adhoc - adhoc_5dbb73fd.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 229.8 s
total steps: 322

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteAll three bottles are lying on the table; the rightmost one's neck is toward the far edge. I’ll bring the right gripper above that neck to line up a lifting grasp.

move_to

right_x0.3900right_y0.2300right_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0223, -0.0288, 0.9986, -0.0154, 0.7883, 0.6037, -0.3847, -0.0288, -0.0345, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.3607, 9.6479, 1.7802, -0.0122, 0.105, -0.1538, -0.8547, -1.0051, 10.3043, 1.8095, 0.0464, 0.1343, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.39,"right_y":0.23,"right_z":0.15},"note":"All three bottles are lying on the table; the rightmost one's neck is toward the far edge. I’ll bring the right gripper above that neck to line up a lifting grasp."})

tool

executing move_to over 19 steps (1.9s)

step 19

assistant

agent noteThe right bottle is clearly ahead of the right fingertips, with its neck slightly to their left in the wrist view. I’ll move forward and sideways a little, lowering toward the upper part of the bottle.

move_to

right_x0.4300right_y0.1950right_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6144, -0.387, -0.0227, -0.0292, 0.9984, 0.7395, 1.6276, 1.0172, -0.1585, 0.5556, 0.3939, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.3769 right_y=0.2225 right_z=0.1314 right_yaw=0.0416 right_pitch=-0.0628 right_roll=-0.0512 right_gripper=0.9998 state[joint_eff]: [-0.0205, -1.6615, 6.7624, 1.7998, -0.022, -0.0611, -0.0366, -0.0615, -7.5009, 9.0735, 1.7509, 0.4908, 0.2759, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.195,"right_z":0.10},"note":"The right bottle is clearly ahead of the right fingertips, with its neck slightly to their left in the wrist view. I’ll move forward and sideways a little, lowering toward the upper part of the bottle."})

tool

executing move_to over 5 steps (0.5s)

step 24

assistant

agent noteThe right gripper is now over the bottle’s body, but I need a grip nearer its neck so it will hang with its base down. I’ll advance toward the cap and center the jaws before closing.

move_to

right_x0.4650right_y0.1650right_z0.0650

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.588, 1.7348, 0.9302, 0.0792, 0.4503, 0.297, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4132 right_y=0.1874 right_z=0.0857 right_yaw=0.0255 right_pitch=-0.0708 right_roll=-0.0457 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.4974, 6.3385, 1.8437, -0.0269, -0.0513, -0.0171, -0.8547, -7.4462, 7.4735, 2.0684, 0.1685, -0.0366, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.165,"right_z":0.065},"note":"The right gripper is now over the bottle’s body, but I need a grip nearer its neck so it will hang with its base down. I’ll advance toward the cap and center the jaws before closing."})

tool

executing move_to over 4 steps (0.4s)

step 28

assistant

agent noteThe neck is centered but still ahead of the fingertip line; closing now would catch the body. I’ll extend farther toward the neck at a low, clear height.

move_to

right_x0.4900right_y0.1550right_z0.0650

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4675, 1.8748, 0.9081, 0.2554, 0.3592, 0.2237, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4424 right_y=0.1578 right_z=0.0428 right_yaw=0.0179 right_pitch=-0.0882 right_roll=-0.0448 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.7299, 6.3658, 1.8584, -0.0659, -0.0513, -0.0122, -0.1983, -9.1282, 9.4838, 2.2051, 0.1099, -0.0269, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.155,"right_z":0.065},"note":"The neck is centered but still ahead of the fingertip line; closing now would catch the body. I’ll extend farther toward the neck at a low, clear height."})

tool

executing move_to over 4 steps (0.4s)

step 32

assistant

agent noteThe arm has stopped advancing near the tabletop, with the jaws straddling the bottle’s upper body rather than its out-of-reach neck. I’ll grip the body so I can pull the bottle closer and then regrasp it at the neck.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.4576, 1.8919, 0.9127, 0.2863, 0.3351, 0.2039, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4476 right_y=0.1597 right_z=0.0414 right_yaw=0.0389 right_pitch=-0.0783 right_roll=-0.0387 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.7573, 6.3248, 1.8877, -0.0269, -0.0659, -0.0122, -0.4718, -9.265, 9.0872, 2.0781, 0.1538, 0.0464, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The arm has stopped advancing near the tabletop, with the jaws straddling the bottle’s upper body rather than its out-of-reach neck. I’ll grip the body so I can pull the bottle closer and then regrasp it at the neck."})

tool

executing move_to over 10 steps (1.0s)

step 42

assistant

agent noteThe gripper closed empty; the wrist image suggests it passed above the bottle. I’ll reopen and lower the fingertips to the bottle’s center height before trying the body grip again.

move_to

right_gripper1.0000right_z0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.458, 1.8915, 0.8581, 0.4911, 0.3355, 0.2035, 0.013] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.1647 right_z=0.0607 right_yaw=0.0397 right_pitch=0.0596 right_roll=0.0219 right_gripper=0.013 state[joint_eff]: [-0.0479, -1.7573, 6.3248, 1.8144, -0.0366, -0.0708, -0.0122, -0.1026, -8.2256, 4.2051, 1.3309, 0.0708, -0.0366, 1.1209] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.015},"note":"The gripper closed empty; the wrist image suggests it passed above the bottle. I’ll reopen and lower the fingertips to the bottle’s center height before trying the body grip again."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteThe open jaws are lower and centered over the bottle’s body. I’ll close once more and check whether the jaws actually hold it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4576, 1.9816, 0.8791, 0.5556, 0.3355, 0.1978, 0.9956] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4655 right_y=0.1684 right_z=0.0395 right_yaw=0.0426 right_pitch=0.0555 right_roll=0.0151 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.7436, 6.4068, 1.8095, -0.0171, -0.0122, -0.0122, -0.2393, -6.6667, 4.2462, 1.4383, 0.0171, 0.1783, 0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The open jaws are lower and centered over the bottle’s body. I’ll close once more and check whether the jaws actually hold it."})

tool

executing move_to over 10 steps (1.0s)

step 62

assistant

agent noteThe gripper settled around a roughly four-centimeter thickness, indicating it caught the bottle. I’ll lift its upper body and move slightly inward to see whether the base swings down.

move_to

right_x0.4250right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4583, 1.9659, 0.9119, 0.4896, 0.3275, 0.189, 0.4106] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4679 right_y=0.1715 right_z=0.0455 right_yaw=0.055 right_pitch=0.0379 right_roll=0.0043 right_gripper=0.4106 state[joint_eff]: [-0.212, -1.4291, 6.3248, 1.8291, -0.0464, -0.0659, -0.0122, -0.6085, -9.4974, 6.3932, 1.1697, 0.0708, 0.1099, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.425,"right_z":0.18},"note":"The gripper settled around a roughly four-centimeter thickness, indicating it caught the bottle. I’ll lift its upper body and move slightly inward to see whether the base swings down."})

tool

executing move_to over 9 steps (0.9s)

step 71

assistant

agent noteThe bottle lifted with the jaws but is still nearly horizontal. I’ll bring it farther from the table’s far edge, creating room to put it down and regrasp near its cap.

move_to

right_x0.3450right_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.5125, 1.6012, 1.0344, -0.0834, 0.3389, 0.2081, 0.4096] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.424 right_y=0.1753 right_z=0.1518 right_yaw=0.0895 right_pitch=-0.0383 right_roll=-0.02 right_gripper=0.4096 state[joint_eff]: [-0.1299, -1.3744, 6.612, 1.8632, -0.0269, -0.0855, -0.0122, 0.0615, -9.4974, 9.9487, 1.9512, 0.3883, 0.1832, -0.1197] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.345,"right_z":0.16},"note":"The bottle lifted with the jaws but is still nearly horizontal. I’ll bring it farther from the table’s far edge, creating room to put it down and regrasp near its cap."})

tool

executing move_to over 7 steps (0.7s)

step 78

assistant

agent noteThe overhead view shows the right bottle stayed in its original position, so the body grip slipped during transport. I’ll reopen and approach its far end from above, where reaching forward is easier.

move_to

right_gripper1.0000right_x0.5050right_y0.1600right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6552, 1.351, 0.812, -0.1005, 0.4267, 0.2802, 0.4095] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3507 right_y=0.1818 right_z=0.1577 right_yaw=0.1222 right_pitch=-0.0053 right_roll=-0.0021 right_gripper=0.4095 state[joint_eff]: [-0.0205, -1.2239, 6.3521, 1.8974, -0.0562, -0.0611, -0.0122, 0.1299, -6.2974, 6.5436, 1.663, 0.3346, 0.0904, -0.0269] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.505,"right_y":0.16,"right_z":0.18},"note":"The overhead view shows the right bottle stayed in its original position, so the body grip slipped during transport. I’ll reopen and approach its far end from above, where reaching forward is easier."})

tool

executing move_to over 12 steps (1.2s)

step 90

assistant

agent noteFrom above, the right bottle’s cap is centered ahead of the fingertips and its shoulder lies beneath them. I’ll descend at this farther-forward position to try gripping near the cap rather than the middle.

move_to

right_x0.5050right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3775, 1.7767, 1.2758, -0.1482, 0.1928, 0.0952, 0.997] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4869 right_y=0.1605 right_z=0.1584 right_yaw=0.1362 right_pitch=-0.0657 right_roll=-0.028 right_gripper=0.997 state[joint_eff]: [-0.212, -1.6479, 6.8581, 1.8193, -0.0073, -0.0562, -0.0122, -0.9778, -8.7863, 9.8667, 1.917, 0.0269, 0.1099, -0.1832] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.505,"right_z":0.035},"note":"From above, the right bottle’s cap is centered ahead of the fingertips and its shoulder lies beneath them. I’ll descend at this farther-forward position to try gripping near the cap rather than the middle."})

tool

executing move_to over 8 steps (0.8s)

step 98

assistant

agent noteThe lowered jaws now straddle the right bottle’s shoulder, just behind its cap. I’ll close and then verify the hold with a small lift.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3649, 2.0293, 1.0546, 0.3439, 0.1776, 0.0917, 0.999] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4967 right_y=0.1602 right_z=0.036 right_yaw=0.1385 right_pitch=-0.05 right_roll=-0.0176 right_gripper=0.999 state[joint_eff]: [-0.1162, -1.6752, 6.3658, 1.8388, -0.0171, -0.0366, -0.0122, -0.9368, -9.3607, 5.135, 2.0098, -0.0659, -0.0269, 0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The lowered jaws now straddle the right bottle’s shoulder, just behind its cap. I’ll close and then verify the hold with a small lift."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteThe right close was empty again: the cap remains just beyond where those fingertips can grip it at table height. I’ll park the right arm and switch to the more accessible diagonal bottle on the left.

move_to

right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.3700left_y-0.1600left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.366, 2.0346, 1.0271, 0.5167, 0.1558, 0.0822, 0.013] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5086 right_y=0.1694 right_z=0.0579 right_yaw=0.1625 right_pitch=0.0845 right_roll=0.0154 right_gripper=0.013 state[joint_eff]: [-0.1573, -1.7846, 6.3932, 1.8437, -0.0269, -0.0611, -0.0122, -0.4308, -10.3453, 4.4923, 1.1648, 0.2466, 0.1783, 1.1306] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.37,"left_y":-0.16,"left_z":0.13},"note":"The right close was empty again: the cap remains just beyond where those fingertips can grip it at table height. I’ll park the right arm and switch to the more accessible diagonal bottle on the left."})

tool

executing move_to over 17 steps (1.7s)

step 125

assistant

agent noteThe left bottle’s cap is forward and to the left of the left fingertips in the wrist view. I’ll shift left and forward, following the bottle’s diagonal axis toward its neck.

move_to

left_x0.4100left_y-0.0750left_z0.0750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6357, 1.4387, 0.7357, -0.0265, -0.511, -0.3916, 0.9983, -0.1726, 0.8539, 0.6022, -0.3119, -0.2497, -0.1898, 0.9967] state[eef_state]: left_x=0.3577 left_y=-0.1521 left_z=0.1118 left_yaw=-0.0161 left_pitch=-0.0601 left_roll=0.0285 left_gripper=0.9983 right_x=0.3065 right_y=-0.0055 right_z=0.1794 right_yaw=0.1117 right_pitch=0.0251 right_roll=-0.0156 right_gripper=0.9967 state[joint_eff]: [-0.3214, -5.9145, 9.1829, 1.7509, -0.4567, 0.1441, -0.0171, -0.1573, -1.6615, 8.5128, 1.9023, -0.3541, 0.022, -0.1001] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_y":-0.075,"left_z":0.075},"note":"The left bottle’s cap is forward and to the left of the left fingertips in the wrist view. I’ll shift left and forward, following the bottle’s diagonal axis toward its neck."})

tool

executing move_to over 7 steps (0.7s)

step 132

assistant

agent noteThe left bottle is now close: its cap is just ahead and slightly left of the jaws. I’ll lower and advance a few centimeters so the fingertips surround the narrow shoulder behind the cap.

move_to

left_x0.4350left_y-0.0450left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3061, 1.573, 0.6155, 0.3264, -0.2928, -0.2161, 0.9982, -0.1772, 0.8761, 0.6033, -0.3801, -0.2657, -0.2108, 0.9983] state[eef_state]: left_x=0.4016 left_y=-0.0697 left_z=0.0692 left_yaw=0.0414 left_pitch=-0.0396 left_roll=0.0052 left_gripper=0.9982 right_x=0.2985 right_y=-0.0027 right_z=0.1606 right_yaw=0.1322 right_pitch=-0.0573 right_roll=0.0018 right_gripper=0.9983 state[joint_eff]: [0.1436, -6.0103, 5.7915, 1.8877, 0.1099, 0.0562, -0.0171, -0.1299, -2.0171, 9.1419, 1.9853, -0.0806, 0.2027, 0.1587] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":-0.045,"left_z":0.035},"note":"The left bottle is now close: its cap is just ahead and slightly left of the jaws. I’ll lower and advance a few centimeters so the fingertips surround the narrow shoulder behind the cap."})

tool

executing move_to over 3 steps (0.3s)

step 135

assistant

agent noteAt table height, the bottle’s neck is still a little left of the jaw center while its shoulder lies between the fingertips. I’ll make a small sideways correction before closing.

move_to

left_y-0.0170left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2077, 1.7691, 0.6189, 0.5339, -0.2237, -0.1825, 0.9982, -0.1848, 0.8486, 0.5461, -0.3431, -0.2703, -0.2115, 0.9985] state[eef_state]: left_x=0.4244 left_y=-0.0457 left_z=0.0318 left_yaw=0.0642 left_pitch=-0.0379 left_roll=-0.0101 left_gripper=0.9982 right_x=0.2937 right_y=-0.0033 right_z=0.1499 right_yaw=0.1286 right_pitch=-0.0495 right_roll=0.0016 right_gripper=0.9985 state[joint_eff]: [-0.2667, -7.0632, 6.5299, 1.1941, -0.5592, 0.7448, -0.0122, -0.3077, -2.441, 7.2821, 2.0488, -0.3004, 0.0317, 0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.017,"left_z":0.025},"note":"At table height, the bottle’s neck is still a little left of the jaw center while its shoulder lies between the fingertips. I’ll make a small sideways correction before closing."})

tool

executing move_to over 3 steps (0.3s)

step 138

assistant

agent noteThe left bottle’s shoulder is now between the jaws, close to its cap. I’ll close on it and check the settled jaw opening for a real grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1947, 1.7889, 0.627, 0.5957, -0.2169, -0.1791, 0.9982, -0.1913, 0.8261, 0.498, -0.313, -0.2741, -0.2146, 0.9992] state[eef_state]: left_x=0.4343 left_y=-0.0433 left_z=0.0388 left_yaw=0.0694 left_pitch=0.0093 left_roll=-0.0241 left_gripper=0.9982 right_x=0.2895 right_y=-0.0037 right_z=0.1405 right_yaw=0.1269 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [-0.2256, -6.6256, 5.3538, 1.6923, -0.0073, 0.2906, -0.0122, -0.5265, -2.0308, 7.2274, 2.0635, -0.3004, 0.0366, 0.0513] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left bottle’s shoulder is now between the jaws, close to its cap. I’ll close on it and check the settled jaw opening for a real grasp."})

tool

executing move_to over 10 steps (1.0s)

step 148

assistant

agent noteThat close was empty: the jaws rode upward over the narrow cap. I’ll reopen, move a couple of centimeters forward, and press gently toward table level before the next grip.

move_to

left_gripper1.0000left_x0.4750left_z-0.0100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1967, 1.7855, 0.6388, 0.6727, -0.2428, -0.1761, 0.0099, -0.1978, 0.8066, 0.4549, -0.2867, -0.2916, -0.2146, 0.9993] state[eef_state]: left_x=0.4472 left_y=-0.0421 left_z=0.0613 left_yaw=0.0891 left_pitch=0.1017 left_roll=-0.0341 left_gripper=0.0099 right_x=0.2855 right_y=-0.0018 right_z=0.1321 right_yaw=0.1349 right_pitch=-0.0385 right_roll=0.0089 right_gripper=0.9993 state[joint_eff]: [-0.5949, -7.6923, 4.9162, 0.7643, 0.1294, 0.1099, 0.823, -0.4308, -2.0308, 6.8991, 1.9853, -0.149, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.475,"left_z":-0.01},"note":"That close was empty: the jaws rode upward over the narrow cap. I’ll reopen, move a couple of centimeters forward, and press gently toward table level before the next grip."})

tool

executing move_to over 10 steps (1.0s)

step 158

assistant

agent noteThe cap is now between the open fingers but offset slightly right of their center; table contact has limited the descent. I’ll shift the gripper right a little to align the neck with the jaw line.

move_to

left_y-0.0670left_z0.0050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1829, 2.0117, 0.7937, 0.82, -0.2504, -0.1871, 0.9949, -0.1978, 0.7895, 0.4187, -0.2646, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4965 left_y=-0.0437 left_z=0.0483 left_yaw=0.1183 left_pitch=0.175 left_roll=-0.0633 left_gripper=0.9949 right_x=0.2822 right_y=-0.0009 right_z=0.1248 right_yaw=0.1362 right_pitch=-0.0354 right_roll=0.0079 right_gripper=0.9993 state[joint_eff]: [0.0889, -4.2462, 3.7402, 0.4078, 0.1441, 0.2613, -0.105, -0.6085, -1.9214, 6.9675, 1.9072, -0.188, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.067,"left_z":0.005},"note":"The cap is now between the open fingers but offset slightly right of their center; table contact has limited the descent. I’ll shift the gripper right a little to align the neck with the jaw line."})

tool

executing move_to over 3 steps (0.3s)

step 161

assistant

agent noteAt this extreme reach, the left fingertips remain five centimeters above the tabletop despite the lower target. I’ll retract slightly to a position where they can descend onto the bottle’s thicker shoulder.

move_to

left_x0.4650left_z0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2371, 2.043, 0.9195, 0.7025, -0.3008, -0.2142, 0.9961, -0.1978, 0.7738, 0.3866, -0.2451, -0.2924, -0.2153, 0.9993] state[eef_state]: left_x=0.5169 left_y=-0.0674 left_z=0.0548 left_yaw=0.1205 left_pitch=0.1591 left_roll=-0.062 left_gripper=0.9961 right_x=0.2792 right_y=-0.0004 right_z=0.1183 right_yaw=0.1358 right_pitch=-0.0326 right_roll=0.0067 right_gripper=0.9993 state[joint_eff]: [-0.212, -7.0222, 4.4513, 0.8278, -0.1343, -0.105, 0.1197, -0.294, -1.7846, 6.8171, 1.917, -0.1685, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.465,"left_z":0},"note":"At this extreme reach, the left fingertips remain five centimeters above the tabletop despite the lower target. I’ll retract slightly to a position where they can descend onto the bottle’s thicker shoulder."})

tool

executing move_to over 4 steps (0.4s)

step 165

assistant

agent noteThe left arm is stuck extended and did not follow the retraction target. I’ll lift and retract it together to clear that awkward pose, while raising the idle right arm out of the way.

move_to

left_x0.4050left_z0.1600right_x0.3000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2512, 2.0533, 0.9249, 0.6979, -0.3229, -0.2214, 0.9963, -0.1978, 0.7609, 0.3561, -0.2283, -0.2928, -0.215, 0.9993] state[eef_state]: left_x=0.5163 left_y=-0.0709 left_z=0.0512 left_yaw=0.1286 left_pitch=0.1533 left_roll=-0.0566 left_gripper=0.9963 right_x=0.2761 right_y=0.0003 right_z=0.1114 right_yaw=0.136 right_pitch=-0.0333 right_roll=0.0075 right_gripper=0.9993 state[joint_eff]: [-0.0615, -7.1863, 4.3145, 0.6764, -0.0659, -0.0611, 0.0024, -0.3487, -1.7573, 6.8171, 1.9512, -0.2222, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_z":0.16,"right_x":0.30,"right_z":0.18},"note":"The left arm is stuck extended and did not follow the retraction target. I’ll lift and retract it together to clear that awkward pose, while raising the idle right arm out of the way."})

tool

executing move_to over 9 steps (0.9s)

step 174

assistant

agent noteThe left arm has begun backing out, and the bottle remains lying beside it. I’ll finish clearing the arm so I can approach the bottle at a reachable low height instead of fighting the extended pose.

move_to

left_x0.3900left_y-0.0950left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3439, 1.8172, 0.8455, 0.3923, -0.3779, -0.2707, 0.9963, -0.1699, 0.8379, 0.5766, -0.3702, -0.2893, -0.2146, 0.9993] state[eef_state]: left_x=0.4641 left_y=-0.0932 left_z=0.0715 left_yaw=0.1028 left_pitch=0.027 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2939 right_y=0.0044 right_z=0.1617 right_yaw=0.1607 right_pitch=-0.0325 right_roll=0.0054 right_gripper=0.9993 state[joint_eff]: [1.388, -11.2479, 6.9538, 2.2491, -0.3834, -0.188, -0.0024, 0.0205, -1.3197, 9.5795, 1.7363, 0.0317, 0.1832, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.095,"left_z":0.15},"note":"The left arm has begun backing out, and the bottle remains lying beside it. I’ll finish clearing the arm so I can approach the bottle at a reachable low height instead of fighting the extended pose."})

tool

executing move_to over 6 steps (0.6s)

step 180

assistant

agent noteThe bottle’s neck is now centered in the left wrist view at this safer approach angle. I’ll move forward and descend toward its shoulder, keeping enough room for the jaws to close around it.

move_to

left_x0.4500left_y-0.1000left_z0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4362, 1.4322, 0.799, 0.0292, -0.4355, -0.3172, 0.9963, -0.1703, 0.8238, 0.5434, -0.3573, -0.2928, -0.215, 0.9993] state[eef_state]: left_x=0.4011 left_y=-0.1008 left_z=0.1462 left_yaw=0.0821 left_pitch=0.0198 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2901 right_y=0.0055 right_z=0.1533 right_yaw=0.1635 right_pitch=-0.0376 right_roll=0.009 right_gripper=0.9993 state[joint_eff]: [-0.3077, -6.1744, 6.7897, 1.6825, -0.3785, -0.0952, -0.0122, -0.4855, -1.5795, 7.0085, 2.0342, -0.1978, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.1,"left_z":0.015},"note":"The bottle’s neck is now centered in the left wrist view at this safer approach angle. I’ll move forward and descend toward its shoulder, keeping enough room for the jaws to close around it."})

tool

executing move_to over 9 steps (0.9s)

step 189

assistant

agent noteThe combined forward-and-downward target barely moved the left arm, indicating an awkward IK pose rather than a bottle grasp. I’ll try a smaller intermediate step before descending farther.

move_to

left_x0.4200left_y-0.1000left_z0.1050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4446, 1.3903, 0.799, -0.0425, -0.4538, -0.3229, 0.9963, -0.1703, 0.8085, 0.5056, -0.3389, -0.2928, -0.215, 0.9993] state[eef_state]: left_x=0.3905 left_y=-0.0963 left_z=0.1496 left_yaw=0.0915 left_pitch=-0.0005 left_roll=0.003 left_gripper=0.9963 right_x=0.2864 right_y=0.0061 right_z=0.1441 right_yaw=0.1635 right_pitch=-0.0415 right_roll=0.0104 right_gripper=0.9993 state[joint_eff]: [-0.1709, -5.6821, 6.7487, 1.58, -0.3053, -0.1587, -0.0122, -0.335, -2.0718, 6.9538, 1.9414, -0.2027, -0.0269, -0.0171] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.1,"left_z":0.105},"note":"The combined forward-and-downward target barely moved the left arm, indicating an awkward IK pose rather than a bottle grasp. I’ll try a smaller intermediate step before descending farther."})

tool

executing move_to over 3 steps (0.3s)

step 192

assistant

agent noteThe left arm responded to the smaller move, and the bottle cap remains centered. I’ll advance another few centimeters and lower moderately, then judge the actual pose before closing.

move_to

left_x0.4480left_y-0.1020left_z0.0700

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4282, 1.4818, 0.8013, 0.0654, -0.4488, -0.3202, 0.9963, -0.1703, 0.7876, 0.466, -0.3172, -0.2924, -0.2153, 0.9993] state[eef_state]: left_x=0.4082 left_y=-0.0981 left_z=0.1353 left_yaw=0.1025 left_pitch=0.0141 left_roll=-0.0067 left_gripper=0.9963 right_x=0.2825 right_y=0.0067 right_z=0.1361 right_yaw=0.1634 right_pitch=-0.0387 right_roll=0.0088 right_gripper=0.9993 state[joint_eff]: [0.6632, -2.4547, 5.0803, 0.8767, -0.149, 0.0659, -0.0122, -0.3624, -1.4974, 7.0359, 1.9609, -0.1832, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.448,"left_y":-0.102,"left_z":0.07},"note":"The left arm responded to the smaller move, and the bottle cap remains centered. I’ll advance another few centimeters and lower moderately, then judge the actual pose before closing."})

tool

executing move_to over 5 steps (0.5s)

step 197

assistant

agent noteThe left gripper is now centered over the bottle’s upper body, but still several centimeters high. I’ll lower straight down at the same horizontal position for a firmer grasp.

move_to

left_z0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.392, 1.7542, 0.7929, 0.268, -0.4267, -0.3149, 0.9963, -0.1703, 0.7662, 0.4274, -0.2905, -0.2924, -0.2153, 0.9993] state[eef_state]: left_x=0.4316 left_y=-0.0954 left_z=0.0576 left_yaw=0.119 left_pitch=-0.0605 left_roll=0.025 left_gripper=0.9963 right_x=0.2796 right_y=0.0072 right_z=0.1296 right_yaw=0.1633 right_pitch=-0.0297 right_roll=0.0057 right_gripper=0.9993 state[joint_eff]: [0.3624, -8.335, 8.4444, 1.8339, -0.0659, 0.1441, -0.0122, -0.3624, -1.4564, 6.9812, 1.9121, -0.1734, -0.022, -0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.015},"note":"The left gripper is now centered over the bottle’s upper body, but still several centimeters high. I’ll lower straight down at the same horizontal position for a firmer grasp."})

tool

executing move_to over 3 steps (0.3s)

step 200

assistant

agent noteThe descent has stopped with the bottle’s broad upper body centered between the fingers; pushing lower would risk pressing into it. I’ll close here and check whether the bottle is actually held.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3866, 1.7863, 0.7937, 0.3107, -0.4267, -0.3149, 0.9963, -0.1703, 0.7551, 0.4004, -0.2794, -0.2924, -0.2153, 0.9993] state[eef_state]: left_x=0.4364 left_y=-0.0949 left_z=0.0521 left_yaw=0.124 left_pitch=-0.0505 left_roll=0.0194 left_gripper=0.9963 right_x=0.2765 right_y=0.0078 right_z=0.1225 right_yaw=0.1633 right_pitch=-0.0344 right_roll=0.0073 right_gripper=0.9993 state[joint_eff]: [-0.212, -8.8, 8.1983, 1.8535, -0.0855, 0.149, -0.0122, -0.4171, -1.7983, 6.9675, 1.9463, -0.1685, -0.0611, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The descent has stopped with the bottle’s broad upper body centered between the fingers; pushing lower would risk pressing into it. I’ll close here and check whether the bottle is actually held."})

tool

executing move_to over 10 steps (1.0s)

step 210

assistant

agent noteThe closed jaws again came up empty, apparently riding over the bottle from above. I’ll reset beside the bottle at low height, then approach laterally so its neck enters between the fingers rather than under them.

move_to

left_gripper1.0000left_x0.3550left_y0.0350left_z0.0150right_x0.3000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3862, 1.7855, 0.7658, 0.4335, -0.4385, -0.3153, 0.011, -0.1703, 0.7376, 0.3683, -0.2619, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4441 left_y=-0.0957 left_z=0.0656 left_yaw=0.1338 left_pitch=0.0363 left_roll=-0.022 left_gripper=0.011 right_x=0.2734 right_y=0.0084 right_z=0.1161 right_yaw=0.1636 right_pitch=-0.0314 right_roll=0.0066 right_gripper=0.9993 state[joint_eff]: [-0.3761, -7.4325, 4.3419, 1.3846, -0.0806, 0.0269, 0.862, -0.3487, -0.9915, 6.8171, 1.9219, -0.2125, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.355,"left_y":0.035,"left_z":0.015,"right_x":0.3,"right_z":0.18},"note":"The closed jaws again came up empty, apparently riding over the bottle from above. I’ll reset beside the bottle at low height, then approach laterally so its neck enters between the fingers rather than under them."})

tool

executing move_to over 12 steps (1.2s)

step 222

assistant

agent noteBeside the left bottle, the fingertips reached tabletop height cleanly. I’ll move forward while staying to its outside, positioning the low jaws alongside its upper half.

move_to

left_x0.4350left_y0.0350left_z0.0180

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0319, 1.6638, 0.2924, 0.7547, -0.1318, -0.1024, 0.9961, -0.1493, 0.8398, 0.58, -0.3801, -0.2893, -0.2146, 0.9993] state[eef_state]: left_x=0.351 left_y=0.038 left_z=0.005 left_yaw=0.1838 left_pitch=-0.0497 left_roll=0.004 left_gripper=0.9961 right_x=0.2929 right_y=0.0105 right_z=0.1608 right_yaw=0.1814 right_pitch=-0.0404 right_roll=0.0081 right_gripper=0.9993 state[joint_eff]: [0.1709, -6.2838, 3.9453, 1.7656, 0.1441, 0.2857, -0.0415, 0.5812, -1.1282, 9.9624, 1.7265, 0.0122, 0.1245, -0.0171] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.435,"left_y":0.035,"left_z":0.018},"note":"Beside the left bottle, the fingertips reached tabletop height cleanly. I’ll move forward while staying to its outside, positioning the low jaws alongside its upper half."})

tool

executing move_to over 7 steps (0.7s)

step 229

assistant

agent noteThe left fingertips are low and outside the bottle without touching it. I’ll extend alongside its cap so the next motion can bring the cap between the jaws from the side.

move_to

left_x0.4800left_y0.0350left_z0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0177, 1.8561, 0.5705, 0.7177, -0.1509, -0.1116, 0.9968, -0.1463, 0.8169, 0.5388, -0.3569, -0.2924, -0.2153, 0.9993] state[eef_state]: left_x=0.4267 left_y=0.0377 left_z=0.0157 left_yaw=0.1905 left_pitch=0.0002 left_roll=-0.001 left_gripper=0.9968 right_x=0.289 right_y=0.0125 right_z=0.1532 right_yaw=0.1874 right_pitch=-0.0351 right_roll=0.0076 right_gripper=0.9993 state[joint_eff]: [-0.8821, -7.2137, 5.7231, 1.6728, -0.105, -0.0269, 0.0659, -0.9094, -1.8393, 6.9812, 1.9463, -0.1636, 0.0024, -0.0122] 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":0.48,"left_y":0.035,"left_z":0.02},"note":"The left fingertips are low and outside the bottle without touching it. I’ll extend alongside its cap so the next motion can bring the cap between the jaws from the side."})

tool

executing move_to over 5 steps (0.5s)

step 234

assistant

agent noteThe low left jaws are now alongside the cap rather than above the bottle. I’ll slide sideways across its neck and see whether it enters the open gap.

move_to

left_y-0.0550left_z0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0124, 1.9633, 0.7643, 0.6239, -0.1658, -0.1123, 0.9969, -0.1459, 0.8021, 0.5045, -0.3367, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4706 left_y=0.0386 left_z=0.0168 left_yaw=0.1981 left_pitch=-0.0055 left_roll=0.0075 left_gripper=0.9969 right_x=0.2861 right_y=0.0131 right_z=0.1457 right_yaw=0.1881 right_pitch=-0.0343 right_roll=0.0076 right_gripper=0.9993 state[joint_eff]: [-0.7043, -8.335, 6.3248, 1.7411, -0.0708, -0.0952, -0.0024, -0.4308, -2.0991, 6.8581, 1.9463, -0.2125, -0.0171, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.055,"left_z":0.02},"note":"The low left jaws are now alongside the cap rather than above the bottle. I’ll slide sideways across its neck and see whether it enters the open gap."})

tool

executing move_to over 9 steps (0.9s)

step 243

assistant

agent noteThe side approach nudged the left bottle toward the middle one, so I need to avoid another broad sweep. I’ll place the open jaws just around the displaced bottle’s upper end and test a direct grasp.

move_to

left_x0.4900left_y-0.1550left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2562, 1.9713, 0.7883, 0.551, -0.3634, -0.2634, 0.997, -0.1459, 0.7868, 0.4713, -0.3202, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4628 left_y=-0.0526 left_z=0.0122 left_yaw=0.1747 left_pitch=-0.0241 left_roll=0.0048 left_gripper=0.997 right_x=0.2827 right_y=0.0136 right_z=0.1381 right_yaw=0.1881 right_pitch=-0.0358 right_roll=0.0081 right_gripper=0.9993 state[joint_eff]: [-0.253, -8.5675, 7.3368, 1.7411, -0.2369, 0.0073, -0.0073, -0.4855, -1.894, 6.8991, 1.9121, -0.2222, -0.0317, -0.0171] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.155,"left_z":0.025},"note":"The side approach nudged the left bottle toward the middle one, so I need to avoid another broad sweep. I’ll place the open jaws just around the displaced bottle’s upper end and test a direct grasp."})

tool

executing move_to over 10 steps (1.0s)

step 253

assistant

agent noteThe low sideways motion is still pushing the bottle instead of enclosing it. I’ll lift clear and recenter over the shifted bottle from above, and raise the idle right arm.

move_to

left_x0.4250left_y-0.2550left_z0.1200right_x0.3000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4843, 2.0861, 1.0435, 0.3607, -0.5434, -0.4133, 0.997, -0.1459, 0.77, 0.4389, -0.2951, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4843 left_y=-0.1475 left_z=0.021 left_yaw=0.1712 left_pitch=-0.009 left_roll=-0.001 left_gripper=0.997 right_x=0.2806 right_y=0.0139 right_z=0.1328 right_yaw=0.188 right_pitch=-0.0268 right_roll=0.0049 right_gripper=0.9993 state[joint_eff]: [-0.7179, -9.306, 7.5829, 1.4969, -0.3297, 0.0904, -0.0122, -0.4718, -1.7846, 6.7214, 1.8779, -0.188, -0.0122, -0.0171] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.425,"left_y":-0.255,"left_z":0.12,"right_x":0.3,"right_z":0.18},"note":"The low sideways motion is still pushing the bottle instead of enclosing it. I’ll lift clear and recenter over the shifted bottle from above, and raise the idle right arm."})

tool

executing move_to over 10 steps (1.0s)

step 263

assistant

agent noteThe moved bottle is visible in the left wrist camera, just right of the jaw center with its cap toward the far edge. I’ll align the jaws over its shoulder and descend in one small motion.

move_to

left_x0.4650left_y-0.2900left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7872, 1.9724, 1.2758, -0.1566, -0.7483, -0.6636, 0.997, -0.1364, 0.841, 0.5808, -0.3817, -0.2897, -0.215, 0.9993] state[eef_state]: left_x=0.4271 left_y=-0.2533 left_z=0.0936 left_yaw=0.1539 left_pitch=-0.0242 left_roll=0.0109 left_gripper=0.997 right_x=0.2927 right_y=0.0144 right_z=0.1606 right_yaw=0.195 right_pitch=-0.0421 right_roll=0.0086 right_gripper=0.9993 state[joint_eff]: [-0.3761, -13.4085, 8.5538, 1.3309, -0.4615, 0.0024, -0.0122, 0.294, -0.8684, 10.0581, 1.7265, -0.0171, 0.0952, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_y":-0.29,"left_z":0.045},"note":"The moved bottle is visible in the left wrist camera, just right of the jaw center with its cap toward the far edge. I’ll align the jaws over its shoulder and descend in one small motion."})

tool

executing move_to over 4 steps (0.4s)

step 267

assistant

agent noteThe shifted bottle’s body now fills the gap directly between the left fingertips. I’ll close at this centered position and check the jaw opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7975, 2.2013, 1.4147, -0.0566, -0.7666, -0.6807, 0.997, -0.1375, 0.8177, 0.5385, -0.358, -0.2924, -0.215, 0.9993] state[eef_state]: left_x=0.4552 left_y=-0.2858 left_z=0.0469 left_yaw=0.1649 left_pitch=-0.0071 left_roll=-0.0036 left_gripper=0.997 right_x=0.2887 right_y=0.0151 right_z=0.1526 right_yaw=0.196 right_pitch=-0.0373 right_roll=0.0087 right_gripper=0.9993 state[joint_eff]: [0.5812, -11.5214, 7.2957, 1.2869, -0.2027, 0.2515, -0.0122, -0.5675, -1.6342, 6.9538, 1.9707, -0.1636, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The shifted bottle’s body now fills the gap directly between the left fingertips. I’ll close at this centered position and check the jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 277

assistant

agent noteThe jaws again closed empty and rose over the bottle. I’ll reopen and request the permitted gentle tabletop press at this centered position to see if the fingertips can reach low enough to grip.

move_to

left_gripper1.0000left_z-0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7914, 2.2192, 1.4494, 0.0189, -0.8028, -0.6731, 0.01, -0.1387, 0.7982, 0.5037, -0.3355, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4712 left_y=-0.291 left_z=0.0636 left_yaw=0.1941 left_pitch=0.0663 left_roll=-0.0588 left_gripper=0.01 right_x=0.2859 right_y=0.0152 right_z=0.1466 right_yaw=0.1953 right_pitch=-0.0304 right_roll=0.0062 right_gripper=0.9993 state[joint_eff]: [0.1573, -11.1658, 6.4479, 0.8376, 0.1392, 0.2076, 0.8132, -0.3214, -1.8393, 6.7487, 1.9609, -0.2125, -0.0366, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":-0.02},"note":"The jaws again closed empty and rose over the bottle. I’ll reopen and request the permitted gentle tabletop press at this centered position to see if the fingertips can reach low enough to grip."})

tool

executing move_to over 10 steps (1.0s)

step 287

assistant

agent noteEven with a low target, the left gripper stopped above the bottle and cannot get a secure pinch there. I’ll clear it and try the nearer base of the isolated right bottle with the other arm.

move_to

left_x0.3000left_y0.0000left_z0.1800right_x0.3450right_y0.2350right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.791, 2.3348, 1.5063, 0.1326, -0.831, -0.7074, 0.995, -0.1387, 0.7841, 0.4721, -0.3206, -0.2928, -0.2153, 0.9993] state[eef_state]: left_x=0.4875 left_y=-0.3023 left_z=0.0415 left_yaw=0.2371 left_pitch=0.11 left_roll=-0.126 left_gripper=0.995 right_x=0.2826 right_y=0.0157 right_z=0.139 right_yaw=0.1953 right_pitch=-0.0329 right_roll=0.0071 right_gripper=0.9993 state[joint_eff]: [0.1026, -6.7897, 3.5624, 0.7595, 0.1832, 0.0904, -0.105, -0.5949, -1.7709, 7.0632, 1.8779, -0.2222, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.18,"right_x":0.345,"right_y":0.235,"right_z":0.025},"note":"Even with a low target, the left gripper stopped above the bottle and cannot get a secure pinch there. I’ll clear it and try the nearer base of the isolated right bottle with the other arm."})

tool

executing move_to over 27 steps (2.7s)

step 314

assistant

agent noteThe right gripper is at table height beside the bases of two adjacent bottles. I’ll shift a few centimeters toward the left of those two so only one base is centered between the jaws.

move_to

right_y0.2650right_x0.3450right_z0.0080

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2729, 0.8974, 0.6434, -0.3386, -0.4618, -0.345, 0.9961, 0.7738, 1.7893, 0.585, 0.4969, 0.4419, 0.2886, 0.9994] state[eef_state]: left_x=0.3082 left_y=-0.0008 left_z=0.1876 left_yaw=0.2818 left_pitch=0.037 left_roll=-0.0334 left_gripper=0.9961 right_x=0.3334 right_y=0.2251 right_z=0.0133 right_yaw=0.223 right_pitch=-0.0586 right_roll=-0.0383 right_gripper=0.9994 state[joint_eff]: [0.1436, -1.9214, 6.1333, 1.6777, -0.1685, 0.022, 0.105, 0.4171, -6.4615, 6.5709, 2.0879, 0.1441, 0.2369, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.265,"right_x":0.345,"right_z":0.008},"note":"The right gripper is at table height beside the bases of two adjacent bottles. I’ll shift a few centimeters toward the left of those two so only one base is centered between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 318

assistant

agent noteThe nearer bottle’s base is now directly ahead of the low right jaws; its round end is still a little short of the fingertip line. I’ll advance gently into the lower body before closing.

move_to

right_x0.3700right_z0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2783, 0.9352, 0.6567, -0.395, -0.4549, -0.3405, 0.9963, 0.8322, 1.9118, 0.6514, 0.5686, 0.4713, 0.3164, 0.9996] state[eef_state]: left_x=0.3052 left_y=-0.0028 left_z=0.1723 left_yaw=0.2684 left_pitch=-0.034 left_roll=0.0093 left_gripper=0.9963 right_x=0.3364 right_y=0.2557 right_z=0.0009 right_yaw=0.2435 right_pitch=-0.0352 right_roll=-0.0231 right_gripper=0.9996 state[joint_eff]: [-0.3077, -2.6325, 9.388, 1.5653, -0.3248, -0.0611, 0.0024, 0.5402, -6.9538, 6.2564, 1.79, 0.442, 0.1343, 0.0024] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_z":0.015},"note":"The nearer bottle’s base is now directly ahead of the low right jaws; its round end is still a little short of the fingertip line. I’ll advance gently into the lower body before closing."})

tool

executing move_to over 3 steps (0.3s)

step 321

assistant

agent noteI could not secure a bottle: overhead closes repeatedly rode up and closed empty, while tabletop-height approaches pushed the bottles instead of capturing them. All three remain lying down, so I cannot safely complete the task.

give_up

hindsightFor these lying bottles, a centered wrist-camera view is not enough to guarantee a grasp: at an eef height of about 4–5 cm, closing pushed the gripper upward roughly 2 cm and left the jaws empty. At table height, the jaws pushed bottles ahead or sideways. The caps point toward the far edge; reaching them low is especially difficult. After any suspected grip, verify both the settled jaw opening and bottle motion overhead before transporting.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2821, 0.9234, 0.6277, -0.3714, -0.4561, -0.3401, 0.9963, 0.8433, 1.9202, 0.6697, 0.5663, 0.4713, 0.318, 0.9996] state[eef_state]: left_x=0.3035 left_y=-0.0032 left_z=0.1673 left_yaw=0.2652 left_pitch=-0.0281 left_roll=0.0069 left_gripper=0.9963 right_x=0.3371 right_y=0.2633 right_z=0.0028 right_yaw=0.2539 right_pitch=-0.0288 right_roll=-0.0176 right_gripper=0.9996 state[joint_eff]: [-0.5402, -2.7556, 6.4752, 1.8095, -0.2906, 0.0269, -0.0073, -0.4171, -7.2137, 6.147, 1.7607, 0.3199, 0.1392, -0.0122] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not secure a bottle: overhead closes repeatedly rode up and closed empty, while tabletop-height approaches pushed the bottles instead of capturing them. All three remain lying down, so I cannot safely complete the task.","hindsight":"For these lying bottles, a centered wrist-camera view is not enough to guarantee a grasp: at an eef height of about 4–5 cm, closing pushed the gripper upward roughly 2 cm and left the jaws empty. At table height, the jaws pushed bottles ahead or sideways. The caps point toward the far edge; reaching them low is especially difficult. After any suspected grip, verify both the settled jaw opening and bottle motion overhead before transporting."})

tool

give_up: I could not secure a bottle: overhead closes repeatedly rode up and closed empty, while tabletop-height approaches pushed the bottles instead of capturing them. All three remain lying down, so I cannot safely complete the task.

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 · 6.427 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0223, -0.0288, 0.9986, -0.0154, 0.7883, 0.6037, -0.3847, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3607, 9.6479, 1.7802, -0.0122, 0.105, -0.1538, -0.8547, -1.0051, 10.3043, 1.8095, 0.0464, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51091dae831fd30def77f15bac713d8cd0cf3c5425661e231329d96add822a57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6626680e0c7ab07a6edb4364493a647be83ecd8a2a9dacfaee68fd23ba7d94f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff33282205bc42621e01f6e26e44959dcd0afdab5ea41229092df972e52d7bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.603 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5AoWUXaluXv_xPKofKZ544NIYdH5IC0bIacYLmFylL6XXS7Fu4D5baIqilZmMb-gk36IKvY5sVtkgkTwGaEtoBCAanFsh1HcJvz1pnXZMpOtk1M7rKIUVhF_MZwq9xZu1iAofbhdQ6Xo7Cxqb6X2Qs0Du3pWOrWavJNtmKtFpUXvWKC3C-X0KQ26TwiwNSPXvslj43XiYXGOOx4OE513BWRBCiBOuViUGUfFA_7km4O8BjRjkGaOKnULZb3lRHRk6t5_Z9DR5SWj44aBB_3ZllFVcZfdybyoBD3PxsyNe6NNievNOr6uouaYIc_dmCIDZDOJFKpS3fJRp9_BW-1BsATxbO2-VznmVdDli-9glmBCBK0kSaAaIAo4jJf2LDs21wR02v17NLhvJC-uS2CBOI-vaeCiWJQupxdXkOf8SXDkb-KwHRlV7PdhcPCFBMfmXmPWqqhNi886PB8ZPDMc9eccnyDEa2DgBJDsONnyiALZD22ew6w_ZmdLwx2X_uCRTJv2o3jzBo8XYZ484PPv-Lj4MBrn63--RWSMEGqxsaHWpfJuAI1tTn_NlfH7Sl0hW63pGo9xtxeYPJoEKUdcokJMMJUh4jzYVw_iQk9XgMiQqkUhBRKkpOxW02DaZZ4Si4zhIfSzhFBDyeu8CY4BYSGgmQD0Af97dUftIyCuWn7yxUy14DLKc5k_EL4fz849eOEFuuQR5kd4HWecDPudsfetZK1kb-G536TJN82kns00DdR6AmR9GCb2_z9KtS-AOEQlNhrDBzi1Tj5DBXUr9Xy_myiEmoJDyS97qXbNG_5dSE_rPXALYP_W0uNgnUgUfukUVDLg7HoZbqNohiFcgyDkmpaErcSZuTQmweScDAUPJvumEFdZjeG6owejIm5DvcRNevddp1wD2qQBZr23SdSJeU91TYmSao7B4ObRDYw9s6BpfH2XLYBSwoJd-2dBwqsubLJa1LyvEojKea3VPpvOJbnNZwFjmwnTsYnEVIg9BMIxIfHLQvXkNnVGmRqHxo4dMeIXivfoUEWBY84DfCcMCnbodjnW1pWUNeGWHUUR-uLYPmvr9x0WFs7AJlLUi5Uv_wbBjk5VsSD_3s8homkr4-TzJkma6rsAjaCBVcKIauFrrllttiOJvZnJPzJ7JlCzCET59nofJh_hioxfoelkwwMYaraeHaM79C4PHTXcMfqvNWwzKQRIpD8iLK0QKICpoZ6X7T_qwXdqPczH6U9oe1dSeFSY2ZsCU3qUMoKQPwq4Yi8S4w3oQjdaSLjHLY4h1ceq_YlJasIZW1_eHJEBy2CjDTjD3RHtX4UMvXwRARs3t5BUPhfwb-3GFUxIY7sla4eyGeRQu47MoL-kJ6pfDYCXaT79eUWqcjWMTWLeMdOPLyU3Imt1ZRuYSetIKdygINtN-KObxRsMClAc6L_X0_YEF1C18xOt-CipesqFwDh_H9iECKGEl4K5Ta_J_quYnV7tOkfairHXUoUMQyovDN7VGYOyVk2uaopYhh8TKEnGhcEb21TZqhe2pSq-L3YVXryklv7zxOpYxVJuCeA0TGtSEqCFHIO_es2y1N2lMZ0er7G87kVaBY7tY5PzIGZzeNTzoJwk1HjLCvhOTL_P2w-KxU3LkioMUNgxic7jJUABvn5BGYZ-vvamVb2iLG88IMn_FlRW1hKihoZUG5GipNq84mSeIPP69Kt7rRYLPi6G6K-FgxGRo3ClO4Qdm9q76C0lEDt2IpYQNLXpnyjD7zen1V5Gy7EGEVz1qGXAXEZcClHxEHa8Ic00BkRHtAQVs7Qz_RZmySfRC80J98huOrlTDJREkoUhe2-BUSa4aYaQ8foRQEELJSQl3IlvxQv4sGNdItqzxbZX-zFQYklkfoSrgYxqVG1zUebuQZQ4OcIoXV1XMgzlSI5-dy0fCvm4COBY1WaZJak-kmSI4StWZs-jEIK79h7Kv28gGZrSGyTPVFb6WtEj6Gf3-cQz9qLPNOyAL9TzMslmEuGTmyN24bwPSNqTVOtPsL5graX_mwk6lIAKUN3qJPrdQpu_DAvgijxhFnKfY-c4asPEEfdVPMFOtW_eeGhvY3I17dk3gPriyGigIznyHT44N6jzSBAQf6u7Ti67gcvRKi0hK-V5rPRWiy1hx5ipIOodX_YNccKFNQupLOECcBCgoonuJAtz30EqoQxotooJ5VZT5hD35fq6lGSbkGIWTUddf5PpEjCkTKgviOw8Bbe8pCQ7vFVbLEQ9S67peZndAyYAlB2Hw0RxNP6YdQTIKjaiXj_rlWPDqLc4b1O6m-pmE6XUONC-QCDS8tU2QRJ4xRHULzViNB2Y3uv7w9yQjxLAvrBaAMPuYw_PoRZ_hDc1yNhELo3P7Bhe41_5QudWzm113b8pWKi7gGg5lU8BkEuCVCPEU7NzX1mal83qtBAHOPfd5TLKoqj16KWqsCL4YtlGOM2gsPIX8wKMaZyoaftpfyErLAbv55cnoaaDxL3cqIRf12OFqLASyMOr5IS2tYve09eyNQuzQ8PSNAHCRcLWdXxuHDx7H2g-tgbpHWGJj9xpESkViIOFXpCSDj9ocQel8dUie1b5pAOAThJCzpd1FuCg8EUjp1aYAcQuSdQQhP04jWr0O6VO-0mNG-tEo65rHwnUB_MqKmevspgeFr1ibzObfN5qlCt9ovnak4s7bHW_ed6ZdKQiLaal882G2myXSYcs2m3D8n6_kar0gnmdFavely92LwSKrcJfvHg7bMTMqhy1rSY48VVukxjlbwx1AVUxwj1RiS0CWUsqcn4JmwQGmua5IrvUeoQnhpCKgTIoU-NXvlKcARqqNr2xNlWxDyJHKAI9pv5JC0iJqxzS5D1FghsPxJeIonPHqlHPHryJoAbN98lkUFuw70hODRCotzddQ09qnn4ItKGsTtcEPHZempSvstUfvMW-DESXbJsVyjMCIH69T2TnkoBCokVpNJ1xTppIlH650Ov5_JxsMQgwmOnCS4V4nk_foI7taPxNkwNQ3YKmvK4u1QTePKndghwHdZeljy3T_AG4VSu6P2BTLTsIohS0DHrrE5aSelDtKcCnIpbU8w7P94jt_6MAj9elsE_z5IoZ7DlREeynTfgtvGQkx4AhPMqxkfb32QzEu0Wt6bQwxLJzkCyjLQjAJ4d0VVFsDe_hyXdXamPtQp-DTRKAVDlqj_pefiE1As2x7mFPOeMA-kBhtg6Fam1gehP7ry8OAS2wpMOLoPLQJ6Mo_pUjnDCMQqa3U4y3zCXrS5TfSUeC_VoIAhU2VfeBccsG-k_-ZY7__VyjZesXdwaSvs2zm_Sdx3gyzq7HG5upcWuu1D6ET2NEDKKS11Wq2dIh0heB-icYXasenKPblhChOHoKAMMfvK_XtZG3l7BfMLe-je_F5WqZmHFAPsT1GPFTDm82ItPP7G6ezwLkYANzDk4Eyg-IRIyoyyWV2uRxxu6En2HWGVi-uXOxSm5fvlBw==",
  "id": "rs_027389251a9168ac016ab41e3afc5487d08618e43264c30f46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.23,\"right_z\":0.15},\"note\":\"All three bottles are lying on the table; the rightmost one's neck is toward the far edge. I’ll bring the right gripper above that neck to line up a lifting grasp.\"}",
  "call_id": "call_xniftwosb0vSDf0ezx7JtCg2",
  "id": "fc_027389251a9168ac016ab41e3f71b487d0aa6549ddf06cd9c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xniftwosb0vSDf0ezx7JtCg2",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6144, -0.387, -0.0227, -0.0292, 0.9984, 0.7395, 1.6276, 1.0172, -0.1585, 0.5556, 0.3939, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.3769 right_y=0.2225 right_z=0.1314 right_yaw=0.0416 right_pitch=-0.0628 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.6615, 6.7624, 1.7998, -0.022, -0.0611, -0.0366, -0.0615, -7.5009, 9.0735, 1.7509, 0.4908, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeaa94c232e148851946730e35f6ffc876a99c7ac04e8170f2ec33570f4d55ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c1fbc79920f0242818d0c00eb650c184d951dc6866fb86c1d02ffdb438c1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9601a9837c89eee8a14e22c45cbc509ec3f26dd8f046e7fbe7e1eb928cff835",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.991 s

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

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0223, -0.0288, 0.9986, -0.0154, 0.7883, 0.6037, -0.3847, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3607, 9.6479, 1.7802, -0.0122, 0.105, -0.1538, -0.8547, -1.0051, 10.3043, 1.8095, 0.0464, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6144, -0.387, -0.0227, -0.0292, 0.9984, 0.7395, 1.6276, 1.0172, -0.1585, 0.5556, 0.3939, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.3769 right_y=0.2225 right_z=0.1314 right_yaw=0.0416 right_pitch=-0.0628 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.6615, 6.7624, 1.7998, -0.022, -0.0611, -0.0366, -0.0615, -7.5009, 9.0735, 1.7509, 0.4908, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeaa94c232e148851946730e35f6ffc876a99c7ac04e8170f2ec33570f4d55ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c1fbc79920f0242818d0c00eb650c184d951dc6866fb86c1d02ffdb438c1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9601a9837c89eee8a14e22c45cbc509ec3f26dd8f046e7fbe7e1eb928cff835",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5HFBuuNwUXvEcA1vLrRn07rivNCGKpU99zziuCuKAky_4-UT6quQo-08d8IjaHfKrda9rQZ5ABN1y9fy8ImJscL7DdxpI-Lnktwvn-RaK9DGA1jynj_rEWF0JuA9uq6mdeg6fOfDpvdgLF8EHgW9ZFZ7VebiLhPSyVCdLm5kraVHkNE3syyncMwxT37QqldChicDYSXz9p8nyl-VsmfAK0dTzOUpwLczuQ-G1TkXm7cyKKU3is5IdpVumNkyhqcbPvkNAvyQ-jSYCJAPI9-eiw-AG3KIh_iy2LXX47oOf1l6UT5bFlV_e3NUZ3qfWGF1W08HYLvsw6vg_de6WF2D0yGdQ7td_ymq69t0drm0MKvb7Ps1ddvQgHYYMZ10PxjE6iJ_qciNLoIuf-UQhhU-VlAAS6DBGV-Eh34XLfelpEMXl8z2cmEdrmBNz379S3Sdaa_hSrZb70ut5pzdzk5hG9j_sPSmBQdDjmiYFbLC9m0N9Eep9UyUSR2y6jmbwbAhp9eWaG-6I117paiVqLMtFVbEAnGBzb3DoHRe3bfCue-fkPBq9-8BipPTPEN5yQzjiWnReq_Ai4JIgW1BGKxyiqOnwvZE4hOjs2omxb3FwkYI7u6cIChF5kkoGGSCZddkepPFPFWnWv9DrccvYzus-MNv31iKesOyBSiaFpAun901SOUyhwYvmqJZ4QvUPi6RBEZ0Fsfo4ZEUvLZCHBkFLfVJJCaSHca2Z23E-ALFZylgah8-NeiWTlcAtlXdtvnlCxswpYOBARZrx73B_5W6ie1s_9C85JRnREgBE0RhafpKfJO_0_CyPXiiREkKVJ7gEwwiEGXnKF6p4LdfvGg04Sqla-hv04GDZxcsKT25ElsMHlS3CfO3j2RAsa7jcj2ViohPj2LZWgm4G1lLmJ4b--q3I_FJqfArJjjerGS3ZlKJXE738MZXok53HClj1wqlr7-y5iCbdt2PBbhEbnEPlgdCayznV9D1YyI-o4YL10TZCtxhKotSHrI8VM-5eiDkw4y2vlMUB8So64kR4WTSsJ8kq5gwPt4RLphTwsXiYOEXJvuQqXXgc7y0XrbLoGgVyYNndjIJU46dHM_5v1JVCL8p1GA04Ic02umTqc1hCR9KLasciEr2uefpWbTi2-EiI3EKuhQoc0UiMFizSLa0sMOqw_W8ZxCNj1bth4tuhqUWY5L7sH1Neo3xSlzA2FFfFqxwMhaRrxqFur7tqBuWCLLiYwrEd_yuCOcBUrPsj3yZxyzOv5NiP1RWX_hwPS2YU2_4F-6ShOcQ2ogEtuwBg8txWI8e0NvmDCY-DaZtAF7SPSt5uzGvqrAVLp9XE3IpXtSNR5eTTqo0N0-_jW1SuY37o8MkFY7daIcAdbDWJKn4x1w03eS7Jb9-mVA0o66TQvhN4YZXs8ZweN96QkniN8FI9h6zAkKMIHLmO-uNIQrRcxr6zx9enz0WM2TvYG_sKhrOztmLXHvTPq_0FH0dvqLfE0LxPnKfWS2BHNbVKsH4WbL4YAcyBLJZFXZbqrS79BXFyWVc6F1wQFe_HklPzSE239Ss4iuHlMxkjFPucHoIg0oUwMjA7_d-6_S-epu-IFQtowNIm9Im1xqTi6gxU9fNFt5_uZWHwnefQpCsC0A0MSLnx1AAvVITrXgTOjQoCQEy9i4HYFrhW4CLLtSSCJ0jXGhr3erv5NW7E6l4LDlNpKf1auV69LJ3wx6bO5lBtJmyn6uDivl8lZwSwn52-SCsQDAaZfkAFkKub_QBWEJHZCUUEsWtJ0ns2Et1Hq17p_XgAf8fs6DR8wPRf16VZRYBgqIObyyTsy0M08E_YFHPHOJYYdXMRNV4BF4GufEG8vrMIJrtXKePvtDAjLpBgL9kBS9Pg9ejVdINdCddVWUBaU2frs6sibEWDlozz5JyqRLXlil_Dfd9xu3UDAfafX01SSM7pP0w2sJ8zQpUgUO6Hs6pv0PPNG5N8VPwcQs7SqyQl4wO_k1Rgy_Cp6enZfRG9I2u4UDJT5wybPDoZMKqkLghStm9hUBnFN7yRmh8zTh4SPvXfpreOULQjiJwZvzS7HR8iBRb-Ud5P4v1Uv9or9x4HYgbBSBLWv23Jy6GPU3YXzm4DWinkzjxMRPrmsh7-qgUBOSUoq2vwTQSN-0OcP6yS_9XKmqFQJ-Hs-k5NEzj0fSf46D7L6-L2bPlnAm4HE4wIVQTdcLjPtEdQAEI3u-xPEFjXlO9swFc8Ocu5W6qMNA2PZ2umAwpTsdx38kraIKC3tCFKqTLRUhh1bblgqXxX577A46EO-lvsQMm8TnKGiNNmxFfhtzkEU5SCUormJ5imt9YWkQ6MRApQQ1bwDJOgJS0dVny_s-rSFKN85kFt0Q-g2oytmAbzm1o70b24n8dJzDJKtRAzxj_OLJBR0sLQE94GOKjs3aSer0lUaqRPYbSGqZvS8e_t-KQp0zEr9Qvq_Q3Ne60YJV0W9fOeEW7soqKDUrbpAvrLEPG-ps5aUV5vuVQHSl6hNPU3FLLN7oJMBNjjfNpOM_xPBjTg=",
  "id": "rs_027389251a9168ac016ab41e44175887d085d7803f15de91ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.195,\"right_z\":0.10},\"note\":\"The right bottle is clearly ahead of the right fingertips, with its neck slightly to their left in the wrist view. I’ll move forward and sideways a little, lowering toward the upper part of the bottle.\"}",
  "call_id": "call_02B0zwZMq1guPrzODDnkrtpL",
  "id": "fc_027389251a9168ac016ab41e46d84487d08650fb735202c5d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_02B0zwZMq1guPrzODDnkrtpL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.588, 1.7348, 0.9302, 0.0792, 0.4503, 0.297, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4132 right_y=0.1874 right_z=0.0857 right_yaw=0.0255 right_pitch=-0.0708 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4974, 6.3385, 1.8437, -0.0269, -0.0513, -0.0171, -0.8547, -7.4462, 7.4735, 2.0684, 0.1685, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505987a42c22608357cf10fd9d1076a9b33e304e30cd954c0018cdddc16ab2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dc5eb730f7df6fd5107fbc69f8b33dc96c4583dd8b087fe63e6648640014ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf6ed5bd60a10988449aadade21141b88806a083cc7abc96c54644f73fddf27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 9.367 s

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

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6144, -0.387, -0.0227, -0.0292, 0.9984, 0.7395, 1.6276, 1.0172, -0.1585, 0.5556, 0.3939, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.3769 right_y=0.2225 right_z=0.1314 right_yaw=0.0416 right_pitch=-0.0628 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.6615, 6.7624, 1.7998, -0.022, -0.0611, -0.0366, -0.0615, -7.5009, 9.0735, 1.7509, 0.4908, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.588, 1.7348, 0.9302, 0.0792, 0.4503, 0.297, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4132 right_y=0.1874 right_z=0.0857 right_yaw=0.0255 right_pitch=-0.0708 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4974, 6.3385, 1.8437, -0.0269, -0.0513, -0.0171, -0.8547, -7.4462, 7.4735, 2.0684, 0.1685, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505987a42c22608357cf10fd9d1076a9b33e304e30cd954c0018cdddc16ab2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4dc5eb730f7df6fd5107fbc69f8b33dc96c4583dd8b087fe63e6648640014ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf6ed5bd60a10988449aadade21141b88806a083cc7abc96c54644f73fddf27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_027389251a9168ac016ab41e492ee087d088d2835499063c48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.165,\"right_z\":0.065},\"note\":\"The right gripper is now over the bottle’s body, but I need a grip nearer its neck so it will hang with its base down. I’ll advance toward the cap and center the jaws before closing.\"}",
  "call_id": "call_ILAaoQyIQs8cR7fdOTkuzIXE",
  "id": "fc_027389251a9168ac016ab41e4d47dc87d09ee95e9bd3cf1447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ILAaoQyIQs8cR7fdOTkuzIXE",
  "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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4675, 1.8748, 0.9081, 0.2554, 0.3592, 0.2237, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4424 right_y=0.1578 right_z=0.0428 right_yaw=0.0179 right_pitch=-0.0882 right_roll=-0.0448 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.7299, 6.3658, 1.8584, -0.0659, -0.0513, -0.0122, -0.1983, -9.1282, 9.4838, 2.2051, 0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0524fcd510444fdfe6dae285ef8d565edc2d3aa8115681254a437c448134e1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c8d1cd9ef4459cfca0b092a04f0a437e3deb36c186903ace098a179372d89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25308d5777ac798999928481f29bbf70e3d7c72c810d29cfd7249c5cb7c46053",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 5.154 s

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

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0223, -0.0288, 0.9986, -0.0154, 0.7883, 0.6037, -0.3847, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3607, 9.6479, 1.7802, -0.0122, 0.105, -0.1538, -0.8547, -1.0051, 10.3043, 1.8095, 0.0464, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.588, 1.7348, 0.9302, 0.0792, 0.4503, 0.297, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4132 right_y=0.1874 right_z=0.0857 right_yaw=0.0255 right_pitch=-0.0708 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4974, 6.3385, 1.8437, -0.0269, -0.0513, -0.0171, -0.8547, -7.4462, 7.4735, 2.0684, 0.1685, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4675, 1.8748, 0.9081, 0.2554, 0.3592, 0.2237, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4424 right_y=0.1578 right_z=0.0428 right_yaw=0.0179 right_pitch=-0.0882 right_roll=-0.0448 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.7299, 6.3658, 1.8584, -0.0659, -0.0513, -0.0122, -0.1983, -9.1282, 9.4838, 2.2051, 0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0524fcd510444fdfe6dae285ef8d565edc2d3aa8115681254a437c448134e1d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c8d1cd9ef4459cfca0b092a04f0a437e3deb36c186903ace098a179372d89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25308d5777ac798999928481f29bbf70e3d7c72c810d29cfd7249c5cb7c46053",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5XGNEtO8vg9bv2sERrkN4QNh7__FU4ENQbah30W4o44h2puAXVnfLKnVaEdVjAa3gPtcxCArsvaiwNG9Hw4Fj_bMYnkZxnvqCeLZJrzj4PuMcAz-TNzKoJ82Mthon3bQbXGGAswvXgwmfUvRIscPvX_woAiTN8C1xl8wK5BZztoqavn22n_6ZXIIZY1sTRACyGUahaMSrCZKUwmSKnFMrH5t_6sR1f_OfexUAsr5MmwqRdxbqOnppyHezLufSSD4bebZE6fWJ4HiqsCLp8Ee6pe6Uy5AdX2paZX553FswEZ0YO3gTIs0c4TRVaL6yzH5MU-mjEopb5xhujhIa0UEC_7UK1RQtkrMiROzS1bMzrr6WeqEN6kXAHU7Xh37RlHSGQbO0Vgk-d9UApXqw51rZ6oIe6zbD1W7TcMdNP8w3EkC4SCMNANEMwPnoluh2fHl6e0k3bARg9KAuMUl70o3FfyeVBRqlLpxOnPm7AsxM2phjRQwqS2iVVX2J3YfZPwtdmC7iTeUQIFqKkNtor67-a1z-LDHDauj4Ls2iYNUe7P8VntwHSVPTjjh0T0dauZCKXvYU1q45hrOj2pjwZRkqHyOoefovOguo7z9Pg3QKYxWKzrJxG3B2qYs7eLwZQUORuuOcbVfxf_-5bSYbyE1ixnGHhIOb7XrWiJqx1q2OdG5GLAgtQQxeuG0MeAE_5z2NW0qlJ0Hc_iDCpSZDXhYiPLRpg179MK-xPn2ILd75h0CHdXtHiGD-Iug4U4EZjoXglXtu3CPTegDfb26jzyqz2XpULmB90U94wyulPMbvhU4PKPtGmMW4vMWlxBz6nArXmKbtuYz6gZmpN517sMRU9l2kM01sUe-puDa32ol8n70WVLc6K1crMclVSmML8M97YhMaMfg9x9N1mOYGiQSiAe1wRREYZRT5Z4KtUNCjb0ggs8GArOhBBLy8pgazIzC7TfT-yJhQ660R5OkMteslsn9S3Cb8k_4AfZFkcyEvuIRDT3YjD5vDl3sh1gRz3UBkb4ptRkJlCrepg6biRb59-QGAgrfpGMwRoilz2xdWd82HAm3FeO9iq3eVdGAg0D2yWDYQZGfeopWaYRuIydS_ASKt2kc5cyZNYYgqBWndp5JJ0bXPnJ4hMgA-tPahpS2xCvBTqa8PGr6ALEnVwrL7slxwZhZS65p5WnZtM6cuzDJyqfKz__dAZxaSgKLlhzXbPouWa27evlFa82-EzUWe8r34NI_91Y0rF6xkmafUv6gY9rUh2utSFwy9ytnaleN0OVfEbN8SFsgtl1SwjtVz8GI5nzkUBLcRMyKJyIhURA8F0AxejeVZoQx66AGgHId4P1JIywJpX7LBuQcz9WvmgWLgbEymbII_IJ9DVLRrCoZVcXZlt2d0SAo7RhAgWBWMHKkKWDPC4Wozq0Zf778bb8SrXvXFOZg-6_wjpQoWUXGseTtSnSHrRezQdFl0-JWsvjccuL3tKuPztlb56t5-jxprRQ-KNo-Pdi6H3sKqU8afWkU81OcsC77A5A52tfjqEsE9TEN-AVaUVqWt8nwzv-UDtVS8bx-IywtKgwIehIzPS6fykYktL9Wy4_4bwgWf2B9zNADKQ23KYk86_YwLge54HXGmZOPDVW4y4ImrBFa_aoEAFaSDek6GvIKxJ0-VPHh4jCYAamO26Zr7obwC1wKULG45h7uYt5y-8LPev1UxLj_HiQOsmJVUfsi550zJsfRH5ghkzDvHkqQhKDJPJpUuUI1Q2E1Zd_7o7ci8VlYyzyJCOgKeH452Kg3KX1J9-gC7B-WZAGcrINOHWX9WQ7PvVpGJjU__lOTDJiZQF2ei2UUFWq57M6rueKXDOQm54WP7AwwivPVMVhimJJLIuB1qxdqKqtZo5P2c1ZqKqHPlQFV-7EYPZ-KlfuazQb0J0RE1YTj5q6l9TU4lHFmrn_9y3-TBgb54_cOt4uS2T4nnT3xWhB9UV1hMOOjKa_Z6m1jRYCn2ffBwTFrEquQj8tRpOzVoOfn1k9JRR4Kl8bucCwpyb6Ak0roFq2JfUja7v6TMej5D7SYe7k0haBPPi1FmDyJFx-QPRBKXAaejqSfa0nsC5meTMnHL-jg8SoP0aY4DZLJ-fB7L-1efNPq15JHj4rYhTRRpRGCALeidMnDZL3RqGkvBtJUI__BzbfjvzQ4B4YDnFmEJuQWWPBPfve3sUuyJZWu5XpXWie9rngL6Yzf7cx6sdRm8y4pIXDP7ulfZjGVK-43l3nmTZZyGV8kitKZRqsDakwFV-5rSjqhRV7wEoe5bt54cTHYYfBBZYi90CswfALv1z-_0xv5puuO8j1lMQfUhBfOL2xd5PwHsLoWUW6ODe1_mpbo7tPy56HAfRrdk6ZXzpr92ujIUlQIACpcORc1R9t3B6qc3CWMmMgylFBV151SzsgeaDEb0cNthwEetChg05MvCrtTsm1DUVLR6XWqfLyGW2V_xfRdHl2PfUXvf-WF7IXEWElQHSUxXCrWxFVA_mIvkQ3nkBUMSFMl_VGDD0jYu6x8uZRBpCBX8A2Skj7yEVLBGvYgvm",
  "id": "rs_027389251a9168ac016ab41e53913887d094c00a6c90e498ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.155,\"right_z\":0.065},\"note\":\"The neck is centered but still ahead of the fingertip line; closing now would catch the body. I’ll extend farther toward the neck at a low, clear height.\"}",
  "call_id": "call_FvdgpLktML6Z1ZeB1WEn6WDj",
  "id": "fc_027389251a9168ac016ab41e56c3f087d09bc80c9fafaea368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FvdgpLktML6Z1ZeB1WEn6WDj",
  "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, 0.7963, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.4576, 1.8919, 0.9127, 0.2863, 0.3351, 0.2039, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4476 right_y=0.1597 right_z=0.0414 right_yaw=0.0389 right_pitch=-0.0783 right_roll=-0.0387 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7573, 6.3248, 1.8877, -0.0269, -0.0659, -0.0122, -0.4718, -9.265, 9.0872, 2.0781, 0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf676d6857521246f9f8a0e2e85843f629f383eb4aea0db6035cc275837ede56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02dcdf73b3e475f29a2fdefb0bccfb2d87d87734894e596be08b836b7bb1522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b624bad012649660f3f5f34e49d07579c63f22c51fdf874f8a7380be1111fb72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 5.773 s

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

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6144, -0.387, -0.0227, -0.0292, 0.9984, 0.7395, 1.6276, 1.0172, -0.1585, 0.5556, 0.3939, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.3769 right_y=0.2225 right_z=0.1314 right_yaw=0.0416 right_pitch=-0.0628 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.6615, 6.7624, 1.7998, -0.022, -0.0611, -0.0366, -0.0615, -7.5009, 9.0735, 1.7509, 0.4908, 0.2759, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4675, 1.8748, 0.9081, 0.2554, 0.3592, 0.2237, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4424 right_y=0.1578 right_z=0.0428 right_yaw=0.0179 right_pitch=-0.0882 right_roll=-0.0448 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.7299, 6.3658, 1.8584, -0.0659, -0.0513, -0.0122, -0.1983, -9.1282, 9.4838, 2.2051, 0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.4576, 1.8919, 0.9127, 0.2863, 0.3351, 0.2039, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4476 right_y=0.1597 right_z=0.0414 right_yaw=0.0389 right_pitch=-0.0783 right_roll=-0.0387 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7573, 6.3248, 1.8877, -0.0269, -0.0659, -0.0122, -0.4718, -9.265, 9.0872, 2.0781, 0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf676d6857521246f9f8a0e2e85843f629f383eb4aea0db6035cc275837ede56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02dcdf73b3e475f29a2fdefb0bccfb2d87d87734894e596be08b836b7bb1522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b624bad012649660f3f5f34e49d07579c63f22c51fdf874f8a7380be1111fb72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5dEG9jNke-_l9eXoJO05sLSgL5SxY7xiH1d4M8n0KwOqBf7gFaQTdxVjhC7Rs5kSUjLXYQtZYRCkPb8Ox1ZxfxYaYugvE13ByJ3cUMDL8eWX2s4o8c8-5B6VYd1x72V_Ult8o-qytBgwMJNgylQ-6KqDHbPrWOApp6WCD4MSBgLMMKzVjM9yO8L9PUNAlIE6ecU8kcQeAxL0-eWaBlazyjuD6MrCkW5pumR8QYVmV9k87FZsSuvzg8T_FkvdXRg3fDVgB8Qz4WAhRs9JQaHOq4zcdsVEQN75UUYD_7ORuthU0z-LEpWjNDp1YAAoTaz9NoEoOeCCn_W_mNjnCejIse6S3mTT3aeLDJ3bPMZxYpBTKr6NflAjGuGlOaY9ZzuLBKYf-Qa0AuEHZ5kJMnZ-2PLoplfDg2aW-p8-P9JtntZW0pQWbL_ADPKssP_NpBFelg3L5mwoSs_eYUzmzqx0EMjdyMHs1KtCTV2lRUPwPRaO8aTd3LlXpu0BCSSsAQDqfa8fDjE9nid6E8-WrFUztJkHeCl_wMLjLHFxOYFfBjbn1NqaZkg1qtbd-duxnQCKHnsShxrOcbjLxKqCcxHgeRSBB5ec4Fv4-mj4tjFCIHwv0M7S7hm3agndYLMZ6tiWGACmcV5JgSsIqSR-j8bDRUlhCihV3uE9O6IzFCydvE-X75hWI90Bsl_E1GxUv5nhYdwLBZLTWscijZKgPwD6_19I6H7bwQLI9-G9FZ9Og9dE8OVcw8p4F6MD-aObc9lKbnZS7Ya9Yd1uQheNCm0jDzT7afOZFZfD_dIs6eg1pR5hC-Ch1hZZYM71mxDxjsxIcfB5KgZJFY75qvObwmyxNOnmec-2_NXFy5czffhn5HP0PYQ35ugEOGs_EJq02EuVDVhCL-tpkYqpFnuCtUJxQNBwgGFk1keu118-q_SpNWXqtZhBei2t-KRNcH4aXK3ZtUcVpDDBV1ofF-Tr5ANjjgjlrRTNcTxYJKCOoMV6bvMfMdjyzhK_QvmvFQoE7iy8nwJE2PcoGjA84wfAYieedYlG5eNH2vKeA28KdyMns6xIlWTzp_ivFhfXPj2839qCbc-dW0JnStQw_OpkZ13aBlYGBEoI9C8JYBCEj10qzg6b43bsdswr8Crp1Ms26LWZ-Tp0NS9rPJI3TWsHo4Ao3ezD1P4IjsGRzF5z_9pbxHp_qJeiGp3tHob2nYBV_VX-arusHhWbhF-323_DN58m_DuvBOvTIejfICEKeLMcEfTZt_pe6s5aXUDfSUL_6Fr_kcMekSKZEm6uLFGO8myRSaF-H6scb9yBtSTg_oX1-P1XvuZuZHsld4rtj47kdbAW7kqiDZHScpngm2hKNYo6pZtS2hwQPwFzOc_mQuayZyCwEv8NQ9lnPcHXdeRtWpXmj6-krDtkxeWObM-Q5t44eH_DdysiSeDR2l2vcmOay1Co8F19SbqaR-c7XCvIwMKzn8lmfBV_wKVDbhDOyV2QgapctE7SG7StKxqnBHEwKdEZ8Ar9PtZL3GhK6lr1Xk08DZBftJ0Umu4d3pkh3mdl_Q3L8iFW8H7btLrB9V3IP0-yNbvKxu9dT6LMY1Qlwy1sBVhr9hAbSm2SA_xOBcYbexFBqfJWlfMlmSqi53rd1WnJaN3RIoonYZlHHPI3MVwIF7LYv7DxwZlW-8USFGuHMbqi01FPicW44mSWESEUFJ4Jhyy352YGdk3DPMe-Tuo1RDX0a39O2x1bHBUbEL1JVZqjF3vJ6hDOvHUw8k52VlFKNqS4mGZBlSvzUbw0SzGWCpoR8s93nTODEJ7HHahsm6FrbiSFWP9UJkrxDpj4nWxB9I4chfxMczHW8iDHQ6kgyJyO7xmg6YGBEeXEjJIK9oyElN9hmzZz_26jply46iN6pXk96QwdNltGaBdCVV4StZdJTrT8p07vxyUdLWcCRwsTvF2k_hgxmWIgsy8KVzNEFYX-cSKJK1WgoZCjj2RJHVhNBZGVCos0T72yKaZRk8q3RAdceo_0G2WbL1QLfvlRjNqKXeHp2zIl5U8oLKgccRtOsW5bOV0373L6dGzDb2TlFXTTLKlIfFKi_PHQUnUPwPBC6laKlNx9-ulDRDFz9wx7gCV4cY8EOxisbjMISWp6Vnq8RZCAOg4RI8PQzauU2LZ4Mholsnu9siuUkOLrugGbX9Tz4EvmufHMdOUtlNGuToTOkUXEQG28fThvCn5O2DN8bLS8rng40rpVdgL1KDSNtrqsNObWl0n7ObgHrIZWVZvaqtvpPKyuHpNfNeMImM9sYdyQYUPf2klnrVt87QzpVdQxUmpGPfh9mxY55FrobY0OluA9PRNyESGyZzOJfzpzN4wKLnZTV85WoYa9FyVb70NQYQ2_hxozF4yL-NM7ZAW7wQg0KaEmg8zhuxqz2PB_E260EerwLBpZHD0Zde3xxXeqAD2FoBdd-Oir4c7IOyCEfdzDbhrhY-Lv5NLlK7cwgxGxd_8GNGFr2qOfRDvlMXgzR-Bbq3kZjRCC3A05aHqnZAgKhh0NBVlTDlizwSMJW1XYgq1NeoWoxia-oJjtAwbEyNvEKD0Z49VhRntzJ90DA1rRo007Uk_p4WVeKJWgRZiEOg0Wy3sEnocfl-h06MGo76fww79LN89m0Vq58f22_wmlPM1B5w5GR9g2J9jWi5wTszOkCgBh139N8tmt3r8QURCZb4vft_TmmKNqAoIs4H0BgmVVJwPt16HGVVX0JQMfmHQKQi6BggJBz9SzRir5nHDsnekeGU5OGT1y6_ZhGcdZN2dfTPwrl_dfwCKyYS9r_TmSlC6wgePILEJaAmDaRAQTFYmVYrlYyZR5po8E_3M67-V7yqBLZI8HIbriqy8IDIFQUO8XZUr-eOzM9iLfFkgfg8J39Z_5LMZmzqfb4gLLMHf8I77G3gx5Y=",
  "id": "rs_027389251a9168ac016ab41e5925f487d0bb463384c8cd6131",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm has stopped advancing near the tabletop, with the jaws straddling the bottle’s upper body rather than its out-of-reach neck. I’ll grip the body so I can pull the bottle closer and then regrasp it at the neck.\"}",
  "call_id": "call_TAG2W01W5tFju2cvUwkD32Zt",
  "id": "fc_027389251a9168ac016ab41e5c76fc87d0b80bc1b203857e4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TAG2W01W5tFju2cvUwkD32Zt",
  "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, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.458, 1.8915, 0.8581, 0.4911, 0.3355, 0.2035, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.1647 right_z=0.0607 right_yaw=0.0397 right_pitch=0.0596 right_roll=0.0219 right_gripper=0.013\nstate[joint_eff]: [-0.0479, -1.7573, 6.3248, 1.8144, -0.0366, -0.0708, -0.0122, -0.1026, -8.2256, 4.2051, 1.3309, 0.0708, -0.0366, 1.1209]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa2c1c4d050bb300eb7973c752fa3c104fe278e5dea9ee68aaa1c522945d46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acded8260fdad806f50878ae2a5063df8af50b3fbb8458d5e47d8319bb7d4ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8610774679d38782007fc8fc8ae1d075db39990c00c791bcb5e06b26bec77fd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.475 s

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

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.588, 1.7348, 0.9302, 0.0792, 0.4503, 0.297, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4132 right_y=0.1874 right_z=0.0857 right_yaw=0.0255 right_pitch=-0.0708 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4974, 6.3385, 1.8437, -0.0269, -0.0513, -0.0171, -0.8547, -7.4462, 7.4735, 2.0684, 0.1685, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.4576, 1.8919, 0.9127, 0.2863, 0.3351, 0.2039, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4476 right_y=0.1597 right_z=0.0414 right_yaw=0.0389 right_pitch=-0.0783 right_roll=-0.0387 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7573, 6.3248, 1.8877, -0.0269, -0.0659, -0.0122, -0.4718, -9.265, 9.0872, 2.0781, 0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.458, 1.8915, 0.8581, 0.4911, 0.3355, 0.2035, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.1647 right_z=0.0607 right_yaw=0.0397 right_pitch=0.0596 right_roll=0.0219 right_gripper=0.013\nstate[joint_eff]: [-0.0479, -1.7573, 6.3248, 1.8144, -0.0366, -0.0708, -0.0122, -0.1026, -8.2256, 4.2051, 1.3309, 0.0708, -0.0366, 1.1209]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa2c1c4d050bb300eb7973c752fa3c104fe278e5dea9ee68aaa1c522945d46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acded8260fdad806f50878ae2a5063df8af50b3fbb8458d5e47d8319bb7d4ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8610774679d38782007fc8fc8ae1d075db39990c00c791bcb5e06b26bec77fd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_027389251a9168ac016ab41e5f52fc87d0bec2ec40895cd2a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.015},\"note\":\"The gripper closed empty; the wrist image suggests it passed above the bottle. I’ll reopen and lower the fingertips to the bottle’s center height before trying the body grip again.\"}",
  "call_id": "call_xevtUDWE6n8DXqLgYJAv3ZPk",
  "id": "fc_027389251a9168ac016ab41e6326f487d0b549c3d3c3aa5680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xevtUDWE6n8DXqLgYJAv3ZPk",
  "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, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4576, 1.9816, 0.8791, 0.5556, 0.3355, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4655 right_y=0.1684 right_z=0.0395 right_yaw=0.0426 right_pitch=0.0555 right_roll=0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.7436, 6.4068, 1.8095, -0.0171, -0.0122, -0.0122, -0.2393, -6.6667, 4.2462, 1.4383, 0.0171, 0.1783, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d5e27b06cfd74858767253f70e1b1b6ea354bb7d9c0a12e4e9879f83c588ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4148e75ee831b88915710efe9be0b8f784d86ae2316a0fc8c1b95b92823b694f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8180a12ab9586c8a66d0f2806cae9e3645052b4af30165e3bfcc2e17a6c00c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 5.023 s

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

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4675, 1.8748, 0.9081, 0.2554, 0.3592, 0.2237, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4424 right_y=0.1578 right_z=0.0428 right_yaw=0.0179 right_pitch=-0.0882 right_roll=-0.0448 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.7299, 6.3658, 1.8584, -0.0659, -0.0513, -0.0122, -0.1983, -9.1282, 9.4838, 2.2051, 0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.458, 1.8915, 0.8581, 0.4911, 0.3355, 0.2035, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.1647 right_z=0.0607 right_yaw=0.0397 right_pitch=0.0596 right_roll=0.0219 right_gripper=0.013\nstate[joint_eff]: [-0.0479, -1.7573, 6.3248, 1.8144, -0.0366, -0.0708, -0.0122, -0.1026, -8.2256, 4.2051, 1.3309, 0.0708, -0.0366, 1.1209]\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 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4576, 1.9816, 0.8791, 0.5556, 0.3355, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4655 right_y=0.1684 right_z=0.0395 right_yaw=0.0426 right_pitch=0.0555 right_roll=0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.7436, 6.4068, 1.8095, -0.0171, -0.0122, -0.0122, -0.2393, -6.6667, 4.2462, 1.4383, 0.0171, 0.1783, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d5e27b06cfd74858767253f70e1b1b6ea354bb7d9c0a12e4e9879f83c588ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4148e75ee831b88915710efe9be0b8f784d86ae2316a0fc8c1b95b92823b694f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d8180a12ab9586c8a66d0f2806cae9e3645052b4af30165e3bfcc2e17a6c00c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5n5H1sFYd8TzAi7sHYF8vZ1Dn2impVxshRKos-pfaOjtGJMfuQzrnozuYEYyvPn63mVkjdt9M8koMXqDizXI09N42SaIR1KokjqviLoyAASyYelNbKjISai6EVEhps2SW_tsnBeRY5YnzVQkC47lldzJ-nrvoyPSVj4Dioge2zQpXln8KUf6LYsBm_RbUHsFOXH6FUjOaBy_vWq3pg5bglMJ8VEZoJkELTB6s47BIXi7bLIBYUitSyHTLKPR-II8FM1iWVpOmPwYjqwc2xSBjSg5Xawf8TVpWzesKhZaQlh1YFSlyBI3jiy6qJlknZrctFnGGMX9dEwU2YcaF6EqnOXNGxg_YulnqCVp6VVlpY17OmQ4bE-aWq03pAa6B5-EnsmvyQJgExc-lIgl5sfTSiHoBvTf1R5r5qKazvX3gBRuM525GXyHXjGwE30HdaSt73lZ-28LKgG_wh3nttp0xP-LbSPbBfTqOYxTn53Rp3LWFRwBVTtQF2X_GV5Psnr30YyzUdbptAHZcrGbsbOvBpgpDPr6ev12_zZVFpnnvCytyynqcBzKoGMCuHZzTQ6fSSmFXmpsOttewC_SuQUH3e5CscAUR5YAA-sL7gFWotVzFwC0TS-S8uALfZO6lNFcCxeU19cEXVQAYScRIvxbzzXh8upMdwlh0ZB5ciXURci90bSLN8Yrh7flcobOEUCefYRJjbDuG88GX1eLHBPrePRWR5k6rv6Th1k6mYLeXNkPsvEXpbm_vFXjk5QZ2iehD0ZZi-e-9O4KoTNtf6YOnB1_TXoCv2ja8q5WPKOdxw3XPKhz4r2_GmY4ELggWNa84TeTgvA3F3FK2EZpW_IZpWtfnzG2HbEzJ-UkN3Bd0XK0A70Js5PLzu21pHkw9cIqQ9QIx8zKiZju-e86o8gQ-PDyNaluHrTwtohnzvjIQVqSpKuSa44Jb6RQoDLHu1J0u-7tIyD_K8Ip1c9TRd47j1OBXIqhqzpS8CH8OqGH3cJTKLXoD4w1HJg65aTuNrX5ETF4qhgekiXis1rQzO3GxW1-crsEJQUlGdf6p8WVxFZuC9QLNDRoqGJ-xcVCCJF8u0L6l-pAWY_l30njB46wK7kRD0k38ynUBgAA_H5XF_yYbcZXZrIWbgR0CmOXyM24ZdmwcKPbv6KxJaR5rDizwaff66y3uuNH_63U_qrBiWEpDcRx6doYuTkuBvFQ2-WB4mbCXaWMgKP9OZlKHc0BlLCjoG68AUzT2Rux70VmmEgelycGm1e9LqInpW0zFgeP5sl4FD1_N3YOjf00SqOccswAeVW6lmFY_Z1pNCRaYiV2MiPlUy46OLxpvvYviMN5Qa3cdVe6eFnBRxmzFUrIPao7RNwKUxcePddU2OX3IfE0w=",
  "id": "rs_027389251a9168ac016ab41e6638d087d0a8a49b5faad646ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are lower and centered over the bottle’s body. I’ll close once more and check whether the jaws actually hold it.\"}",
  "call_id": "call_OoInlk7Trzk9acwLeQQ4SUXv",
  "id": "fc_027389251a9168ac016ab41e66a62887d0ba182b8d5fe849be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OoInlk7Trzk9acwLeQQ4SUXv",
  "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, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4583, 1.9659, 0.9119, 0.4896, 0.3275, 0.189, 0.4106]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4679 right_y=0.1715 right_z=0.0455 right_yaw=0.055 right_pitch=0.0379 right_roll=0.0043 right_gripper=0.4106\nstate[joint_eff]: [-0.212, -1.4291, 6.3248, 1.8291, -0.0464, -0.0659, -0.0122, -0.6085, -9.4974, 6.3932, 1.1697, 0.0708, 0.1099, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5098f9ff366608464f61a92c7c4dfc105de143cd8174e95708739bd1228fd62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54a33a2ab2b31d6d143d93c2d4a5c5cdb88f115d6fe8f32830c36e2ca843412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541ebae010488181959180b262712f79d3ccbaa48813930fda11fbe610226840",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 6.336 s

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

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.4576, 1.8919, 0.9127, 0.2863, 0.3351, 0.2039, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4476 right_y=0.1597 right_z=0.0414 right_yaw=0.0389 right_pitch=-0.0783 right_roll=-0.0387 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7573, 6.3248, 1.8877, -0.0269, -0.0659, -0.0122, -0.4718, -9.265, 9.0872, 2.0781, 0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4576, 1.9816, 0.8791, 0.5556, 0.3355, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4655 right_y=0.1684 right_z=0.0395 right_yaw=0.0426 right_pitch=0.0555 right_roll=0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.7436, 6.4068, 1.8095, -0.0171, -0.0122, -0.0122, -0.2393, -6.6667, 4.2462, 1.4383, 0.0171, 0.1783, 0.0317]\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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4583, 1.9659, 0.9119, 0.4896, 0.3275, 0.189, 0.4106]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4679 right_y=0.1715 right_z=0.0455 right_yaw=0.055 right_pitch=0.0379 right_roll=0.0043 right_gripper=0.4106\nstate[joint_eff]: [-0.212, -1.4291, 6.3248, 1.8291, -0.0464, -0.0659, -0.0122, -0.6085, -9.4974, 6.3932, 1.1697, 0.0708, 0.1099, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5098f9ff366608464f61a92c7c4dfc105de143cd8174e95708739bd1228fd62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54a33a2ab2b31d6d143d93c2d4a5c5cdb88f115d6fe8f32830c36e2ca843412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541ebae010488181959180b262712f79d3ccbaa48813930fda11fbe610226840",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_027389251a9168ac016ab41e6a028c87d08e20cb6ed7a646a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_z\":0.18},\"note\":\"The gripper settled around a roughly four-centimeter thickness, indicating it caught the bottle. I’ll lift its upper body and move slightly inward to see whether the base swings down.\"}",
  "call_id": "call_mp2zroZKIg6pvBCHhepN1vqM",
  "id": "fc_027389251a9168ac016ab41e6c561c87d088d9151678f51192",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mp2zroZKIg6pvBCHhepN1vqM",
  "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, 0.7959, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.5125, 1.6012, 1.0344, -0.0834, 0.3389, 0.2081, 0.4096]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.424 right_y=0.1753 right_z=0.1518 right_yaw=0.0895 right_pitch=-0.0383 right_roll=-0.02 right_gripper=0.4096\nstate[joint_eff]: [-0.1299, -1.3744, 6.612, 1.8632, -0.0269, -0.0855, -0.0122, 0.0615, -9.4974, 9.9487, 1.9512, 0.3883, 0.1832, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503d8df41288b7ee1bbb032165741c44c1ea19152de92e85c2968ef448e7d482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c378f124871a3d0f203f25e996bc37ddbcfcee3eedc8b20ebfa70604b502c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9560e6cf0d97266da10293b235a860d7a705e1880e1dbfe7e6ba01c1f3d0f22c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 9.154 s

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

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.458, 1.8915, 0.8581, 0.4911, 0.3355, 0.2035, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4576 right_y=0.1647 right_z=0.0607 right_yaw=0.0397 right_pitch=0.0596 right_roll=0.0219 right_gripper=0.013\nstate[joint_eff]: [-0.0479, -1.7573, 6.3248, 1.8144, -0.0366, -0.0708, -0.0122, -0.1026, -8.2256, 4.2051, 1.3309, 0.0708, -0.0366, 1.1209]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4583, 1.9659, 0.9119, 0.4896, 0.3275, 0.189, 0.4106]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4679 right_y=0.1715 right_z=0.0455 right_yaw=0.055 right_pitch=0.0379 right_roll=0.0043 right_gripper=0.4106\nstate[joint_eff]: [-0.212, -1.4291, 6.3248, 1.8291, -0.0464, -0.0659, -0.0122, -0.6085, -9.4974, 6.3932, 1.1697, 0.0708, 0.1099, 0.6569]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.5125, 1.6012, 1.0344, -0.0834, 0.3389, 0.2081, 0.4096]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.424 right_y=0.1753 right_z=0.1518 right_yaw=0.0895 right_pitch=-0.0383 right_roll=-0.02 right_gripper=0.4096\nstate[joint_eff]: [-0.1299, -1.3744, 6.612, 1.8632, -0.0269, -0.0855, -0.0122, 0.0615, -9.4974, 9.9487, 1.9512, 0.3883, 0.1832, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503d8df41288b7ee1bbb032165741c44c1ea19152de92e85c2968ef448e7d482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c378f124871a3d0f203f25e996bc37ddbcfcee3eedc8b20ebfa70604b502c89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9560e6cf0d97266da10293b235a860d7a705e1880e1dbfe7e6ba01c1f3d0f22c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_027389251a9168ac016ab41e6f4ee887d0bca6ce249879faa2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_z\":0.16},\"note\":\"The bottle lifted with the jaws but is still nearly horizontal. I’ll bring it farther from the table’s far edge, creating room to put it down and regrasp near its cap.\"}",
  "call_id": "call_RMEZkMgwTvRZQy00tejD8ilV",
  "id": "fc_027389251a9168ac016ab41e73c59887d0acfffe9aba7d4963",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RMEZkMgwTvRZQy00tejD8ilV",
  "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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6552, 1.351, 0.812, -0.1005, 0.4267, 0.2802, 0.4095]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3507 right_y=0.1818 right_z=0.1577 right_yaw=0.1222 right_pitch=-0.0053 right_roll=-0.0021 right_gripper=0.4095\nstate[joint_eff]: [-0.0205, -1.2239, 6.3521, 1.8974, -0.0562, -0.0611, -0.0122, 0.1299, -6.2974, 6.5436, 1.663, 0.3346, 0.0904, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1068370ee75cc37016e8474d89b24d7cb423aabb31e1ed2887c0de08867ef9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bbfb2d0506a112813ae9bd5d05590612fe97a2bd26ad9f0c9af1c578022a41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1708cd87d1e536cb1927467927d1e8b27890cacbcd86a726c060dcfac25255aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.892 s

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

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4576, 1.9816, 0.8791, 0.5556, 0.3355, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4655 right_y=0.1684 right_z=0.0395 right_yaw=0.0426 right_pitch=0.0555 right_roll=0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.7436, 6.4068, 1.8095, -0.0171, -0.0122, -0.0122, -0.2393, -6.6667, 4.2462, 1.4383, 0.0171, 0.1783, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.5125, 1.6012, 1.0344, -0.0834, 0.3389, 0.2081, 0.4096]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.424 right_y=0.1753 right_z=0.1518 right_yaw=0.0895 right_pitch=-0.0383 right_roll=-0.02 right_gripper=0.4096\nstate[joint_eff]: [-0.1299, -1.3744, 6.612, 1.8632, -0.0269, -0.0855, -0.0122, 0.0615, -9.4974, 9.9487, 1.9512, 0.3883, 0.1832, -0.1197]\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 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6552, 1.351, 0.812, -0.1005, 0.4267, 0.2802, 0.4095]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3507 right_y=0.1818 right_z=0.1577 right_yaw=0.1222 right_pitch=-0.0053 right_roll=-0.0021 right_gripper=0.4095\nstate[joint_eff]: [-0.0205, -1.2239, 6.3521, 1.8974, -0.0562, -0.0611, -0.0122, 0.1299, -6.2974, 6.5436, 1.663, 0.3346, 0.0904, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1068370ee75cc37016e8474d89b24d7cb423aabb31e1ed2887c0de08867ef9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bbfb2d0506a112813ae9bd5d05590612fe97a2bd26ad9f0c9af1c578022a41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1708cd87d1e536cb1927467927d1e8b27890cacbcd86a726c060dcfac25255aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5-ENfhTVXNxxHP9AOBvsPztDL0UgLyeqrKpG9QX9ZthTz66bnFfcg-at8LAvVavF9G7GHNcQsj90WQTCfgH4O3lnXBIw1LZ3YfO76ucNZJq3kFS74bgkjXQF3iXU6JAL7Zi2_ovC7hE3maNe8hXvjU_3gxYOHs4RhS5a33dC18VgLpf56o5MX4Ttm-jOVsysKx2UXSIdKxmu_Jq0oTHgaGDwRm-2PSmZ1i8QLZeQjNmnFNOUqsu5sEpnVLMOd8SJmG6rM_8MBMqCyj4PKAZgwPCDZIkZHMTzjwkXnlszvrIU0HQVs2cT0_XTotD0PvnimcbdEbLWt8cg_XUeLSQ2Flggw4eUmah5Keubrv88wLnyaYddj6a0M8gtR4NC441GUuErVensRd1U9GusA_m9CHNkmhwGfur1wYEHRicqtIgiR6FvlzWqr1xXTUtikBzppYZpt-UdqjuxoTJ7tao81xKlAyEaqZUAo5LTM4ah8ldjPWD5MdbHsQKrdDssI4HGT3sjPN3bkzgTPhsspMDMSMhmQTkZ2qdtwK4Iz08DVo7YgPcXDjzCS9cZqiBXwwI190uvdjKm_DFp5a9TJbxBSW1LDizzhReuao4xzIsy1CcbIomMAuGH2G6_a2Lr7xhoCdn4f_rO_fbocd-M1p5EU8bdJQSchL-B2c2BEBYQwlX5lZ_JfPSIM3JHfeYkg-jCt4899eOSxBryRTAhNne0Fs4-K2f0fTRwPVi1qbyP8tbOt6nJDfJFsoi8udiU6vCrWoAZJVNeXqh-8c0fZOf24VyJ0mfC8uOY5UMKqnc4l_P4Hotg9guZS8iirRwqqKEX3BqUK9VU26HPR2P7AOuieLtxIIBauvARNEIKImvjQ3VJimNfy81WorsjEusBlaqcSdQC-f3rWnMthuGulJ2W6qLqprhDQwtJwV5lqlsJkT6KdmBJYkT3gdVYJK-rMZ73cNDzYXCHgEkw4YQ01jqU6ZHaB_Sf1t9Spv9qKsj4ZoubommLm7ei-dHJsNqWjrBkc7wSVi2gy-Wbed1kXQM02nCggf2SmXDtricHJgoC-qffqXCyzPBU7_r64TK6KnWfZTnX6jAalFKM0S8gg7n_cHdtskQtBLgH-EiOt0Zg6Whv1iOi7-6Ani4H0_yUq-C9rwpIVYa-wbTZVy232lOFRry2dx2VGTEV_6fJ3_Miqk0VtEvBuHcuvLY6TtG8ctyzS1vMeqE2SVQ3KN7BnJk_hjfayTtGPLR1wOkRsnV4znMICuzVV4Yu8xXkJsdW6hiYy5oZGtM-mc3Q93d07AYOo40ddxm_NH_OP6kj06FMwyxaup4x6-T5towX2zvBJx5qxcOIhsJ3UQFUzTsQWwx78YhM5QLAXo-CgZnec995A2fCSivf0FhDlM0xE69KMhFlDd36s4EGaTfNRxQnwu4C2RitW-0LSX4yg5lu2R9Uwy6ugQTjaVOpNk2CUnHGu-b37aMfsogZ8ayXk7dRQDKyZHRmkgg4uoyoS1TmAvmBDvz81a5-74K4_qrFcPYSAnUCPEVcbyXxAYKDG-ZG7swf7sGsNOOkSztea2inIfZfFAuuPz6K6SRiTA4mW4Gathjb9LqZ5hbD73cO3ex9FHK2TQP2MkPiFj2wQ-vz0_S39DsK4DPWIsWjftFH3SzqgxfcPiFLqOf3M5SrQiLS6Wx-CGEvrFgz76sXvv6Nq3Egcjpo1JKAJbWMBwa0h1IofHclmLejyEn-lf9ylxLHhy6b1TOJodXRcRvyZAkWH_qHd1pYfau51TVYOKbsrms6IcDzHidMAzZCEzeFk0rkDhgw9i7F1Qo1d6tEvBR9Xon7VeKkA-88FGzCTzpvuk-1V_EOrg9G_m3kTQ8OgGDaWHziyga2SUA5cfKjmm0KLST7SeuxDaMDqRWQGJ27DzqCykhvSWJtBT4IapKGQ3qRwcvBm9ch9fzgkcFow_5eDJ0uYiHDsqJrlUKO3fSsfq1RRHT0WrnNbNXQvNA3rl3KBQ2ej-ng3GBrgri1BKC3QtsUth8ysGoFlSMp-dcr5RoS0P3zF2M8M03UU9HHHgQ5RuOq2J0nnRgUlJNq5vB6PXTdjyKwSf6mqt_ooFAM1i-rvGk9jMNQIxOfeFsnLzi6vp7IP9SKpcGiulIt8I37kBaAXLyTFnJeIH9SpSyesJB9-wbstBn4xoQCxDlyRrGy_jzdV6B1o7_gkMrXe6dgn4uRB3d-Y8tM1iVdm00bChPLjXFnbcZtQZ2rLa0pGxVkT2VR4_9EhJ50XADQDvlXMZjLrhxYEiPEUirs2T8Vp0cv8S4IpAUCR_6dmCjSy1ahHsJZO5cNtzZRA6ja8kD_rvNFV4-HNQNOCESPUlXI0VY1sGGR4-H9Lpp5GKv_9ujnn6vt4O89Gd_aQAo8nWHTkz3-BNHc_DQSRz_qIpGfJ8aKu27yt_xCpRothE2iLjgbTRMfpq8ogxYXaXJg1booC9uGvPwPuXuDw1bjHHcNkO6moIA_kQCr5z8q8XdEX0Sx-4wg6_h5xEmCwZVDK49xRQ9i1Ay1UouzdSIlYefmTme_f0lNvjjcKCrIVJ2tY-EGEl8gqo0KxMO6TzkEPX8Gr4i-ASrnRMS1mPAX3SSK7HB-F9xKEgUDNCoZEKLtdTvallMvhdPzNiNLMzgB9wHHb-IxWK9ENhncSztxmpFFM9V-V1EQPAjFSRU9pE7fH6kYe6rkSeaxdIcrD0h69rmde1wID-369V6VQ0X-whRZqxG5jX2uElCjpb0tbDqw2r8VVke8wy6z5uEvc9j7lnzTLeZD66NuVEGTw8eprx6jYgvznN-uQMnui5hYHin7KixJFE30K-HbKmYhQf8c2_8aqDH04bI0RDmRn9omS3qWj_mLhMRZ5CCVz_WHiIFJ1fKabFYDcyQ7-f9Vj6VU5fZb_Z7Whbr3wQ93xdCB10WuvQvvT8vxnDV4dBrWJZT9wgPem2HChWs8ao_1mzTflIhw5DDYQQogixSkTK6dsZWno3DU4n5k4o_gcoG9cEfQ20gGsmtPMpldYv9TzaVRm3PPa3BsotdpvQoa0noW911mNfZw5RkbVJEiYtylkZfJTSkEGDqf0ctH3Ao3JjFjLk_-H5dbBufcvHKUZKKyd4nxJIIvelR7jBbnY6485HzzzAFeSEcm6SIfCBMvrySVU5Bi0o_uTXzXeZjLJwqemHc7p-euacpm_KG2bzNh1mqu5Udj0st4NQBknEgpZR82HgCOvXw8ii43O1mUHfeGzNJZcM9beBLvNXmHMJMFX6-PiWc9KdH1AM2uAF6-0BmSWTQUibkqh-wz_Fk2hR6206Ps-YsffO6EZ767_eHfzikTEp1o8LWqk1h3mmRl-Lv05TUIm729YT03SaAJOtxXr48lsfirtBl7tBenx8-ZyGiVZrVts2q44RheUtogNsQJ2Z6NflG2g0Y4LeyNGjgE_RQlmgGyvzGbTiHk7wR19nXoi3vDqRDT2AkgMP_tAoENEyJQ5AvZ-EyE_GjvndQQrtrw_57OY0ktMkNNdaLKbXyJ7O7mZn1D4UUIm_c2-4CaOST8qxAr4a7MIXl9HHzjawNz9EZKMYtWMon52xw41F0GqwMMB-lAC__gReV0MneHXcq7BldDwtXrpeECC1fRqB_AfcW4E6Fr1-UAFKmO9ZMc8yUy-OHJuaJoEpuZe3vbdyU73N-JcEYFcaP3HjciaDhIDbfyZmPu5P4YDohFMOlI6fqFfuX9-wG4r3CXDeShGy2kfls3ILGXTThTQvfw5QLEPVJIZ3Km1h5Sqy9Dvj_mOncNLEcX6KxuWOZYP0d3hcF4a78U3FisfvmhyGMxInFvZLUPj7KpcM4lxITQsEtmiiMMzmXc17JrBNMOQCIObcc2HKP4LfSrBVOliCTw8lwi1icWRdxAJDRDA2kBWzR4dbNY5CsQEFqeIhXnL_9r7HacPnuddGFAE=",
  "id": "rs_027389251a9168ac016ab41e76326087d0989a95fd79a86241",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB5-H5HFauPaAvXHA_L8dFVHQHOx1pL-c943wWp-qRVs4H9S_VgTItO0FAR2YITajPzvoU_SCX3H5gjrXYRcm3vTUp6Tf1XROAWpR7aQu3KXphHL2hnT3ye-fk9ZTx2F2CwZlf2YfuD9hC2yvIQ_qL0uuDuVEvFCO6L663d0Bkao404BixwuBRXuGMfGQlK8sGal63F-XsWkvsWCMcyeJtbUJ2terFgEoh7DNx-zcfNqK9m0Mk2MUHLoC6XYubLZ9-2Sb4TFG73t4v_IBWOdG-SGOKAT212YtE403CaoC_b-W2GXz5QEIqJhx5IcqzAeTzJegqs7xbOzyyjrSfUh2TUe5-QD0NkDw1DQf5RAGN2XFXmy5KcXlwHRawi9MFwhsQJrrN3kCbmsRYi5Rb9vf2mGwv-_mzfZ_12tGBGgnt7Y1QIheFU_NZSu2H6WjNZ71NwBC32PMLjYEjUDUCU2uv7V74C5yITA8DB29wH4688NQBU8jcZtP_PGxtXf-buMW1xw_7-2Vjje41DLU4QCtefIUdGY7888eKUGPA0oycla0IzahCf4QnRY6tFuVt8CLPw9oWgRhED-71VoXrOlAdaxadyfe93l4ATdMbMtOx57Z8oiuZE_arEpwMejTiZQkl_JwjVI_pcAbB51Eg5jF9MMByXc0RIIbSpqYJ7Bn8idf2WQJt-VDbmxNTl1PlSQ8O9bOu8oby8wLfPEM63GAid--EKn7qIhkcq0h4CHzFG7Ky4RILY8tfCyAt8OUMIQuQnMKeIzZXpv7GQjplzUrVSOQf_4uRPzqimtqCTBFXuCS-8DUhYzycshCJsxyvN-WqVDUkRjF-FUNBmJmp38WieVYI4q67mDgpSxROL0bW3D4Cj9puKTAoMvwvLA45P2OYo2HFOhJ249omiY0gxaSGKZJ2AHi_IthYq-NsxJb3w7IzNif8jmNUcDYQ9UQiCNJC26sosCoNGf05qllbhHKc2Tjw9vvSfCTE7_5nqJbPQIG8bEZP5nv7bLHMNpLzpZ-JyKrXc8anZ7aGPReT0Lv1yT8h6Emqctsfi5DE8o1RoFTWHTP_ytsOPNAC_2RTapMxZRznqYSn7dRhZElazZB9-wz3j3yryNU6vwkHt13IoPld8td4xMOLJbc3lEcn3cxZ5GBH9gn5k95b7u44799kgc6NO9BCNgQEpcyaA3coLV-zuKMwT_NMQfLa2n_H4eh1jTsEEBZD6NjxWz-0NDSLdI8Lr_tkAw9U2E5q1DyeFSUodmWMeunIB1ATP-Ad7r7KFIpmMvcXfQ0odY2vlTyvvJpgr-CPnrouBuxPJOmZRkgyHoqR_FgQdt5M0esExV3WxCw0pDlC2cbGC-amGhSO7pVuoN9TtZbF26STKv8FiZtIdkLZCkqkYCoPue53G1GSde2sUkCPebnn0a4Plx5cKL_S3H51D6tZpJO5E_6QMze62x7ICMGUOUiWIDPB_FbteLeJofuDpekPSsIw8mmVFo0FM2AG9OAJOodq1aXAmEXvg1hIwJyJ2gr109uuSaxoMJwGzqO0wfo90B-4ht80dA3VSQ3M_1dLfLLoS85vVnsfeDYTEvq9ahY2noqV_p6IZCvIz37oW7YAvqczVPoH1KsdAlaJVMuDN6hNRThNyzkD2JqdHjgwBzeYT8Fq-AUr_egLafA1vbsLYbFnajfb74-jNZCLKAhcXLsp44m4_JXp0hyjp3ToSmziM2bELBqJL4S8atcGVnhFHn5nJqRlUrRapqS2r1uVZbA8dErqouA4tLMReVZIG-c3ZMb0-W1JnWHVrv5_z3upyASm9haz6pPxqPngiNMcSuFwmX6c6DjF4rg5UrquQcdRwWiw2GcPkfJfgctbtITvWXWbiE1oHIsT4s9e5CYkGeNauYavRlRNfnaBbRWEgPv3NrpVJgzPcgiJo_Z18rV7xvCI8tuvpq_7eUZVf_BJd359DOnTboMbPWMFtclCV8wJfPaxaK3HTwYdCLmsfyn6E8VXCYwzUcOjlDLULcfWtPayDCCUKPLCphPB62kB9cL9QAUvItnpIPxE2YqExr9qgPZvAwiXqV7A9VFWmx2KAmGYYORdD0X7AfS-MweR5OYqcLNAiEluBGrq1DVkXygoHzTO_lEqw4rZvpbLJlHa6wgHpJU-1Uvv4ch8A9-D6hskxleqZ2jS95btLvkovldOg-odBXjLz3ziBcT7X5ZRubjw1yu6nIEY1dc5glaTWT0t4nWv8uKHVcFHvF8lZWkn2w0x6yoxN7DIKdIgLdXWENOCL9AT2VbNKNCRMa7zqpU5uW2w0ReVgmIHHJkxfUHtjBXouUl8bHwtN6WW14QsGPUVlOVZ_7_EiJrpsD7XZR2v77J_HQToCmP0GCBCj2QE6p3yLeLu0gcOg6ck3PR2M87M_udTtrKCATtl2yJkwF2UDhDdBaObitNtxpHpDf_lBcyuQPVTvuL7eZQ1_ctdmoNVPdLfDIiZ-aCpgPXXh1ZtJUf4TIuDbQIdMFgt9nfqmRgi8TH1HqfAjS5ZavpAPHRSQ_d6bf6NI7O4QOOe38wvdKhWW3SuX-T_BoC1X9iXzX9p8umEHjE7gTwHsA5c1vs_WAwd3VJK5FOC6yh5W1jUF9TIUIbHXPtUwI_LIdMft1q-ENI5xeVvih-Gw5umyl11sq-kTO5i4=",
  "id": "rs_027389251a9168ac016ab41e7af08087d0a372b974cf0746b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.505,\"right_y\":0.16,\"right_z\":0.18},\"note\":\"The overhead view shows the right bottle stayed in its original position, so the body grip slipped during transport. I’ll reopen and approach its far end from above, where reaching forward is easier.\"}",
  "call_id": "call_AUG53FTj6fFeOKr8twmDswEC",
  "id": "fc_027389251a9168ac016ab41e7d86a087d0a810277da4ea85d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AUG53FTj6fFeOKr8twmDswEC",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3775, 1.7767, 1.2758, -0.1482, 0.1928, 0.0952, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4869 right_y=0.1605 right_z=0.1584 right_yaw=0.1362 right_pitch=-0.0657 right_roll=-0.028 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.6479, 6.8581, 1.8193, -0.0073, -0.0562, -0.0122, -0.9778, -8.7863, 9.8667, 1.917, 0.0269, 0.1099, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1445252ffc0320e54c8ffc7fdc5949474b85638c0b44cfff4605dbc16b38e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d4f8d88e63db204f10a8ea667b9f9ff69ed741ce9be498c93aa7f86d14e8be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b014dad92f337cf04d358e83ad8aedc84db2b26a1814efa7df05430d50f9107",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 2.516 s

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

message 30 changed as sent

message 38 changed as sent

message 43 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4583, 1.9659, 0.9119, 0.4896, 0.3275, 0.189, 0.4106]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4679 right_y=0.1715 right_z=0.0455 right_yaw=0.055 right_pitch=0.0379 right_roll=0.0043 right_gripper=0.4106\nstate[joint_eff]: [-0.212, -1.4291, 6.3248, 1.8291, -0.0464, -0.0659, -0.0122, -0.6085, -9.4974, 6.3932, 1.1697, 0.0708, 0.1099, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6552, 1.351, 0.812, -0.1005, 0.4267, 0.2802, 0.4095]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3507 right_y=0.1818 right_z=0.1577 right_yaw=0.1222 right_pitch=-0.0053 right_roll=-0.0021 right_gripper=0.4095\nstate[joint_eff]: [-0.0205, -1.2239, 6.3521, 1.8974, -0.0562, -0.0611, -0.0122, 0.1299, -6.2974, 6.5436, 1.663, 0.3346, 0.0904, -0.0269]",
      "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, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3775, 1.7767, 1.2758, -0.1482, 0.1928, 0.0952, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4869 right_y=0.1605 right_z=0.1584 right_yaw=0.1362 right_pitch=-0.0657 right_roll=-0.028 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.6479, 6.8581, 1.8193, -0.0073, -0.0562, -0.0122, -0.9778, -8.7863, 9.8667, 1.917, 0.0269, 0.1099, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1445252ffc0320e54c8ffc7fdc5949474b85638c0b44cfff4605dbc16b38e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d4f8d88e63db204f10a8ea667b9f9ff69ed741ce9be498c93aa7f86d14e8be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b014dad92f337cf04d358e83ad8aedc84db2b26a1814efa7df05430d50f9107",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6D4BJwJruafP9Sd7SUUf3kMYinJyDmN66jKZSVsmDiA1ndE8rJ5EYV86GnQmuV7Y5C7IabMP2CPH9AYn5_nHg-MA4DlUydcbAqBSPZdN3dQNsl0zh-auCAuMmRFEXKxdjUxeLzjADXKFOYHJx7ZcmyMALUUAajMrog-4x4hXBOovOtnFHvw_00Y5szMxT9XnTSniYPDwzUl5WSuHi0ef0Sujgjwa_1v5oPiWg8Z0pQKjpVOmVqvmKRryRK4dG_AB6pDCPa9wlQVZ035kilBpJ7moHqRNH_OCsmvVGIjrh7L6N0XBwur7LeB9FzoznvfD-xwpthehh6td8e-xFX2ymb-3vRIxd__4VwEPcfCs8cuz4Qr27f73DDVzWVuBjiApFosNCDAhKJHvTCKMX92Z0ksTWM2IbGtpyHdzjmHBmRGG-JpHO_al0MWkNYzQ7INqOYS-XLLEdQWvOg70yrjFlSegDb60rLfaZFZXUD5hxpJTqOiKagXzZ79rypGdBKyn6H2nAa_7Z5edFRrm-VqIq3X-eaHMJ9ork94sQjH-Ot4LLOjek-ejSpyMOC-vpVcE8UbLagJ9V0to9KTp5BTA-EaAvLpDkgBb4veOj494SPEQN4Eq5US34vuBF7-AgGwlDyfp7uIRw4fC1xOFQdrGKzEkUCHRu7CIjvwp_a1MmSl7Mt_H8vNxcne7TOZNC77-3qct56A2Seb6HSCYONxoRQYMdQUWBHq1fJRc0ScXcTcoeSjB4RVf9yPOyOTf0BCVW_J3ifrHNlBIaZGq9pENO-ahAZBqnYzivJaUkdpDygcXtUO4so9rjTqawN7d5dvBhpJ9MPZ5SopIYipMSHxKSHS6hGyM_thJ4j6O2IZYXAVxtoUcVrFEv79JgyxTTFyBVnAbx_17q9wRykTjog2O0vc1JTI3NFw6C2lKptijpmm2gn8qe-YhYnqLPs3ESlVVusaJ0sT4aVmlgwZyjWFLHhQPytx-1hlHpN_VDqnLtLg0NBqoClnFjr8bXmT27irrwI5fv2Nl7KHrpBVolDG7Q0Y0bklw0SOahRNPOC-ShigPZEQ4OyfwV7eJoztIc-Dby458jqCCWn4E0Qbt8aWHgJzB4xxpGJYyCWZBbQMTb8j7rBbjZ0bo6qgKBgRUC-NBrRCVDjRL0v9s8OVHDn739i8dohUcv6OOE81_4U8vEds6Jn4IwICwFGW0rEHTXMHxm8uo4p-1G6pAuEp6uzvZyFzEoAlOr3GrBMLP6CI0EXLky-VoEeAVu7Sdtnx-dwF-DZw-0hXYYJ3I-mrrwKZ-jZFKJoUmXS2d0oFqLRa5TGXo21Vn2dIIP4IkyCx3JVfnnsUyPUgayDd9faFO8B9Du5ZUjm2yWkNnbV7LzOJXyHl1xbet-fCNl8W-1nx3n2QQC_Y-ALpRxYBAY6GacBXv-yef0tCe2HDqPauPpsZQ79GLgvqqbqvbbx3UwmitSfO4OIjP8sBaaR-S0eFmpRwAvL3l8YzsSX0E8VCrmLdxnwSKtBFkMpUMDJnD6_-THklyzXCL-iuaL78IV8jKKRdNS9jSnofgOISJvlxm3V-IwTFuSWOaoBfk_s1u2wLx3MBnImC7PE5YPhSB5cYekW6nZsGLbeQ0WeiUWDLRuZEalWfuSI_JGJ4Ip4CVz_hT4x_zu9XmqJLff8U_Cbg-Bma0kGpAliy0M6ujARiLMCMUYfyS83gAdnJS2jam8FKP2G6wiRzYJDDHuzzV1aQrYgl9a91EBzuTBR5A9bL9gYWMwAzxv4YzklpTupsA1BQ5aYewfE4tMH0rpsTB_7VuPFrLwD6Qq2BZMgCS_UhRHdQfR6quX5pAlCn4D6Xf5t4whN09XEeIDU80l7NIxM7HtRTM652EgO2f1P7hhSIjAzRn3yOupNFPbxaHtHmJCltvUEAedPJx1AWjNsluIoQb0JsVrJ-MvaNo_jWkelAUDHc7S02zW6nnv2Vzr4sl0EG_3AwWryynFC9rJsIdX8wz7X7ethtP3w_fPsWyNI42iB9bDvLkQIJrigo4v7dFZKwkp-riYRUqN15cUzU_4mr16rYNM5Tj67S2s6gG37m5-kaUbKKgo3KV-CqTYTKXiZzZW2xw941Gz2aNcEaY-Zrr7FcdHiXY_s1oPrjrrEpbtSuJwdbQtqnYvQIRlFLrTIq499ptZxWA73kbfn1kWUxkdPIqMgl2_no3gCAwMov-h4DFurIkdPBpfAl9GRKaTE3NhRiGjIzx83dhcbb5Oi2on_SVheha0OpNhOK9GMUi_NrsWMSKnq84w98WP2J5u2Hd_0_82Ku-fX-4fre9KTedHhdt9jJZ42nJMTV3XHZMp6cIXbvb3unwdb4OXDn5PaWraINCMxpd7ccp8sFO98X3c-vigQO0rAPdar1GGqsFd4qGPBFh_dbeVOs71VFHKnDgffvMcd-W2TDTWzQXyD-L9G_2tOwAzSQtm1Cngjz2qZrRVLlW3qcj2UA82KiIlaxjXz1Tdz",
  "id": "rs_027389251a9168ac016ab41e8063ac87d08835b2c066cab991",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_z\":0.035},\"note\":\"From above, the right bottle’s cap is centered ahead of the fingertips and its shoulder lies beneath them. I’ll descend at this farther-forward position to try gripping near the cap rather than the middle.\"}",
  "call_id": "call_R6iMF7nwnO8J45fJrW9XFblW",
  "id": "fc_027389251a9168ac016ab41e829fb087d09cfa0877c28941c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R6iMF7nwnO8J45fJrW9XFblW",
  "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, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3649, 2.0293, 1.0546, 0.3439, 0.1776, 0.0917, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4967 right_y=0.1602 right_z=0.036 right_yaw=0.1385 right_pitch=-0.05 right_roll=-0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6752, 6.3658, 1.8388, -0.0171, -0.0366, -0.0122, -0.9368, -9.3607, 5.135, 2.0098, -0.0659, -0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68a1e88510542b597457ecffb85e27ec210895994612249972f59c7c336efd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231cd0ee17c5a6fe79f1907b480705a1e75ad0567fc0c7820a6584069227e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f49b21c200bb99c506767f8e9d94854335e6e4ba60cd550b6f36456fca8015e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 5.006 s

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

message 34 changed as sent

message 43 changed as sent

message 47 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.5125, 1.6012, 1.0344, -0.0834, 0.3389, 0.2081, 0.4096]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0084 left_roll=0.0003 left_gripper=0.9983 right_x=0.424 right_y=0.1753 right_z=0.1518 right_yaw=0.0895 right_pitch=-0.0383 right_roll=-0.02 right_gripper=0.4096\nstate[joint_eff]: [-0.1299, -1.3744, 6.612, 1.8632, -0.0269, -0.0855, -0.0122, 0.0615, -9.4974, 9.9487, 1.9512, 0.3883, 0.1832, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3775, 1.7767, 1.2758, -0.1482, 0.1928, 0.0952, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4869 right_y=0.1605 right_z=0.1584 right_yaw=0.1362 right_pitch=-0.0657 right_roll=-0.028 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.6479, 6.8581, 1.8193, -0.0073, -0.0562, -0.0122, -0.9778, -8.7863, 9.8667, 1.917, 0.0269, 0.1099, -0.1832]",
      "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, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3649, 2.0293, 1.0546, 0.3439, 0.1776, 0.0917, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4967 right_y=0.1602 right_z=0.036 right_yaw=0.1385 right_pitch=-0.05 right_roll=-0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6752, 6.3658, 1.8388, -0.0171, -0.0366, -0.0122, -0.9368, -9.3607, 5.135, 2.0098, -0.0659, -0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc68a1e88510542b597457ecffb85e27ec210895994612249972f59c7c336efd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7231cd0ee17c5a6fe79f1907b480705a1e75ad0567fc0c7820a6584069227e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f49b21c200bb99c506767f8e9d94854335e6e4ba60cd550b6f36456fca8015e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6GPD_1sgZKvs5gCBl_3YSzAPekVEO2GtQgThOxtRTA8JSLdeFOI76wsvx82XB-IOuWuPSWP4aHDSoOjftbRrwHP-p1w1FuROmO9Y3KyiO0z2t7YJStK2U4aE2NFTOOzGYfl76yE1JV1eSu1a7aVfAuFtYoGXMWG1xch16oHQH0yKQKsHGv8QRN34By1Ej0AkgLSEgKBYHEoWtopppdw9k3mXl6VVy5h0FDmRhsZKcuatmJcgwDUbO9QnJu5xZbd4Jg16eM7bED3xLv7yF_kZbZsV7on4Jje2CGyH48HwwzQCZ9hfQvUXj-0wqTCSPzP87HQCQJRhJYMcQzwmYPT6PLfW240uJpThLuJBSMLLY-himkyvLq6bS9J1gzOwVFRdlEf4luoxuRN1mqtngT9Dc1wnEEhoNH7l74hBNkZaASiEIoQVFS7SyHuUL7dZOdUsQ1Qf2HnrklxurFmZjuYkCoyyvV6JV8iMoAt-fiBFyl6ZTn-9FnJ7YpqLYlBZWs24Cdd47fUjhi33xb9U_byqA3fRao4s1PVoU6-1KKlBgPCaJtW8AuSgFLBYF1d648T5zg2XehmFlsLHK0shlTYy_yvgaSptrgepJPE3edSLHjMRIYaw8CyMx63qgFJFJIQvEPLMhV1WidbYB3Y17lw5Jd4cGXNbsyquJ5FqXjnT29J_0C9joICNBkUyHpgnFVTVKSl8qB9UO5a9rONpe5574vof_PckPS4jV6i5mK7PId4uxfQUpg7N3Y08PZIX0CeQIhRqv0Bs7rrMHDibxzmqIvT5XFfIWQqxwAG0BiJ5kpII5AIFOTxGuBYGD9kS3uFpGROSLAz5LPG4HJKL1Dvh316cHT-O7LOnD94vo8Zs5I_XdtxUyjkm4nayvZFr2JH6zZbtt9pa5RwUNYXwnVtQV1W6SLEG-cmLfxhZ_TF-7cuaOXw2Pqkk_t8X1878g-4QRVroNbsxuuaKcWw3xDFQbC1G2ADr9Av6PgQ3Dvg90zAScAsKKoAF4OYLlW4LbQfKqSYnmN7gQuNXTfSAfbrapN8oAgzq8CFNVQexDHpspCb-nQ1w1PWK0lP-mQ5_SNxmTiDKG2naU7W23LyUAx4Sner91UbDRTcPyU9C7hXE8Z49YmcMT-XIL9b4umFJkqVb3HLNXfY4pLKS5QD7iRDoBJV5UoyLun5n1MRAPMp9mq7CbS-gKX6GpS70147H4lxnCPt4UtK1gwSb-yTq6xmBkec2MKP59lhajXq0GxqfqxQa9_XYOGi0No79glSvxgAGGhczgsauPH4pIv_fGzsysjJECu2y0o4Wmi3YSv2SWiT3sn3VUSDB1C9ULHUZzKYUF_4jGLKUSZokkMjwAbtydekDgmrRCMAXI8j6_5eoA_DX5cM_gz89iQzXmvu9YmFLyjfb8GrFrpy10bzWWyXlYoxEYhWZa4CUMQ_-w8bg3qkmdHwrOf-4m5E3E-HvjNd0H-",
  "id": "rs_027389251a9168ac016ab41e85492887d0b2c96ab10c8edad1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lowered jaws now straddle the right bottle’s shoulder, just behind its cap. I’ll close and then verify the hold with a small lift.\"}",
  "call_id": "call_DmJ56lzzXF8C9LAIsU55wHVT",
  "id": "fc_027389251a9168ac016ab41e85f8a487d0b56d1f3f0b438d87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DmJ56lzzXF8C9LAIsU55wHVT",
  "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, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.366, 2.0346, 1.0271, 0.5167, 0.1558, 0.0822, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5086 right_y=0.1694 right_z=0.0579 right_yaw=0.1625 right_pitch=0.0845 right_roll=0.0154 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.7846, 6.3932, 1.8437, -0.0269, -0.0611, -0.0122, -0.4308, -10.3453, 4.4923, 1.1648, 0.2466, 0.1783, 1.1306]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1babf55a42071182e63ae9f17abe6cead9fa74fe6c601591e42ccb38bbc4e80c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7eb9aed8b527245360702a93e84387094571f334390bd50470434fa6065007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22676c5bd03e9745d5b39b59a3380226a5d4dd63308531ff91148806d178f9a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 4.822 s

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

message 38 changed as sent

message 47 changed as sent

message 51 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6552, 1.351, 0.812, -0.1005, 0.4267, 0.2802, 0.4095]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3507 right_y=0.1818 right_z=0.1577 right_yaw=0.1222 right_pitch=-0.0053 right_roll=-0.0021 right_gripper=0.4095\nstate[joint_eff]: [-0.0205, -1.2239, 6.3521, 1.8974, -0.0562, -0.0611, -0.0122, 0.1299, -6.2974, 6.5436, 1.663, 0.3346, 0.0904, -0.0269]",
      "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, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3649, 2.0293, 1.0546, 0.3439, 0.1776, 0.0917, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4967 right_y=0.1602 right_z=0.036 right_yaw=0.1385 right_pitch=-0.05 right_roll=-0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6752, 6.3658, 1.8388, -0.0171, -0.0366, -0.0122, -0.9368, -9.3607, 5.135, 2.0098, -0.0659, -0.0269, 0.1929]\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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.366, 2.0346, 1.0271, 0.5167, 0.1558, 0.0822, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5086 right_y=0.1694 right_z=0.0579 right_yaw=0.1625 right_pitch=0.0845 right_roll=0.0154 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.7846, 6.3932, 1.8437, -0.0269, -0.0611, -0.0122, -0.4308, -10.3453, 4.4923, 1.1648, 0.2466, 0.1783, 1.1306]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1babf55a42071182e63ae9f17abe6cead9fa74fe6c601591e42ccb38bbc4e80c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7eb9aed8b527245360702a93e84387094571f334390bd50470434fa6065007",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22676c5bd03e9745d5b39b59a3380226a5d4dd63308531ff91148806d178f9a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6Meg4cQemfQlGzQgEUfLs-HNApY9qTkTXlKNWvV3kolRutpOeeZnqZIzG300yzx4G3yJbdN-11ercbjQwmA2Gkxw16EHsXhDOgc6Wy_sh-SXUxU9rDMK2JM05cR2wXk_17DUu_ly9syLxJ4menHc3uwx_Vit1ZX8t0nKjFPsqcoc4Vr979CpgWaiOVBim7XIAW3_cq22COuo7pZ4dP0xkEvxh7MxTtywU4SX61bmjtrXo57PfKrbEwfD9u6xMdpAd87eFAdX8b_ctPf9oGUViBCzsA2AuhyriZ_wxQvEPup3NKnIQefdZELzsTbtjHp51SoZxH4rh3FslWIEQ7eiiIZwAZlSSsKVDLRNG3cHwlEjzAhDuFJjv87KuCsGUQF_aAFyF1Hkymf-aowlkgzRP1ETtpHzC0Asw9u9EUpLp94sJoPlEF9z3hYLLOO4pHGOVhWZksNJ-d2vznW8pau-7QChQxQfKZChK0gjfFOs5xhN9yAd9WRvnOli5tSws8lltthPrK5IH69Y-DYhGnjrJTYaMC4H6Aw2pT5gg74Y1PAPoMN-TDwT9vUBVTj_SXm9mqs6w1xQu0RZqOgZ67msIAlbmDoi3MNBi48-sJn35YB64swu-1Vf0OVAp1pbydCQlvtsldbtUYmmI1KxJqNki2JtxNfDf4WI67vZ57zpIlRUk4xYzBG8E3yVQTdJdrYgQExk_7Qj8iQd0APcBI0V_Rv8y7Xu2svmBribm1GbxSJ6Xby-oQWzcfaz1GaIg5k701BcHDQD7CUpC65szkmiv7j-DLtOk83MPhnbVOWQc980Hs4VA8cxG2Veig1IOO19n3-9T9Qv62zcVkvVBS1m-PuKWGgXSEmA38sfFz5CyU7Xn6FFyjJRVMJmzMJVtdYgm8QfhByJOklgbtl7fhz0cYpZS62WUCGgHytlGtqtuMdphzXz0VvzG8FDcalIRxjaCDl0IIMY9sA30x0KXCXkYRYR47WG4pibkE6YwkxhVnPgXqj1hTjChTVsKGk0LUMJCfAUONnt7oly8EYqYDZu-vlWJ7O2nVAMv6Wrri3xw4IrvnR5pJXtrtccaVFz60rD_BGboS4-UCJSqlHIJc-lerEfq0uqgnoMmNxcXfpijy4YBYZW3VY-5o8v0BYhVUviFEoM1GCBeFPf-9QiM-QJ5akMLQaAW34clf-SRi8mPDewdw8hzxS7kilJMZrWaYGlHLojkCcmeVoRpYdqyVPE9fM7SU0GcaOv9fnLNXYoIZo5MISQLDLDTz3YuRLfnhvlshx_8SV-hDO-ryzcs_pgnt9kUHlBLfkWuxfl4JVb4kBFOZwxmoA0Qgej8Y3Pyieid7nkQ7m7-1pDzQpT-QmdRzdLDty9Bm3M64WendKH0TDWi06-0UpnMbVdMGespQqw6Akvm-Ydi3ADWCnUWuji_ICeNmwo1BkQhWi-r8nKwBvMJGHoqvhFK5jV_5N6C6HF6fbtZHO5PHrChlJ8dWGyPqSUmmkhs1UiKUD2wWwUMLc62NyMdH0aSGnWL3NFxAQFGq8lc6WGQGL5Z5-EJ1Mb5BPZ-97S_QH1rm06PYs8wbPfly7SL1j7LObhxRrMuRefxOCt6FKy1h4tLW4lheI8WKEvVCiqPhG9Vo6YbfR8cu-tVFVZyYz5dXQsGaZtdFU4h6sYRMYtf9k8M2ninn2nfRlEZo94Ip4yB8HGpH6JunO1uBOsAhukgkJCZBCVA8IStdnmlaa6jutkzFaVot5pyiLIUfNS_8XEy5HeeRoaD10il30I1NHJjQUdVDhrQ0B8SKzerEjqvEtYdRqyvlwrDZPy8ZmT0BGr7K_oT8zrLjE-MnwWgb3jhs7k2SUgu_oB9pGsF6sKl6Z76tVDbOwHopV-GiXWVOD1s8_mse0JMbIzXjsYgHA5-OemySWxrRBp_U5IQXvl3601ZtQi5Qd2V-TkbaM6MQ3aKjfEXRpRlsDHPmcQBxaAjtLdjh1mf0itq1__syxIwkAMXZJgbtKyHXfYiNatkX69r02Y0AV5sEi7F8i6ruYv8oL9P3xeVRfQAkQSnvTdci18wLUbcTpG2v1XOuUxxrXEnBJXw37eXJfeEI7O55UYN5AvDPSkN-y8K_as1p1iCqz1hTaay21l7wIvVwcQ3aXYGQbyeYdH7ylnKB_E9ucixVcdEL7kg1qte8RL76aYck1iiUrCrK8cNVbJy-OmIlitJEFkZZb9RWEKN6O7sE0aBrTyr2EZQi9glhL0Rj-f7kiAa8uS1zyXpac2Um5sV9GUsl-z5VPWaWcL-SW34Apn0hgyRKimYQ99BCPaCB2jyAs1X63E8489UcNQficPqgJo3-W-hoYebzjPXl_8yso9xa-Lpd_qwlXGa_ug8Tk-3MIU2ykawUypr02OxZtbScdMj0TiGYJ8KDlYVvhwKJmuda-YcLVFwrEkXBhwTJDAtQfHT6Dm24HyEGBgK8pACQ4BhTHdHt9HBKUWzI7hOw8MfNMZT24VQq-YdGIuv1z0Qbib84pgcLASq1-U_bNLy5F-PvPR8DJB0qxBpr-7yp1grpiTVTKMzVMOw4wogl2iEJ74O0XutkO40TJmpHvGyqzTi9CVRd-SKEtOLCIOgcRR3FYR2rf_7l0an5",
  "id": "rs_027389251a9168ac016ab41e88b89887d0bffc2019e3e84143",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.13},\"note\":\"The right close was empty again: the cap remains just beyond where those fingertips can grip it at table height. I’ll park the right arm and switch to the more accessible diagonal bottle on the left.\"}",
  "call_id": "call_jJXu0eDQkLvFFmMcxY1FoaQR",
  "id": "fc_027389251a9168ac016ab41e8b740887d08380fcb34e0bff7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jJXu0eDQkLvFFmMcxY1FoaQR",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6357, 1.4387, 0.7357, -0.0265, -0.511, -0.3916, 0.9983, -0.1726, 0.8539, 0.6022, -0.3119, -0.2497, -0.1898, 0.9967]\nstate[eef_state]: left_x=0.3577 left_y=-0.1521 left_z=0.1118 left_yaw=-0.0161 left_pitch=-0.0601 left_roll=0.0285 left_gripper=0.9983 right_x=0.3065 right_y=-0.0055 right_z=0.1794 right_yaw=0.1117 right_pitch=0.0251 right_roll=-0.0156 right_gripper=0.9967\nstate[joint_eff]: [-0.3214, -5.9145, 9.1829, 1.7509, -0.4567, 0.1441, -0.0171, -0.1573, -1.6615, 8.5128, 1.9023, -0.3541, 0.022, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b29acc4af884e28d849b25ed25936b5d3b56e8cdbdb02761fb87a4e17cd227c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5914c4cd36f6d52514f05877a8af2168e0426c51c19c0fd2f6a302b20ad584d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363bf658b3ab19dc71d6bf6525e4a79f23b53181f37d40ba22e9a43c63946c89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 2.948 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, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3775, 1.7767, 1.2758, -0.1482, 0.1928, 0.0952, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4869 right_y=0.1605 right_z=0.1584 right_yaw=0.1362 right_pitch=-0.0657 right_roll=-0.028 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.6479, 6.8581, 1.8193, -0.0073, -0.0562, -0.0122, -0.9778, -8.7863, 9.8667, 1.917, 0.0269, 0.1099, -0.1832]",
      "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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.366, 2.0346, 1.0271, 0.5167, 0.1558, 0.0822, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5086 right_y=0.1694 right_z=0.0579 right_yaw=0.1625 right_pitch=0.0845 right_roll=0.0154 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.7846, 6.3932, 1.8437, -0.0269, -0.0611, -0.0122, -0.4308, -10.3453, 4.4923, 1.1648, 0.2466, 0.1783, 1.1306]",
      "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]: [-0.6357, 1.4387, 0.7357, -0.0265, -0.511, -0.3916, 0.9983, -0.1726, 0.8539, 0.6022, -0.3119, -0.2497, -0.1898, 0.9967]\nstate[eef_state]: left_x=0.3577 left_y=-0.1521 left_z=0.1118 left_yaw=-0.0161 left_pitch=-0.0601 left_roll=0.0285 left_gripper=0.9983 right_x=0.3065 right_y=-0.0055 right_z=0.1794 right_yaw=0.1117 right_pitch=0.0251 right_roll=-0.0156 right_gripper=0.9967\nstate[joint_eff]: [-0.3214, -5.9145, 9.1829, 1.7509, -0.4567, 0.1441, -0.0171, -0.1573, -1.6615, 8.5128, 1.9023, -0.3541, 0.022, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b29acc4af884e28d849b25ed25936b5d3b56e8cdbdb02761fb87a4e17cd227c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5914c4cd36f6d52514f05877a8af2168e0426c51c19c0fd2f6a302b20ad584d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363bf658b3ab19dc71d6bf6525e4a79f23b53181f37d40ba22e9a43c63946c89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6S9e70KppUSo3pA_RrWgk1FY65QCi6kVPn7dZCyAX10eL5fOIlg78srGKAC_IWPTLpJ5um-GvS6sXv4eCYmmKB5fkRwtMAheXa6yftox-8Z48QpJRTxUacKrKS5Y4rnneXOTDojc0Pdl4uodpuzH5CqAKqqFRugwz60K3946HTVv-UfZCYmdHr98cafDYxXTUJzlzBL28CXoptwf98a_Pmijh8DuM8w2jRl_q3GVlogFPfieq8qOjnvWPXER6UVTdWuNi5dJPJIdhar0Fv0t-ejau3eTRgsEN6vvZXZAMcPqSvtgUpGQftmbiMZ4xbQHWFS2pQgsaBqJfTlMFBt546H9uFsPh0WJLREkGJoYiSUlHlrrW7nK6VSrVzXB9ZzyP0Fg8l0s_7IEfS-EhCj5A1OS_fNSTDFdfa0pgkpqD7FvPGW6HudFNcSmPXuPX1ToisPWOFGAM7ILoAqWkXlw4kznMwPUaCWIg4x3iaWqt6_-NkASZ_tirFBKvbd9ESk8a2A6yrhxFOt3mKlyxq0YEpFM086Ianv9pZQkfHZ92YRPFCCWMJ9XjrvhhLshL5O9GZvNT4rjiTD9kI_J2ONdCt5JUvZfKfXEdSppvHgVS4Rjc_GlJLGag-rH_TfHDtW0Pm0t6HbDy5UXKcYS8S4JJf0LANlW-KecfPFdf3iX5XQ69zE0f-sQpy6O9Quar5J1gjhVYMB4_-AzNOGjHxduDFemnLsabv6QQLbfCBbKdgm0HDLrkGr_pbgs3IIwaP8R3pbaiGerKLkdcOsASdbnin5nNIrYpihA9NXdt_rgjJ3XH9LtiSRKn508kM1UmW2w-cJQCLBnKbwvfx9E9l_SlOaKSMN4aKcvlh3UY6pS4LOzRmBcz037Qd18sQQMvhH5Hp7JX98xupj6glhT4ENJMgJOD16yQTd60rgB77j2Vuo3xkg_Nch1oRHyAkrJOeQJiKbEPar8Nb73VAgD9QXfbB1YmLLajBmLa48dcWvM9Ev1t7Gna38u7QOQnkQtrd-BhecIZ6NiSNlKcNEX0aynHkvEbVHHQySwXgle8QNFZhrVqgUOptbjZh-NlaMVzEHwV4OiuI9xfFF6J8c8o4pP54z_V_cIhRMsMyC5ALWr6f-8NqZ8gfWKfTHPJYtbXjHHKKsuhB_5rXCdPKa1YMlLU2TN9Ri8hMojIPJ56W8ApP8suXr6vJx7wnPJijLPR_o-l98imK88iG_IyjlaAwzvc79zpnwfRZeZFRCEDd0JnoFxqfKaupIk3G3Q7C9p25Cyx8DTeeUKOb0OxmljjCs8H27yNZGw5D512PUlmNOJZeNQwWUa99yS53wYYXwq1d5XSlgXqH9ihyiijRudZZvSp4N-0m4_17epUUc2K4kNKzQ8sY5sIP6BDdsEET1I2FppixLErWLQwR6HocdwYIvGIUqtv4CSq0QW4Lf3VF4QOpTvu2gUh92CMGlH7AUlQKEW9s5p1xbi4Fz6og3ozUJ-PSABEiaSoFA-z8P1U4N3dY_LDC5rYYLUfQTyhBYFsL6J7hzj0drEQ4a1Rx52eMulWYk_m_LnDQzT0AHrWx5fQ4DU3nV9oBVHG06DK7418cKJjQcgKjz_Rp4rCBo2LFCQm2Nf1OTKFNAl5mqYd60OHZJ4iRowXkw2UW77-LbA3XdPkNT-JiewCvefhx2gH66TPe4L6g5HYfomk9e8Vg2kcjcKBAgVjd0XjJ998DXdvhTSmaAa_ObJO-N8hno69r7eZWOe3_fcZxV1JC8k4NnlddNFTBSHyHW00BRdUe9ctszWF4IzM_EI0yz2MRFLSVlAeEQDTAvsHIhrFenR6Nf6RgcexBkxttEmk4zS-USURx603vhzjMiADJguFJdzWxdkn7jUZY5Nae3bYwe07uinfYJvQOpS8DeCgHxmPe72q1DVVC7CViBV8ecxzD-ctFEW0K1kBQmw32D1xzSJeOkoUBFC_xNMtOJ6my6x05kNbmBUuCOq4UNrQVEwRGAcpMxES_x4Vc08rABrh2fQA_k1vUFSnSJAdV6ERXsDTi8NGCseF3m12pOXhzDEB7sAo_uivBp4S3eTjpUSD_ODnvTxbWwZRDrAwqQ3UY8Tg0fy9gkbkadXOpxcljkd9OQ6q4e-ZrK13AG_yrXf9H5lW3o9RFQA3Nz-GT0z1Yy0LQltLO3QZvUJ3KI49eo1Iz8_Svhn3RWtSN_j2KaSylg7pvEdQ2wFO2_4F06opbKGnP6Hfjn1lKvuvduNevJbMNo4ucjnd8t5583fyi44Pen6vfuvC_4tDSq9ALzedjbWtHT6gdBVTzdmW5wdTFScvwnx609wZaM7JLEgxrL5gqaEH8Rr2uHc3Myh7Crk8DQRKXuvgpQqM3FPo_t4Enwj19DZpX7gpg9GklRGNYND3bTCXTtZLle7tQVXGLTW2nWKC4C2dl2tsLN8M8EoYgmc1-MHovUYbU2TAEV1JK6Zl8ch6kUkJ1zxFci6d84i6qQ4Xa5dCaB5v0wLdXu9qIkhg4jkTrXUXdKdlkk3_7-MePghRhbgkIejFBOnSRuXwOhOWF3L_dVs09ye9k46EVGiEkb_LGvko04oYSR3_LmdAwAnuUnmEQqhihdwMZcXeFLWGjiiuA1tBm",
  "id": "rs_027389251a9168ac016ab41e8f2ef887d095d50bc10a268555",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.075,\"left_z\":0.075},\"note\":\"The left bottle’s cap is forward and to the left of the left fingertips in the wrist view. I’ll shift left and forward, following the bottle’s diagonal axis toward its neck.\"}",
  "call_id": "call_QgVugAhWqGL7OeZpEhPD9DKe",
  "id": "fc_027389251a9168ac016ab41e92393887d0a85ec663a4606bc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QgVugAhWqGL7OeZpEhPD9DKe",
  "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]: [-0.3061, 1.573, 0.6155, 0.3264, -0.2928, -0.2161, 0.9982, -0.1772, 0.8761, 0.6033, -0.3801, -0.2657, -0.2108, 0.9983]\nstate[eef_state]: left_x=0.4016 left_y=-0.0697 left_z=0.0692 left_yaw=0.0414 left_pitch=-0.0396 left_roll=0.0052 left_gripper=0.9982 right_x=0.2985 right_y=-0.0027 right_z=0.1606 right_yaw=0.1322 right_pitch=-0.0573 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.0103, 5.7915, 1.8877, 0.1099, 0.0562, -0.0171, -0.1299, -2.0171, 9.1419, 1.9853, -0.0806, 0.2027, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f6e7c5be4ba660835e981d37810e884eeb3398986da3b9500f02bd0cb38864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1c5dfe31aed5ffda7b66422606eecc02ab043352ccaf2372f602e8e992097c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4be702acc4f6ba0e050b19ce6b477e605a9ecfafcc60d01f13783a0992bdc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.194 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, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3649, 2.0293, 1.0546, 0.3439, 0.1776, 0.0917, 0.999]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4967 right_y=0.1602 right_z=0.036 right_yaw=0.1385 right_pitch=-0.05 right_roll=-0.0176 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -1.6752, 6.3658, 1.8388, -0.0171, -0.0366, -0.0122, -0.9368, -9.3607, 5.135, 2.0098, -0.0659, -0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6357, 1.4387, 0.7357, -0.0265, -0.511, -0.3916, 0.9983, -0.1726, 0.8539, 0.6022, -0.3119, -0.2497, -0.1898, 0.9967]\nstate[eef_state]: left_x=0.3577 left_y=-0.1521 left_z=0.1118 left_yaw=-0.0161 left_pitch=-0.0601 left_roll=0.0285 left_gripper=0.9983 right_x=0.3065 right_y=-0.0055 right_z=0.1794 right_yaw=0.1117 right_pitch=0.0251 right_roll=-0.0156 right_gripper=0.9967\nstate[joint_eff]: [-0.3214, -5.9145, 9.1829, 1.7509, -0.4567, 0.1441, -0.0171, -0.1573, -1.6615, 8.5128, 1.9023, -0.3541, 0.022, -0.1001]",
      "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]: [-0.3061, 1.573, 0.6155, 0.3264, -0.2928, -0.2161, 0.9982, -0.1772, 0.8761, 0.6033, -0.3801, -0.2657, -0.2108, 0.9983]\nstate[eef_state]: left_x=0.4016 left_y=-0.0697 left_z=0.0692 left_yaw=0.0414 left_pitch=-0.0396 left_roll=0.0052 left_gripper=0.9982 right_x=0.2985 right_y=-0.0027 right_z=0.1606 right_yaw=0.1322 right_pitch=-0.0573 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.0103, 5.7915, 1.8877, 0.1099, 0.0562, -0.0171, -0.1299, -2.0171, 9.1419, 1.9853, -0.0806, 0.2027, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f6e7c5be4ba660835e981d37810e884eeb3398986da3b9500f02bd0cb38864",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1c5dfe31aed5ffda7b66422606eecc02ab043352ccaf2372f602e8e992097c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4be702acc4f6ba0e050b19ce6b477e605a9ecfafcc60d01f13783a0992bdc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6WbAsvZkITH9DOmn-acqBgz6EEBHKYHGb7upBBV6otju1vvnq93l9YP7DyfIrVVYvrk-_Sc9BuJwj3bs8gUyBqYXImKDkjgWK8lriugN9DGYNQQKrjgLXvK6oyuEoThGsANKrF54Bywq4TsUZst703lvLEVBgBclGyNAPFsfpSg60xg_-n-8FnChSLGV6UqnQSeofl6vhYlWaKBU8sCtFEf2rJ_Zf1zEwW2u8xkUHGrAw5HkGgf8HOeSf6Xgd4bufTZ_H1LJ7HMfqQUHQf071XRlKa3t3ocCgqRyuHvALt_DbtB851leS4IRkDYfRKLVfQ0oZXsxFl9DKPrb28kCcSkpY7uDNtP8o-e5nl3YVxPCOHWPJhJo1AkXp709q8aLRVZeMXFwNX2tdHW78mg4msuLSNa7lRi7RxCw7wWZWQ22sK1M_sAJmI71tb0RXZBUe10d9idH8bjMbDtlikn8gAYxABwMRdqbJWVRUJw61lrMBusoMBHUs1UnnDBovOJlg2dgoHUErC7uldjxWBQyAgdbJVdzPfTLC1luLCdpwuK3InKade8iWOy2pXc5wUFaM4br8D6U_8p8B6MYepmuGqC8K_Z_brdFFSRHrHkIs9O4Lkcs5KK872O_nb1vTk6zx9V-Fz6KEBoH-WMGwu1ZSL6JtSsE34qvFIOGhkmtv232S8E6r5PBneEYS5A_pvbQy7zOkAgnMCdV19deQ8gWVH2PJU8v2Gmd3qM13WSdVOnl5mXctiDBKdPaPPBo_XcedKTME7rLSeK7M7fuaVcE4oAqUBygOlCd6kG195z2EUR0r9UepfpFMmO-Qnb0yJvFVTO-IJmZYeXdlINhPH_vzBMVg0LtNFQdnAissCKt7bL7IHx2EHY_gALlD9BAGT8JSzAe1UGOuylnnyhvPcXcrhn909JhA7HZ9cajJwNgl4fvD88OrmkSusJNdmcb7Qt1k8rS1uo4A0AMOiFdWlmtCzqeUt_-Qfu-hChwa-UOBHbHQGMfBSMlKW-3QbRxVSYSUsBin2KY5IfxjPMJJ7RN7Jgu0Ke-ta2d_kWdO1gZsB-b1LmQagzd1TNeYaypYSFJcA_5uHsHj_GJPFB_02qeM-z83sTpxi1UzAVD5CN6QRXY1IXaFu17crqnnReCwuBiYWrsCKNn_FzR124D278ILkhK9vBuybXjzEmlokF1-p1jYz6BkqEnYqSW1-x5IZRKzcREdQoGIJyxa2ecinZYua8XzQZmXEJ-zq6-NNDMJj4R2VfvOpwBD8aVq7Sd60hsd1tUkore96ESu5d6BKcqGLP5HZTUjjDejVXoRjaeHUe-jKHZ41-0scON084qmPmcHKorCCeKF3UPi_oPYMh9gy8PYTYd8dxf8xM8Cgumi7sCBCNLZF6pBvVKPicYc9dCcHyNHWLSLTo-oabH5lEQQsXSbHX0Xx3rt4MdILn6N5QO5MJjx9Gyrsj4lL1ze4hRgWOCS7BcjjZCp60IcQHi4ptVEq60dDQODtZJkT5nXy_GBe-qs5rbIYVMccnDI4luBqb_sQ_Tvep1PP45a0Urson1cFn-bAfy4xZiPLdYOlmW2g46JyrV0AS4PWFCZTTnoD0bgmeZtvp7lXQL8LIg2uExERD890xAregPn-IqGVqxDsIiruh3KIYuTtu088HqqvK8X48qJP4BYa79J0ZABcKe72qE41AFBwO77NTZbbO8k=",
  "id": "rs_027389251a9168ac016ab41e94cb1887d0a7fe859d3934c944",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.045,\"left_z\":0.035},\"note\":\"The left bottle is now close: its cap is just ahead and slightly left of the jaws. I’ll lower and advance a few centimeters so the fingertips surround the narrow shoulder behind the cap.\"}",
  "call_id": "call_MI76fpPn2KAvuhbzEMteuxjB",
  "id": "fc_027389251a9168ac016ab41e95d4f087d098999f3b45038e76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MI76fpPn2KAvuhbzEMteuxjB",
  "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]: [-0.2077, 1.7691, 0.6189, 0.5339, -0.2237, -0.1825, 0.9982, -0.1848, 0.8486, 0.5461, -0.3431, -0.2703, -0.2115, 0.9985]\nstate[eef_state]: left_x=0.4244 left_y=-0.0457 left_z=0.0318 left_yaw=0.0642 left_pitch=-0.0379 left_roll=-0.0101 left_gripper=0.9982 right_x=0.2937 right_y=-0.0033 right_z=0.1499 right_yaw=0.1286 right_pitch=-0.0495 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -7.0632, 6.5299, 1.1941, -0.5592, 0.7448, -0.0122, -0.3077, -2.441, 7.2821, 2.0488, -0.3004, 0.0317, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e4dbfce167d996bd3f9ec765efc62e0f62e1830c2919acd0feed61ef36a966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067c7a2847310a2392365ec101e4d8552add1dafcaa8f6ba9f45617bb81fd3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652e43a6230a3d60f8825c68f0e9dbde3b7b95317bc8bdf35455340609aa3c2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 2.528 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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.366, 2.0346, 1.0271, 0.5167, 0.1558, 0.0822, 0.013]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5086 right_y=0.1694 right_z=0.0579 right_yaw=0.1625 right_pitch=0.0845 right_roll=0.0154 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.7846, 6.3932, 1.8437, -0.0269, -0.0611, -0.0122, -0.4308, -10.3453, 4.4923, 1.1648, 0.2466, 0.1783, 1.1306]",
      "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]: [-0.3061, 1.573, 0.6155, 0.3264, -0.2928, -0.2161, 0.9982, -0.1772, 0.8761, 0.6033, -0.3801, -0.2657, -0.2108, 0.9983]\nstate[eef_state]: left_x=0.4016 left_y=-0.0697 left_z=0.0692 left_yaw=0.0414 left_pitch=-0.0396 left_roll=0.0052 left_gripper=0.9982 right_x=0.2985 right_y=-0.0027 right_z=0.1606 right_yaw=0.1322 right_pitch=-0.0573 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.0103, 5.7915, 1.8877, 0.1099, 0.0562, -0.0171, -0.1299, -2.0171, 9.1419, 1.9853, -0.0806, 0.2027, 0.1587]",
      "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]: [-0.2077, 1.7691, 0.6189, 0.5339, -0.2237, -0.1825, 0.9982, -0.1848, 0.8486, 0.5461, -0.3431, -0.2703, -0.2115, 0.9985]\nstate[eef_state]: left_x=0.4244 left_y=-0.0457 left_z=0.0318 left_yaw=0.0642 left_pitch=-0.0379 left_roll=-0.0101 left_gripper=0.9982 right_x=0.2937 right_y=-0.0033 right_z=0.1499 right_yaw=0.1286 right_pitch=-0.0495 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -7.0632, 6.5299, 1.1941, -0.5592, 0.7448, -0.0122, -0.3077, -2.441, 7.2821, 2.0488, -0.3004, 0.0317, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e4dbfce167d996bd3f9ec765efc62e0f62e1830c2919acd0feed61ef36a966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067c7a2847310a2392365ec101e4d8552add1dafcaa8f6ba9f45617bb81fd3fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652e43a6230a3d60f8825c68f0e9dbde3b7b95317bc8bdf35455340609aa3c2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtB6aFWgZ6nM6zU0hQKSllzc8KdXVenZOe2aryk3RhVxMNhyoHNrI6vZ_gT-g124Mm8y472AVbNiJjRvL3jseKsJtkvwwas84jL-Q75Av2pBWLjj9ZYBGwO71PhUFWa0c98NaL5EQbnYAr5vWBNzc1J5uPTCTS_OEFzu_AFw3UT1_8AfdPgqoQlHYOQtaTW3Xcu9ir0fqTuFgiZx7WeHId0a5TFO_OrBZt80WlHe_XISDuM_a-A5h1i3tiqyyJkn2QyLqMxfph3LgsObf_NphTbq_BeHJOlOSB2q_gjIbjSHBs1w0iQIUzK2LxPSbxeom-s7FTlVgqlNjGt32OHWO8fKGQx7bF38PGPuX4HfTIFv18EX8VNkb7ucl5pJTKubZq83sc1LEY-L1q-1n9PSkywe_ENWpU3cqAEnw2SbG8wdOvR9zyEj7NA_xMw6w3a2zFk3ZoRToCaFht44svqJxZ8coar014OvzA_hu72rNplzeaDK-wRM8tRT9onCwgOxumSiT3zhO7GhkCC1AZhO43hWcE6WS-8W09nARIbMc7t-6xkDIfv2nDSsOiKf2-GMPic3q_oyIH0TU1Ciln0C0oNaA5xqFUbBrIdvUirZM8-S2Gh_W-lUgEtVnCNSdssJr0vc2iqp6Ce20YOnErt43Bp2pgfpgENxc-rbnVzf5doCBEm3sLpnftO9eMLh6GEKdnnwMgWzllM7jZd5XnT9xQ49uJLmjL4MRqVCyhw5zXzGIbgtefrsDgzIrG3hX9o5bw-1VYrFcZ7m_x-PTqAEAK8RC5NA3p5gfuLiZ_Yoeo_HTaEmo0oLGaG_PteqV2joegc5kuyAI2UAudTW9gVcutS6PnNuxlbE_Dp3pc3RcIzLmfaXChCwiyuQDvMGX6Qldika0mYebjayEhHr6LyBrTHuygXhhJhXsz-rTlb41_q-r2IEG7jhT0mWHH1JvG4Cz-nRWnC3VHfRYd19B1htVQlpf9KSITX-u4nnZNzEJtIHADdZ8CO1fsT2lqUhyx4B9iz8LERW9JJ3pHvfbjv3BsGbFbl26zqQ0ebztauGwtPqH24mnNDM8aogQT9JxRCK_tSljXxzNsgBgZCCThFb0o_YAigJLHq4Ud-Eg7myVOPM4mBzOjE2inQUF52zTV_NvT1w7x8M-9pHNpL3mMrgrCKpB1VFYOy-CMrY61crLwszkKvrScS682MySqzr8qYJicivowVb8XWpqToyFrnJma7i5aBjpdallH8EwbRvju_jlrphOh9GnfCr56Y5Gkfd1OXC48DcgY9WN4wA--9ij0uIE1nKz_4-KyX1vZDAk9pGXX-ybj_qKP2FDxxqJUIUXido4FIO5qtstWq2Wbo7blVObC5r2sOmTZ3ibZp4xNOL6UGPQQgeTLoqL7Uycwu4ZzZDO62_zS8EWjwrMuUPnVsA3kMi_hPKztF1rdC1tg0VD6GiFuYgM-9atUIHWsAHm762dapib4nhPN6uaR6LfRyoToXYdr_NDjvKRPAseYzlLOG_zgt4AkJElsS62w_-5muhjOG9bH3NjNCwUK1o6v6JL5y3KqFN9pU73GMncZpLV1hOEaXbu1et6KlLNWJMVUGkU-z46CZX2MBb2wfFyvUB1Xli3MtT_GgoaEM_9yuoDwjEyYzZU8KcD-8V0a6JEBtKkE_mX4Glxveo-dC9vqODvuhoFMNDWwBFaSB3xLDNXw9S9lGR4pSamQ30KmXjHpp8ygXS-r6qsebZU8g5LhNwNBdZWpZbez8KqZmZZlrshbqXrYYPzWnUxIyU2e26nY_xi",
  "id": "rs_027389251a9168ac016ab41e97dec887d0934978bb57c1d88f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.017,\"left_z\":0.025},\"note\":\"At table height, the bottle’s neck is still a little left of the jaw center while its shoulder lies between the fingertips. I’ll make a small sideways correction before closing.\"}",
  "call_id": "call_YAwfQO8jcRPkdNFIPSYNfnD7",
  "id": "fc_027389251a9168ac016ab41e993f8887d0b65623ea4ff4e77b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YAwfQO8jcRPkdNFIPSYNfnD7",
  "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]: [-0.1947, 1.7889, 0.627, 0.5957, -0.2169, -0.1791, 0.9982, -0.1913, 0.8261, 0.498, -0.313, -0.2741, -0.2146, 0.9992]\nstate[eef_state]: left_x=0.4343 left_y=-0.0433 left_z=0.0388 left_yaw=0.0694 left_pitch=0.0093 left_roll=-0.0241 left_gripper=0.9982 right_x=0.2895 right_y=-0.0037 right_z=0.1405 right_yaw=0.1269 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.6256, 5.3538, 1.6923, -0.0073, 0.2906, -0.0122, -0.5265, -2.0308, 7.2274, 2.0635, -0.3004, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081002ed4bd61fb07f58db72f81fdc3d3a2299aaacfd9b3d8d80e26af385a546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d472e4e682a473a900ddb8eaa7809d92e5fae1dabf79eb208a6450f7ca416107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62902e26f2e7cd30ab8f53531c1bae10fe9736a3f2ac2b6fb92ca12445418490",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.735 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]: [-0.6357, 1.4387, 0.7357, -0.0265, -0.511, -0.3916, 0.9983, -0.1726, 0.8539, 0.6022, -0.3119, -0.2497, -0.1898, 0.9967]\nstate[eef_state]: left_x=0.3577 left_y=-0.1521 left_z=0.1118 left_yaw=-0.0161 left_pitch=-0.0601 left_roll=0.0285 left_gripper=0.9983 right_x=0.3065 right_y=-0.0055 right_z=0.1794 right_yaw=0.1117 right_pitch=0.0251 right_roll=-0.0156 right_gripper=0.9967\nstate[joint_eff]: [-0.3214, -5.9145, 9.1829, 1.7509, -0.4567, 0.1441, -0.0171, -0.1573, -1.6615, 8.5128, 1.9023, -0.3541, 0.022, -0.1001]",
      "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]: [-0.2077, 1.7691, 0.6189, 0.5339, -0.2237, -0.1825, 0.9982, -0.1848, 0.8486, 0.5461, -0.3431, -0.2703, -0.2115, 0.9985]\nstate[eef_state]: left_x=0.4244 left_y=-0.0457 left_z=0.0318 left_yaw=0.0642 left_pitch=-0.0379 left_roll=-0.0101 left_gripper=0.9982 right_x=0.2937 right_y=-0.0033 right_z=0.1499 right_yaw=0.1286 right_pitch=-0.0495 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -7.0632, 6.5299, 1.1941, -0.5592, 0.7448, -0.0122, -0.3077, -2.441, 7.2821, 2.0488, -0.3004, 0.0317, 0.0122]",
      "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]: [-0.1947, 1.7889, 0.627, 0.5957, -0.2169, -0.1791, 0.9982, -0.1913, 0.8261, 0.498, -0.313, -0.2741, -0.2146, 0.9992]\nstate[eef_state]: left_x=0.4343 left_y=-0.0433 left_z=0.0388 left_yaw=0.0694 left_pitch=0.0093 left_roll=-0.0241 left_gripper=0.9982 right_x=0.2895 right_y=-0.0037 right_z=0.1405 right_yaw=0.1269 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.6256, 5.3538, 1.6923, -0.0073, 0.2906, -0.0122, -0.5265, -2.0308, 7.2274, 2.0635, -0.3004, 0.0366, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081002ed4bd61fb07f58db72f81fdc3d3a2299aaacfd9b3d8d80e26af385a546",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d472e4e682a473a900ddb8eaa7809d92e5fae1dabf79eb208a6450f7ca416107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62902e26f2e7cd30ab8f53531c1bae10fe9736a3f2ac2b6fb92ca12445418490",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6cGxOfe7BqcZRhYEkmRD9rbmNnqzHQDsh8jPOtah2Fb5TKF6wQ8j62lj-7497LzZ7gx8pyPbqvCw9TzAP0QMpOdfgD7cNvMhfZQ9BCEDzRoiSWtKhnAI5txBcjsTyLWK7vNjg7NSvNY9ouW_pQWnMVYKBqxvJ15zlLFi7pgRhK2XblUy6Snwttwn88Lk2VIQXiVjpPq8RnSl0-LLpt7jTFDUIqnPPlq5yZR26jxfd1gcINwxLYTlRTrmT57ZnWDYLyVx11EThAREG4U4k8bFgfF-cAzWJXCkoh_4JgIMp8NxL07u1xt5-Qi_9WXnj5rdAEoQuZZC99DkQL_r5G2QgqGB9jDEC383oHhfWEB-_Y8cDsaR2zX865mC5v6FeJ9r2jj09QD93qbKqm3HqFn8gRRfDDrfQavnT9Yr9EiSe9xf_9OTFSr_X0FVeXyhbMpzR47Uo4Pa3CSkgMzr0BIX3J0ELywoWIdz1i-BaZAfeXnFqMnYEa3qpIeA-sJf3sPJj9WnTHOinHdK8WG5oVLIDoAC0ef4AVDoIRjZBAa6PvFGWfE7yr1n9I2vyjAsvV8B9hTyQKiaLm5tsdZX79YsK3Kb-VnExta5nuBcQV_DMd8fZ2xgcNrzBsPvJ4-J_aYk9f_NYJ03XARbLXTqxpXQUqPgvdu2zDmsFU3xGFM00PIM0IRZgPaB6WET2feBhKkB2TX-wG89n0cJvHCd5QdfWCE3i_4s7Fi1V5AJhlWuJi6qsxF4uTWEmEcgOU950h_Yj3H3gAggdAXzRamD0aLL5ZutKeW3w5_ObKFSMGpn6VkEPsGPTpgrAZJUTLu2JrRdVd8iCNBx5sDfBR0RBeah_jVnklKQzITLfPMLDIAIX-rhNFC12ZjSTpaiSgCM1VQl_WwllAHozo28DLZf4H-MaV7PKPVpGLz8sJbTD7zQRRiOJUckbRtwPWZznEB1wzwKn7aFi1Pu5JV1GVcUi0CmZQ6tNNWVo7dDl8NIXohTEU2jX2TJMjHoi9ZmDOez2KZYHq2_tZGXUB3LWEkIj1H3xCEsDvHbTESngjN4E8i8A_Mk4qyQ3Msv4SfrQol5iG_lGKUHLYGjYQ_GPGnijJ-0N7JD4Ul3mv1EAFJvnisToK9phLoZ5dDkiU1eOJ1ZGoyOB57N0RU9PpJEd8uSgSZK051RpiMLbxzlnnSkOVMFOx8yUuqjyZtadQpqwLgNfDf49FHl5jEihELTgmscj6dIGyoNp2xCXWUnGCtIo7o-TPdI9Is-L9Lm9BKeh0j6gb1x1XZWm3O34eA6fT8nD2WHN-arssiBdRsMX-JTiFVINKgqg=",
  "id": "rs_027389251a9168ac016ab41e9bd40887d088b88e333f9995e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s shoulder is now between the jaws, close to its cap. I’ll close on it and check the settled jaw opening for a real grasp.\"}",
  "call_id": "call_mM9OgJjrOX2sVvmTjuoUtmCW",
  "id": "fc_027389251a9168ac016ab41e9c302487d0a4c4e141f231744a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mM9OgJjrOX2sVvmTjuoUtmCW",
  "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]: [-0.1967, 1.7855, 0.6388, 0.6727, -0.2428, -0.1761, 0.0099, -0.1978, 0.8066, 0.4549, -0.2867, -0.2916, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.0421 left_z=0.0613 left_yaw=0.0891 left_pitch=0.1017 left_roll=-0.0341 left_gripper=0.0099 right_x=0.2855 right_y=-0.0018 right_z=0.1321 right_yaw=0.1349 right_pitch=-0.0385 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.6923, 4.9162, 0.7643, 0.1294, 0.1099, 0.823, -0.4308, -2.0308, 6.8991, 1.9853, -0.149, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3209d2286b1abb99ecf4d14da6779db2d63d4d880168e2087a2799f17e750bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f52bba1cc660c45568622c6f4b44f2ef78e4f3f6a0ffe21beb45efcfda3f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853e95553fcd82d3ef89ccf4ca34bdeabb943d2589ba008a77fa2391d9be7f21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.79 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]: [-0.3061, 1.573, 0.6155, 0.3264, -0.2928, -0.2161, 0.9982, -0.1772, 0.8761, 0.6033, -0.3801, -0.2657, -0.2108, 0.9983]\nstate[eef_state]: left_x=0.4016 left_y=-0.0697 left_z=0.0692 left_yaw=0.0414 left_pitch=-0.0396 left_roll=0.0052 left_gripper=0.9982 right_x=0.2985 right_y=-0.0027 right_z=0.1606 right_yaw=0.1322 right_pitch=-0.0573 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.0103, 5.7915, 1.8877, 0.1099, 0.0562, -0.0171, -0.1299, -2.0171, 9.1419, 1.9853, -0.0806, 0.2027, 0.1587]",
      "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]: [-0.1947, 1.7889, 0.627, 0.5957, -0.2169, -0.1791, 0.9982, -0.1913, 0.8261, 0.498, -0.313, -0.2741, -0.2146, 0.9992]\nstate[eef_state]: left_x=0.4343 left_y=-0.0433 left_z=0.0388 left_yaw=0.0694 left_pitch=0.0093 left_roll=-0.0241 left_gripper=0.9982 right_x=0.2895 right_y=-0.0037 right_z=0.1405 right_yaw=0.1269 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.6256, 5.3538, 1.6923, -0.0073, 0.2906, -0.0122, -0.5265, -2.0308, 7.2274, 2.0635, -0.3004, 0.0366, 0.0513]",
      "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]: [-0.1967, 1.7855, 0.6388, 0.6727, -0.2428, -0.1761, 0.0099, -0.1978, 0.8066, 0.4549, -0.2867, -0.2916, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.0421 left_z=0.0613 left_yaw=0.0891 left_pitch=0.1017 left_roll=-0.0341 left_gripper=0.0099 right_x=0.2855 right_y=-0.0018 right_z=0.1321 right_yaw=0.1349 right_pitch=-0.0385 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.6923, 4.9162, 0.7643, 0.1294, 0.1099, 0.823, -0.4308, -2.0308, 6.8991, 1.9853, -0.149, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3209d2286b1abb99ecf4d14da6779db2d63d4d880168e2087a2799f17e750bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f52bba1cc660c45568622c6f4b44f2ef78e4f3f6a0ffe21beb45efcfda3f23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853e95553fcd82d3ef89ccf4ca34bdeabb943d2589ba008a77fa2391d9be7f21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6hk1lBZH7TRAoQdqBUw9cV_i8l6eYDSem9oyIgu5Hcn_zxeyf2-1ENrih50F4hlEgCpbQr79aE207EJk3xZEqKDnj_LnlsP5bnJCheIHVv5hirygoi6LWHYjpZD5WEnjTGCjxCpTjx7jGe1P07KDeORk4mpBGZoVLiTd6TkvxYEXcxwO918F2q-sqDkQfWnooLFJcJxfREyJNTLohrU0LW8eKeRnWCVsMXyrXhVgz_X4ZE5L37t1K4kWmD76Fx2ORjc6AG2IPngAX_FUoj_O0fPmWf0jNOuWYd-4-VfN1xHvmJDnu4FwtTDeD3r9V1JHQPV9-mVGBIodQb-CSB_k5mwnrjzZQbMqltY_hpniKAPvoHSZIpD1PgYlVs65mAtSD2P3ypylp5oVPjTyIfbJwI8QWT5fVauVyAIMdOEwzKzcZtrJVNhPyYpFBQZRJKWU7K9KwdrYc_n3zit1WNQeqkfwIlUirola3ceSD4Gw1jxCM42DZLco1hBbdtzpSpx09m5JUowuM2ksINC52beRh-9UdXg6jjAgaoKG09E0gcIxJYo9dr2ZLVvy-JzUPf4JqGtNhfSGmttXbKg154KEYkBzGLBtiDE2I4ilQlyPULdaBno00HlyIEnfLnz3IySvOIZGoSaM-wMKNOTSkGdQgc0-pkD1hiEmpQBCG4YgDl6EdrNOBsD4whDihOmjtYqWsiZcLLP8-zH5m3mVZ89cJKv7gK_-s4cuCRaOcdTUYsyZZv5rGXY-tKFP_haTfcOIw2WV8x3gAvOACHvkUH7vLwA8QMvMNVRpc17gHFyZ2ZDrNngbCgMGICR3ybrTBV7SI28k3eLFvRmAj3i7dZDJcp9MKmTspwt8aN4pZZ-ubpMc2cOsnwAsEPg-1AblJWsU8LlC_zb9U_CqfBVqJH_TLQ5HVhM-EKwGBopOfGU7Bt-wmSwFDPsfvoTcRKpvzj4vIJOpkLtBY0LWYnEOd1TEJKLl4DTOFiEoVQ6s-cjl4yqgPcow0T92Hw0QnGxx4iK95ki3nOXoiA3AqGp4vu3ocrWwON5qhTnJbOg091-IFwaV0AZfBhiSzdLDjBD1jVzQq3_wp46Ilfd6Oc_zDtamgz6Tu74dwhA2P9cH7wmyOLVAW7IR_Nl8KTG80_g6plMJuMxagVLitOdbzficQKLMY7cM9EjhLtxOd5ZB0YajOdtv4sUHpRbD0ZFbg-SSj82XzyPkzxYDlJ_aeU4t-0_HGb46X1tKX_KUDqgn6MtnrZFJN9PkgzeXbKvA6A3mrEYSGHreggxxHUQ_mq7DpgIc1isJwckByaT_EkeYv5eXhrZNC_6n34y20dhljh0l__43HhUw20lAq5iAYPjum6cImWoQJZLlRcxgw-w4ae95V0QNZYZ5lBf8a0GMTHqoyCFRqh53s1sKdP_sJZmNQj33OErtMgqAg71OXoNM-QTCnPTtDBkud5cKnGyciSC8nwYulswv6w1S39gHs_dQHn_Y4-bZ4F6dPPcM41i1Q6kFttIeQyrKBgqYfo2_tITRNqpNOUsDL_cRj3uIbjdz64BNRatdCHGnGBAz3YsNKByt25tWWl7K6wyzIWGCRkwqB3OOrS_09Tv0WQDTwraX-0-OBIqd6VP4JdAftkYs6XgymmiJZOlCakcRT-gXOqWjfgC0p1sQNikp56u7CCqvz_e4PdflxAzViLp_sbDkdWE6uVZns-bmaFHkb0PQkiLbQ0UtcuNl_u4GTLCfpDx56cnAzBJmvF0laTRX3NcmpUyxaIB9VOt7KF0UbGSSe7frdbtmpKHgWrcpZl74n7dtLpiV0M-rL24ibnO6XAdvpOyRnn0HkSxzJzfnBcxoTcLSXx-wCd2sZruUNa-REHoiDTfmEILcIRq_Uk_3rnJludWp4WmVhh0DGNehiS74aHvzQBHzOeAHtGHS4EdcJF_wgnizTAx2kc2OEy3mFhINvTV2_-tqAu_Su6nvUYrhgxsvwz2xAWv0YA9vm3CPVlTitHDjq8Ra3gh0xnBP4OPY4-jRbIyao0TUQn1PhVyRZt8_0V-SkgUbskiZX6MD5qtDRMF8fdBA==",
  "id": "rs_027389251a9168ac016ab41e9ed39087d0bc852d6c34644d30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.475,\"left_z\":-0.01},\"note\":\"That close was empty: the jaws rode upward over the narrow cap. I’ll reopen, move a couple of centimeters forward, and press gently toward table level before the next grip.\"}",
  "call_id": "call_NiVFQgYgPUDcxlnRLdRVH3bb",
  "id": "fc_027389251a9168ac016ab41ea07cc087d0851358902c74c5bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NiVFQgYgPUDcxlnRLdRVH3bb",
  "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]: [-0.1829, 2.0117, 0.7937, 0.82, -0.2504, -0.1871, 0.9949, -0.1978, 0.7895, 0.4187, -0.2646, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4965 left_y=-0.0437 left_z=0.0483 left_yaw=0.1183 left_pitch=0.175 left_roll=-0.0633 left_gripper=0.9949 right_x=0.2822 right_y=-0.0009 right_z=0.1248 right_yaw=0.1362 right_pitch=-0.0354 right_roll=0.0079 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -4.2462, 3.7402, 0.4078, 0.1441, 0.2613, -0.105, -0.6085, -1.9214, 6.9675, 1.9072, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929d0c79ff03507d09e94793b66591f25c6a6658a9569fb7e55bab4808bd5358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f174c716e8d40fea8b9c85fd2d766e5b7298739c483ea090576e19842e86796",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e067e769f485507ceb51d4e7263b71d18f04fdc11678fd77a29c7cdb23d67cc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 3.15 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]: [-0.2077, 1.7691, 0.6189, 0.5339, -0.2237, -0.1825, 0.9982, -0.1848, 0.8486, 0.5461, -0.3431, -0.2703, -0.2115, 0.9985]\nstate[eef_state]: left_x=0.4244 left_y=-0.0457 left_z=0.0318 left_yaw=0.0642 left_pitch=-0.0379 left_roll=-0.0101 left_gripper=0.9982 right_x=0.2937 right_y=-0.0033 right_z=0.1499 right_yaw=0.1286 right_pitch=-0.0495 right_roll=0.0016 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -7.0632, 6.5299, 1.1941, -0.5592, 0.7448, -0.0122, -0.3077, -2.441, 7.2821, 2.0488, -0.3004, 0.0317, 0.0122]",
      "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]: [-0.1967, 1.7855, 0.6388, 0.6727, -0.2428, -0.1761, 0.0099, -0.1978, 0.8066, 0.4549, -0.2867, -0.2916, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.0421 left_z=0.0613 left_yaw=0.0891 left_pitch=0.1017 left_roll=-0.0341 left_gripper=0.0099 right_x=0.2855 right_y=-0.0018 right_z=0.1321 right_yaw=0.1349 right_pitch=-0.0385 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.6923, 4.9162, 0.7643, 0.1294, 0.1099, 0.823, -0.4308, -2.0308, 6.8991, 1.9853, -0.149, -0.0073, -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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1829, 2.0117, 0.7937, 0.82, -0.2504, -0.1871, 0.9949, -0.1978, 0.7895, 0.4187, -0.2646, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4965 left_y=-0.0437 left_z=0.0483 left_yaw=0.1183 left_pitch=0.175 left_roll=-0.0633 left_gripper=0.9949 right_x=0.2822 right_y=-0.0009 right_z=0.1248 right_yaw=0.1362 right_pitch=-0.0354 right_roll=0.0079 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -4.2462, 3.7402, 0.4078, 0.1441, 0.2613, -0.105, -0.6085, -1.9214, 6.9675, 1.9072, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929d0c79ff03507d09e94793b66591f25c6a6658a9569fb7e55bab4808bd5358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f174c716e8d40fea8b9c85fd2d766e5b7298739c483ea090576e19842e86796",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e067e769f485507ceb51d4e7263b71d18f04fdc11678fd77a29c7cdb23d67cc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6mlCow1cir0glFU_x6sZefx8dCCI9xvV0jjm8lKOUiytYE6Liqeg_oLzbSL4JlBIlJGm-DvoiXzLIuZfsoamziDKSHQHz47Lv1JUeRiYdkhkTeYkZjFlOt5yXZ07aNEVbbV35q8xX6h0Y56Eda3P0v8q8x-ZtVe2GIYzl3bsp5fy7msa4pbkkPGELga9zNA4mkSiUruHrIYmjbIqZ3OnVm8Bbv64kAC8YOr76nxjOpr3scG25DqcPpvU_Bh-yvA7IiFXFyvV9oFmMiB4hFabiG6FnG3jPKJGPmQX49CvzP8UhU_46yXco2Kw_wZ65GVNCdWwoSefzaTWF53S41hAh51dlIbxtlEesRIdnWx6qmL7HHZb2gAtz3irkaSk3p90ELqL59LS4g_DmguaDc0d7j8mRWhrp1_tKf6z2NZVrvmd84qv2v5WQJwZbIqS71uNtAacG9_TW0OUjMVuoB9wTkNRMav21e2ShsWQ34dWJGCtZm_JHQ1V2c-OYod7aanYSv0hkp0aXp89tJxzXegDICqUlcjeWLtScpXDkiebcCPI-Qax2E_l0RMRiPUIo--iDKbzqrnSypS6WBojXKaYMRmxN7tpqrejPzDE2mA-1U4nFXpxYz7ks3Eb7FSDd3tuO87Ril5VWvQd3tVAxI7kp-oMlS-Nun02jKgMun8xiNUkyh7xTfixQQGIcXH5Nmmb3W_wf-VHvGly_NP3MahYlpUUb92K6_CnRBBBJtUM0GIyzyHzz5weChK2WSTiKyW9F9UgxxpfTKTH2t-vWGKah1Ow4V5j-_PCNuMTA-9pVhwY4Mxkxg8lDGoOoP8zCY6ElLy0srPLIVESctplFBp3dOoU-AWgpq3-u3QniYhSUaLuPvC1fUUlDG3OaMqf9TPWhKhd95wBl0KfJX3YXbjvKnx5oHfwgpuFB-U8eCDQbFXta6p22fxlD2LcWAijRl3LOqOWpexE_BzU5yxCoxicrXsCK5k3A_tPKsidzdtUpdbbLOnAX-GnZCo1gIOFVZXzOyQHFLiLJWJR6xfw17jntgOeALK8_SSoqDpJ0jOai3KDm4w0Y0xDWj62DV0zjqkp0rZMAaOiMuxWdu_FIOFNUhFLd2S3MSTcFSKjFLZMPp4Ixp79b57vv8RJzSTAoR0E1qzJ5CbYdRKRUKIh5LxFZCGWmNOUuhOacoQFpfh6CKSvgibRTIVrSbQcNJ5PicFsvGOtyiJ_llD2kDmKqy28SusuDf_bZD1JRqICbRNOPH2SRWQcYJKPCU_XnHgizmZP6bGAjx2ljdXdttMUiOrhJDElWFCozPcm7gyLvr2MjTLAUvvyWOPQkPVwdO9IdrkHjZc9mc_-Ea0EH0IV4IC3ZxGr4pordpJvofw1YRxCKT5C7gL2howRIKf05bJW2OeVfX-QFi0-isbTH9OzpMjRCNphrveoEdGWiXCDcXRBqNJf5WK1-KZEarpisMuDs-fs1L3WG3odljwh3AK-5UJXlEUv6xQrbG9maB0bG64JUmilDx_gS3o2jiBpVY9FnJ6ENsBSMbxiMxx0qGMcfT3WdS1eJbCD8CFZmPkGDqKtVQIx3dkky9o-l1z7Tvjexd0Jmdzw5CJvZKo0dk8vaUq3zuIXdGlCJ3EIIFF2u1jnjBdkFaw-7Bz0iAhvsT05HGkdcuDnp8N2oeIghNR1ECa8AwctFH0Fl3sR4Ex9dp68h3UZk4fROX8jzUNzkLbVpVXlWZ",
  "id": "rs_027389251a9168ac016ab41ea3c73c87d0a8ca41b30dc1fabf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.067,\"left_z\":0.005},\"note\":\"The cap is now between the open fingers but offset slightly right of their center; table contact has limited the descent. I’ll shift the gripper right a little to align the neck with the jaw line.\"}",
  "call_id": "call_Z4JwFzdK9HIblVXPDQ7VDPEE",
  "id": "fc_027389251a9168ac016ab41ea5141887d0953c538b151ee69a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z4JwFzdK9HIblVXPDQ7VDPEE",
  "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]: [-0.2371, 2.043, 0.9195, 0.7025, -0.3008, -0.2142, 0.9961, -0.1978, 0.7738, 0.3866, -0.2451, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.0674 left_z=0.0548 left_yaw=0.1205 left_pitch=0.1591 left_roll=-0.062 left_gripper=0.9961 right_x=0.2792 right_y=-0.0004 right_z=0.1183 right_yaw=0.1358 right_pitch=-0.0326 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.0222, 4.4513, 0.8278, -0.1343, -0.105, 0.1197, -0.294, -1.7846, 6.8171, 1.917, -0.1685, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2564aab35938356a55cd5b165004953a771df495a2bd2a2cb372ac84fc801c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b8f17dede7dbecb05596fea8b6b2e0c09d9d23de8fc50592f176c0316920d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770e40e6e95307a6e5fdcbc894d009147a575f5aaeed1def4a17ff0221d1e3b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.31 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]: [-0.1947, 1.7889, 0.627, 0.5957, -0.2169, -0.1791, 0.9982, -0.1913, 0.8261, 0.498, -0.313, -0.2741, -0.2146, 0.9992]\nstate[eef_state]: left_x=0.4343 left_y=-0.0433 left_z=0.0388 left_yaw=0.0694 left_pitch=0.0093 left_roll=-0.0241 left_gripper=0.9982 right_x=0.2895 right_y=-0.0037 right_z=0.1405 right_yaw=0.1269 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.6256, 5.3538, 1.6923, -0.0073, 0.2906, -0.0122, -0.5265, -2.0308, 7.2274, 2.0635, -0.3004, 0.0366, 0.0513]",
      "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]: [-0.1829, 2.0117, 0.7937, 0.82, -0.2504, -0.1871, 0.9949, -0.1978, 0.7895, 0.4187, -0.2646, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4965 left_y=-0.0437 left_z=0.0483 left_yaw=0.1183 left_pitch=0.175 left_roll=-0.0633 left_gripper=0.9949 right_x=0.2822 right_y=-0.0009 right_z=0.1248 right_yaw=0.1362 right_pitch=-0.0354 right_roll=0.0079 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -4.2462, 3.7402, 0.4078, 0.1441, 0.2613, -0.105, -0.6085, -1.9214, 6.9675, 1.9072, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2371, 2.043, 0.9195, 0.7025, -0.3008, -0.2142, 0.9961, -0.1978, 0.7738, 0.3866, -0.2451, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.0674 left_z=0.0548 left_yaw=0.1205 left_pitch=0.1591 left_roll=-0.062 left_gripper=0.9961 right_x=0.2792 right_y=-0.0004 right_z=0.1183 right_yaw=0.1358 right_pitch=-0.0326 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.0222, 4.4513, 0.8278, -0.1343, -0.105, 0.1197, -0.294, -1.7846, 6.8171, 1.917, -0.1685, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2564aab35938356a55cd5b165004953a771df495a2bd2a2cb372ac84fc801c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b8f17dede7dbecb05596fea8b6b2e0c09d9d23de8fc50592f176c0316920d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770e40e6e95307a6e5fdcbc894d009147a575f5aaeed1def4a17ff0221d1e3b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6p0RVI5pPUos8sQ015d3FpTpSsyTTmS0CX1QrHQY_u1YufOKCcAKrFD-KdEIvRz88BMQvvsA7fnbyZTs_qCkDDITMxkGQdaeaMVN4XZX83RvsthfYmT3oXcRAdiWlKfMZQzn9-PLJSXC_0lNVofVoMH9GneQR_oCsJH1ZCxb_VBY-Anf8-4lSFPUTR9Y2i7WGdwRNsM_0iaOXMSuqyclXHcH87c70tDpUQPDPfTew6SzANX6hNsy0pVRRS3z_K9YQz4wFMyd1y--VQKELIXxoPygQK0dl4mve6Hhz2KcRSt5BfWrMDgE5CZ929YjQK7Sgk62mWcFNmw8fqSAaATgK-Tq6gjKsq1dmEZaKb2gDIi0gan-IUawxGUoUwkh3v5basGM-8rdRqyaAcpKFx8WLT2svVAwcVDq1oAOn4Tx2VP6BwmgOfrtHEpN3W_XgBegK6fhfFwz_Qm7xYew9hqg2LBXCv-vF4Mry9F06eZPnM6IMnScbfb5nAP1dhzJgKkvi82N2g69SI66044rm2SQa1oJAnL0xMuGbLCPTM5ohcwFfbJ0p9BE-nEXFoTdYZTlIKwCJxmeYF0LN13k0rxf6PmqogAww06aSPSBfBKS_ELxnEP48ypAwf55sspKLst0EHHMj2O1O-uhegYOTaIQX4HF6HGYF7yb914kkNtgrSEA6kIOC7g27ZQIu5-5JdUH4yeg6R0V8vjK480mMRPEYNrEz9o8HDQayKCGliItFVJSku8zn4zZtuxbDFX8WnhX6tu1iLj-u7hhsuWQgJRQJ3AcPOFGJp3L-HgT4OKGJxGYhMRBgTTwX_9SDiHe5ev2hxc81HkEdhyvcortsgewN-FT1BlxfJZ-69C4DfHdb4iQyOIRMYWBviKrdlirqe0kEL1T9ICVxwKp3pVnPfRhaFcCJx0WTc0gSKttKOoKdie_Kgon8-pCbaG4LeJMhER_iBfRNdUd8rc5t3qvxGij_ZjsBMlwGywZjh7UMxzCPWgN5UJpRsiqCyZcarWOwajq-pSaXVQQxvRLUZqgi9jjRpBTLDLjsOE2hK5EKhhFfm8F7rNFBo8h1l3AOGYfSAciSatgCYmn1dVPj6UsF6U2X2B1lCtbT_wEQlhzI2y15g-aeIfPvl9pKNhlsz6QjPaVlTIuP--guA8RDoAFx3H4ve9k5eeOVvOqJA2juzxk5HBZM7o_VCzA54T-y-KQPRRBlZvvmm9eRSZUa1RoKwFIo5_bakN_FH8sv_rfvRLXNZnl-k--9u1iC_TTCfHHfY7hl2VtcbTmmE5qmhRPWUYDg-6zLmy6xliRd_YRvrkhhe6KPgV_WTRebHtK9Vhogud9_RqV_G9rLJlKnNZn-hp5IpivGNSON5sAUPDD6s42tIPaf_UwFd8cTZBuiQ_p5KmtkiFCCrFQKoYYcFt1jIn3xsp84bSKAHKbv8DGPCnbPTiBKkDrBDmPads5uhvFMlACyERng9UcipwIJeHr_TgLniAGwqhZO5LXRboffzpxvqOWsPGWDjnj__Jjk4e_f9EbLqSbDA2lQ-OXWxqgcF-o9SE6L3fk5pVahZvTp0RmwjNFuGIx7nWoHtLfZLzs-I_GtfCA5-V2E5K9djZej0OTab9j4Clxoot8qEqeTXyI8WcziBMuoGv-1WEvpFhO3AgvpQ9t3N95NvnL55W73t7NmNwqMb0QQfDabtoYaaNARxnrcWABsmRaoLrvobjAePs-J3K2DKm3fl2bNeDs1cmeY8JvAqh11pZZZ81llV46OKwDazx0pG_GgJHf5eaJwcrtMhMekhb0FfrX8RJLyBl74T57EG3CQJbqW-KU93Lh2YkEMi-KJCEsh7ym5848w1gdXW7NGjGaC4J6_HhPcktsAzAg==",
  "id": "rs_027389251a9168ac016ab41ea75fe087d09ed32ad601641333",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0},\"note\":\"At this extreme reach, the left fingertips remain five centimeters above the tabletop despite the lower target. I’ll retract slightly to a position where they can descend onto the bottle’s thicker shoulder.\"}",
  "call_id": "call_KODSlvNcp7WaNTWlBwfdZAMe",
  "id": "fc_027389251a9168ac016ab41ea8b36087d0a5cbf4af97b858a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KODSlvNcp7WaNTWlBwfdZAMe",
  "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]: [-0.2512, 2.0533, 0.9249, 0.6979, -0.3229, -0.2214, 0.9963, -0.1978, 0.7609, 0.3561, -0.2283, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.5163 left_y=-0.0709 left_z=0.0512 left_yaw=0.1286 left_pitch=0.1533 left_roll=-0.0566 left_gripper=0.9963 right_x=0.2761 right_y=0.0003 right_z=0.1114 right_yaw=0.136 right_pitch=-0.0333 right_roll=0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.1863, 4.3145, 0.6764, -0.0659, -0.0611, 0.0024, -0.3487, -1.7573, 6.8171, 1.9512, -0.2222, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08ddb015d382738fffc8746af39429057900489b596f2405a92fc34cf464bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e75b7e2a043b0c3b7544b4329bb03bc0139e57bd23c2b7186e8e7d352c1f629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25ff877498fd617d5b629561e52a7052cb6f0ddce62c059d44454244d0ecb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.84 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]: [-0.1967, 1.7855, 0.6388, 0.6727, -0.2428, -0.1761, 0.0099, -0.1978, 0.8066, 0.4549, -0.2867, -0.2916, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4472 left_y=-0.0421 left_z=0.0613 left_yaw=0.0891 left_pitch=0.1017 left_roll=-0.0341 left_gripper=0.0099 right_x=0.2855 right_y=-0.0018 right_z=0.1321 right_yaw=0.1349 right_pitch=-0.0385 right_roll=0.0089 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.6923, 4.9162, 0.7643, 0.1294, 0.1099, 0.823, -0.4308, -2.0308, 6.8991, 1.9853, -0.149, -0.0073, -0.0073]\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]: [-0.2371, 2.043, 0.9195, 0.7025, -0.3008, -0.2142, 0.9961, -0.1978, 0.7738, 0.3866, -0.2451, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.0674 left_z=0.0548 left_yaw=0.1205 left_pitch=0.1591 left_roll=-0.062 left_gripper=0.9961 right_x=0.2792 right_y=-0.0004 right_z=0.1183 right_yaw=0.1358 right_pitch=-0.0326 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.0222, 4.4513, 0.8278, -0.1343, -0.105, 0.1197, -0.294, -1.7846, 6.8171, 1.917, -0.1685, -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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2512, 2.0533, 0.9249, 0.6979, -0.3229, -0.2214, 0.9963, -0.1978, 0.7609, 0.3561, -0.2283, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.5163 left_y=-0.0709 left_z=0.0512 left_yaw=0.1286 left_pitch=0.1533 left_roll=-0.0566 left_gripper=0.9963 right_x=0.2761 right_y=0.0003 right_z=0.1114 right_yaw=0.136 right_pitch=-0.0333 right_roll=0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.1863, 4.3145, 0.6764, -0.0659, -0.0611, 0.0024, -0.3487, -1.7573, 6.8171, 1.9512, -0.2222, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08ddb015d382738fffc8746af39429057900489b596f2405a92fc34cf464bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e75b7e2a043b0c3b7544b4329bb03bc0139e57bd23c2b7186e8e7d352c1f629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a25ff877498fd617d5b629561e52a7052cb6f0ddce62c059d44454244d0ecb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_027389251a9168ac016ab41eab709087d08675b8c04c29efbf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_z\":0.16,\"right_x\":0.30,\"right_z\":0.18},\"note\":\"The left arm is stuck extended and did not follow the retraction target. I’ll lift and retract it together to clear that awkward pose, while raising the idle right arm out of the way.\"}",
  "call_id": "call_m7WYgGUQ9zcQE70qk33SkjDF",
  "id": "fc_027389251a9168ac016ab41eac2dd487d080c1de44e034b431",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m7WYgGUQ9zcQE70qk33SkjDF",
  "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]: [-0.3439, 1.8172, 0.8455, 0.3923, -0.3779, -0.2707, 0.9963, -0.1699, 0.8379, 0.5766, -0.3702, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4641 left_y=-0.0932 left_z=0.0715 left_yaw=0.1028 left_pitch=0.027 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2939 right_y=0.0044 right_z=0.1617 right_yaw=0.1607 right_pitch=-0.0325 right_roll=0.0054 right_gripper=0.9993\nstate[joint_eff]: [1.388, -11.2479, 6.9538, 2.2491, -0.3834, -0.188, -0.0024, 0.0205, -1.3197, 9.5795, 1.7363, 0.0317, 0.1832, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a956d29ce3aa48d22f4b397fbffd8a3c5c817fd2eb2bf5731e2f89244054083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31ebd961bc95e2fa5a1be12f520afc917ac44d6d5f42b88f9853ddecd8b875b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf977d001e35cce0da39956971accbaa2b4e15383ea22192b511eca90dbc162",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.911 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]: [-0.1829, 2.0117, 0.7937, 0.82, -0.2504, -0.1871, 0.9949, -0.1978, 0.7895, 0.4187, -0.2646, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4965 left_y=-0.0437 left_z=0.0483 left_yaw=0.1183 left_pitch=0.175 left_roll=-0.0633 left_gripper=0.9949 right_x=0.2822 right_y=-0.0009 right_z=0.1248 right_yaw=0.1362 right_pitch=-0.0354 right_roll=0.0079 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -4.2462, 3.7402, 0.4078, 0.1441, 0.2613, -0.105, -0.6085, -1.9214, 6.9675, 1.9072, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2512, 2.0533, 0.9249, 0.6979, -0.3229, -0.2214, 0.9963, -0.1978, 0.7609, 0.3561, -0.2283, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.5163 left_y=-0.0709 left_z=0.0512 left_yaw=0.1286 left_pitch=0.1533 left_roll=-0.0566 left_gripper=0.9963 right_x=0.2761 right_y=0.0003 right_z=0.1114 right_yaw=0.136 right_pitch=-0.0333 right_roll=0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.1863, 4.3145, 0.6764, -0.0659, -0.0611, 0.0024, -0.3487, -1.7573, 6.8171, 1.9512, -0.2222, -0.0317, -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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3439, 1.8172, 0.8455, 0.3923, -0.3779, -0.2707, 0.9963, -0.1699, 0.8379, 0.5766, -0.3702, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4641 left_y=-0.0932 left_z=0.0715 left_yaw=0.1028 left_pitch=0.027 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2939 right_y=0.0044 right_z=0.1617 right_yaw=0.1607 right_pitch=-0.0325 right_roll=0.0054 right_gripper=0.9993\nstate[joint_eff]: [1.388, -11.2479, 6.9538, 2.2491, -0.3834, -0.188, -0.0024, 0.0205, -1.3197, 9.5795, 1.7363, 0.0317, 0.1832, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a956d29ce3aa48d22f4b397fbffd8a3c5c817fd2eb2bf5731e2f89244054083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b31ebd961bc95e2fa5a1be12f520afc917ac44d6d5f42b88f9853ddecd8b875b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf977d001e35cce0da39956971accbaa2b4e15383ea22192b511eca90dbc162",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "encrypted_content": "gAAAAABqtB6xuKhqYLRYxlsuSo93Nt-L9tdZT0NRNnO81OdGcW3YcHcS6hpqVWSkMREnfljlmEdeXNkmuomg3dvDeLs3ByFvK6kRImUVLufyapEQ8UpCCSWn0LEN_BDhB5zhJiHhDcmzLOSRmY42b1PPGjnkMA9-Z8lVRcLg2Fag600oVbo0FWGUwMwMvsMcs7UCTc4yYS9VJpv1Ill4ymyMNlKKKEL8rjjNjj9ct3y7mVPoe-Dwck9D8kbm90m3rCGRDYCPqHHxA68CbQqKi4upBhOZltf_VGPewWZ8Nc3z6W1bRBNjDpiq-LU5co205TzktpoihDAeUcfT_54eIQKoPcKMVkWA4APJw3GyczsODRQrmzAUG8V1E6sngmHOhvN7QcmY12COKsbiNl9ylsjAzmt9UjKoxQePWn9WsLUqvpCNQYUgFDZz7d-bZ65N4FtpIwBvkhCPeRiOkTlvQ1-cigYdNmiEt5R7JzzTmAVtnTM25f4syd7NuUZ2WI8UNVTKLtSinK3PLbeEPpEoXKkQbNRT529eF9ks7CusU7j-C7d5CdAKncnfUumxVe5zWI8du4Gz95ZvzY5MvowpXFMC2hmMNVUleaK_PiNWqKFRUR4lEuykwqIUVcwll-nVfIs52hsVbSH5Hpczm4tIrKys6clGYBYSUaAyCA8Fs8dzGl0stqc9i2CFR92L1UuhmLk--AFQjjfUjpwKzdK6uwWDs8FX2cr6Jn1Zr7JWqqZXE5J52Nx1lgrQoN0_gH7cPj7vf82TsjPSwJHg6gbyUFGhmW4cGmLbC_48NhVCK3q4ZVSilyrIl_H6LQToLXRBpeJ2_-GDbsrcjYyx6UdgdDUUXR3xiCYVA6jefbMM__Ad8tDBsPvTYsY5M6s37ezmAXdJOA9giB_Qt2bGxMIFQZuvd0Y7hct2zD0nuzZeRAQJSHHioFBpnYwn4E-Ohjmjqcmq8y0ATYDEPUtQw1BDpTvvZzDb9Zd-0as1MiTBv4PMueUzUHjvOfy0fp3YH0wkw-G9-RpwDz2bbVTOCfTXsrYRrRKcxdmyNtYPg2idpx-ZvaA1Cfz39OAcyJcmRpdDSOYC5H4jBMC0HkmcGujLd12GGNmkNwQRd3P-MkowLXQiNxM9BvpMr_i0tlsl6sbAX2THslQZ6bTcTFB_icQGncu-IX9viI9_plznrfb_1sqQAijZ-7Qt73hmuMceZu4Kdu97mLijbNJ_sE6yNSv8mlMNJMxyzGKCuakGuykMwg6UqFYiYqE2uscAq6ZP_rQmSXRWiBXF_xHF055D8OeXJi5upLUOQ-VKlFIYu7_BxYjU0qEo9k89VfhDR18OQgfYhacG9nyV-QZFCpsjERKhxcoKWGk7c9sL_a9e-3J3ZgyaEA-jrkH3bDSw7w1LqEDWl0PgQkcSY5zLptp_rKga1FnEAQ0r7s-Kxfc4x4KIJ6oRyZ7vokqf1LjN68c63Uhvf4sfXDcObNeGAE2yrW7HjUtHL3QzEHTMu2TkUwTzAukQap_3E70CBIeZeQd9bwBXw-zyEPsR69cqV27NvoNjNG7RU2GYE9A1iJ6mWLviTs1CedM3p_2xgROPN7YVWJHCyOt-SXkHiTgrTT4XmzQbmXubng-36Ifo3424g5k2zOIO_R_dapano1QnlNok5gO66cushLUur30H44Qah62EXPbG_eeV5Py54Ku67abprk7LP3dYMpVZ8lcG-b1L8KRUtCEmrcuvFRtbCRQQjeffia1l2kRODKY-gVW7X4YNKCdlPR2SFAe_0CtWpx9iUX4n4yeeHv_04OKH5QURB2Oe5CJYI-ZPUmYYcZuCoo2Klo6mqm5j9X4PVd7C0i3exu4X_pLR58leK8URkcnyqbwbZlZCBTSqR0J5JxXYF7zWm4gTYK9b1T-r0uXqEuTh9ECdHK9XtSbuPjGquJ8CQpazHFq7ASuMGqNUgpWUzlOqQ1fY40HmWuAKFOSvukGWmd_p0baouM64CYqpdLF4H_atL6Ugk3idL0wtMdCdJLeGD6czXURTiljWPIHD8LyD85Dsv6TfVmtJBJc4w6jlu6FnnuUEtH3iSWpnPbJLMgb-47ESgzFgBLlXj5pWJzOzoUs6t5lPgm1gKehJcqmAVnBYSfAWwBwvS8RzkTrAIHiEFjj3mQDLM1CWhrIefDUSgW8m1gOMlm1IrQ-u1g3fIo0wvMPLJmxJfaK6YGbs85gskoo5YXfT1oI7x4lZNSaw6c-JtIngBvhASl3qG1L-Kxu0Qbc6U71-yHKBzAguRJ49W4FVzq6arF17Ttc5yplMOVcQua-G-j_Tr0RmzA7xut0qSqDE3Aec6CdIQFoxsmB0VpojwsgEicAbXTdUWJckQNxJIme0zOidrY9w",
  "id": "rs_027389251a9168ac016ab41eaf045887d0b83c2e6ff6d4cfe8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.095,\"left_z\":0.15},\"note\":\"The left arm has begun backing out, and the bottle remains lying beside it. I’ll finish clearing the arm so I can approach the bottle at a reachable low height instead of fighting the extended pose.\"}",
  "call_id": "call_Oz0Tw7VD2iSatUPqwszSFzCS",
  "id": "fc_027389251a9168ac016ab41eb11b4887d0a369f0b818bab29e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Oz0Tw7VD2iSatUPqwszSFzCS",
  "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]: [-0.4362, 1.4322, 0.799, 0.0292, -0.4355, -0.3172, 0.9963, -0.1703, 0.8238, 0.5434, -0.3573, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4011 left_y=-0.1008 left_z=0.1462 left_yaw=0.0821 left_pitch=0.0198 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2901 right_y=0.0055 right_z=0.1533 right_yaw=0.1635 right_pitch=-0.0376 right_roll=0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.1744, 6.7897, 1.6825, -0.3785, -0.0952, -0.0122, -0.4855, -1.5795, 7.0085, 2.0342, -0.1978, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaef6d42d4844953c26d88fd508f9be380bb9ffc445ad245d4229b7fd4e42b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f9f33ba3566eaa6d67bb220f4e3f92b727566f3ea274690a89db368bbbd7d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ace13b213857bae69816ebb520d49da0aedb1cdf4e24044c74d3741e0dd965",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.812 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]: [-0.2371, 2.043, 0.9195, 0.7025, -0.3008, -0.2142, 0.9961, -0.1978, 0.7738, 0.3866, -0.2451, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.5169 left_y=-0.0674 left_z=0.0548 left_yaw=0.1205 left_pitch=0.1591 left_roll=-0.062 left_gripper=0.9961 right_x=0.2792 right_y=-0.0004 right_z=0.1183 right_yaw=0.1358 right_pitch=-0.0326 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.0222, 4.4513, 0.8278, -0.1343, -0.105, 0.1197, -0.294, -1.7846, 6.8171, 1.917, -0.1685, -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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3439, 1.8172, 0.8455, 0.3923, -0.3779, -0.2707, 0.9963, -0.1699, 0.8379, 0.5766, -0.3702, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4641 left_y=-0.0932 left_z=0.0715 left_yaw=0.1028 left_pitch=0.027 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2939 right_y=0.0044 right_z=0.1617 right_yaw=0.1607 right_pitch=-0.0325 right_roll=0.0054 right_gripper=0.9993\nstate[joint_eff]: [1.388, -11.2479, 6.9538, 2.2491, -0.3834, -0.188, -0.0024, 0.0205, -1.3197, 9.5795, 1.7363, 0.0317, 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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4362, 1.4322, 0.799, 0.0292, -0.4355, -0.3172, 0.9963, -0.1703, 0.8238, 0.5434, -0.3573, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4011 left_y=-0.1008 left_z=0.1462 left_yaw=0.0821 left_pitch=0.0198 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2901 right_y=0.0055 right_z=0.1533 right_yaw=0.1635 right_pitch=-0.0376 right_roll=0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.1744, 6.7897, 1.6825, -0.3785, -0.0952, -0.0122, -0.4855, -1.5795, 7.0085, 2.0342, -0.1978, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaef6d42d4844953c26d88fd508f9be380bb9ffc445ad245d4229b7fd4e42b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f9f33ba3566eaa6d67bb220f4e3f92b727566f3ea274690a89db368bbbd7d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ace13b213857bae69816ebb520d49da0aedb1cdf4e24044c74d3741e0dd965",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_027389251a9168ac016ab41eb3b7f087d0b54fc91043e343f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.1,\"left_z\":0.015},\"note\":\"The bottle’s neck is now centered in the left wrist view at this safer approach angle. I’ll move forward and descend toward its shoulder, keeping enough room for the jaws to close around it.\"}",
  "call_id": "call_uX47D5LIpUuy15z9UoxHIPrp",
  "id": "fc_027389251a9168ac016ab41eb52c7c87d0a783604af07f4b1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uX47D5LIpUuy15z9UoxHIPrp",
  "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]: [-0.4446, 1.3903, 0.799, -0.0425, -0.4538, -0.3229, 0.9963, -0.1703, 0.8085, 0.5056, -0.3389, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.0963 left_z=0.1496 left_yaw=0.0915 left_pitch=-0.0005 left_roll=0.003 left_gripper=0.9963 right_x=0.2864 right_y=0.0061 right_z=0.1441 right_yaw=0.1635 right_pitch=-0.0415 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -5.6821, 6.7487, 1.58, -0.3053, -0.1587, -0.0122, -0.335, -2.0718, 6.9538, 1.9414, -0.2027, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c64b935636d8329cdb1fef55b580382f7d66bdc1b4753fb7d8730d91034b07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fc111c852802516b054d2ade83c976927d2dbed8b65d2b3983124a22b11907",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f902ebc6f69c4a7ea08c49fdf4467e6de14449c6a3b764bfcde0d22b33934114",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 3.863 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]: [-0.2512, 2.0533, 0.9249, 0.6979, -0.3229, -0.2214, 0.9963, -0.1978, 0.7609, 0.3561, -0.2283, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.5163 left_y=-0.0709 left_z=0.0512 left_yaw=0.1286 left_pitch=0.1533 left_roll=-0.0566 left_gripper=0.9963 right_x=0.2761 right_y=0.0003 right_z=0.1114 right_yaw=0.136 right_pitch=-0.0333 right_roll=0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.1863, 4.3145, 0.6764, -0.0659, -0.0611, 0.0024, -0.3487, -1.7573, 6.8171, 1.9512, -0.2222, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4362, 1.4322, 0.799, 0.0292, -0.4355, -0.3172, 0.9963, -0.1703, 0.8238, 0.5434, -0.3573, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4011 left_y=-0.1008 left_z=0.1462 left_yaw=0.0821 left_pitch=0.0198 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2901 right_y=0.0055 right_z=0.1533 right_yaw=0.1635 right_pitch=-0.0376 right_roll=0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.1744, 6.7897, 1.6825, -0.3785, -0.0952, -0.0122, -0.4855, -1.5795, 7.0085, 2.0342, -0.1978, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.3903, 0.799, -0.0425, -0.4538, -0.3229, 0.9963, -0.1703, 0.8085, 0.5056, -0.3389, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.0963 left_z=0.1496 left_yaw=0.0915 left_pitch=-0.0005 left_roll=0.003 left_gripper=0.9963 right_x=0.2864 right_y=0.0061 right_z=0.1441 right_yaw=0.1635 right_pitch=-0.0415 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -5.6821, 6.7487, 1.58, -0.3053, -0.1587, -0.0122, -0.335, -2.0718, 6.9538, 1.9414, -0.2027, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c64b935636d8329cdb1fef55b580382f7d66bdc1b4753fb7d8730d91034b07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fc111c852802516b054d2ade83c976927d2dbed8b65d2b3983124a22b11907",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f902ebc6f69c4a7ea08c49fdf4467e6de14449c6a3b764bfcde0d22b33934114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtB66bToKAyIX2udU9mFupyOz3mgkuiwc-DBYbklcFmCrAYlShH4Jgv94jQXn5Utz00xkZb8FscAYdFrXgKYihp4kW4ZtEmBCAp1fbSWuzDqlIu_Pxc6FEa2lESb7jOwi98zFg-aJ4r9edRPrQCeN6ifW1_uer-WZypffBdPjm8QpNRb74etOPPtY14wVERZMiqT262OEPd35WvnjsTzobCfMLR9eeTqOepyGcyLYfiq8o_KKdRo9RtnsbguhtseO0vA6C00Oo03iTVgaCkh9m9Z-Q3H567BppNbzGDdoRb2VYvXqIT8ZjhvhrDq9QwXjB4Z1FrlWwhF9old83hjZLa4GDNnUbXS2RZQPdRsGJuEbwMnkgSY5WiZfl5QvKi_yez1ZUjHhGp4qGw9x0JkKdTncyOG10vhdtyZmrGSsGrhRj25U-1VQ0l6aVOAmFUHlOEiK1HheZCn_MIrhCh0tLbU9E9C8MgGksMU6tkBpwovky-SA2gQyj3U77opVyercZXUOnY4YqkgJkTwvZ8lkqsteEislX4xHV-ig86QYvHQmMDoMY-9oktP_xUhyU7QGBdp76ZKqI7WwWGJm63ajyMERkm2_r9zRwkEmgAU4sMwKQ6gFrt4XrKXHyR4Oqvsq7LLmlx04OUStOEwhR0tMDmmlITpawWuLe1BsGdyGXC_dFkJhekpyyWN9KGnoq1Dj4yPnJQK3Lav90v5MQ8MBfo8AEvhPUCSegi9-8P7ku1Yv-zN-nuY6oKmq0d7zlhQoPWV7DqR922xylzzzoq7fNLqPOf-uUyjk_W2YkHwjqTAb-qzryndaZ0lkbeTzi8_alWTlqgmT4NAJ52id1_5y-ImiPF63kthSZUfao_DDa7UdIW0GNa9oPb-cVCkQ57-slYpSpEpUclYJqcSbjzfjyC5x8rU0PDkeEcWYi0qeVjiLNzmt7PQhv-d1M6n0kn4TPQR0kO_Ul50bh_ScbASgPpYbtXS5R8H1NQJkn6HLLKg7PAqy8W7ehAmIyZUedggPCMwOeU_aROQtvtgy_AcMQplb94UY3SctpYYJLdRvD3xniIt8nGALl75uxqF9V07AYxu_a8NLTZLBPj-381bX_QN0e1wDPC7vSsVx2OXibZZpm8wLUrNYRiuChQIhSMxjxUmrH2p0pqU4Kq30MozgdTSNplG-E8Wkwx5W81Zg_2Fwq-04biz2DysGn48mIqqdrgA1KLwlj9SEQFOW9pgeEhi2eRA_BQ_Rp9rjKESaKkcfpEelz8nFvwABGHcVhc7psG6d-pybXcLJxbei6xcqyWzWQ2lOk9-KrMLM212-q8cfzMQCVKv0I9jfuOLOv4hFcmIn5B2mTo2U1R8LpZRwTUJ6SZ7_SVpQglph7131_OU84m02MeSKw6yDTAib1MzPleyYA0LRkBCF87t7l58JJmKlyhd_lT-EsvzcZnP13KUJ6ErGSvEL-UeNf47hCZBFwWFVKT-Lq1kA3uQ_-pHq3x-CWvxWJXefzXvLE1qJ7lPdaYShIDe3_1rGbuR9aGROaSEWJKWriCjJfrzgc8a-vW-tdDNI5DQLrleYVfrNPoxuQYyg2xpjZJd5qR1ejR8uvXUGz37smA59fplKI6PDtELRYDOdkhOtqRQZpZffyLQaSD-EzEC6QdJZVnEAAr8GOcS8S-X6FM5wCnhY8nIgL6hZFNjJnMleG9EtsyX5F2BnDbRsZK9yTchlOl2w8huM3nH8b-8AI_8qh3mwuV2_HSFiulvDAVg8HXFkLFAWZjaSb4urbvIxhIuB6oE5KSaF5Sc_n6cftCpX984U-pPFc0EASrCGHqjrc2A-KI1DbNYYxfH11nNOnRTaaTirYIgVFPqc-oMmKIGTIzMf_O1XITScGg==",
  "id": "rs_027389251a9168ac016ab41eb8903887d0bd73e3cbdc9d6161",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.1,\"left_z\":0.105},\"note\":\"The combined forward-and-downward target barely moved the left arm, indicating an awkward IK pose rather than a bottle grasp. I’ll try a smaller intermediate step before descending farther.\"}",
  "call_id": "call_a9RyxlLNx3xXh7N1xYYsPGkn",
  "id": "fc_027389251a9168ac016ab41eb9f84887d09f8a9e1401b3534d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a9RyxlLNx3xXh7N1xYYsPGkn",
  "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]: [-0.4282, 1.4818, 0.8013, 0.0654, -0.4488, -0.3202, 0.9963, -0.1703, 0.7876, 0.466, -0.3172, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4082 left_y=-0.0981 left_z=0.1353 left_yaw=0.1025 left_pitch=0.0141 left_roll=-0.0067 left_gripper=0.9963 right_x=0.2825 right_y=0.0067 right_z=0.1361 right_yaw=0.1634 right_pitch=-0.0387 right_roll=0.0088 right_gripper=0.9993\nstate[joint_eff]: [0.6632, -2.4547, 5.0803, 0.8767, -0.149, 0.0659, -0.0122, -0.3624, -1.4974, 7.0359, 1.9609, -0.1832, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c02906f51165c518e270a14426d5ec02160f9d0200ef7a6c5dae02e2bb26cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1331c7e384eb22bc1d47737c99755f693d0118e408bb07e187a12d5acc4e54ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0923e3d1cad64c7e60db8c4729ea7e3b72536c1ee9492768678643af293dc17d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.17 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]: [-0.3439, 1.8172, 0.8455, 0.3923, -0.3779, -0.2707, 0.9963, -0.1699, 0.8379, 0.5766, -0.3702, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.4641 left_y=-0.0932 left_z=0.0715 left_yaw=0.1028 left_pitch=0.027 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2939 right_y=0.0044 right_z=0.1617 right_yaw=0.1607 right_pitch=-0.0325 right_roll=0.0054 right_gripper=0.9993\nstate[joint_eff]: [1.388, -11.2479, 6.9538, 2.2491, -0.3834, -0.188, -0.0024, 0.0205, -1.3197, 9.5795, 1.7363, 0.0317, 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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.3903, 0.799, -0.0425, -0.4538, -0.3229, 0.9963, -0.1703, 0.8085, 0.5056, -0.3389, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.0963 left_z=0.1496 left_yaw=0.0915 left_pitch=-0.0005 left_roll=0.003 left_gripper=0.9963 right_x=0.2864 right_y=0.0061 right_z=0.1441 right_yaw=0.1635 right_pitch=-0.0415 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -5.6821, 6.7487, 1.58, -0.3053, -0.1587, -0.0122, -0.335, -2.0718, 6.9538, 1.9414, -0.2027, -0.0269, -0.0171]",
      "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]: [-0.4282, 1.4818, 0.8013, 0.0654, -0.4488, -0.3202, 0.9963, -0.1703, 0.7876, 0.466, -0.3172, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4082 left_y=-0.0981 left_z=0.1353 left_yaw=0.1025 left_pitch=0.0141 left_roll=-0.0067 left_gripper=0.9963 right_x=0.2825 right_y=0.0067 right_z=0.1361 right_yaw=0.1634 right_pitch=-0.0387 right_roll=0.0088 right_gripper=0.9993\nstate[joint_eff]: [0.6632, -2.4547, 5.0803, 0.8767, -0.149, 0.0659, -0.0122, -0.3624, -1.4974, 7.0359, 1.9609, -0.1832, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c02906f51165c518e270a14426d5ec02160f9d0200ef7a6c5dae02e2bb26cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1331c7e384eb22bc1d47737c99755f693d0118e408bb07e187a12d5acc4e54ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0923e3d1cad64c7e60db8c4729ea7e3b72536c1ee9492768678643af293dc17d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB6-1-ZZ3dedIkoS_UpbWNL2s_i7AhlaA5rmvm44F9fLk5iqjDXx-1VON2Uky3UYZkFjwbXGs8x554Nvtnvqd1lbqxN0ijpml8Ra4S_wAdM3xhapo6ooZCyEo-EPffYvmp7KlRAADgdZ_vLkvSiEkG2_3-bA8nnqcs6aFD3sqpvhYvhEYyaGC0NtIw7gi_xA-SR58HaVv42sPQcT33H__r9ExTQkKlp4jBaz0sVX1LZl3YLYeNs_K47cObzvQ3Stux6gUBf0kAZu7Do5b5A-sYqsQgjBJtXNXTzttsJ9xzGTxCngkcx7glstmMeMgcatgEVEj9RtI55Cgktsaxq_0wCXfTYpzoPGhkoS34ANoAiBa7nJMYx89NQs-L3exFTM69hnASrzXQ1QUVOub4V0TI5gxG0RWfNv34a6YiqVG-QFIuZv39jSaDgvYc0wDvSAlwy01bq_IikcQFF5AjVZu3RAr9db8XyoebcWQjoS7Pa9rfQZKClx1IuTYXJSOmuU8hfBaA1VrGDz_WPzF0Jh31CsApe5IH6Peg6ztF5XtHWXazI56IgyZ-Fta1xN7HU5Ou3imlMh9zf3KvanWFMlB4LoJM9t0J-u_hqLT9iF5FoXxv9ppJSemn5vf8ZJY8p1tGyULW56aJP5gKiFKct3Unw03oSWFKV2nNmO1dTBfIj8Gj18SPhf9siOrQy4V4bpTf7dkBErTm1rs41JSN6Vv0OCdmceKEPnSo2rDzhFuKeeW5nGN47EDItCYPVaeX0DBIbkTGA-eA-xvFT3ihX9dtz_5LTJWq9HO_GKUvBIZAyR2nGaf6Ubo5by16BsnL05jKOtDoehwdYMEuJjYC4yNbAFUsIj0HQux4F_aiIiTnwD-Y4tTIwBAMP_gK_mKj1mmHLQDYjJ3MXXLwMZEJzship5UgsbAk7LgPg0zhH11OObVaSts3c0y0Kwb6cTI8Tp0bzb4qZad6J95ChhePlaCIVCiYdpF6ZaRfT-_EMGqJg-K6qgRzbAucUIs9qcCiGQE2tshaoKieD7cZtp4YPz1mHEkfbG-PQjr1JeANjA3J2bDvDCFImHXk6PrfRrNSZbAWtL7GsLewmvXsbIihXY1Xb1ppVlcSua0vjdpE6BHUKKD4gNtWBJRdY4lb8Gn0PkXP5sAiiZM1bzKEcuWyFPevpsfs925DWl0ExfJWvQPYJfMB2K8V42Q9E232Cvmh9g2WmZTQwu2fqC8xpF1Pt7eqOOsyn93LMbswpvZi1F5gtfMGbT0dcfoONEvfsvzjCJAR15wUYMl3rUlyltxJJo5vII88Hkt_a7YZiyB1vNLQ6nJgK-PY7FbG06_hmRsLCqYInPxYusQs_tHCI6iGaOHH0cwjOgseu1N9IyNqpGtKT--4wC0obVXtpIi30cdQBElv1NdDwynOc21K_KxuJkuoGV8V1dONZhCkAQ5tMdt7uU8KsXT7kTW3fP4dDDBdm4g_uvBZnv1wZNbJxasij_NrGsJYHFGt9abDUQ2wQ6Djm20a3ZcLkfV9AvK2RsQfpyvhiH42xkywWpKUHqJPqlGt5pIFjEDdlKz8n4Kd74Lzp_f1YRHI-CDknQ88zoOI5z-b8IJAhTaDdkoQHrqVxdIkSfgftHLQYTjyjmfdleHIEcTn48M5Y7RHUBzqQRck69bQtH",
  "id": "rs_027389251a9168ac016ab41ebc8e4c87d081cfd61ea852adc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.448,\"left_y\":-0.102,\"left_z\":0.07},\"note\":\"The left arm responded to the smaller move, and the bottle cap remains centered. I’ll advance another few centimeters and lower moderately, then judge the actual pose before closing.\"}",
  "call_id": "call_FLEUtFl2ZmqORHRt9ZZB3AUK",
  "id": "fc_027389251a9168ac016ab41ebd504487d08229b40404f87079",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FLEUtFl2ZmqORHRt9ZZB3AUK",
  "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]: [-0.392, 1.7542, 0.7929, 0.268, -0.4267, -0.3149, 0.9963, -0.1703, 0.7662, 0.4274, -0.2905, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.0954 left_z=0.0576 left_yaw=0.119 left_pitch=-0.0605 left_roll=0.025 left_gripper=0.9963 right_x=0.2796 right_y=0.0072 right_z=0.1296 right_yaw=0.1633 right_pitch=-0.0297 right_roll=0.0057 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -8.335, 8.4444, 1.8339, -0.0659, 0.1441, -0.0122, -0.3624, -1.4564, 6.9812, 1.9121, -0.1734, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ee77f348c2f4c69cc98af374b414cc223d986397a338896ca9f8dc1272e1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67861cdbc8a986e87848702f3d6215cc131803fb6e04f510bf126b1dfad3e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54755e8475d590c3e502f7ee0501eb6a628ec624bf13b757d2c8bd775124cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.766 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]: [-0.4362, 1.4322, 0.799, 0.0292, -0.4355, -0.3172, 0.9963, -0.1703, 0.8238, 0.5434, -0.3573, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4011 left_y=-0.1008 left_z=0.1462 left_yaw=0.0821 left_pitch=0.0198 left_roll=-0.0163 left_gripper=0.9963 right_x=0.2901 right_y=0.0055 right_z=0.1533 right_yaw=0.1635 right_pitch=-0.0376 right_roll=0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.1744, 6.7897, 1.6825, -0.3785, -0.0952, -0.0122, -0.4855, -1.5795, 7.0085, 2.0342, -0.1978, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4282, 1.4818, 0.8013, 0.0654, -0.4488, -0.3202, 0.9963, -0.1703, 0.7876, 0.466, -0.3172, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4082 left_y=-0.0981 left_z=0.1353 left_yaw=0.1025 left_pitch=0.0141 left_roll=-0.0067 left_gripper=0.9963 right_x=0.2825 right_y=0.0067 right_z=0.1361 right_yaw=0.1634 right_pitch=-0.0387 right_roll=0.0088 right_gripper=0.9993\nstate[joint_eff]: [0.6632, -2.4547, 5.0803, 0.8767, -0.149, 0.0659, -0.0122, -0.3624, -1.4974, 7.0359, 1.9609, -0.1832, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.392, 1.7542, 0.7929, 0.268, -0.4267, -0.3149, 0.9963, -0.1703, 0.7662, 0.4274, -0.2905, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.0954 left_z=0.0576 left_yaw=0.119 left_pitch=-0.0605 left_roll=0.025 left_gripper=0.9963 right_x=0.2796 right_y=0.0072 right_z=0.1296 right_yaw=0.1633 right_pitch=-0.0297 right_roll=0.0057 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -8.335, 8.4444, 1.8339, -0.0659, 0.1441, -0.0122, -0.3624, -1.4564, 6.9812, 1.9121, -0.1734, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ee77f348c2f4c69cc98af374b414cc223d986397a338896ca9f8dc1272e1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67861cdbc8a986e87848702f3d6215cc131803fb6e04f510bf126b1dfad3e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f54755e8475d590c3e502f7ee0501eb6a628ec624bf13b757d2c8bd775124cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7CLP77Nznk5UtFGl7VPF2U1h_hKo8kRdYxjTk1nfokSJBFKTJugBQTAXFsR43_OpDY3nNEeeHiVdo83B2LWmswgopRikjEDWsZnUE7ZpXThRM3wn1rC4zjU3NS7lLSENlcvJYcRRg2UMBgTmyfCXTLnEk9uK8ig2ciDgOYQ5vTFypMwVyEeMZLvyNVSm67iig7N9BGB8JmFy1Ea72sHRAcNMp4icwM_GBf3xqAilDMaHaXsHe_KRdcGYzC5o6b9Kxldx-WtFL8wvPJkx9OC8U7xVZlzkXq8mdJFv1rOk_v1phHRVJ9kIWGnI1jc6CFnEFr0NJ6io9fepWsRTOSZLFkwx1y46Ix6pabS0L_erlfC2RERDDPdcl8_P1IYMpysER2BTr0V1XjorkBJFmBlyLj80gGZ_8IKWYqWvdaFCivfuYES0SSp7uv0ENSln7lzuML0fY0FH8oCbBhcCy60T6QHZ2FoavuV2BNGJ-x9rYEnuxNbNEuxitBOtA-yI1qynu8Q6D9mlUsXsnUqPGDBHHW-nrs831q3ybKx8z9lJz9yx8buAlHqgwL-IYoFzfoeGoU_yS9UcODpULeOmaMALD8QIrrjulAQiIwrH_-qyDWJuzx0esQ2Uxa1zQWoyLxdhiS22sVOMff175ui_qX_jJrZjrjIgcjmNqheEsi3vrduTm61e71xxP7sGVAGsijJ1-0CZkYiqlNMSxqpDWPCS3fQiCjEkgN5dR-BJd5q1lcEydq_9dEJHhaCbzPcFWV866b1fKzM7oC2QfwTe3YpJ2iO7Wlm-kbMvUYCkAQI6IDx1L5WFBIe4oQXWOhb7EpD9FQW-X2M7csD1UG4huYf7iOy0itXrrMxv6_cbfpfuey6IHrbw5j0ijHXpdSGQjkvYCY-Z89HhfBSBUuS8x2-fpcdH5qMCKmaeN2VLU_k0Nlh7tKQ_9-d9AVrV2-Q-HgF1XK1D1Dg1BB-d3SS1zgoSR3qfOEA-ZBWYmPrkuM7pvwr8Pa_mBa76OCY0_FgXOqSaMXV9RfAx6EUJ-MrZReYvJmvNIm10YZ3Dl-wlN0ijVo1e-u7fU-mRcd4FOCVXiOzIy8bx6k-kmD4NDNREnD022bJ08zZSFQ3DeK-9mqvNsRpTGJlX215YpGlIU3MeSJji__7LPw4lRiKsJ_ECbI1Vh1zFYyaPONBGvkQhFCKik5cMDGSP1uAo8O8DwrR9ZnekqtYlFwyc7XSNZI92SZJ-Rn2ELodIcdMofa8nRYLp7kXtlbKr3iHuvLeo8o6NgSITzOES4obV2BBb0qyytILkg3M4Twm5P1rLoKGmE-mMBzP0MS0AGqdkcJF2A6ZZbKRcJjkR7GNlAiPCGjOzaySJDNEn5xhYVEoJO5YaxPBR-jM_Mwl2usmdpUEwo6Qg-yxNZhmeeSuS6dBIEk3T1eZqS8ufPVL1Qp4NTMpE1MO-hOjVdEAXJA2H622hyPKrVJiFRErjs2IbIE9aJOPTYAKdg932LAJcDrMEQCz-pq-ORihK8xUEalzPA-lUKMQb9uPTcy69dtwDAAGTDSUo3auKPrllvohinODkvsorWe9srqwTMSJM8eA0CewJlR3mHE6XcR",
  "id": "rs_027389251a9168ac016ab41ec0f5b887d08264298d23a484b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The left gripper is now centered over the bottle’s upper body, but still several centimeters high. I’ll lower straight down at the same horizontal position for a firmer grasp.\"}",
  "call_id": "call_COEPFc5mS9ikfFUZF87rKfZ5",
  "id": "fc_027389251a9168ac016ab41ec1cb7887d08043baf6185cf3d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_COEPFc5mS9ikfFUZF87rKfZ5",
  "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]: [-0.3866, 1.7863, 0.7937, 0.3107, -0.4267, -0.3149, 0.9963, -0.1703, 0.7551, 0.4004, -0.2794, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4364 left_y=-0.0949 left_z=0.0521 left_yaw=0.124 left_pitch=-0.0505 left_roll=0.0194 left_gripper=0.9963 right_x=0.2765 right_y=0.0078 right_z=0.1225 right_yaw=0.1633 right_pitch=-0.0344 right_roll=0.0073 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.8, 8.1983, 1.8535, -0.0855, 0.149, -0.0122, -0.4171, -1.7983, 6.9675, 1.9463, -0.1685, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f3575fa3e4846315546f9fc8afb659886d9987e0b4ae3dd229cd25e653b426",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736449ef33dfb95a1b5fcfa6ca4a12e2d099dfd532923f7429ec3da5c9af2ad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647af1a72507ca5b237e53c6c197bb9f28970f49c9597bf59b8f43a63859160a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 10.31 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]: [-0.4446, 1.3903, 0.799, -0.0425, -0.4538, -0.3229, 0.9963, -0.1703, 0.8085, 0.5056, -0.3389, -0.2928, -0.215, 0.9993]\nstate[eef_state]: left_x=0.3905 left_y=-0.0963 left_z=0.1496 left_yaw=0.0915 left_pitch=-0.0005 left_roll=0.003 left_gripper=0.9963 right_x=0.2864 right_y=0.0061 right_z=0.1441 right_yaw=0.1635 right_pitch=-0.0415 right_roll=0.0104 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -5.6821, 6.7487, 1.58, -0.3053, -0.1587, -0.0122, -0.335, -2.0718, 6.9538, 1.9414, -0.2027, -0.0269, -0.0171]",
      "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]: [-0.392, 1.7542, 0.7929, 0.268, -0.4267, -0.3149, 0.9963, -0.1703, 0.7662, 0.4274, -0.2905, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.0954 left_z=0.0576 left_yaw=0.119 left_pitch=-0.0605 left_roll=0.025 left_gripper=0.9963 right_x=0.2796 right_y=0.0072 right_z=0.1296 right_yaw=0.1633 right_pitch=-0.0297 right_roll=0.0057 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -8.335, 8.4444, 1.8339, -0.0659, 0.1441, -0.0122, -0.3624, -1.4564, 6.9812, 1.9121, -0.1734, -0.022, -0.0171]",
      "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]: [-0.3866, 1.7863, 0.7937, 0.3107, -0.4267, -0.3149, 0.9963, -0.1703, 0.7551, 0.4004, -0.2794, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4364 left_y=-0.0949 left_z=0.0521 left_yaw=0.124 left_pitch=-0.0505 left_roll=0.0194 left_gripper=0.9963 right_x=0.2765 right_y=0.0078 right_z=0.1225 right_yaw=0.1633 right_pitch=-0.0344 right_roll=0.0073 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.8, 8.1983, 1.8535, -0.0855, 0.149, -0.0122, -0.4171, -1.7983, 6.9675, 1.9463, -0.1685, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f3575fa3e4846315546f9fc8afb659886d9987e0b4ae3dd229cd25e653b426",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736449ef33dfb95a1b5fcfa6ca4a12e2d099dfd532923f7429ec3da5c9af2ad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647af1a72507ca5b237e53c6c197bb9f28970f49c9597bf59b8f43a63859160a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7FsBtz-QJBpHar5I2Ez_GnEid87AwJAVH9mWf3FYFvCKxEKhv-GaGWRedPAz2Lx4VQ6NYro6NTJPvyKYS_4ylTyhx1zDPbwoUtn0TQxKzZxO1juoHc-Fs4YwVJDJhm-DorOHGIBUQRgkwOtEX9tsPbVGZl5RrF2f7hUhZhsKu_LWvKE6vz2uRhj2V0PR7uC9uBwmdwxgYF_3moA8JQ5dEidcfPkZ0fnvyA-7_3MLwiKak8shMqPCUWaCHQ0aqxn1DKHV_zZaNZQmZVHkX8os1p_nqP_t3d9-IrjaBVpw6-yHupymigjfC9B_oCBMecI8tNXYPpCkoFxmCVrA7QPb3epnuHqGJzneIUIqBNgYYf0N3ZQwyOq5Py8duTqzCW4MYGW43JP5DS-iS-3eKPHJehnzL0bghXUmCSIeTv2TDrykn-vxEIwUx-yynKm3XBsij9ssXzgTw28pbMQs6xF-cznAFzZiUGQM8Xx9_CGfX0zD9qQUWAOheGNYZZffy_U8wv4jAGVKx6ECG5uoOAQptLIJKu39usofKbkHp9uX6E2t1LiE1dF-45W269XmCHz7GrDBaaOK_eQuA0LXRKwGawl5G4GVFAN1sctq2WFnOPQ1L60XieHlERMGd7EdPK4Qlrm_iN3ZRuO05Ue_UyW5JrlvocSiMPKhags_coS4y1CJP7A2b2Tbu7Ru7ZQpXa_aykQX1PH3XcjWufhRSDt991hnID4Db2LHZWDbYKLTXH1QmaWgjnckt7a6pBhQSQST6av4sosyp1h99JxROo-rxDmlLk9veOqRxRyiCJL05_xjXRY_jlvsbpEhsWb2hYC9-uwt2tkFH6SCUvMvv5unTmN3iMiK1rvuAv3RQxIF8JGzrPOahWg3YrwBN6m9vYTljOdpsxx8Ag7T0OIafZSMVMRe7YWwC2uXFvug364a4xjnF8BT3Q5ZkdhO0n-sccPBsUjRipFoTi6TLc-_SzqVP87thdSWEmPvgdBgvV7w9EiirNb07GXvgZwzvYpgNugAIWZpMJsUvSSJjE81pSEwocE5Ptw90nHo1m9wFdPAoRFgx2kbevQ0UTUsLumWIuQvFnW4WAZcO_byAjTHfwwHdtr76yaJ6c_2kOOPPtAOSHnBgh7ukeef2kJHlGn5Dze_euo_fs3dUTWAGdlUjHZLnbaIjFvmqGFZp6rT-56YKM93CEMLjJSy2p2P6D9BdD-rUafNAOEaDAzj_u2QgE4LuAEM171-v5DZlnUBDRYLOvfkX6zGA8V7ucrI_jCIRqFsULgtYugRxgBXxZ5CdE_wDXqsbPmiergQIOGXeVvoLDWIXK_i3c_8YQSwA6ZDy96mYq44glka_VZA1zhwp0MFP5e_N5fPnhwz-0a6zYeS6JPjabGDM0jxuUdqGXMXEp3N3z2NpktS2VveqN5utZOUMQGbDQkgbxWsyd1tTWhSn6xPOBVWgZItfSzAMozCaCLluZDiOzmU9mEPHzUnH1ZBML80DSybX0CftjB8v8745EHIVjAJqolRzyH4y29fHrUwkiLqMgiZAHFEdkvneSq2wJHBvYVWayJH9R7hHHE9-UYftpO00SatCtGuUNXU1T4I3NltpUUF2Tw9Ql4D2HW2ux7ZmhbXnalvkD9ADQfWjStF_vWMrDCZod_8ebOSZWpCEjlAfkjdfCy43biG_OoG2KOBAQKY591m_j1pmTDnWfesk=",
  "id": "rs_027389251a9168ac016ab41ec3fddc87d08326c4292d73ef03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent has stopped with the bottle’s broad upper body centered between the fingers; pushing lower would risk pressing into it. I’ll close here and check whether the bottle is actually held.\"}",
  "call_id": "call_3uu4guB619YSVLd2J5tzqxKE",
  "id": "fc_027389251a9168ac016ab41ec4e87487d0ab74d76f2f715120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3uu4guB619YSVLd2J5tzqxKE",
  "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]: [-0.3862, 1.7855, 0.7658, 0.4335, -0.4385, -0.3153, 0.011, -0.1703, 0.7376, 0.3683, -0.2619, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4441 left_y=-0.0957 left_z=0.0656 left_yaw=0.1338 left_pitch=0.0363 left_roll=-0.022 left_gripper=0.011 right_x=0.2734 right_y=0.0084 right_z=0.1161 right_yaw=0.1636 right_pitch=-0.0314 right_roll=0.0066 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.4325, 4.3419, 1.3846, -0.0806, 0.0269, 0.862, -0.3487, -0.9915, 6.8171, 1.9219, -0.2125, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094896303a804da33e244c6e8cf15241a6005dd765e175ca32f1614b7993d7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0bfd4dea82e61b967a32c375241f06b43dbd7932fcaae75243cef7e11a55d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9550a1227e60c84dd8726b6798a3d68086e40fca63bc2c78148ee4bdb8a709",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.567 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]: [-0.4282, 1.4818, 0.8013, 0.0654, -0.4488, -0.3202, 0.9963, -0.1703, 0.7876, 0.466, -0.3172, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4082 left_y=-0.0981 left_z=0.1353 left_yaw=0.1025 left_pitch=0.0141 left_roll=-0.0067 left_gripper=0.9963 right_x=0.2825 right_y=0.0067 right_z=0.1361 right_yaw=0.1634 right_pitch=-0.0387 right_roll=0.0088 right_gripper=0.9993\nstate[joint_eff]: [0.6632, -2.4547, 5.0803, 0.8767, -0.149, 0.0659, -0.0122, -0.3624, -1.4974, 7.0359, 1.9609, -0.1832, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.7863, 0.7937, 0.3107, -0.4267, -0.3149, 0.9963, -0.1703, 0.7551, 0.4004, -0.2794, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4364 left_y=-0.0949 left_z=0.0521 left_yaw=0.124 left_pitch=-0.0505 left_roll=0.0194 left_gripper=0.9963 right_x=0.2765 right_y=0.0078 right_z=0.1225 right_yaw=0.1633 right_pitch=-0.0344 right_roll=0.0073 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.8, 8.1983, 1.8535, -0.0855, 0.149, -0.0122, -0.4171, -1.7983, 6.9675, 1.9463, -0.1685, -0.0611, -0.0122]",
      "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]: [-0.3862, 1.7855, 0.7658, 0.4335, -0.4385, -0.3153, 0.011, -0.1703, 0.7376, 0.3683, -0.2619, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4441 left_y=-0.0957 left_z=0.0656 left_yaw=0.1338 left_pitch=0.0363 left_roll=-0.022 left_gripper=0.011 right_x=0.2734 right_y=0.0084 right_z=0.1161 right_yaw=0.1636 right_pitch=-0.0314 right_roll=0.0066 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.4325, 4.3419, 1.3846, -0.0806, 0.0269, 0.862, -0.3487, -0.9915, 6.8171, 1.9219, -0.2125, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094896303a804da33e244c6e8cf15241a6005dd765e175ca32f1614b7993d7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0bfd4dea82e61b967a32c375241f06b43dbd7932fcaae75243cef7e11a55d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9550a1227e60c84dd8726b6798a3d68086e40fca63bc2c78148ee4bdb8a709",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7QTJIDpgGTqdLH_rOSVZL0583fffepHugKiNCWbI4x45uS72d27souTdiHv1RMUPGAUxHEili5bC6_yoVdgFD4HmYIJEeLwHEPK6HVHBU44SSLQQFYdlXaafzIqmHiAaYfxAq9SBejSF4LP-4PPUvjISnUDzi7XVQq6VOmPhURB8AlyIhGDYUYxXNZ8Rlk1SEpKBojwLNBYbFCELqdFkyvZ-FiuTATcdBReJjfbPbMCnaJN3Z_exsZZQRN5RtdKr6vw3cDBimp_kscyDvyjElj1PfDUPEIr5_LvCmBHM6BO2gqKcmr2tazHyBurvMT6H5ijVHZT7LQ0kRjBV7bpNuWgEEVjqpSUowNQlVq7GvAwusSsMehQhqMxMiQQOgHYQGo-sYPL7dvJUWD4VfAJzVwpfQavCDATkYztuDT5mNlHWb6gUlrz_aQPOqw1GX-onEFbQ0OtnQUKl7-Z-U2CstxQyeiOBFkFZjoL4MMH3gwbFiQXGjjHR0SHeHP8Tg65AfowwZe3GXMXfBfQcylKPav1kkjIQTfDE96tuDHji5XO4ZWiRFf77l7EdqqEkD36f1_3p3uMdYZR1xHqfypfAD03AM766WzODtyMjbnjy_zLON1r9pXAHBQemTpn3kM2sWRgww8mYi_GI4LIeYBku9LMqdvCWkCy4tuadF5dgziLORNPLZjGNTcrUI0A4vlEv36KGEH2G9LMJoWkg6Mm2FX-f6tIz7E-nrVdpFjVYwWp1z5Z0uJgMDHg2335cxK-HXyKphFWCiWtLevNy79E85vLEJB6sZY3-XpeSBaYhyzj3iIAUBtS5i1uPQH2cDGRPqbmkb8AGIH_M4TNUh7B9g8Peix41xUkFF0aop0T3acZNf6kvaQ28uD49NgvcXk7YGMEVYhaKEwztZflAdM9KdW3Hc3Dyr3bKoI1_C85acEIJeIv-qcM5dMjcOblcN582T8b34Y4jSj_0r2pa1ZJsdL1BYujnJ9AzKiJWbhZeA5upMPVFGr1tfboR1JXRTf0ap9vucR-IUdK188ffsvvmguvjOTFGE8gAwMFPGIvfcYgmsSjAPbYdEYQuSaUb2BdhEC7dtXAxi3ZyM9EjIvEUeHWq35ZMqvZJP3B0ol4aE5hAWTRsuLliMN4-rDE0orUKRLxPkN2UnJoTp22wiy2XC3zocu2KOjg6TDMySlryQzj9J8oEcVVqKFHShoIDHdK9wnrxTulHtYWM4SdH0yM6kSoya9_mUoagmc0Hg-QxxlKB-rPBg7OAd6m4V_39MhyX2i0-rQt9H1WOMGDi87FXmOwXSoCCHATtPoi7NHvMX6AZZhYJE92G4FDdtm9GtL4vXg-2SyCd5Xx9FMB1LTNEieXw95N10zw8HP6fIYPHWskXwZybCtKVoB4kBh7Z1qE-3mVR8SfVuh2zf93OuGiiMO_p75BKaO9rW-9JAtcs1hUvqn0bxC-5pc2KN68kEzTL3RHWG-C8vcM8JfNVWtHHWwo0qmz_6ViQE8jpJzX4TlyKoh8x0Zz_2MjFLUH8O3S_e4p5QFynb-9m2EA4w9ObBn891XmOv4qhVJS5Kn9OSbKLxJmKQ9zVWePvc7RFE3SEB8NN04aAoYWhNa6C1qkSqg5P2Ww7HFdGX3pxNOyjIpDUY2OuRFLh3t2IvZ4ICCVwTcEpS_h1V3D3SlbNzbvJNlHJ5PE1ahs6myrBiKb-1sUiY6BEZiME66FUTlhMsZdoL8k_NNL-XuH9PjAPlm2eyVL7OYN8GLoLLZ9vzkMZAdZaqmWTGu85S5x3JY-ILhmg1kwX5MyWPPKzur5rBtIIOdKL34bjfAcxZEDfR_h9yeCCKZMW4BdlKFxauRnZnJkPvKhyaWngiElZe1_V4XMfY5FOiMl_WZ6T3ok2stuYOn_ffRbs4wJFwQz752rzn-SW6O89XwLid24SNiTkvsGDSYYsVFNWrkTOXQx_p2Ef4NVuv4nAD9ajk0e_FgrfStLvE0Ffifa_MMv_tSmXnbjrlqBZZOINRSm3h4tByEoecmhfKY5y-EmaaWuQPMj3vDlYlkD_gP4KWPMRbDu3f36a7TB2egKXgoMUcrkIZ_wFxyZSUeqkGz6ue9atC4QQzUtQC8bhDBXJdVXj0B7fXSiJ-5_p5i2Z0uVlPuSN37YJVpFuy6cJOFnp6OsfelNUGdM-0VUA2lbaQ8X1Fs1riBxm2TvmRkX4eQ4mpB7EMkkkKjPdvGaBaSbiMv3arzPrz615ohaMhNr98JSZvbBQhUOyK5Xii1N2Nkuk7aX9n76d17sKQWbGY1YYd8diR9ZwNKIRdrFRhwpDaDJcpDT1eR5Xt8NeGkOchbQwUlIuJVwvnDCwFE079OrWJGqdP2B3xDJ8nipSRiyi9n7rVxDwzeVMtafbOqxUeGU2cHUwK--vXyuLsfK2bZCdfzO7LH3m32OioNoadgaqXrAkceo7U3PB7FebbtRzPHrPW3WKD0wmXz-N-6YWtmopevANp2godXrbFFiHX13Vsdauazsj6ws08a593wqd8BB3lChmoH1PBzP8AGwhds0JLlMhllOMW8R4wudCP12WCKm09-h8N6TTK4Wb7penefnCCWrZicdlwt2waHknwdSvq_Nh-vLy23I_JJHfqk4slBlKycCwSUHLGcLERqaMDuA2LyTEvf4Hpt1VsLeOPTCRQ_BlaXuNo2DnzyrqtN7ZVuxMfvxObax04lMK5P_bynksuJxF5wCM006kjqJpuTGQqJAsdGa_a2wirW93FbkfiRzxeR2aiy8wWu81HORGyMjO2olc_yoWqvwh5pyU0RA6dq2vWPwLQqnUui23Fy1aFZXs2OD1ir5kzoywEoL1_a-dgtsbYJwJwMGO8E3jCK9Ov4Lrv9cZUGPZEw7bUqKBurNvQ4M00_9Qy3dz0BH0c4ffU_DB9utb25j-hQB5CoBlRWzX-c_obMO3oPM8mHcgLrw4UEtJeaSX2ZBgeRCb7RUdErIMPqzMf5BBasYodpqijT3oWFCQhLSbmV4r0o8UFtExFwBQI2oIlGOpZvA2trt3V9q0cKyMZBNYqDZPqcffr1ormwzzIJUCGRHEA1hVC8_f9I8tf6HdaM3d4RKU1nW1jAm-ubl4b4Vcvmey6FE1pM9h2hOvWCzqeXqzKZ1UV5129bodJVagQnjVTqHggueCE-x4xHERYz62dRWHJU5LmOokj1Igq29WZO86Qfnn_UWVKwrKWLyyrD7Zhv49HmQb3LWUE1NALW0NhnEVCQ4lfiDRm0nD1H9TVjn2_s8jMF21ORLFRkN2R5sTDOxnlnrr0hbXmIXrJKqjWid_q6b4PAYve3NlHLlGdq1A4BkQgOSu0JzEPU9UVC6Yaq7P2xwiQK-es6LZa3uUUuV5Ukdz00GbukKq1DN2IShMqIJTfvSBQdvhgG9y7Oozq6tEPeS2t4z-CsK3gfGTfRtRzqUVRF5PgV0Xr2n7i7SCSZ-e3D3QP51v_waq0om0dIZa0kfJ509bQAlUyhH7uRJ73Df9zBZJrqO6lMVCvIxars2VpGqJb2zDbR-EpmpwR39cMNoNm1Vgy7-wj8oNCYP8_hRxRFgpEKkV9XkACRDzP_ld8c7P4XAIatz4MgiwbljFZwpg5wBTK3Th704g6dvAD-6lWbdCu53mxz1c0KPzvAH9vT1AjJlJIOPvxPZlLSAAT_nWDhJBC5SBjrlcsnj_pZWZFMRLYWSQXFD7GC3hNFQyxsrQ9BbAukEb0FPhf5XzPfRzYtASxnLRtC-mkqBNiebM7QJtzERhbcpa1Xvl_191NhGcpuM9KOIr75C95-nlNmMaED3tzZBuAg_SPezwKHT-b_wo_zsbU02aM90pcbKTphE23wXCjaR3Spi3KdErCoDwy8sajMivEX-iA=",
  "id": "rs_027389251a9168ac016ab41ec817e487d0b429450008c4b1c0",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7Q_qP4ZTBr6Jx7_pIwWcRzzT7bp4OtJeYM7gckY0cta2zTrDI350lzvsIIgVhccsGw9hSk-ivLUQCET6q5fWQysnEuMAM58r4AWDPhvjS1FXrMO9bFZphlVY_2YS_imKYUN9pSrx3EJb-ghYt3wjabp4n7LV_3D5-nQqrP5LDc6EeOaCjX48Xo9sCCAQhtUtYyFgTSafEuWx8rBhRfxIkMwSEdupMq5gCGwNqwLPX4dVuPtNS97dfe2lHUWf3mSP7HWT8U40xBumt7GbaKHge5n9Q9YU4tpQ1JFa8qZHOlxWPpiq0UfC6CP3_mgZUoqVSErmXasxeO35TwI4TMfDv94mqjeQDkEMfcS-sJL68LZEzdx2BwRF9L9vY22SpO1wvk1R2oEvmg08xX1tdBKRyABelSqCZMFh1jtDIQDplpjkxupTH_tiP_VQCceTiU9uyTUCUjMMTG9MWhgkpn_9ArM-ly16nP58MPLShHSpVLVPyyOOS2euPBCTnqzYjT8fkQgXQ6fFY1UZb-9blMppPqRn50ve5OoMEX9O1WXKn7V2HNCkV7iTNcPn_MVRvpcjWEVRjPZi6xWz593ObvI8wA4aJpngZ7RNh38j_3fQRDRgDUj1xnruoK5DZeh5WCBHNk-v6xW1RrarGxRJXjgXDavyrjK62mbcAQSsiwrxxSiWOfzbg_F5Djn3_JOWQ77iRmYzZPFNcBtk3FQlqheuezQH6qAqwhLPVbfmOSzcIs2H2hkw7g4O2EK6uHiKug4vuaoY5a08qyz2UU0T2TEUIylj6zkVBv-VUZCUEuGn0ELwsKGxLShbzXOTxseXBTFSyOApf1uMfyrg7qAQSGeI2Z1TDXr_kT3oBKwInH9jD-WKV0GVfHdL38isrwRoxP6l5lObRvatJpG3ChGHcmHZOeM61C1AggM3t6oTNqoHZp9IflJhU1qsVkRvgaBNLIn1wxVkiCLtgZGNbHTsNxZCv12uoDYVNd_Y7pR66J2kxPW2rPD8ngiyRQSOde02ZBUaB2dPNufYO-QKDfwhwRnDLjzhfmsRUD1XcvtwhHQhFUJrzo7y8BGPYx2PHyvyREX8heg1wGpUvAWhObF6tcQob6ckrK2UQ3XOZku7hlRIWbjUarvXGOGu0XhS2Rvbg2GCJrqVgoYhtWOLKMRKD32NNZBpsZhd8o7S6iscOsbDN6hpOgGUOTHRElGhMOv4tlw2cLlYQ3_jS6X0wVP7b2WyXNCqwK6PFLCM7-87UNdAvJF6bHKuTWkxL2FvaY-gY86aFm9yj5texXrqAVsShuxe9YLUjMAa9Lxqn4Q4mmeQv_cdkrOZDAmIrPSoy2nx7lk1bAXvC4muhfa2RT3FL00P95NTwcHKAdjzOpOjzP8HJyteIK4uk9pMr0UQcmR1REiWaIrSAE9FUX3gAJ1zHe9Gn0T6drEy_V_OjwlcHt6uw4ZCok873tImhm9Xj4RUEwiDh8URKK0N43ybn-4Dbrnncm2FI0lnKk4ooSu0yS1qE0yMfNMF86ud0eJvv7NmYPRWLV8FSau3oF75s6k6dAQJrt__OPVvrOBw8mczfEJ02DxJI4Hvvj1t5lbKjhI8hgO1A1DfMvUhFDTouT5rJBw3aHevyQvXIbe6mjocjDh_mYnEUtQFkTvmV54dprpDzFps5ch_UMiIGDmljwYXQobs2E9LaibYkwr0EsSXj3TxyHDyQQ4_Q-1iaYAgrwuUf6Shzrvs_24VcBmYu9XdjDkOpDCVMAS7mUjXWW76FYvikZlozEeOHIMzKgsqskyEHFnqUdXuVxrgQD91iswxGpck4RkHJ7pRxgpEl61Rn7EWiUczW19iq2nYdCs4ZAk8gqZDsGF1BU-01raMTFLAxl4Zu-ObT-pdsf_RQxZ4J6OgxogsniBUecs_2FUojU7OV_JwjI8xBQ_X5Tz4pM6RAY3eJwemz6IMp741hBrdL3NhjdXjteQcykeiO55XOL_5sy3bz9uDQFsMPeq27k5VNS9MupZh0DpbrM-MUbykNWyRagW_8mlqHvzyi7MffjU22avmaqkU3QgbEesx19ofwEdXBJv2kDc8Gd2VIcLtcY5HlZzgHfsv1cdAyGyAqaPMCJirGtHYv4oBzNgxeiUmoDsfCLf0w-L24v6_lftUAkEWci6yqwfkf4fNS7MVfanZC_vj63_t1XCjqpT5iL9PgtXyLfGqTgisD3MrUaYQal78Poko5olRKhT1JebsvPPwP2fgV-IlI7ngEbzCSrEQmEe_YkwuQyTd29ea144xeVfKnY2J3scDJVWFE0tFOvN141Xa_95ywFM7HlQkpujc3nK39oYvb3ew1N7H7Y9GA227aPOFBLI5N7thTme6pEhUhWo5k19x5IRbPnurKqXjmeFHxJ4-9_E6Wmr0u3BQdqGWzyAZU=",
  "id": "rs_027389251a9168ac016ab41ecd4ae087d0a10f7fc7cb7f7d85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.355,\"left_y\":0.035,\"left_z\":0.015,\"right_x\":0.3,\"right_z\":0.18},\"note\":\"The closed jaws again came up empty, apparently riding over the bottle from above. I’ll reset beside the bottle at low height, then approach laterally so its neck enters between the fingers rather than under them.\"}",
  "call_id": "call_pbOFMg9UfQML9aE5KaA9Vi3W",
  "id": "fc_027389251a9168ac016ab41ecfa11087d0a3442da89df808cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pbOFMg9UfQML9aE5KaA9Vi3W",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0319, 1.6638, 0.2924, 0.7547, -0.1318, -0.1024, 0.9961, -0.1493, 0.8398, 0.58, -0.3801, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.351 left_y=0.038 left_z=0.005 left_yaw=0.1838 left_pitch=-0.0497 left_roll=0.004 left_gripper=0.9961 right_x=0.2929 right_y=0.0105 right_z=0.1608 right_yaw=0.1814 right_pitch=-0.0404 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.2838, 3.9453, 1.7656, 0.1441, 0.2857, -0.0415, 0.5812, -1.1282, 9.9624, 1.7265, 0.0122, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf16f3058843b8b784bdfc1f4c34ae9fd41421d38dc2e31f36d52f9d3d650b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b1f490cb1b2ef7550028fc305e856328cc194843a10ea338b33f94811bc6af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4998f4c40d7395236a3315f8faedd4d44930beeddca30524b42e7b90873335",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 3.692 s

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

message 103 changed as sent

message 111 changed as sent

message 116 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.392, 1.7542, 0.7929, 0.268, -0.4267, -0.3149, 0.9963, -0.1703, 0.7662, 0.4274, -0.2905, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.0954 left_z=0.0576 left_yaw=0.119 left_pitch=-0.0605 left_roll=0.025 left_gripper=0.9963 right_x=0.2796 right_y=0.0072 right_z=0.1296 right_yaw=0.1633 right_pitch=-0.0297 right_roll=0.0057 right_gripper=0.9993\nstate[joint_eff]: [0.3624, -8.335, 8.4444, 1.8339, -0.0659, 0.1441, -0.0122, -0.3624, -1.4564, 6.9812, 1.9121, -0.1734, -0.022, -0.0171]",
      "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]: [-0.3862, 1.7855, 0.7658, 0.4335, -0.4385, -0.3153, 0.011, -0.1703, 0.7376, 0.3683, -0.2619, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4441 left_y=-0.0957 left_z=0.0656 left_yaw=0.1338 left_pitch=0.0363 left_roll=-0.022 left_gripper=0.011 right_x=0.2734 right_y=0.0084 right_z=0.1161 right_yaw=0.1636 right_pitch=-0.0314 right_roll=0.0066 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.4325, 4.3419, 1.3846, -0.0806, 0.0269, 0.862, -0.3487, -0.9915, 6.8171, 1.9219, -0.2125, -0.0659, -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 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0319, 1.6638, 0.2924, 0.7547, -0.1318, -0.1024, 0.9961, -0.1493, 0.8398, 0.58, -0.3801, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.351 left_y=0.038 left_z=0.005 left_yaw=0.1838 left_pitch=-0.0497 left_roll=0.004 left_gripper=0.9961 right_x=0.2929 right_y=0.0105 right_z=0.1608 right_yaw=0.1814 right_pitch=-0.0404 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.2838, 3.9453, 1.7656, 0.1441, 0.2857, -0.0415, 0.5812, -1.1282, 9.9624, 1.7265, 0.0122, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf16f3058843b8b784bdfc1f4c34ae9fd41421d38dc2e31f36d52f9d3d650b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b1f490cb1b2ef7550028fc305e856328cc194843a10ea338b33f94811bc6af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4998f4c40d7395236a3315f8faedd4d44930beeddca30524b42e7b90873335",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7V2OriQyyyfJFr0mDTBVTIUkuuHD5-6uuHF6GsGVxRqgbf6yqBPATKdX-qsrldfJG2nj4W7ddyQF_AuBwc2pMgbT9G-5ABhFWYzocrcSSanfcB2v3jHJ_p9goT7Haed4-jCtADwCjKw8dpxhKzUf7k5PVWEyeenGxrz4zFseBJfq81474yEO9Y8Osi6LoIt-SgvgwgE5uOHr6YNGieI6j28znPhIbOuCZL64ZMfzw1w8_2x-_bHmgPHWStmyimU7XJkpXllue5vQ7kRp6ly-i-A15PVF1GcpXhmHfDlGvYHVC6DkZ3XjecEkXbz2bBdCnjip-x6fT1da7JOzjWZbZfCBItq5Ld70gBXk3I4ttGmaPIxTo5B8eZi3xWTv0VrCxqMPZe-nkuZf_5oa1g2YkRBy56JBh3JubJIpoXUakt4E3JnxJWxsx1qihwb7kefgpYQWxrZMCexbUC54HhFOn1c382hdEuctT1xqgoye_9m0dw1BAHLNorHjigClRFmcXtvM9qgwg-VZflMX7kR21JOU30-XUWY9Qh5slyCGCYlL-e1ONU8T87euvrmPyZYaogj2E1ubvptAykNKg5zspfYCP3w5CMy4_cQlsJIt8k1DxC5zz-aknqchATD8czM-wA87Qd7hilSiI0lwMBKKlvW1LooqlvWSJG3mJ1-S75DaYFdwqxBKOD-EDRt_jRHdObsiCFcPLl4YwH0-ujPbSPVaZ3BcWptmvAbix2hWqRT5V3S8BytMXtmPwslC1niyTkrW2tEduej8bqKlECKFQlaF7UloqKgJ0ctiSz1JeVU_dCxjmiQr0IAQ-1rlc5Sd5k6VhAb3iUvBgX_ifik-3m28sLRkDKKVsjjDO1ln-LCdJySu4YbMGhvD7_iep_3FNCkLfdpvO_l61yun6zkxr1x0oOgVIg86q6NRFFxE8edCD1TaUe5x-2EBXyg7XMOkwLXm8MO_OhpGIcEI3feV7Dbp5B2guohqZVfZogyLt9FyvzWlx7OU7J_VR245sERU8Ka7KQPqmK8C0Zhvzqu7777_DVO7qWmf_UcSfG0SDPZS36watMSHoYD09G2CaHRic50qcqhh0ITqTNp6ipqcnX0WL_VjjyngZXtq--8lKCQ_rOSqLpqRMVOeIDJV37faWpfGtFIhQUVmCwHFF2dm3QayVF6gFzlRkSER5P5LYinMLS4AgHCsKe-K0BPvVoM1PIaVpowNzqMYwWVSf1JKOMGlbE-PbTFtMbMuhlSK3km4muASpGSmbNTIWdOHhjnEkPluV7QPvEbqO9tpY1OQ5lYyBG_dFAv-1EZ4jrF4hPuCugyIJkfNlrVJP4l2bmUIb25uMkeB3vIWt4T3v1HQGjL5zgnJjvN2sm70XrwRHus138J6d0EgQb7C-9ApZAyNqwTNCeu1JlUTEepLDlYiISd_37duYYfmTCAgu-a-XLYXeJfETx1gr5u68_eAusucelJWH2nSVQvDCfA5jvbVoPhNxnuQnV14yJUzhBqcrWxrrFhTV7GOsYZ7dVOFjulDlF9A981AND6ilkbw82zTZ-gghWnc1fEaeYh1kqcc0ggMMYIvX1BK7s-4j4keS1MkT1Ijev_7cI0Xgg3nUvGvxcvXrCyKrScXFA8O5AWhoh0B9MI43uu-K4gc89mCS7df_5dIPblr43qGTM2brlWDrNMpOIBV5-Vw60azUpoLX7H9D16xuLFAXeIQ0ZX3FE0ixuHJSryqYdGm46nP_qkdNg6nLUg999KPQPqje6sVgwfkEj4iiOZMfQui-vnJJkuiRYnUXLaanwDeTw4sgeiLDEXA_jXLKE5JxJ-Dq4Lki_rpU=",
  "id": "rs_027389251a9168ac016ab41ed315c487d0bc0362f7ae136cd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":0.035,\"left_z\":0.018},\"note\":\"Beside the left bottle, the fingertips reached tabletop height cleanly. I’ll move forward while staying to its outside, positioning the low jaws alongside its upper half.\"}",
  "call_id": "call_hwsM1VZ2aV7HH6j5jrC2VAdp",
  "id": "fc_027389251a9168ac016ab41ed4bafc87d0ac9482cc2c7132d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hwsM1VZ2aV7HH6j5jrC2VAdp",
  "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]: [0.0177, 1.8561, 0.5705, 0.7177, -0.1509, -0.1116, 0.9968, -0.1463, 0.8169, 0.5388, -0.3569, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4267 left_y=0.0377 left_z=0.0157 left_yaw=0.1905 left_pitch=0.0002 left_roll=-0.001 left_gripper=0.9968 right_x=0.289 right_y=0.0125 right_z=0.1532 right_yaw=0.1874 right_pitch=-0.0351 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.8821, -7.2137, 5.7231, 1.6728, -0.105, -0.0269, 0.0659, -0.9094, -1.8393, 6.9812, 1.9463, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd8717a529d9081694ce3ee78ab465529de369e4b4e9eb8e5a7dd206d1009e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9bb41efebbd5f71423073af19218709075451722214a1bc385e94a40267aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f82808487b5e69e3b794104179f7fdc9c9446f026d5484d1f8f6803b67e8d80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.006 s

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

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.7863, 0.7937, 0.3107, -0.4267, -0.3149, 0.9963, -0.1703, 0.7551, 0.4004, -0.2794, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4364 left_y=-0.0949 left_z=0.0521 left_yaw=0.124 left_pitch=-0.0505 left_roll=0.0194 left_gripper=0.9963 right_x=0.2765 right_y=0.0078 right_z=0.1225 right_yaw=0.1633 right_pitch=-0.0344 right_roll=0.0073 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -8.8, 8.1983, 1.8535, -0.0855, 0.149, -0.0122, -0.4171, -1.7983, 6.9675, 1.9463, -0.1685, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0319, 1.6638, 0.2924, 0.7547, -0.1318, -0.1024, 0.9961, -0.1493, 0.8398, 0.58, -0.3801, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.351 left_y=0.038 left_z=0.005 left_yaw=0.1838 left_pitch=-0.0497 left_roll=0.004 left_gripper=0.9961 right_x=0.2929 right_y=0.0105 right_z=0.1608 right_yaw=0.1814 right_pitch=-0.0404 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.2838, 3.9453, 1.7656, 0.1441, 0.2857, -0.0415, 0.5812, -1.1282, 9.9624, 1.7265, 0.0122, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0177, 1.8561, 0.5705, 0.7177, -0.1509, -0.1116, 0.9968, -0.1463, 0.8169, 0.5388, -0.3569, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4267 left_y=0.0377 left_z=0.0157 left_yaw=0.1905 left_pitch=0.0002 left_roll=-0.001 left_gripper=0.9968 right_x=0.289 right_y=0.0125 right_z=0.1532 right_yaw=0.1874 right_pitch=-0.0351 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.8821, -7.2137, 5.7231, 1.6728, -0.105, -0.0269, 0.0659, -0.9094, -1.8393, 6.9812, 1.9463, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd8717a529d9081694ce3ee78ab465529de369e4b4e9eb8e5a7dd206d1009e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9bb41efebbd5f71423073af19218709075451722214a1bc385e94a40267aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f82808487b5e69e3b794104179f7fdc9c9446f026d5484d1f8f6803b67e8d80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7ZyyXBjkrJ8DLPKKTtH0XsKJs9TcdbuWSYwTQve3K71O3vN0T-pGPnth87bWQoVBq1zwVnpoE9sXju6355Ay0xBreCegMx1COiqo6UJNFk6-DZcMSkYrs_Z93Az9xR1lmNfKRUpI3aPm0NQ55Esi6yZniN0H97Yhh5HF0XRQFDzngXf1EPMCtfM6KDrpk93sINdC95xF9R4Te5Q3b8bLfRvhYkOO_OgEJAw_ZFX6w4yXVpCPwMdeaVLNO1dzdQEmu6KUR_Sp8-CVaeqTMZgOD3oFcK8Mkog8L-c-diW6-oZ6s6bB2X8fyXCLj73krK5UUh8tMZ5iXAb56FtXW5QsCRj0XI53G3g71dHm5JtRQ63aDtOOTWgOOz6v1F1f64PDYYo54NzQpgCWwF5iQTxeOuMCqGQ7HtcGzvlK1YLzXokOEx1KarN6zDWJ_ya0nC5rxE4jcfC44q9JJhJ4fbS_CxXm2IsgCQMJDywtXUefo_eEnbRnPfjqYvaL1kz5IpwfUluNR8_5Y7rbpNk-JIATV8PLazporSKTN5lcLRGsWMNygte8d2g7QEC6Z9S-Bedx0dLZ-RcXlp8RLqMaAPDsz9EFD9gxTbVBYxHGQzHgI8F4uuOGhZ2Oqnc6UjGbhDxU2NvwM9Oc3nsRISH9NZNeF5aWm6RqzNTl9H6dyCJH5aYFQ5qb6wz7hfeVe12nyANOmeMySDuPdXorQHMDAxqv4NtC9sSGQDHVC0qOvIDMlOUa9YLVpHEOTKYoTk-vWKOlFEzpM9pwZYVtB1BH_lIADQbHySc1VdOiMd4et3TxM2Mq6VZ7qiWMUFIWUTjpVpsUQpMHWBsR5MtIN7iWj0metiyRrfKQLdoX6NiYShIb2EX5V_91wHDMvNQ7HJG3s6gMsQ8ot-NyYp9zIajfEmh1i1Dh34qcOIyzzZwpPM3tnz0-C_PT-ewUTV5azLj1Dl9g_MWKCKE-A9tA7XF85CzaO5fa2DunuFF-NppYGBWEpGLwuJsgVVXJFYnr1_8MOz7WzJZFzio2y3aGjJ0K6IbSLvHP564DdPq40ymEr8wvz_J_l4S_MIrg1oLrHT9fV0Br6h3IXGQ2J5isHX-uRRupMleaPmVt1hXbdGotZOHCRQkX2BdiJ-VJiq9GL1Wm_hjvFvbhwpdS_7jT0uVXQkYyxpF7HqBuUsWumiNKvicKdezMEN2q2QwNZDbrjbBS5QecGMehlekD8SiTmANEJ20eHcsOMSvD5OQ-n3QxNXctvRbZwZR6fQTdPrAWlWdC0gpFBHbH0l33gvEDS3DQott_2EzwZxJZCGtcQT_NHDqJzGqmmd_KYww5d25KfD0rY9YVDwYeBQ6vevovR4rtgEWAgugT9KUrtATNVtb1SQ81O-hWBDjE5V78wfSI11a9SRJbxuFuZyvGxwUnImQ1ZtKouW1hHT2ly_mUGJZA9ROPdq7oPKk14fQ-bRxEDIuLzorVSgRYocdMDVgQ3mlNpmEDK7ozY0b23vN1WtbQaZvdiRxQlueBjybyPKWuUlti3IWmKcO3EtspFSCerJPcIsx01LsaTV8s2UOpTo_BtyIWAbjXp35ypb41LJ2U_OhPts7wDYANfXMxkoUP_FuEEQAq76TcB5HgqWLo_2sgOrp-f7fyu70OkvK7JN0L9pAMEKvLAU",
  "id": "rs_027389251a9168ac016ab41ed8119c87d0995be50d037da659",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":0.035,\"left_z\":0.02},\"note\":\"The left fingertips are low and outside the bottle without touching it. I’ll extend alongside its cap so the next motion can bring the cap between the jaws from the side.\"}",
  "call_id": "call_Iohngy4YgBlXV6Ahvlrlpihi",
  "id": "fc_027389251a9168ac016ab41ed9179087d082324ce6e804bb72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Iohngy4YgBlXV6Ahvlrlpihi",
  "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]: [0.0124, 1.9633, 0.7643, 0.6239, -0.1658, -0.1123, 0.9969, -0.1459, 0.8021, 0.5045, -0.3367, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4706 left_y=0.0386 left_z=0.0168 left_yaw=0.1981 left_pitch=-0.0055 left_roll=0.0075 left_gripper=0.9969 right_x=0.2861 right_y=0.0131 right_z=0.1457 right_yaw=0.1881 right_pitch=-0.0343 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -8.335, 6.3248, 1.7411, -0.0708, -0.0952, -0.0024, -0.4308, -2.0991, 6.8581, 1.9463, -0.2125, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf7300897275c8faeef01742d8c82264a314591be86e628c45a5fdd694adba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050d529e35f5f1fddebfac7415f7e69d594cc9db44cd06fb634bf44d83d16c78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d96bfafbb587999ba928d058e70ad3eec9734fe3e80b4d8f758c835ebf346e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.587 s

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

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3862, 1.7855, 0.7658, 0.4335, -0.4385, -0.3153, 0.011, -0.1703, 0.7376, 0.3683, -0.2619, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4441 left_y=-0.0957 left_z=0.0656 left_yaw=0.1338 left_pitch=0.0363 left_roll=-0.022 left_gripper=0.011 right_x=0.2734 right_y=0.0084 right_z=0.1161 right_yaw=0.1636 right_pitch=-0.0314 right_roll=0.0066 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -7.4325, 4.3419, 1.3846, -0.0806, 0.0269, 0.862, -0.3487, -0.9915, 6.8171, 1.9219, -0.2125, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0177, 1.8561, 0.5705, 0.7177, -0.1509, -0.1116, 0.9968, -0.1463, 0.8169, 0.5388, -0.3569, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4267 left_y=0.0377 left_z=0.0157 left_yaw=0.1905 left_pitch=0.0002 left_roll=-0.001 left_gripper=0.9968 right_x=0.289 right_y=0.0125 right_z=0.1532 right_yaw=0.1874 right_pitch=-0.0351 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.8821, -7.2137, 5.7231, 1.6728, -0.105, -0.0269, 0.0659, -0.9094, -1.8393, 6.9812, 1.9463, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0124, 1.9633, 0.7643, 0.6239, -0.1658, -0.1123, 0.9969, -0.1459, 0.8021, 0.5045, -0.3367, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4706 left_y=0.0386 left_z=0.0168 left_yaw=0.1981 left_pitch=-0.0055 left_roll=0.0075 left_gripper=0.9969 right_x=0.2861 right_y=0.0131 right_z=0.1457 right_yaw=0.1881 right_pitch=-0.0343 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -8.335, 6.3248, 1.7411, -0.0708, -0.0952, -0.0024, -0.4308, -2.0991, 6.8581, 1.9463, -0.2125, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf7300897275c8faeef01742d8c82264a314591be86e628c45a5fdd694adba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050d529e35f5f1fddebfac7415f7e69d594cc9db44cd06fb634bf44d83d16c78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d96bfafbb587999ba928d058e70ad3eec9734fe3e80b4d8f758c835ebf346e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7fwtE_nLk9UHdTOvBD7qb9ybiIN2zJxj0KYz7m8uCS0WajbvJC8JXefWYT1HtXEtGAQsALh_N2LvcWVicOTa2UguWHnVK37Xhh_0sek6r7Pm7MBHyT3Ce-jEK_hTVg0R8-La2UB1D5o3MP9ZL0G697TopiaZmyLD2LOJVxuEHAUUdlukhQouP5A7ojz4lrGdNrdtc7IkvMaa2uwe3Ip-IFdwaOj45i4qCO4pxAxsdPeXceftnGD5_1ifM-kQ_6KgkPlKemvu4Vuw5H_NhWaKDQCeVbpNrUs11VRwXTw6hQmyJeBVmbZD3vmOcIiFFe4Q3wFroaK29o-_sUl8EWKzJyHaeQfOQ29uoe67mPV9FWCak4ztAILCNm7Pww12bLLdQu7m5C4b3OdVhjNtzMTG5ShPeTpffDdmc4BlU6lIGOl9tHbv_S9KbadWYaTyvPvXephvwQ-9IVAOEDaoTTqWYB-ZC18lKU-O5GfHt1XkHzgfHw6kv4tXfO5_APuoX62ZZkOJ9zEFfy1ysUpceHJE3eeWnwj18_mrQ_11sZIHwwiWY04QadLT6OtYsty6NFEvQdjxAmB8-m9lrle6TEjzDEGrCK-4AbuWmDHw07OTZYs2DhWp1vuH09maryXluo__HUTRmGm0mS9eP76-3uMbT6QaYmtl2O2QCGa1tnovQ7elv5rdKBTJSEIr1KmTJqI_8r5hTfJOBgDDUQHO25Hgt5COMjVn2sqKe0RRVduUzhRIeY21UWs1h-HLeWLjH_fSaMinQrgMBJoJy1yudkAKuldDHaR_ou78Ywin6rjxkP2gzQG_6eon7NGzDgSNSEuVuadZ05H1kWmQu-kZNCF2zqcykd8o1luBcfa0H89m79ICIGZgia9A2tiL-n_0gLFJWn4h3klYRfGyB_JaF2tWROOzS76U5BpTkZrK1KLwKV8oMo8f8y4OX4NNZH3R4c4KR22nDi6-rwSN7anhgzE42U_EqM894RYnKVB3-lc8F-HAyMMO4uGhNmznUM9altmKq6_ym8dzq2ZHjfWg1uMNEASuTOObM-7bWoYQQ7Cp_Y9-iRA0jc68y_z7ditejVgG9TojGYhiWpJwUIi49RRhI2Q7aGhTwtwKGQlNQ14Phw0RASz2gzNc7ti_-bzFMsFPA9HnBVCnhUUJFxNvZQA1tAubrnhCnE5Uhi_ZWsQtTO95F_bo-52DHxw8_cwKQzrozROBoIqfA-cQf9e-iy4J4hXjsnJPfWssHn9oi7dg78nEBvWx0cFMx6VhBNGxon1dGwUZgoVOQ2ZtRZBVG-ZIUjQbZLmDfPPuuAXoqQo9OzwW2AqPSPS0d9s7N95CIv7ht3ac5_VpXjVnplQH5b8ZQp1jwjJUuSbiRLlYixbLp53mQSpF0O04wonxandZNBbKIQdVmWhVBmDjpfAQrVCzlPXX7JZbY-eprzsc67M6VQk4H9lDxuJqb5EQmXME3CcGSwA8LbUW1X2oFPf4SPtzNQoj7nOGxb3Iajzapd7c-xxDlgY6ApQPypSZHYWNlJ2CYFTcjMdP9JC-l5ITWqsLKH_1NRFFxGcrNPknJC7nFCVRv2suqTBgy2tqWpvU3QREQcClqDPWM0N2mPOadW6vWs1YhBdZzsdB7LU_PBQ3M6y5dE3MCyl3CluIE7QpF1DEnDdjwqfTqWShejm1s40jOl1oNyGncypD6mMVBSr8vtIovz9C2bq_KmE3o4rY0AKnHtVGc_WW-xCAGs96dZ_3ZGyssieHhkbKJ0LLdWj4jWVsayLWYU1_3pWYUb1kdQ_xrDRvLoBJaenOfdvsEGqqwe3xRT-WZUWI_M6AG-ytCXgrVCMc_v_LW7LkXDR2HdUO0KLYdUPw8NePzz_Vdi1kz0baXyxEiX8suqHirx8nTdIhivVVhIGGHrD9W054xqL8ZcWkvsD5RZCpyZAnfHCQ_N2uWyLqnv_rZNWipjpHw41IpCvaUZXo6V_A9LxUvSjotJaQYzHYxICFqhJtn0KGWw1yI8yP60WmtjQqd8Kvg95__fYpxm_m3fvNhgWNJODgKdkGwCa8OOFWv5iwu3GeK5pdmGBehk7A58U3X5pMV6Cq5x3tmb5NWwuJET0Tcpc7kBz-tAsD0inRbvy6oBNg2JLjU-KZj1mR4_5F516jD8GEjHEcLpnXmS49hKiYSmHvFmBLVlTjf0RqnvopO4y2p2FwI8eIomK-66KdaOTTmEK6nxUgChiSlwvAuvPQ1bGjiCM7tbdQO6sTGY1b_7Ei78kTnK2afMmDH0jsYkIGEEhDtbXJJ7nxRVqXfL-8rULSbOZ4D712lJ4HWAD78ySP4AxYf590k_V9DSIEu7oDfYoKNeekZ09BTGpowY1x0P4Ypml9L11yrY3HmjnUGlzwxLjxvHYMzLr9c8yCEc9IenrK1ALD-UKSbgC1Z-FaC8yI5n0Ew5NbAzagg80wxOwab3Kp7Z0hwzFJT9l5Im3nTGp0_tFdB_j7EuIK6aB7yIk4vEfL0AdWtbh4v8vbmlANafH9iYOyXjMi8NTpC3GAY6ziCiu3BffBiWLZBewuEt4Eun5_vEcU7exwioU8MkVZLhh6wSQ1JmijafePgo27I1X1pITf3egJ3oRN_0weoK5FeYMqgyih9e8qbImjYAv3OUc0FempyNs9P0Fz79bI1tSKAzu6OPgIMPJ7F6VjdA_KRD",
  "id": "rs_027389251a9168ac016ab41edb6d5087d0af3316eeb2b28068",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.055,\"left_z\":0.02},\"note\":\"The low left jaws are now alongside the cap rather than above the bottle. I’ll slide sideways across its neck and see whether it enters the open gap.\"}",
  "call_id": "call_MjRyQYEZvvoGYYTxLgzQezVR",
  "id": "fc_027389251a9168ac016ab41ede4fdc87d0a61c7302a5119b66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MjRyQYEZvvoGYYTxLgzQezVR",
  "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]: [-0.2562, 1.9713, 0.7883, 0.551, -0.3634, -0.2634, 0.997, -0.1459, 0.7868, 0.4713, -0.3202, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4628 left_y=-0.0526 left_z=0.0122 left_yaw=0.1747 left_pitch=-0.0241 left_roll=0.0048 left_gripper=0.997 right_x=0.2827 right_y=0.0136 right_z=0.1381 right_yaw=0.1881 right_pitch=-0.0358 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.5675, 7.3368, 1.7411, -0.2369, 0.0073, -0.0073, -0.4855, -1.894, 6.8991, 1.9121, -0.2222, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d88dafe5718bcc8abf42f67863b28e48f95ebc1b4fc544feeb34936752dd1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3aabada0a664b4b8ff62709dad68ca9f75b68d750d9fbe91786b54a741fc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5ec7159972b934a5c79da48b0417447cfa5863849771649b9f61aa25f35602",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 8.51 s

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

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0319, 1.6638, 0.2924, 0.7547, -0.1318, -0.1024, 0.9961, -0.1493, 0.8398, 0.58, -0.3801, -0.2893, -0.2146, 0.9993]\nstate[eef_state]: left_x=0.351 left_y=0.038 left_z=0.005 left_yaw=0.1838 left_pitch=-0.0497 left_roll=0.004 left_gripper=0.9961 right_x=0.2929 right_y=0.0105 right_z=0.1608 right_yaw=0.1814 right_pitch=-0.0404 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [0.1709, -6.2838, 3.9453, 1.7656, 0.1441, 0.2857, -0.0415, 0.5812, -1.1282, 9.9624, 1.7265, 0.0122, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0124, 1.9633, 0.7643, 0.6239, -0.1658, -0.1123, 0.9969, -0.1459, 0.8021, 0.5045, -0.3367, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4706 left_y=0.0386 left_z=0.0168 left_yaw=0.1981 left_pitch=-0.0055 left_roll=0.0075 left_gripper=0.9969 right_x=0.2861 right_y=0.0131 right_z=0.1457 right_yaw=0.1881 right_pitch=-0.0343 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -8.335, 6.3248, 1.7411, -0.0708, -0.0952, -0.0024, -0.4308, -2.0991, 6.8581, 1.9463, -0.2125, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2562, 1.9713, 0.7883, 0.551, -0.3634, -0.2634, 0.997, -0.1459, 0.7868, 0.4713, -0.3202, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4628 left_y=-0.0526 left_z=0.0122 left_yaw=0.1747 left_pitch=-0.0241 left_roll=0.0048 left_gripper=0.997 right_x=0.2827 right_y=0.0136 right_z=0.1381 right_yaw=0.1881 right_pitch=-0.0358 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.5675, 7.3368, 1.7411, -0.2369, 0.0073, -0.0073, -0.4855, -1.894, 6.8991, 1.9121, -0.2222, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d88dafe5718bcc8abf42f67863b28e48f95ebc1b4fc544feeb34936752dd1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3aabada0a664b4b8ff62709dad68ca9f75b68d750d9fbe91786b54a741fc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5ec7159972b934a5c79da48b0417447cfa5863849771649b9f61aa25f35602",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7loy_JFD5L50aQaVnKqqmaRtQ9XBvuM_KKEYYt4AMdyrUZaFhLpYHMwqPDLuq5qjRC6MPcBSLRJ6INvPn6b0a-n9sMkRPTLN8puDNXMPaQ9wqmNd8XaRnUHwz3D_IJFSrJpxaXGXz721AkuZHj5xaSiAoRtHxEMhJACRbbdOcsxFe444YowBhLA5q6KmR0tOk7esKH_KWebNU022jTZ2lhsrEwEgB5xj-3kpOGyKKd-sVKy6vyF1oMX9-4mES4ldazxl2gt51OrRx0450HgVz6dSHjxGFiFm8Iurj1C8tbN7mRBvSz8RLvw0hwuLuS7epr5XEVGomTWjpXbg06DQByJFWxhcDReHmYAvrrQkwljHRzhGbm-NUALypnt-yIGTqxbU41vEmUN7yNyx_RkX5jG1wFyDT149iMN2ffgUTuzqyAo1sVu8IDYHI0xtRG9HRxOTQrnosKtKEwBOsxaDjyKRXkVkMhuWdnvAKigBOdcWCOYg-hG0MieznhunMqWhn8d2sFzZXkrScPKwJy3MytF-IyIKR4D6s_WqlOgL6T7h4F8I8fszyzHQKbkqbOR8HEmUXny_97fY5FAUCe_6Y0LuO-RQgZ0QJXDJ2RkCkz7PvzqqDb-bWQ1dDifrMlkparp8rvbEtiotmfsCERiy7E4pSPGMfMXywiWq958DOepImi7l7hKS-ak-upkgUmExDxDjcHWzkTk-R9WeLx2R8u5XdsU88zgL9SSnFAT2CdxOsFlrusZc79TbRPoJus0Xoy0lTaLpxFs8IarG7SSrO1r2G1lAS8KC7sldRhwHluIymv4xQfmUf7jkFJVSeeD0mAy4AhjOHgAEwWuW4g0GxsKkAEhoIUwY0tTDGBzbIPBGgxririfP7K51VV_5mVTWPeYMF8Z2iQ5W7OM9LpScmXiXUxpg4N2daPfSJGL3hBawhM9pZa8rDXlbXi6sfYWDBFlviXsmZlvwxxGw3X7J2JWwfABi0wD2yMLzgnDbCdwaywVf_P1aZR4zyQ885dIxQLrxS4TK41I0xiMrMMm47wuDqlJApaXHnlRUtbDd9-zKJaVXy2paRzbLIfw-OV6LUc_y9xS7EXUnTPLU_i8rtBJWCnQtNSiHQLuu27bAhWXkNFwsq6-jCAImEgZIjiaiQ1GVYvcPuSZgsmq8M1cH47SbMqo1G2T7piFvUF2Vb_O5ojFLxqj0n-Uv1rOq6f_UKweo0HVSAL6MMj8A-Qec9KNw2wpvbaA8nQsp98YfZUN91nXbz-XZ_EbetEFpOJoqcujurcY6NyS1X6wfeyl1hBPeX92dKQiHxOpnzPMBe_UcJZMp6bR8w8nC_hCalE2PoV6EBy3peyyS7i23zsVhwD28eVV0haZEDi5MarN9VTA7Zst84nq0iFFx68XmkcRjVnkPpBz3UU2yKh2rWp5ztXDVAU985nae3ZSf5ZS2M9MRd3PpvwdWaAF0ZodpdNJzgLNcsbb5ATAhX8jSX_gXzRMYyiFYai_i1JnvaQtobTesxuFhkt64B651YG6LiamqR8I43-xsyoftTHW-jAq3qSE2x-dp-TLpKSNqKwzgLijesR7EItMrHAOgXxd-MJWmkgUh6xiNYX0dLMqMri6VKNl0OYqJ5K8LaQ3PAEEYB8QIWAi5wgb3rpyxLpQbBCVItZ8Fy9oN6KiFp7xyqKDU7FPdOF2qr4KWaVz8m-Rexs-Dku6-f7Lo3h_y0TYJP8Zo06gb9g766gf3dBFfgd3KiELQ6oW2ZVIW_fIObtAFjDs7HW0hUcJ5KJe3gRQSWvP79TzJMRgaZr56UMW8t6cbegZjFKWg7ihH3nDtEXK5kv3r-mliiNNeHNJDg649uwNurXDVnYS0R2Ll1FyOLw4k1VH4Fe3Iv0rWBNMZc2f4VwDjsSC_tO-gDiX_SzTMzSE_ojYcesLGWPaWVHLUF_7LYqGV9ZWmY0JtdemugwymAWxuU4w0M6Z74rzdo9H4mKZIxdJYwFoWleaUwe-ci527v7TV-jWJ8J8qHlVChvEgXGoe4U6dTWBEEy3LwQ2H-Wi38mIgCa8M9kHip5JNq4M6M9FXJTpfMGV9_9DIqXhV1qVlQx29xxDaXYGXyI-E_hitED7rQvxl03SnHM7o9uYoZeKWIWnXTH2mkxYsnhkRE3ANlZWLxoZ5bpt_0_K0gP5D3FYfnDQhd5vIbo9cj0GkgTnZdUZie0s7o--1wyI5Ays_UrRQw10YHZtU7sdNVSYpabUKzBsTe8pjxMM-W5dZb5RsrTcs_zBLrMUceD-_jWPmAwiTMkyV9JMAllnRu4IvDClO_881an07BJZZG5_5MJSyGPWMfITU_KyqI6nt66bpcg8SBT08yxXoZouLXDx_MTftL5_hQvN7iAwIVloRWTIzB5qEK1_J1ZZRoT-dOl6OSeH3u885XnHZ8cUqKV_HWmn1uUhlTUbjPuDK0wDUcin-R3iZmtMuZ9_drcUmmKAQbmrvc5eOufxZ4rxe44SIcFxLUYka-Jci50Y97_7TOm8Pn8hVlWKhochej-6SlfxR52o-AYXpo6k_l9cb95_e60IQsi-spvx5gFhQWc5TgKsYbMYnGBCE_pM1qiF42slWxk_qPoAbZlygmBXKgDL8I6U82gnd8YEeJGD5kDn6Amx-KQeLhaYxUsYFd4XQOp7o12_in3SI8QXyijrL5Onjz97T-iTGyJd_MMkQxFnhO_tGlwzeNEJ_V3NggYJQFF1u4WcHXNQWfpq5ku6M3LGY6Wh-pxvYj7IAbgxZ4OKV8DCCJ0ly5gNkGLkH0nx8cXkFXruw2E6nmPdIwNLFr9tCWrkUAsOLk85N4s3pRzfLkASGRGplzF2dXY2ORLnuFQ_l-i1TP_HpmvPyw_VY60sx9hbqCd7TAj6hn7D0MjbLq5wtpew1HtO5zkjdfOoDrO09CokoWhZKdX-TpapslDW050VsbnKi_l8ctQYpYt_1HddHA7nCr2hXH55rM4K7v9MU6zvERIeinoposy9VSwJ1PIXNJjunCnJKOzSemZxtUbK9K6x1jA-Y4rSffsx4wQ8sf8nFYcWwNAZPcF7RtOfd_Ls5ThN99fe782yu6ZE6oCeaURm9NZ-okUpxqIguQ2dPsnVxrDj7LR1KN6Kp7p31aAnt4BcsXhvWR39tEqGL88Xo2u6rkn8-xOBcVSizUtmDgILPPT-xCAJVZxjd3yIMAs6ABcJJTsABTLjGVO_w-4DUk5zsS53BVUKO0424-ibNrTXulRo57kynYhf5qHcFwR72HnhmZ5f8mGBdC8PzK5P6476xU28pHayfjBid8oLpzOVCzmqikZ79JYUslmacNEWmQpBnkywwOz8aAGL6jZ367Smn_BaWW-EbUmRSb_IZNEhb-SuxP6yFv8XmtP7-xc-BQDvKUgC0HKQs7JgxlxrzTeoSv_Ep6Q6JyoTVzXu78X67HTTtOrpy_zrFONVrQEW_c0AVKSVv9z9eBbzYuOYo6-TlC8sElSOCDgU79uW3E=",
  "id": "rs_027389251a9168ac016ab41ee1193487d09ef06605b2c13c9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.155,\"left_z\":0.025},\"note\":\"The side approach nudged the left bottle toward the middle one, so I need to avoid another broad sweep. I’ll place the open jaws just around the displaced bottle’s upper end and test a direct grasp.\"}",
  "call_id": "call_g9nyXRtrPnlYZ2K8XamnR6aw",
  "id": "fc_027389251a9168ac016ab41ee4e23c87d0baba5851be7c711f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g9nyXRtrPnlYZ2K8XamnR6aw",
  "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]: [-0.4843, 2.0861, 1.0435, 0.3607, -0.5434, -0.4133, 0.997, -0.1459, 0.77, 0.4389, -0.2951, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4843 left_y=-0.1475 left_z=0.021 left_yaw=0.1712 left_pitch=-0.009 left_roll=-0.001 left_gripper=0.997 right_x=0.2806 right_y=0.0139 right_z=0.1328 right_yaw=0.188 right_pitch=-0.0268 right_roll=0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -9.306, 7.5829, 1.4969, -0.3297, 0.0904, -0.0122, -0.4718, -1.7846, 6.7214, 1.8779, -0.188, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfcc0a9bccfb3df4f3b72d0e9f0738570ef3a8017a505eada2ed610b94c06406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968c41b9d89a8d264dfe402365cdc947820f9fec6db96b5dcc518d8b0ec2129a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab91b2b94999bd539390f356b3a5f5df5dc9c6558fc50309de41155a949b812c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.081 s

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

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0177, 1.8561, 0.5705, 0.7177, -0.1509, -0.1116, 0.9968, -0.1463, 0.8169, 0.5388, -0.3569, -0.2924, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4267 left_y=0.0377 left_z=0.0157 left_yaw=0.1905 left_pitch=0.0002 left_roll=-0.001 left_gripper=0.9968 right_x=0.289 right_y=0.0125 right_z=0.1532 right_yaw=0.1874 right_pitch=-0.0351 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.8821, -7.2137, 5.7231, 1.6728, -0.105, -0.0269, 0.0659, -0.9094, -1.8393, 6.9812, 1.9463, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2562, 1.9713, 0.7883, 0.551, -0.3634, -0.2634, 0.997, -0.1459, 0.7868, 0.4713, -0.3202, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4628 left_y=-0.0526 left_z=0.0122 left_yaw=0.1747 left_pitch=-0.0241 left_roll=0.0048 left_gripper=0.997 right_x=0.2827 right_y=0.0136 right_z=0.1381 right_yaw=0.1881 right_pitch=-0.0358 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.5675, 7.3368, 1.7411, -0.2369, 0.0073, -0.0073, -0.4855, -1.894, 6.8991, 1.9121, -0.2222, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4843, 2.0861, 1.0435, 0.3607, -0.5434, -0.4133, 0.997, -0.1459, 0.77, 0.4389, -0.2951, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4843 left_y=-0.1475 left_z=0.021 left_yaw=0.1712 left_pitch=-0.009 left_roll=-0.001 left_gripper=0.997 right_x=0.2806 right_y=0.0139 right_z=0.1328 right_yaw=0.188 right_pitch=-0.0268 right_roll=0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -9.306, 7.5829, 1.4969, -0.3297, 0.0904, -0.0122, -0.4718, -1.7846, 6.7214, 1.8779, -0.188, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfcc0a9bccfb3df4f3b72d0e9f0738570ef3a8017a505eada2ed610b94c06406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968c41b9d89a8d264dfe402365cdc947820f9fec6db96b5dcc518d8b0ec2129a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab91b2b94999bd539390f356b3a5f5df5dc9c6558fc50309de41155a949b812c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_027389251a9168ac016ab41ee8aa2087d0b703b375c135ed94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.255,\"left_z\":0.12,\"right_x\":0.3,\"right_z\":0.18},\"note\":\"The low sideways motion is still pushing the bottle instead of enclosing it. I’ll lift clear and recenter over the shifted bottle from above, and raise the idle right arm.\"}",
  "call_id": "call_Sy7tB1DYHobUiW8kUcjkCRUu",
  "id": "fc_027389251a9168ac016ab41eee4f4c87d088586d7db587327a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sy7tB1DYHobUiW8kUcjkCRUu",
  "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]: [-0.7872, 1.9724, 1.2758, -0.1566, -0.7483, -0.6636, 0.997, -0.1364, 0.841, 0.5808, -0.3817, -0.2897, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2533 left_z=0.0936 left_yaw=0.1539 left_pitch=-0.0242 left_roll=0.0109 left_gripper=0.997 right_x=0.2927 right_y=0.0144 right_z=0.1606 right_yaw=0.195 right_pitch=-0.0421 right_roll=0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -13.4085, 8.5538, 1.3309, -0.4615, 0.0024, -0.0122, 0.294, -0.8684, 10.0581, 1.7265, -0.0171, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6af82c5264ba8abfd9a7daec3d686f605521e2a2e520eacc6a26514703d4736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05ef9c719a9256358939593f8f2a19061679a0f0a17efd078c1386226ce5488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffc72c8c08259c593174e1de1e04f577151133f5775ac00f1709d7d22aad1ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.072 s

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

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0124, 1.9633, 0.7643, 0.6239, -0.1658, -0.1123, 0.9969, -0.1459, 0.8021, 0.5045, -0.3367, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4706 left_y=0.0386 left_z=0.0168 left_yaw=0.1981 left_pitch=-0.0055 left_roll=0.0075 left_gripper=0.9969 right_x=0.2861 right_y=0.0131 right_z=0.1457 right_yaw=0.1881 right_pitch=-0.0343 right_roll=0.0076 right_gripper=0.9993\nstate[joint_eff]: [-0.7043, -8.335, 6.3248, 1.7411, -0.0708, -0.0952, -0.0024, -0.4308, -2.0991, 6.8581, 1.9463, -0.2125, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4843, 2.0861, 1.0435, 0.3607, -0.5434, -0.4133, 0.997, -0.1459, 0.77, 0.4389, -0.2951, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4843 left_y=-0.1475 left_z=0.021 left_yaw=0.1712 left_pitch=-0.009 left_roll=-0.001 left_gripper=0.997 right_x=0.2806 right_y=0.0139 right_z=0.1328 right_yaw=0.188 right_pitch=-0.0268 right_roll=0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -9.306, 7.5829, 1.4969, -0.3297, 0.0904, -0.0122, -0.4718, -1.7846, 6.7214, 1.8779, -0.188, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.9724, 1.2758, -0.1566, -0.7483, -0.6636, 0.997, -0.1364, 0.841, 0.5808, -0.3817, -0.2897, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2533 left_z=0.0936 left_yaw=0.1539 left_pitch=-0.0242 left_roll=0.0109 left_gripper=0.997 right_x=0.2927 right_y=0.0144 right_z=0.1606 right_yaw=0.195 right_pitch=-0.0421 right_roll=0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -13.4085, 8.5538, 1.3309, -0.4615, 0.0024, -0.0122, 0.294, -0.8684, 10.0581, 1.7265, -0.0171, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6af82c5264ba8abfd9a7daec3d686f605521e2a2e520eacc6a26514703d4736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05ef9c719a9256358939593f8f2a19061679a0f0a17efd078c1386226ce5488",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffc72c8c08259c593174e1de1e04f577151133f5775ac00f1709d7d22aad1ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB7z_JoXCyaI17a6DeMVEmeYxNApMOs9koQTmzlVMG0CWVcn5AThVecyRbqzMMkwlkxRtIor-2xM4mnP54ZpslebvfVmuLkqJYrszHIi5PDh5RkK23bsww9jdaTG4wQCj8JKoYSQGPvHVsXI29B17bouBmsjp25Jj7g4oVdxFvGoH1gr6ugdCWL3uzeK_UPpBu9E9HBNqTwhAp85n6dGyna7qhlBBYt05nY29e9rTL2jz1VOA85cqAQc86FGoawj8_HQjHGbESGq_UNrpiRPVNsB9zEE2eCiqg-d-iNp9QC5K9sTTQ-gOHgkHbMDPz_kxEHAkLSn3Xbiw2STnTbYeL1datDO1fTTUYNKUXFb9W_O4Z89dLhkqbWb8yJkfbtAxcDQyN3_d9t0yy4CZQ-3avCuJyUM68vUVO4uCofq1vGKP-Dh0tJFqQyw9Uf-MGQjRPOjYzCty1u3iffgJk5L1FOXsv9R-qYC_wPnhU7abEs7vsx01iOTpFcJNed3bjFeVkCn4CpLEOyuAcHK32Bdvf4gsievOXEGIwkQjeIIU_Q964M5NdEGWtvWD1KgzOWQ1M2cXZWWPog9iS2xraANUKEkrtjssziojHNU9Q31IpKBntwr86dlP4r4KFwVzAwbLD8OhM5cCb-WxqYSiG9eFTdQGZa6lRNBLZW447H1NkWV8bHfM9ivqoZ9o3Gh9A3tm-xUU_R9-bhVq4kFygQKdvL2V3d1k8GjMW6b4qEgr5DQGEMMz-XxFeWJEa781azVIIlbbbU6tu8GhAWzyFJTYxWU9FwUK2mmqmjyxm4S95eC8ih6F6jockKO5c_I9nymSAwdDlAXL9AH5oWnt-tzHU6rICT3upf3-tMuO3SIsJv7DvTVf-cmpBgUIMiZJXgPySs8_MvKgEnuvSOH1yF_RgdyePInHrrfR_nhs0f4oWys6tctsS7cla-YqzVOHOjGZIawiL1QW-EC06L3VC_oKja4o5FlEvP3E3r5lCaPBAxAnrvuk8SyGCxO2CK-UK5vohmMcb_VWcF9lFQ_GeKByt3uM2GTlCHMh46H8zPgd-5lY5w2m5pdu62uNP9vBMu9peKOrpXdAysTx_qyHLShJms6hGBcfKP2CiQu1RynV-tOLmE36-fHZed9YuYe5RVUnKM_e3lj5XqdPsFvS_RBlD71i1HNehhSNM6t2sS1x5XrXulzqJvI8UW8ROKX9qbmok2bg4b_3k1oyQZtxR1vvZ4OGSCQLpEps1s8gULfnP5iiAVNe_GFR7TvSvdLr45feTqAxf3X2ke__fzd1iOshkSxvSvJRftKtSe4eofudV0t5Z4Oxl2EFFyBpjm93cC7OwuJz_FUxTZ4YZikQvsdvRdEnc_36uJotO5QdzL9Oe7Qh0g4_W3hOKI9VCO1wj8Bk305Ur0QuF3O6mxnTVmWMcjBExYKIVoCnl6dDmnuJ1XPAjsCXeTF1LdwG5WOUUmiEZ7iqMtE51u-Z19YdomVkzLql318qOgwwzLYbTtdmkjKNI-D3mPAoy5vyKEiYC-E41ZYthQ5NQ-3wyRJr75hdOdo8UL7qzRsmu5cBA9xxHvoFc6L_fFt8_pNebi5_rPLDb99ImRUXoE_W6MNBEmmowsCtkz7lPh9Yj-cLL0_kYzdbZk_XgpnwM0zmHF51OqKm6b8V_pcU_Z0GcnZuxrMKwDFNaBawk8agD796B_7P2B8wxCtlslxSQ9XWJN2Ru2ogE4OaFyqF3zzHEV_lZGfkVICnE9gkrTo2oE4NFYTHQWQpY8=",
  "id": "rs_027389251a9168ac016ab41ef13c2487d09a44512382bb1e79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.29,\"left_z\":0.045},\"note\":\"The moved bottle is visible in the left wrist camera, just right of the jaw center with its cap toward the far edge. I’ll align the jaws over its shoulder and descend in one small motion.\"}",
  "call_id": "call_IzQXW3OyUpJ09CuqL5cZtYG4",
  "id": "fc_027389251a9168ac016ab41ef26f1487d080fa54b496cfbf8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IzQXW3OyUpJ09CuqL5cZtYG4",
  "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]: [-0.7975, 2.2013, 1.4147, -0.0566, -0.7666, -0.6807, 0.997, -0.1375, 0.8177, 0.5385, -0.358, -0.2924, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4552 left_y=-0.2858 left_z=0.0469 left_yaw=0.1649 left_pitch=-0.0071 left_roll=-0.0036 left_gripper=0.997 right_x=0.2887 right_y=0.0151 right_z=0.1526 right_yaw=0.196 right_pitch=-0.0373 right_roll=0.0087 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 7.2957, 1.2869, -0.2027, 0.2515, -0.0122, -0.5675, -1.6342, 6.9538, 1.9707, -0.1636, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1119029b388092626745dbfb3d8317901cf07b80fbd3c7e8364a5d984e25f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a172e2362d57d33deacded230fb78a216e52dda66dd0a33fc4c792b036ed17d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c706477fa95606240d5f98c66823bd5c7f3c66c9931d13a88a38846c54dd7c81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.178 s

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

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2562, 1.9713, 0.7883, 0.551, -0.3634, -0.2634, 0.997, -0.1459, 0.7868, 0.4713, -0.3202, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4628 left_y=-0.0526 left_z=0.0122 left_yaw=0.1747 left_pitch=-0.0241 left_roll=0.0048 left_gripper=0.997 right_x=0.2827 right_y=0.0136 right_z=0.1381 right_yaw=0.1881 right_pitch=-0.0358 right_roll=0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -8.5675, 7.3368, 1.7411, -0.2369, 0.0073, -0.0073, -0.4855, -1.894, 6.8991, 1.9121, -0.2222, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.9724, 1.2758, -0.1566, -0.7483, -0.6636, 0.997, -0.1364, 0.841, 0.5808, -0.3817, -0.2897, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2533 left_z=0.0936 left_yaw=0.1539 left_pitch=-0.0242 left_roll=0.0109 left_gripper=0.997 right_x=0.2927 right_y=0.0144 right_z=0.1606 right_yaw=0.195 right_pitch=-0.0421 right_roll=0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -13.4085, 8.5538, 1.3309, -0.4615, 0.0024, -0.0122, 0.294, -0.8684, 10.0581, 1.7265, -0.0171, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2013, 1.4147, -0.0566, -0.7666, -0.6807, 0.997, -0.1375, 0.8177, 0.5385, -0.358, -0.2924, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4552 left_y=-0.2858 left_z=0.0469 left_yaw=0.1649 left_pitch=-0.0071 left_roll=-0.0036 left_gripper=0.997 right_x=0.2887 right_y=0.0151 right_z=0.1526 right_yaw=0.196 right_pitch=-0.0373 right_roll=0.0087 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 7.2957, 1.2869, -0.2027, 0.2515, -0.0122, -0.5675, -1.6342, 6.9538, 1.9707, -0.1636, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1119029b388092626745dbfb3d8317901cf07b80fbd3c7e8364a5d984e25f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a172e2362d57d33deacded230fb78a216e52dda66dd0a33fc4c792b036ed17d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c706477fa95606240d5f98c66823bd5c7f3c66c9931d13a88a38846c54dd7c81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB72HJzii-896yDgxaZ3F3_z4pUgJccigZsRhZoV2HuqeAaEjzfIDScU1aP6A5I-h4ZzmRGtEcK3u30q_oFVjGII1Z3VCzu5GuE_aZ8wCHK4hiQkgC-JViqgdvczZtiXaLRoEYCClnkZrxZ4OALZ9jnXst4YCucLnoatkdOnUkQ_zpDMlHXeR-ZAjuDLgK_kxCxrIZcbPIDKGGPhb_v-7ZWOG0_9reXCuF7jN4yxkngmi9qnUulOhW21Xk8K2AfdxNf9nZtBvc4r2hwTJaz0sd4wMbckp8kYOumedMrJU9N2q1EMERxwXEwZEqMhGUTD8dW0HDSUY5UzcDgDj64nsGOZnjJE8AAXQkaR_aIe1yev633wDNPu6ayxvPbxE9AgwrgwA58WXfR9XA-ngIaOGqZbTp2KcSmgrAtVwkBbIKkXNggSpQO_KP13HWrpYaupxyRASFDmyCn_38-ocGaC20wCazZEENXZVTGpqRBsOeUcsqlbWf0vIh4SO-CknZN_rv0oARmx3gLpDyswcL1gFovHPZAlCqf9dAEQ1ml0hS1rNXK_7MIon6B7uRLRHxv3jsEKQs1a5RiOrowqnwKdsNgE_0F_Nfz_IrQIlZLwK85hBAuYeeD1XoS_01eyNFIWg_OIqzlXkaBefQ6WWwAfE12o36t3Pc426WPpGtQYxgdR2sQYXPilosQZu-UDhqc6U2ckZoLny_c_fS6niq5iURqnJcjiX3CL1wxPYhyh0b6nrWkMEsTxT7VzcXzGwio04h_R9M_SKGTEHi2vpPwDbyIZBoQ0AsnnNcF3ahW2CHTPpGKpaRUHDAIMdcNAGscxz5AZGr_oxhwrvPKAX_fFaPkS3Yk4Q-R-SmWk-X86BUA_Ldp1l0fZIFwhIUiFJ0WqBpPmR_0rpF3nHKKj-zCU184a0pLrJrmiVb3dLsHC9KZHMMF9DzDdbzhEvjQdOybk9QCb0OzDkvSXjDmwbxvA6hVmhjhAzHBr4Z-XpVcxDorfRHi-xHNh6hcoUiNQZHj8_CEIQGyOVCzKBxIA7KFhlZ_gwk54o0UmRnId5QH-iLogzV80ZbOXzwAP4dJlwp0vrjYGpHktJggQDhrX4rF987t5oO_5sm5fU_ZEosAYLL9MxphFjLREy2dfmB095NSl6_bLc13mikK0XwntBOect8zZmLwVVQaWvHAAhUcyTrS2LxI-SPUnhZxMnHfz884fSlsKiRoRF-DjbXOH3EADHQy8LIgT8odndrjjdEvrfRyEb8-3UIl43dozBIF5POXZ9ARVaflitgm5bI8zK2mKrpfHA8ISGDdTZNE91b4rA58an1lai5iQXZxSTLgMvF2wOfFMSkAzagaypJPgK6zEugaTEJDVWFfLG7q3JPXNGCsNH5WgKBnUz3MP9PcVUK4rfAg9WZCBep-GNGaqZzaYZlDl7ui_PvT73wHlhzQQhQ0Lf-NZh3k-tBoYbFJexdQvgSNrqJ9944lEoC3EwNTslGZenC6UVFghIAzub1CW5jroRZSrLuEb-Qo4m4jWlRZd0J6UazHVErgX5nfsowlG1EkdKEr9h9G0OmSDVHZ7XYTju9ArfFfWdv_c7Kor-PGAZnXytWWnBttxUNCyLllMNXaGZ91Dw4iHhoOZRf3FoePhNYTqMoWsJAWDoKcKp0NEqhlz",
  "id": "rs_027389251a9168ac016ab41ef489a487d088a3aeedea3291b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The shifted bottle’s body now fills the gap directly between the left fingertips. I’ll close at this centered position and check the jaw opening.\"}",
  "call_id": "call_s1Htzqa1mZM5R50SvngWomcM",
  "id": "fc_027389251a9168ac016ab41ef5ac2c87d0b27e0c2aeebafdc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s1Htzqa1mZM5R50SvngWomcM",
  "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]: [-0.7914, 2.2192, 1.4494, 0.0189, -0.8028, -0.6731, 0.01, -0.1387, 0.7982, 0.5037, -0.3355, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.291 left_z=0.0636 left_yaw=0.1941 left_pitch=0.0663 left_roll=-0.0588 left_gripper=0.01 right_x=0.2859 right_y=0.0152 right_z=0.1466 right_yaw=0.1953 right_pitch=-0.0304 right_roll=0.0062 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -11.1658, 6.4479, 0.8376, 0.1392, 0.2076, 0.8132, -0.3214, -1.8393, 6.7487, 1.9609, -0.2125, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3d1d06f79f115d2e1fbc2d71c91368c33f4ba8636336dfc2414076e6be3c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe49bb7aff2c7ef2cad7e1a12259573b5f0aac1e8713203757b6a56a71162d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240616a5045023d1074d64009ff06c75d5a3d0ce2b9db2114d58c2f3fa852830",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 6.269 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4843, 2.0861, 1.0435, 0.3607, -0.5434, -0.4133, 0.997, -0.1459, 0.77, 0.4389, -0.2951, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4843 left_y=-0.1475 left_z=0.021 left_yaw=0.1712 left_pitch=-0.009 left_roll=-0.001 left_gripper=0.997 right_x=0.2806 right_y=0.0139 right_z=0.1328 right_yaw=0.188 right_pitch=-0.0268 right_roll=0.0049 right_gripper=0.9993\nstate[joint_eff]: [-0.7179, -9.306, 7.5829, 1.4969, -0.3297, 0.0904, -0.0122, -0.4718, -1.7846, 6.7214, 1.8779, -0.188, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2013, 1.4147, -0.0566, -0.7666, -0.6807, 0.997, -0.1375, 0.8177, 0.5385, -0.358, -0.2924, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4552 left_y=-0.2858 left_z=0.0469 left_yaw=0.1649 left_pitch=-0.0071 left_roll=-0.0036 left_gripper=0.997 right_x=0.2887 right_y=0.0151 right_z=0.1526 right_yaw=0.196 right_pitch=-0.0373 right_roll=0.0087 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 7.2957, 1.2869, -0.2027, 0.2515, -0.0122, -0.5675, -1.6342, 6.9538, 1.9707, -0.1636, -0.0024, -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 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7914, 2.2192, 1.4494, 0.0189, -0.8028, -0.6731, 0.01, -0.1387, 0.7982, 0.5037, -0.3355, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.291 left_z=0.0636 left_yaw=0.1941 left_pitch=0.0663 left_roll=-0.0588 left_gripper=0.01 right_x=0.2859 right_y=0.0152 right_z=0.1466 right_yaw=0.1953 right_pitch=-0.0304 right_roll=0.0062 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -11.1658, 6.4479, 0.8376, 0.1392, 0.2076, 0.8132, -0.3214, -1.8393, 6.7487, 1.9609, -0.2125, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3d1d06f79f115d2e1fbc2d71c91368c33f4ba8636336dfc2414076e6be3c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe49bb7aff2c7ef2cad7e1a12259573b5f0aac1e8713203757b6a56a71162d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240616a5045023d1074d64009ff06c75d5a3d0ce2b9db2114d58c2f3fa852830",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB78zPt7i47M8N6ZtQlAeMBWH2JnFhEspLY3FgW9naL_-C7wGO0zmc9VXgfbajrLfOYC1AmzUBfiSMBLISlI4JWJZNkqn0qE1t8B0g38EW7UpN94f8ZoWv3RUEImU83F314u4DXrL8HmC8Q-dHD6HmsMy2x_LAPGkfnUtg9yViaovqZmaMvQRjb2TM_LOSxjhoqT_ekbIEvKyUqOTvTDbVXB7AOf5MORnEclHym25ygzr5OgfYC0M7D-iCnxprz0e9MpL7hqS1uQEw_kJeQGC4d2kfVCuvnINZorD4yiO5M50ilGSB6gGzoq1isLtkqW3lBq7NFivv50b-dhz2ZiI8-l-CdYYO79cdJciXL5FjnABcV3GFVXz2qI5Fd_9YRJ0UX5uvVJSOyO5jMFZy8qSURlvNq_lc84BQlqdMgHhD9sxECtuXysMz3MWjfKDgkEfNarEhAYO3U6b9zzTIUnTgrCLNUtVUzYI-t1WhEpNLeW7-mA8xkWoyOCs860twZH_wy_Ezkqb4dIg4BjzWNxRCRvxSnfU8pIqSUJrVY1FVnJDImLzPLVbWNnuKpZ89GtcBexhtAUfmL0f9en-vv7b_BxqUhce03K7wwTjrUvhKdOWyhr6YjfWTMAkvdCrQ1ay3eqaZiCK1z5igfEXsxLYpmeM_-h7u-U6NS8YKIPF_y0NFupVr8iZrTvgFL-mXo789DSq5IxedhkL3ZmkmoDibiBNPL-pizeZXEx8XE0iUWXAWn29BI_tnsA4ObRo6hVRlFxWMIdOZEhJ_sFrPxVNeN5SHbjrYhraXIYkd_WDx6EjoT6GBL1XAyYrHCQ97Hh7dXapOqdtM3-9HIUnt7ZqLvQsnk6unJte79_DtUYVn9Jqbxkr26pd0a6KhQHvrzv1iYzKqYD08WL8p_Mn4wkfFdycYwkPtilXNzsy-Le0twk_SJBbnhQ6X7Xdevhhd9Aq_UdhrAn_WFYfiwyrXpQ5axwQB7015ks2KNL_n44zpgZJKcsFoIXaJ5iHM9XrbZbmCJtBAuLYNDhzmhfp5J-rubtkRn4eXR4wzqV0O6Nq0ERwZwHyHB6lwLUep02mqaoF8bD2x5-9sbWVJjXQF2FPFkOU6yro6c3CuDl7qbF6DBYB8zaoCxL3RdLJ9NxLm2YFVQCQQvNLySWTkVBd7AdEqxLNokbKlOcjx-0YzoWS5AqxKTtsCT1S2Ce0b0WMuGd2EzqdFW3ynQti5XrHHW2xYuPDHACtOJSJmdanMqdZfHDvMjilL9NmDP_5svQZmJgL7G5dRKmybQTAz9FhCvUlAAdAmWvSxQJU16KglHMEtomifsKVof5povzwMz3GoBHYGwuSm6I-H_PIvKso-AamWtPjnq2AJ1rSIL9KUx6u1p9bs8202o5LAOkg7C8ggh6QPKNH_sscrDxJFDw9FMtnVhxSMxtpL-JMvu4zRrx2YQTHTlZ0EFEXwQUPlw-3J3qCHqKU8igyP-YvDikfVPV3eiHIvJtnjJF93om59hhqUT4SNYjL-pkuU2yaVyWix-vB6ClWMjwhK5HBK3vK8i1PKt4A3E3NQ0bHmzRWjLul1Qt1n75lm0Q6g85dXD3Oin-rinNe97iNzYFMmrX35QAcjUvdwNWqsEHVNLyZFaJtQcLLwdaC1V-QZS4FU41cIwO2z8BVZ39UG3bB6iUu9XSKHmJuThZwJ-TdcOYrN-Db-KyIffaIr3L029f4vWNXCG3jNfarxPYXqXN8PribyP4YlwC1X5lDruKT0rUr1D_XBuKfRpazRkFc1lC_uxRj9OGEC21FiL6-DUIAsIgKKh9bLR1ytYmNegLe4Sw7s4k7FWesggZ3z_r0GXlvX2cig4SVkMpjif8bfqJu_xe86IL3mBr7r87_jHlGvXO1qtFNAbkJHaO9cNMvxFoEG466VT_C2L5qO8aXPJQJcZNl8lr846TF6p-EDqrqsL1vS8Sq9nYpW7L8rcuMu7DNBFAutYUm8CY4bl31xT2r_5nigC-Wg9vRELIJLL-U_8ydz60vVPhZmgb-VIoUhC4leTHqKwEmAFJ0Qn1w32Xl1S7lmvbaIdjm-Xv_Z36hN_znJL1E-dNxvQBCwL5xEBBFzxJWs2UmPJECL2FiiO-WmMQy-qeMC2g5c3K862XGPuQNj6i5zgFAmlHceTchujURi1O2S2Es58Ui2m4Fw1coVWHBUOwspCJyuWdGAp0JoXS5-HuDkSpDaOyXQCS8Cy_lpfRKQQlAtWE2JTjNk7xirqNjagV2xvdR_8p3-Cz8ZyJDLrL2-I0USVtoRZC8Ag-ye_uD8rRLOZZnWhnSXkDZIbmzT04L9F9d8AeMGfv9LdUaZWLcNL8gU0DpievhIWZ5ILCcSWMKU4KiJctcrGEqsfsdbxQ8MiiiZn54FJW-U2K4e77z_JcXjRpCopdk8RL9Xs8eFu1_f38X4RbPiA36FnES57ANSS9OiToIYQpEGx3qxKhy6cmpovNCj0i7NhTHAURKA4aECWR7NVYUY2QNe2aU84wyvBhU3-DLdtYO_-8G3oMC8K8RCzSyztM3GTQt3ltcKRpE1Z3s0W7Rw3hvqzxXF3-N5qVY86lXdXziOCjVWLKFPCTr1Ju8jhTPatStsgKLc7a010mlssIHw-To1EUL33BA_ZkdIrW2rucs7pmXRsYovSmnUBRKpUMXirDJJbvB_p75aTwKhJYjGoteXnu-jbC6w5NGtFikb03t581Toyr8iym399y2xjPwV-C48lo8HrWNGSBoEeCuOrzMiuntN3frVrQtG_ljAekr2C__QcLYJCl_De0TOSG4kmiuYtQh6hqFG1tK5MpYwXfvP983X6gZsKGNAQFfdId7cAVihhbPwpg2II=",
  "id": "rs_027389251a9168ac016ab41ef8c49487d0851327a21f1b71d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":-0.02},\"note\":\"The jaws again closed empty and rose over the bottle. I’ll reopen and request the permitted gentle tabletop press at this centered position to see if the fingertips can reach low enough to grip.\"}",
  "call_id": "call_YZFvf3pwG15onQDJJYNN7c75",
  "id": "fc_027389251a9168ac016ab41efbe4ec87d0b076beddbc1f8f68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YZFvf3pwG15onQDJJYNN7c75",
  "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]: [-0.791, 2.3348, 1.5063, 0.1326, -0.831, -0.7074, 0.995, -0.1387, 0.7841, 0.4721, -0.3206, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4875 left_y=-0.3023 left_z=0.0415 left_yaw=0.2371 left_pitch=0.11 left_roll=-0.126 left_gripper=0.995 right_x=0.2826 right_y=0.0157 right_z=0.139 right_yaw=0.1953 right_pitch=-0.0329 right_roll=0.0071 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -6.7897, 3.5624, 0.7595, 0.1832, 0.0904, -0.105, -0.5949, -1.7709, 7.0632, 1.8779, -0.2222, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1330d8fe8b6ed937f3f478f3df9fb02a4271431e8a01ffc233c8c3acfce5b69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71073396761e966b76cc9c050ba4d3af42235dba60a82f38dbea9c66c93e4e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8b30976b6de1dc5afedca64b29f36e6b91f1a100679ec7f5711fdbfebf3432",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 6.575 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7872, 1.9724, 1.2758, -0.1566, -0.7483, -0.6636, 0.997, -0.1364, 0.841, 0.5808, -0.3817, -0.2897, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2533 left_z=0.0936 left_yaw=0.1539 left_pitch=-0.0242 left_roll=0.0109 left_gripper=0.997 right_x=0.2927 right_y=0.0144 right_z=0.1606 right_yaw=0.195 right_pitch=-0.0421 right_roll=0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -13.4085, 8.5538, 1.3309, -0.4615, 0.0024, -0.0122, 0.294, -0.8684, 10.0581, 1.7265, -0.0171, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7914, 2.2192, 1.4494, 0.0189, -0.8028, -0.6731, 0.01, -0.1387, 0.7982, 0.5037, -0.3355, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.291 left_z=0.0636 left_yaw=0.1941 left_pitch=0.0663 left_roll=-0.0588 left_gripper=0.01 right_x=0.2859 right_y=0.0152 right_z=0.1466 right_yaw=0.1953 right_pitch=-0.0304 right_roll=0.0062 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -11.1658, 6.4479, 0.8376, 0.1392, 0.2076, 0.8132, -0.3214, -1.8393, 6.7487, 1.9609, -0.2125, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.791, 2.3348, 1.5063, 0.1326, -0.831, -0.7074, 0.995, -0.1387, 0.7841, 0.4721, -0.3206, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4875 left_y=-0.3023 left_z=0.0415 left_yaw=0.2371 left_pitch=0.11 left_roll=-0.126 left_gripper=0.995 right_x=0.2826 right_y=0.0157 right_z=0.139 right_yaw=0.1953 right_pitch=-0.0329 right_roll=0.0071 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -6.7897, 3.5624, 0.7595, 0.1832, 0.0904, -0.105, -0.5949, -1.7709, 7.0632, 1.8779, -0.2222, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1330d8fe8b6ed937f3f478f3df9fb02a4271431e8a01ffc233c8c3acfce5b69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71073396761e966b76cc9c050ba4d3af42235dba60a82f38dbea9c66c93e4e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8b30976b6de1dc5afedca64b29f36e6b91f1a100679ec7f5711fdbfebf3432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8Dte5W0OkmrGYaxCMoY718tNkHGJJKbESJcq4CU0XrXhx-Vf3mWGsuefcq1KnXbEByQiXOhzhJpcH8lvaipbzF9tiSaP_Djhu2kWcIh-cPMkEpbqF5fSmPxak3LZBuBMU3cAfeVEPUvSAncb31Te2etVv9UcCLWQscO-gyqhRvqGTByhwzFCVkCbBZTHCW3lDUNOopvsdDIzmCYTZtRJlfHFvpGRdJMm29Erj2UTk7FR4ttifsiJ05kr_owTN4rwpwDMLrzCoXq_lPE6dAsJz2K7uoaQDz4sRbKDnIchwXacA93KI0zwPSnvpK614IvxFqypv62fFvEYrkaH3w_QZ4tF5V7epsaEgnoUYCcWcJ-8Ggcndtsttg6fhsp9e8_slWlm_wnG-ahMRP43CMKzMmWwrC4iyIRyzmLc8cdUZRkfsqkYF_XPNr9V-MzVrwWkiHIrsaPtTQgFnKYAFvVReIr6AnDk4mijIUCDWXirgC1LxKLKM0PM5lftnXiouIbDOU-2Dr6AfCNwXI67ztJtJs23iLq2NjClJzKK-9RzGoHCtZdazOOY2V4hZWztmpw0zuBJBfkqbJD96xn3Wjx85L1_rEdRnIt5Mu21WBKRGyQ3rfUn2M5y6Pv1av6kuKNQPUeYZtsCWH0CYNYhRePAqrFeJdxL4z_QNrUyhAGYLdhRq9w57vcbh1apFlTtWISAJPZeIRsDtYNNH1Hiz3MjIWerrBju8tceHPe34vtoaoiQ-Yc8O7GTKFab0b90e4bZfZn_IZiU62GGc1_pmcYYIgeImWzl256EVMwoV2v9ZyOBKSWrGwdOtItrDRNetbqo72xq9QPTVc8bqCcYs_KohVr0D3j-92oLFUI2eTCMdKH5ggUC0axFDO2ROJLRKI3ZWl0Uj5g9YVQ_v0KDeK3tswR8sX-QITX5roiDpzpIOdsZZBOSTvQNMin-BvLTMTVTvqzSKRCwmjG55wZfEBKt93PWJyBD7UKuw2mhiS25VpGgPmNaX84mhvYJI9ohosWYpAp6xnRpL9sPRWVG3zflFcfVlE2tkhGG-v99M_6kcDqxJTQhic4PVuZqCOj9PrD2PgCwU6gJSCpXPDYaxun455lrBFexWS1UhKglor7DAWcgn92EMZwYH36Q-LLpUi_BwmBSRmT9m4lXoMK_C9zGiorQnRsC18iHt9cvMX20LtZ0_3tvj0t7WtKYeX0avGIiEMtS5DB3PKvcM5NXuFV7uA9SIDAz6FTWWEVxbnEGZzoVMK3mF9OXesm27rjtrrFcj6cOe61ZFP4jykjirLe7bsbefNFSm7ACyYgeidGr_uBWbbmqt01UcB29zLTmhHbq6gxg8jycnQ-LxRQs66alnvc0MLFhiZso6rcCABN5pSZviJjTYPB24YSVW7DAY-Y8nbIpjVAzZFzot97nB_CPVyGRUoUGYFz_ZrIepuelUgzADGs7sYHXdIsTErP-nuTCXAIKbtJA9jk7JNZ3tVXvIV3zwxWDb9FtQ44VvJFUxTMFMGH-2UdaJ284SkN5Wv_dXembu_hqQPPOnTFTMvizZqTEyPSx1_4_tq19rG_jQDXQf_1JguSpltTY-3gmSH1hC2WI8ebEClcYosIOCpTfZH5sKZ9Y5YFygKLmEnJynBwb7_YOsZg5z3lrwPXnIv2H-vZLDUb9Exo1zMuU-sYxB27Z7UAwCVHC7auOOqPmfyXcMU6qjxduNPStQpvhzbz-HuVEyQcJ71h304lDwGBmGayw80nEWEGY1oRvE9Dj9jpVF5hcreZ7qNZAWscZwtzQqWHp-hq86d4mtu7hz3yNsEQhgmAqvNXsxF3SCEqzTEPMOCYezjtp8Z6133GZ_p3tY9NvrIv5XHDSKEt-gRjpit_UNOGWAEzEa4JYOd9104KhoGuSf0k9-odF5HCVllWfvgre6pdriY0hzAYqfs6VVlf0LtAY7fn7cTcYNyYLnHB9TryHhlFgpEPCy_n47afF53mqsCkBQ8TP5UtKydDCOREunnZYyk1RzmlPwlZWi4F-ErOK8Eqy2AL6A06OJ3PNrZGYAwoiBKUAQnNFArfuZ-p_H8AacqNo8Pl5ZSBhaubtHG8RLghd4pvqz8F8_6sXWSfV5xfkdooz6cpzqQMNNEPmWeryxnlZ9XDVkRszjoqzTb9OhJMJwCKuB6imro71RrsRoo2YtLXiHqMeIlwGNNmTjDyIMpCLitFtxk89A6P9_iPpaLEVgdsi0Jt9MBITzwcU9BxgqWvvJ9WbWLO_8lQEMqMUtoTfPv4B_HMN0VlLOENU4X82U1EuvEnLmMZXPX3wn76G5HwuN6sv_BnVyChgN0Ay3NA-3leR67mFGQKLL-fFOIcQ3gfCDCws9Y3RQHAFhW2AzWkXODj1FcC5SffF0WKidhsBZ8yNL9Bt-O8pMRtJ6HNgb8RUBrVXh3VkJiosCtRsf2dLZynb22F0HSPJp7Gcw0-viTykZpZHp99CL8Ampuk5Aaaj0FPJWfeIxf0R0rqZGhcvpct5YRpThXcNnHYijlWfDNRlAxcXCgAFiyRk_nTq4GAFhS-pzNMOC3cxFbqNIjJzHBn7v5IwvVmQeaUOLDamblEwR7yO0Cvtyr5d5VQpiMcdMgTfDquDkHf0kUJEIXxrhNcOyb1k--GEX1Cc2KwwrgZpCY95kTyfdc4o6IWhID50GPe-hWbEMrInsq324NZUl9ia6zw81lFbd-AEGG2CeaYrjoXcvHCF0NCgW146vrF_p19U1j-psrBjuqb5C470dlRvbqu3nEWUYC4KRvWnoosRAc7HanoKYNJ4DkMCTPh_sRofstiw69KJ-4rz6F49HvuqejDws91AYpCLUk7bjKL91NFgdr-y_qOScjvOHdcdZqfq_a6LaH9Bklu2o7CZv69N1AEZ2W3aYADreMEC8MMGsfpl9RsrcYfEAbc4Wo-m34fuJW47SGiY3HWCcuodI6hQkrlFC9ICrh5X80bdaD2b6RmIQA1yIynLhbBC6tlRSIdnDGjqVD5QV13iU7tEYbv7JVov5OGheI6W5m_2ai_XPQZrLXwloEA9PIwQuAxyX6bc4JyMk9NDjOeCVaMR2N6FFoa_BuSW6NG5EQADIgJcMDZZ92xO2f5b8rIzqQnZ_aG9SgtV6ZVbFe1t0Nj9VJz1hBCUjFz_erdONCmiPIV83ifpM4_BEBXNlPMq9o4wCHpsJa4cUNgYK1B0ACRPYd7wIiBHbuWBeATRwglf0hQv9mTdBz3rb3PsR7yDdZkmMyEoI_GUMK3Sul2Vx_oId7cnOhlEQqmdyK7DlIll3VR9CnisECGy9ubXN24j_vxeSHvD3Dwbj1UFTsWDZERbCGbpl4o0SFHOtgTtgWhLxq9miossjmXcmaA_irWS3sBGL_mCrl5tOX",
  "id": "rs_027389251a9168ac016ab41efe9a2487d0824e67a782b8b535",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.345,\"right_y\":0.235,\"right_z\":0.025},\"note\":\"Even with a low target, the left gripper stopped above the bottle and cannot get a secure pinch there. I’ll clear it and try the nearer base of the isolated right bottle with the other arm.\"}",
  "call_id": "call_SLZMuOrNdIXzkV26RYzh5cOy",
  "id": "fc_027389251a9168ac016ab41f02dcd887d0a990486288524498",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SLZMuOrNdIXzkV26RYzh5cOy",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2729, 0.8974, 0.6434, -0.3386, -0.4618, -0.345, 0.9961, 0.7738, 1.7893, 0.585, 0.4969, 0.4419, 0.2886, 0.9994]\nstate[eef_state]: left_x=0.3082 left_y=-0.0008 left_z=0.1876 left_yaw=0.2818 left_pitch=0.037 left_roll=-0.0334 left_gripper=0.9961 right_x=0.3334 right_y=0.2251 right_z=0.0133 right_yaw=0.223 right_pitch=-0.0586 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -1.9214, 6.1333, 1.6777, -0.1685, 0.022, 0.105, 0.4171, -6.4615, 6.5709, 2.0879, 0.1441, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9f8dc28dff82e94812c329111ef82b61248f7987879b15569f9254674934d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6563b644a11742bc3d597398c4daabc249d11fe6e990ea13f06fa36f81dfffe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2b3971500501e6c7b0d825990a7bde936ba518ddecb57fa789b2c906a5a22b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.081 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2013, 1.4147, -0.0566, -0.7666, -0.6807, 0.997, -0.1375, 0.8177, 0.5385, -0.358, -0.2924, -0.215, 0.9993]\nstate[eef_state]: left_x=0.4552 left_y=-0.2858 left_z=0.0469 left_yaw=0.1649 left_pitch=-0.0071 left_roll=-0.0036 left_gripper=0.997 right_x=0.2887 right_y=0.0151 right_z=0.1526 right_yaw=0.196 right_pitch=-0.0373 right_roll=0.0087 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -11.5214, 7.2957, 1.2869, -0.2027, 0.2515, -0.0122, -0.5675, -1.6342, 6.9538, 1.9707, -0.1636, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.791, 2.3348, 1.5063, 0.1326, -0.831, -0.7074, 0.995, -0.1387, 0.7841, 0.4721, -0.3206, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4875 left_y=-0.3023 left_z=0.0415 left_yaw=0.2371 left_pitch=0.11 left_roll=-0.126 left_gripper=0.995 right_x=0.2826 right_y=0.0157 right_z=0.139 right_yaw=0.1953 right_pitch=-0.0329 right_roll=0.0071 right_gripper=0.9993\nstate[joint_eff]: [0.1026, -6.7897, 3.5624, 0.7595, 0.1832, 0.0904, -0.105, -0.5949, -1.7709, 7.0632, 1.8779, -0.2222, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2729, 0.8974, 0.6434, -0.3386, -0.4618, -0.345, 0.9961, 0.7738, 1.7893, 0.585, 0.4969, 0.4419, 0.2886, 0.9994]\nstate[eef_state]: left_x=0.3082 left_y=-0.0008 left_z=0.1876 left_yaw=0.2818 left_pitch=0.037 left_roll=-0.0334 left_gripper=0.9961 right_x=0.3334 right_y=0.2251 right_z=0.0133 right_yaw=0.223 right_pitch=-0.0586 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -1.9214, 6.1333, 1.6777, -0.1685, 0.022, 0.105, 0.4171, -6.4615, 6.5709, 2.0879, 0.1441, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9f8dc28dff82e94812c329111ef82b61248f7987879b15569f9254674934d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6563b644a11742bc3d597398c4daabc249d11fe6e990ea13f06fa36f81dfffe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2b3971500501e6c7b0d825990a7bde936ba518ddecb57fa789b2c906a5a22b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_027389251a9168ac016ab41f078ae487d08c0b94e441f5827b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.265,\"right_x\":0.345,\"right_z\":0.008},\"note\":\"The right gripper is at table height beside the bases of two adjacent bottles. I’ll shift a few centimeters toward the left of those two so only one base is centered between the jaws.\"}",
  "call_id": "call_sqoGAaLFzrl99A7fVf0dNMV5",
  "id": "fc_027389251a9168ac016ab41f0c35f487d09e69662b4018f9c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sqoGAaLFzrl99A7fVf0dNMV5",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2783, 0.9352, 0.6567, -0.395, -0.4549, -0.3405, 0.9963, 0.8322, 1.9118, 0.6514, 0.5686, 0.4713, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.3052 left_y=-0.0028 left_z=0.1723 left_yaw=0.2684 left_pitch=-0.034 left_roll=0.0093 left_gripper=0.9963 right_x=0.3364 right_y=0.2557 right_z=0.0009 right_yaw=0.2435 right_pitch=-0.0352 right_roll=-0.0231 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6325, 9.388, 1.5653, -0.3248, -0.0611, 0.0024, 0.5402, -6.9538, 6.2564, 1.79, 0.442, 0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd91df9c917a5af182dca4b68d0a50eee5e4c429be8f3a4b994e961e56d7fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563325254f6bcaea720f4c27026f0657c5c4e327d615e393e5be9a676bf43776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b7e4285ac9f05394c1e4dc4490bad5657b16a4ac42ca3bac9ac88211376428",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 7.126 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7914, 2.2192, 1.4494, 0.0189, -0.8028, -0.6731, 0.01, -0.1387, 0.7982, 0.5037, -0.3355, -0.2928, -0.2153, 0.9993]\nstate[eef_state]: left_x=0.4712 left_y=-0.291 left_z=0.0636 left_yaw=0.1941 left_pitch=0.0663 left_roll=-0.0588 left_gripper=0.01 right_x=0.2859 right_y=0.0152 right_z=0.1466 right_yaw=0.1953 right_pitch=-0.0304 right_roll=0.0062 right_gripper=0.9993\nstate[joint_eff]: [0.1573, -11.1658, 6.4479, 0.8376, 0.1392, 0.2076, 0.8132, -0.3214, -1.8393, 6.7487, 1.9609, -0.2125, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2729, 0.8974, 0.6434, -0.3386, -0.4618, -0.345, 0.9961, 0.7738, 1.7893, 0.585, 0.4969, 0.4419, 0.2886, 0.9994]\nstate[eef_state]: left_x=0.3082 left_y=-0.0008 left_z=0.1876 left_yaw=0.2818 left_pitch=0.037 left_roll=-0.0334 left_gripper=0.9961 right_x=0.3334 right_y=0.2251 right_z=0.0133 right_yaw=0.223 right_pitch=-0.0586 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -1.9214, 6.1333, 1.6777, -0.1685, 0.022, 0.105, 0.4171, -6.4615, 6.5709, 2.0879, 0.1441, 0.2369, -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 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2783, 0.9352, 0.6567, -0.395, -0.4549, -0.3405, 0.9963, 0.8322, 1.9118, 0.6514, 0.5686, 0.4713, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.3052 left_y=-0.0028 left_z=0.1723 left_yaw=0.2684 left_pitch=-0.034 left_roll=0.0093 left_gripper=0.9963 right_x=0.3364 right_y=0.2557 right_z=0.0009 right_yaw=0.2435 right_pitch=-0.0352 right_roll=-0.0231 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6325, 9.388, 1.5653, -0.3248, -0.0611, 0.0024, 0.5402, -6.9538, 6.2564, 1.79, 0.442, 0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd91df9c917a5af182dca4b68d0a50eee5e4c429be8f3a4b994e961e56d7fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563325254f6bcaea720f4c27026f0657c5c4e327d615e393e5be9a676bf43776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b7e4285ac9f05394c1e4dc4490bad5657b16a4ac42ca3bac9ac88211376428",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtB8Q4C8goLc2ZfIAGn1PrORVbkJ6myzV8yHplAysc1Yr7SangZ9Ae7x1b-d9r_Ps4nAKYuc95_v6pw67gYhrIV0vMktVvE6bzNuy34PJJcLrBQggHp42ChhwrBAU5Fo53VMR9jXMTjf_qnydr6RCQ7wqfY3zv4M7kBrfYTxxWHeH5hpAL2k-MXB-M24UnKabfyqryxiwzhmsxyStyIhuO-Vywq_wJl3gjIIvBXUAlSh-rA62i1Pi9ard0sGudhObRBvlXTCErMUCYr_NLPGuYmmD6Hx49L0NYynNp05BHd0pYMcq0Du1uWUwQNUXQyICyvemqqxEof9tZsqess8fcX2sDhUSppuCfxu6T4L9lTiYfd-6Nv-MTRGn5HI6WMzXV7Gqk7zrswhGTs7KVzqvhpysphypxcy1lXzhe36VXugR6_jMkRkYGcjjQkjnAVueJ2Knb6DDtsp21q5v-a54GV03eMyxwdTgiezqrsYJB3dsGlAcOo5CA6EBiN66iUu0gdbhV5W4PyfMU-JqWdgtltdwBIcofPomlRFGolD9nULexE6zU-LyRSXkZ-5ipcjCVmA0OckbFdKSZsVTcHwdHukQJ3rVdwtoaMBs8nPMQU8aXBP0z2AoUZ-LElCqapempCmyrLWzkoezFzcYKvauEtv9PasPXXzIZwJsadpu1eD3O3Sat5ZZkE6NkmgnfWz6481uOia9jp1U6pJoG_xCH9aHNbSat_LpxLuVR0ND_mzG1dgWSFXTgTUQc1tzVK8ymAKjjmL5Vd49eBMo67jK86s-J0hBJcH0vfk0cbZeSdUqmHPUu-QrZHlVp3izJ9irnTrYdKtjtSNRHfvcqP4p6lQlmQi-CDCwiQSHAC5j78G4fEj-ZxpqtK_9OSusq8eVwONliMFAkkWvnvcavBuLYGpsHugskqpssrK_912y530jRHV8GgqH3TFbS6dC23bnlq1bm0QX7VZctwC-lAE5E9F8UxTMV5p1KtcB-xPQGewnvb9WaV-lMt4i8ND6V-SyjF37Moamt_6096l56JlYso7vMRjkJmo1FBfC8133Nh0xw59LjLnX-UuFiB9GHP0PPpAJ7HZ_HjZurcp27Zqryn3y7QlvhATbav_1s3NqYMX6s82d1TTSZ-0WpWgRmchHBYoz4rIGviCmeWmxy0wmMeeeTV5nLxhOroxDFBKVbGWfwi5LV-VyL6MoTYw9ChfEmZuImsQBSUti1CoEGwTFeAcCNZBEYbVt0qkTDK1hrJCKQV3RgQdMjGliHN55GvQe7Z3zMp_f5EEoQJQSvjFO8SQxSTPsLthQyuwcpwt0FeOHtvojp0UnTI8OjUg7_lIHPQMS8y6hI79iPQM181UDr504ijUo10XWHT9QcJ6jqN_WEnIFTXemHbDLCM9OA1MF76ygcIP33-E81ScB4L1BSkMBKWUMmHimppNznchzuVJeAvumf9LezAFrGEYBZS2wGqjrHS0LUM_C9-3LgVR0FLI-PkFGZtzS1AYzAa4tfgvYAxtM0KiryyOEZbGIPgwBLCDRfvSc8YhTxu42gE0ZR8ucNl1IQ0sLKNg3S3wbVJB7XLIWXj_qB47yRvq5o5RdBhPfj8FYSDeb89_WRzXJ9gNDgBPVrxCmKKMVcO9GgaeB3o5qQoXkwzNA2iny1I0gJjVBnxx7G4OksMfWV1OtE40-HIrNv4FiLy-IdpUAAQng4TI=",
  "id": "rs_027389251a9168ac016ab41f0e5fc087d0928b27eb2ec2b3b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.015},\"note\":\"The nearer bottle’s base is now directly ahead of the low right jaws; its round end is still a little short of the fingertip line. I’ll advance gently into the lower body before closing.\"}",
  "call_id": "call_a79b1G5VnCJqewsIxt2gsrmk",
  "id": "fc_027389251a9168ac016ab41f0f96a087d0a5d24bddeb457fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a79b1G5VnCJqewsIxt2gsrmk",
  "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]: [-0.2821, 0.9234, 0.6277, -0.3714, -0.4561, -0.3401, 0.9963, 0.8433, 1.9202, 0.6697, 0.5663, 0.4713, 0.318, 0.9996]\nstate[eef_state]: left_x=0.3035 left_y=-0.0032 left_z=0.1673 left_yaw=0.2652 left_pitch=-0.0281 left_roll=0.0069 left_gripper=0.9963 right_x=0.3371 right_y=0.2633 right_z=0.0028 right_yaw=0.2539 right_pitch=-0.0288 right_roll=-0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -2.7556, 6.4752, 1.8095, -0.2906, 0.0269, -0.0073, -0.4171, -7.2137, 6.147, 1.7607, 0.3199, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3adba9802c3e78fe036e571950dd8db1a2ae60bf5040a5025817bf925ced73d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb4cd05c04f05d30db3a4a011e688e41dc62d827893d714a7810b7b754532c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a4cc21ff34d3bb5dd41a6458627db86dadc66adee6ae7d100fa21e5ef8e942",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]