adhoc

completed
2026-09-23T20:29:19.349654+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
191.9 s
total steps
282
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 down, with their necks toward the far side of the table. I’m moving the right gripper above the rightmost bottle’s neck to line up a lift that lets its base swing downward.
move_to
right_x0.4400right_y0.2100right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0189, -0.0074, 0.9986, -0.0154, 0.7887, 0.6037, -0.3847, -0.0135, -0.025, 0.9981] state[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0014 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [-0.3897, -1.4701, 9.812, 1.8095, -0.0562, -0.0757, -0.1538, -0.6222, -1.0188, 10.2496, 1.8388, -0.1294, 0.0855, -0.2076] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.21,"right_z":0.15},"note":"All three bottles are lying down, with their necks toward the far side of the table. I’m moving the right gripper above the rightmost bottle’s neck to line up a lift that lets its base swing downward."})
tool
executing move_to over 18 steps (1.8s)
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 right gripper is above the right bottle, and its neck appears centered but still ahead of the fingertips in the wrist view. I’m advancing a few centimeters toward the neck before lowering to grasp it.
move_to
right_x0.4700right_y0.2150right_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0193, -0.0071, 0.9984, 0.6102, 1.721, 1.1141, -0.115, 0.4683, 0.3122, 0.9981] state[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0019 left_roll=0.0006 left_gripper=0.9984 right_x=0.4255 right_y=0.2046 right_z=0.1322 right_yaw=0.0434 right_pitch=-0.0615 right_roll=-0.0403 right_gripper=0.9981 state[joint_eff]: [-0.3487, -1.6342, 6.694, 1.7753, -0.0464, -0.0366, -0.0366, 0.1436, -8.294, 9.1692, 1.707, 0.3199, 0.2906, -0.0171] 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":0.47,"right_y":0.215,"right_z":0.115},"note":"The right gripper is above the right bottle, and its neck appears centered but still ahead of the fingertips in the wrist view. I’m advancing a few centimeters toward the neck before lowering to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe neck is close to the gripper’s centerline, though this extended pose is tracking slightly short. I’m lowering near bottle height to grip its narrow upper section.
move_to
right_x0.4700right_y0.2150right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3809, -0.0189, -0.0071, 0.9983, 0.5762, 1.8618, 1.1286, -0.0048, 0.4366, 0.281, 0.9981] state[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0034 left_roll=0.0004 left_gripper=0.9983 right_x=0.4482 right_y=0.2064 right_z=0.0908 right_yaw=0.0507 right_pitch=-0.087 right_roll=-0.0556 right_gripper=0.9981 state[joint_eff]: [-0.1436, -1.4701, 6.8855, 1.7314, -0.0366, -0.0269, -0.0171, -0.841, -9.7573, 10.4, 2.0342, 0.1343, 0.0464, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.215,"right_z":0.035},"note":"The neck is close to the gripper’s centerline, though this extended pose is tracking slightly short. I’m lowering near bottle height to grip its narrow upper section."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm cannot descend onto the neck at this far reach; its actual height remained about 8.5 cm. I’m moving back onto the bottle’s nearer shoulder, where the gripper should be able to reach table level.
move_to
right_x0.4050right_y0.2150right_z0.0340
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1408, 0.0025, 0.4179, 0.2718, 0.9981] state[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981 state[joint_eff]: [-0.3077, -1.4838, 6.9402, 1.7607, -0.0269, -0.0659, -0.0122, -0.7179, -10.0718, 9.6889, 2.1416, 0.2564, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.215,"right_z":0.034},"note":"The arm cannot descend onto the neck at this far reach; its actual height remained about 8.5 cm. I’m moving back onto the bottle’s nearer shoulder, where the gripper should be able to reach table level."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe right arm held its pose rather than following a diagonal down-and-back move, so I’m lifting and retracting first. That should give it room to descend vertically over the bottle’s body.
move_to
right_x0.3800right_y0.2100right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1412, 0.0021, 0.4179, 0.2718, 0.9981] state[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981 state[joint_eff]: [-0.0615, -1.5932, 6.653, 1.7753, -0.0122, -0.0806, -0.0122, -0.8137, -10.2359, 9.4974, 2.1416, 0.2662, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.21,"right_z":0.17},"note":"The right arm held its pose rather than following a diagonal down-and-back move, so I’m lifting and retracting first. That should give it room to descend vertically over the bottle’s body."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteAt the retracted pose the right wrist camera shows the bottle centered beneath the gripper, with the nearer end below the image. I’m shifting slightly forward over its labeled body to get a reachable grip and bring it closer.
move_to
right_x0.4050right_y0.2150right_z0.1350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.3847, -0.0193, -0.0071, 0.9983, 0.7044, 1.5585, 0.9924, -0.1192, 0.4767, 0.3233, 0.9981] state[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1819 left_yaw=0.0001 left_pitch=-0.008 left_roll=0.0007 left_gripper=0.9983 right_x=0.379 right_y=0.2205 right_z=0.1517 right_yaw=0.1259 right_pitch=-0.0276 right_roll=-0.0159 right_gripper=0.9981 state[joint_eff]: [-0.0889, -1.6205, 6.612, 1.8632, -0.0464, -0.022, -0.0122, -1.2239, -5.9692, 8.7316, 1.5849, 0.525, 0.2759, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.215,"right_z":0.135},"note":"At the retracted pose the right wrist camera shows the bottle centered beneath the gripper, with the nearer end below the image. I’m shifting slightly forward over its labeled body to get a reachable grip and bring it closer."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper remains aligned with the right bottle’s body, but the short adjustment barely advanced the arm. I’m lowering above the near half of the bottle and will check whether the arm can track this reachable position.
move_to
right_x0.4000right_y0.2150right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0189, -0.0071, 0.9983, 0.6884, 1.5547, 0.9829, -0.1001, 0.4713, 0.3222, 0.9981] state[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9983 right_x=0.3826 right_y=0.2155 right_z=0.1524 right_yaw=0.1149 right_pitch=-0.0183 right_roll=-0.0068 right_gripper=0.9981 state[joint_eff]: [-0.0205, -1.6342, 6.4752, 1.8681, -0.022, -0.0659, -0.0122, -0.6769, -5.7915, 5.9009, 1.7265, 0.2076, -0.0855, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.215,"right_z":0.075},"note":"The gripper remains aligned with the right bottle’s body, but the short adjustment barely advanced the arm. I’m lowering above the near half of the bottle and will check whether the arm can track this reachable position."})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe right arm is again stopping well above the bottle at this extended sideways reach. I’m testing a position a few centimeters nearer its base to see whether it can descend enough to handle the bottle without pressing into it blindly.
move_to
right_x0.3300right_y0.2150right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6727, 1.5932, 0.96, -0.0509, 0.4438, 0.3016, 0.9981] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.3868 right_y=0.2158 right_z=0.1343 right_yaw=0.132 right_pitch=-0.0379 right_roll=-0.0156 right_gripper=0.9981 state[joint_eff]: [-0.3487, -1.4154, 6.5436, 1.7851, -0.0366, -0.0269, -0.0122, -0.4171, -7.4325, 6.8171, 1.9609, 0.1783, -0.0757, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.215,"right_z":0.04},"note":"The right arm is again stopping well above the bottle at this extended sideways reach. I’m testing a position a few centimeters nearer its base to see whether it can descend enough to handle the bottle without pressing into it blindly."})
tool
executing move_to over 7 steps (0.7s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe arm now reaches about 5 cm above the table. The bottle’s nearer end is just ahead and slightly right of the fingertips, so I’m nudging forward and toward it to get around its body.
move_to
right_x0.3600right_y0.1950right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0193, -0.0071, 0.9983, 0.8005, 1.6573, 0.6632, 0.2401, 0.5022, 0.3531, 0.9981] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.3305 right_y=0.2237 right_z=0.0485 right_yaw=0.1841 right_pitch=-0.0745 right_roll=-0.0443 right_gripper=0.9981 state[joint_eff]: [-0.2256, -1.388, 6.5573, 1.8242, -0.0171, -0.0659, -0.0122, -1.8667, -6.4205, 6.5983, 2.1416, 0.6911, 0.2369, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.195,"right_z":0.045},"note":"The arm now reaches about 5 cm above the table. The bottle’s nearer end is just ahead and slightly right of the fingertips, so I’m nudging forward and toward it to get around its body."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe right gripper is low over the bottle’s nearer body, and the bottle fills the jaw column in the wrist image. I’m closing gently around it to see whether there is a secure hold for repositioning.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.614, -0.384, -0.0189, -0.0071, 0.9983, 0.6762, 1.7027, 0.5598, 0.4206, 0.4263, 0.289, 0.9981] state[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.3432 right_y=0.1863 right_z=0.0232 right_yaw=0.1551 right_pitch=-0.0767 right_roll=-0.0354 right_gripper=0.9981 state[joint_eff]: [-0.1846, -1.6342, 6.5846, 1.7802, -0.0317, -0.0757, -0.0122, -0.0752, -7.3504, 7.0496, 1.9756, 0.1734, 0.0562, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is low over the bottle’s nearer body, and the bottle fills the jaw column in the wrist image. I’m closing gently around it to see whether there is a secure hold for repositioning."})
tool
executing move_to over 10 steps (1.0s)
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 jaws settled around a roughly 4.7 cm-wide object, consistent with the bottle body. I’m lifting to confirm the bottle comes up with the gripper and to let its base swing downward.
move_to
right_x0.3350right_y0.1850right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6804, 1.7271, 0.4911, 0.5694, 0.4179, 0.279, 0.493] state[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3385 right_y=0.1863 right_z=0.0181 right_yaw=0.1728 right_pitch=-0.0309 right_roll=-0.0113 right_gripper=0.493 state[joint_eff]: [-0.0342, -1.7162, 6.4342, 1.8388, -0.022, -0.0513, -0.0122, -0.3761, -6.1197, 4.5744, 1.9658, 0.2369, 0.0024, 1.0037] 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_x":0.335,"right_y":0.185,"right_z":0.17},"note":"The right jaws settled around a roughly 4.7 cm-wide object, consistent with the bottle body. I’m lifting to confirm the bottle comes up with the gripper and to let its base swing downward."})
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 right bottle moved with the jaws, but it is gripped near its base; lifting there leaves the cap pointed toward the table. I’m drawing the bottle closer to the right base so I can release it and regrip near its neck at a reachable distance.
move_to
right_x0.2400right_y0.1850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3832, -0.0193, -0.0071, 0.9983, 0.6815, 1.3411, 0.7238, -0.2184, 0.3805, 0.2714, 0.4942] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1822 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.312 right_y=0.1732 right_z=0.1027 right_yaw=0.1991 right_pitch=-0.192 right_roll=-0.0754 right_gripper=0.4942 state[joint_eff]: [-0.2256, -1.4701, 6.5299, 1.8535, -0.0659, -0.0415, -0.0122, 0.4581, -9.0462, 11.7265, 2.7326, 0.6081, 0.0073, 0.6813] approver: 4 step(s) modified (delta_clamped ×4). 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_x":0.24,"right_y":0.185,"right_z":0.12},"note":"The right bottle moved with the jaws, but it is gripped near its base; lifting there leaves the cap pointed toward the table. I’m drawing the bottle closer to the right base so I can release it and regrip near its neck at a reachable distance."})
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 has shifted closer, with its cap now well inside the reachable area. I’m opening the jaws and lifting clear so I can approach the cap instead of the base.
move_to
right_gripper1.0000right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0193, -0.0071, 0.9983, 0.9829, 1.0969, 0.4664, -0.1978, 0.5686, 0.4366, 0.4985] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1827 left_yaw=0.0001 left_pitch=-0.0046 left_roll=0.0006 left_gripper=0.9983 right_x=0.2319 right_y=0.1829 right_z=0.0897 right_yaw=0.2672 right_pitch=-0.1015 right_roll=-0.0613 right_gripper=0.4985 state[joint_eff]: [-0.0205, -1.5521, 6.5846, 1.8486, -0.022, -0.0562, -0.0122, -0.0752, -4.7658, 9.0188, 2.1709, 0.5641, 0.0952, 0.442] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.17},"note":"The bottle has shifted closer, with its cap now well inside the reachable area. I’m opening the jaws and lifting clear so I can approach the cap instead of the base."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe right bottle is lying closer to the base now; its cap is near the upper edge of the wrist view. I’m moving above that cap with the jaws open, aiming for a neck grip that will let the base hang down.
move_to
right_x0.3550right_y0.1900right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3836, -0.0193, -0.0071, 0.9983, 1.0, 1.0256, 0.3992, -0.1261, 0.5907, 0.4332, 0.9954] state[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.2284 right_y=0.1803 right_z=0.0947 right_yaw=0.2732 right_pitch=-0.0341 right_roll=-0.0257 right_gripper=0.9954 state[joint_eff]: [-0.2803, -1.1009, 6.6803, 1.8486, -0.0513, -0.0708, -0.0122, -0.4581, -3.0701, 6.735, 1.8242, 0.3053, -0.0659, -0.2662] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.19,"right_z":0.16},"note":"The right bottle is lying closer to the base now; its cap is near the upper edge of the wrist view. I’m moving above that cap with the jaws open, aiming for a neck grip that will let the base hang down."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe moved right bottle’s cap is visible ahead of the jaws, slightly left of center. I’m shifting forward and left over the cap before descending to the neck.
move_to
right_x0.3900right_y0.2050right_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.799, 0.6136, -0.3862, -0.0193, -0.0071, 0.9983, 0.6132, 1.3231, 0.7593, -0.0715, 0.3164, 0.1883, 0.9973] state[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1817 left_yaw=0.0001 left_pitch=-0.0088 left_roll=0.0007 left_gripper=0.9983 right_x=0.3453 right_y=0.1802 right_z=0.1467 right_yaw=0.2375 right_pitch=-0.0296 right_roll=-0.0173 right_gripper=0.9973 state[joint_eff]: [-0.3077, -1.5248, 6.5709, 1.8046, -0.0122, -0.0513, -0.0122, -0.8957, -4.1231, 8.8137, 1.7998, 0.1783, 0.1001, 0.1832] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.205,"right_z":0.115},"note":"The moved right bottle’s cap is visible ahead of the jaws, slightly left of center. I’m shifting forward and left over the cap before descending to the neck."})
tool
executing move_to over 4 steps (0.4s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe cap remains ahead of the fingers, while the main bottle lies toward the base. I’m lowering and advancing just enough to surround the cap/neck rather than the wide middle.
move_to
right_x0.3850right_y0.2100right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3862, -0.0185, -0.0071, 0.9983, 0.5976, 1.5631, 0.7761, 0.0792, 0.2863, 0.1715, 0.9976] state[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1821 left_yaw=-0.0005 left_pitch=-0.0073 left_roll=0.0003 left_gripper=0.9983 right_x=0.3696 right_y=0.1955 right_z=0.0892 right_yaw=0.254 right_pitch=-0.1043 right_roll=-0.0388 right_gripper=0.9976 state[joint_eff]: [-0.1846, -1.6068, 6.4615, 1.8095, -0.0171, -0.0659, -0.0122, -0.3487, -7.6376, 9.3607, 2.1465, 0.1783, 0.0855, 0.0171] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.21,"right_z":0.03},"note":"The cap remains ahead of the fingers, while the main bottle lies toward the base. I’m lowering and advancing just enough to surround the cap/neck rather than the wide middle."})
tool
executing move_to over 4 steps (0.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe arm again stops around 9 cm high when asked to reach the cap; it cannot grip that far out at table height. I’m returning to the bottle’s near end to pull it farther in, where the neck should become accessible.
move_to
right_x0.2650right_y0.1900right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0185, -0.0071, 0.9983, 0.5957, 1.5848, 0.7811, 0.1215, 0.2832, 0.1699, 0.9976] state[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1818 left_yaw=-0.0005 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.3759 right_y=0.1995 right_z=0.0902 right_yaw=0.2563 right_pitch=-0.0809 right_roll=-0.0296 right_gripper=0.9976 state[joint_eff]: [-0.335, -1.4427, 6.694, 1.8486, -0.0317, -0.0659, -0.0122, -0.4718, -7.3094, 8.8684, 2.0928, 0.188, 0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.19,"right_z":0.035},"note":"The arm again stops around 9 cm high when asked to reach the cap; it cannot grip that far out at table height. I’m returning to the bottle’s near end to pull it farther in, where the neck should become accessible."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe right arm is retreating but still above the bottle; the last image was blurred while it moved. I’m settling over the near end before closing so I don’t grab empty space.
move_to
right_x0.2500right_y0.1900right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3859, -0.0193, -0.0071, 0.9983, 0.8597, 1.4441, 0.5053, 0.3695, 0.424, 0.2844, 0.9978] state[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.2968 right_y=0.2387 right_z=0.0872 right_yaw=0.3437 right_pitch=0.0556 right_roll=0.0377 right_gripper=0.9978 state[joint_eff]: [-0.2393, -1.5795, 6.3795, 1.8877, 0.0024, -0.0708, -0.0122, -4.0137, -3.6308, 6.0103, 1.8193, 0.8034, 0.2662, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.19,"right_z":0.035},"note":"The right arm is retreating but still above the bottle; the last image was blurred while it moved. I’m settling over the near end before closing so I don’t grab empty space."})
tool
executing move_to over 5 steps (0.5s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe right bottle’s broad body is now between the low jaws, with its neck still farther forward. I’m gripping the body again so I can draw the neck into the gripper’s low reachable zone.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 0.8768, 1.3643, 0.2588, 0.4839, 0.4568, 0.2855, 0.9979] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0092 left_roll=0.0005 left_gripper=0.9983 right_x=0.2589 right_y=0.1949 right_z=0.0454 right_yaw=0.3347 right_pitch=0.0197 right_roll=-0.0036 right_gripper=0.9979 state[joint_eff]: [-0.2667, -1.6205, 6.6393, 1.8095, -0.0171, -0.0806, -0.0122, 0.7453, -3.5897, 4.4376, 1.3651, 0.0611, 0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s broad body is now between the low jaws, with its neck still farther forward. I’m gripping the body again so I can draw the neck into the gripper’s low reachable zone."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe right jaws have a secure body grip again. I’m pulling the bottle about 10 cm toward the base, keeping it low, so the cap will be reachable for the actual upright lift.
move_to
right_x0.1450right_y0.1850right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.8776, 1.364, 0.218, 0.4873, 0.4423, 0.2871, 0.4873] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0092 left_roll=0.0007 left_gripper=0.9983 right_x=0.2492 right_y=0.1872 right_z=0.0314 right_yaw=0.3463 right_pitch=-0.0165 right_roll=-0.0138 right_gripper=0.4873 state[joint_eff]: [-0.0889, -1.7983, 6.2838, 1.8779, -0.0464, -0.0513, -0.0122, 0.2393, -3.5214, 4.9573, 1.7314, 0.188, 0.0269, 0.9206] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.145,"right_y":0.185,"right_z":0.075},"note":"The right jaws have a secure body grip again. I’m pulling the bottle about 10 cm toward the base, keeping it low, so the cap will be reachable for the actual upright lift."})
tool
executing move_to over 9 steps (0.9s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe cap is now much closer to the right arm, near the center of the table. I’m releasing the body and lifting clear before reaching around the narrower neck.
move_to
right_gripper1.0000right_x0.1900right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0071, 0.9983, 1.475, 0.9573, 0.2546, -0.3058, 0.7742, 0.7578, 0.4862] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9983 right_x=0.1384 right_y=0.1861 right_z=0.0493 right_yaw=0.4369 right_pitch=-0.0807 right_roll=-0.0504 right_gripper=0.4862 state[joint_eff]: [-0.1983, -1.388, 6.3248, 1.8974, -0.0122, -0.0659, -0.0122, 0.0205, -2.8786, 9.7299, 1.7802, 0.8278, 0.0562, 0.4078] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.19,"right_z":0.16},"note":"The cap is now much closer to the right arm, near the center of the table. I’m releasing the body and lifting clear before reaching around the narrower neck."})
tool
executing move_to over 8 steps (0.8s)
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 noteWith the gripper clear, the right bottle’s cap sits centered in the wrist image several centimeters ahead of the fingertips. I’m moving forward over that cap at clearance height.
move_to
right_x0.2650right_y0.1850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 1.1378, 0.7601, 0.4953, -0.4553, 0.5961, 0.4389, 0.9974] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.1889 right_y=0.1809 right_z=0.1452 right_yaw=0.4043 right_pitch=-0.0075 right_roll=-0.002 right_gripper=0.9974 state[joint_eff]: [-0.3487, -1.2923, 6.5983, 1.8388, -0.0415, -0.0708, -0.0122, -0.1573, -0.6085, 9.0735, 1.4823, 0.1099, -0.1001, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.185,"right_z":0.12},"note":"With the gripper clear, the right bottle’s cap sits centered in the wrist image several centimeters ahead of the fingertips. I’m moving forward over that cap at clearance height."})
tool
executing move_to over 6 steps (0.6s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe cap is still ahead of the fingers and a little left of their centerline. I’m making a small forward-left adjustment while descending, now that the neck is within the arm’s low reach.
move_to
right_x0.2950right_y0.2050right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7803, 1.0084, 0.4454, -0.1287, 0.3408, 0.2123, 0.998] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.2527 right_y=0.1721 right_z=0.1045 right_yaw=0.3705 right_pitch=-0.0757 right_roll=-0.0333 right_gripper=0.998 state[joint_eff]: [0.0205, -1.5658, 6.5573, 1.8144, -0.0415, -0.0708, -0.0122, -0.4444, -2.4684, 7.2137, 1.7411, 0.2076, 0.0464, 0.0464] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.205,"right_z":0.065},"note":"The cap is still ahead of the fingers and a little left of their centerline. I’m making a small forward-left adjustment while descending, now that the neck is within the arm’s low reach."})
tool
executing move_to over 4 steps (0.4s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe right arm is now down near the tabletop, with the cap visible just ahead and left of the open jaws. I’m moving a couple of centimeters farther onto the neck and correcting that lateral offset before closing.
move_to
right_x0.3050right_y0.2250right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3878, -0.0193, -0.0071, 0.9983, 0.7605, 1.3567, 0.3958, 0.2722, 0.3019, 0.1928, 0.998] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1818 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.2785 right_y=0.1974 right_z=0.0519 right_yaw=0.3931 right_pitch=-0.0826 right_roll=-0.0247 right_gripper=0.998 state[joint_eff]: [-0.1983, -1.4701, 6.8034, 1.8193, -0.0171, -0.0366, -0.0122, -0.4855, -4.547, 6.5299, 1.5556, 0.3394, -0.0122, -0.0073] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.305,"right_y":0.225,"right_z":0.025},"note":"The right arm is now down near the tabletop, with the cap visible just ahead and left of the open jaws. I’m moving a couple of centimeters farther onto the neck and correcting that lateral offset before closing."})
tool
executing move_to over 3 steps (0.3s)
step 157
assistant
agent noteThe cap has moved close to the jaw column but still lies forward of the fingertips; the arm is following the low motion slowly. I’m advancing again to bring the cap between the fingers without forcing the gripper lower.
move_to
right_x0.3350right_y0.2200right_z0.0430
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7578, 1.3991, 0.3977, 0.3599, 0.3061, 0.1886, 0.998] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2874 right_y=0.2036 right_z=0.0556 right_yaw=0.3903 right_pitch=-0.0375 right_roll=-0.0135 right_gripper=0.998 state[joint_eff]: [-0.3487, -1.7026, 6.3795, 1.8486, -0.0415, -0.0757, -0.0122, -0.6632, -4.5197, 6.4889, 1.9219, 0.1783, -0.0073, -0.0073] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.22,"right_z":0.043},"note":"The cap has moved close to the jaw column but still lies forward of the fingertips; the arm is following the low motion slowly. I’m advancing again to bring the cap between the fingers without forcing the gripper lower."})
tool
executing move_to over 4 steps (0.4s)
step 161
assistant
agent noteThe right arm held still on the attempted low advance, likely because the fingers are touching the bottle body. I’m lifting clear and moving over the cap first, then I’ll try a straight descent onto its neck.
move_to
right_x0.3400right_y0.2150right_z0.1450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7574, 1.3991, 0.3977, 0.3599, 0.3058, 0.1886, 0.998] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2875 right_y=0.2036 right_z=0.0556 right_yaw=0.3902 right_pitch=-0.0376 right_roll=-0.0133 right_gripper=0.998 state[joint_eff]: [-0.294, -1.5795, 6.5436, 1.8291, -0.0269, -0.0513, -0.0171, -0.8137, -4.465, 6.5162, 1.8974, 0.1538, 0.0464, -0.0073] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.215,"right_z":0.145},"note":"The right arm held still on the attempted low advance, likely because the fingers are touching the bottle body. I’m lifting clear and moving over the cap first, then I’ll try a straight descent onto its neck."})
tool
executing move_to over 6 steps (0.6s)
step 167
assistant
agent noteThe gripper is now above the neck, and the cap is visible near the fingertips but slightly left in the wrist view. I’m descending vertically with a small leftward correction to seat the cap between the jaws.
move_to
right_x0.3330right_y0.2280right_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0189, -0.0071, 0.9983, 0.6571, 1.3914, 0.6487, 0.1238, 0.242, 0.1368, 0.998] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0005 left_gripper=0.9983 right_x=0.3331 right_y=0.2081 right_z=0.1103 right_yaw=0.3708 right_pitch=-0.0287 right_roll=-0.0133 right_gripper=0.998 state[joint_eff]: [-0.1436, -1.6479, 6.4342, 1.8144, -0.022, -0.0464, -0.0122, 0.2256, -8.2803, 7.665, 1.6386, 0.0122, 0.1099, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.333,"right_y":0.228,"right_z":0.028},"note":"The gripper is now above the neck, and the cap is visible near the fingertips but slightly left in the wrist view. I’m descending vertically with a small leftward correction to seat the cap between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 173
assistant
agent noteAt tabletop height the bottle is far to the left of the wrist-camera jaw column, despite the overhead overlap. I’m shifting the low gripper toward the bottle’s actual lateral line before trying to close.
move_to
right_x0.3200right_y0.1650right_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6128, -0.387, -0.0193, -0.0071, 0.9983, 0.7082, 1.6936, 0.5209, 0.5163, 0.2687, 0.1528, 0.998] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3268 right_y=0.2229 right_z=0.0249 right_yaw=0.3906 right_pitch=-0.0595 right_roll=-0.0265 right_gripper=0.998 state[joint_eff]: [-0.1299, -1.5111, 6.4068, 1.8095, -0.022, -0.0659, -0.0122, 0.8547, -5.5453, 4.1368, 1.6093, 0.1636, 0.1832, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.165,"right_z":0.027},"note":"At tabletop height the bottle is far to the left of the wrist-camera jaw column, despite the overhead overlap. I’m shifting the low gripper toward the bottle’s actual lateral line before trying to close."})
tool
executing move_to over 5 steps (0.5s)
step 178
assistant
agent noteThe right bottle’s neck is now directly under the jaws in the overhead view; the partial bottle at the left of the wrist view is a different bottle farther away. I’m closing on this neck and checking the settled jaw width.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6125, -0.387, -0.0189, -0.0071, 0.9983, 0.535, 1.5986, 0.3336, 0.7048, 0.1421, 0.0902, 0.998] state[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3258 right_y=0.1682 right_z=0.0303 right_yaw=0.3574 right_pitch=0.0157 right_roll=0.0153 right_gripper=0.998 state[joint_eff]: [-0.0615, -1.4154, 6.4889, 1.8486, -0.0464, -0.022, -0.0122, -0.212, -5.7231, 4.0137, 1.6972, -0.0708, -0.232, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s neck is now directly under the jaws in the overhead view; the partial bottle at the left of the wrist view is a different bottle farther away. I’m closing on this neck and checking the settled jaw width."})
tool
executing move_to over 10 steps (1.0s)
step 188
assistant
agent noteThe close was empty, so the jaws were above or just beyond the narrow neck. I’m reopening and moving a few centimeters back and down to bring the fingers around the bottle rather than over it.
move_to
right_gripper1.0000right_x0.2920right_y0.1770right_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0193, -0.0071, 0.9983, 0.543, 1.5826, 0.3492, 0.7216, 0.1337, 0.0769, 0.0148] state[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.3312 right_y=0.1766 right_z=0.0448 right_yaw=0.3794 right_pitch=0.0628 right_roll=0.0162 right_gripper=0.0148 state[joint_eff]: [-0.1983, -1.7026, 6.5709, 1.8291, -0.0415, -0.0415, -0.0122, -0.4034, -5.0256, 4.506, 1.2381, 0.2076, 0.0464, 1.3602] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.292,"right_y":0.177,"right_z":0.005},"note":"The close was empty, so the jaws were above or just beyond the narrow neck. I’m reopening and moving a few centimeters back and down to bring the fingers around the bottle rather than over it."})
tool
executing move_to over 10 steps (1.0s)
step 198
assistant
agent noteThe gripper now sits farther back and slightly lower over the right bottle’s upper section. I’m trying one more close at this corrected position; the jaw reading will tell us if it actually caught the bottle.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0189, -0.0071, 0.9983, 0.6437, 1.6341, 0.2646, 0.9207, 0.2153, 0.1062, 0.9947] state[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3111 right_y=0.1907 right_z=0.0423 right_yaw=0.394 right_pitch=0.1319 right_roll=0.0184 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.7299, 6.3658, 1.8437, -0.0122, -0.0757, -0.0122, 0.3624, -2.3316, 1.7299, 0.7057, 0.0562, 0.2418, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper now sits farther back and slightly lower over the right bottle’s upper section. I’m trying one more close at this corrected position; the jaw reading will tell us if it actually caught the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteTwo neck closes on the shifted right bottle were empty, so I’m stopping that approach and parking the right arm. I’m switching to the left bottle, whose neck is more accessible from the left arm, and moving above it.
move_to
right_x0.2800right_y0.0200right_z0.1800right_gripper1.0000left_x0.3800left_y-0.1100left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6102, -0.3866, -0.0185, -0.0071, 0.9983, 0.6395, 1.5219, 0.3626, 0.5991, 0.2062, 0.1036, 0.0145] state[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1808 left_yaw=-0.0005 left_pitch=-0.0099 left_roll=0.0003 left_gripper=0.9983 right_x=0.3132 right_y=0.1923 right_z=0.0462 right_yaw=0.4011 right_pitch=0.0227 right_roll=-0.0067 right_gripper=0.0145 state[joint_eff]: [-0.1299, -1.7573, 6.5026, 1.8095, -0.0171, -0.0659, -0.0122, -0.1026, -5.4632, 5.2034, 1.4969, 0.0366, 0.105, 0.9158] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.02,"right_z":0.18,"right_gripper":1,"left_x":0.38,"left_y":-0.11,"left_z":0.12},"note":"Two neck closes on the shifted right bottle were empty, so I’m stopping that approach and parking the right arm. I’m switching to the left bottle, whose neck is more accessible from the left arm, and moving above it."})
tool
executing move_to over 15 steps (1.5s)
step 223
assistant
agent noteThe left bottle’s white cap appears ahead and left of the left gripper; the right arm is parked away. I’m moving the left jaws toward that cap and lowering to its height.
move_to
left_x0.3900left_y-0.0720left_z0.0680
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4526, 1.3842, 0.6403, 0.0605, -0.3622, -0.2455, 0.9983, -0.2554, 0.831, 0.5919, -0.4408, -0.4816, -0.3782, 0.997] state[eef_state]: left_x=0.3657 left_y=-0.1042 left_z=0.1013 left_yaw=-0.0169 left_pitch=-0.0692 left_roll=0.0249 left_gripper=0.9983 right_x=0.2834 right_y=0.0143 right_z=0.1649 right_yaw=0.3377 right_pitch=-0.0214 right_roll=-0.0029 right_gripper=0.997 state[joint_eff]: [-0.3897, -5.6, 8.8684, 1.8828, -0.3297, -0.1148, -0.0122, 0.3487, -1.0735, 9.7436, 1.4921, -0.5299, 0.0024, -0.0317] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.072,"left_z":0.068},"note":"The left bottle’s white cap appears ahead and left of the left gripper; the right arm is parked away. I’m moving the left jaws toward that cap and lowering to its height."})
tool
executing move_to over 3 steps (0.3s)
step 226
assistant
agent noteThe left gripper is close to the cap, but the cap is still just forward-left of the fingertips. I’m making a small forward-left low adjustment to position the narrow neck between the jaws.
move_to
left_x0.4050left_y-0.0300left_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3084, 1.5192, 0.5369, 0.3069, -0.2928, -0.1989, 0.9983, -0.268, 0.8265, 0.5728, -0.4572, -0.5159, -0.3958, 0.9979] state[eef_state]: left_x=0.3778 left_y=-0.0631 left_z=0.0558 left_yaw=0.0451 left_pitch=-0.0792 left_roll=0.0189 left_gripper=0.9983 right_x=0.2776 right_y=0.0179 right_z=0.1569 right_yaw=0.3619 right_pitch=-0.034 right_roll=0.0183 right_gripper=0.9979 state[joint_eff]: [-1.5111, -7.3778, 5.9419, 2.0342, 0.1734, 0.3346, -0.0171, 0.3487, -1.9077, 7.2137, 1.8681, -0.0415, 0.1441, 0.0904] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.03,"left_z":0.027},"note":"The left gripper is close to the cap, but the cap is still just forward-left of the fingertips. I’m making a small forward-left low adjustment to position the narrow neck between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 229
assistant
agent noteThe attempted low adjustment nudged the left bottle toward the base rather than capturing its neck. I’m lifting and retreating to re-approach its newly closer cap from above instead of pushing it along the tabletop.
move_to
left_x0.2700left_y-0.0650left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2573, 1.6054, 0.4728, 0.4984, -0.2516, -0.1757, 0.9983, -0.2695, 0.8089, 0.5392, -0.4366, -0.5026, -0.395, 0.998] state[eef_state]: left_x=0.3814 left_y=-0.0512 left_z=0.0367 left_yaw=0.0487 left_pitch=-0.0485 left_roll=0.0007 left_gripper=0.9983 right_x=0.2753 right_y=0.016 right_z=0.1498 right_yaw=0.3495 right_pitch=-0.0354 right_roll=0.0092 right_gripper=0.998 state[joint_eff]: [-0.4444, -6.2701, 5.3949, 2.2295, -0.1441, 0.0806, -0.0171, -0.5402, -2.0444, 6.9265, 1.7753, -0.4322, -0.0366, -0.0024] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.065,"left_z":0.13},"note":"The attempted low adjustment nudged the left bottle toward the base rather than capturing its neck. I’m lifting and retreating to re-approach its newly closer cap from above instead of pushing it along the tabletop."})
tool
executing move_to over 9 steps (0.9s)
step 238
assistant
agent noteThe left arm held its low pose instead of following the retreat, so I’m raising it vertically first to clear the bottle and surrounding hardware.
move_to
left_x0.3800left_y-0.0500left_z0.1750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2554, 1.6085, 0.4679, 0.527, -0.2543, -0.1764, 0.9983, -0.2764, 0.7933, 0.5049, -0.4187, -0.5018, -0.3977, 0.998] state[eef_state]: left_x=0.3835 left_y=-0.0505 left_z=0.0395 left_yaw=0.053 left_pitch=-0.0284 left_roll=-0.0047 left_gripper=0.9983 right_x=0.2723 right_y=0.0148 right_z=0.142 right_yaw=0.3435 right_pitch=-0.0363 right_roll=0.007 right_gripper=0.998 state[joint_eff]: [-0.4171, -6.4889, 5.2991, 1.9023, -0.1929, 0.0562, -0.0122, -0.4444, -1.5385, 7.0222, 1.8584, -0.3834, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.05,"left_z":0.175},"note":"The left arm held its low pose instead of following the retreat, so I’m raising it vertically first to clear the bottle and surrounding hardware."})
tool
executing move_to over 9 steps (0.9s)
step 247
assistant
agent noteThe left arm has lifted clear. The left bottle now lies closer to the base, with its white cap near the left edge of the overhead image; I’m moving back above that cap to try a direct neck grasp.
move_to
left_x0.2850left_y-0.0800left_z0.1350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2619, 1.2629, 0.7334, -0.0605, -0.2768, -0.1864, 0.9983, -0.2882, 0.7719, 0.4698, -0.3954, -0.5022, -0.3977, 0.998] state[eef_state]: left_x=0.3817 left_y=-0.0486 left_z=0.1583 left_yaw=0.0705 left_pitch=-0.0019 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2697 right_y=0.0125 right_z=0.1362 right_yaw=0.3318 right_pitch=-0.0284 right_roll=0.0017 right_gripper=0.998 state[joint_eff]: [-0.0752, -6.106, 9.3197, 1.6142, -0.0269, 0.1099, -0.0171, -0.3077, -1.1145, 7.0906, 1.7558, -0.3736, -0.0024, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.08,"left_z":0.135},"note":"The left arm has lifted clear. The left bottle now lies closer to the base, with its white cap near the left edge of the overhead image; I’m moving back above that cap to try a direct neck grasp."})
tool
executing move_to over 8 steps (0.8s)
step 255
assistant
agent noteFrom above the cap is near the left fingertips, while the wrist view shows it to the right of the jaw column. I’m shifting the left gripper rightward and lowering around the neck, keeping the motion small to avoid another push.
move_to
left_x0.2650left_y-0.1300left_z0.0660
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5926, 0.9478, 0.4999, -0.2062, -0.5049, -0.363, 0.9983, -0.2966, 0.7616, 0.4454, -0.3801, -0.5026, -0.3981, 0.998] state[eef_state]: left_x=0.2913 left_y=-0.0888 left_z=0.1378 left_yaw=0.02 left_pitch=0.0012 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2679 right_y=0.0108 right_z=0.1309 right_yaw=0.3239 right_pitch=-0.0273 right_roll=0.0009 right_gripper=0.998 state[joint_eff]: [-0.0752, -2.2496, 6.8034, 1.8291, -0.3101, 0.1148, -0.0122, -0.5402, -1.3607, 6.694, 1.746, -0.4322, -0.0024, -0.0122] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.13,"left_z":0.066},"note":"From above the cap is near the left fingertips, while the wrist view shows it to the right of the jaw column. I’m shifting the left gripper rightward and lowering around the neck, keeping the motion small to avoid another push."})
tool
executing move_to over 5 steps (0.5s)
step 260
assistant
agent noteI can now distinguish the bottles in the wrist view: the bottle at the upper right is the middle bottle, while the left bottle’s cap is low at the left edge. I’m moving the gripper left toward the actual cap, which is close to the table’s outer side.
move_to
left_x0.2550left_y-0.0250left_z0.0420
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8555, 1.1687, 0.3408, -0.0147, -0.6678, -0.5301, 0.9983, -0.3035, 0.7513, 0.4213, -0.3729, -0.5022, -0.3977, 0.998] state[eef_state]: left_x=0.2595 left_y=-0.1264 left_z=0.0594 left_yaw=-0.0266 left_pitch=-0.0646 left_roll=0.0586 left_gripper=0.9983 right_x=0.2651 right_y=0.0099 right_z=0.1243 right_yaw=0.3166 right_pitch=-0.0327 right_roll=0.0048 right_gripper=0.998 state[joint_eff]: [-0.1709, -3.5214, 5.4769, 1.4481, -0.5543, -0.1734, -0.0122, -0.4581, -1.2923, 6.8034, 1.8339, -0.4078, 0.0171, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.025,"left_z":0.042},"note":"I can now distinguish the bottles in the wrist view: the bottle at the upper right is the middle bottle, while the left bottle’s cap is low at the left edge. I’m moving the gripper left toward the actual cap, which is close to the table’s outer side."})
tool
executing move_to over 10 steps (1.0s)
step 270
assistant
agent noteThe low sideways move did not track, likely because the gripper is constrained beside the bottle. I’m lifting before shifting left toward the cap so the jaws clear the tabletop and bottle.
move_to
left_x0.2600left_y-0.0150left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8764, 1.1969, 0.3332, 0.0563, -0.7155, -0.5785, 0.9983, -0.3145, 0.7376, 0.3923, -0.3576, -0.5095, -0.3977, 0.998] state[eef_state]: left_x=0.264 left_y=-0.1303 left_z=0.0637 left_yaw=0.0105 left_pitch=-0.0141 left_roll=0.015 left_gripper=0.9983 right_x=0.2624 right_y=0.009 right_z=0.1183 right_yaw=0.3112 right_pitch=-0.03 right_roll=0.0086 right_gripper=0.998 state[joint_eff]: [-0.212, -3.4667, 5.4632, 1.5263, -0.3932, -0.1001, -0.0122, -0.212, -1.4427, 6.7077, 1.8486, -0.3736, 0.0366, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.015,"left_z":0.17},"note":"The low sideways move did not track, likely because the gripper is constrained beside the bottle. I’m lifting before shifting left toward the cap so the jaws clear the tabletop and bottle."})
tool
executing move_to over 11 steps (1.1s)
step 281
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2138, 0.6174, 0.4816, -0.4484, -0.2501, -0.1768, 0.9982, -0.321, 0.7193, 0.3664, -0.342, -0.5098, -0.3977, 0.998] state[eef_state]: left_x=0.2612 left_y=-0.0083 left_z=0.1582 left_yaw=0.0912 left_pitch=-0.0011 left_roll=-0.0161 left_gripper=0.9982 right_x=0.2603 right_y=0.0081 right_z=0.1141 right_yaw=0.3049 right_pitch=-0.0233 right_roll=0.0041 right_gripper=0.998 state[joint_eff]: [0.0615, -0.2667, 9.6615, 1.6435, -0.0562, 0.3394, -0.0171, -0.3214, -1.0051, 6.7761, 1.7363, -0.3297, -0.0073, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.054 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"
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0189, -0.0074, 0.9986, -0.0154, 0.7887, 0.6037, -0.3847, -0.0135, -0.025, 0.9981]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0014 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -1.4701, 9.812, 1.8095, -0.0562, -0.0757, -0.1538, -0.6222, -1.0188, 10.2496, 1.8388, -0.1294, 0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287145842aae29130ef231c162afddf46399a6b5e53b5587798d1c80feb50577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a505081d1f114a80b84378de4f6a1721cd94dbf20ae5dce161ee54a9f95e34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875ea53d9a097b3661e7fef67fd300ba99de7b8da386a63d000ad6caf5110281",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.211 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDa0roLczY1dBjpAEmGiRZP-S7AxhfUiRG5OD4r5lCmpcGsNAo0mvEXhUOfjoT2DCCgiK-fgttPoQ8G_Vn5sqLJtEyL88l8DpA94yVfm8G0K-Fvl2Ux5aNSBFmTCOeEUarvqAU6L_rGMbWNACj8NAhDB5ki9qBJ3-CiYjNhq190ETcdjmSAtawW01uPHlWXyLG41IfS-ehPqI1kiaNAndXvS8AU6ncfgUp3m19ksUR3633mQqVa5Ryfbu2HDiBFYvbsKhDS3_tWVlXg8OBTcHI5xTrb9Sw1f4Ix6JvdPxyuqEfbjaXrtEatTdgAX-aiWFjUpZT_Dc-USPESbDWlr2Zi5tYHX1a-RSiurWznXgvM9hrciCbmRyPoiI3KFuGCU8yv1NsqSpVoe6c22fl4y3a4z66UWUDttqK7cABXaHX8n4laYv5Q0n4vzqzmvdVI-mQuHSrqtgQgzSCD6uYg_ZXme98imZt5seWHWkWl8bkFH5_GBnLuUYIf5JwpPmT8pfvHxx7uZ37f_J8WOBmPFf8SkFsIdChCrHqUc9jNurxwnNTrPWvRsSuQoWed-TY5YuJ27IZjSZ96zcc5KFJ9PJlJNzOeMeQIKFcL1dF8tovShNWCNi0zCm7HXsTQ7h2SPQO_6cckF9zy7Ws9dZK-PQJiqF71abUZwq2gJfIGBmhRywTVRRsR0IqPKEBu1FEm8-nxKh5xl3lhgdE4OQfQSkUpuO6vU2GA5oAZQaKZnioeEJSkzU1H3OwBD3UD5-Sike7UygelegcogbciKRkJ1fNaNK23B5b2cg4XCnjdqSY7AEJ8-OaOcgKAZ4zLqITkazwuqm4eFbLDCDIsR_yocE3saTpe58oIo1Gb4SEdmNsymM2-UNkllJTRvESzm8iL9FFhzM8_4f8WtEotEGPk_UJ7AliGMnwV4xzUfkHubAJ03xCVpIXSpw_wOTUg9GB7V8EuI_-5Ni8P6Rtn9ZtMNCTHhyXyNqotHZEhFd6zoAa_pDrJt3vFx09UwVT1nboiJIHqn0fSmLT7_ET7zmg0sMk2bq-QxZP26gOsE2Ud4guWSMYxsrZdm6f5N2P3_gZOxMAESK0BUzIuJDh5qjksrtJJbfyO77u8zbXsYJH-gLYL3AulC1UkcgwbBlg30eU9gjafjRe19ZgroFM-XY6mn20o2-tpOIFOHNnxpgAF73d35CaXwol5TgnuDf3dBMANgmt2PDF2uTuDmoeuI2hgpXLi8pwm1Q03Dhm87wFtTVC15-qDm5jNGMRaEXiUE71nVk4JFyAj22ibuIk2XFznSwbBonSNKF0THHrQFw61Xf-9-9zDaZG2XMCgkb8C1XxixZ-aBhQTrgk1U5IgebpIcUftxtcESS4XE-IuVj_WHxCrWNIASTQPl_VUTQKZB0YAUS5UgTwTEYCHFTlVLfha0dAQWuZ7NjMt0B9HXbhiPL3lOK08qjknhHiNebImvzb3L9HirqSAUgcK11eUOeD4u7cYBoIigo9-BQWbuzH0u9f_mEJ5WWfmHII83HvVLXBLgUP4ObqLd91wBvJ2ukWbQDkHnwXrhpsOSlzgk6FcqRRy2sof1vQJiCu_LXbnOUvPFcvQPod7aX0hC6xLg9jjGQ0I1ddvEUPlI8ZnnuJcD7_9f3FxLKNuh27n4aYs0YAKsXMTbmiUs9qNNmqWYxOXzJNKufRuejZMoJRKD-CHj_X6qEAp2mNp82XQJJ1HiAQdLoQtzB-WjjVJCLLmsPZiRu-aQlLYPUvCcUZMuv7ut75Bt3GzqeTKTGiDI0R5l4VAY-63rA_U-SIVSlYCpKaw9s1eoJQHQMjN_9KoGsIYCcljTHvSWpGpLjEDQ99jUvUVejI6yx07spCMO22lDfN9uc4Ml4hj2xAVE0qC-3_vw2tuT8B6GSDk1eowul7ORKBUpCcz6COA0ePwIkrRGcBEhalwdTQ==",
  "id": "rs_04866ec2a1d3bbef016ab436b2051487d09485de757e47faa6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.21,\"right_z\":0.15},\"note\":\"All three bottles are lying down, with their necks toward the far side of the table. I’m moving the right gripper above the rightmost bottle’s neck to line up a lift that lets its base swing downward.\"}",
  "call_id": "call_UtK7cLE9mdDNhpw3zdKh4v52",
  "id": "fc_04866ec2a1d3bbef016ab436b3912887d0b154ef9734e86b17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtK7cLE9mdDNhpw3zdKh4v52",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0193, -0.0071, 0.9984, 0.6102, 1.721, 1.1141, -0.115, 0.4683, 0.3122, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0019 left_roll=0.0006 left_gripper=0.9984 right_x=0.4255 right_y=0.2046 right_z=0.1322 right_yaw=0.0434 right_pitch=-0.0615 right_roll=-0.0403 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.6342, 6.694, 1.7753, -0.0464, -0.0366, -0.0366, 0.1436, -8.294, 9.1692, 1.707, 0.3199, 0.2906, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5d3598cc0f88392a44ba480e634365e3465f0bab379d87313705b3e4bd7c18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045176ec1ff56f0cb53e325b25a496002c5527a2d902720879e6dae87eadd09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c693b1f09de2062d9f22992e7f858c6924ccc06b95770cc5a2d80ad91d6cc223",
      "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 2 attempt 0 · /responses · status 200 · 4.119 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0189, -0.0074, 0.9986, -0.0154, 0.7887, 0.6037, -0.3847, -0.0135, -0.025, 0.9981]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0014 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -1.4701, 9.812, 1.8095, -0.0562, -0.0757, -0.1538, -0.6222, -1.0188, 10.2496, 1.8388, -0.1294, 0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0193, -0.0071, 0.9984, 0.6102, 1.721, 1.1141, -0.115, 0.4683, 0.3122, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0019 left_roll=0.0006 left_gripper=0.9984 right_x=0.4255 right_y=0.2046 right_z=0.1322 right_yaw=0.0434 right_pitch=-0.0615 right_roll=-0.0403 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.6342, 6.694, 1.7753, -0.0464, -0.0366, -0.0366, 0.1436, -8.294, 9.1692, 1.707, 0.3199, 0.2906, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5d3598cc0f88392a44ba480e634365e3465f0bab379d87313705b3e4bd7c18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4045176ec1ff56f0cb53e325b25a496002c5527a2d902720879e6dae87eadd09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c693b1f09de2062d9f22992e7f858c6924ccc06b95770cc5a2d80ad91d6cc223",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDa7-JM0lOuB3c-kah3dcn89D0wrHf7UroBrEnNCXgyxF-7HU0UmAXdZi0j_6Og_aPDQmUYP5nq9Toa8W6KNC3hs7VF3UIUFZe_-V2q53sJWsFsucGxDij0NEHvHS2AzhWFfTvGcqU4ORmWIy33ampmStq_XhpyghYAT4Lv7jT81c02sQgosCyx7t65bvcNvjuaBoaBkDXux8gIZWNlTotIMvMkXzRPBUX5PMDvuTm95RgTNcEMmo6x3NsqqOdLxcR3RV2EeUkab02qJoYe1_1kiGeomFmK2mpfBl6sVkxL10iKBnhnxaHgDu5Wvk-PbBor-5TiLXCzXI9fu0zEOhYK0BQEwOuIbpl_-4snXDLJYaHOPI8_drSIPynVSoSgxeRfTPG36ytyLANvjgZImOIYhQPVWJfgM0nAsWwjnw-VXmMp8EQ40CCcbzmETuYrHxWVaXuPrtIIPjms421VrSgu3yX9IJON3A7kj-GSaEuptvq6qe7JEnW8OvtC8y4lrcad7gxxsEouLjLX5KP1pIpDhemTI2bQ2GVNu3H2qz5whox-g6y-2HX7mt_4dv4x4dAJFdwhieOc9oRxU9SZCX4uXIYhHKgYBQvv3j3W1N5atuqOLSbPD8U5iFqO-my9lUTQylX4H0tBZZoDxxNt3OB5a8fPbg9Yz_p7gAH3-WqSyaUVGoZL9OpQ3oeSestUwNsm-sNcH-G4ozT4qenbosbI6rzAKkkmTZDLy1PZk8_0nLx1BFQFgZ6omN4GUMWhsMqfL8Av6oeptJdOMzs6AuoaYoBJp66yazfwxUTl0WQfdJOgJ1efJuk-2HTjApOZxwroX1luNPhe3vFPqItokCV7RD6zZLrm56Wmz4KsXZkX9sND4nTMk_mSiAEZVJwJ1_lRmOWkWethcwDXjy3Gs2AurvYYgwh0IbRO7OM9Or_i7Pp4okAusjt8MY_CixZzhDD539dlY1NGS8iQUudYS3trymmpQF88u7cJ3xm-qo-mQxbMWy0xCLDXC4sfAyzDs0dsFr34AHwTie0Vi70cfWB6joG9h_T9dnMia-ZIlWjeHw2V8mM0tGDrnuoNBil_e8JjSEsSYtxShTvyMbY4nwu9b2qGBY88wgbVEN7HI2oMmePtseaDIfXicDVeHRbtmepxQhCvfkYAZstv1k3TaMvu3OZ7_9NKh6psuQVBhMe0hErohqmzoizkwBkuNGgSMa1EeDgdPpBaPC4uThFdPkJxuk-t17wpbCzHG_3eIc5wukRrKYbpGgqFCB6OyNLEEcuz__jvr9sll6WqY_mPSSoz1tak2Czb5mQBrXi_v0REDju9nUx9Wz2l__0f52x5ePh6W_Aw-HCdb9HW5gJ6Z6FF5l_GrTxnbS_8oxliKUwnjWtFFP0ov79_T-6-sbFV2Q61nG9ikr6lSz8F3OOgdVi6BlWiYvE6JORYK4g0AvIKjGmR7RME10zg_0OnfnMif1oNsa9mXOv_5f1ayEm54lQGF6MYb77Lq5ZgS-ai_stAtQ4twwqa7dTGRh9L13cq1yp2hcBJoI0R6TL8POGlrQE2LkqHeMEZ6ObxMoNUB4sotfan_tpGYoQmKwjofI4ZWZNXqn308_wNjNAhMDtZFM278nKc6igTs2_NTVdcvqgCp-Mo1SaDEsah4jOUAefVYgSVG23vkcGdsoJuwJjVEHGN3Yqi4wYbbxFnvgMG3N6V05bPY0vDyMDPFhb3SUymGp6tGcGbIqXXuB-DjePk-lit-kQXU_VzvZfViDjT7OuZSm0x7iOKOEQFyV-Jq-cdaGMfgnK5aabZ6ElTMloTN-QaHDjoLp9oRMSgCqMgv1EGE7WWU6vKyJqvWzypZ8y_uwsNT27RGBtJ-t1z03tdvYBZP7IfqB8BdDM0BJTK6T_3-kbWnJpWok_Avb38dqzJgjIWYmOY46DSoSW4jfu9bf6qpshibBlg9PaxwyrTyCjDCP9tYDpYoSnBT5d_bkN9H35pEwhzdXOpq8W1gPLUebZwSyBb8Smn9t_2TWrMrsdQGKySwkKKJrB9_jlvpZQPBtSYeqAOujVs52MfWSR8a5SvlzTdMZtXsiwcBwO61-5UOsuTvTWV07VVcGqEn9U4YQFclzNBz1wfj6I4Ns3vfbu98AdJfhKFFC-3Cc6KpQdXqsIIl9f6o8JrL4v7tU2zzIomypxowSXv8qTJeGx1xZnAyNbPHuWAwyvjtyJw4Fbc2UjpFIDw-PpA199DsJ5c3PEINTxfyZ55t5qWLbToEPHKC2nY9l8hW601mBrC_KeJqu5PqX30dieNWh97k7piaN_1K9VI3k5oEJRXKoX1yEdR1oj4vY_jvRT81kpvgMGn1wEPMxEZychNduGze7WPfHJOR1q526SCQR6aZx7GTAjtI63eViw-NwPpsbVJNGsuD468WzmPq7l-tE1TarN-ubLUYXHbqoqFrzSFnpazajH6X16jaUVEqJ3vaW5UE9EWZVO0QFBCq1EwSF85b9AU0x15jIiRTyGCE4-Esqnk2-ljSYjwCpUwiAH_Zdrga_V91BsGorVl3GuzAOIwlTJayRNEW0WhPogfvS3q_v8pChrcGttAO--wBIT_IYKzcamZL8UiST0qrTlPiVPZKHjnxOlxj5IPpIlXD5eAXOIZgPMvxSTlmoZv6oynU3MAOhpA_Sl26A-bNLQhTwX0UiMJa2CSv4RyYPPMr9FKExlM6-1E7EkxWQMs-k9uqucUFfpsIb4F1sXMESZIKm9PatKHwZP99BiIg-5Dr07SO_Gi7_uAQ07uP9-22k4DMSJd3CbGqwgna8Fqw94b85XqVw8Gv546oANEJ0bphqKurU4zmwv8usb18gTvahA-Cmdm4ob593MlDXxaGhY6otFM_E_l3uQVb_-FysrHqsO6g77Z3uROBABtDHourElyUQXkYW2W0DKuf7zyx8kk9XYoj_bkJT1DUWN8tq85sK6U1wVtpr5fh-jx-zeW0dn5JjUc_jV2C2oOmFc2uLzVjoiPU1_KZlkwn2VYMkhOuvnr_t6XtvDKqVbec6grBSt7N5iZbqnILzZc=",
  "id": "rs_04866ec2a1d3bbef016ab436b7150c87d0850959154a3de31e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.215,\"right_z\":0.115},\"note\":\"The right gripper is above the right bottle, and its neck appears centered but still ahead of the fingertips in the wrist view. I’m advancing a few centimeters toward the neck before lowering to grasp it.\"}",
  "call_id": "call_iINe9S9pZgiqc0mdDhronGXT",
  "id": "fc_04866ec2a1d3bbef016ab436baabec87d0ae430af3df22ad4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iINe9S9pZgiqc0mdDhronGXT",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3809, -0.0189, -0.0071, 0.9983, 0.5762, 1.8618, 1.1286, -0.0048, 0.4366, 0.281, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0034 left_roll=0.0004 left_gripper=0.9983 right_x=0.4482 right_y=0.2064 right_z=0.0908 right_yaw=0.0507 right_pitch=-0.087 right_roll=-0.0556 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.4701, 6.8855, 1.7314, -0.0366, -0.0269, -0.0171, -0.841, -9.7573, 10.4, 2.0342, 0.1343, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90e39c9b4fb2d4a9d00b4b2cd0298da57a38a6f3da1f4389bb850172f517e63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbd8bf33c43f2483fb876fade708e2bfcdce92f04f46aa2697efee3b614abdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fd89f465b560d575162b47f38e92241926158dc667cfe70b94e23f0fc8f3a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.214 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0193, -0.0071, 0.9984, 0.6102, 1.721, 1.1141, -0.115, 0.4683, 0.3122, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0019 left_roll=0.0006 left_gripper=0.9984 right_x=0.4255 right_y=0.2046 right_z=0.1322 right_yaw=0.0434 right_pitch=-0.0615 right_roll=-0.0403 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.6342, 6.694, 1.7753, -0.0464, -0.0366, -0.0366, 0.1436, -8.294, 9.1692, 1.707, 0.3199, 0.2906, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3809, -0.0189, -0.0071, 0.9983, 0.5762, 1.8618, 1.1286, -0.0048, 0.4366, 0.281, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0034 left_roll=0.0004 left_gripper=0.9983 right_x=0.4482 right_y=0.2064 right_z=0.0908 right_yaw=0.0507 right_pitch=-0.087 right_roll=-0.0556 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.4701, 6.8855, 1.7314, -0.0366, -0.0269, -0.0171, -0.841, -9.7573, 10.4, 2.0342, 0.1343, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90e39c9b4fb2d4a9d00b4b2cd0298da57a38a6f3da1f4389bb850172f517e63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbd8bf33c43f2483fb876fade708e2bfcdce92f04f46aa2697efee3b614abdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fd89f465b560d575162b47f38e92241926158dc667cfe70b94e23f0fc8f3a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDa_6Y5g_28q1dp-jMZ3uyRK7gjPCez_vI59H4wQ46S3Y4N_J9ctDRrh38O4_N8WoQ25favJhJhiY5kJt_XryEfi4xjTTEAg6No3ufMPqeWjqKimf6qbBFYh7r8RLdIEZ7d3YCJRqx7aJoD84a4l5OhhLBMovqrnTIrYI1J_IlPYBk5rBWKk0UCax6qenPZnK_qD3SGbsMlRpPIKTjlXTdkfSEJ1AV2MeTTv7MqYaGNWfSeAWKySW9QfoMuSexTYvX7pjtUl7HILIrO0Fpe5qfc9Xjbei9ww6KboFf7i4EpqyNDtnGn4AxNO58NDO35Ed4zwFa0KORAIqS7M9WgHMTk99YykTHIRrpljcXqBRImW_VZzW6xcHf918c06rbKmazQS7Tan-JLBC03H-IBbI1yOCWkrJqDuvR1P5qfQxsR4J6WhxRlYR_5uag0vtZCzNub7lvfypQC7UhJWClRuaMrqLNlobtI4UEELIui5HJdM15sn6JOjVigdeqmcWq6WZcP4GMHTzBqJkg1SxNoj6CeUKBsLgHsl7qm7OAcDY0qRwKhIwrq0ZphFU5YKxdbac1rmX9ZuLlIhuc7mfnvcLrxq7dOXMF0MElTK5NWyEp8mXS52tIRZBvreUMjogiUNPmHm3tbMc4hRUOeartwM7UmdIMV1ymvnwCZLAEU89ky_Ks6u-kEG8UzqgQpT2ra2NgUDd6Iq2Dvq7RTM0Qn6sgs3Ofz3RAs-7Mp30Dbgv65HdHdccDM6-VEs0TQQLvzE1mZfBznWePbWTZe2rVyyShGrq8bY3wxAvIlyfgH2cTuD_cXtpggWLk8AQcwUKHVg2ATptkbTU3xXlLlxt15CZllej3RP1kQ-IYEz-BrYWrkwBAxRSC4JX2UWK5vHZBDRbgN2PdsX1iGqRZvb2F2AKgte2F5t-dprEZnfQw5Yfv4vU4CyosZy6sWXcheypaU8FpVmN9Xw7cXrVjAsTLxBi_OGEH2DGyWznOvS_PzEGqJY1--U7ZRVPV3UsCTuDCRfOgyvEID5QjXmWjCYtD6iQ1IGgo8IMGbmTpR_edq7BXzT8naMJa-YefVhVEeMqX0eyPjMOQI65lk471dvAVheZc54rakJDfjsYVo0OT9CM2xfIaPHDJWyajEqEmPVzjq9tQ48KNPujpCYHYDfAfakWt7Dbvot3fPvIk7o2EJxcXE6nq71zdaMNYOyu05miIfCgrR61IIqIpIaZkpfmbKpPUKG860HyOMBwUfNwMLfnTDkZuTOcDgfTa0ZeUghDOf26yEHwxNytRIRGgjvGk0yTrffn1JdY513MRr8pbtl1KOE488kBH580q58WS86icx6Pe6DpsBPagU0udlQZM3tDwfIR8EDkbhybwxSXzYA5IBxfkF5Xx98XGxipr-HqZKmx4jOkKlI_vpGF_AZTh0YY_iZO9SviS050Zzbke27VELOBOk3AOS4LkAiQYdhpxndAtUKfIvGsaUvQ9D5vTh_D2KxcLU2qIteS1cmuTrr2DeRJhxlb-GtwQY9JJbFThxV5nlMJ4apJ8b0v6trTea2eMfN0cHnrvf-cZu9AVkfsrNnBystgUB1jgmI2LDhYXTvGRt51wipEjV_G1uX7BXU8KyqfnLcYeuk-P9QlPcXWYVOwWwR0i-eNtiF86bfODIToEX0nza_85wbidfnHlnp0-HyIX-eP-8vN5Ax45DDrPeICAtqEjVRXdONFIwM1ifRcK61h5ImovCodH3mzc7_cRms6d-ATTeYgsdMIO5g_gjbrGMOwQXz_0gx836-niG9Wm6N6srSoyB5xFxdMPJT9qM9PfLilpWUc69-X4VGYrL8Ij7GilQeiCqISmiWyGg3P2m43Tv-iq7tko-CvW5mhfp0BzX1dOgbypzhd-mUxO3ffNBxMSzwQ4Jhjs-6uHiu7xFdMSX52bIdtCmeqd_KYgY0yQrP-qAYpXZxjp2kZ-9wZCJBNlm4lns4sZ2VYAN3pHd-SRpio7pwfCt0tBdqZIKRSfyeutexDtmNYBor0z_CQpIsPCJIU57p3t_OSNZobj3E",
  "id": "rs_04866ec2a1d3bbef016ab436bcaea487d08a26be7f77b299ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.215,\"right_z\":0.035},\"note\":\"The neck is close to the gripper’s centerline, though this extended pose is tracking slightly short. I’m lowering near bottle height to grip its narrow upper section.\"}",
  "call_id": "call_7f2A7PxFxsy9fMYGCwfH9qEP",
  "id": "fc_04866ec2a1d3bbef016ab436bf4a4c87d091060624113e524f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7f2A7PxFxsy9fMYGCwfH9qEP",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1408, 0.0025, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.4838, 6.9402, 1.7607, -0.0269, -0.0659, -0.0122, -0.7179, -10.0718, 9.6889, 2.1416, 0.2564, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2305365921c694d66e671c90e85ed9bbc809a332728b7024149fbe529efd7fcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b9bb8dcdaff5447aaa1965eb290206e847ab0fc90d7b393fa57e88fafae203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b161f9e99294f18b90993f3c9bd5d3baecf4cd93d998384115bcf82f97cc9e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 2.688 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0189, -0.0074, 0.9986, -0.0154, 0.7887, 0.6037, -0.3847, -0.0135, -0.025, 0.9981]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0014 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -1.4701, 9.812, 1.8095, -0.0562, -0.0757, -0.1538, -0.6222, -1.0188, 10.2496, 1.8388, -0.1294, 0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3809, -0.0189, -0.0071, 0.9983, 0.5762, 1.8618, 1.1286, -0.0048, 0.4366, 0.281, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0034 left_roll=0.0004 left_gripper=0.9983 right_x=0.4482 right_y=0.2064 right_z=0.0908 right_yaw=0.0507 right_pitch=-0.087 right_roll=-0.0556 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.4701, 6.8855, 1.7314, -0.0366, -0.0269, -0.0171, -0.841, -9.7573, 10.4, 2.0342, 0.1343, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1408, 0.0025, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.4838, 6.9402, 1.7607, -0.0269, -0.0659, -0.0122, -0.7179, -10.0718, 9.6889, 2.1416, 0.2564, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2305365921c694d66e671c90e85ed9bbc809a332728b7024149fbe529efd7fcf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b9bb8dcdaff5447aaa1965eb290206e847ab0fc90d7b393fa57e88fafae203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b161f9e99294f18b90993f3c9bd5d3baecf4cd93d998384115bcf82f97cc9e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbEvIEm3xlrE38-Gd-LmqqDxdyrsT0b7OOe638wFCS5bZ6CKiDlB22eGca6osMzJ8Dsf_iiRXWKeYdyLiyF9kPjqJ0LgLs2vLETj7up18QIpIY_jIfuLSqlP512XrIYmbEfKXW9_KWt23XK9Eqeu-Wphla3AVWGE1jPNyefn5LN0bKwcGoe35TJ0MjEkCkBO97qDJjuBKGF9za2Z5tQdDNgHzxgdqm8BL8-r-Bh3l5a-3wphc-nBdmG3Ig7-ZvFtOTl361UZ0dZSd3e1bfbtAVAbfXzEbE7j1cIHiXh04UZefG-HIDNKrYqicZyVySdfMWTca6tWJCoE3VR-SnywVL74-CrcF2TPXhPt-RCPf0Lox_9ipkWiVfLA8YqxgYWVsksCdRdSTLNOpusLMu65OEsidP6v9-pLafQAoY1mX3NdcfTTqfRVEUQ15S0aUcii0UumUeAeHdYOU5g53Bz5t61y5mWVIMeNJlaD98qPbHTTJzsvLcy8YVVUx6pHt_Kqw7haoa-hkNenAHZIe4LkWYMxy3hxUDuJ0MyGVXWef6DLbE680FjYzMy4oCJ_DiEh6761hsaiKQXuZ-bqg_JB3_VZarJWxnXT2oyIGM0hKEfRpncs2F4TJy7vUie1blIrjo3XMo5bpcR7OiWfmg2lIwLAxg-hJzBnwnfdZoqYec9mgkowaAnRVxvZXq4Jy-7TbaMmfPsqaIB4l2eSr0MbDaohGU4SmE-0wHK5huJ_sTrzZ7rOBC7yyoESQPDpRCkWkIbThCLXoTSVb-4S1X7xTieothQUXtTqQOZaK9x99t2fC7BuU9gAVrrsBcND9MDsmL34HTIyrTppR51a5GOEOY0yj4SW7t3grQ06-C3-cxa8zJ2kOJrz0hwULCvR_FXf5LdaOQ0--znHz8Dk2LUlfHdUS4xb8v02TDQ6WkavUJ5U-r-lYylVBXLc3W3wULIltbW4dZjKHheRdJwzLREPmb9764uRRBVjweK66svqJAZgBu6uQdrsTBs1sYmoRCArwGWv6SKkAm_f5W4Ntwjgd8ymfv5Pp_rhs9ot0bJtL4AGJZxQOzn9j51wkvz_sg-6-7mugeLVO2YxZOs2JkDLyZHZZdvcgYUpcRCnm6zgZIBHhOFNcH3KtoJ6mJLuhMzSu2Thxyz-Gx3Bkevsf65NH7p1za7YPRT2CbY-aQZSBsmaoXJzhPeyTxHX8et6VhIkqw8H62I4wc3VK-lMJiqyJwqVEpT0KvjjkKaBnP90KDsKMBJQQt-or3JShd-T-3J1HRAdP0MdSLzeop1n7Wem-sBvpdKDSBX0DELrWBi7UJOPbRAogW0eLQFncKATnAt9V0Z76GJ9pIrrbKgv4QIud34qE2hFnga2nwoeAgxO3NpJ-JEw5S-rroHKINBZPBpwjzCh69PYH4A9X2AlHFQsAQsmm1So-ScnSROHQPiqDDBz4kCtvSpeTUXJszhI-gnuUye-7Idn52QzPDnrXs77BhdtEz4uwiLyCypx3gfwTVi1znh8q0z2hk52j1QZH1wP04m0A8fu65jF3_QZQFs1N1E8xOxTIl85km7Fi5VCcLXWbDmwn1wxOvUFk2LeGFXDGiDT8P8yh9ouGZ90i9UZTeQEoCskPZL_TpPyedaPrZqCANa5O_PsCFN7_Ofh3UZpRKiNjMgd_HWB_uZzcXmMfwGvu4TqbDRdVdUS1kFI8ThH8GS5JUGNZhXb2KN5oZq5SRpDsIUw1J9ibba_aE9tyrwYSCwjbcMxZITYytUoEav8xhTi12iG9gb4xmfxSZYMmaKO9-ccSq8rgh2KgN9k9QEZXPX5mJcQm7Y_KUTVPeWRyE2pFhl1xAAZaDGkGXMtYSXAtSjrjmNNa2Uneix6atMdDlgFPslNoCn5AUu_M_Zria-l8sUxsA1zfapCc5068kvKNld3gdkjFog6Z12MF8WZriszoD9LR2Ix39ce-QgRO_Un0siHWX7Atdn89v9ZyRZbU3NV_aMnuA8nOknmpVAep3jQ4GomZxi8dOw0VhV7y_nbZGO5lZ9x9E822VYU-U4buNE-0xX9i7o16-7faQ0Q6ZnIdZeASjT_piXNjG7CJLWJiLq6MED6_6HigWWjDdecbI7TantRuhLVVjPEB3j4mviiGooyFu96cKoOUqlcz8doWSkLU69KXOGPjbcorpU6XlosBTA8CIuxTt3SnNSLTXVNeelqP9smJRw88SbOqsRJmsi5yPAvjfqjEpL9Jp_vxSks2PL1KsTml9RY56NuUDv_MQIwsYpb5QsLrJjjT0jOALB9KpbIqmAOxvjyrKt_AhX5b687W7z-d3FpI_gyI5S8L3dKNvqwh8c-oK7vdUYBTwPu7pglsMQqWcPp5ESY6IVFVsmnSCdfec0PQ_9-1PiLDR6f_6MUIWgUyY4xW2mtQBYQTaYiLDe61IRadaUhggvsC5u2-r4y9Cpz1PltGr-FHNFD5YayTIW23DF6Ff4DmVqRm15a_9afgfwTP6Q",
  "id": "rs_04866ec2a1d3bbef016ab436c0fadc87d0bd466fd74a238287",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.215,\"right_z\":0.034},\"note\":\"The arm cannot descend onto the neck at this far reach; its actual height remained about 8.5 cm. I’m moving back onto the bottle’s nearer shoulder, where the gripper should be able to reach table level.\"}",
  "call_id": "call_tPQ7I0lLXEvctvb1RXFpVTB2",
  "id": "fc_04866ec2a1d3bbef016ab436c38b5c87d087473e6a46f041b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tPQ7I0lLXEvctvb1RXFpVTB2",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1412, 0.0021, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.653, 1.7753, -0.0122, -0.0806, -0.0122, -0.8137, -10.2359, 9.4974, 2.1416, 0.2662, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a259573bbd332764dd38eda90651ca4befeaf115f0d3a79014156c04a11816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63abc3277b0efb5ea781883d811d6e8f2ee450cf0ce3074e7461ae77449b10f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d36c3c8db3287e23c3d446f9b57bde8dda3bfa190de970d9e13ae30bd3c2ec9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.504 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0193, -0.0071, 0.9984, 0.6102, 1.721, 1.1141, -0.115, 0.4683, 0.3122, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.0011 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0019 left_roll=0.0006 left_gripper=0.9984 right_x=0.4255 right_y=0.2046 right_z=0.1322 right_yaw=0.0434 right_pitch=-0.0615 right_roll=-0.0403 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.6342, 6.694, 1.7753, -0.0464, -0.0366, -0.0366, 0.1436, -8.294, 9.1692, 1.707, 0.3199, 0.2906, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1408, 0.0025, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.4838, 6.9402, 1.7607, -0.0269, -0.0659, -0.0122, -0.7179, -10.0718, 9.6889, 2.1416, 0.2564, 0.0757, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1412, 0.0021, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.653, 1.7753, -0.0122, -0.0806, -0.0122, -0.8137, -10.2359, 9.4974, 2.1416, 0.2662, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a259573bbd332764dd38eda90651ca4befeaf115f0d3a79014156c04a11816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63abc3277b0efb5ea781883d811d6e8f2ee450cf0ce3074e7461ae77449b10f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d36c3c8db3287e23c3d446f9b57bde8dda3bfa190de970d9e13ae30bd3c2ec9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbHQb77Ubqi7L9DQ7CiMNZxkwETVbk4-b_wSWCY_64fOr8EcZkm15g2_ZpzQEBgLKemxqAQCFY8yv0V-G6fEka6Q6MG3l_vvp8MxjgHF1P53y_rwGjd4-puNpOR4ISej1faLYEobrme3ARrkLkba261ywh4JIAfYXpbprrmLhgSzUMeHQ1C9cni0YH7jETlmIv2bt16IqSWSTbXV6_Df_UaIP0daZDuoZVfT-hGAUiE2PJjuBzAexyQrIFGY8_Bom5DVFeSJwW6tKfpdbjo5EN5xFkq8c8pzA-gEAmD4ibuuc8KZ0Xo20FwAoM4sPvcDqVgANjTx0ShW_sk3b4ZThK9_NwkvkFPNRpL_sq2SPgMvwkKhD-_PmN8YvT0guTCOAagwWvqLj0bN7ShjIASaJYwocfnmu7qepU3dTVPje1umOh1lhldE3bygZk2ZycTaZMMlsM4wmHRyJ5zb_JnqRCWV4rqJ0jNPGAeJV9m8GC8AkUC1y4bDfJ3TdDqyCuWRucGx4wjGyaMtuYPQf-EDCmOu-9x8oDEZqKsfXcHn14rDK58RyLijA8fm4sIUkzBHUNN9aBb25-ATo2Uqyr_BPcVhN2_a2_FZM889NLexVbQZ6wJ47W7pb0C0CDbH1PoZaHbZBMArz-JJ-tFV6EURl2sTG_HE6DD5MOfAmw997iaNPHqtQxymK3kezoC-GkBHqCrb9GcSZdTTStQsbXTtmeP-2b5YX4H8awRHvWals54n1GK8Syv4JWpVSLf0nyZQs3co1jthwpfWu2jLTF3uM2MrQUJ8iadYP4sS5k-Q7eOXK33MI1AlcF42penm13n6CVg0cZ_PemxT6hdEQI5UQTW1_AUucpWTCUh-TdAZHR4e40lv5bN0M-Cs9SR4hj0CcWAS8R9h-MCQxIfu7GV0pqigk9A97HkPi7E_qTwYNinKGm1Jaj-QMlDJKeUy64XofV_COEtMFL1Kof8Mqa9cJkPgzo2DiAM0KEgVm-WM-syqKEf5w2Rs4lzB3-wSkE5_jFxr3BC1jdHE0lRs4JVKrS5f5eAyt7SRpAevQBcn-L0szPKLO11zHV5CrbdyuLYP3Op3i5RQ17-16_Z7LTQbNDU2A-WadiWYusH1oRGVIjWlWraUEhYCZFfvqCF4Oh7Tu0o3yM6n_htiOMWGhhkh5wEr7X-NSZBNsgrnkXixg_ok3SJ84kCMogA3rAkcqQH_7Lowc4mDJn4UWy7eK_zh2Dg_R2bfYC2f3LG7Oy26T9wouQ59I9VbVBVTp5YWXXSSRdrQH5WWm8Ff0GO10XaZyTLRxExDB-lBSwz3kV2hsOv4OvLAzc70I3un90WTQMiisQXDfqCJbujuUiYFKg2F3EoUGTcE8N6CohzMFDuUkuPacb0Qs2shOPHgTYgVyGjmYtHAW-z1bGqLtsCT5l6jA9BtBsjh6C9yda1785PjmNNlWnmNFVrVEjIdFvOPd7vGXybXi0-kUqPv_xTt7fNmdqvTlQbXOqbNwtZayIrMxscwbx1QZb9gOwhqzBGhh4SP1UfUBr_PDTBV5hLunIdSwu4Mgbje3b9lyVAZ0c8PwBfl70bz-HIXAVHi3rTDMnnikVc6qLfebuuWgt7SY9j2A8d86x9N0cPft5r2DjVBaydAWlr_8f5xxjUVLZDH-U79AoADT5Xn2scNg0QIJGpZyoWZn-yTdQEGVIgbcDugy6tbd8=",
  "id": "rs_04866ec2a1d3bbef016ab436c5820c87d09167f8492cb64056",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.17},\"note\":\"The right arm held its pose rather than following a diagonal down-and-back move, so I’m lifting and retracting first. That should give it room to descend vertically over the bottle’s body.\"}",
  "call_id": "call_Lh6LGYnUw1to4Jt1W9RzKA22",
  "id": "fc_04866ec2a1d3bbef016ab436c6451487d0a757de22893fa553",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lh6LGYnUw1to4Jt1W9RzKA22",
  "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, 0.8001, 0.614, -0.3847, -0.0193, -0.0071, 0.9983, 0.7044, 1.5585, 0.9924, -0.1192, 0.4767, 0.3233, 0.9981]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1819 left_yaw=0.0001 left_pitch=-0.008 left_roll=0.0007 left_gripper=0.9983 right_x=0.379 right_y=0.2205 right_z=0.1517 right_yaw=0.1259 right_pitch=-0.0276 right_roll=-0.0159 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6205, 6.612, 1.8632, -0.0464, -0.022, -0.0122, -1.2239, -5.9692, 8.7316, 1.5849, 0.525, 0.2759, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4233d29eb2f3e7f5ade5a3561bd043d1c18a2147a33eac5a325d49062988a00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9fb6a2ab576787603e620f77c7b56981e4a4b45319184853e38b51279d00c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7158ebdd0df3538cdfbd2a0ae25682234c08e0188e138d6d27723dc08e5c4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.676 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3809, -0.0189, -0.0071, 0.9983, 0.5762, 1.8618, 1.1286, -0.0048, 0.4366, 0.281, 0.9981]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0034 left_roll=0.0004 left_gripper=0.9983 right_x=0.4482 right_y=0.2064 right_z=0.0908 right_yaw=0.0507 right_pitch=-0.087 right_roll=-0.0556 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.4701, 6.8855, 1.7314, -0.0366, -0.0269, -0.0171, -0.841, -9.7573, 10.4, 2.0342, 0.1343, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1412, 0.0021, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.653, 1.7753, -0.0122, -0.0806, -0.0122, -0.8137, -10.2359, 9.4974, 2.1416, 0.2662, 0.0562, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3847, -0.0193, -0.0071, 0.9983, 0.7044, 1.5585, 0.9924, -0.1192, 0.4767, 0.3233, 0.9981]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1819 left_yaw=0.0001 left_pitch=-0.008 left_roll=0.0007 left_gripper=0.9983 right_x=0.379 right_y=0.2205 right_z=0.1517 right_yaw=0.1259 right_pitch=-0.0276 right_roll=-0.0159 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6205, 6.612, 1.8632, -0.0464, -0.022, -0.0122, -1.2239, -5.9692, 8.7316, 1.5849, 0.525, 0.2759, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4233d29eb2f3e7f5ade5a3561bd043d1c18a2147a33eac5a325d49062988a00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9fb6a2ab576787603e620f77c7b56981e4a4b45319184853e38b51279d00c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7158ebdd0df3538cdfbd2a0ae25682234c08e0188e138d6d27723dc08e5c4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbMDRLmoBJntGdKuFEBGFoqJU1BLZBE5chCX1uQtTmsfmN9eBnKHl4A7zK5G6YhQa5q3ae5U4ZO0x27VfWaENSjpel-0tqeIo0fjZwZz8ZVqFz91x6AQFmaiU4KIABqgj8xK_1RMEM7dN1xEx-cMZoepz7fqOtrmahqpHqVt3ixDusCB0ub3_AE6OErA2CeKAPeyU612GBjEgl568ThQUjsvCsqVdI75n2_ZbajoWw9D4DK6qc6BW9KoGIfpumM8MHsH21E2uuBM5qjIWZM2cjC4v8oatxXFxpujS9LZ1kcYMYtLISif5WyMGFM9upH254UbC-2RJe30rQxsFIdjBlCWJmNIQlMST5I3VHWCeHG1r47zoRVc9nvWua944DtU82VE0VkseIgmMnyn5o9mA1cCpOch8P2FjVKgNtCzGoRk0wCtr1D1LZ071KA303sauppIoMNnsFK4qC_z7wAOswrpG6zWa467uQNsGBvTErT17YbI2QZjs533sCzHObzICF2YOFM0hSVbhTmOKnxEj66Lzgi1P92KbLfT3cKlHJIa0X3sYPryiLNLJuAlcT-V--pk40M2NvQSCUGQ17oqiF7SSrR0u-a957_gkSuy7jxTt8Fdmhggwslp25hVCAWIdRRAWTwCf3WyfyNzAl3ChAXZgCrrHyqYC4GR5Y3jgwZuTBdXDwj-b1Zimazt40MG6G-ohCs_A68fF5UTMpFgpP3ZIIt8IifSLXKSbfH5MXjkQxjD2Ruq_DzNJRQsC7mud-dRnJPMcSFbJ1gy602o8qI2iYXMqx8Ki3BRPJOegNVMkPCTKkerZirm523xoQwIkShjx6iP9_g0mzv9kHivfN1Z2E371gYKY8vS0ErAf2qHg1TMImi0sdx8w6wQR6s6ol6Hw8i98_-5roCvt8LybsJF-TX0I45b5xYep3PmN17g9vLqaLDbjnxfGH-0g_iLr8A1AhcPwr7xRzGOHq_lL5PczaGUk-AU-iguPRuQETD6ALQuBFs3WWaQLt-uC8hNr4WCMbHNQ_GHZvoR56QGK4t4CmixN0a1884c_kHT289sxMd8wOFae7zUoFOWd1hTahL-AuOalZua9NlZAZOsjDPSsHuz5nwwxr2Wq-udduvzjYtnkP0aT-V8Xe4HrY5Jmujes2dL6prmO4e4-jbhzUUNnFq_63iwNvlMRfSr0iIDQOZkoBK4WxRf45yGvaFoDPkD-YXZGRbpxq4h9L7Z0xPZseo7g9iroN0mQYMTxCyNUj6mMEwO80fAjB54x3D54asn6rFUZ-2blt_orom0J2jm7NdIOuYNlx6jAee48MVezMzHLoiGBfOVSB6SuMdgdtwB9g140Vx_PRnqDbo6c4hSEJy_-dP5Ditatx6Kbvl5HNP1hsrsNGhL_05F-L1SJ9EAtt3frfGOWlyqDZuVMLu1SpDqnNSCgHHHXdbF4kIC1_xQtsHTJ3RfqxXiXgsZaCE-WJSg6RfWVSTiI0i4h3l2BOeUx8zwsNXoY12qCTGB1trAm2nSlkzu5m5eif4TQFsqDs6LTRUDbgWszY6ikDoeCndv6OhpbXrwmvoONlQQFjx5qWy3X77rfI0bPAtoJJFzrR1wMVQy9UASVBUUfmWD7b6hOGNfq_yuRb6h1siM0O8TYmSUxcOz8NftlUGJHH5XRg0bP7BxFEfocg8XZtgMZFlokoQ-fPYF8TZc6S11coR9xIHbsiXogFwfmxcprkKRNWogajaVayu2A--NLG13o-V84O6IbIYfueiM0zxD1PgsVy1lRotMXlZGw37bXs3Qs4kleYQZ61gefWFTMWkzsK8ys2xpUkIso-ag5DeDMiC6aFunZvQH_5ML179yVKsSbpGPeqzdG6zn2n1jXL_1-ZykKfPdgFGCZ27gpRTnmawSm6yjc8Nz0lwoc_wYsHVs89SqaKsGXa7eHx5pFARSoOJbBsLRGLnJeFB_-lWInbzFXiG8WwrXeCvOTHkFfys3ti6pbtyC5aNRYwig-e34IsVHkYuAT-pME_9vJdppxOifiwpgHVpNNQoZSv2XlEbfo-oVnkc07wcpgK6SF9cHXoQ0_7F7yOVJINGyIFokH3tjkfQiBDDiaXUCldZlCKbcgWzezKB3I6dJSki46T2ZKJBB5Usn3L2G5Zr-uOZvQsre51OFBHDoho0pdrO02kC0GmNfKWSTrHbuhqTjbnnUEjUNYmbLLDeD0IyoOznZndl0VXiGMt0PpDvPqONsxCcAffNkqRuGdBWCFBQnW7XX-xO_w611OPV5h5F2FajXhQh48rrDzlp5sLBia_YdkfGDj05EUPYgnweCn2PauD25w==",
  "id": "rs_04866ec2a1d3bbef016ab436c90bf487d0bdae7de4e0e00c1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.215,\"right_z\":0.135},\"note\":\"At the retracted pose the right wrist camera shows the bottle centered beneath the gripper, with the nearer end below the image. I’m shifting slightly forward over its labeled body to get a reachable grip and bring it closer.\"}",
  "call_id": "call_lIQXocePRva7sGHgSRBegesL",
  "id": "fc_04866ec2a1d3bbef016ab436cab65c87d0b937a895dd106cd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lIQXocePRva7sGHgSRBegesL",
  "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, 0.7994, 0.614, -0.3836, -0.0189, -0.0071, 0.9983, 0.6884, 1.5547, 0.9829, -0.1001, 0.4713, 0.3222, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9983 right_x=0.3826 right_y=0.2155 right_z=0.1524 right_yaw=0.1149 right_pitch=-0.0183 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.6342, 6.4752, 1.8681, -0.022, -0.0659, -0.0122, -0.6769, -5.7915, 5.9009, 1.7265, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da4f835efaa9817a0bc2220ffd4bfc26682fa8fa125f571efe4053b6dec328a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f57ff183a14454d01fed51cd90bd3aae7a4cd222622a36eb134386bbe519e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6a7904e0b8ce0fd248c4ca49c1889cc249b83f7d4294291862a0ad91ecfa87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.08 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1408, 0.0025, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.4838, 6.9402, 1.7607, -0.0269, -0.0659, -0.0122, -0.7179, -10.0718, 9.6889, 2.1416, 0.2564, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3847, -0.0193, -0.0071, 0.9983, 0.7044, 1.5585, 0.9924, -0.1192, 0.4767, 0.3233, 0.9981]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1819 left_yaw=0.0001 left_pitch=-0.008 left_roll=0.0007 left_gripper=0.9983 right_x=0.379 right_y=0.2205 right_z=0.1517 right_yaw=0.1259 right_pitch=-0.0276 right_roll=-0.0159 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6205, 6.612, 1.8632, -0.0464, -0.022, -0.0122, -1.2239, -5.9692, 8.7316, 1.5849, 0.525, 0.2759, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0189, -0.0071, 0.9983, 0.6884, 1.5547, 0.9829, -0.1001, 0.4713, 0.3222, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9983 right_x=0.3826 right_y=0.2155 right_z=0.1524 right_yaw=0.1149 right_pitch=-0.0183 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.6342, 6.4752, 1.8681, -0.022, -0.0659, -0.0122, -0.6769, -5.7915, 5.9009, 1.7265, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8da4f835efaa9817a0bc2220ffd4bfc26682fa8fa125f571efe4053b6dec328a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f57ff183a14454d01fed51cd90bd3aae7a4cd222622a36eb134386bbe519e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b6a7904e0b8ce0fd248c4ca49c1889cc249b83f7d4294291862a0ad91ecfa87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbPwzdHM3jyauuN6uh5BrcnyCK5RLi-TdmoUER-fWl8pXTMI1YdD_3aeJB2kWkAvJnYcfjk-e1kaDuvv15NHnku51RviyLPatT60hLvlITRDY-JnFzfrGujLqAtorTGxATUdIMF6xeo-lvzQF7S-mrgkeXNEVHp79bcJXCUvrZjrCSFEFP3LeosVlGF_3lwOtN5g3vUfy2Gej7jPqNvdUg_YeEBF-7NfOxX8B4T1nFF3NaH_KGSZb9RShXle2uDk4aSs3Qclnuc_HyBlLIYOy4z3wokl5sbs4bBdvmOkicLLJR3vS7_eqL7PcZe1F8UNOIqvxRE5LQ7eJDZfVu_CjoElUDO2cmxRLMaYSbxfxkrmrt04dH9XIzRmvmYP2sHNT064V1T5iq1QKGzPoHKWrCvrJBoyPdoHF4U0RL7R8pO4oG-2sd0KxVDe2QXabu2yqVRdgkw5wSzYT3mOUabswxv4WFpQ7tTGNyNQnn43_waG4A2WUZX8qryoxrVmL-hpAjNy8wPOhk2f8wAnrpkX0N5ZInYY4Yjhrd4gFI_spVPIDTYdEmpM14lBaUqp58rK6pX7GrNhXvM8ngfjzPnn3AvoWAqdGJzy37sKbzlJzAyaCTmftxaJ_GakEJdgAKgxULT_5znT4yKpzLIKk521uS7xlQW2YcGYQc0FDoF3pnR5qyoluSauaF9QK-HCSStoBxepJUFjEz2t7dpqdQ7WaNAWiIFq1OTLWJRLavvmEJ7uv-kfOKLTZBJ2EzdNU1ybutq1dmf0gl1zH-BRqcDwPos-BhoEgMcc7cKQ5Gaqr995312tzYuQrZRC0KxBRhFQzq2KhRws-KsTV1SzLf17HdhmyCxxiAx72aC-0McmIW_PlXWs0NUnUIY_e5q5IlWdywcPZls0598aDzB68EJ68kfJhQIghHj6p7nMGChVx3t0sBMS4UcU5KGxtHfbic7UMqrZgY4cSeYkXFO24IBLEOQQuntKeJJAvqfgxbVQgCV6O7fFSynrXyi0xoCjK0exLwmqYxmk6-F52u4crzPD0wHtqEA1e5cSNgCqBRIcRhlTiwuQP0wQWCTE4BNu2I8W7vIP9UiuXFnaoo_n2DPMDN3a0Gg0H68FXmz1uPuT1knOo2l326MuJ_QgnWpewubpIS2ygE9hb1kno1IoWqITulcWe3x_WblDJ795W76acyMIos4BdoZ8COLIIZ7mds7_qGut13604kdOjToZydxSkUWHnuzIMFgUZ1jXKlWDJoneVLYv3T8_RNy-d-_po8nmkxLYrJRjzhzzeCg0hXVtG_jto94Zvu8CyJbdShhyT2j7TA6y92b-HV39Kxs7QlLMGfH3ldUv5ITTUvb61nyPo01YUNZ1MJY47Z_0D_lzwB1q02JC8VS3NC2NfWc2Mt-3g0lJw9UVd2nsaaRQl7RDRJ-fZf_EPl76LAH2t0qGVwXOFP2Wxmo1Rrr2QsD5cMSzoAAMvP7hM2uQrnCvD5FiD_7N3wD1_RrKYsMXwJHaRejBGZt95-nxMO3lTBXJjJFmsfKwRGA-rUGltSkfQieETot0g==",
  "id": "rs_04866ec2a1d3bbef016ab436cd933887d08c43873dc865aad6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.215,\"right_z\":0.075},\"note\":\"The gripper remains aligned with the right bottle’s body, but the short adjustment barely advanced the arm. I’m lowering above the near half of the bottle and will check whether the arm can track this reachable position.\"}",
  "call_id": "call_Ar4xxsQp7wJKvSOzA3P6RBnt",
  "id": "fc_04866ec2a1d3bbef016ab436ce2ca087d0b0cc6c67fa016b55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ar4xxsQp7wJKvSOzA3P6RBnt",
  "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, 0.7994, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6727, 1.5932, 0.96, -0.0509, 0.4438, 0.3016, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.3868 right_y=0.2158 right_z=0.1343 right_yaw=0.132 right_pitch=-0.0379 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.4154, 6.5436, 1.7851, -0.0366, -0.0269, -0.0122, -0.4171, -7.4325, 6.8171, 1.9609, 0.1783, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555ad2f3748d62f17ef4f868da85e49306d8fd2a2b9b7981165e910bdd38d66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35c876cf41bc876ca4f9c1f9bcf81bc5e1fee45747cd3cfc45a2b31bf7e89e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ff486a048eee1709b508396ae205e4121514fc42ed2962a7d3b55f96aed3a9",
      "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 · 2.72 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3828, -0.0189, -0.0071, 0.9983, 0.572, 1.8851, 1.1412, 0.0021, 0.4179, 0.2718, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.001 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=0.0004 left_gripper=0.9983 right_x=0.4516 right_y=0.2098 right_z=0.085 right_yaw=0.0661 right_pitch=-0.0968 right_roll=-0.0537 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.653, 1.7753, -0.0122, -0.0806, -0.0122, -0.8137, -10.2359, 9.4974, 2.1416, 0.2662, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0189, -0.0071, 0.9983, 0.6884, 1.5547, 0.9829, -0.1001, 0.4713, 0.3222, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9983 right_x=0.3826 right_y=0.2155 right_z=0.1524 right_yaw=0.1149 right_pitch=-0.0183 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.6342, 6.4752, 1.8681, -0.022, -0.0659, -0.0122, -0.6769, -5.7915, 5.9009, 1.7265, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6727, 1.5932, 0.96, -0.0509, 0.4438, 0.3016, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.3868 right_y=0.2158 right_z=0.1343 right_yaw=0.132 right_pitch=-0.0379 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.4154, 6.5436, 1.7851, -0.0366, -0.0269, -0.0122, -0.4171, -7.4325, 6.8171, 1.9609, 0.1783, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555ad2f3748d62f17ef4f868da85e49306d8fd2a2b9b7981165e910bdd38d66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35c876cf41bc876ca4f9c1f9bcf81bc5e1fee45747cd3cfc45a2b31bf7e89e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ff486a048eee1709b508396ae205e4121514fc42ed2962a7d3b55f96aed3a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbSDDp8AZK5fCfFSb6FIjeEWFEIHVEfxuJ6rDXyCEwtjCTROfuDI8mXcQrg-_8OHFEHNQeUPyT97H8yrBgFJWFPh_q2P_S19e8t5cUK53EHbvseu7NcMcz43BRvbONtCWGBPhU5TorJ6t2zeSeZ5dOveH-EU425YfeTETQYzSNSt4qLkNb5BUJ8Sxjub_B4K_6-_ECGQWITtWzlcPzBfzlAV1SG3itgOgm1VA7mubziMjqdRyC-JtFrGY1RNhs_xUShvVVt7rC-xvhvEBFPWdBXZXMpHTIqCd3RqhW0CqLuzPjPG4LiwoJovLNM9Y6-rLv0CDC0AZbvVrzzPhExCr0A0Nvah4__hmp1PnxAl2mrsyPDyZ2mtMxcIx21-6WrMqGM3W2WxkrwHr1Zig_LsfjUd4iKVogz1Y4lWsk-jM477QGGbQ-aCdJBuXNLHnirvARQPlUgPa2fS0tRoZ3YWKC-MfMgCifBoFNuUzUoorHtrmvN1YDqikMy4Xbi5v0IubM5M_S0O_1NBr6xSIr0cH1-IZ7Ar01y-VaalAFwrMqM6ULZ0ArZHFrosidictlFWM3UyOLV1meU7uDJ1NOgFIfdlqW89b1TuKnyxBOaTeBamVbrtVKi_3F0-XST7we69rD3HdhRh_nR14I_H8Thn36LqH9dFRZx5-YZr6M2XOjaTZrFVk6KG-HZqpMIYioKk12qjtcg83hOyu-l8RIMakv7sHKToJPbq_y04Po9Y4XChl5n93__xhG21fqmAgp8OnpT2Woa1qwd6IKMfuBwODBqv1jgarXRRzY13WxAFuw2tlF4VhC_piGUfKWVckZlpIEZ2GXkepbopCVpjjsgWa7QHwGZh2nxWZHWl_WGD0LpkTX6quTcYUOk3OJaHh0WjojU7Y20v34145hHvTDTY-YPqjNJ6NdfGPjI12b0Q06fO6zpu5AlkYpAwAm6hdjQGAti2MlvY-_HeFT13VeTciWGSnlArT1xjrJY67JQsI9hQ-zdobgKIkLlbbegJryFUL-S5onxzSDT4hMmBKXV73PTrxVZExZJsG1bdQbJe-OnCSr7dWp26F5KQplL-9gxYBFJOhs3l2C-rkm6wXB4yPYHBYi0HNgcE-swR9coigZtGV0TjJRlvfZ6-ZBqBeoQDSiv-KyKnJa7HOez4_tuM9vbsQEekBR7cae37LWRS-mf7nKGvWwr8xjSyb_EhuQx2Ux3rbqxj8BJK1nZM1fWPvz3iWx8A_ZFkoBuwm-NUAv_8KB21ldxorkxE4CRaP5tSSPtptPyBJPe12zMPGOdhWt84sLi11xTfoRmd8oeaPz2RbPhqSKPZsqDuQwOtLJPxf972DKQRJgP2c-yTCwFarO3e9iNxqD61SZ9gQOZ8jqNaG2-DTj-cJLKxxuPHHZ5H3re0rJZA6EUHSXWKokI-YHQxIHE1ow9yg1tND8NwfvD0qh4Cd0XlRmI5KW1wEUC1kU6mp3JnP5O6hXMzluCJlU0TUDtI71YCNECO7FjqYgBdOslQ9B5PY4FEUU1jq4nHYqf8QgLSdAUfchqe5MapdJLOFXLipnH7BBn4OhHnkpnnK-OjcvQJFTVW-xZw6RLFTNNZ-uRLKW0k6CZMTvBv6WNgtsmKwykhMYTfzlCpzJtv841AGVIBX_qjOCq44kPzy4PHZknupGMpxBBUsvSCJ3pMSz4aMUM3sJmcLbqlG0VGJJeLuYL8chaatEC1-VOORnCafy3QzsBZAJPj0-rL5KUpem_w36iVC-NAdxStuE3yteffnQcKYV9P60D0KckBXTEr9cO2sKPy9lbA6SUZOgD9u-pLq2CXyDIvoGaQ63aAEYGYnz0RIuOClo5Xk7ixgQSgCyjv7O6xwRqiIufWS21kfh1XV3LQI4vOpC5FFNBWs5dBJ-hhJSLNSPw-sAbpKwJFGUJSHqV8EL-32a916eSDggk9yUPcOlXosTvAdV_vk8HRu-rdupJSgw__V-G0xERHRZQ39rLJfypfo9LYYLjgg==",
  "id": "rs_04866ec2a1d3bbef016ab436d076e487d0b57b386cd44f3027",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.215,\"right_z\":0.04},\"note\":\"The right arm is again stopping well above the bottle at this extended sideways reach. I’m testing a position a few centimeters nearer its base to see whether it can descend enough to handle the bottle without pressing into it blindly.\"}",
  "call_id": "call_tGeNgTKnDng8zP7YW7zc087Y",
  "id": "fc_04866ec2a1d3bbef016ab436d2160087d099034d4a24c2883b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tGeNgTKnDng8zP7YW7zc087Y",
  "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, 0.7994, 0.614, -0.3832, -0.0193, -0.0071, 0.9983, 0.8005, 1.6573, 0.6632, 0.2401, 0.5022, 0.3531, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.3305 right_y=0.2237 right_z=0.0485 right_yaw=0.1841 right_pitch=-0.0745 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -1.388, 6.5573, 1.8242, -0.0171, -0.0659, -0.0122, -1.8667, -6.4205, 6.5983, 2.1416, 0.6911, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6b2fc9b49afa346e3d2e7864c2bdd3d6185da15095a148850fd30595fcb1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550c482ebc4b160e038ef9cfef23e8f876d1cd3db74f285e583ff78fbe77b2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803abc4db25dea5de1266edbbcc3bb3159eec15ba9be6770ee15c0f58a984080",
      "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 · 3.325 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3847, -0.0193, -0.0071, 0.9983, 0.7044, 1.5585, 0.9924, -0.1192, 0.4767, 0.3233, 0.9981]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1819 left_yaw=0.0001 left_pitch=-0.008 left_roll=0.0007 left_gripper=0.9983 right_x=0.379 right_y=0.2205 right_z=0.1517 right_yaw=0.1259 right_pitch=-0.0276 right_roll=-0.0159 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6205, 6.612, 1.8632, -0.0464, -0.022, -0.0122, -1.2239, -5.9692, 8.7316, 1.5849, 0.525, 0.2759, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6727, 1.5932, 0.96, -0.0509, 0.4438, 0.3016, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.3868 right_y=0.2158 right_z=0.1343 right_yaw=0.132 right_pitch=-0.0379 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.4154, 6.5436, 1.7851, -0.0366, -0.0269, -0.0122, -0.4171, -7.4325, 6.8171, 1.9609, 0.1783, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0193, -0.0071, 0.9983, 0.8005, 1.6573, 0.6632, 0.2401, 0.5022, 0.3531, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.3305 right_y=0.2237 right_z=0.0485 right_yaw=0.1841 right_pitch=-0.0745 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -1.388, 6.5573, 1.8242, -0.0171, -0.0659, -0.0122, -1.8667, -6.4205, 6.5983, 2.1416, 0.6911, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6b2fc9b49afa346e3d2e7864c2bdd3d6185da15095a148850fd30595fcb1dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550c482ebc4b160e038ef9cfef23e8f876d1cd3db74f285e583ff78fbe77b2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803abc4db25dea5de1266edbbcc3bb3159eec15ba9be6770ee15c0f58a984080",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbVfjcbrg7-E4oVRTMQZI5Yy1YPzEmwM1WVYLB1ESvHo8RiUA6-fc5O1EOxyc6XGSQqNAYh2z27eg0MXdWaGiNa7GcbAQ8jxD9BqWxY8V2QBQlDhTCOM0f9UYOduSx-IaRYqgARkJ5nzM79dsM-LZM-xZNnjNrK26ZRECvnbl8jBafFopqPsYCtjDb1lknD7oEggOJvqzRWWTkxlTSTMBUj5BUexpUCMNjpMxzlR2UbPK7AGX22Lu3NFGn-VgRCj9KxFCXqOuISDpCcrRxRNAMtJAfRKo-_VGY8FA-7pW3zDknfzp5goAd1xHnJ4yoE6L0Ld_rvgWvYvj5_PN34S_6y18W00PX_xbMgw64KgQCaK5tfxK9qLk6-3FAD24TNFZNW45eALVMiJ415yzrMYz3_iTxbXWuGJUMrG_Gh04uwCnRK_G_JEyEVM0_hFxSISPxCxindGu-hMcAgLQ5riU4E14kSqn5NUjoRcbAXTMzNjX29Gcogwxr_5a64gi91WdYrIidOTFBqejmYHSiKa0mWEgxQRHTLLJ9WQrEkhgeZjixTdQJhoKbxszYJlMbmUNuyw0evIWO8-anxUJgi_HjmKMljIyOKgwC7IKtS4dC2hJR6t4Lv6XaOJgYiDBGMViQQFjfrxrJgJKjpH9U0PbtQhOiWwb4mSPnik2mIzljHj6XMuO4KFHSjjyt31xsHN0zwzZfOE7O6b-t6uXvu6mqGNaCZBxYgOGlgrVitAUvyCvF-Z5iLt7nm95NqAaEgwhVnIkxPSAHVXVie4z8YAdX8NgpWtk9vs0ZDikDtfwyHjLhfDE64_ocWuAQF8LjUFuotCYo-k18MtnI9kjUxKL0cdRvSKDAEYUsGke8-Kw8m5TSzIr0XDVzUTOZ5glEqgn9NiLlbHo4NJYhVTwbXXonaAWKrELhbXbCB-aLv7wKFPKJm_nC04swjd1Wk_zpGNPGCCg7zINYXp2z8jKlKmUdfVolHB1rk5-LeAQgCsw6iMl41HhTuS2vir6cl4Jwdcx9QAAzef3wGq7sHEXtcUhYZG5m05op1o3K37dXFAzUZLJ4OLZPxMQyrLr-vUE9OafsXVc8gr1CF-hEPQxSXmW6Xtwz_A9_wDdnP5fvptSC8nDa661zuVa0-vthurF4xh_sXtu8mAisKpXdiY2ZR9sM8WZpjia2D_ABWLXozVCDcLC9xjyvO8Wx77fRsQx5fTlJJRBfNlRX8blgwOZyr7ZcOx9JsoNddp4d7ExMJ-OvVMcNevM6UhfD2CrCC26sQi2jSjAwo-7P0H_KkMmKRyW1gdBKO36NpXmwa_W9WK1m3CqINZpxniu9V65DnAZCOCsNSy8SdTMDVT4GyMJp_IGY3q55kEhtT3VMW29x7uqxVJqlXdLucgUhoHFp_rAsw9M9K5OSgTJlH4C49Mv31Nl8xaedG7wLbvEbDt2lYf0mbSM3Rw86nAH_CkAWiHETcDqSP0Int9hriRRogbhUTfbR0D88uoDWrTGQNapKlADe8SinyxvPWcorFp-a-_rrS41QAfpMMzIgHeyEWXs7nimXn4yiA4GClF-qtzpyFgd_rsixHB0IUJyKp6E3CZ4xvelxHBXlhy1PDKFnzvHKqh3CTakY7PRBuUWS1tFLWAtMlfQ-axrunzGkcJ9odTrh4MWLC1bQX6RNS6ZmGzoOD67cqCY2KVK081CF3Xjpy1uhKij7H7FylBhXGjLgJkxaiDXdCAV0z1rdsr9Zw2JYuPLGezg==",
  "id": "rs_04866ec2a1d3bbef016ab436d423b087d0b8a2833008f27bb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.195,\"right_z\":0.045},\"note\":\"The arm now reaches about 5 cm above the table. The bottle’s nearer end is just ahead and slightly right of the fingertips, so I’m nudging forward and toward it to get around its body.\"}",
  "call_id": "call_Jho7JhwqZxnUMkrpvivlEmGm",
  "id": "fc_04866ec2a1d3bbef016ab436d554c887d0b52af54f1d4af679",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jho7JhwqZxnUMkrpvivlEmGm",
  "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, 0.8005, 0.614, -0.384, -0.0189, -0.0071, 0.9983, 0.6762, 1.7027, 0.5598, 0.4206, 0.4263, 0.289, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.3432 right_y=0.1863 right_z=0.0232 right_yaw=0.1551 right_pitch=-0.0767 right_roll=-0.0354 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.6342, 6.5846, 1.7802, -0.0317, -0.0757, -0.0122, -0.0752, -7.3504, 7.0496, 1.9756, 0.1734, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f544a82face998fc054fc4391bf9661b1227792360b83f2e2ac44b4d590699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008e7c13179f3939a87951105024f206712afbc67628592b84d9b2e350dd253c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5817561bed60249cc508c682e6af83c8c9586e9f4bcabf0c73fc0e91b344bb",
      "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 10 attempt 0 · /responses · status 200 · 1.793 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0189, -0.0071, 0.9983, 0.6884, 1.5547, 0.9829, -0.1001, 0.4713, 0.3222, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9983 right_x=0.3826 right_y=0.2155 right_z=0.1524 right_yaw=0.1149 right_pitch=-0.0183 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.6342, 6.4752, 1.8681, -0.022, -0.0659, -0.0122, -0.6769, -5.7915, 5.9009, 1.7265, 0.2076, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0193, -0.0071, 0.9983, 0.8005, 1.6573, 0.6632, 0.2401, 0.5022, 0.3531, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.3305 right_y=0.2237 right_z=0.0485 right_yaw=0.1841 right_pitch=-0.0745 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -1.388, 6.5573, 1.8242, -0.0171, -0.0659, -0.0122, -1.8667, -6.4205, 6.5983, 2.1416, 0.6911, 0.2369, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.384, -0.0189, -0.0071, 0.9983, 0.6762, 1.7027, 0.5598, 0.4206, 0.4263, 0.289, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.3432 right_y=0.1863 right_z=0.0232 right_yaw=0.1551 right_pitch=-0.0767 right_roll=-0.0354 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.6342, 6.5846, 1.7802, -0.0317, -0.0757, -0.0122, -0.0752, -7.3504, 7.0496, 1.9756, 0.1734, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f544a82face998fc054fc4391bf9661b1227792360b83f2e2ac44b4d590699",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008e7c13179f3939a87951105024f206712afbc67628592b84d9b2e350dd253c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5817561bed60249cc508c682e6af83c8c9586e9f4bcabf0c73fc0e91b344bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbZnXyF_YummnNioZZpXCmnAhW_KhPzz5our01E8TqsCwpQphAKiSynrxa983lNbbjEgjEbapUC-I8S_o2ljMaXiQSR2hegIA3dztfjlNWMiQF9SkH7i4NiZ0vLtJaDTP6UqXuEOrfU5ahESHrvcD_Waxtad78LVDBrkocmFzOcgFdYZW0i57JjoIDebN2l5Gnk_Lh8iwm7exeaQ1Pz8S9TKzc7il3UWe_cCYdUAlCgffDkM09x0zqmwsn4zXYQzjRONwzQvJSbxkonm_MUn6gJHYSNJDKtOicMklx3bzDTQ9luD8s8YjTV1ahG3xuHKDVfn2ohkuxlX_yBibP40k5QZ668crOQk1k0yils9iuAqa5N-48vWUoI2e2abHrOtBxVGx2SIR5IPOoM2FDCrUFmZXpDO18S1E8DMKk4T9vQ2Oos4kXXzomEDs2iWURXNDNTMNfCiBGSLapioCsFWl2VxPP2faZa52xsOlQKgD9lnar4_0WcDBVA3nIt7kpqmZxjktWEBRJDAJjMvGInkKexZORoHtv8xmqYoCyRKa8mx2-IpOBbXQ1b-nSQFaB-IGi28PVqO4xzW-L4WudRAJM6d427vuwHjz65xtR4XCWKv6NeAfxlXUbkY9ngAE2pZgdfiE44cDEbvY8gdFjvXplfqyx8-rnE2RHFNWHI_MAN4MgJxdVLShE2ObmmIeayti8bjO85XdivyXkBd4bFaWXRIr7gSKKDfthuBjfvJP7QBBBzphMwaviDhdc61SVCoAQo8z0y4E526HxilGXdQzVn-Y0QmH-fPud8LwH0uczZrunxJDCxViUo5YTkZkmqsCA5zWdpH_BrWYlVYO_ZJ2HsmWo-BzjvpiYH0q07k4L8Ugxaoikdi5OpdlU1PHcMP5nXWVAXXTdCpiRbjl90l0iCNOv6rtu13RgXXhlUDL0uipXcp49OEZZoQkpf4Ki1JI2evLRZdF3FwUb2dDisnzBuWHnA_ehXIi-qu1OeO27rExHCrltpORj2wGHf1sZ_gqAH0Zn_Ua5vF47yNwFQmGv-xxLeDs8RiIvX10p0JwI2ZWvJ7jVz3ALmrW1ARPP7JAXhIGJfJ8etCH1f-uWUW8bIAL-iPfVj49Wvohp35PRpJfxI-lJTO5qQCeTK1H9nThyuZxWLZU4cUjWW6KGVoop38F-7F2GVw91RHHlOv2LltpnslNO1Mw9R072XwAX0rFlaEIe3CgUscNJVZWcPQ4hTaAjE3hZOVT-JJCEhXluJiXDc0Oj7FcJ98jczs-E5QlLxYvUmjjQpDu4ICKbi3dZpPv7ivSAT4GrjbwwI6P_vnd2xWWugBpH717vemCyRJgESH9ViRdktM17hOBwic__TMos5a2iaudGn-rHHP0Ysx0n4zOAw5r62VK6GtRWOTalUtLz_gunN1pnLOXBGBeYc0fZT4WPRB2AX331FvjsBgDD-2Hjj-ifcwKCDqfGl24-U6c1SVTlj_gGYszGFwo2CY0k2khPrUi53NIoHbJIIyx0IRJ3x4oXGGZqgqS-TqwATCEMGLK0z9bMYhM7j-FQ-8gqGr7j7lgH4tlYg9bn4jxQwCcfbkeW4IrSaQw3y1Cqg3xNjPD3A_a0QmdAOT6bkKTUd-XCYfP8j1wVHGciTWsG1JFN0NRC0fFN_BNiw1bIw-PoZN1J5XaMCywoq2ov8cblCj0NuSOgsWHuQASzdArffE2fbCYpTnRVl5h2UJkR_ico_qmSiEbgrwBsc_Zolaw3uqdpf3uMGmQ_D8SyudyfFtFD7i-M5IWPz_CYPUUnq4t92abZgy03rHTYvYFmMIJuP2kLpSXeZ26X-QKkkX9VevKcPajICIzvEgIjOu7IM0gkQCZPJsL4qkM1HoJdImOaaLWIo_uMDDZr-I6U0BCzA22chSy-QIEdqR_YBRj3MUSKZP6mJ7hzfxV0dNky-WCKDK7z2hyU3TkXG97FPC3EDHSFhCT6Fi1OVx4Qfmod31C26OO_Wj3SCWDckLVVhl7bCQWyBMUqlb856vbRuxQ-kGKmWulbsCTysOckM-TWY",
  "id": "rs_04866ec2a1d3bbef016ab436d7215087d0984f916a2f18f2a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is low over the bottle’s nearer body, and the bottle fills the jaw column in the wrist image. I’m closing gently around it to see whether there is a secure hold for repositioning.\"}",
  "call_id": "call_c1fQlD1Sa26zkSYtkWve17Vq",
  "id": "fc_04866ec2a1d3bbef016ab436d8cdd087d0a9c0bb044683da7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c1fQlD1Sa26zkSYtkWve17Vq",
  "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, 0.8005, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6804, 1.7271, 0.4911, 0.5694, 0.4179, 0.279, 0.493]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3385 right_y=0.1863 right_z=0.0181 right_yaw=0.1728 right_pitch=-0.0309 right_roll=-0.0113 right_gripper=0.493\nstate[joint_eff]: [-0.0342, -1.7162, 6.4342, 1.8388, -0.022, -0.0513, -0.0122, -0.3761, -6.1197, 4.5744, 1.9658, 0.2369, 0.0024, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3297d2c3b2a15deec87e51fcf44c4c473feed9d72ea5273a751cde6f77290727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b389fa62784f3430503cd6b41873c87e8ffe2c05db86a0be5dd9430629ef8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb75fc42bee8e616cd760600a4a6cf007f1990f73365b0efb9b4ddc0bbd378c7",
      "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 · 4.138 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6727, 1.5932, 0.96, -0.0509, 0.4438, 0.3016, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.3868 right_y=0.2158 right_z=0.1343 right_yaw=0.132 right_pitch=-0.0379 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.4154, 6.5436, 1.7851, -0.0366, -0.0269, -0.0122, -0.4171, -7.4325, 6.8171, 1.9609, 0.1783, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.384, -0.0189, -0.0071, 0.9983, 0.6762, 1.7027, 0.5598, 0.4206, 0.4263, 0.289, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.3432 right_y=0.1863 right_z=0.0232 right_yaw=0.1551 right_pitch=-0.0767 right_roll=-0.0354 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.6342, 6.5846, 1.7802, -0.0317, -0.0757, -0.0122, -0.0752, -7.3504, 7.0496, 1.9756, 0.1734, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6804, 1.7271, 0.4911, 0.5694, 0.4179, 0.279, 0.493]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3385 right_y=0.1863 right_z=0.0181 right_yaw=0.1728 right_pitch=-0.0309 right_roll=-0.0113 right_gripper=0.493\nstate[joint_eff]: [-0.0342, -1.7162, 6.4342, 1.8388, -0.022, -0.0513, -0.0122, -0.3761, -6.1197, 4.5744, 1.9658, 0.2369, 0.0024, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3297d2c3b2a15deec87e51fcf44c4c473feed9d72ea5273a751cde6f77290727",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b389fa62784f3430503cd6b41873c87e8ffe2c05db86a0be5dd9430629ef8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb75fc42bee8e616cd760600a4a6cf007f1990f73365b0efb9b4ddc0bbd378c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbcA4TEd-BaSWTFYz0yvbOicOui5xEl_dCYLxhRTy1n-hcygfjeRiKep_jZDmP2imSFbz3MrPvgH6fbimYfzvnxuUk2kGQn1GiITNvgK36ZNDbfGk2Ba0-3BHytY5d9F6QZ74K7RKfMKODuIf-5rG_HDkE2b7r-6C9bYHJ-0EbBlOc_GPyu4m-xjlNaYj89sAiCE93AtUVeOQdr9Zdr54zR60JYfDKxCs4W35F5POICyEuVi5xF9SHFOLoY-YpBriwgOVOqWydLDfL4oKXkaQfuiKAvSQJFZlIt4pOdu6M2xARmZy5_i1nqsY4AOabIjcxtfngLy6ogJs-lU2OlbZ3x3THatXIe_PYhBFP7PaDhOTDw5Rcr_-Pwd55bmiEtfB3QT8G733NOwUQW_MnmJFG_69suhKi3vBTU4lagLVpbeO3FOl5AOZHcjf2bSTXiL-qMb7SUNbFsvmdLKdvBtXqJida6Ow07hgz5aaD3gtfx6PtxJM49BqnSHvSdVdeNRe2dgJI8_vBn4onUf9e1mlP9urs3JmXt-SW259gdJiuZkEQ5tt5u7MeHN6vDu8XdW0ANcskKmWdSRSs4fA7ZAjEOFgpNwyy5yCgM0Og2h74_yRYV7P2iONqvwpzzn6TaQet0Q4WPCQkuvikcNydP4sjSrHSqngfsyUaX0Kit88ZBQFdDgSfxHGvOzaU5ekHPPSt62DbSDoDq4wzwkUY_AP3A2ahoHxWCHIjPnl8yFUVW8WeMCTwSjnNcBEQR2tmI_NK9rX2M3jOyGUzQ7_dUwLvjSiSaPWOFRxx-9g3oWLGMVn3stOOIiZpQesH9JoSHcmRTzTM-wp2Rupqtl8yzC_UJv0B2Ckj0ZVD4SvqnE7hB4QBx9VLifqwLgy5Vh4y74dyo7keAiO72TmKxwD4H6cjZirvow7SFbv-HCkzlngXVlcTFPCpFmxQXMrKwTWM57t4jHq4VOfFFyZKPTALOXqiVNFAPJuP74W28QriTmygqncaTt684Th7hOAwqfZDovW5N_jcDhkIbKHr_QfJAfQWzhFY-7UHFxuXDvxN_6QJ5_0rJ2UzVcDDHpL627VaOQqhVrOgg02M2lBGWqszlKrBzZWP6ZMut0vjPQiaLTBTZmY1oRMf7rjfK01t60fIDF7QJxp9y6DMdAnN7Vmc9krPkvC3axEBg7r1jNbQuCYorBSE7tfhEVMlYdgK3x6ng4sw2lG8AByZSigVYHZWEn4-RCJK6VcM-pSj_l6lc-tOTASI=",
  "id": "rs_04866ec2a1d3bbef016ab436db4eec87d0b6179a7dee580d32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.185,\"right_z\":0.17},\"note\":\"The right jaws settled around a roughly 4.7 cm-wide object, consistent with the bottle body. I’m lifting to confirm the bottle comes up with the gripper and to let its base swing downward.\"}",
  "call_id": "call_xcfNLE2ls86o5txiCXuUZZlU",
  "id": "fc_04866ec2a1d3bbef016ab436db855487d08fa7bbc6805847bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xcfNLE2ls86o5txiCXuUZZlU",
  "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, 0.7994, 0.6136, -0.3832, -0.0193, -0.0071, 0.9983, 0.6815, 1.3411, 0.7238, -0.2184, 0.3805, 0.2714, 0.4942]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1822 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.312 right_y=0.1732 right_z=0.1027 right_yaw=0.1991 right_pitch=-0.192 right_roll=-0.0754 right_gripper=0.4942\nstate[joint_eff]: [-0.2256, -1.4701, 6.5299, 1.8535, -0.0659, -0.0415, -0.0122, 0.4581, -9.0462, 11.7265, 2.7326, 0.6081, 0.0073, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd66f6355815934045abdcc796803a8551b027a3b7eb9a0f0d3e761f9bba7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdc68ffdc0142c6c0e258899fb30d2fb2e84e5ec917bf26fdfdec684c833d27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2590663d32b3e998ebf29ace333cc36c3d46bd42934210f8b46135d8cbe3819",
      "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 12 attempt 0 · /responses · status 200 · 4.102 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0193, -0.0071, 0.9983, 0.8005, 1.6573, 0.6632, 0.2401, 0.5022, 0.3531, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.3305 right_y=0.2237 right_z=0.0485 right_yaw=0.1841 right_pitch=-0.0745 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -1.388, 6.5573, 1.8242, -0.0171, -0.0659, -0.0122, -1.8667, -6.4205, 6.5983, 2.1416, 0.6911, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6804, 1.7271, 0.4911, 0.5694, 0.4179, 0.279, 0.493]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3385 right_y=0.1863 right_z=0.0181 right_yaw=0.1728 right_pitch=-0.0309 right_roll=-0.0113 right_gripper=0.493\nstate[joint_eff]: [-0.0342, -1.7162, 6.4342, 1.8388, -0.022, -0.0513, -0.0122, -0.3761, -6.1197, 4.5744, 1.9658, 0.2369, 0.0024, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3832, -0.0193, -0.0071, 0.9983, 0.6815, 1.3411, 0.7238, -0.2184, 0.3805, 0.2714, 0.4942]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1822 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.312 right_y=0.1732 right_z=0.1027 right_yaw=0.1991 right_pitch=-0.192 right_roll=-0.0754 right_gripper=0.4942\nstate[joint_eff]: [-0.2256, -1.4701, 6.5299, 1.8535, -0.0659, -0.0415, -0.0122, 0.4581, -9.0462, 11.7265, 2.7326, 0.6081, 0.0073, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd66f6355815934045abdcc796803a8551b027a3b7eb9a0f0d3e761f9bba7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdc68ffdc0142c6c0e258899fb30d2fb2e84e5ec917bf26fdfdec684c833d27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2590663d32b3e998ebf29ace333cc36c3d46bd42934210f8b46135d8cbe3819",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDbhUes5H2qqQ4Vf-kaAj6Gt94PZzK3UwXQawZ1zC5lYk09wtKV2r2sebba4MFK2c2BJYtEdsMOT8qDu9gEmzGDNoHQTVmDh3AuWhD1-3zjcbgp34gl2ifDjzY4yvKBdXgb5II8t4Y6ihBoijZoRA8cTkzGOLqBuuKQOQCL7gPsdv3OvwlEdmXK9dVuu8AO7sp-At6mlTEnkPzSQpdbnJwqxtWbMyUaEigv9OvWMfmo7h9S2uuSTGJyBe_CrbUwEU6fDnEmNf2IuqNH29cB8XQ5WSW3iIZc63FlUi-2DzDzi2VOJTTmhOSgaeFCMisJITLcTjZSg_04N_V3M69UgyTWPVSAVSFLjWaAhYOAbWFtFN8syDCiz1W6LUZ7AdLB9dmfEAU2FgukxFaZBuHM9rvuKE-UIhYjTkfW6lT_TzDdZhV3hekzjdVgkm5MzyIWR4RYxCPxDJ3OjiYgwiEEgDB5emLyoxwq-nfPso9zdQd2-H2Txc0w9Tk2yZblcCioLpqdqg_gGP8cJ__0aAG9BPskNnHE-2GUcixnCS3LVhZ6RaO63cUA8pYBYbLRyjxVPEVuroeMQ9RsIux4fXAmNl-N3fbr4q0bttAHuguCQo6HJzvn3sM-zn4NJ_J9SsYwfS3CyTVU5_5BDdM9b65aBH5ZYJJjYakmJGHvn0bkNfKu9cBBmQ-iqlDajgmODaB4GXITZLrApZmoiiiscbx9s-VL-CYTUz-UzCO5nnV9P8Hy14CkxXjtlwpULgWGyMHTqeVQjZ1suNmQX-AVy_knEgTqaVIRRJA7brHRMdu7obPme1K6EKH6OpFYYDYxaVG5RV4UUkuwBN6dc1Jd3G_7zrhv7tw9wzgKGKzc8ldfNduNOGa0SNotQ96E-eyZR2jiioE46f4J7dV2yyaCF_or7sghZqKTP8v6bdn_qNoFlf67ZOVKHWaytH4GxfIfi6Kc4jH9GantHM4JHeEfIrNnHwYhkQS381_wwcG9gXymAGdfp3zwMXRtbJkpZAMQT4CP-XcVT96NfCKodBGW3EiBbDcoy8hSh2HHe7WhHDd-9MqQnWgk0gV3qZgR1Hqge8rTdfmaIjfhmWSfgzR6G2PJBcucEjYpUyEAtw2VVVLoNTBOeIoDUJVLTw9KW-1iHuxiczM9weoQcbl3Ar3Wf3M7DZCVfbyxRM2I1q-maRe8GrFTVqTPR2kP2aRxtmZbaLE7s0MOK4_I7xxaYBRo3uRt_H4OZSQgOwemG5azST19-FNb1F7uY2mJgDfAdV1v_1ClkYNJTPhHVcerd4hIZZfftPkcs5B0678Xsg9F3XwYmZ2OM1VUDBoxX3d_ijzjnOuFN97mPlipblxaGLWzva3vpf7WuxqQp9XvlJ1g_J-0bjQ4FwORgF9HC0aFcK-y94KCO9gBjksceLbUsi6vyabtcqEzRjzd2OXRQ0_7fkqd0NqUQEQBrMfqIjSAihf_v3UmX1KpQnK75rfiRP98UO2QWAUHbSy_EWKkoLIMZJmMDAx5Du_qPjmGwFJTilMPooGi3ARYMngcpVZHRv0kAjlM6M50FKMg58sfJjOPML3j54Q9KloODRs08MbimzKALntZqcczBpdGKOygJ3MxAjU2GXLx3LRqLvGJzQfP52fQxfXyhg6G3xkSkgzbYSzDKllq4HJExpttH0DnXe-RdLqAi_Ll1C5Aazio7L62l3fuznv4LRhMJ5tyuy1r9wWwYWSNG_NJI5aowq_NCpisSY_a2RjeaeF5FdIqHLy2Zv6Z1o3FovulvAELnXIYrKhVVm0Got-6-nmzcMTcOibPaTEcP4ywZjTCikX-LkAD1ZLJUio3ShS2IkwF2okZoWM8HpI3ZBUQndhVBdfFpUNcc6bFGlx8M1yOZWlZ2PXoz9aAtNNF4I5GT3ybpFVWRHTSXaGK09HDpKTlbEYDyHVj9Nhp8Tp5_klsytZjDQi-cT42CCdmvwfzEZp3J-AeHsXxgy3dENlqc7XaOfP2vMnEJrrACJxwUekERTwVbwg9C_o6FODCbXS3ljeceppduKa7XRM5FUgVrZXM9yHrsmkBh4IQLEAqoCTY0bs4IXVX9aYSbFc81MiJmKeb6PJlKrsSczT-EzkDzuQAZIDp9h9oy47v3MwkfvY58HCj-t6RxnWEhIOlPexo5PDWKExCKtZgTN-A2Nsm1UKuRbHukv66doI_7k7rFtXo24Sy3St3jN6bDDguEeJnAka_D5AbtHMqNjzdzZudtJzgwGX29EjLu33ocZdevJIBu2qZFLW2xm-j44UxNGfgbfN_yaGwK7O5zFp5BF7Ow98n6fMuJ0HFE46KND7ktIx5DtietAnMjgZGHWmFmYd2JNggyXD-Qpd0VPrpPik2fWCeIVBkv_meFvpD0etC_Ozpj2Q0cKq6EvVYUrk70dyFoTJd210haTKhc9cYMwafS8ElH8A6DY3IyMyi298wxzsvnS4athN1raI5CMiMxeRgyB4oEVIquGz1720AoZZL7zXi79tecSpGSchJ38uTRuEkJdKQjSvR1eY2X1y459Sj5asQhs5XtPi1MphY603L_iKwUCrxvKpSWbA3wM5ZNTTxgKB75GimWkVng0nOGMjvdqGKWv4F6zEx1muF8ao6y",
  "id": "rs_04866ec2a1d3bbef016ab436de2dbc87d0b8965434a84e1deb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.185,\"right_z\":0.12},\"note\":\"The right bottle moved with the jaws, but it is gripped near its base; lifting there leaves the cap pointed toward the table. I’m drawing the bottle closer to the right base so I can release it and regrip near its neck at a reachable distance.\"}",
  "call_id": "call_eIIHUhKrMKtUr76azntVcoTe",
  "id": "fc_04866ec2a1d3bbef016ab436e04fc887d0a34c864a0ba4adac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eIIHUhKrMKtUr76azntVcoTe",
  "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, 0.7986, 0.614, -0.3828, -0.0193, -0.0071, 0.9983, 0.9829, 1.0969, 0.4664, -0.1978, 0.5686, 0.4366, 0.4985]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1827 left_yaw=0.0001 left_pitch=-0.0046 left_roll=0.0006 left_gripper=0.9983 right_x=0.2319 right_y=0.1829 right_z=0.0897 right_yaw=0.2672 right_pitch=-0.1015 right_roll=-0.0613 right_gripper=0.4985\nstate[joint_eff]: [-0.0205, -1.5521, 6.5846, 1.8486, -0.022, -0.0562, -0.0122, -0.0752, -4.7658, 9.0188, 2.1709, 0.5641, 0.0952, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca4f78b045b6da2c5a3c9415db9deb5a6a63c455517ca457051c0c31cbe9dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b676ee314c09be96ca75d5f4d0b4c0c9813a84adfa63ee2c182a71ae1ce44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab92ff41eda16d3220a4d78fb89b955cac92c055361def72c2273bf1837a45b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.126 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.384, -0.0189, -0.0071, 0.9983, 0.6762, 1.7027, 0.5598, 0.4206, 0.4263, 0.289, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.3432 right_y=0.1863 right_z=0.0232 right_yaw=0.1551 right_pitch=-0.0767 right_roll=-0.0354 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.6342, 6.5846, 1.7802, -0.0317, -0.0757, -0.0122, -0.0752, -7.3504, 7.0496, 1.9756, 0.1734, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3832, -0.0193, -0.0071, 0.9983, 0.6815, 1.3411, 0.7238, -0.2184, 0.3805, 0.2714, 0.4942]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1822 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.312 right_y=0.1732 right_z=0.1027 right_yaw=0.1991 right_pitch=-0.192 right_roll=-0.0754 right_gripper=0.4942\nstate[joint_eff]: [-0.2256, -1.4701, 6.5299, 1.8535, -0.0659, -0.0415, -0.0122, 0.4581, -9.0462, 11.7265, 2.7326, 0.6081, 0.0073, 0.6813]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0193, -0.0071, 0.9983, 0.9829, 1.0969, 0.4664, -0.1978, 0.5686, 0.4366, 0.4985]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1827 left_yaw=0.0001 left_pitch=-0.0046 left_roll=0.0006 left_gripper=0.9983 right_x=0.2319 right_y=0.1829 right_z=0.0897 right_yaw=0.2672 right_pitch=-0.1015 right_roll=-0.0613 right_gripper=0.4985\nstate[joint_eff]: [-0.0205, -1.5521, 6.5846, 1.8486, -0.022, -0.0562, -0.0122, -0.0752, -4.7658, 9.0188, 2.1709, 0.5641, 0.0952, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca4f78b045b6da2c5a3c9415db9deb5a6a63c455517ca457051c0c31cbe9dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9b676ee314c09be96ca75d5f4d0b4c0c9813a84adfa63ee2c182a71ae1ce44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab92ff41eda16d3220a4d78fb89b955cac92c055361def72c2273bf1837a45b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDblyUD5DwFOtpNeVuDP09EE9TMOCtSzEcKwsLWOv2brg_e-oRKLukpRQZNTxb7e7OAFKwv4laf58b09h_iMjhqb77tS0mIYQyfufdXL1MZfYNjaNh0C1st0-PVhsiG8vxCpB5lRB2hagwoD9DqaQRA_cml9X2QqSLYRyd4GlrDS3632WhNAv3hyqyILLuvjIT-KzWQu3TAHEaKB6G3DnasCGpca0jfvLM_JetMjDPA9wd8dAEwRnASxu5zoFvVf5C129a46TQ7n2_m3z9pV7LVrnJBoqdNvLUxxzizHT0sFEMsmUs-gXl2rw6h2HNSYeu36SG9vldU0rgYstQP00gDO0G7F2fYg7Puip1HDfgaM95JARUGn76AtH-a4BEHWwP3jDBXWXMPQ5jFyP6jAjwOSElaq45SUSWn6byGYlS8zMW-FzPONWUeZpSu30O2t2T_MnEMHy3k33M0TMcZKg35DPrJuT7qCyQn9vZWMOFMIaqQ1kE4V79FmoVgTszgvKXozAz-7hjfEJ1ZRztot4LK2-4m58yMsLoSmI5Mzc-sK80V0SKHDqDp30Y5ZsvC7TxE8o79N2Khxt9-uukQjziYgVt5TR1drXgVY9Py5F5wtFIHRVoJO-p8_kiU4s37HtHXLLKxkkIL0piBrzgclDOf9C0WUmvvZE61-Q2IPDNyOk6r76j7CxnVh3VnGtBz0PTlvxqAdnsLQoKj9Q5dVIt61Ugl4T7NPP45Jdswz0JB0N6O1oISELezEO03i655AH6s00xwoHhcu2RRh2zKeZfQhtMN79dAEp_cW8xKawbBd_7mNiDTfP2XIaubDq_SAvWKkVwmceHbTNEyatOQyTJQP80bou5RZOU0t9pI3D-ZMu4dGP9TwcR59sLnYSeSumKQRspBqcFaX4yR7WZyW9p5ntw6Mq05E6xGz5nk5fXON9d_fUr-D5df4N-KWa5l73L7-k0C1QmAWNghbB3MKTDCWsayE4ty5VrbFwEG4A_2xSDftWxY-LLbZDvjmy0LVsgy552HeeR-dXo_U9cqzPjnI-VTvTMKabLBiaAGBdx96KpXCU5wtniZkhFWKAjejOQte-VORAMuyfTIfA9y__u0L9WdVnub4Ri1-TLcS9HyHgTZ49EQyt9RUjU6-hJvCoyQV1NBIIjI9bPwhS21M_AaWvgvr56DtU094sdECWBlWV50JKxPU_on3bnC2V5dvhLWHElz52pBQVR2MMTRWwfMRV5epR0EDAbOmqFX26bFUUfBrDFuYpzeKHpLZG4dPbQuJ8IYBjIFI9KEPyuyXjf4F_l1fjig8pTv1eEOG837qA-HHhLQ43-nTMC1C9R1YRX7aX5sm2xj4wDTmf6Y-JzNneZgXZkJn4pi4QSD8ZKsQSuo=",
  "id": "rs_04866ec2a1d3bbef016ab436e4aa6887d0b6b8e3e81309c30c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.17},\"note\":\"The bottle has shifted closer, with its cap now well inside the reachable area. I’m opening the jaws and lifting clear so I can approach the cap instead of the base.\"}",
  "call_id": "call_wHl2AERT8BRJq4Yh15XAtn4f",
  "id": "fc_04866ec2a1d3bbef016ab436e53a3c87d0bfba219c5824a893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wHl2AERT8BRJq4Yh15XAtn4f",
  "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, 0.7986, 0.6136, -0.3836, -0.0193, -0.0071, 0.9983, 1.0, 1.0256, 0.3992, -0.1261, 0.5907, 0.4332, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.2284 right_y=0.1803 right_z=0.0947 right_yaw=0.2732 right_pitch=-0.0341 right_roll=-0.0257 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.1009, 6.6803, 1.8486, -0.0513, -0.0708, -0.0122, -0.4581, -3.0701, 6.735, 1.8242, 0.3053, -0.0659, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea74ad26f402b987d581fb2abe13f2f020935393e1ce7bf35e8733982d518be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52db203cd4412e49da51f22480e10e7dbb7162a9b0a3da874d92ebde746f7596",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b39e2b182386e27d7e5ee0d48d6ab15ab7f14ba9a1557f8834a248088c5a10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.22 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3836, -0.0193, -0.0071, 0.9983, 0.6804, 1.7271, 0.4911, 0.5694, 0.4179, 0.279, 0.493]\nstate[eef_state]: left_x=0.296 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3385 right_y=0.1863 right_z=0.0181 right_yaw=0.1728 right_pitch=-0.0309 right_roll=-0.0113 right_gripper=0.493\nstate[joint_eff]: [-0.0342, -1.7162, 6.4342, 1.8388, -0.022, -0.0513, -0.0122, -0.3761, -6.1197, 4.5744, 1.9658, 0.2369, 0.0024, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0193, -0.0071, 0.9983, 0.9829, 1.0969, 0.4664, -0.1978, 0.5686, 0.4366, 0.4985]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1827 left_yaw=0.0001 left_pitch=-0.0046 left_roll=0.0006 left_gripper=0.9983 right_x=0.2319 right_y=0.1829 right_z=0.0897 right_yaw=0.2672 right_pitch=-0.1015 right_roll=-0.0613 right_gripper=0.4985\nstate[joint_eff]: [-0.0205, -1.5521, 6.5846, 1.8486, -0.022, -0.0562, -0.0122, -0.0752, -4.7658, 9.0188, 2.1709, 0.5641, 0.0952, 0.442]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3836, -0.0193, -0.0071, 0.9983, 1.0, 1.0256, 0.3992, -0.1261, 0.5907, 0.4332, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.2284 right_y=0.1803 right_z=0.0947 right_yaw=0.2732 right_pitch=-0.0341 right_roll=-0.0257 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.1009, 6.6803, 1.8486, -0.0513, -0.0708, -0.0122, -0.4581, -3.0701, 6.735, 1.8242, 0.3053, -0.0659, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea74ad26f402b987d581fb2abe13f2f020935393e1ce7bf35e8733982d518be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52db203cd4412e49da51f22480e10e7dbb7162a9b0a3da874d92ebde746f7596",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b39e2b182386e27d7e5ee0d48d6ab15ab7f14ba9a1557f8834a248088c5a10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbsYI_VATgdDMEnBHSn8VjFqLmifQS7j5EKIpBcJDvKLQ7t4rp6YGqVTYARNCsIfXZfW7iEmmvO3PdUZtHuCGo2oITSnooVkCDXDKyTGIY-jpmAJGaxoS-14JojpLxmYZJr6OiCA46S0q9ujqmr3ahJ0985LjUAX6TQxB0h1RoUdHEMC3rGjyqpfFoXEg84kY1mSDmnFtUN7ic4o-ZbljBhrtDhmlCYsGpJgJUzznWx7AuE7_zYoxJxGxplXpYxsSJ4oxe03wFqJH__O_2TjNaugIcA8OjKmEGvWuOCjmKy4ggBDdHqlK1wK6oc2GXiS8-GJwHDR-fmi7bvx5ZuYYY3IwQPO9idIYds2CLiCMat5i8-9zHDgMMuO5Dc7tyKHELt9QRrLuMKcv8vPF0JLepTXYSYqrfXgRZmDlni8jUvgY89FdNmIBlJQx7KmEqbrWISGTnx6Pi67abEDBF_OycRRrmVYyu_aUTnjodhDcV3B0_LG-pTQmWoZRi1HiXD3hDRjJZR6enwVxWDIlziNtVvXKlFePFGETnJYH1KhT9X4-hOuxMOmVWlCOxekCrJe3TYw0bX9sfuL6iml98zwjigVy4rvUCln-1_KvubkSvfz46JJ3tChg9EHrW7dqMow91EnOIjAYQUgAVLNGO7Fgqjxf9k8hlEXRL3QVbwlrez9keXiduFFXnBv5F8X_yB0lnJewdsvpaecqWSGYSiIAIs2kCGNUkq16FffRLdsfHpD_hO0X5PuFWVzsk1dUyofc8kWC0CgNfXPnGN2JLw8uUwExJI2dEH5BvdGSoyaJEv1YXSGZlu6TaJORiL5usMnzSz62K8bRVHv390rRy5S0Gvevlxe4VIkeMHEXPZhmC2RzzINg1E3RniU6qXuibAcQH-U2gQvmi_EPft6OHaBv5N6xmaHjJDaVRr6nWISr4CFeskyKqS5u8tv9637Fdatw7HeCGghgbgl3uxEgQ_Nys7w9gAkbssa0bByVHSEDOv0fKxPQn7dsnKqFpIxfgeNKCWL0_Y6w9iqDn7QwGWnP-opE9Wf0OYneSVRWbDuf56U4nqMYeIwsKG-IeTsF2P2cfcNXTwfBW64gwr5h9RsEmyT6YkIgc9abqLPry8hI16cWbMlrOiRpCD1M5XQuEM9OXwe9chZ86-YyPpW4_mjjooHul4p1guD_2hO0RsergRv0KIyoHQxwtwx_EPWH04FTvibiLyyxfGBJ4Zxa7VJ0zpjefCjQcwd5DmyDL14cMf6nM6Y5JSfOkajexTUvqFhKHbdWwS0bPXL5s9EiJxfAvHsKNNtoa98vAfuZLyp6fk1ZyubP-kYJokVVnE2Zc6U2lNcmfNslE8Ceffhq4M_kOUQuUg0jak5DBwWFWpHGAG6w3-fraNS3RwuZvijnUARiSdTXwZIO2IbRZHPTZ9kchIiSATRypr0WncI2w4fHWiJuVloBoFEaM9H86RYgHt6VCA78QBj-M26KxNQMjXjJ0jAHBXiK10_N_yiaj1IwZPqgR7ZkORzWaGYAz2hZtHIrj2Az73H4K9s998KXkPjHudgIJ6aF-XnAhXVU7pM01MM4UxzQ8Ggpy0lBYTdDcPSDqo6ZGjtz2ECQ1X1gZEwAyTMeJI11a84zRcpuB85ludiPrV5FapfgU3I4pEH1TO9JOGo6j43EMaKClCLjdBHBnbBWSGfk6ynQFuCmvYOfhcvr7hdjJPEZze6-IdiftVnqIUWiQ-KS07Zw2I_DXJZYQvXnaFytjTiJSue5Mvm2IiJaaX95RFIxkgeXuudQTqGtCDH9Er5bSj0CFcFFZ-fVYWdKOLLK7VmK_6i9K5SW6l5N-KqztnOoWc0rCXcbLHGHn7f18ZHJxvev34500ClP8ebg==",
  "id": "rs_04866ec2a1d3bbef016ab436e77c8087d0bd98ce57f98c752c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The right bottle is lying closer to the base now; its cap is near the upper edge of the wrist view. I’m moving above that cap with the jaws open, aiming for a neck grip that will let the base hang down.\"}",
  "call_id": "call_vi1U0BIvfvTElIyMfktyCvhH",
  "id": "fc_04866ec2a1d3bbef016ab436ea855487d0a16c53faf25d188c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vi1U0BIvfvTElIyMfktyCvhH",
  "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, 0.799, 0.6136, -0.3862, -0.0193, -0.0071, 0.9983, 0.6132, 1.3231, 0.7593, -0.0715, 0.3164, 0.1883, 0.9973]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1817 left_yaw=0.0001 left_pitch=-0.0088 left_roll=0.0007 left_gripper=0.9983 right_x=0.3453 right_y=0.1802 right_z=0.1467 right_yaw=0.2375 right_pitch=-0.0296 right_roll=-0.0173 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -1.5248, 6.5709, 1.8046, -0.0122, -0.0513, -0.0122, -0.8957, -4.1231, 8.8137, 1.7998, 0.1783, 0.1001, 0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9b23122d6e77be7ce1435b47f29dcd9cda1d332e6c2598b33cd5c2b3334747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fd6f86eb68199cd4e441948720131731e85e00ec480361c1be15a5a440a120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e38dae84cedb023a4ce95631bce2762454674d2f2297e6b457ca6c00db63b4b",
      "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 · 4.003 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3832, -0.0193, -0.0071, 0.9983, 0.6815, 1.3411, 0.7238, -0.2184, 0.3805, 0.2714, 0.4942]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1822 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.312 right_y=0.1732 right_z=0.1027 right_yaw=0.1991 right_pitch=-0.192 right_roll=-0.0754 right_gripper=0.4942\nstate[joint_eff]: [-0.2256, -1.4701, 6.5299, 1.8535, -0.0659, -0.0415, -0.0122, 0.4581, -9.0462, 11.7265, 2.7326, 0.6081, 0.0073, 0.6813]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3836, -0.0193, -0.0071, 0.9983, 1.0, 1.0256, 0.3992, -0.1261, 0.5907, 0.4332, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.2284 right_y=0.1803 right_z=0.0947 right_yaw=0.2732 right_pitch=-0.0341 right_roll=-0.0257 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.1009, 6.6803, 1.8486, -0.0513, -0.0708, -0.0122, -0.4581, -3.0701, 6.735, 1.8242, 0.3053, -0.0659, -0.2662]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6136, -0.3862, -0.0193, -0.0071, 0.9983, 0.6132, 1.3231, 0.7593, -0.0715, 0.3164, 0.1883, 0.9973]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1817 left_yaw=0.0001 left_pitch=-0.0088 left_roll=0.0007 left_gripper=0.9983 right_x=0.3453 right_y=0.1802 right_z=0.1467 right_yaw=0.2375 right_pitch=-0.0296 right_roll=-0.0173 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -1.5248, 6.5709, 1.8046, -0.0122, -0.0513, -0.0122, -0.8957, -4.1231, 8.8137, 1.7998, 0.1783, 0.1001, 0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9b23122d6e77be7ce1435b47f29dcd9cda1d332e6c2598b33cd5c2b3334747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fd6f86eb68199cd4e441948720131731e85e00ec480361c1be15a5a440a120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e38dae84cedb023a4ce95631bce2762454674d2f2297e6b457ca6c00db63b4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDbx9RImJ0Wy2mMpMQ8T9OcT5HJWdlhH972uye_1r7KdSaB6HvJtK_mRHFyA6aG2nZX5cNDAIkn86HLrdZPYyFmhzPAb4K2vj5YztPq9UiApzKMkbmDQ83iSGixhuawJ1Qu4ZfmciCzqG5-_Nzaag1FbCsSEkmv6orLtU5RQtt12n3FfZZoY64C7Y7VPqOJu_YxQLKYkc1Y3BdAfOY4kAxOyAjbY79-8TJNGV9kNbQIKGW0DKtlBwEdjjXPXQg_73Nm70mVKXoq2pm2R2E8LNNBAJYHZtndOZhmx9wYHje-CYjk59mBBQjRuep-3TVn2vHTP4_IQg9s5Qx6ViMjUQ0e3sM6D_5LL6nJtLWX2NsiBq7ywqt_WDJwloIPPB-3ZLOPolHq2vYMfcZqynwlJ2eA0tk8FBVWIXQ7NbZp9abAqsE9htv8Dg7dh2at-4Tii7WexBhMy22fZiY1AsklyefiBpRt-a5b8dVCBQc0Pzz12RPAt_64exG4Pnlf0uI1ht1ODvHLtyEY6WTNGgQGouBPF-6V6jhDdXA1Pni3-aDSDPLKDQ-v7SofeSBwhIQ79uBmQNxFtvmKjjrpdQPj8Zs344gVs99dg0GEHA8yzoDfNAL5No9zjDhaax4iKCKEnOC3Tn5GXJv5SmLQNOYroXqZiIC98oQlSya1oCpMGGY_RZp4SzwtO-G787QwTD7jY_yD_DbB7S2JmgxBmqEDwReO6e2_SBYFp4hcUAraJfDu45y6jYmudGO46rZfmLOxxOwB_ITO_x1ZnNSuWLmaQH8YKqN3OYHSnUHZumVA1s_LG5bm0xkmXiUTcULL3h6jyPpq_CLGwz7LisjwGeL5FqXL1OsvmnukVTmRzET0rTXvk1xuSeszstBraHjV0Y9YSogfZRUVIl8dN-DKmRZmScJHb3Ws_GZH2G2FcT-u_Q2v5ZLIossAgDN08r83PzF3tw5ZgGglM0MK6UV5cdQcnm44Mqv6-chIBYUnadEDRyhQ6GT5CUA9ZZZ82XyWdJIZ7RZU1ctV3ON---vdjtJjJbzdepL9LMyNXiBQjaOaiEDVdKpvc9O_cRPC5rpa_nuae6rxaPOoIR2orZQdeuV1Yyx_KAC0wLkaS5umOyMNSD4kdX9gfhSovaaOaLS3TJOIxOCsnbYhIgsbLrKKYJkZ5YcI1JHM1fbk4kr_m55vi7uaXYYsUEzPAEZ3zuxMhCUlK2a8wsNjttYUwxdr3lVSnPtda5JhEXQlo1y_WCOe1ac5OO54UMT_96_FMqz6yaY6T_Ysk51KO4rwNDvAi2yZ4-fXayKWftMQ80LFWQB9HS3fYzafyJHKf_YPC_KQWmN1gC3mZA5AkdjedWWa7hHY4bkK8NPgjHXB77R7IEcge-wfjoHh3T1rrQIRlOsiWyI8KiLPzOTynrz5r-HcGeQBJ2Gu_o1_Hg1gZJheaZ397Om6g91VyFRiHBPfgk4DbuqxDhS_qaTf--NMUPsre3Ok4Rth7efNaAEQXMRancyNnTjGocq9Pb8vVBasn0pYmSlAv2RSxiAM-yO-kBAfJkCXK_z66y-2kRgQB-uEFqYJMHA5dWyFYlGVKcIwfj7G5VCghQ0pny_PC8W9N3h2dA3ZqQxSYmkW13vIE16ZWW2BlaQtY_JvG63D6dNz_NViWG1yfScpuuEurUNI6qGjmvLwuH8wKXgVz6PwcjqGFvHjC5deoxEmbfFJP9Ol7F0UGb6Zi1ZHrmhuAl6RouFTnxkuIpOi2jY6FQMOdxePZ6ScKi570Xh3Moq1P-TK_pvxUVgVpkwzLU8I8QVhHzBKpl7ra1A13r5uUBNzCKYK_C-vuj82vAHTJrT0GytJO2IgEwgZpNIQwgFnPLevLHOqyAym5XKe9x8zLYYnzV_QO2CrU4j28eTRD8-wPH51YdiIPkslKtDgOKWF8vvvnGon4oIWi0JWaUnEqq-jZfbGXnAKCh6bM-OhFtK2V1I5vxDOavH652Ip0aO197C28PDhgmCoBN4qZJbdzLQyDZgeI-9CepG8llBdZsRiumbKepYaYOnW2yK-A_uzeHfLmsfHCsDuLW5U17qYAF1UsVYHnhe5tzNdXkGk=",
  "id": "rs_04866ec2a1d3bbef016ab436eea3e087d0ac0caa55b289dd57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.205,\"right_z\":0.115},\"note\":\"The moved right bottle’s cap is visible ahead of the jaws, slightly left of center. I’m shifting forward and left over the cap before descending to the neck.\"}",
  "call_id": "call_2MW2BC5Tj0MY3W7W1AsVDcbN",
  "id": "fc_04866ec2a1d3bbef016ab436f0b70887d083a1c02ef07c5ad8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2MW2BC5Tj0MY3W7W1AsVDcbN",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3862, -0.0185, -0.0071, 0.9983, 0.5976, 1.5631, 0.7761, 0.0792, 0.2863, 0.1715, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1821 left_yaw=-0.0005 left_pitch=-0.0073 left_roll=0.0003 left_gripper=0.9983 right_x=0.3696 right_y=0.1955 right_z=0.0892 right_yaw=0.254 right_pitch=-0.1043 right_roll=-0.0388 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -1.6068, 6.4615, 1.8095, -0.0171, -0.0659, -0.0122, -0.3487, -7.6376, 9.3607, 2.1465, 0.1783, 0.0855, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5e9f8275173003bb916046a22381ef43d71dee5eb21d05a7287db637734cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152452ec3d41e5e33de378d6972408196f5be80cf60b036dc89dadcf62f85369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c05556bb670902ba17c47da61bfb590cd30ddb4709b7a05c38183b3f054877",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 4.096 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0193, -0.0071, 0.9983, 0.9829, 1.0969, 0.4664, -0.1978, 0.5686, 0.4366, 0.4985]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.1827 left_yaw=0.0001 left_pitch=-0.0046 left_roll=0.0006 left_gripper=0.9983 right_x=0.2319 right_y=0.1829 right_z=0.0897 right_yaw=0.2672 right_pitch=-0.1015 right_roll=-0.0613 right_gripper=0.4985\nstate[joint_eff]: [-0.0205, -1.5521, 6.5846, 1.8486, -0.022, -0.0562, -0.0122, -0.0752, -4.7658, 9.0188, 2.1709, 0.5641, 0.0952, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6136, -0.3862, -0.0193, -0.0071, 0.9983, 0.6132, 1.3231, 0.7593, -0.0715, 0.3164, 0.1883, 0.9973]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1817 left_yaw=0.0001 left_pitch=-0.0088 left_roll=0.0007 left_gripper=0.9983 right_x=0.3453 right_y=0.1802 right_z=0.1467 right_yaw=0.2375 right_pitch=-0.0296 right_roll=-0.0173 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -1.5248, 6.5709, 1.8046, -0.0122, -0.0513, -0.0122, -0.8957, -4.1231, 8.8137, 1.7998, 0.1783, 0.1001, 0.1832]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3862, -0.0185, -0.0071, 0.9983, 0.5976, 1.5631, 0.7761, 0.0792, 0.2863, 0.1715, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1821 left_yaw=-0.0005 left_pitch=-0.0073 left_roll=0.0003 left_gripper=0.9983 right_x=0.3696 right_y=0.1955 right_z=0.0892 right_yaw=0.254 right_pitch=-0.1043 right_roll=-0.0388 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -1.6068, 6.4615, 1.8095, -0.0171, -0.0659, -0.0122, -0.3487, -7.6376, 9.3607, 2.1465, 0.1783, 0.0855, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5e9f8275173003bb916046a22381ef43d71dee5eb21d05a7287db637734cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152452ec3d41e5e33de378d6972408196f5be80cf60b036dc89dadcf62f85369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c05556bb670902ba17c47da61bfb590cd30ddb4709b7a05c38183b3f054877",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDb28chCM37RHfFZFMHne7utnHv5C1B-63Y04P3VXMJZLJhW_iBOHbPIsdwtYvuuobSk9Klq0-Ae6y78IAKEnaDE5Lg1w87LWetjBOQuPNkK9UCCLuwrRZJXq8WPHzJjPm2a9Mj8ir3uInQ6SxuA0BT8AXCzT9lWlCr_wljg7ruYX4OTEis7exFz_iSD-4b3Iow_vBhSjqGt_F8na966g7UjNNf3ZMenrLltW1uojKcFzOwtywcbVTlhKpJAeLevx5vKoy_UgH28GPo0Nk-fvWL00RZF76kGPYqh8hAEZ_S5I5LUdiEKwU8jKJR2mvFXlLYVV4tDFFUoSVxzprP6ftL2jgp-zaac5Ratuunr1YorbXaOuhbD8QHC0mKXCw3taDO9TbvuIe0Mvcrzq_uD4_4NEOW5XMGgZuHr-lfavL86Uh1O5f5-SEWnmvmcYy6YBCz2jUCsnRq8flneLljbitiCjtdk88AIrnY-Jqnn5n_0HofthxmafzB1f4o9QLZXX6e4iJN9Mw95T4vmL-0INIHXKzgMvrlz9BubDp0ktW8tzma-oI1hzm9zMRppVzFAMKAyXB2j7PLMLKynwgF7PAmRmnEOmVRXFPkY_eih9uycqIAPYBR8wLBPpxuk_-PXS_Sf_veGzzMhx5eP2AvhQjoZXWI7RiE0QKjlXiOcHOYLrdKh6Y84EAjJLd6FJKWuzOmXfFRDmv6B1U_aOa0RfR5gPK55CAT88BPxJXDHCtbLb3zknjp3t65mrft8iyM0_EbmZkPCJJhcGhr9DLbJ-v4gbBVLGqQ1cHm72PZcQ2bTKojCrX882whZIsmJQQjBamrg4FIFc2r0KVNllIw0CSNkiB3HGfYe3ki6Fvjwcyqd677zKYxC1jdMEkxix1rdXYENW-hzw5i4eh-uM5WsgumePiQcVHTwEykeeePzmQxRQWGpeOCk7oN29pcXxdeXx6YCSo0HKv2kbnGRbUbImcHCQrBhP61YMX5u7-BPUERVukDRiJFD6G9TJbDKIj6A3B27fgiWBLvNpUu_RU42hzE-GEe7bjwOjcR5WLXrQgMuaFCnAneC68BqT-6IkFBKcTTvFxPOWUxLQ2ZWxKj21-FawPx4EvzLwhEczohE1PmeF6bDssH5iIjxgAHwxRCT9cTBDLYoe7VDbIEl4lIEVV_AR9t7cUf-bz979tGJJNgVxuy82iMWDNSlC0cB4ZoijfxvB8unO6Sgrgjx-IwFxWpf6MEdrudlZ9JS2Yx0JtFBEDVTfcXsEDs3Evccd_EXfhK3w3ix7qW-E7gHwaWqVAW12JlP6WRTIyCD1Ki_DG8eoCGefDZWI9SYtu3nPYXfylunKNvL7ZAY6GcMGZRs7wjFWAVItwL5qPJjE1N-198Qj0CRkCKDpdn1LHrMpdroPAJICkZjXgelcJMWQalXEGb9lb1T4gV8_TcJi0vUtoVt2g5TG7BO9IIumNfGTh-httsvQ8S7q7gMZAnFQPBENpB0bU8usF8JJk50Q0rMMKdS1oqSGwR_lrJlD0rrKOV6LO0Ur8kilx-NWPDvhv_g4jQ5ZRh0rELxHEUx5FQLwUcZ2Ww-yex8OloJN6u_3B2-TgvK0Cy8lZDPLqfIrbVUPLjO2XjBoEspSozbnzq3AuJo-_ttjKcJFYzzsgLs91IE9Mt-jhxF9Gb7eszY66phsdzqCAqIyqLdTjEDYRBIFE0bGRHQBYqyroum2Kgqd3d1e4lUmNayo6SD6txqof3s5eFW5GT-uxPIMIgqhnYRAFFwxYm38tbpoJ_Sa-DX54ACmfp9GclX7g3NlvKiwapmwvGNtCZmtUGwctUtqsDS9UYs2z_91O7-G4v2PMzTmoUP-6JIVr94-R-qlzXmPu-HDBdpwfhCce-45JiyTi1INkwYRhgZEhc-fj1L2GM5pDWnpv-xTIgJKsn1LRwmmIbOrP55d9X93iX2H15L3KYkVaSfOy86b6bb5uJyZLsf--yfkCuYt_X4YFysrrjC_rCwY_XtCIVQ2j-rdKlQ6eWG3iEIH--eVfvEgxJ9FTl0pG3BIIj4JGADA8iQQqpAmiWnVppU_ZMZ6HmqqtCLnZnZFx9qvT_-W3_VxZTlPUhmMb-br8fG7D1sGU0ACWsmE_W-SnNnnEy4o0_wj0Mik2vwuAepdDOz-24fC-VJxw4L27YJhmX5COa0lJaJf6EgEP_RxewV-xWoX4EBDRf6ZKZ2918j7H3kOjqK1QYnz-II81-0u-462q94ThMpNf12LjmE32vWHcn_kfh97j1ZDFpi-Sn12N0=",
  "id": "rs_04866ec2a1d3bbef016ab436f2fb3487d098085515e5856da5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.21,\"right_z\":0.03},\"note\":\"The cap remains ahead of the fingers, while the main bottle lies toward the base. I’m lowering and advancing just enough to surround the cap/neck rather than the wide middle.\"}",
  "call_id": "call_gaLcibMhV33C1Pu4wK58bvgn",
  "id": "fc_04866ec2a1d3bbef016ab436f5419887d0bdab1b827b458369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gaLcibMhV33C1Pu4wK58bvgn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0185, -0.0071, 0.9983, 0.5957, 1.5848, 0.7811, 0.1215, 0.2832, 0.1699, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1818 left_yaw=-0.0005 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.3759 right_y=0.1995 right_z=0.0902 right_yaw=0.2563 right_pitch=-0.0809 right_roll=-0.0296 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -1.4427, 6.694, 1.8486, -0.0317, -0.0659, -0.0122, -0.4718, -7.3094, 8.8684, 2.0928, 0.188, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06300ec2c60c942ba9e96394ddf7981a7f7440edc5fd033ed969533104dcb27f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86b89771e051cb5c9660a4e60dd85abd32a16fc0cf0a53f4f346462086b981d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163709cc5985196bc0ef4a493a75915dd10163b50024ff49b60762444bef68c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.101 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3836, -0.0193, -0.0071, 0.9983, 1.0, 1.0256, 0.3992, -0.1261, 0.5907, 0.4332, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0057 left_roll=0.0006 left_gripper=0.9983 right_x=0.2284 right_y=0.1803 right_z=0.0947 right_yaw=0.2732 right_pitch=-0.0341 right_roll=-0.0257 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.1009, 6.6803, 1.8486, -0.0513, -0.0708, -0.0122, -0.4581, -3.0701, 6.735, 1.8242, 0.3053, -0.0659, -0.2662]",
      "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]: [-0.02, 0.7975, 0.6136, -0.3862, -0.0185, -0.0071, 0.9983, 0.5976, 1.5631, 0.7761, 0.0792, 0.2863, 0.1715, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1821 left_yaw=-0.0005 left_pitch=-0.0073 left_roll=0.0003 left_gripper=0.9983 right_x=0.3696 right_y=0.1955 right_z=0.0892 right_yaw=0.254 right_pitch=-0.1043 right_roll=-0.0388 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -1.6068, 6.4615, 1.8095, -0.0171, -0.0659, -0.0122, -0.3487, -7.6376, 9.3607, 2.1465, 0.1783, 0.0855, 0.0171]",
      "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]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0185, -0.0071, 0.9983, 0.5957, 1.5848, 0.7811, 0.1215, 0.2832, 0.1699, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1818 left_yaw=-0.0005 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.3759 right_y=0.1995 right_z=0.0902 right_yaw=0.2563 right_pitch=-0.0809 right_roll=-0.0296 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -1.4427, 6.694, 1.8486, -0.0317, -0.0659, -0.0122, -0.4718, -7.3094, 8.8684, 2.0928, 0.188, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06300ec2c60c942ba9e96394ddf7981a7f7440edc5fd033ed969533104dcb27f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86b89771e051cb5c9660a4e60dd85abd32a16fc0cf0a53f4f346462086b981d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163709cc5985196bc0ef4a493a75915dd10163b50024ff49b60762444bef68c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDb6PYN7-lUs9Y-aihcYSYWm3lfCe8w1aVfVazaHLtoj7Fb_PIShd4Nt0tkExKqQy77yfeH_MHsRuz_TnvMCQxw1vZFVNXxgXN0u6zdnM98DlVQsPw4sCmxN8X-70Xy_9U7K1Wv88f8a6uBT8bTeUf6apiqhT8pZM40t3MPh18E7u__ANlVzjMAb6jm5UZ7Vl7GIANYgvbuWKQaytI7Lub0OkzUQ7bscwCPjezmciB0E0M9yfV9vbW1qysJAtm9L4OeYKp3gKMGYLgh5ujMvIAQbedgpF58AWtPlJV7MYtPInM96dbGPTF7R1ItHd1eRvr3Wtqr2wdSR0tF12ieWi37fueoErNHb3iK-xDfksXISUl-du8pzkKsLWj6-bKNM3eFez4TORzoJ9dSM7HX9ZHqHwT44D7Urt2Nu-S5JCvjb8Ob5vLbkL4zjtImXYik7YNWVzsJl-2ZUX8T7OGbXasK0AMwY6iXBATgFMoaA1tgcPLvk6JDvELXdGXWeif8wMQmyzbC_wcAaa0t_K519lqu2inLmLw0iELZCeOmsAa9QlyO3EYMkKhoNaF1d0bdUxrgaRoc4PEki8FKlt1ufZezLEcCE7lB33RIHQGEQ6vC534SuwsSg0tJLAc1ADe2Iaf0th4mgGWcwB5Q6avblAMcygkYBtkrKsEB4Gf9-Am3VGf_nffL5iLPPKtQ9ImGrLTu4lIvcn5bCo_hupE4yRRStfGgV97D6X97rBTp_Pky1eLSjFcxWPcOoRy1aRtl_JAP-lEI2zNH8xjxWRT1Lvp-3BRgUbITy9OX6eteOFClgofefq0FdAjhqFyw_eVnkwjCIAHfZa5JkeYgPnxDlFuuRb-TfS_NNkUXyXjnSmOCGDrZrPlpf5nPTCSUtdAxTSAB75otS_l9wUtEagtcez87lmg-pbJ3Pbnar_4RX-BXnfbP4VHKW7wbUjO8iTbh4pVk2dZlALWpkt7CmCTGwbHCBTLMR-y_qBGqshX_nHYAjKZ5Np27wuruMUfEN2ZA5WnmaVf2jChOukinhyM_x7Af8Q9WCjmGHWYSCALJI9ZxS_rcc-Io9oUUh79V5JtQzR6GOjWRTLOqVrdBgoEPISFJXnFtkQZYxNjXpC0zx1hbZCsRkX8idG8UOZAwG8LGRd_JyxXxR3f4d6D0NZbyF7IUggEoeLerf6FUDZ8sbUQt7NXfhd69NJV_zU7yhJs0GOuDtVtJ8nMn_JzPzbzwdsUK56TeYyWHDrmbB48G6IFVYPu23Ts1jr1e4x_6PcgVHRH4jqSsxxi20H7MFtcdjBQStIA4-4w96REUMRrFeInq63kaaZW2-9HAzlOuwqvuSxTdAA4eY7YuR8F_tO-EibEyIF5ij617OQuNOjsSlcyW0H5y4U9sOqf597BHRXPS-PyZSWbVv-GAKfyZsq9M-0Ib0ZAKPHHzFVo6hUaj-cdXNEDQiz1lwxaCmCFZMzvXTBqzWaf2uwGpcasph82-_6xMkvyjm1AEIXc_W9Nmpp8JI_uFPdg6V9LVHdKujwOrxDuuMaznbC_Gfu6TVLfRDFW7ixJG4ciI9xAFEfWbwtvsZymTPqPtSJ1hYK3vEZ3U9Ak6gpKbkM08kBxqLMyCm7WmepDQeoLjQYuqCSczdVQ3DP1kdCTPMyDLrHpfL3kmqka47WiD9XmFSDs7PGf22IYH7-GQaCoqYcu9J3wGrLm3UvlZeK6VQ0BpGN2jsZkio5OiY0wlMXY-l2fe1NU7YhfcvlybcuF3dBmkMq9TjdjnYbhVrNhxVbqCVxT3in8GuhEOpF8Yd0b_0WYMo0WoCTqDQY8xquPW-_naqV7ADEOhjRuS01F5ADiG_P88b2F_2UqjmNOn12lmSoym1SsBg7Tl0yVPRkppJ9UyWp0qieiv1OYKlPmX1h6k5g1yUP83N-nU7VxK2HXI1cSSuEqIYuVoSRKpn_W_2LepmWvwJm20CSj8JH3FKiN1RJ2J5uFZ48sgQlFijvEB1pPaVQFtLU8UqkXd-MmTkm-OLuOZNPjRMfM9qT4BekC_HVMPCJT3scx6-3wpBZeLDBXmsG1mRTYtXpn5trcXsfI_VEbqJGzDijAObRgc8Jp9bl8kWoPetbed656Hm0OT7mAiD2pfMWvzO7udAR-PLeHtdabMU0GnxT86Mhy7HpEZMTTQZxTmIzl7qChAFpAvaNNAVOU_YGsnGXbmVWM3wVcIJE_tbVbNO1uW9kmFpK6rUi5YDHL1E6QxTFYCdSHzbRihV5kEUEB2JvClooX-Lo3nrEFMLT6PZk-g46WNLhIDdaOyo0RKzk5VWGUp4b2tpMMgm4dsD_mKC5X9sot5OvERHH9R85gbRfFALftjPn8UpzB4EXu-_tTdILmhiylUij8f5yU9DSETEfg==",
  "id": "rs_04866ec2a1d3bbef016ab436f7395087d099eed2238069851e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.19,\"right_z\":0.035},\"note\":\"The arm again stops around 9 cm high when asked to reach the cap; it cannot grip that far out at table height. I’m returning to the bottle’s near end to pull it farther in, where the neck should become accessible.\"}",
  "call_id": "call_5FjnD1xksukVULOA8eXoKBjM",
  "id": "fc_04866ec2a1d3bbef016ab436f99f0887d090895a711e32cc6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5FjnD1xksukVULOA8eXoKBjM",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3859, -0.0193, -0.0071, 0.9983, 0.8597, 1.4441, 0.5053, 0.3695, 0.424, 0.2844, 0.9978]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.2968 right_y=0.2387 right_z=0.0872 right_yaw=0.3437 right_pitch=0.0556 right_roll=0.0377 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.5795, 6.3795, 1.8877, 0.0024, -0.0708, -0.0122, -4.0137, -3.6308, 6.0103, 1.8193, 0.8034, 0.2662, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f5fb7fb1c705bf7deb80790d26691f0e9add6af187c8555ba2b0e9e1298a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94446cf908a1a4a239bab78e5797098e4394e6836e4ee2a15ace43e62b23acd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c8e6e4b6102bcfafb481be36da691a7129ccfd232b5e8c305abc7a229c144a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.182 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6136, -0.3862, -0.0193, -0.0071, 0.9983, 0.6132, 1.3231, 0.7593, -0.0715, 0.3164, 0.1883, 0.9973]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1817 left_yaw=0.0001 left_pitch=-0.0088 left_roll=0.0007 left_gripper=0.9983 right_x=0.3453 right_y=0.1802 right_z=0.1467 right_yaw=0.2375 right_pitch=-0.0296 right_roll=-0.0173 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -1.5248, 6.5709, 1.8046, -0.0122, -0.0513, -0.0122, -0.8957, -4.1231, 8.8137, 1.7998, 0.1783, 0.1001, 0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0185, -0.0071, 0.9983, 0.5957, 1.5848, 0.7811, 0.1215, 0.2832, 0.1699, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1818 left_yaw=-0.0005 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.3759 right_y=0.1995 right_z=0.0902 right_yaw=0.2563 right_pitch=-0.0809 right_roll=-0.0296 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -1.4427, 6.694, 1.8486, -0.0317, -0.0659, -0.0122, -0.4718, -7.3094, 8.8684, 2.0928, 0.188, 0.0415, -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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3859, -0.0193, -0.0071, 0.9983, 0.8597, 1.4441, 0.5053, 0.3695, 0.424, 0.2844, 0.9978]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.2968 right_y=0.2387 right_z=0.0872 right_yaw=0.3437 right_pitch=0.0556 right_roll=0.0377 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.5795, 6.3795, 1.8877, 0.0024, -0.0708, -0.0122, -4.0137, -3.6308, 6.0103, 1.8193, 0.8034, 0.2662, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f5fb7fb1c705bf7deb80790d26691f0e9add6af187c8555ba2b0e9e1298a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94446cf908a1a4a239bab78e5797098e4394e6836e4ee2a15ace43e62b23acd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c8e6e4b6102bcfafb481be36da691a7129ccfd232b5e8c305abc7a229c144a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDb9YkgWynPC20U85-1FzuhoAzLktrILqKJjvesJlDBk5RY6ZGvCNPVj-DYRUDHhmHMqA6ugfnSlyqBOGDftJOGGt_JHb0PQuLsfYQxOLUpxUR1VCE4iwecMprG4zrpsH3sAlmRMji4g1MTcO-pdIUGsOQdWyBqG1x0cdAcvO96O-NIyJnsiBdr05w-B6jcDkn1fSWgOaSYxJnCHFmrhlTbi7E3yIojrUFIvaU0IfCIy-kNg6iJSqSIJwnn-4RSFMgM9phE9rjmM7sma6gykcaBOHj5GRKrn-XLZX3vUpwMZPMODy5RI662sPb4AFFSRvwiR4V3qaUnIuLAyjGXHeFWBdXGAnQjKfRP-MvrILFZhOE7E-7YNxX9-4L9SE26qMGSTzLvfYSXqI48jjMojCyXX-8E46o2AYkhm5Smbtm23-a2_ZO6s0KDGCuR3Ib9KEx8EC_LtLFujng_uqd7Zaw5G9hWl0ztwSUhY7-0ZtMz7NZtHM53-CqQv5dDXmOFqm-WarIoZxDQbFmf0gRAkbEy5pvRr1WwIiXSNjeErySlXYxyGKj1xLGMD61B6_-diRwtKdc3b1C37dWwmLy15razN6guVIvdZKRHRzb4Wkuim5W0rbE1HgU-zUD9Oc_TLo1eoclTHiNKFtPTRnjBb7sDTPs3HNTPZBaQ50m2QyJ-0z0SxeZtaUrovk2IO5818noAK41_hR6oKWpECd8BA8jFQ6_m2wpPHEaP9_SE8zdNf1ZnN4EZS9Ip-3NGLSIL-fEKbmw8lqyZxiSaB2WgK1eyFPbdmEhpV09gO5BdLYPm6u3KbP2ilz5soE3jLBttBargnox8mwHwCKtKH4YNEn3pcUpBBEybbqicoJGP2W22oRmyvmFDbSnLxGveJdR00-ObWycXMlDi-nfo9pNt77Pdbm2m3S0lABr-xgSoILlZYZUxLeDZBn_i0RmNxDpveII1lUSNGMUd4_o6F-B-Qp76Icfp-KuXpjFlxu7_y38dyQAowsHniwP5ugh_Z5oEvxDSPJ4BhDDSpFyE78uAYUEm_A42uTDzNua1YiUZEhhkIGCIqG8oRPJIB6Yc5G_jpc8cwlm5C4qvPnVMz56i8eyFTqeA18BPVg585WqD6ELu85U-JQUu_wX5-XIjWphfGiTFsd6g6b8oebNfVDpdTUJ_JxvpenS5NEVNe0bFS3hr6q61u8cb53d5KXADtwBNiL5F15zN0ZgU_AKKM4saw6JJtFfIbDIEDzK8YWhUCvaHWCkbzsg7QaUjgyZm6VCbOBuvRdSa2asAM5uwXDo7VRJz9tJLipbeR0hb__n7swE62IUY=",
  "id": "rs_04866ec2a1d3bbef016ab436fc4b0487d08af2d0df39ccafdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.19,\"right_z\":0.035},\"note\":\"The right arm is retreating but still above the bottle; the last image was blurred while it moved. I’m settling over the near end before closing so I don’t grab empty space.\"}",
  "call_id": "call_QNHQ1Q1qZcBIkjhPJb3HP0Wm",
  "id": "fc_04866ec2a1d3bbef016ab436fca3d887d09ba9ff8dfca89861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QNHQ1Q1qZcBIkjhPJb3HP0Wm",
  "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, 0.7982, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 0.8768, 1.3643, 0.2588, 0.4839, 0.4568, 0.2855, 0.9979]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0092 left_roll=0.0005 left_gripper=0.9983 right_x=0.2589 right_y=0.1949 right_z=0.0454 right_yaw=0.3347 right_pitch=0.0197 right_roll=-0.0036 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6205, 6.6393, 1.8095, -0.0171, -0.0806, -0.0122, 0.7453, -3.5897, 4.4376, 1.3651, 0.0611, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58eae742601b93df9a0fbc77c5ef6fd135bab4f3a124e163caa809799d46db80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea405bd9c80554b5063fe3d96178082e8bc590fa8380f6029c12af9c2286ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f587584f1c8b3aa4f33891efb9593b2f1509b75dd405fe85fd59120c21bd20",
      "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 19 attempt 0 · /responses · status 200 · 1.918 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]: [-0.02, 0.7975, 0.6136, -0.3862, -0.0185, -0.0071, 0.9983, 0.5976, 1.5631, 0.7761, 0.0792, 0.2863, 0.1715, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1821 left_yaw=-0.0005 left_pitch=-0.0073 left_roll=0.0003 left_gripper=0.9983 right_x=0.3696 right_y=0.1955 right_z=0.0892 right_yaw=0.254 right_pitch=-0.1043 right_roll=-0.0388 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -1.6068, 6.4615, 1.8095, -0.0171, -0.0659, -0.0122, -0.3487, -7.6376, 9.3607, 2.1465, 0.1783, 0.0855, 0.0171]",
      "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]: [-0.02, 0.7963, 0.6132, -0.3859, -0.0193, -0.0071, 0.9983, 0.8597, 1.4441, 0.5053, 0.3695, 0.424, 0.2844, 0.9978]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.2968 right_y=0.2387 right_z=0.0872 right_yaw=0.3437 right_pitch=0.0556 right_roll=0.0377 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.5795, 6.3795, 1.8877, 0.0024, -0.0708, -0.0122, -4.0137, -3.6308, 6.0103, 1.8193, 0.8034, 0.2662, 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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 0.8768, 1.3643, 0.2588, 0.4839, 0.4568, 0.2855, 0.9979]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0092 left_roll=0.0005 left_gripper=0.9983 right_x=0.2589 right_y=0.1949 right_z=0.0454 right_yaw=0.3347 right_pitch=0.0197 right_roll=-0.0036 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6205, 6.6393, 1.8095, -0.0171, -0.0806, -0.0122, 0.7453, -3.5897, 4.4376, 1.3651, 0.0611, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58eae742601b93df9a0fbc77c5ef6fd135bab4f3a124e163caa809799d46db80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea405bd9c80554b5063fe3d96178082e8bc590fa8380f6029c12af9c2286ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f587584f1c8b3aa4f33891efb9593b2f1509b75dd405fe85fd59120c21bd20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcBXdPvPF8CMch85le6SX37K2Phugm_qjpUYHOk2RtuwsOth6HM3un-LW0Bu6-oaqpmmvt8vjlE9Go6-fR5riNtEXxvZhjdqNCP3o4A-BgHZTSxt92RNJ3FpuFWoOjrpcfHmD3KU18EqFwEsYhmS2bJ82r8sO6vlLOTGLsDH4IJWzOjo7w3fE0-wDmsc1PXpSBvO06mG8F3-eWMtAHqQWGuT_Q5CBubNOltYZRjVDwqFPbru0ui2yEBk2uBWW6ybf967IkkayqazLxablhA3dKirLnEMsn2s5ccDgwdmrkB-AJKZEOZsVqDvtdUtvhnmjMueWKYy4Qi3Y31-ZAmZNVEPJwQKo_xYjrXhlN1QJ5fgrE9-T2GBx7CcOB1AkrwrgA-0VnZEX5uO7bjQheoQS1gyNygUHFhQxafRu8NLFuE3SyrEr1nPQS3t4BxpdT7YwMTH6IOUYmfsmPUBby-JQacyffgZ8TwfIHKprMddQUSzbUpLH8cSFOelh-6A5noO8B-rPIR7N7vie5XLdHvn1HL4jFin5weAGOECNjCCRL0Q4dUXOTH2Hlx7ikVp8flt5_qcfx5qOctF-ONfyWNgKJAmWtbGP6wIujT4PoWqNfw6_quM1fko9H_4TuPC7IWZIzlRDt0CVfIB-4WgKfQ1Ak44Q6FRlO7YfeEhNXicGcsUJQUvuFyhCShlYUerr4K5EPSCR-4NQPnMuMlczavHwGQ4DU-XEx3ZOjKKiRMmYbTmnxR94xwO16SFueUkT-tRoyXzDSVioHPoalWq3Wa2g6pfwrTS2rDiRJZCww4AY30CX9YECIwuedKhI-oRsfIUFcOnardRn_HQfI0m8Q5uVYHYf3mwyIvvIKTW2BYvhUgRxAsw3WMqWMbo2nRh82_uB4pWI-aeRVELz04ML5Z9O20awZZz6oVC6Nds4NlFrULtAS5WphJaFBa_18FeD6HZoqCIcw0Z-wOZ0kdmub2yZBufEvZygWtovkBgKRkW7irRl3NmEl5dtY8uxLuI6Dp4Ilc6xs8PBiWixLPAv8YhlL5TlVTAkE1bBR4fIzgeE0D7T1XRa3BFmw-4ytYMymaR6xns0i3Wtl5rqCpN-JZke5Y3zcp7NIXfrWoEPrj_CT2wxiTkcoRXbq_XgqOJlNQI1C1g-VDNMeoOtXBtWq6K7epLdUN2ADXIsnGLqO07--4aiHiTE2_oPJQFaWXv-S0nxBMvdP9PemeJo1Ei0W-mqF6oS6ksqjTumu8wjoc6itWApH9ui5JyIMAz0XEJdvdyvHjlr_7rbPvsh3Pp7O31e4PcKH5A6XwMzwzmJixQO5xo47RSqVR4Jvi0jh-tSHzF3yRoqMr_q9KzCdaiSUMMJzAz3Pagg9koYYjhglJSP7n_M2hQB9YpQTOjtMTTBTvjcLprc7FUw2jFN8mh-n3f6iE53-bhDnXDLKXMbKrNPHTLnVH_F72J42gUvxbpQNmXynwdJrbYTDCstlOpH7IW5nIByqiCQ054DuSq_XdutwGeGxUK1wGUcedCiokZCDTa5wyJYowW2SlP_zbUXkCjc10EwcJrSTEHTezoDxSWlwSXyUP9i6ziWpNzdrHELOoEVW3twdQ7Yh--RzLI7rbaH9QnRQQUMDDZxW9lRORfV5Kjt_lTb5GXm5v2xLvyFrcjkVPnIrAByeS5RlA-88E6emCRaOz7jBkubJs1_XU004xSmtFnOMKNAIcM8pBSoOFLXdWq3vD_bfNRtbzfMZhlfmfdcBp5HhGKcExUzler5t39ilaI73jQIvn8AFaxNC-XT9f",
  "id": "rs_04866ec2a1d3bbef016ab436feeb2087d0bc2dcf4e2af74d93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s broad body is now between the low jaws, with its neck still farther forward. I’m gripping the body again so I can draw the neck into the gripper’s low reachable zone.\"}",
  "call_id": "call_y5kVf0mjxlIa5fD25hj7UP1d",
  "id": "fc_04866ec2a1d3bbef016ab437000eb487d0868e18b06d6b48a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y5kVf0mjxlIa5fD25hj7UP1d",
  "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, 0.7982, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.8776, 1.364, 0.218, 0.4873, 0.4423, 0.2871, 0.4873]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0092 left_roll=0.0007 left_gripper=0.9983 right_x=0.2492 right_y=0.1872 right_z=0.0314 right_yaw=0.3463 right_pitch=-0.0165 right_roll=-0.0138 right_gripper=0.4873\nstate[joint_eff]: [-0.0889, -1.7983, 6.2838, 1.8779, -0.0464, -0.0513, -0.0122, 0.2393, -3.5214, 4.9573, 1.7314, 0.188, 0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6725176f4facc715132375c17d94fe5c46cc689df1c23225a7123fdad411eede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc97b5030b9e1e7f22f31fccb1825b3592f047ec5b2c31b4785ccee365102a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7348c9a67ad0cd14aa456f6a9e01e1edf1c3afd263313b83733272f73aa00bc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.23 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0185, -0.0071, 0.9983, 0.5957, 1.5848, 0.7811, 0.1215, 0.2832, 0.1699, 0.9976]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1818 left_yaw=-0.0005 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.3759 right_y=0.1995 right_z=0.0902 right_yaw=0.2563 right_pitch=-0.0809 right_roll=-0.0296 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -1.4427, 6.694, 1.8486, -0.0317, -0.0659, -0.0122, -0.4718, -7.3094, 8.8684, 2.0928, 0.188, 0.0415, -0.0073]\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]: [-0.02, 0.7982, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 0.8768, 1.3643, 0.2588, 0.4839, 0.4568, 0.2855, 0.9979]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0092 left_roll=0.0005 left_gripper=0.9983 right_x=0.2589 right_y=0.1949 right_z=0.0454 right_yaw=0.3347 right_pitch=0.0197 right_roll=-0.0036 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6205, 6.6393, 1.8095, -0.0171, -0.0806, -0.0122, 0.7453, -3.5897, 4.4376, 1.3651, 0.0611, 0.0366, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.8776, 1.364, 0.218, 0.4873, 0.4423, 0.2871, 0.4873]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0092 left_roll=0.0007 left_gripper=0.9983 right_x=0.2492 right_y=0.1872 right_z=0.0314 right_yaw=0.3463 right_pitch=-0.0165 right_roll=-0.0138 right_gripper=0.4873\nstate[joint_eff]: [-0.0889, -1.7983, 6.2838, 1.8779, -0.0464, -0.0513, -0.0122, 0.2393, -3.5214, 4.9573, 1.7314, 0.188, 0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6725176f4facc715132375c17d94fe5c46cc689df1c23225a7123fdad411eede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc97b5030b9e1e7f22f31fccb1825b3592f047ec5b2c31b4785ccee365102a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7348c9a67ad0cd14aa456f6a9e01e1edf1c3afd263313b83733272f73aa00bc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcD1E5k5ZfTsbZXnBz1elnjGDSxZ_7kjqmbzK3D-1QibcpbV_D9RhfczmE0PsAT_X4aoLX8CwVRUVPJbwKbXF0ZsqUAKB0yM-aPx47nr9uNDCOfd3yNDIl2natvDGuF9WcH93CqsS5zPH7qsglJfrHATSMRpYmyU-sNTnUvma6A-XoZnXON9Kl4eaa2tEHxu47BVHVpbOMRq3FqdhXVFtvAbKLm0TY42ajJfzEl6u09fgJD1dABz-NYV3O7AFKsDjhWrAmbuUPVXTijiTvNn_p2c-oW2Lrixpqbhg98TfJ8e17K5uDp-VXcw1m5rNJvFCXmYY-xW450L5l78bn-3xh3LNv9VBbBH0GlwuDQ5pNyAKqZGGpcgC78fFmP65ZRKdBCKOB-3RYow406v7m7negofG-pzyBOk0CoIWdlHY8h4NqRXB2yFj6ZHcXt6oR4bwDdf8kbLrSerLNbVNHs3cj10PYQlTf7kI7fJZiZEvvxeRfgS9WP7u-Pz-MY8frr-v5pAd02L4m19s0N-05-DT564XeiS1d9pdXRFU7Ja39gmWWvYsEUYcA918DCUY3b21plyHeGGBy9Bp59pB9DtGlQ8vRTQ10o4Zwv3q4ww1ECY8gLBs7ldEYLnbhOxa1ZvqpmO-yLzl_FEVf_nsMtBZ0aFfIDVUvjR8ACAru0EDSDAWYQ7V5eEi9ZZAYS9OQIodzHZrDwLbfkxAXHtoGG666JcT181Sc2DwOh4VBPf3p4TgkcadxzkQ6m-91p-FMJjAngmwm7DnxDs8AZ-_fjz1eThFtKaTC0t1WT4H_PmQcYOJs8cdh9lwQ76sJOxWj3QErA5NxQU-diEozuXZh5XSNgZ2VFN3Lry93xCAdtcR67fWmVhAUBvaYcgRp8N0NsAR9VZkqZCa5kVBbNXsPZG6npq7X--TPMhGIFg0QjF98_L2hJSzv45GrPHCD-6diT38i00eqiUJTk7e4VXI89qqAwtFMW7RusQB1K17ovbC81T7yDIj8fojaHoW72GS7VzTOb5Szb_47o4cjVJa3aund19IxGBcriGEolCHnDRIE4o44iJMWrjMl0FXK4hpq8hRzNAEmpCzeNi96_UXcixuCjTfep5Bf7CQdQ_S0NP0sZvDuewfQ9QbPB3KsuOBBodWtTwcQUW6HxdNjYkYVDvRJ9sTrUawfh2CcRoKBlXXHdGh8KId09vYWHBZ2Ki_xwfEC6X62893LcvKhlQg7gvm9AScIHwWwjtJ7HB0pO5g2wQWA=",
  "id": "rs_04866ec2a1d3bbef016ab43702ec8c87d082c0b2877f060f65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.145,\"right_y\":0.185,\"right_z\":0.075},\"note\":\"The right jaws have a secure body grip again. I’m pulling the bottle about 10 cm toward the base, keeping it low, so the cap will be reachable for the actual upright lift.\"}",
  "call_id": "call_bIH9iJnO31qBAllLjSuThmQp",
  "id": "fc_04866ec2a1d3bbef016ab4370329c887d0924ca38371b6a77d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bIH9iJnO31qBAllLjSuThmQp",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0071, 0.9983, 1.475, 0.9573, 0.2546, -0.3058, 0.7742, 0.7578, 0.4862]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9983 right_x=0.1384 right_y=0.1861 right_z=0.0493 right_yaw=0.4369 right_pitch=-0.0807 right_roll=-0.0504 right_gripper=0.4862\nstate[joint_eff]: [-0.1983, -1.388, 6.3248, 1.8974, -0.0122, -0.0659, -0.0122, 0.0205, -2.8786, 9.7299, 1.7802, 0.8278, 0.0562, 0.4078]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bb82766e0eb3688e09f17e1508a591f5e96ffc2416cf864e9d1235cd6e0392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf1d6d8c850787eee475c89437fca954206eb738daac95149f26ebe00f726e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2138b4230111b4e1373022e1ce49fa738a9b468b20bb16c012c24bb2324b68e",
      "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 · 3.355 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3859, -0.0193, -0.0071, 0.9983, 0.8597, 1.4441, 0.5053, 0.3695, 0.424, 0.2844, 0.9978]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1823 left_yaw=0.0001 left_pitch=-0.0061 left_roll=0.0006 left_gripper=0.9983 right_x=0.2968 right_y=0.2387 right_z=0.0872 right_yaw=0.3437 right_pitch=0.0556 right_roll=0.0377 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.5795, 6.3795, 1.8877, 0.0024, -0.0708, -0.0122, -4.0137, -3.6308, 6.0103, 1.8193, 0.8034, 0.2662, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.8776, 1.364, 0.218, 0.4873, 0.4423, 0.2871, 0.4873]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0092 left_roll=0.0007 left_gripper=0.9983 right_x=0.2492 right_y=0.1872 right_z=0.0314 right_yaw=0.3463 right_pitch=-0.0165 right_roll=-0.0138 right_gripper=0.4873\nstate[joint_eff]: [-0.0889, -1.7983, 6.2838, 1.8779, -0.0464, -0.0513, -0.0122, 0.2393, -3.5214, 4.9573, 1.7314, 0.188, 0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0071, 0.9983, 1.475, 0.9573, 0.2546, -0.3058, 0.7742, 0.7578, 0.4862]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9983 right_x=0.1384 right_y=0.1861 right_z=0.0493 right_yaw=0.4369 right_pitch=-0.0807 right_roll=-0.0504 right_gripper=0.4862\nstate[joint_eff]: [-0.1983, -1.388, 6.3248, 1.8974, -0.0122, -0.0659, -0.0122, 0.0205, -2.8786, 9.7299, 1.7802, 0.8278, 0.0562, 0.4078]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bb82766e0eb3688e09f17e1508a591f5e96ffc2416cf864e9d1235cd6e0392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf1d6d8c850787eee475c89437fca954206eb738daac95149f26ebe00f726e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2138b4230111b4e1373022e1ce49fa738a9b468b20bb16c012c24bb2324b68e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcHc7VEa-qO_ObiA564fGK6AP2dTT3Ax9ifyEqZP2qI8cde2-cg9RIuYaOEWSWo2DiLYUwKvCCH5S2oOUCl-OzliiZXgeBa5AHwgVopUvPN9_LolljfBnZ8BecT5QpQ-l61cn1cGrbw8_0RIZsSvmBtHxcInqkx4ypnvz44A7dWSD5ajFPfGgkaA8_6eTJ5HD7g-UN4JIUSkV_L1sVfx5KQmEFFe6pZt3WFkyc2XOYfEP4hihyJrgBLsMm2l7mCMz6l2oiWp2l3duZWMrRshqg6ZBTdOy6_1huzpy6zx_SBq6rPR_AAEKnYf_p0T5PcPQp2oSfavB26kr8NCWjn_pUvcOl6sWptssoU1uErETYvFoPV4ThK-KY16icmOPd4OBuo7Qm795mMOxhrryN7-G93KXp20QDym5GeuTPnFK5kPJvO1yr6B1Hi4dNyPHGXc_rMX6N-qMdvJTjJNoV-ouy6qQb7JLLqgLuyyh8pISLs6o18mtJoip_DQ07rKCpADanL7c80j48XKCtkIlBNmEfMVn1X87rwxH-jbMruLkxGsPLPvHJlupYccHctb73N5l9k4oSHYNC9n5dxpNt5NFV8YXGIY9Y-pUW-W8grfCrqAkw4La6uel0O6GXNunfwBypxw6CxqJSMbcFD91qOWStJ7Pgob5EFVu9wVhbY31uEu8x-GzkVw4ChSM0wcaae5qzVyF3b1NAx7DdWrnWYojooA4Gblt-GBKHTosmWxHuZH4CO85sVGodIs8xwDemmMRaa_i-scDzQLFqnmI0Tv2ykML0ue2YB6mRf-GCbdZaWhtqKnrQs8lDvGuBYBDt0K9wjV1FcmVmmu3ahRCa4DCwyO_y_oW3mWdH6Lkx6uIgM1RKW0e0xYKAwqYwuW8ATKVIsiFmjwVHlCdA9nDfOSKCZ2L43dMcytXq61ViKI0iyEgzZAKts2u6SVKv_umSMdOs0_2NXWHKr-jwl_-MBAW9n3kb66EeJ6p_DG4gshpWsHI_SBzQWOe4Ko5admioooQddl4y5PHywHUrdjdXivToSw13DCi_QYXkZizwGaf2h3a0XXiTF61O6NlzvAE3ZD_sEl1MnfchkHARxikzxKh6MojP2d_0v7_DLiJfbudmTYBxHB4d6z6zPvXcYISnWS_eCCj_aso3wYlxZU-fZgvINZGNMNEtKE7hROLY3aaZwOiK2nfH93PfUslFMDvdUc-P4U8VwFWGwbO3VMfiyvdW3Wam5U3G1vYIrFBNXiElh-fEoUtQnaK1h-VbYq6izfTvvMwM7tj0-zbVMgbdpwe0Exgh8sWzF3wsJCSicFZSedgJx-o7lxfoo3eB52ns2u34M-JPyvMQjHgWPnwvVL7BrBxKL_wE6Qm_xUDhtU_NP54ZK3dX8X435Uk2PRAyfw3qBIvo_FVMzsFdg8vP61S4ffbCOoYcgpSE324wH8TnAMrVE_0gWLjeWLSnQ9AeMTsCeL5cMy4IGTNG30MGBZdwQWj9DPV4vqMPXXwSdyffktGECCznHbLbKWFq9Ulp3gYdO8w0DBSiO6EaM3ZGj9BOfJSULQOz0BJiLhHdi8PcihYiypu6yLi4gqqm6s2scoqYeab2_KM1dxVoQYYfPLtqTSZfdSoSWrnITIoYh4dFYIlg_SWEsin9XXG-86TmfmkUuVPgRT-Di7w7tqfEkm44-Ng==",
  "id": "rs_04866ec2a1d3bbef016ab43705e54c87d0b2a54df16156c6a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.19,\"right_z\":0.16},\"note\":\"The cap is now much closer to the right arm, near the center of the table. I’m releasing the body and lifting clear before reaching around the narrower neck.\"}",
  "call_id": "call_LKYrDUHJCm5aPzRjFwZVY6Jh",
  "id": "fc_04866ec2a1d3bbef016ab4370703dc87d09d00676eca196448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LKYrDUHJCm5aPzRjFwZVY6Jh",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 1.1378, 0.7601, 0.4953, -0.4553, 0.5961, 0.4389, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.1889 right_y=0.1809 right_z=0.1452 right_yaw=0.4043 right_pitch=-0.0075 right_roll=-0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.2923, 6.5983, 1.8388, -0.0415, -0.0708, -0.0122, -0.1573, -0.6085, 9.0735, 1.4823, 0.1099, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6343b3f698c506f4dd99d51501d8decb0f02cd9b5c6b2816124078e0fd8f56ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5afface93b6639c5cf2d69db9bd5fd8fbfddb2ec5231254ea2faa933b551aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecdabfb6491ff688bd94882fdbf096d899990f0fab15b9537135886c7858517",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.283 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0189, -0.0071, 0.9983, 0.8768, 1.3643, 0.2588, 0.4839, 0.4568, 0.2855, 0.9979]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0092 left_roll=0.0005 left_gripper=0.9983 right_x=0.2589 right_y=0.1949 right_z=0.0454 right_yaw=0.3347 right_pitch=0.0197 right_roll=-0.0036 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6205, 6.6393, 1.8095, -0.0171, -0.0806, -0.0122, 0.7453, -3.5897, 4.4376, 1.3651, 0.0611, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0071, 0.9983, 1.475, 0.9573, 0.2546, -0.3058, 0.7742, 0.7578, 0.4862]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9983 right_x=0.1384 right_y=0.1861 right_z=0.0493 right_yaw=0.4369 right_pitch=-0.0807 right_roll=-0.0504 right_gripper=0.4862\nstate[joint_eff]: [-0.1983, -1.388, 6.3248, 1.8974, -0.0122, -0.0659, -0.0122, 0.0205, -2.8786, 9.7299, 1.7802, 0.8278, 0.0562, 0.4078]\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 87 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, -0.0189, -0.0071, 0.9983, 1.1378, 0.7601, 0.4953, -0.4553, 0.5961, 0.4389, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.1889 right_y=0.1809 right_z=0.1452 right_yaw=0.4043 right_pitch=-0.0075 right_roll=-0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.2923, 6.5983, 1.8388, -0.0415, -0.0708, -0.0122, -0.1573, -0.6085, 9.0735, 1.4823, 0.1099, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6343b3f698c506f4dd99d51501d8decb0f02cd9b5c6b2816124078e0fd8f56ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5afface93b6639c5cf2d69db9bd5fd8fbfddb2ec5231254ea2faa933b551aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecdabfb6491ff688bd94882fdbf096d899990f0fab15b9537135886c7858517",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab4370a00a887d082768ecdb4762dff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.185,\"right_z\":0.12},\"note\":\"With the gripper clear, the right bottle’s cap sits centered in the wrist image several centimeters ahead of the fingertips. I’m moving forward over that cap at clearance height.\"}",
  "call_id": "call_VCQSp0wkyVSXuMNgqassj0hq",
  "id": "fc_04866ec2a1d3bbef016ab4370b4d7487d0bc84675b7dc4156d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VCQSp0wkyVSXuMNgqassj0hq",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7803, 1.0084, 0.4454, -0.1287, 0.3408, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.2527 right_y=0.1721 right_z=0.1045 right_yaw=0.3705 right_pitch=-0.0757 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [0.0205, -1.5658, 6.5573, 1.8144, -0.0415, -0.0708, -0.0122, -0.4444, -2.4684, 7.2137, 1.7411, 0.2076, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf5a73213371f9f50a224978579f81ec0c72d68e0cd5e17952244ddefd0eb88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96270069b66e24bf1f585cd1dda1d02c6cf2ff0ed6c47bddff826b2472e274b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893d52ce4efd48f731f9fb151f708afaf06bf63fc660b7d0108adf485816447f",
      "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 · 2.585 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.8776, 1.364, 0.218, 0.4873, 0.4423, 0.2871, 0.4873]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0092 left_roll=0.0007 left_gripper=0.9983 right_x=0.2492 right_y=0.1872 right_z=0.0314 right_yaw=0.3463 right_pitch=-0.0165 right_roll=-0.0138 right_gripper=0.4873\nstate[joint_eff]: [-0.0889, -1.7983, 6.2838, 1.8779, -0.0464, -0.0513, -0.0122, 0.2393, -3.5214, 4.9573, 1.7314, 0.188, 0.0269, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 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, -0.0189, -0.0071, 0.9983, 1.1378, 0.7601, 0.4953, -0.4553, 0.5961, 0.4389, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.1889 right_y=0.1809 right_z=0.1452 right_yaw=0.4043 right_pitch=-0.0075 right_roll=-0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.2923, 6.5983, 1.8388, -0.0415, -0.0708, -0.0122, -0.1573, -0.6085, 9.0735, 1.4823, 0.1099, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7803, 1.0084, 0.4454, -0.1287, 0.3408, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.2527 right_y=0.1721 right_z=0.1045 right_yaw=0.3705 right_pitch=-0.0757 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [0.0205, -1.5658, 6.5573, 1.8144, -0.0415, -0.0708, -0.0122, -0.4444, -2.4684, 7.2137, 1.7411, 0.2076, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf5a73213371f9f50a224978579f81ec0c72d68e0cd5e17952244ddefd0eb88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96270069b66e24bf1f585cd1dda1d02c6cf2ff0ed6c47bddff826b2472e274b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893d52ce4efd48f731f9fb151f708afaf06bf63fc660b7d0108adf485816447f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcR2WU5qDXiKjPlgXil8lBPiToTCEm4tUY21H5jYzrKPkBi5mhLLr5_iWieDYMv8SGyd9_y8dDY8dRcVBH01Ejl9NSeeVZ1t1XuUrkw10P940DrCMlE54oHm-psiprJzQQON4mJO4F2JyrRwf5yFb2E_okzD8lsn0ZxI2Ht4wRHfgrkCvhWfIzaVaDBFDZxj582iCmCf9W8-jOQjuPjMLFAQG9PnszhUuIEtry-FF1VYJhZ5FEVpKPTrGqDPGV87WLXgtwcDx42NVu3bu6qcdANFWTcr7udTSxZMCD5suRuYTZMAZ_BXRxiHVlVmI0Sz8HtYjt0j19qzKD4E4WNK1c3nxvRYz8E_KSOeHhf43_19XcYoIFItnQwlpshOvyZGdbuETKaWxgG7Vz_LPKFT842ryUMfL-i3kAVuiY3DWw35FF6Dvv5qBrBrzfeq0z-bumfwJ8RHAkSJG0P9JMV3ulIHsi0nNjBKJv1_Kht27PwwG5q9gRzQVLXOSwVBzXO6EZbh-xy3rjiRt7FHPQJsWzeWOkkWdAFlt2jwIYE1tOdWTwwnojEiowizRIM9_9EC7Hqi7q3KzG69R4lplvGZB14U0yJeBoC_fFVQZZJYcbH-zBvc6bgBWtLb_h-LRljGexhwAow_dYlM6vCZEgaZsVG7GjuMzQarKiFl7624_fz3hhVwtTmbbfPOc_Of2dGl4XZT3atcrUqBPbthqrdJHjvhg5cLFXnC9DO2uqJaxeS6prhdw12bBibkyE_T8tM5UUXhguLJKEDI0o3KSRoA5QfqKAWcUl2nKjrZCk4VoAS-fIL6qdAnSfA00_rGFTAy5-80egzrVMCeuqJwXe9hF4H0UL_9wPFmjy6xHhgH5TlXVUrAjGmgF7HviZ-_xNkYJdYJlQs-6NR0h8JjlEbjsBI6a3QcKQqnbzvvYEx_qatt8MVNRSKJ1Ai-yhaoWWWgC0M0_4oS5yVBURoJGjEm0eoP1jzADb1ZS1VRTsSagEHcrAm3ERkg18y7ZBP7qvQwwmqqYEVn0KQ7RVNDTk43ik0sf6JcM0sVeRVyutPQmt92ZyJaYSMosnx5ChubSyQAD5KlD2qPhvlOKu2CNZMVJFLoqbLgCSxzdOYKkLIJYpgf26wko21qx6t3BS9jrmLFbpzApIAtvWk6JxCitdHChGqL2CUsGn8zNID3zXFDzL__aSM2R7t2zm5iiPe3YkX5iIKHNDyaXQcy_3K9-IINJ_wS-My7TQo_Oh05rBcXPkvFpXpfCv4LqdRhw16hdEFah3WfHzssAlP59UfCwI3i8Odq-WKWoBf7rpGUEJDqSQUdWGH_P3swAWluBDQs4-dJMYL29m33aUz6gmmMD-3pQrAcaKdwKC7v2Epw4DNWdl4R57cTJXmw3HwsAcGxtvPcaiF05niEh4GINqH4T_gmVJMkIJ5nAwdfZQ_xaOM9g9nLNsICHAHy7KMPKtdWn0fwxJwgbeboDzieaazP124dTouKfxhzdx-9WJIVR2kaM0pwmdG2t_5yI2qQnugvGwBmtjLMwP_TjT6Xeo_2AeduVSNtutJDkg-RRC-jsN3Sb7X1yvy4OCpqvYjQMuhOiw7Unqzfd1OJVjlSVr2QYycKnSidn-rNy09EiWEAEOaWHgJ0eUJBydnG_OdhNSI3tI0Jaq5lk5WDWZkaRvBihFHMA3wHDaFLUSYz8NZFgfeyUKfdwQyLkl4rkfgt8ToK0p8kXwcfDqR-XFLQuufydTO0ROpu9Uqn0r_HIN_rs28jsIDJooNcxKHaiM_yGsVC9F5XpKhlKiVrZSBMvuR8yjtqSsruwiCTkDlcUmvy-ThkQJ75B3KemJnCTCAYTWqrRGcIPrnqgki8mUxldnCnjvpIHOymDmNyDqd4m8s1HTTHz1WX9ObIi7bjarRaCMdKBeH7_x-0AqATEMXGqwT2Dh8kYMpzkz5p7aSynVJ1f3R1a-iDiPYUU_WVU8aRATZniyHNDCQf7d6Ilwe2lLTCvjcFZ5cOUByzqDhXfz69OAiGGfJT0gmelcgZ_oogXOfngbTubDNAQE0XYeuSK9rV9qTAJzzfCO70AN15D0RG_M7hXQiJk1j6Y67naGPulC6kK-B_Ont",
  "id": "rs_04866ec2a1d3bbef016ab4370e895887d081e6176cace96161",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.205,\"right_z\":0.065},\"note\":\"The cap is still ahead of the fingers and a little left of their centerline. I’m making a small forward-left adjustment while descending, now that the neck is within the arm’s low reach.\"}",
  "call_id": "call_CYSe7NeDopZuwQbfs8EqWIee",
  "id": "fc_04866ec2a1d3bbef016ab43710e5dc87d0a8c6dc7364bc5581",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CYSe7NeDopZuwQbfs8EqWIee",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3878, -0.0193, -0.0071, 0.9983, 0.7605, 1.3567, 0.3958, 0.2722, 0.3019, 0.1928, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1818 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.2785 right_y=0.1974 right_z=0.0519 right_yaw=0.3931 right_pitch=-0.0826 right_roll=-0.0247 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4701, 6.8034, 1.8193, -0.0171, -0.0366, -0.0122, -0.4855, -4.547, 6.5299, 1.5556, 0.3394, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c78451359d6366f23357eb48bb9c42e41cd832e5bec9b508c2cb443381d411",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dbf7ad0324337517bbf938dbcde23fbace1066512ca1b976ab9cf66efb7f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b395e6e6a6b0ca0f47dbba23d8e93ca6ce871ab79d079670c6c6bedf89edeab",
      "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 24 attempt 0 · /responses · status 200 · 2.423 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0071, 0.9983, 1.475, 0.9573, 0.2546, -0.3058, 0.7742, 0.7578, 0.4862]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9983 right_x=0.1384 right_y=0.1861 right_z=0.0493 right_yaw=0.4369 right_pitch=-0.0807 right_roll=-0.0504 right_gripper=0.4862\nstate[joint_eff]: [-0.1983, -1.388, 6.3248, 1.8974, -0.0122, -0.0659, -0.0122, 0.0205, -2.8786, 9.7299, 1.7802, 0.8278, 0.0562, 0.4078]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7803, 1.0084, 0.4454, -0.1287, 0.3408, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.2527 right_y=0.1721 right_z=0.1045 right_yaw=0.3705 right_pitch=-0.0757 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [0.0205, -1.5658, 6.5573, 1.8144, -0.0415, -0.0708, -0.0122, -0.4444, -2.4684, 7.2137, 1.7411, 0.2076, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3878, -0.0193, -0.0071, 0.9983, 0.7605, 1.3567, 0.3958, 0.2722, 0.3019, 0.1928, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1818 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.2785 right_y=0.1974 right_z=0.0519 right_yaw=0.3931 right_pitch=-0.0826 right_roll=-0.0247 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4701, 6.8034, 1.8193, -0.0171, -0.0366, -0.0122, -0.4855, -4.547, 6.5299, 1.5556, 0.3394, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c78451359d6366f23357eb48bb9c42e41cd832e5bec9b508c2cb443381d411",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dbf7ad0324337517bbf938dbcde23fbace1066512ca1b976ab9cf66efb7f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b395e6e6a6b0ca0f47dbba23d8e93ca6ce871ab79d079670c6c6bedf89edeab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcU9WTnHc2fd0Eq-TuU8saGmx6ZbRr1fS1DMOCb63BuhGgIbrhD_CKk0XQ4cj2gINSi0yj0PxG64mhaHi7C0sAR3XGAzLZItIK4WMwO8GgT1u84N8X6jZqS93SubI95D4d6agNFdGlXp6xHk-_AcEPOzTBplcZDWi5AUlw7MhUM9-lmU7Ao5gW1wyGrfVG3_P5jcay_Lp1NQzwCbLUtbR9wKJsmK9oVaVt0UZTvYj6nih8LUkD2sKDEto_ULjcG-Ov773pBonLXyCA1V45AWj0t5MfzVkK9HXtVFWdEGCV6H_PYPr4cWrSpLeOvQTPw-2i6dhcyOEV5vp3CKgNTBP5mNg6NcdvPWsmLK55SW7QIa7UdFOgWGs6b7wuQQoV-66sVTn9W3c6VuIfIh8SltxETkRcLtmNJyvw1D9Uy74s04knqMYW-FITp8QjM1MJvhBGaNhA5ufrreyHRZg7PvqU5FY-4GfhtD71Srn548lbss_ginMo0bgCJtMnUjXTJIe-yBOlNbEF44Dh3Ye8Kz9X9UjvhLjpim16Dmu-ObnOVAVVrFcMQVkG-X56f5rpx6A-FGJ490eMxcjpAOOClypyZdTAK59HC_Yz6uJ5DydGykkRdY5ybAyyy4oRMOogBXumDOHu1zNDktf6vGCLR672cwKsWCTIi0Mpt1lttR-WM6ItY1LvFbhjOzIZehdvFF4zN4L-m2-TznLNaZjGx--oxyUOUDkzDKzn-cHgWXGLnFB2iNCz2hETu9iLwv4phpGbMGH5CP80jEdtI0QvyOD9DL8N8c1RPWwfuxirFHkbJHnsF8R5C5AB-GpVZLRsdtjw-MNH2HYZLkpGJN2szdQb92mbPP0-nMdNGj0-MITjk72mHDsIpW4VsLNapFuyGjqNYsVG7q1LfclHT8ehvPQ5PpgcG9MPKM61tD9C46nXx5gSYpphdQuYkIGl3eX9XT0N8OF2G0NeW6Z9n4Rr1BacF6uxQsJtjtbGUTEjB-bvy8a0K_FHkjmsBAVTjWGNaWnSa-TvrfS57uiKGvZqpKJuAGrWh-ROibuJ1k4p24NBDv1osNYARE9cBj7JStKEIdyquVfuWumWS9L6WjZLz_iKEqq2LEUO4TOdIepXkrcD7JTFuKpDI5gAWm7zO76nCsHVapLmtJQhWuDHLmLvwC2nH9cPSrEEJLJjc_CSv6r8xvgXby2r6TCQDG7W1W-7A1ftRP81XWJhwe_MrIP3yBaU7ZlnakvA8F-ZaJ5sdduIGH5SP4HUSaPTWZJ40dI0RbYmUCLeOhLnS8qxn4jreDqzfb5RuDnWZkKyDO28z2uiyhj66jRenWORzWDIK3fs1D_YstcS0eW3EQ79kKuDrVmpOXiBAuPNLXiCNbHDSP7QAN-rWeO0fNM_E3UJmR5sHhn7GE612EDPdm-4rhLu5JeO9prRCd2UFsLMlNQvIY-__D62X9uWarLDQNZHLvfQJngIWNmVZJk6xD8vj3QUec38SKw==",
  "id": "rs_04866ec2a1d3bbef016ab437135bd487d0bbfb3ae933f17853",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.225,\"right_z\":0.025},\"note\":\"The right arm is now down near the tabletop, with the cap visible just ahead and left of the open jaws. I’m moving a couple of centimeters farther onto the neck and correcting that lateral offset before closing.\"}",
  "call_id": "call_uUzOOiPqufAjak9FkTx3qUEq",
  "id": "fc_04866ec2a1d3bbef016ab43713e96887d0bc010e533d46ab29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uUzOOiPqufAjak9FkTx3qUEq",
  "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, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7578, 1.3991, 0.3977, 0.3599, 0.3061, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2874 right_y=0.2036 right_z=0.0556 right_yaw=0.3903 right_pitch=-0.0375 right_roll=-0.0135 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.7026, 6.3795, 1.8486, -0.0415, -0.0757, -0.0122, -0.6632, -4.5197, 6.4889, 1.9219, 0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b0fb1f096bda1f4129d821043526d4ebc4ce79249021286be22a2c5ffb744c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbda63ce105d6a61e16cca68ca6dfc31ea431cf36669ef6118257eb5abd1a33d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6144ae9dbf9de6f00e87147bb6bedabc7cb0c618afb71bbb0b8359272881db1d",
      "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 25 attempt 0 · /responses · status 200 · 3.098 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 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, -0.0189, -0.0071, 0.9983, 1.1378, 0.7601, 0.4953, -0.4553, 0.5961, 0.4389, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0076 left_roll=0.0005 left_gripper=0.9983 right_x=0.1889 right_y=0.1809 right_z=0.1452 right_yaw=0.4043 right_pitch=-0.0075 right_roll=-0.002 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.2923, 6.5983, 1.8388, -0.0415, -0.0708, -0.0122, -0.1573, -0.6085, 9.0735, 1.4823, 0.1099, -0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3878, -0.0193, -0.0071, 0.9983, 0.7605, 1.3567, 0.3958, 0.2722, 0.3019, 0.1928, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1818 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.2785 right_y=0.1974 right_z=0.0519 right_yaw=0.3931 right_pitch=-0.0826 right_roll=-0.0247 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4701, 6.8034, 1.8193, -0.0171, -0.0366, -0.0122, -0.4855, -4.547, 6.5299, 1.5556, 0.3394, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 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, -0.0193, -0.0071, 0.9983, 0.7578, 1.3991, 0.3977, 0.3599, 0.3061, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2874 right_y=0.2036 right_z=0.0556 right_yaw=0.3903 right_pitch=-0.0375 right_roll=-0.0135 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.7026, 6.3795, 1.8486, -0.0415, -0.0757, -0.0122, -0.6632, -4.5197, 6.4889, 1.9219, 0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b0fb1f096bda1f4129d821043526d4ebc4ce79249021286be22a2c5ffb744c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbda63ce105d6a61e16cca68ca6dfc31ea431cf36669ef6118257eb5abd1a33d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6144ae9dbf9de6f00e87147bb6bedabc7cb0c618afb71bbb0b8359272881db1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcXnHH4bG7WKf9SPmqhwnSNj9wbyvkxcKbpoMwTSdtDKmAP5PkijO-LIuW8_iEsuiW0dgKgrVBUyoCZaL4pje_tHHt92gUT3p2JRXO5bX_7i2_yKl_7Sg5uUIZeFU9T-QbK416TUZaqKyz_NBGHd53eAWwdBCOwKw8QylM-nhpTfyNyPrKSYLi-WSPca_aBrXnPrxq21EaQx6PJF62oxvuzC5T4AA8LwT3WNMCRIgukWF_DFqRBMbcZq7F2XheSvB8dZAIVNKMtWl5t_4UVTFMXa83NPaR08lbRNwvPxAQZBnA6dZ3mYx2pmvYw2zt0cBlk0yg9bjhLqkTIuWXpvqltA2h839TOlD74r3PEfNlo7DZxWSEjJoS9F1vgEucM6IsY1f4q96M9HETt1Kxt3PIjYJMU6UcFhxPg8LJRbQ_s9zRixEifDOiKUYDRz-PW3ax9Kj6hKsnZKKxnvIjZDWLLQkUBJVmYZzac6wTg9ro5ls6RvVleUrnEx70aDcyu03Ez1xHAJIgnLKC3pTK3eUHOLJEjMSopflp0ucYCODfSBDgLFig1J2nPRx1Gn0w93SmEn0rIkp_QYcyNipVPZgqOQzK0kaoc0D1lIAZOrtDv1VO9rSo1iYJymt-O6evIN44c3cekmzIxDHlDhMUwwdkgUSaRcA8gonhhnPJiwX8bnSbcnZ2o4qBQJAoSgQwyFgXEUX--n9ZEQdCbiM5jzbkzLR5pHrv6AycXeFpBB3tPK-9ZWfYNLpacc29Wo4BV11WVq9Xna9qL8O9Acis5OcVU76D4bQFKZSwPOrRmJA3zY6LbaiIiF86nXsp2XFeXREwHj-ryrK9-Rq8ea5N4eqSh0oiLd2t3W0-BaTUzXsjs7usjcP8ZOy0h8plZIQCG_BSOe58AJHw3AtDI-9SC9IZ0W2ZVdm76lktJ_lIw93E2gewU327-T_OIvPyohZXr4EAeEnLMWvX0KHIqt5ltBwQxG5yJXnXvJeReX-R1_aEoAKiM2R97XL3Ne7GK4n8cfWkOy7IyulpeZKmVKr4N0AW_tV25sgtDz8StBL1h0jrPpmYuuJwuMOxIqbv55NtPcDzIqX11uTy9XDG7wBS4m0N0jSSAvUwrXIT8qzu_mgcV3JopF9_5HkN1ZyMrw658pFXJG8Rv8O-MWkLLSCdvwZ6Iu0hYfKhT0o6R3DxVjdN0dHhqwPgO3bS9jlfHcak3NtfSEDArF8LfgMuUQQCFIAoHsRCKbvYrCfHcdWuLaZAtIT1H7r4kV3BsHwnC2RoYi7wncoJK-BWi0TFiayvA9DtIeiZY6SLEofobNVShxUkSMGhT-LwxFJjq5J4Tif_ftHajhsRdMQNkSanRDQcNBwi2Sa-XXK7Cimv1Zvo2Fkb1JvOWkCWRpu3n8e9KFf6AWrrwB-ERedWsT8yNapxdHNG3diOkI0m8HY_1an7SUa_1E3x_t0IJGjRWP0eKC3gNIUyhXZACREMKjPfBt4mQjV1UGgSvx-_9TZZkmI1refczuXWpNWYPejzVYI6Gkz8pcj5b9vqwtx61V-zVYuR4d-yMeEW6VERRGY32VquEAAJ6nGoKoZ_FcjhwyFpzHng4kIiNiVmMC_4KnrLLmoZb9OIZcg==",
  "id": "rs_04866ec2a1d3bbef016ab43715eab087d0bd9000b60bc1b28a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.22,\"right_z\":0.043},\"note\":\"The cap has moved close to the jaw column but still lies forward of the fingertips; the arm is following the low motion slowly. I’m advancing again to bring the cap between the fingers without forcing the gripper lower.\"}",
  "call_id": "call_PSTvSse5xCPcjP0nNxF90pb9",
  "id": "fc_04866ec2a1d3bbef016ab437169a5887d0a186f923b0a24ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PSTvSse5xCPcjP0nNxF90pb9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7574, 1.3991, 0.3977, 0.3599, 0.3058, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2875 right_y=0.2036 right_z=0.0556 right_yaw=0.3902 right_pitch=-0.0376 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.5795, 6.5436, 1.8291, -0.0269, -0.0513, -0.0171, -0.8137, -4.465, 6.5162, 1.8974, 0.1538, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78426df1cc9c99edbda9539b7912f4903f7a9300a6a46514e452f9ca4a9c4c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81dfc0fb5a90298194acd64a9162a170e2b67396fd6b4dc06a7e5b08c28f1254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cc09e3f43e47d8fc30cdab2ceee0eb16680bb05bf9529d94a925577b8395f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.983 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0071, 0.9983, 0.7803, 1.0084, 0.4454, -0.1287, 0.3408, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.2527 right_y=0.1721 right_z=0.1045 right_yaw=0.3705 right_pitch=-0.0757 right_roll=-0.0333 right_gripper=0.998\nstate[joint_eff]: [0.0205, -1.5658, 6.5573, 1.8144, -0.0415, -0.0708, -0.0122, -0.4444, -2.4684, 7.2137, 1.7411, 0.2076, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 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, -0.0193, -0.0071, 0.9983, 0.7578, 1.3991, 0.3977, 0.3599, 0.3061, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2874 right_y=0.2036 right_z=0.0556 right_yaw=0.3903 right_pitch=-0.0375 right_roll=-0.0135 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.7026, 6.3795, 1.8486, -0.0415, -0.0757, -0.0122, -0.6632, -4.5197, 6.4889, 1.9219, 0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 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, -0.0193, -0.0071, 0.9983, 0.7574, 1.3991, 0.3977, 0.3599, 0.3058, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2875 right_y=0.2036 right_z=0.0556 right_yaw=0.3902 right_pitch=-0.0376 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.5795, 6.5436, 1.8291, -0.0269, -0.0513, -0.0171, -0.8137, -4.465, 6.5162, 1.8974, 0.1538, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78426df1cc9c99edbda9539b7912f4903f7a9300a6a46514e452f9ca4a9c4c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81dfc0fb5a90298194acd64a9162a170e2b67396fd6b4dc06a7e5b08c28f1254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cc09e3f43e47d8fc30cdab2ceee0eb16680bb05bf9529d94a925577b8395f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDcaA4I7Li8GxzwbrHmFSLhdrzR150Yrrl3VBPhNkNogQgW8BfauEAkUSP5G-t8XQkFT36RH4xCT-NbSF4EzMPZPF2qmJelXaAr86trDPVa9Yzg6VbTfADZryouL2JzU7g82mtCdLfHVHYKAFj8zFmKywFiVFin5NQ0LSVHcX20Zy89x-GDsrJO9XxRbZ8cmCLMGFUfqv3bnae9cqTa3KkttenYzItJzpc7xHf1x_15FSI4Eq04skhlcYS0cPlEtOa110mIDcIyJAh_JD1sBETJZ2Gsr-sTD4mxBLgsif_B2dmgvgrvhE54bfcyV_1BpDcu79GhDnnhQwRImOsY12GCuJWW_pJb02pbO4HS3RC58dsJGjz6AG4Fl-YFMhlzgWlre3WrBwVx2hJbYNlNEZ2z9ApePK6JAMlfl0HdS7is01GbmlrtvjNpvPOhNclEippaVSoxYZ0mFFH5dD1S3kilETjjW--QgFsR3xNeZa4PMmZ1N3naybFSSHX15jmt32zfKcQzf_OkI9Z9E1MDN_z_F52EN8MSsIIWy-XtIgdhrv7YX-UDwe7QipHIXib06P3CGDm_DmyqHmeMuuMcjFIVJKV5saCt-v-R66MpxJIlCAyQXN5U2KJn8Fs46u94-pNsLWv5LpD7b3kcWdyRqa8oNzl1Jb7awRkzawUklW3gginChQ7hIAVFOL-kqBklTTdFWjU52gcwL83OmrXo-iURF9tLRS3YWJpOP1CiVJxNqAuythY7TMxi9DMjJTsHOIr_8XE875tzgOBJBSOvbb1THPDcQsJBOkyXUDpNXvsAHMyhQwEh2-NwHvkAY01wzRTjSU_i2gAj51Qg2WxZoIKnj66VvlPGqSQDkIH8yFHyAig4DyZWN2kxFgTP6erNDDbu_naHYEm6SCKXV6b0E8jIUrOSUkZR1jzqhNMniQpBAKgIlsukIIMy0Krc8NNfMd2QYU_Ct7w8puCcIa0Scg2SVHhd7Za7YP3BAfufqICYVRWcolwQn7ty-s6jPVGKz92nAPffZQ1KB7kUgAb1ztySeEAwPp8xPynaqAufz0mZD3c19PJAbveBhyBKTwVsUYSmONK-tpfpIHgkIkbUB68dunMuMi56F2Wfy22ecRCyQM1dbkoYGameEbzlCXZlbLWsGrmuIlfNgdy2SExPiwyioZ1erP8ITfQbdZTOvWVBo5VUniPnwhBx1jQrUg03x48xqhkEOJiZ0qlY1w0jhdfM5pDsh_IPsN26jM2adtWnhqWrqpTPf5FKdDaVt1WXCwGE76RjYBBc4QmlsrW3qTv-jUPAgT2Q_mSVltvHiLMgnfCrootXJd7vMZtKug0qpNtKx6rV5GcXn5duexGEMlJAd4PvVLVTgq3_vgev5fskZ2PZlTqivzMvAIeAQeEpH0gnxGiPgEaDRe7jPCbIIUlRwkKRwlNcyKkeYH85W36ElitvrXlrdqGqQlFK34x5faRDwNumabiP_uwCPZWT9qM6d6Fx8-XOSIwvvg-1Ewzag0q12oRnz2ngabG-W6JsMkiywAmSo9elkeOgM8Tx4419ypVPcXxEEEBQR6mH7dbQ8sxQEyYUIm1X3I26eSgAdxtlGqfSphCjwJ1BiHvF5oO4VrWPxNz6ilod_VO-G5jtrxKKQI7pLskPyo3RSFQW5syPPCVKsaAx9N0qBnXyBLKMZYIkQ99lcCd0bRMq0fLq-nHpyo7IOXcibKvu-Se-tWNt5tsw5QcZQPMcaEh8nYAC_fQ==",
  "id": "rs_04866ec2a1d3bbef016ab43718c5ac87d08865af4519fd917a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.215,\"right_z\":0.145},\"note\":\"The right arm held still on the attempted low advance, likely because the fingers are touching the bottle body. I’m lifting clear and moving over the cap first, then I’ll try a straight descent onto its neck.\"}",
  "call_id": "call_bLLjw6le48K26ZjVHVetcjr8",
  "id": "fc_04866ec2a1d3bbef016ab43719ee6087d09c2e0d2f4724af8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bLLjw6le48K26ZjVHVetcjr8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0189, -0.0071, 0.9983, 0.6571, 1.3914, 0.6487, 0.1238, 0.242, 0.1368, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0005 left_gripper=0.9983 right_x=0.3331 right_y=0.2081 right_z=0.1103 right_yaw=0.3708 right_pitch=-0.0287 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -1.6479, 6.4342, 1.8144, -0.022, -0.0464, -0.0122, 0.2256, -8.2803, 7.665, 1.6386, 0.0122, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68c8c03dadd6e622f81aacba4086328a069d463b105e6fd4f2361e3c9e6b3c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a282c1d6949816e64ccbd9da1ab6f9fdcef11f1e7bd6ba498336b50d7d87ec43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177aa13e8d47a969f89e040cbdd517cfe2b3dcd671b0a7131f310213530228fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.536 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3878, -0.0193, -0.0071, 0.9983, 0.7605, 1.3567, 0.3958, 0.2722, 0.3019, 0.1928, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1818 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.2785 right_y=0.1974 right_z=0.0519 right_yaw=0.3931 right_pitch=-0.0826 right_roll=-0.0247 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4701, 6.8034, 1.8193, -0.0171, -0.0366, -0.0122, -0.4855, -4.547, 6.5299, 1.5556, 0.3394, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 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, -0.0193, -0.0071, 0.9983, 0.7574, 1.3991, 0.3977, 0.3599, 0.3058, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2875 right_y=0.2036 right_z=0.0556 right_yaw=0.3902 right_pitch=-0.0376 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.5795, 6.5436, 1.8291, -0.0269, -0.0513, -0.0171, -0.8137, -4.465, 6.5162, 1.8974, 0.1538, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0189, -0.0071, 0.9983, 0.6571, 1.3914, 0.6487, 0.1238, 0.242, 0.1368, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0005 left_gripper=0.9983 right_x=0.3331 right_y=0.2081 right_z=0.1103 right_yaw=0.3708 right_pitch=-0.0287 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -1.6479, 6.4342, 1.8144, -0.022, -0.0464, -0.0122, 0.2256, -8.2803, 7.665, 1.6386, 0.0122, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68c8c03dadd6e622f81aacba4086328a069d463b105e6fd4f2361e3c9e6b3c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a282c1d6949816e64ccbd9da1ab6f9fdcef11f1e7bd6ba498336b50d7d87ec43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177aa13e8d47a969f89e040cbdd517cfe2b3dcd671b0a7131f310213530228fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDcg-zMjfSvG78yaK68l9ZDqP7_zz_cOegGTZFzQq7NmN_UfTP9gnVujrxcnFSFfHaCzhSjmbVRTjbYTGaZtjMwo71kFCYxTZsG9Z2tVbyDHizbB1nUXk9Mv8MQP_jFGrbRSi4elAEwZP33qEBjAE44lz7UrwNIsx77uFbae_5lmyWc57KcLbIsxVWujisW7tjJLqGniTeiHAaX7hBl86wLHdM1Y9cHTpKHmm37ZrJqbJdEeEJDsfMrCkSHD5JCTiUZWtuQ0veReksiOHvFIXnTzLcITSIwakAYxRZL05yewX6LOOch8WVQe9Aa1PXRe52kPnrlaRDGarkwMaZg5quoGQK64P1CSoLshhCLN3Rgdq5IOd800iejjkzQJkhM504BJzxadXy7fp6TUBg0s7s4zlHyWShGIpcUJN74qUY9G8UtTL-xIxFhp4TZnHmFqpYsFUGB5G8TY1eOQdk5_OkHE37RH7YnJCaZlACr-IPz-vdTfXQXEbd7bc4-N_8dP5qSJxFpKu09HJYwjBim24PfPmK6Xhc7IqtsS-pFeWID191p2YF7hBhFXErtGOz3qLe64QJnhFWpcc12kXlgssAjlQwgmEaxUzXFzT6VwLyTlH173KVR9XjBD-8YveUXolceaK598GninS-qQ36NkAInfuoj-WeO-t-4lyh5uYhb--5WJDT_Dcq1gjz4VfmRcoQsPNGIZasrXP7KuA3daJeCr_xmU45uMuEVaqK1aTlL_PcgkUz02wlyXvJLtZg-mBT_sW6kRlfbObWOTcFSvwfrNc6T0I4Wzx3SqFIHWLzrSgS8qTaghNZ_Wpm7Ifhv1PdgPRdKhHkyn_Fy7LnEKI_g4NU0dI-m5I8cmRu8QmBmmMK9DZxvfn4t7gSPNyZWgr_y2y1qVaSDNjQjgdl2W80cLSLmW79nffYO9KpHielzhXmK2s5CXoRgHb-UvEC_b0WlDf8xY5s6bLmfBDahbucD9BZcjWyZD7peKoPFwTY9HCcr1_04D5TMzKE9GVW1cA9Ac0g1yMz8RnhKHhV7ZizeCv8deWRjGbr0RrmOMIH7uaNJoHSwthIlZhSzu68SBfkSTH8nrnsIsyIjz0mEdOPTTFDhIKGs-aphUp9hmrFRgsh9YmfR9u0mWXifUvwJ2rqOf-vqH39s4AV3qtI9ne28kxtNI-mW9pwf-RJ6rxtcKyZ-2hcvNgecZufjTHytiHY5i44czdrGq3F_FIJTkf4hq8d-vqauvATCZgZNlyRDlFITmSHrVuJTaYKL-g6Lr5lOLmS1YWotGJTF6qfBfgcjUPrO9x3mkADbNKrttejCX7QkDkMIaGO1OOn2_gDdRTOA458G7FwqO4ATVx1VtCWjJfXePNDP2ZfW83ogNkcNOxDjdczkadUBQtbFwf3HIqNldAEMnTCDjXlGYL6JQNtlJFBfOmxmwZry1wf57s6A2bg6UMx5gAb1U-B_Lhrdq34pvCWLpzoqY2u9XR0qLFuZvLOsPtOULx_kb9mZEtE3M3H9MjiPMOdEzYDMpB3Qf4UmltBGUvhH0WRCIRHS75YvH-O4Xjb-MI3KRar2QPiK9d6GLAnDnEc576s9xMl9mIolqo9zM3EsCwA9FigOLUb-XKkZ_9lj_ttyzTH4WHN_w2grlT7eDoTDOK1zY5E5Dr76MCCT8uuco5I6I3XK1UHF5pmgtEhufANTY7iFOsfsr2Dpr25Elm1H4EOT6Z2cv54Bv5_Pgm3KihFcnoAL2dW-5Pdzm9c3p7nGs-7XNsYw9Mc7AnyyqG62XJoCg7EUQMyWeKaBJfqRt7rlUHk9L33qRtieLEFhJG9GdlWIuC6vF698oaTvDEtQOiE5-LKGnnlN2FhlDWWcxv9RvLviZfeyD2lAoa97b1EW2km2z4cWUe64bgzgjc3pk6JwnjQgaORCtm4NJi3qSKvoaqiCMHmenFJzCzz_m5ghztS9xd4rpDWCxXk-sb_LbLXIagObvdaJFOeyWQ1IWjUsnpe-wHgL2DZJ2GE_o0rWLtGzWArHEog7WnnLlffdClFGfGuRIHyG2eCRhBGg4YmUUoe_uuv55h5dC7jBGMW4woux6y3gaIO2Ajkw-jLTBe04pKUXoVKf_dzZXIAqhpATySNNulRgvN0JyEkXNbm0BbsLb84bdR2rO5M3vr9nncbx3hzQDd6peYpwpdBWn9R2uyBspfxXT5CFN5x7afaJd2XFtqUvhgkig5r0jwawa9P5hKstluMxFsSzy7rLj2gjq-ASj5O7Fm2ZRHeu_RvSa68uMKlKae_Wfxo4RKhaNGhfv1NXYVKPJofw7EX97asq5nM4kZrjZMNfVh4r6OKeL1oinF5TuSixmAC7Di68tVGp-koqBNn08ZobJw_RDRYReO_2LgMSvc-GuxQ7a2lpseYiN8nvWACAxzpxTv_H6GsGGNu-iz7RDlwEVcPsUoBcSF7zoHmU55TN_7JMgZbu24-wms5-HW3CjVKzttNzDJEdTxW99onEH5jYZSFug9YHhswEU18hQoNXZCKUehFQABKa83ynhZ7Tt18dnOQUDP7Qfr7r1GzxVF52qdA0LQbeZ2cnGBRP-_mBGKtswJnpYCNVumF6kuu3Vq0Ml_PQbBGjrenrBOAxyFGvo_psFwhdq0c71LzsYsC5uklGJsZvXvydkJI47YLaOgvCigfs76CqmhTRhImvV6DIX2ZDD_Mi0JdnRkSlhVniswD7XnRaUuCmgqMFIxrpvxIHrkkljMpQWCGS1Rate4xsYOMlWvqRmwrRPn0tHeo_O3EWUM_zYzFpBra8qnLEJ6G48zUgbrXmgq27xNb2scD_gvUxcV_Jh6DAkGUH3FC-NKd1r1ACWfhybCrOPmPr53oDK7oIl9o-7UBNRUppy",
  "id": "rs_04866ec2a1d3bbef016ab4371c989487d0b3ba3fa841a8013a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.333,\"right_y\":0.228,\"right_z\":0.028},\"note\":\"The gripper is now above the neck, and the cap is visible near the fingertips but slightly left in the wrist view. I’m descending vertically with a small leftward correction to seat the cap between the jaws.\"}",
  "call_id": "call_JoaWrMsPY7Tvryw4vfzp8ODo",
  "id": "fc_04866ec2a1d3bbef016ab4371f6e2087d0963f74365254eb68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JoaWrMsPY7Tvryw4vfzp8ODo",
  "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, 0.7959, 0.6128, -0.387, -0.0193, -0.0071, 0.9983, 0.7082, 1.6936, 0.5209, 0.5163, 0.2687, 0.1528, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3268 right_y=0.2229 right_z=0.0249 right_yaw=0.3906 right_pitch=-0.0595 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.5111, 6.4068, 1.8095, -0.022, -0.0659, -0.0122, 0.8547, -5.5453, 4.1368, 1.6093, 0.1636, 0.1832, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55204e2773db467137275c6756ac9489175f6ce9792376c1049d5f814bc9a78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37142cc6c2eedfbc2842b0fd038742f3944a4938ee4fabc656b18651732b303f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b575ee386ef8550252011b24f1556affcbf350795f42f5639593094571e313ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.64 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 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, -0.0193, -0.0071, 0.9983, 0.7578, 1.3991, 0.3977, 0.3599, 0.3061, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2874 right_y=0.2036 right_z=0.0556 right_yaw=0.3903 right_pitch=-0.0375 right_roll=-0.0135 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.7026, 6.3795, 1.8486, -0.0415, -0.0757, -0.0122, -0.6632, -4.5197, 6.4889, 1.9219, 0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0189, -0.0071, 0.9983, 0.6571, 1.3914, 0.6487, 0.1238, 0.242, 0.1368, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0005 left_gripper=0.9983 right_x=0.3331 right_y=0.2081 right_z=0.1103 right_yaw=0.3708 right_pitch=-0.0287 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -1.6479, 6.4342, 1.8144, -0.022, -0.0464, -0.0122, 0.2256, -8.2803, 7.665, 1.6386, 0.0122, 0.1099, -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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6128, -0.387, -0.0193, -0.0071, 0.9983, 0.7082, 1.6936, 0.5209, 0.5163, 0.2687, 0.1528, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3268 right_y=0.2229 right_z=0.0249 right_yaw=0.3906 right_pitch=-0.0595 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.5111, 6.4068, 1.8095, -0.022, -0.0659, -0.0122, 0.8547, -5.5453, 4.1368, 1.6093, 0.1636, 0.1832, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55204e2773db467137275c6756ac9489175f6ce9792376c1049d5f814bc9a78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37142cc6c2eedfbc2842b0fd038742f3944a4938ee4fabc656b18651732b303f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b575ee386ef8550252011b24f1556affcbf350795f42f5639593094571e313ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab437224c5487d0a1eb1dec27538f46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.165,\"right_z\":0.027},\"note\":\"At tabletop height the bottle is far to the left of the wrist-camera jaw column, despite the overhead overlap. I’m shifting the low gripper toward the bottle’s actual lateral line before trying to close.\"}",
  "call_id": "call_WgdRYts5Co7cTxcQ6be5IsYY",
  "id": "fc_04866ec2a1d3bbef016ab43724a04087d0a1bacb886f093a24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WgdRYts5Co7cTxcQ6be5IsYY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.387, -0.0189, -0.0071, 0.9983, 0.535, 1.5986, 0.3336, 0.7048, 0.1421, 0.0902, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3258 right_y=0.1682 right_z=0.0303 right_yaw=0.3574 right_pitch=0.0157 right_roll=0.0153 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 6.4889, 1.8486, -0.0464, -0.022, -0.0122, -0.212, -5.7231, 4.0137, 1.6972, -0.0708, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1207fcdc6d59590f5d0c1adf81f179b577297c2216a1551d6a53c35b84abd50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1decd128764de461f1c71c8898afd6addb26f4e5ed1f1f46c59fc76d252d3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634ce8518c96ea6e02bdc05e5828c16156d47752feaff425c67ad1298575598d",
      "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 · 3.772 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 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, -0.0193, -0.0071, 0.9983, 0.7574, 1.3991, 0.3977, 0.3599, 0.3058, 0.1886, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0076 left_roll=0.0007 left_gripper=0.9983 right_x=0.2875 right_y=0.2036 right_z=0.0556 right_yaw=0.3902 right_pitch=-0.0376 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.5795, 6.5436, 1.8291, -0.0269, -0.0513, -0.0171, -0.8137, -4.465, 6.5162, 1.8974, 0.1538, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6128, -0.387, -0.0193, -0.0071, 0.9983, 0.7082, 1.6936, 0.5209, 0.5163, 0.2687, 0.1528, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3268 right_y=0.2229 right_z=0.0249 right_yaw=0.3906 right_pitch=-0.0595 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.5111, 6.4068, 1.8095, -0.022, -0.0659, -0.0122, 0.8547, -5.5453, 4.1368, 1.6093, 0.1636, 0.1832, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.387, -0.0189, -0.0071, 0.9983, 0.535, 1.5986, 0.3336, 0.7048, 0.1421, 0.0902, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3258 right_y=0.1682 right_z=0.0303 right_yaw=0.3574 right_pitch=0.0157 right_roll=0.0153 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 6.4889, 1.8486, -0.0464, -0.022, -0.0122, -0.212, -5.7231, 4.0137, 1.6972, -0.0708, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1207fcdc6d59590f5d0c1adf81f179b577297c2216a1551d6a53c35b84abd50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1decd128764de461f1c71c8898afd6addb26f4e5ed1f1f46c59fc76d252d3d32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634ce8518c96ea6e02bdc05e5828c16156d47752feaff425c67ad1298575598d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab43727304887d0829d5019e262429f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s neck is now directly under the jaws in the overhead view; the partial bottle at the left of the wrist view is a different bottle farther away. I’m closing on this neck and checking the settled jaw width.\"}",
  "call_id": "call_XVhwviATofT1sSykDOGQilgv",
  "id": "fc_04866ec2a1d3bbef016ab43729908087d08abe6a6d5577d7a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XVhwviATofT1sSykDOGQilgv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0193, -0.0071, 0.9983, 0.543, 1.5826, 0.3492, 0.7216, 0.1337, 0.0769, 0.0148]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.3312 right_y=0.1766 right_z=0.0448 right_yaw=0.3794 right_pitch=0.0628 right_roll=0.0162 right_gripper=0.0148\nstate[joint_eff]: [-0.1983, -1.7026, 6.5709, 1.8291, -0.0415, -0.0415, -0.0122, -0.4034, -5.0256, 4.506, 1.2381, 0.2076, 0.0464, 1.3602]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca629dd6805aec46eaa1820483f110710936d226df396593681fddd21c5d6d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f356aefcbf0d26c2419eea87fd0414a7eddcfddf0eeeb547bf5dc9f60f27f59d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76563d053d7e64f2b608b207f2b497fc2301c66998d7b26d94846fdd282f96c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.166 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0189, -0.0071, 0.9983, 0.6571, 1.3914, 0.6487, 0.1238, 0.242, 0.1368, 0.998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1819 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0005 left_gripper=0.9983 right_x=0.3331 right_y=0.2081 right_z=0.1103 right_yaw=0.3708 right_pitch=-0.0287 right_roll=-0.0133 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -1.6479, 6.4342, 1.8144, -0.022, -0.0464, -0.0122, 0.2256, -8.2803, 7.665, 1.6386, 0.0122, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.387, -0.0189, -0.0071, 0.9983, 0.535, 1.5986, 0.3336, 0.7048, 0.1421, 0.0902, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3258 right_y=0.1682 right_z=0.0303 right_yaw=0.3574 right_pitch=0.0157 right_roll=0.0153 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 6.4889, 1.8486, -0.0464, -0.022, -0.0122, -0.212, -5.7231, 4.0137, 1.6972, -0.0708, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0193, -0.0071, 0.9983, 0.543, 1.5826, 0.3492, 0.7216, 0.1337, 0.0769, 0.0148]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.3312 right_y=0.1766 right_z=0.0448 right_yaw=0.3794 right_pitch=0.0628 right_roll=0.0162 right_gripper=0.0148\nstate[joint_eff]: [-0.1983, -1.7026, 6.5709, 1.8291, -0.0415, -0.0415, -0.0122, -0.4034, -5.0256, 4.506, 1.2381, 0.2076, 0.0464, 1.3602]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca629dd6805aec46eaa1820483f110710936d226df396593681fddd21c5d6d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f356aefcbf0d26c2419eea87fd0414a7eddcfddf0eeeb547bf5dc9f60f27f59d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76563d053d7e64f2b608b207f2b497fc2301c66998d7b26d94846fdd282f96c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab4372c541c87d08ac3c7338897151e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.292,\"right_y\":0.177,\"right_z\":0.005},\"note\":\"The close was empty, so the jaws were above or just beyond the narrow neck. I’m reopening and moving a few centimeters back and down to bring the fingers around the bottle rather than over it.\"}",
  "call_id": "call_OaZlPTeUw3SWEc7G1L91my2q",
  "id": "fc_04866ec2a1d3bbef016ab4372e622487d08f65ca1c0681b2f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OaZlPTeUw3SWEc7G1L91my2q",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0189, -0.0071, 0.9983, 0.6437, 1.6341, 0.2646, 0.9207, 0.2153, 0.1062, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3111 right_y=0.1907 right_z=0.0423 right_yaw=0.394 right_pitch=0.1319 right_roll=0.0184 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7299, 6.3658, 1.8437, -0.0122, -0.0757, -0.0122, 0.3624, -2.3316, 1.7299, 0.7057, 0.0562, 0.2418, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39688d83462026ccef002acff7f378191187793ecd00f2548fb6a5906d22a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b15b682f9c9710ed6771b60e02313d31dc42fdb27327787369304e9810e4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b413bea8c5b724157b86abc714283a1d6eb7610849a46e360671ec1397ba80f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.203 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6128, -0.387, -0.0193, -0.0071, 0.9983, 0.7082, 1.6936, 0.5209, 0.5163, 0.2687, 0.1528, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.182 left_yaw=0.0001 left_pitch=-0.0072 left_roll=0.0007 left_gripper=0.9983 right_x=0.3268 right_y=0.2229 right_z=0.0249 right_yaw=0.3906 right_pitch=-0.0595 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -1.5111, 6.4068, 1.8095, -0.022, -0.0659, -0.0122, 0.8547, -5.5453, 4.1368, 1.6093, 0.1636, 0.1832, -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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0193, -0.0071, 0.9983, 0.543, 1.5826, 0.3492, 0.7216, 0.1337, 0.0769, 0.0148]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.3312 right_y=0.1766 right_z=0.0448 right_yaw=0.3794 right_pitch=0.0628 right_roll=0.0162 right_gripper=0.0148\nstate[joint_eff]: [-0.1983, -1.7026, 6.5709, 1.8291, -0.0415, -0.0415, -0.0122, -0.4034, -5.0256, 4.506, 1.2381, 0.2076, 0.0464, 1.3602]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0189, -0.0071, 0.9983, 0.6437, 1.6341, 0.2646, 0.9207, 0.2153, 0.1062, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3111 right_y=0.1907 right_z=0.0423 right_yaw=0.394 right_pitch=0.1319 right_roll=0.0184 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7299, 6.3658, 1.8437, -0.0122, -0.0757, -0.0122, 0.3624, -2.3316, 1.7299, 0.7057, 0.0562, 0.2418, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39688d83462026ccef002acff7f378191187793ecd00f2548fb6a5906d22a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b15b682f9c9710ed6771b60e02313d31dc42fdb27327787369304e9810e4f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b413bea8c5b724157b86abc714283a1d6eb7610849a46e360671ec1397ba80f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab437315a7c87d0a63f0636db4f0081",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper now sits farther back and slightly lower over the right bottle’s upper section. I’m trying one more close at this corrected position; the jaw reading will tell us if it actually caught the bottle.\"}",
  "call_id": "call_xRPLAgQiH4gwOV532Qv1o4tI",
  "id": "fc_04866ec2a1d3bbef016ab43732683c87d09b6de68fc325e172",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xRPLAgQiH4gwOV532Qv1o4tI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6102, -0.3866, -0.0185, -0.0071, 0.9983, 0.6395, 1.5219, 0.3626, 0.5991, 0.2062, 0.1036, 0.0145]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1808 left_yaw=-0.0005 left_pitch=-0.0099 left_roll=0.0003 left_gripper=0.9983 right_x=0.3132 right_y=0.1923 right_z=0.0462 right_yaw=0.4011 right_pitch=0.0227 right_roll=-0.0067 right_gripper=0.0145\nstate[joint_eff]: [-0.1299, -1.7573, 6.5026, 1.8095, -0.0171, -0.0659, -0.0122, -0.1026, -5.4632, 5.2034, 1.4969, 0.0366, 0.105, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3371ee9b75e0ea8fa42203e473e1fe47589fe0e4baee9b2c0a31c02dbb8d955",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d57937aa92115cc3fa47031b5fc2f3cfcc9ccc74e6c26f4bfcf5908d06db4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df26d8addeb6dbbbbe2de189a624e0948193bfb3233873a86e5b4efe9b10650",
      "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 · 6.869 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.387, -0.0189, -0.0071, 0.9983, 0.535, 1.5986, 0.3336, 0.7048, 0.1421, 0.0902, 0.998]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3258 right_y=0.1682 right_z=0.0303 right_yaw=0.3574 right_pitch=0.0157 right_roll=0.0153 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 6.4889, 1.8486, -0.0464, -0.022, -0.0122, -0.212, -5.7231, 4.0137, 1.6972, -0.0708, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0189, -0.0071, 0.9983, 0.6437, 1.6341, 0.2646, 0.9207, 0.2153, 0.1062, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3111 right_y=0.1907 right_z=0.0423 right_yaw=0.394 right_pitch=0.1319 right_roll=0.0184 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7299, 6.3658, 1.8437, -0.0122, -0.0757, -0.0122, 0.3624, -2.3316, 1.7299, 0.7057, 0.0562, 0.2418, -0.1392]\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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6102, -0.3866, -0.0185, -0.0071, 0.9983, 0.6395, 1.5219, 0.3626, 0.5991, 0.2062, 0.1036, 0.0145]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1808 left_yaw=-0.0005 left_pitch=-0.0099 left_roll=0.0003 left_gripper=0.9983 right_x=0.3132 right_y=0.1923 right_z=0.0462 right_yaw=0.4011 right_pitch=0.0227 right_roll=-0.0067 right_gripper=0.0145\nstate[joint_eff]: [-0.1299, -1.7573, 6.5026, 1.8095, -0.0171, -0.0659, -0.0122, -0.1026, -5.4632, 5.2034, 1.4969, 0.0366, 0.105, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3371ee9b75e0ea8fa42203e473e1fe47589fe0e4baee9b2c0a31c02dbb8d955",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d57937aa92115cc3fa47031b5fc2f3cfcc9ccc74e6c26f4bfcf5908d06db4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df26d8addeb6dbbbbe2de189a624e0948193bfb3233873a86e5b4efe9b10650",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDc6zg-t06K1rJ705DyjuFVcGf9sx2EV26iZKxe1wdR6p_6qF_i901Ylp8FwIXbktqyzNZV3AVBfFdx86vXfiZoG6LbSemqOmIOnkjEHZaksQv3Kq6KgshH5TqjPh9LkESfAYkh9fYfaCCvHXLDQm_1aubYPc_h74WTk7C-p8V4yslaJSbvggoqUyxCI5FVsEYx4S47WlPy7k8prOgfBHoQi5YoFl8DEZ9pf4-uC5-MMQTcuxc6LlINW2RfpxJH6DF4uZdujRQsC1oOx0-D6PieSKs03q3Ul6zUHfhzridkze36nEYyi3JaO2HqJRVC7YzMKVAZluhntz3G3tLrzpShp5XvvmBVdhPUlohCxnr9yggiEroE-E4EWQjVBSCRHFihipxIXWBCeZW-INAWpEGHfRrZ8GxCcSDH5rqJvCp25QwuIYjtmHTKqJ6DG3kbND3S2lUmw6LuT30rSv82on2A6bo3i1DE2wb-lM5BrJ62WLGccxNrsIt9S7Ih2emyBI29-GWszOXFCPtk7Mxx28Qw1lXiZ6EkgL8exvF8vzY1yL_atsV4xTkvW-2SW8s8U0jV0ubSGWIxBtbA2H3m-as_uYyLrnB2szEk5CADbaPoSxeyleLbiFEnf8UXWk4Pn0sQaFesfZ9xh0I9O4huE29vykmFJvC-yh2duNKhnT939ceN9ZRl6xJjUveHFUUP7U6SC-7UlMorx_9wUyAxSKydvSDIsKQZm3CZR0xFB6joebLxp5JRDHrtUOQq8fMTUVBXG0Qun3ChGVZGmOKKqGmIOPKtfw_DPlLLKcXvdiE0OSolZW90THr0PuWn3enXR_eKzSp6IB6kBRzej9RPrRZUZJ-0CMYZq5CGH-eowDEdilO1mekaslWAwqNkkZ_c-EsW8I8Yo0KHdUjQszDvZ8s-eed8uTgyi4logm8dsvj5Cw7CEtE1fFM4VimiKW7lNs9Qi8ioGW0Y4Y_JqGJ82AmdQgMmBeZyyHfC6h6hZamt7Y2x_y_vtiIrzHu2yv30DRWvoMwOWZu-2hLS8jtkeqrO67oe3fqSQhrqhJKi2ncadLVHlu-JzimlYhcy0fM7htP_L4hV0wcH8oE44Qg23_i6w1NpTYzAwbAoHq7xSCmwZGM2dGjvOAy69QVI4b9-7S-nKhTZGNqTkGK5a0MKdnSKapW92j79losVxi5Jef69rq7qsyEx0-Dv8Kl_OanIVnVSit1Gvgen7e_7PVKhEORD8BoYMyFIge_bUpBErtg8OoglDpRykmUlq3TBVGFb96BxaKBq9rnrQFDq6oQkSDr8QR4roxdCgH6i_A_MNMwBpSE-eRhaTQ7Pel1wUKLH1IAwyyq72-Tk4RL9SGQkjXX6Ktw7jm6l8xHF3b7Beeu7LJTmgG5AkfdQpjamLgwU5jdYEjdgBQYt4LXzq8OrW8cpH0QdNr2bipw8cWzHvZ14YR_jk7gcdaTTFrlwqIykTrD6MwhmSwaf0tcTc6feGTQpU9RzNZRgcpozx9ebi_sIeMejqbkc9Ihs8qG3TOcIcX2_vJI44h2gqhOwjWhVOG8Sj9lmmP40fzm5Dwce6Lw6rp3Xjim2gQUpt_kXnPqAQFN8w2iexsQUzntC0aTlzz-PEVVcCDr06XPk75pvZLU4jem4BKoVjNFZJfXn0_pGswQyhkhYXYlWfExHr-v-AvAa9zDO8bxDODgOTXvTst5-6l0-KeiC_JmjRnTx9HQJ7DcUlyrYmYursgty1nGtH2vRoLtE7VDjD_l_psBnYXtnbBDdqVFT981WLdL1N9OS0pRbXZx_UXH97z54EM2n4xFjULfspOtkdccacyZ1w0GnxOUMIeW9E9rQ44cKlF8lFJ5hIG8i6bUwXfmZje_ylp47UsYaAlxrs6Z6fv-b9xWvMlBZpWm5PZ3YrBwfPRDCeZXQcI6aH20KjEdIBPkuvMWGVw87IcoU0PEyTahCuZ4w_dcH_XlMmHfbarmchqVtvge4bSlJ1GDpsoWBvUAqiK7Z65UyikFG5A9oRZDpDeJ212j2e2sGpYeUE0nQsEoVlOYGmg7W_x_p2jtpR_MqgXvUZc2Q5KabepuX3UsuA_gmQbFsI3OCB0RZwV9pXZFUCAG4NVqrEwTG2EbaGVjY3pbjO1y7rTTtfLaE2bsp465JOIeD2uyzJGszf7PR1kYSGHhE7LmlsXeQCcwO_xVTBxsBtGccblLuFMNAgMK9uRIz6tEAGVpOUtOVwG9r431sqPj5Rxj-_lhtDnx42H_aCqmhKLsMV661kJchXFO8YYsxjt9dFZApHPZI5mtg_P96x9r9mGY7CQ0ImKn3FNDAj14KoBtTe-12xyiluhcUkVTUjnRfPGZkBAulcal5OJfgLt0_pvjYLW-Ds9BXgkBMGGuKT7xlcQ0sHjA5CoOhD5EIIZrWrKdgwgHRqYeXRdRQnQa3adJw51L_PZtR47g3P56HwI_6r7Rv2OkQhQNhmYqLLfJIfxUn7tnDXQ8WuC7P9p2HQ3L5OpyjgDU3ZaFqMMpx0RU-upnxzs1qrnjEAXytlmLUPObNOHn-xTXju20GLDisVda-m0dJsv7caFnjy-3-rweKfqIdXhKRsZ8B_PPwYAL5ZlpTbRkmEVyPuTOAXKrtGh6Fphhlr3k7wpBQ11zZgGfU7xef3Xw4QIP2DcecKSzH--iaiIJs0nJzL1hbeafObbkcBbx34cPOnSYg2_eYMod2aR3pmH3G8zCu1YRoYR2yGjg6urqpngUv-PIDDaf39",
  "id": "rs_04866ec2a1d3bbef016ab437363d5887d09161bd1543cd57f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.02,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.38,\"left_y\":-0.11,\"left_z\":0.12},\"note\":\"Two neck closes on the shifted right bottle were empty, so I’m stopping that approach and parking the right arm. I’m switching to the left bottle, whose neck is more accessible from the left arm, and moving above it.\"}",
  "call_id": "call_EIrc1VxmjM0gDteUz1fyxlZG",
  "id": "fc_04866ec2a1d3bbef016ab4373959a487d0bc145886a4d79b50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EIrc1VxmjM0gDteUz1fyxlZG",
  "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]: [-0.4526, 1.3842, 0.6403, 0.0605, -0.3622, -0.2455, 0.9983, -0.2554, 0.831, 0.5919, -0.4408, -0.4816, -0.3782, 0.997]\nstate[eef_state]: left_x=0.3657 left_y=-0.1042 left_z=0.1013 left_yaw=-0.0169 left_pitch=-0.0692 left_roll=0.0249 left_gripper=0.9983 right_x=0.2834 right_y=0.0143 right_z=0.1649 right_yaw=0.3377 right_pitch=-0.0214 right_roll=-0.0029 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -5.6, 8.8684, 1.8828, -0.3297, -0.1148, -0.0122, 0.3487, -1.0735, 9.7436, 1.4921, -0.5299, 0.0024, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fae80b84a0b8c5ccf182de19f0dd7716e3af89aa95d22d1f70b3b9845ab18ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8dc2020ed4d5d156dfc88b1529340562093aa8c4f7dca4db29adb9f5d213e69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e3a8b7e325d754a10c951ac9d6b62b01be0f400b0f76fcb8c0ed689c402b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.486 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0193, -0.0071, 0.9983, 0.543, 1.5826, 0.3492, 0.7216, 0.1337, 0.0769, 0.0148]\nstate[eef_state]: left_x=0.295 left_y=0.0011 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0084 left_roll=0.0007 left_gripper=0.9983 right_x=0.3312 right_y=0.1766 right_z=0.0448 right_yaw=0.3794 right_pitch=0.0628 right_roll=0.0162 right_gripper=0.0148\nstate[joint_eff]: [-0.1983, -1.7026, 6.5709, 1.8291, -0.0415, -0.0415, -0.0122, -0.4034, -5.0256, 4.506, 1.2381, 0.2076, 0.0464, 1.3602]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6102, -0.3866, -0.0185, -0.0071, 0.9983, 0.6395, 1.5219, 0.3626, 0.5991, 0.2062, 0.1036, 0.0145]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1808 left_yaw=-0.0005 left_pitch=-0.0099 left_roll=0.0003 left_gripper=0.9983 right_x=0.3132 right_y=0.1923 right_z=0.0462 right_yaw=0.4011 right_pitch=0.0227 right_roll=-0.0067 right_gripper=0.0145\nstate[joint_eff]: [-0.1299, -1.7573, 6.5026, 1.8095, -0.0171, -0.0659, -0.0122, -0.1026, -5.4632, 5.2034, 1.4969, 0.0366, 0.105, 0.9158]\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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.3842, 0.6403, 0.0605, -0.3622, -0.2455, 0.9983, -0.2554, 0.831, 0.5919, -0.4408, -0.4816, -0.3782, 0.997]\nstate[eef_state]: left_x=0.3657 left_y=-0.1042 left_z=0.1013 left_yaw=-0.0169 left_pitch=-0.0692 left_roll=0.0249 left_gripper=0.9983 right_x=0.2834 right_y=0.0143 right_z=0.1649 right_yaw=0.3377 right_pitch=-0.0214 right_roll=-0.0029 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -5.6, 8.8684, 1.8828, -0.3297, -0.1148, -0.0122, 0.3487, -1.0735, 9.7436, 1.4921, -0.5299, 0.0024, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fae80b84a0b8c5ccf182de19f0dd7716e3af89aa95d22d1f70b3b9845ab18ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8dc2020ed4d5d156dfc88b1529340562093aa8c4f7dca4db29adb9f5d213e69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e3a8b7e325d754a10c951ac9d6b62b01be0f400b0f76fcb8c0ed689c402b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDdCPSXgMIeNNz0MFtRCvTgR2K5jLIMMfljTKSG2M-uy3Bj5bYGsk4jBm32MC2SRsuwTie1i24EDKdvcSpc0125DkgWtJJ6WhfAEdaZ12X1G6UixpRChOYCSOAsZ8p00qDWKwL0XTfxVECOFgSsvYAnkRKtvB3UCEKpfeDbHZsAT73QnJSKR9D2rSTpzGLDCWk1ZMJRE1ZxFHoJZcVN6E7J2B5PxaMQ0AmgJZJD-VKHrruL9zCO_37Ytuc3p7rfGiXS5qy1t5KVKBwg1_bxh8n9kqxiCDXnV_qWulfFvlHwzqwz4Qg8x2CXkelqQSGC_WzSkfYs3dNK5CklqSy9Kj5pQ7zumNyHKhq7sW2g5Ok4KnVXo525mOelxTHLCJ2UK8IHmUSOjr8EjtKBAGqMrJwlb2vKMJrWLc7RsjczBc7O9SaNNMWOq4X43VWAVEStWX6M1kNnxH0l_ei7Zfm-A3Qd6U8i4ExH6oGNGP85zzaFa2c7CEI0aHwViKwf3i49lNRowF9sZFBGB71nndgQB1dLwPeYLur2842K4CRI023-7rTm20JJPcdPzi2krmseG82E10O8DRMghqdEZAMegcJaKznbk-Z5Sso8iC9M16qXQQ-jqQlAeJHWxgjg1yQRMF2poHhIySgXXLqxkxX4lnV-HNQUskAljphrmv3M4r8IVqRDj45eAL7ZjQdPtyDX58clE2tuff1oBY0yi_WzmNTQB2RL4bjvsD9_LeRD5Y5VXC9oNpB90j8HkVOSbvlfEI6_mWd8aRgMauJRMLTJ72LyY-OyX9j3-l6H_-EJ2kQf2OfNWU8CK0fW_DaW3Bk6hOqJ0LQ48GmK05s7lQpfoecGHUEuQXUu6nS0-gSp_jxPx6hMJ5LcJeMJ3P3UL1HkhRkUWgClfWuDV-z5afOCsCEM-sJbO429Wx7tVdrJg9abyEaXOVXwStwfh94zEtQ8pGUbVxY5sye60uPkgqEMbCQ2L8uH8nZ6854MGbU5p_ecLMttnBLNoAasTQEGXKzg9jJTG_65MxNcnS9FRErCMEZRlzUSNl3-EVeG0t3FKPI6v2Tqz4NKuUivSmjDg813y8a9Q2YNoUDN32QfADrC_nEDIbTuJIQ-UcWEKksL5CnAAhS83qJf28JgsmcQs-bgdkud6uxcBGnc9r7fFAekgj8j7TyVTl2cCyqPG7Hy_eOnopY4Tt_czddh_o1gQ4iJUsYE5kUDPxS5DlWyUdE-uyCWB8WA_JDt085WcsVkdnegEjuPPZbVZ5N-WpyYA1_7z6t4Bp_7G5UXXBfZqhac36BVerJFcIIuJc0FxbRE196YssfXMxV37D-CH_bTInxqAZJ_gR2R_e1le2ghQ27Ekl3EaPD_IsEkALv-9w-vRvBh3QB1bYsvg9DX4WN1RYyREQe5gq4oNnYsp7Pn0OIABSVtInUB8zqeR_UnUK2fgzX7dqQFkEgw02OL_bzTOVh_lq_AldLTf7QrmlMz9l5RXhGmYa5_r7cQwYNvYESiKiIsdV2wPJtDTe3P-3vrZYMaGST5mxZeCCVO6LJBUuFXC83dOzUr6lVP41pQUhaEz_OfHNPQmZB3jZA9Tg9lHUPNybJz4PTh8uqz_w8zGgxqbKaJTlmrIoBbxbXW84_1d582xKmTtI2yS5v18aEWmJUZMOQEewoGjgvEnkda-jvC414rpU8x-ybbYeom8tT4bvHsOFah5ZjyDSqRDJzWnUEJP9FaBZAxrjFxvi_isK5XQshGzTnOLN58YKWP263agsjoXhwtjS4vpjYBQ8ebVsM0_bsxGLDJkYZH9HtTaugVrgroDw4vLZXXP0GUkan0wxnOsFJ7K9OCzPLLZ3dBdHhV9qwLqEJRtmrJeTDfLvbkpsMf5fQwkdn5E-XGpl5HdOfWKKszl_hHqF1lDRzMYqaHtAvT2c-Ol8qFrZIb91lu8pRecnvrYks6T8FPMLAUOkFjd5AwbYShz4CKVBTSU3xTY-JmWHpbQlIhwJdHlP88p-FvkeG4icOK6jvOt7z8ZwjCTSv3zsYT-pngMii-b-jFYbLg4wkzqkfCyI-sGBQhNrnL73KV9bOTwEV3B28Ljqw78tOq6vhsdaweXjHxjY09RPFh2JexwqICsxrLyKktefm3EXIPNxV6ExEppDOUStQZcxMN5mEXT1nwZEtFgasygg4cnMXimbe6f4ZrY0k2eeI5Bp-zeBdFzb1kC54Tr9m1M6GLRedM4wCaXW1n5x_Oyto-2rt_wqdaG_n98Pq6bRYqLmRisYTO6RfGLK-sUJioF0cffTlrUyt7iakDGCQoIAXKW043Zgr-cwWm4dQ45d_CLy02H64nzZXlALbY3huuiEbuJQiQCYXxql6MzzLmsOXtP0nzCWI2t9e5yIDcjVMB1J5gtu8XAJgHfdX8OI-0hYcc=",
  "id": "rs_04866ec2a1d3bbef016ab4373fbf3487d0a0a1159b51ba4c6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.072,\"left_z\":0.068},\"note\":\"The left bottle’s white cap appears ahead and left of the left gripper; the right arm is parked away. I’m moving the left jaws toward that cap and lowering to its height.\"}",
  "call_id": "call_r4sRmIN3gRN6b5UTkhfiCD5d",
  "id": "fc_04866ec2a1d3bbef016ab43741f70887d0b5059b2c6065286a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r4sRmIN3gRN6b5UTkhfiCD5d",
  "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]: [-0.3084, 1.5192, 0.5369, 0.3069, -0.2928, -0.1989, 0.9983, -0.268, 0.8265, 0.5728, -0.4572, -0.5159, -0.3958, 0.9979]\nstate[eef_state]: left_x=0.3778 left_y=-0.0631 left_z=0.0558 left_yaw=0.0451 left_pitch=-0.0792 left_roll=0.0189 left_gripper=0.9983 right_x=0.2776 right_y=0.0179 right_z=0.1569 right_yaw=0.3619 right_pitch=-0.034 right_roll=0.0183 right_gripper=0.9979\nstate[joint_eff]: [-1.5111, -7.3778, 5.9419, 2.0342, 0.1734, 0.3346, -0.0171, 0.3487, -1.9077, 7.2137, 1.8681, -0.0415, 0.1441, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1999198965a44c80f0396bf970d8f9518c4c800458d0d8716cde5927cccebcc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b4d28fdb099367df8a50f1eafa5d4dbc91cc7db7412779f982e51de2c14e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548793ffee9e5d90b0eb1c10a8e3f5c1ed3b405f58069f8df037cf3835600ef6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.081 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6121, -0.387, -0.0189, -0.0071, 0.9983, 0.6437, 1.6341, 0.2646, 0.9207, 0.2153, 0.1062, 0.9947]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1816 left_yaw=-0.0002 left_pitch=-0.0084 left_roll=0.0005 left_gripper=0.9983 right_x=0.3111 right_y=0.1907 right_z=0.0423 right_yaw=0.394 right_pitch=0.1319 right_roll=0.0184 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7299, 6.3658, 1.8437, -0.0122, -0.0757, -0.0122, 0.3624, -2.3316, 1.7299, 0.7057, 0.0562, 0.2418, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.3842, 0.6403, 0.0605, -0.3622, -0.2455, 0.9983, -0.2554, 0.831, 0.5919, -0.4408, -0.4816, -0.3782, 0.997]\nstate[eef_state]: left_x=0.3657 left_y=-0.1042 left_z=0.1013 left_yaw=-0.0169 left_pitch=-0.0692 left_roll=0.0249 left_gripper=0.9983 right_x=0.2834 right_y=0.0143 right_z=0.1649 right_yaw=0.3377 right_pitch=-0.0214 right_roll=-0.0029 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -5.6, 8.8684, 1.8828, -0.3297, -0.1148, -0.0122, 0.3487, -1.0735, 9.7436, 1.4921, -0.5299, 0.0024, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 1.5192, 0.5369, 0.3069, -0.2928, -0.1989, 0.9983, -0.268, 0.8265, 0.5728, -0.4572, -0.5159, -0.3958, 0.9979]\nstate[eef_state]: left_x=0.3778 left_y=-0.0631 left_z=0.0558 left_yaw=0.0451 left_pitch=-0.0792 left_roll=0.0189 left_gripper=0.9983 right_x=0.2776 right_y=0.0179 right_z=0.1569 right_yaw=0.3619 right_pitch=-0.034 right_roll=0.0183 right_gripper=0.9979\nstate[joint_eff]: [-1.5111, -7.3778, 5.9419, 2.0342, 0.1734, 0.3346, -0.0171, 0.3487, -1.9077, 7.2137, 1.8681, -0.0415, 0.1441, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1999198965a44c80f0396bf970d8f9518c4c800458d0d8716cde5927cccebcc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b4d28fdb099367df8a50f1eafa5d4dbc91cc7db7412779f982e51de2c14e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548793ffee9e5d90b0eb1c10a8e3f5c1ed3b405f58069f8df037cf3835600ef6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDdFyedllemjYuUU9Dvyk478y2g9KpmK9Z_NHsQ9_kv7xhoIBUbsqubTzvQHTbLArZBnuUCX40QmF7C-zTgfI5UCDprCHh5e226HFQUj5DyefP2n29Tt8OKO-jYYcF8jqHkdpJR-xZN1z_XXI09yZXKnYNS46lKxwdpXhO16uqYHA4FSpcqamvtqZojBbf3s0IPVFrIIILW57uD7veNDYoYYPSnUx0E8ydmvuFCgcxNh-WG8Te4WGoV2IjaGG77BCEK_v2d4-bp0c8ogdZ9wiRMy2M60JC9gyFlG826EgKTsnaGB1qVMrfnuzALUs65E2R4YP8DJL2KUraOEdEolcI05RCy4AbiYfj8fYWdMu7Kjyf3GBZMnWWCLg4yf9fSMJb6ERYwIiOSMqly-qjabp8haEep4KzH6GnQ4zhUfF5IZ-mmprJk5JDl0QrZ75CEZVU0ZTr6uSvyQVKM7XdeXW6_RbKKlbJmb7wC8ULSKSGdFT08OBcME8NVq_aeEJuKg7mZgnLpf3TbM6D7pOb1y3xJPGhus-jQedad_mhjHrI5Ddykdl6t6N2rNMIsnJrP7jHjQ4xF6kvYaMjFUflVOB-eWzHjeqmi1MQashmHDLAJcSwNlkqKmemWPHFDcxzenIU1DKEf75BhF2HztbOPsWMuL2JDhOckzGxjkXJp1IBpDd6wfn90PJVWUi9_2QOsoSLOG39Ey6kWoce9l-VEBVqDscoVZPzZ_dipxLY1OJeZwS3yoXjqsCbt_dPOiVkyDHykY6IiRlbrpP-mRxZ5PWl2IKGC3x0K2Bo97u4fq7ecC5pGgM4Si2LrcXoNBSYdlPZ6dkHGQTsrIZs6i4wmDLRa--QW6cX2oOByNI7EjsJCDDi3QWnQENL-XltNiCk5LSynXn30hUahbkHRJuSIqH8zf-elYVwyNZfk7DcTEaNP4lKabWOfGdYrifHqT3Zc4n_wryVlNRCWaZ76sa1LaaFHHPjApdxW47Ctr_dfw3MDsZvzEFgqPEanIOcfNfGsf5tAFYTeQ0KiHrKQ6FkzER1IGbdCR_2M6pUCCKRk-8IKbhOKQo0Uq8DEenhOjMB4vC0oq3c4OS8iU6vHfvPAqoTlDJ6jHnsqq0VoZwjh7RdAPwKf0P3tGrpKwoQY1pesWtkTRkV7mLqQryaaOqnbAp-rCebdy-ifFCU3c2ZQvlSuKa1jCm0mqvXsjqvhhsEhV7HnfOAI51if5C0xw3aBHJDHiGVJi2j29eteADxLf9ilQIJv5p01kYO272uJQkpY-5Vw0rgElqf7o5_nhzgO0yyD50oEcqDJoamx4k9zTVYZO3lJElzNgIH1VvToGzFSoDXu8Q4coE6BEkp70Alqrzgav_kiAtIamcCnDJnN6ciLyf1czAYOw6WOMesOJgBXlAvYSloZdwHyOLIfQMOfrwQIrlCpkR8wAEETio3QBP9jESU1IuttO-e-MWHGt0KqiY4L76tHKurSsog9Fvxn50HaNoARRXn002BTdlE4Ze7I0AtCfTHjrnYioGqpwS7LYRWhQX4EcNRRkTKb7Aapmpp6XFvO-8IKbIlCZH3LUV22ND--7pfhE_o3pzelBYcHh2tOp0cl6U2GBqfdkn-62rhdd-A==",
  "id": "rs_04866ec2a1d3bbef016ab43743e49087d0866a00a60e3b4140",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.03,\"left_z\":0.027},\"note\":\"The left gripper is close to the cap, but the cap is still just forward-left of the fingertips. I’m making a small forward-left low adjustment to position the narrow neck between the jaws.\"}",
  "call_id": "call_8M82eeu6bTgUlPpxjzTLgLFB",
  "id": "fc_04866ec2a1d3bbef016ab43744a34487d08083707515a6f481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8M82eeu6bTgUlPpxjzTLgLFB",
  "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]: [-0.2573, 1.6054, 0.4728, 0.4984, -0.2516, -0.1757, 0.9983, -0.2695, 0.8089, 0.5392, -0.4366, -0.5026, -0.395, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0512 left_z=0.0367 left_yaw=0.0487 left_pitch=-0.0485 left_roll=0.0007 left_gripper=0.9983 right_x=0.2753 right_y=0.016 right_z=0.1498 right_yaw=0.3495 right_pitch=-0.0354 right_roll=0.0092 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -6.2701, 5.3949, 2.2295, -0.1441, 0.0806, -0.0171, -0.5402, -2.0444, 6.9265, 1.7753, -0.4322, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62aa225873017220847a1a4efe042807e86abd97ef0da6e137b1517bcc2b606c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6529f06b6d1f6b715dd27c5cb434d14d57d13e69e3426430cf21dfca8fb8a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ebfd9cc372905dd6963a4061329fd3bcb20fcce1f213864f6112b14f3c70f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.64 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6102, -0.3866, -0.0185, -0.0071, 0.9983, 0.6395, 1.5219, 0.3626, 0.5991, 0.2062, 0.1036, 0.0145]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1808 left_yaw=-0.0005 left_pitch=-0.0099 left_roll=0.0003 left_gripper=0.9983 right_x=0.3132 right_y=0.1923 right_z=0.0462 right_yaw=0.4011 right_pitch=0.0227 right_roll=-0.0067 right_gripper=0.0145\nstate[joint_eff]: [-0.1299, -1.7573, 6.5026, 1.8095, -0.0171, -0.0659, -0.0122, -0.1026, -5.4632, 5.2034, 1.4969, 0.0366, 0.105, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 1.5192, 0.5369, 0.3069, -0.2928, -0.1989, 0.9983, -0.268, 0.8265, 0.5728, -0.4572, -0.5159, -0.3958, 0.9979]\nstate[eef_state]: left_x=0.3778 left_y=-0.0631 left_z=0.0558 left_yaw=0.0451 left_pitch=-0.0792 left_roll=0.0189 left_gripper=0.9983 right_x=0.2776 right_y=0.0179 right_z=0.1569 right_yaw=0.3619 right_pitch=-0.034 right_roll=0.0183 right_gripper=0.9979\nstate[joint_eff]: [-1.5111, -7.3778, 5.9419, 2.0342, 0.1734, 0.3346, -0.0171, 0.3487, -1.9077, 7.2137, 1.8681, -0.0415, 0.1441, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2573, 1.6054, 0.4728, 0.4984, -0.2516, -0.1757, 0.9983, -0.2695, 0.8089, 0.5392, -0.4366, -0.5026, -0.395, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0512 left_z=0.0367 left_yaw=0.0487 left_pitch=-0.0485 left_roll=0.0007 left_gripper=0.9983 right_x=0.2753 right_y=0.016 right_z=0.1498 right_yaw=0.3495 right_pitch=-0.0354 right_roll=0.0092 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -6.2701, 5.3949, 2.2295, -0.1441, 0.0806, -0.0171, -0.5402, -2.0444, 6.9265, 1.7753, -0.4322, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62aa225873017220847a1a4efe042807e86abd97ef0da6e137b1517bcc2b606c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6529f06b6d1f6b715dd27c5cb434d14d57d13e69e3426430cf21dfca8fb8a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ebfd9cc372905dd6963a4061329fd3bcb20fcce1f213864f6112b14f3c70f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDdKqBlARq68Xnu3TnkyOw6ihOm76sQoEmaOAeV2dqkt6lR01K7QVBUlcSR7CWLTvKmRzJvB0ChpNrWPal8Xv3pSHk_T3zUg6KI3suR1ze85f_VN44PKd3GXvoIrSfsy-PR70UYwj9fgff-o8z8Mjk788Fjonk5fE-6dqTNt-jO4ihcYkaddcfSGpqRMxYSG8JnqhuWaDOhplcAOOggJq_i2wLxAA4foFhKQlE9zLNKp2R-SH2E-wi9-eDsnze4FK6Ni0ITII_W3dJkim2zj1I_wL3dexwvITcQ86S7v2VCQE7J-c9nfwK4wHXwxLTVxToi7ts9AN4B-X1clj0rV2TxKnf1vFieHkNL-EqENGRvZNUSO83SpBMpoGKz9g9hWkGnyYwpjsTQfGtAgZAEQSGK96rP9E50zo5I4DDKJ35J7vBliM9wC-mnVX8foA27qGfyGkJnnQiRyUdruWQyljWxKMyATRu6A-pxYy1O7jqkUYiY12lpZLvnS1r1qBZUSQHqIsjdyj95MaW_Lmfy_6dzOHaiXZBEUN1bQ5tWq2pKtS7d_B-8KFDJVxm37NzALq5LpykisOsp0uIsSCnSvwbGqizNebjxAdEJpNG5mT5VMYehy3Pbvfk5VTi4Fxjkrv-gpVcuUfn2EYeyZw5kZcV0Z9CdeMjD4Tqvvo0oPHh9nP9n-V4hstbEEbsQuFFsZr0iafuto8raSUe7oeymVyDTzgdZht3idwKUd7UVBpdKsp8vNUI40rTaUwfipczy8sFeJeLo7w0NJ0VXwZHc2spxI6JyxjZYAawEzCLozLLwvQLP9bF8rCSvJdQux0YSHYMtAMs-Pvh7g7qqk9aOGN2GEpEm4hFJak8vLW_aMo1z9mosyyl0GD6QMS8ZVEJK4I23pQ_3UcA-15FrwOBl0hoYOhJEbMv1HbmU9Vfox5ODvene3pD24iB6dTjI0bQl0RDPRla3VWfLYhGCGJD-pbMx86wngRbm3uCXVUwDm0GXTJkcKyKEj5Zw3hOq9NE58nIdie1VyLAOSdAY0U7ShdX1f6bK_SnF60PhmXAHDubdfvlVjdoL9F40LhCPELbElAQKY2xcLUI-_D0Aor8YwKVzhu-omVRtb5nyQvwIrg4clvNYF5-tvgtSbLpLWViqYNieIuUXuLC3dNi53h6v7l1D18oiaTxgbGPXMRdB8X5JzFxd4QVCp80CQabwCp30l1676xr8StUsw8dtqC5B-OfbpGeUi86MGUlg92pVICyqJ84oVWPMg8AiIXCk3TWYv46pPGJMG6j4VVLTNCwrebM3b7Oil_5Fffnx4o1PsLE7i0QEpqZ9lJOUOm4EVxafcpktgKDZOw3rWvxpcZQ8bchKN0U8yM0Y8MMm8QUMaNvd6dZsFG5Z9_GClYOytwbyOxwrtqAGqY6m9_zdA6ueFRF8eUCeiFVWviRuCtEnDYIWB1zZ2mRKEOgGbKC6zO6b6IA45-3CbP9k82Z6SuI3KNVXC1rvT1odKQcouEbLx8yUgibuno6mXEtmjd0X4GkL-znqZ8GrWP1376kkc1TxpFoe4jkkF-rXHOd54F1s2ZxuaakMxGJVQVJOD-9dAEea6BwtjxLm7nZlEjBM0hdWAWA1BbOLZ8GvOMDfb7XNnXayfcXdy1HYnuHV9DKDTyE56ls7aSHgY8aQ-FO08uPbsDZeKu8zVCdhA-84g0dAmw_SUTbWgxVGZcZcI4gFT6q9x0hBpYkKXk4dYrAFKKzgkgh7wEgfSRYe02ZIVX3OxVhZTh4JAcCmPjttl1GWFxKUKhJBZCcGqh_Y2U3WLsjW808GlmXxLjgWAkDh6swEkl8osPsui8cBsoja0mfEjYR1X3cqemMiSM2DDhvwGsMTAV-_dt51zTjnAZsxFGMlfIJOZjUL6GkZOHAXvbQQolxmuGMu56YlvcU6RyNFm2xFo-so8OIRIuYOXFt6HAEcFSFNVUhy_NX17S_kY8ZU2HX3jC8mdgcNydWp8xkcCgE90sM3IFQHDuvazNpL-tT0-NyhhGp9R7tCTqHzmAb5CACBLA81_MKHD0ZeM8XMDHG9vhKYCUX76773I-3nV9Z1cFSuKDfeZ9hO6W1OzpE2TXcZc36yxlxHDoxMpH2u9YuQ3M2bxRRvpSQjxMJ5OW2-sudVhDNYs7gps59wPDZTBA0tZuVUOTq3XV8gebxNotXU6NSlJWmCd58XgajsnlEqtuaOu8s3aZRS_5QdwHFaKnqhR5HZ82sNIsB0kTzlYAMSbBBFTiNPls1pA61LWryik-bIgSgBk5ehv7OIx4p9w8PUkgdK4ruA8JP20-axysfNaYNFfpp7-P64rBdVGR6KwsxGc6Kri8F8KSp0xrKwRmQhVeeHboBSbGMj3wkh_UMGoIbpnqL5q5TnBywN611KxJSh-abgZ5rxsRfx1ozbQqufx_JpBuB9C3p81VjkXv6hWLuQLiBecGto6Ht7T0hp9x3pD9gs-I8ioJdXpoJXpOe1ieBn1EgfuJ8XZp1oGahYx0cj34zzW5qqch8Xl9WKixdKXN3qHDEQnLpA53luuKu46SKPkAoglfvOlp9R3wvuV4AwFCsW0uEslb8IQgqmwY8YDMyd_vpZnhXtX_JLsKQzycg8HvjPpE_WExUaH3AMZGYvAUcE3tqCj31I4Nwi2SNEhrAzfW9AWszJ7LX-I0FZ4i-34Ls3kFQXwzLnp_mlx_zwwb8tRsLMRKvZ8KGlZa_wND2iliUfkpudmKJXgodWXgVAF3wQhAEFmVMYIlXG9ciob9v9DEYkAnR24vcGGKpbZKsolojpmgt6JaAe2ldMVopDH6aupALXUCrgwpehXucnd23aUPSUtpAeDgnVLri7vTywuD7_95UzyPZ3-7SU4chi4gn4WNmzAd-rSpl_McvxB0M_FiMb0Lwp7LOQ6GJlWFq6wIEdTqNfzFAs6DVql3DkYr9YxLY5mRVeE0hW9tGnqqaAlp7UfBzJ47-EngkFIeSsW1jem9yjJjgx7N7zHtuM46tlB1sEM3IXv3hUyOuiP1SCfmKONPLi_rtjGsCQtmDg=",
  "id": "rs_04866ec2a1d3bbef016ab43746999887d08132fb9d8d2eff3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.065,\"left_z\":0.13},\"note\":\"The attempted low adjustment nudged the left bottle toward the base rather than capturing its neck. I’m lifting and retreating to re-approach its newly closer cap from above instead of pushing it along the tabletop.\"}",
  "call_id": "call_tRNSObQCeqxzMC0PsAEACYba",
  "id": "fc_04866ec2a1d3bbef016ab43749cfe087d08d1a2f6ee42ea92e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tRNSObQCeqxzMC0PsAEACYba",
  "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]: [-0.2554, 1.6085, 0.4679, 0.527, -0.2543, -0.1764, 0.9983, -0.2764, 0.7933, 0.5049, -0.4187, -0.5018, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3835 left_y=-0.0505 left_z=0.0395 left_yaw=0.053 left_pitch=-0.0284 left_roll=-0.0047 left_gripper=0.9983 right_x=0.2723 right_y=0.0148 right_z=0.142 right_yaw=0.3435 right_pitch=-0.0363 right_roll=0.007 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -6.4889, 5.2991, 1.9023, -0.1929, 0.0562, -0.0122, -0.4444, -1.5385, 7.0222, 1.8584, -0.3834, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e73be10c280e7df6469663fa9e81dc51ede657bf8913a7c797be0a18fdc6ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1322d127a3aed40fe4804bfa51ffd3bde4ee169bbe2ad68a846ab01ebf015b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155761a6da994a5f9abee85b61bed00336d9eff4b942749d2be679d7b9e0ea76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.709 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.3842, 0.6403, 0.0605, -0.3622, -0.2455, 0.9983, -0.2554, 0.831, 0.5919, -0.4408, -0.4816, -0.3782, 0.997]\nstate[eef_state]: left_x=0.3657 left_y=-0.1042 left_z=0.1013 left_yaw=-0.0169 left_pitch=-0.0692 left_roll=0.0249 left_gripper=0.9983 right_x=0.2834 right_y=0.0143 right_z=0.1649 right_yaw=0.3377 right_pitch=-0.0214 right_roll=-0.0029 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -5.6, 8.8684, 1.8828, -0.3297, -0.1148, -0.0122, 0.3487, -1.0735, 9.7436, 1.4921, -0.5299, 0.0024, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2573, 1.6054, 0.4728, 0.4984, -0.2516, -0.1757, 0.9983, -0.2695, 0.8089, 0.5392, -0.4366, -0.5026, -0.395, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0512 left_z=0.0367 left_yaw=0.0487 left_pitch=-0.0485 left_roll=0.0007 left_gripper=0.9983 right_x=0.2753 right_y=0.016 right_z=0.1498 right_yaw=0.3495 right_pitch=-0.0354 right_roll=0.0092 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -6.2701, 5.3949, 2.2295, -0.1441, 0.0806, -0.0171, -0.5402, -2.0444, 6.9265, 1.7753, -0.4322, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.6085, 0.4679, 0.527, -0.2543, -0.1764, 0.9983, -0.2764, 0.7933, 0.5049, -0.4187, -0.5018, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3835 left_y=-0.0505 left_z=0.0395 left_yaw=0.053 left_pitch=-0.0284 left_roll=-0.0047 left_gripper=0.9983 right_x=0.2723 right_y=0.0148 right_z=0.142 right_yaw=0.3435 right_pitch=-0.0363 right_roll=0.007 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -6.4889, 5.2991, 1.9023, -0.1929, 0.0562, -0.0122, -0.4444, -1.5385, 7.0222, 1.8584, -0.3834, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e73be10c280e7df6469663fa9e81dc51ede657bf8913a7c797be0a18fdc6ba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1322d127a3aed40fe4804bfa51ffd3bde4ee169bbe2ad68a846ab01ebf015b85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155761a6da994a5f9abee85b61bed00336d9eff4b942749d2be679d7b9e0ea76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDdPxQocxakCEz_oSJMWc2rm95HdhCd95cOOnq-O0k43E3jM35DJjChM7E1uIbH5aKTD3qT-3QXwuNBFRVw-gCspnDqLI2gF7bCMuVdFcI3Hz8h72Urhkzyfy5cFrG-SJtlBdOUUgOWDlf5kjgdqaGH0jzDkDb5MHIaiLAlKkYQK6a9mLI_6Jq1Cdjuayv3xiVisDJHgYJbvRbpXnsVUBPrUpwS2lAVie8XGhuiiJJvZIY73yzC4939FWi5dQaU0-eOfedYQbxPx18pF1pnnu9BApFN5VR4nhcR6C08zBx4-TEZLUSZSd7s4OYT532ezoRWHedGMxBGtnA2vTB70pOJUiMIVbSzRF6GTuzS-Fgml7pKuUqYdu_RH71k2bHU1aME09IORdQLl5SMlIwIz9TL9suT3BHtXq3TS3Op9mTVmyvI-vHUwJGcvp5yWIbRMZhgoVvij6OpD7_t0r9u5uqlDaWTYXSgq8JiSHBB-DR5UxEehSFsCm6w7crZAcc3531ziOUdht6eElYRPDZ_lpr-l8CyKs4RzzBdxKMQAENqvm3qIpnr005g7ojZ_3xjw86slYBqWvI8nLxjXObtBIjPdzhKI8pxuY__wwkcRJiHef6ki4hNSXdSEnG6e-Ga9RbSyTkPrmZyM7VVMgDCcH6dIRI9-ZjrcHoT5MZNuhay-L4wB8TSlg8LxPcCJ_xidOatX8-PVsYw8FfNxWnyQWero1ZBqekz_lPcQ42C0wYhkcVxVKcSdyqZh1Jw0zksDDuE5qGZcH76fv6H22XfMWHU9hl41NZWzE-VvcYODGLsuqcfECJP7KUUiZE_PLCUX-ELYteoV1FhBhm_5sqkaB76KfnAAN7tRFZxA22MNYLRiWAV3OIevi6_QuC_76-wSjS3QpasqK2zyfIVMlz7uX3ujVK1waf7olrNdhopCW0DngzdqUSkNEIetbPgZDc3Hsj0xz0ova0b0Ww6__nSgWC6AHi1p7khuKrgr2fzCU6zTz4cYPBmORj1JJW8jEWGppQNHZqgmma8N53AtrXX-ZrjTiIZBKwuDRtFttY2dWoojHslLlJ0ZM71abpsFRFdPUZydpEUjVDlaqKTnwHIIpf1kSoY3my8RP4y_74yjU7zx6421Hm7yY9OcTVHhMg-BS6rcvsF65U-Zs3K_aWBDas3lrqHPOgmRaXUjbl4hvg6lSede6p0Fcbq699Bkl8XFRRVTxcX7aRmKbQZiI-4WBzQVPy5v4jQ2g3gAk4lpq6fMuUpCTKQrAfUXQEGBjG5-MU3QjPDDuzaIE-ZxPfbl1GRZfu3FKmq_ZmzMj6mBhfeIo_MYt6Je2i0AyUWMkHQXGD3W3LrQ5YQiyUO6UTzjnZVLepkn98FpOdJ8AP6snXGh5v9R67J4jONxV_cmW3TCC4WfqoPn65hbkvUWJj_r09N99EcIWdSHSlWXAXIhVsVMvsqv0JjoAsr5COtEZ6kID3tHIlPLl64divJuyFlvKsOqargggphq794_AxfeDlqj4Bw=",
  "id": "rs_04866ec2a1d3bbef016ab4374d2b1087d09dfe5635ce00914d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.05,\"left_z\":0.175},\"note\":\"The left arm held its low pose instead of following the retreat, so I’m raising it vertically first to clear the bottle and surrounding hardware.\"}",
  "call_id": "call_bm6wPiRPAWK1JxaxgX2jKQ7i",
  "id": "fc_04866ec2a1d3bbef016ab4374e19a887d09341a812fd700369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bm6wPiRPAWK1JxaxgX2jKQ7i",
  "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]: [-0.2619, 1.2629, 0.7334, -0.0605, -0.2768, -0.1864, 0.9983, -0.2882, 0.7719, 0.4698, -0.3954, -0.5022, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3817 left_y=-0.0486 left_z=0.1583 left_yaw=0.0705 left_pitch=-0.0019 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2697 right_y=0.0125 right_z=0.1362 right_yaw=0.3318 right_pitch=-0.0284 right_roll=0.0017 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -6.106, 9.3197, 1.6142, -0.0269, 0.1099, -0.0171, -0.3077, -1.1145, 7.0906, 1.7558, -0.3736, -0.0024, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae42f3e345a2529626a9d7b4b482811f686d459e277056badb22d789f9992cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c30fdc640a00acc157a650409233e54c072c921af93a12f153dc440f04a5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b45b238cf31f0f854625d9e12329cd178eef74df497c7b52a6e0faab76b733",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.18 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 1.5192, 0.5369, 0.3069, -0.2928, -0.1989, 0.9983, -0.268, 0.8265, 0.5728, -0.4572, -0.5159, -0.3958, 0.9979]\nstate[eef_state]: left_x=0.3778 left_y=-0.0631 left_z=0.0558 left_yaw=0.0451 left_pitch=-0.0792 left_roll=0.0189 left_gripper=0.9983 right_x=0.2776 right_y=0.0179 right_z=0.1569 right_yaw=0.3619 right_pitch=-0.034 right_roll=0.0183 right_gripper=0.9979\nstate[joint_eff]: [-1.5111, -7.3778, 5.9419, 2.0342, 0.1734, 0.3346, -0.0171, 0.3487, -1.9077, 7.2137, 1.8681, -0.0415, 0.1441, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.6085, 0.4679, 0.527, -0.2543, -0.1764, 0.9983, -0.2764, 0.7933, 0.5049, -0.4187, -0.5018, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3835 left_y=-0.0505 left_z=0.0395 left_yaw=0.053 left_pitch=-0.0284 left_roll=-0.0047 left_gripper=0.9983 right_x=0.2723 right_y=0.0148 right_z=0.142 right_yaw=0.3435 right_pitch=-0.0363 right_roll=0.007 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -6.4889, 5.2991, 1.9023, -0.1929, 0.0562, -0.0122, -0.4444, -1.5385, 7.0222, 1.8584, -0.3834, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2619, 1.2629, 0.7334, -0.0605, -0.2768, -0.1864, 0.9983, -0.2882, 0.7719, 0.4698, -0.3954, -0.5022, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3817 left_y=-0.0486 left_z=0.1583 left_yaw=0.0705 left_pitch=-0.0019 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2697 right_y=0.0125 right_z=0.1362 right_yaw=0.3318 right_pitch=-0.0284 right_roll=0.0017 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -6.106, 9.3197, 1.6142, -0.0269, 0.1099, -0.0171, -0.3077, -1.1145, 7.0906, 1.7558, -0.3736, -0.0024, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae42f3e345a2529626a9d7b4b482811f686d459e277056badb22d789f9992cd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c30fdc640a00acc157a650409233e54c072c921af93a12f153dc440f04a5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b45b238cf31f0f854625d9e12329cd178eef74df497c7b52a6e0faab76b733",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDdUDVUpYd4Kr_0ZCJ7NawH539ZbpTZ-duQ4-YN6QuAAmDFDEXbQi2E-CRloMFIOX-jh1FyeYZaClhtDkrw8aRf7Qcef-uDDLSEZ8GWWEvfj8K-K4h-_W77aLvvWECkp6J0qvOFEiW30k_AcKNrAxa4Sz7k7nfNwj5ZVoOmdfNfWAzwgyvbyOwFJoepBtNBcpEUO8Roi3ZIvu1YMltKg2qWNR8HhHUyJv23qr3CRi5PXCEzL3zHBoVPUSYg2EARcKQ7ko6uTHqv3Y4FUL1H4Gs4ubwBNudc05ziZiXv5VKapXEux06iXiMJ6GrEpsf5D49xRXtnlFw0PGypQwDtsU4TssYv_-SfnGHjuTV9aJ-9GLjnrxiR1_ogPs3t7RvKAK3Dp6-U0sT8J32UfUdEkjwKmNXCmd45FkGbUPYUAb88b6bk6JN65KHWFcfa8uACuPbKGq0i8uPoDWd-wc6w6gPyc-rVFRRRStdlCfWP3D8HFV5IiL3KD2RjUNFVzTFuhI291ePKQooqZvR7rFVLFCKZxkcaP3dHjXeuMlS7ThLL4SuKQUtifi9Yt2yWNfeytVjJhAkd5kOMBqB4DRnVMMjRT_U8N8Q7vGv5LblGbGkmrHpRM-x1ihYVGbfnfmunZiME2u3jB3MC5SVfY1NuBpC_w7XnNIK4g8_8m1gNaID2EgAbebLWR4UQD1VFDXnBBqAZ4hhkg9s_6OiZAJEzkl1I1cD82Udx6sU883hSxq1Jq6utoeCvTz2Suu2pYwUt9hnBnYuJgbbRQ27XA31RxqfpYFrun9Y5KeyPudcfwsVxFyMgBTAC1E6N3065UNgvtXmdU1ffq8cdxrEi7G6FHT-ixtqyjMbmdWxJzyv_BZ3nwTnLDCYkJHNdlT8knZDo5UuEHEY59d_AZk8Jy137J7FtYVYEz5rtsKro6RXWLkYMXL2B-U2AlI5gIHT6p8LwTWJBfaz2rS632byajHc-hZA854D9YcCG6QOJYKF5pyJAARu-GF-Kd9G834O_a80F9zmXrUvOB05M_4v6aXQtwDAOC6WW0zMV4tIuptfdV32aaupRiNn7DzY4oolOu7gETEhMbV5b2rFoqB6865-Bjtop9LnGMTEJ79PtxMcIX6QUTuK0aAVluxXpcEeyw1AdGQZFhdl3mTQSqRQ9kHedZiSx_OC_dvSWUgs_riDU53mpYgCZv9sBUbgCxbk2ljIXvnJv3V7SNr-NjWNCmMAMlmoRyRrfdhl_fp4btnQCgw018F9d01IyYsyBk1R1OaH6BzXd4ahD432zR2iIOy_Nww9ci9zS-iQigVz9uxIg0_PKBlFeEV-sNye3j4ZwRomIZOfwRXhgcuKIIQT07Nq4qnMDx-WzM9qI4oGPIMkKg8DB0lFV1_LYVD_oz26F3r693e4Jqxqd4DhqLYtMaN21IzP0Mpca7A0hKeTMTdJbVvWC1BxKPbyUJ_JoZJvRpMmgyKDk3lnC6lcGDTAHq9AEPYPLTr8l8atyLS8Dbp4A9_cwyWeQANMxh9kEX0yRWBH7UImciSw5xPZ3pWzksw6sD39VoBjw3A7B7SPXZKqqHNVByYUGNqHmNlqnG4I-a1Hdp-WpSb-fuMOa4sEPn5RJon1fGa3ZpQrcbUaSrJElKfjLEJECfwdiFvCmmo8M5OSptQNZqXfHol4BikvfDtVpcX0Ow9w6SmsNDdD_Vb1_i_1ImcQ4TBeyuWTpU-Aja-ggRxmcjYKDj6qwAIvTrmUKZ_xXuZcyBKBjJmiFLiJy_BNSuR7LB7KeshP3IpOaHkbvmN-Rp51LRmRob3mTvMzFlFQpIf2bft2wk2SAYiVzUJ26W2nhhWWzpINgNs20wbir7mopOKb7gqyKX62XlrvwcP26OH7BVgOkW3sgWF4w_Rupib8QnYydq7hm063jK93AqtWVX6hNKUsF_W68ly4PzC8sl3IH_Wsxn75V9HF0CmIS3wF1MxWjElB0IslyKGf5gwZDwh3uTdU8OggT10IW2m64F-aUimdcu_tSd3Sreemh5cBPgmAgfI4tJIG9aI5xfh5O5_3L4kGReucu9RfQHYfDNcSMxfHgMfhymknmKylljEdPBrg_UxFvMZ9Q0nsaSi7jMRn4bHLSTaXEWwU_S6vtM4IJXOZMaMcNDS7hGVhGYkxOnkvg2Qc_UO0UVbfZtGc2STOPt5juv5SZbEm9LJHuzKw-H0kMEIy_hDzmTal8YViGT3ITQxhBN27m_jE88s56dlTgO57pOE_S5jWhUcg9E4VfKzCl_-NOrlNRSbeF9HtCUadMBpMQAYogRTsBlkZ53_UaqEPPo1p71X6Snv7bQvrRZz1Wv7QewraX4YO7QHefERh2jI7vkE9tO550K8tKHtRyQUCFvCP6zgCtKQTKVpg==",
  "id": "rs_04866ec2a1d3bbef016ab43751f2ac87d0a3fa0f595491fec6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.08,\"left_z\":0.135},\"note\":\"The left arm has lifted clear. The left bottle now lies closer to the base, with its white cap near the left edge of the overhead image; I’m moving back above that cap to try a direct neck grasp.\"}",
  "call_id": "call_Cg6T3prKQtNPbX7mILvYXlGO",
  "id": "fc_04866ec2a1d3bbef016ab43753ff9487d08ecda353bfc06fef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cg6T3prKQtNPbX7mILvYXlGO",
  "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]: [-0.5926, 0.9478, 0.4999, -0.2062, -0.5049, -0.363, 0.9983, -0.2966, 0.7616, 0.4454, -0.3801, -0.5026, -0.3981, 0.998]\nstate[eef_state]: left_x=0.2913 left_y=-0.0888 left_z=0.1378 left_yaw=0.02 left_pitch=0.0012 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2679 right_y=0.0108 right_z=0.1309 right_yaw=0.3239 right_pitch=-0.0273 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -2.2496, 6.8034, 1.8291, -0.3101, 0.1148, -0.0122, -0.5402, -1.3607, 6.694, 1.746, -0.4322, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9560dd654448315c3baef623b434845b032f3053ad98030efa3f4bb21f8b83cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e620c9b94b89493b5d018ae1a2829537880b320a68232cd34c2ae2089fb1019e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3bd48a8ea4814504c7bd8cb076aa7c4e93376b63a2631531790cf0b151aefc",
      "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 38 attempt 0 · /responses · status 200 · 4.805 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2573, 1.6054, 0.4728, 0.4984, -0.2516, -0.1757, 0.9983, -0.2695, 0.8089, 0.5392, -0.4366, -0.5026, -0.395, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0512 left_z=0.0367 left_yaw=0.0487 left_pitch=-0.0485 left_roll=0.0007 left_gripper=0.9983 right_x=0.2753 right_y=0.016 right_z=0.1498 right_yaw=0.3495 right_pitch=-0.0354 right_roll=0.0092 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -6.2701, 5.3949, 2.2295, -0.1441, 0.0806, -0.0171, -0.5402, -2.0444, 6.9265, 1.7753, -0.4322, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2619, 1.2629, 0.7334, -0.0605, -0.2768, -0.1864, 0.9983, -0.2882, 0.7719, 0.4698, -0.3954, -0.5022, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3817 left_y=-0.0486 left_z=0.1583 left_yaw=0.0705 left_pitch=-0.0019 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2697 right_y=0.0125 right_z=0.1362 right_yaw=0.3318 right_pitch=-0.0284 right_roll=0.0017 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -6.106, 9.3197, 1.6142, -0.0269, 0.1099, -0.0171, -0.3077, -1.1145, 7.0906, 1.7558, -0.3736, -0.0024, -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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5926, 0.9478, 0.4999, -0.2062, -0.5049, -0.363, 0.9983, -0.2966, 0.7616, 0.4454, -0.3801, -0.5026, -0.3981, 0.998]\nstate[eef_state]: left_x=0.2913 left_y=-0.0888 left_z=0.1378 left_yaw=0.02 left_pitch=0.0012 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2679 right_y=0.0108 right_z=0.1309 right_yaw=0.3239 right_pitch=-0.0273 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -2.2496, 6.8034, 1.8291, -0.3101, 0.1148, -0.0122, -0.5402, -1.3607, 6.694, 1.746, -0.4322, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9560dd654448315c3baef623b434845b032f3053ad98030efa3f4bb21f8b83cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e620c9b94b89493b5d018ae1a2829537880b320a68232cd34c2ae2089fb1019e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3bd48a8ea4814504c7bd8cb076aa7c4e93376b63a2631531790cf0b151aefc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDdZhLgfeADolZO4f12FL7VcDdhuSjY7mdKUpPsc9MvJQhKyjRE2Ak3LwtGyHd7IYOKwD_ntwdb8lyWC75rVN0xCtF880G_Ufk5dVnd14ud61-zYqB4vJQ7uGze0y30qcaDJFDvhpd8pylYfoZMvdzjgtICfUraLEM9uEt3HLPwWs7Ig_z1ofZqrj_rw9lXacv66CyRTmjvlYigFjhL2RpCeC3y0NrjyYNk5dzXn2xrjz0CQm3NaFOHnlKPItl982TQorLVsZKyPw2Gn8SvA0_glfwVrt9zluZwQik9IH_rkxi3yJUhtUk5rdHDXz9JeVqJk-xegU4AGi1IBhv1RxkoDgEarFqgZ1gZ0AdZaf8BhIgYL2PUYJXi7HO9tC4yZTKZzu_2BapNA4sZE1_i1rNwsf6x436PwqAIoeA58qvMENT5AYxFV6ChryHlSIZ4ICrYG0cqB4dx2h-nYyFjA1vXhj7-l2kEnKY8yP2znk8MxgSdpPUyZ70MgOQEwO0M9jhp0ifa9OwSiTPHN6Gm2oLBYXO8hQAdS-Xx2Lfqh7PMA7wIAXM3_Grs2p4uDZA_i9rWMcVZj18X_kSLN2oDzwskDUHYOOti_LRyBfK-7_HYxfTX-GFrIFvCT3iwRTxxNPC-dpRArrpxGvnGh5fN6VSoljidpzxti59XMEeA8C7p9fx2ghaczO-iu8WAqC_gviTyQmcksYQskRncH_bc-pxU3c8M976EBLuFDMTZVuOx-ZTIgvPOu0S5PJlx1rkeE3ErLh-8S38_U1jPJcx5fhWXMN1mehXIYQ7PwRhusQwStlkS2E2VNX467BEMllYgQZS3Dn95oUhWPdBqryUJPrlFbY0hwV-f8n5GeQgQINCCKclxK1KPQ_5VeRXZ7gBg6fZaB2TRFdhAytuX40_RU5D3rBN2Mno50yEAojZCGdyct1hYY9MDN1h-lFoN_38i4FQ5upO9y6HXN6Jes6VHnrth_oxnpmgcQTG8v46gDsRzywRNSue65voNKWXDuHseY10i2L96tXC215y-NdIy-0vrM__sw-BTqYeJilcdPj-9bKLk5u3lDObKW--P6bFn3mpxm1X8kNx539FkDrbhOI5tLZy6ScR8KD4LnLS9pY8SmF5RXrZjsKQ1AHLF79WrxpCPJKigpGdGjcXrZwmzV_TDOT_JBVKNkl_lcCkOcH9KvFXz4GzpD7lk1uEn-4PjOZKnoZv3oOfpEmcfesGypcvc7M_vMBt06S7fSsVM6zQCrYYk3DjI4beD9yVAdCFlGFxxnAGBkJyFstRA6nI7h0XoAZI5u98tngkfV2UM7Ksw4qrQMfjR8iXWzAdYkntH5xF3RblhlmQByCeICf6EZ0dxW9BnAttheQgoeTSdECzbDp_RW3MfA4TAWuESUkPQQXDTl2HUT02NfWgP3Ioph8hbpYTYtAMXcaHAd68yS4O3vPRqOaIJDKlCVawYeqJvwEFdzekoIno4H8tCfFca0K1gLx6C7FebcRTeCxoIAnIyHPcg9z1E19H4KtfM9FIdY1lcTMmDrgQ2TpPv9QXRuLW2hlnNInPOUoaxpIfOuKBA17WEaPwUu0HSScBeruiV94yLm0A1slPX7Qzk1HHJQ-AcjCPiNFLnPJcF6G5Q-ayEMoNKDfPbONmh34xicuiSoP9pSJEntL8forEGDHtDQHGPNPI-8pfJ0WM3NFNdXoU6K39oTzZ1AW_qKQgI0nKNAOZc92SogWALBDF5DlY1FFP6QzhxKgEIK4GPI_Aaf2-hgy6P1zSZs7_lx0pEbNMd1_1dN0R-uosvGWmPyyC7dQYfslC7Gs21RumqXe57wyG99y4AKv5VEPnGQy8L-brZ9BYo3meBIOhqMZCHDzwCSqoj3futqY2hLg_PkSe8_PEG0Gsic6ggpcSjBMJRE_QdNboCyB-_PXcYuwj5txAOlBhm95d3BXcqbNgjXumQo2fd_VD8a1hqLkIg868qYMDM4eEWMTJV5x0q_DG6egYgtYtfAEZ1WAZ7cx3U0KtHz_0AxlkpTk5oGtt2d1wHDBlVWAmVHpIy5hYBmEH2-PTV0SLWyge3otP4FD7VIKn_9Tf7io3CxmRUGs3DvLswxu8QEKe09",
  "id": "rs_04866ec2a1d3bbef016ab437574ad487d0a1c7a6dae8769068",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.13,\"left_z\":0.066},\"note\":\"From above the cap is near the left fingertips, while the wrist view shows it to the right of the jaw column. I’m shifting the left gripper rightward and lowering around the neck, keeping the motion small to avoid another push.\"}",
  "call_id": "call_9lWkHzoJdy1fQexgnX3smn3N",
  "id": "fc_04866ec2a1d3bbef016ab43758bc1487d0914decf8ac39ec4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9lWkHzoJdy1fQexgnX3smn3N",
  "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]: [-0.8555, 1.1687, 0.3408, -0.0147, -0.6678, -0.5301, 0.9983, -0.3035, 0.7513, 0.4213, -0.3729, -0.5022, -0.3977, 0.998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1264 left_z=0.0594 left_yaw=-0.0266 left_pitch=-0.0646 left_roll=0.0586 left_gripper=0.9983 right_x=0.2651 right_y=0.0099 right_z=0.1243 right_yaw=0.3166 right_pitch=-0.0327 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -3.5214, 5.4769, 1.4481, -0.5543, -0.1734, -0.0122, -0.4581, -1.2923, 6.8034, 1.8339, -0.4078, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fd8a5bae3a90ec62ddbe7b6c106b223a1207f1f420a705e1697acb2210ed42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9177293ac08b4e55d002da50a60cb8f10c269dc907ea57018fe0cdb36103150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d2586a1316e943ffeb8b7836ecd43d9ef941a9778fb24a3c32da55f6498dbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 3.265 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.6085, 0.4679, 0.527, -0.2543, -0.1764, 0.9983, -0.2764, 0.7933, 0.5049, -0.4187, -0.5018, -0.3977, 0.998]\nstate[eef_state]: left_x=0.3835 left_y=-0.0505 left_z=0.0395 left_yaw=0.053 left_pitch=-0.0284 left_roll=-0.0047 left_gripper=0.9983 right_x=0.2723 right_y=0.0148 right_z=0.142 right_yaw=0.3435 right_pitch=-0.0363 right_roll=0.007 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -6.4889, 5.2991, 1.9023, -0.1929, 0.0562, -0.0122, -0.4444, -1.5385, 7.0222, 1.8584, -0.3834, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5926, 0.9478, 0.4999, -0.2062, -0.5049, -0.363, 0.9983, -0.2966, 0.7616, 0.4454, -0.3801, -0.5026, -0.3981, 0.998]\nstate[eef_state]: left_x=0.2913 left_y=-0.0888 left_z=0.1378 left_yaw=0.02 left_pitch=0.0012 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2679 right_y=0.0108 right_z=0.1309 right_yaw=0.3239 right_pitch=-0.0273 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -2.2496, 6.8034, 1.8291, -0.3101, 0.1148, -0.0122, -0.5402, -1.3607, 6.694, 1.746, -0.4322, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8555, 1.1687, 0.3408, -0.0147, -0.6678, -0.5301, 0.9983, -0.3035, 0.7513, 0.4213, -0.3729, -0.5022, -0.3977, 0.998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1264 left_z=0.0594 left_yaw=-0.0266 left_pitch=-0.0646 left_roll=0.0586 left_gripper=0.9983 right_x=0.2651 right_y=0.0099 right_z=0.1243 right_yaw=0.3166 right_pitch=-0.0327 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -3.5214, 5.4769, 1.4481, -0.5543, -0.1734, -0.0122, -0.4581, -1.2923, 6.8034, 1.8339, -0.4078, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fd8a5bae3a90ec62ddbe7b6c106b223a1207f1f420a705e1697acb2210ed42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9177293ac08b4e55d002da50a60cb8f10c269dc907ea57018fe0cdb36103150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d2586a1316e943ffeb8b7836ecd43d9ef941a9778fb24a3c32da55f6498dbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_04866ec2a1d3bbef016ab4375b2b5487d084a3168dd001744e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.025,\"left_z\":0.042},\"note\":\"I can now distinguish the bottles in the wrist view: the bottle at the upper right is the middle bottle, while the left bottle’s cap is low at the left edge. I’m moving the gripper left toward the actual cap, which is close to the table’s outer side.\"}",
  "call_id": "call_KFTqyTzvTM2dDs4do05UF3C5",
  "id": "fc_04866ec2a1d3bbef016ab4375deaa487d091494fd015a0dc09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KFTqyTzvTM2dDs4do05UF3C5",
  "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]: [-0.8764, 1.1969, 0.3332, 0.0563, -0.7155, -0.5785, 0.9983, -0.3145, 0.7376, 0.3923, -0.3576, -0.5095, -0.3977, 0.998]\nstate[eef_state]: left_x=0.264 left_y=-0.1303 left_z=0.0637 left_yaw=0.0105 left_pitch=-0.0141 left_roll=0.015 left_gripper=0.9983 right_x=0.2624 right_y=0.009 right_z=0.1183 right_yaw=0.3112 right_pitch=-0.03 right_roll=0.0086 right_gripper=0.998\nstate[joint_eff]: [-0.212, -3.4667, 5.4632, 1.5263, -0.3932, -0.1001, -0.0122, -0.212, -1.4427, 6.7077, 1.8486, -0.3736, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355a2a7b1014849ae5cec418535f07e0b197fcf27856c575b83f973e7211b9d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3dbf1645cbe2a27e77230eb1ee8453a19f2d030c984b3637c86afac309a36d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a5d1c788fe256245b8109d9103d1357a7fa7c62cda30fbafa04d56fe761eb83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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