adhoc

completed
2026-09-23T18:33:31.805793+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
200.1 s
total steps
345
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying with their capped ends farther from the bases; the rightmost is clear of the others. I’ll bring the right gripper above its capped end to try lifting that end while its bottom stays on the table.
move_to
right_x0.4400right_y0.2450right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0193, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3828, -0.0296, -0.0349, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0042 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.4564, 9.7026, 1.7509, -0.0562, 0.1441, -0.1587, -1.0325, -1.0188, 10.3179, 1.8535, 0.0757, 0.2125, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.245,"right_z":0.15},"note":"All three bottles are lying with their capped ends farther from the bases; the rightmost is clear of the others. I’ll bring the right gripper above its capped end to try lifting that end while its bottom stays on the table."})
tool
executing move_to over 21 steps (2.1s)
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 right wrist camera shows the bottle centered but its cap is still well ahead of the jaws. I’ll advance toward the cap and descend to just above neck height before closing.
move_to
right_x0.4700right_y0.2250right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.6811, 1.7969, 1.2076, -0.144, 0.5129, 0.3485, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4273 right_y=0.2394 right_z=0.1332 right_yaw=0.0411 right_pitch=-0.055 right_roll=-0.0432 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.6752, 6.653, 1.746, -0.0562, -0.0317, -0.0317, 0.1026, -8.9641, 9.265, 1.7314, 0.3199, 0.3004, -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":{"right_x":0.47,"right_y":0.225,"right_z":0.075},"note":"The right wrist camera shows the bottle centered but its cap is still well ahead of the jaws. I’ll advance toward the cap and descend to just above neck height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe right gripper is now over the bottle’s upper body, with the cap still farther away in the wrist view. I’ll make a small forward descent to grip nearer the shoulder while staying inside table-level reach.
move_to
right_x0.4850right_y0.2150right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.5919, 1.9507, 1.1255, 0.0975, 0.4541, 0.2996, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4555 right_y=0.2171 right_z=0.0659 right_yaw=0.0242 right_pitch=-0.0729 right_roll=-0.0471 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.4291, 6.9949, 1.746, -0.0415, -0.0415, -0.0171, -0.1709, -10.4957, 6.1607, 2.044, 0.1538, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.215,"right_z":0.045},"note":"The right gripper is now over the bottle’s upper body, with the cap still farther away in the wrist view. I’ll make a small forward descent to grip nearer the shoulder while staying inside table-level reach."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe arm has reached its low forward limit, and the bottle’s labeled shoulder lies between the visible jaws. I’ll close on it and use the gripper readback to check whether the bottle is caught.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3801, -0.0193, -0.0292, 0.9984, 0.58, 1.9823, 1.0706, 0.2279, 0.4255, 0.281, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4581 right_y=0.2173 right_z=0.0513 right_yaw=0.0465 right_pitch=-0.0453 right_roll=-0.0234 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.2513, 6.7761, 1.7705, -0.0659, -0.0073, -0.0122, -0.5538, -9.853, 6.1197, 2.0684, 0.3053, 0.0952, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The arm has reached its low forward limit, and the bottle’s labeled shoulder lies between the visible jaws. I’ll close on it and use the gripper readback to check whether the bottle is caught."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe close settled at 0.016, so it missed the bottle. I’ll reopen and withdraw a few centimetres to locate the bottle’s lower body relative to the grasp point before trying a different position.
move_to
right_x0.4050right_y0.2150right_z0.0750right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.5819, 1.982, 1.05, 0.3244, 0.44, 0.2756, 0.0159] state[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4643 right_y=0.2197 right_z=0.062 right_yaw=0.04 right_pitch=0.0248 right_roll=0.0037 right_gripper=0.0159 state[joint_eff]: [-0.212, -1.0735, 6.9812, 1.8632, -0.0806, -0.0611, -0.0171, -0.4444, -10.0171, 4.7521, 1.3748, 0.0122, 0.0024, 0.8523] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.215,"right_z":0.075,"right_gripper":1},"note":"The close settled at 0.016, so it missed the bottle. I’ll reopen and withdraw a few centimetres to locate the bottle’s lower body relative to the grasp point before trying a different position."})
tool
executing move_to over 10 steps (1.0s)
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 noteAfter withdrawing, the bottle’s wider lower body is centered between the open jaws in the right wrist view. I’ll lower to its mid-height and shift slightly sideways for a centered grasp.
move_to
right_x0.4050right_y0.2050right_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.6613, 1.8248, 0.881, 0.2497, 0.4728, 0.3256, 0.9957] state[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0027 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4051 right_y=0.2179 right_z=0.0591 right_yaw=0.0659 right_pitch=-0.0381 right_roll=-0.0177 right_gripper=0.9957 state[joint_eff]: [-0.2667, -1.4291, 6.8171, 1.8144, -0.022, -0.0659, -0.0122, 0.1846, -11.1521, 5.7778, 1.6825, 0.3883, 0.0513, -0.0269] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_x":0.405,"right_y":0.205,"right_z":0.028},"note":"After withdrawing, the bottle’s wider lower body is centered between the open jaws in the right wrist view. I’ll lower to its mid-height and shift slightly sideways for a centered grasp."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bottle body now runs through the closing line of the right jaws near table level. I’ll close and check whether the final jaw opening indicates a firm hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6395, 1.8801, 0.783, 0.4053, 0.4622, 0.3088, 0.9955] state[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.399 right_y=0.2031 right_z=0.0274 right_yaw=0.0617 right_pitch=-0.0399 right_roll=-0.0246 right_gripper=0.9955 state[joint_eff]: [-0.4034, -1.4154, 6.9675, 1.7753, -0.0464, -0.0659, -0.0122, -0.4718, -8.1983, 5.7778, 2.0342, 0.0562, -0.0855, -0.0317] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bottle body now runs through the closing line of the right jaws near table level. I’ll close and check whether the final jaw opening indicates a firm hold."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe right gripper settled at 0.568, consistent with gripping the bottle’s wide body. I’ll lift it slightly to confirm it moves with the hand and see how it pivots before attempting to stand it.
move_to
right_x0.4000right_z0.0950
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.379, -0.0193, -0.0296, 0.9984, 0.6353, 1.9049, 0.7483, 0.4789, 0.4461, 0.3027, 0.5678] state[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0023 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3964 right_y=0.202 right_z=0.0176 right_yaw=0.0738 right_pitch=-0.0334 right_roll=-0.0134 right_gripper=0.5678 state[joint_eff]: [-0.2667, -1.4291, 6.9812, 1.8242, -0.0317, -0.0708, -0.0122, 0.1983, -9.7026, 4.6564, 1.7607, 0.3101, 0.0366, 0.8474] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_z":0.095},"note":"The right gripper settled at 0.568, consistent with gripping the bottle’s wide body. I’ll lift it slightly to confirm it moves with the hand and see how it pivots before attempting to stand it."})
tool
executing move_to over 5 steps (0.5s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe first small lift stalled at about 3 cm and the bottle remained nearly flat, suggesting the gripper or bottle is still contacting the table. I’ll try a higher, slightly inward lift rather than forcing the same pose.
move_to
right_x0.3600right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.6334, 1.7592, 0.7734, 0.1814, 0.4156, 0.2974, 0.5537] state[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0031 left_roll=-0.0003 left_gripper=0.9984 right_x=0.375 right_y=0.1914 right_z=0.0335 right_yaw=0.0928 right_pitch=-0.1522 right_roll=-0.0666 right_gripper=0.5537 state[joint_eff]: [-0.4034, -1.388, 6.8444, 1.7607, -0.0513, -0.0317, -0.0171, -0.4718, -12.6427, 10.5504, 2.7375, 0.5153, -0.0269, 1.0232] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_z":0.18},"note":"The first small lift stalled at about 3 cm and the bottle remained nearly flat, suggesting the gripper or bottle is still contacting the table. I’ll try a higher, slightly inward lift rather than forcing the same pose."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe gripper still reads a bottle-sized opening, but the camera continues to show a bottle directly ahead, so the hold is uncertain. I’ll move it clear of the bottle’s original location to verify whether anything is actually being carried.
move_to
right_x0.2900right_y0.1200right_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6693, 1.454, 0.8467, -0.2356, 0.4149, 0.2867, 0.5576] state[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.3391 right_y=0.1821 right_z=0.1108 right_yaw=0.1317 right_pitch=-0.1858 right_roll=-0.0942 right_gripper=0.5576 state[joint_eff]: [-0.2667, -1.4154, 6.7897, 1.79, -0.0269, -0.0513, -0.0122, 0.1983, -10.2359, 12.5197, 2.5665, 0.6667, 0.1929, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.12,"right_z":0.23},"note":"The gripper still reads a bottle-sized opening, but the camera continues to show a bottle directly ahead, so the hold is uncertain. I’ll move it clear of the bottle’s original location to verify whether anything is actually being carried."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe right bottle moved with the gripper; I’m holding its lower body, which won’t let me turn it upright with yaw alone. I’ll set it down closer to the base so its cap becomes reachable for a neck-first lift.
move_to
right_x0.2800right_y0.1300right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.588, 0.9974, 0.778, -0.5648, 0.337, 0.226, 0.5582] state[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1829 left_yaw=0.0001 left_pitch=-0.0046 left_roll=-0.0008 left_gripper=0.9984 right_x=0.2773 right_y=0.119 right_z=0.1719 right_yaw=0.1507 right_pitch=-0.162 right_roll=-0.0609 right_gripper=0.5582 state[joint_eff]: [-0.0889, -1.265, 6.7761, 1.8144, -0.0317, -0.0757, -0.0171, -0.3761, -4.9709, 12.5607, 2.6886, 0.3785, -0.0415, 0.359] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.13,"right_z":0.045},"note":"The right bottle moved with the gripper; I’m holding its lower body, which won’t let me turn it upright with yaw alone. I’ll set it down closer to the base so its cap becomes reachable for a neck-first lift."})
tool
executing move_to over 9 steps (0.9s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe bottle is resting farther inward, with its cap visible ahead and to the left of the hand. I’ll release the body and approach the cap from above for a narrower grasp.
move_to
right_gripper1.0000right_x0.3850right_y0.1700right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3813, -0.0189, -0.0292, 0.9984, 0.6415, 1.2259, 0.2211, 0.2375, 0.3706, 0.2386, 0.5615] state[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1821 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.2619 right_y=0.1202 right_z=0.023 right_yaw=0.1712 right_pitch=-0.1364 right_roll=-0.0653 right_gripper=0.5615 state[joint_eff]: [-0.253, -1.6205, 6.653, 1.8486, -0.022, -0.0122, -0.0122, 0.3761, -3.8632, 5.3128, 1.7656, 0.3394, 0.0708, 0.7302] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.385,"right_y":0.17,"right_z":0.12},"note":"The bottle is resting farther inward, with its cap visible ahead and to the left of the hand. I’ll release the body and approach the cap from above for a narrower grasp."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe cap is visible just ahead and slightly right of the jaw column in the wrist camera. I’ll align laterally, advance a little, and lower to cap height for the neck grasp.
move_to
right_x0.4100right_y0.1500right_z0.0310
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0193, -0.0292, 0.9984, 0.5327, 1.4761, 0.6952, 0.1616, 0.2787, 0.1577, 0.998] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3733 right_y=0.1678 right_z=0.1059 right_yaw=0.1863 right_pitch=-0.0243 right_roll=-0.0169 right_gripper=0.998 state[joint_eff]: [-0.3761, -1.7709, 6.3932, 1.7851, -0.022, -0.0269, -0.0122, -0.7316, -5.4359, 8.294, 1.8584, 0.0708, 0.0611, -0.1148] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.15,"right_z":0.031},"note":"The cap is visible just ahead and slightly right of the jaw column in the wrist camera. I’ll align laterally, advance a little, and lower to cap height for the neck grasp."})
tool
executing move_to over 5 steps (0.5s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe cap is centered but still ahead of the actual fingertip line. I’ll advance at the same height to bring the narrow neck into the jaws instead of grabbing the wide body again.
move_to
right_x0.4460right_y0.1480right_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.4236, 1.7641, 0.6235, 0.4953, 0.2008, 0.0998, 0.9991] state[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3976 right_y=0.1445 right_z=0.0273 right_yaw=0.1728 right_pitch=-0.0624 right_roll=-0.0281 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.4974, 6.5846, 1.746, -0.0317, -0.0122, -0.0171, -0.841, -4.5744, 5.6684, 1.37, -0.0611, 0.1685, 0.1148] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.446,"right_y":0.148,"right_z":0.032},"note":"The cap is centered but still ahead of the actual fingertip line. I’ll advance at the same height to bring the narrow neck into the jaws instead of grabbing the wide body again."})
tool
executing move_to over 4 steps (0.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cap is now just beyond the jaw tips and the narrow shoulder is between them. I’ll close here; a smaller settled opening than the previous body grasp would confirm a neck-side hold.
move_to
right_x0.4580right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3786, 1.8717, 0.728, 0.5766, 0.1524, 0.0727, 0.9994] state[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4368 right_y=0.1488 right_z=0.0347 right_yaw=0.1834 right_pitch=0.008 right_roll=-0.0063 right_gripper=0.9994 state[joint_eff]: [-0.3761, -1.6615, 6.5436, 1.7753, -0.0562, -0.0269, -0.0122, -0.9231, -6.8308, 6.5436, 1.707, 0.0952, 0.0122, 0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.458,"right_gripper":0},"note":"The cap is now just beyond the jaw tips and the narrow shoulder is between them. I’ll close here; a smaller settled opening than the previous body grasp would confirm a neck-side hold."})
tool
executing move_to over 10 steps (1.0s)
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 noteThat neck attempt also closed empty, and the right bottle remains lying down. I’ll park the right arm and try the leftmost bottle’s body, first drawing it inward so I can later reach its cap cleanly.
move_to
right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000left_x0.3850left_y-0.1450left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3794, 1.8706, 0.7494, 0.6338, 0.1284, 0.0689, 0.0187] state[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0004 left_pitch=-0.0061 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4486 right_y=0.1584 right_z=0.055 right_yaw=0.2058 right_pitch=0.0842 right_roll=0.0169 right_gripper=0.0187 state[joint_eff]: [-0.0889, -1.5658, 6.735, 1.8486, -0.0415, -0.0171, -0.0171, -0.7726, -8.253, 4.7111, 1.033, 0.0806, 0.0317, 0.9646] 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":{"right_x":0.295,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.385,"left_y":-0.145,"left_z":0.045},"note":"That neck attempt also closed empty, and the right bottle remains lying down. I’ll park the right arm and try the leftmost bottle’s body, first drawing it inward so I can later reach its cap cleanly."})
tool
executing move_to over 14 steps (1.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left wrist view puts the leftmost bottle’s wide body between the jaws near the fingertips. I’ll take a body grasp to slide it toward the base without disturbing the other bottles.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5514, 1.6783, 0.5755, 0.4065, -0.4805, -0.3233, 0.9983, -0.2119, 0.8669, 0.5842, -0.3233, -0.3103, -0.2344, 0.9963] state[eef_state]: left_x=0.3738 left_y=-0.1299 left_z=0.0376 left_yaw=0.0095 left_pitch=-0.0448 left_roll=0.051 left_gripper=0.9983 right_x=0.3026 right_y=-0.0063 right_z=0.167 right_yaw=0.1461 right_pitch=-0.0056 right_roll=-0.0084 right_gripper=0.9963 state[joint_eff]: [-0.9778, -6.3385, 6.6393, 1.5897, 0.2173, -0.2515, -0.0171, 0.4171, -1.8256, 10.2632, 1.7802, -0.315, 0.0708, -0.2076] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left wrist view puts the leftmost bottle’s wide body between the jaws near the fingertips. I’ll take a body grasp to slide it toward the base without disturbing the other bottles."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left gripper settled around 0.52, confirming a hold on the bottle body. I’ll carry it inward about 10 cm, leaving enough space from the middle bottle for a cap-first regrasp.
move_to
left_x0.2700left_y-0.1400left_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5453, 1.6993, 0.5316, 0.5049, -0.4725, -0.3412, 0.5238, -0.2199, 0.8646, 0.5823, -0.347, -0.3344, -0.2512, 0.9961] state[eef_state]: left_x=0.3723 left_y=-0.1276 left_z=0.0322 left_yaw=0.0182 left_pitch=-0.0188 left_roll=0.014 left_gripper=0.5238 right_x=0.2988 right_y=-0.0037 right_z=0.163 right_yaw=0.167 right_pitch=-0.0219 right_roll=-0.001 right_gripper=0.9961 state[joint_eff]: [-0.0342, -7.5009, 4.4513, 1.8437, -0.1538, 0.022, 1.0379, -0.1026, -1.4838, 6.7624, 2.0098, -0.022, 0.2125, -0.0269] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.14,"left_z":0.115},"note":"The left gripper settled around 0.52, confirming a hold on the bottle body. I’ll carry it inward about 10 cm, leaving enough space from the middle bottle for a cap-first regrasp."})
tool
executing move_to over 8 steps (0.8s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe leftmost bottle has followed the hand inward and is still held horizontally. I’ll lower it onto the table before releasing its body and approaching the cap.
move_to
left_x0.2550left_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8719, 1.1576, 0.4446, -0.1463, -0.6312, -0.5617, 0.525, -0.2237, 0.8562, 0.5598, -0.3397, -0.342, -0.2523, 0.9961] state[eef_state]: left_x=0.2611 left_y=-0.1431 left_z=0.078 left_yaw=-0.0625 left_pitch=-0.0974 left_roll=0.0436 left_gripper=0.525 right_x=0.2959 right_y=-0.0029 right_z=0.1569 right_yaw=0.1702 right_pitch=-0.0265 right_roll=0.0049 right_gripper=0.9961 state[joint_eff]: [-0.0342, -4.7111, 11.6308, 2.1514, -0.8767, -0.1538, 0.906, -0.3077, -1.7299, 7.0769, 1.9267, -0.149, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_z":0.027},"note":"The leftmost bottle has followed the hand inward and is still held horizontally. I’ll lower it onto the table before releasing its body and approaching the cap."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe bottle is back on the table with its cap clearly visible ahead of the left hand. I’ll release the broad body and bring the open jaws over the cap for a lift that should let the heavy base hang downward.
move_to
left_gripper1.0000left_x0.3500left_y-0.1400left_z0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9218, 1.3376, 0.239, 0.2588, -0.7078, -0.5766, 0.5276, -0.2237, 0.8474, 0.5373, -0.3279, -0.3447, -0.2527, 0.9961] state[eef_state]: left_x=0.2517 left_y=-0.1358 left_z=0.026 left_yaw=-0.0522 left_pitch=-0.0412 left_roll=0.0556 left_gripper=0.5276 right_x=0.2937 right_y=-0.0019 right_z=0.1517 right_yaw=0.1726 right_pitch=-0.0277 right_roll=0.0068 right_gripper=0.9961 state[joint_eff]: [-0.294, -2.906, 2.7419, 1.1258, 0.2906, 0.0122, 0.6325, -0.335, -2.2769, 6.5983, 1.9121, -0.1929, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_y":-0.14,"left_z":0.105},"note":"The bottle is back on the table with its cap clearly visible ahead of the left hand. I’ll release the broad body and bring the open jaws over the cap for a lift that should let the heavy base hang downward."})
tool
executing move_to over 8 steps (0.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteOpening succeeded, but the arm stayed low at the bottle instead of advancing, likely because the fingers caught on it. I’ll lift straight clear first, then approach the cap from above.
move_to
left_x0.2450left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9226, 1.3697, 0.2123, 0.3862, -0.704, -0.577, 0.9971, -0.2237, 0.8391, 0.5106, -0.3138, -0.3447, -0.2527, 0.9961] state[eef_state]: left_x=0.2555 left_y=-0.1421 left_z=0.0279 left_yaw=-0.0565 left_pitch=0.0011 left_roll=0.0011 left_gripper=0.9971 right_x=0.2912 right_y=-0.0014 right_z=0.1448 right_yaw=0.1726 right_pitch=-0.0316 right_roll=0.0084 right_gripper=0.9961 state[joint_eff]: [-0.212, -3.2615, 4.5197, 1.536, -0.2955, -0.0073, -0.022, -0.4308, -2.3453, 7.0496, 1.8486, -0.1587, -0.0024, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.245,"left_z":0.18},"note":"Opening succeeded, but the arm stayed low at the bottle instead of advancing, likely because the fingers caught on it. I’ll lift straight clear first, then approach the cap from above."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe left hand is clear again, and the cap lies centered ahead in its wrist view. I’ll approach at clearance height before descending onto the neck.
move_to
left_x0.3650left_y-0.1500left_z0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9676, 0.9535, 0.6449, -0.4702, -0.72, -0.63, 0.9975, -0.2237, 0.8242, 0.4778, -0.2932, -0.345, -0.2527, 0.9961] state[eef_state]: left_x=0.2483 left_y=-0.1487 left_z=0.1677 left_yaw=-0.0619 left_pitch=0.0047 left_roll=-0.0309 left_gripper=0.9975 right_x=0.2883 right_y=-0.0006 right_z=0.1382 right_yaw=0.1729 right_pitch=-0.029 right_roll=0.0076 right_gripper=0.9961 state[joint_eff]: [-0.4171, -2.906, 8.7043, 1.2527, -0.442, 0.022, 0.0317, -0.3077, -1.9487, 7.1316, 1.8926, -0.2173, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.15,"left_z":0.105},"note":"The left hand is clear again, and the cap lies centered ahead in its wrist view. I’ll approach at clearance height before descending onto the neck."})
tool
executing move_to over 9 steps (0.9s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe cap is centered in the left wrist image but still several centimetres ahead of the fingertips. I’ll advance toward it and lower to the neck’s height, checking the view before closing.
move_to
left_x0.4150left_y-0.1470left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6044, 1.4254, 0.6109, 0.0746, -0.4805, -0.3656, 0.9976, -0.2237, 0.8104, 0.4515, -0.271, -0.3447, -0.2527, 0.9961] state[eef_state]: left_x=0.3455 left_y=-0.1351 left_z=0.0835 left_yaw=-0.0195 left_pitch=-0.0803 left_roll=0.0402 left_gripper=0.9976 right_x=0.2867 right_y=-0.0003 right_z=0.1343 right_yaw=0.1725 right_pitch=-0.0203 right_roll=0.0037 right_gripper=0.9961 state[joint_eff]: [0.2803, -5.7778, 9.1829, 1.8193, -0.1245, 0.1245, -0.0073, -0.3897, -1.7436, 6.7214, 1.8095, -0.2076, 0.0122, -0.0122] 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":{"left_x":0.415,"left_y":-0.147,"left_z":0.04},"note":"The cap is centered in the left wrist image but still several centimetres ahead of the fingertips. I’ll advance toward it and lower to the neck’s height, checking the view before closing."})
tool
executing move_to over 6 steps (0.6s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe left bottle’s cap and neck now occupy the jaw-tip region, while the wide body remains behind them. I’ll close gently around the narrow end and check the settled opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.522, 1.7779, 0.6743, 0.4503, -0.4324, -0.3321, 0.9975, -0.2237, 0.8036, 0.4328, -0.2642, -0.345, -0.2565, 0.9961] state[eef_state]: left_x=0.4039 left_y=-0.1428 left_z=0.0387 left_yaw=0.0044 left_pitch=-0.0234 left_roll=-0.0042 left_gripper=0.9975 right_x=0.2844 right_y=0.0003 right_z=0.1292 right_yaw=0.1749 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9961 state[joint_eff]: [0.6085, -6.8034, 5.6, 1.5263, -0.149, 0.2662, -0.0171, -0.5675, -1.7162, 6.8581, 1.8632, -0.2125, 0.0317, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bottle’s cap and neck now occupy the jaw-tip region, while the wide body remains behind them. I’ll close gently around the narrow end and check the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteThe neck close missed and appears to have nudged the left bottle back toward the middle one; the cap is now right of the left jaw column. I’ll reopen, shift sideways and forward above the cap, and keep the idle arm clear.
move_to
left_x0.4550left_y-0.2100left_z0.1000left_gripper1.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.524, 1.7882, 0.672, 0.5499, -0.4644, -0.321, 0.0214, -0.2245, 0.7971, 0.408, -0.2478, -0.345, -0.26, 0.9961] state[eef_state]: left_x=0.4146 left_y=-0.144 left_z=0.0539 left_yaw=0.0234 left_pitch=0.0608 left_roll=-0.0235 left_gripper=0.0214 right_x=0.2823 right_y=0.0005 right_z=0.123 right_yaw=0.176 right_pitch=-0.0264 right_roll=0.0005 right_gripper=0.9961 state[joint_eff]: [-0.4718, -7.9111, 3.9316, 1.1355, 0.0659, -0.0269, 0.8962, -0.4034, -1.7573, 6.9675, 1.8291, -0.2466, 0.0171, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.21,"left_z":0.1,"left_gripper":1,"right_z":0.18},"note":"The neck close missed and appears to have nudged the left bottle back toward the middle one; the cap is now right of the left jaw column. I’ll reopen, shift sideways and forward above the cap, and keep the idle arm clear."})
tool
executing move_to over 10 steps (1.0s)
step 211
assistant
agent noteThe left wrist camera now shows a bottle centered between the open jaws, but the cap is still far ahead of the fingertips. I’ll grasp its body and reposition it much nearer the base so the cap can be reached without pushing it away.
move_to
left_x0.4500left_y-0.2080left_z0.0340
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6144, 1.8641, 1.0695, 0.1253, -0.5247, -0.4011, 0.9945, -0.2249, 0.7719, 0.5594, -0.4385, -0.3454, -0.2642, 0.9961] state[eef_state]: left_x=0.45 left_y=-0.2048 left_z=0.0938 left_yaw=0.0225 left_pitch=-0.0056 left_roll=-0.006 left_gripper=0.9945 right_x=0.2784 right_y=0.0014 right_z=0.1601 right_yaw=0.1784 right_pitch=-0.0392 right_roll=0.0028 right_gripper=0.9961 state[joint_eff]: [-0.5128, -8.4855, 8.2256, 1.5067, -0.3004, -0.0024, -0.188, -0.8684, -1.3333, 10.2085, 1.746, -0.2613, 0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.208,"left_z":0.034},"note":"The left wrist camera now shows a bottle centered between the open jaws, but the cap is still far ahead of the fingertips. I’ll grasp its body and reposition it much nearer the base so the cap can be reached without pushing it away."})
tool
executing move_to over 4 steps (0.4s)
step 215
assistant
agent noteThe body is now spanning the left jaws near the table, with its cap farther out. I’ll close on the body to move it toward a reachable neck-grasp position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6224, 1.9934, 1.0119, 0.313, -0.532, -0.4095, 0.9956, -0.2302, 0.7506, 0.5224, -0.4236, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.4515 left_y=-0.2093 left_z=0.0448 left_yaw=0.0247 left_pitch=-0.0023 left_roll=-0.0099 left_gripper=0.9956 right_x=0.2746 right_y=0.0008 right_z=0.1519 right_yaw=0.1732 right_pitch=-0.0399 right_roll=0.0036 right_gripper=0.9961 state[joint_eff]: [-0.1162, -8.5812, 4.0684, 1.3211, -0.2027, 0.1099, 0.1099, -0.335, -1.4291, 6.8308, 1.9463, -0.3199, 0.0073, -0.0171] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The body is now spanning the left jaws near the table, with its cap farther out. I’ll close on the body to move it toward a reachable neck-grasp position."})
tool
executing move_to over 10 steps (1.0s)
step 225
assistant
agent noteThat close settled empty again; the left bottle is still on the table. I’ll switch to its near end, which was grippable earlier, and move it farther inward before another neck attempt.
move_to
left_x0.3100left_y-0.1650left_z0.1150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6243, 1.9892, 1.0145, 0.3862, -0.5659, -0.4191, 0.0195, -0.2371, 0.73, 0.485, -0.4019, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.4607 left_y=-0.2107 left_z=0.0627 left_yaw=0.0565 left_pitch=0.0729 left_roll=-0.0518 left_gripper=0.0195 right_x=0.2717 right_y=-0.0004 right_z=0.1446 right_yaw=0.1662 right_pitch=-0.0353 right_roll=0.0017 right_gripper=0.9961 state[joint_eff]: [-0.0889, -9.6205, 5.7231, 0.9353, 0.0513, 0.1245, 0.9646, -0.5675, -1.5521, 6.8581, 1.9121, -0.2955, -0.0073, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.165,"left_z":0.115,"left_gripper":1},"note":"That close settled empty again; the left bottle is still on the table. I’ll switch to its near end, which was grippable earlier, and move it farther inward before another neck attempt."})
tool
executing move_to over 12 steps (1.2s)
step 237
assistant
agent noteThe left camera now clearly separates two bottles: the nearer bottle’s broad base is left of the jaw column, while the middle bottle is farther away. I’ll shift toward the near bottle and lower onto its body.
move_to
left_x0.3200left_y-0.1300left_z0.0340
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8295, 1.3804, 0.6609, -0.036, -0.6922, -0.5793, 0.9961, -0.2379, 0.7113, 0.453, -0.3775, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.318 left_y=-0.1751 left_z=0.1138 left_yaw=0.0293 left_pitch=0.0051 left_roll=-0.0181 left_gripper=0.9961 right_x=0.27 right_y=-0.0002 right_z=0.1396 right_yaw=0.1653 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961 state[joint_eff]: [-0.1709, -5.4632, 6.2701, 1.5409, -0.4371, -0.0904, -0.0708, -0.8684, -0.841, 6.8171, 1.8291, -0.2955, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.13,"left_z":0.034},"note":"The left camera now clearly separates two bottles: the nearer bottle’s broad base is left of the jaw column, while the middle bottle is farther away. I’ll shift toward the near bottle and lower onto its body."})
tool
executing move_to over 6 steps (0.6s)
step 243
assistant
agent noteThe nearer bottle’s broad base now fills the space between the left jaws. I’ll close on it and check that the fingers actually stop against the bottle.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6975, 1.5238, 0.3946, 0.3573, -0.6136, -0.4866, 0.9969, -0.2379, 0.7036, 0.4324, -0.3687, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.3132 left_y=-0.1251 left_z=0.0304 left_yaw=0.0547 left_pitch=-0.0461 left_roll=0.0336 left_gripper=0.9969 right_x=0.2681 right_y=0.0003 right_z=0.134 right_yaw=0.1654 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.9961 state[joint_eff]: [0.253, -4.4786, 4.465, 1.5067, -0.2906, 0.1685, 0.0757, -0.841, -1.4291, 6.8581, 1.8193, -0.3004, 0.0122, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The nearer bottle’s broad base now fills the space between the left jaws. I’ll close on it and check that the fingers actually stop against the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe jaws closed empty again, showing that a bottle visible low in the wrist image is still ahead of the true grasp point. I’ll advance several centimetres at the same low height before closing on its body.
move_to
left_x0.3880left_y-0.1200left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7013, 1.5253, 0.3634, 0.5682, -0.6537, -0.4793, 0.0209, -0.2379, 0.6907, 0.4065, -0.3584, -0.3454, -0.2638, 0.9961] state[eef_state]: left_x=0.3275 left_y=-0.1313 left_z=0.0573 left_yaw=0.081 left_pitch=0.0999 left_roll=-0.0656 left_gripper=0.0209 right_x=0.2655 right_y=0.0009 right_z=0.1276 right_yaw=0.1651 right_pitch=-0.0315 right_roll=-0.0002 right_gripper=0.9961 state[joint_eff]: [-0.0752, -3.7949, 3.6308, 0.7204, 0.0806, -0.0952, 0.9158, -1.0325, -0.8547, 7.0359, 1.873, -0.2808, -0.0122, -0.0122] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.388,"left_y":-0.12,"left_z":0.035,"left_gripper":1},"note":"The jaws closed empty again, showing that a bottle visible low in the wrist image is still ahead of the true grasp point. I’ll advance several centimetres at the same low height before closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteAt this more forward position, the bottle’s wide end extends under the jaw tips instead of merely appearing ahead in the wrist camera. I’ll close and verify a nonempty grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.527, 1.7214, 0.564, 0.5014, -0.5297, -0.3946, 0.995, -0.2382, 0.672, 0.3786, -0.3428, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.3833 left_y=-0.1156 left_z=0.0372 left_yaw=0.1103 left_pitch=0.0069 left_roll=-0.006 left_gripper=0.995 right_x=0.2632 right_y=0.0014 right_z=0.1227 right_yaw=0.1649 right_pitch=-0.0255 right_roll=-0.0025 right_gripper=0.9961 state[joint_eff]: [0.4718, -6.0103, 6.0786, 1.5897, 0.0073, 0.1441, -0.188, -1.1419, -0.8957, 6.8581, 1.873, -0.2808, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At this more forward position, the bottle’s wide end extends under the jaw tips instead of merely appearing ahead in the wrist camera. I’ll close and verify a nonempty grasp."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteThe left gripper stopped at a bottle-sized opening of 0.50, confirming a body hold. I’ll carry this bottle well inward so the cap will be within comfortable table-height reach for the next grasp.
move_to
left_x0.2200left_y-0.1050left_z0.1550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.524, 1.7237, 0.5663, 0.5117, -0.5381, -0.3958, 0.4986, -0.2436, 0.6601, 0.3576, -0.3351, -0.3458, -0.2634, 0.9961] state[eef_state]: left_x=0.3855 left_y=-0.114 left_z=0.0394 left_yaw=0.1207 left_pitch=0.0182 left_roll=-0.0091 left_gripper=0.4986 right_x=0.261 right_y=0.0005 right_z=0.1177 right_yaw=0.1594 right_pitch=-0.0269 right_roll=-0.0016 right_gripper=0.9961 state[joint_eff]: [-0.294, -7.241, 5.3675, 1.3748, -0.1343, 0.0024, 1.0085, -0.4991, -0.8, 6.7761, 1.8193, -0.2759, 0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.105,"left_z":0.155},"note":"The left gripper stopped at a bottle-sized opening of 0.50, confirming a body hold. I’ll carry this bottle well inward so the cap will be within comfortable table-height reach for the next grasp."})
tool
executing move_to over 13 steps (1.3s)
step 286
assistant
agent noteThe leftmost bottle is now much closer to the base, with its cap around the middle of the reachable table. I’ll lower the held body onto the tabletop before changing to a cap grasp.
move_to
left_x0.2250left_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.047, 0.9081, 0.585, -0.6094, -0.8463, -0.8509, 0.4975, -0.2493, 0.646, 0.3294, -0.3202, -0.3458, -0.2634, 0.9961] state[eef_state]: left_x=0.2279 left_y=-0.123 left_z=0.1491 left_yaw=0.0593 left_pitch=-0.0004 left_roll=-0.0373 left_gripper=0.4975 right_x=0.2587 right_y=-0.0004 right_z=0.1113 right_yaw=0.1537 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961 state[joint_eff]: [-0.1162, -1.5521, 8.3487, 1.0085, -0.4908, -0.1734, -0.1294, -0.3624, -0.3077, 7.2274, 1.8486, -0.2759, 0.0122, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_z":0.028},"note":"The leftmost bottle is now much closer to the base, with its cap around the middle of the reachable table. I’ll lower the held body onto the tabletop before changing to a cap grasp."})
tool
executing move_to over 8 steps (0.8s)
step 294
assistant
agent noteThe bottle’s base has touched down while its cap remains exposed ahead. I’ll open and lift the jaws clear before moving toward the neck so the bottle is not dragged or shoved.
move_to
left_gripper1.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0687, 1.2156, 0.2558, 0.0002, -0.9165, -0.8753, 0.4968, -0.2565, 0.6327, 0.308, -0.3134, -0.3458, -0.2634, 0.9961] state[eef_state]: left_x=0.2318 left_y=-0.1235 left_z=0.048 left_yaw=0.0907 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.4968 right_x=0.2563 right_y=-0.0016 right_z=0.1063 right_yaw=0.1464 right_pitch=-0.0272 right_roll=-0.0015 right_gripper=0.9961 state[joint_eff]: [-0.759, -1.5932, 2.4957, -0.0122, 0.4713, 0.0806, -0.0855, -0.5675, -0.7726, 6.7487, 1.8339, -0.3053, 0.0317, -0.0171] 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":1,"left_z":0.15},"note":"The bottle’s base has touched down while its cap remains exposed ahead. I’ll open and lift the jaws clear before moving toward the neck so the bottle is not dragged or shoved."})
tool
executing move_to over 7 steps (0.7s)
step 301
assistant
agent noteThe cap is centered ahead of the raised left jaws, and the bottle is now well within reach. I’ll move above the neck first, then align at cap height without pushing the body.
move_to
left_x0.3750left_y-0.1300left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0523, 0.9874, 0.572, -0.5461, -0.8722, -0.8921, 0.9963, -0.2642, 0.6197, 0.2882, -0.3054, -0.3458, -0.2634, 0.9961] state[eef_state]: left_x=0.2336 left_y=-0.1293 left_z=0.1379 left_yaw=0.091 left_pitch=0.0054 left_roll=-0.037 left_gripper=0.9963 right_x=0.2544 right_y=-0.0031 right_z=0.102 right_yaw=0.1388 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961 state[joint_eff]: [0.0342, -2.6735, 8.5265, 0.9988, -0.5055, 0.0659, -0.0122, -0.5949, -0.5128, 6.5573, 1.8877, -0.2662, 0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.13,"left_z":0.09},"note":"The cap is centered ahead of the raised left jaws, and the bottle is now well within reach. I’ll move above the neck first, then align at cap height without pushing the body."})
tool
executing move_to over 11 steps (1.1s)
step 312
assistant
agent noteThe bottle cap now appears at the fingertip line in the left wrist image, rather than far ahead. I’ll descend to cap height with a slight forward adjustment to position the neck between the fingers.
move_to
left_x0.3850left_y-0.1310left_z0.0430
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5907, 1.5112, 0.6289, 0.1139, -0.5884, -0.4671, 0.997, -0.2707, 0.6056, 0.2634, -0.2974, -0.3458, -0.2634, 0.9961] state[eef_state]: left_x=0.3576 left_y=-0.1174 left_z=0.0738 left_yaw=0.1323 left_pitch=-0.0557 left_roll=0.0342 left_gripper=0.997 right_x=0.2517 right_y=-0.004 right_z=0.0957 right_yaw=0.1324 right_pitch=-0.0286 right_roll=-0.0009 right_gripper=0.9961 state[joint_eff]: [0.253, -6.1607, 7.8154, 1.619, -0.0611, 0.2613, 0.0611, -0.6769, -0.6496, 7.0359, 1.8242, -0.2662, -0.0073, -0.0122] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.131,"left_z":0.043},"note":"The bottle cap now appears at the fingertip line in the left wrist image, rather than far ahead. I’ll descend to cap height with a slight forward adjustment to position the neck between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 315
assistant
agent noteThe cap is now at the bottom edge of the wrist image, indicating the neck is almost at the actual grasp point. I’ll advance just another two centimetres before closing so the jaws pinch behind the cap rather than in empty space.
move_to
left_x0.4020left_y-0.1320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5827, 1.7077, 0.6285, 0.3206, -0.5831, -0.4484, 0.9971, -0.2771, 0.5877, 0.2424, -0.2905, -0.3458, -0.2638, 0.9961] state[eef_state]: left_x=0.3749 left_y=-0.1263 left_z=0.0364 left_yaw=0.126 left_pitch=-0.0511 left_roll=0.0402 left_gripper=0.9971 right_x=0.2495 right_y=-0.005 right_z=0.0918 right_yaw=0.126 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961 state[joint_eff]: [-0.0479, -8.6496, 5.4496, 1.9756, -0.2662, -0.0562, -0.0073, -0.6632, -0.4855, 6.5846, 1.873, -0.2857, -0.022, -0.0122] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.402,"left_y":-0.132},"note":"The cap is now at the bottom edge of the wrist image, indicating the neck is almost at the actual grasp point. I’ll advance just another two centimetres before closing so the jaws pinch behind the cap rather than in empty space."})
tool
executing move_to over 3 steps (0.3s)
step 318
assistant
agent noteThe last forward move barely advanced because the fingers appear to be touching the bottle, and the cap is at the bottom of the wrist image. I’ll close at this contact point and see whether the neck is caught.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5827, 1.7382, 0.6281, 0.3714, -0.5873, -0.4492, 0.9971, -0.2859, 0.5739, 0.2249, -0.2897, -0.3462, -0.2634, 0.9961] state[eef_state]: left_x=0.3792 left_y=-0.1284 left_z=0.0335 left_yaw=0.129 left_pitch=-0.0341 left_roll=0.0288 left_gripper=0.9971 right_x=0.2471 right_y=-0.0064 right_z=0.0872 right_yaw=0.1174 right_pitch=-0.0278 right_roll=-0.001 right_gripper=0.9961 state[joint_eff]: [0.1299, -7.8154, 5.2855, 1.8388, -0.2711, -0.0708, -0.0171, -0.4718, -0.4718, 6.7214, 1.9267, -0.3346, 0.0122, -0.0171] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The last forward move barely advanced because the fingers appear to be touching the bottle, and the cap is at the bottom of the wrist image. I’ll close at this contact point and see whether the neck is caught."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteThe cap close missed; none of the bottles is upright yet. I’ll clear the left arm and work on the separate right bottle, first gripping its body to shift it inward for a genuinely reachable cap grasp.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.3500right_y0.1800right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5808, 1.7344, 0.6128, 0.4759, -0.6132, -0.448, 0.0208, -0.2905, 0.5552, 0.2028, -0.2893, -0.3462, -0.2638, 0.9961] state[eef_state]: left_x=0.3879 left_y=-0.1287 left_z=0.0489 left_yaw=0.1506 left_pitch=0.0467 left_roll=-0.0193 left_gripper=0.0208 right_x=0.244 right_y=-0.0066 right_z=0.0816 right_yaw=0.1131 right_pitch=-0.0306 right_roll=-0.0001 right_gripper=0.9961 state[joint_eff]: [-0.1983, -6.0513, 3.3983, 1.4139, -0.0073, -0.0415, 0.8767, -0.5812, -0.0205, 6.7214, 1.9023, -0.3443, -0.0415, -0.0122] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.35,"right_y":0.18,"right_z":0.04},"note":"The cap close missed; none of the bottles is upright yet. I’ll clear the left arm and work on the separate right bottle, first gripping its body to shift it inward for a genuinely reachable cap grasp."})
tool
executing move_to over 16 steps (1.6s)
step 344
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2001, 0.8093, 0.5606, -0.3412, -0.3256, -0.2409, 0.997, 0.6514, 1.647, 0.4847, 0.4679, 0.3866, 0.2493, 0.9956] state[eef_state]: left_x=0.2937 left_y=0.0017 left_z=0.169 left_yaw=0.1901 left_pitch=0.006 left_roll=-0.0112 left_gripper=0.997 right_x=0.3342 right_y=0.1755 right_z=0.0248 right_yaw=0.1659 right_pitch=-0.0666 right_roll=-0.0327 right_gripper=0.9956 state[joint_eff]: [0.2803, -1.2786, 10.2222, 1.663, -0.1099, 0.1099, -0.0708, -0.1709, -6.0103, 6.6256, 1.956, 0.4029, 0.188, -0.0659] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.672 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0193, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3828, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0042 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4564, 9.7026, 1.7509, -0.0562, 0.1441, -0.1587, -1.0325, -1.0188, 10.3179, 1.8535, 0.0757, 0.2125, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082939c4a14ecaa438d28cc758798cdf7669b3633e992e821708459b8b86ec92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fea7d8dea55a3b61ba00273b52bf060ef1036d1380ce38bac959eb8e72f3e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f720754a4cfb0816a430a9d2e3af14159a27e46586ce1c5dc2997fee483f10a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.318 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0b9dd0a7cf7e86d2016ab41b8a03a087d0bfcebef1e01ca435",
  "summary": [],
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}
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  "summary": [],
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}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.245,\"right_z\":0.15},\"note\":\"All three bottles are lying with their capped ends farther from the bases; the rightmost is clear of the others. I’ll bring the right gripper above its capped end to try lifting that end while its bottom stays on the table.\"}",
  "call_id": "call_I0SCnZ9f1Jv9oMHnNKqrzn0X",
  "id": "fc_0b9dd0a7cf7e86d2016ab41b90433487d0affd784585e9e674",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I0SCnZ9f1Jv9oMHnNKqrzn0X",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.6811, 1.7969, 1.2076, -0.144, 0.5129, 0.3485, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4273 right_y=0.2394 right_z=0.1332 right_yaw=0.0411 right_pitch=-0.055 right_roll=-0.0432 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6752, 6.653, 1.746, -0.0562, -0.0317, -0.0317, 0.1026, -8.9641, 9.265, 1.7314, 0.3199, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b705f2a1582f8781cc9740a7097194234bc80353609249d521dadfb503ffecdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106b32fd60310cee7182413a079e5f6fc3bcc2416edb58fe7c554040bfc81775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:640863d4f53232b66757969713c20b55c57698d31cb24a6841abd7a91bc4dffc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.613 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, 0.7929, 0.6086, -0.3767, -0.0193, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3828, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0042 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4564, 9.7026, 1.7509, -0.0562, 0.1441, -0.1587, -1.0325, -1.0188, 10.3179, 1.8535, 0.0757, 0.2125, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.6811, 1.7969, 1.2076, -0.144, 0.5129, 0.3485, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4273 right_y=0.2394 right_z=0.1332 right_yaw=0.0411 right_pitch=-0.055 right_roll=-0.0432 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6752, 6.653, 1.746, -0.0562, -0.0317, -0.0317, 0.1026, -8.9641, 9.265, 1.7314, 0.3199, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b705f2a1582f8781cc9740a7097194234bc80353609249d521dadfb503ffecdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106b32fd60310cee7182413a079e5f6fc3bcc2416edb58fe7c554040bfc81775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:640863d4f53232b66757969713c20b55c57698d31cb24a6841abd7a91bc4dffc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBuXM3Wh4LpPxQVN3zb9DZ-6K-GYgV28VdFnSmDWt0mC8KtpmGtDfJQuOQo9K8Aeuxs-xwnhDUVljgGzfaQr1YCvCEnjGKAyjR1F0A90Kw875cd94aZ0yAIURs9wxid6m_C89QxrQDl5fBJTaEjkKloXwlIP2SzV655tJTKQQzr-nGaW2qP_y1yiMy8U2IhGiF_nA2WqKg0cZgN1Ul-3_WLLqZNQwpmoO9GUead7XF6VsbaQiWVzLtEKRk_4LzVB4wSATa2Q1DLf6HvufbRUNDyjJVHunnmhEtUR-VEuERUFt4MGB0PlKTif2oy6xzfONcC0tCNSBoaxlk8dZAG7tJevA9ee0kJnf682CL8U-X7K8SX6MoGohoR9U_moDLfTpVU1G5r6PIv-e4XG1VnEJnsWIEH2nQhdjUB2AlhT2OWsMUzW-ULp2S1B-0zl4OFPL0tJc_Po86BSVQmkX_CrBrOV7ppHBnKz6cMKXDLCudps7C79A1Ka7UuWEJ_aGCIz6GTzKNMPgHo_EiyZJdwGUyJHbQ9a5yiNkBuTilRq7i-OZZEQkSsa17Qtsm7qpUScwQ_jTRLjxRJUYm2JYQM3VwsKeB-IL10a7wVSG3xvVlRc8o5kLDGERD9GA-g5lkjqc_pOJCzw0tJ8mYYe6o5prCJkvmirFlVejsTSa39U__MX5FrTsG5x8WZ6jvELXANtRkFS1AaODjckuBzhGNRrZALW6GoQFUE3ZV4KaSNKY4uLVfuB-0ECS9dJjqKamuF011r_bM7_u742QxfITLzbySMBp9kwGbmlDcwb0tYm73iJnVn6BWLRRExJuHfblF4IYHjlLvw-CExtksLtP_DVzJt_XqcwD891NgZCiQom_u6DmzIIHUJi1LI9UTH-GFbpRX7S13vK2EA73LMfGytTLEfOYxT4ZmRhIMLJST52c-yc2Gd1z9CKS0N48LHLvMOVicJY8WUwRPKip6aIAgXKP4nMIKE4i9c9PMYkwcNYPhL1rwhueHmvXOAMkzXh02V3WUCZ0RdolGV1xN6f9jjcMbyhXcgQ2XvzZg_XTGdVTEyYhk0a6ZZ6lPr8d-4dkBhSjbpYQHn8nUKP40C0fJBnDqnmORO-f9hMFKOoQbjqJlBJoqUDrkTuLcoVjet4ZQ4Jf75TGT8kTi6unvuKX7OqJe_ud3DpTCdn3SvfuEv3Vxq1vZmy5lAxz47oWlzM6za17-Amq8Av5rZd-emLuCcG_InLa_YT6UGbemBajTXK0TjxPDzk8uO5DkmprWro8J9FSIbaUu36kBeM5aVNJKXnItRClz1bMkXlfoMS6U1yMljmgKlrx5_yF-V4SpGw4KOnkLGV_Jy5byd4vIjTQePZQKuvqD6Fub7Y9aS84ldCSHaamuVefrh_VXgnB6HQWwRxMn8FlnBjIxCqZ7dF4dseWVzACbF43hoVeqJRD7kyx4DSWwsARruEa5jOU09a3cVGhKRvumRASaaSgCjLR9glIvItF0SA7lW-2gp1A-HBmbbtgzOSe3_c4GEDAQoex9_K4M6bXcRP80hd-3-qS0YyyzsP0Ab7CuryFiYAOc19Jhn8T9PnZMrqrmP58QhpnLnjYiY_0TstHfI9c-KfDNgpvt0_psc4s2P1RoSAuQttNvVsPMTiVbv1O88VKmx7aJBYBG1yNvdWXTft7b3aiFOnWNst9f0ersh-loi3fBc8ToLx-Nch5zShC380X-PfGoBx13C2yGpUIbeeFf92OJYFgtD_q5xxtpMaEk1m6qg7e8E2cHgnRzxnW78oeuzJXjh453ji9vaVtywvYEQvx2xfmsxexiOpWjJNMx9NpyBQhLZ4hibSj0GOrNBGGXoiaOdrmUIAr96IxpidOGpmzeEsbqUCyPsL2u54OOwrWgpMOWaFSHqbOh3eBOnp9T840ZZd5MD6NNKNKhVA3mFSzeSwANosOQw5ojg1wr3losKHrG4thKhFiBln0d3c78ILWlfiX-Fbibpw1xO_PZbxYcONWvZXMgT_AZsxgz8Dw2XnPhtTjVFpDZwcxlCieorMQODCR_aA5PsO34_YiET3l9Jc_19-foeKqcM4rRMaoeHzTU1zJQW6FGeQHkIu6JjadAJ5i4k0mmNGfsMN_MDq6MfP3bCe4QASAIEd4uDemng-p-HFPVCc7th6FgSW1ubwEOGGAGxG36F8OayjES4QoN6PngUPWadx8QgZ2Q7SmgO5ajwto8Z6amEIsF40JLJgrLZ6pFzzAXVd1Q7t-3Ry7yedAZMmvqKKMWNpRzcIIHLwefqj8mLdp67kGjofpUpCeHbvKHS6AEF5gqp-nOdZYr4JA0QdODywySXdBYaHDBYKsD8AgbHeXiPYW4fSgAfP-SvkC-fItNhGVUTJB3xTXjC7iyEDGOlkrLi1khop0uQZcFd7LuT7wRymrxXjAvj8jqkLG7tTywwVgr9MJr19ZwoxhqzPxjCNnFNdgW81HddZBBiTii9Y_FWo-yGtqIyECyTZxBcd-EjVaR5ae5rfq5gkhscuPk-8QJx2pNCu20h4NbCc2FyNUIX_Jf5RSPffC6qkorKkH16aaMj7bJuEK8yTmRqiy0h3MGaFqCZ1xK_I1ehete__4UQZW1JVzHWr5-D0TknoLYPtX2T7S94aBSw2yJaORw==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41b94495487d09852ae036ac86b85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.225,\"right_z\":0.075},\"note\":\"The right wrist camera shows the bottle centered but its cap is still well ahead of the jaws. I’ll advance toward the cap and descend to just above neck height before closing.\"}",
  "call_id": "call_Ch19DkvY8XeBIYg9DseKonLe",
  "id": "fc_0b9dd0a7cf7e86d2016ab41b971cdc87d0ab3452bfc4c02ff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ch19DkvY8XeBIYg9DseKonLe",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.5919, 1.9507, 1.1255, 0.0975, 0.4541, 0.2996, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4555 right_y=0.2171 right_z=0.0659 right_yaw=0.0242 right_pitch=-0.0729 right_roll=-0.0471 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4291, 6.9949, 1.746, -0.0415, -0.0415, -0.0171, -0.1709, -10.4957, 6.1607, 2.044, 0.1538, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa271bfed7aae0aacbceed2f5b131f54718e222bb3e1886f65285acfb19bbc07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60eb585058f706b41d743a82c022fc7e773e8817c3fc7cd54d75b9506cf3c0b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ff143dac6dcb3699a046fe55d869d6d640ebb1da49b8ed325f96be5ffa824f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.347 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.6811, 1.7969, 1.2076, -0.144, 0.5129, 0.3485, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4273 right_y=0.2394 right_z=0.1332 right_yaw=0.0411 right_pitch=-0.055 right_roll=-0.0432 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6752, 6.653, 1.746, -0.0562, -0.0317, -0.0317, 0.1026, -8.9641, 9.265, 1.7314, 0.3199, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.5919, 1.9507, 1.1255, 0.0975, 0.4541, 0.2996, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4555 right_y=0.2171 right_z=0.0659 right_yaw=0.0242 right_pitch=-0.0729 right_roll=-0.0471 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4291, 6.9949, 1.746, -0.0415, -0.0415, -0.0171, -0.1709, -10.4957, 6.1607, 2.044, 0.1538, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa271bfed7aae0aacbceed2f5b131f54718e222bb3e1886f65285acfb19bbc07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60eb585058f706b41d743a82c022fc7e773e8817c3fc7cd54d75b9506cf3c0b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ff143dac6dcb3699a046fe55d869d6d640ebb1da49b8ed325f96be5ffa824f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBucD99iQuciYStJqAt10jG8hjchgwZ0NkhzcY5-DOX58IJn8YeUMsm1o7xcf5xi-56wyUOR3TyOFnu_AkHDkDJmVZ2N1DqNr7qocC6uxJBLD-jpk2-kC4ITqRYvDSoCNc7RVwprcfx0F6zEwT5kAijCSNdo95V4Ngn4b0Je2XPeLuC3HGRnF3FdvIxtj3Kx-_5ThrPckbgRgFBAhakvK3YWyMkKsvHyn75mvEDX2u0_-LIbcAzNcdg15EwMPWuLyg9ADMnSJsxIKf7oRX5haRBuTQGKF2-0q3EoNgeJn4pub3eclSZFqrTUo9GnrGB-D-O-I_18alZuIfc03eWJGcXjF58WonbmYeufBQfQPveZotEyPZ5DdlKyEjE2DcYK1ZoaizPQApkmJyM0Wzm85byjUo8XRI4rWfDJ3oxrQBWYi7Y0pnb2hgR-syqwXrPwOoUF4BpCLe62ufDqrZR-tkxnuJPNQGvNmSXxfuyVaxGyfYDeVF2fjsg-Fb7rLn5qFvFBq3gESEAVOgP0HjZg4iT4T0Rx9ljFafZGBVwqCQ_Sz-U1nHHGJJI3IqxYXfzF1aAJyKmAMHTe-npUXYPES5hG7LFW95xt1IH42K0QPojRlhgdX_XzxXtSGzl2SjBUUpBQ8kyJG9vSyXGvn8Z_wEC5XgoICCc3HnlC6TFtfBPz6NVCfzgO0r6k2r0Mg6jViSFvriMPT6Ip1T5GC7M3jEIMRBIJP2hqz_WyXubB7xxcUJQ9_mKzqH0EQr98T3J3PzhRsD3t7iWIW30c9rKLHqSyBdDc4M5Wti1OCV7uTzkR_2ORvg_XMqs7F0he6B0wY0e3g7JmCLdeQ5NmXsSjAC16vAq2-kokHtOzMlnOvMCfyHDZl_BQiN5zYbaTB-sqZAhipvKrU2R2paCa4r1dT7RvOzXsL2Zn0kRBrZG5FjUxK1jsPNDJvH6iYQ-l_XV8r5AfieFQ2_VJUleNluwZTbmP-BgXx2EyjJ8eL1t_RipTsnLx1opLTT2MCWFgcbtn9vvyX9c6sx3pAlRyTUVNsqbiFpMsQEfpRokEpa12g_HBfkghOCu7uSdK_ASdcHorKVID8U3mnQ3YhwoK-T6rUtvFj5Z547aOFPx_qDutF3DHw_2hYECxXkoJMgFXEqvEAvRKY_js0cjpZa7ZLyZVlMLSZmez3O7i8k_AU8i22YeLBxsJUZmDw6VRaP8dUU0fB_dHkE9gbBh3vnvEl_JNrZ8MYU_W-c_RMeQLdLtchQeYpSFs49JYuIQf-pdrN1TXtTuZ3IRIbcDZ-C8RjthEeD5IUCjk6J-6NpKBXzoloBCkHWX2Yn0bs-XFCebEAyosGZQBYXG1hJUfKNV2Mqy-dRtbJAbf5VQgooVirCSzOny4a7_volskpeV3uiMCT7QzFxmTysNaLxUPEQWllklGqOWLAoiK5D8rADWTBj0NUKPygeQHy0W2_CPy09GPVlI_VBkm5yg9tvH8CA-LOzTl6nUXFgrHSpCSZ420ftLQr5x2YBUwiIT2rI_hQ35y8SBf71B5tvGVElT-RDX-K4wbsuQzkeT1j2dvwtgLZWuzQMorNDhSKWUre6R7oYJplZj2Kqo7wkg-02ilten_572Tkqu3rqNiqqp4Ck2H0YbU3jEjEj9YpeFbQxuQm5lW8Ls3e1500qBcgeBU4ixzsHlD3kq0-29zS1kUnPJy2cWcZZlPbZ1x2l5hKSZQCR_ax4165K6WRSETahByrbFbBwaAxPrjw_9hNVPJdK8bDg6xoJ1q903YQDr3mbNfUMD0BtN0pqh7s6KHhRY23oXxkBlFa_UI_iMWYvKf5HNWvvCal6UdhDqiM1CNIy8CIev7jCqz9XoYPaWAF0QYWmiJLyL6GJm4YGF4fsQvRkK_zJRhiC72avdrhqOY4Z7DILDQuS85RLNOfoMgcyMM5e2ta16S_fh4KAgRLiT4oPeWzGeHqxdRazhcAnagr2eX9RRdMXCyWiRNDIhQYogsMWv0R-f5hbEPilY-8MuJpZy7Br-ewMYkycj7c1N1-FNhSjwTL3Zzf8L906Dryh-i5HLIBwWtUO5NHpXNNPkT6JG733-mJJOomeL3-TEfMJ7AHt-8B-v15Lg9AWrv8eFnBxv6AezuFnUFqqBYTmqXD0K7O353b7grq8yCN7XQh21iOxb-EnnHtM3NVdVCLfa6F1Rsoyj3S0GHu3EvDXCGXuVCw0BIRdb-eKmaN8HF_JoeR2Nxh2ZkbBEiJ7Dg_qSAJlQKtpLTEffPYuYhcZ1UwYzjbZ7ykSeId9k-QYMjMAqQZZfwORzkiU3YAJpeUjGkBYCQRlIS2lOLWVnS9RgUFC12Dt-aUWwdFE6NEpeXr_o-F87BCjmHNTYCcCNxH__nq-KiPro3v08dponmIHKiTeFCUMG-iUnm9U86FwHhokq0NZT_f1zQNZtDUhaLjDI1ZQdA7OFudVqbNDQDcmVYu1-_ADtYib1w0eOcP5qGRR_AaUk06CaSEnW5X-O9JGzAwOCOvTIDNHMW7IHWkOfHuAdEaOfS_eYctDNMiK_g8hmCAKncIZyponAkyVLG1U0hm2l8z0wKJCyl4H_ffr7YgHjNDpiqJqhL8zqAGsNl32HldP2iYH_p-HYdb6MGafi7qYLZTK7480wilDtCgSNlAGSH4zPA87vRCei1M_iOp_1gm1at9rIpYSnvrvqWOD4sJryvG6pHh-eJ4Ft2GSXl2vBdKLD6vy3PbnuQ9TPvRcQDpkCB1OXNz60uyVnOe4os5YdT0f9Yif8W2CLvlkoFW823vd_la0eN4yDfwvNWQbPjtTijVMfdfKMclgRNB97OsC_uPqS33jerIHwsfsKkRurk0cUG4YYsGAg2Xv0mqmByAIvxoPRZ8a_Dl9B4S0chegQJMuwEAb2urQu_NKUl9LxINVZezy_IXYWSIDL6PIQbNzrvO7NBxTUg",
  "id": "rs_0b9dd0a7cf7e86d2016ab41b99165487d0baa2de5fecd06ed1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.215,\"right_z\":0.045},\"note\":\"The right gripper is now over the bottle’s upper body, with the cap still farther away in the wrist view. I’ll make a small forward descent to grip nearer the shoulder while staying inside table-level reach.\"}",
  "call_id": "call_jTJz1sfgSi3ZQCh1JNb3LTya",
  "id": "fc_0b9dd0a7cf7e86d2016ab41b9bfe5487d0b589c485c4a4971f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jTJz1sfgSi3ZQCh1JNb3LTya",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3801, -0.0193, -0.0292, 0.9984, 0.58, 1.9823, 1.0706, 0.2279, 0.4255, 0.281, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4581 right_y=0.2173 right_z=0.0513 right_yaw=0.0465 right_pitch=-0.0453 right_roll=-0.0234 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2513, 6.7761, 1.7705, -0.0659, -0.0073, -0.0122, -0.5538, -9.853, 6.1197, 2.0684, 0.3053, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0951fd59386eeb7d2d0f24e2a4e122bff27637c71405c726fc28c4eefb1236d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdd6fc1b8399640d4c6f0310169f436d7d2123956503792365df78795b76371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a76613acd2c77c7c5442d13cd28109ed521f6f0c3f3cd20de820891d26f65d",
      "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 4 attempt 0 · /responses · status 200 · 5.997 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6086, -0.3767, -0.0193, -0.0288, 0.9986, -0.0158, 0.7887, 0.6037, -0.3828, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0042 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4564, 9.7026, 1.7509, -0.0562, 0.1441, -0.1587, -1.0325, -1.0188, 10.3179, 1.8535, 0.0757, 0.2125, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.5919, 1.9507, 1.1255, 0.0975, 0.4541, 0.2996, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4555 right_y=0.2171 right_z=0.0659 right_yaw=0.0242 right_pitch=-0.0729 right_roll=-0.0471 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4291, 6.9949, 1.746, -0.0415, -0.0415, -0.0171, -0.1709, -10.4957, 6.1607, 2.044, 0.1538, -0.0708, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3801, -0.0193, -0.0292, 0.9984, 0.58, 1.9823, 1.0706, 0.2279, 0.4255, 0.281, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4581 right_y=0.2173 right_z=0.0513 right_yaw=0.0465 right_pitch=-0.0453 right_roll=-0.0234 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2513, 6.7761, 1.7705, -0.0659, -0.0073, -0.0122, -0.5538, -9.853, 6.1197, 2.0684, 0.3053, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0951fd59386eeb7d2d0f24e2a4e122bff27637c71405c726fc28c4eefb1236d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdd6fc1b8399640d4c6f0310169f436d7d2123956503792365df78795b76371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a76613acd2c77c7c5442d13cd28109ed521f6f0c3f3cd20de820891d26f65d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBufJh0Dx6eXGsJJypDl_uRwbfFT2_K9hhwyYd3zIskUTmLahthxZ2lIxt59MkjBYzCVv0VzE7stOlEyXM6-vi7UKwJ55gUvnO5F8HhmwJwHUB5fG5boaj1Sv4XcbPdeST3EXVj7ZNPqEMW1lEW63XlvHxg6zRrU02Ny0NhKN-wTZwN0TUBGkJtR4xSEjRMAuhujLB20H6NDWv3QOgPq97MZcWCh1c_r4O_Kev105fvHlMu7-mRMawWAEg2Lp5ZneQkU7bxoVtGE4l6wzbwqnuwHTlQgfuhUe-JDuiEX3FKkqcpa5fwqkwBRJ-hGUQ_CBgiDXL9L2MLEiaNGEXqit0vkCIq2DuXf7OZ_2yLx6yPkdM_cr6rTAJV8d2g8w_S6Fuaz7NIJHtJ8K71SN3RswSVTytxa6dEa7lqzjumgJITigYxyfsLr6K0sg_r_9yDbsqdOqxLhkGEewjDy8VRT9SwAhZfC1pvGwmSlnr1MRjo8JrByIulQnlr2st5R2aQbB50JFQkwr8g85ZrcQqHK6hM5jW4EN_jYUuvyA8HWCa8gkWNwRk3_WuNdnXbZxWUPtct1ViVtESlPyvPe89mJiGCo9mPpVucyx6_PbqljrLKnbVwpXubyxqiaOSGS9IM70sZQi1i58FFcOY7Afw3cSn_Cg_ySv49c5Nsz4y7ArVvDXUuFGXBbXD3LP6WA4V7KrcZzLIhU-jlIp1QjpOcibe9f7ZmL1CCxohayOgL4jOjT7T1gZ6zHxRziQa8retRinsuCfLS1FKCjWORQIJc1F-okPZ4yx5LSP8uOHCVTXDpiDQulv9w6Hw37EwBj918ZcBx9zxO7iOZxjY72-FBTqJZfRbf6hGyvTs2NjKj1EfnkqGhlUOZtDlP_5xoDeMWR3ViftnhVe4yB8K-dlYeI6vUuMPXPNyiN-XA3VhswaOvhZyQ4C_hi3iCLtXvcjEOKqmj76JoK1HD1ZNcpVigWFOGJQm9msSWfba8haiKh6WpSkl171dvIbULdIS-ErkhPLT7lR_DT_T6jxTXDTFtu2_BEVfKn7uIBZVpP8rKCYilbVN5mG_0ugHjcdtgomj1iIIx1cOi7shwUJXKDuUI5oHcrFvEHSj7IqgEwBcoIGItVvSwn-gLUJrIekYtqSSOJT_ZQPCQSmLMtAlVzgHVqax4-KhCKTt1Yt9-rA3NY9rFT4k4lWjrM8UUADGqmr6p2OPqBJVHhCVRWl4H0fMIGg8x7Jo4aCt9ZHGlXRK3J1uPqX43IoaP4XVtajgaSzxE_qOfgGnp6IdSuTYKedZM6FSBvC-6WZXAjmbvYr0EE2RgvXVEXPfl-5pSQSA0jGH1bhSx57VU62oGXzvZn8wTTRnffRdcZ5iprTd3MoEsdymwNWangA-6LR_4ToxyeD_Vxl6T2",
  "id": "rs_0b9dd0a7cf7e86d2016ab41b9df30087d0a7ddb7987f12f5e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm has reached its low forward limit, and the bottle’s labeled shoulder lies between the visible jaws. I’ll close on it and use the gripper readback to check whether the bottle is caught.\"}",
  "call_id": "call_NubUDHmUcl4NL2jfvXI0Slzd",
  "id": "fc_0b9dd0a7cf7e86d2016ab41b9e7a3c87d0ba2c1ed1d06ab7fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NubUDHmUcl4NL2jfvXI0Slzd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.5819, 1.982, 1.05, 0.3244, 0.44, 0.2756, 0.0159]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4643 right_y=0.2197 right_z=0.062 right_yaw=0.04 right_pitch=0.0248 right_roll=0.0037 right_gripper=0.0159\nstate[joint_eff]: [-0.212, -1.0735, 6.9812, 1.8632, -0.0806, -0.0611, -0.0171, -0.4444, -10.0171, 4.7521, 1.3748, 0.0122, 0.0024, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d0890fa57ee0fcd6ba79e0637dbdd5e3d9c7c9e51a513d58f579b3029d9646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42874d91342c80af2616362096de35131a0a956ecc9ce37173f6438d2d793752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1766bbd3594ddf6b1336d0a2692e6223b302406f27fe8843548bae134a15db88",
      "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 · 4.044 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.6811, 1.7969, 1.2076, -0.144, 0.5129, 0.3485, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4273 right_y=0.2394 right_z=0.1332 right_yaw=0.0411 right_pitch=-0.055 right_roll=-0.0432 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.6752, 6.653, 1.746, -0.0562, -0.0317, -0.0317, 0.1026, -8.9641, 9.265, 1.7314, 0.3199, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3801, -0.0193, -0.0292, 0.9984, 0.58, 1.9823, 1.0706, 0.2279, 0.4255, 0.281, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4581 right_y=0.2173 right_z=0.0513 right_yaw=0.0465 right_pitch=-0.0453 right_roll=-0.0234 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2513, 6.7761, 1.7705, -0.0659, -0.0073, -0.0122, -0.5538, -9.853, 6.1197, 2.0684, 0.3053, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.5819, 1.982, 1.05, 0.3244, 0.44, 0.2756, 0.0159]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4643 right_y=0.2197 right_z=0.062 right_yaw=0.04 right_pitch=0.0248 right_roll=0.0037 right_gripper=0.0159\nstate[joint_eff]: [-0.212, -1.0735, 6.9812, 1.8632, -0.0806, -0.0611, -0.0171, -0.4444, -10.0171, 4.7521, 1.3748, 0.0122, 0.0024, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d0890fa57ee0fcd6ba79e0637dbdd5e3d9c7c9e51a513d58f579b3029d9646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42874d91342c80af2616362096de35131a0a956ecc9ce37173f6438d2d793752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1766bbd3594ddf6b1336d0a2692e6223b302406f27fe8843548bae134a15db88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0b9dd0a7cf7e86d2016ab41ba14cf487d0bfb2f573355fa234",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.215,\"right_z\":0.075,\"right_gripper\":1},\"note\":\"The close settled at 0.016, so it missed the bottle. I’ll reopen and withdraw a few centimetres to locate the bottle’s lower body relative to the grasp point before trying a different position.\"}",
  "call_id": "call_5TMldEf2CZhdbYEhrSiQ1bi0",
  "id": "fc_0b9dd0a7cf7e86d2016ab41ba584d887d08fff9bda8b91768a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5TMldEf2CZhdbYEhrSiQ1bi0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.6613, 1.8248, 0.881, 0.2497, 0.4728, 0.3256, 0.9957]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0027 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4051 right_y=0.2179 right_z=0.0591 right_yaw=0.0659 right_pitch=-0.0381 right_roll=-0.0177 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.4291, 6.8171, 1.8144, -0.022, -0.0659, -0.0122, 0.1846, -11.1521, 5.7778, 1.6825, 0.3883, 0.0513, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a45d6f40ad7ad4177fe98085fe340380f6dc7ac7732b1176ef543880c54a4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4501e93369db3caf985c2aa9ac2761528154dca7982016665c9ba6762f24b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e784d4afad91b6f86b678d043a704f9a5e833797eb1ade05ac523a92d6e691",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.089 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0189, -0.0292, 0.9984, 0.5919, 1.9507, 1.1255, 0.0975, 0.4541, 0.2996, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1834 left_yaw=-0.0001 left_pitch=-0.0031 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4555 right_y=0.2171 right_z=0.0659 right_yaw=0.0242 right_pitch=-0.0729 right_roll=-0.0471 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4291, 6.9949, 1.746, -0.0415, -0.0415, -0.0171, -0.1709, -10.4957, 6.1607, 2.044, 0.1538, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.5819, 1.982, 1.05, 0.3244, 0.44, 0.2756, 0.0159]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4643 right_y=0.2197 right_z=0.062 right_yaw=0.04 right_pitch=0.0248 right_roll=0.0037 right_gripper=0.0159\nstate[joint_eff]: [-0.212, -1.0735, 6.9812, 1.8632, -0.0806, -0.0611, -0.0171, -0.4444, -10.0171, 4.7521, 1.3748, 0.0122, 0.0024, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.6613, 1.8248, 0.881, 0.2497, 0.4728, 0.3256, 0.9957]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0027 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4051 right_y=0.2179 right_z=0.0591 right_yaw=0.0659 right_pitch=-0.0381 right_roll=-0.0177 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.4291, 6.8171, 1.8144, -0.022, -0.0659, -0.0122, 0.1846, -11.1521, 5.7778, 1.6825, 0.3883, 0.0513, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a45d6f40ad7ad4177fe98085fe340380f6dc7ac7732b1176ef543880c54a4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4501e93369db3caf985c2aa9ac2761528154dca7982016665c9ba6762f24b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e784d4afad91b6f86b678d043a704f9a5e833797eb1ade05ac523a92d6e691",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBurkg--3CrKi6V6foQLlii1HGKqySVoPQ_wi0Czz0zxCZxuxlNFpLt2b0-hyEChOu-y8vGsxZ0Rm3xS-p-9-XPsWC6b6FXR0zs0rh0r3iGtZBvoyGcHp953Tc25vtFBTvovRWOiEQtyKvYz2IjLqki-65XQg5RWjKkAXxtg04y_BB8KWYAXs783LWYJzTzE-lN1xZIrP7_41V4ZIVA7urPEJpLQ4c07iPotJgAHLC4dxnU_-VkZ84EiQBK-pnHQkCq25JWcaPT2zLvd2duCA7NKq7CuOFTJVORCGrsXJMCAYR8v6zGhgOWsIH1DI7yeIc4yjpgGaoMB8A8fTySI_9WMoEctib-wbORE-chZ3celhb23QN1-zgdjhqEAR2zeqLY1XJU_0zOBNr_bxBAsebfCGXAyUmmUuv3L_raDnuQQRLSpaGu4bw2auHiDbAc_jIWV4N-WjKgd2udl-sLmC3reGXTYARuCGD6r_5I04qmHp5pYThItiHZS4fWtwiyK5NfIlOrDGFVsbdyDe_Vjswfcevsgp6mIPLHBg6N8ToIjS5vEjLhCxnL9fIvWifzG26GPCZiW4tPLVJunbnPO5n8ePlPy74qRj4SE3jsrLFCBLAwezW5HI0WihmMOgHzQdJrbUBvX5DFzDdy6jtp92Sb5o4l0Ihkgb6LoYDHYoveW8Ov6HmDfyFuky-oHgVpXxuYxRa3jvGul6FS7jq8kdRusai-1I87hidY3FcpDqP5vyARwnsTXggeOIdNN2-UqJtr_YNcqTnrzHbG3jtrLBttde4qVl8EAWzezEWbWwookbmDDZWHlft8G9SVyv02dnZ_4wN-wQVtcM6_iYt4nqiEVPSjemX08K2__izx5kMele1xq5BxKZ38aHjOy7pzU8mqDU3RwNyxaodfi1wnACZXvxXoZt3rzI2zg6VK_RmleU3O2-1E8e2K3TJTZZKdsrKS-CvFpfF_9F-xMtKNq9ozMxjHakQKbM-dPy_lzeyWA3o-2GXG0HaaIJH5K-VkLA7VEhD_kjnNdEl8dMDo_Ui54WohZi_ljJ83ALdSi9WIeY_dkutDSqVruYooLGwALOjcAFQS7E3wzVnn6SDQOcStGu6l6dtZGUaVmCTxOdgQr60JB26_W8jIGC4dIOuXLcvW-hpnuym5svZ1lJ2GNykfyvDRofLm9szi23-fwCxsAXrYbG6MIbl9E6yFpZLnBFeEQmNu7wNY7fXlJcsPMb2cINzbK2_X6n2lZieMchMAqO8m39jKF0YC7whhzvxukGfTVQUQATUbgWDytbdZPmdXLqweqzJ8WEXInHsR1cxHyPOU6Igy9tBNEejOcPcC4MYESWDqIYu9blIFKvTOre9cbJEsEXMTeHq9kysxz0v0EnGo9O86BCF_Zll3e7wEMBxAxiwI-Uz6Syesod1aANMGp1JU5FcoUGeiRCSwpFLKfv5IbDYDuZc_jD9SfYnZXU8u4rQa4RQfSDcEP4xXV2ZA9i481RO8Y5PgcGFI0hvk8kGl42ZomkGVyoTF_uxBpfPsYa6dvJvfPxSSPU-dX_U9hE4u946abwn6FrkRV104ZsH1JY4IeD0YEF2pBHF5q4q1aArFOJF_XgdkbSSJ_MMbmCGBSlMZYqPuNvuLT2MQRJq-pT91bUmrePUboCGo5qDiduz6s_VuFpQj1nJ_qhDbU-9UxgbtgvzxLLt7QoOlXH-oWb7SrDJPygOU3eSa9dQejQICntJcf83Ysg_vIY2U-IbH-j91Blq-60Aw5dL4s-2EraD-er2sNYzp7I7pyD0kwb1P5H2VxM4rccUkJZVOWjssH4C1UIfTqIM-J1gBszbXbj0YyFLK_TB9RrD43CzoioRAfC4KO0fEQ4pkP1rIuXj33KruMI73euoU6yM-NsarbJbIf01ppDex_V1pAXaYJf_cv2ljJHBxAoChEUMyCp-vqzYtASapOfs7tY1E4tEeJT82mKd3wBmniJOFRCC5Zr5c4rq8PV08ETjQO5u9zLDV02ja3V4AizYWlxj-ChdILPFoHGOs9qVEEsPAZ3dnB20Lp-z_cM4ijSvhEysxSkKBldo5EzqXZwbQ9XtK-TwdzpGk--zzTitaFhh9vJthxdwRGYnbXkN3R7cEncoCaHpo25EuHSrgU4J_xwwDlM5nnOPUVMlMNNSNmyiKObx-x_TCFRlAG8xq3rVcah85uklTOBpA4JU71KeMELprAAJ62WG0IZRMCbe6cbJNCyX0gsJ4CaNJHfP71rRbO-0E9phU-fGdTDfzYxGNTLOWg1RWegyF4RnM20uAQkLYnseLA8QE0dMGQHIglvx6yKQqOWliiAmHXyoQPYdux6_fAAr3cEeUoa6lcFjFY7opcxt4zftFa30dUkayjPSWjGL-McEVEyai84OtBeCPPdq6nK8KcoCwk7-mhsEBcpw4wDVoFgloLPs9a9jyCJjjZfZXXg-3jaWdjgA3NKoAFrNyeJPBPTyqU_iDyjhR7-92ifvFsj3BAhJbIym8v8-AsXS5DHQ==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41ba832c887d0bada53cf0f97aae7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.205,\"right_z\":0.028},\"note\":\"After withdrawing, the bottle’s wider lower body is centered between the open jaws in the right wrist view. I’ll lower to its mid-height and shift slightly sideways for a centered grasp.\"}",
  "call_id": "call_TbgvATRonj8k4aEyv6NhFW7B",
  "id": "fc_0b9dd0a7cf7e86d2016ab41baa7b0887d0b76ba5425efd9f10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TbgvATRonj8k4aEyv6NhFW7B",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6395, 1.8801, 0.783, 0.4053, 0.4622, 0.3088, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.399 right_y=0.2031 right_z=0.0274 right_yaw=0.0617 right_pitch=-0.0399 right_roll=-0.0246 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -1.4154, 6.9675, 1.7753, -0.0464, -0.0659, -0.0122, -0.4718, -8.1983, 5.7778, 2.0342, 0.0562, -0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c49bbb7d61e06cb6891f15df2d5e35a0925e96b65a701e06dbfa61e36497176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca0c18b76bbc8d7e15e0d25f36c8f4092ddd56b86503e4434ac685bd97f898d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92f26434b29c53f8c4b2c862d132bed1d5dce9b1f426abb9ec4ce2c693c219b",
      "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 · 4.415 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3801, -0.0193, -0.0292, 0.9984, 0.58, 1.9823, 1.0706, 0.2279, 0.4255, 0.281, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4581 right_y=0.2173 right_z=0.0513 right_yaw=0.0465 right_pitch=-0.0453 right_roll=-0.0234 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2513, 6.7761, 1.7705, -0.0659, -0.0073, -0.0122, -0.5538, -9.853, 6.1197, 2.0684, 0.3053, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.6613, 1.8248, 0.881, 0.2497, 0.4728, 0.3256, 0.9957]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0027 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4051 right_y=0.2179 right_z=0.0591 right_yaw=0.0659 right_pitch=-0.0381 right_roll=-0.0177 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.4291, 6.8171, 1.8144, -0.022, -0.0659, -0.0122, 0.1846, -11.1521, 5.7778, 1.6825, 0.3883, 0.0513, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6395, 1.8801, 0.783, 0.4053, 0.4622, 0.3088, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.399 right_y=0.2031 right_z=0.0274 right_yaw=0.0617 right_pitch=-0.0399 right_roll=-0.0246 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -1.4154, 6.9675, 1.7753, -0.0464, -0.0659, -0.0122, -0.4718, -8.1983, 5.7778, 2.0342, 0.0562, -0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c49bbb7d61e06cb6891f15df2d5e35a0925e96b65a701e06dbfa61e36497176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca0c18b76bbc8d7e15e0d25f36c8f4092ddd56b86503e4434ac685bd97f898d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92f26434b29c53f8c4b2c862d132bed1d5dce9b1f426abb9ec4ce2c693c219b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtButGM8X7rCLOBnzSUpiNqeHcGHs-o1zSrWURVyt0ghOsnS2GNXI8YUmqtrJmRwtUf2oW8HWHY2Wd0vmDx3ihvuXsqcCACJbDf3fs7bDMq1VhiQ6wxT6YRlEMNxjMZU9jhP1fNYIsMaxAZxwq3yi0eMSnBCyNzBj5I4S-EtPbD2oHS8rp9RUgncIalkAiBAQFg8TyB87AmuHe4cwtnExTE1xtatPGGUVQzEPNr_SLyPRmTAxVYo3_RE-p5NuWOpW5-_qudb425Mxs3vwggriHgAeyn5sOzDul0cfWrFElDsDfKQh7n6j8Faqv8eINuUj-XaG65l58QoPOQ-us3bQ0lMYq3ltGb8AYyeirrZ6ceJslQDn2tIIuXH3blSIDugAZtjm0xHr-UYST-CGNgKe91ytK1bdkpNGu_U_20Y7NOZfQ66yqT6SAH6NKc5L5k0k09-jNKnWJw08Ne-49axjypRCiM0O7MiNXuF0uwqB_tvN7-aEKI_84Ey8tZIwbjfZb5GgbGCstFu4ncKJ6-z6dzV5jDq_dQljOeul2GV1m11gJi5g9hudu_sX12B80vGxGEETq2RE8uRJ8HgHkQGshJ3JuxN0bfBuXQAnn3WoOWBqFE39Loe_qRMe2FEu_g2KxGCgN6nn4nGrfPQoKxbvp4mv4KeLbG9vctb5kCGLYxX6dVfX-46KiwSDoD-1asxuz_djxVPY2FTLjhOUlaW91KvmWhu4dWahPrJol9lnyoLQcOXQ3yVx-W67o-I0sAsQT5E1pInyBIq-2XWwtNE_mfTqVK_OkSVqlt7tZ4OoUFTx0l6kIltj_5UsWL2C2tB2h1oUSe9VE7zT1JWECfarfXcEeR3quVhFiLJ94gDRpMv_tb-TEl8rMS9ukAf0UXFPfloMTMbZ6HuhuXZmSJhoI8ytDlVuNlU8suJf_eLrPVoyTgp6ocKL9WKH-jPg3V1SS9grGBFZs2-lKf3d35BjkRHJ_WC4a-IyG2IzP0ZxnffaXrrJOFfk47xQ9T45G-DcWDcVj1tq4q4CAjtMHmk2nnkAAqsjDWHFoa6h0vBYVMeDemtVK_Z5GOzpa_C1-gpPK2FlOTskq4UwIIZkgn4IOzm5hICzXUfjcfjZu9X3PRVpZb90rUy6kejNecobe3DcNNIqA4zG77fSo4lCD2rfs1_x1EK-fChOlMYNlTzMeVHqWBAzJ7lPU_gZC9KUdow8WPxpqSlNzy9rr2nAHz7a-vgAVfWSUZ-jMW4tIeDLDqocIv-KCHfmy3iTzTF7Y94AcSUN63wqEwZf9vi2qhkIbhQF2A==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bac5df087d08130b8ac4a892d10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body now runs through the closing line of the right jaws near table level. I’ll close and check whether the final jaw opening indicates a firm hold.\"}",
  "call_id": "call_ge0Gr782PJjfsU2Fab6T6ngk",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bacb37087d08e341b26c201fd5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ge0Gr782PJjfsU2Fab6T6ngk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.379, -0.0193, -0.0296, 0.9984, 0.6353, 1.9049, 0.7483, 0.4789, 0.4461, 0.3027, 0.5678]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0023 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3964 right_y=0.202 right_z=0.0176 right_yaw=0.0738 right_pitch=-0.0334 right_roll=-0.0134 right_gripper=0.5678\nstate[joint_eff]: [-0.2667, -1.4291, 6.9812, 1.8242, -0.0317, -0.0708, -0.0122, 0.1983, -9.7026, 4.6564, 1.7607, 0.3101, 0.0366, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75822e5c27699d2d84af4bc6368397131b8cc6a5d3c643e63f1cc3b74a575add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d35e5de077670c09cce04d435761b829e225e1a5ba21b5d59877fe382c93069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe100b90df372c8ca3b9b3bee4d91abd51dc590232d15a89cbca7bc6947ebbc",
      "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 8 attempt 0 · /responses · status 200 · 3.342 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.5819, 1.982, 1.05, 0.3244, 0.44, 0.2756, 0.0159]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4643 right_y=0.2197 right_z=0.062 right_yaw=0.04 right_pitch=0.0248 right_roll=0.0037 right_gripper=0.0159\nstate[joint_eff]: [-0.212, -1.0735, 6.9812, 1.8632, -0.0806, -0.0611, -0.0171, -0.4444, -10.0171, 4.7521, 1.3748, 0.0122, 0.0024, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6395, 1.8801, 0.783, 0.4053, 0.4622, 0.3088, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.399 right_y=0.2031 right_z=0.0274 right_yaw=0.0617 right_pitch=-0.0399 right_roll=-0.0246 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -1.4154, 6.9675, 1.7753, -0.0464, -0.0659, -0.0122, -0.4718, -8.1983, 5.7778, 2.0342, 0.0562, -0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.379, -0.0193, -0.0296, 0.9984, 0.6353, 1.9049, 0.7483, 0.4789, 0.4461, 0.3027, 0.5678]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0023 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3964 right_y=0.202 right_z=0.0176 right_yaw=0.0738 right_pitch=-0.0334 right_roll=-0.0134 right_gripper=0.5678\nstate[joint_eff]: [-0.2667, -1.4291, 6.9812, 1.8242, -0.0317, -0.0708, -0.0122, 0.1983, -9.7026, 4.6564, 1.7607, 0.3101, 0.0366, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75822e5c27699d2d84af4bc6368397131b8cc6a5d3c643e63f1cc3b74a575add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d35e5de077670c09cce04d435761b829e225e1a5ba21b5d59877fe382c93069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe100b90df372c8ca3b9b3bee4d91abd51dc590232d15a89cbca7bc6947ebbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBuys8-SKPV21Ps7YxULj5uxnLqDhe_4rJiyOZNpMlDr5GbUWrcuerJ1LcFmwCYJX-3LI2RYr8bNXNDF2qqQ-pEsuwV2wSqKuKOtHrDBndS3fzJhz45VXfdto_PV-LI3aE88bx0AOQCjPbiQ5-G1-2AzUD-DC5FCwd-nSlK8ach6_QAMCYWUUmBdQWNabqE9lv0qad1lwQ-e0n97ihC3NhCu2fuJRAaPQu8oNkmMKkGt9ETzZxLFebCZIUEY0PQQnH5y2onEcDL8_kznZ_yGWhxh4VqioDzve7y_YXNcJsqMrLdCOdrsmA3BP3b7IBhhROtoFj4HpvYoWuKcBh-6RMXo11zstUGZCv-ZpX6CzSS5iqWea2g2A9rX80VT5yW6SGRW_X38qafZvXpx5EVCK9VEMR8BjEt11TCkHqWp3C0T2wO9YyXhQJmlOJwdygpMTMvFCltAv2mw7fe9I-uJgZgNjjKYEXMkvreFPHWmqtWHrN4v_sEuCXvESpv_43vD5qpA1UA251vdRj5Xza3m6LBh_Xw4cBvrNXI2ygbbObZRpXBQ592kB_FCsRElyTEvukq5J_Fjj9NxhSVDik-tdmdIvEVkuBIA-x1c1nOHofakNjGo29YX0wkNgqa81HM5mBptmrHeAge-eJqiz-_YFj19Y25PVgcbyHCRRbunXH5p-5b8XELokJPMienHzYzNJ1muwYMLlgAfogpoGEiGxGUZ7YTTNNBhHsu31Mv4ubyIzOG6BQNSnbZLlYDMMwNowy08kQnjQ0qWN07rRTpnzZ9ZQCY-lut-zQQkVO7PyPHRenTUqLBPbfDjFim5Sl4lVFh6OmUaO9H9MpYlrhNyxjslSIX0rvwu79Z1GCk3c0FiivtAyvi6YKikRptmkwgbxJwZHjUd96zAq9mVYxb9QCeidJS9FrocrbZXBdCob93HN0IK9JSOVg-PMZyrfMbj09YMcgp8sP8SceLUZYG-fWzRFYPwh-u3IY3GxdDNx1VKilQuez3rT0CNJ7xqpVOsaG4fgGc5CSdAcJUVX3ejbCKpwQVb-oyZLDfvd40M9vbpww4mOVqutk-hFV7EuLm9_JhrL42T0rTpDBmnXjK5cOW4c0HhKAqATLsCwLLvSYfhhrTnv8hpl2b3Eb_CYicbPGKhbnSs8mvlPK1BYT7r9NjR1yrgAC2C_VZNiZiHyRbh82Ff4MplUGW-4cglNNsTX5sYWbOSwwonVNC3KDoXBZbu1AcHt0upxkS62UD7NSopnTqBTenrqj68MFgTrfce46IrgVva6Al9a7ft_qDHwvBeMC5lj4OnLu3ZJywJ99MX6ccZ-zPT3bBvBmq3bh2yiC6oyowUpaZdg1YESIXIck7nziFKJgeu3CQHO2G2RVUIt-VRBYIkHjw1yWAiPZkf7QLqGfgY8YN28q56aJHiZuOuWnPv02qZKWHcndZk-aPcnJjV370HYQQbuU8OITPs8dmmpfWXV8kTzChkpmpQVKy_nNQFEN6Cxey0MrlCOPuULEgIoT2HXhJ9z2wtF41VsDVbygTWQvMwmLM8RRhy__iiD-qOaT9qcCECcBZ3EGzzTs05M_jnogdj9JOjUwqw0pEogyf-3T_YrvtkkQTo3ZlLQ0qG0Nj87io8xzEY42KqUzzml8vBZliTRx0VZfQupBxoDuJS8sIGbtVfZmLsBrDjnvLmm4xd5G7WAU8JLc4IFnVHDoNv0vKUpRRdLcvOSLW9u1BLvLsjQrnbVKp2Mln6zn4cDzarLyTGBFd3RUL1JFnefAtgt2WIQJbQzX0LVb70vdYBuPxvcbS2Jpmetyy7x8uXZjJNa4ijmnUcDAyPOEJJGcaSwLZGmBGcm7DaM_DFMlKfx-GBH5HC9458TrBX-g6LInD0EhOR82crIJuNajb4KhXzpFmrElKS38FI6PZBviKqSCIm053XBTV4WYrvjpLkoBB8IB0nWb2frCgFBBXCIqX8qH5j1JPsrMI-dSiMTu4cLoPPyZ1AJGTWfchmL5Ub_rSLiFLldwEkbkZsSVjum518l8JHbjCVjYPIg4gWNC6_uwJdVrr221UkvOp12W8WeTGm2LXFh_yIut0l7uTBfLeskltq_9F_4pVbgT1h8655J5SV3sXSFGrxWbbuJWDgd4gaRpyASKZus9cvYoRa_S69caTPnBX43pvubYpMOHqeo1NutT1sBNYXq3Pzx7WR_VQAdjirS1Oq7dWeLqH5VFE2R8b0vlNMQ2mpAV-uzxGPXrxyYNs9xByyuZnMTMLDbY1DQbvfT3yJuwfAa-mOrh9RCgYLuO6zgNdTq4Z4ignFtVfPZCp-9G89bw1Begj0XBTqykdixfN99xvsrHriysvGFSnBL_mTrh_CIdMUxRWPTN9s74iTz9oCsjMVwmHhqq6FXBZFU38TTxKrRKvmG1zUHk7RvQlUPbMk3QmEV-5cLZVAFA8VTCyBGiSzfPKUCLAbzbWknfpjBIQwfDfvCNCRTHnrNUEjXtIKHOS2tiFf8h5Fv5BEOoJZGr7ShquvwXZX8lv3Huv98t-lXjl-ZzL-qgQW5XsdJz-H8M_jWSnZQGzdeZSErCu71uDx5DkKbEWLG44zF8ROAa1zG9tJbenCXc5rorDGBr6QgYTbGCsq8x2-L6FDgSrYNDSprma5i3e1OYCq8-icLIPbk5xIUddxRpicGxmwk1-nSzg4OweLK9g07z4GpKfB-PvPbP8_bzGMRSWeGc5WoU3Pm2woeScFKEkxNddolThI3JWTGLPnSYXZTnZJlHfM9K10XzkStp3sL4SeGnv4ulxJoGq6QzMTno5IT0f83bQ8k_anKJji7045Gk2QU2rGfVBbwSgkoC4ifsZqcsqSbZ1d4ZRBpxW4V_eFtIUe7btuY-UVNBmJkauoiywGzPWEMInXNtWv4chR4VBJs5CgJwXIhKjcsxSvWP6SOryc594_ySfj",
  "id": "rs_0b9dd0a7cf7e86d2016ab41baf6dd487d083079c56a7b84882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.095},\"note\":\"The right gripper settled at 0.568, consistent with gripping the bottle’s wide body. I’ll lift it slightly to confirm it moves with the hand and see how it pivots before attempting to stand it.\"}",
  "call_id": "call_Jj3JVLvdHy7JvgZcTtwOYzuV",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bb205a087d09a697e2841488b3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jj3JVLvdHy7JvgZcTtwOYzuV",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.6334, 1.7592, 0.7734, 0.1814, 0.4156, 0.2974, 0.5537]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0031 left_roll=-0.0003 left_gripper=0.9984 right_x=0.375 right_y=0.1914 right_z=0.0335 right_yaw=0.0928 right_pitch=-0.1522 right_roll=-0.0666 right_gripper=0.5537\nstate[joint_eff]: [-0.4034, -1.388, 6.8444, 1.7607, -0.0513, -0.0317, -0.0171, -0.4718, -12.6427, 10.5504, 2.7375, 0.5153, -0.0269, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd3c01d4decee2f47987237d9e464a880c0fac9d7e0296cb9cedf482539178f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893ff1353486b4c89221a25e435fadb1d11659487ea033397fe0f8dd5d032c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf963e12d3cd90b7cf9245decbb3111868b01cd0079c9cf84bcbb9df96cd4cf2",
      "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 · 3.208 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.6613, 1.8248, 0.881, 0.2497, 0.4728, 0.3256, 0.9957]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0027 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4051 right_y=0.2179 right_z=0.0591 right_yaw=0.0659 right_pitch=-0.0381 right_roll=-0.0177 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.4291, 6.8171, 1.8144, -0.022, -0.0659, -0.0122, 0.1846, -11.1521, 5.7778, 1.6825, 0.3883, 0.0513, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.379, -0.0193, -0.0296, 0.9984, 0.6353, 1.9049, 0.7483, 0.4789, 0.4461, 0.3027, 0.5678]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0023 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3964 right_y=0.202 right_z=0.0176 right_yaw=0.0738 right_pitch=-0.0334 right_roll=-0.0134 right_gripper=0.5678\nstate[joint_eff]: [-0.2667, -1.4291, 6.9812, 1.8242, -0.0317, -0.0708, -0.0122, 0.1983, -9.7026, 4.6564, 1.7607, 0.3101, 0.0366, 0.8474]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.6334, 1.7592, 0.7734, 0.1814, 0.4156, 0.2974, 0.5537]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0031 left_roll=-0.0003 left_gripper=0.9984 right_x=0.375 right_y=0.1914 right_z=0.0335 right_yaw=0.0928 right_pitch=-0.1522 right_roll=-0.0666 right_gripper=0.5537\nstate[joint_eff]: [-0.4034, -1.388, 6.8444, 1.7607, -0.0513, -0.0317, -0.0171, -0.4718, -12.6427, 10.5504, 2.7375, 0.5153, -0.0269, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dd3c01d4decee2f47987237d9e464a880c0fac9d7e0296cb9cedf482539178f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893ff1353486b4c89221a25e435fadb1d11659487ea033397fe0f8dd5d032c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf963e12d3cd90b7cf9245decbb3111868b01cd0079c9cf84bcbb9df96cd4cf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0b9dd0a7cf7e86d2016ab41bb4569887d0a5b77f0f9e47ebfb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.18},\"note\":\"The first small lift stalled at about 3 cm and the bottle remained nearly flat, suggesting the gripper or bottle is still contacting the table. I’ll try a higher, slightly inward lift rather than forcing the same pose.\"}",
  "call_id": "call_kNQ8mGKo2cJcimTlnkCbm9Rn",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bb5c85c87d0b2e3c6beebd42042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kNQ8mGKo2cJcimTlnkCbm9Rn",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6693, 1.454, 0.8467, -0.2356, 0.4149, 0.2867, 0.5576]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.3391 right_y=0.1821 right_z=0.1108 right_yaw=0.1317 right_pitch=-0.1858 right_roll=-0.0942 right_gripper=0.5576\nstate[joint_eff]: [-0.2667, -1.4154, 6.7897, 1.79, -0.0269, -0.0513, -0.0122, 0.1983, -10.2359, 12.5197, 2.5665, 0.6667, 0.1929, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70db2586af24235fa2a544f90a8c62dd5d871bb523b95a42099cd33d66fa207",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3364cba2a498c938475c61d2ff7994af578c04e7237bfaf2165072fe67f068dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc58bc8664c966945b28eb850246d982a1980847f67b9d6500a0d5690c4b24e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.59 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6395, 1.8801, 0.783, 0.4053, 0.4622, 0.3088, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.399 right_y=0.2031 right_z=0.0274 right_yaw=0.0617 right_pitch=-0.0399 right_roll=-0.0246 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -1.4154, 6.9675, 1.7753, -0.0464, -0.0659, -0.0122, -0.4718, -8.1983, 5.7778, 2.0342, 0.0562, -0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.6334, 1.7592, 0.7734, 0.1814, 0.4156, 0.2974, 0.5537]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0031 left_roll=-0.0003 left_gripper=0.9984 right_x=0.375 right_y=0.1914 right_z=0.0335 right_yaw=0.0928 right_pitch=-0.1522 right_roll=-0.0666 right_gripper=0.5537\nstate[joint_eff]: [-0.4034, -1.388, 6.8444, 1.7607, -0.0513, -0.0317, -0.0171, -0.4718, -12.6427, 10.5504, 2.7375, 0.5153, -0.0269, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6693, 1.454, 0.8467, -0.2356, 0.4149, 0.2867, 0.5576]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.3391 right_y=0.1821 right_z=0.1108 right_yaw=0.1317 right_pitch=-0.1858 right_roll=-0.0942 right_gripper=0.5576\nstate[joint_eff]: [-0.2667, -1.4154, 6.7897, 1.79, -0.0269, -0.0513, -0.0122, 0.1983, -10.2359, 12.5197, 2.5665, 0.6667, 0.1929, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70db2586af24235fa2a544f90a8c62dd5d871bb523b95a42099cd33d66fa207",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3364cba2a498c938475c61d2ff7994af578c04e7237bfaf2165072fe67f068dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc58bc8664c966945b28eb850246d982a1980847f67b9d6500a0d5690c4b24e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBu63ynsFjJU9R-4mz-lHuofvF_bnS1w5g1C6XPBBmvG-wU2teqhjbUOiGJ4sRoCkB5Q1tCH5bhpseX_P6NiaSm_qCxlulO6JlVpcJGwpVo1W-wA9pvaK2LEEFjZpkKZw9QmWR37XJyDeMHxqIQTHKP9qmXrBjRwyeRz-inaupc2B6FO4qD3YPzyJ0AXmF175vJebFCEROJhVKIVZ8YK9BFQnWzKrNaFgdG-PKfRq2RYZryJeqjRq6jHy1lb1jm0sBoGjKK73F9Jyz2PrDRosK3c2eGCZIflqXWe_3oNRoQcd4nBP5CP8nL2goH-uAPxeqnrbstXhDcQibc1bms4dHef26l7Fr5bGah5uqW8_eVQrelFQVwiafNxswT1ugaYLrpq-sg8OUQRuT6s--gf4mPKhQjk6YdyXJzb_IqwiLpnh8B6k1U2I-QOFRL0pYwY1L-BI-qSVyG-7qP6h5C5PjtpyQJByRX0JTLLQP_V67374boijnCjPjcdaZK0489blg9JtBkd53FuzzOU5aTamJEdL5ubK4sBvwViEc3iDLrrs9o7zdC_24dwrP-TZ53TdIRMt4C1_Gt3rP6KjBKFTkG6EaTf5cIKeclADFRoJqDSDFfa-IEQTYu44YfvvMNtJRTGShkm7f6h5Z4qrpgZgN_zIf-PoZPjlX-WDW1SPyVUaa2tblku5QpjN60tues09MgvopqYXWOP2Qo3SB1xx9mi-uRHdE01Jw5h7sZQ-MZi3MMD8ySMjvro3ET9ExUNAuWUllY_gVyIel9mv-awZpFQFU1XZMx6An04zZnLIboERg98eLkg3xHXL45Lm4UdbBHnfHv2DzPH8oEaIXfg8K8PiPnCosQGTwd3PogAS_0dcI-AddNy1G1ncpQ0MId5EVIwaDrR1TBz1ON66YuEWQz4e_usaKwh8csqU6xEn3h0cfBp25bnuHeBe8jFodDHJkJPnn3H5gEQB6oewqRtU-kAvqHZCi95PrcVTIzVSAYTMttD8f7SBQNX15EnPCUmNmlo6r9GMdGiGHQAmUnMbhvrDyqce-kUluVkB1Ozs1EQZrNvreNwQGS1I59TqsHegnVBxpVrV4WTbDnS2D_uFvp65RrsmbESDoMEPV9JxQZ1Fr7XfLs2WLVY7Bc2dAXfGtdsDIht41_bXjChaRC4fwe1pncvNDTAvLcsykeLj1Db1a7nrsPET1_S3NF7OD-6WcL8gzl7m2X6MjccgjqSbzXvw8tnxR0SHiRfO1CAstuTqXQx-PfJaHeZBoTqsg1oTWABlhWcTd4BXdgJgHpFrXj4TU6K-o-UBMIwTBsFj1gQFgs3J2M9Jhlm3odxWEGjplcN_S5eqcirCO7lZupj_wb2NQKpR4Q9zhgB43UGlpwdfH-_60vZa-QyHUmCV0jwbDBxEZHHekyor_wDV8yZ8v-6MjayrxtHlYza9zaRFiWgNuHNPst4-nX0kYYK8fzkUtnFhX-uIDenc6Djx725yFNTrsuTD4mVLh-6G-hDLR4I-RaiG1P16YPx5Nf5ct-bars10Ak7tqfmgv0BpyLJXQfAQX2ylg8G-QON4yuqy4_zqJYrfERg8HHMDuKa_6c_M2eVsz0QTklfLAEqsFGltgFjwzRLby0rQQtRjpyXiQnQSRurugPQpuojj8irz5PdiFnC67cK7DD0HhXyumYEZXMxUUsHsm6BJpYGNOjLry4l6wAO-hV7wKRxZhKPQsxeopI7I0I1xbDHf0jsAy6TZwNqBZkmCjciW03qBoh1pez9vB81KMnbke91cZOR8Dv1dYK9ttTLtcvihvWNEeX0fzUND3F8jGgqkFCRCjgYY-z8sD8UqqcxCzU_fkFvxqXLZdT8Dmh4mv0bcc_r0FEXtodXLg6VLLYNQLbRrnE_XF7n4ycYTaa3ElMtMHeC3QY5q7cndKuxtW4-roKD0qxNtUwtmVEtL3ugqsUcLDprztuJpbCsWdWANmoC99F4tkBSZL598zPy1uFsiY70jRwQ51kV049lItsn-wziBnhxNr7hvKwWD4VV4cUzrugO8e6S28qP8ru43mCinWQDpTVGLArTes3ZR2v9M37FS_aa6MKE2hUs7khHtqfJo_KVNCGq3230eZlzwvOgHhgyB6ZYOqaRgtOiXAz1EnsRjam7WKLZ9PCoVC1EULQFks7efYw9fltZaU8oD5x_cB47xhHcO9pvBhuRZzW5Uq6g1r9SrNdpqaGW7Mu0ZiY1lLA-r3268k15W8aNkWiYfrImZXr9i4D5JULHuNWP2aHIwhA8USdpLJvaa4Zzn5oQEAEoYkPVNQtc",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bb8723c87d0bc93c547ce31a498",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.12,\"right_z\":0.23},\"note\":\"The gripper still reads a bottle-sized opening, but the camera continues to show a bottle directly ahead, so the hold is uncertain. I’ll move it clear of the bottle’s original location to verify whether anything is actually being carried.\"}",
  "call_id": "call_hfp514a45BnJBOwMdt76Ei9D",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bb9faf887d09184318cb3222dc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hfp514a45BnJBOwMdt76Ei9D",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.588, 0.9974, 0.778, -0.5648, 0.337, 0.226, 0.5582]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1829 left_yaw=0.0001 left_pitch=-0.0046 left_roll=-0.0008 left_gripper=0.9984 right_x=0.2773 right_y=0.119 right_z=0.1719 right_yaw=0.1507 right_pitch=-0.162 right_roll=-0.0609 right_gripper=0.5582\nstate[joint_eff]: [-0.0889, -1.265, 6.7761, 1.8144, -0.0317, -0.0757, -0.0171, -0.3761, -4.9709, 12.5607, 2.6886, 0.3785, -0.0415, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7560583415c07fb9ea51557166c0310c58892bee550ddbdf468c9ecc3ee4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11cc8149ce44cf04d4e316e0f6ac4e566b56be7ca2f892ef6e2eb1abf579a63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d54a81eccde5f5d8cb7c02a7e10fdc1199bb92f7984a58d0baf12238e276ff4",
      "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 · 3.6 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.379, -0.0193, -0.0296, 0.9984, 0.6353, 1.9049, 0.7483, 0.4789, 0.4461, 0.3027, 0.5678]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0023 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3964 right_y=0.202 right_z=0.0176 right_yaw=0.0738 right_pitch=-0.0334 right_roll=-0.0134 right_gripper=0.5678\nstate[joint_eff]: [-0.2667, -1.4291, 6.9812, 1.8242, -0.0317, -0.0708, -0.0122, 0.1983, -9.7026, 4.6564, 1.7607, 0.3101, 0.0366, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6693, 1.454, 0.8467, -0.2356, 0.4149, 0.2867, 0.5576]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.3391 right_y=0.1821 right_z=0.1108 right_yaw=0.1317 right_pitch=-0.1858 right_roll=-0.0942 right_gripper=0.5576\nstate[joint_eff]: [-0.2667, -1.4154, 6.7897, 1.79, -0.0269, -0.0513, -0.0122, 0.1983, -10.2359, 12.5197, 2.5665, 0.6667, 0.1929, 0.6716]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.588, 0.9974, 0.778, -0.5648, 0.337, 0.226, 0.5582]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1829 left_yaw=0.0001 left_pitch=-0.0046 left_roll=-0.0008 left_gripper=0.9984 right_x=0.2773 right_y=0.119 right_z=0.1719 right_yaw=0.1507 right_pitch=-0.162 right_roll=-0.0609 right_gripper=0.5582\nstate[joint_eff]: [-0.0889, -1.265, 6.7761, 1.8144, -0.0317, -0.0757, -0.0171, -0.3761, -4.9709, 12.5607, 2.6886, 0.3785, -0.0415, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7560583415c07fb9ea51557166c0310c58892bee550ddbdf468c9ecc3ee4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11cc8149ce44cf04d4e316e0f6ac4e566b56be7ca2f892ef6e2eb1abf579a63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d54a81eccde5f5d8cb7c02a7e10fdc1199bb92f7984a58d0baf12238e276ff4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvB6VVVAzr7H-U2Jo4NbGoZCTLCl5WX1ovuyArlO_aJg8BpJWSxOob1XP0BqQvoFPzvQkBNXQ5uChlLHdyqugokK-dSndWr6B4Skzsdnou2eFtbOswi24EtUr2co2x6oWYuWM6OqwVV-t2g6o6pi67T7GjT_hwMxrSXVKNiV9tAnjz76uATUbTbTF84QP53p9P39HPqzqLyD6l3r0ejDwF7128II8nSYv8sSM2RJRw1ocdR2_KgtDRqnMsWLXY8anLomkG9Fl9-V-Xdj-Qut4G52yqYLdYaHINC-IZkehN66_nu-mAzJclmIiJikfKuozzWp-eM6rnMSz_6PuRsdzWEVIeO5iIm9eOnzR_ompnn76r5qeUKtoc7mGFqnUF694R5iWpokV8cMJlY8Nfyjb0HS5J_UgBw2bkVIG1udL_1876ft3lHutM68CwcYKijQ--D8dMlNUdMVSTU_g2lDu9_-O4rNrjpMTJbV3sQZ3BllLlVFfBInaqzeXCglqWw2vt5OmB4ChHwKCb8Usxhv5iLJllF4U0b_CGehpHFbyCjYbVdQ0heXEs5tz_v0GVMNpv3wO8EP28xwjkiXhuqhEmZHN-i22FUKEFDpjXc4bZKu0HiSPsFQftTiXA0cSBAulwDlGAHG0yusnXi9HKRRrWEOkHDtpwJcqqLRs0dhmlmC8End2ysD10E0pxnmC75siHCOS8dPy5ErCfSUZpPs5Vwq6k02OokUEAE0JsI3Hl8G7LQrrW4evKwVG2ZDieFn5bgHfz29nMLSAuxeIU42n0A3rwheltypRVBmK-CqOjHSLzoJdB9VVRmsw5ievAeA-YTmDDN6wVq7vC9TF-19vcaO2OtNIS3Zbdg3S_xqHjJoF9G80S7svnxZeYJrBuSzaiPY04epkxvL3wmvxitLhUGfl2Mrt2s9oDSoDRP4rp3XXBpq3RN4_SuOCkhq0duRMP_oUpmMEOaD6bmfpSmsBmivtxtp12EnqIawkK67KhJl_abGNflcO9__-5HRqpFmkf9xF78oRO8oUVSywxs9TgwS_vRqnBTaOgPTOsX4zgvTCHpsO38TF3oXmAB5-fhH6umHUvnCjSgifvt1ooVP-Ms2eEBG4sD4VZfK_U_S3Pht4k3CbfA7ub-VMJcTq1PCrQGyU9DdIYtkDi4-R3Ju21zaYTkqQQhHfDW_3ijON8tS39xp2poQJHtCm7oVxWfuvaD9evdSammhb9-t5rxrQ3SkDinen8cvEwj_tcoUZseVnaccYdhCfNsdzZDGeA1lggAOulgnGmgnzAnQGQ8_A3V8TqULUOnHLWgB75DH0BnPBn0VgBZNPalBK0wtBts2j-4pEgu4SaHMJrFDu7787kci0nMxsEChNhI_UCSdiY5g8UcTF7OsFpe0rUGIxRZoN8QHYfJB4za3dgxjGfjKF_h1Y74IhnWBNT4ASBWtoJXaXzKczCHY7yjfdYgh56khoGe240C3lInZaENRs1-iCAc8nBf7aoH1XpPGg8MtT1N-dHurzKomT5X6P8qs_ryYL6CDgSiwy-zCDfwU_g5h_eJke5F2VKTJpCiAebRpVbXpqCO06yo5F5gHKZ75UiMbagSTzBg5pF9TVRSVShFZHSQ4pzqkfCkUxJnb3ntx-6UAc2-v3r6cK7_Abm-LpOts5a8s74_A0G1bqWNEc0YE2gOR3j6xLw9do-WLhb8nA1CAcV04qeKPCrpHFHGtkYM-G82-Hkp1togAvRZH0FY2AZVj14535B8iwVs1jiXz8JPjidbz0X9-a9hclKvflKlCIyMnjN71GJ9QVjCPgYLH0rg2zO2NIzZrkWDiJnsFuICdUquUb__JZ4dZS72eiDoIJLQs1VnbgO_ms8sqBbeCIb2vxZHdU3-oyXnjrqPGuoGMosSzrTs5GPf5omiHMC9T9kWXf3mfnj78Xknv2LyGOpYyIgBxPhVFJklGfIdcH6sWMdbpCKdHEh0uDh-sR0KyynvVM3a0n2wa2ZY66jsnipWd_miu-nWxnWnIPoFu8_pkuFKOQglrM5jdFKBVIFSgsjB8ubt33KYcAdqpCfkEedcsCZnvyicOMSzXlkauPLcdaPD1FSGYM_bEpf1K164Kwqp-ZQEJIDDXsQT48Th5fwxo0F55D-pR-EvdvX7i56NvsdLUZdWkej2PtfnCHqHwvSz5kEIExJgOmnz1ptdcsugEX4Fid2hfSM9NBOSbIREkV90fnXHjexQJP-mIziTZcyQgLMZAyVXtUikug7mxemFlipgrq736SG8vz_-W7vTIiwP2XlITM8wHXFobDBQBiE_fsAk1KP9apbrVjWgeooZ-FS2WtEZ6itRDgBe7YCVxwu2nQTHYjtaghVGYTXHCBAYM7ojtdjd9uvE4zKfSX-Xai04sMR49B7id-gVyJR64ykvcsVeJqGdWj_Zbk6XzAgg-_BTPG1cbxka-tux2dYh889CCwev6NITLowuT5Ozx4IPvS8CPCFgETZ6VjR-UVurW6reyMqCQn6_RR-b4ylIIaRIGJv64ANPZUsy5_OmgCsky1fuUn_ha84XwKSzYNO_kAQc8pSgxVFI4fXboPXZ8Yz-ZajWdR_rzSxPGZdd1ajg8r_Wbm9ZBQcLSkoxz1AFHn6K5-m0IrAQW89Ywh06da2_0JVguDNPm3ItIapwcczyg8oQLeHcy-9wTxdhgzTls8Tc5Jiqf7h-TfhlkQFtX9-OBqzMphIxAcZjloNzYj835yntXgqdldcvmsLSl-YsoNzK70wg7wIRYxWCyoMgDxtEmdXpioMh1BHceyGMrOWDPvv_yX4f5lzKc6a5SSZYGBnZUlErUp8QRY42MqhPulHapetT5RoLDJNPUMff2iCkXkVPgN5oI2Pmgy4plJ2KVhR5nDmpOman8_wbQawQdbOM0U9gJXjNbbM8-K2_wxEi0n1Zs6nxKtMPj-ww3IwaAkd5RS1wwjiluiMEkIerwppVzU9TL4heVP6qJx-1u459UdS8n-pIAtF7rwfU9ranYKYzXZRLu0nHYqWTKxjxBFKum5y0vbMO0g5slV613pFQ3JfG7XCZSAE_tQzq5-pBTVmvrDUGh-JSCe-ZIXlmvEH0BNDhMZH946_pXbBRPYPKuhIft0mI0m-XrVVrPB5F5Zqvwq3eg1FNbLeGod39qCoMp7a3B0g7sYAQfwdoNM7wsuaJy_umz4v7nebkEkz-5swnnKI3WnVBaMLJNL3ijI5NxGbehnWFpJa1GDpY9d8qFHvWuxQtnYGOBX87zRIRmTz5Wi7FwY4yFqN5i3DAZxQGsBXeSX0xN6XOiyG42Nj-kc_-YojUsZ9BeWSAf9U0kGHW78WXCsEx9kDaYLS8Pjb5h2hSzZWt1JskWfxBn9X9vYRa-QKCpozf69oqkYYbL95SFAynmXlg5vM2bdBhO_9GJvRDmGkION6ReHvOL8pzaE-DPnOMixjDBCfgJTmjnRmnPzuUTj8HwbXAOR71Ofsia8mT4CHURPV2MrFpQJkcELAK4Gn2jSw545kT43Slam8qMl3kDoFp8Bp7Tso1i177W08EgTappRpl4RgcGdRDxN-q2eiRQjOErnGoOubP",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bbc89bc87d0920a7f7191ecc053",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The right bottle moved with the gripper; I’m holding its lower body, which won’t let me turn it upright with yaw alone. I’ll set it down closer to the base so its cap becomes reachable for a neck-first lift.\"}",
  "call_id": "call_VDuCnOsBU7jurAVPiVT5QAxJ",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bbffd3887d09d877f924d4ba08a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VDuCnOsBU7jurAVPiVT5QAxJ",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3813, -0.0189, -0.0292, 0.9984, 0.6415, 1.2259, 0.2211, 0.2375, 0.3706, 0.2386, 0.5615]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1821 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.2619 right_y=0.1202 right_z=0.023 right_yaw=0.1712 right_pitch=-0.1364 right_roll=-0.0653 right_gripper=0.5615\nstate[joint_eff]: [-0.253, -1.6205, 6.653, 1.8486, -0.022, -0.0122, -0.0122, 0.3761, -3.8632, 5.3128, 1.7656, 0.3394, 0.0708, 0.7302]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50363c8c775f5fa676c2c2b87fd294440cc46fae971f7ee1aabbecfc706e74ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0842f59a09afda427581359c436c4d8ee6609cac2818125972033746e565dca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c2840a1296b5527b8d6a9a7b9e6b57eee29408b7fbada485ebb61a22b8df6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.752 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.6334, 1.7592, 0.7734, 0.1814, 0.4156, 0.2974, 0.5537]\nstate[eef_state]: left_x=0.2963 left_y=0.0011 left_z=0.1833 left_yaw=0.0002 left_pitch=-0.0031 left_roll=-0.0003 left_gripper=0.9984 right_x=0.375 right_y=0.1914 right_z=0.0335 right_yaw=0.0928 right_pitch=-0.1522 right_roll=-0.0666 right_gripper=0.5537\nstate[joint_eff]: [-0.4034, -1.388, 6.8444, 1.7607, -0.0513, -0.0317, -0.0171, -0.4718, -12.6427, 10.5504, 2.7375, 0.5153, -0.0269, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.588, 0.9974, 0.778, -0.5648, 0.337, 0.226, 0.5582]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1829 left_yaw=0.0001 left_pitch=-0.0046 left_roll=-0.0008 left_gripper=0.9984 right_x=0.2773 right_y=0.119 right_z=0.1719 right_yaw=0.1507 right_pitch=-0.162 right_roll=-0.0609 right_gripper=0.5582\nstate[joint_eff]: [-0.0889, -1.265, 6.7761, 1.8144, -0.0317, -0.0757, -0.0171, -0.3761, -4.9709, 12.5607, 2.6886, 0.3785, -0.0415, 0.359]\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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3813, -0.0189, -0.0292, 0.9984, 0.6415, 1.2259, 0.2211, 0.2375, 0.3706, 0.2386, 0.5615]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1821 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.2619 right_y=0.1202 right_z=0.023 right_yaw=0.1712 right_pitch=-0.1364 right_roll=-0.0653 right_gripper=0.5615\nstate[joint_eff]: [-0.253, -1.6205, 6.653, 1.8486, -0.022, -0.0122, -0.0122, 0.3761, -3.8632, 5.3128, 1.7656, 0.3394, 0.0708, 0.7302]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50363c8c775f5fa676c2c2b87fd294440cc46fae971f7ee1aabbecfc706e74ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0842f59a09afda427581359c436c4d8ee6609cac2818125972033746e565dca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71c2840a1296b5527b8d6a9a7b9e6b57eee29408b7fbada485ebb61a22b8df6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvFn68GqUlnF2WVahLaCpj6d9i20i5N3FpBVZJ_aRcsYQhC9QsV9eqI3CXRJzBdcyU1_gTjNXk4wy-F3N3IH8vQwpdHTG5pk9_4179Rso4W1jhRtwLOED_3-fKnM6-ABxNR36U8JFFaM_KGuKebb9siX3e2swJpak8-GG2Tx2EUelqR8sSL0lMIPCQph-4JQ2Xe_wFBVIUqfTg1XB0IqSXua2a7yRwNhaF6E0YifnCKerivx9Tg1kYuIhZWQuxxEC0H8M0xygXmVNBLuMV-JG7Bu7ib0u8ePLeYgoQWLBpDrjA-YBRBFEcw7KiFVq-iSoCmL-PPJEPswuvG7D083V-qTbEGHX6SxjgfiK1bTtr0nKMXX0uuxdrIbLEUWdIGaryz0A7PCvygrOFjWQjxvSjMYol18p7e5QBLAunnTj3SKfti3HvoemOSyMo4Gdnvj2lZwvqzOy3mZRHmX_3UEQd1TVdvWoo1_6eLsCCLph5knUTpogVQ6PXE7JQpGtMHQcH1EadZLOaxaA0DGBtZI3PxqZFBWtOwIp9AJfOKPSRvevAwKY9cUJEWux_2U0HdKgQy93csPcNwnZarqgjxTKZnUzrrv5Ra98A9tvAJgFiLsjf5Y5jteeQMKbwVzFJs7flbyvTTigkXm_ZWWAY6i8O7xs2GqK6cqPwH4FvqnKAjsJHBvyXd3JxM8GKe9LbskT055gg2I6XkH3E5iorw2httBdfqut8nkLQ4Pu2B6tkORUkxva9_n_hO4oSN7nboKBCN4YxMkFTgeJ4bB4ube_MD8FShpagBAj33Wd-TK6uY20gziilHBqQIjM2sXqH0lhWkBCbF0SAWGOZUmF7eu150j-L6jIL4FU8zT6bpNzNZTEmPnsmdUJR4Xy8RN3IQwgx72IOSSxeJEpSyZYI4ynbj3BX_ivUPXBECqrCJXfWVqNPgqZ3Lr1O1CungvAK0X2wp4hxJ1t-BOiwT95q36FUNSGVShz3rPk7GoUP2OAoDT-SLI7nm4zCHX1C4817IqQazLkf6_m1ceD1raG_AReB-HSI_z43EOktnvt4pjvL81UfxR_uTx_M9p2dtUrFOC5nbAwUaVlpK4aw4pxBdsaOfkZBYXkT7MKMWbAlv3AAIpl9NSCCt2ysVpUTWJNPcEfaVNyDLAQcz7NBt6kA6QHNGOOEMedoHqNMGHdq54o6mWfST8ZSFpXg6plMPPlHfzrt4-s0RHq2ATjYUz4tSrNgB9aNQJ03AFqd5PoWzH3_OPJ5fcE8RzAbhaP76I8d2mHdS4yhhLYNPiLYhj_CcM8AOtMLPKiL_AtRmvwlIz2_N92GjPKP4dd5tqxLHL_8xG_FQO2bQchYkCNAY9lmNnHViDsezI15Pg8Ep0RmjAoXAX9PkPmvIVXwiZVdenxk_KJ4tnnWI84NmQaxMCkt5EOr-BFREKpxs10Y2za3rz3_xtKVSzFZ2sQ4HiW7Ua4wlgrUndQrofodR0uCMfOt_ZecC1lN88dwOpqtBM2uTTkJyTikA6GXD96N6PmJzUJ67lFNNsmw6HMNEn0i3jyeZx_0MX8cJ9tgC4RszR0PvMLGOd7414rOihT6jfHIDgnXXLNIz3hkwK8w0XW_76ZqXCppJC75HUhjabdAhfMl99piV4iITROhJDqG-M3H0Vk2cpQLAm4MtuD2TTUd9cPF2fkDBBCZJq18PI5ZtVWVqHaNjVLg=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bc3c70c87d0bdc5f1bcedbfe66d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.385,\"right_y\":0.17,\"right_z\":0.12},\"note\":\"The bottle is resting farther inward, with its cap visible ahead and to the left of the hand. I’ll release the body and approach the cap from above for a narrower grasp.\"}",
  "call_id": "call_sIL8UT18mT4JlBZBTH7QUBtl",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bc4c0cc87d0ae802140e1699ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sIL8UT18mT4JlBZBTH7QUBtl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0193, -0.0292, 0.9984, 0.5327, 1.4761, 0.6952, 0.1616, 0.2787, 0.1577, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3733 right_y=0.1678 right_z=0.1059 right_yaw=0.1863 right_pitch=-0.0243 right_roll=-0.0169 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.7709, 6.3932, 1.7851, -0.022, -0.0269, -0.0122, -0.7316, -5.4359, 8.294, 1.8584, 0.0708, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0247ed0fce0c491ef636d7fbfdc4bb36bbe9736c35388974502002c7517763e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975396e3b1b54b04c785955123ed88d556e710b8ab8bc27e583b95ac32e26e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434479c9100733b369c7062338e90af84cb959f8b151e1ed82eb0af4f057fb6d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.089 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3798, -0.0189, -0.0296, 0.9984, 0.6693, 1.454, 0.8467, -0.2356, 0.4149, 0.2867, 0.5576]\nstate[eef_state]: left_x=0.2963 left_y=0.001 left_z=0.1833 left_yaw=0.0001 left_pitch=-0.0031 left_roll=-0.0008 left_gripper=0.9984 right_x=0.3391 right_y=0.1821 right_z=0.1108 right_yaw=0.1317 right_pitch=-0.1858 right_roll=-0.0942 right_gripper=0.5576\nstate[joint_eff]: [-0.2667, -1.4154, 6.7897, 1.79, -0.0269, -0.0513, -0.0122, 0.1983, -10.2359, 12.5197, 2.5665, 0.6667, 0.1929, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3813, -0.0189, -0.0292, 0.9984, 0.6415, 1.2259, 0.2211, 0.2375, 0.3706, 0.2386, 0.5615]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1821 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.2619 right_y=0.1202 right_z=0.023 right_yaw=0.1712 right_pitch=-0.1364 right_roll=-0.0653 right_gripper=0.5615\nstate[joint_eff]: [-0.253, -1.6205, 6.653, 1.8486, -0.022, -0.0122, -0.0122, 0.3761, -3.8632, 5.3128, 1.7656, 0.3394, 0.0708, 0.7302]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0193, -0.0292, 0.9984, 0.5327, 1.4761, 0.6952, 0.1616, 0.2787, 0.1577, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3733 right_y=0.1678 right_z=0.1059 right_yaw=0.1863 right_pitch=-0.0243 right_roll=-0.0169 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.7709, 6.3932, 1.7851, -0.022, -0.0269, -0.0122, -0.7316, -5.4359, 8.294, 1.8584, 0.0708, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0247ed0fce0c491ef636d7fbfdc4bb36bbe9736c35388974502002c7517763e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975396e3b1b54b04c785955123ed88d556e710b8ab8bc27e583b95ac32e26e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434479c9100733b369c7062338e90af84cb959f8b151e1ed82eb0af4f057fb6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvKynIawjOaHxTkaPvVcuOabAdFjbfdHpkd-sR798Psuo1AVOi1PDhaxmojVSixuW3-XA8mls8O3rzVwQ43WjAq8RDQR1bNy2n7PB8y4O2ObQ2sshR7YCw3Z0kWVfMZ4xZ37PTguvhHT8szuRtPOIYNQfJHX1j-qLRmHcErTlDdtPiAgD6PV1LavsddEeCZISqMmAXmVnu5AO89q3X_Dh0IN1HE4LVHM71B5olZRkypsgGt86VlDy85Qgz5fPgJQr65kStOVDo1D-en3u1K5te1VRkDA04ttn0AypEq04ybMKQvZnwzAZsBhCZCzKAjOu054iOAx7e5ucXKT9QM_U0gDO6kTgouB7x6TinuWt9xjq7f7xQ2oT_T7keVeFL3TBgBQwt2GHRkyhqjqHrEzyv3JHGlXz_12VKdidMQYInMX2X7yCKX6k1WVNTHXllvJ33IGxcxiFCU6F64FJLsylxIAq2ZdN_K746G_8V9-LP8zuf6rQE4VLYhBWAfuwZrWz8ajMEqkFG2N48As5mgBKR39h13MKalGI4AV_4JAv3fjcjnZrZyBNWkJ5azrZxak-LMHhC1RYVNp1mA2Me8Y7ghQL8kAsUl19TpX_dO-qiMFr2qR4PzSHMj8IJAlOf6tJLvBSMNAxMaAmjGwWovN2RrKRrxZJklyl7ddOH_v6zD-f2z84EOKVxMkyPXEDTacYeqaiEykbt6VRUF_wNEhq86rgpU91VzRBQkm4E65SYUcA30aRS5hFiQThPwVEbfJIsl-WxGTTUeqCuWM5mjMcdd3rfHFkREWUzB2wEg0X1nRO0cerk1Bl4irogZD8HP3LJYG0j7ljuNPzegrYzawBVwX-2Og62Y7SDLzF6ZEfrrxgkJpIFXUnZ3aiDl3kQ-mlCSy-PBkGlFSFRQmObRro4GUItlyuYlTnRTMFTS_BMQfXWt0ngULkOU-iFZBoNnB2_u2oxPvuIohfZv0RwGJUWidmbdCE-Vmv36oZ8udtJ3k27qgRhdD5MKxxvTFE58iI--BD9bXuoZYa3AEUpAVrpxJog3kaKhB3L6l_VznAaEXcgM8xdnkI-px564uTFuE4xtAvjgBEgcmaYzYbl4ZIOjTXrphYIeCIvRNhEK8b9FDL4NyReQg7QUZpY1AlxTcCE1HNnSxa2jjpErpKpp8SAPuz4wG10hdamC9jCE0Yt0l4c8u_B1L6QaukIQMzpZD59bRuRdrxnakV3CzAUibkjLwGTNqWYAhWhpoh8JrkwHYESULWqjAVETAVOve-mac4RiqvyfuWUfT3sv-hcMcsBlyXH_Vu_9Lr6nF4lZrY1-0yM-QKtxl8aDS90RwGvH0-G7hCLtgP2TNgoBCgWiq3MvXuT25vrBCMV_hi97NXiMivnweEKKPjpgZDa5LmBEzsRCuV7jTEqEiyzABYN9L_ULhBCE6WxPWEqursQMaMWda2JIJ6kQLROUyCPcm_6Old6-EncNw_9fWjVb8os5kNrsce_P4aDyiu-QGP_YzFhBS99pYZMIh8gRULQ-iQQcyJJBU85V2sg5YiYuU_wR_jUXiGwe0HkXU1YB5pHsSrVaysdkLONzvJvQocwaXqpq9knfq__sTyEu4BsFnyMUCBYUI3tAhhAgp0Qu5ghKCw-jSwUUIFm5kYZo3b7ROiOgcx74ZIpCOK7kz0KeThTDgdBBxJLEXuvRBWOvBG7Iw77N1PLWX39mY7LKE0ohzy40KD-lyMz9rPWUj5Wmw67zltt_TIFot2-HO25dbBfTno_AQuiWuqW7S3AKYAp3uZglO_O1PTRCRp-OPvedZBKePBdSkidmo1HPeGRsmtQeEzqwTY49LJX3Xru3vV0lHjGIO8umlHyMnGCONMnccas23JNpFN_Oq2wdWNq0rovV5lHPmx-7T5zkiPDsOPB5jOZF6Mty2bZnReMQaDYEq5rFzcUjTg==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bc7b0c487d0be429d4da044ac70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.15,\"right_z\":0.031},\"note\":\"The cap is visible just ahead and slightly right of the jaw column in the wrist camera. I’ll align laterally, advance a little, and lower to cap height for the neck grasp.\"}",
  "call_id": "call_8Dfs11dQpz7VITYRoEKznNd7",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bc9021c87d09a76d1e70e30e61d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8Dfs11dQpz7VITYRoEKznNd7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.4236, 1.7641, 0.6235, 0.4953, 0.2008, 0.0998, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3976 right_y=0.1445 right_z=0.0273 right_yaw=0.1728 right_pitch=-0.0624 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4974, 6.5846, 1.746, -0.0317, -0.0122, -0.0171, -0.841, -4.5744, 5.6684, 1.37, -0.0611, 0.1685, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c3c2045da98f4ddef6ec6b219d5c875c45504d8ea8b1ff7ee6e9363d14ccc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938a7e9a22a77669b03ad930d90d3b664914acbf50f956bae20d0fd95d1f403a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bff604914cffaae3c2f2a2ca0b91bfc96820af8730bb30c7f2c5b18194dfb7",
      "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 · 4.657 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0189, -0.0296, 0.9984, 0.588, 0.9974, 0.778, -0.5648, 0.337, 0.226, 0.5582]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1829 left_yaw=0.0001 left_pitch=-0.0046 left_roll=-0.0008 left_gripper=0.9984 right_x=0.2773 right_y=0.119 right_z=0.1719 right_yaw=0.1507 right_pitch=-0.162 right_roll=-0.0609 right_gripper=0.5582\nstate[joint_eff]: [-0.0889, -1.265, 6.7761, 1.8144, -0.0317, -0.0757, -0.0171, -0.3761, -4.9709, 12.5607, 2.6886, 0.3785, -0.0415, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0193, -0.0292, 0.9984, 0.5327, 1.4761, 0.6952, 0.1616, 0.2787, 0.1577, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3733 right_y=0.1678 right_z=0.1059 right_yaw=0.1863 right_pitch=-0.0243 right_roll=-0.0169 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.7709, 6.3932, 1.7851, -0.022, -0.0269, -0.0122, -0.7316, -5.4359, 8.294, 1.8584, 0.0708, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.4236, 1.7641, 0.6235, 0.4953, 0.2008, 0.0998, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3976 right_y=0.1445 right_z=0.0273 right_yaw=0.1728 right_pitch=-0.0624 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4974, 6.5846, 1.746, -0.0317, -0.0122, -0.0171, -0.841, -4.5744, 5.6684, 1.37, -0.0611, 0.1685, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c3c2045da98f4ddef6ec6b219d5c875c45504d8ea8b1ff7ee6e9363d14ccc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938a7e9a22a77669b03ad930d90d3b664914acbf50f956bae20d0fd95d1f403a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bff604914cffaae3c2f2a2ca0b91bfc96820af8730bb30c7f2c5b18194dfb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvNSmug2HaP4ipZSeCJ9WP-7fxTFS_dbwRNeuRem04tT4j3v_QkuS2ZR6k-yT1ae8UQkh-nigu6gXr54VNqsWOFmr4KVVR3Zi1LLXgt1JExrM4tp7hwMstW7RkB9LbWzgI7Fv-ShiPgFrloCofRwE3Njua_21wkXd5T31cXRYjk8roLV-0ShvcGSutJp-lZ_8BaVPBT_l6W1HmDPcAwvTUfRwQXkg-WBPOb0wd5QJmzbMI9e8i-a6ABzJnjPKDGljv2Fpqu0PIXVwSfesMH2TiL5KHmVBrXPBR31JhqbddUF7_G1n75ejHNZinEx0M46KIhSYNXRT-cmXJ4StKTEBGBQ02xYxKPzM3lvXPyaZ0MzIEOOnx-SQTQH1V6Su7cN7q4Sh7E8s_V47gpOJiU4phvgHLrZi_LzWrPMAHMT1WLVXW5y5nf4yuHToDK6jI7q2RutVGJn3vkcHpk_cF6IvIgigKkz_RkFUqB-C6Te0nMzpKJsVCKdz4CDFk4TpV-P5NPryxVkwN_xYUZQMJHzz-LVtAIFyC7UcQJfgdJmu4Q8jzq0ixwSWS-CjRcKTSquPnB3c1wVZF5LlVH4yeWiSxWHxBLWucpZJk0D3afJJvXmpxNV6mFB5q_9LmNrjHRt4NgnGll1N8H09Ue1PpkRf97hkrK4N7z7YQ8lEbhnXk-8AE5MBNzCTzUldB4npPXJ-VXeI357CGBQhL_ORnnhubURsaPahaEkZE-X0PFmeVSjP3tTnwBpiHblZk-qCspP0qchdRB8b1l4r2xXNxoHyHZIPWO27Npe_PBrmROFUrtCsLT9QeN4QHpM2vuGL6r21Rq9jQeo3jVxJLgrCBF11V6QpXlxS7AYiH6GycUsC-AZmoIdifHWaO4-mlBsxYEAnCEE6I7HxwWxQ7SFT4jnzaK_vgrfCBTyCi_3uEgx-d5DTgiqxo9E98xSwa6sBKu-aBbTqIjtJSig3-cXmI128hfmgvRjCMPiUsHeAXEbr29QrswHWrgU2wlYB0LnLTpSFvSdnCRZBDA1X4Z4xNpEop9gVpiTQ5G9CAxSqyXXmrlljZKetaeoeP1Z16Ef97vfWRt6p3rGamY-Qb7g-Dx3Gegc8dTFTz-AD4GnwFUih1nrKQzsE46f5Hm9hoxa2mwfErprukZygvLjAhLOexevUgnBlxRpy9PDAybNeb1x9ZarR3V756yNRd0JBobG6158a1OSJaiOS-KNvIswFJAAEJGBlvl0IuQFCpJxNR1MONEo4UShp4hFi6faiFu5eHTwItjgtgYPvtnJr3Q6OxrKqf_5aWfD8bQ1CP49BNDl_3qxo-w-vQPQISH1hOfZLtzW8xz4jP5bWX12TyLdhzVU6b9cDWVWyMApZkF5MVKTdst9Kv_fL3cvAD0OAZwLqT4pxhQceIEmC8DJuhYEuCuVS46lJVKAJYd8YVEoSmplBUsMC_8fe2FuQSheOhOMdXUF7TnLzib8nxpyGscptK8YvBswP5Hg4z93MWsS8G839G3t4PdOSDw7CDQsB474TofuUxSPrJ8WRyvErS1Q7wBcRhFITH011kq8eehFgwkYOZHEPpbJLPnaQoxh6Jca3QGnIw-7aZr8H6IJZCOdye2e1rbfVWhBn6w9dRExmoYLAxGhGNTeIq0FbkEK5OpIt7p2Pf00pAmMLSCACSJTQf_QQJpxadUMUBoOoDxTa6HB5cX4EkauTWeSjVRzNAvjhEG5XPtP5sgWmdfcILfq3RNotOKXA==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bcbbcf887d08167e37a6f3893a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.446,\"right_y\":0.148,\"right_z\":0.032},\"note\":\"The cap is centered but still ahead of the actual fingertip line. I’ll advance at the same height to bring the narrow neck into the jaws instead of grabbing the wide body again.\"}",
  "call_id": "call_K4FgcQHWpYLHS4U0c6uvWdyg",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bcceec487d08722e72f6063748c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K4FgcQHWpYLHS4U0c6uvWdyg",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3786, 1.8717, 0.728, 0.5766, 0.1524, 0.0727, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4368 right_y=0.1488 right_z=0.0347 right_yaw=0.1834 right_pitch=0.008 right_roll=-0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.6615, 6.5436, 1.7753, -0.0562, -0.0269, -0.0122, -0.9231, -6.8308, 6.5436, 1.707, 0.0952, 0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa78416ced2ceecc5eaedf81ed47972be50e7ad37fd820d3ce62415f3eb79f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a673c33826298ad893a66eeaf92148160bd0a8aa67bb4077e88f4a041e81295b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff83fc286d8e26a40d790494e97c7eb5a930b73dd431c0dad827216f4124cc1d",
      "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 · 5.981 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3813, -0.0189, -0.0292, 0.9984, 0.6415, 1.2259, 0.2211, 0.2375, 0.3706, 0.2386, 0.5615]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1821 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.2619 right_y=0.1202 right_z=0.023 right_yaw=0.1712 right_pitch=-0.1364 right_roll=-0.0653 right_gripper=0.5615\nstate[joint_eff]: [-0.253, -1.6205, 6.653, 1.8486, -0.022, -0.0122, -0.0122, 0.3761, -3.8632, 5.3128, 1.7656, 0.3394, 0.0708, 0.7302]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.4236, 1.7641, 0.6235, 0.4953, 0.2008, 0.0998, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3976 right_y=0.1445 right_z=0.0273 right_yaw=0.1728 right_pitch=-0.0624 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4974, 6.5846, 1.746, -0.0317, -0.0122, -0.0171, -0.841, -4.5744, 5.6684, 1.37, -0.0611, 0.1685, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3786, 1.8717, 0.728, 0.5766, 0.1524, 0.0727, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4368 right_y=0.1488 right_z=0.0347 right_yaw=0.1834 right_pitch=0.008 right_roll=-0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.6615, 6.5436, 1.7753, -0.0562, -0.0269, -0.0122, -0.9231, -6.8308, 6.5436, 1.707, 0.0952, 0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa78416ced2ceecc5eaedf81ed47972be50e7ad37fd820d3ce62415f3eb79f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a673c33826298ad893a66eeaf92148160bd0a8aa67bb4077e88f4a041e81295b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff83fc286d8e26a40d790494e97c7eb5a930b73dd431c0dad827216f4124cc1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0b9dd0a7cf7e86d2016ab41bcefa0087d0b390bd196b6f265a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.458,\"right_gripper\":0},\"note\":\"The cap is now just beyond the jaw tips and the narrow shoulder is between them. I’ll close here; a smaller settled opening than the previous body grasp would confirm a neck-side hold.\"}",
  "call_id": "call_CJXqisl7wQdLHAbsAlycFufV",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bd1181487d084e0f107d535a544",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CJXqisl7wQdLHAbsAlycFufV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3794, 1.8706, 0.7494, 0.6338, 0.1284, 0.0689, 0.0187]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0004 left_pitch=-0.0061 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4486 right_y=0.1584 right_z=0.055 right_yaw=0.2058 right_pitch=0.0842 right_roll=0.0169 right_gripper=0.0187\nstate[joint_eff]: [-0.0889, -1.5658, 6.735, 1.8486, -0.0415, -0.0171, -0.0171, -0.7726, -8.253, 4.7111, 1.033, 0.0806, 0.0317, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3d818c7b670bff51ca1a07d01600fb35d9011c694ddc3f8696b4a38e7f846c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8065250b5fc86370603750211f2ca1f03ad0ce6621c982cc3f4928c657f577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0be207c6534ca836f1aecbd3ee6193d3a1a8d30ee64ee37a20ecdc3042e4a24",
      "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 · 3.145 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0193, -0.0292, 0.9984, 0.5327, 1.4761, 0.6952, 0.1616, 0.2787, 0.1577, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3733 right_y=0.1678 right_z=0.1059 right_yaw=0.1863 right_pitch=-0.0243 right_roll=-0.0169 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.7709, 6.3932, 1.7851, -0.022, -0.0269, -0.0122, -0.7316, -5.4359, 8.294, 1.8584, 0.0708, 0.0611, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3786, 1.8717, 0.728, 0.5766, 0.1524, 0.0727, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4368 right_y=0.1488 right_z=0.0347 right_yaw=0.1834 right_pitch=0.008 right_roll=-0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.6615, 6.5436, 1.7753, -0.0562, -0.0269, -0.0122, -0.9231, -6.8308, 6.5436, 1.707, 0.0952, 0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3794, 1.8706, 0.7494, 0.6338, 0.1284, 0.0689, 0.0187]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0004 left_pitch=-0.0061 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4486 right_y=0.1584 right_z=0.055 right_yaw=0.2058 right_pitch=0.0842 right_roll=0.0169 right_gripper=0.0187\nstate[joint_eff]: [-0.0889, -1.5658, 6.735, 1.8486, -0.0415, -0.0171, -0.0171, -0.7726, -8.253, 4.7111, 1.033, 0.0806, 0.0317, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3d818c7b670bff51ca1a07d01600fb35d9011c694ddc3f8696b4a38e7f846c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8065250b5fc86370603750211f2ca1f03ad0ce6621c982cc3f4928c657f577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0be207c6534ca836f1aecbd3ee6193d3a1a8d30ee64ee37a20ecdc3042e4a24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvZOqbsx9aSu01b1QlFlqtxw1MzHM1IWUtVgVb8nrBaFaPXskG0VHLxmUGvJUrALzncrq6boJdrXt0bJjbqtpC69VwO68iPKkff9UPYpLl02EbLsxrvEJGZgQ8YaXHn7NNpbf5kwYkQ_ZFfD1y7YHo8xx6JAmAgwbuzu7kt1iLFkliPr4PSgx5Me_JawzVykbsI3Lk3cwPdjqRH9-0MgMqkcrb5vRPzrN78qV9T561n0I486lEnCEPhAasZbFF7DjoMWHRXJfGr-dskRIRaLMeozz0xv3re8NRnOhVJYgSI_aAmyftJ7FrM0K43uFAPRj7x_jnnBmR5I_te-vE6sUxhfGTDXbLOkln4hYplDM1uJe2wJbM5epuSRYUETTghVQM7-3I_CW8cwsxXJw9XZN0wW9S4h1Bvziuf0F6Q-5mGcyXCN-EwX3ABdoBGIpJDP3Z9HVwX1nFMG4Fa4AAqgTB0x_9bOre2yp0lodwYDazd-OCgSXb0G1d4P6I8eu60qVZZSyRoOk1njV4iaYZ1wG4nI4ryz62LM5phZwrnGZKcqLwxg2Iw_EWbGq-oJEGA0iEVtdAtDieUHyPr6eqBK5jco-EXc5V3vSFB08OymvDIegGmRR1QI3QiGAj4zFVA78A5dPTwudlcqusNcuRbWEKfLfNzLLPDdualaSD8p4uR6MnOPLFhW5beiPmKqBYd6yCaXIE8c1rSC56vPWP-BrjBoO5oVodWm3YjKZM495AF0BB2ZHdoLjfqXjLWkHs6JnOOoWHVag81QbW_tSS3sFIuviQXQCaUw-G3qEhVHfDoccJ4yrMbJLlSEK0os0U_gv28rwhJCg0F-mw9ZJhqT4N9QEnQ-0pCm8DDrEg_dEze4FLr44A4a2PUjF7eM_TAqoGYBzBTCOyyIeiD6VcqEYU9eMk_oyHoSsJLMp22VM4sgyBgrGyJcDlF_rG3usSBYzFdKPci3UJi1BhdGrPnczg7lL30TKNq4gs9Y2-IKu5ly5CRxG2O3gYUzvZV1QPgGlGaQ39RhkjNUtTNeKEiQSQGUVgNNNwnhHRxYcnZe8avcdLi0mJ1Hg0lD9zbQxmW8bZOSWTwLI8mb36lc9xxc0GEdfOKrsLgFrsPuT9Mz7X9HjdWn9epyVAXCeSPQJJ9QPx2FMCrP2klajLjQhrFqKiEWYiUJ9jILce1sbRzD9-UaM3RSlqCWdEsOdQcZUM8HfQenTy3geyGkEIGAjM7vE7Ppw-Ga6421Wyir-VyweMPY6JyZf0Iavf_imYd7RsK04ozbPCm1yZFBv3gvOO5sWBEUGSXMHhi8Zdd3KUiiphqJSM1sTAt-DKy7yB8a_lDJpXSA4RUz4NeQlsnb1Rb3kZZmntlISThTHz3qo2oA3fbeyKFJadfRzM8EM6l85rL_YPBC2ViBc0OT1JYsMqWbf1Qc7C0KnWaUTgM8lYy7g_iS7ZVtShUoNcohT7I7kA7CeEKfhgtQUe6xVpIsD52KjtmGi9n-677Aryz8Vt7zeARowjcna9x-9g4SMTTKphodUHWsNklRTg5xWi3g-O7MZbAP7bt87oPzVwDaFMvO94ELXU8ZfV52h3bv0K1vdjrOBSXvNRb4M7sPfP9om3V9Aykeq-xIQHlMufu5Af2vo8wEri3A2jnH7uAKTmsCA2F-YgsraehvJKULqJOSpSujYsDLx94Wo5AQOfpOffJqJa5Pnh--uZ1S12-QF8p4b_5bnj9spPrFO6-fzdNN3R3SivbBMrH9n-V6PWg6Wrv6SJxZfsw2X9_advBTbghMEY5gic_iwHyvb_DttUM9cHXeq7L7K1mn6RouckqBMHrdNlXLYRADNwWTQXzWUI26sPE9HZ7lyIF8Sr-F6pZDV28_CeqV0FdFSXq8JOCIBUx_xiIyggd6G82oXkZM4Z4IVRpawgGmoMBe4tmSqcGoORl2_bV7WZybEuJc7W4NsyMq40ssVax9tYlhvVxwYieZ9iC0mnSyMg8z43gNS8XcCbvh4w7PBhi2jY41CjygnY7yMCAXxwhvrWOG2hacPjzsUEhxlH6F-uJZlnmxwqW7zgQJh8Q5XVAowOxMhOBOBGq4ka_xvIlmns3fHOhmo795IfqVev4plRIFN1U7Vbf5vNFXUzbHIQe5lgTysfFZxgnKzbD-UepMSqJJ4Zi1YLGEr9eL9orN5Dhtte8b8zQITpw2c_335pvB5E99jtyMEOMWsmeGq891Lv7BatPH3dtRhQJe85aQDiNqL3QEzFXEXXO6WWECvHznU0ipvlHToxQwwLGQWC7HkIp8MMyx-mcAPYrabXrlz1XzOWJ8AKFfoXym9ndpJFLS5QbkgAfw-ZVwt1s14nPoKDfOgdENOC_FpjRSvdnTKyN_xEEoBhEEoF9AIxxpwXiPqfFHDWAm4K34A2yxN4szUTm1jkohq_0i8Ad0gZTZuhzQlyTt-FhQC2zOspMbzpjZLK9Q8edHaVluyN78oYZkrr65GSxbXWAdxDdGMk_kIuh9VWBXHYoofEkqD0qe_8qtbA665llLNv5vemGnb8kKt-aDuBgF0GCBI-68RgXFcKDWYVk0hXm9WSz68zzlbGc_z6XKBo63yZmiANB-2kqd4xz_6pB84rqKFuntpKPaKHHFKcxhOKTjLkSoQCOqlqSHPK0syCwq_HwdCGBReG9paWADzg18gRQiJMhOePKs_FuKXmF5MJf4HZejlN-vioIk92ljslcZhpzNAAwg0jGdzQr82t3xICeED-RwiGCHXfeCQeqDmfJ_k9M99FMrkU_I6ETAOsdeW3i7A2oFTlZ5mXBAg81ta2g8BsmipwXTRo_SUIdw2OIusx5m5Alr48phwD5y7U9Vvs9JXsiCWTa8EyyRADemZYxMmMpzrrkWYvemHbGhwwo0InC3D3WM2CzmTX6E5WMcyyOs4g3NHchppDcp9w8zV4PdiIjXFBsJ9qKtsbnnTWjd1Fv1tw3lv_96-AhYhL7Rv7WwxfTMqzv6QoYr4ISRW7h31M0NdPr4kh45-PupaisOxFSA46Zg99KysMKOy7FvvoOOhpDw4poVuttEQT7bMMSLRNia5M7CF4w-Ew7D780Qh-s6jSPmNPPUVmNgRbjAIwI5WRcxir5XJQx6Head3Q-AujysiceKu7jL8EKUV1J70KqFzLj5MibZQP1duy-VpAsK0CFEvU_LdP0zR897Wdjrceb_0kditkZ8sX05p9y5BoLsm_0hV_TaKnp2qIvQw6Rg8SWvbLUABO9bH2WgPK3-es0wGXXgj8IYCCNhPdaqxfr_LMWXm_qpogtMKazi6RnhHfwNnAHGo_RCloXOpor3Ut1vWWp2kLzBrindxLcsyNfEScAjsVn6Bh4kQnYBae8d1M4_CNMAG6yTU5DiozMnFCjEGjDtneNeArCG_j0DbuXOfLDN0B3kONM_-JRdCPalcOxtQWQb-95g5dsFhVVaMBlHS9s-Zosi66ZxK_yoOUj3FU7E0DBFY_yOu5VYYCW-zo-OG_n9w4XURQnqPAoQteco4p78kwyeFMB2S3umNmpi4WU3ClzJcFaoHNaP73clVUQbtofWoxv-NK6fU9KqnFqmb1JYRqbxl32R3div4ybZ5hDZc2J8ykNf_jeH18IIpspr_c=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bd4970087d0b1889fa92aa8d39c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.385,\"left_y\":-0.145,\"left_z\":0.045},\"note\":\"That neck attempt also closed empty, and the right bottle remains lying down. I’ll park the right arm and try the leftmost bottle’s body, first drawing it inward so I can later reach its cap cleanly.\"}",
  "call_id": "call_JiqBfI1h4qNUnsCXDKAHllDR",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bd8a72887d0ad7b777fa2d63d39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JiqBfI1h4qNUnsCXDKAHllDR",
  "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]: [-0.5514, 1.6783, 0.5755, 0.4065, -0.4805, -0.3233, 0.9983, -0.2119, 0.8669, 0.5842, -0.3233, -0.3103, -0.2344, 0.9963]\nstate[eef_state]: left_x=0.3738 left_y=-0.1299 left_z=0.0376 left_yaw=0.0095 left_pitch=-0.0448 left_roll=0.051 left_gripper=0.9983 right_x=0.3026 right_y=-0.0063 right_z=0.167 right_yaw=0.1461 right_pitch=-0.0056 right_roll=-0.0084 right_gripper=0.9963\nstate[joint_eff]: [-0.9778, -6.3385, 6.6393, 1.5897, 0.2173, -0.2515, -0.0171, 0.4171, -1.8256, 10.2632, 1.7802, -0.315, 0.0708, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972896b28ecd8cd0462ea283a8bf4c0d1296abd7f0a84c1d87d04d3e147bfe70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8d2fc3eb4ba3b85407bdbd836b8f9a2e34ddbb7e97015bfa000d3a3957d3fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44758445b4d49decd7280aa388508fcbb24fff5189a10d84467f7806c50c0bf8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.449 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0193, -0.0292, 0.9984, 0.4236, 1.7641, 0.6235, 0.4953, 0.2008, 0.0998, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3976 right_y=0.1445 right_z=0.0273 right_yaw=0.1728 right_pitch=-0.0624 right_roll=-0.0281 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4974, 6.5846, 1.746, -0.0317, -0.0122, -0.0171, -0.841, -4.5744, 5.6684, 1.37, -0.0611, 0.1685, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3794, 1.8706, 0.7494, 0.6338, 0.1284, 0.0689, 0.0187]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0004 left_pitch=-0.0061 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4486 right_y=0.1584 right_z=0.055 right_yaw=0.2058 right_pitch=0.0842 right_roll=0.0169 right_gripper=0.0187\nstate[joint_eff]: [-0.0889, -1.5658, 6.735, 1.8486, -0.0415, -0.0171, -0.0171, -0.7726, -8.253, 4.7111, 1.033, 0.0806, 0.0317, 0.9646]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5514, 1.6783, 0.5755, 0.4065, -0.4805, -0.3233, 0.9983, -0.2119, 0.8669, 0.5842, -0.3233, -0.3103, -0.2344, 0.9963]\nstate[eef_state]: left_x=0.3738 left_y=-0.1299 left_z=0.0376 left_yaw=0.0095 left_pitch=-0.0448 left_roll=0.051 left_gripper=0.9983 right_x=0.3026 right_y=-0.0063 right_z=0.167 right_yaw=0.1461 right_pitch=-0.0056 right_roll=-0.0084 right_gripper=0.9963\nstate[joint_eff]: [-0.9778, -6.3385, 6.6393, 1.5897, 0.2173, -0.2515, -0.0171, 0.4171, -1.8256, 10.2632, 1.7802, -0.315, 0.0708, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972896b28ecd8cd0462ea283a8bf4c0d1296abd7f0a84c1d87d04d3e147bfe70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8d2fc3eb4ba3b85407bdbd836b8f9a2e34ddbb7e97015bfa000d3a3957d3fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44758445b4d49decd7280aa388508fcbb24fff5189a10d84467f7806c50c0bf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBverhmPuVbkhFx2bigBwki_y6jUCFnLSTRTP7GE4lz2NRBsMlSei5WkYyaglmvR-JBD1adPkLLzZIxg4e3EgPKfNL9_u-XgXbZDD7NVeyRMG84p4MeMe7RMe15KcPwr5dPu6PcjcmqD8m_5wssI11ZM0lm_7yVzYOV5a1fOMsrb-SdfEDRBz-gUjonXs5es0l2Y17X_d3eEagCfRdjcrCXcFVr885y99KBV7iAx4Zufz4vTvhgf9uLKTHx_HHiV4crBv0DNUKLi4Z_qUYIoyUU-JexyifI4LDO9cercrRzpUFVOH8kuQe02WYeaC-vqRls4log845MSM9Ie4CdS2pOziV3BHCnU4hJwHyBdAZvETj1ZfIFpYsfaOn6AC2jegfys8pOX7_wr5Q0zon2M_mZzxlQK611Q_LEsgYckX7ukuckhmhf2xsr_PJxjKLLRB2kkHCwyQF4kDDjvj68lYz6jisdtx0mAhccV2P7UasiZLegObCLoRW8QdTvpkHmhCvrWkY0ZdKeTZa8rLoZmKu2PO3jzifC9KiJUpWr-m7YjF9pkaHdFR6tNiwigaxXAVKaL-ZYyq386eFAijLblzM993N7bAUglUiry-k18j67aN2DKCtVSqywB4QGBqcjYj0fM0MDslSNI4xc0cWNH98_DDIBdnKWlKG0R3ITYHFRIpxvDy48Opz-rCqF8fiHmePA7o4F8VuZoctLQcmd44YHkogEVa4POYy5H-epO6OSp_fdErSvxJzYixdf-8dnfS5eW_yMtQkmksFKUZzxh6yxDDEXG4_vztu1PWAIg6leSf_HlWDHuSSyqy7F0IDoMSbBe_pSCNtFld5UxwPUn-cGa0ZOByVoRSCn3jtjG5E7LXaWF2f0G41uAlGTqNSIQu8B8s9JZ2Nxnjc6BY4Sx9a_6AFSZs7xv5ZpG1sYqF8-hi4AnX5_u83dZcvYDj1lg6DSlyJW8c-T4rV1-k7rcMT0f6LK7h9_GiOuX5QNKuUInjwIchKqH43ze0Gk10xHVrcogVuzLENHO_moNKDLcVtFRDchNVLtWprqgV1dxBsT86L_WFx9UAibrGhGBGdm8YojprXO8yrJCsCc3nTdMO1ge2d8jane75G1Gv69dc0HNbEsxSsRW4F5cWl08GXg8Ipy3_7aCCjdNfwb4417SoCBLAariPLC3OMl6uN2iViZPzCtzyYR4NM2E2vDFLtft5pnA0gCSi7mV8r9X7uWFv_7dlvu7_SRaT8o9u0oFOkmHoZ_D2iAdLVHPj_BGPfa06PqiO5I-Jtu3_CvkQE7ullEOxTDpzgo1eJP_SNRdeYiCqd7JnpOqTWZtdi8j-FtgjI98e_Gg3O34c5QS1i9Z1Dl0ePyPaw923FR1BoHnJp5XK1bnUFObLjf2DncUUgPJlSgTQhE4e55qgaAuku-SxA4qEPVRigMnohhcdhQPL1iUky0ZCmpyN0xfOZ5B_j2gH8hQ9wJWn9jrbLk1cUPLKyX6ghjW3crEpLnllE0WbW3Z9VwWaDsVdEfUIvMhChMe9JvFZXxNQqcfvPlx541_Z6Oi2dISazqLCRpfribqiGsfrutSPnva2pl4l05Af3q2VeZeRXZFIQYznr8KtHyNqlbDbsRv0NEIl68iVbCykoW-JZ0=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bdc176c87d09d13fcf7c6d3ad2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left wrist view puts the leftmost bottle’s wide body between the jaws near the fingertips. I’ll take a body grasp to slide it toward the base without disturbing the other bottles.\"}",
  "call_id": "call_EAWLzT8NCAJotdClAkUK99Jc",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bdd175c87d0a9f90e8a82815c1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EAWLzT8NCAJotdClAkUK99Jc",
  "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]: [-0.5453, 1.6993, 0.5316, 0.5049, -0.4725, -0.3412, 0.5238, -0.2199, 0.8646, 0.5823, -0.347, -0.3344, -0.2512, 0.9961]\nstate[eef_state]: left_x=0.3723 left_y=-0.1276 left_z=0.0322 left_yaw=0.0182 left_pitch=-0.0188 left_roll=0.014 left_gripper=0.5238 right_x=0.2988 right_y=-0.0037 right_z=0.163 right_yaw=0.167 right_pitch=-0.0219 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -7.5009, 4.4513, 1.8437, -0.1538, 0.022, 1.0379, -0.1026, -1.4838, 6.7624, 2.0098, -0.022, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d8f65202510c2c9a50a0de58885d4c5ccd1eab29bb533bcd2db22cd58ff0fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c54a11668884f8196cd39e9321c17d21f4d488417ef1d943a9b7c6ad7e2cd55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f39c4cfb9ff5814bc8c010213e28da25317b1c5b77f68a8511d09f534b7388",
      "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 18 attempt 0 · /responses · status 200 · 3.228 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3786, 1.8717, 0.728, 0.5766, 0.1524, 0.0727, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4368 right_y=0.1488 right_z=0.0347 right_yaw=0.1834 right_pitch=0.008 right_roll=-0.0063 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.6615, 6.5436, 1.7753, -0.0562, -0.0269, -0.0122, -0.9231, -6.8308, 6.5436, 1.707, 0.0952, 0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5514, 1.6783, 0.5755, 0.4065, -0.4805, -0.3233, 0.9983, -0.2119, 0.8669, 0.5842, -0.3233, -0.3103, -0.2344, 0.9963]\nstate[eef_state]: left_x=0.3738 left_y=-0.1299 left_z=0.0376 left_yaw=0.0095 left_pitch=-0.0448 left_roll=0.051 left_gripper=0.9983 right_x=0.3026 right_y=-0.0063 right_z=0.167 right_yaw=0.1461 right_pitch=-0.0056 right_roll=-0.0084 right_gripper=0.9963\nstate[joint_eff]: [-0.9778, -6.3385, 6.6393, 1.5897, 0.2173, -0.2515, -0.0171, 0.4171, -1.8256, 10.2632, 1.7802, -0.315, 0.0708, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.6993, 0.5316, 0.5049, -0.4725, -0.3412, 0.5238, -0.2199, 0.8646, 0.5823, -0.347, -0.3344, -0.2512, 0.9961]\nstate[eef_state]: left_x=0.3723 left_y=-0.1276 left_z=0.0322 left_yaw=0.0182 left_pitch=-0.0188 left_roll=0.014 left_gripper=0.5238 right_x=0.2988 right_y=-0.0037 right_z=0.163 right_yaw=0.167 right_pitch=-0.0219 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -7.5009, 4.4513, 1.8437, -0.1538, 0.022, 1.0379, -0.1026, -1.4838, 6.7624, 2.0098, -0.022, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d8f65202510c2c9a50a0de58885d4c5ccd1eab29bb533bcd2db22cd58ff0fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c54a11668884f8196cd39e9321c17d21f4d488417ef1d943a9b7c6ad7e2cd55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f39c4cfb9ff5814bc8c010213e28da25317b1c5b77f68a8511d09f534b7388",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvhoGY8oxdQpm2xmK2aTFEtE8qr5ZDZ6TN9S_srU6RFUW7FwaMkv9FI1ViFTkVzCMNsQNmjTox81IvJH0ofmSzfJc-53pXN_M1_haM2uGHlgiYw4rPs059AJUBRMEws0Ji12BOR4QkVL7xtAR6-B7FSI7gKky0vuwFTBZflbWhjEA8m7We4qLP_we4JQJEy_II4bFArQlbc1RO7umNZkDiW6zFReuBHhf6P2Kgh9e6xHRaYmGarKLR_RX4jgXIlP4vswLJZQ6GMy-ItU8D5hClQ1CtaW84AZL5WDEyTvZ_iXvJUMv3HNAhGVQB0qOpqZ4FCx5BCXWdrzhELOAnYHAphGCfPMouNoMPs7GGN4a0vm2M_L14PSBLqBs0k3XQwvkLkLGAl2nyZx4sSDFkm63fiwpT73pXaPwWhnRRHNOnKHLo2AvfK5FmZUMZ-LbXeWEQnSsu5ksHiNtORhsfb3uf2eUEe9cPV9SQV1MbNYFKvvI5UL-awcDOwW0wy32jF8ynqE8KJa5cY824z4sA2GdCsQkmhTEEN5e8E5H086WXpbV3e-XAgeDzAWbMEDSLfjTr1Df9tnqLIlICk8utpSSz6xNSMt5CiOqGe1JPM1Q_-ZpInzRnJ8kfUkbCsz9x9tNsUOCY_UAEj6qYterGodgRvGaVU5mWMiXn5SLvfpP6zdfyAc7y7wvqwnGBqMWrOlNHzdhdDXJlO2D2ScO76y-6wlpP32FLCoI-BCfpR1bkK1e6HgWcRPw33zzCwWE-d1UFt6KLwjaSc_cfmucezLvqdK-BcURvlWnOxVacU4pMAL0X6pLEhO5V2viC5RE3LQ7zs0eLAnxGKzgK5X3u_vDEogm4kK3w2uaShFXiJ4ZxA8BnBxO7qutyeMGCfz5iWfDU9e66Lj9P9oRxcfwyRlnODJtrXTHdp--NQ3j1IAkxTcu0BapciV_at8DP3T6IU4d2h3oOxp4Wz5BPrg47xlVJBfV_KhLyiReJXSFEvMgiyQ7mSHoGUpW6rs5KWDbTvX4zygHieifx38EMhqq5RcUQey86mq8QVQTekEqQx2Iyf5DE0HWncPLVctry7JEhmhrp0W2uDgS_4YqUGhSeep7P4xfm0H4vLR2n-BcNVzBBt-vJGI46_gtB2WOZxcwKDWJKXjP9WFxNGwxA2tdScYeHU7jV6vpHaHydG7SoJaGfjUaHAcxhVVqY6iWg41zVVsB4cYGHpcTtxFlJuph6F_eb0fZd5XhdaO3yn3DpKtQ6E7ods3EwSVpMDpCgnbYzKlI9uWwmceLmfI1phRbeBbyBrOEotOL3hieArIQa1YxeSa4qdaRXVOzWFttPyFzR88bKcRf3LGSSz2m57CtNge7G2P76LVHGVrNs8N2UUlQtw00AlpO_6R7Xq-ME1EYlcIoHohkX8AqFrJdHB3hXdXgp7ASvEA9Hvg-EpwjvU5y5n4la4TpmsDHFn5l1SvxcitygZelCx8q1StAbTzBKSv4EpfGdwIp7RQF5JrEVS_sdQ0YnmKl0ahQgKZvtj2cQvajCNiTqqPYQQ72qOr16PruHARz84yHT_h504GkMk8mghXkKseJnF5qnUweAOjaMgrjXB",
  "id": "rs_0b9dd0a7cf7e86d2016ab41be000d087d090b361279ce1d34f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.14,\"left_z\":0.115},\"note\":\"The left gripper settled around 0.52, confirming a hold on the bottle body. I’ll carry it inward about 10 cm, leaving enough space from the middle bottle for a cap-first regrasp.\"}",
  "call_id": "call_GRSFFsPuzJmmTbK6RoAegNMi",
  "id": "fc_0b9dd0a7cf7e86d2016ab41be0b88887d0b3f9728152136dcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GRSFFsPuzJmmTbK6RoAegNMi",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8719, 1.1576, 0.4446, -0.1463, -0.6312, -0.5617, 0.525, -0.2237, 0.8562, 0.5598, -0.3397, -0.342, -0.2523, 0.9961]\nstate[eef_state]: left_x=0.2611 left_y=-0.1431 left_z=0.078 left_yaw=-0.0625 left_pitch=-0.0974 left_roll=0.0436 left_gripper=0.525 right_x=0.2959 right_y=-0.0029 right_z=0.1569 right_yaw=0.1702 right_pitch=-0.0265 right_roll=0.0049 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -4.7111, 11.6308, 2.1514, -0.8767, -0.1538, 0.906, -0.3077, -1.7299, 7.0769, 1.9267, -0.149, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8add153b05c16149bbf2e9e18259cbd8c08cd7a045af15f2ec0a04a7b548def6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5184c69170d627a57ef2a1fef32ce3f2f4b12ee3b9da384456f19b4aef03280c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7592bc76f489915e05be20f8f7514b6802e6a5cd319721b8a93a9a40d23e80a",
      "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 · 2.665 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3794, 1.8706, 0.7494, 0.6338, 0.1284, 0.0689, 0.0187]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0004 left_pitch=-0.0061 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4486 right_y=0.1584 right_z=0.055 right_yaw=0.2058 right_pitch=0.0842 right_roll=0.0169 right_gripper=0.0187\nstate[joint_eff]: [-0.0889, -1.5658, 6.735, 1.8486, -0.0415, -0.0171, -0.0171, -0.7726, -8.253, 4.7111, 1.033, 0.0806, 0.0317, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.6993, 0.5316, 0.5049, -0.4725, -0.3412, 0.5238, -0.2199, 0.8646, 0.5823, -0.347, -0.3344, -0.2512, 0.9961]\nstate[eef_state]: left_x=0.3723 left_y=-0.1276 left_z=0.0322 left_yaw=0.0182 left_pitch=-0.0188 left_roll=0.014 left_gripper=0.5238 right_x=0.2988 right_y=-0.0037 right_z=0.163 right_yaw=0.167 right_pitch=-0.0219 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -7.5009, 4.4513, 1.8437, -0.1538, 0.022, 1.0379, -0.1026, -1.4838, 6.7624, 2.0098, -0.022, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8719, 1.1576, 0.4446, -0.1463, -0.6312, -0.5617, 0.525, -0.2237, 0.8562, 0.5598, -0.3397, -0.342, -0.2523, 0.9961]\nstate[eef_state]: left_x=0.2611 left_y=-0.1431 left_z=0.078 left_yaw=-0.0625 left_pitch=-0.0974 left_roll=0.0436 left_gripper=0.525 right_x=0.2959 right_y=-0.0029 right_z=0.1569 right_yaw=0.1702 right_pitch=-0.0265 right_roll=0.0049 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -4.7111, 11.6308, 2.1514, -0.8767, -0.1538, 0.906, -0.3077, -1.7299, 7.0769, 1.9267, -0.149, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8add153b05c16149bbf2e9e18259cbd8c08cd7a045af15f2ec0a04a7b548def6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5184c69170d627a57ef2a1fef32ce3f2f4b12ee3b9da384456f19b4aef03280c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7592bc76f489915e05be20f8f7514b6802e6a5cd319721b8a93a9a40d23e80a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvlYCEgRbQ0TjvcJDbfAKEwzOZVlAkd3GlP12Oz_1dfoeb8LmObX228OEqrLtCVUUDVM-lIHNCNTXTWBPp7LLM7_POqFkDjGK1goAZFvHEOf5oDLr25wmU3VxpGG49UB-VV2zwjLQT2w9RAQJz4D9-6tEpO_zSwut6gYG5_IGU9qN2bHfmLoMY0EK--JtUwCMY2hkpynHRs28s06HKhGMkbH42x1_uYPzgFCJGVjx4MHemRvGpLeRDL7Xj2LyZZ3dHWPHbVIcQiyrKBsS0FL80W6vACnmJJ6MjlbkHi-UbClDR7rjt7xqK1-rULdxJczh0JbQjOpBh9YpqAiqZjNgqtXOeyQaHZUw_TRkTCPDZLfRY2zbyPgz3BX4NAa96RC8bAkNoY2obKb-bhXP0m9TfwqCiCt6ws_Xl5u7Z2WHVUVWaqpfeVBYGbtyPcFjHuG-vRu2K9eLM3suS6CY-ZwIfEhxUHTrDXbHzPDCJnMB7AXtzQafZ-t3PcoR-WSX32TIr6O1qDzjBlmAVMfEejBwrYOfZ2kmgJZM401v64THQHqhtpJWN0hpe2RzRBzcLtry_qqvqVWKnb3v_PzOOhkY8dvRIZWd4H8eUUP9Y4Ttw5IvJbTPc57UxQQlVKqZqfpa9uQpTImafuBIQu-8QUmDsuDwlnVm8Wy8E-BDBFCpJ9E2c6aejXGAKFgiHzAbBar9mISPM6kRV42leRTNPHok2Dg5zSFkxU9yB5vxDumCf6lZ66of2Aip7RH7dN0m7CD3C_tLmW9MFY8vV_zdjDbT9-gaLc8EQt8Bf0dE-NRpva2oz1x2HDciJJKCom-Oo0T_4EfqyS2EBZNNgoHzbsmJ3qmnSsrjpowJbtomZpxP4i05bGLXHZ1fxHo9H1eRvxIeKPBmYq-ZsAMbsmXiwQr4FxkRDHOTFGECsxbTZ0zCZPpM-ginBonnx-_8hX6UOn3n-8CXdGposOgoD2AXhJt6nedlbcM7CrIWi2WVGyqapfjOZnW3DRA3A7CskFseGlb6O5tgOFkMkR4qgmFKUiZCUBjb-sawGIZfyypomH6W93CrhC16ii1NpmXxTAy5Om6L_c_xHNeCNJYHYz-GBfnjB5KWzzdNHwvvQECETpcg4eyrqngk3nXfctcik1chOEUS8oe2nbZsu6DzD4oDUeSUYRsKDG7V-SXiBpgt7F5PLMlscVvHK-lmKLrV4qEIxaUdHPP7XYL_IXSiv6UvApbOhRy-iDmBfkmUzzeFdEoMnSd3tSZUCYIhnKeF3aezLr4Yn6cj98Kf-HHYMTwQDGG0n9grIFeDRY3O-Ilqb4N3K44pwiCf2Df-EInVBmQdVqXV9eVT-isQoFMuAtnEdljsDenac0EVpEfWX-n-URlLfIhl7EI_e6YDWJK8mH3t4Bqicdgcz35loxMectJCw7TRa3iBd3U_PJfhbI669ANefcyP0=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41be3f30887d09f88ae6cd5a69446",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_z\":0.027},\"note\":\"The leftmost bottle has followed the hand inward and is still held horizontally. I’ll lower it onto the table before releasing its body and approaching the cap.\"}",
  "call_id": "call_SI3x5UCUmoTuMV15KulNi8cY",
  "id": "fc_0b9dd0a7cf7e86d2016ab41be48c1c87d0a89dda49b2cdee45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SI3x5UCUmoTuMV15KulNi8cY",
  "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]: [-0.9218, 1.3376, 0.239, 0.2588, -0.7078, -0.5766, 0.5276, -0.2237, 0.8474, 0.5373, -0.3279, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2517 left_y=-0.1358 left_z=0.026 left_yaw=-0.0522 left_pitch=-0.0412 left_roll=0.0556 left_gripper=0.5276 right_x=0.2937 right_y=-0.0019 right_z=0.1517 right_yaw=0.1726 right_pitch=-0.0277 right_roll=0.0068 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -2.906, 2.7419, 1.1258, 0.2906, 0.0122, 0.6325, -0.335, -2.2769, 6.5983, 1.9121, -0.1929, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003ff3d04c8411bb0c2f58050ab6b1a53d4da0bee4cea15f4f5c8da1318e5a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372b351b4012d354f18f4e25c677dc101b5a5e970713b83221407c80b4f85be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c306055bac1df59dffadb130a180172a6427da38a48cbd6cbcde02ade1cbe07f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.58 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5514, 1.6783, 0.5755, 0.4065, -0.4805, -0.3233, 0.9983, -0.2119, 0.8669, 0.5842, -0.3233, -0.3103, -0.2344, 0.9963]\nstate[eef_state]: left_x=0.3738 left_y=-0.1299 left_z=0.0376 left_yaw=0.0095 left_pitch=-0.0448 left_roll=0.051 left_gripper=0.9983 right_x=0.3026 right_y=-0.0063 right_z=0.167 right_yaw=0.1461 right_pitch=-0.0056 right_roll=-0.0084 right_gripper=0.9963\nstate[joint_eff]: [-0.9778, -6.3385, 6.6393, 1.5897, 0.2173, -0.2515, -0.0171, 0.4171, -1.8256, 10.2632, 1.7802, -0.315, 0.0708, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8719, 1.1576, 0.4446, -0.1463, -0.6312, -0.5617, 0.525, -0.2237, 0.8562, 0.5598, -0.3397, -0.342, -0.2523, 0.9961]\nstate[eef_state]: left_x=0.2611 left_y=-0.1431 left_z=0.078 left_yaw=-0.0625 left_pitch=-0.0974 left_roll=0.0436 left_gripper=0.525 right_x=0.2959 right_y=-0.0029 right_z=0.1569 right_yaw=0.1702 right_pitch=-0.0265 right_roll=0.0049 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -4.7111, 11.6308, 2.1514, -0.8767, -0.1538, 0.906, -0.3077, -1.7299, 7.0769, 1.9267, -0.149, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9218, 1.3376, 0.239, 0.2588, -0.7078, -0.5766, 0.5276, -0.2237, 0.8474, 0.5373, -0.3279, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2517 left_y=-0.1358 left_z=0.026 left_yaw=-0.0522 left_pitch=-0.0412 left_roll=0.0556 left_gripper=0.5276 right_x=0.2937 right_y=-0.0019 right_z=0.1517 right_yaw=0.1726 right_pitch=-0.0277 right_roll=0.0068 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -2.906, 2.7419, 1.1258, 0.2906, 0.0122, 0.6325, -0.335, -2.2769, 6.5983, 1.9121, -0.1929, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:003ff3d04c8411bb0c2f58050ab6b1a53d4da0bee4cea15f4f5c8da1318e5a1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372b351b4012d354f18f4e25c677dc101b5a5e970713b83221407c80b4f85be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c306055bac1df59dffadb130a180172a6427da38a48cbd6cbcde02ade1cbe07f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvoJAUIB0H2etoZKoIrqVjaK0dDoNWsIFY6fGoNsRl5I1w-3MoXWpUmD55-hklikTSsqYhm49kZUpQ_Dz7NPnd_2WYbCWQxB7DjIgL9m0t4q0Dr7VBHykHekmi0ZAdswxlEfrL12f66G9dY9VMOmk9b9phUbx1hNbOOAc_U_jrtiUMhgM2TH3hWTwpveVJPm6xwfb-d0Pki0M9xPPkiF_5oRIjt01tJbzgwjjdPU6ZmViApvOY2VO9_UNjc_u4AXIV_sSGVK9ggKxtnTO9NbKrHz3IVzg8Zi7zRbolPyYi-wFzTr7KJ07MQFJDAQ_NIwx7HePIRq5VmeSHx7Y__iSNM534PSmRKCF8MiWGSaJSUkxNTvLOLTJ17WAj5G-jDxoFLMyZYoq05We9Gy_vkPlf14tAPr30D12G7JSFgmNhN9TBnTGGg-Qak6QrLdfCCwN2FFdf7eysPZEz1cS6SDrwZwmWZlH0KaN6rXSxAqPJq6mrh9twIFIAIgKctdtBMZpsv2fpu_uXvC4g7ZuEN-on-a8wMUhJf-dHwi1ucHDTeS0eqytQrSHPO6A9a6Mu5odkVTBEEbIkv4Md_Jhj0aw8i-_rNd1T2_Gq-TAuOQjXiNWanW4OOtOCuXjZLTLXwq9zfSl0ZD8eLkT8_WjnW6CKb9oBky1zlZXpIgWNTuVn-eM6yu6oRUm1FJj-IiqCLcSIja3Pnql-rD5PVC_q-z_e47XhZoYLah38ljAq-gdVBmd6kxmoJihyoDobA6_i_2mMlDsFO_HwYFCLyqOi1gPpU7HgBHjTuq_O8D36gIgKAN1v_webkOYJThybYiIZDGi0oN8tc9FCypHmCuoEBPq-YhVRhsSgWa7TxiZcEd-WQwwu7gZSAwI1CL6k1wFM4mqSWW4m4EnZXvskxAe1xzM40a2uy3Zw0-I2hMdOu_-Xq3YSH2CQOwYAONQNAq1RXehqYVxJY97Y9QUXlyF91xiV1rzJ6wnIPmNiDYSkkLNdJraRy3Sl85lsKXDCETuuR5wgpkX43fOdL_pF0KTX3B_zhXIahHWYz-geommGczdQWvp5kH00BQfEzbRZmSV9-tFhgQPHvr2kwpKyOWfGWNPH0LmN-w1Hf23JHu1HhkS53QobppIMdCrPRvxow1etlIGgMl8NLeEoOsww9XCFOU5bDnpGytTF9iJxoQ7EAumPvln3-mTEwWPmO7_frkVhhDEFrwJ6Q2xOAtcvqUaRSefJDeh-RY6tngDMbk4GxWOF3s23LyUcutrVU8KurnK9tt-xS6seUfUp1FIXJHCfbKNnOtYlbWudXTCYWrbsfs1Q-VRZbZp7oxCjODA21aMgeBoYE4gU8RPhp01H7lMFGNBob_QwkcQC9hBYsDdDkSaUDIvxRSfRT34O2QU87x8udA6COfFGfdwn-0y_izXUupgw-oze-4TReNHnYP3nvoimE_h3CnI0HkcXBSeieSVs774bhSbUiiEb2R4HveDGKXXdJ3veA9V-uBSdy0EMRuunvQwjNHAWAf0caw474W0qPiMGHLcAky3l9I48mSl7fSbDJs0XgQOGz9eV9i8P9kq7n1AnSvvLALlJd5vxMPUz4hUCnQBpXAn8mnEqQhQj5RWgYJvyBpHASnqYD7srZLOmeSug=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41be6e4bc87d0a8c05e4d743d7e25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.105},\"note\":\"The bottle is back on the table with its cap clearly visible ahead of the left hand. I’ll release the broad body and bring the open jaws over the cap for a lift that should let the heavy base hang downward.\"}",
  "call_id": "call_oKyOrEu7qAhnDMMeOYudsU7k",
  "id": "fc_0b9dd0a7cf7e86d2016ab41be7a88487d08885213239931139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oKyOrEu7qAhnDMMeOYudsU7k",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9226, 1.3697, 0.2123, 0.3862, -0.704, -0.577, 0.9971, -0.2237, 0.8391, 0.5106, -0.3138, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.1421 left_z=0.0279 left_yaw=-0.0565 left_pitch=0.0011 left_roll=0.0011 left_gripper=0.9971 right_x=0.2912 right_y=-0.0014 right_z=0.1448 right_yaw=0.1726 right_pitch=-0.0316 right_roll=0.0084 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -3.2615, 4.5197, 1.536, -0.2955, -0.0073, -0.022, -0.4308, -2.3453, 7.0496, 1.8486, -0.1587, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa4d6bb125b9c309cbd929ce1e849aa2bf925665dc936409127e4d173971cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2e053265eacba41c5f106de21794691725d308b414b3e42500c57b172a0273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4609a8b61dbb1e29dfc78315571a7fb9323c7c8959c1d6979b370bfb2a58f5",
      "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 · 3.741 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.6993, 0.5316, 0.5049, -0.4725, -0.3412, 0.5238, -0.2199, 0.8646, 0.5823, -0.347, -0.3344, -0.2512, 0.9961]\nstate[eef_state]: left_x=0.3723 left_y=-0.1276 left_z=0.0322 left_yaw=0.0182 left_pitch=-0.0188 left_roll=0.014 left_gripper=0.5238 right_x=0.2988 right_y=-0.0037 right_z=0.163 right_yaw=0.167 right_pitch=-0.0219 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -7.5009, 4.4513, 1.8437, -0.1538, 0.022, 1.0379, -0.1026, -1.4838, 6.7624, 2.0098, -0.022, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9218, 1.3376, 0.239, 0.2588, -0.7078, -0.5766, 0.5276, -0.2237, 0.8474, 0.5373, -0.3279, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2517 left_y=-0.1358 left_z=0.026 left_yaw=-0.0522 left_pitch=-0.0412 left_roll=0.0556 left_gripper=0.5276 right_x=0.2937 right_y=-0.0019 right_z=0.1517 right_yaw=0.1726 right_pitch=-0.0277 right_roll=0.0068 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -2.906, 2.7419, 1.1258, 0.2906, 0.0122, 0.6325, -0.335, -2.2769, 6.5983, 1.9121, -0.1929, -0.0171, -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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9226, 1.3697, 0.2123, 0.3862, -0.704, -0.577, 0.9971, -0.2237, 0.8391, 0.5106, -0.3138, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.1421 left_z=0.0279 left_yaw=-0.0565 left_pitch=0.0011 left_roll=0.0011 left_gripper=0.9971 right_x=0.2912 right_y=-0.0014 right_z=0.1448 right_yaw=0.1726 right_pitch=-0.0316 right_roll=0.0084 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -3.2615, 4.5197, 1.536, -0.2955, -0.0073, -0.022, -0.4308, -2.3453, 7.0496, 1.8486, -0.1587, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa4d6bb125b9c309cbd929ce1e849aa2bf925665dc936409127e4d173971cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2e053265eacba41c5f106de21794691725d308b414b3e42500c57b172a0273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c4609a8b61dbb1e29dfc78315571a7fb9323c7c8959c1d6979b370bfb2a58f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBvrlsf3th1qKhWdoVmvdYY1enRjJ_vhi9tRVrYEnzHmLYFKJRYQRlYkIn9KNF4uxU1mpjtWT6lyHRfUGbLc3CYaPDjB-Zc8l_laKC0rivJ_dzgCGsqGVDZ64ydNiBjqA_FFkk5-BufV43A1iQgypAQpiJfo61v2sEM7MdpcdosAiP-mfnUGNmcIVFZd9l9eFIgZWMWV68mCYetHvlajSD9rn6h2YmGoQo8DG1R6bjbLXwhrmnmBDIk552keJiYYuXWgQHugbngypOZEjigK47mxdwtJHJPoaYzmeJW03zQcIt73Q40gbQq7P3KEg681ysIR48LaleY1DtCZaGfBw0kHt37VL4zrPetZoaxj5wIifVpZv74hZ0CBZqwnWhoYBWZFWUkSgdIe7PpR1iZrq36B5SDai8xh0GzgmQAmJGmLaQ0oahBX6PKmwZBzm7QGEfgul-D7pkQqMQW_XIFB_RoDqLxqqAq1ObLJzT94bRuPf_sKz59Z84rhKt3VRxhTfgXQ7RXlE_9GYwIxFYW59Ra9wY_mub3RDt01nosTmAEYENCIvfkF_Ckc6YCax64s5lmsTFwAGp3nR_RkG8hDWb-G2YjVI37SKkDt1HB6EVIUC77O73FaKlf4Hl0ksuAL0nBW12EprGJmj0_P5uXy9H_d9lPfBvHfX8_yB8nJdLaDtE8ZkhufXV9TV_uahsaUS-5deYqZRYKxKFQ2i-NTI8IhdxktpjiiAMWGipxBNhqcaSnrD9xzdnlZCoboXZWrtuiUahNZ2QAzadc5pgTqpEkP6Lbutw4z9l2tmp5ocNSUAxrZDU_ZxhURtvtVAG0JtTlZ4F2dsmtSW7RYrKdj4xkllawEOg2YaJFlocNE7nQqsN8Z5T7hSZeBbmHfunhtE6gWLY0uMv0JBXbGlaQtTY6MTTpgQR0moPNBLfsNRSUjQr9ddpSmm8hr3sW-qzyr9asEPbcla-BXB5LuhjEPCTHZGpFFUSsZ0302oQGs7Lla254_W_a7GgNLqT6b__M8I31ozh0i1OSkpVk3skRlceR8i1dJtSXKE7C_v1tknBdveKLqVJhnRuWH7fV-zGPnlmgcMaPsrAADRyjPIABVEwjHQREuoZdTbhNNbHpgmZ1YgrkN2JuMVbUSHE1zM4IgQxUxRCr8rgAYSm9__yVtHi1WP4b3tw7fHlvtoI8YiO4V6reJ3Jkig39wAF0m7eI_8vazhIdbFMHtoEwDYmXXDvtP64TjFfj5rZs8pmw8lCoE_kpYPQ0nv54gUFV4SAqFSVJTpvQbVr4WRdj3q5H4BVm3OW9ALc-99Y-TYDZTxxwFtO9OcbugznkU-6z46uZj5MZtIPtC_afxeyNl3kQXc4fgDAvaMU-VqJawi99w0y7yj7A8D_Q7huMljSiUT_qBTz2-luGBeVr0uJWJix1_xtdxFOTeDEqsn8ep_sj31SM9ZVVoHAeRXz6m5tbs_DFoHWcA0AITjOK6iD-4bj3MBW59FLcTmGEhsN0Sge9XqHYs65pQORwdfcCfQWgI3cdMZkBn2yNDEP03iKPxSY2teRm4VYaGXHPbJaH0pIKOUtnRkECOeKwG62C-ykoywXA82uI8pHaowYrxa5k6j9AYba2_BO91sSmyg-jJryXHXlPccd6iqAlGnUyC60y43rw7V69x",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bea33cc87d0a83e41776829fc55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_z\":0.18},\"note\":\"Opening succeeded, but the arm stayed low at the bottle instead of advancing, likely because the fingers caught on it. I’ll lift straight clear first, then approach the cap from above.\"}",
  "call_id": "call_hpexYv7TpFoJu1w2cAALSSLu",
  "id": "fc_0b9dd0a7cf7e86d2016ab41beaf8b887d0837e0af48a853b02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hpexYv7TpFoJu1w2cAALSSLu",
  "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]: [-0.9676, 0.9535, 0.6449, -0.4702, -0.72, -0.63, 0.9975, -0.2237, 0.8242, 0.4778, -0.2932, -0.345, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2483 left_y=-0.1487 left_z=0.1677 left_yaw=-0.0619 left_pitch=0.0047 left_roll=-0.0309 left_gripper=0.9975 right_x=0.2883 right_y=-0.0006 right_z=0.1382 right_yaw=0.1729 right_pitch=-0.029 right_roll=0.0076 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -2.906, 8.7043, 1.2527, -0.442, 0.022, 0.0317, -0.3077, -1.9487, 7.1316, 1.8926, -0.2173, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286a846cc55f724b060e2a43ab4d3c28e0609aad16dc2ff0c109c716ff756f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba60ad553578e71182f3f5bd1dd36ae142be9457f3df81ebd63a78801854a6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2add2d9f28211684b9c49fd6bbae4b53c69ef506de11a9f83b14e59d8aacaee3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.101 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8719, 1.1576, 0.4446, -0.1463, -0.6312, -0.5617, 0.525, -0.2237, 0.8562, 0.5598, -0.3397, -0.342, -0.2523, 0.9961]\nstate[eef_state]: left_x=0.2611 left_y=-0.1431 left_z=0.078 left_yaw=-0.0625 left_pitch=-0.0974 left_roll=0.0436 left_gripper=0.525 right_x=0.2959 right_y=-0.0029 right_z=0.1569 right_yaw=0.1702 right_pitch=-0.0265 right_roll=0.0049 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -4.7111, 11.6308, 2.1514, -0.8767, -0.1538, 0.906, -0.3077, -1.7299, 7.0769, 1.9267, -0.149, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9226, 1.3697, 0.2123, 0.3862, -0.704, -0.577, 0.9971, -0.2237, 0.8391, 0.5106, -0.3138, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.1421 left_z=0.0279 left_yaw=-0.0565 left_pitch=0.0011 left_roll=0.0011 left_gripper=0.9971 right_x=0.2912 right_y=-0.0014 right_z=0.1448 right_yaw=0.1726 right_pitch=-0.0316 right_roll=0.0084 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -3.2615, 4.5197, 1.536, -0.2955, -0.0073, -0.022, -0.4308, -2.3453, 7.0496, 1.8486, -0.1587, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 0.9535, 0.6449, -0.4702, -0.72, -0.63, 0.9975, -0.2237, 0.8242, 0.4778, -0.2932, -0.345, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2483 left_y=-0.1487 left_z=0.1677 left_yaw=-0.0619 left_pitch=0.0047 left_roll=-0.0309 left_gripper=0.9975 right_x=0.2883 right_y=-0.0006 right_z=0.1382 right_yaw=0.1729 right_pitch=-0.029 right_roll=0.0076 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -2.906, 8.7043, 1.2527, -0.442, 0.022, 0.0317, -0.3077, -1.9487, 7.1316, 1.8926, -0.2173, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286a846cc55f724b060e2a43ab4d3c28e0609aad16dc2ff0c109c716ff756f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba60ad553578e71182f3f5bd1dd36ae142be9457f3df81ebd63a78801854a6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2add2d9f28211684b9c49fd6bbae4b53c69ef506de11a9f83b14e59d8aacaee3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBvwbyfPRIG33PegPBYLaVaAh3t1MlBNY_GghantXi6s87qUr1nGDIQHPvVlhkE2mceo36G-XkGw4gl6mh3Mj3Vl9ZoxXpdkJwu9H-FRFVvUpbmjac1nmHsP-FmB-kq9OYJxIYKGN8ABh2K6qqd8kKzQXm4C60G6XNdLVZW-mey2kn0-wu8SYhUAMVz9ZeF_DLT3sYnyTePxybFOmBAxuvY4LOERyrPh8wWkany3Cme9ofCVrYy4CukeF9N6i4pazYiNzZSU-L4M5f4lggcYnJnUCf_ezpIjH4S4O4ES96E1cvDmukp5a3aaFMyIUa5egeDX8d4pxHvQt3InBKMSYk4cX2ccz2TEco5vtRlvQcBHip1W_F7FRq1yB8TYlvgaLZ4mgBrmp-jzmSN9Nyo19qKJjdnFhh-d1nnRuFDDcasBkztD0H0Mm_KzlGIiBCw7_KXddbcsIpjz4oX-kScB_mwbrAaI3pCq1LhV5OuPdeAuJK3E2SQc57c6y63iqK888L9uZ-sN0SBnqQ3p3yFcX8VPUoVRCtqb94WM6fO9SZqokKYMd0S5Q0XnkrW0cEej4jqpXXQVRKAhIgOtg5L68Y_QEB9nhR9EasNr7_eO2pzKvs0TSjA32xOoH6BAMLMF-uLridY4ChP6sziXtnYKGgrlGr-lmYPOxHl-ElwFs9d7VJH_ZSICYlae-AZqsmAreZ6ogGodZU-f-rmGa4P-zsJyUy8-zuD_diZKopunboByviRUEwfmgKmdgktVSH7ax8tmtgIiNpeaRhtz4hixis7OQ9RLDa-7cBnAblTMXDZEtQSS-HzjQCTrWBvndqVDlv3awdEls8x5OaNY7soeYkwoDd1aMiaH0e6gb7SzbdFwkrzf6e7TqRUzT-wgyWWPjqQHOBTCN8AjvMjYbEB2RcdnjMJxSs1_aObgVmz2LdwAqD89qzVM0NXAx9hR71sT8ATWUgqPOgxiuubYVjLnCCUCDzFEbYFKljy-p4ZNfgdA004uvkewdSsxmsC65TxWYSXFzWnPaQRwCmQbenUM33PzMTkd2_yS-IU5GR7AKj8LP2EsqoYDM0XbKJq7ky2fnlEGr6uFCEp5YA36LjssDJwFTI12zo8ePxZdPsUOVsehmpi0Ga4Hc6v5qRondiZFGiwaZkiPgqy9TmQD5ys6Mqnaou9Q1EximkPSUL2LNwLHPcuqPnu2xpfHQlFa5DPboeJPfCMRjoLYi_IpTiRP8eaPWrwV2Xuv7z5MJ_2F05LNqGyiceA3TAEaaNyMEdSWjt1CPLN57JeAf35rBypWtgoZL7eI3o47yqjHqHWvuC9xGjo=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bef2f3487d0a9519590e2c92987",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.15,\"left_z\":0.105},\"note\":\"The left hand is clear again, and the cap lies centered ahead in its wrist view. I’ll approach at clearance height before descending onto the neck.\"}",
  "call_id": "call_Qi5L9xfxH6zeKssfTOMDD3Bo",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bef84e087d0a229a66a4cbddd4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qi5L9xfxH6zeKssfTOMDD3Bo",
  "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]: [-0.6044, 1.4254, 0.6109, 0.0746, -0.4805, -0.3656, 0.9976, -0.2237, 0.8104, 0.4515, -0.271, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.3455 left_y=-0.1351 left_z=0.0835 left_yaw=-0.0195 left_pitch=-0.0803 left_roll=0.0402 left_gripper=0.9976 right_x=0.2867 right_y=-0.0003 right_z=0.1343 right_yaw=0.1725 right_pitch=-0.0203 right_roll=0.0037 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -5.7778, 9.1829, 1.8193, -0.1245, 0.1245, -0.0073, -0.3897, -1.7436, 6.7214, 1.8095, -0.2076, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3594e2a80d4a8d7b0ff188f379c018e5cb9e35ee3916a219095c41c5cbd66f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884706596ebdbab4df5a83dba1e84f7e51fecfeb409ba434959e6c2e032b6efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31df69e5f144b1be8368743833773dee3d856b20835ae47f516104a679c4a134",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.7 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9218, 1.3376, 0.239, 0.2588, -0.7078, -0.5766, 0.5276, -0.2237, 0.8474, 0.5373, -0.3279, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2517 left_y=-0.1358 left_z=0.026 left_yaw=-0.0522 left_pitch=-0.0412 left_roll=0.0556 left_gripper=0.5276 right_x=0.2937 right_y=-0.0019 right_z=0.1517 right_yaw=0.1726 right_pitch=-0.0277 right_roll=0.0068 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -2.906, 2.7419, 1.1258, 0.2906, 0.0122, 0.6325, -0.335, -2.2769, 6.5983, 1.9121, -0.1929, -0.0171, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 0.9535, 0.6449, -0.4702, -0.72, -0.63, 0.9975, -0.2237, 0.8242, 0.4778, -0.2932, -0.345, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2483 left_y=-0.1487 left_z=0.1677 left_yaw=-0.0619 left_pitch=0.0047 left_roll=-0.0309 left_gripper=0.9975 right_x=0.2883 right_y=-0.0006 right_z=0.1382 right_yaw=0.1729 right_pitch=-0.029 right_roll=0.0076 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -2.906, 8.7043, 1.2527, -0.442, 0.022, 0.0317, -0.3077, -1.9487, 7.1316, 1.8926, -0.2173, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6044, 1.4254, 0.6109, 0.0746, -0.4805, -0.3656, 0.9976, -0.2237, 0.8104, 0.4515, -0.271, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.3455 left_y=-0.1351 left_z=0.0835 left_yaw=-0.0195 left_pitch=-0.0803 left_roll=0.0402 left_gripper=0.9976 right_x=0.2867 right_y=-0.0003 right_z=0.1343 right_yaw=0.1725 right_pitch=-0.0203 right_roll=0.0037 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -5.7778, 9.1829, 1.8193, -0.1245, 0.1245, -0.0073, -0.3897, -1.7436, 6.7214, 1.8095, -0.2076, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3594e2a80d4a8d7b0ff188f379c018e5cb9e35ee3916a219095c41c5cbd66f49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884706596ebdbab4df5a83dba1e84f7e51fecfeb409ba434959e6c2e032b6efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31df69e5f144b1be8368743833773dee3d856b20835ae47f516104a679c4a134",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBv1Pzp6sOL0QS_sYajgq6XpX-iHdA5MaYnbwPEcfCcRaAa2fghv7C3g-KLZzTb3pjONEw7Np0fVAaSe5I4J5tc3Y-54KT0gFunHhpHs58JKB-Cs6B2mFedAYYBv2JT0Jl-U-YTkjLYbo3D7Lr0FerOeBvrIf9J-baipWsD9LMAS6mlSQSUv7iCvLeyuLYnNyrssUcbH0rN-8M_-1A_jKZv3jtp4jjBUwvhZACrdglE14pe5nFuBAOSGf99sZwC7TFJVlFaycpEikaQ4-0x_sYM2qO5xf4bjCzXZh6fNzfeARLh2G3StgZDLRcmDzCdVRpBgH6gSLnDanZdCokSCAIP1HtRvcjg6Q6NfIa_FjkSXVDxW55AC5oc6nF74KA4WGKp-jm9PEUdVdCZIv7pL2KnB_ql-udhfqZO6FOPsEs-KKrp_e0X1udgyzNQ1ETonfdedItWXov3ImxHb51F5M2LzHbQXPkWKdI-h_MelUF80YBNtWmpODSWKPXXQ9fDrkWOoWoJ-eizSToOVCYOo2xdbq1VG_S7Q8MJtDqDKGn7cVhImSPrmwj-AvuF2HNeC8y1-c7YAKfGJCSlpCct0_R-kMEjq-4vf1IopqS9w48gVDqCejpTqastJuw_URzkMVtF25sKtbpTCaiaqCREGWNjV4q8Zvm9z8jLPH0wXO7IBu1otRhWSR3pqCrp-O0-RhqfHAe-Y_j5v7pz77HLqMnnMEcCEdsBbyEKOcRvks8IS0_M38ootVjl9EY8kAhKNbAUsHWnphhG2CgKEAmQ_GlxO-SHzr_CNm_8cK0lY1kk9rBWZ2KqCOLpU_OsvddRc74n1jxpQfn_LszSumGSm3cFhA3vBQVZAvZzjSOO2bjrqT3C_7h39FOY7248Vbt657QUX2euR33KdaUgGnpl7N0J2l73Ok0B7DEh-sUo08hNsiYDwm6TMT6h4qBR6ez14rhGnixWavQVAyQAHb93306wYSP-LwJ7PHxid22GIC5Hm7Zv8A_CK3xLVbrUne17dQMYB4khXYu8XI5kiHdtiglvgjYvnAg8xKCotOBpxIJ5Q038E2bluRv-M5IAsJSG4dJ3FVIAbR8KX6CE5H-CG2VVsSMPBBNLuOx1qMPpnhAFHKK5uvTIdLFT4tbom-27ZT0fJnMM4Icfrt95TkZjF9dnEJ8td2fCWhxpbLt-C7VsAJdeUUqLweNg9K_UH3aJR9tIUIUjww8bNIeGwEgsvMdCljk5hOydai1lJQF04_LucCJvT3GTW6wCgvf8rtPMz5eXlopu8fRikeUsQ1LpzmEMFxoh1xLcc3_0ZDLahXCz_4nhrl6-ObUiA3AGIFIF3zRYnAWsR-xBKejlQK4DpvM8ptqVvM8FDb9zRP71SLur3CGrRGgVFy_fNj60TmiotX4RBJ-XgLFZsphXw2w8Q-XSwQqGTEJ--YQSWPpx8DTjBxXfOziCWGD_xwxr2zhsyuVpkbVnCSEp-igQzn8E8Ukvha0ltdk6APEY3wr6bLOcYHHn9klels_anCIoivebP4PaxV9H9oD3jHHghOcnpxOBD2xlxFztoBX49V_kH4X44eHKQQiSeJnLTH_P-sOPqHyOpm07Of--qWeBdNv6ev0sTcd_iroddKQ7yhxX4KdXBTFil-pwR98iwcpbZbs9P3qpv3a89QKJNAS6ypHlcOLPkyYnzF_Sc2M5KnhWYYOrej3DPuVZMSvjaOmX-W0pe90YnfbGPqjydd72jnlaBSoWqwPpGKrZOY4tnVbs5ZYainyYNUprHooDm0RW9h5vegry6sc-D2p7w4Zz9MqR8LNkUR41OtGsX1apkzChmkiqLyeUU8FdpDRSbKnxiT2DACWCk6loUI_vsRjUdTgxrl8FeMiiRquVOfvPcmxeA2xkkm2aYem2cVj-YZvtK68G_Lpc5SwlrqhLGG-Ol0kUQUECG0Us70b2tMKtYyrh9ID_0YIgt5WSVmejbBdLueH6gwvbQIpJvkeVkSM2-G582QoqA97Ve6kZ9-7zyzwTg47eWwZhDOkdu0LGaK621oFyRd3gWqLw6DqqC7k74MgUmTnaA88RqrT0vmOzWPt2QED6c0d3ScgebREKVbKF8YQUYwkzORKnlnqmU4qCYGS_Pb7MAu1kpYvaBxZC-iyxbCZjax2yzubIHM5WuQFQ8Uq5dmPJKniGUScRRh5KDVI-xyubCt0JFeAA7QQShqSi9bT36TKC_BNwOEyL2dtXAWN_jvR20mRObwqE3tQa-t-G4n_lBM21zoUaDzRK1BusdC1gvj-YyEZEz5AAMa_09QtWHTueb",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bf2404487d08458ed4d1db2b49a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.147,\"left_z\":0.04},\"note\":\"The cap is centered in the left wrist image but still several centimetres ahead of the fingertips. I’ll advance toward it and lower to the neck’s height, checking the view before closing.\"}",
  "call_id": "call_wfaI1Cn7Nsx56LWK1Zlcb0oj",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bf48e0487d0a71fa1b9dd177128",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wfaI1Cn7Nsx56LWK1Zlcb0oj",
  "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]: [-0.522, 1.7779, 0.6743, 0.4503, -0.4324, -0.3321, 0.9975, -0.2237, 0.8036, 0.4328, -0.2642, -0.345, -0.2565, 0.9961]\nstate[eef_state]: left_x=0.4039 left_y=-0.1428 left_z=0.0387 left_yaw=0.0044 left_pitch=-0.0234 left_roll=-0.0042 left_gripper=0.9975 right_x=0.2844 right_y=0.0003 right_z=0.1292 right_yaw=0.1749 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.6085, -6.8034, 5.6, 1.5263, -0.149, 0.2662, -0.0171, -0.5675, -1.7162, 6.8581, 1.8632, -0.2125, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0bfb2533a6c0472e52e914c5ba1bd076cecc6f72f4551cc1b5f7f35e007881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc381f93161fd4a4bdcb03d37c4cbfc02f0c21d4786c2a1b88876d73234b336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d505787c103303367b6859427263ff724afd1c6fd561e764b05c0cbf966d056",
      "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 · 9.824 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9226, 1.3697, 0.2123, 0.3862, -0.704, -0.577, 0.9971, -0.2237, 0.8391, 0.5106, -0.3138, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.1421 left_z=0.0279 left_yaw=-0.0565 left_pitch=0.0011 left_roll=0.0011 left_gripper=0.9971 right_x=0.2912 right_y=-0.0014 right_z=0.1448 right_yaw=0.1726 right_pitch=-0.0316 right_roll=0.0084 right_gripper=0.9961\nstate[joint_eff]: [-0.212, -3.2615, 4.5197, 1.536, -0.2955, -0.0073, -0.022, -0.4308, -2.3453, 7.0496, 1.8486, -0.1587, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6044, 1.4254, 0.6109, 0.0746, -0.4805, -0.3656, 0.9976, -0.2237, 0.8104, 0.4515, -0.271, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.3455 left_y=-0.1351 left_z=0.0835 left_yaw=-0.0195 left_pitch=-0.0803 left_roll=0.0402 left_gripper=0.9976 right_x=0.2867 right_y=-0.0003 right_z=0.1343 right_yaw=0.1725 right_pitch=-0.0203 right_roll=0.0037 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -5.7778, 9.1829, 1.8193, -0.1245, 0.1245, -0.0073, -0.3897, -1.7436, 6.7214, 1.8095, -0.2076, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.522, 1.7779, 0.6743, 0.4503, -0.4324, -0.3321, 0.9975, -0.2237, 0.8036, 0.4328, -0.2642, -0.345, -0.2565, 0.9961]\nstate[eef_state]: left_x=0.4039 left_y=-0.1428 left_z=0.0387 left_yaw=0.0044 left_pitch=-0.0234 left_roll=-0.0042 left_gripper=0.9975 right_x=0.2844 right_y=0.0003 right_z=0.1292 right_yaw=0.1749 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.6085, -6.8034, 5.6, 1.5263, -0.149, 0.2662, -0.0171, -0.5675, -1.7162, 6.8581, 1.8632, -0.2125, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0bfb2533a6c0472e52e914c5ba1bd076cecc6f72f4551cc1b5f7f35e007881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc381f93161fd4a4bdcb03d37c4cbfc02f0c21d4786c2a1b88876d73234b336",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d505787c103303367b6859427263ff724afd1c6fd561e764b05c0cbf966d056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBv4P617hvGGycKRwYjsSxJnBvvk5OWFRA-5WoQUvRcaCV1VNv9c6Osx1p5ymq3jRr4qdnTU6jhAXemC9skXZrfSS0gnMUIDhDjFB8jRprb18C-kE4IPHpBwLZxNRTvIpBj7HDJrejoQj4ORdmyvmkP0fqS0jr0KimUNwpSk_rG9Odp6hkOxdqjvOxzqDhZ7AOqsRR_21lhjTi6H0R-CAaRRkWHnEd6JTSw9h1aJbUZ5kis-mDY0ni_TjUKU90xKWX2kkMxYam79GojXRwPIYOsEPEjdz9BF41jZOBNfjgdOrxMbM45aT6b0GyIiR72F8dGc5dBUyCcU1s-0CXDu5ct16cPURIDmxjewVJgbVG7XeJqcTBZj5lEOTTTJepxPhAlGfKnl-0q9p-PsrVXl7bdfEqWuR2IZ6RNdrpJHo1AWWc00Pds5GAEMJd_OASmv65UiIqqzYf4ZK82Y1yT-h5xO6YEnXYZ9TBchCnSWcpSu3mS1Ryz9zG4Bh-HtuO9yvcFbQmZBT9Oyhcwrc1sURRV52E7lvj7k41MK3jEre36XgZkHsHwGXSD8M9I4HNUhcV4IJHdRKlBQivBU0vZ3sIIZ8KR_zXpEdRZpHV_H2XjA9JYwr7eJKAWaTaku01cmCebFbZWXUemWpQBIXa2kGO213GV5mZ7C7Q78SkKCI8W0Bx9dGq-hKr2gohO7kgmZ7jaC2_C0dytwyt4bKab0jfH1Fww19dmq5wM-PUzfNs4A1qwjiaY243fckIy7O0c109pEJNlzftO9yi0S54IZ42zLE5qfP8RhsFYVVnzrMvr-LLqOtp5lJmNVMswKsNQ1n8wxXqEFafIGPI5GSNLIBECqVDO99FKoOelZji3Q7YTzhjRcNTa9r6EPN4QcoP5xFJwAwSu8aEU2oHjMiqolh46prGSeXHIEqBItCkeqAtXIFuR3GqoNY02XSCLC_8o3bpUpJG4h3KYRCYlC-6j-1t6Bk4K8ctVBMOrMzA_PxrTX4S379D4JVRCck6MynRbWNFEQXNIbuq8FXztke7bzRm6mtOWE5PfiwwYM01m30O5Y9l5ARHAEGEAq7Z1X5X2ORDr0rd67dy4IjwMKM3AXBN9OOM95Vy4iPaFZSWHt25V_sSfjtPsBJh55hAlOXmDTFWep5mJ2Hx-h69-RfIxRWpm8ww7IDRk0Z3EuFnMYTHSJRvHuZVU5TSKgGGvniKtFzgoqcY6ZWxV6Mbwj8_DdAj4FpqVui6aZIYwjWqbdKBzkRZW_u5ggRkMSz3InZszkOkLC1LSo4laleaUe69O54lRe_V7EN-YaBCrl8LsFB7v0ijAUPJ-0PYoaZLJlIVhy8stU",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bf776bc87d0b63fffb51dada18d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s cap and neck now occupy the jaw-tip region, while the wide body remains behind them. I’ll close gently around the narrow end and check the settled opening.\"}",
  "call_id": "call_WzeXnLNgdPxek0MLd0ixqcbX",
  "id": "fc_0b9dd0a7cf7e86d2016ab41bf7ad3c87d0b88e6111f42cf33f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WzeXnLNgdPxek0MLd0ixqcbX",
  "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]: [-0.524, 1.7882, 0.672, 0.5499, -0.4644, -0.321, 0.0214, -0.2245, 0.7971, 0.408, -0.2478, -0.345, -0.26, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.144 left_z=0.0539 left_yaw=0.0234 left_pitch=0.0608 left_roll=-0.0235 left_gripper=0.0214 right_x=0.2823 right_y=0.0005 right_z=0.123 right_yaw=0.176 right_pitch=-0.0264 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9111, 3.9316, 1.1355, 0.0659, -0.0269, 0.8962, -0.4034, -1.7573, 6.9675, 1.8291, -0.2466, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692d8eef88780ffde8a1bcb1d33fcadd8b5b02bb36a34c39ef0dc994bba144b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034ae25be07acd418ddbe23293e24ce7bd5e9bdaf4052171b9dd48f1993b980d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438d91586db2bab269409eea0fd511c66304b7691d03a38e204afeeef8ab1311",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.495 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 0.9535, 0.6449, -0.4702, -0.72, -0.63, 0.9975, -0.2237, 0.8242, 0.4778, -0.2932, -0.345, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.2483 left_y=-0.1487 left_z=0.1677 left_yaw=-0.0619 left_pitch=0.0047 left_roll=-0.0309 left_gripper=0.9975 right_x=0.2883 right_y=-0.0006 right_z=0.1382 right_yaw=0.1729 right_pitch=-0.029 right_roll=0.0076 right_gripper=0.9961\nstate[joint_eff]: [-0.4171, -2.906, 8.7043, 1.2527, -0.442, 0.022, 0.0317, -0.3077, -1.9487, 7.1316, 1.8926, -0.2173, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.522, 1.7779, 0.6743, 0.4503, -0.4324, -0.3321, 0.9975, -0.2237, 0.8036, 0.4328, -0.2642, -0.345, -0.2565, 0.9961]\nstate[eef_state]: left_x=0.4039 left_y=-0.1428 left_z=0.0387 left_yaw=0.0044 left_pitch=-0.0234 left_roll=-0.0042 left_gripper=0.9975 right_x=0.2844 right_y=0.0003 right_z=0.1292 right_yaw=0.1749 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.6085, -6.8034, 5.6, 1.5263, -0.149, 0.2662, -0.0171, -0.5675, -1.7162, 6.8581, 1.8632, -0.2125, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7882, 0.672, 0.5499, -0.4644, -0.321, 0.0214, -0.2245, 0.7971, 0.408, -0.2478, -0.345, -0.26, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.144 left_z=0.0539 left_yaw=0.0234 left_pitch=0.0608 left_roll=-0.0235 left_gripper=0.0214 right_x=0.2823 right_y=0.0005 right_z=0.123 right_yaw=0.176 right_pitch=-0.0264 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9111, 3.9316, 1.1355, 0.0659, -0.0269, 0.8962, -0.4034, -1.7573, 6.9675, 1.8291, -0.2466, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692d8eef88780ffde8a1bcb1d33fcadd8b5b02bb36a34c39ef0dc994bba144b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034ae25be07acd418ddbe23293e24ce7bd5e9bdaf4052171b9dd48f1993b980d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438d91586db2bab269409eea0fd511c66304b7691d03a38e204afeeef8ab1311",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0b9dd0a7cf7e86d2016ab41bfac29c87d08abe44ab630fa8d9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwD3I-aRds5oFYruk6Em_n_4wpWaLcphM2HRTRff_nshodsRlY9_y0fVDm0vcfjbV2XjRjDb4AwnTrJ6QJ9b5qpP7zJUL9TT1JHDOF9XVL376jeokJ2o1Q9IqHLyF5alj23SA_zV4bKNtuDkbKMEXp0i7t8_jlaktbd1ymS_eZzIhb0KKP1LYUdf20SW1t4tk80UE7vA1HNvDQxe1pprn_lsK6dv3g7RnjWcU5d5DVfWThFU3NYbJ-4QtyEZoNPv0YaQZ1zybWEZmUXWZX7QfZjM_gr8GfKWUNCFXwV2Sp7lIcsz-Twtf9X3s6A8vQe_rP7k4-s7QlzRAjy9DIXkTXdQdJrk3jKInzf2DkMlhSRA_Wqs7F3-0V7d6suec5G3qHrU9wdqYeSOZdilT548vjYBhI49gpQubrUPHqvxvsK-wKZavETuPMaLkr5yRkp_0m55cpgoSD6d7dN1Q8TJmGCIUSigQfC1lUoQbZqbsSWWNtDKspwSrLfB7h19D04blX269jDflOSJSYjqlbaGzLB2BLjWlqu8Ej_lsuJ0XkgEp2tygFLV014pEsjjtxxXfJuyxs7t2QsOujKf5hTulO7UxYuPq0MuGcKsQTbGjNmQCpM9pvIo9uZXSZk8E4pjQfMS1CJr28zrxeXfAwshMU5wvmK2Uu2WbeWlr5MeTFwfQbljkimVwnldoFfd5s2iJSZzW6Nw4ZLJniT8G3qAmhKOeMrIUssNy_VlbaiZmGKxmz7fu9q-owMrT8ouFx5gJovEZoOcgZNAROJEtwLe0f4qtN_UPFbBOvttAA6TygdET7BZjri4fomVYVUUE2RsUciSk6LFaEpzF55Qe-glpYNivNaxd1caBOFXhvhu8YhpiYS0W5ONPqHqUc2Y_Ss2sTSc02ocktVaclc18nZlx-yTLMEAZqVVHj1o9mgOhK78G96TRHBQ07ht2OOoV2IKam4bHLV7Mtnfefg7A8trM3f_SCSaowhSSbtiHtrTbCZkvetBYNi7PPvIN4ZBvbgRlYyRe48CHMctLcuXFQoZ_eG0Kbq4ZB3hPV2O_TYZu4EiTG5BFWPXxuLG53pJFT1P-CG98aXE0aLwa-T7LVzAMrhp_3_W-4qx4Nr26iUXUxsqos--j_uI6KdurC_CgGXH1msdmZm4Wo2CrHA5mXziNfxBSc8hU4Gelp0b0k8Vig_V-7ZtuUHy97zzKTksrU1T7Npk3ZoqhJI6CEpaW1B7I0tYjNAV7oydXP4LgUMoG81mbuiSExNFaNEtgf_aZs1n9QBKXqeer8YX5ND3x6YMUBAv2VHbfdHPHai4JLu-ITLbLhziwny1faF0snQj2EyLUFhhpweBAjyy1C3y6jVQQTkyNP91gir2T4riRcqIP7c0Gn0Hhhbmnu6wOKsUVzhSVnO5BuErGZxRJh9xoRzvmI2O9u8tvBJ-tph3m5ef0-FVZfSPqw7WYQ7BloO-GV4adXnKxNU1mf6_V8WoiTUB1ewr9oh6g6vfFRVVr9-G9F29udJqQfOMbIy2eeJHDFNqBNEqQIt24TXLhgCsWM7sAkA-jOrLDfoEXk5rjnpzoZWn3HQBEjFOWdM77VvOO7ChMICzfvul5z4xdVbAtfbg20X2kY1R39EuPwWwjt2haDf92MRHE4tmyKL_RDSc_Mzmgk_vn8NoKtzgAGh1llQTaA2O2Hh9zJhF6ODKmPTyzAH1vDiKI3ocJPIvTbvuNzVvTxTwwtp490bl-8dixekfBiqkKB_iBXjNcoxmPNlmEcGCG0qKiV98X7twvqF9yPgc5JnDyTstjzWdpy38y39j5AAZcsUtS3F76iuDLpTp7rzVD3xDBO2mxa2FWYJDqjwDS7uGZjhJKA35YDYP8BnpWOXRGcIGMyTeHs4aX4o9cc1xJRpOxcs4832zILzOqyL35Ggqo7zLngaTznJres-M23ScQxPFKs42sgGSMBaGYAe9EuEESyEkvVDzysq1hkoZSkbIpHbNKvnJaQ3ExmNgsoaUV2ZEiD_35wFRSSVZCBghsLJLwPFDiRBRj0OZPrwjiXnzSHeEi5hmuuox3tky111YWF51pRmGGR7PKKMOagK7qfhPnYcvcfZef2Tm7uftUrqqX_XUF-iabR4pNfL5nTlAZY0D7VQLVFExadcVl3H6fqIc8vZzmN0guNdl5elDnWLNakWjaskMZ3a-AzEqiTKwFMJt60uKSD6DeWTs9EMGp3xDCbjQ1B69tb5Yi1h5Yh_CHTG70iwiKO2RtZvHxHUNjSorNFmOcSRg7vFk8-VCgN4a1COuRCg2YzsgL6AKHCcMEKoyZvaputCq5ZIWfojDH0WcuP1obPcRPGSl7ixYnvivw9QtkfoiurQ8q7LiRcS4bYm0dvK3MGMg9lt7Bxaxt90JRhwDHHEuqSsvUsGt1sImGqQaWjHovzkfMHONBN3JQheunar1cg5NuR1dfdcXOpHVlv5YIBACu4D2pQKmZRp7CmVvtkZDvkT1L_L7lBX8SazxfYH-ZWgyK24Zbo9Bc7Ft7xT02Er2q70usyc4_LK0GIXuQ1HfFf2K8SgOAcqy1S8UtZ3nbctYXTyfRFoaijfuDJWh_2tC3h-MPgkaB1rLGCrUJjMj-Y2ghDiW8yynIhdvZmZpLyaf4sDonVK2c5JOV5_WRukd422aZozSxA=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41bff3b4487d085d58cf09c740878",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.21,\"left_z\":0.1,\"left_gripper\":1,\"right_z\":0.18},\"note\":\"The neck close missed and appears to have nudged the left bottle back toward the middle one; the cap is now right of the left jaw column. I’ll reopen, shift sideways and forward above the cap, and keep the idle arm clear.\"}",
  "call_id": "call_bRrzCweLpKZHkGkLXuRlv162",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c01ec9487d0885bd4eb9a334cee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bRrzCweLpKZHkGkLXuRlv162",
  "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]: [-0.6144, 1.8641, 1.0695, 0.1253, -0.5247, -0.4011, 0.9945, -0.2249, 0.7719, 0.5594, -0.4385, -0.3454, -0.2642, 0.9961]\nstate[eef_state]: left_x=0.45 left_y=-0.2048 left_z=0.0938 left_yaw=0.0225 left_pitch=-0.0056 left_roll=-0.006 left_gripper=0.9945 right_x=0.2784 right_y=0.0014 right_z=0.1601 right_yaw=0.1784 right_pitch=-0.0392 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.5128, -8.4855, 8.2256, 1.5067, -0.3004, -0.0024, -0.188, -0.8684, -1.3333, 10.2085, 1.746, -0.2613, 0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0a026a361cdb0a0f3109c9c46deb1ad697b58b22a3bfecc1a7c75711e58b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac4029ed7c794e84dd0fec4e6551a7a4cce36e1baa9a67bb5962f444603b651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c6976c4416a480caf748ad07db8d74cc9e90525ab623c536c4b341e17b1885",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.103 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6044, 1.4254, 0.6109, 0.0746, -0.4805, -0.3656, 0.9976, -0.2237, 0.8104, 0.4515, -0.271, -0.3447, -0.2527, 0.9961]\nstate[eef_state]: left_x=0.3455 left_y=-0.1351 left_z=0.0835 left_yaw=-0.0195 left_pitch=-0.0803 left_roll=0.0402 left_gripper=0.9976 right_x=0.2867 right_y=-0.0003 right_z=0.1343 right_yaw=0.1725 right_pitch=-0.0203 right_roll=0.0037 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -5.7778, 9.1829, 1.8193, -0.1245, 0.1245, -0.0073, -0.3897, -1.7436, 6.7214, 1.8095, -0.2076, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7882, 0.672, 0.5499, -0.4644, -0.321, 0.0214, -0.2245, 0.7971, 0.408, -0.2478, -0.345, -0.26, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.144 left_z=0.0539 left_yaw=0.0234 left_pitch=0.0608 left_roll=-0.0235 left_gripper=0.0214 right_x=0.2823 right_y=0.0005 right_z=0.123 right_yaw=0.176 right_pitch=-0.0264 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9111, 3.9316, 1.1355, 0.0659, -0.0269, 0.8962, -0.4034, -1.7573, 6.9675, 1.8291, -0.2466, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8641, 1.0695, 0.1253, -0.5247, -0.4011, 0.9945, -0.2249, 0.7719, 0.5594, -0.4385, -0.3454, -0.2642, 0.9961]\nstate[eef_state]: left_x=0.45 left_y=-0.2048 left_z=0.0938 left_yaw=0.0225 left_pitch=-0.0056 left_roll=-0.006 left_gripper=0.9945 right_x=0.2784 right_y=0.0014 right_z=0.1601 right_yaw=0.1784 right_pitch=-0.0392 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.5128, -8.4855, 8.2256, 1.5067, -0.3004, -0.0024, -0.188, -0.8684, -1.3333, 10.2085, 1.746, -0.2613, 0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e0a026a361cdb0a0f3109c9c46deb1ad697b58b22a3bfecc1a7c75711e58b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ac4029ed7c794e84dd0fec4e6551a7a4cce36e1baa9a67bb5962f444603b651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c6976c4416a480caf748ad07db8d74cc9e90525ab623c536c4b341e17b1885",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwKj5QEKk7PlRBHGMy5MPe6v_k2yFhWeZqfzQ6nxK0m6yU2E9TV-86x4VP6joFoNbTotm12w_9OKR-cYapHjLTlo8-v85B5VX8UYb3EpJK0yEv-85AVknO5dGPj-lyWHsPg0g7AjoRQMsUHs33yHiRkNfPaw5uC6D495SrLeIuQ2iZ8GsFjILtCHWmWUiWCLViWzH-o5xEqS89lqY4vxe_TCCpEyUXEPlVL39BJBsaol-wTWhwjcIhUJL5IyPiNLBgbZzEVWtEA4j4GeGliE4nvFpiTRaGsTMp9g1F6Fy8wSNom-0FD09vatKCr5erDhvoSmNhqzlWu47JhXkxzrrz_zHrioGWq4tXKI6LSoL5zbnQoAJNwBxAtI1qBNTFufbuoryWgTcDE5pCpr2MTsO4Ch2LRCkxd1ySe14uPwpp3Ai3zXpI-PjCfQJvcDKgWAzf8n2JXzK5gxeya2k8AXlDmVjk9wjdn-f6XnPKeJsVF77ZfqpQEIZs0W8MtCi4TXyH10G_l8t4b7xJa79S1CBI0shc7aVFqmYA2Z4g7ZUPir9rFzTDExV6owbqWIJZONhJubBtr3-vFODy8buVpc5OWKuQGhrPyyF_sccDmWVLe032hpdmnjsQMmnufo5dwyNHBqQFyEV8WuOn6tCpFVQne1SUbwNo-2jENbOWaIRDdZm-MQa3YvOOPsmTQkK2SjQgJouusQvgysH1DrdyP166m_yVgTbyFuzCSXlOFRcR85V-hW4KBx0lW38RLfxZR3EUPucPO8TpPOkI3MClzinpgUdRxES6P7hZObclmbc1fGPr3IUSx75phgEBmOlQEyx_LL6hCDbP4EskNb2SHnsyDbOyrKZ-oIRnw4jehikexkgoWRT0QjH-klTRAlu_mwrqF3764KTTRA9L1FSEGo1Ob3i79k4uI2ATJdlpqSkIkE5lUm8G_O6W70UeCas2ATuHOOpVwc5iDSbODGGxC3leWS0-enlh8i8KNAH8GMVmgD8kJJSM4RtAnXsEPfIw9_yZn58tblSkNq6gjJ6v0pJ72aHLCOg6Zbh6hLR4oXW3H-Pfhh7eVdmi_sCQtJdZ6td0DVMWONPfgw6gPtt56LJ7Tn7_g1ki0QZF0MAffBL7daTX7FWBypvdowLVZr92u__zArhKg0taQeuRFRJsl22dIFMrsa__fCmakvfbT003yP-AlVuYCAtueqfjitcYmPDiGombDuh101DJpFCw9XI1S_LYS8pl2LIjDLzmkuZYhd8FWr1NEzFvF-0Wrnsh86103JhN9hwfCOdT1QYq5YlB5rAzMPc1Y4wC38CTT8CD5_VImcYxyythr3TVdCh9K0IR2e-Z3wnqmFLn09JMiIm9MrH2bDT8zzqqF3c3LVWDrn7-_dO9hhy2vfkWz9RlAFKV6B-qgHpFwJ9Ywsk5N5yIXEDAMWZuhkfhzcVpq3bL0kSJ9JqX7zYXo4NC_zIi0EHsR1AFHw_aM01FdyakjTVHWwG5okGgmbQG9Kei84BVSsAnjrEiMbsPPQZjMieiPzgz8q3auX7xyNdYHn46DpscPYBTOMqYf50xjc5zjtglhf49r5driKoKXmQAO4yqPKUem_PLTWr3QgvMEHK_qUl36w9Lwxky8yE1FGvLLl2rCFuWgrNGOiul5ETYNe-ypAGDN84iN15PE83jdEfN7oXcJhwoiDD3dJ8JAippUFA5aoU6UmEDmJ3hapYTWEX8k8wHjbcTICxANi-6n5F2SqHjaO8Ujhum4U_XWrYdPI-awwUq9o1fmlFljz8bZuXZHgij5_DwdGNYd_kj-24QXxpJssX23qIg4-IEX89ClOw56alb2OPd6VfTkaPCofd851JWZp54AaQwMfQlnXFE9faFLjPx9mFBSf9AyhKE1VARo3vyFbbCNKg2YoGecve_FGMsk14KDIxr_nXmc8c-i1V3AkfnSFQ0AyGNDCV2TAGr8wXfXqBn-ECXvQkyjMYOgvIGwI4ZhOhCwLmJR0rOnAZZT_Wne7SVt-VtNT_5RT3YHXj9F_9zs1KNZG8RrKCTbfijgFRnnmx6GfjuDbuBpmS2o1taAnnH9J98njH1SO6Q2gfdUIfN9Ub_-Q42gn5TrDe1qiNPGZ90eGfw2LW_oYw9zh8u1eai_9ZfksM2FyQYr1BYwEv0TX02bCbDRmcycj3jsTySpj1nR8loc0YvTzllosqQKuKuL67zSC6tMHZmvnt_wQfikC7ig-1RhmBjUYJQ5oSI4dpD4aQSEivgXUxsBr8vbUgKd58a2MESdpT1hYahQSE_NFUVUA_3WhcK3XgBL90bk3k5X2VvhdCSZkJnvIZ4GfiBjALR3DemRtj9ZomWO3PFBwCcK85Tbf_JMp8tHf-FxHwNxetjnC-eibf7FlWNucntf8VY3-WrqM_MQiseSnHkoEhP16FaCBYnq3KhI0ajpQXYKed82dT4Yk6Cq4vZUyVyTkBnecoYdIIRmpqEr0y0eo5OJ_EL84J3bgUz3vC1uzAmIo_us_XvVg5nABTpntNvwbKvTWNLSZLcZcaWFmKoe6dLFCDfZVdSM3MGI3wtsn5cc2XD4nSfCW_LI6DkvvLU-U0iHhuYZP52VL07O1GH_rDXe0RULXvPTrQ2Lcgnj265FyoGBvVduRZkdB-7oXdRvy8n1brkzqrWzfUDJu8DO7jMfDQbsZEXuynRENmpX-l5u23PWVWT5yStSovmEiUSyiW6QPCDbzl7QxvQ=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c0617e487d090f439fea909f1b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.208,\"left_z\":0.034},\"note\":\"The left wrist camera now shows a bottle centered between the open jaws, but the cap is still far ahead of the fingertips. I’ll grasp its body and reposition it much nearer the base so the cap can be reached without pushing it away.\"}",
  "call_id": "call_dL7Qw5XQ1NcVYw69z9tjhRei",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c0906f087d0906a434b56fac8f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dL7Qw5XQ1NcVYw69z9tjhRei",
  "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]: [-0.6224, 1.9934, 1.0119, 0.313, -0.532, -0.4095, 0.9956, -0.2302, 0.7506, 0.5224, -0.4236, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4515 left_y=-0.2093 left_z=0.0448 left_yaw=0.0247 left_pitch=-0.0023 left_roll=-0.0099 left_gripper=0.9956 right_x=0.2746 right_y=0.0008 right_z=0.1519 right_yaw=0.1732 right_pitch=-0.0399 right_roll=0.0036 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.5812, 4.0684, 1.3211, -0.2027, 0.1099, 0.1099, -0.335, -1.4291, 6.8308, 1.9463, -0.3199, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10dd3ece0e82561810bc68e120301fb43589c4e0ab78be25766e0fa77c9d7c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daeac882e541bc69a244f1cc9222f6294e9e8086c61f10e109dd2d8bc51eded5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8608ea8ea6a00bcb58e59463b8aba8e19886c0077ed4f1a8e781f3df35652c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.743 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 104 changed as sent

message 108 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.522, 1.7779, 0.6743, 0.4503, -0.4324, -0.3321, 0.9975, -0.2237, 0.8036, 0.4328, -0.2642, -0.345, -0.2565, 0.9961]\nstate[eef_state]: left_x=0.4039 left_y=-0.1428 left_z=0.0387 left_yaw=0.0044 left_pitch=-0.0234 left_roll=-0.0042 left_gripper=0.9975 right_x=0.2844 right_y=0.0003 right_z=0.1292 right_yaw=0.1749 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.6085, -6.8034, 5.6, 1.5263, -0.149, 0.2662, -0.0171, -0.5675, -1.7162, 6.8581, 1.8632, -0.2125, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8641, 1.0695, 0.1253, -0.5247, -0.4011, 0.9945, -0.2249, 0.7719, 0.5594, -0.4385, -0.3454, -0.2642, 0.9961]\nstate[eef_state]: left_x=0.45 left_y=-0.2048 left_z=0.0938 left_yaw=0.0225 left_pitch=-0.0056 left_roll=-0.006 left_gripper=0.9945 right_x=0.2784 right_y=0.0014 right_z=0.1601 right_yaw=0.1784 right_pitch=-0.0392 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.5128, -8.4855, 8.2256, 1.5067, -0.3004, -0.0024, -0.188, -0.8684, -1.3333, 10.2085, 1.746, -0.2613, 0.0659, -0.0171]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6224, 1.9934, 1.0119, 0.313, -0.532, -0.4095, 0.9956, -0.2302, 0.7506, 0.5224, -0.4236, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4515 left_y=-0.2093 left_z=0.0448 left_yaw=0.0247 left_pitch=-0.0023 left_roll=-0.0099 left_gripper=0.9956 right_x=0.2746 right_y=0.0008 right_z=0.1519 right_yaw=0.1732 right_pitch=-0.0399 right_roll=0.0036 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.5812, 4.0684, 1.3211, -0.2027, 0.1099, 0.1099, -0.335, -1.4291, 6.8308, 1.9463, -0.3199, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10dd3ece0e82561810bc68e120301fb43589c4e0ab78be25766e0fa77c9d7c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daeac882e541bc69a244f1cc9222f6294e9e8086c61f10e109dd2d8bc51eded5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8608ea8ea6a00bcb58e59463b8aba8e19886c0077ed4f1a8e781f3df35652c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwOOWl0RJoify04AmyCJE0fhh5pq-3luZT3_M56du5B9Ot0thM-UjQ6GHebsJjmjm09Y9AlB72K1nbYNPczQAib2pYmJCUWH5d-_-nxuDD7PdhunUxcENrEY_ilKNKdP85aIH9jDfMKoN9lS7DnMjBBWIRcdGKIqdN5thsGdT8GnoWuHYQgu82zcWDyYrr8KD2rIBtwbnGomEChx5AK6PgvIMPyDfdgizKmBXwaF7LEZdmmo23APe6A1rJdHncvHaRnGOhg_aW7ctDGFvvWHqUx-MPge0qxdxnJyaqGmFKp_U-rcxQtEPY-fc5x0tAgdy3Qf-5oT_SESbnN57nnL-vo1M4UgP_Quq7shL2ssUfYggCq7jNIjLWAw2PBPR9b9V-DX0QhgyLAiABXGLDu1aTWIUqa-BrQgaXliWnP8eQuonUn_8RDT3jJZA-N65C152H52tQ4mgQGEXtjYOY5-dUETliJ8XU-6KOnX0gtg02oGEU4Wy1UDgUQxSDs8m4UxPYZc24TNoHNWfUWPsyL_BLIH6-tb9LzNv3Dg41ExaSQK1lKLCxQUkFcbcCvXuo-zqRwI_0gojJEzQiNsUUcU1V0EDHBSKS4VoAeUQnPaYJNGPFd8KShGmOX3ph4Rc7ntiPflTJ5SxuTZLpHWQY6uOjwRhYS4QkbOT_NAi1XOaKS3MD_n55LRkkbxMIXSGbIyA0uKOZgubMCeA1rEZHZrFTdR_iE7ZkV4hrJTGPELEPLX3bHMHxrZwMmPXs6C8CRssj97U6g8XGZoG2SjVxXMwJDxbgcHyTMwvErJI91HpJGcfj_Wtw4_EO309KnrHSfTErGFv4VeLEJkfmLgncDbOPe1SHbReijV2wOjnXUT34lQJITEKkLWrRwkfQlu5AWc544Va88BzBqk1uv5yh8w7TvOlh9bZLWcf4BCHKnYgt43lIybQsQC2-kyEZB2bYVMqyzHbZDCm32_q-XkoCsJelZPKzIaxygP3-y1gAwvlT0pkTUXTTVIWuCJ5cOMK1vmqt7rVZAEgm1vvFigqy2Mn06im1T3KMzzgE4xVeoqsF-7d7SZIU_uxNQONhgd0CT_BzebRijlJ85MUpVqzd-urB-KezubGkiP5OShxgHaFS8ZwjkRL38kPV1P4nIcdMUKVpnn0aNWktzcebl7mXh_bFJJuqY1T2NGkxYJhpnAY0kpzqOtWdQEe19V4CxmQ9YlkclLWWhnq-0NXAFh1jfIafCD5WsY44As6ozM9vk_aeNKjxeyFoBP6MdaZ6VNQJcWPDMrgc2Pe-hAbWJOTLO54hjKw==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c0c7dc087d0b936eb11f1a42e5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The body is now spanning the left jaws near the table, with its cap farther out. I’ll close on the body to move it toward a reachable neck-grasp position.\"}",
  "call_id": "call_xao7IbyVeg0lvW3jO7XG7N4c",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c0cea8887d0ba2e4cf61fba824b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xao7IbyVeg0lvW3jO7XG7N4c",
  "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]: [-0.6243, 1.9892, 1.0145, 0.3862, -0.5659, -0.4191, 0.0195, -0.2371, 0.73, 0.485, -0.4019, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4607 left_y=-0.2107 left_z=0.0627 left_yaw=0.0565 left_pitch=0.0729 left_roll=-0.0518 left_gripper=0.0195 right_x=0.2717 right_y=-0.0004 right_z=0.1446 right_yaw=0.1662 right_pitch=-0.0353 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -9.6205, 5.7231, 0.9353, 0.0513, 0.1245, 0.9646, -0.5675, -1.5521, 6.8581, 1.9121, -0.2955, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6dbc3b363ada0fcf7351d88b3808e473c819b12af6a8b3db6e206f4f1770ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37465c8cb559c2c77ef3534a69d80dbf7d3a23d3d939ea5f57615c8dfafe586a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b4078474840802e55c815d2d057ab841d2e159545818ba5dba08bdd2c8da97",
      "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 28 attempt 0 · /responses · status 200 · 3.624 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 108 changed as sent

message 112 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7882, 0.672, 0.5499, -0.4644, -0.321, 0.0214, -0.2245, 0.7971, 0.408, -0.2478, -0.345, -0.26, 0.9961]\nstate[eef_state]: left_x=0.4146 left_y=-0.144 left_z=0.0539 left_yaw=0.0234 left_pitch=0.0608 left_roll=-0.0235 left_gripper=0.0214 right_x=0.2823 right_y=0.0005 right_z=0.123 right_yaw=0.176 right_pitch=-0.0264 right_roll=0.0005 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.9111, 3.9316, 1.1355, 0.0659, -0.0269, 0.8962, -0.4034, -1.7573, 6.9675, 1.8291, -0.2466, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6224, 1.9934, 1.0119, 0.313, -0.532, -0.4095, 0.9956, -0.2302, 0.7506, 0.5224, -0.4236, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4515 left_y=-0.2093 left_z=0.0448 left_yaw=0.0247 left_pitch=-0.0023 left_roll=-0.0099 left_gripper=0.9956 right_x=0.2746 right_y=0.0008 right_z=0.1519 right_yaw=0.1732 right_pitch=-0.0399 right_roll=0.0036 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.5812, 4.0684, 1.3211, -0.2027, 0.1099, 0.1099, -0.335, -1.4291, 6.8308, 1.9463, -0.3199, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.9892, 1.0145, 0.3862, -0.5659, -0.4191, 0.0195, -0.2371, 0.73, 0.485, -0.4019, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4607 left_y=-0.2107 left_z=0.0627 left_yaw=0.0565 left_pitch=0.0729 left_roll=-0.0518 left_gripper=0.0195 right_x=0.2717 right_y=-0.0004 right_z=0.1446 right_yaw=0.1662 right_pitch=-0.0353 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -9.6205, 5.7231, 0.9353, 0.0513, 0.1245, 0.9646, -0.5675, -1.5521, 6.8581, 1.9121, -0.2955, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6dbc3b363ada0fcf7351d88b3808e473c819b12af6a8b3db6e206f4f1770ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37465c8cb559c2c77ef3534a69d80dbf7d3a23d3d939ea5f57615c8dfafe586a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b4078474840802e55c815d2d057ab841d2e159545818ba5dba08bdd2c8da97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwSCMK9XVpuI_7v0LAJIGYrMqxG5m_Aa9iMJOB9NZfy0HvW2dgUOlwFkDFlPXjoUhmQzgSM26nMFmrtwdwomjuR8gS8GikhTcH5MMNiHK5-nksBg8tiOvcVqzkgrFzFsVDhu7UVC_985xcujsOa6CVaO5CjNjiN7YkxbmGKR4GsLb9LIPAeAtllJZPUCrRjkROozsifzGhTkQC1O9WlDuTQ1zwk96HoXdRpfXWMTEq_VURvcr9sgXDObQ-AtofpIV5dim4193v5celQ86O23p83NkttQZDe1zLWNRwWObQBfMi-GQJ860bMAo6pAMeqHrLxNdbiy5waP3Ht_Js4AwsF78p6K7qhUNPjZHFzbaXyZW9aI2PG1kz3ysnpgn64C8BZgoYdWPVw7dOPqQpCXsCAz3InwPmz5uXyAhFxUdV7Xr9Vo35tYwaFLNjCYrvTM9czIVgWY28PsXuSMNVg9graj4GuOGYWT_IzxmIWYaozA8LnmqQPXJF6IoPlVz8kp8moLbAO9UrnJQYb_AVpC58KpfWSGe1QWuywHTXj6e-IcLFTq0jRo7e6MROOo2pUyxuIcIOMZjvpVdZqJlUPtxRsajfGLZPBeR-42uqVzOLvwTn7RskrGjWZKKCJ0a9gcj-3lqwaM843kGOFXG8f7WcNYAhwj3sIZehF9SMLfN1Gyh1iuOaCGUQnvT2_nvE8EjWY3YwHpwsp9AQBk8g8BrgPJseHWlLj9tsTHAu-KPCSqf5t-IcVkMXKBYnYSQ09vFCgWqA5LZjBbC3PSwwVYiKyYdl6lCP7os_C4l_Yvfx4mefPs8jv2G2RJyAVGWd0TdOKr71taAtENsBvnGznURa27fM-NoeOkdtMTV-KEYtN6hqMK7hlZ403BluSqXlnlRAuB5XCFH4Q77kAeq7dmsIWZaLSXQducKfas7owPb2HvdUOQqibcXtt7lvloZo5EwhY4suczYGzmvzgCf7kdN6FGYA434L5M3mFL7qFa-6ZaAN5uPl8ZcFdLt-mAzULCsTpl4yp69e1KWebQxifurAirdALG5kIVYhnGd1aLLXE8GbqTDA8fBUKdZL5gaI6KQ-2ZePPhMEWMSMNOdlGpU2H_dX_vX7TAtEErUAfO0vEx-80jMMgUNEGwJzXE4zo-Piqx5uZfa9z6umtyA2L5-Z2l04pR-0QuYISN2YScFi6n5ZY1shRcDH1oq78Y-zCvsnLk39fYCFcouLHJaVbUNYRxeCGS8Op0kB7NS0hLkGhEIIxBznSfKu74bgsLkfpoz0kTq7wcaR-z6Sg8Uzkue3Isyn3tPOuugOnI1UO8sGvzIlkN0I2sEt_1by-Oc9IATH2nWmOQ3LNKoXVVMlZ4t2HshGxEoYffgeVUM_PoEtrkalgzg5pTR23PXxrwXxSHDrWuxmeMeMTtMeYNGB4j8PAwdWLUKXo1UyplHvTK3qtkcty7BTp-CzUuxPrN6r-z3-fBiSjcy1Ky4N3uNagZOpMraQ_oaxMr0H_B1ozACxvy0isuSIJb5hkrCL9FJsUDkCVePoJ7R9b2_yj5BSY10nnOfsWm-wMJhOIj3GjKb7kBstJAFs1MlXdr_I-Hc8x3w1suDobOKCLEQSw8iVpvocReAlGUKKAI81Qzv-nYJyhYVJFZEDU2eePPUzewVTukDM2d8LZSB_Gn2V9ISZZrdIzaG8EAUgR5Mn5xqYfELENeA2cH1QZFXAM-WGXy9owk28s-PhEPXan_TJDAPJlyoFhf6lQGYPQpUkSDcHXyp5ner5nuWWVEG7kURVQ-3EW4D5yTEw1TVJd_-29Z-pUepZ8H0DdMZeT27MflSB8HszNEKUH1ua5xd3HfrHjQzGMuLyyxMji-6FsFkm5f-7-2MRTG8oUXYq9RTZFXELl8VDImSLtvftnTQGyDyMncm1O2qPZKAC1btXnBh6gE35s4O4AXnciyhzP1GKYla_7KISUIxOpU_nBURYz2gkgrIy7DA_nUygpQ2vHztbfSUJVIS7gBcZSzCoOjLz9gQM-2MUnloT3GaDHM7_8Mfxjq6o8HH7VgBMNEIwb71j6bSCD4JOEAmtmDX9TRlAZQgJuwxyRrbNYeDrvzQ5eYIU764CH-bjaHtqwcfbCZnHRwVARLiSh28B4kZUYKvWMf8UKEa-1PSs04Sco-PuyMIsum4-51lEB",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c10403887d0aafa84fd2a729884",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.165,\"left_z\":0.115,\"left_gripper\":1},\"note\":\"That close settled empty again; the left bottle is still on the table. I’ll switch to its near end, which was grippable earlier, and move it farther inward before another neck attempt.\"}",
  "call_id": "call_fxSUo8hrsJk6iT3pqmgpaXKY",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c11f43487d08f7f5ed45b63d167",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fxSUo8hrsJk6iT3pqmgpaXKY",
  "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]: [-0.8295, 1.3804, 0.6609, -0.036, -0.6922, -0.5793, 0.9961, -0.2379, 0.7113, 0.453, -0.3775, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.318 left_y=-0.1751 left_z=0.1138 left_yaw=0.0293 left_pitch=0.0051 left_roll=-0.0181 left_gripper=0.9961 right_x=0.27 right_y=-0.0002 right_z=0.1396 right_yaw=0.1653 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -5.4632, 6.2701, 1.5409, -0.4371, -0.0904, -0.0708, -0.8684, -0.841, 6.8171, 1.8291, -0.2955, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f50a077868ff71c4c94fab476b67dacc1fcca22b88a77ac1901d6d1fadacd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5fe81166c9808eb3747f2bcd5346b1cf5b2f155a714823be4ffc6a89a123d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7eedbdb6709937b38f98023209c61f9d49e7e297f3d7ad3dbcb07829b99d570",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.245 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8641, 1.0695, 0.1253, -0.5247, -0.4011, 0.9945, -0.2249, 0.7719, 0.5594, -0.4385, -0.3454, -0.2642, 0.9961]\nstate[eef_state]: left_x=0.45 left_y=-0.2048 left_z=0.0938 left_yaw=0.0225 left_pitch=-0.0056 left_roll=-0.006 left_gripper=0.9945 right_x=0.2784 right_y=0.0014 right_z=0.1601 right_yaw=0.1784 right_pitch=-0.0392 right_roll=0.0028 right_gripper=0.9961\nstate[joint_eff]: [-0.5128, -8.4855, 8.2256, 1.5067, -0.3004, -0.0024, -0.188, -0.8684, -1.3333, 10.2085, 1.746, -0.2613, 0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.9892, 1.0145, 0.3862, -0.5659, -0.4191, 0.0195, -0.2371, 0.73, 0.485, -0.4019, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4607 left_y=-0.2107 left_z=0.0627 left_yaw=0.0565 left_pitch=0.0729 left_roll=-0.0518 left_gripper=0.0195 right_x=0.2717 right_y=-0.0004 right_z=0.1446 right_yaw=0.1662 right_pitch=-0.0353 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -9.6205, 5.7231, 0.9353, 0.0513, 0.1245, 0.9646, -0.5675, -1.5521, 6.8581, 1.9121, -0.2955, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8295, 1.3804, 0.6609, -0.036, -0.6922, -0.5793, 0.9961, -0.2379, 0.7113, 0.453, -0.3775, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.318 left_y=-0.1751 left_z=0.1138 left_yaw=0.0293 left_pitch=0.0051 left_roll=-0.0181 left_gripper=0.9961 right_x=0.27 right_y=-0.0002 right_z=0.1396 right_yaw=0.1653 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -5.4632, 6.2701, 1.5409, -0.4371, -0.0904, -0.0708, -0.8684, -0.841, 6.8171, 1.8291, -0.2955, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f50a077868ff71c4c94fab476b67dacc1fcca22b88a77ac1901d6d1fadacd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5fe81166c9808eb3747f2bcd5346b1cf5b2f155a714823be4ffc6a89a123d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7eedbdb6709937b38f98023209c61f9d49e7e297f3d7ad3dbcb07829b99d570",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwXVeUlg38bU4U1BAg2dbdunjGYRS2wxMh0nUrCP3qchOX0gC4Qj8nPsT_cVLqHed5z4wjaKaDkOjWSR8RC0IKTUlzMyW7w_Kf4iQqhwJadywqal52X5lU1uKuXQAnBriTJG_2ILPPUBlOmFP6xc7e4HYk8OVhBty1O-adCrDnmdYTIsyn8GN-Kt6RcLrsaucbJTzN1yKw_k1kTMP3_eI4scw208vSoQrTCBkmDAGgw0JVDPX-3ARcxT_1MIzkjWgGxE8sxDbdypMPoWXi1zZbfcLAAfqWE2ZGCbQHnG5CdSRdaWli5UlYMTbdP1ui2DmPrerL78LBXmPWkdVc_DkkQWeFxgv_7qpuPOS652WXm_g9ufPIScSua7OlwPDTWpbj-WVVqxzQ7GbYCNAVjab47w0IEIoZpdgVTSrAK6eqSUvS-c0RvmCo5-w0maQRNWf6JtQnvjbavu0iaHR-7ln4fYHz3CJV9BNw08W6J1S03cNDeqY9EkzN8ztb77_Ol7LC7PuPEd8jWm3Uh97AugcqSF3l3uklCEphF4jSHEZMGmzDG1kFuaWIvT3jrWw1AjGVZsHLVCXz-B9maCr-pIVji2rdbyKb0qpZcfA9tgzFMgY9XxF3Zf0UrStP-AgAnjh-z3FkMtppST-P2v5Vgg4YFVJcuILHgBIoUdwKiufx7xtsuiBE7GlTtuHaOUdUGrihg1KV16x8wXRhyNqwMFILCBDsjucJ_Bp607aav6AT6A8u4QmedYgNaAXfGzVAPEtyyVcNYCrx2O9wKhuXUrzFKaABA3uRNyCn7nFcykybMUuOZibsrmWNhhLOzrfkMeqTXdux2yGeLsMkv4cAfD6Xo0one7kD3L3PrCHyZ2FHmc7TUkiTy6pdDS86RzT0hvuv6AARRLp1NioOfm9EY-LC0Nx9DnzF2evrgJSUed5fOwxp0TduPenYSVMZe0sElAntoiZyXPCkYzga3Dk62LErox8Sjrf-debQ1ZjIcI_ZaH9I_7M0fwrcawpJ4gVJ_jGbKLtxrA2xMj4g6K5GNRDAJ8JyTjvWyR3MGbQv9xNIA0vKAXXGa8jShRPWz4mdIUw4I9mUmr3jjdC__TauvsWRG_RGkzr7ZXSpU5-g1e5Dq3WZxkk5bFBjjC7UVon0rPMWgHArHuYGvcokcx5d8XWPT2632ThlcZG-PQ7HwBsaXo3OiIgrzp0bxbKtocCuiuq76m2WmbTzJRyuupXMM3t-yelzAwH5q9Lgxr6DwYuFikdFCChxo0gCVoaj45NdE25wi31LXFYs1bzuJ1XSpW4af17bs4rxDioXTliHrYkj1VrnOgMr7mRnC7EFaOFXiIHb9PVQ8a-1Izn12_wT20yE1Sgd4anEa1WDl5h4IW7_VmPSV1tZl3DZJATP_ZFIHGUk_QKdWl-v4cjLw7tgS16x1FbmGWvCa7BNMJO13MqgIBnnANyQO7YmjSPDDQe7u0rGINukRSETTvh3TMqwx4AAexDMHD55Ti81nJInBiNNpvR5GIVxOmNZEDmpEnvfzFoSyQVDjqJv9B2HDNnzdn9XYLEY2aPT4AyRxqOyXhPxZqQDiRL91H3DepbPyerONKXuhJcU4Db1tObps_2hSbTPHwQVTzQkQLitKHWgSyxl1qzoRkDdPcaj1VAtAoFbQgObgYLMQQ370ZL-JsW4cjNEZW2DhlNFXqIKwrlk6yxcprOZhpkZekjbLP6lYFBU-oXrYcsVCra8a92hX56MtHrWv0ULU6cSqn8vtuHhjHaiplYT63uke4oWyZyXVlO4pjeBXgFZzWZL1uuLKiseaABmS8nLXFZqieCqUXM33o7utx2VrZzijMAEvRl2m1udsbJv8w72IhlOGZP3iKJHcGlr3xCnrCyjcPkLIMVQSXPK9IJ8=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c14f73c87d0899680f669ba5d2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":0.034},\"note\":\"The left camera now clearly separates two bottles: the nearer bottle’s broad base is left of the jaw column, while the middle bottle is farther away. I’ll shift toward the near bottle and lower onto its body.\"}",
  "call_id": "call_6DnAhDMzqHAlpTPbUmYIpHsg",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c1674d887d0b747fa58454a4a9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6DnAhDMzqHAlpTPbUmYIpHsg",
  "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]: [-0.6975, 1.5238, 0.3946, 0.3573, -0.6136, -0.4866, 0.9969, -0.2379, 0.7036, 0.4324, -0.3687, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3132 left_y=-0.1251 left_z=0.0304 left_yaw=0.0547 left_pitch=-0.0461 left_roll=0.0336 left_gripper=0.9969 right_x=0.2681 right_y=0.0003 right_z=0.134 right_yaw=0.1654 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.253, -4.4786, 4.465, 1.5067, -0.2906, 0.1685, 0.0757, -0.841, -1.4291, 6.8581, 1.8193, -0.3004, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c84d34ef78b461a83508347015b260dcfa2066bc7229c2f3a45a18761d2255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb459f24b20f648bba8bf4803542d67c7f874b3740751a1716848ac57f57e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3da2ebdfe52cbe0ccf8b932dbb74276232c857eaaef7fe12ff445bbc2f7395",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.534 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6224, 1.9934, 1.0119, 0.313, -0.532, -0.4095, 0.9956, -0.2302, 0.7506, 0.5224, -0.4236, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4515 left_y=-0.2093 left_z=0.0448 left_yaw=0.0247 left_pitch=-0.0023 left_roll=-0.0099 left_gripper=0.9956 right_x=0.2746 right_y=0.0008 right_z=0.1519 right_yaw=0.1732 right_pitch=-0.0399 right_roll=0.0036 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -8.5812, 4.0684, 1.3211, -0.2027, 0.1099, 0.1099, -0.335, -1.4291, 6.8308, 1.9463, -0.3199, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8295, 1.3804, 0.6609, -0.036, -0.6922, -0.5793, 0.9961, -0.2379, 0.7113, 0.453, -0.3775, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.318 left_y=-0.1751 left_z=0.1138 left_yaw=0.0293 left_pitch=0.0051 left_roll=-0.0181 left_gripper=0.9961 right_x=0.27 right_y=-0.0002 right_z=0.1396 right_yaw=0.1653 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -5.4632, 6.2701, 1.5409, -0.4371, -0.0904, -0.0708, -0.8684, -0.841, 6.8171, 1.8291, -0.2955, -0.0073, -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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6975, 1.5238, 0.3946, 0.3573, -0.6136, -0.4866, 0.9969, -0.2379, 0.7036, 0.4324, -0.3687, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3132 left_y=-0.1251 left_z=0.0304 left_yaw=0.0547 left_pitch=-0.0461 left_roll=0.0336 left_gripper=0.9969 right_x=0.2681 right_y=0.0003 right_z=0.134 right_yaw=0.1654 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.253, -4.4786, 4.465, 1.5067, -0.2906, 0.1685, 0.0757, -0.841, -1.4291, 6.8581, 1.8193, -0.3004, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c84d34ef78b461a83508347015b260dcfa2066bc7229c2f3a45a18761d2255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb459f24b20f648bba8bf4803542d67c7f874b3740751a1716848ac57f57e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3da2ebdfe52cbe0ccf8b932dbb74276232c857eaaef7fe12ff445bbc2f7395",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwaSgixk1tVFlZBF3tgylMtWEbw89FnJQyMh5PStmpqbxUYNG6TS4Py1p5k1it_zpscFgsOoIsKjXL1JPgBGVtbgk6DCVT42kucRYP0PL21awjt4AOgs_UIDUCTPFPmxPAZJtM6lujQhdQaWJI6xbDO9NRDTRbh_dH6CeRYQINsptDdcWNLNfS9T_GZeiybndqy6qVSjqKmEIixVp-SgAQn2g9ElFaZF-cvKzZE7qHWNPoA_gFnWsAfWN0pI2Lk4h4K_AkiAyV0Y336d2ZbPZWKzvFKQHQ3vhjdgS6SEnuv3ZWkzCoxlB8VTJyjgL5MzQTCl9mciBdfcMm9Li811yRshgrNNur97-DzGXaqX-loQrbGeFjo7jhB0SWz3C5lpw08KSQfvwtDGdkoi-1FoiaRO7eWggaARGNTdyN1B7lie8Tw9QT3dW2MQh5nDgX3OjpDL8pdBW_jFqmJe_jP-LcUrEQ39osC4lTc6zL_DF1nVxdsoh0C0oo0VoKhSQnUUDtYR9w8IhxR_rCL6eJds4A6qHxw1tLIRo2N3_x3KZoET-YOeGFf3ivEKMKL7OcvAU0guRxNh_lAznhP-L10IBK9_eSMp3oTjfo0AVHzwF6JhoEhHLG3Edam2PhI_usAZDJc0w9adkFTdCGGWnbm0pSUh0KaHHknTKYmGeAQ1r6ZVMryVLmmGUjneIlFo-fLQh_7BU5qYhEj01JzaTAHVqbetZZq9artOx03mt_yX_48aFFODlIgw9kfZJAmvPsqDDUmRiZTFcsaFalctd93JvX4HTVv9uNFP3215Env0Vus2TKvgaEo2sJoSAVozna7eCz-_PBm91MZ0-nTbvk-SaLxWk27tK-hbnKjN7eCEOWciRzwvQAmHkRZz71cVwEOV-10iRgN-In1LScTvu_aLck-Hr8I8z1zqsxZzJ6FIFyWenPQL3yq83tArlyKkD8c2JyU6CQ3ErQ3QfRPs8MbRIdYpwFG3ftYbrvyTW5DfvK0X7jRIRxTcji66WmYZWhxbuES5Ha_j8W3CSj6-0Bhrbz5kZSEWHfxQhg683ME6AhlxW-OVFaZMgFd3Bk7bQQ-7d1aR5oEva8zNnWS7Mpm7MebYc0rXnLAFtXpiFsz_dvpv_1SBbzr3BCf_7dzZChzTLseMH9RX6VeGtULzPLUhlrdRi84mlhtSnzDEv2mbUF14-OiTPg9gzrpseskeXJLb7Ibg2ASFyv19zIKMXdDpUe1tv3Q1kR2VlCWPQL-XrVJ-ITf75tkZ1bAHFfaBd7H0kMI5AEEWHxQs0s7MVqLsXLYj6rStu_X0zZDtm_9foAeKQukYshavsC8tSZo2Kat8Fk-0wDLUasGkp3vvvDULGNOEg==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c192eb087d08596aadd5480c8ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The nearer bottle’s broad base now fills the space between the left jaws. I’ll close on it and check that the fingers actually stop against the bottle.\"}",
  "call_id": "call_Pqc8xDqBhJ6Fs7uYm7PDkKJi",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c199b5c87d0853cf50649cde2de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pqc8xDqBhJ6Fs7uYm7PDkKJi",
  "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]: [-0.7013, 1.5253, 0.3634, 0.5682, -0.6537, -0.4793, 0.0209, -0.2379, 0.6907, 0.4065, -0.3584, -0.3454, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3275 left_y=-0.1313 left_z=0.0573 left_yaw=0.081 left_pitch=0.0999 left_roll=-0.0656 left_gripper=0.0209 right_x=0.2655 right_y=0.0009 right_z=0.1276 right_yaw=0.1651 right_pitch=-0.0315 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -3.7949, 3.6308, 0.7204, 0.0806, -0.0952, 0.9158, -1.0325, -0.8547, 7.0359, 1.873, -0.2808, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5150ba73f0c920f475f160d797118addfd72b134dda92045adfc647fa22de05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf9a804e76f3cb8d35d49e24d795c60a17fd0e9ef84a0f88b59403fd6acbbdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413ea42a0ec1d6b42486d7d0911685721866328a6e5e114f865ab3bd47e5beea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.612 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.9892, 1.0145, 0.3862, -0.5659, -0.4191, 0.0195, -0.2371, 0.73, 0.485, -0.4019, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.4607 left_y=-0.2107 left_z=0.0627 left_yaw=0.0565 left_pitch=0.0729 left_roll=-0.0518 left_gripper=0.0195 right_x=0.2717 right_y=-0.0004 right_z=0.1446 right_yaw=0.1662 right_pitch=-0.0353 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -9.6205, 5.7231, 0.9353, 0.0513, 0.1245, 0.9646, -0.5675, -1.5521, 6.8581, 1.9121, -0.2955, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6975, 1.5238, 0.3946, 0.3573, -0.6136, -0.4866, 0.9969, -0.2379, 0.7036, 0.4324, -0.3687, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3132 left_y=-0.1251 left_z=0.0304 left_yaw=0.0547 left_pitch=-0.0461 left_roll=0.0336 left_gripper=0.9969 right_x=0.2681 right_y=0.0003 right_z=0.134 right_yaw=0.1654 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.253, -4.4786, 4.465, 1.5067, -0.2906, 0.1685, 0.0757, -0.841, -1.4291, 6.8581, 1.8193, -0.3004, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.5253, 0.3634, 0.5682, -0.6537, -0.4793, 0.0209, -0.2379, 0.6907, 0.4065, -0.3584, -0.3454, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3275 left_y=-0.1313 left_z=0.0573 left_yaw=0.081 left_pitch=0.0999 left_roll=-0.0656 left_gripper=0.0209 right_x=0.2655 right_y=0.0009 right_z=0.1276 right_yaw=0.1651 right_pitch=-0.0315 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -3.7949, 3.6308, 0.7204, 0.0806, -0.0952, 0.9158, -1.0325, -0.8547, 7.0359, 1.873, -0.2808, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5150ba73f0c920f475f160d797118addfd72b134dda92045adfc647fa22de05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf9a804e76f3cb8d35d49e24d795c60a17fd0e9ef84a0f88b59403fd6acbbdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:413ea42a0ec1d6b42486d7d0911685721866328a6e5e114f865ab3bd47e5beea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwgB1IfoGrsTYonwjtRrvMAK0s-ItFnAgRpt_R5mGDiJrnCZ2jxcku54gsArKa03nbYFzkKQUjHgPkhtpaIgKIKaMyQGCIBLOcT1eQopw-7I-JbBw8G5fgxIUxaAQH_cnk3ycq87L8rNfVdcS2shJKpLU5tzqdsV8Ylyyf3cp_EU7kGlsTPiKnI0j0VAAdcmKLo6h2RwfPoeAoNN3UEpgrYPGKJvwxZrjqrN0IL40Ge5jcQRwLOCJyZwRwHHaDH9zSq7I6wKvQ2ndLLFwe8fyxgh-64sKEOmdsY_lafvzwOkiMXS51_e950XL_825VJ3UIR9L1zq3XLzA6_HPqVsBKznpyIklyXO1i26X_w73Ks4TlOw5cyvPL_HdtFcpBI7KasR3xIcHOYk4cehBgbQu6qAMy44aImyTP67nkdb1sw7fki9YkQRNfwcBhMNbSiQXj61vIkCaUntxIkyjXFJfgQ16EdKsZeAnwSo6USnZqZ9tFa-3t4_VTc-7kOn9alZotXdVBTqIxVVIv-HpJZQK1WnMml1lM-kxR1h8uV_spF4GqFfhR6NHIA1Fxl-WOBmMpJ3Pay0Ia6ou2Li8QF07UnM-_UzO4Hq6LRswKQ64utsWJ6SG0Qw85nj6FT7a4F6T-ITg1oZ3t5rjk1mbJTikPWamF1ddQatiQ25hExbqZyzunbcggfa0WV9YJfL5CEhaZZc0Z7bFAGOjZuXl5J1CGpBPwMioVFErJe070NAJhnSMTul6wzXmPhY0ItFr7cvQVGTELsxqDdJM-7TWO5K6SX79GyrBbDEWtG2t18wgny5E30GTvvn5r6R-TkxIxW-2YwZh9u0PSiEMRbbCbJuHKNi_gygfeHkyW0BPpzyed1XJmqa04B3DtXRw7Nu7x8trx2C8HaEJu1-qkYKR_p8xGcPglsYYAoT_-Dpr2z3DgD0XwLfjjZ-bF9ChCCezem3eyU6Siy8RAIhwTtbbwWHPw10yIm_9NrMlKjms-uMM6M8xSk7oJI_e0pjAhlnXOkP4liK2SZsFrRCOeZ5WnAIPPmHzs9t-HoT6tvQua6T5gYBqZT1qN1yR3xjkst8DsjA44gOKSy8VfJy1A44AfkQbIF7uOlv-vU_bc-smZvN411zTsrZlvl9hOIb_qnQqvgMvwSHPl2SOChxfZkKonyWA1ff7DQgGQYnBXAdvh6k2n0kZoArD46GIdJGZepQZjrK3qlkG-kIPyIWoXghGQ1k7IQiebrn5kzUuxj-gKg6n07sMsj2VnsyLqpa5pPGVHlSWIhAkp2qEDZvfvhV_FOpJnZGajEfBAuHViwErsSlmkvYE77ipeXi7niDEm73sJW2_s0MKMtIayGWCpF9FILwY2uxHpkIKsG6pumYvPdX9Dzl2todPKeR08D2XCvI_OjCt2llbeP84f0j9bp4ueXRZxMEE7cdRTlUPeRD1YAKc7NmbAQhGkTq4bMVoXkov51raokBIpwyhJXBva2ZV6j6OgqzqBSIXLQL31o-7UZuR93LFJi5ODoRZe2tnYVpo07nyBu6Kq_L9D1lEjFgIvufV1F1q4GV6nwhJ-bwnYvSPwIc5hzm47yYs8_nAy6UXDoYxlZbK0QdLZASua-BPF0hddFrAzm3FKnJEfKQG6-l3_JO1P2c_Ux7DMW-DiCD-roO0wYHwgo6A2dBoItR_XtX-i03QHJSGj3GBm4axLep9OI2aNdWzdUDajRGP5nlrbkqrpdfU1CgFhgH66pWoWrx0sXB_Hq9pmXcMsnhbzKzxeEVwrv1Y4ZnyzaorQ9ZuoPkqNs7L8wg4Gmnc5OmDvGTWS2EpRGhu2YgQ4Qs1RSV8BgyKB3ID3REt51rVqdnAfMUIKwkpy0Pk-3DlII4t411wJeU4WxAUREy1bOhOVVXSf4i8jbnh0TTz4QZQX7umKZmuoqg3D2dDcMUvOc0g7MBZYPI-gipfaAZWqzPJyqy56VScMG0L568G_5GnjuQlweQOTowXMgYovMGnGcV3XC4GilFFrZ2osUJVqb6Hd4efl8beBlcZJRz-9RjwIf-ixVyEulC736ZyRurKBwIJ53ukxpNBXtRc9H0tD8g44rnCRzalL91aCwODWJAsR9pP4ZYGO4nPzEV4f1b7mx6v6kpuD3lpcJ0EzLfaLCi1ZarD46runMHXcI1sHPZPSNZio7gv9w6Mg-bGCOSZIXUSaejLCG07Bs-a5XO6bxH7Yxampfag8dNdAfaFGvFXSVkgXg1g_wGBROQkecJpC9NVwKSO8N_tcYzC_-hack_gIhRZkQcXlWtZWBDe2NRva65YGhWDRPcb4cD1rLf8eq1T7jSP0a8kgwZ8hzPYcuVwHtY_i2sYSmX5CUtOeapMyoMfmOYD4YsTJ3MC9BpRMNzHqPaUA7hGu7AEBN4EhwtsftEFcoDTcQN-z7XEALdqst_7aiKxZVlhkuFWVOYggulahn_i_pBtPFHoar2PzNjzyPjdg-4OBlqtM3syHeLa-diBMZa7p6XvGOhs-8IJvPCf83vPOxisVy8_7Gth6IEaepK4nlDAM=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c1d726c87d0a1fc46d74717412f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.388,\"left_y\":-0.12,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The jaws closed empty again, showing that a bottle visible low in the wrist image is still ahead of the true grasp point. I’ll advance several centimetres at the same low height before closing on its body.\"}",
  "call_id": "call_UgklNpjt451q6qm2loAfymZk",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c1fae0c87d0976ce55eb81ef29f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UgklNpjt451q6qm2loAfymZk",
  "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]: [-0.527, 1.7214, 0.564, 0.5014, -0.5297, -0.3946, 0.995, -0.2382, 0.672, 0.3786, -0.3428, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3833 left_y=-0.1156 left_z=0.0372 left_yaw=0.1103 left_pitch=0.0069 left_roll=-0.006 left_gripper=0.995 right_x=0.2632 right_y=0.0014 right_z=0.1227 right_yaw=0.1649 right_pitch=-0.0255 right_roll=-0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.4718, -6.0103, 6.0786, 1.5897, 0.0073, 0.1441, -0.188, -1.1419, -0.8957, 6.8581, 1.873, -0.2808, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca7e72f1ad23c45fc77bd01aa62d42519750c1a114bae45b97baf13e6bb75c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e180a2969c8f9460b7dee90d9b808e826355b8141bc560b859cd775ff5a2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4665cfe7cc13647b586e6ca4e3b18e30928f5fea0f869e63c1c3fb035fb96104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.371 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8295, 1.3804, 0.6609, -0.036, -0.6922, -0.5793, 0.9961, -0.2379, 0.7113, 0.453, -0.3775, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.318 left_y=-0.1751 left_z=0.1138 left_yaw=0.0293 left_pitch=0.0051 left_roll=-0.0181 left_gripper=0.9961 right_x=0.27 right_y=-0.0002 right_z=0.1396 right_yaw=0.1653 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -5.4632, 6.2701, 1.5409, -0.4371, -0.0904, -0.0708, -0.8684, -0.841, 6.8171, 1.8291, -0.2955, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.5253, 0.3634, 0.5682, -0.6537, -0.4793, 0.0209, -0.2379, 0.6907, 0.4065, -0.3584, -0.3454, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3275 left_y=-0.1313 left_z=0.0573 left_yaw=0.081 left_pitch=0.0999 left_roll=-0.0656 left_gripper=0.0209 right_x=0.2655 right_y=0.0009 right_z=0.1276 right_yaw=0.1651 right_pitch=-0.0315 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -3.7949, 3.6308, 0.7204, 0.0806, -0.0952, 0.9158, -1.0325, -0.8547, 7.0359, 1.873, -0.2808, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.527, 1.7214, 0.564, 0.5014, -0.5297, -0.3946, 0.995, -0.2382, 0.672, 0.3786, -0.3428, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3833 left_y=-0.1156 left_z=0.0372 left_yaw=0.1103 left_pitch=0.0069 left_roll=-0.006 left_gripper=0.995 right_x=0.2632 right_y=0.0014 right_z=0.1227 right_yaw=0.1649 right_pitch=-0.0255 right_roll=-0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.4718, -6.0103, 6.0786, 1.5897, 0.0073, 0.1441, -0.188, -1.1419, -0.8957, 6.8581, 1.873, -0.2808, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca7e72f1ad23c45fc77bd01aa62d42519750c1a114bae45b97baf13e6bb75c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e180a2969c8f9460b7dee90d9b808e826355b8141bc560b859cd775ff5a2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4665cfe7cc13647b586e6ca4e3b18e30928f5fea0f869e63c1c3fb035fb96104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwkuJZYrXg5RLtuL1cFZJQheIvclxzfrCB89fpIdpvYM9fufIMnslcOlMahbINIG0hLm3GZopAYo_syUThGjPtMemB7HcapLoQ6uyZzBRTZ1eWf9LQKLp8lcW2MzuUXmE0NN6laxeL3fdgwgfpIySH-wWZSwtwlRy84uunm1v2rwwotWj9D-de0kxgfygodTCMUq3eqnbqVNcHeY9kAS1_OVQ6lcisCdcGhMkg-ijwmpYKLi7__5bdi4EoVLlsUpKvVhNwJjZkbG79QBbnKzsesCIVDMD24Ga_G028HNf9X3FjliJeMbQfhk1CAQhRh3uF9ONgfeEVBQkFlme_uSF97ITg81CGkvH7joHkgse-IBv0pZzhvYnjJgxU-w1F8okZvRb3_2wxkKrmR4n_NvldCpHaEI1mI0SAh5Jy1S4UW6nycJC6eOo2hcCxGaCIOVnCd7wsuePeFVoFqcrR_N_IaregoHbIPYrYZBaDfxdAh1nWnZpKhdo_k3FAEUnMQheBYk_qE1OHD2OlF3Kb6I5Dz7TsHczGGc9IjuYGyAeWGUfBK_2hdViPjONWw7dCPamjNtzgC5pscd-CBIhflK3WLXOeUvMIen8IltAlpFB3_HEFTJipPRVlwYhBkXUTt8JZbkK0j0urOnGJiabk6OMC5ARohxMICUx7QFNYCg2FWJRESMhHg6WgWvVGow_Q7jfssy7S8XVyXIQ_fYnnVtaL1sXGqah4dCLUX1J0sYKowk_QoJ_4bDNIXCX34x7TkzF-0w5zSsx5fr6EoMytOVpyOBJfdfCmjcPwOidinenWXus4TrTbObK87FxU0veYy_VDGhOIsa7xmrCI6fQ4MKMI01dv_UrzunpgXzeW02yzPUl8toYexCAh2it0qxGhSpf4cLvi34GzSY7zOWtLyKmm32DhnoavnJ1ghYQA-edtAZYwRhRHxAQbWWnMdi-iv717eWhnR2h-2etoskQIUdINu8Jt9xlr_t4K8I2ijJFUVThUfoRYz-u1xhg6KGnUPPh3335I8X3Wi4YlmfuYjy-CWvM4HE_TrylVBpdhHcv5BP68n31KimKjr-WbR4-_0PEvsMvrNWsS327lo--PM4ASicgDKA4IEFKHcUuk8HniSWk9nI-d0p3F73RILJb2fqeMvLrXLTs-1VaQFjtk3Vi_Sh1HryMM6TqtWXh90aMr-iwUJNaNpL21kLr4Wyl1BdUPK0e19hovAEg8CVc1XdAn1X95_reA7y9OqzR_ysqx4B2MzA5nOjbuSgcy8Sb-OVg1ymORqM4660ImZJxMrcJyJAuIYTfxbJlrzd_Yf4Bk-fcdpms5DPRZrX7Wv5r8LOtLIb0AhxFjC8-KZNS-aVME-Aa-uCwHwSw3GV-3D91wkhAAFDH32nmEXkFwW79WmDczG8NACnv1S2vRrwvEzV1HCOL5DXhYNYa3DP7-wr1Vwy-Y=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c22d89887d0ae0ef635ad539a7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At this more forward position, the bottle’s wide end extends under the jaw tips instead of merely appearing ahead in the wrist camera. I’ll close and verify a nonempty grasp.\"}",
  "call_id": "call_zni55bE9yCIt4jom5scWn7qX",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c2366fc87d0b6ac24c0b3a03e17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zni55bE9yCIt4jom5scWn7qX",
  "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]: [-0.524, 1.7237, 0.5663, 0.5117, -0.5381, -0.3958, 0.4986, -0.2436, 0.6601, 0.3576, -0.3351, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3855 left_y=-0.114 left_z=0.0394 left_yaw=0.1207 left_pitch=0.0182 left_roll=-0.0091 left_gripper=0.4986 right_x=0.261 right_y=0.0005 right_z=0.1177 right_yaw=0.1594 right_pitch=-0.0269 right_roll=-0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -7.241, 5.3675, 1.3748, -0.1343, 0.0024, 1.0085, -0.4991, -0.8, 6.7761, 1.8193, -0.2759, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7638106e04b991514c7182dfa1281063224c648ac26df499055f3e7ab03b38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e04f713872d248394c0c7af5925369b71dc56f0a36c2f169103be225a9289358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aaa8306e3e44d0192a4ecb21fab2bbdaa4c52c14025cada2f83d55f08b4a03c",
      "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 · 4.418 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6975, 1.5238, 0.3946, 0.3573, -0.6136, -0.4866, 0.9969, -0.2379, 0.7036, 0.4324, -0.3687, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3132 left_y=-0.1251 left_z=0.0304 left_yaw=0.0547 left_pitch=-0.0461 left_roll=0.0336 left_gripper=0.9969 right_x=0.2681 right_y=0.0003 right_z=0.134 right_yaw=0.1654 right_pitch=-0.029 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.253, -4.4786, 4.465, 1.5067, -0.2906, 0.1685, 0.0757, -0.841, -1.4291, 6.8581, 1.8193, -0.3004, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.527, 1.7214, 0.564, 0.5014, -0.5297, -0.3946, 0.995, -0.2382, 0.672, 0.3786, -0.3428, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3833 left_y=-0.1156 left_z=0.0372 left_yaw=0.1103 left_pitch=0.0069 left_roll=-0.006 left_gripper=0.995 right_x=0.2632 right_y=0.0014 right_z=0.1227 right_yaw=0.1649 right_pitch=-0.0255 right_roll=-0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.4718, -6.0103, 6.0786, 1.5897, 0.0073, 0.1441, -0.188, -1.1419, -0.8957, 6.8581, 1.873, -0.2808, 0.0024, -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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7237, 0.5663, 0.5117, -0.5381, -0.3958, 0.4986, -0.2436, 0.6601, 0.3576, -0.3351, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3855 left_y=-0.114 left_z=0.0394 left_yaw=0.1207 left_pitch=0.0182 left_roll=-0.0091 left_gripper=0.4986 right_x=0.261 right_y=0.0005 right_z=0.1177 right_yaw=0.1594 right_pitch=-0.0269 right_roll=-0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -7.241, 5.3675, 1.3748, -0.1343, 0.0024, 1.0085, -0.4991, -0.8, 6.7761, 1.8193, -0.2759, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7638106e04b991514c7182dfa1281063224c648ac26df499055f3e7ab03b38e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e04f713872d248394c0c7af5925369b71dc56f0a36c2f169103be225a9289358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aaa8306e3e44d0192a4ecb21fab2bbdaa4c52c14025cada2f83d55f08b4a03c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwo5wjMmaNbSlc68RIxjaJc_4Gl6aVURDBGv0DrLa-tJatDKzLxmGzmBbA1R-WTxV_qrYrzh2w1-CgLZFH3J-HS3kMBFUQzzUnsItnPCjemRnYBThYZvuM_JfMJPE-RYyzNlk-xUchRHf0vNozT1l_iz_RmFifLLjt6ZVZ_ZhTPj3YbN9prmKYwd6Q4YFNMrUFZVX0iQeJQOPjsK2LHnkvxqtxuW1pCMjdMfg_rwcEG1fTwQ3h56G3apIl_SogFn_mmAl92pyBXRBoiaLCey1V9_uG7Ln0v-cGKyI0AaKwtCs_01NBGAjaUxHOaWGUp0g5VplZjOR5yibrvnQJCB83tKFqzb24WSc0MCna3PwPHMXykrm0Y6LgAl3Oz1HjZ56cddhbJM38vW_rQix-2v9jv7ZsLjbCKSVfHNdyWDzeiGMMPWBZbzgG3EJ4ea6D70V2I2pv16tv4cayWdiaWmVHFs-izEJVfWU6Ij9NQYMrsOXrhhR-p8Jm3hu0aNEZUUFexvMM8tpCSVDGljz9Fyc9wV2oQ4RUIuUr_JO-nuscQKfEPD3dQ9cSEQfoiq-bt3iaLO1l6UCberavryZzypEamkI9AkkUQvlaDw6e1nQKLgfgl1eT6ucE1FHmKCjNr0QvqJKnjpAMt0F_p-TfbLUi_lssWkGYh6JqoZJUy2lTkeNKcfNE7xf9c0uDgd7n1kk1a6dyppVZafC_s04KYWmBlHhSOagvME6DqR83hF9u_AhxUWketwpilxyZAEW3RswBjpugTRXuVUZZJ4c2eQtpB7U0hhvlr6SCLb6IloFh1IPIyrC6_34bvyTOOI5DmrkQWrMsTeJ0HGQjQi3W_8R554fxvQe4JTTNqgLPIgMkYGuypMkOkh0aFz68h2ZkF9mkkgngBUxeb4KfA0ORgC32xZCqhxqoBCBwk3y3nIZa7QBkh_I8qhDBIUoQCnn2VmoX79O9KH1XOQhZb1ds6tl-UDAlzuzF7Q4nNeVNTp7D09ks0gtjAoYYL__1s8iHqb0PR4-tKJbgCoX-K1olCryo_IIJ8Hv7371ulhA9qI1eRNe2cNd7eSl8gOA2F1PH_lnFg4jClL7n9f7nsfPxjBtxl071Mh1Gfsijwuj8RTlapE7WXcEfikO-Z75jl5zbtwVGVEZ7jXx0KN1CJjtyiSPWfprjywhYmJbBZ21ESNxk_o6lfynF7eKq87z-5JT7wPJnhW1FD297OrqvINXXux9-LyvDV5iv07FXRQ2rDNtPYwD5e2B8mO--Wdwx9Cs5TwOS0xnSwWUM8nBVhzWQVc26z6NMo4WKOFFwIHaxan09dm_VmoyyPXXFHgFbl-6wnrYvtUrv9hbwcVtU04OSF_Fk__fnkL7rTntFx_tVBSc7PICLK8h1XpFWVx5X3aK3GTjHT7PaT3FhANWV-ETggjdEfVewmi3AcU6GAtqa_D-YGVqhdem2eaiV6OXRSsq1rkQEgcGHjP7f4i7yI0Z1HeFoPt38354Te6mVJ0YJ7pa586-o=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c2719c887d09ac49d64b2cc507d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.105,\"left_z\":0.155},\"note\":\"The left gripper stopped at a bottle-sized opening of 0.50, confirming a body hold. I’ll carry this bottle well inward so the cap will be within comfortable table-height reach for the next grasp.\"}",
  "call_id": "call_h8UiTj9amTnE3W7uxzXKRQQF",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c27b19c87d0b60f4524a8080f86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h8UiTj9amTnE3W7uxzXKRQQF",
  "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]: [-1.047, 0.9081, 0.585, -0.6094, -0.8463, -0.8509, 0.4975, -0.2493, 0.646, 0.3294, -0.3202, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2279 left_y=-0.123 left_z=0.1491 left_yaw=0.0593 left_pitch=-0.0004 left_roll=-0.0373 left_gripper=0.4975 right_x=0.2587 right_y=-0.0004 right_z=0.1113 right_yaw=0.1537 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.5521, 8.3487, 1.0085, -0.4908, -0.1734, -0.1294, -0.3624, -0.3077, 7.2274, 1.8486, -0.2759, 0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3a744466d22811ddbabd15d57221fe60f3f8ed5be29115b92b21f1a7c38c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553dc3b37f0053b7f4be90eb026778973772478e270b96a79787066d928d023b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ef56406563fc6d07cc01cf18a0b63c8ef22c6942303550b20c121547274132",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.421 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.5253, 0.3634, 0.5682, -0.6537, -0.4793, 0.0209, -0.2379, 0.6907, 0.4065, -0.3584, -0.3454, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3275 left_y=-0.1313 left_z=0.0573 left_yaw=0.081 left_pitch=0.0999 left_roll=-0.0656 left_gripper=0.0209 right_x=0.2655 right_y=0.0009 right_z=0.1276 right_yaw=0.1651 right_pitch=-0.0315 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -3.7949, 3.6308, 0.7204, 0.0806, -0.0952, 0.9158, -1.0325, -0.8547, 7.0359, 1.873, -0.2808, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7237, 0.5663, 0.5117, -0.5381, -0.3958, 0.4986, -0.2436, 0.6601, 0.3576, -0.3351, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3855 left_y=-0.114 left_z=0.0394 left_yaw=0.1207 left_pitch=0.0182 left_roll=-0.0091 left_gripper=0.4986 right_x=0.261 right_y=0.0005 right_z=0.1177 right_yaw=0.1594 right_pitch=-0.0269 right_roll=-0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -7.241, 5.3675, 1.3748, -0.1343, 0.0024, 1.0085, -0.4991, -0.8, 6.7761, 1.8193, -0.2759, 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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.047, 0.9081, 0.585, -0.6094, -0.8463, -0.8509, 0.4975, -0.2493, 0.646, 0.3294, -0.3202, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2279 left_y=-0.123 left_z=0.1491 left_yaw=0.0593 left_pitch=-0.0004 left_roll=-0.0373 left_gripper=0.4975 right_x=0.2587 right_y=-0.0004 right_z=0.1113 right_yaw=0.1537 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.5521, 8.3487, 1.0085, -0.4908, -0.1734, -0.1294, -0.3624, -0.3077, 7.2274, 1.8486, -0.2759, 0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3a744466d22811ddbabd15d57221fe60f3f8ed5be29115b92b21f1a7c38c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553dc3b37f0053b7f4be90eb026778973772478e270b96a79787066d928d023b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ef56406563fc6d07cc01cf18a0b63c8ef22c6942303550b20c121547274132",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBwuX2bGqvEaXmcu1CIG8f8yGJE2sHNVUbBO9RmrRTShnzUHUwV4j4p10LvdJ9U-EwPqGVxbwG55uuhdWl4BUPgjCBHa1OwZyIvaeM6QwZZBKXPgcCOSo6Hj4LOHxCQz-HIw0Fv7poa9pQxj9nJDNMvaCGUemv08fM-YW9_N0ApZ9C456T-1Ykw9nJBhitu5OeVbwke0y8Of_Ab2P5pL-g67vfznhKaf-659tJFtksPAXcU-0jQShW_tmgMW3ASxPNevlHw1touCzk1lHvHvN8tZV0-zKw2TmJjYPNyL0pmzKdhVwJZXaHDIE33KiKGWfaMGPjoMYP5wcDUmJW-9TgKnJ5T21f51nwdA2I1-rHZQq7qU6xln25_KsKhGEB_WyBJdc7Rew78ApaGZp_aQy_VoWNODHYQfgFivHo5GtJ0AAtOyJXFs9RYu9syxeGb6IUTZdgPziZ_vx_pfxg2kFo7XLa_k_zboUIdytHbN72ThA5neKbd1R0beC4ncGkfd9xNxWD6n1HbBYE4lbunN5LbgpaxSX3GmtJuieK-cyOqC7VoOa6KvMIJEJIm25RQ3YVhqi5NWvsEMe5fROh72p-7W71iQ01XhsnFxhxInTPU6hsXwO-kHQ9vYdooOA-kiB39-38LTMPKEckR-4wUj9ddqexl7XxXOD70xR6jfUgmZoaeaaxf2cxs6LqCyGMTwAMi08_5YlsLLtzQmpDWkaGsTMZS6NHjfXC_wCQAoUJPgY9wIzu12w93Rz_obGlLSfZcJbghIhuKxcsfh-syAKk_qN2sKlOUWnyMdcCYCCbIHSKpaxaUtGCN9y-ksG2U-c-8xQyAX9mVJW_rXDwQ_tNwEX4TmDeajM86OE8fP2Uau1xxh2GhB6sHqRgGnJ7M1kVRm8OfiVYTJR7v8dEu0DAl_sobp6lQu5i7Xx-E43XCEq5OVf-ShMRZFFB5cm78WhE3MapFvzzoL-uF1yzInDw8cLuKeEGd60n17-AVsV4PFaq6RGrv8pMhLO9HVUZRNTNvinoQp_U79soUDDsqRNzbZXe0onVGe-UBl9MeOfEWrVJNXDePNndp1e39ICpYVblgPWNdDCI9MUjWPMnnP4d3K571y56n9abEuLH8dSQlMo1vYYLtKPgOqEVh7ZdGXZw1fVucowjcMs5DKDbDYD3PqYcD0YwdNIdiXWefzhvIzQ3nJcJiZvXTS43IflLe6p1_SZ_T-S7QqbggBppz8l30Vv56Jn8wDDZV3dk_z1M01AjWvDqisdGMACJBwFGiR0rPBf3cmI_Ep2RCcZuKLEkj0rMZWC_Bwn-lsv1mput0LN99yxOkLlQcw4zhiGSt2Y-TFIKq5MCCqlfW66Vj1KEukQzgvOzziHyJkhicBGWSzzy0=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c2bcb9887d09e3e74c058ef2e95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_z\":0.028},\"note\":\"The leftmost bottle is now much closer to the base, with its cap around the middle of the reachable table. I’ll lower the held body onto the tabletop before changing to a cap grasp.\"}",
  "call_id": "call_W9JfXFJTCDMxLqVyn5ELUL6R",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c2c4fdc87d0ab34710b6641681b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W9JfXFJTCDMxLqVyn5ELUL6R",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0687, 1.2156, 0.2558, 0.0002, -0.9165, -0.8753, 0.4968, -0.2565, 0.6327, 0.308, -0.3134, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2318 left_y=-0.1235 left_z=0.048 left_yaw=0.0907 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.4968 right_x=0.2563 right_y=-0.0016 right_z=0.1063 right_yaw=0.1464 right_pitch=-0.0272 right_roll=-0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.759, -1.5932, 2.4957, -0.0122, 0.4713, 0.0806, -0.0855, -0.5675, -0.7726, 6.7487, 1.8339, -0.3053, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bec2179ad2b78d11e075098fe60def52db913f318bc9089e53ea3b54bc48d31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff479ef2bf3040a1eb03f776e0423a2955df496e4089e5c4652c759c77e222d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce847dbdd54ef8a5ac31acfdecdb97e4f5e7b8bcd963793ec3e33f273247b37",
      "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 · 3.459 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.527, 1.7214, 0.564, 0.5014, -0.5297, -0.3946, 0.995, -0.2382, 0.672, 0.3786, -0.3428, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3833 left_y=-0.1156 left_z=0.0372 left_yaw=0.1103 left_pitch=0.0069 left_roll=-0.006 left_gripper=0.995 right_x=0.2632 right_y=0.0014 right_z=0.1227 right_yaw=0.1649 right_pitch=-0.0255 right_roll=-0.0025 right_gripper=0.9961\nstate[joint_eff]: [0.4718, -6.0103, 6.0786, 1.5897, 0.0073, 0.1441, -0.188, -1.1419, -0.8957, 6.8581, 1.873, -0.2808, 0.0024, -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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.047, 0.9081, 0.585, -0.6094, -0.8463, -0.8509, 0.4975, -0.2493, 0.646, 0.3294, -0.3202, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2279 left_y=-0.123 left_z=0.1491 left_yaw=0.0593 left_pitch=-0.0004 left_roll=-0.0373 left_gripper=0.4975 right_x=0.2587 right_y=-0.0004 right_z=0.1113 right_yaw=0.1537 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.5521, 8.3487, 1.0085, -0.4908, -0.1734, -0.1294, -0.3624, -0.3077, 7.2274, 1.8486, -0.2759, 0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0687, 1.2156, 0.2558, 0.0002, -0.9165, -0.8753, 0.4968, -0.2565, 0.6327, 0.308, -0.3134, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2318 left_y=-0.1235 left_z=0.048 left_yaw=0.0907 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.4968 right_x=0.2563 right_y=-0.0016 right_z=0.1063 right_yaw=0.1464 right_pitch=-0.0272 right_roll=-0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.759, -1.5932, 2.4957, -0.0122, 0.4713, 0.0806, -0.0855, -0.5675, -0.7726, 6.7487, 1.8339, -0.3053, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bec2179ad2b78d11e075098fe60def52db913f318bc9089e53ea3b54bc48d31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff479ef2bf3040a1eb03f776e0423a2955df496e4089e5c4652c759c77e222d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce847dbdd54ef8a5ac31acfdecdb97e4f5e7b8bcd963793ec3e33f273247b37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBwxXome8fcn0GlT_U_ayHCaRyjYEPHGQ1c6MODBHWL4VEHxQaokACOahEsQMBzRn3sbHHq1pENdTzF43oacU4H7NNNGbDQZMXF5JzjK87JUNCbF8T8QhbiJ6VieL-Qir0RcNEHWY9I5Og0sWcGaRYvFSbTj34ynvT0k2kO4DHPPm_EoXY50gwrzHkdJM6XvWgmtGdQngw8oYFbCNHMjko6x3RGOxENpWQIJO6kABtoR-OJ0L2aUGz2iBYVp9FHwnW-ftZMxclXfJSuGtpyJt9YVoP1POnlxc6GZzslpISojtRGL9qTWEbzvF_GRUGq6ny-IttHahJ0NUGYFIara49XV7E2ZIm3vz5ttuWi-QBpJzZr36sbfyymhpOpuwiFEOaFt9lTW8dTYTB8BJV6O6HGbobEVdrvi3JwlAwgnXsnpxNTs7Xkhjx3JjNjme-APX8EEhtcu1U96ltkU3sUqkDViE33hOOHctNteTr0IGT1T_4ntJdhWHE0j4wXVKsMDhqJbmufNJCKgQlioVQGAPemIS3AACBhvTDFaOvNw6iL8q4TQmZ2LBfSc-wVDbwhbZl3mAhokGh34fYZ-AYUdULb-IKGwwBSCyOgn7xE7L7PzVOAhxEOBIKiabfR79viTti7WkBAZ1_Xq7yxZo98GEiFIqjLQg8gSis5TigPLGQ62XONlBsbbkmrg7ArrXQU8lFZScxV8oH6b0do0152y_9TRykzx458yYXDIE_wdVRQoPSnlowdyM7gbXXEjCQzjboufs0YqMA0SSjE_pSqJ78G4MdB3I2mWQBAu0r9AxDlmGgB_VVp9UmQqM4PLpwdHFfhPDtLhJXLM5hevKDZ7IIpMMpswC8gWiggeObocan5ylIgoJnyVw-XFIjxoI5_iU7uVgnATmmKF703uM1Oh8uYKofvel6a0_G5NS0vfp8ST4hfVIrYm9ETeUyjGNhjr-XW9ygJSnZ5GxPbk_O2gIiGmVscyubf-CtLcRC6X1cjN53I9Tn4OSk1hyxFPdAxC_TwDy392gWchezHMfg3O7HiJQ1tu69skf2cHwIcnYJ3vzP41HhTOT-aIw9EW8A4sF9Ky1NnFUCrQGgPHzeYdXRPJ8_46xdEpm-2VAMXHawovgSzo2IZ0uWUH972MiTreAqFLV7tOSZmk_6HjsShkkFZpns75z3qdwSgZR4euwJIn9deeMWeYLNAeOOBnOjbLb1Mt7UvxnnF5kN7MKvh15BzTjd5gwKRHa8InvycaKuVYZVrDbkMFbHfgVG4Akr96niaOYjMH62bWIklGuFDFma_9GzsbYC_1D7bkX0lg6OvbbzitTy99fYZthCTuizapQ-Ax8N148hq7s3gyLvnO-a216f8DMybRKoJ89ykr3SlsX5gifuQMkQjJGo0vq43_StJZ",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c304e5887d0b1dc8f1864e1504f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.15},\"note\":\"The bottle’s base has touched down while its cap remains exposed ahead. I’ll open and lift the jaws clear before moving toward the neck so the bottle is not dragged or shoved.\"}",
  "call_id": "call_vDECHvYdCvQagNyiYjwv88bX",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c30c73c87d0b6b211241164fbc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vDECHvYdCvQagNyiYjwv88bX",
  "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]: [-1.0523, 0.9874, 0.572, -0.5461, -0.8722, -0.8921, 0.9963, -0.2642, 0.6197, 0.2882, -0.3054, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2336 left_y=-0.1293 left_z=0.1379 left_yaw=0.091 left_pitch=0.0054 left_roll=-0.037 left_gripper=0.9963 right_x=0.2544 right_y=-0.0031 right_z=0.102 right_yaw=0.1388 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -2.6735, 8.5265, 0.9988, -0.5055, 0.0659, -0.0122, -0.5949, -0.5128, 6.5573, 1.8877, -0.2662, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aadf3b7e738ba6da20026084d59e3a6a5f5b4913304d57644b537dcc6f7f893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d1c6db45f43b82a8ce0de6f6f16b736f96d3bf06c72ec1eaec3bfffdf5c33b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a1f19327db4c5095c8065a2e523e1821aebd3cacac0b01ebbfb434c3048747",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.7237, 0.5663, 0.5117, -0.5381, -0.3958, 0.4986, -0.2436, 0.6601, 0.3576, -0.3351, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3855 left_y=-0.114 left_z=0.0394 left_yaw=0.1207 left_pitch=0.0182 left_roll=-0.0091 left_gripper=0.4986 right_x=0.261 right_y=0.0005 right_z=0.1177 right_yaw=0.1594 right_pitch=-0.0269 right_roll=-0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -7.241, 5.3675, 1.3748, -0.1343, 0.0024, 1.0085, -0.4991, -0.8, 6.7761, 1.8193, -0.2759, 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 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0687, 1.2156, 0.2558, 0.0002, -0.9165, -0.8753, 0.4968, -0.2565, 0.6327, 0.308, -0.3134, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2318 left_y=-0.1235 left_z=0.048 left_yaw=0.0907 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.4968 right_x=0.2563 right_y=-0.0016 right_z=0.1063 right_yaw=0.1464 right_pitch=-0.0272 right_roll=-0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.759, -1.5932, 2.4957, -0.0122, 0.4713, 0.0806, -0.0855, -0.5675, -0.7726, 6.7487, 1.8339, -0.3053, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 0.9874, 0.572, -0.5461, -0.8722, -0.8921, 0.9963, -0.2642, 0.6197, 0.2882, -0.3054, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2336 left_y=-0.1293 left_z=0.1379 left_yaw=0.091 left_pitch=0.0054 left_roll=-0.037 left_gripper=0.9963 right_x=0.2544 right_y=-0.0031 right_z=0.102 right_yaw=0.1388 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -2.6735, 8.5265, 0.9988, -0.5055, 0.0659, -0.0122, -0.5949, -0.5128, 6.5573, 1.8877, -0.2662, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aadf3b7e738ba6da20026084d59e3a6a5f5b4913304d57644b537dcc6f7f893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d1c6db45f43b82a8ce0de6f6f16b736f96d3bf06c72ec1eaec3bfffdf5c33b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a1f19327db4c5095c8065a2e523e1821aebd3cacac0b01ebbfb434c3048747",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0b9dd0a7cf7e86d2016ab41c33489c87d0b6234add211e9c1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.13,\"left_z\":0.09},\"note\":\"The cap is centered ahead of the raised left jaws, and the bottle is now well within reach. I’ll move above the neck first, then align at cap height without pushing the body.\"}",
  "call_id": "call_2QEaTzYVsNc6ocWhbcHlu54d",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c349e5487d082897f5f146580a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2QEaTzYVsNc6ocWhbcHlu54d",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5907, 1.5112, 0.6289, 0.1139, -0.5884, -0.4671, 0.997, -0.2707, 0.6056, 0.2634, -0.2974, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3576 left_y=-0.1174 left_z=0.0738 left_yaw=0.1323 left_pitch=-0.0557 left_roll=0.0342 left_gripper=0.997 right_x=0.2517 right_y=-0.004 right_z=0.0957 right_yaw=0.1324 right_pitch=-0.0286 right_roll=-0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.253, -6.1607, 7.8154, 1.619, -0.0611, 0.2613, 0.0611, -0.6769, -0.6496, 7.0359, 1.8242, -0.2662, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1deda04a699f635c7b798b144b6da8ecd68dd4001f7891cdc84eaa3223d419eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efef26b48a272bfb938e5cd9abc8752925fcb88b80f943516faff2a5a9953542",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d964024bfb547cc9345efbb42070c722699dd7be2a815a6c08e66375f9610c",
      "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 · 3.609 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.047, 0.9081, 0.585, -0.6094, -0.8463, -0.8509, 0.4975, -0.2493, 0.646, 0.3294, -0.3202, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2279 left_y=-0.123 left_z=0.1491 left_yaw=0.0593 left_pitch=-0.0004 left_roll=-0.0373 left_gripper=0.4975 right_x=0.2587 right_y=-0.0004 right_z=0.1113 right_yaw=0.1537 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -1.5521, 8.3487, 1.0085, -0.4908, -0.1734, -0.1294, -0.3624, -0.3077, 7.2274, 1.8486, -0.2759, 0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 0.9874, 0.572, -0.5461, -0.8722, -0.8921, 0.9963, -0.2642, 0.6197, 0.2882, -0.3054, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2336 left_y=-0.1293 left_z=0.1379 left_yaw=0.091 left_pitch=0.0054 left_roll=-0.037 left_gripper=0.9963 right_x=0.2544 right_y=-0.0031 right_z=0.102 right_yaw=0.1388 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -2.6735, 8.5265, 0.9988, -0.5055, 0.0659, -0.0122, -0.5949, -0.5128, 6.5573, 1.8877, -0.2662, 0.0171, -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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5907, 1.5112, 0.6289, 0.1139, -0.5884, -0.4671, 0.997, -0.2707, 0.6056, 0.2634, -0.2974, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3576 left_y=-0.1174 left_z=0.0738 left_yaw=0.1323 left_pitch=-0.0557 left_roll=0.0342 left_gripper=0.997 right_x=0.2517 right_y=-0.004 right_z=0.0957 right_yaw=0.1324 right_pitch=-0.0286 right_roll=-0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.253, -6.1607, 7.8154, 1.619, -0.0611, 0.2613, 0.0611, -0.6769, -0.6496, 7.0359, 1.8242, -0.2662, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1deda04a699f635c7b798b144b6da8ecd68dd4001f7891cdc84eaa3223d419eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efef26b48a272bfb938e5cd9abc8752925fcb88b80f943516faff2a5a9953542",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d964024bfb547cc9345efbb42070c722699dd7be2a815a6c08e66375f9610c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBw5-8JaLy25nqK4ihk7Itom-0K2N1cV2c2TwyBZach_nlg-kJEF1zJKDu8NVMPDWC3jt6QfUrqd6Dyf8ZoErrobTm8yTws1MBA9dtIZDkIOWy5sScMpnybavmZRsenMbHf1b14PI1Y5wcnr8bRgOEvv6tnDRI5D1plyESX_ANmQX2forP6BS2H2zIzKsR1fk32cx6FbgUfrphO6UbeqcgtD1KQuy4M9K9mXRFXiYZ2DoqgAuJqLNf7B_SSR6bJrBx4k-fUs7mUHmKOBTLFHzfyt03zzMg5Jw1gj5umxrdEIcBiio4ZmQ7darDxpdLg1MJPqCgYZMz19JuH4LMBUIi6BipsgdL3ez2YDQN4bYO79gvHLAvsFhmrdMcWmOMcJiPen1rO097O9u6H2f_HOVgL-8LYM1TUJZGF-aa2MDaaMGy7de6aPPipEDPU9evojVghlzQi2Cnz_5iB3kwPWciU1w1P3dgXUKUij4VN2nOb1GXDuhflNMfZyd1TgfZW50_RveGSOE2dKdb9xXHH1lHWcrM4DIMBG_jXWe10KMHDvtI5LQhq95iZ8CvCoK4bYV9sDFK069-_zmOhNIkgN6NC7RY2KLE6ateQ_ETSEC8Jn0i9SuNX862Q-JnJFTHc78KlswOmIpzKirQLwOYmDKNFf89lzZEiwt6Y3iHSVC6AKb3YIt7AjvyXkkoYZvt-9BBLuR9jQT-zO896UkvtvjhMj63mHCGpJGkjG1cgCDevoBtrFDTYvbIQuVSY66bzwH8WA_Q9AuYptLcDuqC-jJ_9oYIxJBX4_I934aU0gv2zjHeGMo8WUqJE8fIUzX87Enc_o-aanWnRrkaNYTtARxw3eS9FfT3vnXvhpZP6U_KLZHB2brbd08xQWgxfkzjvCoGM0bq4_ciyZBaKBye4ctzi2Jf0ZNexpY_rBYegE5j3QQKSIxek_zVUv3696HW0H6duWPlqaqwb6XC-5kCtEe5zi8GXsP6hbj87mAQQXPxxKG0rHrx63uJ64F4V4VYDeC6S8U7e_T8DvENuYyzqikZptmBc0sdVoE42_Zi2v1c88TI2d1V6FaOv0YMUFLTRy1DhfAyn3ugHURUpfGarPdFfeQ5Au_OC0RPD26mmmWS45mO379GJsQF5kpIzNX3arNhH1VL8qfmd8rz6kM6xA6uL8Hox-nt6lejGjOkem57K2pmDx5NhpJa7xRqBb_TjtWxYXoVCSq0oVFBbZYqjkI-3i-NTkYVkQknjpb4Cjgj9U1zXnEDpyjKREsVBQnSNN7rdRJpYDXeT3D-GWGYexpiE-JzjuogsV80AcWHpJzmV2lCdNofqSgxA20-LZ4kf5mI9b3yOs_hpDdTRS-CgtbaQE5XZGPhPSDNkWTo2oEd-YessGRtkvTKg602e2MUbe8ZyT3DO-dqFQUdbgzK0VjAj9qS2L3n56vKQIgWcP83-74D9IFekykxSrqj1YXggTi7EBu0ldybaoAnGeReWYLLCfyUg89x5CNvrTsDARh7-slgrbI1IUkT2MkEKWQ-PBXqa-Wll0QZ5uVy6_d-KGIjB2DrNB9eWpYYgOhqDHuQ66LifUbS4-PbLfPFO7Rgrrsv14PJVeSQtsQWY83584MVMCnWuYAd9Rb6S5Mov3VAIPpPSIb4fbvcNgOg-Rjl4o5AoXfR3pClZPOn4BJuFPGWH7yyLsDxIbA0Nhcr-IIXBR8900Q5tgOK4LQ7XwAoOjpUbr3VNv_xeXkz_Xh7AmZb-Yv1wyMvreHfkokEXQr0sNMkZAZsJyiQy7ePIO-g1ko04V2niO-63_EuVhgaqx647EInASimiuFZqX1XiAMoVVEBwA2rRi1mK6UnWufpI5M8ck",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c37e9d087d0b9016009eb59ee95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.131,\"left_z\":0.043},\"note\":\"The bottle cap now appears at the fingertip line in the left wrist image, rather than far ahead. I’ll descend to cap height with a slight forward adjustment to position the neck between the fingers.\"}",
  "call_id": "call_ey8804yTNU8Hheps8ePC062w",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c392b9887d0a373d545dd645b7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ey8804yTNU8Hheps8ePC062w",
  "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]: [-0.5827, 1.7077, 0.6285, 0.3206, -0.5831, -0.4484, 0.9971, -0.2771, 0.5877, 0.2424, -0.2905, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.1263 left_z=0.0364 left_yaw=0.126 left_pitch=-0.0511 left_roll=0.0402 left_gripper=0.9971 right_x=0.2495 right_y=-0.005 right_z=0.0918 right_yaw=0.126 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -8.6496, 5.4496, 1.9756, -0.2662, -0.0562, -0.0073, -0.6632, -0.4855, 6.5846, 1.873, -0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84be7243086dc07978a9820076d5ea4d34362d22ebe07c8c0666e9c70c86ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbde27f4b8eb4d4052a23671aec02e8bd7a15563f5cb9be442fbe6c0cbf7242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ef95c8e6c6750cfb8c08db04072667bfc548112bbb2e5935853c0c2477d867",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.782 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0687, 1.2156, 0.2558, 0.0002, -0.9165, -0.8753, 0.4968, -0.2565, 0.6327, 0.308, -0.3134, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2318 left_y=-0.1235 left_z=0.048 left_yaw=0.0907 left_pitch=0.0394 left_roll=-0.0096 left_gripper=0.4968 right_x=0.2563 right_y=-0.0016 right_z=0.1063 right_yaw=0.1464 right_pitch=-0.0272 right_roll=-0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.759, -1.5932, 2.4957, -0.0122, 0.4713, 0.0806, -0.0855, -0.5675, -0.7726, 6.7487, 1.8339, -0.3053, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5907, 1.5112, 0.6289, 0.1139, -0.5884, -0.4671, 0.997, -0.2707, 0.6056, 0.2634, -0.2974, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3576 left_y=-0.1174 left_z=0.0738 left_yaw=0.1323 left_pitch=-0.0557 left_roll=0.0342 left_gripper=0.997 right_x=0.2517 right_y=-0.004 right_z=0.0957 right_yaw=0.1324 right_pitch=-0.0286 right_roll=-0.0009 right_gripper=0.9961\nstate[joint_eff]: [0.253, -6.1607, 7.8154, 1.619, -0.0611, 0.2613, 0.0611, -0.6769, -0.6496, 7.0359, 1.8242, -0.2662, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5827, 1.7077, 0.6285, 0.3206, -0.5831, -0.4484, 0.9971, -0.2771, 0.5877, 0.2424, -0.2905, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.1263 left_z=0.0364 left_yaw=0.126 left_pitch=-0.0511 left_roll=0.0402 left_gripper=0.9971 right_x=0.2495 right_y=-0.005 right_z=0.0918 right_yaw=0.126 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -8.6496, 5.4496, 1.9756, -0.2662, -0.0562, -0.0073, -0.6632, -0.4855, 6.5846, 1.873, -0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84be7243086dc07978a9820076d5ea4d34362d22ebe07c8c0666e9c70c86ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbde27f4b8eb4d4052a23671aec02e8bd7a15563f5cb9be442fbe6c0cbf7242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ef95c8e6c6750cfb8c08db04072667bfc548112bbb2e5935853c0c2477d867",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBw9SpFZ0O2M7A0lwM1ltPHVCBLPApvjJ1oSINSjJlLrhVbpk9gXoV41A197gzFfygyOZb0ZUTnt3EyRl6IdMtWZ1xQgN22ErWlL1-wHa2-idlkZZ8Pvf0BuyRd1msRd-VHFLNUkas1Xi3ZtKleubpH0AVPULWQfqgcgZRnr4uI5mxQm9n0rLxClnkk8NpH9YGPdKQ8Jn1zck4sF8pqmDTfBR6QfO_RMuDNP9QrgjDq4ZR1w0IvYFrumwFAgr7C0sSlGbBa-sy9Zm76T6qrJoe36QwAURf6QkeNIY0oDsz6nJuc9roMZhrkd-_Wz-MRKe6gdWX5-aF3gGAgrWTR1FYkGbV0jdTx58ar3NLpKVGXXF8TKl0Xt3HzPB9RmV6fSefx5mIm51lETJqEYRRgQ3xc1en-QzjagDl764DuGs9etyT6w53Re8B4Lx5GSD2h4iJNW1-EojJ0BQ2qzfwkc6ShAgS1r9DA5c3yiVKCsH9XQBIfNFQODQpeLRI1AhJRfZQ35h63QMvQcDmk2ZH1lW-ttd5SkarqDiMw_K5X2BuprmK-ypKokcFMwHWdlFy8yqDCmvO4Htot7uXPicX8vdkVh9rIYsE4ynChyeJ0BcBNBN7Courh6zaLxqkAkUh7hS6gj1m68nSP7mRIQQyxZXUY06jf6uiIz4MUAh6j3PcXbiv1SAkqWn7yU6ibbk08_suw8krholD2HJQdHPJaGLHIs57zJ1RkDSybvcwI1fd2HeOlBjTzA0jiP8IB4EN7Exjfs54YKKOzezAE11fNvCl1UPHanqLjR3HgMoD-xDXeRdxITviUGRqhS25mPDkDMduYOnVhJl6qLTFYEQxDki8Xo-ONT5iZ77g9RleFyhHeIIHrOmjZXgM5gO9iWgI15kJs4feLmaLBhrtp485q0vorTvKxey9Y50v8UVSzkNH54Y3tEV_ODRCV5mbDnl8pXA-LjAiWd9DRbaZUHLXajXNRfN6K04lTuAlU0TDAptrkCMS6B8GW2pUjAmPdmHEdIpXpRoAV30xF0Mpg72dmYsPVWZoWX-z2haQeRw0PtjJGAO2Uzp67eGtu17wLWsXEN7zM7QNF1WnP9WBcOw9DwsH1kdTlVzPWvbXTyY3cClIJxnLP7ED073Ke5Ib3-JkZxtI9fHll4FCe_1QqX7PFGt3ZXvVT_6PIFBNaAHKNrnchTztFxYyOMSLKCLTCfTWsts-TqB9G1yrnrP9zaIqOOkXioCLkTcUEQZ6dnFEh-2CrWbbCsoZilNcgXpgoaEY_biEIUo9axcV7uqNIaOef2tW52cxFRnPn8lBdmQLTelTFv-0gQZVdbF3qMEsII1etlk2lYXFS5feNCSLWKFbbh2aNm6Mhvt12bbBQ5yM16tlkWTNvYOCTboKxiVMaqq-lrf1W-JerVej-DozBwbdJ_JSiPxjp5bZ6r5Ip_4ytg5IhJbjB13Nb0bYePYG4bsWX016DWyMjEKycVc3V5Etth3idz3cqBiMb3R5fEJXkpMs8AiBGi2MPQL-nRUL1zxH9ZrJ3FfYDyJuHMF94gmrx8lbs436xv__ij_3csTzm-3LjIOLQjl22Qn2PV8-_tiEBI5w86CDTJoZgbWyC9uRU5LaCGZDy0XwFEd-HokUrgflEzIWw_vOQTH3Eg1k-_Jwdx9AnGP5YVsD-ZIHJ6uS9ckeC5wKWl8Ue1lAkRm96xqwpkGtGeHk4-Jx5HfFrvOe-upafDfEbbn65spl9OHNm82Bd3mCSAMNzJMyImdbqA4HNC78SUTxXXobjUx7-y6alB1TRu-pCTTy2uvt6eC38NssHRneO9Ioiy6SjvU2HgsB-NszUcRLRrv4h8UJzJbm57FHAwsDDMGLMgk0-H_aUW16Ln-O_hlB44Kg7OIpJ0XUkBxMUTKR_FDIN4qx0xs16a-p14MHe7eVTetQsA4CSVITIsU4QHYpb7anT-FpYVn5tCwcQN4RdvOfrp6h01ArzhnpYjlfAsGN0zl6zEclFB6csOywF0A1hknGd5J07g_RwJvCQQI-lHhCBgs-16Vkt2JF4Cn09MnfUTJED8pji-A38KeZwUCMmcxeBxcp6vZb3_c2o=",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c3b61f887d09fc91bdfc2e4e956",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.132},\"note\":\"The cap is now at the bottom edge of the wrist image, indicating the neck is almost at the actual grasp point. I’ll advance just another two centimetres before closing so the jaws pinch behind the cap rather than in empty space.\"}",
  "call_id": "call_RogCOsl5jrAYQUUn4KZddejj",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c3d0d1887d0a58e537de83601d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RogCOsl5jrAYQUUn4KZddejj",
  "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]: [-0.5827, 1.7382, 0.6281, 0.3714, -0.5873, -0.4492, 0.9971, -0.2859, 0.5739, 0.2249, -0.2897, -0.3462, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3792 left_y=-0.1284 left_z=0.0335 left_yaw=0.129 left_pitch=-0.0341 left_roll=0.0288 left_gripper=0.9971 right_x=0.2471 right_y=-0.0064 right_z=0.0872 right_yaw=0.1174 right_pitch=-0.0278 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -7.8154, 5.2855, 1.8388, -0.2711, -0.0708, -0.0171, -0.4718, -0.4718, 6.7214, 1.9267, -0.3346, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a50cf1e9e08722d64d09c43a19411669c464dc191aa904887b3f28be891f3de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdce20e15420b5a3bb13159f22efa1c995f7cc677bbf2efcbc5f657fedddf183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2906fa11bfbffa5bbce4139a24391bf79179fd2ec04daad4c860841aab1772f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 5.442 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 0.9874, 0.572, -0.5461, -0.8722, -0.8921, 0.9963, -0.2642, 0.6197, 0.2882, -0.3054, -0.3458, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.2336 left_y=-0.1293 left_z=0.1379 left_yaw=0.091 left_pitch=0.0054 left_roll=-0.037 left_gripper=0.9963 right_x=0.2544 right_y=-0.0031 right_z=0.102 right_yaw=0.1388 right_pitch=-0.0262 right_roll=-0.0019 right_gripper=0.9961\nstate[joint_eff]: [0.0342, -2.6735, 8.5265, 0.9988, -0.5055, 0.0659, -0.0122, -0.5949, -0.5128, 6.5573, 1.8877, -0.2662, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5827, 1.7077, 0.6285, 0.3206, -0.5831, -0.4484, 0.9971, -0.2771, 0.5877, 0.2424, -0.2905, -0.3458, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.1263 left_z=0.0364 left_yaw=0.126 left_pitch=-0.0511 left_roll=0.0402 left_gripper=0.9971 right_x=0.2495 right_y=-0.005 right_z=0.0918 right_yaw=0.126 right_pitch=-0.0251 right_roll=-0.0027 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -8.6496, 5.4496, 1.9756, -0.2662, -0.0562, -0.0073, -0.6632, -0.4855, 6.5846, 1.873, -0.2857, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5827, 1.7382, 0.6281, 0.3714, -0.5873, -0.4492, 0.9971, -0.2859, 0.5739, 0.2249, -0.2897, -0.3462, -0.2634, 0.9961]\nstate[eef_state]: left_x=0.3792 left_y=-0.1284 left_z=0.0335 left_yaw=0.129 left_pitch=-0.0341 left_roll=0.0288 left_gripper=0.9971 right_x=0.2471 right_y=-0.0064 right_z=0.0872 right_yaw=0.1174 right_pitch=-0.0278 right_roll=-0.001 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -7.8154, 5.2855, 1.8388, -0.2711, -0.0708, -0.0171, -0.4718, -0.4718, 6.7214, 1.9267, -0.3346, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a50cf1e9e08722d64d09c43a19411669c464dc191aa904887b3f28be891f3de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdce20e15420b5a3bb13159f22efa1c995f7cc677bbf2efcbc5f657fedddf183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2906fa11bfbffa5bbce4139a24391bf79179fd2ec04daad4c860841aab1772f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtBxAn5C-U_zlfne9c-wJoFAbibqMV25wQ9zbX1jtjeU5tC__HY858VUyhfYN-Z4LNqF6oMol79VOS5SGli1gaT3JkFH2oqtGSs9plLSDy3UddMvbH5Pv2ijxTHCsJzHqRZL7XD_rAEfSvheSntF3e3M3A5y5Nu7QE1W6wNZgqYqqhgw6a37Ep5Aaq87TFkbxvk9D8DYyqDKz6G3gJy5xit8OogkdK51k2zTTxgfEBljQucpiMz51ccSzQLbs3W2jHcUJQiXQ40_Uufjg9ad8yJwPeuvr4lIjjDwDRWqMclPOIck6zfxXxj14mPgBqbefaHH-WkQaUPzfIcCm4clyn68YFL8kHMcM7m3h_WX8SW6X1B_wFugKO9yofw4Bc3DUzAfMZwjHsFrZzRA9PdTaHMZFMNe0krbn7nzKnuybHeZzphmHH3EX7onLDdVtUjOkRZmckn1eYzfZU3bVkqfwuDbKruY8A4vkjupr6U931-qPmqcI40aeVkbDaxqpG29xSMQsD0FvSRrxzlIR1XYUWGPEm33TtJzm0YHywPW4N7JaNvNOrhRciX1ELaM_OCtqBOYPGVvh509ASIPQ_qmV7glEPPFlVWwncr6e8KYsUQ2iGFOfTWQZWHQWgh9XnQRvWQiHJUnrYWRMrmA7AZ5BM9x2BLbTlEHuzchgkn0ZXhuQ8MJa6HAdQ5alR0dFFRpy8c596DvZThOPU3WPIfUWooxmUxhrIARscZAoH9eaC8iwUpmWJw7ysN5yhjteFW8OIVTFj6Hr16rWD--T-xrFdXYdv_d2Hkj7X64QhrbbfuTd50NZKdjR3O5jgaEVcvyqVRieaEbffTsT1gO1MnGzXb8f7755XHWnXmB9JoHQessvJHk2Nzbh9qBT1JaWR0LMKkQqy6iZuLge1sbEwi2yzKAN5G5c8vN4UypTOdKGbVds3WahzhiJPwRsncDQMWBeH8VR-1V4aHoWvDi3h5l3V1surIBHn8oAnm3J7fOk19axwJRT8Gj6TUqr62AC5cN9BEUJWjvV3mwaev2qgAFaGiSVJJYrQ8F6g81AptL43ZdTL0mG7-RBndNE1Im4tMCZDvqr_O0W6RNvWNtt-HT4HIEEi8dAK_p4cYcD9MIiEnHYq2iVThD_JevKV8LfU8Tam44KYwiLYK2C1DjnFFcqu5GSinpxrsHSYrBy1vnr_6oFpKZjxYdoVEeWS3vXltAsy96NboZh9vYCYUAYfczosig4t3CC88wFIR1rxRsRkP2EKmVskP0AWxEvkFrBbYAHjTYd9fzJS9jb5vAwmIfJtvLg_QEy3jfeeLo-SSphtH31PImO4mZcn0XRpskNm27xuxdAYLXrrMXLJK1bl6LT6jWGHw==",
  "id": "rs_0b9dd0a7cf7e86d2016ab41c3f3dec87d0a30eef4783e5adbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The last forward move barely advanced because the fingers appear to be touching the bottle, and the cap is at the bottom of the wrist image. I’ll close at this contact point and see whether the neck is caught.\"}",
  "call_id": "call_lSQRd9xZq1EQP3hGomUVhrka",
  "id": "fc_0b9dd0a7cf7e86d2016ab41c3fd12c87d0b628cdb6a17cc502",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lSQRd9xZq1EQP3hGomUVhrka",
  "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]: [-0.5808, 1.7344, 0.6128, 0.4759, -0.6132, -0.448, 0.0208, -0.2905, 0.5552, 0.2028, -0.2893, -0.3462, -0.2638, 0.9961]\nstate[eef_state]: left_x=0.3879 left_y=-0.1287 left_z=0.0489 left_yaw=0.1506 left_pitch=0.0467 left_roll=-0.0193 left_gripper=0.0208 right_x=0.244 right_y=-0.0066 right_z=0.0816 right_yaw=0.1131 right_pitch=-0.0306 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -6.0513, 3.3983, 1.4139, -0.0073, -0.0415, 0.8767, -0.5812, -0.0205, 6.7214, 1.9023, -0.3443, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7191ba15b2e6832fddcca0c447f7f62e8fe81fa34532d9f1f3b7d6484f8c7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cc8af54bf05535f83815704c3e7bf9fbeddd916732860f62f1547dfd40893b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e152ae98ab4d01e76d89191bd6fabf0d68dcd764ed0ea48493725ea583b103",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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