adhoc

completed
2026-09-23T18:38:54.744511+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
226 s
total steps
305
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles are lying on the table, with the left bottle angled and the other two nearly lengthwise. I’m moving the left open gripper above the left bottle’s neck so I can lift that end and pivot its base onto the table.
move_to
left_x0.4100left_y-0.1050left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6083, -0.3771, -0.0223, -0.0315, 0.9986, -0.0158, 0.7898, 0.6037, -0.3851, -0.0132, -0.025, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.183 left_yaw=-0.0005 left_pitch=0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2938 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.3744, 9.6752, 1.7851, -0.022, 0.1636, -0.1587, -0.9368, -1.2103, 10.4547, 1.8095, -0.1294, 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":{"left_x":0.41,"left_y":-0.105,"left_z":0.13},"note":"Three bottles are lying on the table, with the left bottle angled and the other two nearly lengthwise. I’m moving the left open gripper above the left bottle’s neck so I can lift that end and pivot its base onto the table."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist camera shows the angled bottle’s cap to the left and ahead of the gripper, not yet between the jaws. I’m shifting toward the cap and advancing slightly while staying above the tabletop.
move_to
left_x0.4300left_y-0.0500left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3893, 1.4593, 0.7437, 0.0338, -0.3134, -0.2352, 0.9984, -0.0193, 0.7921, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998] state[eef_state]: left_x=0.392 left_y=-0.0981 left_z=0.109 left_yaw=-0.0154 left_pitch=-0.0817 left_roll=0.0216 left_gripper=0.9984 right_x=0.2913 right_y=0.0021 right_z=0.1752 right_yaw=0.0075 right_pitch=-0.0224 right_roll=0.0026 right_gripper=0.9998 state[joint_eff]: [-0.5128, -6.5983, 8.7179, 1.7656, -0.2418, 0.1636, -0.0366, 0.0752, -1.4017, 6.9812, 1.8828, 0.0562, -0.0171, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.05,"left_z":0.07},"note":"The left wrist camera shows the angled bottle’s cap to the left and ahead of the gripper, not yet between the jaws. I’m shifting toward the cap and advancing slightly while staying above the tabletop."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left bottle’s cap is now near the jaw centerline in the wrist view, though still ahead of the fingertips. I’m moving a little farther forward and lowering to neck height before closing.
move_to
left_x0.4550left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2001, 1.6341, 0.6476, 0.3641, -0.1921, -0.1562, 0.9983, -0.0193, 0.7845, 0.5842, -0.4007, -0.0238, -0.033, 0.9998] state[eef_state]: left_x=0.4189 left_y=-0.0469 left_z=0.0624 left_yaw=0.0294 left_pitch=-0.0477 left_roll=-0.0024 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1692 right_yaw=0.0099 right_pitch=-0.0304 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.4444, -5.8462, 6.4889, 1.6532, 0.0122, 0.3053, -0.022, -0.0615, -1.853, 6.7624, 1.9853, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_z":0.035},"note":"The left bottle’s cap is now near the jaw centerline in the wrist view, though still ahead of the fingertips. I’m moving a little farther forward and lowering to neck height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe cap is centered laterally but is still in front of the grasp point in the wrist image. I’m advancing to put the open jaws around the narrow cap, with the fingertips just above the table.
move_to
left_x0.4900left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1848, 1.8145, 0.7052, 0.5697, -0.1719, -0.1577, 0.9983, -0.0193, 0.7712, 0.5549, -0.3893, -0.0242, -0.0334, 0.9998] state[eef_state]: left_x=0.4546 left_y=-0.0506 left_z=0.0503 left_yaw=0.0283 left_pitch=0.0307 left_roll=-0.0327 left_gripper=0.9983 right_x=0.2859 right_y=0.0024 right_z=0.1618 right_yaw=0.0104 right_pitch=-0.0349 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.2667, -6.6803, 4.6017, 1.0134, -0.188, 0.1783, -0.0171, -0.3077, -1.853, 7.1043, 1.9365, -0.0708, -0.0366, -0.0073] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.025},"note":"The cap is centered laterally but is still in front of the grasp point in the wrist image. I’m advancing to put the open jaws around the narrow cap, with the fingertips just above the table."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left cap has reached the bottom of the wrist view, close to the jaws, but it sits a little left of center. I’m making a small lateral correction and lowering gently to grip the cap rather than the wide bottle body.
move_to
left_x0.4820left_y-0.0330left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1814, 1.9511, 0.841, 0.5995, -0.1696, -0.1581, 0.9983, -0.0193, 0.7559, 0.5236, -0.3759, -0.0242, -0.036, 0.9998] state[eef_state]: left_x=0.4918 left_y=-0.0562 left_z=0.0452 left_yaw=0.0303 left_pitch=0.0587 left_roll=-0.0402 left_gripper=0.9983 right_x=0.2828 right_y=0.0024 right_z=0.1543 right_yaw=0.0119 right_pitch=-0.0376 right_roll=-0.0022 right_gripper=0.9998 state[joint_eff]: [0.8957, -7.5145, 5.053, 1.2967, -0.1734, 0.2173, -0.0171, -0.4308, -1.8667, 6.9812, 2.0147, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.482,"left_y":-0.033,"left_z":0.012},"note":"The left cap has reached the bottom of the wrist view, close to the jaws, but it sits a little left of center. I’m making a small lateral correction and lowering gently to grip the cap rather than the wide bottle body."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe fingers are over the left bottle’s narrow neck, and the attempted small descent did not move farther, suggesting contact or a reach limit. I’m closing the jaws now and will check the settled width before trying to lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1787, 1.9629, 0.8597, 0.6048, -0.1726, -0.157, 0.9982, -0.0193, 0.7376, 0.4885, -0.3595, -0.0261, -0.036, 0.9998] state[eef_state]: left_x=0.4975 left_y=-0.0554 left_z=0.0478 left_yaw=0.0351 left_pitch=0.071 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2795 right_y=0.0028 right_z=0.1464 right_yaw=0.0135 right_pitch=-0.038 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.294, -7.0769, 5.1761, 1.3358, -0.1587, 0.232, -0.0171, -0.294, -1.1829, 7.1316, 1.9267, -0.0513, -0.0513, -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":{"left_gripper":0},"note":"The fingers are over the left bottle’s narrow neck, and the attempted small descent did not move farther, suggesting contact or a reach limit. I’m closing the jaws now and will check the settled width before trying to lift."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe closed gripper reads essentially zero width, so it missed the left bottle. I’m reopening and backing off slightly to recover room for a lateral correction before another attempt.
move_to
left_gripper1.0000left_x0.4620left_y-0.0240left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1822, 1.9572, 0.9112, 0.5392, -0.1913, -0.1574, 0.011, -0.0193, 0.7174, 0.4534, -0.3428, -0.0284, -0.036, 0.9998] state[eef_state]: left_x=0.5056 left_y=-0.0553 left_z=0.0566 left_yaw=0.0475 left_pitch=0.0648 left_roll=-0.0301 left_gripper=0.011 right_x=0.2761 right_y=0.0033 right_z=0.1391 right_yaw=0.0154 right_pitch=-0.036 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4991, -10.8239, 6.5436, 1.199, -0.022, 0.2027, 0.9158, -0.3761, -1.4838, 6.8855, 1.9609, -0.0806, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.462,"left_y":-0.024,"left_z":0.09},"note":"The closed gripper reads essentially zero width, so it missed the left bottle. I’m reopening and backing off slightly to recover room for a lateral correction before another attempt."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteAfter backing off, the left cap is centered between the open fingers in the wrist view. I’m lowering at this position to put the jaw tips around its neck without overshooting it again.
move_to
left_x0.4590left_y-0.0240left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1219, 1.7382, 0.8188, 0.3309, -0.1604, -0.128, 0.9944, -0.0193, 0.6979, 0.4198, -0.3244, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4642 left_y=-0.0248 left_z=0.0783 left_yaw=0.0657 left_pitch=-0.0183 left_roll=-0.0037 left_gripper=0.9944 right_x=0.2733 right_y=0.0037 right_z=0.1325 right_yaw=0.017 right_pitch=-0.0318 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.4581, -10.0855, 5.9419, 1.6874, 0.0855, 0.1832, -0.1832, -0.4308, -1.1282, 6.9265, 1.9414, -0.0415, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.459,"left_y":-0.024,"left_z":0.025},"note":"After backing off, the left cap is centered between the open fingers in the wrist view. I’m lowering at this position to put the jaw tips around its neck without overshooting it again."})
tool
executing move_to over 4 steps (0.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe left cap now appears centered between the fingers and much closer to their tips. I’m closing on it and checking whether the jaws stop at the cap’s thickness.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 1.8549, 0.7433, 0.5922, -0.1566, -0.1474, 0.9955, -0.0193, 0.6796, 0.3916, -0.3134, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4691 left_y=-0.027 left_z=0.0512 left_yaw=0.0711 left_pitch=0.049 left_roll=-0.0354 left_gripper=0.9955 right_x=0.2702 right_y=0.0037 right_z=0.1265 right_yaw=0.017 right_pitch=-0.0306 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.1709, -5.7231, 3.3573, 1.1404, -0.1392, 0.3004, 0.1099, -0.3624, -1.0188, 6.9128, 1.9414, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left cap now appears centered between the fingers and much closer to their tips. I’m closing on it and checking whether the jaws stop at the cap’s thickness."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe second close was also empty and nudged the left bottle, so the neck was not actually in the jaw gap despite looking centered. I’m reopening and retreating to re-measure the shifted bottle, while parking the idle right arm higher.
move_to
left_gripper1.0000left_x0.4350left_z0.0700right_x0.2950right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.131, 1.8507, 0.7761, 0.5415, -0.168, -0.1532, 0.0108, -0.0193, 0.6624, 0.3653, -0.2981, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4731 left_y=-0.0289 left_z=0.0549 left_yaw=0.0765 left_pitch=0.0366 left_roll=-0.032 left_gripper=0.0108 right_x=0.2681 right_y=0.0038 right_z=0.1219 right_yaw=0.017 right_pitch=-0.0245 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [0.1983, -9.5111, 6.065, 1.1648, -0.0366, 0.2418, 0.8913, -0.294, -0.9641, 6.8991, 1.9463, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.435,"left_z":0.07,"right_x":0.295,"right_z":0.185},"note":"The second close was also empty and nudged the left bottle, so the neck was not actually in the jaw gap despite looking centered. I’m reopening and retreating to re-measure the shifted bottle, while parking the idle right arm higher."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe left bottle shifted under the open hand; its white neck is low and left in the wrist image, rather than in the center of the jaws. I’m repositioning toward that neck from a shorter reach for one carefully aligned grasp.
move_to
left_x0.4140left_y0.0150left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 1.7081, 0.6868, 0.4274, -0.1967, -0.157, 0.9947, -0.0193, 0.7937, 0.5793, -0.4049, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.4378 left_y=-0.0285 left_z=0.06 left_yaw=0.0815 left_pitch=-0.0192 left_roll=-0.007 left_gripper=0.9947 right_x=0.2881 right_y=0.0035 right_z=0.1637 right_yaw=0.0192 right_pitch=-0.0485 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.6632, -9.9897, 5.2034, 1.6239, -0.1148, 0.0415, -0.188, -0.0752, -0.9231, 10.0855, 1.7851, -0.0366, 0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.414,"left_y":0.015,"left_z":0.045},"note":"The left bottle shifted under the open hand; its white neck is low and left in the wrist image, rather than in the center of the jaws. I’m repositioning toward that neck from a shorter reach for one carefully aligned grasp."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe cap is centered left-to-right but appears below the pointed ends of the open fingers in the wrist view, meaning the hand is still past it. I’m pulling the grasp point back several centimeters while keeping the same lateral alignment.
move_to
left_x0.3850left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0242, 1.6878, 0.5678, 0.588, -0.1085, -0.1184, 0.996, -0.0193, 0.7654, 0.5312, -0.3771, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.4239 left_y=0.0125 left_z=0.0554 left_yaw=0.1146 left_pitch=0.033 left_roll=-0.0319 left_gripper=0.996 right_x=0.2841 right_y=0.0035 right_z=0.155 right_yaw=0.0194 right_pitch=-0.0405 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.3094, 4.2188, 1.1893, 0.0122, 0.3199, 0.1294, -0.1983, -1.7299, 6.9812, 2.0781, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_z":0.05},"note":"The cap is centered left-to-right but appears below the pointed ends of the open fingers in the wrist view, meaning the hand is still past it. I’m pulling the grasp point back several centimeters while keeping the same lateral alignment."})
tool
executing move_to over 3 steps (0.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe hand barely tracked the backward command, likely because its low fingers are rubbing the bottle or tabletop. I’m lifting clear first, then moving back over the neck so the next descent is vertical.
move_to
left_x0.3850left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0349, 1.6562, 0.5522, 0.5598, -0.1196, -0.1047, 0.9962, -0.0193, 0.7448, 0.4927, -0.358, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.4171 left_y=0.0101 left_z=0.0563 left_yaw=0.1059 left_pitch=0.0217 left_roll=-0.0128 left_gripper=0.9962 right_x=0.2805 right_y=0.0036 right_z=0.1468 right_yaw=0.0192 right_pitch=-0.0394 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.0615, -8.1709, 4.547, 1.6239, -0.1685, -0.0171, 0.0073, -0.212, -1.7709, 7.2547, 1.9951, -0.1148, -0.0073, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_z":0.13},"note":"The hand barely tracked the backward command, likely because its low fingers are rubbing the bottle or tabletop. I’m lifting clear first, then moving back over the neck so the next descent is vertical."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe left arm did not lift or retreat from its low pose, so I’m changing the escape direction: up and slightly forward to clear a possible contact at the bottle’s edge.
move_to
left_x0.4450left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.038, 1.6543, 0.5522, 0.5484, -0.1207, -0.1051, 0.9963, -0.0193, 0.7242, 0.4553, -0.3397, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.4158 left_y=0.0091 left_z=0.0547 left_yaw=0.104 left_pitch=0.0124 left_roll=-0.0112 left_gripper=0.9963 right_x=0.277 right_y=0.0037 right_z=0.1388 right_yaw=0.0194 right_pitch=-0.0379 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.1436, -8.0205, 4.7111, 1.58, -0.2027, -0.0171, -0.0073, -0.253, -1.6068, 6.9402, 2.0147, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_z":0.2},"note":"The left arm did not lift or retreat from its low pose, so I’m changing the escape direction: up and slightly forward to clear a possible contact at the bottle’s edge."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe left arm has cleared, and the bottle has rolled nearer the base with its cap at the left end. I’m approaching that cap from above at its new location, leaving clearance for a straight descent.
move_to
left_x0.3500left_y-0.1200left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.038, 1.4582, 0.9825, -0.086, -0.1242, -0.1078, 0.9963, -0.02, 0.7036, 0.4206, -0.3206, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.4441 left_y=0.0086 left_z=0.1849 left_yaw=0.1083 left_pitch=0.0047 left_roll=-0.0105 left_gripper=0.9963 right_x=0.274 right_y=0.0035 right_z=0.1321 right_yaw=0.0186 right_pitch=-0.0329 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.0889, -6.612, 10.0991, 2.0293, -0.0757, 0.0464, -0.0122, -0.3214, -1.4291, 6.8855, 1.9414, -0.0611, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.35,"left_y":-0.12,"left_z":0.12},"note":"The left arm has cleared, and the bottle has rolled nearer the base with its cap at the left end. I’m approaching that cap from above at its new location, leaving clearance for a straight descent."})
tool
executing move_to over 12 steps (1.2s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteFrom above, the displaced left bottle lies sideways near the base; its cap appears low-left in the wrist view, while the middle bottle is farther right. I’m sliding the open hand left and slightly back to center on the near cap before descending.
move_to
left_x0.3100left_y-0.0070left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5919, 1.3609, 0.6685, -0.0143, -0.5369, -0.4122, 0.9963, -0.0204, 0.6849, 0.3904, -0.3058, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.3518 left_y=-0.1233 left_z=0.1161 left_yaw=0.0563 left_pitch=-0.0305 left_roll=0.014 left_gripper=0.9963 right_x=0.2712 right_y=0.0035 right_z=0.1262 right_yaw=0.0182 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.1983, -5.5863, 6.2974, 1.707, -0.3492, -0.0952, -0.0073, -0.5402, -0.6769, 6.9128, 1.9658, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.007,"left_z":0.08},"note":"From above, the displaced left bottle lies sideways near the base; its cap appears low-left in the wrist view, while the middle bottle is farther right. I’m sliding the open hand left and slightly back to center on the near cap before descending."})
tool
executing move_to over 11 steps (1.1s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe left bottle’s white cap is now visible between the open fingertips, slightly left of center. I’m lowering and shifting a few centimeters left while retracting enough to keep the cap at fingertip depth.
move_to
left_x0.2840left_y0.0350left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1467, 1.0481, 0.2798, 0.1764, -0.2188, -0.165, 0.9963, -0.0204, 0.6666, 0.3645, -0.2928, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.3103 left_y=-0.0035 left_z=0.0785 left_yaw=0.1096 left_pitch=-0.0143 left_roll=-0.0022 left_gripper=0.9963 right_x=0.2688 right_y=0.0035 right_z=0.1216 right_yaw=0.0182 right_pitch=-0.0242 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.212, -2.906, 6.065, 1.9609, 0.0611, 0.0366, -0.0073, -0.5675, -0.9094, 6.8581, 1.873, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.284,"left_y":0.035,"left_z":0.035},"note":"The left bottle’s white cap is now visible between the open fingertips, slightly left of center. I’m lowering and shifting a few centimeters left while retracting enough to keep the cap at fingertip depth."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe descent left the cap high and to the right in the wrist image, so the fingertips are now too far back and left of it. I’m advancing toward the cap and correcting laterally while remaining at low grasp height.
move_to
left_x0.3350left_y0.0140left_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0765, 1.0988, 0.078, 0.3817, -0.0738, -0.0711, 0.9963, -0.02, 0.6533, 0.3424, -0.2897, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.2749 left_y=0.0377 left_z=0.0229 left_yaw=0.1609 left_pitch=-0.0756 left_roll=0.0004 left_gripper=0.9963 right_x=0.2657 right_y=0.0037 right_z=0.1154 right_yaw=0.0186 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [0.1983, -2.0581, 6.1333, 2.0879, 0.1636, 0.1099, -0.0122, -0.4308, -0.8137, 6.9949, 1.9756, -0.1001, -0.0611, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":0.014,"left_z":0.033},"note":"The descent left the cap high and to the right in the wrist image, so the fingertips are now too far back and left of it. I’m advancing toward the cap and correcting laterally while remaining at low grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe low forward command hardly moved the hand, indicating the fingers are blocked rather than merely misaligned. I’m raising the open gripper, then approaching the cap from above instead of dragging through the bottle.
move_to
left_x0.3400left_y0.0140left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0299, -0.0471, 0.9963, -0.02, 0.6346, 0.3149, -0.2832, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1341 left_pitch=-0.0246 left_roll=-0.0082 left_gripper=0.9963 right_x=0.2623 right_y=0.0038 right_z=0.1088 right_yaw=0.0184 right_pitch=-0.0322 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [0.0752, -2.1812, 5.7231, 1.9121, 0.1001, 0.188, -0.0122, -0.3624, -0.8, 6.9812, 1.9658, -0.1099, -0.0317, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.014,"left_z":0.12},"note":"The low forward command hardly moved the hand, indicating the fingers are blocked rather than merely misaligned. I’m raising the open gripper, then approaching the cap from above instead of dragging through the bottle."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe left arm remained stationary even when asked to lift and advance together. I’m trying a nearly vertical withdrawal at its current horizontal position to free it without pushing the bottle.
move_to
left_x0.2700left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0296, -0.0475, 0.9963, -0.0204, 0.614, 0.289, -0.271, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1339 left_pitch=-0.0246 left_roll=-0.0087 left_gripper=0.9963 right_x=0.2599 right_y=0.0037 right_z=0.1044 right_yaw=0.0182 right_pitch=-0.0253 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.0205, -2.1949, 5.7231, 1.8877, 0.1245, 0.1832, -0.0122, -0.5265, -0.4991, 6.7077, 1.9316, -0.1099, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_z":0.22},"note":"The left arm remained stationary even when asked to lift and advance together. I’m trying a nearly vertical withdrawal at its current horizontal position to free it without pushing the bottle."})
tool
executing move_to over 13 steps (1.3s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe left hand is safely clear now. The left bottle’s cap is visible ahead in the wrist camera, so I’m moving above it with the jaws open and will use the new view to choose a vertical grasp.
move_to
left_x0.3550left_y0.0270left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0933, 0.7136, 0.693, -0.5381, -0.0414, -0.0517, 0.9963, -0.0204, 0.5999, 0.268, -0.2676, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.2736 left_y=0.0365 left_z=0.2092 left_yaw=0.1397 left_pitch=0.0035 left_roll=-0.007 left_gripper=0.9963 right_x=0.2572 right_y=0.0038 right_z=0.0989 right_yaw=0.0182 right_pitch=-0.0287 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [0.4718, -0.6632, 8.8274, 1.5946, -0.0122, 0.1001, -0.0122, -0.5538, -0.7863, 6.8171, 1.9463, -0.0562, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":0.027,"left_z":0.11},"note":"The left hand is safely clear now. The left bottle’s cap is visible ahead in the wrist camera, so I’m moving above it with the jaws open and will use the new view to choose a vertical grasp."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe left cap is now centered just inside the open jaw tips, but the hand is still about seven centimeters above the table. I’m lowering straight down to the bottle-neck height without changing its horizontal alignment.
move_to
left_x0.3370left_y0.0250left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0116, 1.1751, 0.4915, 0.0128, -0.1059, -0.086, 0.9963, -0.0204, 0.5804, 0.2436, -0.2638, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.3384 left_y=0.0262 left_z=0.0948 left_yaw=0.1315 left_pitch=-0.105 left_roll=0.0113 left_gripper=0.9963 right_x=0.254 right_y=0.0038 right_z=0.0932 right_yaw=0.018 right_pitch=-0.0299 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.4581, -4.7658, 5.8872, 1.8193, -0.0708, -0.0659, -0.0122, -0.4034, -0.4718, 6.8308, 1.9316, -0.1099, -0.0269, -0.0122] 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_x":0.337,"left_y":0.025,"left_z":0.032},"note":"The left cap is now centered just inside the open jaw tips, but the hand is still about seven centimeters above the table. I’m lowering straight down to the bottle-neck height without changing its horizontal alignment."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteAt grasp height, the cap projects below the jaw tips, so closing here would likely miss as it did before. I’m pulling back about three centimeters with a slight lift to put the cap at the fingertips instead of under the gripper body.
move_to
left_x0.3150left_y0.0250left_z0.0620
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0059, 1.4174, 0.2695, 0.622, -0.112, -0.1112, 0.9963, -0.0204, 0.5579, 0.2203, -0.2615, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.3474 left_y=0.0254 left_z=0.051 left_yaw=0.1438 left_pitch=0.0393 left_roll=-0.0248 left_gripper=0.9963 right_x=0.251 right_y=0.0039 right_z=0.0883 right_yaw=0.018 right_pitch=-0.0283 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.3897, -3.3436, 2.7692, 0.5788, -0.0952, 0.3101, -0.0171, -0.5538, -0.294, 6.6803, 1.9658, -0.1148, -0.0024, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":0.025,"left_z":0.062},"note":"At grasp height, the cap projects below the jaw tips, so closing here would likely miss as it did before. I’m pulling back about three centimeters with a slight lift to put the cap at the fingertips instead of under the gripper body."})
tool
executing move_to over 3 steps (0.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
assistant
agent noteThe left bottle’s cap is still not seated in the jaws, so I’m lifting that arm clear and switching to the right bottle, which is better aligned lengthwise for a neck lift. I’m moving the right open gripper above its cap.
move_to
left_x0.2900left_z0.2100right_x0.4100right_y0.1600right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0006, 1.1847, 0.2451, 0.4931, -0.1219, -0.1081, 0.9963, -0.0204, 0.5362, 0.197, -0.2615, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.3352 left_y=0.0249 left_z=0.0884 left_yaw=0.145 left_pitch=0.1185 left_roll=-0.0287 left_gripper=0.9963 right_x=0.2478 right_y=0.004 right_z=0.0827 right_yaw=0.0182 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.5932, 4.7658, 1.4676, -0.1636, 0.0073, -0.0171, -0.3077, -0.212, 6.9265, 1.9512, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_z":0.21,"right_x":0.41,"right_y":0.16,"right_z":0.14},"note":"The left bottle’s cap is still not seated in the jaws, so I’m lifting that arm clear and switching to the right bottle, which is better aligned lengthwise for a neck lift. I’m moving the right open gripper above its cap."})
tool
executing move_to over 14 steps (1.4s)
step 170
assistant
agent noteThe right bottle’s white cap is centered in the right wrist image but still well ahead of the fingers. I’m advancing and descending toward the cap while keeping the jaws laterally aligned.
move_to
right_x0.4600right_y0.1570right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0071, 0.7975, 0.6918, -0.0261, -0.1333, -0.1085, 0.9963, 0.5251, 1.5375, 0.857, -0.0059, 0.3916, 0.2432, 0.9998] state[eef_state]: left_x=0.329 left_y=0.0247 left_z=0.3028 left_yaw=0.1629 left_pitch=0.4299 left_roll=-0.0769 left_gripper=0.9963 right_x=0.3954 right_y=0.1553 right_z=0.1206 right_yaw=0.0584 right_pitch=-0.0559 right_roll=-0.0352 right_gripper=0.9998 state[joint_eff]: [-0.212, 1.1692, 3.1111, 0.4518, -0.0708, 0.022, -0.0122, 0.1573, -6.8308, 8.6769, 1.7607, 0.3932, 0.2955, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.157,"right_z":0.065},"note":"The right bottle’s white cap is centered in the right wrist image but still well ahead of the fingers. I’m advancing and descending toward the cap while keeping the jaws laterally aligned."})
tool
executing move_to over 5 steps (0.5s)
step 175
assistant
agent noteThe right bottle’s upper body is now between the right gripper’s open fingers, with the cap just beyond them. I’m closing around the body near its shoulder and will verify a nonzero jaw width before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0447, 1.1717, -0.654, -0.1581, -0.131, 0.9963, 0.4492, 1.8366, 0.8684, 0.2523, 0.3134, 0.1978, 0.9998] state[eef_state]: left_x=0.3349 left_y=0.0243 left_z=0.308 left_yaw=0.1662 left_pitch=0.0418 left_roll=-0.0189 left_gripper=0.9963 right_x=0.4341 right_y=0.1528 right_z=0.0428 right_yaw=0.0696 right_pitch=-0.1043 right_roll=-0.0374 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.0855, 8.0068, 1.7558, -0.1343, 0.022, -0.0122, -1.5248, -8.4034, 8.1983, 1.9267, 0.2955, 0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s upper body is now between the right gripper’s open fingers, with the cap just beyond them. I’m closing around the body near its shoulder and will verify a nonzero jaw width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 185
assistant
agent noteThe right gripper closed almost fully, so it did not catch the bottle; the fingers were above or beyond its surface. I’m opening, retracting slightly onto the upper bottle body, and lowering toward its centerline.
move_to
right_gripper1.0000right_x0.4230right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0817, 1.1961, -0.7238, -0.1589, -0.1318, 0.9963, 0.4435, 1.8614, 0.8951, 0.3599, 0.3054, 0.178, 0.018] state[eef_state]: left_x=0.3337 left_y=0.0245 left_z=0.2928 left_yaw=0.1673 left_pitch=-0.0391 left_roll=-0.0038 left_gripper=0.9963 right_x=0.4552 right_y=0.1614 right_z=0.0617 right_yaw=0.0833 right_pitch=-0.0042 right_roll=-0.0093 right_gripper=0.018 state[joint_eff]: [-0.6769, -3.2479, 8.9778, 1.7753, -0.1441, 0.0464, -0.0122, -0.8, -8.8957, 7.0359, 1.5604, 0.2271, 0.1685, 1.2576] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.423,"right_z":0.02},"note":"The right gripper closed almost fully, so it did not catch the bottle; the fingers were above or beyond its surface. I’m opening, retracting slightly onto the upper bottle body, and lowering toward its centerline."})
tool
executing move_to over 10 steps (1.0s)
step 195
assistant
agent noteWith the right jaws open, the bottle body is visibly centered between the fingers, though the readback is still about four centimeters above the table. I’m lowering another couple of centimeters to pinch across the body rather than over its top.
move_to
right_x0.4300right_y0.1680right_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0657, 1.1534, -0.6861, -0.1658, -0.1318, 0.9963, 0.4797, 1.879, 0.7441, 0.5797, 0.3214, 0.1978, 0.9956] state[eef_state]: left_x=0.3337 left_y=0.0257 left_z=0.2868 left_yaw=0.173 left_pitch=-0.0275 left_roll=-0.002 left_gripper=0.9963 right_x=0.4322 right_y=0.166 right_z=0.0417 right_yaw=0.0952 right_pitch=0.0466 right_roll=0.0181 right_gripper=0.9956 state[joint_eff]: [-0.5128, -3.9179, 6.2564, 1.8828, -0.1245, -0.0073, -0.0122, 0.6632, -5.6821, 3.6308, 1.4676, 0.1636, 0.0464, -0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.168,"right_z":-0.01},"note":"With the right jaws open, the bottle body is visibly centered between the fingers, though the readback is still about four centimeters above the table. I’m lowering another couple of centimeters to pinch across the body rather than over its top."})
tool
executing move_to over 4 steps (0.4s)
step 199
assistant
agent noteThe right bottle’s label and upper body now fill the gap between the fingertips at table level. I’m closing again at this lower pose to test for a real grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0592, 1.1206, -0.6643, -0.1661, -0.1318, 0.9963, 0.4854, 1.972, 0.7597, 0.7444, 0.3313, 0.1852, 0.9956] state[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2788 left_yaw=0.1733 left_pitch=-0.0319 left_roll=-0.0009 left_gripper=0.9963 right_x=0.4471 right_y=0.1749 right_z=0.0399 right_yaw=0.0966 right_pitch=0.1295 right_roll=0.0354 right_gripper=0.9956 state[joint_eff]: [-0.3487, -3.8906, 6.6803, 1.8681, -0.1587, -0.0317, -0.0122, 0.4444, -3.7675, 3.453, 0.398, -0.149, 0.1441, -0.022] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s label and upper body now fill the gap between the fingertips at table level. I’m closing again at this lower pose to test for a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 209
assistant
agent noteThe right close was also empty even though the bottle fills the camera gap, which suggests the hand is landing on top rather than straddling it. I’m opening and moving to the bottle’s outside at low height so I can approach its side with the jaws.
move_to
right_gripper1.0000right_x0.4250right_y0.0800right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0485, 1.087, -0.6353, -0.1661, -0.1318, 0.9963, 0.485, 1.9957, 0.7643, 0.8604, 0.3367, 0.1902, 0.0194] state[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2731 left_yaw=0.1733 left_pitch=-0.0259 left_roll=-0.0021 left_gripper=0.9963 right_x=0.4571 right_y=0.179 right_z=0.0558 right_yaw=0.0824 right_pitch=0.2196 right_roll=0.0759 right_gripper=0.0194 state[joint_eff]: [-0.5538, -3.7128, 6.5709, 1.8681, -0.1978, -0.0171, -0.0122, -0.1026, -4.8752, 3.2342, 0.2857, 0.0073, 0.1197, 0.9109] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.425,"right_y":0.08,"right_z":0.025},"note":"The right close was also empty even though the bottle fills the camera gap, which suggests the hand is landing on top rather than straddling it. I’m opening and moving to the bottle’s outside at low height so I can approach its side with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteAt the right bottle’s outer side, the open fingertips have reached table height and the bottle appears to their left. I’m advancing and sliding the open jaws toward its body from the side, keeping them low enough to straddle rather than overfly it.
move_to
right_x0.4700right_y0.1550right_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.042, 1.0588, -0.617, -0.1661, -0.1318, 0.9963, 0.2398, 1.8565, 0.6113, 0.5892, 0.1516, 0.0772, 0.9959] state[eef_state]: left_x=0.3331 left_y=0.0258 left_z=0.2662 left_yaw=0.1733 left_pitch=-0.0293 left_roll=-0.0015 left_gripper=0.9963 right_x=0.417 right_y=0.0782 right_z=0.0033 right_yaw=0.0613 right_pitch=-0.0768 right_roll=-0.0175 right_gripper=0.9959 state[joint_eff]: [-0.4034, -3.3983, 6.7624, 1.9316, -0.149, -0.022, -0.0122, -0.2803, -10.6188, 4.7932, 2.0977, -0.2125, 0.0317, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.155,"right_z":0.01},"note":"At the right bottle’s outer side, the open fingertips have reached table height and the bottle appears to their left. I’m advancing and sliding the open jaws toward its body from the side, keeping them low enough to straddle rather than overfly it."})
tool
executing move_to over 7 steps (0.7s)
step 226
assistant
agent noteThe right bottle is still left of the wrist camera and just outside the left fingertip. I’m sliding the open gripper across at table height to center the bottle between the two jaws.
move_to
right_x0.4550right_y0.2620right_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0336, 1.0256, -0.5915, -0.1661, -0.1318, 0.9963, 0.4095, 2.035, 0.849, 0.5724, 0.2546, 0.1459, 0.9956] state[eef_state]: left_x=0.3328 left_y=0.0258 left_z=0.2592 left_yaw=0.1733 left_pitch=-0.0285 left_roll=-0.0016 left_gripper=0.9963 right_x=0.4593 right_y=0.1548 right_z=0.0049 right_yaw=0.1086 right_pitch=-0.0207 right_roll=-0.0109 right_gripper=0.9956 state[joint_eff]: [-0.5128, -3.7675, 6.9812, 1.8388, -0.1587, -0.0415, -0.0122, 0.0889, -8.5675, 6.7761, 1.8877, 0.2955, 0.2564, -0.0415] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.262,"right_z":0.005},"note":"The right bottle is still left of the wrist camera and just outside the left fingertip. I’m sliding the open gripper across at table height to center the bottle between the two jaws."})
tool
executing move_to over 9 steps (0.9s)
step 235
assistant
agent noteSliding at table height pushed the right bottle toward the middle one instead of capturing it, so I’m lifting clear. I’m moving over the now-exposed neck end to attempt a vertical neck grasp rather than another sideways shove.
move_to
right_x0.5000right_y0.2700right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.026, 0.9955, -0.572, -0.1661, -0.1314, 0.9963, 0.659, 2.1464, 1.0538, 0.4397, 0.4187, 0.2699, 0.9956] state[eef_state]: left_x=0.3319 left_y=0.0258 left_z=0.252 left_yaw=0.1731 left_pitch=-0.0315 left_roll=-0.0007 left_gripper=0.9963 right_x=0.4479 right_y=0.2606 right_z=0.0031 right_yaw=0.1567 right_pitch=-0.018 right_roll=-0.0125 right_gripper=0.9956 state[joint_eff]: [-0.3214, -3.7538, 6.8581, 1.8779, -0.1978, 0.022, -0.0122, -0.0889, -9.2239, 7.3915, 1.6679, 0.4469, 0.3053, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.27,"right_z":0.1},"note":"Sliding at table height pushed the right bottle toward the middle one instead of capturing it, so I’m lifting clear. I’m moving over the now-exposed neck end to attempt a vertical neck grasp rather than another sideways shove."})
tool
executing move_to over 7 steps (0.7s)
step 242
assistant
agent noteThe two long bottles have shifted farther left, and the right wrist camera has lost them from view. I’m moving the right arm toward its crossover-side limit above the nearer cap, where it may still reach without sliding the bottle again.
move_to
right_x0.4700right_y0.3900right_z0.1250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0149, 0.9592, -0.5465, -0.1661, -0.1314, 0.9963, 0.617, 2.1094, 1.3293, 0.1017, 0.3618, 0.2264, 0.9956] state[eef_state]: left_x=0.3307 left_y=0.0258 left_z=0.2443 left_yaw=0.1731 left_pitch=-0.0312 left_roll=-0.0008 left_gripper=0.9963 right_x=0.4868 right_y=0.2731 right_z=0.0614 right_yaw=0.1837 right_pitch=-0.0571 right_roll=-0.0284 right_gripper=0.9956 state[joint_eff]: [-0.4855, -3.5214, 6.9128, 1.9267, -0.1441, -0.0122, -0.0122, -1.2923, -14.6256, 8.7043, 1.8242, 0.2027, 0.0269, -0.0171] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.39,"right_z":0.125},"note":"The two long bottles have shifted farther left, and the right wrist camera has lost them from view. I’m moving the right arm toward its crossover-side limit above the nearer cap, where it may still reach without sliding the bottle again."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteThe displaced bottles are now beyond the right arm’s crossover reach, but the left arm can approach them. I’m parking the right hand away and bringing the left open gripper above the nearer long bottle’s shoulder.
move_to
right_x0.2900right_y0.0000right_z0.1900left_x0.4000left_y-0.1800left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 1.0073, 0.9279, -0.5198, -0.1661, -0.1318, 0.9963, 0.8318, 2.2253, 1.7248, -0.2043, 0.4923, 0.3313, 0.9956] state[eef_state]: left_x=0.3305 left_y=0.0258 left_z=0.238 left_yaw=0.1733 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9963 right_x=0.4609 right_y=0.3871 right_z=0.1104 right_yaw=0.2371 right_pitch=-0.0375 right_roll=-0.0282 right_gripper=0.9956 state[joint_eff]: [-0.3897, -3.7812, 6.612, 1.8437, -0.105, -0.0269, -0.0122, -0.3487, -11.7402, 10.1812, 1.6874, 0.3736, 0.315, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.19,"left_x":0.4,"left_y":-0.18,"left_z":0.1},"note":"The displaced bottles are now beyond the right arm’s crossover reach, but the left arm can approach them. I’m parking the right hand away and bringing the left open gripper above the nearer long bottle’s shoulder."})
tool
executing move_to over 33 steps (3.3s)
step 285
assistant
agent noteThe left wrist camera now shows two bottles side by side; the right-hand one is aligned with the gripper, but its cap and shoulder are still ahead of the fingertips. I’m advancing toward that bottle’s shoulder and lowering to a cautious approach height.
move_to
left_x0.4550left_y-0.1800left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6891, 1.7103, 0.9123, -0.0196, -0.6899, -0.5789, 0.9963, -0.2279, 0.8417, 0.6426, -0.4355, -0.3298, -0.2508, 0.9955] state[eef_state]: left_x=0.3917 left_y=-0.1724 left_z=0.0895 left_yaw=0.1641 left_pitch=-0.0366 left_roll=0.0288 left_gripper=0.9963 right_x=0.2936 right_y=-0.0057 right_z=0.1788 right_yaw=0.1743 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9955 state[joint_eff]: [-0.4855, -7.3778, 8.4581, 1.5165, -0.486, -0.0806, -0.0122, -0.1162, -2.3043, 9.0872, 1.6874, -0.359, -0.0562, -0.0171] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.18,"left_z":0.055},"note":"The left wrist camera now shows two bottles side by side; the right-hand one is aligned with the gripper, but its cap and shoulder are still ahead of the fingertips. I’m advancing toward that bottle’s shoulder and lowering to a cautious approach height."})
tool
executing move_to over 5 steps (0.5s)
step 290
assistant
agent noteThe nearer bottle’s broad lower body is at the jaw-tip depth but lies left of the gripper centerline. I’m shifting left and advancing a little to place the middle of its body between the fingers at table-level height.
move_to
left_x0.4730left_y-0.1310left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6022, 1.9556, 0.9936, 0.1482, -0.651, -0.5301, 0.9963, -0.2359, 0.8349, 0.6186, -0.4446, -0.3515, -0.2661, 0.9956] state[eef_state]: left_x=0.4361 left_y=-0.1655 left_z=0.037 left_yaw=0.1974 left_pitch=-0.0561 left_roll=0.0469 left_gripper=0.9963 right_x=0.2886 right_y=-0.0031 right_z=0.169 right_yaw=0.1926 right_pitch=-0.0438 right_roll=0.0099 right_gripper=0.9956 state[joint_eff]: [0.0068, -9.935, 7.9658, 1.6044, -0.1929, 0.0855, -0.0122, -0.0615, -2.0308, 6.9402, 2.0342, -0.0659, 0.2027, -0.0073] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.473,"left_y":-0.131,"left_z":0.025},"note":"The nearer bottle’s broad lower body is at the jaw-tip depth but lies left of the gripper centerline. I’m shifting left and advancing a little to place the middle of its body between the fingers at table-level height."})
tool
executing move_to over 4 steps (0.4s)
step 294
assistant
agent noteThe left fingertip is alongside the bottle’s lower body, and the lateral adjustment did not track because of contact. I’m closing once at this table-level pose to see whether the jaws capture the bottle rather than merely push it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5976, 1.9697, 1.0153, 0.1875, -0.6437, -0.524, 0.9963, -0.2367, 0.8116, 0.5743, -0.4202, -0.3454, -0.2668, 0.9955] state[eef_state]: left_x=0.4464 left_y=-0.1712 left_z=0.0435 left_yaw=0.192 left_pitch=-0.027 left_roll=0.0148 left_gripper=0.9963 right_x=0.2848 right_y=-0.0035 right_z=0.16 right_yaw=0.1873 right_pitch=-0.0422 right_roll=0.0044 right_gripper=0.9955 state[joint_eff]: [-0.1573, -9.9487, 7.706, 1.6825, -0.1783, 0.2564, -0.0122, -0.4581, -1.9487, 6.9128, 1.9414, -0.2955, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertip is alongside the bottle’s lower body, and the lateral adjustment did not track because of contact. I’m closing once at this table-level pose to see whether the jaws capture the bottle rather than merely push it."})
tool
executing move_to over 10 steps (1.0s)
step 304
assistant
agent noteI could not secure a bottle: repeated closes on both arms settled near 0.01–0.02 (empty), and low side approaches pushed the bottles across the table rather than capturing them. All three bottles remain on their sides, so I cannot complete the goal.
give_up
hindsightFor these lightweight, lying bottles, a bottle appearing between the open fingers in the wrist camera does not guarantee a grasp: the jaws can ride over its curved body and close completely. At table height, a lateral approach can push a bottle away; at low z the arm may stop tracking horizontal commands until first lifted vertically. The bottles were displaced toward the left side by attempted low approaches.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5976, 1.9697, 0.992, 0.2306, -0.6445, -0.524, 0.0115, -0.2379, 0.7914, 0.5358, -0.3954, -0.3458, -0.2672, 0.9955] state[eef_state]: left_x=0.4456 left_y=-0.1706 left_z=0.0422 left_yaw=0.1923 left_pitch=-0.0127 left_roll=0.0011 left_gripper=0.0115 right_x=0.2819 right_y=-0.0031 right_z=0.1529 right_yaw=0.1865 right_pitch=-0.0362 right_roll=0.0017 right_gripper=0.9955 state[joint_eff]: [-0.2667, -9.6205, 5.1487, 1.6093, -0.3004, 0.0464, 0.9011, -0.841, -1.9624, 6.8171, 1.9316, -0.3199, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure a bottle: repeated closes on both arms settled near 0.01–0.02 (empty), and low side approaches pushed the bottles across the table rather than capturing them. All three bottles remain on their sides, so I cannot complete the goal.","hindsight":"For these lightweight, lying bottles, a bottle appearing between the open fingers in the wrist camera does not guarantee a grasp: the jaws can ride over its curved body and close completely. At table height, a lateral approach can push a bottle away; at low z the arm may stop tracking horizontal commands until first lifted vertically. The bottles were displaced toward the left side by attempted low approaches."})
tool
give_up: I could not secure a bottle: repeated closes on both arms settled near 0.01–0.02 (empty), and low side approaches pushed the bottles across the table rather than capturing them. All three bottles remain on their sides, so I cannot complete the goal.
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 · 9.053 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, 0.7925, 0.6083, -0.3771, -0.0223, -0.0315, 0.9986, -0.0158, 0.7898, 0.6037, -0.3851, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.183 left_yaw=-0.0005 left_pitch=0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2938 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3744, 9.6752, 1.7851, -0.022, 0.1636, -0.1587, -0.9368, -1.2103, 10.4547, 1.8095, -0.1294, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d334a3c5475ecc8b2b33de68231205a69b0a9abc841df38c8d3b337c5f8563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a4de9483a127c2bfabcb2800832b0db047561fea4f6de8d7082484d9c25d05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3171f90155083e02bae8e1f8a542381a419f565df3e05b94c273be1455fb2e08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.133 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0ff88975d1b74a01016ab41cccf79087d092fde93ba196ed28",
  "summary": [],
  "type": "reasoning"
}
{
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  "encrypted_content": "gAAAAABqtBzU_QYvL72D27b2LSZHOnecShAjnLvjqxHCIRYSpNplZffLXSLq7F8-hdXNfWhjnMb7hnZETj8riDlJ0GHxa7bnlMgiEHqB3R4lisUQy_AEJTRhWvYragZ8Zy3bODt4XDlF2psJuObu4XIG6XxwSiLAfcCG6VLnu7ykt9Rr7HXMES4waerlMmR3Rpp4O5NegkBPZWEuZfORhtpH8VKKM-ZtQj6natcy7yZvhlcgl0EqdaKRvHyrLdvIJFzUTm-MJ0GiDvYyocKcxA2rLRZy1z6L0T0d08sC0FFUlIrflztRUU0HtR4vayGRWm-Ob6X4ncBVGVRXVJn066d9BQH4PWG624znu9nq-YvLcEmA6A8DdPv6Pmajpn0C9_uou2EVVnsbnRHWIssT6Y-69Z2KwOTn1P91aMzpwkdv4us_uwZvN_yU2JXx4XMkj0Z2_XaybjbCsgT-1UoEy7123dz86pykum5YxtlZ0VoYOKdOoFHzelEC5rQG2L034VFL3spXoiPW_HBKoBVkgXj6ieN1BPAD0gsINtuwDSU8g8_C6E2Y9MzVd1GpiY4bDuaqiKL1IN3BsdlhQAvKtB6lK95HjcwmbptbNlE2KtyS9-SNgnmIi94nQCm7OBdaWZseM2-RZDPbijKe4mkAZlT3Aj_5wI8NECCebz3iAYOeNv7lCR2ui9w_BqKPrKTS6CzQosJ66EzKCBu8WkjqNd-Qom_Z3UM6u3bx7SFabiErN3yqAgosG4CM1aav7Eryv8vX3e0umeXnvFbhA-TWK-ngCAVVGEatlHZLiBAf9E6glWg7IqqBEVbaZ75KyaMuUfzNNI55Z74IheJthYQADVk-sgy0K_dWRn5NLRhEK1CQt9nJ63G8-gI_EDCIEvoIK5Gm3PfoIAHEwJSKxeupTRc3wCpU74dWqCM4g0lUfn3wkfuSb3Gjs0BObaO6uzQcby2_rl4quLdQNd_qtHt2St8sFa5SRW_y6V-2tYhiJFetbJE6qtjJ7i5HiGwrb54-NvXiNJEv1EXNKpkLuW6WCJtDYY4gANS14lzcn4mIJmEgAfqq_mo80eVlB1MkvmCaCDiTVFTJJZLUjhVS5o0odGnzeuVM07cUTr4voLQ1YCE2ynvIkQtcE7U-DpBDf0cJ3FcpBMExVLesj-uVAVQ8lPdMvv6r3DXyrTgrQ7oSqHillbBn9Ei4ZE_RCdzP7O7pHz6WrSphtZy6WrVfdygPh8APEjh851lj6E3kP03ivNep2oyKCJC7PXkfvudGJZyTobiDI5pMiw4R0sgG_qKk39wxhByRz_aYPDNxVZwIbc7N8rdLuXCFhoh5ffDy63HRcAu9hen8NG5-CUY4g_wMawzwKQuyGHencuSYMXhT6Yo16Co45meUzeRaBFhjkRmunX8y8-b0ZFiiyCT0oDmyzVz75W6ZTVcsWYOVo6tR2fSDJ1-hFyFwYXPF55d2mBK_0p97wsYkQ_Hu1XtGm7QjLKY6sMcp26wDK4SW_rKVZ84qn85m6oUsUgCb4IkT1HwuIr4ISxX7b4Z14bH2QRl_4CCkkpXheLwSbZ2bfxFjHLQFIkNaBbRpck2krHWqpcpVEvkNdmjU2yJs-bcmp4jlkfImbEf5FBuZSI2y_l9eHtDzRibkN6kzZf2z8fIUedx6H9DxHUwUVcrRzS4Ugt9fJDQa9OlZ8Tls2gG2A14_FjFoMNTZt85ps2a4ye4-jnuwH0Qo9QxjgbgthN3BgPWg1021R7z8fkReSOQ9f9hzjQzpzczXy5l_NZTz-P5oDr9KoQ9-X-OaxGTzQGlQtCcgb70n59uDQ_XxURE6J75DxHoNRvPp07VjpoU0Ahf_iO33zJuh0r7mXbGeoObSK__76gCrD7UGp3-OEAhEnThltBcSpKToPKbmSyrKHAX1Zdzp2eVk33ICsIXKjgWButa4CnLD25YeVAx1uA==",
  "id": "rs_0ff88975d1b74a01016ab41cd20f8887d099221b977feba818",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.105,\"left_z\":0.13},\"note\":\"Three bottles are lying on the table, with the left bottle angled and the other two nearly lengthwise. I’m moving the left open gripper above the left bottle’s neck so I can lift that end and pivot its base onto the table.\"}",
  "call_id": "call_TqleDWxb3Yg8KoZOz5CDi0IS",
  "id": "fc_0ff88975d1b74a01016ab41cd38a2c87d0b354eed514878601",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqleDWxb3Yg8KoZOz5CDi0IS",
  "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]: [-0.3893, 1.4593, 0.7437, 0.0338, -0.3134, -0.2352, 0.9984, -0.0193, 0.7921, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.392 left_y=-0.0981 left_z=0.109 left_yaw=-0.0154 left_pitch=-0.0817 left_roll=0.0216 left_gripper=0.9984 right_x=0.2913 right_y=0.0021 right_z=0.1752 right_yaw=0.0075 right_pitch=-0.0224 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5983, 8.7179, 1.7656, -0.2418, 0.1636, -0.0366, 0.0752, -1.4017, 6.9812, 1.8828, 0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e848cd7b627f67f4b12dafeef1d69703d88233bf169c3a994419e20bdd5ed81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6adabf5d405ee378024920822fcc0d897a2b8b8dcc1c02e91707836299431cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5b09194546c41b7c2e59bab0a30332904a0e1821074d90d004f28da54a4ec5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.192 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6083, -0.3771, -0.0223, -0.0315, 0.9986, -0.0158, 0.7898, 0.6037, -0.3851, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.183 left_yaw=-0.0005 left_pitch=0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2938 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3744, 9.6752, 1.7851, -0.022, 0.1636, -0.1587, -0.9368, -1.2103, 10.4547, 1.8095, -0.1294, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3893, 1.4593, 0.7437, 0.0338, -0.3134, -0.2352, 0.9984, -0.0193, 0.7921, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.392 left_y=-0.0981 left_z=0.109 left_yaw=-0.0154 left_pitch=-0.0817 left_roll=0.0216 left_gripper=0.9984 right_x=0.2913 right_y=0.0021 right_z=0.1752 right_yaw=0.0075 right_pitch=-0.0224 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5983, 8.7179, 1.7656, -0.2418, 0.1636, -0.0366, 0.0752, -1.4017, 6.9812, 1.8828, 0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e848cd7b627f67f4b12dafeef1d69703d88233bf169c3a994419e20bdd5ed81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6adabf5d405ee378024920822fcc0d897a2b8b8dcc1c02e91707836299431cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5b09194546c41b7c2e59bab0a30332904a0e1821074d90d004f28da54a4ec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzcqIJc8tBbjZkhIpAylS_hg0XoWarEZ3pNvliqpWcGQun9mI5Fhd3o2kD71cnysNXH-skeofZNKlUXmctQTtgA-RMle5dKVPr-qXeYLewXaTb_VBQ0xdTXwIOPQzdQceoR_yspN1fQ_CyyVNnUVBXyaw5Kkrmz_sTymMQhzW_y0-mMIPKRFK-aZflY48wFi4fXEqum8XsxGxEdekXBaNNQmywNT_B_XCMucD-WAy8ZDye7xRlkdLLdypcVOvkfEs7Ylo7yGx0Y0bEU2ieQKnHMIFNquvd3AVTYS5cicHO_J54WRFh5CUnTyCO10bcp1wS8hZxbI_kKCPsmXespKEkT53XfDD4VjrV6Lr8YqijfRZdsF6veDAqz6i3Hsg1hFr3JfmO6-71Ozw2SY7b38QZGoGxzMkAPUHpOoPQXGh_Y-nN2MANaUfG4OEVVLWm3Ph7JalO1C2bj8WZ1j8HgFXKnpMw-D7TdhTxS0hsntMS91uGoIc3lcETXmAjenyVbH_sOWxkOiPZ6htOgLOaaNQxAUXl5CSM_NxJROniM-x65GSXQ1IPY5zWas1-Y22SUWRcska4hWp9TbzHjEoQXkH7z6F3jbULugI6tVlxssfk8NjrhpPcjh2Vmtw8gSa8qOwLoPns9BBuhlR5NHdNW4kvYDgvv671EVKpkIs00ASLhtDNWGIqEqMBGL-0gJKX3rUPbaamziFgsW8KKVcnpKN1dgBYGUuuKfPBz0aLfj73g0J6S-IrGd0hBmRFr27dMdmFwt9vGVPTRgbmmL64PB5HFB0KCjVFmIJhzfN2SHjz9njr_WrZw8ht7KsCSZoNWGc6ODWReIvcRIJKE6wlB-NWNcIlGc9p-p9bNq5DSjX6upfTZzrVXOqziT8t4ndatyH3c7FlS4-VBdBWYQb7V8qUVFWaQWmiaGnEhMkiiAklBfCNdEDvdxB8yn0_g3sD0tRVAa4YX1PmFH--e4a5BqoUmUvD2fCwMmDryLt2eAtWl6ogHzskJ9WxeaJ2UOjxA-s3ouFrmnMeM-pIuSiN-CmZqb6EEHUjsW-LRVfj2xpXsMOrRDuujNZf83eQpEde6hhfoYfMzN4oCtpQK7qWNPBxvePmLKs4dQRGDYx6JoKkCGa7Xxcptq9N7iQVrsq3A7KGp-ZxedVyulV1nqikNa0m8bOfataLfLWgPEWNBC9Mne7cpTZTMwg85WTte82jyzFKSugYwwWPlOGI4dI5ZE3WG9rhoxM0vkpDLFgrkim-ro2iUUFcZc39kihXCYWvEcypeQjMgDMwpqo1r66tjYr7xz2T72V1CjKtLEL5loVEj4MG3XQb3oAv_l_X83vIKNXPylvEznAnTlUhhwB8hDBvpkispfUKgrPieTSnaLHqHHY422OcHW2MoEhRQyVMWNY3wX3zmnEpr1vJ5pwBBFYJfLCuxTNAWzJ_kRyfE4ACOaWuCmtD3bJNQsD4QdqxMrf_JCfLKlKbMKjN02YOTzqPRCGCCxHIIQB9Zn-H1vj_-aCCXZKIxUjduZUS8GLHkgg04MSPaN0_jqrVgoEUY-OhR_SgKWsW0FLVPiOEZfheuLOwNYWgBYSiCvZ0IG3lkKeLlDkznytWl7Yttxwdh38fHhDx602NKT7rZLOFSm2uXVUa1T1D0YOvz3R__YmMBWa4URLiMRYoan-FVbaPuppVrJ7s_t9ckKdoIjSOQQY89S5U-IYxJa5XzENFUZmVHvaKL_CcEA45VPSJCw1KA-shSxgnFrV-NJdbbD_1vtk2JkXltpLSfaUZpwkiDRkZUwNRyZ9_xZlAfNWP-31nRNPMkTnI21WLi2IyOu6_5hZ7jmev3Piiu04U9e3qaAwnRX5EKVujwredxDXF9Q1D2Lg4OauvO5By3P8LMnoAoHS13yFCwDd2Vstv8gTYCKojtQLUyNdMJbiHvI8PiskNBTyzM3MZIbhNS4Wxh_074b62MjyQHOhQid8C4Ewa9Y2dS_4ELmwJExga0i5OEQpQC1_M5CkC8-6ohtAjcrDdZ0s8NVh8DaShbZmKEOOuM6pj3BQ8hcUub3OntMBNYr6jyvBXFGDmt4MJltNGY7O-GmDVWHz4X0KlBQgTB4ZM9hTaD_OzbisgrII5c2O-Id7E6EfpyHCvGOQTU1cP8-_vTUP7qgoWfnpI1QzNfSujoPer-4fLM4in185N2g591U_D9mvBW8sTTCBUoKfkpta1shm8t44e6s5pmEntyH26CPtDVh5P7UpI_9WOShT4Rb8Dlo212gKtEc9J-Mwrbk2vNvRIztdP8YRStuqa1S_nhg1xYjSQs90RYMATRCp0JrM6rh7e7UfgOWoy8XHnjgiYk5gwFHUS0IX4zkw-KGNh5kDd3zyP_MdL4ywej86oPKPT97hyGqq1K2W6PiSYebuXWimR_IM6glaK96HM1VwLeA3hzWyRgExdJJAZ7IhtpHusZ30kl9J7PCiSZZVUxqP28He72S13EoGB4DjdeNadi5sc9aKt4At5Ozqq8hJSaeb9jO48V-H3NLZEeKR3i9bKvZpNxnIMNx8wDGNGCF6SAZurvcXPR6ldt24bdprrRflb149SyWZTHrdpQlkRuNy7hrvNiZLhTOn3WyTKFPdOcSt2HhjDCdI2cREmd57SxzAXCH6vaa3l6U2NcAXOsXSWy_7qLTnltZ2fotU1H20rGpYrIZ_7OUtWFmFEo70CR26hKw2RKISbX7CDdImtP_VHQuP52HGw1f11IB91Cc3TQepIFUpm4zcRKVtsOmhOt7FY1MaSp599EddgRc9-sUGJr5E62U-l1xG1uDcW1ko6-376uXoRBEpZdvQk28D2QBeCzjl8LRxadRDXl4VAiVWdK2RxVkAg1pIR8ZiegeGyKhqwEsnNlTibppQRLnexOZNm2X1rWPgK01WxVgCns1pTwEug5bzLSjdx7vY3CJQDBqAzuCv6XJQ-0H20srWCEbwLEhK8Yaiq1syAopwNwWNMutLwgAwMVjxqjeviu1vJ-eDFrPyvANO-k7h2GgTI2X3pxy8qMiVp6H8dYOzyfnIS3Y-oB7Y7C8Vf5fzFqiTf2VVwqu8Xibdc97QDamvJbVqeplyTNtoHuHXPAzb-8GOpounYTHQRDRaahzs_dJPGimUaCqcLSRsol1w40lUZIAcQchi-O-5CQeoXSumjLyNRVvOKBT5ewkwCEq1dL6acd92O6v02IHL7nuir5ElijTihFct7mBUiqR198nnW-WTqsKMXVWBisGy1NF8yuDBYlTn2qronohINlXrj87xHgpvwiBQxtaop4-cCvBHCJiVvbJOQ5C1-KFbj6vG_Fj3H2Azzz_ISfxY7ud6NyGcZL3W3oFsFMY7irtMT6GVxV_a5E-KlRtixQAyYuCN55GdMYqRQdFbP-1f0qxMt_oH1vxIJ0AGNU72FqP-fhiijratoann8dDapFOXpbhH3w-yRGPTMozpsGOg6fbKdR6VPZ6MlK9x0YT392GgTxu5sPM3rSN9Oly3l4GWC7t-1nrPLCkMkEG_snYgdwJMonbbdSVDYqcYlqDF8XJmqDTyRMdtlGOVTK4tq_IFwx0zbjZ5YRKx_SVSje5Fu1Q3qaKZPerfKB36bVCzLQtH2UQ9482Tc4WAxiP_U=",
  "id": "rs_0ff88975d1b74a01016ab41cd6a78c87d08640fb33767e8263",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzcG5Uhb-yxy4xKoZCxjCzKDj6g1KGE4LfMu-RpUndwyqv8ZjmnJWKsRtdmS446B42Mt7p9LQdElCylL59hzPitcI07pxjlqxr67DMM_d_43aTB4-a9neoMpAU7VmZvXVgdcPnX4mZ1SUSBTAjGKZ6RRBggpwHOeaOYs8ti6vSBF4AeVEFIAIb5okZTtOPmFzFdTvjt7T_fIM5Jok0WedzT48CGsKj-X4yi19zstz6UEUsIDLgm3aWY_P37971L74KjClRiYDwIaF98XOVCCc0-IvJNNQuH4YhW-1PlI5sP3rsMyGwRi294-82YglBMaFGRqEFvzs0SVQRq3Qi-OVPeWoWl1jIyUdUhBWcbDbAmyhqVxezGogq1oWwZLworHVnD5I-62X7uyjVA6VUgz6OgLEV6ExSev-3Dw3s93lX0lmK6nf27uTkPFfTHN6dTU8FGZcQ1iz27boT5ghJTavTNyaeMGQBhIv8qwYntOhDUcDXCFcc-4SqNn7BS6PhS8MmZI8seQ_Ka6lhT5KDXUFRspL1HBoW6lXI2FErwBTyzN76JqlZIeUurk4tOMGEiW137qkQugHiwqEqVDiKnwRcMfzY_yJf557vFH4aLVsw6NhfKjEUYEwD9rLyYhlD8tZD3MezOBSfMwJfmuZi2u_Y_JD-Hg3uZSYTN71pnGlwVqvns5UKGiP1YyPN9B7R7usXwm1gTeioCiGjlyCuMxcuGmSnci90IQ3mXmx23Htsh4wooyg-wqrevJcPiNl9UglLWG8raXz-yeNOmdpi8CeCBVY-B091FakC1ywXZhxNnSMSxMBQKCfEfxwopZ3GjuaYw595zuUpCo1OEiAI_AydSfwWDdC3eIHNkDb2hh4BMgiOM-N3WVwZrQYAMWiXwBWgaEg1MOlV9pE7cEKo5bBTQincdjFflLcmhd445bAroj_GBtmEDZNbOhZLg17gS1BWzep79HPwoZGWc6D7kogxwfccS32KfYsds2-b0j38mCvrc4-n5crblw1P44RclCHeakVF05sK1Y_t_VeElk9z-PADgFH6KtytYlb6ivlrphNpwzTHLLS2vvgTOHzUzteNVyot1uHcVqX1SnGinG6QmWp4s1nAT14vRkeBQyUNL0U8GHZqyjFPAh_MbbRq1fSWa6YoYf3UPulLA9i4WFBbWqCVz2WfBIlvlGOVrR6vDqOkyaUZLWt66TPh-K5Qq97_Hv1DZyGM0Sc8pBIwBmwFtOHg3sqCCTqmoOXgKek0WW0X6G90N-rwqx1ty07xZfyVuUoc-Q2AYgOLGCV7Va7xKys-SODQRF5gDqwdTdl3Kaqs694kxGxTZPK1u5PXFw7AqFHosE5dOARQXyaL5oR1ioIwQ6i5kU725mfidu6vi8T5YlOMrh-m-SZMeHLVkEO9s10lYuv_tqKk1LhZ-X3z3ARM5vbsb4ss1f3g3S5i5kYnMU12g0BshHN2cFJNJnxB1AusyLTM72tbNsDZNJTWRLq3_Cdp24avyFgFNMhpSdFnOjVQDubFQw48F4mDBM2XwwPhTPCsdoD35FWiaqWg5KBg56ssrjEsU0xeaHq5XLj7b6JFLuSuqMJLrsUa0Qw-mYC3nOwRJrj7d56j5pSfHQH2EXuusa4e8Tycuo4a8HcPC5Qb5b3Us1iBGCCCgqy_ccf_SJNalpKN08Nh43ZzWuz3rNQDt6hgN0FhCfxx8mFnJR4_hOCLq542TLa1Jw9x3",
  "id": "rs_0ff88975d1b74a01016ab41cdbc7cc87d0a8ac745fa98f5a10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.05,\"left_z\":0.07},\"note\":\"The left wrist camera shows the angled bottle’s cap to the left and ahead of the gripper, not yet between the jaws. I’m shifting toward the cap and advancing slightly while staying above the tabletop.\"}",
  "call_id": "call_ESUg3XqWUA7nTvOSj59A5zWp",
  "id": "fc_0ff88975d1b74a01016ab41cdc2eac87d0a64413d97bab6def",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ESUg3XqWUA7nTvOSj59A5zWp",
  "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]: [-0.2001, 1.6341, 0.6476, 0.3641, -0.1921, -0.1562, 0.9983, -0.0193, 0.7845, 0.5842, -0.4007, -0.0238, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.0469 left_z=0.0624 left_yaw=0.0294 left_pitch=-0.0477 left_roll=-0.0024 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1692 right_yaw=0.0099 right_pitch=-0.0304 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.8462, 6.4889, 1.6532, 0.0122, 0.3053, -0.022, -0.0615, -1.853, 6.7624, 1.9853, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0088fe9627935e6db7693e9ea34943ab47b6446ec0a3e13c0086fe148e6299c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de647206b36112b24da3a7b1185859ceebd2bb8c5b39fc38c6049bb789cd99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7848dbadc0b196fcd8a1b831b452926f8137bce042c41cc234af1da3655c369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.982 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3893, 1.4593, 0.7437, 0.0338, -0.3134, -0.2352, 0.9984, -0.0193, 0.7921, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.392 left_y=-0.0981 left_z=0.109 left_yaw=-0.0154 left_pitch=-0.0817 left_roll=0.0216 left_gripper=0.9984 right_x=0.2913 right_y=0.0021 right_z=0.1752 right_yaw=0.0075 right_pitch=-0.0224 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5983, 8.7179, 1.7656, -0.2418, 0.1636, -0.0366, 0.0752, -1.4017, 6.9812, 1.8828, 0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2001, 1.6341, 0.6476, 0.3641, -0.1921, -0.1562, 0.9983, -0.0193, 0.7845, 0.5842, -0.4007, -0.0238, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.0469 left_z=0.0624 left_yaw=0.0294 left_pitch=-0.0477 left_roll=-0.0024 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1692 right_yaw=0.0099 right_pitch=-0.0304 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.8462, 6.4889, 1.6532, 0.0122, 0.3053, -0.022, -0.0615, -1.853, 6.7624, 1.9853, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0088fe9627935e6db7693e9ea34943ab47b6446ec0a3e13c0086fe148e6299c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de647206b36112b24da3a7b1185859ceebd2bb8c5b39fc38c6049bb789cd99d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7848dbadc0b196fcd8a1b831b452926f8137bce042c41cc234af1da3655c369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzgDo6LZBC0yBsy1xzvyvkzR_b6BANxBVshaNhhr8iLEH6KARPuge-9qikmuOsZwr4yxzrATTDvJPbAMVQtd6ubPkjiUKMpQLvfqzZ0kYC6DL339SMm9ucHj6ki28DtssKinMaXXM4et3Pl49eWvCgBtjOj2XDdbTBpoV05_w0kLZHXjzZtFeaooB3KVD_MMF8-PCy-B-ePcjfw79p9kCzXBnfRKNx4zRJLteAN1mbVdFQ8VnrCQS-viWGwU4DZEvM6LR8MCYVTFsPSASUSyYYjVZYjEaYotgs8kdLQxUFkmWeAD6dc2DgnyDiNHUMqdQx0XVgLFvo7webFhppHU9OsDUAcSP4WoiU_XidSTHWnIJnv0kEREQsAzJe-9XxWckaHq22OeDdahPkwC6lo-4DpwdUls_dS5uGbz4YGCXScFQKL8TgVzTSuctsImix_HPeXNtS9OprQdw_WDzZRT61oCv7GbwvxxO_i2fKKI5D74ll5F3LdJEEG4Fz83vTMlgpHI9mBx1oPRZmD_MkEElnCJ-XPz5qPKToM81Nbv6pW4M4KjlGfZeCP6CFAxSCt9lztX-77pve7xLE84vgTdfQ3GgbkBSI4oTDTbKz1B4flyIqOV0S3xNWysdO2k2MFxCH3tpTDbW8evSepEF4Jy9BS6SJ_CsPuOmDMAreP2qOcY5PwkdO52kPW2HL9cDFiynzNZEwRAfXDAKHXVKn-LpciE1axdGk8FSJTtCcBvZGBEmUiBICRJsrQWstX7XYRV6xRLNGrynQ3qkY1idxVNJNoSRj9Fswtcen7oGHgef85wpv_0ISbHFBm5Kl9dKCkM14GMuGQgMx-9lqfrGeHSMT8SLe0ATCQxid9RLe_0JycokL0K2UbQsrqdSxuif261-2y63u4G0RaHwabSqoLtd2E8yVS9Rr5LKwfpQ1RIfkblf9UQgn9Dt-EUG4s5S2ufyDlCwMMiHnugeQFSkrqaVfnUbL-kcPQqqZoQnL7gn_nLL1BRtuDuhYiDgCrTCcha_ElGdZFaSjCo3Qib9BV1hMc6DAecYx2peuRVQVQIby0zHOvJP1zV4GYw_ualhYGFWiVKpYb7UFMA0I5BVXRT-wiVJ9DVPdhAYAc3YtcowJFoFxEaXKFWg9mdQjLoJrW2b27I0PZQ7pmG5OTKOuqpUrAgjd5pEgBmFelt_eLHzgkWfcUuAv7pYVe3_mfUFnUq1seefIUEaQHCBuEwyO5qe79SFT9J2aG6d5JmMp2elsWueCLaS91u8YdIPO-E5hoAmsIWnNB06rnCE4BktE1-Ss4wTPeuGPilC2zeuJj5UjVJFhiGSwk5KeBbI8uEEQG-tOIRFaQ6GxhVM8Ani3uJdFwA8V3gtShcxyIan2t6X9oCpJjiXniiWll6J8aQNA6rH3_4WSGIipwdwqyLcXeVW9xsKdK1LEgRzRSxkkELzw3z6ZIuSrtrt9AtPXSA8LP3GIls-4atqhbbKvU_2wTeXoEPisenrFCiW3n9YJJ29MKgVbigk_YO2qEMBnIbLNRjeUjQg9KVlJ8x8ulqWMjvZ4nV6ffNx0xQ9ByPMc09BUgrZsZEBjEdO_SLBKQBEoVZO6mk8uNp-MU5Cb2Y_NC74QjU0DDo7EtOpDxThHJayxkXQIz4-o-Sro0JRx6YVjmaiUYGpF6wTsDBmqzhks3ZZLK-QgH-ayBuMoD96oLBBtNsnL23odztWGJg2N-3MoYB78SEDhkfUsphycQIwIh7_aAEHZnmQq4QZ-LBGXh-LlZKfyidZDm-YhbKL2oBvZ7quyeUDgZjmjGv7YuBjIOMUyr9TTWNJMhRzDQV4g36Hk_Bi4p9Av2D4WfwkmIJ1BtYIcC",
  "id": "rs_0ff88975d1b74a01016ab41cde490487d08609b260d4b5c6b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_z\":0.035},\"note\":\"The left bottle’s cap is now near the jaw centerline in the wrist view, though still ahead of the fingertips. I’m moving a little farther forward and lowering to neck height before closing.\"}",
  "call_id": "call_GaXUdwTVqzDMIKgZSU8HZLJb",
  "id": "fc_0ff88975d1b74a01016ab41cdfba0087d0bca308b0ba93d59a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GaXUdwTVqzDMIKgZSU8HZLJb",
  "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]: [-0.1848, 1.8145, 0.7052, 0.5697, -0.1719, -0.1577, 0.9983, -0.0193, 0.7712, 0.5549, -0.3893, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.0506 left_z=0.0503 left_yaw=0.0283 left_pitch=0.0307 left_roll=-0.0327 left_gripper=0.9983 right_x=0.2859 right_y=0.0024 right_z=0.1618 right_yaw=0.0104 right_pitch=-0.0349 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.6803, 4.6017, 1.0134, -0.188, 0.1783, -0.0171, -0.3077, -1.853, 7.1043, 1.9365, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799292a76e152c0f6ced7c7d2298eed65216a7a10ffd8e91e33370e2ea0efd9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dbeca3f4afc37b9353032713f2e9acdd6e5cc8921a7dc5ce541262e07537fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfa688f2379686a486f246b620e3a29d9d737b89656e71275d8b51815b647dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.57 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6083, -0.3771, -0.0223, -0.0315, 0.9986, -0.0158, 0.7898, 0.6037, -0.3851, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.183 left_yaw=-0.0005 left_pitch=0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2938 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.3744, 9.6752, 1.7851, -0.022, 0.1636, -0.1587, -0.9368, -1.2103, 10.4547, 1.8095, -0.1294, 0.1343, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2001, 1.6341, 0.6476, 0.3641, -0.1921, -0.1562, 0.9983, -0.0193, 0.7845, 0.5842, -0.4007, -0.0238, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.0469 left_z=0.0624 left_yaw=0.0294 left_pitch=-0.0477 left_roll=-0.0024 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1692 right_yaw=0.0099 right_pitch=-0.0304 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.8462, 6.4889, 1.6532, 0.0122, 0.3053, -0.022, -0.0615, -1.853, 6.7624, 1.9853, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.8145, 0.7052, 0.5697, -0.1719, -0.1577, 0.9983, -0.0193, 0.7712, 0.5549, -0.3893, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.0506 left_z=0.0503 left_yaw=0.0283 left_pitch=0.0307 left_roll=-0.0327 left_gripper=0.9983 right_x=0.2859 right_y=0.0024 right_z=0.1618 right_yaw=0.0104 right_pitch=-0.0349 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.6803, 4.6017, 1.0134, -0.188, 0.1783, -0.0171, -0.3077, -1.853, 7.1043, 1.9365, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799292a76e152c0f6ced7c7d2298eed65216a7a10ffd8e91e33370e2ea0efd9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dbeca3f4afc37b9353032713f2e9acdd6e5cc8921a7dc5ce541262e07537fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfa688f2379686a486f246b620e3a29d9d737b89656e71275d8b51815b647dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzj4zbfA14Ox80BNvtFLEdVN3CeYg6LhoYXaaCsbATCxZXTNdgndgACGTdcIMfRuBzeX2zLfSqKGFa0shO8FMn-QABYBYfh38wMXvdNxP9_-5pA1p_PCZfJlUtHP8NZefk3YJBvQqQbEzjnRU-I_Se6qObMZYKDmTVVzDFkoJh5FWOeEROuo6be9FGAAv7YHrODQC3o156EkMNvGvApvzVAYH2WT9Dn1-S9cuscq7GorXgmkL1aVp0ATTn03zMRzgavspti5rdINgMPZZwPhHv4zE8BP5QfvBD4iRBrNw2noYXqx4jA6OBN1MWgjzxfJ9iUh9ImT7IK_0ZN01LlJFnIYjWS74tatN5VAWpiiFVSDdaeVtzSbsKDd-d_N0UwjO8_gNZuhxaUX0RnMGoZ_b3Iecdp-hFG3BWKxGmi_n0s20WwtlQ8Qlha5x1Ybiu2oKAWiwFGUTq-cTHYImHe8NcRxgjwqxLWK1TqWNOrbSvtLh4QtBTy9sp_rSWC_lnIkZcJ-_IaOJAS33NTfiplgJjpRTTW7aluRrH-xijm62uQGa2gVoEk9ebJWzM7ChbvpGdg0N1YHpuF1LvXccb95S5C2IeDNVauQOvzSLKGLrLKXbPnstAectmifFEjunxyWMz48DhjubUtfJ9wik88ikGqAHWbDzvlow6RT_Zz44FOOe0DJPWSIy4dTdhtSz6JRNdT46emPJN3mw0eP7vwsQYcI-MKXiXqgiCnr_8ecfLRLCYq6ArbbnfUSwbPSNgOGrJtizUwR2aWFPG37UIayxw0A5YROj8YLDBalJ_dV9wOwfxSI2UwPBS_OM5pTgqXi4JPT9vwsfzZGcEBHubBG7-jTz7lDLi3hAcIkF2jMvJGicY9vM57sa8QF3bvlxz04Gil4ubLRSDamXq_VHgKNf3Z-Gc0Vhb3CnIXFE6nH7_OhKZ8vef5XHqKlsqHe0VI3q0XSzgRTs9fcvSY7aeDYrveFK0Qq_RUfRhbbPNT9UMMvYTUSEB5t6549PKnZXa3LoM-aH_Y7e15MkizV8R3n-bo0L5ueHvyuXlxRrYV-zqu7XuOAStf4h_OzdhE_w9hf8vk6F8IsfXvKmJUl9jo53p7J-JDzC8yaz0kNRBprPZMLGEuDuRj1xKs63e0EgyBge5nfq70yV4IIIBbOpqBVomBGO22e9mxVfVbuhrJvliG9unNKBbtGgLLX18-96Dfx9iwBQEoSXAo9QfeZWy17k0jV_tUh9U9XBdEB5t7EDplhWmlAP_mKZ8wptzqh7wmz9TiAAc3ixNevwYnOllmYYYmFWlyrSQxX7zkjJws28g2Mubgo4GDKwRat8sTSJmZPO_LyFwVhM0Lwc3qAqKKiU20eqDFvugiX2MOzr0YAjiBNrHOCujqK64OoziyeZcOZhfzQjozACBn5yn2VutxMrcWJPcErEMn8wqQvHfXKSdkqKLhjqxnfdAKQnLpYT-wyIjo",
  "id": "rs_0ff88975d1b74a01016ab41ce24dc887d0be7b526b0a1c702b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.025},\"note\":\"The cap is centered laterally but is still in front of the grasp point in the wrist image. I’m advancing to put the open jaws around the narrow cap, with the fingertips just above the table.\"}",
  "call_id": "call_RTA6KrPs9LU1t2JZk7GDG2IO",
  "id": "fc_0ff88975d1b74a01016ab41ce2fd2487d0a149a076bd026f28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RTA6KrPs9LU1t2JZk7GDG2IO",
  "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]: [-0.1814, 1.9511, 0.841, 0.5995, -0.1696, -0.1581, 0.9983, -0.0193, 0.7559, 0.5236, -0.3759, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4918 left_y=-0.0562 left_z=0.0452 left_yaw=0.0303 left_pitch=0.0587 left_roll=-0.0402 left_gripper=0.9983 right_x=0.2828 right_y=0.0024 right_z=0.1543 right_yaw=0.0119 right_pitch=-0.0376 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.8957, -7.5145, 5.053, 1.2967, -0.1734, 0.2173, -0.0171, -0.4308, -1.8667, 6.9812, 2.0147, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d941f8b341b125f119995125d5f69f188593c3e28e6b39a2b154af53236d28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cb11bf4af76bbc12155ca41f51999c317ce34d1c3950eab0a144b56c50e868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48a62a6950059fd083db4514556de95bfa91d1b8b823e1b448212cad8848f4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.278 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3893, 1.4593, 0.7437, 0.0338, -0.3134, -0.2352, 0.9984, -0.0193, 0.7921, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.392 left_y=-0.0981 left_z=0.109 left_yaw=-0.0154 left_pitch=-0.0817 left_roll=0.0216 left_gripper=0.9984 right_x=0.2913 right_y=0.0021 right_z=0.1752 right_yaw=0.0075 right_pitch=-0.0224 right_roll=0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5983, 8.7179, 1.7656, -0.2418, 0.1636, -0.0366, 0.0752, -1.4017, 6.9812, 1.8828, 0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.8145, 0.7052, 0.5697, -0.1719, -0.1577, 0.9983, -0.0193, 0.7712, 0.5549, -0.3893, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.0506 left_z=0.0503 left_yaw=0.0283 left_pitch=0.0307 left_roll=-0.0327 left_gripper=0.9983 right_x=0.2859 right_y=0.0024 right_z=0.1618 right_yaw=0.0104 right_pitch=-0.0349 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.6803, 4.6017, 1.0134, -0.188, 0.1783, -0.0171, -0.3077, -1.853, 7.1043, 1.9365, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1814, 1.9511, 0.841, 0.5995, -0.1696, -0.1581, 0.9983, -0.0193, 0.7559, 0.5236, -0.3759, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4918 left_y=-0.0562 left_z=0.0452 left_yaw=0.0303 left_pitch=0.0587 left_roll=-0.0402 left_gripper=0.9983 right_x=0.2828 right_y=0.0024 right_z=0.1543 right_yaw=0.0119 right_pitch=-0.0376 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.8957, -7.5145, 5.053, 1.2967, -0.1734, 0.2173, -0.0171, -0.4308, -1.8667, 6.9812, 2.0147, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d941f8b341b125f119995125d5f69f188593c3e28e6b39a2b154af53236d28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cb11bf4af76bbc12155ca41f51999c317ce34d1c3950eab0a144b56c50e868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48a62a6950059fd083db4514556de95bfa91d1b8b823e1b448212cad8848f4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzni95Tro-0zDUIUjnmiDKsSPRBlQlBCARF9T1p615GhjQal-bk36zh2jdnB6dc0fEzehfa0v7xgMjsTdqA3Vr3PZKnSJyKbdmmCgd8UYbznnyPgn_LQ-QBVaaEoZtevXsiDx2HsFeFykoT3_RRFvguymeZtNY0dIE5ojpzsVbVahLxPgamYSjs11geDJHE1p0DO8ovhAmxZNAZxdIOvTgXOOJlzvVTCs6OLZ_03QlEi6xK_w2aWZ1hCMa7Hm8g9w46Xee0Cxt2c6t-I3oNiKzOEHoNO1npNi9VNU2fK8zmiu4gZ8wUloGBZYjh3aIFcVzM7TLzyWgATfPLzeiShhJNT_Rrtqp6lcqFqASKgu-p2mcHYENgW-9v-Z4oT4zCkIUJ45Q47HnJ4hZd3hwyBdyaTcJ76F_i1V6U2rOWFRLwCAWiYFi5KV7Ym6G_AzHSn23TUjpLt8tE3R8nnhNzlsATOM61D1CBflVVzNlXQZlJvv-afTCTS62D6IGIWVAr5nXh2UVYHxgU6NLlvXx-7bcP6s6bxc3ugs6dml13PcrMkM7poZyK50_7_qDx2JxY3Ic53KVaXeg0-CYdRNusJ6-ZtQHj3bct_gG-7_oI_M2KQojYyuk0sM8piS-otpJ0Rp6Vy22T7ktpQ7V_iN4U6Y1p_RJbFc5KX_WW2IFCQoaX_ebO7dg6oB5ENff9vgHkpgHvK7rX_Fak_71THcCAfUgW2lEVkd7fFQ5wbhhGXiDunL8kEMBN1T8i7BnSJOuTLFYKF_p3ZwSxTePeGc3w2nhtxxbcZ_hnCR00tqutqw2lpWoeo4OU4MK1eSd6PW97sX93t8PS_64ARJWc28ASVAA-PHWvSmB2Lv-qtZpPTOqmSnB-ucpGxvtskNneVxJ7mOnmx9WfsIcToZ60hyVAatwkSQYSe1f1_DrXeW6xEY5G9wYPjxwnkUyUwATgsp2o7oAJCOURvBqj5ELGS7g-1u0TDDdW31ailVAiHjSOZ-2XXajQjUac3l4HA090eRznnwN_nzMWjdOwbSA1s_iZbAKgab_MA2YNOnXijCeZasMVzpDhhGX92KjdCPW85ndRv9uvUWkUDDmwHXh4TtlwZhYx0AeeTIR9KZsJ0K_Dxddd5ytegF8983YX7amDKKNlmPwEOkoWxx2ZI73TjzxWVuTjtnGU5fsuk_hD8yyZmWI90xiaKIicg-084Uw86yGTcBc6jwUvHemiHGv0hJUfCfSVKI_8cmI37n5Rer16-O2eA9LfxlZPcRdy0bnX8DT853W0nmzT3ihPpQ1VTuMC3wSznd2-oHOkxlZPd1D2Nmcl1UrQbAqM6__5WuTbaPwheZtKt-fbNFPIemyoHPOazmc75dyp7ZgjDkZwmpG5Ua0rPtjKPm_QSoUPh0GgeYvlMk_CpMp-xOPX2bXuhdFlYeW3qPJp0UxF9gVxJzkAG56FKsOrVjlUHugBNT8knfkjzUOrI_ZzCD24qMFiwdS9JGeaEMNtKBe2m7Ci8rRPIHsmPklgOeGejLFhOFCDr2PKCJ6G3sB8KOJyMK9_H7FKZhyg9WFyflx2z65SrUpDiPTqbtunkhm_WaPrY_l6ld8ko1yNSmc_xSEWsO_eS1EjsXUq7SdQIxR5AwPwWsY1mUbvWMvYjtjedvq01c0zYpsI5iBUmDmZ3LrL24qbmd-1DRvhbhAKQkP8ErZC_ViS-eqtMHFOat0dxY2NWtm05DQwVJ5wSt-tdl4aRwzildiu61asNMIvIKd0T2h1o9xOmie4_A72EuLLY6G_6JGNlLOAKWlY4QOeRtMejJyvSWQdowHngkbvJEThTi8MVAFXfe1RBWITKkb5WpzYyKmtYKhLHnKuH3tH-uo9qCXjBhTC4TfKiTnd4dl49P5RziqzRf_KgFrVZzQlwXGDlF-sc6DPMrcpn7mee13lHhmkCv4X05I3zOUKE8CVmkBd4WFtVokYvAIIG5dDc5_ZIwzPIvnlYKUPeZHb3RPjCxSfry4cIjEJD2s767Bp19mr2uHyyMCZvoyJUPDQ_qY9WdDWVZy2cnJhBK8ZlqGed_Vb6Rraj-nXCizWColWAb-g0YwOV3rXyt6RO2MBC6R9pn0it0Ye0mS67Q6bEo7-6fJ-GJIZPAKqY-g6ZAebYk6FIRmi7sxrXFXlh3LkY-kqkP9hxSL0cqnk_uTuWBUWPfp45zEyRGNOhg==",
  "id": "rs_0ff88975d1b74a01016ab41ce5029487d086f4ebff5b5f8a21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_y\":-0.033,\"left_z\":0.012},\"note\":\"The left cap has reached the bottom of the wrist view, close to the jaws, but it sits a little left of center. I’m making a small lateral correction and lowering gently to grip the cap rather than the wide bottle body.\"}",
  "call_id": "call_HhfbB9OaLpm3N0VqymfArAUa",
  "id": "fc_0ff88975d1b74a01016ab41ce6a70c87d088969fbfa078eb0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HhfbB9OaLpm3N0VqymfArAUa",
  "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]: [-0.1787, 1.9629, 0.8597, 0.6048, -0.1726, -0.157, 0.9982, -0.0193, 0.7376, 0.4885, -0.3595, -0.0261, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0554 left_z=0.0478 left_yaw=0.0351 left_pitch=0.071 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2795 right_y=0.0028 right_z=0.1464 right_yaw=0.0135 right_pitch=-0.038 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 5.1761, 1.3358, -0.1587, 0.232, -0.0171, -0.294, -1.1829, 7.1316, 1.9267, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ca826da37f12872bbd1df32fe2f328c529798295efa923682c18463ed95105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0db7eae7907a606f2f760a6efdf7dbb44a0183e76d1ee1ec9967465463a7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec138fe5d68b501859982a2bba19872b0c1cc67baa6bd6646ba0e8816710d44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 5.954 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2001, 1.6341, 0.6476, 0.3641, -0.1921, -0.1562, 0.9983, -0.0193, 0.7845, 0.5842, -0.4007, -0.0238, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.0469 left_z=0.0624 left_yaw=0.0294 left_pitch=-0.0477 left_roll=-0.0024 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1692 right_yaw=0.0099 right_pitch=-0.0304 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.8462, 6.4889, 1.6532, 0.0122, 0.3053, -0.022, -0.0615, -1.853, 6.7624, 1.9853, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1814, 1.9511, 0.841, 0.5995, -0.1696, -0.1581, 0.9983, -0.0193, 0.7559, 0.5236, -0.3759, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4918 left_y=-0.0562 left_z=0.0452 left_yaw=0.0303 left_pitch=0.0587 left_roll=-0.0402 left_gripper=0.9983 right_x=0.2828 right_y=0.0024 right_z=0.1543 right_yaw=0.0119 right_pitch=-0.0376 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.8957, -7.5145, 5.053, 1.2967, -0.1734, 0.2173, -0.0171, -0.4308, -1.8667, 6.9812, 2.0147, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1787, 1.9629, 0.8597, 0.6048, -0.1726, -0.157, 0.9982, -0.0193, 0.7376, 0.4885, -0.3595, -0.0261, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0554 left_z=0.0478 left_yaw=0.0351 left_pitch=0.071 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2795 right_y=0.0028 right_z=0.1464 right_yaw=0.0135 right_pitch=-0.038 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 5.1761, 1.3358, -0.1587, 0.232, -0.0171, -0.294, -1.1829, 7.1316, 1.9267, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ca826da37f12872bbd1df32fe2f328c529798295efa923682c18463ed95105",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0db7eae7907a606f2f760a6efdf7dbb44a0183e76d1ee1ec9967465463a7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec138fe5d68b501859982a2bba19872b0c1cc67baa6bd6646ba0e8816710d44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzpDFfwr2YmO9mVR09zTnmvbo-BJznJybQQDkytv5RwU0mothbFcChPSxBvwhk6KQbK9F_y1PN1cMFxcid0I93eGYhgym1M-5OuTrfauSs3k48HsEVi53aBaBjIr87GeWcgc7oMR6v56PeAPI67-OvSMlJPyhgUiqtdZ_CMqaoz4MYFEl0R-ri5Jq1tJ7LQgxUUF3LeuD5Jz4s-C_9N6qciqQP7asEQK4gm_27oWhhUYgvlgNWSZM30jp4hHBAav6L68z_niS_8BO3Wb-gtXu9EYzKyHUNaitpGtFkcjDboHt0Hzeath1MC457a3vHQHvOIaWkwmFMFZstxKL0adAz_ErSSWKE7eFTogZtJQFYlHPQ1CZSxkZjyCAvOoT0GegOeHNaQ0oAid0fUEiUXkbTtu06kdDMHB9EvjW9OXshDTwEXuTIJCUnNOVBnWwLhnZaC8Gxz7nOgJRH47hvwfEYTxqIQ8gCNe6s-nC-YaKxGmVGIQRaKjSGLuYrP10JgtsQ7gJ5NNFMWRy02CXikIHi8iL7DdPiHY6vNjVgsJRXpIBPAhkHj8xzXZHMHpKwpvMadd3bUapoHFUhO749R1HmfbQUWxA2zVkQnLaPP0D_icGUFs8bz95c_m-DUbvKNFtRqjG5tQkJNB5WRWwj-TVCjvwYIjbdttPwxWBuGNhcoKGxLRv5jli2W7xMf8DQQwIRUiJms-3jNDl4uvYRv3ZPpe1aK3hvfdRjNunY1DB5qIZq4aJb4nUK_3zW7EOpTiJLEsE1ZT5NdoJSLbpoIxGlzOPlqOQCmrmDvitjTqKqt5bQf3w2gJc2pdZtdSht5XDmNcMqb5o8ur3jVVuSyc1ICS9ZEmVd3nwtEFCCrYIL-VqdUJIC5r5iEvRZe7mmYfEQYhATwXZ0IjkLt2WqxXTgDu5ZVU9lcly_sOpImEwQJLZLFFxCalfjWnIcPDs4goozz0bkxfMEloPJmcvKStDndhOiVMygzo_Hs0RNHdtPsOPtrd_9RCF7jzr5JkJc9q7qZaCDb0ALeDMLdsCZjr0AzqUfTG5qAGxf1gTa_Gmv40uMOE52WvKIKCSPNyNNo5XU9w9zSFlG-ciLaAYzoqRLjxyvMFSok32usd3rd80H6oUJFVM9CaNCVx2ovld9qkI6zsyixl7Wdg27XTUOOmylwDVpMLAcHPO-fljPvAMjveCb1E7ZDhPS45mTnWyx8SBNamHLKir4hQavkCM3kjeV1co6-cKO-bEUihE8LnLtdGsHz36QneKfBrke8O5McB-BHIBMrk9leCQbKkQ_i5HMNy6bWr7EAnUvyQsAb5z2-gIkMtjHG4oiy_8vfAprRz9jsqzzo9wKmDsy67aXyM_XJxQ==",
  "id": "rs_0ff88975d1b74a01016ab41ce8dc9487d0982801b9d61f8020",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are over the left bottle’s narrow neck, and the attempted small descent did not move farther, suggesting contact or a reach limit. I’m closing the jaws now and will check the settled width before trying to lift.\"}",
  "call_id": "call_5d4IOvpFh2xQaEkGxBi8K0FA",
  "id": "fc_0ff88975d1b74a01016ab41ce9237087d0b573503f448f2ffe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5d4IOvpFh2xQaEkGxBi8K0FA",
  "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]: [-0.1822, 1.9572, 0.9112, 0.5392, -0.1913, -0.1574, 0.011, -0.0193, 0.7174, 0.4534, -0.3428, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5056 left_y=-0.0553 left_z=0.0566 left_yaw=0.0475 left_pitch=0.0648 left_roll=-0.0301 left_gripper=0.011 right_x=0.2761 right_y=0.0033 right_z=0.1391 right_yaw=0.0154 right_pitch=-0.036 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.8239, 6.5436, 1.199, -0.022, 0.2027, 0.9158, -0.3761, -1.4838, 6.8855, 1.9609, -0.0806, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c08ecb798c26f454f963be65f143f0118bc11dd11fbdbf79d23791492eb822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e66f7284672c40c513dc34281e02aefb669916fee309e3ac26eaa4e219c4fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5e8c68e3fa8bef4e76b2b4595986cfc5c8e0b7447bbb32a88ad024d7b4cc08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.784 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1848, 1.8145, 0.7052, 0.5697, -0.1719, -0.1577, 0.9983, -0.0193, 0.7712, 0.5549, -0.3893, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.0506 left_z=0.0503 left_yaw=0.0283 left_pitch=0.0307 left_roll=-0.0327 left_gripper=0.9983 right_x=0.2859 right_y=0.0024 right_z=0.1618 right_yaw=0.0104 right_pitch=-0.0349 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.6803, 4.6017, 1.0134, -0.188, 0.1783, -0.0171, -0.3077, -1.853, 7.1043, 1.9365, -0.0708, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1787, 1.9629, 0.8597, 0.6048, -0.1726, -0.157, 0.9982, -0.0193, 0.7376, 0.4885, -0.3595, -0.0261, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0554 left_z=0.0478 left_yaw=0.0351 left_pitch=0.071 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2795 right_y=0.0028 right_z=0.1464 right_yaw=0.0135 right_pitch=-0.038 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 5.1761, 1.3358, -0.1587, 0.232, -0.0171, -0.294, -1.1829, 7.1316, 1.9267, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1822, 1.9572, 0.9112, 0.5392, -0.1913, -0.1574, 0.011, -0.0193, 0.7174, 0.4534, -0.3428, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5056 left_y=-0.0553 left_z=0.0566 left_yaw=0.0475 left_pitch=0.0648 left_roll=-0.0301 left_gripper=0.011 right_x=0.2761 right_y=0.0033 right_z=0.1391 right_yaw=0.0154 right_pitch=-0.036 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.8239, 6.5436, 1.199, -0.022, 0.2027, 0.9158, -0.3761, -1.4838, 6.8855, 1.9609, -0.0806, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c08ecb798c26f454f963be65f143f0118bc11dd11fbdbf79d23791492eb822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e66f7284672c40c513dc34281e02aefb669916fee309e3ac26eaa4e219c4fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5e8c68e3fa8bef4e76b2b4595986cfc5c8e0b7447bbb32a88ad024d7b4cc08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzw0C4jIEI-8PhsPCq8-lIE4kH2Dnhi6JR8PB0EbBJw76MFrqhmSkRVEGBc6PuCgK5DIYIYuRg_Z1M5xq4G5iX9bs5XLRBxoQoDIDqCLa71MZOF4yxlv2G5g0CyvYxSHuCpYqQjGzfV1CVz84XdClHWrSxaIfqVk0OI6PK6Mx9yFAmLPAFiGvyd3p5FRJjCq3_7f0InuuGLU1uVGcBezOW76MJ1O8C5d7kn-W59C3225YrC9rPPccx7jjDbpNHEUAEJxJkcTSZaLwvvz64cCBfESS4FGD7mjIaigpvErNxJlAKLXlIsOcBW51qSDso3VIz8BHL3BhKyvdqLemrOBTZ8Z0vcNUzNePiJF8NJhI40D7GtozmnXDgVjlDSBTZqn7kZwXr7fsDbNx9TsPhe27WLoQ9FJu4KKP3GVQJcCnlnPabBxSLRjfMFDo0jtJcvAMyJASPdYR--2jbzp2FH2WjuNSHPjrlnW0Pm2IZtdV3R_uUemtiHM-4k6aV7py4s8n0SR79IjsL_98oNkFmmvOdOYeG8V1zdlBbRBoqsL1r265amefhBGRdyoTERVfm524saNpJe53_ZffwS_8eCV0Scs07Oaj2k4p0kpfvnVvIvEvJZ-o8omKhZ5sWwTKn7JFzOMiVaWEQUoyH55fVIlclusT_AsiUCYoR8gHtRwsxWBj0rv68-sUzbRYEgKrafPUCFHXwUQ987g0ajR3yA9QwrJJ4Tp7isnFgJQBaDou6JdVlWRgTOjS65KjJvpZ3LgsZ1Xr62EGw6f24t2JajwxvmEfziR5ZRCpFKGGFqZmrL2bfQvuHGSXCeN_ebjh4mgX5bVXsB0g2nLnQnI7JhPawiYhHe6JeUE20_JBsh9OgtlqrJbuK9ihL8ZLsP-MdMV_EVAORYS_8PXEWDKefWRnwE6lmrJbQD9i-Ei8bl-HubW3G4VpT58oMjizqWF0ptStmed6PBrGPrZX_0h6NO-GCSdig8vTesW68DIQj1RkzM-FevqBe143MSWHezAprs5qpnEqL0oEBJUUxm5u0-Kg75RC5gDk9CeyHJSVRF8bJ3ny9QR7RIc3Qj2hagpNl_a3GRevWfUbNNFzQAwqgD8wN5OO0apoUUbYbrd0Eivgzx4_uyh7argsncTFJXZDu-MyWhCnlp7mo9k1YZuaIbWo5rIjesg2iqcLy0lxG700QcYtN5gFSbfPj1I0Un8wAAFh-ePwgk9Erh7N8-AFt4R3W8X0nWop-Jg7CxT7sRzGvDwyp9AXU61KU_sLZksJvdhAW-W1xDAgeVe2MGdXDPIaeHSD1xNsEkklsLPdEg8LqdlsWUMhTcoteIx6pofVPdlQKUsD5WmNC1TILeFb65hLEyjHLVlAyFwKAmq-L8CTUjpFW05hdUmRN_DHnoAdjxKReiLFP-qilvopcfd18u5u_TN3ArtGmPq6tLxYhzmXqpPhWglGL124gvC8G48W7ugf5jmltu4zlzoqgDYY3CnlhfGe1ZJ1j3OCYAEwcQBEDhu1XM7nXLqnGFWclO8lNJcNlN0GYwlDTY9HvlKAzBi7UGFcXCztAzOjNPYFU9siTXLAjEibIFxkVPa0OpODobfRsz8r3qYVZS0R-083EtM-M1InYn0dZ65s16LruAiJsKWJmMnnXM5obHOUEHm6mVX3yIJ6fHnCcMXX4KWWB_U2-beStzNlSyxJbN0cMTQcqK30EG7U8Agt-30rKqhgO8FE7Q1No6v_GnPUUfl7PCOT1n9np-wO86SojVitNqeh-VVIC1tpkwbw7ZtmvblgJZKoHkpvXlWopLIGM7JkS-1jMubLXyQ2_fRjaB6XWxUjG6MC4L3zhXBp9x--s-flOGlDQaXArvuAqDxGbOaUmFY_4smIakAGa0JZ-JwSprJZgS3Pu51oOz2l5gIB6jX3IdjDshZA4YB4kiRv9_oXNRYTjsrWX4_z4a2mwN5Ur6sAZ6BFhtRElXLDuLrDe05GGF30xG6YgfS0uWMgxlXYdQwssjJTQd_TdNN2pnvr3dlNp79I9kP9UmYz4SwTlHl8tnW2z4WMjt2VY-eIgLqFjZDMCLYGloKwU-RRgv5fuekcFloG6thRKXXIG_5dNZqWXFxkY3R5OEolqWJV0KfYVISVUxObBqmsD9McFiVeoyzpreDbqPsfP7sPr3WF4kqi9zeSTszqiSXE2g30cInEzzTzb7HPsQllf-rBqQLEUoI6TwJgxDXbEe0z9ZTV9gSsbKNF0oSJS-1O3Xb_wk3Zl--uFxwKy2SRDtsrQszg1S848sOWTMu152T1xh_mzPENNZDkeKTWrEHAGtbmi-UcJgDSfUxcRxua5ysqZ_VLzNAztaTSgR5wT2xAinwzsbM6xI8j5kJIDuoy4GiWffdA2dID0cyGS3QDMU_hbPNVMZCETrdXFF6S38n7c7TPcYgaIWRKpbnZrRnPAWAR95OjcVwRRGOXfssMju_eMqFj7rEq6vgI3Li4Lnm2JvsPP34AgUIp2BKkLuH_EjOF1wEFdO0YbEbw==",
  "id": "rs_0ff88975d1b74a01016ab41ced130487d09d0e060866c36c73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.462,\"left_y\":-0.024,\"left_z\":0.09},\"note\":\"The closed gripper reads essentially zero width, so it missed the left bottle. I’m reopening and backing off slightly to recover room for a lateral correction before another attempt.\"}",
  "call_id": "call_8fgfEH6bmy9PKfkDLvonyxhO",
  "id": "fc_0ff88975d1b74a01016ab41cf0579487d0aa219e0c8db7ca3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8fgfEH6bmy9PKfkDLvonyxhO",
  "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]: [-0.1219, 1.7382, 0.8188, 0.3309, -0.1604, -0.128, 0.9944, -0.0193, 0.6979, 0.4198, -0.3244, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.0248 left_z=0.0783 left_yaw=0.0657 left_pitch=-0.0183 left_roll=-0.0037 left_gripper=0.9944 right_x=0.2733 right_y=0.0037 right_z=0.1325 right_yaw=0.017 right_pitch=-0.0318 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -10.0855, 5.9419, 1.6874, 0.0855, 0.1832, -0.1832, -0.4308, -1.1282, 6.9265, 1.9414, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6f50c70f8f222b7b936ca4fc52368956ece483db8dc31c33cee6f80e237efe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07aa0cec65d15251259d017ea80c884d810c0b8c2dfe74cedc04069848752e55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58cb5ea877b5e270414481f4ffed26e09a21e0aaf172c88ef74b502d8ac4b6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.139 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1814, 1.9511, 0.841, 0.5995, -0.1696, -0.1581, 0.9983, -0.0193, 0.7559, 0.5236, -0.3759, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4918 left_y=-0.0562 left_z=0.0452 left_yaw=0.0303 left_pitch=0.0587 left_roll=-0.0402 left_gripper=0.9983 right_x=0.2828 right_y=0.0024 right_z=0.1543 right_yaw=0.0119 right_pitch=-0.0376 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.8957, -7.5145, 5.053, 1.2967, -0.1734, 0.2173, -0.0171, -0.4308, -1.8667, 6.9812, 2.0147, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1822, 1.9572, 0.9112, 0.5392, -0.1913, -0.1574, 0.011, -0.0193, 0.7174, 0.4534, -0.3428, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5056 left_y=-0.0553 left_z=0.0566 left_yaw=0.0475 left_pitch=0.0648 left_roll=-0.0301 left_gripper=0.011 right_x=0.2761 right_y=0.0033 right_z=0.1391 right_yaw=0.0154 right_pitch=-0.036 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.8239, 6.5436, 1.199, -0.022, 0.2027, 0.9158, -0.3761, -1.4838, 6.8855, 1.9609, -0.0806, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1219, 1.7382, 0.8188, 0.3309, -0.1604, -0.128, 0.9944, -0.0193, 0.6979, 0.4198, -0.3244, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.0248 left_z=0.0783 left_yaw=0.0657 left_pitch=-0.0183 left_roll=-0.0037 left_gripper=0.9944 right_x=0.2733 right_y=0.0037 right_z=0.1325 right_yaw=0.017 right_pitch=-0.0318 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -10.0855, 5.9419, 1.6874, 0.0855, 0.1832, -0.1832, -0.4308, -1.1282, 6.9265, 1.9414, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6f50c70f8f222b7b936ca4fc52368956ece483db8dc31c33cee6f80e237efe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07aa0cec65d15251259d017ea80c884d810c0b8c2dfe74cedc04069848752e55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58cb5ea877b5e270414481f4ffed26e09a21e0aaf172c88ef74b502d8ac4b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBz1x9fnstch2WbqdJvNhqYFKzPHmAesYdvxJIW6ql0ZjGVnCvzxpgqHA5fDufrIPYGcUPQCUUizpYwes2uDowd15FVdT4HsXS3RyB55HGelvwFjmW4yRdYwEMykNudW84lpN2KhbimM1aBMf4y70QLZvBYKnV8_1QT-rWsz08DSId4BT6V51-gMaVmjdZf6G_iQBJQiaTXtQ4Ji-hOQG5zq64KFYO3ggtEyXnqgFUJeHkdP2QXz5q6x9MfbXhTQyQmpQKoEz1wdiJ_A0ZKl9oQIjapk45dLYgts8DWlqdW9b14JEdCPt1fKDnmAc0WNRThw2rBp_5pVwhg0Kb_6kjLQtSZF7QbgfRD6byN-DbSnBKgtBY943MRosOmonPPejRcGbYVLhf66cdk12YCLF-QUxYbpXkX1xX5_y9P4GyqGRbmTPjeeKRsgrEU1wxytTCbmRcEeOToR9HfNkOTzwffOnvYqy-bFBYIBPvH5ahI8rj8XyrWdaObrDmzA0ifzDv-yS1dlSm_AXKmFzRU4ghhbEJBhr-3rd95OElrzqI_M4-n7awTS_Bo2HPxvKv-25UGJ7p38VKKklgGV6KqFwBvybcDgh2emICjV3N1nVCyiyIW0AFjUxkQYiBudJwkuJwSqo_mI1aoZNBhl-lcvYv5dP3p64vAen3QTZaLxWvnx1HwfZIkrM6BWVVW8fOgo5xTBHaa84Tiy7GH24JZv8rur68awxHnHtkI7qd9_y0kvYGMaoHZ9BpW2qDieyDi5JpSsDQy6qGxLVScTstK2h-8ooP2OmO9NsRVTGlaXfx16kTbaRaFrIdDtDHAHokKBv5ZPHVj17ZMBpp6SB92RAzYJbf6-3fUqsSC0kXQ_DX-R4YGApF9RTYxFPSew_C7AwCJhGcRwnUe9GbRQceJlX5rObMEdSunyImDxEPfmz-T4dzi5psuNUClqDVkwBtXTC35tWiVo_duTEv27j2HVk4nEBAwjzVNaTjrlyUMB6yU0jGUXLM-6hCj7O7D5OMas-51IKpUOK5p6M-7QyCLBVAHYZqiukh-MZ2FhJMhtwWi9XVx4pHgxYTgtJ5u8rz8GEydt37cRruIwowhwFt3G7f-oR16VJyFO8QXk0bbPSJ-P7_1pGfAdF8xhO7CVvM_N5ioP_QRY84_Im1RoUpTk0MqyrKb-7uqQP_FyN2zBydCQ6Srcqdmb0nBA82NLVkIeRVNhPiNqKKDfaoD7Jhqs3wB9lnuE_Xu-F7HjYAlG7zNsxp_6O-zhDAu7tiZoRlJwnixhAHfWeRHAeWe7cXHyVWsjulleXZ63uJC3Z6mK45XBbME-KD7c9mNKxQHVegn0xXbz70o5OdK-H4_SA9-hLfWN_bNi3MYCQNf6hb65C0uC55fHVhqaw5VJMLKyTv5H8d0dYFohEabBYwRIBhrdGIUSeayf32hT77tkUasbJMdMK5tgqvKg2VNnDKZI3Yy1wHfkyMKq6Uywx1Emu4VPPqRCSr1WWigpymEAsLHhC372gcQ9qEFCgtGxowbRT8OuuDLeOlGkSya9wLIeZVG5GLbhlSieX27Q_vw4YE0dlsX6lIS1slNk1632KGGU0zhcdgk3tK27ARX6kgC1KLKyPRbuh_FR-UqRQlVn_iFqY_lumAb5tAT27u3RwyNyWbSDQp-Pq9YyHYM1ydSbhU0Uc5BsnPpqzAGtUs2nntQQtEFy25ymBs2ICdJEvc3j0Dqy7SZZJfs7aZk3YQRv43Dfq02m1wGbkzzvjU6TjuDPBJ8F2RHgVhinsjDfIB8U9K7f7f5jA_yUAObLuGZf88Iw59jXKCFYS4rPkSmvw8JXx5ZkJ7g5aOsY7gv7FY5Ga3scXFBb31KxpimJ4tuhGw2uJNLoG31bN3F0sey27EDmBhGXULFjZWjBSjx6EeB-j2FFzukENEVQjEpbrovNV-brmhuA87QrHM4pN_jZTgVgFwHIRIcSbsBsE-GIOGiSkmRME82mRdM-YxUhGZ8eXYcjpluk34k1IpDXh6b_8s0gMYNGcr6El7xKdw3vH_il1S5sEH8cysb5-jlT2dnafIqR1AIq0eTvZxb2txuWHcSe_CYJFGDqYnD3GqsMcD4L4w3Lp0ZUmNhH4sUGWfl9zsjOmFJ5cWpUvah7c5rAqwpr5-GIi__y9rFJbNSGuqTwrjY_bFeZ",
  "id": "rs_0ff88975d1b74a01016ab41cf2d85c87d0b77291d64266a6dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.459,\"left_y\":-0.024,\"left_z\":0.025},\"note\":\"After backing off, the left cap is centered between the open fingers in the wrist view. I’m lowering at this position to put the jaw tips around its neck without overshooting it again.\"}",
  "call_id": "call_CjzNJkTQ7fHWas63cfXpfZGm",
  "id": "fc_0ff88975d1b74a01016ab41cf4dba887d0856fb2ffe39e5e7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CjzNJkTQ7fHWas63cfXpfZGm",
  "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]: [-0.1238, 1.8549, 0.7433, 0.5922, -0.1566, -0.1474, 0.9955, -0.0193, 0.6796, 0.3916, -0.3134, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.027 left_z=0.0512 left_yaw=0.0711 left_pitch=0.049 left_roll=-0.0354 left_gripper=0.9955 right_x=0.2702 right_y=0.0037 right_z=0.1265 right_yaw=0.017 right_pitch=-0.0306 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.7231, 3.3573, 1.1404, -0.1392, 0.3004, 0.1099, -0.3624, -1.0188, 6.9128, 1.9414, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddce9b9d3200c2e0a24aabe60d86f5846586e8c428025e69458f862bedb3db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1f9c77d97061c566e08301c1c18e93b5e185631a728346a28cb4611e901949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3ab0e1fbf48d61102d78fb9d7618e9155e7f45b7de454cc4b1c870646d2f87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.808 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1787, 1.9629, 0.8597, 0.6048, -0.1726, -0.157, 0.9982, -0.0193, 0.7376, 0.4885, -0.3595, -0.0261, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4975 left_y=-0.0554 left_z=0.0478 left_yaw=0.0351 left_pitch=0.071 left_roll=-0.0404 left_gripper=0.9982 right_x=0.2795 right_y=0.0028 right_z=0.1464 right_yaw=0.0135 right_pitch=-0.038 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 5.1761, 1.3358, -0.1587, 0.232, -0.0171, -0.294, -1.1829, 7.1316, 1.9267, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1219, 1.7382, 0.8188, 0.3309, -0.1604, -0.128, 0.9944, -0.0193, 0.6979, 0.4198, -0.3244, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.0248 left_z=0.0783 left_yaw=0.0657 left_pitch=-0.0183 left_roll=-0.0037 left_gripper=0.9944 right_x=0.2733 right_y=0.0037 right_z=0.1325 right_yaw=0.017 right_pitch=-0.0318 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -10.0855, 5.9419, 1.6874, 0.0855, 0.1832, -0.1832, -0.4308, -1.1282, 6.9265, 1.9414, -0.0415, -0.0513, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 1.8549, 0.7433, 0.5922, -0.1566, -0.1474, 0.9955, -0.0193, 0.6796, 0.3916, -0.3134, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.027 left_z=0.0512 left_yaw=0.0711 left_pitch=0.049 left_roll=-0.0354 left_gripper=0.9955 right_x=0.2702 right_y=0.0037 right_z=0.1265 right_yaw=0.017 right_pitch=-0.0306 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.7231, 3.3573, 1.1404, -0.1392, 0.3004, 0.1099, -0.3624, -1.0188, 6.9128, 1.9414, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddce9b9d3200c2e0a24aabe60d86f5846586e8c428025e69458f862bedb3db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1f9c77d97061c566e08301c1c18e93b5e185631a728346a28cb4611e901949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3ab0e1fbf48d61102d78fb9d7618e9155e7f45b7de454cc4b1c870646d2f87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBz4gtnhCWdjP0xNlwIxPKnhcKp9QmMo4-DQvDliNmmpoUTvA1vy_k_KC4B2mgTk8pIBe-m6sdw7QdclQVFBxnmEgPIltDXmyTcOASfjcglc-4nxuROZls_8RKTmelhvkBQEkX1BVwPZ46ybTlF9X3UUDL4acaBcKxw_lDxLn9_f0jB4TBq-49PHW7SLn_u1BPupO3jWz6VTE506DSxDpR9ad9NWfAbjvQ3Mv7lmYGkA0GKQ_pbf7d4u3w5obSWoPLlVj7zzcDDkLK_fWwIYQ_XRQ_-TM1CM1Fy2AIEzpfO6jepi4biBVXdVSnE_49Vo538nSw-8CsEHMqqMHfFn_L5tmJqh24GvJkuSxCuUA00fYj8zGw4C-tMBCpiq12q4_Yr4swM7c-88QVkbjvhySsI4iaRNnKTIKS0Gt9jwebEbk61rawrAqO5K7P2yzMntj3A45WTBrwZScBI-pPtreqArExWRm06yKRahJ_A5T_fbHwj27SRqX5vnxsg-zgoouAb3xwulm-dApz-Y7iSFKOfmteC1tAaqZ6Lils7VgPKx6kJLrQxsWY3KzbyJZ2YSqyEey7_WydTtOt35h8Jmhqg-PD42tOx31M5c1ElPgOBplayOTbGQ1w2N7PRnC0zuxkvq2Oh3elyehzQfut3gbDkGBGu8BfUCfgMf3zGnaYzhsidH2aJnUecuCBDkLiXuf9BrIj49P9KrRM1M5kVP2v0aPaoTiYtlnwxJSqplZlg9jrVmY4XeFrH-vAy8KOdKBK0vVUDMPEEm7z4gHXeJmxSjzP3uXiyjUTJaH1lbfVmF79vTHFcSWQgvPv9FEBT_tq5qoXtbgUpwvw7DXcdv51OZtd2thJ1OPDxGpNJVEAWHisYiYQFzl4PFgoYt6Jc2RcAfO-u0y-5l58un4-40KT4BUq8BKNkqMSwdcJAl7IcnVqg20YGllZlr8iPo0jWSgu5EaQSkvSVHuJZg5AL4U20zQXNLH3UmmGizqz-7MAQqhOkFDCnE5eOQ2yVpFq73wjJY6Avj8eQDA4PXlj1aynSQd-GliGb1sLXK_MXKFD5Ct6WCfkq0F2sDNLvvQsVxTQaV6JIOnA6sumDpy7jCP5HCsQLfUmowtqTrmoMZj8PTALeGigSob9PrXg09SiJizwxhq8vXfM7hwOUE6Gqxalu1YyPgxkp9mkAY6ADRwpSGXOuxjhyobiXTZHFzQGGeC8Gt0oEE3yYQszl2EDTT-5n0tQxS3E50VpMcLAxsqxgUjkyuf1WtO1EPVSwIEYGhsqZDU1pc7KRbfbLjemkXPzyDxJ3Sm2Se8rlfLE-OkqgDEBGZMGOoEcSigqb-EQYGAaCEXGgC05L1OiwtKwAShrzytg==",
  "id": "rs_0ff88975d1b74a01016ab41cf6e46c87d084ebc1196fc353ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left cap now appears centered between the fingers and much closer to their tips. I’m closing on it and checking whether the jaws stop at the cap’s thickness.\"}",
  "call_id": "call_4KaiLM209hySgJg9lcgz3NOg",
  "id": "fc_0ff88975d1b74a01016ab41cf7537087d09f4817497478451d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4KaiLM209hySgJg9lcgz3NOg",
  "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]: [-0.131, 1.8507, 0.7761, 0.5415, -0.168, -0.1532, 0.0108, -0.0193, 0.6624, 0.3653, -0.2981, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4731 left_y=-0.0289 left_z=0.0549 left_yaw=0.0765 left_pitch=0.0366 left_roll=-0.032 left_gripper=0.0108 right_x=0.2681 right_y=0.0038 right_z=0.1219 right_yaw=0.017 right_pitch=-0.0245 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.5111, 6.065, 1.1648, -0.0366, 0.2418, 0.8913, -0.294, -0.9641, 6.8991, 1.9463, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e766f600fd09b13e81938f0155b93b8d1b5d0df92d7691ee20cdf8c1612a4613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a284a545eee4b5f3c08be470a5a33e7336b3da84c2183b52b89a12ce9e9abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4370a0d5fde31f4339d20e5b3e0baefbc634357c391756555845de609c7ffdd7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.712 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1822, 1.9572, 0.9112, 0.5392, -0.1913, -0.1574, 0.011, -0.0193, 0.7174, 0.4534, -0.3428, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5056 left_y=-0.0553 left_z=0.0566 left_yaw=0.0475 left_pitch=0.0648 left_roll=-0.0301 left_gripper=0.011 right_x=0.2761 right_y=0.0033 right_z=0.1391 right_yaw=0.0154 right_pitch=-0.036 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.8239, 6.5436, 1.199, -0.022, 0.2027, 0.9158, -0.3761, -1.4838, 6.8855, 1.9609, -0.0806, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 1.8549, 0.7433, 0.5922, -0.1566, -0.1474, 0.9955, -0.0193, 0.6796, 0.3916, -0.3134, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.027 left_z=0.0512 left_yaw=0.0711 left_pitch=0.049 left_roll=-0.0354 left_gripper=0.9955 right_x=0.2702 right_y=0.0037 right_z=0.1265 right_yaw=0.017 right_pitch=-0.0306 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.7231, 3.3573, 1.1404, -0.1392, 0.3004, 0.1099, -0.3624, -1.0188, 6.9128, 1.9414, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.131, 1.8507, 0.7761, 0.5415, -0.168, -0.1532, 0.0108, -0.0193, 0.6624, 0.3653, -0.2981, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4731 left_y=-0.0289 left_z=0.0549 left_yaw=0.0765 left_pitch=0.0366 left_roll=-0.032 left_gripper=0.0108 right_x=0.2681 right_y=0.0038 right_z=0.1219 right_yaw=0.017 right_pitch=-0.0245 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.5111, 6.065, 1.1648, -0.0366, 0.2418, 0.8913, -0.294, -0.9641, 6.8991, 1.9463, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e766f600fd09b13e81938f0155b93b8d1b5d0df92d7691ee20cdf8c1612a4613",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a284a545eee4b5f3c08be470a5a33e7336b3da84c2183b52b89a12ce9e9abc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4370a0d5fde31f4339d20e5b3e0baefbc634357c391756555845de609c7ffdd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41cfa0f7c87d0a3e4bed6da79ef43",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0AULcIwfy4zY_rW1VqVvcIMDSMfGCJGbFFQYbK4HP1iM8x0ecWs6LJ1ZY4HHWfdFD07ft4CDk7eKA6OIR5JPUVIb1LjnBX-ZJHS36GvZXsbWAQULYXfoKUD9cvy5GaZktoA8M93cABvRDvaNRIxb9A3dayPaTnWC_l_xG7WRN7GTL9hDgAomKW1CwhQkcPC56E4n9we5wI5YRXslB7EuvMgTpRrX6wrV4Qj3tjyP7uB10TlYVSJPmKeMxsKgbsphdM_aqpRAHFYVRVbeWeZynge0KXoN2Gu4FOBU6OYECquPQLlgC6k1qiU2b5z-tDVNtoFFJ1jpEwY_HfpJSznedtBaKKVD-Ydpn_QkCTOgOCiixDBmmSvH8cdk9gyhpJvszSIEmkcjBvblukAFFXdw4aPXSZkFfSMLB7yklqT5U0z-OwW4xGictjm7ABlP9KCS0fzOr1bYBsZIs75xsVeTCHxulDauP6Y1aflQG5viJ3x9JQPEvtsvNN7dnXwQpiuAB_0W_sif0C0JThX7E0Kpk4PxKVZhil-pQeCrulIgQwm8d8QE8cfqw3_Bv88dI5Elwdfd1Mct0iI4OhcnvkAE08D15tdTSNCBptYmjKSibsztTZKAQ28z0vIVtX6l09mel2YScw5rOVLKOJFL_KpqSCH1NASzsI_pp45MJZsul2sK0k1v_RL-C1JdJ31tBIbY6c3Gw0ZteQUvysThT65GwL9wjKX28WfBUXNXBAIUTy7EQcmaYBeIA0eDQeU8FKZfZ6AZhbm_SApuEFQN1UmKV24XS25RqNR5hXvANmXNZsQB_uJmH1-De6kxCRQgFRKQdIjMeIYvU8xZycMJremp2qsq47IP4OYkTuVu4kvaXPxXPhdEjNI1nozgJB59s4Mg40Wp9u_n482wS8gDmXPcsV9iVk7ZPm2DWf_KjMRimlT-OhgyQhAlc7mmtpZHGIgKLHzu_EUzmX2BdDj-GmTdGRGGx6eM-tg2g6cDlITonTKP5hBQ3XZWDmcoCFurozxFHbHnEfdCCJfJWV4mHOpE-NXn1hZNAieBdtEUixN1bOwhh9f0DAOpWCM9_8E1OiFnKQ3OK_2_ZHlYeSDp4H67QAHG3jZ-KB7bsol03R2bmI4La_jE0B64gCg_kyZOS3pJt1VvI1OWqqgytydfPVNTNY0ZxdHJ-zNBpjodmMdmRERJ1-qP9Ko6bu_ae928GvGTbzHDPbWETl_ho10DBDDpKjazMzYxF9Y9FNXv1XrUsWcKGU5zuoY0D5ZA7kGvQ3W1975Qi1lTbG0MM9wWdFpimjaSRBJ_UTsrrakc_FeuuRDyM9R1SIo3f1QvsASIFd1ZW54FGKUhUgEpPDai5ymo_E2MFYwKKNRm4kBZ59asTHtyOWvrny3mE1e21xufYAK8WdOVP2w7FjNjaJUbfrkJLY98cgZLS0J6laN8URsltRAKEl6amOgoe-_UCNNzn0TnC_w_cFJ1HFUAFxUsMiuNCf5lFVG3hYvNpu45zefagnQyjNsfu5mgDGVyPs4H9asGq841FK-r1fcT39af3cWSxTi6LEXcLhB9vFsX7JQcwB0WDcJ1QS0sp-wljtBVNm16j2MfSrZVI60PMPyEn2Nqc5nWMId5qPkblWVCxu0O_XlO92NMxhkhdznu-dbthESSKYBRJ32e5j9NKlY5mlx8URuzFWj21LOCuvEF0b0fJVeySNAmlyYP1-U8bQDyx23iwqZr74UPchVUVs2i__ujifOwb0GYYrjFr0U-V0PS9y6JdGAeW771S3hCDKeujtJb9dxwm3jssPobTcXds7iwgfJ56LfJ-ggZzg1deiiyKCA6mL9ptw53Dyxn2-Q-ugD_iKhFnf-Glta5iKftJzpCrVwO2ZH_m9kizfQj8ez0ZqgKDVVXNNXZ61GM9IK6eLmCJ38LrAo2Dqj4kqiiToEHkMJpsScqh2PTXxxX6F8xvw6Vs=",
  "id": "rs_0ff88975d1b74a01016ab41cfe5bec87d092fa28ddda333902",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.435,\"left_z\":0.07,\"right_x\":0.295,\"right_z\":0.185},\"note\":\"The second close was also empty and nudged the left bottle, so the neck was not actually in the jaw gap despite looking centered. I’m reopening and retreating to re-measure the shifted bottle, while parking the idle right arm higher.\"}",
  "call_id": "call_H2rzInuEojoJKEYB0XDeRazK",
  "id": "fc_0ff88975d1b74a01016ab41cffd7e887d09a53af7bedf60d9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H2rzInuEojoJKEYB0XDeRazK",
  "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]: [-0.152, 1.7081, 0.6868, 0.4274, -0.1967, -0.157, 0.9947, -0.0193, 0.7937, 0.5793, -0.4049, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.0285 left_z=0.06 left_yaw=0.0815 left_pitch=-0.0192 left_roll=-0.007 left_gripper=0.9947 right_x=0.2881 right_y=0.0035 right_z=0.1637 right_yaw=0.0192 right_pitch=-0.0485 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.9897, 5.2034, 1.6239, -0.1148, 0.0415, -0.188, -0.0752, -0.9231, 10.0855, 1.7851, -0.0366, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3c695d592e69c28456dc591e900ddf577d242f9f8c885d7bb4d8a23c8b42a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d72ed801c4d27658cad2012aac223279ba806ea736822e1c0a723baa2e8011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864b1d10d4254a5feaa532d1e0320d406f3f1bca3d092e9237cc6dfacc33042e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 5.068 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 45 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1219, 1.7382, 0.8188, 0.3309, -0.1604, -0.128, 0.9944, -0.0193, 0.6979, 0.4198, -0.3244, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4642 left_y=-0.0248 left_z=0.0783 left_yaw=0.0657 left_pitch=-0.0183 left_roll=-0.0037 left_gripper=0.9944 right_x=0.2733 right_y=0.0037 right_z=0.1325 right_yaw=0.017 right_pitch=-0.0318 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -10.0855, 5.9419, 1.6874, 0.0855, 0.1832, -0.1832, -0.4308, -1.1282, 6.9265, 1.9414, -0.0415, -0.0513, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.131, 1.8507, 0.7761, 0.5415, -0.168, -0.1532, 0.0108, -0.0193, 0.6624, 0.3653, -0.2981, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4731 left_y=-0.0289 left_z=0.0549 left_yaw=0.0765 left_pitch=0.0366 left_roll=-0.032 left_gripper=0.0108 right_x=0.2681 right_y=0.0038 right_z=0.1219 right_yaw=0.017 right_pitch=-0.0245 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.5111, 6.065, 1.1648, -0.0366, 0.2418, 0.8913, -0.294, -0.9641, 6.8991, 1.9463, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 1.7081, 0.6868, 0.4274, -0.1967, -0.157, 0.9947, -0.0193, 0.7937, 0.5793, -0.4049, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.0285 left_z=0.06 left_yaw=0.0815 left_pitch=-0.0192 left_roll=-0.007 left_gripper=0.9947 right_x=0.2881 right_y=0.0035 right_z=0.1637 right_yaw=0.0192 right_pitch=-0.0485 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.9897, 5.2034, 1.6239, -0.1148, 0.0415, -0.188, -0.0752, -0.9231, 10.0855, 1.7851, -0.0366, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3c695d592e69c28456dc591e900ddf577d242f9f8c885d7bb4d8a23c8b42a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d72ed801c4d27658cad2012aac223279ba806ea736822e1c0a723baa2e8011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864b1d10d4254a5feaa532d1e0320d406f3f1bca3d092e9237cc6dfacc33042e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Gyl9V0xZ9VoJKzUT0hiAZB88SBRRI5gdhtGx76pC8RGGpfei2VBJGbj9j5P1HyYgnwpPzvjh9sfcuask683PBdt_P7xnF0-1LO5RnoX-axYGXQQizb7HyM5iu4V_5qkHaqNBId1QXRDzGSJOJuMahIobJ8NhvbW9pb2LiyauhFxg4ugjhWZIYGad5kT27pzz3bueXWZDoCATQDQXpUtwBMJ5mBk9CbuuJS9ivcx1HLBdCyDq1DMxMqsspyzOwEOYjvel5FAbinGTRGLiwHr9zXRAwzYB5z0KnsEPzSGM-DsVjcXB1KgglFHA6CAATML7q2uuRF1NhH1e8398hvzQ7GrX2u_EabFC4imm8DilpuHIbPYaLnwQp7Il7AJfKS4p7_4yYSCOHvtkUpKeLskd8VFUq0viWTYr-dbXMp8Qwk_2ZhKXRdSCL62ZekIqDovKtMowr4jXV8_VEoVvBYIaYrQaNJA9H-QZF80bbuDT83c-v22J3KLN4cjayV1E8cv4ZAJWluM6tEaNcRsp3h_rDlrdMeLvqLm36MJ4elfBk2jefDnY4TTxtxJEgtGiUG5OIuTXcMRYA3z2_ajxAbX-uhaCzIaWMTF93vFEyJjMaoTrB9wMwELM6Zy9d-GrI5_oqeL8D38MI8lNVL_1LxJQrrN5qEQWFZItpF3g2iT2seJF-UDHRKlS8hNFkqPnihU6ve3byAeIxoKtYTPRqrPuj-35bwvDYU9l5C6kcVVckzpLx_j16QVOiXF2BgKdMy60fl4VpaPgZptWvDngAbn6dFTlWUhB1TUwTHqHWvyAaAl4o9puHI_mn8Qub-EgY6mCnt4QOgBuebDUJXDPr645obEuFogNCXdzlrEHzKK4AMLCzt8ke2E1P8h6OS6OyjEEtn6p7TtZuKTe5F3GhY4gWH__Kt9aX7lOg9N1rnIG-0Jsec8okSOkQPhPNZ-oguADkXyvZ-beCNJ22PtZNcCi41vMOI72s8swHnI5VgToPAGaZXqEme2DXm3ZjKcF360srp9X7R_DJSqKeKIS5IE-Kx0BSJv7S8mXuhrenb0AypMVtowWJTcPBlaYuUu2Me35Ome-vjpljxvCv6EJi86OTB_fbXX_it_blNYq75AvQ8fPIujV3CMFmmQoLkHWVjsoU9960-6Ze2xqtIazfADwdFTnK33E9k-A6Sk9_mrdHKJ3fho00UrfcorjIPhNtS_AiGZ3Hh5onyJLYMJjFFfTx22pr55dA3hOWWqnVL1-GcG7RNgfAYdjRJ536gZS-w1tFISbXYWGMUXk7LqyjItg7daUzbOS2_iEUfyAW6pH70uTRqS3XbLd9zAK_uyyU4PhToYIfkSV4O-ZiwY5abvW8pOscSjPECc9_npD2T85m8VF6bLRIL9c5LVXZFbgRwhNOKd3q5zWKe0xwMdcvY7lgxMilj9P1xEeWVmEchIGcaI8_1SGMJcAhKHRdUvO3AWN4phr9yHOX_dFikqE6rXg3V4wDiix_lQMb1Ai9d7cmwPwq3-89qF3EQhgC88HG3a1wNtF8s0sS7EJle5cfkY1yny4wPbKvKuJEVQSZGDi-nvhMIF_YuzUyCoBwTGzPOvZIu5AjM9jPbixaKGL41mD9LAmscSuazK1Vrj8o46DOIoMA9mqx2kJ3O1B0a159n0ZH-NxuHkHoVd1rUEK1poj1q0YdWhTtVqnHl5Qw-8f0SBKGfGug1OFwQJ3JcKydwFvtCRE4TH5Gc5x-cF827QqgcTrbTv92Msnj1HBPmzCzJp8vTB_JNQqLnhWHA-3ahzm6TS-JAP5MuiZkHTjsQHzumOUOt0X_27pwGthPhG4rQi-jXLvcWgmRtX_uLulCJCP8I9jGpQ_zJNKM4fw63F9i7CdaLpX9MdTZqhgG7cAT9ur6CPpPqOx_WrdWqn7OE7oU6VWIsNQ-x86vxa6rvVhn2KKK2B1ddabQj-rF95xDuYVbIpGxyV0IzXeoZQKNR1AG72TaFWlYMYFvZAi41O9iPFjIHBP9BQZAJGQZp_mGsNXjlWeRJiI3xL3DafkBc_V3uWw2fi3-Ivaw8pKKfESexBNvKFF1wuLVlXOmXAi5TFHcVe2gJBaJTweZIGnTmQIypxzWAtFdGhzamsAZB3eRpF4-YRrdEtFeYKqO1P1Wd1XXJDgIGOkEBlN9zmGWklE7lK_JnCUtdwJkteGsFVFN-U4qKfBQ-G_EzWRmYYSPjoP5uBuApMMFILnIAL4V0s_SpZgVq-ea_XggVIDBlE_FjKOjVn9peBIfDjhAy9PugT7eztWz8KDlRwhuxP0GX4GK5-bUS4qk2owfBB4ON_WNogJTu1wqbsFVKLG8mi6sK7or9LrWdlEqSVtZ6Q6eoU2g-yqzNhjYn3_PkjIi1OX9eQ5JIiHukn6ppRA0PXJuNY2jcjkKruD7E7MfGCWtGGes6HDZedstmI_N6mgfizn9gcm_G2VjSf1zbhU-Wd1PHcf7y8qr54X_qJCXwMrnFGEAC-wsqC32iDfYgL5vh7E3DF9_ALFIw8GE63XPzpESRwwKL5yFsxNqu6cuvwBh5-2uCVsf7JE4Ko3a0nlA8feIIvdpckU2GTj4Sz54WP8Ibuk=",
  "id": "rs_0ff88975d1b74a01016ab41d02bad487d08a780e5f8b48ce48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.414,\"left_y\":0.015,\"left_z\":0.045},\"note\":\"The left bottle shifted under the open hand; its white neck is low and left in the wrist image, rather than in the center of the jaws. I’m repositioning toward that neck from a shorter reach for one carefully aligned grasp.\"}",
  "call_id": "call_4TI46fE7uSGfPkdhonwVTTiw",
  "id": "fc_0ff88975d1b74a01016ab41d05762c87d09282517b7e5c8e91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4TI46fE7uSGfPkdhonwVTTiw",
  "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]: [-0.0242, 1.6878, 0.5678, 0.588, -0.1085, -0.1184, 0.996, -0.0193, 0.7654, 0.5312, -0.3771, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4239 left_y=0.0125 left_z=0.0554 left_yaw=0.1146 left_pitch=0.033 left_roll=-0.0319 left_gripper=0.996 right_x=0.2841 right_y=0.0035 right_z=0.155 right_yaw=0.0194 right_pitch=-0.0405 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3094, 4.2188, 1.1893, 0.0122, 0.3199, 0.1294, -0.1983, -1.7299, 6.9812, 2.0781, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13f30395610b610a2319d608e52cb68fdf09c8acb4feda632ad7c7150323630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c948209034101d81241a8c52f011c6d209dc9f69cceab00f9d3e2384b5be6b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d91829b3df411119501c2d6b4a45723025cf4a57f7f0b4acf038b3f958feef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.131 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 1.8549, 0.7433, 0.5922, -0.1566, -0.1474, 0.9955, -0.0193, 0.6796, 0.3916, -0.3134, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.027 left_z=0.0512 left_yaw=0.0711 left_pitch=0.049 left_roll=-0.0354 left_gripper=0.9955 right_x=0.2702 right_y=0.0037 right_z=0.1265 right_yaw=0.017 right_pitch=-0.0306 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.7231, 3.3573, 1.1404, -0.1392, 0.3004, 0.1099, -0.3624, -1.0188, 6.9128, 1.9414, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 1.7081, 0.6868, 0.4274, -0.1967, -0.157, 0.9947, -0.0193, 0.7937, 0.5793, -0.4049, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.0285 left_z=0.06 left_yaw=0.0815 left_pitch=-0.0192 left_roll=-0.007 left_gripper=0.9947 right_x=0.2881 right_y=0.0035 right_z=0.1637 right_yaw=0.0192 right_pitch=-0.0485 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.9897, 5.2034, 1.6239, -0.1148, 0.0415, -0.188, -0.0752, -0.9231, 10.0855, 1.7851, -0.0366, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0242, 1.6878, 0.5678, 0.588, -0.1085, -0.1184, 0.996, -0.0193, 0.7654, 0.5312, -0.3771, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4239 left_y=0.0125 left_z=0.0554 left_yaw=0.1146 left_pitch=0.033 left_roll=-0.0319 left_gripper=0.996 right_x=0.2841 right_y=0.0035 right_z=0.155 right_yaw=0.0194 right_pitch=-0.0405 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3094, 4.2188, 1.1893, 0.0122, 0.3199, 0.1294, -0.1983, -1.7299, 6.9812, 2.0781, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a13f30395610b610a2319d608e52cb68fdf09c8acb4feda632ad7c7150323630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c948209034101d81241a8c52f011c6d209dc9f69cceab00f9d3e2384b5be6b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d91829b3df411119501c2d6b4a45723025cf4a57f7f0b4acf038b3f958feef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Lq4-jc0xgTEHCyhzvFD-J_Aqv4CsmeQeCjriLut7N1_5niUy9UjyVXrxTycfnDDKFqWhKVrWUJPgxW8ggAXdvZ9dsAjS1SsmjvlKTlEPfCW7ivBPJOira_RCtiIvVzKSyclNQhpZ-noO1vcC4OOLySb5qr1RCLZB2FvtCAUqBQ1E9b7odgyChm9eppoxQfjYFzfl8rougr1ZDsPOHKzzqyLQVV2FevxtyH39kz0zuOf8EEeCRdRGowIqAchFId5WAMr55Hog5zEKMtwdtjjAATB9Qj20KyKB4uUu8QCuyUe1hSIYXFfeyfDxlkMEDR_rnMn9popx-9Npa_2Eletaj4Q5-s1sZw_lCIN2XDoxRJisfTT8zaYxJzVfw7-6OBlMhal9RSHObrs39KQ2kDAMSh0y_UJpPfkH9hkJDgHJMkrSOOoiuKca6dSLKBJEerU1IL1KI7M9H5bxEvPhsqveDkp0wqs51azeMtJWt5xu_xpyZtt5r5CDucIiQMjc56igrUEbojvFAAmvdIoI0t2VUmZkoAcqFVDpPcncC7TzixYCuz0lRcO11-9V-NF_ClJZKgA29rT5RMUiJvrKEVmsaUm6XpdM5X-M6Y-uS0jcfgZsi3hINcYP8zSsQaIB_-sxjhT1q5OCJ7xu836OETyrbJHAYFQORilHCsCnok1RkF6U8VhQoUceJijQsfsmpNSJXF07mHcHmVRM01tjvpnjjWYVRrnBFsW1J2_jYXXCYwyVjLva-aKEMcgB_XVnoxhQPl-JQ8hnGk3TVPlTc7fL3ah1-33oV8VPuGSS_PjRYI2Homoeql8eOePYjQ87FZUCl68aSYzCpfsIH21dopOLMflc34EJ1DttYjFDSsvkTqWXSapws1VJMgWTcX6aIHpVeB9rbBt-4aq9Xr6ZOQ2pTWZ96CArlCAL0Wdwxs61z8Evv9IvmJ90-8m32JdoDywuGf_WQNbWUfqSht_GklwWH7YvbaPS6zEZOExnxy2D2PGCFlAUGgfiS9CLYXZjyXlop3AlA2P4tBDdd8xP8e9J-jJebFG8aIAn2r-rHiqCKpJmd11rKMRs6dzzNfrQkS26ECEnydPAmeFq2-szHc3gVG6MDGYHsaByHP81dY7fIq7PhOEqdVVGJ9_jIqSBLG0xa9xZ9z0eo2yqDTIWRHii-Vpg08Il0jMoSp6oSpS5wTLlBcyHBfXDqrSLXTvJtKxHaCHL9UcY4kiuBPKifwVHfwcZI46lpn0BRsBFEZisNj0f2g3P5wrQqmsaRYDgVRqrxhmoBg21X4R17ViZI4Mumq3J6s7qMMzdG0ypGGu2W4kgQKLT7lLR3mIF0IwFx1xX5OvFE1s3B9E0uzlXPd4KHXZHrra-2A_B3HZ2m53xEbYBBOccTtgK5xBuOFiACaKKFQN9Xkk0yxJ_RCw10Uzpqt6I1nG9eVNn4OaUZQEVDrHHZMe7bS-V1INatj5yOEOZp_SYu-VKo4j980gLHo6y9BigwGoeyXyrJrsAC2_2lhcOn8E_nGE31afL_9KthYUrCGno58nYrXWHwTwkevW89eQdh-WXIkblk8eWI9-IAo0rAFmK4ZnEfMxy9nvNMa2r6dpdV0-4sYk7dtkt6RRpniTKNHt2gOrU8Onahw6IG50O7KomdWEw89yAsyMW64ugKXfu-KzWIiSVwPGqmHMGnWUG3N2wUnDZVo_3yee9Oj0IUKsREg2I3AEFjP1NonUc7vvuBaZQiswFIHl_cXqk66ehsnK7I0u7u5VCo4o2AH04IPsrU4mb1eUDwDFzI0cfWxY33TCIrL668ZN8RYBEi5NWgb-HPSqeQO9eQRtX5RppAm8ZKollzT55S0bOvxikAS1RnANSzaup5Z2TuOxqRJrJEGHfULllB9MGNDNohkX-0eC2_W-umyfVKCxuddSjZSlNfjAe1S0k_01DZxkfxxJmEHlAZFb2Zv7vvVdtVIb4HD2hB6I7IejIGmozpccSkZG9wtF54f6G51R8vf7y8B4HFsh4vNzz8OJMDOIiDHBhPNjrjY8kaRIhh1P4J8pJT1MPWNPdWYCZmTYzVmJBxD4aq6f98RsdrJ-OIYAH7hV_Q3vTZya-A02t66I0zSBn9SI9kLQBTXN8XsipWvCQP-DXaTYiEIKtE8gic66XMOPgmzzy6TJy-_PQ2Y71ABWgNMefNV4dqU2AhJROvCc6HoUrEJqtH-JT4bzUmHcNqyebR1bD_1KHM6B1yVN4_1CyL5zdAHdeLw1Ud2dvUCHO3a-qDFLhIr3HShtb2FszJ2EYE_Sl-bhOJyumlk5kAi8B0-eGSLDv3xeob9ok0icT-_cJynY_zYzz80aC2u5-CQmDlLZXrEuxUhvq-tH5LaWRIf2-VTWncsvzzAFioPuHYpSLmo4YRMWQBSo2nO2OLdcMGPoyB6CpHAsY7pKO-z4bO7m2D52DBx5e2WwfQX9bMfxvS7_6kyZ1pgd_xvhSA2rPhgDwZEIqZjcgkK7RZ8DIW0fhsXkLaV4-tHPFFGiezptw6B-5FhRgTOnrlvms84yLCxudpn8dRNPqyDcsDUCqbWPHg_NC34U2to8_an8QEfMTQzVbv_V1cye4VdgBQS7VNCXhzCYW964sA7LTbi8Wk6I-EisZPxvv7zuS-5NmjDKEIqcLa1d3EI2sHdMSP66gX-lwG4Jw69mEHXcys3SjNEfO7WNImvgHFFtCLZopU1nPqBxmnhudP1lyyy1bZZN9ZpaPgNfAnksbghUYRmXyZsSHvKFSzW5ZXAiBpjkC-tPjAZgpS2bo6uib6KX1n5zSYSY0JrH4t3mUgtKIN8BUhHO4vqppm_QoQkButY92x3AuU2LFdfBiHydd5nhVCVLY=",
  "id": "rs_0ff88975d1b74a01016ab41d07d2ec87d0a4b90bac575569e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.05},\"note\":\"The cap is centered left-to-right but appears below the pointed ends of the open fingers in the wrist view, meaning the hand is still past it. I’m pulling the grasp point back several centimeters while keeping the same lateral alignment.\"}",
  "call_id": "call_a6zHTqDoMLGrzHYSmkERvCG6",
  "id": "fc_0ff88975d1b74a01016ab41d0af39887d0ab7b083247ac04e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a6zHTqDoMLGrzHYSmkERvCG6",
  "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]: [-0.0349, 1.6562, 0.5522, 0.5598, -0.1196, -0.1047, 0.9962, -0.0193, 0.7448, 0.4927, -0.358, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=0.0101 left_z=0.0563 left_yaw=0.1059 left_pitch=0.0217 left_roll=-0.0128 left_gripper=0.9962 right_x=0.2805 right_y=0.0036 right_z=0.1468 right_yaw=0.0192 right_pitch=-0.0394 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.1709, 4.547, 1.6239, -0.1685, -0.0171, 0.0073, -0.212, -1.7709, 7.2547, 1.9951, -0.1148, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cea881b6b30228b344ef25961fe17539c86db10787b622b3d144a40eb2ad076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860ec6ef1df04a9ed7fe7db45425f9e60e4bbd8dc7d89f4263941b16c9ba6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af88aab2bd67c8c631175177aa5acbe7d463feeb614e7c96b63590a97753f09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.83 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 49 changed as sent

message 53 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.131, 1.8507, 0.7761, 0.5415, -0.168, -0.1532, 0.0108, -0.0193, 0.6624, 0.3653, -0.2981, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4731 left_y=-0.0289 left_z=0.0549 left_yaw=0.0765 left_pitch=0.0366 left_roll=-0.032 left_gripper=0.0108 right_x=0.2681 right_y=0.0038 right_z=0.1219 right_yaw=0.017 right_pitch=-0.0245 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.5111, 6.065, 1.1648, -0.0366, 0.2418, 0.8913, -0.294, -0.9641, 6.8991, 1.9463, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0242, 1.6878, 0.5678, 0.588, -0.1085, -0.1184, 0.996, -0.0193, 0.7654, 0.5312, -0.3771, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4239 left_y=0.0125 left_z=0.0554 left_yaw=0.1146 left_pitch=0.033 left_roll=-0.0319 left_gripper=0.996 right_x=0.2841 right_y=0.0035 right_z=0.155 right_yaw=0.0194 right_pitch=-0.0405 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3094, 4.2188, 1.1893, 0.0122, 0.3199, 0.1294, -0.1983, -1.7299, 6.9812, 2.0781, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0349, 1.6562, 0.5522, 0.5598, -0.1196, -0.1047, 0.9962, -0.0193, 0.7448, 0.4927, -0.358, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=0.0101 left_z=0.0563 left_yaw=0.1059 left_pitch=0.0217 left_roll=-0.0128 left_gripper=0.9962 right_x=0.2805 right_y=0.0036 right_z=0.1468 right_yaw=0.0192 right_pitch=-0.0394 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.1709, 4.547, 1.6239, -0.1685, -0.0171, 0.0073, -0.212, -1.7709, 7.2547, 1.9951, -0.1148, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cea881b6b30228b344ef25961fe17539c86db10787b622b3d144a40eb2ad076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860ec6ef1df04a9ed7fe7db45425f9e60e4bbd8dc7d89f4263941b16c9ba6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af88aab2bd67c8c631175177aa5acbe7d463feeb614e7c96b63590a97753f09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0PHMBZ7X6O64KFXfbNoV-mAxOeM75c5n0bNIOpoLl8mApC5pZ2BkqWSRoByzEXJQijsBEfFJ4PJFLSNtixg_xojwExgjNyPFf23VU9P4DrjAoLlztGhFI_Ixj3OCHL0PfdrxxQaJ4u2xRSNk0r11Kfw7ZsZ2P7889fGTFkUD3L4yrIdjH4z3Hpem1sQ5QKNXcdRrVVOjYC10No41PwkBSMZ6eTjtCdBf2o5EyOmdVy7Xm7x_UOkl3VLuI0tKeesGLybIohua1ApBuFWajYE2rPdmPPlP2fcP_wNIby_d-uk3_uaJqFpTiNSF8D4nB037YRnFxYGCAYhOzaJIW4joVbVordBTbAVuJgnRuDsu0KfMvcUpQKY9P04OFQvj8m5Wbz8d2EgeQBEBz9OTaaTPvY0TjSISvTzR_JN5cN7oGnLGDVY4vynQCKNdHiNePMG1pY8LshY6tYXziIXcapjI8teC1HuEL7RSxHeitGLGenRm8QNet5NrQQct3r4zvCSvCGJuDRgDOZck44Uv0Zj_3GS2d_dhg8e9yR1vqkKblbQSQpau6BZB_HVUbxd9iHa-RL4xgqTEWnRgQ_7VzZWoBMkXuEOsRAYJZ80uJ4-KZluszhsERUmVAAC-pP3tZoe6KCpdsDK-iHQ7MtfxaUe8ETEkf5tth0SHKt9rhNrKRJiY9QB9v7b8n9uCdw2SK3lr5FuFC2sQ9V4apz_Qz8AkCIyw9Kp5A5_mnH_t8GAgSQ6Bjc-IHeybN2ec8QOS3HDCDhJRDPJ_WGdrmCmuFzuTcENbF5_TAN6FC6ptnaHUVeHsPO0WzXRYX-oFzW_tUmK2ecUHdoQS9CKdcQomQV_6_dYyTqcY3Pk6Ri84nwtejaDC4D7xQr0JVvhqUeCK_wMCJz48wG8LE4MsDGgK6poVxf0BJv8yTnDlFqw_PIZHdrYhcHTHsB5tKs1e6taBz6dZ6wTwZ1ybnmtsHg15rMeNbcJXnW8tQjawwf6lY3dEIUSlbpS7m0uetLP-S8W2uGKFmjCb54YXHLOpUrvl0o9cb-DHVu1UzLV-7041LGQCtKEq1n0HzW_2XXm3ZYsvkRg0DPEKyJHFJk3zd8sHIVXjagjgpMmsI4oXo-V9TrVo8q41fL3aQF5ztfm8gSmQN4hbOj9cR-Tr-MtZyZupwp0uV5Y07yhcJT5xMao_arMwKR7VljzY04S0-Pc3okKWAFv9gRM2twGAJ6kd6dM8yekzy9nA3WEdIgIMW8eYWJYlhRCCBm9xX4T8AtBOIeZVp19SestJYmsSKrhC1eyHTSX9lTzeGXvdcVgrUxraqc89SPI2_I2b2qMAPya7GQuC1eyYVvEzOrf_27O1mkAfFlgeMA5ywrfiQxipVw2NfO1a59TE1HLCJ5bn_mlj_kjoVajh3vUA-6xhufcuWIFYSYUwksLOpGlqmh_gHcpIRexi4Uq9lx1zoDYi1txILGLrz7hSDIxv3o1pguXPQmu1DR3VrTZdcStDlbwqcV6Mkr85tRAXauwFJpOv-vpgQCSuWQsKfYgr3vip5YdHXsMUbdfFI_eVJOkWrevsifJ5dW5GmWNuP4dfu7XkutrljvlN8tD0-fVo1XDv6fOBSMp9EbPjKRXL21U8V8b9escdW5gmnCPMUCsAcgkgJcvGVaaTq54Z9RPOFFm-pV4opizz6H5J0k-FeZjfuZd4WFgyonSf-TdQGDCOtFR2eCD3EtdZgRU_Vff4wmsV2deXiWvm1T-VcrOfcE76CC-hLklARLcRMpXH1UkJ4pcRUPGSs6gfo5SxvvIMr_embtiHUdv7HquYG-KeiTo9hMxobNveJhbWuGbAhp3wwcWRuozl5egto7NCit_Gwf9xOuWuqN6dMVWdl1eoVEAn5ZBnDHEmr3SCsqBKaWHRtY93E0qoBf8--019AKAerTafI3SHV1WQh1lACELjylPXZtWlZRYxvhrpdwn6U=",
  "id": "rs_0ff88975d1b74a01016ab41d0d144087d0a92d516d082c9f8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.13},\"note\":\"The hand barely tracked the backward command, likely because its low fingers are rubbing the bottle or tabletop. I’m lifting clear first, then moving back over the neck so the next descent is vertical.\"}",
  "call_id": "call_lz8jeCIj02IEThHlELVe09Yt",
  "id": "fc_0ff88975d1b74a01016ab41d0e723087d0b411c59498f2dde2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lz8jeCIj02IEThHlELVe09Yt",
  "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]: [-0.038, 1.6543, 0.5522, 0.5484, -0.1207, -0.1051, 0.9963, -0.0193, 0.7242, 0.4553, -0.3397, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0091 left_z=0.0547 left_yaw=0.104 left_pitch=0.0124 left_roll=-0.0112 left_gripper=0.9963 right_x=0.277 right_y=0.0037 right_z=0.1388 right_yaw=0.0194 right_pitch=-0.0379 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.0205, 4.7111, 1.58, -0.2027, -0.0171, -0.0073, -0.253, -1.6068, 6.9402, 2.0147, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5afedf164940a18b097bf2ff984004c059e2e4816324347350c5dbe8d2b143f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b682e23afffc0b10feaaff63cd72511779aa64e32ea7c3b306fa3dc86ba333f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d613d7e00385ccb20986881dbacd9a92a785365dd306f03fc1a12b60807809",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.064 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 1.7081, 0.6868, 0.4274, -0.1967, -0.157, 0.9947, -0.0193, 0.7937, 0.5793, -0.4049, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.0285 left_z=0.06 left_yaw=0.0815 left_pitch=-0.0192 left_roll=-0.007 left_gripper=0.9947 right_x=0.2881 right_y=0.0035 right_z=0.1637 right_yaw=0.0192 right_pitch=-0.0485 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.9897, 5.2034, 1.6239, -0.1148, 0.0415, -0.188, -0.0752, -0.9231, 10.0855, 1.7851, -0.0366, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0349, 1.6562, 0.5522, 0.5598, -0.1196, -0.1047, 0.9962, -0.0193, 0.7448, 0.4927, -0.358, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=0.0101 left_z=0.0563 left_yaw=0.1059 left_pitch=0.0217 left_roll=-0.0128 left_gripper=0.9962 right_x=0.2805 right_y=0.0036 right_z=0.1468 right_yaw=0.0192 right_pitch=-0.0394 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.1709, 4.547, 1.6239, -0.1685, -0.0171, 0.0073, -0.212, -1.7709, 7.2547, 1.9951, -0.1148, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.6543, 0.5522, 0.5484, -0.1207, -0.1051, 0.9963, -0.0193, 0.7242, 0.4553, -0.3397, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0091 left_z=0.0547 left_yaw=0.104 left_pitch=0.0124 left_roll=-0.0112 left_gripper=0.9963 right_x=0.277 right_y=0.0037 right_z=0.1388 right_yaw=0.0194 right_pitch=-0.0379 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.0205, 4.7111, 1.58, -0.2027, -0.0171, -0.0073, -0.253, -1.6068, 6.9402, 2.0147, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5afedf164940a18b097bf2ff984004c059e2e4816324347350c5dbe8d2b143f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b682e23afffc0b10feaaff63cd72511779aa64e32ea7c3b306fa3dc86ba333f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d613d7e00385ccb20986881dbacd9a92a785365dd306f03fc1a12b60807809",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0ShUcNIybG83jqVHGQ6_wrOXJCFHe0M5iW1emKPiBbHbTDBo4GWbOcRepyBJQQUgmA0AivFRhPai-vWK5bnPUu9lEhtwxORTJOYlO6j512zK9-71xbM-7kxjRj1-As1tNAXNBKkdE2dEph8vdLQ9I0YBHgbNog3P1y-YeSp2JHHbvT1fYFDKZU_ThJjoYLJOKWGm0RwqREmymgNDEsUsqfB4Z0R1wZvpTUNYgMPpPy5C8qEh68lL4nGvc_gLUx5k8MszbzQNGeITa_np_hoojNFCaD9OCkGvtN0IJV3ZAHCL0Pkqa3ZF9wpSsV-UbfrGgnhFzkvCGgmopFHVpA96DW6DpAeDzUCmNYyLalBkdIsgQYhk64dAakaeFrkXy2d_sGR-3nzD1uCCPg-Zg7NWXHhZ6sdqE-i7iMMudCEvgJmm_EPUrCOysdak_Hnam-RgcfwAWijjQS026wDkRAUr1aofiBSNhG_7FLFz_9WStJkW_wXzjV3lytdpbodBFcY9yD9-Ns29g7AuHprdJYdIp9Yl3eYe5LFpPP9uNRhMXLNV1Hiqc-bdUCdPITb6fJm4GJUIaelKdiMb37YWMJoKp7H6uW13s6GRD80XqgUKNrcQopwHaz32KKqOTYKC_IcvdGRgE27AE-REOyEa2ffr4dc9hcD94BH_KfZyAIiKiD-WxlXarzvsrvBnXTrzFQLY2wrL4JDNt-lzC6-qhPczQMMni4m3myVo907rXFVpVO-PEDEyUzdyU_jm_ZfzTm9S-3LOxj4dW8orAyoipltSWmMIyTfYmZl3BMhLo3Q42ykbxOeCYeeebx5YEF4-NL5H63Dh8NvLrSt06zUTVzHZFRazda2U-8Fn3nx1a6qoh_13u0gopHEaGUYvRLHa6rMmfzav_yaZDTl1Az42flCs1hdAx6iMCz6ObO6w6yEgUqjIBK65TJsy43JCgWYNjUTWWX2LCHCRyhmU267gLLj0UeolqWvetoodGxuPKt3JFp62rrguBQGlkH5YqbDTnSZE-yjSGTODxHRel-ny-5TOOim100vw_wwFXGhKlqwhRJMx-2CcqhGSybxrqz5w6tcuOSK-cWt83DT1N4boYIgOiC3VTxhDWG20CfAx0uGZj5qOQsy_S0ERCfEdTdkh6Hk-J1RNhauyDf9ijCn6vjRny0-lnJBNNCw1M9DjgTd9SzTIyNJ7n8i_nuzP8IrQK1M1SMJsu_4LXHSdOQW1XAlJ2qYIRQ4nn8yU8HLVsxw6gVTLx9_E8-L_5o8BWa7RzgY_-1JPXMiz0YGzReMuInQhhau3p3qZJsR5kbWi7YG5SuzqONReWR1hUCIarO5xzLZMTFVjb3IBSD4mgp-AgLIpURuvz6NASQDrUYJSKJzFDb8zFbn94aLqyRiOouFd-u8dk4IJKcePU--9ZDv5w84-UheVnBo3qacpsXxbG3AT6Qd6L2g336UK4b7j3s79KS5uJfZLQJxoyOhZ7OggVgX2_DaaCvXqonz_Tm7ekP3KANVUNV3nMJ6okFqi8384Bgb4uvHwQCexDkXkuAxswbs0CSf3BH3cbkAGtIomH65nDkC9R0dVG3htfH5GUjM8AR0FuS",
  "id": "rs_0ff88975d1b74a01016ab41d10bbd087d08e4fc5a1cf1a0b22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.2},\"note\":\"The left arm did not lift or retreat from its low pose, so I’m changing the escape direction: up and slightly forward to clear a possible contact at the bottle’s edge.\"}",
  "call_id": "call_DTfbh5jbS6xl2O9tLtO4qzeJ",
  "id": "fc_0ff88975d1b74a01016ab41d11f21887d0ab00d0230bbb0dce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTfbh5jbS6xl2O9tLtO4qzeJ",
  "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]: [-0.038, 1.4582, 0.9825, -0.086, -0.1242, -0.1078, 0.9963, -0.02, 0.7036, 0.4206, -0.3206, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=0.0086 left_z=0.1849 left_yaw=0.1083 left_pitch=0.0047 left_roll=-0.0105 left_gripper=0.9963 right_x=0.274 right_y=0.0035 right_z=0.1321 right_yaw=0.0186 right_pitch=-0.0329 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.612, 10.0991, 2.0293, -0.0757, 0.0464, -0.0122, -0.3214, -1.4291, 6.8855, 1.9414, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d9e7117af7336fa29633679a4097eb854e1c1cba939458a1e83914a6e577d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb8eb8a2a1511249652709706a8ddb516a471cee1f689e2cc7c503b33a513a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c9e05c476aa286284fbe9af11943b57771a10cffbe6b7a2b43f087446e6c3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.284 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0242, 1.6878, 0.5678, 0.588, -0.1085, -0.1184, 0.996, -0.0193, 0.7654, 0.5312, -0.3771, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4239 left_y=0.0125 left_z=0.0554 left_yaw=0.1146 left_pitch=0.033 left_roll=-0.0319 left_gripper=0.996 right_x=0.2841 right_y=0.0035 right_z=0.155 right_yaw=0.0194 right_pitch=-0.0405 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3094, 4.2188, 1.1893, 0.0122, 0.3199, 0.1294, -0.1983, -1.7299, 6.9812, 2.0781, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.6543, 0.5522, 0.5484, -0.1207, -0.1051, 0.9963, -0.0193, 0.7242, 0.4553, -0.3397, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0091 left_z=0.0547 left_yaw=0.104 left_pitch=0.0124 left_roll=-0.0112 left_gripper=0.9963 right_x=0.277 right_y=0.0037 right_z=0.1388 right_yaw=0.0194 right_pitch=-0.0379 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.0205, 4.7111, 1.58, -0.2027, -0.0171, -0.0073, -0.253, -1.6068, 6.9402, 2.0147, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.4582, 0.9825, -0.086, -0.1242, -0.1078, 0.9963, -0.02, 0.7036, 0.4206, -0.3206, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=0.0086 left_z=0.1849 left_yaw=0.1083 left_pitch=0.0047 left_roll=-0.0105 left_gripper=0.9963 right_x=0.274 right_y=0.0035 right_z=0.1321 right_yaw=0.0186 right_pitch=-0.0329 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.612, 10.0991, 2.0293, -0.0757, 0.0464, -0.0122, -0.3214, -1.4291, 6.8855, 1.9414, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d9e7117af7336fa29633679a4097eb854e1c1cba939458a1e83914a6e577d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb8eb8a2a1511249652709706a8ddb516a471cee1f689e2cc7c503b33a513a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c9e05c476aa286284fbe9af11943b57771a10cffbe6b7a2b43f087446e6c3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Xw8up1ptTyxfC3Byi6xYSIlNvN0_cxixXpUpSjxeT-tzAtvpBXelzgQN6hUVLLcWpq-Jay9I2HIFGm0y91hItTobAOng6vvnlMMzc2vReZtyP-PFvsoDTldnljG5aSFjsxMeri6f7OxibWoAO7AaTScjiywElerhDgmw5BIiokC7YtyX5_lbDpBpiiFcJEGI7LojiLUR1xwLmay2Kbubcc1oKIMpGByV-IzINjlfIBRIdJ_EAh0DtXeKnStEgRQrxpz9nGHG7PIzVO8ldiqRYn-uNIgzTbUnlqxnjTP0X4YpomiHLdSglRbf1GyPDHN75_Y-gGjEsNkmUD2Hyg2HTPTmg4RL-edroS9aHRfCkVDHn2j4qylXvPQpPQ5uQNZl7n0aEKKuFeWrL7Ehpiom9z7P3WarqfHm_idlHi_0A09l3hGjx-6IsyZHfho0pmjWz-CM_vT3e5tkB4NkpEL6wJ1DUmitn0fEzKq8NBh_Zn0UbeHtQqjOrqT7i68KMeP4qgk2_Fq-NP94uGHqbeP6oNLgahZzCr0rc3aKaGhJLm9coAt63sxKLnQCgpgb0NQeTPpoPn3CJGYpC0kG-y5cjym2_d-QO9B85NgLGC5DssIB9IvluIfwYllFK93BEW0U3GPOHXlFs_y9oi0lFbX0zshKvjeXrexb-xJnyp_5MAhP04B0ehiDwspNmRZbciuny-DxRVW4AZslAznCLKekAz_HhanIU1Z4zFr12pnHlwHiQ4trIyv5EbzXeRSpREpJTnBxnKpSbKjrJ1-XKVJ0lagIWUXzzxxFYp9mX36R0jkAtr3Vo0H2EmQjtdsHSLhCikDRkPQBsAIAe_S0OHnxAQUAc_gF4uwDJsQT8K1wF6mx-Ju-JE99mkRjSM4NwibzcVrS9Op0_vySr3AKqQeuHYi0KzjXg_Oj3lKX-Rpmr1dTUS7Mr5zxBqwm_DA4Va9hAFwP690ypwO06Cv2uo7ashAY81bn1jvIE1ycEHJ8wfBv4TRLuLosShtkAj8U0sy7Wb4CyN3o9Ejbl3BOE7lqhE4hyHevjlOUr_qXKeG3ENwE_kG8X4V8JaNKcw7qmhvmpyKf9hJVe8eEzo0tL-1ruZKlCVICAXVyC-6PZj1tn9YDb_xJt3AfIh69T12cPMexW_euU9eVoGM7iH1XjYaMSlpWOKMFWJ4yemvBoJlqfLWSnr9EAJc_wBC2YoA6soGeHEcbjKvMfQRb9B8P3vWpqAJWurJLuPBKnuzNpgK219hcVepCsXJUpROExt_y6JMVF5dikdKcKW96yM55LNo8hBk1RGRNFk2homArxPsEqt2EOHfDqS2tmjWffTgRUwkecoozhBNTcdbNImcIG2SZP5CI6XF3lAfrka6CfzP1qv3mlPkpDasv6hMrFzBP77uxbFep0IsdGZLyhTjsqmjVPOkuVigyt92DSkYdS0z2vTrNQumccXiDK-cjWU_cT3C-wZMOQ0GtD0AKh-cgYijvP9ewAg3mwCo_6XJn9MHPbrQ-mJRpo6lSPOh5lD4WG6hjRd05mmF2DUG1q9tgiTFAz3CDhOtW-ozkv7R7vav4mrzIgB2Y9wFU2O5_tZ5vlmyPz9SjQVe7NFAhdi8pt-1_WufTR4bwLl-3J4egzLfXiRUYa6d-5njj4phAU87JXnnWFjdBtGCiljyr3Yv9OLn-g0yFwUur2GfXabZDA0_xmcpKLItFssub8X9-Vllt85MxcPfAYM0cFjwRHpZrTpOYIS6RL3HWArwuvsuBlI12xCeuxePpNPVYDLLC16dWl7L6wGFyO_5i4sW70R3OlJCuFkFDIPHphkrPvWLLSYNIjMtVUw1fuGhoZrgr01JWb5PPjXjzFYEjRDqHPqnzipn9CRrXmajnR1T06JEEHW4z0PsoTxhKczBF1dj1LtyE1JWg8dpl6obAJqLDcDOhhWDnpGVuJ36zUnJnNhqOMptKw_brMUy8GaWFmNKHGGQSI9sjzViu2O4IC6Fu73Gz05J7hBd7rpSR5uOroxAE0wd566_AMZfLBMDmdQd_BSFBn7-oU4ehO2sdEPKfR-Krg73pHZKv58HaCUwNlXBdsJuA37XUE1FKNlTV3L29hVU4hOYxIPydXKuobpC7u2XZ403H0Yyy5yrVDTFZeJOMp7MQwpTUR6vY1TUE-irm366qjoSJyKoJ8advjAyOd0L-Q5WW3AQPbSZdkz43kA4MZrZRt-nZHhBR66N8eQyyvvZrYXRWRQPCg-M5VonLETwHwF1efKATR9zvDEJJV0v1RQB9nPUw2mSDaDQJ7qQSdOUsEsCkAsxMAYO23IgQiy4AIfV4OVHUAQSqNLNx4yGHBRggwah3KfU2HyQim6Q2h9p0CKpRp2sZ4MH58flX_ez_SQ_Hr4mcmb_o27j-gVWtxVsdvjCM=",
  "id": "rs_0ff88975d1b74a01016ab41d1484d087d0ba922f4715a11257",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.12},\"note\":\"The left arm has cleared, and the bottle has rolled nearer the base with its cap at the left end. I’m approaching that cap from above at its new location, leaving clearance for a straight descent.\"}",
  "call_id": "call_K0k8VCDhheBylFP2YBb75VKI",
  "id": "fc_0ff88975d1b74a01016ab41d16903887d0ab8c9c5f0bf5ce4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K0k8VCDhheBylFP2YBb75VKI",
  "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]: [-0.5919, 1.3609, 0.6685, -0.0143, -0.5369, -0.4122, 0.9963, -0.0204, 0.6849, 0.3904, -0.3058, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3518 left_y=-0.1233 left_z=0.1161 left_yaw=0.0563 left_pitch=-0.0305 left_roll=0.014 left_gripper=0.9963 right_x=0.2712 right_y=0.0035 right_z=0.1262 right_yaw=0.0182 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.5863, 6.2974, 1.707, -0.3492, -0.0952, -0.0073, -0.5402, -0.6769, 6.9128, 1.9658, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcbd9c5e128e0fde1a1d1923784828c8bca7518a647b8113d5f08e322d4165e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54756e7b2ac97d26c2c04b38a338f6b95d18a5e30e974bce8cac4865860a33db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bccac0b30370f41594751e1814c79551316101656ed65f48c28999cf0f4a3ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.199 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0349, 1.6562, 0.5522, 0.5598, -0.1196, -0.1047, 0.9962, -0.0193, 0.7448, 0.4927, -0.358, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=0.0101 left_z=0.0563 left_yaw=0.1059 left_pitch=0.0217 left_roll=-0.0128 left_gripper=0.9962 right_x=0.2805 right_y=0.0036 right_z=0.1468 right_yaw=0.0192 right_pitch=-0.0394 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.1709, 4.547, 1.6239, -0.1685, -0.0171, 0.0073, -0.212, -1.7709, 7.2547, 1.9951, -0.1148, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.4582, 0.9825, -0.086, -0.1242, -0.1078, 0.9963, -0.02, 0.7036, 0.4206, -0.3206, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=0.0086 left_z=0.1849 left_yaw=0.1083 left_pitch=0.0047 left_roll=-0.0105 left_gripper=0.9963 right_x=0.274 right_y=0.0035 right_z=0.1321 right_yaw=0.0186 right_pitch=-0.0329 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.612, 10.0991, 2.0293, -0.0757, 0.0464, -0.0122, -0.3214, -1.4291, 6.8855, 1.9414, -0.0611, -0.0269, -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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5919, 1.3609, 0.6685, -0.0143, -0.5369, -0.4122, 0.9963, -0.0204, 0.6849, 0.3904, -0.3058, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3518 left_y=-0.1233 left_z=0.1161 left_yaw=0.0563 left_pitch=-0.0305 left_roll=0.014 left_gripper=0.9963 right_x=0.2712 right_y=0.0035 right_z=0.1262 right_yaw=0.0182 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.5863, 6.2974, 1.707, -0.3492, -0.0952, -0.0073, -0.5402, -0.6769, 6.9128, 1.9658, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcbd9c5e128e0fde1a1d1923784828c8bca7518a647b8113d5f08e322d4165e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54756e7b2ac97d26c2c04b38a338f6b95d18a5e30e974bce8cac4865860a33db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bccac0b30370f41594751e1814c79551316101656ed65f48c28999cf0f4a3ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0eHQjtt9L-2QRgeUVlD_wrGwlHJWQ8a-RcyTj_hrtY6slOM-pp_ii5uhH7WTf6N7Td1xoZkbOfaHLTsi8UQHz4Fu6sLzzOFHD0lhhzpTFrlJy8Uhz1JoFyYqrXiOdZw5mrqsVfD1IGjvPJIT57sB9LOLWoDexNJsAUwyRzyXMAm6bZmKM1GcZStoQWTbiwhEB8-GS0AmcJJJSIlxfynARuEEStapf40oPmJ7P0r1HBw8JK-uxOXERFiDXzBqKh5tCxs-0nyAWy4c0nuGmuJ20lV_soN9NuFxo4fOVBiuY6ujfawLfVjqw3keT88BB3pZiuLxX8BIrKh64Qn_UWC3QtNNrbNZJIbsmNUsIVQXur4mKh57kcaL1Wg4cF7EMtztE3_9nPUVJyT-Va4FGdzfRQ24u-0v9tQpB7qYhdBKsb2rCAao87saTeqtjPt-mEvgXZR-F9DaOFKo9o6K_JXR9agPZF2GmMXVySZi9y-IOOkbtZK8ExNnQrS8klmIwPNf-BGcLighzoQ5BKY0tkKbia6KDorMnVfpSvyce9mNSNYDTgPfJ5vLTBeqHHzY8q4Qj6Olut4ka2NsATDcI015iA9hNzk9y1TdKBrDRaFIRiPPDUQr0ByFIaFpXTz830bl9cA1Y0J1hWKfezKkwtC16YTyR_S4BO6fn-48JhXVl_jnUW04vZOfpGoWlANaJvWGIGiip0TYFgk588Nqwm6hX1kJzvzGaJ2cHUor_lxbM0i_AnU1Gkt6PLBRz0m-umQYQf_A2o60XBNyRv-aeuUzTWVX5jmhuNPk1n_3XZ6ziavn06guef4AEtT9VXjxtsa7GGOkhyasx4OiMQe6xDU76zLBYQhdRa6lLtjidlS131VVGOWNS9S6MwQiTeJm6Qz6ZrRULLzwMwitR29HrTUiFWP--0AO4L3vCmt8CjCUmFL3VZmBZOFIsm2vbLJYE3piH23lxYtTr92zQP1wVU8XNrFwGJYpqrHA_q6VObBqBcNIhDrpK1qld0LoOgzE-sy3IzuGeE1VIuMNz6VuXy2pc98EjflG4bidLo1GGkxrapUDU7BNfv2k0VQ9uhPuODI_Qa_z-HhLfhCuqtQnFcCtZZx3zjI8BLsG5ESNDXdqKWu3o8vQoDnmUkK6h4TaqFlHJiC8Z55wudkeR-3Fb9b5qDXLNV0BO3ew2AozB9uXwcOhqC5MojnF1YP6j_FRijuy-3uqesigoElkObAb3oczQVSGqIkXJra9J_K0rSaAE-MuunaBylYrI9WYFPk99kIz7w4g0keSCXQIlK7tLU7K1buEU0XKIsXC7o34aAEMAb5NWYlyRamz5Zz_Ev2Y9GQyCtMNgMzkoMW8Fn6hIbUEwgQtBYVcplnMScEjSlou4JHOo9EeJ_CmRISh2sVkZDMtR4Pc1rY4y4QnizevOT1aWV52J8w5ewIYWDwTvSIRxh8ogEwpGYhYJm2ZycTe0IqS1duZJIfx3OnDVVZHciEdReSvZY5-xYKyvSD3fWAYkF1KnpDLOz3IbhA9zxjuiaRIw5xUbopG7nGuTGI1EIPloRgmtgzhE-VVvuiaR6CptqQaRr35ivc1WkVmT3J5bLYv2C30-cRq5WE9AFq3Bz9NXXUWYZ2xMV2sm4L_Bs4h0o2YN875uHo780IkFRlUmHhVuXHtkiC346zGrbvMRkOaNQZrBT8njo7sY9vofVDw5wOXquD5JH415_xXhEsfc467HuIqw2pOuA7mGtTYgp-hnvYBa33wfxow58r8M1UJLaxGgf0Qjiltgyt13oJSB__0RZ0lCmbz5upLdJNOSEDiKjNXsPTGOHrCucYFLjt7xUtE6uhaNN3sVDkeYmMOoS8PrP0Maf63IJAPrdfJXTe5vCPRmx1wyj5dhGcrTE0A4oUDB-i-fAL2xNyoMWsgGsUGRwMiUgFmukXHi8hi53oLRTmfk-v6YnOHakq016nV7vk3lOhW_u67TgZlflCXkzilJDyPWibWtcv4Oif4eVRGFeaum65Dl9wTs7amsGDA_RHB5ABaUSjO5I1iNRHkXqshxsLyAG12LXDrRvMQq-Eh-rYuBtpw2cojBRVEXLU6PsUtWi7glfeAsi_Ged6G_mt8c0zTk9qU812-NK-kazvQHfVOBgK8v3k2JqY1BUu4vseQgSEBMO513QlfbKvNObBmRbSYAvS8KCyU04meLF9cChkpLdEJdc-bw5SGnGew_kvCnOfw3gSaIWHaEZMIiqFVkZ-T8PUUqB8lXEPifW5e6cMFsUvWPIliyDr4YfmgxzYCgf_j0Ym9Hw3oSnxW6M2NKNAyZ8S_danAgjkovN0ShTqcyceTZ_KsZ-jOKaw5L8GKXEwXqTkeTHXm1LVDX4fXcqmBWSJrKoqcEnErYmhchQmKOqxgVuNqZxCbfclXjE2zVjvgIFnTjBJTU-9QGU-4Gll9_jjI1MOjK8hNwz3SFIA-MNtOZwahCgeBQo71ra_acCkVllZiy4xzPDrZNr2EGCBfpysucAOZz-nZf6-PyXOxKcwHcZW8TzWnD_YY2ThEdcAIArrKlQcAxBtz9SDsLtc9s6ry21bO7FgR88Bq4T9zqMea3NoFxhlSpB29NsjXjY3G7Fds63koQTmfAddxvnNh2aBNXmro5AliKNYXbkqQTT6ISW-SGFP9Do6fO8T1dqOm1xj8zDV04N9TPBeBMHRQ12JVz3XQwfMYNet8WJnyDPbsJP1SxW7DwhI4dDvjpbwVAdqOxxtBrqp6yMbp3aTx0e0-SQpRxSCfHNLDzUtnyd0FM5HLH4uegtxttnigKD_hoP91KZrjQjX0-ySza-d_dijdmEAAWWRFO2TxBdj5DsbqsSFXRnpMaoZ7UYyIrl94v0nlwEWF5prWcpTWfVEQVu3BuBkTkP_F_D4bCfRL_lB3-qirOeLoWMhUvRDNI3N8hFytyvb-2sUGZR6XzUgKL6MTH83T6v2kiu1f_9bOjg3WW4iYL2e1FmAhVQKYJ14q94lUZD0a2ER6N8nlUrVYN7omnWyT6HnJcWxsegOKjlUwbeyU-unY-FvIBKdEyK8rNbGlHTyN-1wWWQcZrAzNylAtqvatlRrpPvzC5BVkFuEm2tSDIubKG72JVtgL_q8F6sJ4m7p91mTZmiKo-ZGmuMHtiJirXdECsUplVyHNHh2GOiX5Su-WmwKJiZvpsoywzeLi47muqVMkY7hUsCvfLV4DFaVJ8gZ3OYsHNzaw-m1nK-bAIMzvh33IlJU6VwK8QY3D68_Jc00JcncMAYLAMVVwB6Li86qSG6pw-63CG98xWLe-5cVZjLSknp9eDv0ULuKhahFiSa8RrLTB9447YZtf0rZd4g1DmdwgZrptf4c_aS_kdEoksj0YSxOMWYcqFekc2IhJOsjb74JsspMzahtHTSt8Ux6dEPBdzOSZEDSL5OumtjY5CrQb2gcee2p4DtHF-RCFZuNDUElXu7ZkptkIBLn2Qm35T3ROl4ccJPE6wFyeiVVj5DggOzLeBKHpsIek1jEY6_kCllAGNh",
  "id": "rs_0ff88975d1b74a01016ab41d19c35087d08ddeef4e83251d08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.007,\"left_z\":0.08},\"note\":\"From above, the displaced left bottle lies sideways near the base; its cap appears low-left in the wrist view, while the middle bottle is farther right. I’m sliding the open hand left and slightly back to center on the near cap before descending.\"}",
  "call_id": "call_G2SSS26HCKdRCyLhd14OKwsI",
  "id": "fc_0ff88975d1b74a01016ab41d1dbe1487d0a52bfadc6a257037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G2SSS26HCKdRCyLhd14OKwsI",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1467, 1.0481, 0.2798, 0.1764, -0.2188, -0.165, 0.9963, -0.0204, 0.6666, 0.3645, -0.2928, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0035 left_z=0.0785 left_yaw=0.1096 left_pitch=-0.0143 left_roll=-0.0022 left_gripper=0.9963 right_x=0.2688 right_y=0.0035 right_z=0.1216 right_yaw=0.0182 right_pitch=-0.0242 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.906, 6.065, 1.9609, 0.0611, 0.0366, -0.0073, -0.5675, -0.9094, 6.8581, 1.873, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c20acc0a7bdc50f182a8f92b953a18c61bdb347cb2c367eac39a7698f1a82b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d793bd4f3db0c397038591cecdc0e22a14b01efd3b63f9e279eddbafe61d1f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0d72e05fac42db85d828c0f626508a050831b767593977a6fb90471cf3c761",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.573 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.6543, 0.5522, 0.5484, -0.1207, -0.1051, 0.9963, -0.0193, 0.7242, 0.4553, -0.3397, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=0.0091 left_z=0.0547 left_yaw=0.104 left_pitch=0.0124 left_roll=-0.0112 left_gripper=0.9963 right_x=0.277 right_y=0.0037 right_z=0.1388 right_yaw=0.0194 right_pitch=-0.0379 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.0205, 4.7111, 1.58, -0.2027, -0.0171, -0.0073, -0.253, -1.6068, 6.9402, 2.0147, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5919, 1.3609, 0.6685, -0.0143, -0.5369, -0.4122, 0.9963, -0.0204, 0.6849, 0.3904, -0.3058, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3518 left_y=-0.1233 left_z=0.1161 left_yaw=0.0563 left_pitch=-0.0305 left_roll=0.014 left_gripper=0.9963 right_x=0.2712 right_y=0.0035 right_z=0.1262 right_yaw=0.0182 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.5863, 6.2974, 1.707, -0.3492, -0.0952, -0.0073, -0.5402, -0.6769, 6.9128, 1.9658, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1467, 1.0481, 0.2798, 0.1764, -0.2188, -0.165, 0.9963, -0.0204, 0.6666, 0.3645, -0.2928, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0035 left_z=0.0785 left_yaw=0.1096 left_pitch=-0.0143 left_roll=-0.0022 left_gripper=0.9963 right_x=0.2688 right_y=0.0035 right_z=0.1216 right_yaw=0.0182 right_pitch=-0.0242 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.906, 6.065, 1.9609, 0.0611, 0.0366, -0.0073, -0.5675, -0.9094, 6.8581, 1.873, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c20acc0a7bdc50f182a8f92b953a18c61bdb347cb2c367eac39a7698f1a82b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d793bd4f3db0c397038591cecdc0e22a14b01efd3b63f9e279eddbafe61d1f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0d72e05fac42db85d828c0f626508a050831b767593977a6fb90471cf3c761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0j5IDjxEtILo6Cvb46z9gvPP1AO4o__sPlnvDVsZxPhpG8EbeKMe-o8xKsY0lVrtMW4Ph5kjmssjHePMrzc2LCIyYxY8cXZMJr7fYxBxBqPE8cgm7ORoY1YWELMQXK2WSqpPE0xBSMhXDRELWhcAl4v3h3y5ggdyK1c2lRvsraz2F1VPBbnraz50wsQ1Z_vM-8f32T1H0SkIqqEl4wy8xxh1dQ2US9qt8zgY48bP2aSoCER0kRVJ25JsoZu7CPYPXbhDWyVb1ifm3vo0bQGd9LeOjR3EeIHhQDjBHCqyuiXODRHB6yzsMJCsNG84X1P5GC5e8ImlI2xnhUhQW5Wdrn9w7divxRfEhGqzjbuOE_xnCntzR8PXHt3Ai4oTKwhEqNYBOtuXu0HcCfSHkeJT58h7Vcqrbg9oWULFDBBkfmjcXfrltaPr8GGKbPnodQCQLn-cW1vmdH1ntZ7d8GCkJM0x2ZXaFQ1Bhimn0rX2liKklbJUk8wD90_-mmBa_hAKmg5hTiUKPhzcnSEVBPUFlretdKstI1GVH-DfsefHoD4ThalHo6Z6E0uTzUptyeM7tXxJlQtYRlpInwpSYnw1yPnfL0p_CjHjYv3ypM9U8M9_LKWyAPxPp1U_Wo0rdrgja0I6uO18fo77qJD42Fuf0orjB6FiAwEIuUYSlpgmeMHJvM8dB5OXfaJdb69mxzzqAKhy-ODDKd5axNt-t9QS4NVUl90t6HRrLzXmL3dgMhwo0I4IUejDOriGvqAT1Nx6_U7v0c9qBkGAyp7QALAIv1pZtfsTtcPekiGt4w8Wg3GWnsdqwFc8y33ZNbuWa5asLSWXi4TUQa9Txlqn0B3mLAiEI-KoyQw1Ye2ayCe3MbPg_sB4TVsM0UoXyivHIYUaPXkvUNF2Ol3z4sgAnl_KEB1XbL2HG_3tUWoP89G9Zefslsc4vaO4OF282MVjtpO0IUMZ89-TdSvEysz6v7ftFxyjvA7n6DDPhiBDUXCHjHFHspWeJWLdFlvheBDY6I-m4nwe3r3u1uM4b-_FIzRKWkQBE93pTW7ScCN9JKqDlDkRtleAoWWiqo1TO1P7dGV4p91z0yTYeivsYQTJ8pxObT_wZ0vX0HLxbLF406RCWzy9SFw7dNH3setXxl8RAzVgoYh7-zN2WlM1pOhZQHZs6rywNuxwfuuQkG9SC79nOM7Hp81H_WqM3XF0Bj2I8xsXqvvZOQXtlpvk12zhR7aIf7LmqNBTKabL3G4cj13tDqCYSVy9vJ3rL7KaMWCLYUrJysFsNHNQZeJa0EFh9mTM9FFSh9b55YYC_9qCvS8PFfRD8i8R3zx9FNaPAV4lH7OioiswREUVCKzfDSgc6oaX4BMS8ODtjFSY9o0iO0-Wu3PsKhzB3m9sTBKlDxsUje5pDAbVIzsTIirdNd46tK3yz7K5kpi7wpilaINga9DRWo8qPAwf-VinaHqkpsTP5JAP0esvpO1npckWSe0GPuXcomHxhFHpPEwAPmBDF79e9TW_ZYSPcWgPs8YFWpuZxRX-1p5--PDo1mXT_AGdQRj5pRjBRht5dZ9BFVT-iyZ2W_vGcG_nbgD6gYWRIfaU8rQ_1NQE5QZDa3A1ML32JNK6oof_SECFSdMSmdXGylNwQK3398SR04axr6nz3ArfqEq3eW3SKp6QWDcZZjtNVT_zAYv3BNNLadhXGd2Sk5NuCgeuxR0jXxIY1S9AJjfIkpCvc0",
  "id": "rs_0ff88975d1b74a01016ab41d213d3c87d0a52848bc70ea6192",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.284,\"left_y\":0.035,\"left_z\":0.035},\"note\":\"The left bottle’s white cap is now visible between the open fingertips, slightly left of center. I’m lowering and shifting a few centimeters left while retracting enough to keep the cap at fingertip depth.\"}",
  "call_id": "call_dpot1LFFSAaWIEUwXtrt6JT8",
  "id": "fc_0ff88975d1b74a01016ab41d22427087d09f5b2f424049a761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dpot1LFFSAaWIEUwXtrt6JT8",
  "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]: [0.0765, 1.0988, 0.078, 0.3817, -0.0738, -0.0711, 0.9963, -0.02, 0.6533, 0.3424, -0.2897, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2749 left_y=0.0377 left_z=0.0229 left_yaw=0.1609 left_pitch=-0.0756 left_roll=0.0004 left_gripper=0.9963 right_x=0.2657 right_y=0.0037 right_z=0.1154 right_yaw=0.0186 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.0581, 6.1333, 2.0879, 0.1636, 0.1099, -0.0122, -0.4308, -0.8137, 6.9949, 1.9756, -0.1001, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0742aa978cff0f0f04fba2e827e56804ce0185daae096f480b1492046b17b44f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aecc7b457cae1ff4ab02bfd7fda2247b86efe0293758585ac885a561fcec0d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0784a30bc9b809bcd1dd21117b42876b6d6e63e2a61e9eade01c95b225767f43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.998 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.038, 1.4582, 0.9825, -0.086, -0.1242, -0.1078, 0.9963, -0.02, 0.7036, 0.4206, -0.3206, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=0.0086 left_z=0.1849 left_yaw=0.1083 left_pitch=0.0047 left_roll=-0.0105 left_gripper=0.9963 right_x=0.274 right_y=0.0035 right_z=0.1321 right_yaw=0.0186 right_pitch=-0.0329 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -6.612, 10.0991, 2.0293, -0.0757, 0.0464, -0.0122, -0.3214, -1.4291, 6.8855, 1.9414, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1467, 1.0481, 0.2798, 0.1764, -0.2188, -0.165, 0.9963, -0.0204, 0.6666, 0.3645, -0.2928, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0035 left_z=0.0785 left_yaw=0.1096 left_pitch=-0.0143 left_roll=-0.0022 left_gripper=0.9963 right_x=0.2688 right_y=0.0035 right_z=0.1216 right_yaw=0.0182 right_pitch=-0.0242 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.906, 6.065, 1.9609, 0.0611, 0.0366, -0.0073, -0.5675, -0.9094, 6.8581, 1.873, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0765, 1.0988, 0.078, 0.3817, -0.0738, -0.0711, 0.9963, -0.02, 0.6533, 0.3424, -0.2897, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2749 left_y=0.0377 left_z=0.0229 left_yaw=0.1609 left_pitch=-0.0756 left_roll=0.0004 left_gripper=0.9963 right_x=0.2657 right_y=0.0037 right_z=0.1154 right_yaw=0.0186 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.0581, 6.1333, 2.0879, 0.1636, 0.1099, -0.0122, -0.4308, -0.8137, 6.9949, 1.9756, -0.1001, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0742aa978cff0f0f04fba2e827e56804ce0185daae096f480b1492046b17b44f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aecc7b457cae1ff4ab02bfd7fda2247b86efe0293758585ac885a561fcec0d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0784a30bc9b809bcd1dd21117b42876b6d6e63e2a61e9eade01c95b225767f43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0m9B8EGO2PFl3UM8ttK_2-_1HvllwuY5FrsHMfaRVfHXJkwmxSYM5-Si7pTlbn5yyYIyy2lufsiE8HihL5lxupZy9SrGL4hMWY7WYsNiqJfX5gLYgllGOADtN5ATsnpGdRjNaDSuz-X7-vKYPIREGGXjjaSJ5alDWNpzc8h6vJ8zWffGwJ6dey1Llz1WjfpjmidibeB_SsIiEry3G_Kge14ENNRWBmrBPs3ohUDh_qMvbkunq0W9p2YnN6zS1E5Fozfl-ZGou8ZvNje7OovAtox4svmuzqYMlmNYUPVs4fbadvV_Zm-Z5zWmtKtdM53A9NLZ6cgBnu3TyLpIopbCvb-3b2LmY_aEwhvxVS2YTCem21h1rvDX_OqThnYpgbFoef5yAL7bVT0IU3PEzH8wZq5lmrhmT84G-tfKPfK3fkBu-KTp-mStHTe5lBb5RTPdpRDtvU88_ixidZYQxIzJs6LZxj23iRTPtKnkDYu41ETn4V_xj1hxqxtloVLYa02xkJTfg214LOyfeHEJhGK_aCpbOqjoUroYCQE2AFswvlZtHo9xcfJ5Arm1QMQGeB3WlnORvxkjxJGIprwLAW7Bl7uUqg_p1j1hvtyr4eWeC0j9hiW6g8hE_CWbrdsIaW4Y7zedKLWE2q6IBVSOsFf0sAZJGOl7qpxXU7Lx6Y1vhYai_lZHClmH3GUCyZk0_x9uSX9nVKYdGeZbR3fC7P2zueO1kiNMk71wgWKWrQg2_35gdepnjkNlH5zX9vIC1v6_kwz1cKUmXocfp26VhWaT9LtWkXpjaKPl0DuHdoqMzrgKjOsp-epTOvmBoYLVey6bkEWBvK-yZFZcDl8FGzbYDdCV_ApcE-vGcv-7gicTDL3bSuyUyQYJIxxeEBjG9sf4-RjdTPB7kWes0zlofuy0FuAtRtnxt2i7JIxj-0O6C0Te2XtXNwIskKrXTkybSVWzYqDHUlM07UcIi3mDV1YT3W7C5aRsFHqNOhTlSFB-NneMEOHj7hLgLyfnzvyx5YZ0RfHU858Qgum2Jn5SeHeXyBz5UMCwZYREqne3fOcez_8BhZh9tsEZcbFyRDnQX_tpgK0Bs93kPe7BwQwtmxxl0YG45TZh1ZLbiGe16c7C586WDX-9DotW35Kjsa1tskz6LrEvRTSC5lG3Qw3phW8hMgxZLIReoP5hC-rDhFbQ0CdTIie7imikqNBNCcsH1wmW1mjyaRSfxYMEiw0XCNariVRnd1XaKEwSZTkfjo38ou7Q6jgKR_c7IJlgPGLF8Gp7kgRMHcjIvL-yLrqabhpVG6-aHCw3ciLQQ0JQJ-vLF9LgXZjokxwCHi3c5LvI6jVz5QNw68PTQkA51juNZf_ZQ_CmWStZB9eDCG9g3Rs4QkkP3pWv4nQh2H6fMiB5VW4Qa1I1oqdL00rI5XS5HrflRYXT8KvJN6ghY4-hxuWKZTv1-pItFilds5aSg0j9tVATAJHGXcrN-sPeH3I5As-ZhZbGJ2vKuIkcOLKUrd6rpQyUk8MQsUC4nhCSb456oLeH7faA5ZoPI5K3UttUjY_-lAZ1Il5oT6umMtm9ztaLJbOH6Ti5pt3I2CStTHC-CsMZ40q6Xg4y5EBpix9PL-C4bNn3y7Yi8GD4jdRuorBVFxMmHV7hZBl4FUFR5SS3E4KwXtroqZMkKNjNP5pItPargJVklC6RnDsyGjFhnaA6ywh7P4-YWK7HT_50Msibslaf8SApmy1mqm2rvyap0K1GMp5jKByabLtQ1ZxrzhLVuUFnWsRtKOHwVh79nr10UFGX-L0p83zv4R-MPnkWMTl4d4OrdNV-oadOxryJDKC9goXnW92Zb2wpZVhWD2hWBhdeccwMLrcPbz6pRJ0CQEHBM1GxaAj7CPm8-3_-Yayz9PMhm_gIbCUGzUn0eyiKRrOmuR19LbWhqoW2xymcqAlNReYJZMe1bOoutVK7pLT8SNJiHqdC3Ra2EJqL30M0reVJFGumuMZ0EukiBmf-VN11UZk_6BHphQvJyEba2qZqvUT-s=",
  "id": "rs_0ff88975d1b74a01016ab41d2471f887d0918c388dadce473b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.014,\"left_z\":0.033},\"note\":\"The descent left the cap high and to the right in the wrist image, so the fingertips are now too far back and left of it. I’m advancing toward the cap and correcting laterally while remaining at low grasp height.\"}",
  "call_id": "call_AZ9V32ym1XIpRIpXf8Mjqujg",
  "id": "fc_0ff88975d1b74a01016ab41d2614d087d0902593c077161f75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AZ9V32ym1XIpRIpXf8Mjqujg",
  "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]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0299, -0.0471, 0.9963, -0.02, 0.6346, 0.3149, -0.2832, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1341 left_pitch=-0.0246 left_roll=-0.0082 left_gripper=0.9963 right_x=0.2623 right_y=0.0038 right_z=0.1088 right_yaw=0.0184 right_pitch=-0.0322 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.1812, 5.7231, 1.9121, 0.1001, 0.188, -0.0122, -0.3624, -0.8, 6.9812, 1.9658, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e8f7065d15de55ec8e98677e2e639944c697c7780ed0d1863f5f0e18ccbb2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512432b8b4bfa86bac9f0170d8f69c4f982e6d3458bfa2b34e26e6f54697b7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5874734af4d008a31400bb2c14208d36e03e9288d5ed87e685636443bf9531",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.582 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5919, 1.3609, 0.6685, -0.0143, -0.5369, -0.4122, 0.9963, -0.0204, 0.6849, 0.3904, -0.3058, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3518 left_y=-0.1233 left_z=0.1161 left_yaw=0.0563 left_pitch=-0.0305 left_roll=0.014 left_gripper=0.9963 right_x=0.2712 right_y=0.0035 right_z=0.1262 right_yaw=0.0182 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.5863, 6.2974, 1.707, -0.3492, -0.0952, -0.0073, -0.5402, -0.6769, 6.9128, 1.9658, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0765, 1.0988, 0.078, 0.3817, -0.0738, -0.0711, 0.9963, -0.02, 0.6533, 0.3424, -0.2897, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2749 left_y=0.0377 left_z=0.0229 left_yaw=0.1609 left_pitch=-0.0756 left_roll=0.0004 left_gripper=0.9963 right_x=0.2657 right_y=0.0037 right_z=0.1154 right_yaw=0.0186 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.0581, 6.1333, 2.0879, 0.1636, 0.1099, -0.0122, -0.4308, -0.8137, 6.9949, 1.9756, -0.1001, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0299, -0.0471, 0.9963, -0.02, 0.6346, 0.3149, -0.2832, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1341 left_pitch=-0.0246 left_roll=-0.0082 left_gripper=0.9963 right_x=0.2623 right_y=0.0038 right_z=0.1088 right_yaw=0.0184 right_pitch=-0.0322 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.1812, 5.7231, 1.9121, 0.1001, 0.188, -0.0122, -0.3624, -0.8, 6.9812, 1.9658, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e8f7065d15de55ec8e98677e2e639944c697c7780ed0d1863f5f0e18ccbb2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:512432b8b4bfa86bac9f0170d8f69c4f982e6d3458bfa2b34e26e6f54697b7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5874734af4d008a31400bb2c14208d36e03e9288d5ed87e685636443bf9531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0q-VgCzXy8zSvz3K6ZsrTUMG0DxuIX30JBwUF4wjNYMAEoMKSNpngJIAhButrlV7zZDtLPIE6UIa484BhWBgDnXWibS44H15DtRuC5Q6mrwBMVd9B9IhPxtcxMuLdcoxDoKoY2vFMacexm8VcnAm2_b2wCdAfZZKfS2WkqiSWu1rXr101umgVZ0kARLAvH-4hzdnlg6fAqOWHBu0_7QClRcdEQ8ItMj9w867Zq5wtp0doYA8okBEuwPDT2b8RTSf5K1FdsJ1nZEbq8eUsK-xeDjgrqeJmlsoiCeW5nAQYHfQLO-6lakO4NEuhwOvPt-hWIxRSYThxxFZLvndVrIJflW6rrPB1g1ntn2KGNPSAqSFq3D75XulYshdh_h-X44frIlqpkOSk5AgocdxFpJpVdK6bTutTC8BgLEpcBgQE6AVVI5PHX1YKikxqgHiWkc_EZHs4GmZQsd2jGmNsez2ht4rPwHdkPiI5cgXOGMTzP6PYdy6JZW1LhF7VVlmgZ0EMJXUDZyHoN_UA0fqXFbXQYr6FMra2wNXpYQrtEsCJjhf0xPRYRUv36mHfRpXKVrD5IgAP9Bwz4ml5nZbS9cORDjYZi6lf3Bea5IflFlYAmeQGeudUwJm8DsZO7x9E3IOPh5cc_D-C2_VAktK0Qj37aB72BVkVAHU-8U7mOVKVwVbTsngpZWogMfzEP9SXW_42xFyRJy70CFsbxP7GiyDzkk9t2jfa3HIMY0Q6ynAFBfzugzfU6xO1jYR6irF9O5nNgcIpX9A68UjCKEuZXMMkZ3T-fzq9kk9vQzBV48MaFJVCp1rJimq60ZCr1_-yQTPI7dtNBpuCHSlZQikj0HTrjR6IOfQo3s_bsW0Y2IkKBdYgDRO4_oTZVxGXInuKmEE_CGb97f_RYZOSe9eWvYygLDo7GUkU1Ow8ItUTUJ_hHBWimQhrHQz46McFOPR9Qi0e0n5HISNARQIQKVuUBi2PqUZWTFZkr0oJTWWjl_xMamiYu82lHGWnYsuIr83Y93WPOUaqBU6WLI_2kG_q01wRwQtcGbLa9owwDEP5Q8cgtz6IbTkwqKXJV44f4_9DhQOPhbp2AzzSuuMucY-5SMY8GXe0OB6oAzPwka5fK1FsgLRrcbS5IU4VbJygWjkHMLQqXt-SglfUtxR5hZsRKmlH-nIZK8rIgWz-4C6Ydbx2-tFDOG79JC4xLD94A7KaBVzmTJlRABhcA3xMwG11t35ItbxM077yv-vaOJs0wsAHLvSlMg0nsTjBymRzRW_a7TrYLqjowMBm0b_fzFFON1orDN5kPlm29m8uOTvqPg8-mbue4rRbEfuKmmPeDStPMjdgYX3lI_KjI3VxxvTciPE3--_EdT8CRL7YZxrePqqECfrdKdhYp_MYhf0mjnKNSgcLsgh3WxcVLA-n_EhisaE0TCOrqb0VdXMAF3T3kulV3QrFt0FkjlcjTynKFd0cGz4YVplqPgr4TbapY1jSPomjDYW-dGQyloyZtAyOPYlMxWvx_FY1gZ9DeSWa9D5KeyS_h3M6sU6RkEx86kP4PjvyxQn2uixFzyDAs_JqZlEzAZ6PcGF6jinNPXInwq5BuGZWmdH58uCKVEo4CVdB8LEoq4SAxYhN1oUg0UecSoozpmDoWMt2HGUlkIL1yEdOdCm5X6fWND-ObvM3BmoiwqAepYex4UNLmNsqlju4Y2H2bWafSiHgXvFftSXMPFbYB2FC3ofcxhpkjwEVJfLmzBlZ41i1ks46_Eb54sdCVewXtBFGKyXFNy030tT1_4DIMe2wQVxl5h2uv7ADXeNantqIinZOCsk8xibn8CLwZD25O9ZM=",
  "id": "rs_0ff88975d1b74a01016ab41d2870cc87d0b97fdcfc4840b3ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.014,\"left_z\":0.12},\"note\":\"The low forward command hardly moved the hand, indicating the fingers are blocked rather than merely misaligned. I’m raising the open gripper, then approaching the cap from above instead of dragging through the bottle.\"}",
  "call_id": "call_tqbsG8sZdaFDRKS92qA4hZm9",
  "id": "fc_0ff88975d1b74a01016ab41d298fb887d0b863e037c9e78381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tqbsG8sZdaFDRKS92qA4hZm9",
  "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]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0296, -0.0475, 0.9963, -0.0204, 0.614, 0.289, -0.271, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1339 left_pitch=-0.0246 left_roll=-0.0087 left_gripper=0.9963 right_x=0.2599 right_y=0.0037 right_z=0.1044 right_yaw=0.0182 right_pitch=-0.0253 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.1949, 5.7231, 1.8877, 0.1245, 0.1832, -0.0122, -0.5265, -0.4991, 6.7077, 1.9316, -0.1099, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1b520ae99128e3be8478168b7ed4224a23772054134972030f2f21726fdc60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e5d4045abe1809b12e034d0a8bdebb0d59d7709253eed516a7e093d8f2d7adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a2b28bc2e9af58c263e11bef40a17427d9720630a4a9b14b74fb9aa107311e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.752 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1467, 1.0481, 0.2798, 0.1764, -0.2188, -0.165, 0.9963, -0.0204, 0.6666, 0.3645, -0.2928, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0035 left_z=0.0785 left_yaw=0.1096 left_pitch=-0.0143 left_roll=-0.0022 left_gripper=0.9963 right_x=0.2688 right_y=0.0035 right_z=0.1216 right_yaw=0.0182 right_pitch=-0.0242 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.212, -2.906, 6.065, 1.9609, 0.0611, 0.0366, -0.0073, -0.5675, -0.9094, 6.8581, 1.873, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0299, -0.0471, 0.9963, -0.02, 0.6346, 0.3149, -0.2832, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1341 left_pitch=-0.0246 left_roll=-0.0082 left_gripper=0.9963 right_x=0.2623 right_y=0.0038 right_z=0.1088 right_yaw=0.0184 right_pitch=-0.0322 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.1812, 5.7231, 1.9121, 0.1001, 0.188, -0.0122, -0.3624, -0.8, 6.9812, 1.9658, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0296, -0.0475, 0.9963, -0.0204, 0.614, 0.289, -0.271, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1339 left_pitch=-0.0246 left_roll=-0.0087 left_gripper=0.9963 right_x=0.2599 right_y=0.0037 right_z=0.1044 right_yaw=0.0182 right_pitch=-0.0253 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.1949, 5.7231, 1.8877, 0.1245, 0.1832, -0.0122, -0.5265, -0.4991, 6.7077, 1.9316, -0.1099, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1b520ae99128e3be8478168b7ed4224a23772054134972030f2f21726fdc60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e5d4045abe1809b12e034d0a8bdebb0d59d7709253eed516a7e093d8f2d7adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a2b28bc2e9af58c263e11bef40a17427d9720630a4a9b14b74fb9aa107311e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB0tiMfEG51Tp-1B68WQ7JTMa1Y6x_8xtO6JZRKa4JLSkvosrIFwHHPiTwOZOZvHLqbQx-fo9q4RLz8Af-QMHhofdPGnt6meGNM4KYgQ_inDDxcgq-kfh59UFxkghDciYqMI5X7zNGErf7_-eK0A_m9a7XA9TFtLYXkI7UCknkB2MIY7nzbQiGmmVA9Ho9vppDjb7R5i9WGnRYdgeGx8HKpA5pxIkuG-5nxgHX_LrwEKyCwbGfSgpyQe45Av6YpL2SGzfRVa0Xqf4RCMB9uNKe9M2PYI15qBQp3CIpfc90u7OLlpdF44tby2ZE03yIJCqiCBfNYsUSMENyjFNsDkpBCqqF8jB_yYh_jJo8F9Uq9PwVU4j56xnweV4VkWdqAPs2pUb2XgtGo97l2IwQb67NghOKEGJWud-83Goroj5F3JNr3vgj27fnZaUyY5P0zoLM1BTbhQTz8uJZOGzdzgNhH4VA3E5z4Cb7Os_KjneMJlldLS-HIh9a28A3dnlEjlT3qdlO-Gr0IFlWbC9EGzbCn0kRqEKwrrBBzO-61sD5JJ66z8NE1OPNowI64urzRT57w0hq53TcK4CuqOBo_jwKQufo_f9opeST-r91aRyvSW11NXbjL3ePcjrrsaxtyuM_vSzZbaduA37N81wypTKKqNbw0iwyiPFu0znY_7QwOq0KYw4FVQ-AxktEHYJ6irFbS3Lo0kCNApVlYJjFZU-6UcTfjGh5AcjK4w2YxrI9DTkv3ozgH7q-oGlVyxaspanHxSwTUOMxgwq8hutyTTmpNPZvuaxj17-22-sEyXUeHmhiukmaLRfWroWLN0WhEfNJuiYNveKjiz_WbqytZC2DcYyQ9wI5GvdRnrkkFy0RS5Yj6RQiSdYWwcbvfNVCWE__-ILbmR09xkQ1W9wCBW_OfzaisyJ5s06eRKmwTkqeD30aTn9I3boRn39TBDlVYUb4mO1nUWyUfan_Hhwx1E5aNj9Yt-qW3q5cMqa59mFUyOEMwt1jhSb5CvASqxxhBhfmypqvByuPcLyBm2pfwLoNpzIpoxWC3zBStiv0LrUdGbvd2QQfLc6gq22J73lGTFbfT9lURZ1rlZBxcuMye1dlswIAFC5aZhlX_oGFje7qm2nSIBnaKJh5FCPVGpq2D-SO1mY39m-ZM2KRHCh6zexaA6UejxXU8IC4JMVq96bXija9Svfx1Ad3KtakLQsQpBtM5uI4sSYpjqpXiU9XfZORUeaHO3xMe6BiW_1HcVsRIlJkF3kSM9CnaDzUCE3AH5ttsORaR13YDutD2dy20yZctaOGhBmCL8-8we4XyzCweR25qCi2ampxKLPQu5canP8-Yqh21FnvibBh0rAwyPLI7Zyg7rZf7JAoDP8TpEpT44RcnYj1lPQUJNSRiopiEvOQ6uVJWjSXeq1wlMApa0dJF_eQ==",
  "id": "rs_0ff88975d1b74a01016ab41d2c224c87d0a2adb03b8a826758",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_z\":0.22},\"note\":\"The left arm remained stationary even when asked to lift and advance together. I’m trying a nearly vertical withdrawal at its current horizontal position to free it without pushing the bottle.\"}",
  "call_id": "call_ZCNSO4S5klwUPchACABv4huu",
  "id": "fc_0ff88975d1b74a01016ab41d2c925c87d09f7b6d47efd9052a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZCNSO4S5klwUPchACABv4huu",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0933, 0.7136, 0.693, -0.5381, -0.0414, -0.0517, 0.9963, -0.0204, 0.5999, 0.268, -0.2676, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2736 left_y=0.0365 left_z=0.2092 left_yaw=0.1397 left_pitch=0.0035 left_roll=-0.007 left_gripper=0.9963 right_x=0.2572 right_y=0.0038 right_z=0.0989 right_yaw=0.0182 right_pitch=-0.0287 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -0.6632, 8.8274, 1.5946, -0.0122, 0.1001, -0.0122, -0.5538, -0.7863, 6.8171, 1.9463, -0.0562, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a934225804bb3171fc2418deb90f45d15c32a43437d0565d42ef0ee05b765f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd810d638b62387f2c103bf79f3591814b41d8754c66ec140ed77cdce109a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffc6107f0adb1f4d57fdec3eb5c294135cba868e436ee7ddcdfdd184aba462e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.136 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0765, 1.0988, 0.078, 0.3817, -0.0738, -0.0711, 0.9963, -0.02, 0.6533, 0.3424, -0.2897, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2749 left_y=0.0377 left_z=0.0229 left_yaw=0.1609 left_pitch=-0.0756 left_roll=0.0004 left_gripper=0.9963 right_x=0.2657 right_y=0.0037 right_z=0.1154 right_yaw=0.0186 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.0581, 6.1333, 2.0879, 0.1636, 0.1099, -0.0122, -0.4308, -0.8137, 6.9949, 1.9756, -0.1001, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0296, -0.0475, 0.9963, -0.0204, 0.614, 0.289, -0.271, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1339 left_pitch=-0.0246 left_roll=-0.0087 left_gripper=0.9963 right_x=0.2599 right_y=0.0037 right_z=0.1044 right_yaw=0.0182 right_pitch=-0.0253 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.1949, 5.7231, 1.8877, 0.1245, 0.1832, -0.0122, -0.5265, -0.4991, 6.7077, 1.9316, -0.1099, -0.0073, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0933, 0.7136, 0.693, -0.5381, -0.0414, -0.0517, 0.9963, -0.0204, 0.5999, 0.268, -0.2676, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2736 left_y=0.0365 left_z=0.2092 left_yaw=0.1397 left_pitch=0.0035 left_roll=-0.007 left_gripper=0.9963 right_x=0.2572 right_y=0.0038 right_z=0.0989 right_yaw=0.0182 right_pitch=-0.0287 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -0.6632, 8.8274, 1.5946, -0.0122, 0.1001, -0.0122, -0.5538, -0.7863, 6.8171, 1.9463, -0.0562, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9a934225804bb3171fc2418deb90f45d15c32a43437d0565d42ef0ee05b765f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd810d638b62387f2c103bf79f3591814b41d8754c66ec140ed77cdce109a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ffc6107f0adb1f4d57fdec3eb5c294135cba868e436ee7ddcdfdd184aba462e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB00CE1hPgbib0_vsaO9afTXWC4eihZGuxaf-D3jehqtsV4H5xyrPhoIFu5BOFqGFBb7Hu33yNVQG-O9Cw8qt5DdeCrEZ-0SrZ6jZlkD8QobCXD_UEZNW8_sERsUAvbwXY4pXgLbuQo6rVxxqujuB1VPOhXE0aWqEstg4POnmybIeg-l5pul9hqCdSigZqIcc53pzjTXrqvdF_iNWsTOAju7T0iEyRFmE6Rb9tR-RecbPYf3F3MLgTGZPh2xlWayAC5MhNn7uLIvGntazBA7eyTuv0IbbA0MJWDojgxqbiv3kI9rcRyJupuFt6KFzptj2dj17X3o2MqdOXwGWM17NbbrRtrM1hJVJ-HV6dh2i40mR7aayXxvZeI3pwv1zRNpINm7BLuag1sjPpEIh_SfDKK1HG2QqlmeO4RCniXZvL7rhEvqy1Jaq9p7CNKbXT-yzfUHIA4q495nBJjvE1wX9QgfKI6BeafDXbmoYwlw-a6Ci847ZvFdtB8ZsDokQ-gSNMePUyn7PlUG9YoJuYx6eFHb7cx--02gnNfF0oC7GKcfF25ZEsEKsQSq3IrqwUE_8pJNpiwbr1bItr5tlpa8jZdfVm0rC4bHnEiuItMzG73zHoHu-ypBqR4ziRWiazgbQaDHVMfpq_h5fIGo67gJA-3iiA8WW41fefZWCOEv2DO_FyqfpeX4Wes13smFIQlwTLdljvmGB7LaN4cYPtKNyRV96qAiSCbOaiMn_a0cOLXKNawk-j0GfwNTpK8t1pccokj8pKiyBsBuRPvVIcIVmZYzrp4HzCCvI8yH83sNB6pyMep77-umuHSHHGF_lfSYA21-yTsAs8ysDWqXA-IuZKucZRGIFRE4z-6k84CjFGfOavQRMT4yF5_ZoQBs9tXw9JCZA-hadqRZYx2m4iRuIT5GleVxATozFzB19FIUJPYk0oYJqs-5MhfOeH-aT_wHZ8DLZEQ57B3cTYttvSnUxHGQ916CAL-mi2trtm2FVubRsOQAJMEb_9ZyM1M4tqMHRqdAJUwiXvbsbBK5mzIL-si2V6myca58yL5zhkMkFkgEm_23G94GauBr3btS2f_yTk-aiUfJz8gY3xIZ_8aWljU-jq83bkgwHj68aeKpvVb7XcvVSfmoi6gzACflLhUgcgeG5kXqdmXzQA-wn_LOrGEDna12g-5dpD_EDAJKpfCQKWXdVFtLM0UTBa2kIkk5uBtKiqYsxATHFqFCuIvNq4sH0ZoHCyBeZZsSaQqXO14xBSyfOWTUmqloDNYXUbs_8KaqJDUvf1qyjZwTql2uLwzSXSL1mtZUEGq2Y0pO1DvRixx4Hn_aTzbyoyeVfWD6phxyP4zwceiFNV6qJGJjsxWW4SVGzez_LV92D3jM60wy_1rfW8KQtYr0J7a_WqEwyQgeGKw9i2GBdEC1ef-4K-BcyXZLX40vh5a-nlImJ50NPVbBesViTDTLhsVoONhoDip8Xn2OtbZysZKzvV-Qv_h2QJUQH1jHOZsCZR6mJs7Q43QxqnDv8wZGLa3X_eSuVAZOzdlpk1H_CW116LkBMW_fmnaVEOHKaSuSvJTXRSYVQA5qlFTmJGSAGyA0KHZjQYEq6XOsVS_8pSjNH6eqvSUX0gIeZ_gFJHw1uVSn1HMCdzI-wQNaH_EQNLyOGEL_zVw_j-GlU7M_yvqXQV_5T4aT_u6M3vqniDk9_ytQIs9FkVD-dyzJppjDOyZAqXFzSWytCXKn956sSiGpFJfM96eKuTBkurtS3-oWHmYcUfyGV_cFcyFRu7QCC00nJKQhNx2UdNhsmhCHhkEl8FJAtqDxpXWLTpLKZMxCzIXvbTz_iDuILBbbaHLS75AgplHznA4lfVM-UwrrDhToAxuig2crSTpS0dSctT7kHd4RJiYIDwz2QoGOVVaM3oRhiBabYXWWDo6Vaie65cMNWIwz_RuO8pnUp0OduygY3NAVj1J7j9AQLKCoeWDhFmhpDaokMWir57nHRxGro96QIQJ51ihK4JysmwCOTwLvqLrb2IxvET4mxpawguLhZkNEGqc88g_q_nK5HfEow6h64B6CbLceW-dtcueNN6xw-t_6Dza_M_xBa7b96c2ucLYB6u64FxTI3PMB-L8_ig9XNS38Tz1bSVQ1PREs6E7rCcN-fD51U7bEVb1TAW3j8uytlBqrmoTkCt9_RlOYEZMDe4Y70DZ4UTsPUidK7aIgVoDRPOxxjyVECYcOaTgJxgwUXrTKThLTWhx5QUsUehaOLhb9aWiSum_bH5DZ8hR64DWQ2Cq-w_RDLcJY3jNS5kGapceky26SMkj_3_6IfUZK1VltLziEuPAn_fUChMAuNRSss6Us_L3CR-b5dHDjBdM8x3z6eVaSDyO6GLnWUyJItpk8rWMfAfa15YKtIWPXoxUrPdOAGFXWSdICKmv6e57-WRU_j8E_MTGqvZTv0V71-y7iiRu_Gbb0IsXZrBQwiP_BlzY92meO5S0cnd5OqP4SFr8kMSZZsLDItN9yY2vvtb1S9A3Zt0QbB7C7lof_4qqs7eFaaDsZJSP0ZmSqgVA7vnrFqGfKzdUh4M7m37PwiQJ2Z64kEJH3YIjNBOqXdPvLT3iH3j3pIdnUH-x_DsCWiVF2Y8ewJzWWVq0TvBFbNE4eoPa5zuwUddUj_bigJEcEziQYFlI1EnkukoxlwabePp1uXd0e2bRoY5y5_tnVrmlV20uOV4hQRL7wQYt9DpDnTRPmSmB3jus5MKHwIOTSK5jEisdQDgR2P_GQC0sGsNvoedm48SMxHghvkEtdzWziQjbox2vrt5vIQtj7cP30tY9BT8prA3_uj8aa-gR7OEMx_ltUce3gZ-p3JlcMb7hNU2AyDCloyFdsoGgsYjWpsPeUznEDJ8F57TPml2OV7P4-j3XCV90ZJJ-Yohk9bP6h9FtFLR4sAi1oK87n2wq7jI7RZHSzXBdsnD2U1cNTFj6bEjNtix5jBPd1jm9x9lmVDwi9Rg0=",
  "id": "rs_0ff88975d1b74a01016ab41d3044e887d0a7a608cf6abffeb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":0.027,\"left_z\":0.11},\"note\":\"The left hand is safely clear now. The left bottle’s cap is visible ahead in the wrist camera, so I’m moving above it with the jaws open and will use the new view to choose a vertical grasp.\"}",
  "call_id": "call_Qbt6GMXza6SOPBwb0ToVh3dx",
  "id": "fc_0ff88975d1b74a01016ab41d3396d087d095de28227f45bef8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qbt6GMXza6SOPBwb0ToVh3dx",
  "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]: [0.0116, 1.1751, 0.4915, 0.0128, -0.1059, -0.086, 0.9963, -0.0204, 0.5804, 0.2436, -0.2638, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0262 left_z=0.0948 left_yaw=0.1315 left_pitch=-0.105 left_roll=0.0113 left_gripper=0.9963 right_x=0.254 right_y=0.0038 right_z=0.0932 right_yaw=0.018 right_pitch=-0.0299 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.7658, 5.8872, 1.8193, -0.0708, -0.0659, -0.0122, -0.4034, -0.4718, 6.8308, 1.9316, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d414e45bb0c1169a09e61df7ff37dddb5d4f78f6643f30b2422d3d13e80041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58e987f03557b9aafa47695b88d444f1f349b84c1a2d48b8e88b8661837cda7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04073939f3a7ff911f96a451eee556350005b9db77d4fb5f055da87cb799ba42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.545 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0299, -0.0471, 0.9963, -0.02, 0.6346, 0.3149, -0.2832, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1341 left_pitch=-0.0246 left_roll=-0.0082 left_gripper=0.9963 right_x=0.2623 right_y=0.0038 right_z=0.1088 right_yaw=0.0184 right_pitch=-0.0322 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -2.1812, 5.7231, 1.9121, 0.1001, 0.188, -0.0122, -0.3624, -0.8, 6.9812, 1.9658, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0933, 0.7136, 0.693, -0.5381, -0.0414, -0.0517, 0.9963, -0.0204, 0.5999, 0.268, -0.2676, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2736 left_y=0.0365 left_z=0.2092 left_yaw=0.1397 left_pitch=0.0035 left_roll=-0.007 left_gripper=0.9963 right_x=0.2572 right_y=0.0038 right_z=0.0989 right_yaw=0.0182 right_pitch=-0.0287 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -0.6632, 8.8274, 1.5946, -0.0122, 0.1001, -0.0122, -0.5538, -0.7863, 6.8171, 1.9463, -0.0562, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0116, 1.1751, 0.4915, 0.0128, -0.1059, -0.086, 0.9963, -0.0204, 0.5804, 0.2436, -0.2638, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0262 left_z=0.0948 left_yaw=0.1315 left_pitch=-0.105 left_roll=0.0113 left_gripper=0.9963 right_x=0.254 right_y=0.0038 right_z=0.0932 right_yaw=0.018 right_pitch=-0.0299 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.7658, 5.8872, 1.8193, -0.0708, -0.0659, -0.0122, -0.4034, -0.4718, 6.8308, 1.9316, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d414e45bb0c1169a09e61df7ff37dddb5d4f78f6643f30b2422d3d13e80041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b58e987f03557b9aafa47695b88d444f1f349b84c1a2d48b8e88b8661837cda7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04073939f3a7ff911f96a451eee556350005b9db77d4fb5f055da87cb799ba42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB04nNyhnGa164wdS9PnFCcBPyjelG4-Fgyq96GuF5LqJQeel29bh8VusgIlgWkzQmPtf_9DAB8i_9yZqJRiJJVRL2fJ9rAunRAtXAAuEt2dINQjr8tlM9pagJ74sGFKdcsbtPWU9fTJOK0vRsBBHrBrdGquoZu3kXEecLjBM9doB9asUS8r3uPojcof4WG-BzZnpRP_UlfUxmY3QYjnEOk1igHJUmEYP-hcqV4gzMzgaPqxyxYc0YOOivo3t4LnVuW3TT7Tvzbp0veF5VXHoIv4b2AlmS3JOnmwTdcCGrFVvQGkZvCwVMjGPGr0n9MAyBooqb5C1AmBdeZE4h-DAKw-1ndcmeMMZaEY4PNEBGZxjfcw8bqkSJCznMCSQJZza7NlZpArC_Iv5iYkXQpHuK-4fhmyeLginhph1BOiROJiJuqLdxhD9ofZw3qMrXoaxanXrVaV0WMs5gFZ4dr58mSCWBgHhVzrs_7ATzpOzCqrWXHFOFg0iuGYQsOAgQ37tHHE_C7VovRasQcg_YLhCfja-f3hOSOVRqRxKBJQH1TXvkQlGwhpgJsrJs_TdzQgCZHElrE_EqVN0-od_WTNxJMBaWDZUUjQofPPbJQwotn5fE975NxKgJAp8h30qj3E4Cdp79Vf3squOmIWCw2abw_yLC2Vf_nIUjZY4GBzhpoyotw97VGgTpem5PwXix6ZOE_gsKcXdm_diQXx0uUKEIeMLKA6He-3ldj50nzT5MRjXZGN7dCOBYUp8HwSVSyZa0zx1dLyR5PlK0be-8LBxXRvVK_SLV9gRwLWemuDdCeXht7xBJgTkS39nuND2sZeNkfSfp1R3mO_dvmAz-IfLMZAniq1kUHfq17aJYG4GR2oB0E_BQjIcaqNo3AhhCOJaRLK9HY87koaMy7lc7KWlpmRJsafCxdRKXxahGmR80YmDp6nZ7aUe_GGwuBQ1Eu954hoIyeW51ibJRjcHF5fcMddj7Qxxs1JR4ZuwR7gAeRwg-GuN1GK18u5HtPb9CJF0X9Ppsxr6GCkPrjxlGgoO8fqFnD9ONVI4dOT930e67RR2pwt0hoOCeNbnn84mLEAJeUqGL_M9tzJMrQklRAZnbu2HekHKGzWtXkrbdu8SwgdiUO5onJO2tZ-FKtH-wnyNTFgfA7Gc5v7LXSRxKGpmOsFSFN-nJ_5z-dWqu86iILlf_btIbPBREICilyNrPZnfcxIAPevLXM_53If51b4fRm_uYrNsGdJo9OaF9_5LIwqC3swE06aEWiI2bbn_-FUj3i1cXs9kiGgygMpGdos2A8LTWO2kJk_gJQ2oeeBg3RaZLcGZqjBLJW4xYwpkQMdhAavQHrXlkVTfQhYCeEXgZQ7qWLgfFqqLJ_q40jXIP_nj8tX2-w3NAn241j1ex588QAeiSr5vilWs3NqxZE8WkAjXndilJz39bYxtl18mfNzVrIaDAaknrc3tIt-0lBtqIuAr8uR88lvfgSw1SOXSKuJjb0utY3IxGTRnRSDHxmWdLf68542yatMi_gKZMSlxsGWd8pi_-pjV-lhR4WErUHaDcnOEROl5nh2PTmw1faE9faCEoO_TVwxoCj6mw3F9sv6k5NcyjMAXINmEZSS6Aa0ZbIqvAo0BK6qMkaL0U42emXYn6l9PwmywfQne3T3L6CYRXuiroyZBCC89xV-2ZzEVJ2eCfenpnGmLkIysosFQirdNkgXqdCwHrWUlYxUeVRWNQafYGK6vjSRAc0tVgzNyauWiZJHTCsmatVh9U4zbW7FTRmcGkZdE_5MiSctdsLSU-K7XoKYlMQKq-Pk720bSj0xVuolLg9SdBXysfoyooR9JhQHsYgEtKT2ETu-uK9MfP457R_idEyizHH4Isxu7Q_boose9LNrRx-hHe4TCf4zh_35v5oVRTOCuU2lB3XJ",
  "id": "rs_0ff88975d1b74a01016ab41d36231087d08b3698996da39cb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.337,\"left_y\":0.025,\"left_z\":0.032},\"note\":\"The left cap is now centered just inside the open jaw tips, but the hand is still about seven centimeters above the table. I’m lowering straight down to the bottle-neck height without changing its horizontal alignment.\"}",
  "call_id": "call_ppwD0TPs5Hnsk9O6ydAHaG2e",
  "id": "fc_0ff88975d1b74a01016ab41d376a7c87d0a66a77d352710e4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ppwD0TPs5Hnsk9O6ydAHaG2e",
  "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]: [0.0059, 1.4174, 0.2695, 0.622, -0.112, -0.1112, 0.9963, -0.0204, 0.5579, 0.2203, -0.2615, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3474 left_y=0.0254 left_z=0.051 left_yaw=0.1438 left_pitch=0.0393 left_roll=-0.0248 left_gripper=0.9963 right_x=0.251 right_y=0.0039 right_z=0.0883 right_yaw=0.018 right_pitch=-0.0283 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -3.3436, 2.7692, 0.5788, -0.0952, 0.3101, -0.0171, -0.5538, -0.294, 6.6803, 1.9658, -0.1148, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc2498573dc16adc897cca0e48b37e34dd9c82f8fe943dd1e3604b269691d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f7bb2513852aa1ba29febe371cd00eaeca65b53b7f65baeecca693b42f34a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dc27543685eb0736a51cfe6596cc2649cb572cd43ab5a9848e470035ae7723",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.289 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0998, 1.1126, 0.0586, 0.4675, -0.0296, -0.0475, 0.9963, -0.0204, 0.614, 0.289, -0.271, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2797 left_y=0.0369 left_z=0.0291 left_yaw=0.1339 left_pitch=-0.0246 left_roll=-0.0087 left_gripper=0.9963 right_x=0.2599 right_y=0.0037 right_z=0.1044 right_yaw=0.0182 right_pitch=-0.0253 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -2.1949, 5.7231, 1.8877, 0.1245, 0.1832, -0.0122, -0.5265, -0.4991, 6.7077, 1.9316, -0.1099, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0116, 1.1751, 0.4915, 0.0128, -0.1059, -0.086, 0.9963, -0.0204, 0.5804, 0.2436, -0.2638, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0262 left_z=0.0948 left_yaw=0.1315 left_pitch=-0.105 left_roll=0.0113 left_gripper=0.9963 right_x=0.254 right_y=0.0038 right_z=0.0932 right_yaw=0.018 right_pitch=-0.0299 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.7658, 5.8872, 1.8193, -0.0708, -0.0659, -0.0122, -0.4034, -0.4718, 6.8308, 1.9316, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0059, 1.4174, 0.2695, 0.622, -0.112, -0.1112, 0.9963, -0.0204, 0.5579, 0.2203, -0.2615, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3474 left_y=0.0254 left_z=0.051 left_yaw=0.1438 left_pitch=0.0393 left_roll=-0.0248 left_gripper=0.9963 right_x=0.251 right_y=0.0039 right_z=0.0883 right_yaw=0.018 right_pitch=-0.0283 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -3.3436, 2.7692, 0.5788, -0.0952, 0.3101, -0.0171, -0.5538, -0.294, 6.6803, 1.9658, -0.1148, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc2498573dc16adc897cca0e48b37e34dd9c82f8fe943dd1e3604b269691d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f7bb2513852aa1ba29febe371cd00eaeca65b53b7f65baeecca693b42f34a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dc27543685eb0736a51cfe6596cc2649cb572cd43ab5a9848e470035ae7723",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41d39ef7887d0a55617f61d32d46b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":0.025,\"left_z\":0.062},\"note\":\"At grasp height, the cap projects below the jaw tips, so closing here would likely miss as it did before. I’m pulling back about three centimeters with a slight lift to put the cap at the fingertips instead of under the gripper body.\"}",
  "call_id": "call_mIx07V4qxQp13kQMhDKPVnDK",
  "id": "fc_0ff88975d1b74a01016ab41d3c3b5c87d0b990cfe605f3fb98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mIx07V4qxQp13kQMhDKPVnDK",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 1.1847, 0.2451, 0.4931, -0.1219, -0.1081, 0.9963, -0.0204, 0.5362, 0.197, -0.2615, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3352 left_y=0.0249 left_z=0.0884 left_yaw=0.145 left_pitch=0.1185 left_roll=-0.0287 left_gripper=0.9963 right_x=0.2478 right_y=0.004 right_z=0.0827 right_yaw=0.0182 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 4.7658, 1.4676, -0.1636, 0.0073, -0.0171, -0.3077, -0.212, 6.9265, 1.9512, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bc0eb9cedeb63c36806a990b6c82bd28650a041733cdb85588d23c7f69229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59456d8afa62ac0671dc18c37b86d2369ee215fcd34a877e7c585b2865e6146f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160589b10c2a15202314cb39ada7c01b6c5b0e2dd675dd677f2238e1acf35d5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.692 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0933, 0.7136, 0.693, -0.5381, -0.0414, -0.0517, 0.9963, -0.0204, 0.5999, 0.268, -0.2676, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.2736 left_y=0.0365 left_z=0.2092 left_yaw=0.1397 left_pitch=0.0035 left_roll=-0.007 left_gripper=0.9963 right_x=0.2572 right_y=0.0038 right_z=0.0989 right_yaw=0.0182 right_pitch=-0.0287 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -0.6632, 8.8274, 1.5946, -0.0122, 0.1001, -0.0122, -0.5538, -0.7863, 6.8171, 1.9463, -0.0562, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0059, 1.4174, 0.2695, 0.622, -0.112, -0.1112, 0.9963, -0.0204, 0.5579, 0.2203, -0.2615, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3474 left_y=0.0254 left_z=0.051 left_yaw=0.1438 left_pitch=0.0393 left_roll=-0.0248 left_gripper=0.9963 right_x=0.251 right_y=0.0039 right_z=0.0883 right_yaw=0.018 right_pitch=-0.0283 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -3.3436, 2.7692, 0.5788, -0.0952, 0.3101, -0.0171, -0.5538, -0.294, 6.6803, 1.9658, -0.1148, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 1.1847, 0.2451, 0.4931, -0.1219, -0.1081, 0.9963, -0.0204, 0.5362, 0.197, -0.2615, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3352 left_y=0.0249 left_z=0.0884 left_yaw=0.145 left_pitch=0.1185 left_roll=-0.0287 left_gripper=0.9963 right_x=0.2478 right_y=0.004 right_z=0.0827 right_yaw=0.0182 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 4.7658, 1.4676, -0.1636, 0.0073, -0.0171, -0.3077, -0.212, 6.9265, 1.9512, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0bc0eb9cedeb63c36806a990b6c82bd28650a041733cdb85588d23c7f69229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59456d8afa62ac0671dc18c37b86d2369ee215fcd34a877e7c585b2865e6146f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160589b10c2a15202314cb39ada7c01b6c5b0e2dd675dd677f2238e1acf35d5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1DvWh67Y1fXiNG0WbxmPwA8dBNglH8R6Eol1O8FjPr1igjcmRYDem-wt3cBsjFhLQudqM1kd55yFOO_tG0kvcCbxrc_VHskOp-w0BfMOWPfM_OvVYwTiCoum9St9R8-JhjaDlYKvENAV7fLK9QvQyVC-zzuJnGbFiSaM9Z0zBElQVPLCwe5OkkYg3FGwWfpQQYSrdQaBcraivklzvrZI5oaUsknNM-4QH6PVWGLs0MbWx6vZkU6dh7MmE_K6NYRr7nI5ybWugJCUw15K3uMjaKl9fnMMU86IENRZ7sqWFhkFZwEbWZMwxStI6fmOHaGh5aFsnXzcMiSms_uypqNGCsmJt0tKXperobx6pXQQnviuA2C5PEIc3cLjzNEA6eTUMAonajwGCcD8glW-qZm_vIDUiRjw18T_OyExtPaNKWgCVGUVD6GCOfhRYNFnYzzOcQ49K5mGyeYM3I3Pw273lDWklH-EZyTOQwejgcfWXeMp7yY49T3nQuEHptCUpd78IiO7QWHvAfO2DWYd_8CGvhGobMuEB2kBdqQv0QMBEASWSXeVP30YOSAOnodmT82v3WYhKFI5nycohdhCKbefXdOh27I4721ajKCecgGlX2wgxN4J28oAMo31C1efQjhi-ul_vlnkCl12snxDdZIIFS-GTQt-PVOHDn4lTwFQZvkcTQg64ZyhXQmRm-E1dffMugtntge_641n8KeMGK0-x_1D8ewkDbxSBneeG2jY9DFUuPayfAiKWqPTyUMiR8dTE70wA5vwiM4OCGhEhd6HjzWwPCdeTPrsUAZAuEm-K39p8IKldNp-PzHzfZwUluGf13qP7dV90XETWApnkcVANIvtzFQM9iSXmC1Icsff2NaxWYE0lUp9EzQNZj8rfPJ4slZ2aqZDql3b9NuI25QxvaYy1JZtzKLIqyGTf77r9F1wGmG_UyxyyaXo9XkcbYd0KJbZ4EPu61pT5VjFntej3yquM1NX5J_s8BCc1AVJV-CvFgcPBjhOJ4mB-lBZR8tZPa76ITp32mpCvBwOeyuSdTKRRumiH1ktAtl6BNLLx5JmQ5EFz16EsakjS-pjnn9BDIKueE6MYIFWYuhRpWsg3F7fe1h_KfGO-Btko-T9S2MNjb7CMFrzN8Bj-owXD7GjjrcbTPyBFBM_rQ9q0EHTY1Oy9Q_e92_NA225iMcigD3SRN7yTjist5TmXBcflEBAed-AufePTwAC7eDRhfGUZx3mydbIgPzQ9HJ8ty1GGh4tC8ZFaqKEl57FpQzikGDsu_InTSeMhBvjuKXJrTJVC1am4UAjj-9Dt_aLlEeyy8hxYvnkPdRNvmEPz82s5t4y2ugcgaOxl0qZv3nsuXWEhna3YXjr-Iqw7SqwPwiQQENkgA13WFEmLKY9LFv9ixvItp_jRH0uZ8CTnkgBaqi6et8qpvLvkiYQUO1aBQ5wX-rUyLd3ig0sfbgPKjXU3-72VqvTM8-X6rIm9qDz-GiyE_ALGZEAfqU1dUm6FuKPG3fIMUeeTQ-i6S07Vejw7tqlzrpa5F2S0MvzXR1TItBF7dBdCXwQWbzATfhgSqmWUGt_hjKYo1szkV1i76J3AKFA2Q-WwboqtZXyarIq-GDqYgAh5pw2HIEzR8ryudcMEGdR_zITmHlRtXpX75KdRTX49i6Voqrw4djzs9P8GwuFC8R9eaiwrAH6mdUA9XRC6n39AXL0xmttyHaw_ui-ckt3QhKhze0DgavcaR83ut_CuO_BrtkswpzWxb8qTckIE7bLp5L3GUf7I6BdEIBeXWCNt4v_O2BCqXskJCBybfQKn1ZTbBNF7CcRhBrxOsOQd866Dlee2bHhNjUAKiWGVRf92eEF-QDgNnAKKgDSF2UAKfIOjEyVYkAeJudyJmbyKc2VrcFXux-pqmrN9QDFSl-3Yu1riNNiihhQv34Qsx9SzeTe_id4GXbgS3WYFODPryUWveqXRKofUCECGzI2ZdUHY0HR0q4MN_mkpAHd9QbymgSwYviDBhXKRsMRjJ2XuDDncIGB5t6T2i3RH4ZylYO2kV2xLJZfuPfgpZdx_PlFngzYZrxjkyTzgJYRXtkbHeQ4wIiswB8ebwtlffMqSgvKlbuo4oUhiaFe6qbwo3FpvfQg_Pp4x0s3EvJUXA_esKbSfbRHbm5bsM2R7BtwotidB211e8jK_mOmDy_Dn4w7zbLcCZLx_qUxU6XU9WEaJ0idDATcbWLdfoqYoZTFgo28AoSX7aN3NMvMVZU3O7PQMNSHJkiguIACz_-r3e35TDEDqz7xnBc_6EuHrMHPbir21JT29TPjgqT2ahsnwjLPs_WnzgShdPR5dx3C6jVICc0M6n5BzDwm4mhn-xPhb2NW_vUVjbmLpMJ9i-80a8zZKC7ZoCYMVXjHYhk9x9140yh-eRMaduvrNk4Ab122kf56xnHExe7RSxiLjxZsLjPbc9jfw319midZVb0MIRhjYxfRYwx2iK1EncQvJe_-LBzBWv8rryBMxMeCPJahw0q9mzheWDXTHax8QBGKmuB7X9fOuS7FIzAflLNCHUPty8Hi2kinBSgYNsFnCMSYHmdvAXWiP0kmn6TOeWrkmsKhbyOOvW-prK3aBxWkaxQe_7_dpG5-w14kqwg0cnpEQORf2L9yoOPfgF7szOe3O0zbuGiGQD__N_wHT7DsT2T91efQNsqwc58RpCxGGL1daXLp51_8jLEMclpEkYPqx3cp7D5wV4heEwl-PZ3hBs8wfEr93GfVC5y47DDruHw1l6vjmxTAUQsFc_MCjo3gcXgHJghZk6qEuDj8xk8k58NfhSL9Qlk2gFVXMgi1EOiCSP0cVe4Negh7wp-9GUk9pctL99kwps-52AH3Uz_KakDqAXbR4bhohJ-QkwatRWkEEQlA3H7ZkuSO3VDXga_4YcLnDvTAYhLz6p8AGeEoyJqLEXPR2Rv9dd2ue15CSleqh-6ES5BcrMKhO22fAVAuLlIlU8RW_STPHhalwEU5wZ1--ei3PZZZgi19Ww7-oT3CG0T1iItWiACR2Mj5a_vsGs0FSWLZc3DbaCl0eEwuOeaOgWD1HPZNTlp3GUfFTAnQn-JIGEg1ncDAlTtVPpFLWlyg23D5xU2UW8_Gx968GsJWuaASZBzJqqRmjI-n24BNFQlWtGOg==",
  "id": "rs_0ff88975d1b74a01016ab41d3f4d9887d0b77b5a19a5cf6bb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_z\":0.21,\"right_x\":0.41,\"right_y\":0.16,\"right_z\":0.14},\"note\":\"The left bottle’s cap is still not seated in the jaws, so I’m lifting that arm clear and switching to the right bottle, which is better aligned lengthwise for a neck lift. I’m moving the right open gripper above its cap.\"}",
  "call_id": "call_fqYeRymLQTHFzp2pktLRHUGG",
  "id": "fc_0ff88975d1b74a01016ab41d42932087d0b69738e3679725d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fqYeRymLQTHFzp2pktLRHUGG",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0071, 0.7975, 0.6918, -0.0261, -0.1333, -0.1085, 0.9963, 0.5251, 1.5375, 0.857, -0.0059, 0.3916, 0.2432, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=0.0247 left_z=0.3028 left_yaw=0.1629 left_pitch=0.4299 left_roll=-0.0769 left_gripper=0.9963 right_x=0.3954 right_y=0.1553 right_z=0.1206 right_yaw=0.0584 right_pitch=-0.0559 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.212, 1.1692, 3.1111, 0.4518, -0.0708, 0.022, -0.0122, 0.1573, -6.8308, 8.6769, 1.7607, 0.3932, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273169de6578c77db9156562fceaaccbcb08e61c51c4bbeec836d829d2bf3ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea51a84b437d1fadd0eddb0f951afa3ec41d0ee1412784aab6162fa342d511aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643946c45aa7ddb77283f3f1b46be13d9ac181d830d158e9a7e1b19948dcf3bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.761 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0116, 1.1751, 0.4915, 0.0128, -0.1059, -0.086, 0.9963, -0.0204, 0.5804, 0.2436, -0.2638, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3384 left_y=0.0262 left_z=0.0948 left_yaw=0.1315 left_pitch=-0.105 left_roll=0.0113 left_gripper=0.9963 right_x=0.254 right_y=0.0038 right_z=0.0932 right_yaw=0.018 right_pitch=-0.0299 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.7658, 5.8872, 1.8193, -0.0708, -0.0659, -0.0122, -0.4034, -0.4718, 6.8308, 1.9316, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 1.1847, 0.2451, 0.4931, -0.1219, -0.1081, 0.9963, -0.0204, 0.5362, 0.197, -0.2615, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3352 left_y=0.0249 left_z=0.0884 left_yaw=0.145 left_pitch=0.1185 left_roll=-0.0287 left_gripper=0.9963 right_x=0.2478 right_y=0.004 right_z=0.0827 right_yaw=0.0182 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 4.7658, 1.4676, -0.1636, 0.0073, -0.0171, -0.3077, -0.212, 6.9265, 1.9512, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0071, 0.7975, 0.6918, -0.0261, -0.1333, -0.1085, 0.9963, 0.5251, 1.5375, 0.857, -0.0059, 0.3916, 0.2432, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=0.0247 left_z=0.3028 left_yaw=0.1629 left_pitch=0.4299 left_roll=-0.0769 left_gripper=0.9963 right_x=0.3954 right_y=0.1553 right_z=0.1206 right_yaw=0.0584 right_pitch=-0.0559 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.212, 1.1692, 3.1111, 0.4518, -0.0708, 0.022, -0.0122, 0.1573, -6.8308, 8.6769, 1.7607, 0.3932, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:273169de6578c77db9156562fceaaccbcb08e61c51c4bbeec836d829d2bf3ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea51a84b437d1fadd0eddb0f951afa3ec41d0ee1412784aab6162fa342d511aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:643946c45aa7ddb77283f3f1b46be13d9ac181d830d158e9a7e1b19948dcf3bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1HX5b5x7QsUgfJZHuSqU1C_pSqB_pXcrFNb-2W4W7J4S6bPRc5hpkniq8eyk0C372hyR85RBcMPbdtJOqfyf8uS_Xjc3pGr1nI-DEQQtFGjqUVNxr4egZgAhEMOJO7Gens8cDYFFkFEnxLEKIHH4AjD2D3yXaaEQcXb7LhZMAtnv8ciPAQK-NhZO8QnMCY1OkdByO0IUKdKU4ehPDLQu2hzNvVnkUlcxwURr77fXWlnHSUJXt8euM1y--_EedU5dYSr2Fqukt3rifTJOY2fhgfw58RRS9WkcT-6d4vkAyN4oABo7KOkES4ggT5X7P25HfQdes6JD61Sl06nx7ERYVf-n4Lm0B5ic1bbOAo-71Q1chlwwvD-J8xzLSK8VoZGYY1vEfgdoITypi46tvmPEwcieBxlmBUf62tdv0TYGfWaKA8j8eAfqwEqXJdkhvOiGO6LJtx0KlLbxFJUU-JOZFAkL_fBWEIcy1iN47K58Lnq46QCczc7VK20N9fweabIIeSNgqakdJFUcDwYTAu8jrZaRJcSlUn220YYlV1SDEAp_IlhSA6kaZr3Y1ZVivxOkMWdri9id-YjhOdo2wTpZw0xwTVraFHrHdFyOJ69HFrKwtCe9D4iH6bc8iu99rYITOgvPDcBQYQEeW23aqwwcEULCLzgAZ1e_A3715SNUH3M-YvFZSDszkBIfGBnsX1lP34CluNL9H3sFwgwMkJ6NLO11D3bysuaXVPWtiaMo5eiYVdhbJXEegBFxuoR_w1__enQTBy4oyA1gqM5z8vk63TKhLGB3ULzn7yvOShp319nQmNrxkkGy_hoR9nT8BMbjV3iGp0mHK6VHH-bSdk0KdzI__fFYSjypCtqTYkwmiYsKavVY2HtmBFaCHJDQ19g8ChykKlYxJpJzJtlS2jDUpORlPxtl4XnMqY9LrkxGOgrvKxeSIjR3EEq_ii2wlYYm8h65Fgz_-9fBKq3o_8svYdDNIwxRq_i5CQb15kFcoPpqrPRILJEHr2qggsncrLfAVb_6EAk6cfTRvvL0JrRf_FS-pV34GpYeBSZHHnbtr3la6NvgaqH92N-y1_9v3I7xKthZr3demIOBF11iHIybR3K5zio2ldBF5b8x46nCuUK9xJGHxm4o9o_SZQO8Mv1fcWP14lkOmD_8gGWc4_QuSWB7zipzDxyI3CTUlhXHdX1XQJ7h7C35cJmgkFzdgiJT2EzWX0W58ivqxoNKDhHiKw5FLgcZX-BPOxsBfvYbex-k-3JOwNqNMGbbcHRzY-mG-UkGXibso3Ww5SWw2gmVjPrh7MYZBbnNWShuC-GVtv_rtkz-GjNBZgfXD32IbXpQyz0XTvwW9ung6Wxb4FOQvNUErHdj24TQvVDaDcaZI0MiRypbrqVjfAPS0pUZPNzQ2reJp4u-DnYCQpIvm_OXeN1AqhOlSmaEXlyd06Ey_PWjTXw3tWoLbuwy8sZEdZ2s6lSnYc51lfyWiBUUq71LKzbs91aJlXCQEGm_ZPyBSWzNbjLMsbzIdQBtxrTHyabAw7FcWs0J9JvQs1s_-dpcuEViBGFOLcBmbHAWluRfkAC3FXT-3LxC1tMnw8hZsObvBii0NqnK14gKcCZ5CTHVadXD7EhkV9py5mG1ukJZLOk5xG4OvpHDbp4hcWZLtNU_uSMw9EW4N-RVh2KVnBUb1qfw==",
  "id": "rs_0ff88975d1b74a01016ab41d46122887d0af7d7b6918d35ace",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.157,\"right_z\":0.065},\"note\":\"The right bottle’s white cap is centered in the right wrist image but still well ahead of the fingers. I’m advancing and descending toward the cap while keeping the jaws laterally aligned.\"}",
  "call_id": "call_AZBpF0M7XqdKOPtcHIFOAtnO",
  "id": "fc_0ff88975d1b74a01016ab41d46ec3c87d0a041c3bdebfa0f03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AZBpF0M7XqdKOPtcHIFOAtnO",
  "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]: [-0.0212, 1.0447, 1.1717, -0.654, -0.1581, -0.131, 0.9963, 0.4492, 1.8366, 0.8684, 0.2523, 0.3134, 0.1978, 0.9998]\nstate[eef_state]: left_x=0.3349 left_y=0.0243 left_z=0.308 left_yaw=0.1662 left_pitch=0.0418 left_roll=-0.0189 left_gripper=0.9963 right_x=0.4341 right_y=0.1528 right_z=0.0428 right_yaw=0.0696 right_pitch=-0.1043 right_roll=-0.0374 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.0855, 8.0068, 1.7558, -0.1343, 0.022, -0.0122, -1.5248, -8.4034, 8.1983, 1.9267, 0.2955, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70ee62a7422c7a66c98c2898dccdc408b940304510654e44dc7df3f69aee008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33fd7451db5741881b6e1310d8d16bd0ffeb5237fc6f477982b2aa93e61b64da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d39a90b26db4dd817126515762b1f95eab73161c49de69095f545451e1c1dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.283 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0059, 1.4174, 0.2695, 0.622, -0.112, -0.1112, 0.9963, -0.0204, 0.5579, 0.2203, -0.2615, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3474 left_y=0.0254 left_z=0.051 left_yaw=0.1438 left_pitch=0.0393 left_roll=-0.0248 left_gripper=0.9963 right_x=0.251 right_y=0.0039 right_z=0.0883 right_yaw=0.018 right_pitch=-0.0283 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -3.3436, 2.7692, 0.5788, -0.0952, 0.3101, -0.0171, -0.5538, -0.294, 6.6803, 1.9658, -0.1148, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0071, 0.7975, 0.6918, -0.0261, -0.1333, -0.1085, 0.9963, 0.5251, 1.5375, 0.857, -0.0059, 0.3916, 0.2432, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=0.0247 left_z=0.3028 left_yaw=0.1629 left_pitch=0.4299 left_roll=-0.0769 left_gripper=0.9963 right_x=0.3954 right_y=0.1553 right_z=0.1206 right_yaw=0.0584 right_pitch=-0.0559 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.212, 1.1692, 3.1111, 0.4518, -0.0708, 0.022, -0.0122, 0.1573, -6.8308, 8.6769, 1.7607, 0.3932, 0.2955, -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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0447, 1.1717, -0.654, -0.1581, -0.131, 0.9963, 0.4492, 1.8366, 0.8684, 0.2523, 0.3134, 0.1978, 0.9998]\nstate[eef_state]: left_x=0.3349 left_y=0.0243 left_z=0.308 left_yaw=0.1662 left_pitch=0.0418 left_roll=-0.0189 left_gripper=0.9963 right_x=0.4341 right_y=0.1528 right_z=0.0428 right_yaw=0.0696 right_pitch=-0.1043 right_roll=-0.0374 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.0855, 8.0068, 1.7558, -0.1343, 0.022, -0.0122, -1.5248, -8.4034, 8.1983, 1.9267, 0.2955, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70ee62a7422c7a66c98c2898dccdc408b940304510654e44dc7df3f69aee008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33fd7451db5741881b6e1310d8d16bd0ffeb5237fc6f477982b2aa93e61b64da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d39a90b26db4dd817126515762b1f95eab73161c49de69095f545451e1c1dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41d4989b487d092578e2230a62657",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s upper body is now between the right gripper’s open fingers, with the cap just beyond them. I’m closing around the body near its shoulder and will verify a nonzero jaw width before lifting.\"}",
  "call_id": "call_xoZ2arWNgxpUu1051y0Ojfa5",
  "id": "fc_0ff88975d1b74a01016ab41d4b18b887d0813999c7c2ef50bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xoZ2arWNgxpUu1051y0Ojfa5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0817, 1.1961, -0.7238, -0.1589, -0.1318, 0.9963, 0.4435, 1.8614, 0.8951, 0.3599, 0.3054, 0.178, 0.018]\nstate[eef_state]: left_x=0.3337 left_y=0.0245 left_z=0.2928 left_yaw=0.1673 left_pitch=-0.0391 left_roll=-0.0038 left_gripper=0.9963 right_x=0.4552 right_y=0.1614 right_z=0.0617 right_yaw=0.0833 right_pitch=-0.0042 right_roll=-0.0093 right_gripper=0.018\nstate[joint_eff]: [-0.6769, -3.2479, 8.9778, 1.7753, -0.1441, 0.0464, -0.0122, -0.8, -8.8957, 7.0359, 1.5604, 0.2271, 0.1685, 1.2576]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfcfa86bcc3f93bfaa7d5b1cfca098f9de12353f7c0a3374d8c75e025dec477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274437f1c1244ec50ed50e2bc241f2564bc849f5fdcc1f60b4ed0cb8856dc916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb5de4cd2c572bd40471106d89bdc0f59ba6677857f2a90341d138056a571a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.742 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 1.1847, 0.2451, 0.4931, -0.1219, -0.1081, 0.9963, -0.0204, 0.5362, 0.197, -0.2615, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3352 left_y=0.0249 left_z=0.0884 left_yaw=0.145 left_pitch=0.1185 left_roll=-0.0287 left_gripper=0.9963 right_x=0.2478 right_y=0.004 right_z=0.0827 right_yaw=0.0182 right_pitch=-0.0299 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.5932, 4.7658, 1.4676, -0.1636, 0.0073, -0.0171, -0.3077, -0.212, 6.9265, 1.9512, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0447, 1.1717, -0.654, -0.1581, -0.131, 0.9963, 0.4492, 1.8366, 0.8684, 0.2523, 0.3134, 0.1978, 0.9998]\nstate[eef_state]: left_x=0.3349 left_y=0.0243 left_z=0.308 left_yaw=0.1662 left_pitch=0.0418 left_roll=-0.0189 left_gripper=0.9963 right_x=0.4341 right_y=0.1528 right_z=0.0428 right_yaw=0.0696 right_pitch=-0.1043 right_roll=-0.0374 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.0855, 8.0068, 1.7558, -0.1343, 0.022, -0.0122, -1.5248, -8.4034, 8.1983, 1.9267, 0.2955, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0817, 1.1961, -0.7238, -0.1589, -0.1318, 0.9963, 0.4435, 1.8614, 0.8951, 0.3599, 0.3054, 0.178, 0.018]\nstate[eef_state]: left_x=0.3337 left_y=0.0245 left_z=0.2928 left_yaw=0.1673 left_pitch=-0.0391 left_roll=-0.0038 left_gripper=0.9963 right_x=0.4552 right_y=0.1614 right_z=0.0617 right_yaw=0.0833 right_pitch=-0.0042 right_roll=-0.0093 right_gripper=0.018\nstate[joint_eff]: [-0.6769, -3.2479, 8.9778, 1.7753, -0.1441, 0.0464, -0.0122, -0.8, -8.8957, 7.0359, 1.5604, 0.2271, 0.1685, 1.2576]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfcfa86bcc3f93bfaa7d5b1cfca098f9de12353f7c0a3374d8c75e025dec477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274437f1c1244ec50ed50e2bc241f2564bc849f5fdcc1f60b4ed0cb8856dc916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb5de4cd2c572bd40471106d89bdc0f59ba6677857f2a90341d138056a571a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1RwAIBE2PVA1DM9I4cRxsl5XmQD_n4oYT5Y7_7imf-5pfLzKdCQlUHEMWnCAMhBs0odBDz4c3Mqsh0ztgE4QjJD99EIjpBo8xh_eUNtLlLCxmexMs4FEj2elUxNt1aX59ZjEqb9VJrSq1RkvKwhWfXE0H4v90Pca3JAhBMYhac8N_7xQNoj2cL_ZITsHRvNDTZFckRllFHLToEiC9keuFix1JX117DUjkBNBz9cQP16UWhdVhMRyp87PRyhXWCs1cET9gqsYPy88DIr9-zadmgtCe1srGmy4o3SDwm7bXRUdbA_ZUkpgqsZ8nPYZ1tY8-4LbqnihH6p3UNVDSZa6i7A6R8UGMOWzybhufe7_-GITJW4pQyjdAGMx5aTzvy6x-nVJ_QJEHyfAZZrK3QqyLn89sSKGto0EGj26Ue5FxJ38Vw5MFIVYgOWv4n1JP0aj6EL8zjCWDdLStJcM4QFgpxevdmZk9Dq49nwCLJ5kZKs4MvnEIYsCQ10lcEsl_cYNsPV7JnA9nTHMQuWMbV6zkuEi-3Uf90SkLzuoSoGIRLkwpkrZFCGwiWlE_3fexc8qu7zid2l82FKVOwQona6ozfEsrK5ALvZRbwuIt69K8q5VlBR6wahnfVTevqGApbM1f968dPv7bzm09v2JGtdtQXzBalx7DPB59_c3ArctYx1OjDtVb58l6oJJ-96M-titr4rr_oHh9-EORSmSP3udX3HIglLU96SR1QXcJ3k-_fOFuIXTyuFrWcM9TnOtbNbt3uRlDJjgY1KNitFXF-6VFJyf0QfcwFZw9VKsRfiA168R8LEk3Z0CuojZE5HZJGNprnShklPt2EfIh0hKW0C269ZRFx0yDpGpNP6Cn_U0Z7uDhfkbYtam1rGp4S7E6RyWKx3EwGl8w_bzOXBwt6hDKDrni5b8NQqelK9JpnUmdGWCFqPfp7is0rdKSSL1c2dEKlajApcK49ffcEdcvqykeuGLMW6Y5OBujQDSKlpVk-MOYvl8pgbuqKwIyyLq90sXd3DbIELrd5cHILJ6nyiJhmL3ax3rSiQ57znxJktHZm7GV6CPOiv9LkDy8mkNiy6NWHnd-82y72DFG1GghxeCVsp4LjjPHD-9oxcfvShvGrVUiVuznpfKuCOq_AD5Qp8aqOWWlf6HHEHZCtUy-5pzwn_MyFpp1b9LzMldqLWNx8_GPpVRj6CpR-0JNuZeSHp_HbNMYY5d0ds6mKY-U21fxSbUsLYmkVU1QtJdHpNvjacEeWhJgnoDdRS4gefYiZnif9UCJoMC6d2dvgbP5Xn2b2VFWRPjz1KgTyqvSVWDqPBD_Ql7vB3DycvIkvCgyp4T9mw6JCl5hCG3vkdNF6D759AuhW1aFlFjeiIDLJPuZe171MUrNOlF1JAPQbz4VNqiVD_npCOQW6yzwHRSzY2UGm5z3Cql7Zfx9yjJ4qxLa5oQrUuVAOaB7rRvLvg_5Qplo_K5hloW8_Vwtn1Zsob5cgvdkP45803WO-u9OzT72Usa9-9AmERYxRr6Wsy3xDnX8kbarxtgUf4idzm8D3PFaQJl_yoCLkCg_3BtNfu9AGGs4VoGv_GP8EydDX698nw2gx-HsOwaYV1eqoDm426ZRPNxj4bRzeFjrNCDFZrAbtXJHNF3TmF_MBQ460wNHclY25BGhU9j5HZPQwvl5UXUreqiCMQPTSI9LWoLPGYNeX4X_V1I56paPHy5kqLJ0cjzsrPpb-pQb2ObKUcUtc5XktJpg-ZVdQ5mknWDsGjBVDUUNuUosPAzKsM6ad2xuf6Hcj0zcpNiFC7TA7iyV3U5NXbfDwfgki97jhVzOQC3HLh2u0H9fYiTosFQspWkuLtfV0_mVGoaQ5fldc-qOFFs2AQBRtLvJCAjxmLIhpplrCXd5e-lTrKLGpRmptrctQJsbZ_O9JcwW0jzJ6hKrrPk_52O3tLL0WJeczu0ctyXSCFXOaY-8ZT-4_sgYRTuOTFOC_osdqDw0g6HhQGTI7Ylabs1LSisQmbH4okuz9IhpqxwIkbEZzCuYXtjS8dZpPRtvuTvAXCaOvvf949LQhZ-bHM5s-K0i2psFhq-94YHZ97Svq9W0gnZbLe8eZ-tWVH4QN22oyR8zpbDdIsy2UlqIDQSLZlx-62Am8dEEyFREOGOYb2Aa_bxkl8ilu8aE2MjqFDlUeUfT1YVxtVBQWkLHDGQ==",
  "id": "rs_0ff88975d1b74a01016ab41d4e1e0487d0be632bafb7ccaf75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.423,\"right_z\":0.02},\"note\":\"The right gripper closed almost fully, so it did not catch the bottle; the fingers were above or beyond its surface. I’m opening, retracting slightly onto the upper bottle body, and lowering toward its centerline.\"}",
  "call_id": "call_L4MntXzdYXTWcwJiwFNjLSG0",
  "id": "fc_0ff88975d1b74a01016ab41d4ffd6487d0b07283c524d62d65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L4MntXzdYXTWcwJiwFNjLSG0",
  "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]: [-0.0212, 1.0657, 1.1534, -0.6861, -0.1658, -0.1318, 0.9963, 0.4797, 1.879, 0.7441, 0.5797, 0.3214, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.3337 left_y=0.0257 left_z=0.2868 left_yaw=0.173 left_pitch=-0.0275 left_roll=-0.002 left_gripper=0.9963 right_x=0.4322 right_y=0.166 right_z=0.0417 right_yaw=0.0952 right_pitch=0.0466 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.9179, 6.2564, 1.8828, -0.1245, -0.0073, -0.0122, 0.6632, -5.6821, 3.6308, 1.4676, 0.1636, 0.0464, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab4d8df733f0f8501999659dfdaafc873c317cd9bc000c3e2c5bb9ab22bdb94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aadf46b449d17c9eaa27c8049d11cdcba6865cc238fcec8b1a58deb315ded4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1718f483960910be9660e57d202b4bb1509502a836644be86f27a814194a1eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.804 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0071, 0.7975, 0.6918, -0.0261, -0.1333, -0.1085, 0.9963, 0.5251, 1.5375, 0.857, -0.0059, 0.3916, 0.2432, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=0.0247 left_z=0.3028 left_yaw=0.1629 left_pitch=0.4299 left_roll=-0.0769 left_gripper=0.9963 right_x=0.3954 right_y=0.1553 right_z=0.1206 right_yaw=0.0584 right_pitch=-0.0559 right_roll=-0.0352 right_gripper=0.9998\nstate[joint_eff]: [-0.212, 1.1692, 3.1111, 0.4518, -0.0708, 0.022, -0.0122, 0.1573, -6.8308, 8.6769, 1.7607, 0.3932, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0817, 1.1961, -0.7238, -0.1589, -0.1318, 0.9963, 0.4435, 1.8614, 0.8951, 0.3599, 0.3054, 0.178, 0.018]\nstate[eef_state]: left_x=0.3337 left_y=0.0245 left_z=0.2928 left_yaw=0.1673 left_pitch=-0.0391 left_roll=-0.0038 left_gripper=0.9963 right_x=0.4552 right_y=0.1614 right_z=0.0617 right_yaw=0.0833 right_pitch=-0.0042 right_roll=-0.0093 right_gripper=0.018\nstate[joint_eff]: [-0.6769, -3.2479, 8.9778, 1.7753, -0.1441, 0.0464, -0.0122, -0.8, -8.8957, 7.0359, 1.5604, 0.2271, 0.1685, 1.2576]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0657, 1.1534, -0.6861, -0.1658, -0.1318, 0.9963, 0.4797, 1.879, 0.7441, 0.5797, 0.3214, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.3337 left_y=0.0257 left_z=0.2868 left_yaw=0.173 left_pitch=-0.0275 left_roll=-0.002 left_gripper=0.9963 right_x=0.4322 right_y=0.166 right_z=0.0417 right_yaw=0.0952 right_pitch=0.0466 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.9179, 6.2564, 1.8828, -0.1245, -0.0073, -0.0122, 0.6632, -5.6821, 3.6308, 1.4676, 0.1636, 0.0464, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dab4d8df733f0f8501999659dfdaafc873c317cd9bc000c3e2c5bb9ab22bdb94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aadf46b449d17c9eaa27c8049d11cdcba6865cc238fcec8b1a58deb315ded4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1718f483960910be9660e57d202b4bb1509502a836644be86f27a814194a1eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41d533a7087d0ad8d443d372f02f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.168,\"right_z\":-0.01},\"note\":\"With the right jaws open, the bottle body is visibly centered between the fingers, though the readback is still about four centimeters above the table. I’m lowering another couple of centimeters to pinch across the body rather than over its top.\"}",
  "call_id": "call_Ia6G32B4QgfbkY8NIa5LLwvP",
  "id": "fc_0ff88975d1b74a01016ab41d546e2887d081ff15bc107c4ef8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ia6G32B4QgfbkY8NIa5LLwvP",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0592, 1.1206, -0.6643, -0.1661, -0.1318, 0.9963, 0.4854, 1.972, 0.7597, 0.7444, 0.3313, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2788 left_yaw=0.1733 left_pitch=-0.0319 left_roll=-0.0009 left_gripper=0.9963 right_x=0.4471 right_y=0.1749 right_z=0.0399 right_yaw=0.0966 right_pitch=0.1295 right_roll=0.0354 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -3.8906, 6.6803, 1.8681, -0.1587, -0.0317, -0.0122, 0.4444, -3.7675, 3.453, 0.398, -0.149, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752d1cd092126722010eaf69e22557f01302f32b695329000daf1a1ff5da2ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0669a395676b231b1c16fb5679a2155e542822a35fd3ae2660bf72626d933bb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8ec7b8ead4708f758dea0671be451c9f01d89027d6dd84a0f88cc43b68af66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 9.254 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0447, 1.1717, -0.654, -0.1581, -0.131, 0.9963, 0.4492, 1.8366, 0.8684, 0.2523, 0.3134, 0.1978, 0.9998]\nstate[eef_state]: left_x=0.3349 left_y=0.0243 left_z=0.308 left_yaw=0.1662 left_pitch=0.0418 left_roll=-0.0189 left_gripper=0.9963 right_x=0.4341 right_y=0.1528 right_z=0.0428 right_yaw=0.0696 right_pitch=-0.1043 right_roll=-0.0374 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.0855, 8.0068, 1.7558, -0.1343, 0.022, -0.0122, -1.5248, -8.4034, 8.1983, 1.9267, 0.2955, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0657, 1.1534, -0.6861, -0.1658, -0.1318, 0.9963, 0.4797, 1.879, 0.7441, 0.5797, 0.3214, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.3337 left_y=0.0257 left_z=0.2868 left_yaw=0.173 left_pitch=-0.0275 left_roll=-0.002 left_gripper=0.9963 right_x=0.4322 right_y=0.166 right_z=0.0417 right_yaw=0.0952 right_pitch=0.0466 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.9179, 6.2564, 1.8828, -0.1245, -0.0073, -0.0122, 0.6632, -5.6821, 3.6308, 1.4676, 0.1636, 0.0464, -0.0562]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0592, 1.1206, -0.6643, -0.1661, -0.1318, 0.9963, 0.4854, 1.972, 0.7597, 0.7444, 0.3313, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2788 left_yaw=0.1733 left_pitch=-0.0319 left_roll=-0.0009 left_gripper=0.9963 right_x=0.4471 right_y=0.1749 right_z=0.0399 right_yaw=0.0966 right_pitch=0.1295 right_roll=0.0354 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -3.8906, 6.6803, 1.8681, -0.1587, -0.0317, -0.0122, 0.4444, -3.7675, 3.453, 0.398, -0.149, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752d1cd092126722010eaf69e22557f01302f32b695329000daf1a1ff5da2ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0669a395676b231b1c16fb5679a2155e542822a35fd3ae2660bf72626d933bb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8ec7b8ead4708f758dea0671be451c9f01d89027d6dd84a0f88cc43b68af66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_0ff88975d1b74a01016ab41d57aaf887d08d1e8987cb1e1cdf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s label and upper body now fill the gap between the fingertips at table level. I’m closing again at this lower pose to test for a real grasp.\"}",
  "call_id": "call_AS1bhHsiyqBsUBz6eQXU7YMM",
  "id": "fc_0ff88975d1b74a01016ab41d57f6b887d0ab85de203bb1763e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AS1bhHsiyqBsUBz6eQXU7YMM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0485, 1.087, -0.6353, -0.1661, -0.1318, 0.9963, 0.485, 1.9957, 0.7643, 0.8604, 0.3367, 0.1902, 0.0194]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2731 left_yaw=0.1733 left_pitch=-0.0259 left_roll=-0.0021 left_gripper=0.9963 right_x=0.4571 right_y=0.179 right_z=0.0558 right_yaw=0.0824 right_pitch=0.2196 right_roll=0.0759 right_gripper=0.0194\nstate[joint_eff]: [-0.5538, -3.7128, 6.5709, 1.8681, -0.1978, -0.0171, -0.0122, -0.1026, -4.8752, 3.2342, 0.2857, 0.0073, 0.1197, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276329262899f449c5c61242722be8655255cce7f563597e560c0f8c2e5308fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03d737bc41925016393f91e87a070e9cb177597fa599b93d3d2fdd6300d3e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe939127fcc74e09621cbbce73068ebddc7c8bb1acc69996d79dfc144080cf4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.553 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0817, 1.1961, -0.7238, -0.1589, -0.1318, 0.9963, 0.4435, 1.8614, 0.8951, 0.3599, 0.3054, 0.178, 0.018]\nstate[eef_state]: left_x=0.3337 left_y=0.0245 left_z=0.2928 left_yaw=0.1673 left_pitch=-0.0391 left_roll=-0.0038 left_gripper=0.9963 right_x=0.4552 right_y=0.1614 right_z=0.0617 right_yaw=0.0833 right_pitch=-0.0042 right_roll=-0.0093 right_gripper=0.018\nstate[joint_eff]: [-0.6769, -3.2479, 8.9778, 1.7753, -0.1441, 0.0464, -0.0122, -0.8, -8.8957, 7.0359, 1.5604, 0.2271, 0.1685, 1.2576]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0592, 1.1206, -0.6643, -0.1661, -0.1318, 0.9963, 0.4854, 1.972, 0.7597, 0.7444, 0.3313, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2788 left_yaw=0.1733 left_pitch=-0.0319 left_roll=-0.0009 left_gripper=0.9963 right_x=0.4471 right_y=0.1749 right_z=0.0399 right_yaw=0.0966 right_pitch=0.1295 right_roll=0.0354 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -3.8906, 6.6803, 1.8681, -0.1587, -0.0317, -0.0122, 0.4444, -3.7675, 3.453, 0.398, -0.149, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0485, 1.087, -0.6353, -0.1661, -0.1318, 0.9963, 0.485, 1.9957, 0.7643, 0.8604, 0.3367, 0.1902, 0.0194]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2731 left_yaw=0.1733 left_pitch=-0.0259 left_roll=-0.0021 left_gripper=0.9963 right_x=0.4571 right_y=0.179 right_z=0.0558 right_yaw=0.0824 right_pitch=0.2196 right_roll=0.0759 right_gripper=0.0194\nstate[joint_eff]: [-0.5538, -3.7128, 6.5709, 1.8681, -0.1978, -0.0171, -0.0122, -0.1026, -4.8752, 3.2342, 0.2857, 0.0073, 0.1197, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276329262899f449c5c61242722be8655255cce7f563597e560c0f8c2e5308fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03d737bc41925016393f91e87a070e9cb177597fa599b93d3d2fdd6300d3e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe939127fcc74e09621cbbce73068ebddc7c8bb1acc69996d79dfc144080cf4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1jrIkB4fMRy5_AbqCjqibwYTq-B1QlP7W2oke3fL02snFHY7ORk3NVZudyJWvCd73oOPjOedgRMplA5sOdG70MXvpV8aPvt9GxnpuGVR1jpTU4OT9iLFMEpvsREPzZ1NSi-smqvzBUFP7-jjUtbnQIKtECs3TZTQp2zeIAKbNG7bbLMR4tS-_e3VD_wYhWKD6E6lWTeoisFGIAKII7ShlUkQWRMurnKPLEn0wLl8kTB_xFoeoYm056657hGoRUUP12T2-YFEpU8_iyeNSDTa1jot6oBcSoBnnMTP6GZPBWtWWaXCg2iWb0vuMxrhIJu1-ntsj-_oury-I7A3X5WpbCtB1GWcys6TlOE7jNwSN1ByUpew5lM_WVSGklldjEpa75DHNZNOlA1XHXjaX2jWZnW6KPnT8WMhBHT2Wqs9OaUZw7dL7u4biNfjCmJowV8cUR2pTTpKpTIQJkWaa5THrVYHha4glo9frMSuk7BSyutICBEpVjrux-W4zFunXRI4Q-QvgCc-ErZIHvOyfDRpK7z1ooG3lICc8fPl7bTigPf5z5hp0TzfxrJPTXd9qEHY81bDnNLvCrBAstHnU-sFlCLI1592Bhoe-pqIrQCNXyZNJN-R1Dy7R3QJYoamWACdwP43SSWQJvFmSTuwQXMbNT7ra3xvMX4y673iYFdCWE7DYp14eSP9e2YfHVFiaAOFyR7ymnRx8iUGyU0syivlk9BgW0xdX0pQId9-a-GW_x3VBRQA9REyjSInIQtQvwbQoNcz9W09jNBZMlUkvgCcjyN6wGUt79U5YKa5Lv3rLfYywnUykylwuAbHsD6m-k4ABa0TUyuB5eDg_c1Zse6IL9NmT8116rS8_ViclJzHkUMfWDu0EqxL5HHOXyhdj7OjeS6Uyan6QHCeADtGGwg09alGiAPAyBiXbQDnlMH_iF5AUmj-EAZRSBOd4iIVPh2ohMXar8wDyhEmEd4ZgkkHcskbDr-DTPvg75FPJ0naVF7C7IDDTptfHwIJbmiuppa0gBhx47KgkFdTqSpHwVuCgPVTzgk9REjr1EldzfZD7dwtjkFvVppwjLPxFh_b-Y1vLQQbFNYivCLndegmCXx5EvrQpiGOgclvDjjlz4yXEV5bT8XC_jJgIOySvUKQd86IzbEfOMS6zscAELxvBYeLOjlghhlHQ2k1QsFw7XJgrTdJfUakSAKlo51nG_OFoWPzJUKSqc9EFDByf8jdQlLjklkzuk4y5BJb6avnBKIkoSRfr4oqkW-gOixYIYtvtDv371dF0UquKH0hPW_6PuZ8JQxzx8Ki1Ib7nWkuhJjTWRBe3_Li03wS__iUCSuK5nxYYAds3hb93O-ypxLwFgWoW8yij9daLLj8wsWBn0bDGftz1ej-zBPwvbEiQviLUSGqyv2fI8XY77_abrD0fTGCHsxH5auIg26RzNJidmR_JMb5296jbQqC0SBZvuQ3YAoDrlZTPU325b_TpiAarX1G2GkrBDc7okUTxBtyOLl6hrO7s5tNmLF_CDxxH1V5-zwlrNQtDvKYJPmE2j0T25IaS8c3hf0uOz354Mkjf3mN8qct-28rY6913htqBPgUBn8RhgLhEmdfbPly8dM3_uXXHsdIwQpRvOqwyfOfTkO8mhsIbvSN7MUNT24rNS71hrHZr5iVfCpTcST0O-FhUfg5ArqOjvxt0hkBvDXpHeP-COwU8p0Zq8e7AVac1i-UC3cWHmCkK61AtwhKaF5k15c1WdmH0Y3nFEcjAcqfackvuguQG0ljcwKGd7gRBGAML6GCF98NZMpXQAoETwuHBx506_A4DNA300VxbhbUC4ohNaIr6TlMv-yCgojCTEsZm4SL9At3rueeK0G9RVJmkoQqQef06Rs0bdRGCYenSVz333vvjhCPqyCEy63aGc5Un8zcWxhxqRFqdY-vb0HYp6NcrfEx8IDTWWS-M4XeGxEI-o7Cs_nmbkJXpxeIECzG6N75nKJStQfc5HoqAcDHJUT6uqzWxoY7S6Y4QlUWU3aj_5vlJYO2axr_ISXE3HQM_TJvqnbR08xilSxHq1mPlVL8UZpaFXLcvDbY7SZKUdxRBds8yZGF5NyYbXB1Jh1emacmbWUJrk_9gQgy1nj9IT0CnudyvKkLyuZN5R0SwqNoPe28M4ly3SEmCGopc7zNVLV9mgOxRMalDPbEfDY4EXW5fjsZwYBrfsq2YYLBRr1DVe_lWyluhhplau037fUKaG7-BIqe_5I6olRqkepOISiMSlQWHMESiCphSW0tu-wjfDhV1dMmg4WSzyUeNjDOXaRl0EV0A9XRE8hRxQ4_CQxXKdg2e2J8RIZcZh2nkdWrNWwZTPtxXEuPZtMv3n9cN9niC7tUZf9vAwB8WSFnvWKxyc9h40Vqh2CoSvJHq8DDmofpRBfwMoW0UONk4DF-sKVzBsfCzu9Tg9dVKA-wlIiFA3lptA4qynoTeZb0h-X0iO7KPNXzKUV1beKwcg0Kjl76kmqnUWxpXgTfTHnZf0aK_V_6HeJRycD2REhxOIRto0HNRFfb5sHekPFANsJ3r3IysofxtUwcyjeefraenaiDd3FUrxJnNp5bEanP8eeTXH5V8loXbkhcJxPyzuk-2V82H6Xbi711qUMgZvMhq2CWfkwhiL-qjPiCFELueMAuTXtnkvR_3dSPbT_9jmK5Am9n3vbD_FixcIdVqPg6uxfrZBTudiQM_RNOWorYTRgb0OKDaHZdPyRHQcnc8FjJkIvZjLh2g5GE8yhi3p-hKyeCExJWXVIH-41OoWTLhHEY6DLpDl1KmA3RS_BrlYJLZcnLXHawYFJXzSuKt9o-_E_EfXoZ-GWOYQqOY9VTr115G7rHMHW7IZbnPeZwSaM75f1OKqZKsFTlA5EPXj3lWfJI3mGzK92QBoPFTfitC-2NI83c1fbNWiJ91ibv1RuNEgYo4IVMmQ6BwyPQ_TCcsaWICTfWs-8IlY9YNzeqphTK5Jz9Xsitpv62n6Lr6qGcIFQscARF0rAbdzz9B59xeXuCCan5MCmCNosqKDxsVyViEn2DbW4mOIB8tOKx5h25OWbwaaupp9rbAOcIM6VbE8zNmT_vioC_24v4Ri7XgH1qmNnYPUGhdxR1tYq5v-0IyblWZv0GNwqCFVnt--lBdDYuUCwx4M12KNdBykdXuUis5_toOq2qrwwNr8nu1FawZGh7U7CbjYA-pIYX1akum1snVjR9rsWkmlh0F2ySttjAncNhjRigO-Oh4rsic_PymPG2KD7R6Cynu7x6FXXUGTkkycTW8w3ygglPUrkssytYkvnBNXUk9gRdhvD-eZDF6sofJtO20PJ3-l4FyP5lYxOBsc6xvQ9kOh42rYOH8c9X5QGceooLfYh0BfFsEqn0c2GM4GYh5FI6m7PRT7wb1hHvy60kvLpSymVoYfCnv8ggzBvPiNAt_YS1FddA2So8DnNw3Teyc1FKQPdqqnzgKrIpOgvqrYLT2ieIjvamz_Hw8WAcigICxqY_wFA5GMzJPJez5Ohii_IIYYlQF9mm5nQRh9MVT0klcK20JzR04TphU_aS4PkAxLbidvQPqzSX6cNUVLUet2ig6gRlewEyrWmJRHPvBmWWvXsnTLUVHlNFaZeyilIfHF6CT8Xp36cJ0sTPWJlS3v0pFjBBJ8fDDH5uXgE81z0oeib4uPBQxrQov8l4hlzH9z_oDTBmXwpsCuYvb82-sdXpFNY-n2zUh0CV1DiRrCYivlghe7YAKqV-wnQXpPQGPG54yKkpPoyTQFaw6eI_nUjaIZ6yFOyyAdpDHRHKNrA8lXl8xLt-TuaVtQqCAbqKzQxrASdkoNrCs9uZL0JTk6eEEjZWBs-ye1RH9-LY_FoR3WCqpVitMaiR1LKyYtmfYYOnO9kYRGpouYcte_Vdf3Bqm56ZdXH-VClXbJayGILe6MsCbUk9OYhn44fLYDgZ5H4J0A9CGWQUmolBef4wDjHXULDEYTjyiYwQ0z8U8iLagNgXHp6kdctQelZm85lb3iBcixbn4aqili9ayIreLlkiYdbcvj7iQwtTbnyQowbR-OAtUeg58BbfuDmj6k1WzoSFIVDiJH2TeB7A2Oor28W26RJUun4xGSbbErwrU0GZtrpJQy16zhqLBS3SQ=",
  "id": "rs_0ff88975d1b74a01016ab41d5b3e0087d0920a31a1e9480b54",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1jGnQB-tTWDO9J1SjaRmFqK2nZsEhOQFL73RvWRBUfHEzMBH-92gdbBmlB6mH4EbLsuMgPrUlr36ZfzNujhZaGMc7d_YncPh_CJBjNi8k6sEFkWpDetb69uulAeWiOdNSBi7H1oSWyvEPL22SdRuJ2D1TiZrAPcWm-AF8v_mZQlC2EFxGuvpUaQ7h4Zf9JiVbE-I1NflZ75U_MEkbhHCWAKoddBDMP6EeDdHb4BMFmMTcKlxuHclMyi5t1zGRlteBce-XWVM-9ND8b-lXXryZw6yd_eN9rFqEq-i22sHZb_05Iu66aPMZAO-NvslOUHerMVL9tuneMwvJiD2qtmT6gWC40lMZC2gsoXfNmd5H0WYzh_dNh2HjO4yvLqLU4wBC7Og7oMJ-NeSgI3RhGC71q6Ls1ex6yd7LfBTgVSQMT5yYc4KsdogXSU57pKmH0-ALA2dbYS79ya_0xtkXP8IjbAt9c9CG0Ym1xjWG3qveO7pztYelzv7J0CF-ICAwuB4MhMfzzW_lGdFtP9TWOOEC1Ocltarb-cExoYXe3ddC2E93ivGTBDXYkLV7GSXCmULahs5BLvwxIgH82F0vCUR1QhuZqvnYVsF4lNWyg0VrHOoyB9oL9ip_BdpAUVYh9gQggnbeXElkyS-QvDwrGaE5s5C516NUj0KFDTKzYKUOr5hpZ0rGuue0VibM9iV2HBX-dICNnlXFO7NNwYRUHtHsNA_FFZDEEANEqe9ojyzpimjpKQbYNEx01itsp3l-2vXLV87EiY-j6_iXzlmcKTtlzysLbYFjXM-XaumhczV6MYGt6ihmznxcw496BKnmKGoPAzPjRB5n-ul-2Tu5veuh_IaMazXRPIpyHprEw29vs6IqbBKCM4GF0-jpPY-NobNgSMOrKiG5gvyMRPKmNj6f4CEnLXEh728kTk-mv4sWj2fE08_TCnZi1tjjAZGOLwYHYUkgQP1gnzGDREIzrJWYaf5yF2TLzwVwava_daPafFa0ojxv8HTPj9Oq141-FqNudG6P6jqd_eBPGFWhKTSpqYNJd4Qkh8M5b9jD1hFtzMywM6zGbNogfq96mdUTHmrPDL57D08XiGnsf-uH7stddluAaWq6RCdAHqKiG82sViQpJnjqqH1kI5jSsigmfvSFs5OuerZY8S2u-pw6qYjUGx8-wimicBOOsd8z3ELeKTwn0CF4kIzTNc5WbbKCys_5sBEnT6Rmas4ryMEDPOQW_5Yn4kj5xpvxI5D34TNvdZDE6N8iU12621JOS_VNb82aBNWRHcBVQMOJg-IDp7vLIvrStXIKbIZsgPS4JSnJVJeLnEqvx0NwcwVADbyp6dMubnUDfOgehBOSpgZVSa9knVwo_sHGMnclq4Gow6k6PBc2164qFxTubmpjH49EbhvQj_jUiPHjhFT8Un3SWi9D6bgRMumFTZao3Xt3OICzoWso6pT3V5VztpZcAQskp7VFIzG411vhkSblt8Wm0x5IhEhYHRDObqp2jXdmdPYfwrbdgCe2BCpRg1hk2mBcLVFRWgUNk4xMNWrff4rMM3cNJ08EfIE0LLUkOu_1BSUbC24nO_XgAG5pULr60Nrx27B1GxmuelEuk9w3MrilZNtWUwJkGTAz2keS559VJTFUE2-MzibW4AxMCm-tXKJElYAXRkj6A7T6ysTszWp4XRr8eSD9_t67YAuRlz_ivkWhvxKD1FG9G5FfNFiDQ5jPnXRAH6CXNLsNUnqI2fB5HMLUBtNRJN3x92QFKS2St3ma2R9cIQg8bXce3uaAcFrpwAnW3Vt1B_tP7ddVib87kscH7dLXzstR2LBdvMiar86nTANklUJpxQPr2vqk7lyEFQdV8baK8pgPtolCqOk7VMTCNVymqOwM03enEKU1PWzeCpEg=",
  "id": "rs_0ff88975d1b74a01016ab41d60ee1c87d09d02003cf3b30e76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.425,\"right_y\":0.08,\"right_z\":0.025},\"note\":\"The right close was also empty even though the bottle fills the camera gap, which suggests the hand is landing on top rather than straddling it. I’m opening and moving to the bottle’s outside at low height so I can approach its side with the jaws.\"}",
  "call_id": "call_pwDL2yqMcgME84NbUTAAnXRL",
  "id": "fc_0ff88975d1b74a01016ab41d61ecac87d0b3798f57a2293995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pwDL2yqMcgME84NbUTAAnXRL",
  "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]: [-0.0212, 1.042, 1.0588, -0.617, -0.1661, -0.1318, 0.9963, 0.2398, 1.8565, 0.6113, 0.5892, 0.1516, 0.0772, 0.9959]\nstate[eef_state]: left_x=0.3331 left_y=0.0258 left_z=0.2662 left_yaw=0.1733 left_pitch=-0.0293 left_roll=-0.0015 left_gripper=0.9963 right_x=0.417 right_y=0.0782 right_z=0.0033 right_yaw=0.0613 right_pitch=-0.0768 right_roll=-0.0175 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -3.3983, 6.7624, 1.9316, -0.149, -0.022, -0.0122, -0.2803, -10.6188, 4.7932, 2.0977, -0.2125, 0.0317, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ff8ded03982e3ef1085503fc67b4ade6ad69d999dce8867b7bd61b395e6bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05175e915cef2b1b9d26b03b55848fec3a51321bebe33591e6eb65e00c841da4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4433bded9bc9e3268c060eabd67b1151831f15c4c912e2a7d5e0a7d4de3faefd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 10.65 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 126 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0657, 1.1534, -0.6861, -0.1658, -0.1318, 0.9963, 0.4797, 1.879, 0.7441, 0.5797, 0.3214, 0.1978, 0.9956]\nstate[eef_state]: left_x=0.3337 left_y=0.0257 left_z=0.2868 left_yaw=0.173 left_pitch=-0.0275 left_roll=-0.002 left_gripper=0.9963 right_x=0.4322 right_y=0.166 right_z=0.0417 right_yaw=0.0952 right_pitch=0.0466 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.9179, 6.2564, 1.8828, -0.1245, -0.0073, -0.0122, 0.6632, -5.6821, 3.6308, 1.4676, 0.1636, 0.0464, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0485, 1.087, -0.6353, -0.1661, -0.1318, 0.9963, 0.485, 1.9957, 0.7643, 0.8604, 0.3367, 0.1902, 0.0194]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2731 left_yaw=0.1733 left_pitch=-0.0259 left_roll=-0.0021 left_gripper=0.9963 right_x=0.4571 right_y=0.179 right_z=0.0558 right_yaw=0.0824 right_pitch=0.2196 right_roll=0.0759 right_gripper=0.0194\nstate[joint_eff]: [-0.5538, -3.7128, 6.5709, 1.8681, -0.1978, -0.0171, -0.0122, -0.1026, -4.8752, 3.2342, 0.2857, 0.0073, 0.1197, 0.9109]\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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.042, 1.0588, -0.617, -0.1661, -0.1318, 0.9963, 0.2398, 1.8565, 0.6113, 0.5892, 0.1516, 0.0772, 0.9959]\nstate[eef_state]: left_x=0.3331 left_y=0.0258 left_z=0.2662 left_yaw=0.1733 left_pitch=-0.0293 left_roll=-0.0015 left_gripper=0.9963 right_x=0.417 right_y=0.0782 right_z=0.0033 right_yaw=0.0613 right_pitch=-0.0768 right_roll=-0.0175 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -3.3983, 6.7624, 1.9316, -0.149, -0.022, -0.0122, -0.2803, -10.6188, 4.7932, 2.0977, -0.2125, 0.0317, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ff8ded03982e3ef1085503fc67b4ade6ad69d999dce8867b7bd61b395e6bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05175e915cef2b1b9d26b03b55848fec3a51321bebe33591e6eb65e00c841da4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4433bded9bc9e3268c060eabd67b1151831f15c4c912e2a7d5e0a7d4de3faefd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41d654de887d09b65ef7e23acc54d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.155,\"right_z\":0.01},\"note\":\"At the right bottle’s outer side, the open fingertips have reached table height and the bottle appears to their left. I’m advancing and sliding the open jaws toward its body from the side, keeping them low enough to straddle rather than overfly it.\"}",
  "call_id": "call_9WadlY1s6rOT0NxwaJGSBKBu",
  "id": "fc_0ff88975d1b74a01016ab41d66b0c087d098f8fe781defd891",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9WadlY1s6rOT0NxwaJGSBKBu",
  "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]: [-0.0212, 1.0336, 1.0256, -0.5915, -0.1661, -0.1318, 0.9963, 0.4095, 2.035, 0.849, 0.5724, 0.2546, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.3328 left_y=0.0258 left_z=0.2592 left_yaw=0.1733 left_pitch=-0.0285 left_roll=-0.0016 left_gripper=0.9963 right_x=0.4593 right_y=0.1548 right_z=0.0049 right_yaw=0.1086 right_pitch=-0.0207 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.7675, 6.9812, 1.8388, -0.1587, -0.0415, -0.0122, 0.0889, -8.5675, 6.7761, 1.8877, 0.2955, 0.2564, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86d0613d22c94d8d78ba0f39321b76a1971fd44dc9d9f2867fdb58af1b0d298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7384f8dea133e808cd51c2a31896f00987861bcd81f6a1a43e7e0217eed0a994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8f6a94d3bdc6085b606cba9290b5a167d07885a312d80507ce6ab6adadca82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 7.955 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 126 changed as sent

message 130 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0592, 1.1206, -0.6643, -0.1661, -0.1318, 0.9963, 0.4854, 1.972, 0.7597, 0.7444, 0.3313, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2788 left_yaw=0.1733 left_pitch=-0.0319 left_roll=-0.0009 left_gripper=0.9963 right_x=0.4471 right_y=0.1749 right_z=0.0399 right_yaw=0.0966 right_pitch=0.1295 right_roll=0.0354 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -3.8906, 6.6803, 1.8681, -0.1587, -0.0317, -0.0122, 0.4444, -3.7675, 3.453, 0.398, -0.149, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.042, 1.0588, -0.617, -0.1661, -0.1318, 0.9963, 0.2398, 1.8565, 0.6113, 0.5892, 0.1516, 0.0772, 0.9959]\nstate[eef_state]: left_x=0.3331 left_y=0.0258 left_z=0.2662 left_yaw=0.1733 left_pitch=-0.0293 left_roll=-0.0015 left_gripper=0.9963 right_x=0.417 right_y=0.0782 right_z=0.0033 right_yaw=0.0613 right_pitch=-0.0768 right_roll=-0.0175 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -3.3983, 6.7624, 1.9316, -0.149, -0.022, -0.0122, -0.2803, -10.6188, 4.7932, 2.0977, -0.2125, 0.0317, -0.1587]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0336, 1.0256, -0.5915, -0.1661, -0.1318, 0.9963, 0.4095, 2.035, 0.849, 0.5724, 0.2546, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.3328 left_y=0.0258 left_z=0.2592 left_yaw=0.1733 left_pitch=-0.0285 left_roll=-0.0016 left_gripper=0.9963 right_x=0.4593 right_y=0.1548 right_z=0.0049 right_yaw=0.1086 right_pitch=-0.0207 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.7675, 6.9812, 1.8388, -0.1587, -0.0415, -0.0122, 0.0889, -8.5675, 6.7761, 1.8877, 0.2955, 0.2564, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86d0613d22c94d8d78ba0f39321b76a1971fd44dc9d9f2867fdb58af1b0d298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7384f8dea133e808cd51c2a31896f00987861bcd81f6a1a43e7e0217eed0a994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8f6a94d3bdc6085b606cba9290b5a167d07885a312d80507ce6ab6adadca82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB1yoRkO8InK8PF2S4q315rjSjSYlNKTPJZv0KNa8-5Amn99DQrpDiXxI4wgQpC80Mh9VumArWfUYF74Gmf5VTRBs13M2PUpIymRum8cCUyK6lWAULjbqZ40901sRdCcOLFAPF6VLWgY35b2GUiCENmpRJtWU9y9rxmqmIPZQ1h29Du0DaT61tHJSD6Yv6C-AYMGHCoKMpvCOnxDlt2RSL98cP8yFbzY8etfPksYJbKYTdt2egyw3nBR4XIXWyZMwSso3O1MlY2dHD0UteR4IG-zyXx-qr4rOMVOyBl44BlVRQy0aQ7dWvSCh4C_D806RJJSagcT7n_HQM3t4z4z5R2r7_t_h699ZRfv8RvcvEh7E7qSdDV5XBjVr1iRpXBNgwuaO56n5jb_-SnjlNZAnHeTLr-_CZB0L8YGwbWd_wrbtudaYOiuisHa6vwyqfIyFzL3AjbB7U_nyEyWKqlXXAdA-5io5XHT9JIFXD4hyK9B6iTcQqAVt6MWm7enn-4dl8WwQyU4w7o1_G5ykFYdyKRyHQYYcN_ozr99OdkszVqcrQXyzmLOT5IcBSHQur45ypBPwjiZwXShJeX9cBGFVogeM2Ol3Y_SGQGUqIMBkmeLq4ZVtJlxvDBlbqOa4anRO4TRY4dUYUaN0dJ5weYtQJjYeKPdelcF02-Q8nxjjWykLysEC-2GtOjJhCh8e5-RMkyVbAxWnrs9aAvfIqQBVO7-6Q3GiS2qBm28klHry7VOj5l97V8r0FBezdMqfh57X7QRt7XOH0CHExzYubPcF30deh696KkOl8ioh5M01o6ML895Vd4tp0rGcksJtZu7a1PZzesgDBqwY6BZXPf32ysj1LhayGMQ9cRafd09e-oHPE_7Gfs1Gr7l0ujhVLVTzrWFYybOb7jJghteuTxbEVOvHpHWeodX-Hxmrw9pCQuYnlv2FyZxs4V42U7iZlB3dv1QwciOEMad8XcgTO37IknFYJX1zYmHcJPImdEtzcgOk9V0KKhK3OgsR8un-hOlgNi-XMKODBt0vSc41rtRvFyS154mxQlS74stqLUwJflfsX0eHjjoVK-KXLcrq_s-SZMtlzjZKporTbCFDj5PJJRhzM9rpUogd0aebayu2RYiknLuIOJXmiWNiWwcFJET1L4hlUggDSW2KUAppx0LzoMFAgs_puinEznxc38CFEmSzbuuMMb-dT4tYVJj1KBzQa0HoT67DzNAt5uY56pBa25JIEOnfTfCPZF9R1J9Zwk_myyDsCpeUxtr-tEPoeBdpI3Ki_0Inu7f2q9FuHXZDxULRVQtgGDW21plwmtiZqSlxHRknM0ZRYOQc1UxtaPG6tlu6yb-BTPn6BZ9zQSWQz7XvujIL6BepkYoOkNxhuXQoY0p6h-lkdReC99UdDu43GDEz9I00YpQQXcIex4EA2JcSFPlkui7IR6mgtw2n5Beh8TLI8q3cK2RcrTiDM_5qlRBiQFBRPz6NWUYMDxBCOW9rp4dZn_oebBluowJzt60AWh6K_RzxqYWvozJmQ_7UQUgpd-PenCbihh36jIXO-5JdGIudHGuZI52dUBzRUKvzPOFVOPqMLLa1Te7pjQThPLjc6IsS0ccMPp8e5APSD4awuXPZhvpkF6ipiJXh2Sz2LOhRsgauwUBqsqq3REgMgRKCCv999AmgC0tuVkHjCsIZa4YDoeO3Q7JqRZzaxtzdZ7_-pJyGHE3eySueOOJKgmekeQaMCRPyfqsFNq12DnSFGmXiLXjdpVAUGmTKqdA7VXCERTrLNsp1RHIUQsArT6CQVxUSll4EKQ80J90Fbo8a8ovFRz-EBZvcaaIbkYXbjNDKl6VkemOxXFNt9AAhzkr8E-izTDlKdx1lyBcN1MX9HSIKiUELgYhrAqdhLOi3N12c6x0v5TDqx3jj5Y-9DfqBKzam2R93pd0shcVCGPJ-Xuf4hBPNpRjYDnECEsbs2LE_yNsSZKD1J2GP_MXi2Y5vCOpA8Sjb3hJrzTi6PzHAKoTeyusOIr5-8ETjlJrjWzfWWPa2QWSLl5EE_0MToUmz4oTGspq4FEMlsJtni9_yzOl3oYWxSOIcVvWT_x4xYlWHIK54JKMntlbLE_TsS4mf_GyUg_SthBEEx9MXedjw9HJ-V-794NmIl9ZLwrzeWOmahtTJbknM5sjj7qb80ZgyM-QLIxuuVkX9xPhmBuDvOErzV_4qlUgM2DWvCF0gQVofuFw4MN99dWPdGyE2zjx8TXzEX-lIzRO6Qq_-7KSPKI67U2eJzB92uf-NmvP4zhJ_hAW-tu9ubuwgsmxInj5ITyNrMfL5e4ZEzi9IYbY5e1oRGEFOG8SdBaGIQGrfGxgQc3ErXFWWQkrxbSLUl5biurJb61d9E4XHqAzEiEMVPb6NbcW4qXmIiMEUcBDfBKy5hTfgpqpL2JDPIxa4iBZoRObhPcVOJkPJ8Q1wckQoZqUwzZMWfVKqhKQmbGQd1LOUcyUHI2YkTdA0bvGr-wd0xxBA3Vdy2ka1CzZXaKO6wsTLtQi3oskj1JMHajkK0caMMM0XrTi4XNSkA1fNtnjf3puuM8y_U2h6TtzV3wiArtdKqJJf4DsuHUUmeH246nkLeSjIk2Rm1GHXcqnvBomZ9ASlmlhAiCw_VqN75GqS5M7XZcO8Wwd_i7mbJ8y8v91y16wMeJ_hi4kD9nIkAg5KXdglYKm9wyJEjNPT0px3z5r8eoJs03mJj8UqNwdCy8gDztc0VhwsEUwB6YwArnOCiHUNKSBLkAsd_8FhLXi7twzD9oXyEa1TdbAubD2sUQ=",
  "id": "rs_0ff88975d1b74a01016ab41d6ab89087d0912e952eddd9690a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.262,\"right_z\":0.005},\"note\":\"The right bottle is still left of the wrist camera and just outside the left fingertip. I’m sliding the open gripper across at table height to center the bottle between the two jaws.\"}",
  "call_id": "call_lV5Skx6Gos7e7llnBsqejtFq",
  "id": "fc_0ff88975d1b74a01016ab41d71898087d09a4e829cd26c396c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lV5Skx6Gos7e7llnBsqejtFq",
  "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]: [-0.0212, 1.026, 0.9955, -0.572, -0.1661, -0.1314, 0.9963, 0.659, 2.1464, 1.0538, 0.4397, 0.4187, 0.2699, 0.9956]\nstate[eef_state]: left_x=0.3319 left_y=0.0258 left_z=0.252 left_yaw=0.1731 left_pitch=-0.0315 left_roll=-0.0007 left_gripper=0.9963 right_x=0.4479 right_y=0.2606 right_z=0.0031 right_yaw=0.1567 right_pitch=-0.018 right_roll=-0.0125 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -3.7538, 6.8581, 1.8779, -0.1978, 0.022, -0.0122, -0.0889, -9.2239, 7.3915, 1.6679, 0.4469, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551d0a0f000697c1894bb14d73b0ae75f304bdb3c1843e27364fe379fba0e7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6469e6a1b75a8091e9be0518be04aa2837b5b3479fa681c151efc248c9d190b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaf664c9ea5a972300d830995c7a5a99f50926b2c48d164f813a2815b97421f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.638 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0485, 1.087, -0.6353, -0.1661, -0.1318, 0.9963, 0.485, 1.9957, 0.7643, 0.8604, 0.3367, 0.1902, 0.0194]\nstate[eef_state]: left_x=0.3336 left_y=0.0257 left_z=0.2731 left_yaw=0.1733 left_pitch=-0.0259 left_roll=-0.0021 left_gripper=0.9963 right_x=0.4571 right_y=0.179 right_z=0.0558 right_yaw=0.0824 right_pitch=0.2196 right_roll=0.0759 right_gripper=0.0194\nstate[joint_eff]: [-0.5538, -3.7128, 6.5709, 1.8681, -0.1978, -0.0171, -0.0122, -0.1026, -4.8752, 3.2342, 0.2857, 0.0073, 0.1197, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0336, 1.0256, -0.5915, -0.1661, -0.1318, 0.9963, 0.4095, 2.035, 0.849, 0.5724, 0.2546, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.3328 left_y=0.0258 left_z=0.2592 left_yaw=0.1733 left_pitch=-0.0285 left_roll=-0.0016 left_gripper=0.9963 right_x=0.4593 right_y=0.1548 right_z=0.0049 right_yaw=0.1086 right_pitch=-0.0207 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.7675, 6.9812, 1.8388, -0.1587, -0.0415, -0.0122, 0.0889, -8.5675, 6.7761, 1.8877, 0.2955, 0.2564, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.026, 0.9955, -0.572, -0.1661, -0.1314, 0.9963, 0.659, 2.1464, 1.0538, 0.4397, 0.4187, 0.2699, 0.9956]\nstate[eef_state]: left_x=0.3319 left_y=0.0258 left_z=0.252 left_yaw=0.1731 left_pitch=-0.0315 left_roll=-0.0007 left_gripper=0.9963 right_x=0.4479 right_y=0.2606 right_z=0.0031 right_yaw=0.1567 right_pitch=-0.018 right_roll=-0.0125 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -3.7538, 6.8581, 1.8779, -0.1978, 0.022, -0.0122, -0.0889, -9.2239, 7.3915, 1.6679, 0.4469, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551d0a0f000697c1894bb14d73b0ae75f304bdb3c1843e27364fe379fba0e7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6469e6a1b75a8091e9be0518be04aa2837b5b3479fa681c151efc248c9d190b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaf664c9ea5a972300d830995c7a5a99f50926b2c48d164f813a2815b97421f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB17vwTS9K-WgGQuc1aaDw0euM5rokXAAGLuiQfID-JykPka4CCk7eb1-icSqVLuYCEaIoYgkA9U-Y8HFv1bJIXEBHfg_rg8ShaKkkKeUflSEwAFvObA9j-0eYZZnh5PsEcTXmRy2oRLerTlDOdH_N_Yvk3QxhhzdLq-c5_-rc9yuH9XXQVn5in5LmPUexwCSH4WV0lg47g_w8f4Q7-9UgK4pWAJ0a55lAtJuR1lt8SzkskCn7wWaH8mHY4yoyJ7zCNc7vfB_2Y-hxC4hSiyhSZgnCIvSbExfVWCUKOr6yMFCUIn1aLOiAmoSNLI4vJ3hzWdqjCBxqd5Iobf0TM3vwOUNs4YtdeawHlNYTn3SUTD4lBTgWUDnnJ3rSgMI0WnumMm8Eo9JbjJLjJjr0opVx_PPdOKaphpt7q02SizQTutqlfUMQqWY96lbj2xPNOoARGKSK2qiAp2TJHEQ8bHFfYMwORvjlcrA7fCIUcCsrxuhl3DRi1356cleWJoZEXXyk3avXZ2mtiIMKVhtBZtE5v7Iu6QHCeUmJfKtshp507S47TctNaYLl3Y0LuYbs-okn1wcNJO3orw2TElHBSmvzlrM0CI9ys87QkneYgWbSmUOzU5gcVlUD1l3yZSsHllCg38tjaOi4unxhLRGCgJO0Rx8sjq21bRHG9E65d5Rx1bUPKBKbPoIHpVJ0taC5KCzRmPKr_SrNptvNku9AM3ewwMOuH8OtLCThWIjcnGiGrDP1iduKdQ_Dx790Weh4TTb0_qpeqgjGKTAgi_9dbE1f3WOpN8btTmk8lDXRbm5PRy8jxWLkmetkeukVTGXLFpKE7ikLesZZUMbp2XGr2v6bMDrCAMwArJ7g1nIasIuJPpVtYFPmJF0UsxLrEtn_mpnWwknwvTBRsTLpNLpDmD-o75v6U0Gj8h5QfagmvOrMuBOnzWYUy0rM9H6Pv_mxS9bem5JYYIeuqPTZamnaDp7a_xJARDZvf4CWPhiJcXXEOE-mRg-4kQP_pSU8jEIN0jhv93WZ_zjZ-W18tpRmLiwQGRHv4qlSSJM4VzWpn62nWnpEzwIGB4_3siP2dy25XhVBA-OpPZhzxqrb04OTL6QeLU3rRWs800T8D1XARMSELe7imMAOt5zLj11oP25ZBNddSKx0dxDute6ykcQ4Hfk0sJcyYVhGK_pRjla_4oQdWXIYVKdrdLdbs0ial3MTeLrMeby5FWd4TiUuIzBeUOT8A7xlwvBjT9ZLocKJ8Z1gWS9DbrULowgniOgjQwRpQfq7c52J9woMs8JdU_0idiuKUnNWAogLG5Mxj6o_f8_1o1PJanPJoAB8jGpo48YfbzVsoIQepRUigqnbf6U0ycKw_K6LsIyWW25cQ6FqJ0UQNzDjAXOsEX_fYRsoqcNX1CUNMHMoK4wIEHSjLOzc_ILuBo-vo8vgYRlFaJ5E6sN--_usanhYOUsztDQ7QCuHatKODTbeWHQDKWO6hcuW8X_UWMLT_1cqJvyDZ-KilsD3Oqw-ecCzb9Wt4DLrlBi1cQdQ8R9bXUu2EmjfH09lK2Ap8tj8TKMAnZqzy3sDlPCS32TLfNLoq4dkhLpPHbupMSo_f_XHGblmiQ5wujLB3hzHEZLSjS3RS4JjNMpiTO4XBKiSb22JEyeBC_kcW4y2GpjQwXrLtyi63M4I95vLD5-oxx-y8j52y0B3eSgLp1AyX7hCsghsdbX-NDF-n6VX8q2bkFwVpcv4OFVSxxQWE4giMI7-Gy-yVL6eD7JY3IRNMUMWxrNQz5BajfO_5T9pl5jL9972gsj4as3M7Fw2WoZNnKG3DaaPdh7iqAspxAWz3dvsOyNqEY8dXpMzYtBgENx1Iz0XEBSXMxv17lc3otl_lOJ4B27yirFO8aQQ-XxD8hVE1OUtsaJlkCvmdEEURVN4IrBPlhLdnpXYM5hQ1BbdDDtIBQ2_7o-QUAwAk9RtdoreVQ6eH_nFdL5pSvjD0Dgw7-2p08lQFlFlvLHLcrc8guxK1JLYTjIZcKMeGOnvEZo3LCqlpdRTZCLf9qXqIpFeAT2iqXwNrYqdOyFz2-Y8k-enj_TEyRla3cNGioNVTLVWNkp0bopaqrm9JhlZsCgsA9oAym4vWqSJeaU58e5-eurdWmgjZ-GwlW-P2IPoA1PEiOJxg0fFYv8YmpHF-yvXboFzskESjPFnlNo2c5oc26De_8zrMoeeqb8zWIpYqv9PAHsMyh_Zp7YL0ejliy675aikLwKLII2Val7NF9KD0NOLAcPdQ3ybFFNw9Hm7P7ZZ_AwMTXCbKicpAPZJ7Uzn-D02P4esahuqnNy3Hzc8UJoHJnijeQorWp-r0hdzbnq5GiinEHLWb48OKJRKA3t77TzaHJ8Y6lQJQHk6tviqTOopaxbTNB2xyzpg5iVodNOVurw_fBtb7B6k6yb68FfsyGrn9CNPdH-1HPUW2ct6HlDzasMM_9hXNztOD5iq2TvQdf9g0lN9ASg513At0SGXfz2rM9NTIubXy4Hy6ASkNwqu_LDtEWk6DHYYZn8DLMvRKjc_5eD-L4fb6JnHUWszQckpVck5owgQkiz52K45WOmGYQUn5sQZNSKOGreWemnXyxWJar8pgwQUxXJCh9L7w86jFcC2ePr0RYW1MvhF5BLFiVYcGTjfSaGpDQKr6ePvYDjmDS09RKEk2ZutjBGW0Mj6BAibOEXpMGYlbSjP8tm81n4JoqJhyc6221COBS57nrzxfbDraXp76R72ZzvBFSCk3r1B7ssHVzqrLhGOM9Oi2PxRi6Abty1VlMThcLvpcMO0fok5tOMd0ejkQojkLlxdrsiLuJqbKlLe6wNP5I9Zftmt2Pkyzd44DJFXY2N_GSHvoqpSM5A9t_NmZeaT6KXd61wHPG64xMKNFOoYsq8nbFn0QMCziTGEErpZvtalf5NaEagfZBmF4ACoaL6JCRxnjui5ivOkS1wXgxuYdAo1koXzMtKLoQYuzm5O16xVqXH3UBvmPfdiX9scVNpCAN0QXuSBlTRElRr3ivhv6MrVDbZ1YrU4SAFagQbgr5stnfQa8jFNpZMsW0oRrzBhiMyc3w62khn9uCGXjqjkaCEHWgKhm0MX9trz4eS5sXnpGU9OFWVtPu2MciBSqxMW83YC5X0SLYOA4AjwaSfFA58r4HJ-AoXpXp38j4zMzarMitaXWUyZqLULkWzIXot7ebKzeEhr5Qv3X8eQlRBDv8VQqDocChRLjKioZMWBMmoP6R0XeXU6ErfZk_EtZIt-7TvG3gOb6KeF93B_X-0YVozF-bmKVdvRtxPW1CQ3NfZPSMjwOH-JqLtzwloP1uU1MGeA2GEo_2haA9S2Cc4BJ0tt5IW1gDvIU-RkNCFmaX-VOB8vAH_83Mttqx-UOWfyDcvaHA1faVQGpwiMKoLRhbGTDuMTng-4cadFVrXurOPrvmKZ1snqTEvD1fihcrxxKafJ9nzGXIrGqNkMueP7DJFBf7n_sE9DIcmSOgtIaEFimKnI4TrPG7Zl3d3Yc0XkMCo_tSHnBThh4xt8lUR81PMPBYD9QpGDp2vjyIKHGCihJkkWUizrwSVb-lFNnhgje7AzWNnGRC_hzXprPJDN_kmFiXDNIV0lQBJhid4nK8y6cxY3NkACZF_xhaU6Yrtq07Jqb6Ca6Ua4iS_hSLCy_MKLy1Z8RNdnwBmHGuUfqRHRNazr92SE7KXfn5QIEURwTgKzl2cZRqcaPO8Jz_JuRlp2mA-ahIP89joxjyMX7E25qBhfdG3a_6nLJHB3CjGkOxL0siyMO82Uwej711RCdJUXm5O-0Ct2Xt6LI__uODXPr41eXh2PLqzGcAI6O8A4ZH30um64VmqQhY-tpXn3LA0Ln3btlfD_F_ssu8D2TgR-YnnHDet8w2I9h4n29VsCJDr92ppzNzEAOBOiB4cnmCtQ_VP2hndjElZ_q3oL4ykbM=",
  "id": "rs_0ff88975d1b74a01016ab41d7519f887d0aac2171ad0a05e63",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB17u9c2NxFM3UlSWy4hIEIK3u5ijtV3rk2rYDQK0DzgxDnvpyVu8fP2tBJavVMbbZx_nEd23qkAdCJHHxXvAqo6L55gUvAOTSFOP09XDW1ROugkimzUWBrTuJF4B2rf3RXaOSQ1sAF_dmoJXsVyLBdh7vdWZOAkJcBM5OLMD5H7Th4Upz4MyrQlTV1TrZscJ7IwPG5kgatNnUjz9S0bKn_XYTAbhe3DM08o6cY0WomxYAQBaonYLv9XiUM7rX2_bluSoR2r0hmVThD4dJd0zB7GL7P0-4lEZG56QpUmPHFOr6pi8IWCm1z6wFs-QRiw0CJM5s9u0dgA5r5V48hmeEz0cU3UeApxysIRbB0qUKN_t--J05WHc59PDLsHNatIGm-QmxpC0quzj3YQ2f0dRQ0DQJhTYdqpma0qz0Fc9pKCy9vSq_gANIViN-FLFp-cjkCCB4XYWQSHhfnb1ATTMd6DhRTOkk8Zn4xPZYoXfsX4NtROPetqqDc0rlutETxFwjan1CGFbJ6c-8CUxV7bXZ5Gz4ET2OGr93mMYCIgCFArSzXcGCVQWCIGsiXNiqbFrG6SSbtpZITd5b3B1Th-AIV9yEvTsaid3Yfnwo2Fj9q70mGLKDp9wRtJQ-TXn2SF6tjdWkDaOaI-c9GA76MGFbynSme8mFWQdqoDsxYJLVSlQtIyeMzczE0rG5Xr-Bh94zcg7mviF_UWt38nP-BecQxftOFHfFNboiTJdOtrIbrFALsTdgSYTQ9nfRGvt7kkSZXDEJ3M7irUii6KBSP5TuZg1QHg28MjbJZhAbzhc1N2v71v7ycEr40Ybrs2lkVNPuKN_M9v8yfJ0IGm0_S2RIjGT2bYKU8QAljO0isIcTRLafk-gk4Z8f8vl-LwFIhZkRqDWMm4nDEmgX_U9vfvA4pLrvQvjIu57yNdwbfzpTtQvMj0PxT2Kmw23ARdzXmsC3iTBKODWGGvRyu66hDt0Nn6Gx_4Ui2Wy0cQEYFOXr_eqjL7NXXZaFvGG1OgmCIvjvk0HF0-nF02pPYmwwkEFoqAOCJoiOVIfxfyXIu0d1U5pEV6lZfzuExXD28Kt69ySvLqhrh6TV_nplal3EjtNAJJ9bmb4nAttHc_GnRWmbCn0cGGDhTnUvROgsMph6ipcyQn5Bfq5OlgYm-RiQ96T5ukKPYiJ1jGYoIdpb4FqsgLpy_LyU6Vw9BMr15ooBSYbNLts-Kgv8_mTGsl6FZDwMf_ZpuX0B7f0Tma0f0Ku0rtB9_3MyimEitjitimoZsFldVesOZeV6SkXFe9wuGJDH4b5erxn8aUh2Qu3fHlIeNAHRD0KLwP4hf_hpelkRnFmOTUSw7KO9XpF50xppwtlsJIJScIacg-1j0esnYztm9SeZGsEoiJUMdsD0Tcg3HmKucDmAH5kCmCz2Uc60x16YRiW4cg1TpLay67UjNyQA-VWfgvyDf5-iSOnb6pLrFumuHDV1otqwcdNzVg2Kw0VR-NlfQ6sm2KttvPzO3s1edsq38EaJoNH3x9eEvs4FEjEHPRHU0hLBRuwx0pOI9GAWCQiHwOHVVIxqZaVUVtI_rTGHu8RZm7UexL_VdVuCGBell5KlltrxlAxxpNubTc6DNZN3bNhQh39Hhu1pikJLvE8Dku5U4X8fcCnkg12qxhobl26ZY7CfnnfI1Xq8WrGQ07vBqqgC4tjS2sRRl-7NmhrIsfkpI2Um9VREUwRTeKyCmiTzbNizV2PKqloTiSAVTgeMwBOb1dtG0IEHDjwu8_plogBtEwujQj5zF1BlTdYH80",
  "id": "rs_0ff88975d1b74a01016ab41d79758887d098fec21ac6da6cf1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.27,\"right_z\":0.1},\"note\":\"Sliding at table height pushed the right bottle toward the middle one instead of capturing it, so I’m lifting clear. I’m moving over the now-exposed neck end to attempt a vertical neck grasp rather than another sideways shove.\"}",
  "call_id": "call_80TRHf5SEz9tPCwhtEPRPhH0",
  "id": "fc_0ff88975d1b74a01016ab41d7aaa3887d0afb833b83875f3b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_80TRHf5SEz9tPCwhtEPRPhH0",
  "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]: [-0.0212, 1.0149, 0.9592, -0.5465, -0.1661, -0.1314, 0.9963, 0.617, 2.1094, 1.3293, 0.1017, 0.3618, 0.2264, 0.9956]\nstate[eef_state]: left_x=0.3307 left_y=0.0258 left_z=0.2443 left_yaw=0.1731 left_pitch=-0.0312 left_roll=-0.0008 left_gripper=0.9963 right_x=0.4868 right_y=0.2731 right_z=0.0614 right_yaw=0.1837 right_pitch=-0.0571 right_roll=-0.0284 right_gripper=0.9956\nstate[joint_eff]: [-0.4855, -3.5214, 6.9128, 1.9267, -0.1441, -0.0122, -0.0122, -1.2923, -14.6256, 8.7043, 1.8242, 0.2027, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90122e65dca0c683a35873e06a798b5e071cd0e936768c3286f8f463fba3bb43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0f1460d8a80def623a468eb027492829895ec7c06aede7e68b528f056a1470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67947bdde3d79c0e72c69be5836616f9254c34480a3c3bbe613c6b05e779a22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 6.085 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.042, 1.0588, -0.617, -0.1661, -0.1318, 0.9963, 0.2398, 1.8565, 0.6113, 0.5892, 0.1516, 0.0772, 0.9959]\nstate[eef_state]: left_x=0.3331 left_y=0.0258 left_z=0.2662 left_yaw=0.1733 left_pitch=-0.0293 left_roll=-0.0015 left_gripper=0.9963 right_x=0.417 right_y=0.0782 right_z=0.0033 right_yaw=0.0613 right_pitch=-0.0768 right_roll=-0.0175 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -3.3983, 6.7624, 1.9316, -0.149, -0.022, -0.0122, -0.2803, -10.6188, 4.7932, 2.0977, -0.2125, 0.0317, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.026, 0.9955, -0.572, -0.1661, -0.1314, 0.9963, 0.659, 2.1464, 1.0538, 0.4397, 0.4187, 0.2699, 0.9956]\nstate[eef_state]: left_x=0.3319 left_y=0.0258 left_z=0.252 left_yaw=0.1731 left_pitch=-0.0315 left_roll=-0.0007 left_gripper=0.9963 right_x=0.4479 right_y=0.2606 right_z=0.0031 right_yaw=0.1567 right_pitch=-0.018 right_roll=-0.0125 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -3.7538, 6.8581, 1.8779, -0.1978, 0.022, -0.0122, -0.0889, -9.2239, 7.3915, 1.6679, 0.4469, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0149, 0.9592, -0.5465, -0.1661, -0.1314, 0.9963, 0.617, 2.1094, 1.3293, 0.1017, 0.3618, 0.2264, 0.9956]\nstate[eef_state]: left_x=0.3307 left_y=0.0258 left_z=0.2443 left_yaw=0.1731 left_pitch=-0.0312 left_roll=-0.0008 left_gripper=0.9963 right_x=0.4868 right_y=0.2731 right_z=0.0614 right_yaw=0.1837 right_pitch=-0.0571 right_roll=-0.0284 right_gripper=0.9956\nstate[joint_eff]: [-0.4855, -3.5214, 6.9128, 1.9267, -0.1441, -0.0122, -0.0122, -1.2923, -14.6256, 8.7043, 1.8242, 0.2027, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90122e65dca0c683a35873e06a798b5e071cd0e936768c3286f8f463fba3bb43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0f1460d8a80def623a468eb027492829895ec7c06aede7e68b528f056a1470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67947bdde3d79c0e72c69be5836616f9254c34480a3c3bbe613c6b05e779a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ff88975d1b74a01016ab41d7f15f887d0a5ad453e13754173",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.39,\"right_z\":0.125},\"note\":\"The two long bottles have shifted farther left, and the right wrist camera has lost them from view. I’m moving the right arm toward its crossover-side limit above the nearer cap, where it may still reach without sliding the bottle again.\"}",
  "call_id": "call_JN8t16usNFZbbJq4HfFymKDo",
  "id": "fc_0ff88975d1b74a01016ab41d82bdfc87d0a13e11ef207c379a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JN8t16usNFZbbJq4HfFymKDo",
  "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]: [-0.0212, 1.0073, 0.9279, -0.5198, -0.1661, -0.1318, 0.9963, 0.8318, 2.2253, 1.7248, -0.2043, 0.4923, 0.3313, 0.9956]\nstate[eef_state]: left_x=0.3305 left_y=0.0258 left_z=0.238 left_yaw=0.1733 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9963 right_x=0.4609 right_y=0.3871 right_z=0.1104 right_yaw=0.2371 right_pitch=-0.0375 right_roll=-0.0282 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -3.7812, 6.612, 1.8437, -0.105, -0.0269, -0.0122, -0.3487, -11.7402, 10.1812, 1.6874, 0.3736, 0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df22af90f5e26b17f3fee6f039c25362aa19b5cfe85f8f81307394d10fe0eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d30cbeb057c623b50e58218cbbcfc338fca80c4eabd0c84ef86e4083d70b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab69dd52b633e81e4a7d9e1d54f35fbf421d91c78bd6b8f9a1bd92f51b9d713",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.294 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 139 changed as sent

message 143 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0336, 1.0256, -0.5915, -0.1661, -0.1318, 0.9963, 0.4095, 2.035, 0.849, 0.5724, 0.2546, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.3328 left_y=0.0258 left_z=0.2592 left_yaw=0.1733 left_pitch=-0.0285 left_roll=-0.0016 left_gripper=0.9963 right_x=0.4593 right_y=0.1548 right_z=0.0049 right_yaw=0.1086 right_pitch=-0.0207 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.5128, -3.7675, 6.9812, 1.8388, -0.1587, -0.0415, -0.0122, 0.0889, -8.5675, 6.7761, 1.8877, 0.2955, 0.2564, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0149, 0.9592, -0.5465, -0.1661, -0.1314, 0.9963, 0.617, 2.1094, 1.3293, 0.1017, 0.3618, 0.2264, 0.9956]\nstate[eef_state]: left_x=0.3307 left_y=0.0258 left_z=0.2443 left_yaw=0.1731 left_pitch=-0.0312 left_roll=-0.0008 left_gripper=0.9963 right_x=0.4868 right_y=0.2731 right_z=0.0614 right_yaw=0.1837 right_pitch=-0.0571 right_roll=-0.0284 right_gripper=0.9956\nstate[joint_eff]: [-0.4855, -3.5214, 6.9128, 1.9267, -0.1441, -0.0122, -0.0122, -1.2923, -14.6256, 8.7043, 1.8242, 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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0073, 0.9279, -0.5198, -0.1661, -0.1318, 0.9963, 0.8318, 2.2253, 1.7248, -0.2043, 0.4923, 0.3313, 0.9956]\nstate[eef_state]: left_x=0.3305 left_y=0.0258 left_z=0.238 left_yaw=0.1733 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9963 right_x=0.4609 right_y=0.3871 right_z=0.1104 right_yaw=0.2371 right_pitch=-0.0375 right_roll=-0.0282 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -3.7812, 6.612, 1.8437, -0.105, -0.0269, -0.0122, -0.3487, -11.7402, 10.1812, 1.6874, 0.3736, 0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df22af90f5e26b17f3fee6f039c25362aa19b5cfe85f8f81307394d10fe0eb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72d30cbeb057c623b50e58218cbbcfc338fca80c4eabd0c84ef86e4083d70b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab69dd52b633e81e4a7d9e1d54f35fbf421d91c78bd6b8f9a1bd92f51b9d713",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB2KqB9HgMZEWqic-gTHh0ChS0zlQs5DLq8nqarG4TZMe3OGAIod_74KZlE2qKdPTHNETY1hiLsiUYXUUe4t6UgUFJm4zmIHKxFdsksMk7o5pMJaQGf8_8lWEBeDFboebAigIPUCBWgZDeViicKp3f-YWWCUSQDC1UE18SqpBhsjAz1O9-V9xVdz1FOnVRHrlUtwpERjldFOl_6P2xEOJNjEoNiUHUo2Qy9naT1LhpGh8UJDB7YqO1F6mBx7K0sUGY3H-6ngeuJEpOY8wWlQArckE0ZBOFafDjbG-XqLn1LZgtA6CLQesEHLZv8dTufy7gC1O0KFFaDEcWGEfVpWpukmGY8jLsWHTupoOIKS-fIPcdarUoQHACgDZyJIaBUNrRf3mMf4QJ_q1orTc5o1QgcvI33pp3d2mC-OTJfASDElPVEiNwwJ-4eFSEG3ysihMgYq4qRJoIiS4pRtOZtsZXS3D1-cJjlT3WbT9goG889fClsSdgYrvsgMs6unVARejWEUf_JmYjP2PQnq-R-D-uVlUB-dsLcr_9CQqpUVpVD8m3RSRzEWeDsQWAXhwm8m1KX_Dou9ycX6OD-eHZm05fVMfkiT5gcBavc23rk_7Oet_zuKGLWex5WgHDbVadtjZHaAv5ciGFCMlYPT3ZCejv8-eePheyXjPI-lEmgONhaI-icg0E6NpIm9IIQ5fHP48r3iHIBi-hmdm41wum0prcLfGcgDCFV8LjfdYVw9vrSN9RfW-_kjYm6NLw082wILTfeIVI74lJomJTgco3z8dR89z7HIbvcfFYrjYpcNa0ZW79E1_4tqeXEs-0oRPI1b5asAUZNL6EpqyXZlSv8cCL5mPzOU4FCqABbOuZQT4kuv4tdxN8MO_icSnUMR3BzZ_5DOZYk-vyJp_xiKiQ7geAUWu-IGBdbC7gmIsfLvlt6fhwQOj_TLY8oenxtSVbVlwqJsBbO8hOHiZXM8RGoSUhfnTmSauDPfF5nMFjkeRlvT2PBwHcHSFUO4acuFfEn6vx_q6JBcMjkU3wspNegjbmDxbJ7NB_neiOCjPLjozzIldangPmHIZPHdz872ZMj5kokDzKU06k3bLVuhozXe5Z4qL3RZcoNnNZ26IgLLzLfOJ4Ix-0UjFR9VsjRHh0Js5D4XkkSJ3kytE9erPogxKKXnYHCwqtgAobUTXLyo9bYRYto-x7XB54N9e966GZcIG_Z1glL9j7W_PbhfzzRHuuDGnpOVCU4IryfJ-CkV_JXq5XsbNeeYMNHfC8Rdx0HKeNpgLQIUi9Z1ybKSXQ_PXAChSv2qEu6r96qK6LflAf21ixmAtMSq9_IpNgIB9lA3zV-RDqPx-pPwYN-L0sVdfj13WFlmVXh7ZmdjL_tYQ1Qw37MOKKrwDwiRtTZ4FMEuhtgIlJ-XDQFaLulV2Bw-V68M7Q4AMbsUqbkjubiBvoV2zIRTD_dujNQQsQZXRUsBo9EMBtthH9NoIpSbg_JXfH9NMsTAhP0qcF9csn5O8SsBuxB9OqNt8Q1-lk_-KUqt3WscJUfD08yOV9426QLkG_EupvhQY8pGTto2r_t8xjzsMHhhcNUcsdQHfuRIuTTTO2c6sGR6dFWTcxplmy6PYqtVC_8zhkkCvcet01a71ClKcI8Iq2PJfUYe8WDhHZ66z9H2jKSX_zfxCQCxkfqRbwe8k6nsoNHOtHE1F0VGbsgqZ83hSwiIYAe7_mxIUFlkFOafqqLJ1F1MJnsJywZb4wydimz08ThMC0Tz4QPlnG94cv8j33lEpzff27M4ofsM_syuzCOC8pcHjhgCxz4_oz8Tp6TcdpWP12cLThoRaFXKlgMaeoGp5ZkEW4m01jcAA1Q4LXqqc2ldxQViVrakgZvltE3S87abBwZqquAW3tt_RnB5YvNwVUpCM3urNZQU1urKYPmX0GZw1otZrUC8M2aQqA0WBPpXH_3QwS4wgWBV25BLTZ4ZcE9TU30fTHqntfGDZ9Uo1p4lgY5tiChBjiLzl0djyybQupC3pHX4rxTxtHQDjnXCHKTvzGnXRytdIs2h-Kg8mZOZi0SrHbxKAtOEUJD8h42uM2188CdmqEQzh-gxkWgKs4OjkZsvwKFBGjupgPFTzE5xLHyBS-SDaq_t4wcHaRp5yKcA6UsTj29fine74zI5hlQNAA8Ce6bllP2XmDVY-sW3_3nKUWCXQTEtbSyxVj1Ny1LBIMpS0jNKEtRCeTIK6zFMvhfMTY3vv7D33uTOGwJaicquDU2f0vnhYnnueM_xg4FdOXIAieoL7pkNv0hIgweBlKeQWC4CjDGfzDxM2dLK5xAA6QnRMv82_m2XKdCUhTOA2yJGtroSvIRJw918sr4eT-hrWv_I2hyFFJJIIDnkIzzGT53Zg-kazK_P_KS70cxOUjJHK4-UdxHbaEyFJSPPL2nis_cwbMVm-WJ5kzwmW8z_KzwTyGo4eK4pGMc7cpHQcZH3I06nvugRY8TU1j8Py7Ag5gu5lHjP0N2ON7LYXzaqqL9eatf8ZiFnykMCCfB4h1u3g3zKXeGNA-aQadoNcb7a2aLO3MnrQLH_xXXCtNrv6AKrb80wwRbVKHLxon2sMfTxGyVHw-W32eTLY345SaHYKKRHerHmJx2JSp8J-gN_-pHpVwxAXGlHBCBHDcyO04-wV9Ud7almW-Jwf65qFyStQ10AtWzV",
  "id": "rs_0ff88975d1b74a01016ab41d8720cc87d09149a2263a93579a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.1},\"note\":\"The displaced bottles are now beyond the right arm’s crossover reach, but the left arm can approach them. I’m parking the right hand away and bringing the left open gripper above the nearer long bottle’s shoulder.\"}",
  "call_id": "call_GoeEyOMwsL3kjygZaIv8QOFR",
  "id": "fc_0ff88975d1b74a01016ab41d8a090487d091f2df27a15229ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GoeEyOMwsL3kjygZaIv8QOFR",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6891, 1.7103, 0.9123, -0.0196, -0.6899, -0.5789, 0.9963, -0.2279, 0.8417, 0.6426, -0.4355, -0.3298, -0.2508, 0.9955]\nstate[eef_state]: left_x=0.3917 left_y=-0.1724 left_z=0.0895 left_yaw=0.1641 left_pitch=-0.0366 left_roll=0.0288 left_gripper=0.9963 right_x=0.2936 right_y=-0.0057 right_z=0.1788 right_yaw=0.1743 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -7.3778, 8.4581, 1.5165, -0.486, -0.0806, -0.0122, -0.1162, -2.3043, 9.0872, 1.6874, -0.359, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea03a3dfa1cee12c4136b97fdcae8ea4c88a6d5cd4b04944123f0d570732820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e19d6586c553429bfd3fcf69f74d3f8fbce275ad1280141475a6b6a263c0fb12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b94491ae05e8055396140a2b92007ecc8aeed4c55926911691df196f2f40ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 5.175 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 143 changed as sent

message 147 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.026, 0.9955, -0.572, -0.1661, -0.1314, 0.9963, 0.659, 2.1464, 1.0538, 0.4397, 0.4187, 0.2699, 0.9956]\nstate[eef_state]: left_x=0.3319 left_y=0.0258 left_z=0.252 left_yaw=0.1731 left_pitch=-0.0315 left_roll=-0.0007 left_gripper=0.9963 right_x=0.4479 right_y=0.2606 right_z=0.0031 right_yaw=0.1567 right_pitch=-0.018 right_roll=-0.0125 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -3.7538, 6.8581, 1.8779, -0.1978, 0.022, -0.0122, -0.0889, -9.2239, 7.3915, 1.6679, 0.4469, 0.3053, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0073, 0.9279, -0.5198, -0.1661, -0.1318, 0.9963, 0.8318, 2.2253, 1.7248, -0.2043, 0.4923, 0.3313, 0.9956]\nstate[eef_state]: left_x=0.3305 left_y=0.0258 left_z=0.238 left_yaw=0.1733 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9963 right_x=0.4609 right_y=0.3871 right_z=0.1104 right_yaw=0.2371 right_pitch=-0.0375 right_roll=-0.0282 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -3.7812, 6.612, 1.8437, -0.105, -0.0269, -0.0122, -0.3487, -11.7402, 10.1812, 1.6874, 0.3736, 0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6891, 1.7103, 0.9123, -0.0196, -0.6899, -0.5789, 0.9963, -0.2279, 0.8417, 0.6426, -0.4355, -0.3298, -0.2508, 0.9955]\nstate[eef_state]: left_x=0.3917 left_y=-0.1724 left_z=0.0895 left_yaw=0.1641 left_pitch=-0.0366 left_roll=0.0288 left_gripper=0.9963 right_x=0.2936 right_y=-0.0057 right_z=0.1788 right_yaw=0.1743 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -7.3778, 8.4581, 1.5165, -0.486, -0.0806, -0.0122, -0.1162, -2.3043, 9.0872, 1.6874, -0.359, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea03a3dfa1cee12c4136b97fdcae8ea4c88a6d5cd4b04944123f0d570732820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e19d6586c553429bfd3fcf69f74d3f8fbce275ad1280141475a6b6a263c0fb12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b94491ae05e8055396140a2b92007ecc8aeed4c55926911691df196f2f40ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB2SINB255kwpqrPBENRj12SF-f3o5JZ4OeTHewHXJkwoa3_x6fIF95u_vzjDQwNw4-8Nsgc5eGR-Klf1BsdCd8so4s1NxAmShODXBE8oqqrkDM7vTkaItp0NcN1osoJSdIYvaq9ysEBWNd2pU2JxG7Ykg5DI81Rb3S_1tWivwgjHeJt_CjZlxEPao84xCSOxle49pT5a3-nHQaICR1Mm99j7R01nAxxRjQ4fYylATtgswoIhHoef6-IPk-3ZxPkXDBqmCndto9-edGmyUwJNIFsXC8xKg91_yu-FGzCfWIiZYcd2SDoAyFVTVvrI0FKJRR_birrWaDbfqwlc2LDxn5GFmmyiLngIs7Q5AufzWF4MkZ7mjn8KvNeoHZClxUZmh7ZJi4sYa3qPGgM7arStvwc0_msu4NsRLrY4cP1yS8z7M-3RZNLUxLw1lXKXZq48y1D4j9bkSpiDcbfVqmg-V1TQ1GR1RAp9ggZhH78DfiJlmJOJGf9ohHP-adnBsxMeV4i-XUw7bGvobv-o06WoXbDv5D0xaLiw6yKkQsjg4oztPPVKmFpHUHTJX3ePBajizXlMeHkusg9-FKjGvNT6dWUlta6P42x53EcwNoKU9zW4540r5-eQ1lUc1OM6boBMAOZ1wVEvF254Ypb-n8_LI_fOSFHVsv_7DZwSs7eWp0c_V3CWigYvkXYrsVlznCxIWdkGyk6nEwU_HXwXXbez9OvJJbHwWh76ccrNn8-bmBn1wzILRJT-18mPLLp9GREw0kb3hdX4ZFrmJl6XfZh-Qzd6sNWSyxtCZaPG1-wORjy12qGGxG4ZFAU5yRBNzRMS5UM_KctXyyoHjXC_WnULh3G_M1XAuw01M0Mb5gIMWQ4jcWu_i8XaCqKjerDQOkc69iDEOuarLwSGBklvAnsvpCFAQAb2VZcyaibIuJeYhUr0m0M0vxwp86Kyv40x65JOTMG8DLmy2k_jnMDCWNI3aX0u-HPpEoF8EVVBKIunZ8nCwFyXUTH-N8tZxOisjMzJ4Cl8Ht0JSaMI6Nzi6gc3sWxwldCrJEHGyHIIa-auzeJNhQIKFEbQz2ItaNrdd1ENQdtxvg_1oKqrSbt3GwjOMSduw9UoBTrdtWXSylfJsUQhmLYM78YxwvulBNQqm3mXanSySLkp852Br4bFxeXPo9pqJPWuBOJpHOVZsvQtkQiDEIP9UxwugLozoAMMNFbzJxab492ligze8Zc5_s166TCijFP2-73kG0lGhmmduHlzeI1xw3ZTkFcH1pIOVrHUSZnmJoQ6O0jLZUcFj42L4sDKCXwv8-izj2TqIYHua9HUHwq_4nPePCLmt6OwcFzJXi7JPVO_K-kJJrR-XNfplU48ObuG0u5l3CcqxT6xa1JyS8-0v4DAjxkTW9BKVoZsGy0otMFtY1NviQcF7boCZtsSD_1flj0oQKdp4oRaL-Mx-84rHZwV3uKqq2bpUzjSSUahwK7TO0adfsifPzkRo2Nsgrv9fGgcLe2uCvesxC6QFBeOkGkm8uxU3kZAV_pnUK8zZt7Xf5-0vcnZDUIU7KneLhqpbHq6Bt7wKi5yZiuwsVBkqtVbnTMTTBNxmzUv_bFWNLI7zswhHaERH_uu48pBG8NIXjc9EjwSNYvgZnm6TfJpEQLAOQ1nNzRNu-LFDYNQJfoFhimp3NBr5DBNNMRRVivPzvEwxYOLJ8sZiKl8b7QIEZZuZW2hNCfJV7uM8pewbFySpTIChpJKU3iKPmMRv0KWOMQny3iPW89LXJbz-t8ioaZBXd3gPErovFbuDCnGcH_f21Y9MWHN9_QT4PaqgNAHlUiJ_qBT-pScskO9ARi-UPRAx0V5CGy6n_bCchKcrG3FV7qnqjmnZ6SKXWsWpDBpTJW58TShjyt_JQnm2zXAYsPmXw4PvegZg4SHAPjJU3Mc1st0aDA_vlGFx0iRInBh6hVZIaVzIk6gdlnuM0-opYcW0zMxK5cNlRJYZ3ojI1TVknjiWNc0-9dcEBmXmFLhsObmywzkB5VeO0WllngB5vckTVEm9_PnNcUYIJSs27BAOzzq24PzN-qxONw4W_ZpdjKdeMEy558xzCqHGoHX9rn4zCkfndFk97LSUx8VQ_Zc2089NHtuLM88mPXl5p_RBBbDJGcYfyUKEg0E8-_Ugn8RaW6tF7tT6_2tKq2qNCVs9G4vy3rkEJv3KQrjqj8HYgBc66EbByYsgj9hb8=",
  "id": "rs_0ff88975d1b74a01016ab41d8f711c87d0ae4e813ba0a4817f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.18,\"left_z\":0.055},\"note\":\"The left wrist camera now shows two bottles side by side; the right-hand one is aligned with the gripper, but its cap and shoulder are still ahead of the fingertips. I’m advancing toward that bottle’s shoulder and lowering to a cautious approach height.\"}",
  "call_id": "call_J2BWzkFz456PyilZR8ZqOaLz",
  "id": "fc_0ff88975d1b74a01016ab41d91a76487d092cbbc50d66375fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J2BWzkFz456PyilZR8ZqOaLz",
  "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]: [-0.6022, 1.9556, 0.9936, 0.1482, -0.651, -0.5301, 0.9963, -0.2359, 0.8349, 0.6186, -0.4446, -0.3515, -0.2661, 0.9956]\nstate[eef_state]: left_x=0.4361 left_y=-0.1655 left_z=0.037 left_yaw=0.1974 left_pitch=-0.0561 left_roll=0.0469 left_gripper=0.9963 right_x=0.2886 right_y=-0.0031 right_z=0.169 right_yaw=0.1926 right_pitch=-0.0438 right_roll=0.0099 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -9.935, 7.9658, 1.6044, -0.1929, 0.0855, -0.0122, -0.0615, -2.0308, 6.9402, 2.0342, -0.0659, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c225e44be899fe805573331905487dd80cf9ff7b7f1dd988e2bbf7cf00e5d388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55041575b0ba5ac90eed8a60350a3ae01f5e38a7a2399c5c1bc0a2856c656c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a54eda6bbb1254e5cbc15b5c6bbdf75d6306f2a3f6fd46fc2fd4c9f1d5e95f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 5.289 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0149, 0.9592, -0.5465, -0.1661, -0.1314, 0.9963, 0.617, 2.1094, 1.3293, 0.1017, 0.3618, 0.2264, 0.9956]\nstate[eef_state]: left_x=0.3307 left_y=0.0258 left_z=0.2443 left_yaw=0.1731 left_pitch=-0.0312 left_roll=-0.0008 left_gripper=0.9963 right_x=0.4868 right_y=0.2731 right_z=0.0614 right_yaw=0.1837 right_pitch=-0.0571 right_roll=-0.0284 right_gripper=0.9956\nstate[joint_eff]: [-0.4855, -3.5214, 6.9128, 1.9267, -0.1441, -0.0122, -0.0122, -1.2923, -14.6256, 8.7043, 1.8242, 0.2027, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6891, 1.7103, 0.9123, -0.0196, -0.6899, -0.5789, 0.9963, -0.2279, 0.8417, 0.6426, -0.4355, -0.3298, -0.2508, 0.9955]\nstate[eef_state]: left_x=0.3917 left_y=-0.1724 left_z=0.0895 left_yaw=0.1641 left_pitch=-0.0366 left_roll=0.0288 left_gripper=0.9963 right_x=0.2936 right_y=-0.0057 right_z=0.1788 right_yaw=0.1743 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -7.3778, 8.4581, 1.5165, -0.486, -0.0806, -0.0122, -0.1162, -2.3043, 9.0872, 1.6874, -0.359, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 1.9556, 0.9936, 0.1482, -0.651, -0.5301, 0.9963, -0.2359, 0.8349, 0.6186, -0.4446, -0.3515, -0.2661, 0.9956]\nstate[eef_state]: left_x=0.4361 left_y=-0.1655 left_z=0.037 left_yaw=0.1974 left_pitch=-0.0561 left_roll=0.0469 left_gripper=0.9963 right_x=0.2886 right_y=-0.0031 right_z=0.169 right_yaw=0.1926 right_pitch=-0.0438 right_roll=0.0099 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -9.935, 7.9658, 1.6044, -0.1929, 0.0855, -0.0122, -0.0615, -2.0308, 6.9402, 2.0342, -0.0659, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c225e44be899fe805573331905487dd80cf9ff7b7f1dd988e2bbf7cf00e5d388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55041575b0ba5ac90eed8a60350a3ae01f5e38a7a2399c5c1bc0a2856c656c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a54eda6bbb1254e5cbc15b5c6bbdf75d6306f2a3f6fd46fc2fd4c9f1d5e95f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB2YX_4f_ord9bxJDCbUEQo6EsAfvY8sTUefuFnhWCjyLDpT1uNddgpwuEJ8qJru1YhMzyG-C2SoJ2_wrGEyeUlQ7ntNulvYb0OXpWeAZNTs3FqPSMiZ5544-88oi0874SrQwg4bjnJVTHzQRoU247zvLX7FfXGaa761A5SHlPZVUoLQ5pkagxquDG_OTHFXyJgTs0vt3xBmP2Kjw4PyGCrrEVsXikQN98QVpKm_pVf-IhqDi8Fu2zsWqtYyuyn7EwGbi9X9l5_FjOgUyrqDyALxOXDCg9R_qLc9Q3XWN-WsYM8K9TBptMZ32Qq76IG2WVZYzMDtHA3-eTJfBfdhYU2I60F6zk5FMWgdVKrh0CWbTjielZ77o_oFXRCZp6Uy-a1dh8SNDoJldoofBN4P791s8rJMMJCoN3RD7cR2X9G_LB_lH4zgGGULi1tuH8C5CoVruRmhXaCCI99B0srDjmNEbRgdqQdEiULn3CqTwamXDcQ1alLxHQj7i_sCB2_d7dnuPBoYbrXGxZ9nZ0NcKZCa6MXpihGYpMsEippPbbsXf6jbghhZky7p5kH_XqnSPEVNG60FMZh3DYIRZzd-rRNQIywmZIE9A8rkn7YESXs3nkyEtWfXWSZjBwYtuM1pm7flKDbc6k2oa0THnx4Aqi-6c8pIoCKAZoQUoM5igxU2wB-uIZ4ac5hoxoJFnY8grbcX5kiE-InyQqF000quIcnsnmRUbI-8iI7ruu12WW8dEqP4zmb822z2wxQWzJ0MMJC6tqTExvof8emZMK-sr6vBflTo6cNbyRTZ5Ixp7xCZs0t6DWZgFDjKKL7CUyCdiJ9rP8ZNBEebAngoSZccgV7Lwo4791LMt6c4yhR64XvyzoaHAsykViMZ6NCfSsV3NgLgd67ugbn7tynCtco3qFoY2F9_yWiPpqoj4X3jwJ-jHweveNd489r-kYBdJZRvn6bM_gAgBgpiFGoCFi_ysyIEwWkBWQQFDzzsHufnOC5SB4O7a2ThlY7iW09DGdSnTTNstRntX3bxTlv5os0NCkKvCg5wkQ4sRRcqouuqpMXEo4DIOQizD51AuzsfDmeUI4uPASB_jz-5eIHSyO0LimtfHRtSe6S9V9sWwePrX50U6tVSYUOk5ry9IgPf2scSWkcJpypwwH-k7TCboUICqzel1x9hRUd7aXYvJqffC6Egk5M2WBcumW_K47QvFsy3DtKx3Z_5fvpHJTcaNM1q7r9KayxbJrz8NOxOxGp3DyCV6tf9fsmM-TvTaaFeyGkFasH66PIKO3m-XRjz6xH_zQbNBX53jzS3M-xNd1hnzRq08TNnqVk1KuT6v5sTIhm7Uc43y0EU4VNYLsh91mtPLEnsaA9sls8eSyOJACGCgG6q3ShoVqAi3CwLJTvf3p4b9QuqcS0Ju4ztP21JdRYvnUtCL_KtlcpjK1bFb-ICnRYmW5C30uj3x6DBXqSrYP1vdxtLHc1x4pxPnz8GLdAsAoLfJo1ziZ9eYTjLshyX0gwoGVZoZvNfOEvhack-c_TZ7Zh2BikmPYE_8_cFCDiKN3gz_s8NlxVohsrniFGHPydICfZvjm5RylFK5rzMhiu4-IiZQeLOvmykuOEeAld8z7O2KNCJopzDmQvf8CsFo4PH5XzGX635i2cwocqI9V3ztRQvgAsrflMHIkEhOHoYGV2QN_M9n0yYWgLb-eB2T851VLAFUm4V4ku18le7tTvS0IH_Urpl33lfF_Qp_7pi3SJcG7WDn0PpZPlJB-GpvSFcFp4Cc5nA6sye_jS3oZ4It_pjdqFR5-W9-EhcGZVrnSSYB0OlESZ-34102AWDy_J_8VGG2Xh5EcD3P5uKdzJD-zskhXM6nLIG2ClB0zCKos6fGuWn42jvVeslbA_47Sfkg4RmT5XmehctxqXQMUocetzaxW8FRQ893HTnHvEwgLzaa8JoybixI8uuQ0ocXJZ8BGx09GET5_i3JbVhb2ZMX55j8-kVPCUT4df_wNrFKAbYurKGI4KIOEunv_GLXj_oEcJBC50D-qQyENQPspWAeHcEDKyiiiuPycQODc1bop3aK1Pr-rvJgvA1t4lhK-SPQf61yo77sf0a_KoKbC-a3AC6uKMl4ocFL3DRBHFwttxPzo5rbErPrpoiyMNApoYNc4N34Kwq_TKHvIrQjN8p5DNby4AKxtU0WQgBNj3Owgp31w==",
  "id": "rs_0ff88975d1b74a01016ab41d95713887d0958b04a1070d8e1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.473,\"left_y\":-0.131,\"left_z\":0.025},\"note\":\"The nearer bottle’s broad lower body is at the jaw-tip depth but lies left of the gripper centerline. I’m shifting left and advancing a little to place the middle of its body between the fingers at table-level height.\"}",
  "call_id": "call_f0xM4q8SEuJfGujRh0K6zT1M",
  "id": "fc_0ff88975d1b74a01016ab41d97431887d09989577a2516c8f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f0xM4q8SEuJfGujRh0K6zT1M",
  "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]: [-0.5976, 1.9697, 1.0153, 0.1875, -0.6437, -0.524, 0.9963, -0.2367, 0.8116, 0.5743, -0.4202, -0.3454, -0.2668, 0.9955]\nstate[eef_state]: left_x=0.4464 left_y=-0.1712 left_z=0.0435 left_yaw=0.192 left_pitch=-0.027 left_roll=0.0148 left_gripper=0.9963 right_x=0.2848 right_y=-0.0035 right_z=0.16 right_yaw=0.1873 right_pitch=-0.0422 right_roll=0.0044 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -9.9487, 7.706, 1.6825, -0.1783, 0.2564, -0.0122, -0.4581, -1.9487, 6.9128, 1.9414, -0.2955, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7432975a211b3e6a9b0535bec3434f96101a946f9c5ba1ead281f765cda2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de006261371e4b50de860c352e91272e3b064beb6b160cf1763ceff279dcd5d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530d0522d19b284c35d32bd5edbfb93b0aac4de059aeb5a186bf8d82b22033b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 7.107 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 1.0073, 0.9279, -0.5198, -0.1661, -0.1318, 0.9963, 0.8318, 2.2253, 1.7248, -0.2043, 0.4923, 0.3313, 0.9956]\nstate[eef_state]: left_x=0.3305 left_y=0.0258 left_z=0.238 left_yaw=0.1733 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9963 right_x=0.4609 right_y=0.3871 right_z=0.1104 right_yaw=0.2371 right_pitch=-0.0375 right_roll=-0.0282 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -3.7812, 6.612, 1.8437, -0.105, -0.0269, -0.0122, -0.3487, -11.7402, 10.1812, 1.6874, 0.3736, 0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 1.9556, 0.9936, 0.1482, -0.651, -0.5301, 0.9963, -0.2359, 0.8349, 0.6186, -0.4446, -0.3515, -0.2661, 0.9956]\nstate[eef_state]: left_x=0.4361 left_y=-0.1655 left_z=0.037 left_yaw=0.1974 left_pitch=-0.0561 left_roll=0.0469 left_gripper=0.9963 right_x=0.2886 right_y=-0.0031 right_z=0.169 right_yaw=0.1926 right_pitch=-0.0438 right_roll=0.0099 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -9.935, 7.9658, 1.6044, -0.1929, 0.0855, -0.0122, -0.0615, -2.0308, 6.9402, 2.0342, -0.0659, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5976, 1.9697, 1.0153, 0.1875, -0.6437, -0.524, 0.9963, -0.2367, 0.8116, 0.5743, -0.4202, -0.3454, -0.2668, 0.9955]\nstate[eef_state]: left_x=0.4464 left_y=-0.1712 left_z=0.0435 left_yaw=0.192 left_pitch=-0.027 left_roll=0.0148 left_gripper=0.9963 right_x=0.2848 right_y=-0.0035 right_z=0.16 right_yaw=0.1873 right_pitch=-0.0422 right_roll=0.0044 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -9.9487, 7.706, 1.6825, -0.1783, 0.2564, -0.0122, -0.4581, -1.9487, 6.9128, 1.9414, -0.2955, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7432975a211b3e6a9b0535bec3434f96101a946f9c5ba1ead281f765cda2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de006261371e4b50de860c352e91272e3b064beb6b160cf1763ceff279dcd5d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530d0522d19b284c35d32bd5edbfb93b0aac4de059aeb5a186bf8d82b22033b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB2dC9ab2X8YN8Y8JnWrc3kBQSzkxMS2d8TlOSO3XZCFRiIm8jaHVN_QkmahFZRDxW8uhzmBdmV0abKx0LhU8EvAb9tK-YboFCXL1DqRXFt9bzhI0DpFKvoEkcebpRCzH_94DB7X9QKKoUFgJem-L65Cm1tAq0VEXYBl2_je58_YHp8KsWD35p5iTMcq0THBZRyEBmNWtPrf5ZR8EXNho718mbFl5-7tF1n26MhX-gGbSwO4U-9hmndDzdxekO0o455N_h_tS3l97as5Pt1DOu-CI9WIdYAwUJ0Bms8tzo6PQksN6P0WPLwpn6gcTKvcAcGTeJuK0uD-Bqau_Ade3S8KPDp8TXLJPJgq4i1SfASSe77v088d-P1udmgprYbIMRECJyGDwjdL5Xqy82KqDBywaJdt1GM_IcQLVyBEbEcpEn_B_8Se1VWVIgV8_soYHO8o7ufh5i324LmeEIAQbkL7uC014_VZWBVoo8FcJV5egUsKElTrU-AYdRPZOUP1PeMMRFdHVEa3q4IH-wtRB1MzOH3IANlyLOo2DYFnpsIp-3URddOmK1enbPwrXIF8qTNLMDGqeVE0l8nURJ3BEUrXLBk9Gp7blZgOyAbS7r2hreyfKfWD8kAB4BvdIhqzYSKfU3RAG0zvTtfgl6wACtdxwh49IhVXpGzzsImE8MNCQwE-9i0XLXQ3VgMGFHTg8fcZR1HU0zxcPwZ8mV8UBuK5EbpgODz7Z--MkRJIlKNkM8iAC3HBw3a6srXfJsW331On7Rt7kJZnpFbG3aKWbkLjC87t1KnOPgTr_S40MkE8AU4_QMCbGf6_NxdSzHggHJPa6cmjYoZDZ_rPYlJLZ3ZIrdFkAnf9UqGA8AxcyYu_yzSuQLJsO9s_yNMjmm7TA5GYpHF3RcWrVPJJwnLa1PntiFGWRBQeDM042mDw9HvfZKRjs86_K4xjHg5JMBhOzQQRSTrnG2Y8e9XIFF5oj63-VBVqm42sLdge3-16SjCC_T2ImInhznY8sX7u9tNjvor8-uNSP0tZHtbC3AQM5L4meRLIZ2UCK2POcMMtmIdmwkP4eP9Ix1doBOUjx52OT52esd0k79pbZzA3v-cC-qAu_Q8kt5DaDhS2hWX_rhRBmPaQ2nrmUPYuuRVRQH49i-QqTMqPY8wzP_fL51q_-Yvs1DKwfkhtK5tVbQAqlQMaAlUJyRmd40lw1psMhmHCigJu1mFHO3hw0GKrNqZMPaPkspTl_0MTYXGrIvWvh32BIUnKdkzl0UCZfQiOKfH-gH6AWTMf-rxJzjQptsPm9M9UqC6e1xzCv3q_l_7xiDTXU0Yq70apMvg4t9P5aukYRsy93nR7iCnkANIUEf8WkjEw1pGLqAGJDPleHPqP5_gKKdFKt8aySn3GrShZ-2zojcAo1u1_1wfWyQQNSe2cxQNKCdPxMQejjRjryESxO5UvtrZAPKYdCy-4O-qti9D_i-7MIHnVEgM2lCildQBofw5dtztB1uQO-PKphq_78wDLjNcJDg4XKShck4KhnN2d2SicgY37Axn-BD_0T-DRIkJ4_z-zwmQnrqJUXSoPFL7J7pnBjh_9CxqkYzPvxozzYq2z-22H7DgttH4SGb5RqXdOehya9U4SkqKrAfQrMm_kPBbzCkkye42HwT9ekzUz4LennGvYplIr2uhIdwG4yNzM8_Shykg77elI4kn2i-B9jek=",
  "id": "rs_0ff88975d1b74a01016ab41d9c248487d09451808bea90cceb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertip is alongside the bottle’s lower body, and the lateral adjustment did not track because of contact. I’m closing once at this table-level pose to see whether the jaws capture the bottle rather than merely push it.\"}",
  "call_id": "call_4DoyiD7IIaRHbjCe8lFDzS8H",
  "id": "fc_0ff88975d1b74a01016ab41d9d00e887d096c9b80e5e79d2b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4DoyiD7IIaRHbjCe8lFDzS8H",
  "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]: [-0.5976, 1.9697, 0.992, 0.2306, -0.6445, -0.524, 0.0115, -0.2379, 0.7914, 0.5358, -0.3954, -0.3458, -0.2672, 0.9955]\nstate[eef_state]: left_x=0.4456 left_y=-0.1706 left_z=0.0422 left_yaw=0.1923 left_pitch=-0.0127 left_roll=0.0011 left_gripper=0.0115 right_x=0.2819 right_y=-0.0031 right_z=0.1529 right_yaw=0.1865 right_pitch=-0.0362 right_roll=0.0017 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -9.6205, 5.1487, 1.6093, -0.3004, 0.0464, 0.9011, -0.841, -1.9624, 6.8171, 1.9316, -0.3199, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661fa17dd4f9afe15b52674b340d4668ced1f0276dd7151c704f0a6c3433c28f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ff5ab7a12a8cdc4d7f6e2e80474c98f1c5fd36824840d9aab6621e0c7eff3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50feedffc5ba03f1f6875d6f9c4ed8960bd221ebeffb76d737620795b6466b91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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