqr0aDSTV4kiswSKolVhedxmesP2BFP_QlEAp0ZgRGH2RnB02bb_9bZuWHALbgZ9UUSvDXpsXnrV2ORbVSkNt5TvXue89B8bsaUH6S5MzQWz8XZF5Y2Qe_PppJ7kPjby53AxCWqhFUTbNHRmiTtmy75urNMH9UpezK07LqJIX7IDQNMpPZjwx2DZxPxKM4u2c5SuNVLKg6mMWVU63uiP2UH6uBbBdNGHtdbWafh6RcIusMQ18QmBoQzVM4BOHTuxo0XfTcJ6lBIVwerplS29jnozrQzjCkR-KNyIqpnfsNH5r3u2hYZnrpd6cGKU-U4pJCcjmVR02PQcVsYX8-rUJebDQUUwgoI4_ekFIyDJGYAyUa3Cs_fswRJ0tshpl_OOgYbCUk3Wx-NEPOniXzeWLQVcu0q5Cnci2Eulmue9jA8zKLxSNEsnaLqFGhOY9JA3YACEGnK_-6lGeS0XJYcJQs0ntJ1GVMlVt3jBromw8fE-UG8SKgm1CHMssKff0WoYbIRB97GD2jYt-yzo4yDadcPoJ9asvXlnyBqMlQMysaMRzjKHRqaZpvE-wNe7BEEOGhvwJRh2fk4l6XRBOzOI6dJgVaWQbX2bF9AF2fXSS6GIPhF7kqc-c2cvHFJDs9lS0IHXkr4PsUP5JQTxKAbLnRDr74x-KmF3p-B4kakXygftkRHkKetr9Mg900tHvSluofpRU1mOW4KlGGEPKM9YzScGk7FF8JR1Y1API7qB5IqyE-B7Jj7r8rK5egKAFJDMsgcejFRFEZEtq-HHqtjee8stqRZdijAzzlIKVifgHtJUA-cQsAWiVw9Ft6lKmxZtEr9jGXFcQOuKyPBhP7Giob1x0v9M7gojSYluYxvtbWECpBMJv1kYfqwG-o2cUve66YMiqyhNFacyI0lV8lX9LSMN7WTnBsyh9ebWln-eQW5gI_Bu5u2MN1Y7Lm7q5AySkvDy_ZyTy0KZ4OISgaKDo_xXqEDmGn1HYXoSUNSc83IlT0G4M_R6g2E9w6eFnon5OesrSmP2m-I8UFJyYzEArmzZU7tL2fFlNCyEXjQh6EmLdsPHcWOUclS5UN8Y0UHrKHLeKg6PowajryIuvsvXfxBy8zd1KIJXnqUkEAAH3siKfNom2etU6apM9RcZVTwz62ltSa4Z1YdB3muAcXUBEDsC04c3enoj_bde4fmKr7oTOAxvEstN2DhPzKj-zqUChqm6-Qh6qIDfkYATJ9qXfFPdwJt_TM65HBrrqShdM27YIxRqrv7X0WmWqB7AS-T2cdr7bbV5g2huor9kvU6y2PmqWbxcE6JXoiLFtV-0rgLRHsGZAunyD_dnFCpL9eh_QfLcfhUYPqqDyuPtCBd99DrDHTa7Yh4VJ5Oo_WPs_p2szLrXvR9b7oQx0o57ZonUrTU4m5JZ1T6E36B7wBqyBYxqCFwbGJxRTX-sTYrKfZGOtOMp4jC-3laRNJN-QXiuiE-B-92E9rpqWn-INED9xz12FGEp6fXTfpEa5VEEVEpL4_sKx7Lih_7-oGGSXI351uY91qICdTuW489vkIPwthTd0CcIQJA-3ozM23RQLH9cO6hRHYzDqw2gIEB0l3T-vZKlxysyKEyd_5USx3bDCSU2FHbMdO4GZyWbnyWJKMrYRFYfvxjhtMnKudD_IuSq9GbzbnJil2kDkF4OU36nlsaKtlkGPmDUz5Tzfy9hnEgZHBEtWd4B_CXC_WAhtSqZ-c-vZ6xWOQS8RhTajezWgPHQeoAEkY1X38-8KZ9euWHCZmKegU_mkioW6AUzrf9JRe5-uQDYcZ_uU1ljUds62REO6haWwez9R6cUVxmhBaD5WqDJXJC5fOIOh4tfUmw0vLlm1F7oysZVJVL9mfrHW6vk6MNeO6u8HhNQZ5DALSPHIePpjIEm2w5yRfnwnlfmXrNggNiMCCmb47hj-Cu0y_mximavIzDekGor6AYEtl5kDsAP8fp_lBurqCiGGCvi-_T4d21n0QXFGDQhVVseE2V-1sRGHEsBF7fJVS0oYspaqbFTxYexh66enu",
  "id": "rs_0ca80820094c0fa7016ab43805486087d0b9cfcc626cbbd70e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgO9rJQryyPK8oGL_72EYE2svK9csBjnrZcX-SQsN2x45G6owTmofrBtA0oQ2P1CHnHxgm_Tpbf-1eoChNE4eBaI2fUlSmMP2sDMdjKOPuYa1LbCKunLopntkTXf-K0WP13rQHhNIx1XEfZRoBTJ96NwwaG05NwYhELrb8TuJZUm5doBL99oJd8NGBDGwqz2vFfOtCrE-9-5NeSP1y_McpK5Ivn0zW3WQnW5KAuijXxYHCTxFmSzQLxSGngbizcKA-FczkGj2DFMZrYk15vOtCiQMqLOmWRi8TkQwtwUSM6q2EIshD4kgnSNLI8seNsdGcHQWEf02KzGxl5AimOjjT4wXY9WDyuXdnxDbyxbMkTiDDNvrrjaQP27iXTaQsPhwRR0HsEvybGC1wRspm4VWmFQIfHs3-bTK7OSdyy8GHxsymzDKgRzACb05irrWv9IYuMnGch0RVGM2Bl7Lg37o8rNIXr8wroNX_bx_CGxd9QHpGZinVrut55klSMLmUe9k7CN3qyQ1SUExnWZKlVnXvyy5ltRKK8WNirz-XttkK_PxX0uJFNPNt9sqe4kipyFPMfIanvLiPbgpIGAEVV-cpLDVqWdEsnh3U_BARoZkvdw3D_NRs7IQJLvGY8jDuSLpMinSa3Wgsz40pyZdTOdhvhThsGnt7GBV2loOMJ8I9-wZ9EoYvBZrNVLQsOe_e8mp15BPxB51fRfRysYBiP4aIWu1yn1t0UBGdKnbaa5BhDDkU8TY8820GNxM94eRKxGjgqFGUueYlfXVdAqBa23wSQUAcPK6Xk-XJVW-Vz2vSI5O7eQ__FXkLYjEIx3_X-8sReraR_x28212moO5_gj4v6ppPzYG5yGW2AE-fmW6JV-mwxUMXVTrgPaul80hKfgfyzKqJT1m6Phi-LUR_OTuoNnxrFfJcdLx5zXQTtGZdKWaWxj5ePj_mGHGTJSSTzF7TznlYdlkuS-v7ejYhYv68obje28VdRTPfgdmRu5QWbTQjn1oArnthtmqxYp4UlBxiHs-QZf0e8gjMtmSE9-m8SQl8GgmmOe4xnc4uIgaYwMKW121Jh5NfL4ZtCoV7T-xMrbAwGzHC_dDKeXcgaiEhyfchieXIzwDvnSslLTk1RnZ0ZLxPIoUBBZAIiXVDPQMF8I8610AyVLsLcvICsvZwLHWvOrwjY3IqFyqJoex3eOcculu7yZGugDTyXpfMTm-OELW--UlAv0UKz2NSDGuQLENXpnKQQaNCkzQgAsUvfpKDyguBYzIEADnfQ0bZAPhWkwqi9mv1c7MLWzj0f__AlcZW0qgabQ64tu2688MOozoOIz0Pd1WeWX1gbo_R7v3e_Ufm8IaMH6Mamux8Bzfg6X0kV82SwMhLvgBa2DY3HiPSdpxfD4CpDyWreMucVhIz2TsxpPR5lp9FbQkDoz0mdzlBLR5vE8wkZIhkwpOlFGzjEcsNWEiePnwRydrAtpW6ZUyTLwd2hFYMPFdR05xMBghppIbSAYaufUoMeGgkamqsfIQd1fh13FoH5ptP62jcpE6QfClECT5h1QELWuEg42NvYF4nKdpsh1hrIw1QUA4PeBSBPg07whiaXk2gaoDgePJJWj0GOIX_4Zwz4TjKMopVjddh6F9JsH5YLB1R8VolZgyoDRAcjsM-NRIzAhyYBi_-2Kdyg-rTLpEyM74mMJoTSVGULoCDAN-Jga1qySb03oKDH84o6d-v5zEP3RV0uhmaZAm-qDTBu2VIVzs45yJSsVLH0XfZWRS2l2j5lLuPFLxuD77XBhyPF7AROkVLUGZBbnjNDLeq-gJU3kv77U2egcEhNYAy8NzN0Z9Fzrw38r5ecXYF9eKLhg0BWazrhN4X-Xf53g3RHqDEDi-YsIamYNpUNd-ikaXLtLc7JpFXEq8OJBXn2Dy8Tu-RkNaEHhAMfE5Gj3UxLycY_Y3Xft8kAEeyBvHL364EmCaE6aQLOdsO0-DSPX0ZFACcTB1L8BCEaAsM-um6keMIKg6NTAonfdpOOZgNuH2TtYnzphVKx1Wv0DdsnnB7r9pZiboKcc8Jbvf5sdu1LkFNcSnY6LrN845_X6WvwFg9d3-IdNaI9hg5lFmhEv7rgSKgMlv57z9MYwgyC5VNl3BIpPRt0Pfegyg7xn_dEGTJQxQcNGU90JRYj47yvGLYUy-b6mgwMHXkn6iyPY-FcCXB0xsYxD0rRfsCx4exvuN2fK1xH6V8sx4kh5B3cm3vftmqRijg3yX0Woz2oPWqAZ9AQS4O1IPRmxFUaoKZh5avr38U_IMsHvWCX6P1MGPpaUt_GLkekcA_CIHHJlsMusYz7x-N4rjNt5A48uaQYcJACSkQcY8i-GDkuWkZRypTvStV85E-wDQJlSPlMSBTb96lDt-PWg5gQ7CAiHuxX0WB1vzjqQsS5EaqQtogoPbgWmq8F8epTpJDjI54vy_T2KRmsz6PglG2-pyz3ZE45kLPGB-LkinYDTpqCB-aN-GPziepCFVKQZWDd4R36Reu1mWGeCmJvLpFjJkcLcdOPUWKximiVT4Ahp0XiH9aFHlIpDHbITmDiFvh5J4Ae-LqQERUIGqC-vDhysgxSftukJvLkuJ6smh0i3b9KxEu2e472IKFVKvXByuU5qkzFiSg92c-bO0T20u5fYWOcZlJJcP2pY_37Xty6hto_mEhjUTxdTf3A6waIna2KVTA2C84gG8g9cg19tIeqrOkDEEG_EkpO6J2uKQeHsKzKtRS_x1S0fYR2_0012dJspbEmGwGpSr-SJnLojnlDEUZbghmK2MmEnqvfPJ6EgikUhjzWJtsQS5eryDSZB6yq1y8fFPrlC5zNO5I8Wu6bxNOrFwBwEdL14vHD71ciDEAcuEtcMpeQ1FrJ8VdddiFrM-DpkPL1qk_1JyMvw55Ti-QSI__kzhPfcoXbXYvRVLEhp9mowIZbZyfg3X0UlT4MiZD8v0vSGo8atE_UkVKuPtg61u5GAiPcrtzoQ7Vk8neGuBjBDFGEHNYkJTcLSxIFqmKC-9jul_a5QLQJpTgvtbZQKgncuwnqVWj4wbwK1UfKLfz_gGMZfz2uayLehyFJj3QnuGmjB4G_O-O92GP1lH83MO3ZEtx1F136kUZSIODN1eOiS_fa7Ed4E8COfKkzxzBWlqEuJZVz7J16FSxv0rg7j7H4skMgCIYqWVM=",
  "id": "rs_0ca80820094c0fa7016ab4380af01c87d0817871e515458a47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.40,\"left_y\":-0.095,\"left_z\":0.12},\"note\":\"The right bottle stayed in place as I moved sideways, so that apparent grip did not carry it. I’ll clear the right arm and approach the leftmost bottle with the left arm, aiming for its easier-to-reach neck.\"}",
  "call_id": "call_aBVAVHDSdQTK5KVLCHZcyMmk",
  "id": "fc_0ca80820094c0fa7016ab4380da01c87d0bab9b590f3754310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aBVAVHDSdQTK5KVLCHZcyMmk",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 1.4395, 0.6746, 0.1001, -0.3138, -0.2226, 0.9978, -0.244, 0.7929, 0.6197, -0.4477, -0.3374, -0.255, 0.9977]\nstate[eef_state]: left_x=0.3853 left_y=-0.0896 left_z=0.1007 left_yaw=-0.0099 left_pitch=-0.0659 left_roll=0.0215 left_gripper=0.9978 right_x=0.2858 right_y=-0.0072 right_z=0.1794 right_yaw=0.148 right_pitch=-0.0096 right_roll=-0.0056 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -5.8188, 8.9778, 1.9365, -0.2369, -0.1001, -0.0122, 0.0889, -1.5932, 6.7214, 1.7998, -0.2906, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3db92ca1e11d1384e2610ec62d6df3c8be06b1f8ff90eb040547dfcb20474c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c334bb20751e1c3479d0e0769e7abf8e6e4d976682ff6a87b9b71bcf496dadfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21a45dfceca0462c75b70ceb1852b1664adfea3ce910807219fd340485abcc8",
      "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 16 attempt 0 · /responses · status 200 · 3.811 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 63 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7734, 0.5495, -0.3634, -0.0257, -0.0292, 0.9978, 0.3347, 1.7199, 0.9367, 0.1722, 0.1558, 0.0803, 0.3857]\nstate[eef_state]: left_x=0.2889 left_y=0.0024 left_z=0.164 left_yaw=0.0002 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9978 right_x=0.4571 right_y=0.1338 right_z=0.1026 right_yaw=0.1329 right_pitch=-0.0309 right_roll=-0.0104 right_gripper=0.3857\nstate[joint_eff]: [-0.3214, -1.7436, 6.6667, 1.9414, -0.0122, -0.0708, -0.0122, -0.0342, -10.7556, 9.2923, 1.9414, 0.2271, 0.1001, -0.0855]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5156, -0.3447, -0.0257, -0.0292, 0.9978, 0.5884, 1.459, 1.0912, -0.2871, 0.2955, 0.1764, 0.3857]\nstate[eef_state]: left_x=0.2861 left_y=0.0024 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.3846 right_y=0.1991 right_z=0.1968 right_yaw=0.2181 right_pitch=-0.0503 right_roll=-0.0233 right_gripper=0.3857\nstate[joint_eff]: [-0.1162, -1.6615, 6.9128, 1.8877, -0.0317, -0.0757, -0.0122, 0.1436, -6.5299, 10.2085, 1.9707, 0.2955, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 1.4395, 0.6746, 0.1001, -0.3138, -0.2226, 0.9978, -0.244, 0.7929, 0.6197, -0.4477, -0.3374, -0.255, 0.9977]\nstate[eef_state]: left_x=0.3853 left_y=-0.0896 left_z=0.1007 left_yaw=-0.0099 left_pitch=-0.0659 left_roll=0.0215 left_gripper=0.9978 right_x=0.2858 right_y=-0.0072 right_z=0.1794 right_yaw=0.148 right_pitch=-0.0096 right_roll=-0.0056 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -5.8188, 8.9778, 1.9365, -0.2369, -0.1001, -0.0122, 0.0889, -1.5932, 6.7214, 1.7998, -0.2906, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3db92ca1e11d1384e2610ec62d6df3c8be06b1f8ff90eb040547dfcb20474c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c334bb20751e1c3479d0e0769e7abf8e6e4d976682ff6a87b9b71bcf496dadfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21a45dfceca0462c75b70ceb1852b1664adfea3ce910807219fd340485abcc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgUKV9CVKqHXYuSW0Qy51DFxLBf3TYQ2ug_RAi363kVXw4dGAUQu2pk0fnkXsuSodVfHNxuOgZAoMEJOmGuxRe5oNamGurZa8fJcbIAqAA4Lq_fTMeb8fUy1nfemqwcyXqCP8AcXJVCtmcLovMzUTbFz4z_t8R7mPjthkkFcudvWyzdpFqhQfcfjAuaHM7D0Iugfae2zIDvVfzzA9FYCA1GiFt9qiLg-fSugm1VZdJYlUed4FzLNqIMpInHBMOP4piffapzwRzZVdwWaCcQfp0kgX8ksoFTw8IiGU0gAErj41F-XcMvzXDf84cnXPd0M-FMPgNlj_igWD3QaJmC42qc-AKtn2WlKfEm1s-VvNZzd0_SZo8JtKoUtnqHp56jdEIjDNGRlqEl8ziuwWnBxWXTlqyH-CXh8Px9xD3HyLQ3dEeZf7dmlq7tcp-_12etLdpxTpS4XOYTI-8DP2qAYLr4NFJ8p34KsKcO-oiIr-aNF2LtZBzRo9q3fTgUzz6bU4HgKVO6BwqXFvStxkr024XWnjYi2wqet5wGT1oQyXdi_i1pz6UTSrGEwck95H16sAgGY91CVg-6yITdXGQD-YSA8nkjSGNXbRfG1-4AfSGNVA9_6CdR3Et3II7q475qCA-XwUz6iL2GwWD0ixybM4StyE2u6YibAi_iTEneYOWPYWUWYmipWSrRUeb8uAZLJtROcm_4KiTsD3xnl6qUTR9UTlr5jOZPOFZGpjuFsvgwu7QiNnVdrfpYes464jrrTE2tQ7JqOMRamiBG6dujFMpiE8JnJrVB6iTh-0ZxV2SPGl3SfmtJ3QxYVWG1vZSEANyRyv1-dEJW8g2j8UN1dZ-CLJbbeAbW_W12ixo0hi-iZN3lCEe6YkYu3bOyXudVFJcZIMuTiwONEeKrI2avZGSseppwjD_rG0vlNNGYB0fOhu4aGjf7RFwSGt-KGovEpoF2i0qjWGHbPFZa5oLGTq3goc2f3xaenMC04fQR9txsha51O3sH90xtCPqJ-O7pbvLXdIc3duoJp40T-gl4SyJ38i1DOg99molxU4g7mGyKRKN6dh57Te3DDfyii0A4JSAAImNFczytRqS1kyrMAjQ9OvE0eCmS5f8_VOS71e7URgejk0Qucnj3elyWel0EpFhB720QNFqwCxsy0YNnmVdSNdOF0eKAKKm6jtgAPCqu2JiCLTmEqTEiTbOP2dYN8jQtbzZU00bNdojDQtOwrli19Q22K5l9bmtXVyc-Dn7vD4KrOEMdbrARrAImCoUV0FjcSORQ_zyAdToKcMc2SXvm18jsaRuR1CRqBzcVr__H8ReY15VnzLOgmxWTJoHpQIIWbV5Vewj-YG-vMYS_eZsqhz4fTwJbGUylu6QajaMO7tmg72qiua0v5K2HTm-uTI2JNru6CoUzwmtT99FvvXYsG7lYubNUi5X0AyP6zsa-EFKbn-NYcV8Bz70RoQFfe7ZlICdkijNJ5wy05SpVnkPxf0wnurxMIOYQ-T0IW9YyG-OiIuuFxsaC0-wlw-Mf-A-PbYlteQjiBTteGuM-m9GOpGeV4F4saCnEga7UK9UINaIG_X2_jTpiMwkkrd0JGob5aM6cYoXfRPjWvpcdcjPVGeUXg5UgW2pz2GcYAJYShC4UaH_g_AI5qVGj7eHB4UNvCfh34nUJHmqmJw0nY9oOyV4dVzhuoK2jhsBbqesNiPGNKRvqDI4i-oKYBRvJEf6giox1HZPAZJ5AQrabmswcqNGVnqspKhaxoP0t0HWUaPAXxE8VdiXdWxPpeFD4o8nd3F4iKWeDcD1-Z5rbcGZEIfN7kMwDkQrM5wdmLcoX1VnPUi4tToi5_HFvN-0Hgkc5bssriiNmWRM3kmuiOhIKoXLwutwBo5U98R0Cpj9CDxq5oEiWVP_Bg4sfwmEnSm402Dayevvum5k55RG-3UIXB94drWDosnb1RQzGRNtK9J0IJU_Q-VOB87dHvh1OeHmB1vMIPHNrvp73hOOdP3JCtgvY0zCem61TNz7ST1h2tzploiUAzsp0Eo7KAmfGT0UnrC6ebfQb6QxDyjRLUMsd77Yd4mQFZ9FGVmgDg7kNXt8FvNkuu9AtPneoTy0MZR4oDrcDQHWB4YTWMCZ39rEcA2th71uY6sssOpy5_z7n9vgpXJ-qIROBVpgEX5hJSWwve437xW0FleeOp3HsFNK8ni7E94zVe0ULiMigLccT-DvxIeCtvb6kiUo3Vxgooq3ZiYULRCT0iS68RTntcDFyApOc25OZhkcKaNS43yw185YEroWWkMxKQXYEj4wpkP55XnjgJla9B8VoMGgDkUOrZw==",
  "id": "rs_0ca80820094c0fa7016ab438115fac87d08dec9511be0a5902",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.05,\"left_z\":0.028},\"note\":\"The left bottle’s shoulder appears left of the left jaw column and ahead of the fingertips. I’ll shift the left gripper toward it, advance, and descend to bottle height before pinching.\"}",
  "call_id": "call_hQeiLgZcZAq2NARCZRip9M2l",
  "id": "fc_0ca80820094c0fa7016ab43813c65887d09ae7c451b4766285",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hQeiLgZcZAq2NARCZRip9M2l",
  "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]: [-0.2077, 1.7527, 0.5846, 0.59, -0.1947, -0.1761, 0.9978, -0.2489, 0.7898, 0.6155, -0.4713, -0.3622, -0.2703, 0.9991]\nstate[eef_state]: left_x=0.4217 left_y=-0.0503 left_z=0.0369 left_yaw=0.0333 left_pitch=-0.0043 left_roll=-0.032 left_gripper=0.9978 right_x=0.2817 right_y=-0.0033 right_z=0.1747 right_yaw=0.1717 right_pitch=-0.0264 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -5.0803, 5.094, 0.8669, -0.1587, 0.5934, -0.0171, -0.4308, -1.2786, 6.5709, 1.9609, 0.0073, 0.1538, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e4d90f406cb941bdff723c45c9ef019ea197926fdd4fa0bb483b4874690d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc97795c7b56da93f8eef308b8fdc26f916980ceacccb05179f7853f92f432c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1c653902287f89ea0264589a2834a5bcba6023ad93e3ad3fcbf5460986e3ab",
      "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 17 attempt 0 · /responses · status 200 · 4.307 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 63 changed as sent

message 67 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3489, -0.0261, -0.0292, 0.9978, 0.3763, 1.483, 1.0332, -0.178, 0.1612, 0.0811, 0.3857]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1614 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9978 right_x=0.4197 right_y=0.1392 right_z=0.1791 right_yaw=0.1695 right_pitch=-0.0468 right_roll=-0.0163 right_gripper=0.3857\nstate[joint_eff]: [-0.1436, -1.6889, 6.6803, 1.9658, -0.0073, -0.0269, -0.0073, 0.0479, -9.1009, 10.1265, 1.8584, 0.2857, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 1.4395, 0.6746, 0.1001, -0.3138, -0.2226, 0.9978, -0.244, 0.7929, 0.6197, -0.4477, -0.3374, -0.255, 0.9977]\nstate[eef_state]: left_x=0.3853 left_y=-0.0896 left_z=0.1007 left_yaw=-0.0099 left_pitch=-0.0659 left_roll=0.0215 left_gripper=0.9978 right_x=0.2858 right_y=-0.0072 right_z=0.1794 right_yaw=0.148 right_pitch=-0.0096 right_roll=-0.0056 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -5.8188, 8.9778, 1.9365, -0.2369, -0.1001, -0.0122, 0.0889, -1.5932, 6.7214, 1.7998, -0.2906, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.7527, 0.5846, 0.59, -0.1947, -0.1761, 0.9978, -0.2489, 0.7898, 0.6155, -0.4713, -0.3622, -0.2703, 0.9991]\nstate[eef_state]: left_x=0.4217 left_y=-0.0503 left_z=0.0369 left_yaw=0.0333 left_pitch=-0.0043 left_roll=-0.032 left_gripper=0.9978 right_x=0.2817 right_y=-0.0033 right_z=0.1747 right_yaw=0.1717 right_pitch=-0.0264 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -5.0803, 5.094, 0.8669, -0.1587, 0.5934, -0.0171, -0.4308, -1.2786, 6.5709, 1.9609, 0.0073, 0.1538, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e4d90f406cb941bdff723c45c9ef019ea197926fdd4fa0bb483b4874690d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc97795c7b56da93f8eef308b8fdc26f916980ceacccb05179f7853f92f432c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1c653902287f89ea0264589a2834a5bcba6023ad93e3ad3fcbf5460986e3ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDgYEKU-GWDwEQguK1BzBaatwL65nr0Qk89LX-ZxMaEtgWJTXMGo3MjPGZ2t-xTzMOE1HXw4DaZC_WrkccuYc0VbyFD9m9PMhv1LCNkbuH3pRe0QxQGoTh-VjumCSnYedV03XEmrMEkNqWqoWHomYTGCS7VPgi-cuwN1B6JnVirUx9LGWSdv71aIo-eaTIikRxdklO1wmlXLWKs6KWYMX9H1peOmrT6scUFOqL6BVPoYR7O3f4gz4-lgYWLCyem62SHJk30MCpFBd3HZRIOtk2bZY0rGjzWhFt03qLG5rf4vvOxi2CJdNY8vmC0-_7gD-IWPeLSjfFgBi9H_rXm8HV9KOXtjhemzrPjow-0Dev8DXCXeNAVWhAPvZG6atpJ_BlnmYFHRLsr3NuO1YUNZt5m7IiRv2UUOPrK9kxohlV6NdrB1zdcK_xhR5-AZc0fukpI5lScbZwkr5kQSSEnugiZZoL0-Ks0glJw8vw_WVHkRpk4FKYUdr1mScah-Xy6mb6QaEx4OdlIzhymJuY_Y6ePrk6O66lnSdBf5hxlmeYQdXyLaYoXfqXrCooWjDkyw9ofv-8QeYBFKPEAjvzhxXamz_uddjHUo4gNMzWColul9QbpVaHmNGMRn7qFLU2wNP0_kqN2eLLngNfxG78Gj-miQIM6LOFDUVgzayPa89nONh0iiKg9i_1JnPpOJ753wQL3GN2KcLPB3tM9OPw85l5AqfxHe-4NR-uL8tpPsDdkpmrnprzHFckfI-5JmxuSs4jfbCFUT-tJIvg6sZuFzJJIe11zmbTJbsP7UBKAtrKN_MbympW4ltCsw84IBBZmqIoXRLtYaCX0WMlxFrxj_wifvTPWtq58fuFnsfBpHTF_16bEN9ZtIjePl_4upCP6ukKn7g45Qr25zFKs5qLbijJjS3mo-MJRJqT7UIPoXAeBWjUqoQ_pTmImjg5JOcX6wn5zXqlnBVKSXWkQ3gNndi3qC9uoexhSghylzVLDpGSxTqhc3uTLAr-0sktDUwFvE3zGKWXb8Cjf50uPPriCFFjiJLoRRojleEg5T5myDhnt2vHVOwUed1S5mBYnBdjmzNVJ0_VdY-HsBw_Fg1ilj_7quvMOidXsmJSzhPu9ePFJwcg_G9RVn_TMjhcKN3Icg6VH4ykoMCom-hHeOj3rYuHFj-NudMNgWfcWezJu_wnq17R5PiEngKc1jNbkvCOoSsWfQ4JkqVCZHtL9of-XlAOIMq2WIU0oO4P9mcg3_5luUJz96cfWuH4TynZr30Io3HGiDFCSO1014iAdLLmCkd15iCtvZfndagYZQDTU3-8A6cqP96MVIqtoMk7GH9ga-fUYCliootdldcCJ1DkEFe5GR4800yFRQWxoMo2H_SYrqUl1nglVel8pZO-6fwJEFQM4dyC5FP1c_ae2tHictLEPd3pXOtp78LBkWjglX2lTQXQcZKlkq7aturZBRyCvhNC4Y4EZSwUhHxmZ9yOBEeUaFrzoXS1VnBldwLJQQEz3y4lkHS8iagkLCGjwJoxOKA2wmIiM15pwT7fDQ9ozQVptFodcodGkOLZxJl-GAyMHnvSJB6Yo7wMBJECm0Oua-r0SEe3b9FlxOvoOhkNeffjSOxH3Ce9FL0uciEt1owrg7acO_-0dUJQIUy_xyRKtexF2L2hz2Auqz2k9opYV2GsQvae-qYxKShR_oyHVXd4_Nu_IwIzsaXRtBqasj663whR4pB5N20Q9NppVBTthd7HdV4SbaDYiDjVIxe6rQwk9-NnKwcHJlCkEUgyVTQ2NFQTA4DnUwchqLzPH29EGwLz4wa7s4lYPxbl0PfiwccchU-FvyZ6zn5fd8hQlZVXoyQXJOeWx2gylYd108FRKqWCANi3weWn12oXhVHO0bTagab16gKCM1X5zY2MduUUvGYSCbPEu2MZucP3CmZkhv4Cisb1jm3UonsbVG2DImFqu08gYT6itQKIY6NyO8ftr7HM7jCMjMgdkr2B5KUYnfTO445b-mCg7uy5O3qoC9pQTPIIoejopC0qYboDlJavLgeGd6ns_Mu8NsHD7Io2RGMddw0AKBxpjFSV4lEVc7SvQ0YCXXtIl3UcmwEQiPjoucjzHTo_3l2_hWE3UUc_twnM6Oq8TnF-AoRC2dcMYGZ1fg_DnVRPzrncWcH83RO-aexTCbGlTsJZG9Qe5OnILIyzGqu8IHGJJCV0LI8CfNGAU93Nzxrml7uBq3NUqf_U1ZViJKh1ebM8OKPT-OIwRUxka1mv7t5T8bay3T00emFEHddY_YnjmkCptt-3Ag-5kssCDcrBXwslYdRqfGJsUGhMGgtjHa8bI58xwsQ-zU59FKn4f19uqAUC6KSva5gBWu1qckEIqiDMiyPsoNj_JJRZiYwLWsVgsyG8spnAadjwTkfIc=",
  "id": "rs_0ca80820094c0fa7016ab438162e4c87d0a33d329254cb7c1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle fills the jaw gap at its upper label, with the fingers on either side. I’ll close and use the jaw opening and a short lift to test whether this grasp is secure.\"}",
  "call_id": "call_TOuJVGviyi5SyGcIzHO7p4Kv",
  "id": "fc_0ca80820094c0fa7016ab43818341887d0806a8f8f4e5e689b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TOuJVGviyi5SyGcIzHO7p4Kv",
  "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]: [-0.2161, 1.7443, 0.5884, 0.6758, -0.2337, -0.157, 0.0139, -0.2489, 0.7784, 0.5907, -0.4641, -0.3676, -0.268, 0.9993]\nstate[eef_state]: left_x=0.4334 left_y=-0.0496 left_z=0.0605 left_yaw=0.0487 left_pitch=0.0956 left_roll=-0.0209 left_gripper=0.0139 right_x=0.279 right_y=-0.0017 right_z=0.1683 right_yaw=0.1749 right_pitch=-0.0306 right_roll=0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -6.3932, 4.9162, 0.9792, 0.0464, -0.022, 1.2381, -0.3624, -1.7573, 6.8034, 1.8584, -0.1783, -0.0659, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738a93c16a874c4a400130f93fdc91de1943a5c6719b86dd40c2c6c406f6095a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5270af4d76dd00d70adf2f6eb90d8fa55dc4c36ceaf01b89fd7b8a8957a32ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902caa6e7c0d2373923c9b15b8a2e8b0919adcf46eff584c4db953e141164343",
      "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 · 7.933 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 67 changed as sent

message 71 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5156, -0.3447, -0.0257, -0.0292, 0.9978, 0.5884, 1.459, 1.0912, -0.2871, 0.2955, 0.1764, 0.3857]\nstate[eef_state]: left_x=0.2861 left_y=0.0024 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.024 left_roll=0.0002 left_gripper=0.9978 right_x=0.3846 right_y=0.1991 right_z=0.1968 right_yaw=0.2181 right_pitch=-0.0503 right_roll=-0.0233 right_gripper=0.3857\nstate[joint_eff]: [-0.1162, -1.6615, 6.9128, 1.8877, -0.0317, -0.0757, -0.0122, 0.1436, -6.5299, 10.2085, 1.9707, 0.2955, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.7527, 0.5846, 0.59, -0.1947, -0.1761, 0.9978, -0.2489, 0.7898, 0.6155, -0.4713, -0.3622, -0.2703, 0.9991]\nstate[eef_state]: left_x=0.4217 left_y=-0.0503 left_z=0.0369 left_yaw=0.0333 left_pitch=-0.0043 left_roll=-0.032 left_gripper=0.9978 right_x=0.2817 right_y=-0.0033 right_z=0.1747 right_yaw=0.1717 right_pitch=-0.0264 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -5.0803, 5.094, 0.8669, -0.1587, 0.5934, -0.0171, -0.4308, -1.2786, 6.5709, 1.9609, 0.0073, 0.1538, 0.1392]\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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2161, 1.7443, 0.5884, 0.6758, -0.2337, -0.157, 0.0139, -0.2489, 0.7784, 0.5907, -0.4641, -0.3676, -0.268, 0.9993]\nstate[eef_state]: left_x=0.4334 left_y=-0.0496 left_z=0.0605 left_yaw=0.0487 left_pitch=0.0956 left_roll=-0.0209 left_gripper=0.0139 right_x=0.279 right_y=-0.0017 right_z=0.1683 right_yaw=0.1749 right_pitch=-0.0306 right_roll=0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -6.3932, 4.9162, 0.9792, 0.0464, -0.022, 1.2381, -0.3624, -1.7573, 6.8034, 1.8584, -0.1783, -0.0659, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738a93c16a874c4a400130f93fdc91de1943a5c6719b86dd40c2c6c406f6095a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5270af4d76dd00d70adf2f6eb90d8fa55dc4c36ceaf01b89fd7b8a8957a32ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902caa6e7c0d2373923c9b15b8a2e8b0919adcf46eff584c4db953e141164343",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgeK5e-NibtDo1XQooMDNm1mcxoIZHVU0n2s10hQEpjYZqkgwcYDyk38jodAa0n8fdGVPpfN_eZZCCgfgyM-mwgYpfzPx5Kbwd2ugqYYsiai2R7KLZh8KJGh6ONi2ojh9AQ8_h5zgIgdAH4VVi7vzg-YKILIpuf_kAmbpLNBfMGz-Sb0ipmtDeovCAKPhfuuk-1U2X5P5DXl-SDRsrQQZDtUvORYAafKrtoyeO-YRyEOSS2_5UJ9aaNIDGIK7oItB-rwL7-HzTCml9hc-x8iEfb9RHkeR40Fti4MZAZsP0hlA1ng-ym39FTVILyHGEy3bXbd5CyKvAQp4sezPvsaWpwUVw6uQaWQhi1D3aIw8kml_uZg8EdBHICVDaHCCk9fWiBx50bkdiM1qlZ8aXZBPB3XrnLu-4AM_MLboVzlcHIbqHoBV74BW4_hH8Y6MSGffvXBpWMZBK7nXlqM5Vy5MIcgjvZm07Bmi9cKlkDGnbfSt5hcr8y3TQ-wkqSy6YP2Hb-MvnwODHLwYZbsIOEAnZG_lZ9Z38Z-qFnhmUN97siy5ygt6ec2F8J4Hpa4Cf_bwz3uRIm8SG9v1x1E4XIc2LOh_q9mRE54VpmRA2OrcmTzgNvK4Xam5p4LQiFL8Zf2au6Vx6xPmJPnswfjUa065u66GoNorAlJKZHzAbFak16F5ejFDNI-0hC2SLKpo4N39Dxkce2DJ28p90_RFBx_1ZOT8JfeqC7Pn730hmLv7ar5RpRaXhY2P2SrcT-4x46p5Zk2VfE5MEp6eTb-irMJG4HfLB3tkxe61l1wa-0COjAYfQkGjStfYdcskWgcxqsHpXN8BuIbXEFVQ9sWKdUwj23GoZ_yL1Hxoc1903C7Cs1HTHz6NGNNk7bpedVH5D6XUlnUBjTzgWCY4WgrsqkIUG4Yhj5x7I5Xq_xf2C_nyi4vMNiFFZ92gFxNb3OEFGDQcXxaLpRfU-KX8P67548MUzmS2T9Qn5rtwa4PK8FtAEeGGGllZX2J5mQJW4k14B2xSdejuYOF2XBZ_LyURsMJjSh7uWU1h8Ut_jUVBWIJyrcVoeyGz-8TYuDpOfU6CnQi8Z7syKeNRDUPfviCrNR-m0WWAGT61NfkuclYsGroZGPzoI_NOVYVpD88h4VuxflEYOu2_gJzXXP-2_d9snO7ka_X4jirJacZO40P5LUhQuIgMDJVnj7zZX6HBHLB0sTcIQhG73tgGlv0o-oDIpn7qoNI-rqPaL4U8yAGsCX2l8h4ATNy2jXwBRtVqMpLtNt41FBHTmhbw6tQItQIH6jVvQp46s4fxyFGNc_hxIPQcw3yTNKUGa2G6KcLjsWIXR9UvFy2AwGYURSOEb_uwbYdGeqx3_qowrFdD6x-h0mlpaNbrCFEUrXAl1dD9wmme4gaaKKhbrknlnkpdcr4mP1fMMT3jF6ed4g-FgoDqRRxaWDIBrwUzjikk-VXzGbIBL13Z9MUqoCta8TXL85CqV_1HQk_xq1i5L2w6qDFeep7RwkZTskpNTzzqsMMj9HrvEtzGQ8c9mYfPCuEo_XmrYJLQK-NJ47s6VTMoXg2VQ49Rr8R1j2VFlo-U0v5i9z-c5x56x_QodcS602TyxC2KsqrUPxPGlziWp6ohe2NrRKCp-h4dOwIrHtu-uBCil1DWjgPDGPMnefLr_6HC_PVcQNMZBu8KKd73mX5lcen14gxsYSjg7tA5oV8exjexvlsABXPOf6pcIP7kQ7jHjonxQln_yT7JIf-KHPFY6Tx9Ojkn3d5YRdqRfnP8JUqANNjqbqqz2i9Uz6uh9ByeUGgvDYSmLRbVpQU1ifsQSH0lX0-u-hTXOUuB_lmwr_-khxx77zaA2kLv2MCuUReB1ykebMclR57bHLiaA6mZI8sZWI4uD6fcGuyLyI4f9yazH8pSsiDhCOsINkS3ysGMO-X1n9HS1SGXa4HVxh3fdN6l9bLtRf9Nipfx13Udnm2N_uDk-suqY7aMeRVuM7XqP9gVu2_LHQTijH77W2Yr68RA48RwE65wWboEV2KgFvH8WqwigJt6a1VBx2U0ZNy8P8saQKRWfDqhDC6ZE6D-NBK07SngWV7KHO6zl9pHPQHgScv4ZL0cj07NIXaw1MDrLk7fInIk_G4xy-Ia92B3Nx5s1Go_x9ZF10PJloQyyL6wK33hW_DZm0oo3EjNCL-L0CXfEskPvn6-a3Pi-GeaS0Ikz56MT-kqTwyOyQGO6e_GLf38LGhouipOhrYBlgIluDPPb7XH5vwylUqwSZmND89yyDbU3WQTsxCo-bGk93S5MDtpQYnmM2ZM26bAAc--SGPMjbz0VKyguqe_qHtv3vmdHfTvJXF2ughJECIr4pTkgClHMGr6JNX6eG9gXXTQamx7IfEQ3Mjdl2W7QEQaif4cwDi7-Bv1W2wUSw3YOhA1M_NxzWx362izwbkk034FQhhCHZ8bIlHZLAvAjiBVD3hlPyIwFXKU8=",
  "id": "rs_0ca80820094c0fa7016ab4381ac50487d09d212c2fd7252b37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.47,\"left_y\":-0.05,\"left_z\":0.03},\"note\":\"The left jaws closed nearly all the way, so the first grasp was empty and nudged the bottle forward. I’ll reopen, advance a few centimetres along the bottle’s axis, and try to capture it farther from its base.\"}",
  "call_id": "call_NTuFWY9HkdMUIU9cCVu6MI0D",
  "id": "fc_0ca80820094c0fa7016ab4381d632487d0b664aba72985833c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NTuFWY9HkdMUIU9cCVu6MI0D",
  "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]: [-0.1955, 1.8877, 0.7654, 0.5819, -0.2287, -0.1608, 0.9946, -0.2489, 0.7628, 0.5583, -0.448, -0.3676, -0.2676, 0.9995]\nstate[eef_state]: left_x=0.4699 left_y=-0.0486 left_z=0.0437 left_yaw=0.0661 left_pitch=0.0368 left_roll=-0.0109 left_gripper=0.9946 right_x=0.2763 right_y=-0.001 right_z=0.1609 right_yaw=0.1747 right_pitch=-0.0313 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.4718, -6.1197, 6.147, 1.4383, 0.0317, 0.0806, -0.0659, -0.4581, -1.7299, 7.0359, 1.8291, -0.1929, -0.0366, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454b7c9e5938a34e1cade0a1d67ea5b5a5a671d08792b276d0fdad8e4f537e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d897afa4aefff46eb498b8a3f7f9ede365ffdaa89937c0ad7036b0ec9341d972",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1aefabb1db02a8e292b768df79cccf060af73dec69e75709b42a8f34a70e35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.261 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 1.4395, 0.6746, 0.1001, -0.3138, -0.2226, 0.9978, -0.244, 0.7929, 0.6197, -0.4477, -0.3374, -0.255, 0.9977]\nstate[eef_state]: left_x=0.3853 left_y=-0.0896 left_z=0.1007 left_yaw=-0.0099 left_pitch=-0.0659 left_roll=0.0215 left_gripper=0.9978 right_x=0.2858 right_y=-0.0072 right_z=0.1794 right_yaw=0.148 right_pitch=-0.0096 right_roll=-0.0056 right_gripper=0.9977\nstate[joint_eff]: [-0.3487, -5.8188, 8.9778, 1.9365, -0.2369, -0.1001, -0.0122, 0.0889, -1.5932, 6.7214, 1.7998, -0.2906, -0.0171, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2161, 1.7443, 0.5884, 0.6758, -0.2337, -0.157, 0.0139, -0.2489, 0.7784, 0.5907, -0.4641, -0.3676, -0.268, 0.9993]\nstate[eef_state]: left_x=0.4334 left_y=-0.0496 left_z=0.0605 left_yaw=0.0487 left_pitch=0.0956 left_roll=-0.0209 left_gripper=0.0139 right_x=0.279 right_y=-0.0017 right_z=0.1683 right_yaw=0.1749 right_pitch=-0.0306 right_roll=0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -6.3932, 4.9162, 0.9792, 0.0464, -0.022, 1.2381, -0.3624, -1.7573, 6.8034, 1.8584, -0.1783, -0.0659, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1955, 1.8877, 0.7654, 0.5819, -0.2287, -0.1608, 0.9946, -0.2489, 0.7628, 0.5583, -0.448, -0.3676, -0.2676, 0.9995]\nstate[eef_state]: left_x=0.4699 left_y=-0.0486 left_z=0.0437 left_yaw=0.0661 left_pitch=0.0368 left_roll=-0.0109 left_gripper=0.9946 right_x=0.2763 right_y=-0.001 right_z=0.1609 right_yaw=0.1747 right_pitch=-0.0313 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.4718, -6.1197, 6.147, 1.4383, 0.0317, 0.0806, -0.0659, -0.4581, -1.7299, 7.0359, 1.8291, -0.1929, -0.0366, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454b7c9e5938a34e1cade0a1d67ea5b5a5a671d08792b276d0fdad8e4f537e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d897afa4aefff46eb498b8a3f7f9ede365ffdaa89937c0ad7036b0ec9341d972",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1aefabb1db02a8e292b768df79cccf060af73dec69e75709b42a8f34a70e35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ca80820094c0fa7016ab4382021cc87d0af97f045b2a7a7d7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgnLmsWDWgifrK1TapkDEi5R3WA_g6Mqs1_T3Rt0_9itSz9B2JiSU23yTB7FHBVDIAuXmvNjVa2sldpFCOiTYdkF_HmvcKOursJYyW5oU4xsLlQiz_54KEiI6eg5Hl_ANWYffsakdCjyuIOL1I5QqvVRp8588hwDZhAIdvGZNfHg5hB-u-gSpHyrdNbaYrHkyTeJFIMrkPmoCS9WEF9q8OV3ofsXzWlxButDkp1NdS6l-Vg2vTaR-3xdjUrasGZ-IxXIxbWDTFCbV9TN53LOGKsfmMJFV30Qw-BFZdHkBvkvlqE1VnEjdhXB7XBap22rK2gosAUfrzbBjAmVDL7Gihj3o8rz3xIsW6Edm3BiY8LaOS1N28s_tBpiqUKiJ8DsyPRP_BbTSdIVVkmHhN3waO9myYRQ6eP2wWH3n3BbOR0zgxdzCEPgKXZGn2uiqWCJFxgv70hO43QwpmnJpuxOcwLwICUFCq7VzhGESP1diGmikOHrpN_rAWBlievjWO5JyIvPhf9_sYi4cmW5y42PIi2FgYZ7JUVvoXH4ttHxuhmIXCSmJJew_eDcUuboGT36TfFSbLWjHX9Z0yjDHbfFC9N8yU6KxpDlVpKRC-hTiJ8lvlDQBfNSdqsBmx55sbo8xEgzNcdjGI7DhocyMKc3p1GLA6Pjh7tJVcNWwpl-EvIqEj9sT8iwZWizbnBtkWr8C5xLxXGUYpf99pXtihgKEDzpcKZcOhzWVRzouSCTIkOuIap5-QvxjD8sK2A9jXf51w85mdrRf85KLGCn5EaSoJZ-KgVX2WSv8euKMgmMJPicfBo9SrroyzwMYPkkKPYXi3nHQtE8Q92sjKURSfjt3la-hlL88PbQHMDjX6afW_qJca49soCe9HTw86VplZq5HWZ0Lm6gFKYgKyB2Qx0W2cS_--AhNbGvGaA06qtz1QM7JzFP-oHREUYF483WfGWWrnjKTAFapTbxeM39zHqDMYfNRIruVWmXdUFZjmqMVtBLzB1jjSo_7miprJVnewv2o044W4FRJ0xCFlnJ0v04-r7iChhTB_vFDUClHbD0C7vBrLvkA-8Ke6n2-UJwHXHUKGiUYbbL7lAJ4tsXK9gyQg2qDL7Om4htczTRoAP2v5okr-fPIdgkXsh3BrK9v98a0-6UH2Ku_us3Fmv11-wAl2l0JDQNmzv3Y46S3YFkSmq_U3Gu5ZNSx2Xhy_OQIlwQ6L8Rj8NCL-k7LAwJDLvkBXpkp1-vPxy-SQUij0ohV7dg_RKj_VRxuaNjQ6KCQBHfmIbMxvGep4A0sa3ra3lMOKMXiZ58GNVhGjpY5wPOFWDUnTfOKFzCEbkcuktjU3SvqnoJ4UR5vO1xPmOzrVsW4d5_I470t3Z-qxO5khd6RrAK6bAXCS_p03-Wq_UTFwncWK4hX9Vc4h9JINGAXm65ej9YQVOaSIf58wgvarIGwReCqXN2F1Epery2Dp4U1pOmk8TDZFHKUeQzCcsmYmbsfCeV1sxRl07wpL9vdM3QcXF9zNC0u2HTUqZLnKIXXBsG88aw9Off--S4IitNjsY-ogFUl_PpWodXx7lYZgut7iTpwq07diDYnKKzQRccVHdvgnx2s9hlP38qxnlg246dvnPxo4S-kAs2BaPfOdUM0OoWyF-YxheOyNd1FtDodn3M6AlZWqdJDwnw4sQGHmLHmSEualn9MjtFLS1-HhBto8pLZyKlLZXOeILJH0ssO0hVlcNfguqu7iVTYn9gVykloRxRQ==",
  "id": "rs_0ca80820094c0fa7016ab438257dfc87d0ba8a12550cf5d1ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_z\":0.005},\"note\":\"The bottle is centered between the open left fingers, but the far reach keeps the grasp point about 4 cm above the table. I’ll come slightly back toward the base to get the fingertips low enough to close around its body.\"}",
  "call_id": "call_PXjYozkujmo696WiqovSTRYg",
  "id": "fc_0ca80820094c0fa7016ab438261e8087d0bbcef308627c8450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PXjYozkujmo696WiqovSTRYg",
  "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]: [-0.1993, 1.9137, 0.7219, 0.7166, -0.2405, -0.1646, 0.9957, -0.2489, 0.746, 0.5301, -0.437, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0483 left_z=0.0449 left_yaw=0.0755 left_pitch=0.1012 left_roll=-0.026 left_gripper=0.9957 right_x=0.2734 right_y=-0.0003 right_z=0.1547 right_yaw=0.1747 right_pitch=-0.0317 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.9231, -4.9436, 2.4137, 0.7155, 0.022, 0.0122, 0.105, -0.4034, -1.5932, 6.8444, 1.8974, -0.1636, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3404dad2fcdceed6bb89a0cd3575f5eb89b674096251221130d9e0f9d312aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9037e849c1e629b9b78e59bdbcbec54c0f0adb42250b494bb260cd07c40a4273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c608323f456bfea2d3546f71723fcf7880c09ce094f4660a67d4979f668fca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.104 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 80 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.7527, 0.5846, 0.59, -0.1947, -0.1761, 0.9978, -0.2489, 0.7898, 0.6155, -0.4713, -0.3622, -0.2703, 0.9991]\nstate[eef_state]: left_x=0.4217 left_y=-0.0503 left_z=0.0369 left_yaw=0.0333 left_pitch=-0.0043 left_roll=-0.032 left_gripper=0.9978 right_x=0.2817 right_y=-0.0033 right_z=0.1747 right_yaw=0.1717 right_pitch=-0.0264 right_roll=0.005 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -5.0803, 5.094, 0.8669, -0.1587, 0.5934, -0.0171, -0.4308, -1.2786, 6.5709, 1.9609, 0.0073, 0.1538, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1955, 1.8877, 0.7654, 0.5819, -0.2287, -0.1608, 0.9946, -0.2489, 0.7628, 0.5583, -0.448, -0.3676, -0.2676, 0.9995]\nstate[eef_state]: left_x=0.4699 left_y=-0.0486 left_z=0.0437 left_yaw=0.0661 left_pitch=0.0368 left_roll=-0.0109 left_gripper=0.9946 right_x=0.2763 right_y=-0.001 right_z=0.1609 right_yaw=0.1747 right_pitch=-0.0313 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.4718, -6.1197, 6.147, 1.4383, 0.0317, 0.0806, -0.0659, -0.4581, -1.7299, 7.0359, 1.8291, -0.1929, -0.0366, 0.0024]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1993, 1.9137, 0.7219, 0.7166, -0.2405, -0.1646, 0.9957, -0.2489, 0.746, 0.5301, -0.437, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0483 left_z=0.0449 left_yaw=0.0755 left_pitch=0.1012 left_roll=-0.026 left_gripper=0.9957 right_x=0.2734 right_y=-0.0003 right_z=0.1547 right_yaw=0.1747 right_pitch=-0.0317 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.9231, -4.9436, 2.4137, 0.7155, 0.022, 0.0122, 0.105, -0.4034, -1.5932, 6.8444, 1.8974, -0.1636, -0.0415, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3404dad2fcdceed6bb89a0cd3575f5eb89b674096251221130d9e0f9d312aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9037e849c1e629b9b78e59bdbcbec54c0f0adb42250b494bb260cd07c40a4273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c608323f456bfea2d3546f71723fcf7880c09ce094f4660a67d4979f668fca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDgqB-gs7t8V35HXVDXGepsPLokdmtty1QYKLVS_tAnmY1X03p2zJ-fW9DhmcykmULto21Y7y7uuxI7S8AP5kujt3zGXtAwzU5R5sDUaxeGE1fWVD-LgjQvkRuXGRA6f8caHUMYiRd0deLumGs4-8iT8r427UebdUfn-tLEqAOKoVDhMN_5Mvcvj1l41XxVHEy2MzNoQ22iLAZXZGnhhzGfh-HgeGQy8_AuA8JfgvpPyenzs_dkhjze2Fz3HxB82gTdV-UCjo5xoVBZ8kVDfdTBeSOHuEze0PXZIlK1qgn9y9SITVSosAYmuSg-tupyeow4SsHW7BKn4_k5ohQDpFHh5EOdr2ENtKEI2XL6QBbSNnlxbB0weTyVREJefXJCYrlX6jPWQwbtEae_H5QZwKj18XuAxanM-lRFmBndNPenXsi2ck1SwV61JGHvrPgh-SOiI7UVYrmURnHKpQhMnYRH0WfqXJcEmDpaPiRWYVxmasjM6SZOnx0gNzTYZWX51nsT34_TixovrRZiz0WaeoGduWtvov2EYCpOZ8uKjxOCYgushKa5O0RpwA3JXFWEgRSAuonZT7eSXRUPTMrj-6XzW2pXX5uxSBTzesaGoF9yTs2P7UY5Ts7IDF2gGzDweszJi6ELqIMidNd-TPqaBdFBg6XFHGHIcsSZoy5xy2aAKHS2y8HhFNBwy2KqJ-YKQfsjcmhh6PutssFFQ49oiVQitVa0GkmJEQ33iJJc_A5sMvYkerl8bAKZPUfH3ksqdFHjzGe5VZe3WBijyC5XCsLEuW4BHOAeklH0exBnesz1DjLjpBvSU-89c9jRrezYAn8HzFbJvXTrPLvlPbIbcDTYf0Jw9Xol2QljpXVrHGFVhv9rg6ncKSv0hRMJ1sEciR0xONFdSeH65y3tlrPCGk3-ymKemPvDiDbHnr3T5fKxudCTVHEylFS7XeD1arBgt0WVtJSxVDV6nK31uHOHvZiNI5Zb5wrO-v4RWdbTgDLijcACKMuTfE7suK1I3DZsP2wQFI34j-r91WPQsFN7hZN8c_OvsvqWoXorEckCh-ttup1JKMlilZ88ypsaxg2OV6kcfhZR_ixmT8pgvUXsHO3Y1OMytQqknooB6MCYhOS27rkUWt4lVXvo2TRSOuxjVxNF1hbVRCySX2AD_DDTDy-b9N3FP8O1dcvZPCqko4PQM8LpQKbfkTww322KwbVt-aHOJbvizE3EFmLgaW-QyHeHegZJHNsQCZsKv0apZKWO1VAFW0WH58RZEXSpVzl8jgU90fm6vIaGRoitdukRz3PknWokNoL4FT65n8XV2o2flHk_JIcNyF0wtLW_5PMjrehJTfvVR4Eks6ExaedvN77ilmlyayNGsjHOeg3DGal4cdAJwaKm6gi9hhzr71FaYGnZWFGnjH97DE0CFM6OPqxjNml83TQMwO_j_eU3HX2Iuq2UN1pCUOiGhOIJGz4cMrw7OrhUU96vUgg0NzPcvXItliH0L9-SKfAc2lpAl9sefI86S32UA29MSP8Xux4HL7joTJwhI3nQUDV9k26D2VfOal0aQadFpHWCLhRHLO1QBgf84U6VJTGfWISCW_QzNtYsbilZdHtPMx25TRDsTzYjI-qjAfRNOujN2_2fk6uUna8x-2kYEe9n0iqu-xjGm8xjgP2KoHeXz8W5gvOAUB3G3jv7nWDApSLx0oyact6iXA3BgaNQFrzbDqBnbD80XPKCjVAwlMrj53diC6idDQw3MNL-yCsB39dM87YNeyoUmbLYErb4Ei3jQJcIX26sqi6Uyc_FKQpGkmkwk1iIfe3T5u728AAoogVFsK--uLd_zYmOUPac2ZJAu2fc-Zfuy_oyS7ONp1Q3nctob8Tykekjm1bfck83rezYecAX-C0UMrqWbHkegGlmm7cOtAwzmqSO5JfabX7bx0-0W5vnjk8HkDZ_mclsEkE6K75hJDzME6prxpd4AWYRWwU8n9e5HobMo3euLJe8_JUR8YPlanol1u0x5TQ7ktKp0G1o9HVwA-4PpBaEqIX3CMyZZRy5cbyz2zVQo0I_k2VJebY3375ATyg==",
  "id": "rs_0ca80820094c0fa7016ab43828411487d0ad75e71588d118b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.14,\"left_y\":-0.05},\"note\":\"The left arm is again stuck at its far, low reach, so it cannot close around the bottle here. I’ll retreat upward, then try a lower grasp on the reachable part of the bottle instead of retrying the same pose.\"}",
  "call_id": "call_pDTZdNRglF9aoJSTuFmfEbSX",
  "id": "fc_0ca80820094c0fa7016ab43829bad887d080dd4bc2d8f2f7f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pDTZdNRglF9aoJSTuFmfEbSX",
  "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]: [-0.2039, 1.9247, 0.7055, 0.7883, -0.2443, -0.1684, 0.9959, -0.2489, 0.728, 0.5018, -0.4244, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0502 left_z=0.0496 left_yaw=0.0777 left_pitch=0.1442 left_roll=-0.0401 left_gripper=0.9959 right_x=0.2706 right_y=0.0004 right_z=0.1491 right_yaw=0.1747 right_pitch=-0.0296 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.1487, 2.7692, 0.9792, -0.0659, -0.0073, 0.0024, -0.1846, -1.4838, 6.653, 1.9463, -0.1832, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b38dd111e97fa6f535b3329439883278370832fe84093335947d513e5edcbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e3b7025377469e24c6db6b75f00fce15236e4473dcbb050db0ce24e59c613b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d551ee64db15010727cd3e64fb91fd6462616a73cb8a60ebc08c2196460911",
      "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 21 attempt 0 · /responses · status 200 · 10.41 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 80 changed as sent

message 84 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2161, 1.7443, 0.5884, 0.6758, -0.2337, -0.157, 0.0139, -0.2489, 0.7784, 0.5907, -0.4641, -0.3676, -0.268, 0.9993]\nstate[eef_state]: left_x=0.4334 left_y=-0.0496 left_z=0.0605 left_yaw=0.0487 left_pitch=0.0956 left_roll=-0.0209 left_gripper=0.0139 right_x=0.279 right_y=-0.0017 right_z=0.1683 right_yaw=0.1749 right_pitch=-0.0306 right_roll=0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -6.3932, 4.9162, 0.9792, 0.0464, -0.022, 1.2381, -0.3624, -1.7573, 6.8034, 1.8584, -0.1783, -0.0659, 0.0073]",
      "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]: [-0.1993, 1.9137, 0.7219, 0.7166, -0.2405, -0.1646, 0.9957, -0.2489, 0.746, 0.5301, -0.437, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0483 left_z=0.0449 left_yaw=0.0755 left_pitch=0.1012 left_roll=-0.026 left_gripper=0.9957 right_x=0.2734 right_y=-0.0003 right_z=0.1547 right_yaw=0.1747 right_pitch=-0.0317 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.9231, -4.9436, 2.4137, 0.7155, 0.022, 0.0122, 0.105, -0.4034, -1.5932, 6.8444, 1.8974, -0.1636, -0.0415, -0.0024]",
      "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]: [-0.2039, 1.9247, 0.7055, 0.7883, -0.2443, -0.1684, 0.9959, -0.2489, 0.728, 0.5018, -0.4244, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0502 left_z=0.0496 left_yaw=0.0777 left_pitch=0.1442 left_roll=-0.0401 left_gripper=0.9959 right_x=0.2706 right_y=0.0004 right_z=0.1491 right_yaw=0.1747 right_pitch=-0.0296 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.1487, 2.7692, 0.9792, -0.0659, -0.0073, 0.0024, -0.1846, -1.4838, 6.653, 1.9463, -0.1832, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b38dd111e97fa6f535b3329439883278370832fe84093335947d513e5edcbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e3b7025377469e24c6db6b75f00fce15236e4473dcbb050db0ce24e59c613b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d551ee64db15010727cd3e64fb91fd6462616a73cb8a60ebc08c2196460911",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDgtM9C1uBthkZUDcCk-zjv12IZB-EVzCcYXtztijI27g-Ch7tq8P7KguR2bQg8zMrTHCh9HIqp0K1DJ8q_djzl_DqVyyc9MDBiKAoDu6S-rm7d8fHC3tGZ_dCCrSkyMMA1tnVDKfQFUmUt6H4fTIik7lAASgy5EfxhW9tmz4sKQT-SpphSqsy_zwRtx9iRgtsdsTz-r63c_jdHZ7i3JilgdGEGjdFss6rIpPOYo18It1aam0d6vkiNZTv44n6etEyjpgK0ANOqLo1RgV2udXgPwOlWPgBPgIflHOx5yF6H4M1AdqhaIK1voFLPv4E1zUKStWMZzm0TtM7FDF8pkURkyxgHlQLPm-K0IirGznReDS-4rdcNpcdE-nVt2gj69CD9k3EWfiaWQUOhxyvnww26lAtbEGyT4Is0zQU7YBjp3jAOXidEUjSNGVW-350j5X_IBQJszJoI09tZ--DOPppKbF7hz_UayDflockHcZS9Yd5bG8fDCBuUxfc10YPRwZGJI6PCCFl-5a8XvDGAd7_X8Ts7EByLCNS2bzv2OzPqeDPPqQnCuLilRKWLst-w2z8Zq3RRW1anB8SpUo99MQExDdz9PTwhjWJoIRRNFJkb5i6UyJ9Uoj1yHhrVjrluHu-dbSFqZCpwYQrAUZtJg-FCOyvtpmIrYDA4depF03ZJWNVP3kWFctY5tCoQdz8NR_iejP6WHa_fbyHK5MdHOxI2_DbIxClqYcAzeo_YQG1JPHflEv6cso1G7s-eEvVcwMqV6pQxnk_iBv9AfWxpZe9rPPFvJ9cjCauWY5s4AUE7QJyYcTibMfJ2bMAYnqqjBLhrPC0lO0_7G7uM_1DYfweiiQ8NbW3-7-E2PnuxrvPiB8JREG6TdXdzPiSeJ2zQOR_ImPciJRWmrbE4a4tCM68qZubZ6daNgJF6Af1WNPVYZE-3BQTZDXTW85Nhgy55hgOohUweiKd9FsadI31Yef0g35nfaSYNneqLmwA4mGtiZfE3vBXAQiUtAmpL-HvROG9F4kOKgGgdgl_13Upb13gVvUQ5fXciH4kY36Ww87lTpQD4dE_Ylc5zMerm7rNuSYwqi62U60iwGLJy7GLuYqaogmtUXq044mHjFIFCQsXnAnbnkidOcuPrlyPwbxHGhb2HCoAUAIQREVDj8LYeMG_brENH8nbRNn_d3DjZ7ZXju-XZm25xbqkvKAV5OS5k0HlLRlepYvAGTIH__eXDVGyusBpj8XyAoZyIn6kM_in5ngYDuR_jRQOjxyQSsaiD8p7lsiEEsXRAJdzTC0-sTD9_dUQTCbU3waZlxFoCaZd8EMJBVf8fllXLj83NsMCzAtiW29sI7kFBqY3Ej1MbxYnDZpg==",
  "id": "rs_0ca80820094c0fa7016ab4382c36cc87d0b11ccee8ab2a5e7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.23},\"note\":\"A modest retreat did not free the left arm from the extended pose. I’ll move it decisively up and back to avoid dragging the bottle while the controller recovers.\"}",
  "call_id": "call_FqE0MaYBV2AdIQdnLi1ute4K",
  "id": "fc_0ca80820094c0fa7016ab4382c886887d0afb9990d6422e883",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FqE0MaYBV2AdIQdnLi1ute4K",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1173, 0.8738, 0.7708, -0.4435, -0.1856, -0.1513, 0.9959, -0.2489, 0.7055, 0.4717, -0.4026, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3109 left_y=-0.0002 left_z=0.2224 left_yaw=0.1029 left_pitch=0.0255 left_roll=-0.0229 left_gripper=0.9959 right_x=0.2688 right_y=0.0009 right_z=0.1453 right_yaw=0.1765 right_pitch=-0.0166 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -1.7573, 9.4701, 1.746, 0.0806, 0.2759, -0.0073, -0.4308, -0.7179, 7.0085, 1.7998, -0.2125, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eeeede920f064cab4375d4bfe5a733c8f1f1455e4895a61eba9cb32af54cab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5caf578de3e5bcd05b670d3ad371ebb615257fe419f7c45ac88dc7524f0026c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3075cf1aef5a032c93414a7a89b3ee8693fb529a09802ea192397ff13a925da3",
      "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 22 attempt 0 · /responses · status 200 · 2.732 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 84 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1955, 1.8877, 0.7654, 0.5819, -0.2287, -0.1608, 0.9946, -0.2489, 0.7628, 0.5583, -0.448, -0.3676, -0.2676, 0.9995]\nstate[eef_state]: left_x=0.4699 left_y=-0.0486 left_z=0.0437 left_yaw=0.0661 left_pitch=0.0368 left_roll=-0.0109 left_gripper=0.9946 right_x=0.2763 right_y=-0.001 right_z=0.1609 right_yaw=0.1747 right_pitch=-0.0313 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.4718, -6.1197, 6.147, 1.4383, 0.0317, 0.0806, -0.0659, -0.4581, -1.7299, 7.0359, 1.8291, -0.1929, -0.0366, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2039, 1.9247, 0.7055, 0.7883, -0.2443, -0.1684, 0.9959, -0.2489, 0.728, 0.5018, -0.4244, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0502 left_z=0.0496 left_yaw=0.0777 left_pitch=0.1442 left_roll=-0.0401 left_gripper=0.9959 right_x=0.2706 right_y=0.0004 right_z=0.1491 right_yaw=0.1747 right_pitch=-0.0296 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.1487, 2.7692, 0.9792, -0.0659, -0.0073, 0.0024, -0.1846, -1.4838, 6.653, 1.9463, -0.1832, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1173, 0.8738, 0.7708, -0.4435, -0.1856, -0.1513, 0.9959, -0.2489, 0.7055, 0.4717, -0.4026, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3109 left_y=-0.0002 left_z=0.2224 left_yaw=0.1029 left_pitch=0.0255 left_roll=-0.0229 left_gripper=0.9959 right_x=0.2688 right_y=0.0009 right_z=0.1453 right_yaw=0.1765 right_pitch=-0.0166 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -1.7573, 9.4701, 1.746, 0.0806, 0.2759, -0.0073, -0.4308, -0.7179, 7.0085, 1.7998, -0.2125, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eeeede920f064cab4375d4bfe5a733c8f1f1455e4895a61eba9cb32af54cab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5caf578de3e5bcd05b670d3ad371ebb615257fe419f7c45ac88dc7524f0026c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3075cf1aef5a032c93414a7a89b3ee8693fb529a09802ea192397ff13a925da3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDg4YAXG8KLeVX453ggVc6z7D0AclPrsblJyya8VNKnea00AjNrJPQMO7rdSsIaTsDb_LI6xQ2n-E7QlAPH9ZXKRQBnU4vb2VHZ1x5wJbJw9PvpdppyexdR5z8Sb7LL3aqMN8rZ1pQxvCqn6jYhEzAOKar6lMBiH8DLaZByVIUNxveNyNanribTsJqKAtXOdDl8haoKI4pclLfpd1yMgjSODfru1f52Xy-ddS1V277U836M4kj6WdT-R89GWNnQaow-8SRFLqtbbxdm3P5nTnGGaQGlP4NDz7e0TFL1UbDUDhwK5rFyqcsq3XH2rirnNFTKwq-8IyhBusjhgfKqi_Yf7UjCWdG_LyoyjjyZz8g0BjkKCMZV3h7K16fLwJodbWc0oWjn8y3_L2RuAYNNJg53e7HNtJAYNNqZE21d676SE93NTTNq-g9vDfcmgeToVKTHfaeHZT0iixFZPyYNPe2xUW5wWwYPkQ4XP3CWiMVojLa33wdMaEbbFgu2-oHWN1QB2FFvvHKYCJOPRfOWgO4k04AsS8kBA6ZEsjZETSxUe3FP6HavQ1jDZjngCw3ux8KpcYd2KfbgsQzgiixBvUaAfja4R1-WTq6hFVSpP16gtwPC8pIjH7czqFK_rbv-AHy2XsnCryFsTd9-MMACWx_he88pixH09YVqJLeYrdCdu9GZBqolZg3lxWgbzztqy1Tsh79XodXqtRkvt4SmRfd4meKGLJbp3UMiRu_WXLz1FknH3ih1p9J2vLENQ465YYvOXDHqK1RikXQXtgA_GFPlEKiYEWfXzzMmEy7V6DplGQpfp0Rbi1Zjxfwkb0m6yEsBm9KY5BzcrfeEg5TQSrb1DCCyWWBdIKiFcD5G5KATZ6vXmD1_7blBA-iVdgacRMxf5onzrkU48nkWV0k0i8QgPH7uwP-rWUWZxawO9OvsUKF1EjbyA7tR5Cy_30AKEVEftIhy8_NEAOxnu3ur3x2Y2L2O5cAQMPiSSmSdgGw9cIimJdrUaCpAHvZ8f1mfnHz2ngesTwd7UxNZBCc-bARasfq0MavmvSU8pWlyr0otmFccsgw2Lo6QkuR07q6GdHzGhVBjsb917a_08pbFc80RxUjWyyF0TI7cGjoYAKJZQbbwzMXcKFEjvUZSewW8r49UgMfaDZiqIwHBTVBIojQE73aaVmbW7xdn_Nyklt2EvhA5e0_A3WUTqX5reO2df_jiHEtF-NJKmm6f0r_VBx1CmuhY5SMKeUQGypfkevceNr_gL_aBzmEa82uDdsY0Y201esC68t2s5OwK4G28__lLPgLLZoWl84u6o8wFoO2gCfdtZu0oQo8cnj_K-5nvMXuu2h0fvVDWP1oGj_AAAlxsseD4wuHafEMir3Bjlv7WTTjwZfeQgZgW0ui-OzrZm61A9st3Qtet0wJSOqPV7JuNS7uk5TMFyTdjXqAfr8cMyuPqxbktxgTxLP7i6gFxawMOHT9_DvqbM6VUmcjgQVfdsZ7wAqpgK26R6STJyWniGJFS1APTbGLxRRiWcOpEe4HgjyLuu5mnz6yefFLOvfmHUl5posfo_503o1nN37zJ04a0mOMN_NxbCfnI0DpCSVT6iHDT_2ZJxuWb1g-LR7R1xUprWfSeYxxx0Elryz9A1eAjNCDWT0O1EX8ZBkDHErANpmqgzB-5RMvVLzp6eIY-wwVi5G3YzOqClcV5JtymK1eh2ZsLSDmzTmG2ggYz-zTDLb_ivh4uJB1ax42-g_V2OROblP2iu29JnT5ZA6KhuCSJMdmoBYSuz539XXcDA5Ve9oCokN-1c3tl0CN-mm5xvzgrOkdvqqIlVTr-Ptx6YonFXer6Aq1O56vfmqtOHGn4-R9rqjLf_vvgVI3oEAXDzDEJxgasGv8ZbyuFinETG_oFmQkMYtVpc17JfG4SlHtF1n1z9NJaDMkOS3OAuttFlYuwQ4oTkT377S79GqtMh6EUFOREeVwZPrz8ukFrRjpiLMazLukR3yEO-hw1rCVaZab0GqxaGFpRP7orUTr5F5ndU1lSW1s7Ykn2WdFlQRHeOnt8oSvTa1Q4835GJfZ7qtQ8ZUH3duBPbCitfszqPQU7RYF0t0seOP_6E5MVHRl6BcKvgT5CBmRyh7N7zCirKk6LM6nB1CMTbq8VcE9rPuCnl5pjx3EOZdET3w4y27aH1JGVyGaOxp35mqAn6TjP2-QRPSFRelZ9qr7S97XQsS5nxOnvBeUzm1cWC5NoFqR8N9Nh5uH9axWBHYT17tQbZ8R9mey22URlM1a7l3Ti81Y207AG9lwCD8DbLgtvCX-v6Z_Kgtsz6YhIT5rl4EVNdWaS43U18EzgC7F3Z5TKtIDFcUeTIZi_gXVG7XaIb4Mozk2KrIxX0VXQRAjS5UAInGu50-q4FNk3keCJTi0qyk7YRyKmH3BruwX_M2cMPoJpqkSGd2IZ1z7q9-utxg-JHZ5tEXHfBogbcFYOMEy0FRyR1CJ8sEFhI1OpNmfnHRixB7ouu67q5p51wZSe5P9kQGdAvau17MhKqTZ7DlHsvn0fbpVtGwjCLmTD8Az8RK2dSIhHfxnzJL4qYEqjrW9UvebR_c4-CQ59k9ohl9Qh3mlW850c7hVTtb0zqqn8PHFMP8l9s4h2-bMPLGHbSHLLXyGJHRlOvW8gIVKSHZ1irPSDLU2N-QFptkKqhzZ7qF6XDHEAEhMWVBoHWIm2YHF_SavvoZzWWK5c6yfb2qn2KAiQ0-Jx7Gn1Nae3IhsfPURPSvrZEvSN4MnuoYRUGub9xkA==",
  "id": "rs_0ca80820094c0fa7016ab43834a3e087d08b0673f27b2faec2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.07,\"left_z\":0.028},\"note\":\"The left bottle is still lying lengthwise, with its base nearest the arm. I’ll grasp that reachable end and drag the bottle toward the base, bringing its neck within a low-grasp reach.\"}",
  "call_id": "call_AQcnRFC5XbLJnOXVzM0OB5Rv",
  "id": "fc_0ca80820094c0fa7016ab43838120487d0bd5772a362b5575a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AQcnRFC5XbLJnOXVzM0OB5Rv",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3607, 1.6791, 0.4759, 0.5022, -0.382, -0.2707, 0.9959, -0.2489, 0.6975, 0.4572, -0.4026, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.0661 left_z=0.0166 left_yaw=0.0879 left_pitch=-0.0809 left_roll=0.0367 left_gripper=0.9959 right_x=0.2666 right_y=0.0015 right_z=0.1408 right_yaw=0.1767 right_pitch=-0.0225 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -7.241, 5.012, 1.8828, -0.2662, -0.1538, -0.0122, -0.5538, -0.9231, 6.8581, 1.79, -0.2222, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae32f950c556869f7a4c076f14e4916df21eca355b3e6a4643f15be981e117f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6832843c917fe49e2dedab506e35590c84701ff39945bd17bf6e1ff9117c7226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ee31d18f3597acf407abb776ceb4b5053788e7232b582bd9ead48f388c3015",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.553 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]: [-0.1993, 1.9137, 0.7219, 0.7166, -0.2405, -0.1646, 0.9957, -0.2489, 0.746, 0.5301, -0.437, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0483 left_z=0.0449 left_yaw=0.0755 left_pitch=0.1012 left_roll=-0.026 left_gripper=0.9957 right_x=0.2734 right_y=-0.0003 right_z=0.1547 right_yaw=0.1747 right_pitch=-0.0317 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.9231, -4.9436, 2.4137, 0.7155, 0.022, 0.0122, 0.105, -0.4034, -1.5932, 6.8444, 1.8974, -0.1636, -0.0415, -0.0024]",
      "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]: [-0.1173, 0.8738, 0.7708, -0.4435, -0.1856, -0.1513, 0.9959, -0.2489, 0.7055, 0.4717, -0.4026, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3109 left_y=-0.0002 left_z=0.2224 left_yaw=0.1029 left_pitch=0.0255 left_roll=-0.0229 left_gripper=0.9959 right_x=0.2688 right_y=0.0009 right_z=0.1453 right_yaw=0.1765 right_pitch=-0.0166 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -1.7573, 9.4701, 1.746, 0.0806, 0.2759, -0.0073, -0.4308, -0.7179, 7.0085, 1.7998, -0.2125, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3607, 1.6791, 0.4759, 0.5022, -0.382, -0.2707, 0.9959, -0.2489, 0.6975, 0.4572, -0.4026, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.0661 left_z=0.0166 left_yaw=0.0879 left_pitch=-0.0809 left_roll=0.0367 left_gripper=0.9959 right_x=0.2666 right_y=0.0015 right_z=0.1408 right_yaw=0.1767 right_pitch=-0.0225 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -7.241, 5.012, 1.8828, -0.2662, -0.1538, -0.0122, -0.5538, -0.9231, 6.8581, 1.79, -0.2222, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae32f950c556869f7a4c076f14e4916df21eca355b3e6a4643f15be981e117f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6832843c917fe49e2dedab506e35590c84701ff39945bd17bf6e1ff9117c7226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ee31d18f3597acf407abb776ceb4b5053788e7232b582bd9ead48f388c3015",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDg8bgvbqmPFcoB4nmrH-5ytGCVQv1XMADZfKNHUnUc_7_xXoXnGNtYu0fNQ1MnK4P8oXAv22Jjj0XMazUIzWH3KP--4M3cx_x0oOn_y-cvm4_OK4szhV5CXz6xaS10NDgAdvUZbZdGhmbOxXr5sF81lNCv1GPZTXMesya4btkSYmxQApbILa3VTZMV0dC76c1m6wlftcsRopocp714i2DIcdWbzgoUDcpKpitbg2XgmZjlrFVqq-Vb02ljWzZsmG7lcVpv__B1J-Qr0F_yEgGGzdWf_XvHA3MBQiYnyOdfAunoSOqDE_GLDvDqCCGHu2jOIb1vMyge2M0UI9PH1QyJFvyuM7UMi2E-A6xJWOCVua2qmDedkOQmrJAqjXmVIbgm6uwKMsV8bwYNsTH2c_a1LUhUC9D1N2WBda_22ezu3NaCHMI97NE9EyA926qtb7-Pj4JdB76Cb8Msa4XgBMBDa2Ik2qT69NJdnVrbTZZybxmfQwev2FR1XZLPEr2pqTg5UwYZ112f2WxNbBee79_321OvV3B6bYP2d0tv7RoZDvV8npoUVq9qB3D0ZTryL5fu_s0t4nXlb0DKaL-KeNBj9Lc5bS5VupP1w0xTr4jXpLfwy2edrrHyx1q9jN9Kkikv0V-SEs6GkSMGN6MxNsxAuY3W9IDOnmizznioUJgD40TvqnW5dVG0f5-FhA4uHHFopnXoibMOtTrDx3hRjKNMHhSNwB676pxxAzixSJuBXRZYoqm4j7Luf7J0tWPgfqfZe3XU6GnHyI5YEFkPAby26nQAPjqNu11c8wHbWWfKTJbDp1K0APCJmzohWm22mDAYLpJmpSZ38bjJLhEX_v5N5yX8itzYoFor082ZZ0BScBFm8dr5Eih1wC1X66WEIw4M6DUFsH0NwSVRQ3-UxK185zL1dzdVEEwSTPXNvx11rcjfIryllZZOIEGI-29nDGZE1ps8yQZBvDLGYSUrs7ih6TGKEff0iIKioa6-DADeHVRyjjj3XseDrAZYoyOQ9BE7OwlgUw9H-7NnfhpnxDzz--jKfbEkjH_lDwIPQOhFjdF-vcahUtb_Rvoo2nobFm4TLKiOWA3jYtZV1aZJS6dJ8bB2M9OqpCbV8TsVvguuwN-wArT5HkDb8MItTQGcBg27EQ9yPoKy1Hh8v0iR6ZjfCK8UPvT0STDkDTuL_6gQ_rwwwGK3n1sTXsH46I0fCwVwxPIv8Ok3z-IoOR_CrngfWUvET2dx8crEcipVamDZ1MQ0TZkx8EbeHcRtKMY3qeQhqJfRYeA90zRDobgjDvGzK1bjNxMlqrnjuSpZtRahmgXV5WzAaaaFCmvm6BQWO-PT0KlrwMuq-73isSo_rLNA1aAw6_fqh0CvOLjoTqE99PnklUoT5x0n5MxhNGaBuLFPGbx7T8csDyXoTmiWU6CRhKxovKT2pRXpkMD9ADAL-or_JyuiqMuHs71dafiAkBt5SD-T860o8OoVI2fQUgBC16DJ7eNoWCFYgUARTCEKl6UwSZ_S8ag0SxtkOEg8KGa7bxb5Y2aIu2Y8nCO5G66tNaQ6cLKMKYoxyyLsmFg3qBMA=",
  "id": "rs_0ca80820094c0fa7016ab4383b70e087d0b59c919a582997af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s near end is now directly between the low fingers, and the jaws straddle its body. I’ll close around the base end to pull it toward the arm.\"}",
  "call_id": "call_mQczeXqnQwMtAHp1EuzGZTAI",
  "id": "fc_0ca80820094c0fa7016ab4383c4ec087d09bfc4d965afe3767",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mQczeXqnQwMtAHp1EuzGZTAI",
  "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]: [-0.3653, 1.7168, 0.408, 0.6815, -0.384, -0.2855, 0.4878, -0.2489, 0.6865, 0.4393, -0.3962, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3698 left_y=-0.0668 left_z=0.015 left_yaw=0.0913 left_pitch=-0.0139 left_roll=-0.0066 left_gripper=0.4878 right_x=0.2647 right_y=0.002 right_z=0.1368 right_yaw=0.1767 right_pitch=-0.0228 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -5.6547, 4.4513, 1.9072, -0.1832, 0.105, 0.9744, -0.5949, -1.1556, 7.0359, 1.8242, -0.2271, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e687bf57a1f7930c099d300cfa8ea645e7fcc4a137023061d89ef1a2d5ec5dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca0b43a40f44b52ea00a59080ab7bbb5ec33cd69b75cd4a89e532f126ecdb9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf2e11eced4789f4802821196dc39808591a04e19a1dd6065e4451262065f3f",
      "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 24 attempt 0 · /responses · status 200 · 3.37 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]: [-0.2039, 1.9247, 0.7055, 0.7883, -0.2443, -0.1684, 0.9959, -0.2489, 0.728, 0.5018, -0.4244, -0.3676, -0.2676, 0.9996]\nstate[eef_state]: left_x=0.4714 left_y=-0.0502 left_z=0.0496 left_yaw=0.0777 left_pitch=0.1442 left_roll=-0.0401 left_gripper=0.9959 right_x=0.2706 right_y=0.0004 right_z=0.1491 right_yaw=0.1747 right_pitch=-0.0296 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.1487, 2.7692, 0.9792, -0.0659, -0.0073, 0.0024, -0.1846, -1.4838, 6.653, 1.9463, -0.1832, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3607, 1.6791, 0.4759, 0.5022, -0.382, -0.2707, 0.9959, -0.2489, 0.6975, 0.4572, -0.4026, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.0661 left_z=0.0166 left_yaw=0.0879 left_pitch=-0.0809 left_roll=0.0367 left_gripper=0.9959 right_x=0.2666 right_y=0.0015 right_z=0.1408 right_yaw=0.1767 right_pitch=-0.0225 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -7.241, 5.012, 1.8828, -0.2662, -0.1538, -0.0122, -0.5538, -0.9231, 6.8581, 1.79, -0.2222, -0.0171, -0.0122]",
      "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]: [-0.3653, 1.7168, 0.408, 0.6815, -0.384, -0.2855, 0.4878, -0.2489, 0.6865, 0.4393, -0.3962, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3698 left_y=-0.0668 left_z=0.015 left_yaw=0.0913 left_pitch=-0.0139 left_roll=-0.0066 left_gripper=0.4878 right_x=0.2647 right_y=0.002 right_z=0.1368 right_yaw=0.1767 right_pitch=-0.0228 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -5.6547, 4.4513, 1.9072, -0.1832, 0.105, 0.9744, -0.5949, -1.1556, 7.0359, 1.8242, -0.2271, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e687bf57a1f7930c099d300cfa8ea645e7fcc4a137023061d89ef1a2d5ec5dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca0b43a40f44b52ea00a59080ab7bbb5ec33cd69b75cd4a89e532f126ecdb9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf2e11eced4789f4802821196dc39808591a04e19a1dd6065e4451262065f3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhAcoGUIfM5nPvSKL7Ffi33qKODBtO716DfpwSg7-3fCJ5lER6g3p_GC1T-gwot0C1KIuYCM6GMOjzmN3GJFp3mCIwG9rD9rREKOmRLpU-rGFbzdSwZggZO1d_PWurYBoYb9KlTmArRleSEogjrSeAv5zxpCdB2ZXdDLZBIn7XrUN99PJzQYGgajTSOjrpo2gerXhaPBx_HXUmcnie7rdifRMDx0NgVBFKJFqFoQw1Vbm6LOU8XRMYWLgNUhG8bUgBmh0oYCQ47LpUkuqVZo5Th-Hf7OA7zvzSvJE-F7jAIvFmya_H8Tw6DHjbuyIG_cHPvefns_ucoL0wHCOV_bQ2srW8fGgwnqeHiiXR1A_3UcgZgE9LThz-4LP-ppugMfPGWjH8vKIjg83BJ1zgE2vJ9PBacW0S4B9VzP3xzEXl7nXTQlNxeZLe6AjwSCVC94Ue8vCs1DHWjhfL12q277mNC-qbniasHPFV0Z8BjxdTiqAzCIUWWUGr5yK1Z8d4z7EVyIXG7sTUwXCWHFB1PXitijUxuUTjTqLrKmFP2ghNPBrAp0g3kCawyU4lj2_WHJekFT9Ydxhslkz0nYD4xtRMCoMLHDM6qRvkoTTAtV_WeUH53QGTnt3HDraoJ82Gd_b6pAlMBPzTF8ImE9F_gN69FWoF2PyHb-ZKvj9_ip8YQR-cD9QoMcI29XVQpSTqi7QEBJyiiYyMZEf-63HpASTjd00-CZT4sZGIEGuVzfZqWqLHYoledvGmi6Eyirnww7kDlVVDN17Gkz7HrBnlivrnM55PhbrgtbCf20h4qgBJV-g-pApVqlcRia7guc9J2QW7PR-gQ6nfBfOmQ9N7QmzWeJazriENl75vlWi-AB8OSNqWi_1RCYpqipiiYBWLMNZrDlSFZwgPQX5McVkiCi5lb7e25TcdbqupArmAALA2wMtBqZqd2lVYrwa6_TG6M7C8gWX3ALxdjQ3zFt7kdnyaTt3-pNTpOotm2sq2RY4QnxcMMMcY5fAyeKruFCc35qBveRJJu8gIq1LQNBtTyTA6Z6VgkPiPd5gl74_AMizC5LBds475MhkHdpTLRrZIgbqVZW1wO2ubFQExU9g2zh8B_G39rvlE69bb8OZdlHLOgSualuG3-VJY8h9tuIdhDaELPF3j3nRAnlbD8DHLxZrdHHLyJg0ZRS-XWo8XLKvGGEV_ER-ed6JS599EVtaPcAj0UUvfq7h27KOet2C2FpeJ6COkPMkgkHhv_jWQk3Ef5mQ-QJxVkHsn-vWzh7aWAFBDlKIvvYafuS8bY2OqvFdeLfIB6qH3ptBroSEntGausmVPn7S52lBvVWJd623BpAw3TCvPYlZ5rIINlxm8-q7AH8ebj9tctql571MtUztGCcmjuBOdW-dCUIFzQOAgJQujr1MrwltAu9P9EzzTs4Qg3JvVvFB8iMtEfwkZteoMk_ts=",
  "id": "rs_0ca80820094c0fa7016ab4383ec01c87d09a3dc7710f949f11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.07,\"left_z\":0.035},\"note\":\"The jaws settled around a 4.6 cm width, matching the bottle’s body. I’ll pull the gripped end back along the tabletop by about six centimetres so the neck is no longer at the arm’s reach limit.\"}",
  "call_id": "call_n98QkoG8hNjnADu1lYnkiQow",
  "id": "fc_0ca80820094c0fa7016ab4383fa97087d0801cd219b567c159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n98QkoG8hNjnADu1lYnkiQow",
  "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]: [-0.4931, 1.4502, 0.2401, 0.522, -0.4515, -0.3412, 0.4888, -0.2489, 0.6724, 0.4198, -0.3923, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3094 left_y=-0.0747 left_z=0.0208 left_yaw=0.0487 left_pitch=-0.0468 left_roll=0.0124 left_gripper=0.4888 right_x=0.2623 right_y=0.0026 right_z=0.1323 right_yaw=0.1766 right_pitch=-0.0242 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.4359, 5.4359, 2.2198, -0.4615, 0.0073, 0.525, -0.4444, -0.3624, 6.7487, 1.9316, -0.1978, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec16a7dfff6c6aa8c9853c48ceaf7d1b68d71bd9053a9a6e2a05169e9ee9787c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c0025455c5b3c6ea5ed121545098105ffe4aa4db0297edfcf53036db5d3961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c490710de3285844b9f8b024c741a759df028dd616c954e0476b79f85a9cb389",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.097 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1173, 0.8738, 0.7708, -0.4435, -0.1856, -0.1513, 0.9959, -0.2489, 0.7055, 0.4717, -0.4026, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3109 left_y=-0.0002 left_z=0.2224 left_yaw=0.1029 left_pitch=0.0255 left_roll=-0.0229 left_gripper=0.9959 right_x=0.2688 right_y=0.0009 right_z=0.1453 right_yaw=0.1765 right_pitch=-0.0166 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -1.7573, 9.4701, 1.746, 0.0806, 0.2759, -0.0073, -0.4308, -0.7179, 7.0085, 1.7998, -0.2125, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3653, 1.7168, 0.408, 0.6815, -0.384, -0.2855, 0.4878, -0.2489, 0.6865, 0.4393, -0.3962, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3698 left_y=-0.0668 left_z=0.015 left_yaw=0.0913 left_pitch=-0.0139 left_roll=-0.0066 left_gripper=0.4878 right_x=0.2647 right_y=0.002 right_z=0.1368 right_yaw=0.1767 right_pitch=-0.0228 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -5.6547, 4.4513, 1.9072, -0.1832, 0.105, 0.9744, -0.5949, -1.1556, 7.0359, 1.8242, -0.2271, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.4502, 0.2401, 0.522, -0.4515, -0.3412, 0.4888, -0.2489, 0.6724, 0.4198, -0.3923, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3094 left_y=-0.0747 left_z=0.0208 left_yaw=0.0487 left_pitch=-0.0468 left_roll=0.0124 left_gripper=0.4888 right_x=0.2623 right_y=0.0026 right_z=0.1323 right_yaw=0.1766 right_pitch=-0.0242 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.4359, 5.4359, 2.2198, -0.4615, 0.0073, 0.525, -0.4444, -0.3624, 6.7487, 1.9316, -0.1978, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec16a7dfff6c6aa8c9853c48ceaf7d1b68d71bd9053a9a6e2a05169e9ee9787c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c0025455c5b3c6ea5ed121545098105ffe4aa4db0297edfcf53036db5d3961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c490710de3285844b9f8b024c741a759df028dd616c954e0476b79f85a9cb389",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhE2ndY8UjpldSdPZvhPM9FS-74Wqemp2bn0bAC1XWOs3b8oJfo1Skz1hDhXcArk0Z085rnFR_V_tAbSn1zotd8Cqjtl4Ldj5Z1wP2uDtBZ32YYZSPcl2--BqdjtNMPdcgRU8seawZIG6NfjOW1ShWNk7-1SlRm1DyH7HuWw_HVJ2nERX76LaW9brE6xdaJLc1rWOVz_v7Js4r8AjTPs18svGIDbxPpjCxgyfjyl3PN8L6yILli3y6t5iX3pNsZ9NeU1-eAbbspAayOtFPunRBc8btkcq6Ug61FJEEgIQcWGNDnspPNBSmnpdr1B0E8E74dO2r14WPKn4Th22neo9-iK8RGBjhQc5WaWqfWn-bscSRnqQ3bSeLNlo73idwiv3p0f5zeEXJKgQC3pefRQorsYxY3Ti1BsEvXKSTrfS07Kjfn0GK04I_1hTlkQ0CLQsI6hiq67brRLRWPijQ_2XQ4GymxZj6hCPvmjyyrVPqXoiyX15tF_o8wVPLMGP47qLZF_VewudU1O5ajv7nMOufj8DaECetvCVH_Zy9SeBCk100zuJcetnq9zQjaJY_h1vFFQmrS4H9hOZOGm2HBEcDCG-ypbvnr0HGg8mSg0rrj9ZQtbq0HtUAYeTDCrlkk4KGrhte2QIiDSURu7ZtQpp9DuEHAgxuxxTaQZKHlN6FWeBF4ZRg1YvklCffWuh2P5SvqNYl6vP4VQqwkYrEeWyy1o24fxxQNo4SREfFP_iNFLbxLo0Y7uBft4z8kmGGErGLl25QZ5faOkw5qqoDa34GTgzl8L1sVL0sqan6QTnoMhml2_NUvGYfI3nb8_Fz5E4StPkb7nzWGVsRww1UAV8Idz42Zsgeqo5CgENV6zJFR6qNEsgoxyjLK-lc6G6pHzl0SlOsN3UOpUAtudhnDiNNWJHfyW7gl7_fHbfWvUzwDS-e_DsvFXHfSNYbJzuBnhSjUSWrF4Vq2dXfQR6L9IWajepZIoiU_pyOpbJudPB2ItM5L2Uzgc7BX7pBDHeEHqLsP6zT21okVCEQcPzIgU0Tj1M1t78f4AbzfZq7-_BdqU4nPmnnpU8ndzWgQAszOsCxi6V7SYITYbZISY2bi4vIWmWQ54D9euRrqQA2FW3kxs06de_lUgIt7yjSNsgAW6ZF9U4DT18m4er_tbytywwju-4oQf_I4xwaADKPN77jTFbJTKsoNcbheE5iIbNibUK0r8uKKKN5meywb_Sr_2BYSCeOZs_eSC-84_c7x7wgLhiyFPImKVeVfYYkg6ljcHt2elnpotWTYZhlTTtxWXPyB4Pb8pmFhyfLCGku4sxOAQzXCqiX-zzRgRvMrt5r42mCUAQZ_mYdWuHqh23dzItFo_A-H_EiGwblI2djAqCNlakc2UnJSCRxVkFKT6zidrIW8AvTQ6wy2TdtT6dHN0B7GOQawTxdF_zyUNBO4tducOf10e6SRLXRN4dwqbWt_3mY55aKxTJ5ev8VjUP29-Qg_oWdZvFtgsOtfckxyrL7U8Q2QOBKgsG0I2xdgSdmbOPcgCnIN29yL82MDJQDSP_MgTk0lJvKuLtixdVadFT5_rQx-6DOnt5GrdAr1uMOlYYSfVHY2Id4DWOa9GX7MhgmaobZinYaz9JYIezWpEOkZe1A=",
  "id": "rs_0ca80820094c0fa7016ab43842198487d0b1e21f685610a0d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_z\":0.035},\"note\":\"The left bottle followed the pull: its cap visibly shifted closer to the arms while staying flat. I’ll slide it another five centimetres toward the base so its neck becomes accessible for an upright lift.\"}",
  "call_id": "call_JgHFddR5XpkgExaw61IRYPhF",
  "id": "fc_0ca80820094c0fa7016ab4384344b487d0a21e00b44c0ed06a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JgHFddR5XpkgExaw61IRYPhF",
  "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]: [-0.6765, 1.1316, 0.0956, 0.3054, -0.5491, -0.4351, 0.4895, -0.2489, 0.6586, 0.3988, -0.3828, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2539 left_y=-0.081 left_z=0.0235 left_yaw=-0.0071 left_pitch=-0.0443 left_roll=0.0119 left_gripper=0.4895 right_x=0.2604 right_y=0.0031 right_z=0.128 right_yaw=0.1765 right_pitch=-0.0222 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.3316, 6.2427, 2.2784, -0.5983, -0.105, 0.6764, -0.4308, -0.5128, 6.8034, 1.8779, -0.1538, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f6f06ad50cf97e1b16e9052ae4af1c84869a50e013682edb26883b53357073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f821cfa388390b34b801f5e08c19e17c39ecd0e50a84d715f03099b99636942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58ddcefe6edf3ce58c1c3eec3d7b20768ab91e5d1f04bc131f9134d82aed491",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.316 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3607, 1.6791, 0.4759, 0.5022, -0.382, -0.2707, 0.9959, -0.2489, 0.6975, 0.4572, -0.4026, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3721 left_y=-0.0661 left_z=0.0166 left_yaw=0.0879 left_pitch=-0.0809 left_roll=0.0367 left_gripper=0.9959 right_x=0.2666 right_y=0.0015 right_z=0.1408 right_yaw=0.1767 right_pitch=-0.0225 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -7.241, 5.012, 1.8828, -0.2662, -0.1538, -0.0122, -0.5538, -0.9231, 6.8581, 1.79, -0.2222, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.4502, 0.2401, 0.522, -0.4515, -0.3412, 0.4888, -0.2489, 0.6724, 0.4198, -0.3923, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3094 left_y=-0.0747 left_z=0.0208 left_yaw=0.0487 left_pitch=-0.0468 left_roll=0.0124 left_gripper=0.4888 right_x=0.2623 right_y=0.0026 right_z=0.1323 right_yaw=0.1766 right_pitch=-0.0242 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.4359, 5.4359, 2.2198, -0.4615, 0.0073, 0.525, -0.4444, -0.3624, 6.7487, 1.9316, -0.1978, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6765, 1.1316, 0.0956, 0.3054, -0.5491, -0.4351, 0.4895, -0.2489, 0.6586, 0.3988, -0.3828, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2539 left_y=-0.081 left_z=0.0235 left_yaw=-0.0071 left_pitch=-0.0443 left_roll=0.0119 left_gripper=0.4895 right_x=0.2604 right_y=0.0031 right_z=0.128 right_yaw=0.1765 right_pitch=-0.0222 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.3316, 6.2427, 2.2784, -0.5983, -0.105, 0.6764, -0.4308, -0.5128, 6.8034, 1.8779, -0.1538, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49f6f06ad50cf97e1b16e9052ae4af1c84869a50e013682edb26883b53357073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f821cfa388390b34b801f5e08c19e17c39ecd0e50a84d715f03099b99636942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58ddcefe6edf3ce58c1c3eec3d7b20768ab91e5d1f04bc131f9134d82aed491",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhHG7QJLP5PzR0KsF8XSnUwcb-9T6ZoDkBDD4qmq6FSeXO3sV64xrcLmNC5gMRMdVkHGFEiEDi0Dl7ZdcvDUhCWyOe8SrzdxdzN9fhF6gPNrSXKiQZJcpxEfLlYC0jLayWVeSsaF0lpPqYfZgifQg2eBQYHWV6niwavhEQXiso2TDQQds9DTv2XwmdxAlRk_UEAk43Wi_RYxNzf3QjJ3hrvLdpn5Mv5QlX5i_4E3TjcFEvHCIFJzuoN1ckwsDCKV3GDmD79jPIAfibDiTHxTdpl5I7Ihv8KprxbpTwnRU3wdPswqW0olM0QfnfKPV4i9NltuvFBdX1pduU98-tTXXNtYzLTogUUsMWAezje2UE2LLKCHSkncOOA5Hyoe2u9ftEib-jRLlUeb7iv5IVyJ6aBFM3z-L6uXir7SQ5vfsAyDDViWW3bFT3_XGs4NcRNDe5W6LGjReCmvoB2I0t0JJ0BckDD2oq7LhfLwWDBrjP4eQbbu_R4D80eXhG7LgGpZ9ZmqNfoMMZDJqIPPl8ns72WfmnjRdakVarnnwkT3pYEafnFHqGKIzBW-KsSkdy_GR1sEPu6c8xc_YFFuoHSDfukC3Pgz34sAhHS4-I8e9HytT8Ts2ZGfou7RICf1LF0byMZU5x4q6MBBH3DCzLRKwQPwaiAmspO-S1m0yfqRSXhVRqzJL_baL2wGzOwfldBH5kYY6xxgJZnPRKpNabFm5tSJ8raVqzMIuimwPA4L8lVJRpi0NW-az-mi68-RzIc8BZww8YqlnIClWf_ZApHqP7zxWCz-qki4zicvicnNFoGOlzATBRIZyiQsD-f0hJk_dwr-TdUgqXhgqThsiF680cExR9ZqqUFeeitNZ5IxL5Ow7j88dOKP8TEgnVOXlp4pgBI1eqhU8iBfVC3E29_WcNBSgzm7s96rz0DQSWRJhdHMyI9BkIm5wPnvx2U2G6hsQcaOJ-xHnl_gERSA4S6F0_WO8XilirwGlrdwjvKQHRkTBN8RYgPKxcc-dK4RuABjGTuv-XvUQA-Aqs8JmiX4ktUvBO7eGVSCJ2e9S5ybcT0twXVkiR_Fs-WaQQv_JIrvabcJPoTVHjBw26wBKboE1NfCM1nsghRoUTyPSxs8GggBguo8LD7r6THONlukNO8WhExHL-2VNcuNPprW1VBhZnPYXkJjBfkZlthQs0KjKnLeQNS0bhpuynwJF5AiBAUEfcyLhlnWPLtPfk5NOncv-mt0f_8JrvKt_r2bIsil2swn_5Ccj1g33GSiF_cD8_62QxiajjR8vYasQszPfBgoukz8NHCGOVEpam46hnIvAm_3oCftCy5E7D3WLBEgHfpD7dILaK2dQTHn2CZJwVTPKZjJPCfxrNo1AO3PjZjJMj4X_LbJHqAp_tBjef-xQkrCq01K_TpPAQJDS0P9N2TTLdVzdC0eUk63yy2-VfWhx3QAkkhCSZGV7k4cMHhV683W-7pQDWu-234vdN8g38oSlUcRjDQo3uv0-caSwUPUiL5i1ulNjI5_MkW5aNtlItEC347XmEpA6CQ31_90cAUopejH8uNGn40Fgoj530eiqOtdw5b3dZ8Q-XQGxr9pdTFqwQ8a6KwmKWKp5wYRjB4wcaXX21LYUOFu1WY-75BJ219-fjW1yr3-sQGzWVqYJfCg62SAObPkJUgkrpxDbniUJmQt_kgN9Qdo6xjyj-oI00KABss6DUaFsAgNdE0TTewDAUF",
  "id": "rs_0ca80820094c0fa7016ab438459c4887d085d8e21c9effb7fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_y\":-0.075,\"left_z\":0.12},\"note\":\"The neck is now much closer, around the middle of the left arm’s working range. I’ll release the base and move above the cap-and-shoulder region to make a lower, better-positioned grasp.\"}",
  "call_id": "call_HYf1YrDfIubbydEU7PNPX8Fo",
  "id": "fc_0ca80820094c0fa7016ab43846e63887d08e1a3e79ef56e9a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HYf1YrDfIubbydEU7PNPX8Fo",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6952, 1.0863, 0.0898, 0.2565, -0.6106, -0.4755, 0.9971, -0.2489, 0.6468, 0.3801, -0.3767, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2509 left_y=-0.0727 left_z=0.0278 left_yaw=0.0425 left_pitch=-0.024 left_roll=0.0158 left_gripper=0.9971 right_x=0.2584 right_y=0.0036 right_z=0.1237 right_yaw=0.1765 right_pitch=-0.0228 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.4274, 6.3795, 1.6142, -0.315, -0.0562, -0.1587, -0.4034, -0.7043, 7.0632, 1.79, -0.1978, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d89b47c5680c621f6824aa9611146971eef18e6df9dd1a1a04f2c9dd115b2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca570441d09fcbf14623a956fd1e918b260f2e5f14a50ddf2b21270e759ae7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7154d564b74fb1c4e3c5405103adfb80edfcdcc798160cf342146aa90773552d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.098 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3653, 1.7168, 0.408, 0.6815, -0.384, -0.2855, 0.4878, -0.2489, 0.6865, 0.4393, -0.3962, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.3698 left_y=-0.0668 left_z=0.015 left_yaw=0.0913 left_pitch=-0.0139 left_roll=-0.0066 left_gripper=0.4878 right_x=0.2647 right_y=0.002 right_z=0.1368 right_yaw=0.1767 right_pitch=-0.0228 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -5.6547, 4.4513, 1.9072, -0.1832, 0.105, 0.9744, -0.5949, -1.1556, 7.0359, 1.8242, -0.2271, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6765, 1.1316, 0.0956, 0.3054, -0.5491, -0.4351, 0.4895, -0.2489, 0.6586, 0.3988, -0.3828, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2539 left_y=-0.081 left_z=0.0235 left_yaw=-0.0071 left_pitch=-0.0443 left_roll=0.0119 left_gripper=0.4895 right_x=0.2604 right_y=0.0031 right_z=0.128 right_yaw=0.1765 right_pitch=-0.0222 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.3316, 6.2427, 2.2784, -0.5983, -0.105, 0.6764, -0.4308, -0.5128, 6.8034, 1.8779, -0.1538, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6952, 1.0863, 0.0898, 0.2565, -0.6106, -0.4755, 0.9971, -0.2489, 0.6468, 0.3801, -0.3767, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2509 left_y=-0.0727 left_z=0.0278 left_yaw=0.0425 left_pitch=-0.024 left_roll=0.0158 left_gripper=0.9971 right_x=0.2584 right_y=0.0036 right_z=0.1237 right_yaw=0.1765 right_pitch=-0.0228 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.4274, 6.3795, 1.6142, -0.315, -0.0562, -0.1587, -0.4034, -0.7043, 7.0632, 1.79, -0.1978, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d89b47c5680c621f6824aa9611146971eef18e6df9dd1a1a04f2c9dd115b2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca570441d09fcbf14623a956fd1e918b260f2e5f14a50ddf2b21270e759ae7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7154d564b74fb1c4e3c5405103adfb80edfcdcc798160cf342146aa90773552d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDhK8m2985YFAdJtmFv7vT_lpFIEcXB_6McfnbviIB4fPX8GFGYRBksTbMwTXAMX7PTAgUSt6XEtw2Xx3hpor4X9oB3ODnOPtnQOdjj1SQGiDlyNrRecWswotwEfKaGvt1UPCWR3Y2b1tP_7d_HauG-4zWbUoIOZGm2K6_J4Tw-VTdm_FX1SfgJKscflViGTAPJhsK_UqVb0Die2R11CZDxhOolXqmwQCxhLzaWPMan7u4qTZ4y1sHeqi4QpQfYJRx3brIHptLlsTJpHp2Kd_wGU3b9U2WhuPm9hkoVNAvAfCwfHeQs59kyu_5cc6xirxftFmwtSJLnQQ0pHTw7W-kPBFxlvw9MlbrPwqO2Kw-mz-G4O530-LsBQPYtFbAQonDCxxnV--JSuXUNWfFhiwMJ64J5aweHWSy2iI9EiIYVb-aRjs5mdqfcTxAEgysuq8PpYqHj1QaFw8k8rGFCZl0zXEZ7PwWOV86CsSiVMKDsjaZWqZ3i6yV686RzeTYz17OmPv0oXVCxqFW6Wk0Z7nHnKQKUZDbIfG43eehXm1EVJA_vAFvMqqK6jftKYcwGZI64cI2GqXee2pgVKXZ7tBGQZME6OXaUc33_uz8S78X1qaBDvWmGF904a5oTqjH0TnP8a52-241TDigzb2i0Sw4oKkuGmGIe1f7oihLy6HrdqFdmncJ33VXB3sN6w_J6j2WZ-qP8v0sgPefRUi24SqPYLGKoN37HsSWhIpcIkS1RSr-enSnL3t7xW97zYuZekpG_mWCHjE9fUyi1supH4G8qIRcYePFZyrFOBdT9IR4sJoRqyZr3dU0FtqyU1x6GaDdEkBbys11bwgv1K-w6lKVH_yQFHpgKJLUm4zpCirpLVhaodg2jmeHD_rQEuXNswPATq6lfFOP5p3NogQmkcZ7xdUxxNot8rzSwQ_HY-qzTD_cXq0ojCflEvC_QMFLc7fLb_SVZo3wqXw8VvMRszQHQ-fUUrA19QgQR_Db1UQyHw9gzQNlqrczmEJBSAhG8wqhonYUSLQ_6zR4yZac6QEs-q_IsPD2rlKWcre9ZxhGO35WzUH08H26ITZYNssTy2Dca0Cu78xffTj3g1fufBipMTmhOo3i7H9CK2jKcuCaJl9UO6BfK0kLNyFsu997daG9Gw0ydwmMXDxa3DckjO0uuCoWUi92IgS7_XwpJCwddS3rICheMR9GhFTdD5dPv4shptJ-pQC86sQTact_D3w4UaMhKUwlPyO2sBJGsh_SpnPRFQ3iZ5GN123wq4RfPygKMQv1TOpQMyGr5p2nu8PKHznNzuGk8xbb4MJpCxCUJTrhBPQHfxA6C3zNsG1uOJJQUP",
  "id": "rs_0ca80820094c0fa7016ab43849c07087d0ad9d3ce973a2db6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.16,\"left_z\":0.2,\"left_y\":-0.06},\"note\":\"After opening, the left arm did not follow the command away from the low, folded pose. I’ll raise it while retracting farther toward its base, then approach the newly accessible neck from above.\"}",
  "call_id": "call_LBmBf2SUbG3OsRdNdAHgsMDP",
  "id": "fc_0ca80820094c0fa7016ab4384a1bf887d0ba0f5008518e8280",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LBmBf2SUbG3OsRdNdAHgsMDP",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4353, 0.7071, 0.7509, -1.327, -0.9516, -1.29, 0.9971, -0.2489, 0.6327, 0.3595, -0.3691, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.161 left_y=-0.0894 left_z=0.1888 left_yaw=-0.0451 left_pitch=-0.0289 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2563 right_y=0.0041 right_z=0.1192 right_yaw=0.1767 right_pitch=-0.0218 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [1.0051, 0.5538, 6.7761, 0.2076, -0.8132, -0.0366, -0.0122, -0.5812, -0.759, 7.1179, 1.8291, -0.1587, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b0b6bd6ed567cf8a50a73958f9348a72276ad33cf470b3b741399706ab5c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b103461b7376d4f32d3b1385042ce5a5b34580bbecbddf69bea1fce8053ba1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1585b741b3625f77717f188939918c5b61beb31dc381a85f9debea06056d040",
      "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 · 3.08 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.4502, 0.2401, 0.522, -0.4515, -0.3412, 0.4888, -0.2489, 0.6724, 0.4198, -0.3923, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3094 left_y=-0.0747 left_z=0.0208 left_yaw=0.0487 left_pitch=-0.0468 left_roll=0.0124 left_gripper=0.4888 right_x=0.2623 right_y=0.0026 right_z=0.1323 right_yaw=0.1766 right_pitch=-0.0242 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.4359, 5.4359, 2.2198, -0.4615, 0.0073, 0.525, -0.4444, -0.3624, 6.7487, 1.9316, -0.1978, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6952, 1.0863, 0.0898, 0.2565, -0.6106, -0.4755, 0.9971, -0.2489, 0.6468, 0.3801, -0.3767, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2509 left_y=-0.0727 left_z=0.0278 left_yaw=0.0425 left_pitch=-0.024 left_roll=0.0158 left_gripper=0.9971 right_x=0.2584 right_y=0.0036 right_z=0.1237 right_yaw=0.1765 right_pitch=-0.0228 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.4274, 6.3795, 1.6142, -0.315, -0.0562, -0.1587, -0.4034, -0.7043, 7.0632, 1.79, -0.1978, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4353, 0.7071, 0.7509, -1.327, -0.9516, -1.29, 0.9971, -0.2489, 0.6327, 0.3595, -0.3691, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.161 left_y=-0.0894 left_z=0.1888 left_yaw=-0.0451 left_pitch=-0.0289 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2563 right_y=0.0041 right_z=0.1192 right_yaw=0.1767 right_pitch=-0.0218 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [1.0051, 0.5538, 6.7761, 0.2076, -0.8132, -0.0366, -0.0122, -0.5812, -0.759, 7.1179, 1.8291, -0.1587, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b0b6bd6ed567cf8a50a73958f9348a72276ad33cf470b3b741399706ab5c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b103461b7376d4f32d3b1385042ce5a5b34580bbecbddf69bea1fce8053ba1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1585b741b3625f77717f188939918c5b61beb31dc381a85f9debea06056d040",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhPqHEo0RFGS3-a6C3Ent_cqwZeWqWiOeF5j7Ax9kIcROIGmHzXccS6IMdGnd1hdSl3S8cOdBQpjRqWH-a6IHivs7xZvnLzUIpRPisrt9bSLO0gMfWZlURwmG8jmG6hw0ic6M5Jr12Q3c60uTjYMf-bfN3dt2J3wfkptuzKxdHfopN1TSuEnGVMsG5PLqL4sgDwQ6jYRzzHeTSUyNYGjsByhnlsWk5DxcjNsvaJu0LV1yHF6AIeiRvnr21eoCjrXh4OeU67p0452tmLza-HJyp1vOi1I9nU5bE5xa-oj6O2f3KQJSn3GSXWU97ZNGTYVVg5eGjL71th4m8_5B1ufasVDYH_tHKqyuB_r0Lqi7uwyEpA_tYQiVGmYgM6Z8KI6_j7owgNRKNhSWtqRHSh7zoYYDycpS6J0W-hIn-XpBWC8xrMKdgGwzka8na2j4ro_kymyBEN3m73z4Orh2C9koxDBaaHOi_H4Ub8vxeztgrqUTzlVIRlDO8HliBc_CwRfG8Ov6N-iZSLHhkxxcSC5x5lMtcPBq-SXO_ZaNhBf1r1hgPy5s1buj_rHbmaUu0kNKu4nf-L4OLckVMLqiKXZ29yLSKUAGyYTE5d-0lLTTURQOmtEqPWOAWh7rwNTTKcQddjQChkNSuJ9DB8kWY_fOsxwVUN_UhGI-ONT7oyegTkK3AsGvg0IQrDf4cCY9kA2Vx24Ty1qFFdfasgsIZEetuqMqVi-3DkXx6I4wjtuLl0xxBhwBSApxEfqPwvcRW9tSMcJ7ktRdAF-LaI2SFf7O1NEilU0O4xidlBbMQ-YKf3wUJazhHQDrxWSpv250cIZm2-LQrvEDxBx3fAUtQEWJJifYAKHXz9IWisNhFmHZ2lEKLzRHWRiTD6hgvT19M0hD8d9wu3iwE8ajuaFuRLXZZ6I9CENU73wYuBw-wXrY-Ex0_61nVW0LJpcG-xCVG8yL398Qq_9SCnUUiWoxUNEFlNqTcnSnzeXGW34g59qwWHJrklBXSRVRzBAEfoQAnn1lxNxZrNWveIxzk4X1K1xxpZLQX3LpE-r1Jg_UAbiSKInkajS-eqGo8j4z2-YKaHc-gZq4uH1XSbDhWuT4XwSZzxA-Nh7r4wEC_7yVq3Sg4VthRWRYLnytwo1x7oXKenXfnx3QYY4ev3hktQeZmyLhIxAHt6VGjWMSSLTcsUx-972AiiyqwJinnqz_O2a4B6kFxdpr9jc7yWxzv2PGPjlRGkrcO4gdOAZnBAoRDGwH03dhwopTowYe714Z1zx5fNsDlVSeLq4r_6wLqtREG8Tod8SchsUn-663Qj76_H2eM31c2CaulrM3uF3GuBzPrctfwPyH6jqGR3jam7lcmNcycG07l2I8Qn_0QNO32gRqb-nWiP6NCSO21hcwdSaLjvuXdE_Q0Jppp3kgdXWGxujrsperfgmOl6PB7aEViJn0wl5PXHqyrkvyFsoHH7SbsPAPW71mokIQe8R97aS-P4gVofGd9-tipmHSqXZuClbBOvDJG4NH5kb-0dYlMDIe8EMWgbwsla89S--SWJDJ9Osn29K2bH9lj_5a4QXFc3WKbIJ8PiJ_4PpOhNs2xaxRsbvnZMcU6PjdZBF_IaBaT9fEf6bNLOxr4puj2Grv5k2stWCXY2LjbLcd0uB88vpVdVNjVt",
  "id": "rs_0ca80820094c0fa7016ab4384d17a487d08244088f809bb216",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.085,\"left_z\":0.11},\"note\":\"The left arm is free again, and its bottle now lies close enough for a neck grasp. I’ll fly in above its cap, keeping the jaws open until the neck is aligned.\"}",
  "call_id": "call_lhyhn72OwlWF7ukB6Z0CDLyG",
  "id": "fc_0ca80820094c0fa7016ab4384e3b6c87d0b07a47bd502984f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lhyhn72OwlWF7ukB6Z0CDLyG",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4046, 1.2232, 0.4797, 0.0452, -0.3359, -0.2527, 0.9971, -0.2489, 0.6201, 0.3408, -0.3668, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.33 left_y=-0.0741 left_z=0.0864 left_yaw=-0.0032 left_pitch=-0.0912 left_roll=0.0228 left_gripper=0.9971 right_x=0.2539 right_y=0.0047 right_z=0.1143 right_yaw=0.1766 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.4376, 9.5111, 1.746, -0.0855, 0.2515, -0.0171, -0.294, -0.6632, 6.8034, 1.8242, -0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56653be437d4f7767033d07c821d924832283561d9723664bc39b8088fa3d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d739703019cabe768588ffaadce082bba418d54d40a06fb78ad911f412abd1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d0ac01770b8c0e30183802126c282747e474e121aa34adc0e758713d3a9467",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6765, 1.1316, 0.0956, 0.3054, -0.5491, -0.4351, 0.4895, -0.2489, 0.6586, 0.3988, -0.3828, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2539 left_y=-0.081 left_z=0.0235 left_yaw=-0.0071 left_pitch=-0.0443 left_roll=0.0119 left_gripper=0.4895 right_x=0.2604 right_y=0.0031 right_z=0.128 right_yaw=0.1765 right_pitch=-0.0222 right_roll=0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.3316, 6.2427, 2.2784, -0.5983, -0.105, 0.6764, -0.4308, -0.5128, 6.8034, 1.8779, -0.1538, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4353, 0.7071, 0.7509, -1.327, -0.9516, -1.29, 0.9971, -0.2489, 0.6327, 0.3595, -0.3691, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.161 left_y=-0.0894 left_z=0.1888 left_yaw=-0.0451 left_pitch=-0.0289 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2563 right_y=0.0041 right_z=0.1192 right_yaw=0.1767 right_pitch=-0.0218 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [1.0051, 0.5538, 6.7761, 0.2076, -0.8132, -0.0366, -0.0122, -0.5812, -0.759, 7.1179, 1.8291, -0.1587, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4046, 1.2232, 0.4797, 0.0452, -0.3359, -0.2527, 0.9971, -0.2489, 0.6201, 0.3408, -0.3668, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.33 left_y=-0.0741 left_z=0.0864 left_yaw=-0.0032 left_pitch=-0.0912 left_roll=0.0228 left_gripper=0.9971 right_x=0.2539 right_y=0.0047 right_z=0.1143 right_yaw=0.1766 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.4376, 9.5111, 1.746, -0.0855, 0.2515, -0.0171, -0.294, -0.6632, 6.8034, 1.8242, -0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56653be437d4f7767033d07c821d924832283561d9723664bc39b8088fa3d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d739703019cabe768588ffaadce082bba418d54d40a06fb78ad911f412abd1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d0ac01770b8c0e30183802126c282747e474e121aa34adc0e758713d3a9467",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhT3SVo2TkenAL2Ke4k-Cn_kwQ78LOl2cTMRenOdxU9hvzbhKsjV7dz_FTfTOuAey4VhWKNiAR2gJbSfW3mNtr7TAAYEDnx532kQYh3YvZhv6hGwmPVpGLGAhosngM69iMUEA5ctUR-dxjWTV_23hpShCgkexY3yc91cWox7koql6jdKwU_MhFM3b4-OacAqtgSfKJvcYMXnHzJRvGy27vLSBoHsDos88T8el9BzWesvjq1uScS3CJPwjTXGilws49FnUi-wLssfPnS7XpH-FN4liszRdFddB64icS7xHxPNSVTyoH03ci1t_yC7gQe5IAmeXCQmXzasgofTyx59RDX3bOz4BtDC3QA1Uzto0sVgR5I3AQXjNPMhbGjplrVp3EJWIuN1j-HHm2hW4S6sPgRv9Pg3rX7D0qlQfAZXWEL93PIyvTgCID6cxGQC1bqz-3iUt8s_5JSUSp7FHZSNntbCZpSDjsAQ0J0F9Qk8qx6rldkzV8IwerPDypmnAlGufzeh_DcnCXR4Ch5z4MYadrYzbDg-1JeOEE7yPg0tn4Wm1q9LZxMj2vKoFTOuMI9EcBlu62sDoq65Ba23Tz8vBt21A4YwknaB_fmmFblm027pxtYsW97Ed8LOHs3KRA_pzX4TD1-8OzOaVZYClrLvwcekn1zrDa51GRebbq93tCoiXIOHRlymnq7b5VN5ANVJsr9Jo1BVUqc1Psyy7oVK6K6VLJbfG_Q5Z0BnGMoUpvWG0j0xCarNGwlBhX_0SDeNHx9E01x9-ZFt-1hvZMoRuy5SstjUv2d8gON74XWZwQYpOP3ex_UMsMN3g3YDIVId5B0xzkp8wXPcqMT56h0X_0fIjJnlhmYULZVk657mzIs0p--prUSxCddGuf_c7njOd03-cLEoVfmHv5QUb-rFfo0pVAsHaf-fUJ8kZxb3ahasBPYpqarNj6Ib6ol0_1GXu0MXhOejafNUfrPR8dwvQPACBtU5lcAfJV2ZKPU1Sm8cheq4pWQXk50VIMYXhlRYpxA1dSl8uor6qntHmyC4EB52Txp8iSbV-fqVRUkjsAhbZQpZIlvPPSRdfacP_OGYN5Z1aqkImGk0pyqsCBMyTsWjWZOFlH7rdfTgz-NUSnAvZf92Zu4DZ4tEwjTV0BpQVYoJ1lsOojpQ3Wf0Gizv18yx7pVid6Sa2HlEmguS9ZmAvB7J_T2HnRfJaRVumqM9NTE_m-YFhDZMPJAtLnS5lVKsQpPriPvqyfmdoSn-_5bnuCYqhNvTrL8a_Y_f0IQpAm5LgLBAw28YmTqtHE_c5y9zWRrN8SUvOv7V2jigpWFsgI_BIdLckjhG1wtEbbO4HTZF8HvFE3fcWO_EiCmLfEv07EXf08-LieqgkvV3e2LBYemOO7B-v1RqSoIRsNI3eVWtwW0XoP-5KoGBqHcUHZ-x1tU2fGOveiBVxlmNE1Bw-rjMN9m9yRvlfxJxX-B820N4z5RogyZP4-wW0usobNVYZk7sjQl2VuMmPjbiZEePg3edflrrgNxhA5uc_wgYX_dhJcN2YeLNRDXvBy0ohxa0lD-fvyld9_Ju4D24QmCSOOU3IZf0uCYExR2bkvDjFi1kXBxt-gTeQzAxdUZKiZ7rO6DyumzbuZNlZE2v5I4TvU=",
  "id": "rs_0ca80820094c0fa7016ab43851b51c87d0a36696cf769f4269",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.075,\"left_z\":0.018},\"note\":\"The neck is centered in the left wrist image but still ahead of the fingertips. I’ll advance over it and lower to about two centimetres above the table, where the jaws can close on the narrow section.\"}",
  "call_id": "call_V7CGwH8lo4jjEBS3TxOLhevG",
  "id": "fc_0ca80820094c0fa7016ab43852aa8487d0a98b673833e529e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V7CGwH8lo4jjEBS3TxOLhevG",
  "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]: [-0.3099, 1.7477, 0.5064, 0.6552, -0.2955, -0.2043, 0.9971, -0.2489, 0.601, 0.3202, -0.3611, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3995 left_y=-0.0702 left_z=0.0274 left_yaw=0.0303 left_pitch=0.0039 left_roll=-0.0006 left_gripper=0.9971 right_x=0.2516 right_y=0.0053 right_z=0.1106 right_yaw=0.1765 right_pitch=-0.0215 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.3966, 4.3966, 1.0281, 0.2271, 0.0855, -0.0122, -0.5812, -0.3214, 6.6803, 1.9463, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9e81a682d0cd4ca9cfb762625f413140bc499f87afc5fdc5b0c61fcf07a61a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130e04f3e395f21b9952892c2b555461b1aaa605896e2cd2238b927d3bf17008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7b9304c986b046acdf938b111d577b9ce38b720b0796636bb790da4c7dec18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6952, 1.0863, 0.0898, 0.2565, -0.6106, -0.4755, 0.9971, -0.2489, 0.6468, 0.3801, -0.3767, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.2509 left_y=-0.0727 left_z=0.0278 left_yaw=0.0425 left_pitch=-0.024 left_roll=0.0158 left_gripper=0.9971 right_x=0.2584 right_y=0.0036 right_z=0.1237 right_yaw=0.1765 right_pitch=-0.0228 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -2.4274, 6.3795, 1.6142, -0.315, -0.0562, -0.1587, -0.4034, -0.7043, 7.0632, 1.79, -0.1978, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4046, 1.2232, 0.4797, 0.0452, -0.3359, -0.2527, 0.9971, -0.2489, 0.6201, 0.3408, -0.3668, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.33 left_y=-0.0741 left_z=0.0864 left_yaw=-0.0032 left_pitch=-0.0912 left_roll=0.0228 left_gripper=0.9971 right_x=0.2539 right_y=0.0047 right_z=0.1143 right_yaw=0.1766 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.4376, 9.5111, 1.746, -0.0855, 0.2515, -0.0171, -0.294, -0.6632, 6.8034, 1.8242, -0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3099, 1.7477, 0.5064, 0.6552, -0.2955, -0.2043, 0.9971, -0.2489, 0.601, 0.3202, -0.3611, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3995 left_y=-0.0702 left_z=0.0274 left_yaw=0.0303 left_pitch=0.0039 left_roll=-0.0006 left_gripper=0.9971 right_x=0.2516 right_y=0.0053 right_z=0.1106 right_yaw=0.1765 right_pitch=-0.0215 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.3966, 4.3966, 1.0281, 0.2271, 0.0855, -0.0122, -0.5812, -0.3214, 6.6803, 1.9463, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9e81a682d0cd4ca9cfb762625f413140bc499f87afc5fdc5b0c61fcf07a61a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130e04f3e395f21b9952892c2b555461b1aaa605896e2cd2238b927d3bf17008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7b9304c986b046acdf938b111d577b9ce38b720b0796636bb790da4c7dec18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhYVBGMH-8OS1cW4llguxt9FEt2AbCrTBt8gkxggfb-PMw9VP-r8ThUPj-gHpuugcXo9rcEdPAwhoQdYqmgB2DiYucK7PhzDmdNYEtYDXHOBiqgx0LgkoSasBRm7lcDohWKGEesK-L85lK1gPoZ4dETzIzE5ZwNi_OFQ6LGFBNPcLniwiu5Y6AS5c5NU3xJuu2TK7AufS5bfg7CqPKJeBOo1BghG-7Q7tmUvmX_ZI7E3DdnhvdrXdII3jk0VkY-MVku302_SaU_dl1Zpmayn8dVvsyVx_yt-DoPH85YKxG_Olo7Q4HLLsa-rt7wFyReeQ9ac_R5Ucr6PLiQPSmPD4fUQ8IncO2y_78T-w8kZAa6N9V4eEt_qj3eqQVRwgWZoXLF3pRJXo-A9q11O94O8BhTRcn5_CYl5GlWTjWUcOlPrhXe6E5eVoZ9PrnpAsZzbm9U4xA-6P8JToJUi50GmnOQBWwQTp2irooImcSXjXYwCzJVSQgnvODeGfWA89QEBOdzvOcUvsawss-mccURMqmvKsNFFjt4l3em94YHklaANUxGayudTEB8FLUxLWzVjoomUmnBLeC6mcLvfmCJn5Z-vmXYk29k9zo4oR72RTwWKT6DMISdDCYn2v8MVHbprRA9Vpvg_c-4wEjnZy-Vl0UJGCz9fVuQ_SGxSxjBq1oOWjH-PiU22W45pwTUIaQtTAXgbzS4u87J9nz5_G-E_gd_uNBGPwFYxDJnfNx7099cdGWX9e0GMtR5IGVNC0-2K089J1xOD2cR992pCXSyii6_QuPcIIWG9nG8gJOUILI5qRQ5oFe7bMPXN_jozF2RDSpBoxtiXSbhO3rc2hnsCobLM0z4fZldP1sagEB8WtuZFuNO5T1dZ6M0oQ6q8KynNeIEUThXIgGZ-cqErLl9YZteBBgn1CXofZgV1zP6STsmhJ0bRVqo0hdN52CtaPKouA67nxaV8uLUV0-WCwnjivyyLumuRsN_J7uNhoMFDdIljuFR35mdH1Gtucp-Cf2GsAEm68wSQE28Zgq-m6D-sNJyrDqn-m1Soip7X3alDLbrsL1uNqbVkS-Bj-m3Eb9rkXiYkPipEjCcKCYtMpFXIM3KGwUJ15yNq_d_6GBohohyu7xFwXSdFLdKOITTtz1NgrcMbxZTwDBJ5m3rUS3yvqlCpkl9vU366lZZR1k-uw6kNabzNyMvdWgn4q1lr_d3XVVncssQ9hT61lhir2L_YlQRuObwhw1rrLtoFaYCBElWNiQJhvHR3xaxAaKLsMCl10ZcNIGdPAdvSOPjrjP1YjUF3AGaqZeYDQkKvvWcqJcq6v4zIIXuThBTZAQjMGs6s7YOPlcBsLAxj-bZCC9srKcf2kCgv0TzbTTUD3aCo4hb5jNFIZxWs48A9PEo5OUUJu9LSSQ8jcC469l5pJgGiXAB8ZR7DKXqNRHuC30_uqsvOMqP8jSVO3QsmtrdcTp_6nDZlc1vQQXNyevlNdJq6IwQH35fm_ASOYCm_rwZJYMSJ4NI1fohg5vuM-7VNBEdLAm3Pd1o0OionCbQnAg3If9hqObxmA5QpX1cdhxPTOAialYjKHuxhrhQAcM352secyeDyz3jMIKpSshUlIwNp7XsAyUwEX5z6YPT9ohbWz8E3hO3yrTCTYAbaQdj4NFVEzSggB13yN2owwxjwlKP7RMVSXq-k-nfCJMr78IHYN9Zr5zTBkz9rOC1KFHXZhfFeVQRwsaNaumw9V_o1mbY7Qu2N2-CUdU2Nimk0tFPMjLGTreU2G4VAzYE0qo5RBsUK9hcn7VmkbndyJmZqksW6bP-ba9m4X6E9Ck88-hLc7DPjloACyrnCCyfep1mbANc12U_knUL30FYdl8xUIaiILa-lWqEhdLn0Dohc5KXJfftjGN6iYMKr0Df1BppfgzPabi9A3CnAj5J8FmVNlB1ilD9I15t220K6mlE38XJlxgMfJQIa1EDXUloWMSsIoNfBd14H0imGS3Bk_C9Td0NQoFJ8Ob1ZZxNOkGAqUpJDVBng22oGlzipxvfofmfM6rjCuY35XJWe3irdSNoqeaQ0y8JVz1Ws7exEv5LzPkVixwylNmGjlbvb5_D471HlGYJEUiqcTxDzP4lgWxukAz2OpJG9q1L16ws4oyeTA1fuWSymKHJ674pLaOGNdo7UFaQfxlIo1RIisu-mzNOXMP3USVWufEXGO7PypvlPDbILnmxT82Doey2RQwL21JE57WRxNRMYUdcMX9GBHAwrqn_-tTP6YD_fVlrM7eN6WS49LjBXj6vBS_dcxqQr-VUs72fxWzJMqf5Dt_mEgVi2mKvYezkGqmbO3vTuqizSttArrUUoqUyzOFivC7FEyhfInM_fFtzN_NyQFZL3MTA0TFd_TAayQHB7hrTTUcS91N59fOTLXd2943WqNvxlathdv1AwvBT_0wnHhsZYr2b2npNllUMwY1DPUue2tMN2PY9d70NMVEUreS2koAC_vd4fC6ENOnMqF6Q7X9WWO8B0G8WZmgJni209g4qb3-VHW5eOKk8YYw=",
  "id": "rs_0ca80820094c0fa7016ab4385523b887d08eb9b17b7069bc25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.438,\"left_z\":0.018},\"note\":\"The cap is still several centimetres beyond the fingertips, while the bottle shoulder lies inside the open jaws. I’ll advance three centimetres more to grip the narrower shoulder rather than close on the broad label.\"}",
  "call_id": "call_4ECHLlJI4WIIZOakXI6wCOr6",
  "id": "fc_0ca80820094c0fa7016ab43857edcc87d0a8022a656e192fef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ECHLlJI4WIIZOakXI6wCOr6",
  "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]: [-0.2794, 1.8549, 0.6277, 0.7025, -0.2935, -0.186, 0.9971, -0.2489, 0.5877, 0.3046, -0.3584, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4382 left_y=-0.0688 left_z=0.0353 left_yaw=0.0501 left_pitch=0.0614 left_roll=-0.0059 left_gripper=0.9971 right_x=0.2498 right_y=0.0058 right_z=0.1072 right_yaw=0.1768 right_pitch=-0.021 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.7316, -6.2701, 4.8205, 1.3602, 0.1294, 0.0122, -0.0171, -0.4308, -0.5128, 6.6667, 1.7802, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b965e7997c02aeb1ce81c5eca38ee6644e813e546c03fc818fea3b0e7f261437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21247623a806fa25fde007e41ba4f52154fc1695a4f834032f3954563bcd7876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa20ebaadfb34a660bd53b0d9ea121531b95335763618e503c716416179a972",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 2.738 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4353, 0.7071, 0.7509, -1.327, -0.9516, -1.29, 0.9971, -0.2489, 0.6327, 0.3595, -0.3691, -0.3679, -0.271, 0.9996]\nstate[eef_state]: left_x=0.161 left_y=-0.0894 left_z=0.1888 left_yaw=-0.0451 left_pitch=-0.0289 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2563 right_y=0.0041 right_z=0.1192 right_yaw=0.1767 right_pitch=-0.0218 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [1.0051, 0.5538, 6.7761, 0.2076, -0.8132, -0.0366, -0.0122, -0.5812, -0.759, 7.1179, 1.8291, -0.1587, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3099, 1.7477, 0.5064, 0.6552, -0.2955, -0.2043, 0.9971, -0.2489, 0.601, 0.3202, -0.3611, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3995 left_y=-0.0702 left_z=0.0274 left_yaw=0.0303 left_pitch=0.0039 left_roll=-0.0006 left_gripper=0.9971 right_x=0.2516 right_y=0.0053 right_z=0.1106 right_yaw=0.1765 right_pitch=-0.0215 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.3966, 4.3966, 1.0281, 0.2271, 0.0855, -0.0122, -0.5812, -0.3214, 6.6803, 1.9463, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2794, 1.8549, 0.6277, 0.7025, -0.2935, -0.186, 0.9971, -0.2489, 0.5877, 0.3046, -0.3584, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4382 left_y=-0.0688 left_z=0.0353 left_yaw=0.0501 left_pitch=0.0614 left_roll=-0.0059 left_gripper=0.9971 right_x=0.2498 right_y=0.0058 right_z=0.1072 right_yaw=0.1768 right_pitch=-0.021 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.7316, -6.2701, 4.8205, 1.3602, 0.1294, 0.0122, -0.0171, -0.4308, -0.5128, 6.6667, 1.7802, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b965e7997c02aeb1ce81c5eca38ee6644e813e546c03fc818fea3b0e7f261437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21247623a806fa25fde007e41ba4f52154fc1695a4f834032f3954563bcd7876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa20ebaadfb34a660bd53b0d9ea121531b95335763618e503c716416179a972",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDheElbqiwJDqzEt436WYvdO7b5ReiwSPwB2EIWXQ_5GwlBzeEvXqeOKPAaMeIBkHEEtBEDCSb11B7yif69kJbdqMtiYVYXOue0J_F3eMnGbu_8AJSpqn3MlM_GNc6RIjCxEjj2b1da_ZKyOuwyJSkns4IVk-DlFxkWde-LLF9-5PyhFXZuql992kbFex6VmMFn70eU4NhiOSaa1mXaHfzNP0nQ0Mir3QavmxysYKWU4HADgSKQIqQL_1mtkaD6vcGjYfwtxZWwrwh9bnAMmrF4xgLAD5G_FHHQhIA0TD5Ev7LMLN8sagwtQIbcerw8OERe17Lugf3f1XLs3k_m6XTWd_B6XU7DKjz8AoiT5G_IDgmJ1WLnQOB6BrGRiipuYohmhKZrVIpH-WGI0jYVpZP__a1mBdps6ATC8ed1NVoPZDuq4L5bRwXneiBkwUmnejGY4psCK9y7wtg7YaQ3MEJDv3B94wsJCewi8bk2pdXbBe0ohD5vHj2j6OHAUeP5aTrx0Jcy5tM7IetBU1VGuJ9gkNhYJ20Kss51-Ed-33YuHBOp-a0yVJKhU9bPTP4Ar2ILX_2ftUa7zmplzhfM_MVHJ8rgvCdawvo-cYWSPfMcx2vkzdwaL_atHVNL-loj4PUeTuqW-bSmAqznrN7q-uBkJ50vAWYr0kzsb-hDkhJs42qidbN8-MnRrpM8BrspOs7VHSER7bzym4S1qUkw4pA3Ijc8GmfTp0G5fy2VZKKCXLKljrjji14D_MnvblLHtm32XjBYbk3AbDHzYAmclujGlXFh6nS9jEmliQbi9PNkHJI1JPzAlbjJi7xQ7mugdo5YhgJ0ds7s2mB2y1Qe2atIP7iEmjnIOxKF-S0s2MIf_qndP_ZbJ-IIkQCc2iEI5oTyfY5ww9V1XE951ZnrOOUnKtW7OsiVtO8kRWxwkZKgTYVZqvEPHaz2ft0nmyLpLtemoaT3eDq1sJPNQX3TQCeQZQh67Yk7c83PKd05qaEQicsGZ-tPiCE7ENzoQdTpCvvEW7NsoCLfbwcNXhY7936zqDe6JpBbrDNoVhZrsenlVuYcIfNA3I31gREEav4AKOBcJZYiBa8DdF8yeLbKvu5wOPJV-f-ucuTOacRDsaLMBnj8JDjdUF13T9O3znFnlmoWDP1Xfi_E-2JC2Q-7cyfstwSMHpuz9GpJcV9pBROjdfsTf-jLZbYobLqtpcn8W5y5M4ILjsqn2JShSbwSHNgwJY7cyg6UbE52FW_weNC8i4e3DawN40NzxVzUri8oSFZIwLsc8NRysRMEMkv_stMVf3GAZ-2Icvx-pUE7_iLVoSy8UbMGIJvd77mdrbehFzm2eAyvnLrGDx4RzZDcdQfdrK3gpZl84qyiInMoutHZF7xXPNYVi8TQ2K1uA4ARyKePy5gF3ojaoHb9SUT21TRjeitam7NQJ9yExNABJ_uF6Z13Oj6rUMHx_hj5RGCou1MGjPmQvtfnd7jJyenPX1ZEF_TwmwIVj6PqDODfEGPGJTvCaeW4L-81zBjGWWRWJHMqEBMcGvxipmCYsRxmlLtnqWIeH9n4s2boCUVY6opVlEqq4QUpmHRr1VGbxfzbwsQXr2YoDpwU3jPwYvbJzA_rBVNtmNTVzij0esuYBidLanu9d2ru1C88M8u4YfkmXsmvJ1tSk2B0Jkj_PMgrOjuvSmTHgg4wF5QAK7rm7gBOsE8s4P20tkW9itzBq3VQL0YU0F-27kocOCNzFODeH64rizzTuE4lc496mkwh9l3x8Lkp2-CFwq7s6tKWqvbjEzgscx0t-K0ufQozjDGmmz_7TdwSF_omr8XfwCSupMGOUWGIPhGYqWh01zs90dgHNIBdpgOFFvQHAYmq-wrexvCslGk03fGbP2Pflf_enzGsftYM7XNCKx7bPkgOydc9O6BsCJVujN9ky3rjcZKffZUA2HZWDgJCXEP-HbmwxuUxCM8X1WdpxB9wDiFnPMgLoqZrorJJnfWfMjxDMbYrAG9LeB-upw42MfN-1o2ONOA3a5eoe7wgEqUAIx0SerTSCJBKolR0zjHPS-gIlEL2FjIXs7WNcl26kek7rCPLBFlbcopx_C0KyW3SuCNIQpmVd8FM2QzmZaIYPDvvLE3S3lxAhAqPnmksDG4WFOPMrfjJ-seM_1npUCbM0lm3wrm4xhHVMHI7l0mMcCRcuQ_9Z5JTBy1Mw-wUqjpuxMHQjDjXE1byIV3x6pJr4HdQfR1F61eLVgkkgQPVhB0NyzpmPfH7uvXeUa6TyBGrJd7dFZ9fsVaSlvkvD0Rk8FxLezCK9hTt4c3p2Dpp_W_xUfmCO60sZp-neuBXgAesXYD90nrPvPllODU4nPyJupZmfIWdQLcc3OOMwmkvwrebhuFU1znz7fYsnB2OskvOR2Qsep8ZdUjPQsB48hYzds3gyHRW1t4t4IBhgesbwLqGoXS-XnTp053hWHNaeB4bx2GCPYrdxRf1bB05MSPMA_TkWo93rR6r6tG8jsEYH8H7Ur-yFrTw3UincD32ogqrF7jXnReNtQKPHIdstNb1ywto_JLRnb00sJIQtQQersHk-YDOSvQtpkqIdMQHMbqD0SxYLtzjTTbhSoHwMMRsDbT2kkPxkPFsxNjgIoUwon-dExvo8YF2oYLZSmxgTsVdqvx6QySxjLx6-PUjj4s9HW1i_KjyyHV-B",
  "id": "rs_0ca80820094c0fa7016ab43859f4ac87d08d35532fa0a7b863",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.07,\"left_z\":0.017},\"note\":\"The shoulder remains just above the safe low-grasp reach, so closing there would likely miss again. I’ll move back over the bottle’s near half and pull it farther inward before trying its neck.\"}",
  "call_id": "call_fxUqfNaU5ikNSwcQFsIihxWO",
  "id": "fc_0ca80820094c0fa7016ab4385caf5c87d0931ce0a3a04c9d54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fxUqfNaU5ikNSwcQFsIihxWO",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2714, 1.8729, 0.6483, 0.6991, -0.2913, -0.1829, 0.997, -0.2489, 0.5747, 0.2897, -0.358, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.0671 left_z=0.0341 left_yaw=0.0546 left_pitch=0.0603 left_roll=-0.004 left_gripper=0.997 right_x=0.2477 right_y=0.0064 right_z=0.1035 right_yaw=0.1768 right_pitch=-0.0224 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -6.6667, 5.2308, 1.2869, 0.1441, -0.0269, -0.0171, -0.4718, -0.2393, 6.7897, 1.8681, -0.2466, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a047edd7aa72a2b52caccce578089464dc1f0787ed6fe552483b523b930e0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a189522faa6eecaff039ff9fc0a077346de250d567e412428671fcbc97a9e5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c8e0212ad6d4c543ebab875e3a9388ea76b4482d1b228d43f86bad255675d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.256 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4046, 1.2232, 0.4797, 0.0452, -0.3359, -0.2527, 0.9971, -0.2489, 0.6201, 0.3408, -0.3668, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.33 left_y=-0.0741 left_z=0.0864 left_yaw=-0.0032 left_pitch=-0.0912 left_roll=0.0228 left_gripper=0.9971 right_x=0.2539 right_y=0.0047 right_z=0.1143 right_yaw=0.1766 right_pitch=-0.0253 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.4376, 9.5111, 1.746, -0.0855, 0.2515, -0.0171, -0.294, -0.6632, 6.8034, 1.8242, -0.2515, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2794, 1.8549, 0.6277, 0.7025, -0.2935, -0.186, 0.9971, -0.2489, 0.5877, 0.3046, -0.3584, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4382 left_y=-0.0688 left_z=0.0353 left_yaw=0.0501 left_pitch=0.0614 left_roll=-0.0059 left_gripper=0.9971 right_x=0.2498 right_y=0.0058 right_z=0.1072 right_yaw=0.1768 right_pitch=-0.021 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.7316, -6.2701, 4.8205, 1.3602, 0.1294, 0.0122, -0.0171, -0.4308, -0.5128, 6.6667, 1.7802, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2714, 1.8729, 0.6483, 0.6991, -0.2913, -0.1829, 0.997, -0.2489, 0.5747, 0.2897, -0.358, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.0671 left_z=0.0341 left_yaw=0.0546 left_pitch=0.0603 left_roll=-0.004 left_gripper=0.997 right_x=0.2477 right_y=0.0064 right_z=0.1035 right_yaw=0.1768 right_pitch=-0.0224 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -6.6667, 5.2308, 1.2869, 0.1441, -0.0269, -0.0171, -0.4718, -0.2393, 6.7897, 1.8681, -0.2466, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a047edd7aa72a2b52caccce578089464dc1f0787ed6fe552483b523b930e0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a189522faa6eecaff039ff9fc0a077346de250d567e412428671fcbc97a9e5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c8e0212ad6d4c543ebab875e3a9388ea76b4482d1b228d43f86bad255675d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDhh2ogKSfqdUtMek9EAOTEPcBhx4k6RuXr6DjxDEpG1URmlEp8_teMIFsv3hFuqA1JijgZ2-CRuPbtwf1Usn1LGAA4bbR9Jq68uxafP1lr7GzwY3UHAdGZ2IlSe2amXirfEFbUPDKgXm_FM8H7rakORj-eBfNM_PBJj2zSd7TeEr3tZQmuvR9xZiQN9JnMGNS8I4yxw3QxcN7v8lydQoA2DiXpvuBjqrFUn7yhPDGPE2YAIDcdA-7m78PhOYJ35S4XjhqXpgjP7-Lrtpv_hLRnxUcgZSyfCOrA4uFn8XULR8S1Z6DuuinJG_YwSuGCPrKx592hi5sJZX8XN7ZaXHbpioZc3pguQTgx6BMmhAKEVpv9SkiLsls_F-SgpSiVNw1n5KaWOAMqysWeOXjuKBcV9d_ocdYGzpEHX37w4fMhxRpcxK9rFaAGxHIPCBsBko1gzWhW14_tFqHb5XQVd1kXf-qKk3xyxlH1gDO3kKbUAMMazf1oh4bDbjk-814fKMI3EpZyaCBBxmdX3c3w0qiEIwYlZM1nIK-cL0jCDEJtShMk7n8eyRLoOfr5DwHXGgm-0yJXd_ltjNlukdQb1y-rdo-85uJr8wSOhncVxdahUfV0RM85xdXuIMEut4yvhoqSck3E4xQBAhs9vrjRCiVg_qFC67csBYFxbyfcelcFM5_vJ0R4JO6dklZxdKA9XjhhhXbgnG9Ip7kKPl85oM5dKM_VEGiQpFMczq_8FbUi38nS9fu06UbQWFpczVN5Fx4UDjcWBJT27CI2GuvMvO4Oq66t07IaKEXILOtiYJgfE_l1hgyHh3LmVo2hivtjxi1qARUHJQ1QySpx-WeMXwkM7JdgSGQnuPdJ8nceqeX91FrCA04uvvzQxlvEt0BeJ_cNk70gSL71KeXoBTZFHDerpUdWnfdCT2ilMOj-spytQZ1uny6ZBt_gVf611CtZo8BPcF_IUXLEp-FUAvCHGZTwgY04wmGm6lJcoZkrj8hwwNbaMY-9HdNw6UcCAH2AuE5nG26CRYsC-HpggvOiCuwMrS-MquPAAHBr0KlIOivFf1XrhEfr09Y1Xw0it0QgWo5eiynydE9bZ55igbhD4sCUod3yqXG4cnBnCs1piWrI-3UyV8pIARKe680GS8ITFtTXASpvX7jQLEZ4ycOhMUioYNAiEe2fm3c3bx34p0opZoqw4NE3JVfneiUuHmB1usYjtNsWw3i1naOLYOMfT9-p0HQCSa_nCEby_1JxezRY-zp6EYS_ghGEjo3_IEm0fhuNSFKeaRyfsoUa8_ja1X99058erGEWtbHMUdNZ-xFj3DmD_BQ7aGVT6iu-GWZkJMmFIhahWKqbNa4c8qPEoPZZqnpqPIeu7d9e4lM_md2RVrHXlgMFcyzx-pDJzdVax7yRxjWkmMI0pBKaNpjJhRMuHuM9zSvZ0QcaWaYNDYswn2X9DI0fY0Z3xvOVvzfVaqzBXpb0_EmODuE6FaXMz_YeORhrhzAVIEaeTC9eLxG6OKc0=",
  "id": "rs_0ca80820094c0fa7016ab438600c3087d0801af598239fbdaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left arm stayed at the shoulder despite the smaller retreat. Since the open fingers visibly straddle the bottle here, I’ll test one careful close before resetting the arm.\"}",
  "call_id": "call_8WTPnzYCgmYAPM4CCLaF5MnF",
  "id": "fc_0ca80820094c0fa7016ab438606e1887d0818ebf0a10df69dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8WTPnzYCgmYAPM4CCLaF5MnF",
  "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]: [-0.2668, 1.832, 0.6956, 0.6666, -0.3035, -0.205, 0.0136, -0.2489, 0.5598, 0.2737, -0.3508, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.0666 left_z=0.0622 left_yaw=0.0829 left_pitch=0.1148 left_roll=-0.0368 left_gripper=0.0136 right_x=0.2465 right_y=0.0067 right_z=0.1011 right_yaw=0.1768 right_pitch=-0.0168 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.2547, 4.8205, 0.823, 0.1587, 0.1392, 1.2527, -0.4171, -0.294, 6.612, 1.8291, -0.2222, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77328d8197d4485b98c6ae2e1a7024f16a0e9b566d076ae457e18980411ee282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8eeafdf3f46d1ac82fc576010b720961d092c3ba0fe2188c4b0eceb1ffb07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce53104897058be4e6c56a49c1abf9a9c561490d6fe803ff4945504d7b901d03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.287 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3099, 1.7477, 0.5064, 0.6552, -0.2955, -0.2043, 0.9971, -0.2489, 0.601, 0.3202, -0.3611, -0.3679, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.3995 left_y=-0.0702 left_z=0.0274 left_yaw=0.0303 left_pitch=0.0039 left_roll=-0.0006 left_gripper=0.9971 right_x=0.2516 right_y=0.0053 right_z=0.1106 right_yaw=0.1765 right_pitch=-0.0215 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -4.3966, 4.3966, 1.0281, 0.2271, 0.0855, -0.0122, -0.5812, -0.3214, 6.6803, 1.9463, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2714, 1.8729, 0.6483, 0.6991, -0.2913, -0.1829, 0.997, -0.2489, 0.5747, 0.2897, -0.358, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.0671 left_z=0.0341 left_yaw=0.0546 left_pitch=0.0603 left_roll=-0.004 left_gripper=0.997 right_x=0.2477 right_y=0.0064 right_z=0.1035 right_yaw=0.1768 right_pitch=-0.0224 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -6.6667, 5.2308, 1.2869, 0.1441, -0.0269, -0.0171, -0.4718, -0.2393, 6.7897, 1.8681, -0.2466, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2668, 1.832, 0.6956, 0.6666, -0.3035, -0.205, 0.0136, -0.2489, 0.5598, 0.2737, -0.3508, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.0666 left_z=0.0622 left_yaw=0.0829 left_pitch=0.1148 left_roll=-0.0368 left_gripper=0.0136 right_x=0.2465 right_y=0.0067 right_z=0.1011 right_yaw=0.1768 right_pitch=-0.0168 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.2547, 4.8205, 0.823, 0.1587, 0.1392, 1.2527, -0.4171, -0.294, 6.612, 1.8291, -0.2222, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77328d8197d4485b98c6ae2e1a7024f16a0e9b566d076ae457e18980411ee282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b8eeafdf3f46d1ac82fc576010b720961d092c3ba0fe2188c4b0eceb1ffb07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce53104897058be4e6c56a49c1abf9a9c561490d6fe803ff4945504d7b901d03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDhn4VmYyZbcPUnWI9oU5CllJGuPsevNRB-7bklfhG_apERETYZaLWgNZMhrEfWeIjWGyvntMHBW3iwmnkh8XluaaQKV_Tu2zrpSNQliqy9eurOdncMfubRIEK9jccOUTGPs601uRA26HM2Ij9ofyPDaAWRsBwe22f6a_vcHeu0vWAHabvoTNP_0ymcnCiEXnDdbUJSUwF6QzYI3z_3FsW7FBpnFomwqgITVLUBT0FrQSKDcsEWvDH2D-uIyaQob-PHRQNm6HBjaEANlWrGhiYyIzrzUg4NDBqLTusNCZBOd4Xxc04Tq9IT6JDUyMMopBhHuDNz3HZaFAJPZhcTDrbtafDEQiV6mMH_5KPeyNc3Ds5jIlKCAuyi1PbFbgxGSKIohoKJ-5kZk_bC63QDi0kYjRQyJNLuZYash7Vo5oyHwIE7xIWcaK6p_9SU3n8WvBM_1E9VHmGcWpjTS7d-eyrIM0q5xwn5_hGYwI1RoYgdZHb3hvsxpaLbFMEJxd69V8FbufOaAhHSnDnn7iCH9r2PMWPJNMmqSAQ4lMGz0AjseDs-HmVZA3rgIFZfXKDAS4U5uerkOfubM-rxgvV6OODaWNpdD_4j-nFRaivphaEs7QXS9cNFNK2G1-Ze9y_q4Am6PsN2Wdg_luLl4FNOF8ImfPX42uZNF314vYUPtmPihofdMH3kqoP0biKZgd-AyjYSpArb7fBv7x6yqIlLii9TWoDwqlS-YQIKTCc6kihDNqJIvFQKbiZzKhj5jcEBekm-WzBitXyeWLhIDxWBv3gnU0SA8J7btGu7CDBK-UFOyWLlVG2UjZHID1SfKz7PMlXWEGndNXP2L3JB60hfbSbcgu-ReT9lvGU4tLvyOf5V3wv0KfaTAOt7Iw5V4kP6DxpuMkxVyDCa3cXlb_r95KsAAE-6N6AhKATgvoJo2YWFqU30mK7QL7q7x-3Yx48MXnN90L8aarQ6kOvg4_ao_OzV9OF0qrr1y4lhryknFrIDiU0N-lX2zTJ_X3Dt9GgXSx9w4zgBm25bHUdML8aHgghg4J8cy26YL7BmCZeUphbfTuCWai_e3B7I9jy86wBF-UxkJjJLN7aW86HjRieG8LZsUo6JAGxc_IpzkVPvLMyYHGCDXrFihXURVpn-a7aCgaaFiMxL-wDOQDS7lTskfrRgVEckjjwaBiLo_5opWvSynqwkJ_mdONDoZ_U_jLxT3gK2oJR4tize7tAmNu2otHkDJwQOUEYO9hNwfowlmgLItcUugZLnw7KOeJz4ydxIw3_kFfN9O4oJgHmMQWo1LbDO37lz_635mWaxvuf94-Uej_rETP3DsBl5Gv1x3pB8stummuwd0RCCxKuJrpDihHZ2VVO0iQHq3ZlCCzmEEGEoWi79nDcwEb7uhRRfkg7n1nvcQe1F7r6QUAonMAECNa9xymBLZyORhzOl_DGCJXqUpFjlU9PHz5Y0oMRmTdfFjs6Ny2u1ffyU_Mh-dslVSfExhUS-UNdjxIE2ErOLoZmpvSQ7O5o-Mv-4HgpPCAQHpL-g40JR5I_BKm0rOtTpHzxnTvgUIstcsKJTb0EBwqYYVBB51TH-Rsb220LYOqRGlLBk372LH8b-jQdpBgAoLO6aV4mxOWOs45m2QcCZ06qeDXvlnNA9UKkgciBS7sSe5DWQEXxoxv9Tz3KIwE7BLFKOl4k9BL03jO1S20jbWwiTfNfrmfHkmjBXNYUdXtxrVJTHoN5KRKwVB8fl_Wyrkub7NZNd2EWqlP2utD4lx6K1eY5Suqbyzdcun6LlzHs3H4SoQsal6ONTj3_qAon6CkD7GwZJkQAXSqVuf0foPNkpVDhrkmea_Y6fC68v2vwYxT5fSvCnsi84R295u1aqafuZu6urLmH75k894zUYPOGPUgXel1OSZVaNjHr6VMYYGzPv6gw8zEUz_nxH4va2iR6tsXzLt0_8HVby3j8wL9wZHg-Yl8v_8NwGqqabTZO7lizD8FCLJ5WCskln4MJPUtVGXEO_TA_YXGOkYY0HX2yumwInq-JCz55bV9qfXtmXrRwlwp6gngCxWdSW9jdn-XYmLpS7fePrK4kMPLUSwjfHzgOdHzNOL8r_ldcpjromGPoFalqUC6b6MdyJabmUXMf3w4Vfd7lD6MA0LxfpCErlViE94-SQP994Ox6IVnXAZeG-CyZxcRCFWL1_Tjv48arZOM0eJPMShymCRrjuM5wfij6yks2Wq8qx1RYOPPgCcdBgJpy1z6HU2X5-Yw9N8iGGLa137zvaVl0uVfBMEQiru4M0=",
  "id": "rs_0ca80820094c0fa7016ab43863b05887d093a0bb220660a80c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.27,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.365,\"right_y\":0.29,\"right_z\":0.085},\"note\":\"That close was empty and pushed the left bottle sideways. I’ll clear the left arm and switch to the middle bottle, approaching its body with the right arm where it is closer to the center of the reachable workspace.\"}",
  "call_id": "call_SGXhEruqcq03nvdnZS2rk3a4",
  "id": "fc_0ca80820094c0fa7016ab438660fe887d0ab1b5b896123d05f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SGXhEruqcq03nvdnZS2rk3a4",
  "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]: [-0.1509, 0.7078, 0.6216, -0.4873, -0.2153, -0.1589, 0.997, 0.8589, 1.7786, 0.8982, 0.1459, 0.5056, 0.3519, 0.9996]\nstate[eef_state]: left_x=0.2758 left_y=-0.0001 left_z=0.1908 left_yaw=0.0983 left_pitch=0.0029 left_roll=-0.0077 left_gripper=0.997 right_x=0.3518 right_y=0.2823 right_z=0.0692 right_yaw=0.2232 right_pitch=-0.0549 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -0.7316, 9.6205, 1.7998, 0.0122, 0.1001, -0.1001, 0.1162, -8.0752, 8.5128, 1.6874, 0.5299, 0.2759, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5b5eee71bd99f284b64eac35b9eed0fdf257892200038d3f6643b91d613997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29d4591180f49c057737cadc0c89c5d5ed3020f4f9a5ca0846d335d606f29da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cfb0cf5773139bcc2a9422f9a04d70bfebfccabc30e038d08b6f72cab32bfaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.132 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2794, 1.8549, 0.6277, 0.7025, -0.2935, -0.186, 0.9971, -0.2489, 0.5877, 0.3046, -0.3584, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4382 left_y=-0.0688 left_z=0.0353 left_yaw=0.0501 left_pitch=0.0614 left_roll=-0.0059 left_gripper=0.9971 right_x=0.2498 right_y=0.0058 right_z=0.1072 right_yaw=0.1768 right_pitch=-0.021 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [0.7316, -6.2701, 4.8205, 1.3602, 0.1294, 0.0122, -0.0171, -0.4308, -0.5128, 6.6667, 1.7802, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2668, 1.832, 0.6956, 0.6666, -0.3035, -0.205, 0.0136, -0.2489, 0.5598, 0.2737, -0.3508, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.0666 left_z=0.0622 left_yaw=0.0829 left_pitch=0.1148 left_roll=-0.0368 left_gripper=0.0136 right_x=0.2465 right_y=0.0067 right_z=0.1011 right_yaw=0.1768 right_pitch=-0.0168 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.2547, 4.8205, 0.823, 0.1587, 0.1392, 1.2527, -0.4171, -0.294, 6.612, 1.8291, -0.2222, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 0.7078, 0.6216, -0.4873, -0.2153, -0.1589, 0.997, 0.8589, 1.7786, 0.8982, 0.1459, 0.5056, 0.3519, 0.9996]\nstate[eef_state]: left_x=0.2758 left_y=-0.0001 left_z=0.1908 left_yaw=0.0983 left_pitch=0.0029 left_roll=-0.0077 left_gripper=0.997 right_x=0.3518 right_y=0.2823 right_z=0.0692 right_yaw=0.2232 right_pitch=-0.0549 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -0.7316, 9.6205, 1.7998, 0.0122, 0.1001, -0.1001, 0.1162, -8.0752, 8.5128, 1.6874, 0.5299, 0.2759, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5b5eee71bd99f284b64eac35b9eed0fdf257892200038d3f6643b91d613997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29d4591180f49c057737cadc0c89c5d5ed3020f4f9a5ca0846d335d606f29da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cfb0cf5773139bcc2a9422f9a04d70bfebfccabc30e038d08b6f72cab32bfaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhtj4H4PLpfwXfRrjlE4jxH1FodiPJP8Vx58BJOLpZlnIPeHpoRlAzrU97QOYpdgoMTcPjmtTiwBRkg0cayzK4PS-SMjBYYEyeQkSaqBqzoTXbdTHzswZEcdS1yKZ6BBSLs9LbwxuFq7PH9VdhfBuTSiCCBkFEJw0HX6GebVe4KHcAPgx-s2UFJfM07VNmZ4NnJHoi-369fKFzeL8huovrflIFYTfpcRVGkb_zJK831kOTKyn4AmuB65kHtertPv26GhQc-g5JJBhmvwQ0r845nRKTKIKi5KvEDNXwMaQrDJ2QW1QrywQBnzGkmcxK34yS-Hr85gjj62t1iHsECMBYYGxa40ZaGqCDidyvmBTeMP92YXUPvop2LKWRMK96e8iYAlTXy1GSXH986JilrUMOdszF1iSGIxeZaSAy7He0WIhrns-eL9pVG8OF0KCYlHybA1MLq3rGTPTwWlxLBpauDYXlr5pAYN6T1MPdPhL6YcuwHidZTpGD2ALNzgilNuufz9MRNFWMxia9U3LJPHglPhfnQTjD6UPg84Qz1lzPRZjJ0wzlt4lwYcXWHMbMWtAzYdThCCWdkEbFC7JH6USeG7PuYAApvnMBBASJq6Vo1qbC7-ntEW2F6LHDQKaQDM2iLS8uP4m1Sjv5yXOT_JpTshZzvWm8oYngWxuObbyyyygOv-8IsvZZvYAHAdQnqWpWqOa9wBVZYaQ-mvoNDtifZG_N_ksSAMUJQVpcK_LToZvK1Qv9J4vDPEFfaMRIp7utsCBkfA3nVT7cNrfn3g45wfyfLtlO4UVPHILHtJLAxbHg__s933v4RhSLHF3ioXCWf2TRppw3jZXGeg6ZAA05fs3tr3jyJfTB8LzTVk2z5UB30ciu_QgnjYkyOlU8nGYrkSDH9BlkebrMFgwHgGWUfDW46zpMFkJZ94sUyCk4ysfl4DyVsgjGSP6FW-QYQiao3Et_wHX0pOcbFSZ92Ke2TlxaeIq0R_3dwhFbq6zEWgjoM0d0WKPEBZy-Y4Bf05PV5jKHxBDPDBabzO8OJ-REB3ERzTIGC47DLvMWvmsXtfLcPbbyFvNyGZusK4c1GKTjwd515YlmfKgncszuhk0hk9jdk8YfLPJnkqg0Ro6P7LLyFYp3mZzMhmSZfNY-nJrhEOdUpSxp2ibZcOSJWH2-ID1lmSb541qMvE8l9iAt2zsnTzaG2DE8VaTiuBsC3FHIHXWXqEEWTK9GymJQj_uVP_B8MUO7UUubE_XFX76tWgqM90M0c6eA-UAmLwkpZlUudXG6qETtlyicoZigW7IwszTa489p95N9tYxgYDGuwjbb4-XRyXh4jUiAX0nWPFsd02MvlG1wDP8mtBNIiPQE9YHGF3uV7hueatrxnbsos7YEwsgALzbrZfuJ-kd6HphGLHahfwvFu4HQgR9T1MUsOi7Pcrxd-DXu9XhZVis_X4S59uUTu6dqAdy5kP7wWte4k5tGZxs-rSj1-ZrW-mUZ0zgxAIDp26hg2Clh8c-ZC0pkvixcrR0whswhXYE4JVpCPoUevjxECdXtpNb1q6ayrGvVPUnlsMJdi1SSOndS9U5zltz4yje77pWtjwbeWNHxKGWf6pCHJ2we2I14084ToDJCkTgxGJ6LITnsVE-VHwL99WJSy1zd0rCxr4RZskiT4NfKeYCJfj6kCZVFHjBlOMfcTYpzusLlHMix2mylCc9TsZKOAo4EegCcqVE3B7lI8vLE9uNlvYBFUNcDB3kltD9dq_F9Bus1ZCEo1vIWU-SSobn-m1TFQmoiTmW9bhARmLaeEyBGf66Z64zt6KyWlbz4XX8WUNvnCG7dCI1QVU5btz0vG217j_UL3t8VEcgZe6OyInHVtlqEt65UE4odGzT_tQy223xa3dMmafdEw7eg=",
  "id": "rs_0ca80820094c0fa7016ab4386ae89887d0a2437f1194229df3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.315,\"right_z\":0.018},\"note\":\"The middle bottle’s body is visible ahead and slightly left of the right jaw column. I’ll align the fingers with its near end and lower to a true table-level grasp so I can draw it inward.\"}",
  "call_id": "call_1w8rFCZSFSJOtUMVHbrNY78r",
  "id": "fc_0ca80820094c0fa7016ab4386c674c87d08602644073fcfd41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1w8rFCZSFSJOtUMVHbrNY78r",
  "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]: [-0.1516, 0.7166, 0.6292, -0.511, -0.2176, -0.1596, 0.9971, 0.9154, 1.9751, 0.8906, 0.3759, 0.5228, 0.3737, 0.9997]\nstate[eef_state]: left_x=0.274 left_y=0.0003 left_z=0.1873 left_yaw=0.0999 left_pitch=-0.0208 left_roll=-0.001 left_gripper=0.9971 right_x=0.348 right_y=0.3138 right_z=0.0211 right_yaw=0.2553 right_pitch=-0.0275 right_roll=-0.0127 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -1.0325, 6.5846, 1.8828, -0.1978, -0.0122, 0.0024, -0.5128, -8.8684, 6.6256, 1.7363, 0.3883, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a599adf6e92268d63902f0c6c9418f754e48e7494d2a3eef306f14f65d41e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fadfa8e89c1bb36d8ec0ee1f9b159a5d0a20a27a18fc8ec43f64c6ce306243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204765e1e3e4d6b566f223f83bdbb490908dd46ef1baa9a45fc5d939b6efa940",
      "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 35 attempt 0 · /responses · status 200 · 2.178 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2714, 1.8729, 0.6483, 0.6991, -0.2913, -0.1829, 0.997, -0.2489, 0.5747, 0.2897, -0.358, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4436 left_y=-0.0671 left_z=0.0341 left_yaw=0.0546 left_pitch=0.0603 left_roll=-0.004 left_gripper=0.997 right_x=0.2477 right_y=0.0064 right_z=0.1035 right_yaw=0.1768 right_pitch=-0.0224 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -6.6667, 5.2308, 1.2869, 0.1441, -0.0269, -0.0171, -0.4718, -0.2393, 6.7897, 1.8681, -0.2466, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 0.7078, 0.6216, -0.4873, -0.2153, -0.1589, 0.997, 0.8589, 1.7786, 0.8982, 0.1459, 0.5056, 0.3519, 0.9996]\nstate[eef_state]: left_x=0.2758 left_y=-0.0001 left_z=0.1908 left_yaw=0.0983 left_pitch=0.0029 left_roll=-0.0077 left_gripper=0.997 right_x=0.3518 right_y=0.2823 right_z=0.0692 right_yaw=0.2232 right_pitch=-0.0549 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -0.7316, 9.6205, 1.7998, 0.0122, 0.1001, -0.1001, 0.1162, -8.0752, 8.5128, 1.6874, 0.5299, 0.2759, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7166, 0.6292, -0.511, -0.2176, -0.1596, 0.9971, 0.9154, 1.9751, 0.8906, 0.3759, 0.5228, 0.3737, 0.9997]\nstate[eef_state]: left_x=0.274 left_y=0.0003 left_z=0.1873 left_yaw=0.0999 left_pitch=-0.0208 left_roll=-0.001 left_gripper=0.9971 right_x=0.348 right_y=0.3138 right_z=0.0211 right_yaw=0.2553 right_pitch=-0.0275 right_roll=-0.0127 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -1.0325, 6.5846, 1.8828, -0.1978, -0.0122, 0.0024, -0.5128, -8.8684, 6.6256, 1.7363, 0.3883, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a599adf6e92268d63902f0c6c9418f754e48e7494d2a3eef306f14f65d41e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fadfa8e89c1bb36d8ec0ee1f9b159a5d0a20a27a18fc8ec43f64c6ce306243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:204765e1e3e4d6b566f223f83bdbb490908dd46ef1baa9a45fc5d939b6efa940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDhvvhUX1mS1-aNxPbGhQKVh81By-CTjU__EXIFWWaCasq4ZSq9pvXV1TR4_ufBICOGdRMkLVbcYiWoRRUtHUARypUDkzlObWAxwsDeRV52qh1AJQMQ8XjQNgyYO5fXi5Bs_SymYxi8wk1DUvoPraMMqDCPwkb7tkPIqrgR0qNZGm6z4zJMyhxmSIHXNWuzLoGKWFrf6PbKr0WkalcXMUv8Ts5s2-iAXS2B9PSTD-VOYPLW-S-gDZmhOY30oNj2tLqRlIU19ZixU7oTW76S7sA_h8xiVjiPWcICqGzz8ontdbhc6pfzWqHVGPcHqtmGzlw4wZ7gVoUhM7GrUmzzDBIux8LQN0AFGcXBJ1jvE41xQnuW-cI-IKcGdsPCM_eWbXXKuxKFWVBr8L5LwsNDlUyHTTpXPkMcUnypdUfiCm5ScfpOHHAldQumLM4b8MGvKt6re3T1ygEtEPWmxMCkDJhhPrLy2Z1EP42_ApSy9GoQq2-FlDX_dHzS-l9Oa5rv2GfkAEtmfWIt2F2WusB9_got_yGwY-HPgxGcKpFETAno_cmPcOac67cz23midxycQsQKW41RWU10uvCk15dZUw0t0TFhIF7FgHCc6pAR2M_Zg67eD8irXw0bsixAZMPD47vfOEwSUNveBZ_858tAZpee1bNxyAbcYwhOjSgky-iS3anXDrx9vEqMEoNQZCfee_70VfAp4kW52tQRpsrG3H8ik05JpVLM9HAZWwbbBaITouFPZMygF5wZCB2szyY5qkBNwZf2mvgNE37zWpQG0PGdnaQ11SZdbgwVYhi2Ld2lAwsBIAGaTmYQ5V3_JBFQmLof1eR827aPeOBjVG6RZsSyfsVUKQU5p6GTR00N2gtSjzwe6B7EUpUQOPHVfQt-uhrCtWQAndcFQu5E0XPvUm0RaRJx2GElkb70myzOHVsbd4IjFZjvAugyFB4lU2AgHICw6VSNmLLmiW-NYXHXMyf29XiSYUEM6ueTfSYSB_wJKeFqlk-QWL4PLVTuMnt_4vIMvNPd3Cl82o_rWDk1PGTDYjspqV6xgAa4oWNI4r4mbSPFUMs5KFJw6fQV46CaVb6YIAzOlh5fkJlpQbUSGbu_JHsaINttNesBiJz5PLmcyTowYB-Q9DEx1WbJ1Pos-KZCUaXIN6JqI2eOAT8l1YmL8A_Lffr3epRymoXtcGV2CL55915aJy1_l1pmgHCBrA3smQjW1mr88FlKBk5uFXljlR6J6eT6rjLuMuPjL-jKxrur7k8Kl3uwtxuOhoVX3GLfWYxGzR39bSXsRwgEf1EVyRkERZmpc7VS297y2ww5YLuOVRLsiC5-dXafeLLIRwqVW3wS2fXY7HOMzQ3HZ4JSD8A==",
  "id": "rs_0ca80820094c0fa7016ab4386eb2d487d0a1d1696bd4d93706",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are low and centered on the middle bottle’s near body. I’ll close on it, then use the settled opening to determine whether this is a firm grip.\"}",
  "call_id": "call_oARyuOqlY6SXDFoQnMu7tmwT",
  "id": "fc_0ca80820094c0fa7016ab4386f097087d09df45773d627386c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oARyuOqlY6SXDFoQnMu7tmwT",
  "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]: [-0.1516, 0.7063, 0.6151, -0.5049, -0.2176, -0.1596, 0.9971, 0.9161, 2.0159, 0.8913, 0.4, 0.5236, 0.3771, 0.5244]\nstate[eef_state]: left_x=0.2727 left_y=0.0005 left_z=0.1848 left_yaw=0.0999 left_pitch=-0.0186 left_roll=-0.0015 left_gripper=0.9971 right_x=0.3477 right_y=0.3138 right_z=0.0074 right_yaw=0.2533 right_pitch=-0.0398 right_roll=-0.0201 right_gripper=0.5244\nstate[joint_eff]: [-0.4034, -1.1009, 6.4205, 1.8779, -0.1441, -0.0171, -0.0122, -0.4855, -9.8256, 6.0923, 1.7411, 0.442, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de44b1ac67db2ae22838c61173a65841a98ad97494184a3b973376492db13554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0589bacca55621b1c73ab853d7a49ceeb7d605574b302faf69ce177f98956beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07364a3329a225746331e4cc790561c90ebce8be5e4e5cd5dda124c1abaee9bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.667 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2668, 1.832, 0.6956, 0.6666, -0.3035, -0.205, 0.0136, -0.2489, 0.5598, 0.2737, -0.3508, -0.3683, -0.2707, 0.9996]\nstate[eef_state]: left_x=0.4573 left_y=-0.0666 left_z=0.0622 left_yaw=0.0829 left_pitch=0.1148 left_roll=-0.0368 left_gripper=0.0136 right_x=0.2465 right_y=0.0067 right_z=0.1011 right_yaw=0.1768 right_pitch=-0.0168 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.2547, 4.8205, 0.823, 0.1587, 0.1392, 1.2527, -0.4171, -0.294, 6.612, 1.8291, -0.2222, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7166, 0.6292, -0.511, -0.2176, -0.1596, 0.9971, 0.9154, 1.9751, 0.8906, 0.3759, 0.5228, 0.3737, 0.9997]\nstate[eef_state]: left_x=0.274 left_y=0.0003 left_z=0.1873 left_yaw=0.0999 left_pitch=-0.0208 left_roll=-0.001 left_gripper=0.9971 right_x=0.348 right_y=0.3138 right_z=0.0211 right_yaw=0.2553 right_pitch=-0.0275 right_roll=-0.0127 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -1.0325, 6.5846, 1.8828, -0.1978, -0.0122, 0.0024, -0.5128, -8.8684, 6.6256, 1.7363, 0.3883, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7063, 0.6151, -0.5049, -0.2176, -0.1596, 0.9971, 0.9161, 2.0159, 0.8913, 0.4, 0.5236, 0.3771, 0.5244]\nstate[eef_state]: left_x=0.2727 left_y=0.0005 left_z=0.1848 left_yaw=0.0999 left_pitch=-0.0186 left_roll=-0.0015 left_gripper=0.9971 right_x=0.3477 right_y=0.3138 right_z=0.0074 right_yaw=0.2533 right_pitch=-0.0398 right_roll=-0.0201 right_gripper=0.5244\nstate[joint_eff]: [-0.4034, -1.1009, 6.4205, 1.8779, -0.1441, -0.0171, -0.0122, -0.4855, -9.8256, 6.0923, 1.7411, 0.442, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de44b1ac67db2ae22838c61173a65841a98ad97494184a3b973376492db13554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0589bacca55621b1c73ab853d7a49ceeb7d605574b302faf69ce177f98956beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07364a3329a225746331e4cc790561c90ebce8be5e4e5cd5dda124c1abaee9bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDhyr2V048jAW8sgqdXnGTKDynxpfG3tpBqmeGh7oVcpf0viqAymqFyO_RzB1BeKBc7KJvVAm7wl77asNoyZ5vj7nFNwHOVlrucqtAmQSlpZD8HK76lJtctF1b87qQpqEUdUEtBZWLuHdJcxZ_REjBy52vCHBDFbfo1ygrMk3sqxscueIV_30jTG-hEcFz3FOZuD8xmD5Ifgr5TkGl_BLaFdsfGqNF4T1J86X63uarVEugwD1vRDuVHlURQhBZG2JnncKA3XYo65XuyVFm4Q5KBn3QFgUCbkvATH9EDzfm-UvZFNGnykFsZU5mBVmfN1CZi3EdjWvecBNZxMMIvoyISpJxcYs8FgVsLkdvBoxs8cBLZ1c9ajJCnAJLjr2iXL9D9bF4YUiholPNjwXICpZp-XqlVyIr389p-HpxCiqUDXWvMrRzT4gsO-8pvJeOtjIo6r-TYpcKKvQWICKoUpuQ6FcZn_b9uWKmf6NDKaC1ZSDU_OYV5c8F3EoDg5SVXiUWZ7Gk11lOhQcKM45G_H-aZsPijUu6EQasQiei6Ei5MtembYkFD1dLTwo7Jk1wFqB9G3TdZ2pKJFd5xy_JaF69l-k0IObbhJ5cZZ3CVqsruQVxugYWx34RzvyFh9dfvFy2hSVKcRl3Sukasd7-Onao0Fsc0tLybmeoBZ9qnOSVDYbkfNnkXXq40Tw_fQDWGb3MNVjfjsVL4a4izK1HgI0uyihrVliLdP2hbtwyLE9KllzOvzcvMaIvTh-9vFNYUpkGLsLd9DE9zNJ3MJwXzgJtoUnr19CWa-n6hbShwlJS3EVErSGvtLPOpcANt9ODawfqqY29EWjFRUvOIfZ513M2BREc8Vo74DwOwQNfWonwFGr8WYtVq58VpwTO1ja44RqHL-WqFRc5bFNukIPiF8-ON2KI47OIsh7tZt6lF8GVed9KuD7Ou1njt6ElX5w2CbZqZZqBEOzjwRaz_6CmbUkBMJJJgE2-XdZP-BKfAnWa_CFQBClwqOEPdD-Is3rPrwJDhnofdVIcbTyRCPYbPLaaodMsF2Qp6T_hGXgxREuaEZ0aUXiebVZeZ6FwBCaz37ymiH3Xihuit7uCObEKet9PTvBjbeQtcUjX8GGeTSdHD2ozshnmAZ7MOWUEM1OEuCKfYopj7wH3gcGk3D83ArGutwqp2SyDsBQLh9Rt2VbYJ0cMieWdFYvdGTDdbzXkBU2DMEwBfxVQi-sCYp63L5b-BT6TdHNJ3Un42KCSjOoXAg_fZkNkwilJ6_u_kq7g-fIwQa14hK66Q5y9nBQUvT9xQxxclNWkr19PGQN_DUCUE8NRVS5O1TAEtqxwrRuIDtKnzk",
  "id": "rs_0ca80820094c0fa7016ab438719b9887d09a8a65803ec635d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_z\":0.025},\"note\":\"The middle bottle stopped the jaws at roughly five centimetres, consistent with a body grasp. I’ll pull it about nine centimetres toward the right-arm base while keeping it on the tabletop, to make the cap reachable.\"}",
  "call_id": "call_DPqtTVEebh8Ar5GrQLOMBe3v",
  "id": "fc_0ca80820094c0fa7016ab43871e34c87d0a39d4cae684eb0bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DPqtTVEebh8Ar5GrQLOMBe3v",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6971, 0.5991, -0.5022, -0.2176, -0.1596, 0.9971, 1.1534, 1.8759, 0.7029, 0.3367, 0.6697, 0.5362, 0.5292]\nstate[eef_state]: left_x=0.2708 left_y=0.0008 left_z=0.1804 left_yaw=0.1 left_pitch=-0.0227 left_roll=-0.0005 left_gripper=0.9971 right_x=0.2548 right_y=0.3129 right_z=0.0065 right_yaw=0.2933 right_pitch=-0.0495 right_roll=-0.0417 right_gripper=0.5292\nstate[joint_eff]: [-0.4444, -0.9778, 6.7624, 1.873, -0.2027, -0.022, -0.0122, 0.2393, -10.7145, 5.0393, 1.8095, 0.4957, 0.1294, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813f3a7f4da2657d060a818edf9147d17695ba70a87f200822f28521924aaa69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2095da8e610073c6c0631ea4ac165775acdac6676cf4174e88a4eab2f7d40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77bc33e28793833626aec0579734bd01be8044998e45d0ad33ff12dd71fe02a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 2.743 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1509, 0.7078, 0.6216, -0.4873, -0.2153, -0.1589, 0.997, 0.8589, 1.7786, 0.8982, 0.1459, 0.5056, 0.3519, 0.9996]\nstate[eef_state]: left_x=0.2758 left_y=-0.0001 left_z=0.1908 left_yaw=0.0983 left_pitch=0.0029 left_roll=-0.0077 left_gripper=0.997 right_x=0.3518 right_y=0.2823 right_z=0.0692 right_yaw=0.2232 right_pitch=-0.0549 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -0.7316, 9.6205, 1.7998, 0.0122, 0.1001, -0.1001, 0.1162, -8.0752, 8.5128, 1.6874, 0.5299, 0.2759, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7063, 0.6151, -0.5049, -0.2176, -0.1596, 0.9971, 0.9161, 2.0159, 0.8913, 0.4, 0.5236, 0.3771, 0.5244]\nstate[eef_state]: left_x=0.2727 left_y=0.0005 left_z=0.1848 left_yaw=0.0999 left_pitch=-0.0186 left_roll=-0.0015 left_gripper=0.9971 right_x=0.3477 right_y=0.3138 right_z=0.0074 right_yaw=0.2533 right_pitch=-0.0398 right_roll=-0.0201 right_gripper=0.5244\nstate[joint_eff]: [-0.4034, -1.1009, 6.4205, 1.8779, -0.1441, -0.0171, -0.0122, -0.4855, -9.8256, 6.0923, 1.7411, 0.442, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6971, 0.5991, -0.5022, -0.2176, -0.1596, 0.9971, 1.1534, 1.8759, 0.7029, 0.3367, 0.6697, 0.5362, 0.5292]\nstate[eef_state]: left_x=0.2708 left_y=0.0008 left_z=0.1804 left_yaw=0.1 left_pitch=-0.0227 left_roll=-0.0005 left_gripper=0.9971 right_x=0.2548 right_y=0.3129 right_z=0.0065 right_yaw=0.2933 right_pitch=-0.0495 right_roll=-0.0417 right_gripper=0.5292\nstate[joint_eff]: [-0.4444, -0.9778, 6.7624, 1.873, -0.2027, -0.022, -0.0122, 0.2393, -10.7145, 5.0393, 1.8095, 0.4957, 0.1294, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813f3a7f4da2657d060a818edf9147d17695ba70a87f200822f28521924aaa69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2095da8e610073c6c0631ea4ac165775acdac6676cf4174e88a4eab2f7d40d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77bc33e28793833626aec0579734bd01be8044998e45d0ad33ff12dd71fe02a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDh3OBXwEu4VzGDsMY26MksEiEXlKoWq1OzpLg66KpJXboStoyI8cKtZvSbAPagy_GMbj5OrBJr7WjKN0WyhR1HEPmekOuNQiYc9iNPHUEZtVPhRkFgRnLKTlRm12dr0O07HNLoQtmZ3A04pAmRRWT-AvGB9iG15wvvEsopUt_W2urMVsbu-8fECHV67V4jAutqY83G3NGxtkV2l5PZ0FhWcZo0TAQ-c4TfCPPmyIqmTrTvk_EAfzAQxr7qRbGPFODVx4RRts5YksYj0N3EfeJejNQ6gjtoeqOp9CfdbHlUue4BXl9cakQBnIffP8MgGQ0DQj6nDIkFL5fjQSJ9dUKVi7FmJRxvmNE_iN5PFCf2AMFEA4OWB6OQpHsrRWi1XltIjVvTSZL5YT0I1ph06TFuOKNO2BQ_NpII5P3THXpiv3GxgINzQXnxicNJHaBWKpqvcw7I_fG7tnNZ5c3_DRK-nM3f-_gMY-GALZBV0i06yxN0jonJW2dBv4KAuyKxfocXzp_UlOpU8mWNPGLpfnXms8XIRD6FOL0r973gxxBjaj_HKJ91Ug4PkeWe3QNByY56h3KwxahmE-EWUg_RITUh2mO50s4bzj1r0QvkxjoNXYFbeyaABsffiRKeaThrJD41ErgP8k3eMDG_YqzfY438iIIjfdWNlJ0jNeRs9SvvB5EtthinWNs6PJFSUis2hCiKS9ioIwYRP0u8M0pGl0TydFEGNfQeKWH3ACLNgm6-iX2vJPwd1NN3HKeWzw3s5QK0w6mIkNfgTv7ftYb46QBkipRM1vrYY_B9wCRakUmDr2GoWJl9jFewcy0Ew6SrDq0s5fnwV8vI5zP2R1xFaZMQOzQxyjio9uTQ5Xx68SOSWdQMV_vx9jp8Tl-vsatdYJone4Z6Na-v5mHxbTtKRfwrSeOqV7QK6D6Xi5xpRDbu9hhLTy43f4QLaMAxzE3hilP9QirpCAFKYg0OJzRGrVyjUolaHa5lbdX_stBTKUExemmR0YWUsmuEKXnABMMDH90TABIOBgPDw88jCJKZY53Qe7UWGRhUzs1MX-Tbx06Ph7Ri4TtVcHCOy30vR0RA8wDLCFwFyO4aYwTQYA-io_ABdZnDgfKtppSdrxhoV997XweER2BqS2QB5gjVRbLPsZaRRRxW-rTgGOV4z2bt-9oVl8o5JZVWwtl01qZ8qSpB0klP4eMLYjKVzrSd5e-rYTIuMgVAFZqtbQhKVpwtWCkAEJErZw7Dzx_g9sBh2W6ChAxak0U5EXRzTfk1T3yDwmeyxhnM3jQhqd0FH0TfTHdkfGEBQ9rVxnKLT4-tz4aBOAAN_GOFVNZWxia1W4qLPfIcpZzFy3Fnupo5Rhcs48eSjQWDYAHj-63wPELx4s0M5UxcXBJl1ULS1kRIMuXvJ7LIyH3LxXxszBDTL3Fo-ZoQm6FExMJLoXtfYt0lkaH-_tOluY-ihyG27tTTiO7iLlG1PeeL0Ayciusl6LscRq68yue8a8zVcoMbGjJrZSEx6KADpJ6uIWTHizSZsn5AJln1luXRuzKB-KAM7P3AgNhD2LxVg7P3QPcReQfINgv6truK9A8bZYVLhxBDhxDYveb0RjJQiI8BHwGFv9SPyU5pXTH95dX54-8kJrYcSXMYMUequsixr0vQP7AVOwRJ0N0FQ7GCDgWfB7M-qSoc0MedZcsam6G8sLL8P-eAjFTNH0ijkYIQphL5njhpyDt45SkmJOwFTpKiBVNj5ADRQZVygE6CVBVxNqxkiEBDasMsvrepKrqQW98utUJ3c0TfCQZgG8Q_lFuKwCmZU2KsHVBiSGg==",
  "id": "rs_0ca80820094c0fa7016ab438755c7887d0b0602e1a4a145413",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.17,\"right_z\":0.18,\"right_y\":0.31},\"note\":\"The middle bottle followed the pull and its cap is now visibly nearer. I’ll release the body and lift the right gripper clear before aiming at the neck.\"}",
  "call_id": "call_hPP7wjRydIU0EIh7ZiqXyahR",
  "id": "fc_0ca80820094c0fa7016ab43876968487d086ccca39df2d912f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hPP7wjRydIU0EIh7ZiqXyahR",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6857, 0.5812, -0.4873, -0.2176, -0.1596, 0.9971, 1.4372, 1.4395, 0.971, -0.5068, 0.8341, 0.7971, 0.9978]\nstate[eef_state]: left_x=0.2703 left_y=0.0009 left_z=0.1781 left_yaw=0.0999 left_pitch=-0.0145 left_roll=-0.0026 left_gripper=0.9971 right_x=0.171 right_y=0.3171 right_z=0.1605 right_yaw=0.3274 right_pitch=-0.0182 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4581, -0.6085, 6.6256, 1.8193, -0.2125, -0.0122, -0.0122, 0.4855, -7.5009, 8.7863, 1.0965, 0.4176, 0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b89b527b0c0a6e7c5012492a03ce7e7d086e8d4049e1425baa38251440f173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329e3d1398f35316a7a97daf3885b539cfdc06c4d45e3c9bef73ec78ca7f753d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7262023c645df21d0b3ee2310755311e9ed2717ae0aff1f5b1fc48d5a6c2f751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.962 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7166, 0.6292, -0.511, -0.2176, -0.1596, 0.9971, 0.9154, 1.9751, 0.8906, 0.3759, 0.5228, 0.3737, 0.9997]\nstate[eef_state]: left_x=0.274 left_y=0.0003 left_z=0.1873 left_yaw=0.0999 left_pitch=-0.0208 left_roll=-0.001 left_gripper=0.9971 right_x=0.348 right_y=0.3138 right_z=0.0211 right_yaw=0.2553 right_pitch=-0.0275 right_roll=-0.0127 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -1.0325, 6.5846, 1.8828, -0.1978, -0.0122, 0.0024, -0.5128, -8.8684, 6.6256, 1.7363, 0.3883, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6971, 0.5991, -0.5022, -0.2176, -0.1596, 0.9971, 1.1534, 1.8759, 0.7029, 0.3367, 0.6697, 0.5362, 0.5292]\nstate[eef_state]: left_x=0.2708 left_y=0.0008 left_z=0.1804 left_yaw=0.1 left_pitch=-0.0227 left_roll=-0.0005 left_gripper=0.9971 right_x=0.2548 right_y=0.3129 right_z=0.0065 right_yaw=0.2933 right_pitch=-0.0495 right_roll=-0.0417 right_gripper=0.5292\nstate[joint_eff]: [-0.4444, -0.9778, 6.7624, 1.873, -0.2027, -0.022, -0.0122, 0.2393, -10.7145, 5.0393, 1.8095, 0.4957, 0.1294, 1.0281]\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 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6857, 0.5812, -0.4873, -0.2176, -0.1596, 0.9971, 1.4372, 1.4395, 0.971, -0.5068, 0.8341, 0.7971, 0.9978]\nstate[eef_state]: left_x=0.2703 left_y=0.0009 left_z=0.1781 left_yaw=0.0999 left_pitch=-0.0145 left_roll=-0.0026 left_gripper=0.9971 right_x=0.171 right_y=0.3171 right_z=0.1605 right_yaw=0.3274 right_pitch=-0.0182 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4581, -0.6085, 6.6256, 1.8193, -0.2125, -0.0122, -0.0122, 0.4855, -7.5009, 8.7863, 1.0965, 0.4176, 0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b89b527b0c0a6e7c5012492a03ce7e7d086e8d4049e1425baa38251440f173",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329e3d1398f35316a7a97daf3885b539cfdc06c4d45e3c9bef73ec78ca7f753d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7262023c645df21d0b3ee2310755311e9ed2717ae0aff1f5b1fc48d5a6c2f751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDh7iTBBgz6xIY6x_A8PD8oZNoUUpIuGe-06X1hGKeWw3sV2Ksa6gsxM02OkR7J40UwVmw4W97o3sIIHx91nln6vBi7KFNuLf8QWl9FCdt7qgX8v7UGExT36FyhkMA0B3mXpr1Gy9EBn1buN4e7Ynaqz6zOkTl1KhI-4cEirORl6ysrAfDl4lnKYt2f-exdUGM3KJK8Ou7c3Uf1ZVkuF-lRRSkVPb8-F8lJPKaOHaHJs8FJA7StHNvLOkrGrP7nBkl7_xdD2WtKzIUxjBH__Z9PVP2yC1pmui_vjKVPvV_YH2dwVaPPRd_2MGZtlosvDdeliQSlWQMg9DDfelmJOP3z9zH-rsgKxN6iAlZ22frLMaKki2Xm1UsRCG63aeycWokoK6aEbjLE8nijtZe4uD5k_1Lfmqbf-bsfSJ5RwxjejPs3S9k_RRqybxrxpthxAVLBONkdt7cfST2l6ymfGUm82YaIuz4mQtP49YatGhmnGjl3djA6xnIsOORid6OdVW8uq4BuK9hkqRWbRBWnlZ4OdmY3IZb7WXdyNTg_VvM12C61Y6yrMPKu18vDoAe9PTPsfN_GSa2WYjqeCM6WNjmKW2ulVi8uZjjp5r3hrObr5c7pn7bQgiprhB-juzcn_F_aBZVwc4at3QxB9TqNVebByILbCEQSPb2MivyQSRMBl9fi8qSLDon6fFG7xkahRcLYJkJRqkruMlX-dB3GHVY5XQ3AiExpmxTa8kP1Hy-7-D3oboxNuFz8VJtEOPGuFAR35OuNMiYdO5-1zNMXYNEwo0xF5lbt--R71ccqr3IwpqJm6ZROSqjtgaxxIaBga_pKGtMJlab6lxQLmtres70x8tJIY_DqA_90HbG48MbHQ8V6Nvp1iAWdSP_7gRowc66T85Q7lPQflB9Kdlmz4kJwGt8fXbiTSUje-GskdOIOTMM3hOUAiao3PfdzIHkqdg0HzMVoGzBBBzrfCW0IjKf9UtcjqhfQYR16KERKBtX-3pAz9UVfOpMLPWlPL045BLc-4OGA-y_40RWwG7umHb3AYEIbp0ON-g4rnXB1YOehJoxPvciiAZyoTams-MdqOWnCJ-ehtHxmrxW0TA8kw-Ji95AvEaxdwxj7V7BUcOm2rVLrzAQbMBRZ401gL-iY0Mn_x_EZ0ap7wunBCGaFXyVlIHTJm4HoLt1NV6_0uowa63U-rEH4als86xhVqRzadIovnhjW9cEZbg_yOgVwfuwL5X9JsENqBYNr8Xa90y-P759Mfg0joe_xuxYRizMA1EfT_gAr2xne-IUooriwlxMd7a0XCa8rUBxdiEptJcBXLNpo7WKhTpvwf8REi8lL5LjUxm3utkWegMgw0td2rAR5z9KjPgbX277mw4TtsIpcwt280ddZGioXNB7xdiwex8MJRBArDvKuNvXHo273j3kl6wFb33oJVyMWYPQIv8tLI5PJhi9T5mpEgPXuulz9kgzXskMgpR6uAciByVNiWlkO3sivE5O9fU_1LeJp1eaAD69kT8YmuL_WD9MZuIPwdSQ5_",
  "id": "rs_0ca80820094c0fa7016ab438797e1487d09ee2e3365caabf09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.325,\"right_z\":0.075},\"note\":\"The middle bottle’s cap and neck are centered in the right wrist image, now much closer to the base. I’ll approach from above and stop short of table contact to check the neck alignment.\"}",
  "call_id": "call_vG1e0EpNQrfL4bHWqqxG0EC9",
  "id": "fc_0ca80820094c0fa7016ab4387a444887d094d24894ba0fd083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vG1e0EpNQrfL4bHWqqxG0EC9",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.68, 0.58, -0.4839, -0.2176, -0.16, 0.9971, 0.9714, 1.7805, 0.8581, 0.1593, 0.5148, 0.3626, 0.9991]\nstate[eef_state]: left_x=0.2702 left_y=0.0009 left_z=0.1797 left_yaw=0.1001 left_pitch=-0.0068 left_roll=-0.0049 left_gripper=0.9971 right_x=0.3129 right_y=0.3101 right_z=0.0566 right_yaw=0.3218 right_pitch=-0.074 right_roll=-0.0507 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -0.9094, 6.0786, 1.873, -0.2125, -0.0269, -0.0122, -0.7316, -7.7607, 8.4171, 1.7363, 0.2906, -0.0317, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c974a788f4902e3dea99339a1c5d1ccbc9ecf7d70ad276c82b25c4a557cb560d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea37b5ee32ae73fd8558c4751fa35abdbc698f8ee1f04fa5109fb72c2d5047b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b8207929cdc0a9b15094f78e4def90e1681f8ede9492fe9842ef615ea6cd8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.765 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.7063, 0.6151, -0.5049, -0.2176, -0.1596, 0.9971, 0.9161, 2.0159, 0.8913, 0.4, 0.5236, 0.3771, 0.5244]\nstate[eef_state]: left_x=0.2727 left_y=0.0005 left_z=0.1848 left_yaw=0.0999 left_pitch=-0.0186 left_roll=-0.0015 left_gripper=0.9971 right_x=0.3477 right_y=0.3138 right_z=0.0074 right_yaw=0.2533 right_pitch=-0.0398 right_roll=-0.0201 right_gripper=0.5244\nstate[joint_eff]: [-0.4034, -1.1009, 6.4205, 1.8779, -0.1441, -0.0171, -0.0122, -0.4855, -9.8256, 6.0923, 1.7411, 0.442, 0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.6857, 0.5812, -0.4873, -0.2176, -0.1596, 0.9971, 1.4372, 1.4395, 0.971, -0.5068, 0.8341, 0.7971, 0.9978]\nstate[eef_state]: left_x=0.2703 left_y=0.0009 left_z=0.1781 left_yaw=0.0999 left_pitch=-0.0145 left_roll=-0.0026 left_gripper=0.9971 right_x=0.171 right_y=0.3171 right_z=0.1605 right_yaw=0.3274 right_pitch=-0.0182 right_roll=-0.0143 right_gripper=0.9978\nstate[joint_eff]: [-0.4581, -0.6085, 6.6256, 1.8193, -0.2125, -0.0122, -0.0122, 0.4855, -7.5009, 8.7863, 1.0965, 0.4176, 0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1516, 0.68, 0.58, -0.4839, -0.2176, -0.16, 0.9971, 0.9714, 1.7805, 0.8581, 0.1593, 0.5148, 0.3626, 0.9991]\nstate[eef_state]: left_x=0.2702 left_y=0.0009 left_z=0.1797 left_yaw=0.1001 left_pitch=-0.0068 left_roll=-0.0049 left_gripper=0.9971 right_x=0.3129 right_y=0.3101 right_z=0.0566 right_yaw=0.3218 right_pitch=-0.074 right_roll=-0.0507 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -0.9094, 6.0786, 1.873, -0.2125, -0.0269, -0.0122, -0.7316, -7.7607, 8.4171, 1.7363, 0.2906, -0.0317, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c974a788f4902e3dea99339a1c5d1ccbc9ecf7d70ad276c82b25c4a557cb560d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea37b5ee32ae73fd8558c4751fa35abdbc698f8ee1f04fa5109fb72c2d5047b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b8207929cdc0a9b15094f78e4def90e1681f8ede9492fe9842ef615ea6cd8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ca80820094c0fa7016ab4387d815487d0a816a6d820020e18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.335,\"right_z\":0.018},\"note\":\"The middle cap is just ahead of the fingertips and slightly left in the right wrist view. I’ll move forward and left a few centimetres, descending until the narrow neck lies between the jaws.\"}",
  "call_id": "call_d4QG67mrnM2NTEsnvL1iQpoL",
  "id": "fc_0ca80820094c0fa7016ab4387e791487d0a7af0bca6c18b2ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4QG67mrnM2NTEsnvL1iQpoL",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.6792, 0.58, -0.4847, -0.2176, -0.1596, 0.9971, 0.9424, 1.9816, 0.8879, 0.3878, 0.487, 0.3313, 0.9994]\nstate[eef_state]: left_x=0.2701 left_y=0.0008 left_z=0.1797 left_yaw=0.0995 left_pitch=-0.0068 left_roll=-0.0046 left_gripper=0.9971 right_x=0.3364 right_y=0.3285 right_z=0.0174 right_yaw=0.3332 right_pitch=-0.0389 right_roll=-0.0272 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -0.6906, 6.4342, 1.7363, -0.1636, -0.0317, -0.0122, -1.1009, -7.6513, 6.7761, 0.9451, 0.0757, -0.0415, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2876c0b846b79beb12d8a1f18870607dfe0908f2d059ccd21c19624792483b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e1efcdbe518866241b4b99d397566a5d23a98770797e5e89a789901938bb15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d1f137f93e7bb4ecce255721e25d5c3201f803717cd8d74550f15cf0c916a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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