adhoc - adhoc_9d01c1d9.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 222.6 s
total steps: 335

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteAll three bottles are lying on their sides, with their caps toward the far edge. I’ll position the right gripper above the neck of the rightmost bottle to lift it from its top end.

move_to

right_x0.4300right_y0.2000right_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0204, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3866, -0.0128, -0.0349, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.4564, 9.7299, 1.7363, -0.0366, 0.1197, -0.1538, -1.0462, -1.0462, 10.3863, 1.8486, -0.1538, 0.2125, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.20,"right_z":0.14},"note":"All three bottles are lying on their sides, with their caps toward the far edge. I’ll position the right gripper above the neck of the rightmost bottle to lift it from its top end."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe right wrist view places the bottle slightly right of the jaw column and its cap ahead of the fingertips. I’ll move a little forward and sideways, then lower toward the narrow shoulder just below the cap.

move_to

right_x0.4550right_y0.1750right_z0.0750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3813, -0.0223, -0.0292, 0.9984, 0.6022, 1.6825, 1.0294, -0.0826, 0.4644, 0.2958, 0.9998] state[eef_state]: left_x=0.2961 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0049 left_roll=0.0005 left_gripper=0.9984 right_x=0.4133 right_y=0.1924 right_z=0.1203 right_yaw=0.0424 right_pitch=-0.0732 right_roll=-0.05 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.5248, 6.735, 1.8291, 0.0024, -0.0269, -0.0317, 0.0615, -7.8291, 9.0325, 1.9512, 0.3053, 0.3248, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.175,"right_z":0.075},"note":"The right wrist view places the bottle slightly right of the jaw column and its cap ahead of the fingertips. I’ll move a little forward and sideways, then lower toward the narrow shoulder just below the cap."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteThe gripper is aligned with the rightmost bottle, but it is still above the bottle’s surface. I’ll lower it and advance slightly so the jaws can grip high on the bottle rather than across its middle.

move_to

right_x0.4800right_y0.1700right_z0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3798, -0.0227, -0.0292, 0.9984, 0.4999, 1.8339, 0.9451, 0.168, 0.3985, 0.2474, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1835 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.439 right_y=0.1658 right_z=0.061 right_yaw=0.0193 right_pitch=-0.0833 right_roll=-0.0431 right_gripper=0.9998 state[joint_eff]: [-0.1573, -1.5248, 6.653, 1.7265, -0.0171, -0.0611, -0.0171, -0.0068, -9.1009, 6.5162, 2.0391, 0.1148, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.48,"right_y":0.17,"right_z":0.02},"note":"The gripper is aligned with the rightmost bottle, but it is still above the bottle’s surface. I’ll lower it and advance slightly so the jaws can grip high on the bottle rather than across its middle."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent noteThe right arm stopped short of the farther, lower target, so the bottle’s neck is near its reach limit. I’ll move slightly back toward the bottle’s upper body, where the gripper can reach table height.

move_to

right_x0.4000right_z0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9984, 0.4896, 1.8843, 0.8906, 0.3386, 0.3813, 0.231, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.4449 right_y=0.1667 right_z=0.0481 right_yaw=0.0334 right_pitch=-0.03 right_roll=-0.017 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.1692, 6.8171, 1.7753, -0.022, -0.0659, -0.0122, -0.3214, -8.1026, 5.3949, 2.0635, 0.1685, 0.0513, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_z":0.015},"note":"The right arm stopped short of the farther, lower target, so the bottle’s neck is near its reach limit. I’ll move slightly back toward the bottle’s upper body, where the gripper can reach table height."})

tool

executing move_to over 4 steps (0.4s)

step 29

assistant

agent noteThe arm did not track the low retreat, which suggests the low pose is awkward for its joints. I’ll raise it first and reposition above the more reachable part of the bottle before descending again.

move_to

right_x0.3650right_z0.1100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0231, -0.0292, 0.9984, 0.4896, 1.8843, 0.8902, 0.3424, 0.3813, 0.2314, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0027 left_pitch=-0.0034 left_roll=0.0009 left_gripper=0.9984 right_x=0.4453 right_y=0.1669 right_z=0.0487 right_yaw=0.0332 right_pitch=-0.0269 right_roll=-0.0151 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.4564, 6.8991, 1.7998, -0.0073, -0.0513, -0.0122, -0.4034, -8.1983, 5.3265, 2.083, 0.1685, 0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_z":0.11},"note":"The arm did not track the low retreat, which suggests the low pose is awkward for its joints. I’ll raise it first and reposition above the more reachable part of the bottle before descending again."})

tool

executing move_to over 7 steps (0.7s)

step 36

assistant

agent noteFrom the raised pose, the right bottle is centered in front of the gripper, just a little to its right. I’ll align the jaws over its upper body and lower toward it at a reachable radius.

move_to

right_x0.3950right_y0.1550right_z0.0420

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8017, 0.614, -0.3798, -0.0227, -0.0296, 0.9984, 0.6308, 1.5162, 0.7101, 0.1474, 0.4461, 0.2886, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.3659 right_y=0.1773 right_z=0.1001 right_yaw=0.0912 right_pitch=-0.0137 right_roll=-0.0056 right_gripper=0.9998 state[joint_eff]: [-0.3077, -1.1829, 6.7624, 1.9267, -0.0708, -0.0757, -0.0122, -0.3761, -4.8752, 6.653, 1.4921, 0.5446, 0.3101, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":0.155,"right_z":0.042},"note":"From the raised pose, the right bottle is centered in front of the gripper, just a little to its right. I’ll align the jaws over its upper body and lower toward it at a reachable radius."})

tool

executing move_to over 4 steps (0.4s)

step 40

assistant

agent noteThe jaws now straddle the rightmost bottle’s body near table height. I’ll close gently around it and check whether the gripper actually holds the bottle before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.379, -0.0223, -0.0292, 0.9984, 0.5175, 1.726, 0.625, 0.3717, 0.3809, 0.2295, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0046 left_roll=0.0005 left_gripper=0.9984 right_x=0.3782 right_y=0.1439 right_z=0.0257 right_yaw=0.0603 right_pitch=-0.0966 right_roll=-0.0507 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.5111, 6.4889, 1.7851, -0.0366, -0.0562, -0.0122, -0.1983, -6.8444, 5.559, 2.0195, -0.1245, 0.0366, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the rightmost bottle’s body near table height. I’ll close gently around it and check whether the gripper actually holds the bottle before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe closed gripper is resting at about a five-centimeter opening, consistent with holding the bottle’s body. I’ll lift a short distance to confirm that the bottle rises with it and see whether it begins to hang upright.

move_to

right_z0.1250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9984, 0.5167, 1.7477, 0.5388, 0.5781, 0.3649, 0.2272, 0.5253] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3765 right_y=0.1456 right_z=0.0255 right_yaw=0.076 right_pitch=-0.0123 right_roll=-0.0007 right_gripper=0.5253 state[joint_eff]: [-0.335, -1.5658, 6.8855, 1.8144, -0.0317, -0.0562, -0.0122, -0.0752, -6.1333, 4.6838, 1.8877, 0.2515, 0.0073, 1.0281] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.125},"note":"The closed gripper is resting at about a five-centimeter opening, consistent with holding the bottle’s body. I’ll lift a short distance to confirm that the bottle rises with it and see whether it begins to hang upright."})

tool

executing move_to over 7 steps (0.7s)

step 57

assistant

agent noteThe bottle remains between the right jaws, but the first lift tracked only partway and the arm still partly blocks the view. I’ll raise and withdraw it farther into clear space to assess its orientation.

move_to

right_x0.3300right_z0.2200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0227, -0.0296, 0.9984, 0.5167, 1.4921, 0.6456, 0.041, 0.3355, 0.2184, 0.5252] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9984 right_x=0.3493 right_y=0.1357 right_z=0.0608 right_yaw=0.0977 right_pitch=-0.1794 right_roll=-0.063 right_gripper=0.5252 state[joint_eff]: [-0.0479, -1.6342, 6.653, 1.8584, -0.0024, -0.0806, -0.0122, -0.0479, -9.9077, 11.3846, 2.8303, 0.4518, 0.0464, 0.9841] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.33,"right_z":0.22},"note":"The bottle remains between the right jaws, but the first lift tracked only partway and the arm still partly blocks the view. I’ll raise and withdraw it farther into clear space to assess its orientation."})

tool

executing move_to over 11 steps (1.1s)

step 68

assistant

agent noteThe bottle cap still appears near its original spot while the arm moves back, so I need to verify whether the jaws are carrying it or merely sliding along it. I’ll shift the raised gripper sideways to uncover the bottle in the overhead view.

move_to

right_y0.2600right_z0.1900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0223, -0.0292, 0.9984, 0.5705, 1.1923, 0.8284, -0.4587, 0.3393, 0.2157, 0.5284] state[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0065 left_roll=0.0005 left_gripper=0.9984 right_x=0.3108 right_y=0.1338 right_z=0.1529 right_yaw=0.1485 right_pitch=-0.194 right_roll=-0.0747 right_gripper=0.5284 state[joint_eff]: [-0.3487, -1.5248, 6.5436, 1.8926, -0.0366, -0.0269, -0.0122, 0.0889, -7.9111, 12.9162, 2.5079, 0.6276, 0.2564, 0.6129] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.26,"right_z":0.19},"note":"The bottle cap still appears near its original spot while the arm moves back, so I need to verify whether the jaws are carrying it or merely sliding along it. I’ll shift the raised gripper sideways to uncover the bottle in the overhead view."})

tool

executing move_to over 11 steps (1.1s)

step 79

assistant

agent noteThe sideways shift carried the rightmost bottle with the jaws, but it is still horizontal and held closer to its base. I’ll bring it into an open area nearer the robot so I can set it down and regrip near its cap.

move_to

right_x0.2300right_y0.1900right_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0223, -0.0292, 0.9984, 0.9482, 1.4601, 0.9661, -0.4286, 0.5636, 0.4419, 0.5316] state[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1823 left_yaw=0.002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9984 right_x=0.2881 right_y=0.2456 right_z=0.1363 right_yaw=0.2202 right_pitch=-0.1726 right_roll=-0.1088 right_gripper=0.5316 state[joint_eff]: [-0.253, -1.6615, 6.5983, 1.7949, -0.0171, -0.0513, -0.0122, 0.1162, -7.6103, 12.2735, 2.127, 0.9744, 0.232, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.23,"right_y":0.19,"right_z":0.16},"note":"The sideways shift carried the rightmost bottle with the jaws, but it is still horizontal and held closer to its base. I’ll bring it into an open area nearer the robot so I can set it down and regrip near its cap."})

tool

executing move_to over 5 steps (0.5s)

step 84

assistant

agent noteThe carried bottle is now separated from the other two and its cap is much closer to the robot. I’ll lower it onto the tabletop before opening the gripper for a new grip near the cap.

move_to

right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3771, -0.0227, -0.0292, 0.9984, 1.0424, 1.0756, 0.6159, -0.4644, 0.5869, 0.4831, 0.5322] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0053 left_roll=0.0007 left_gripper=0.9984 right_x=0.2183 right_y=0.187 right_z=0.1162 right_yaw=0.2755 right_pitch=-0.1588 right_roll=-0.0927 right_gripper=0.5322 state[joint_eff]: [-0.0889, -1.2103, 6.5573, 1.8632, -0.0415, -0.022, -0.0122, 0.3214, -4.8479, 8.5538, 2.4689, 0.9646, 0.1685, 0.652] 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_z":0.025},"note":"The carried bottle is now separated from the other two and its cap is much closer to the robot. I’ll lower it onto the tabletop before opening the gripper for a new grip near the cap."})

tool

executing move_to over 6 steps (0.6s)

step 90

assistant

agent noteThe low target was not reached from the folded-in pose, and the bottle remains suspended. I’ll move the arm a little forward while lowering so it can place the bottle without the near-base joint limit.

move_to

right_x0.2850right_y0.1500right_z0.0500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0296, 0.9984, 1.0538, 1.021, 0.6159, -0.4938, 0.609, 0.4976, 0.5318] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.2156 right_y=0.1819 right_z=0.1276 right_yaw=0.2663 right_pitch=-0.1279 right_roll=-0.0764 right_gripper=0.5318 state[joint_eff]: [-0.335, -1.4291, 6.6803, 1.8339, -0.0269, -0.0806, -0.0122, 0.1573, -3.8906, 8.6359, 2.1807, 0.8864, 0.1343, 0.4469] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.285,"right_y":0.15,"right_z":0.05},"note":"The low target was not reached from the folded-in pose, and the bottle remains suspended. I’ll move the arm a little forward while lowering so it can place the bottle without the near-base joint limit."})

tool

executing move_to over 6 steps (0.6s)

step 96

assistant

agent noteThe rightmost bottle is above a clear tabletop area but the low placement is tracking slowly. I’ll release it here so it settles on its side, then pick it up by the cap end.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3801, -0.0231, -0.0296, 0.9984, 0.9394, 1.1061, 0.5293, -0.3138, 0.5224, 0.4156, 0.5328] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0029 left_pitch=-0.0064 left_roll=0.0006 left_gripper=0.9984 right_x=0.2336 right_y=0.1762 right_z=0.0913 right_yaw=0.2591 right_pitch=-0.1705 right_roll=-0.0824 right_gripper=0.5328 state[joint_eff]: [-0.1983, -0.8, 6.4752, 1.9756, -0.0464, -0.0757, -0.0122, -1.4974, 0.1299, 3.4393, -0.1197, 0.9109, 0.0269, 0.3639] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The rightmost bottle is above a clear tabletop area but the low placement is tracking slowly. I’ll release it here so it settles on its side, then pick it up by the cap end."})

tool

executing move_to over 5 steps (0.5s)

step 101

assistant

agent noteThe released bottle is lying by itself with its cap around the upper end of the right-hand work area. I’ll align the open jaws over that cap/neck instead of the broad body.

move_to

right_x0.3000right_y0.2050right_z0.0520right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3786, -0.0231, -0.0296, 0.9984, 0.9695, 1.021, 0.3473, -0.0681, 0.5579, 0.3923, 0.9956] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0029 left_pitch=-0.0072 left_roll=0.0006 left_gripper=0.9984 right_x=0.2287 right_y=0.1744 right_z=0.0827 right_yaw=0.2853 right_pitch=-0.0394 right_roll=-0.0265 right_gripper=0.9956 state[joint_eff]: [0.0889, -1.265, 6.6393, 1.8046, -0.0269, -0.0611, -0.0122, 0.1709, -2.0581, 6.7077, 1.7705, 0.4518, 0.1197, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.205,"right_z":0.052,"right_yaw":0},"note":"The released bottle is lying by itself with its cap around the upper end of the right-hand work area. I’ll align the open jaws over that cap/neck instead of the broad body."})

tool

executing move_to over 6 steps (0.6s)

step 107

assistant

agent noteThe bottle shifted as I approached: its cap is now left of the right gripper in the wrist view. I’ll move left and slightly forward at low height to put the jaws around the cap end.

move_to

right_x0.3350right_y0.2550right_z0.0220

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3771, -0.0231, -0.0292, 0.9984, 0.9276, 1.5616, 0.5404, 0.1841, 0.7029, 0.5419, 0.9955] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0053 left_roll=0.0009 left_gripper=0.9984 right_x=0.2888 right_y=0.2009 right_z=0.0464 right_yaw=0.0551 right_pitch=-0.0319 right_roll=-0.0439 right_gripper=0.9955 state[joint_eff]: [-0.0752, -1.6205, 6.5573, 1.8437, -0.0708, -0.0415, -0.0122, -0.6496, -5.8598, 6.5846, 1.5263, 0.4127, 0.0855, -0.0269] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.255,"right_z":0.022},"note":"The bottle shifted as I approached: its cap is now left of the right gripper in the wrist view. I’ll move left and slightly forward at low height to put the jaws around the cap end."})

tool

executing move_to over 5 steps (0.5s)

step 112

assistant

agent noteThe approach pushed the bottles closer together; the target cap is now just left of the fingertips, near the middle bottle. I’ll shift the right gripper left to center on that exposed cap while keeping the jaws slightly above the table.

move_to

right_x0.3450right_y0.3150right_z0.0240

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3767, -0.0227, -0.0296, 0.9984, 0.9176, 1.8572, 0.7006, 0.2977, 0.6792, 0.5282, 0.9955] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0049 left_roll=0.0004 left_gripper=0.9984 right_x=0.3185 right_y=0.2395 right_z=0.0081 right_yaw=0.068 right_pitch=-0.06 right_roll=-0.06 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.5248, 6.7624, 1.7998, -0.0171, -0.0708, -0.0122, -0.6632, -7.5692, 6.653, 1.7411, 0.5397, 0.0415, -0.0171] 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":0.345,"right_y":0.315,"right_z":0.024},"note":"The approach pushed the bottles closer together; the target cap is now just left of the fingertips, near the middle bottle. I’ll shift the right gripper left to center on that exposed cap while keeping the jaws slightly above the table."})

tool

executing move_to over 7 steps (0.7s)

step 119

assistant

agent noteThe low sideways motion barely moved the gripper, indicating the fingers are dragging on the table or the bottles. I’ll lift clear before moving sideways to the cap.

move_to

right_x0.3400right_y0.3000right_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3756, -0.0231, -0.0292, 0.9984, 0.9165, 1.8805, 0.7307, 0.3202, 0.6765, 0.5224, 0.9954] state[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3258 right_y=0.2489 right_z=0.0112 right_yaw=0.0729 right_pitch=-0.0422 right_roll=-0.0413 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.5932, 6.6393, 1.8486, -0.0415, -0.0415, -0.0122, -0.5402, -7.8974, 6.2701, 1.7216, 0.3492, 0.0415, -0.0171] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.3,"right_z":0.12},"note":"The low sideways motion barely moved the gripper, indicating the fingers are dragging on the table or the bottles. I’ll lift clear before moving sideways to the cap."})

tool

executing move_to over 8 steps (0.8s)

step 127

assistant

agent noteWith the fingers clear, the right wrist view shows the bottle well left of the jaw column. I’ll move toward that bottle and a little forward before the final straight descent.

move_to

right_x0.3600right_y0.3700right_z0.0750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0227, -0.0292, 0.9984, 0.9752, 1.7733, 1.0492, -0.0444, 0.688, 0.5461, 0.9955] state[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.3395 right_y=0.3074 right_z=0.1098 right_yaw=0.1117 right_pitch=0.0043 right_roll=0.019 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.4974, 6.694, 1.7851, -0.0171, -0.0464, -0.0122, -0.2667, -9.853, 8.1846, 1.3309, 0.5348, 0.2369, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.36,"right_y":0.37,"right_z":0.075},"note":"With the fingers clear, the right wrist view shows the bottle well left of the jaw column. I’ll move toward that bottle and a little forward before the final straight descent."})

tool

executing move_to over 6 steps (0.6s)

step 133

assistant

agent noteThe bottle has slid toward the center, beyond a good sideways approach for the right arm. I’ll park that arm and use the left arm, which can reach the bottle from the other side without forcing it farther across the table.

move_to

right_x0.2900right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, 1.021, 2.0373, 1.2591, -0.094, 0.7059, 0.5503, 0.9954] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3491 right_y=0.3571 right_z=0.0621 right_yaw=0.1408 right_pitch=-0.0524 right_roll=-0.0655 right_gripper=0.9954 state[joint_eff]: [-0.3214, -1.5385, 6.653, 1.7558, -0.022, -0.0415, -0.0122, 0.0889, -10.4274, 8.3897, 1.5751, 0.486, 0.2955, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18},"note":"The bottle has slid toward the center, beyond a good sideways approach for the right arm. I’ll park that arm and use the left arm, which can reach the bottle from the other side without forcing it farther across the table."})

tool

executing move_to over 30 steps (3.0s)

step 163

assistant

agent noteThe right arm is clear. The displaced bottle lies near the center with its cap exposed around the upper end, so I’ll bring the left gripper above that cap for a clean approach.

move_to

left_x0.3700left_y-0.2600left_z0.1100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, -0.1406, 0.8036, 0.5674, -0.4023, -0.1776, -0.1539, 0.9954] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1827 left_yaw=0.0027 left_pitch=-0.0045 left_roll=0.0009 left_gripper=0.9984 right_x=0.2871 right_y=-0.0055 right_z=0.1578 right_yaw=0.0782 right_pitch=-0.0556 right_roll=0.0028 right_gripper=0.9954 state[joint_eff]: [-0.2393, -1.5385, 6.8718, 1.8291, -0.0611, -0.0513, -0.0122, 0.0615, -2.3043, 10.1949, 1.8681, -0.3004, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.26,"left_z":0.11},"note":"The right arm is clear. The displaced bottle lies near the center with its cap exposed around the upper end, so I’ll bring the left gripper above that cap for a clean approach."})

tool

executing move_to over 24 steps (2.4s)

step 187

assistant

agent noteThe displaced bottle is visible in the left wrist camera, just left of the jaw column, with its cap farther forward. I’ll move the left gripper slightly left and forward while lowering to the neck.

move_to

left_x0.4150left_y-0.2200left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8715, 1.7397, 0.9867, -0.0612, -0.6945, -0.585, 0.9983, -0.1501, 0.7692, 0.5095, -0.3656, -0.2024, -0.1658, 0.9954] state[eef_state]: left_x=0.3632 left_y=-0.2506 left_z=0.0989 left_yaw=-0.0081 left_pitch=-0.0327 left_roll=0.0218 left_gripper=0.9983 right_x=0.2825 right_y=-0.0032 right_z=0.1485 right_yaw=0.0956 right_pitch=-0.0396 right_roll=0.0044 right_gripper=0.9954 state[joint_eff]: [-0.6359, -8.3214, 8.4444, 1.4921, -0.4518, -0.1099, -0.0171, -0.1162, -1.6068, 7.2821, 1.9853, 0.0122, 0.1197, -0.0073] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.415,"left_y":-0.22,"left_z":0.045},"note":"The displaced bottle is visible in the left wrist camera, just left of the jaw column, with its cap farther forward. I’ll move the left gripper slightly left and forward while lowering to the neck."})

tool

executing move_to over 4 steps (0.4s)

step 191

assistant

agent noteThe bottle is centered between the left jaws, but the cap is still farther ahead than the fingertips. I’ll advance a few centimeters and lower to grip the upper shoulder rather than the base.

move_to

left_x0.4600left_z0.0240

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7067, 1.8931, 0.9092, 0.2226, -0.6411, -0.4801, 0.9983, -0.1516, 0.7483, 0.4713, -0.3473, -0.2066, -0.1677, 0.9954] state[eef_state]: left_x=0.4075 left_y=-0.2043 left_z=0.0458 left_yaw=0.0613 left_pitch=-0.0262 left_roll=0.0445 left_gripper=0.9983 right_x=0.2787 right_y=-0.0023 right_z=0.1405 right_yaw=0.0986 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9954 state[joint_eff]: [-1.4838, -8.1299, 5.0667, 1.6484, 0.2125, -0.0269, -0.0122, -0.4991, -1.4017, 6.9675, 1.9512, -0.1197, -0.0073, -0.0073] 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_x":0.46,"left_z":0.024},"note":"The bottle is centered between the left jaws, but the cap is still farther ahead than the fingertips. I’ll advance a few centimeters and lower to grip the upper shoulder rather than the base."})

tool

executing move_to over 5 steps (0.5s)

step 196

assistant

agent noteThe left jaws are low around a bottle and the farther target is not tracking, likely because of contact or reach. I’ll close here to test whether I have a secure grasp, then use the overhead view to see which bottle moves.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.683, 1.919, 0.9073, 0.3073, -0.6102, -0.4721, 0.9983, -0.1516, 0.73, 0.4374, -0.3279, -0.2108, -0.1699, 0.9954] state[eef_state]: left_x=0.4189 left_y=-0.2057 left_z=0.0453 left_yaw=0.0571 left_pitch=0.001 left_roll=-0.0028 left_gripper=0.9983 right_x=0.2758 right_y=-0.0011 right_z=0.1338 right_yaw=0.1033 right_pitch=-0.0335 right_roll=0.0045 right_gripper=0.9954 state[joint_eff]: [-0.3761, -8.6222, 4.9299, 1.619, -0.3053, -0.0855, -0.0122, -0.253, -1.6615, 6.735, 1.9512, -0.1197, -0.0366, -0.0073] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws are low around a bottle and the farther target is not tracking, likely because of contact or reach. I’ll close here to test whether I have a secure grasp, then use the overhead view to see which bottle moves."})

tool

executing move_to over 10 steps (1.0s)

step 206

assistant

agent noteThe left gripper closed empty; the bottle was still ahead of its fingertips. I’ll reopen, raise clear of it, and move farther forward before descending for another attempt.

move_to

left_x0.4800left_z0.1300left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6819, 1.9152, 0.9089, 0.3672, -0.6437, -0.4747, 0.0227, -0.152, 0.7124, 0.4061, -0.313, -0.2115, -0.1699, 0.9954] state[eef_state]: left_x=0.4267 left_y=-0.2052 left_z=0.0597 left_yaw=0.0869 left_pitch=0.0628 left_roll=-0.0346 left_gripper=0.0227 right_x=0.2728 right_y=-0.0006 right_z=0.1271 right_yaw=0.1035 right_pitch=-0.0323 right_roll=0.0046 right_gripper=0.9954 state[joint_eff]: [-0.1436, -8.9915, 5.6684, 0.9255, 0.149, 0.0073, 1.1746, -0.3487, -1.4017, 6.8718, 1.917, -0.188, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_z":0.13,"left_gripper":1},"note":"The left gripper closed empty; the bottle was still ahead of its fingertips. I’ll reopen, raise clear of it, and move farther forward before descending for another attempt."})

tool

executing move_to over 10 steps (1.0s)

step 216

assistant

agent noteFrom above, the left fingertips are now over the cap end of the central bottle. I’ll descend vertically onto its narrow neck, avoiding another low sideways sweep.

move_to

left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5995, 1.9148, 1.2488, -0.0364, -0.5804, -0.4637, 0.9943, -0.152, 0.6926, 0.3752, -0.297, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.4737 left_y=-0.202 left_z=0.1158 left_yaw=0.1134 left_pitch=-0.0103 left_roll=-0.0114 left_gripper=0.9943 right_x=0.2699 right_y=0.0001 right_z=0.1214 right_yaw=0.1051 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954 state[joint_eff]: [0.7043, -10.5094, 9.2103, 1.5263, -0.1197, 0.3004, -0.1636, -0.4444, -1.0462, 6.9812, 1.9463, -0.1148, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.025},"note":"From above, the left fingertips are now over the cap end of the central bottle. I’ll descend vertically onto its narrow neck, avoiding another low sideways sweep."})

tool

executing move_to over 6 steps (0.6s)

step 222

assistant

agent noteThe left jaws have descended around the bottle’s upper section, and the cap is centered in the wrist camera. I’ll close and use the gripper opening to check whether this is a real hold.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6033, 2.0842, 1.1229, 0.239, -0.5945, -0.448, 0.9956, -0.1516, 0.6792, 0.3519, -0.2897, -0.2134, -0.1699, 0.9955] state[eef_state]: left_x=0.4712 left_y=-0.2001 left_z=0.0325 left_yaw=0.1122 left_pitch=-0.0194 left_roll=0.0217 left_gripper=0.9956 right_x=0.2671 right_y=0.0007 right_z=0.1156 right_yaw=0.1055 right_pitch=-0.0298 right_roll=0.0051 right_gripper=0.9955 state[joint_eff]: [-0.0068, -8.7043, 4.9026, 1.6093, -0.2369, -0.0855, 0.1245, -0.4308, -1.2239, 6.9675, 1.956, -0.149, -0.0366, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws have descended around the bottle’s upper section, and the cap is centered in the wrist camera. I’ll close and use the gripper opening to check whether this is a real hold."})

tool

executing move_to over 10 steps (1.0s)

step 232

assistant

agent noteThe neck attempt was empty again; the far bottle is just beyond where the left gripper can descend effectively. I’ll switch to the displaced bottle whose cap is nearer the robot and approach it from above.

move_to

left_x0.3700left_y-0.2600left_z0.1100left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6022, 2.0682, 1.116, 0.3775, -0.6334, -0.4492, 0.0191, -0.1516, 0.6624, 0.3244, -0.2829, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.486 left_y=-0.2028 left_z=0.0639 left_yaw=0.1486 left_pitch=0.1061 left_roll=-0.0606 left_gripper=0.0191 right_x=0.2636 right_y=0.0012 right_z=0.1087 right_yaw=0.1055 right_pitch=-0.0335 right_roll=0.0061 right_gripper=0.9954 state[joint_eff]: [-0.0342, -9.5932, 4.5333, 0.7546, 0.2125, -0.0611, 0.9353, -0.5128, -1.0462, 6.9128, 1.9805, -0.1538, -0.0073, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.37,"left_y":-0.26,"left_z":0.11,"left_gripper":1},"note":"The neck attempt was empty again; the far bottle is just beyond where the left gripper can descend effectively. I’ll switch to the displaced bottle whose cap is nearer the robot and approach it from above."})

tool

executing move_to over 10 steps (1.0s)

step 242

assistant

agent noteThe nearer bottle is clearly visible in the left wrist camera but sits left of the jaw column. I’ll center the jaws over its upper body and lower, leaving enough clearance to avoid sweeping it along the table.

move_to

left_x0.4300left_y-0.2300left_z0.0400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9031, 1.8717, 1.153, -0.1707, -0.7959, -0.7403, 0.9947, -0.1516, 0.6403, 0.2943, -0.2684, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.3769 left_y=-0.2684 left_z=0.0977 left_yaw=0.1122 left_pitch=-0.014 left_roll=-0.002 left_gripper=0.9947 right_x=0.2608 right_y=0.0016 right_z=0.1033 right_yaw=0.1055 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954 state[joint_eff]: [-0.1436, -12.0547, 6.1607, 1.1795, -0.5739, -0.0269, -0.1978, -0.5128, -0.6906, 7.0222, 1.9267, -0.1294, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.23,"left_z":0.04},"note":"The nearer bottle is clearly visible in the left wrist camera but sits left of the jaw column. I’ll center the jaws over its upper body and lower, leaving enough clearance to avoid sweeping it along the table."})

tool

executing move_to over 5 steps (0.5s)

step 247

assistant

agent noteThe jaws are now low around the nearer bottle’s body, while the far bottle’s red cap remains farther ahead in the wrist view. I’ll close and check whether this time the nearby bottle is secured.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7376, 2.006, 1.0603, 0.1097, -0.7174, -0.6102, 0.9961, -0.152, 0.6254, 0.2714, -0.2634, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.4207 left_y=-0.2205 left_z=0.0372 left_yaw=0.1556 left_pitch=-0.0332 left_roll=0.0284 left_gripper=0.9961 right_x=0.2579 right_y=0.002 right_z=0.0975 right_yaw=0.1051 right_pitch=-0.0302 right_roll=0.0052 right_gripper=0.9954 state[joint_eff]: [-0.0752, -9.4564, 5.5043, 1.5409, -0.2808, 0.0904, 0.1392, -0.4581, -0.9094, 6.7897, 1.8974, -0.149, -0.022, -0.0122] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The jaws are now low around the nearer bottle’s body, while the far bottle’s red cap remains farther ahead in the wrist view. I’ll close and check whether this time the nearby bottle is secured."})

tool

executing move_to over 10 steps (1.0s)

step 257

assistant

agent noteThe left gripper is holding about five centimeters of bottle width, consistent with a secure body grasp. I’ll raise it well above the table and see whether the bottle rotates downward under its own weight.

move_to

left_x0.3500left_z0.2300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7391, 2.022, 1.0252, 0.1944, -0.7189, -0.6052, 0.5338, -0.152, 0.6056, 0.244, -0.2527, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.4205 left_y=-0.221 left_z=0.0306 left_yaw=0.1519 left_pitch=-0.0114 left_roll=0.0071 left_gripper=0.5338 right_x=0.2551 right_y=0.0025 right_z=0.092 right_yaw=0.1054 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954 state[joint_eff]: [-0.3897, -11.4393, 5.1077, 1.3895, -0.3785, -0.0073, 1.033, -0.5402, -0.4718, 6.8855, 1.9121, -0.1587, -0.0611, -0.0122] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_z":0.23},"note":"The left gripper is holding about five centimeters of bottle width, consistent with a secure body grasp. I’ll raise it well above the table and see whether the bottle rotates downward under its own weight."})

tool

executing move_to over 13 steps (1.3s)

step 270

assistant

agent noteThe lifted bottle is hanging below the left gripper with its cap high and its base pointing toward the tabletop. I’ll lower it carefully until the base touches, then release it if it can stand.

move_to

left_z0.1150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8829, 1.6455, 1.2709, -0.6445, -0.7265, -0.7544, 0.5338, -0.1516, 0.588, 0.223, -0.2447, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.3446 left_y=-0.2289 left_z=0.1695 left_yaw=0.1055 left_pitch=-0.1314 left_roll=0.0654 left_gripper=0.5338 right_x=0.2531 right_y=0.0029 right_z=0.0882 right_yaw=0.1058 right_pitch=-0.0228 right_roll=0.0035 right_gripper=0.9954 state[joint_eff]: [-0.4308, -12.8479, 11.1521, 1.6044, -1.2625, 0.188, 1.0281, -0.5265, -0.1573, 6.6803, 1.8877, -0.1783, -0.0611, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.115},"note":"The lifted bottle is hanging below the left gripper with its cap high and its base pointing toward the tabletop. I’ll lower it carefully until the base touches, then release it if it can stand."})

tool

executing move_to over 4 steps (0.4s)

step 274

assistant

agent noteThe bottle is still lying lengthwise despite the lift, so the current grip is too far down its body. I’ll pull it nearer the robot, set it down, and make a new attempt at the cap end.

move_to

left_x0.2450left_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9092, 1.6718, 0.9482, -0.3683, -0.7277, -0.7349, 0.5341, -0.1516, 0.5735, 0.2054, -0.2443, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.3185 left_y=-0.212 left_z=0.0783 left_yaw=0.0787 left_pitch=-0.1718 left_roll=0.1424 left_gripper=0.5341 right_x=0.2505 right_y=0.0032 right_z=0.0837 right_yaw=0.1055 right_pitch=-0.0254 right_roll=0.0039 right_gripper=0.9954 state[joint_eff]: [-0.2667, -10.2222, 9.1829, 2.3175, -1.3944, 0.0269, 1.0281, -0.5402, -0.335, 6.8581, 1.8681, -0.149, -0.0366, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.245,"left_z":0.14},"note":"The bottle is still lying lengthwise despite the lift, so the current grip is too far down its body. I’ll pull it nearer the robot, set it down, and make a new attempt at the cap end."})

tool

executing move_to over 6 steps (0.6s)

step 280

assistant

agent noteThe bottle’s cap is now noticeably nearer and within the left arm’s low reach. I’ll release this body grip so it settles, then target its neck directly.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1606, 1.4448, 0.7856, -0.5129, -0.8165, -0.9722, 0.5352, -0.1516, 0.5541, 0.1829, -0.2436, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.2375 left_y=-0.2144 left_z=0.0954 left_yaw=0.0081 left_pitch=-0.1244 left_roll=0.0699 left_gripper=0.5352 right_x=0.2474 right_y=0.0037 right_z=0.0781 right_yaw=0.1058 right_pitch=-0.0276 right_roll=0.0047 right_gripper=0.9954 state[joint_eff]: [-0.2803, -8.3487, 10.5915, 1.2674, -1.3407, -0.1538, 0.5446, -0.2667, 0.253, 6.9128, 1.9951, -0.1636, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The bottle’s cap is now noticeably nearer and within the left arm’s low reach. I’ll release this body grip so it settles, then target its neck directly."})

tool

executing move_to over 5 steps (0.5s)

step 285

assistant

agent noteThe released bottle has settled with its cap around the center-left of the table. I’ll approach that nearer cap from above, keeping the fingers clear of the adjacent bottle.

move_to

left_x0.3300left_y-0.1750left_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1973, 1.4193, 0.6613, -0.3428, -0.8917, -0.9913, 0.995, -0.152, 0.5316, 0.1596, -0.244, -0.2134, -0.1699, 0.9954] state[eef_state]: left_x=0.234 left_y=-0.2104 left_z=0.0869 left_yaw=0.0101 left_pitch=-0.034 left_roll=0.0137 left_gripper=0.995 right_x=0.2442 right_y=0.0041 right_z=0.0726 right_yaw=0.1051 right_pitch=-0.0287 right_roll=0.0048 right_gripper=0.9954 state[joint_eff]: [-0.253, -5.2171, 6.2427, 1.1648, -0.6569, 0.1441, -0.0904, -0.4581, -0.1026, 6.8581, 1.9805, -0.1001, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.175,"left_z":0.1},"note":"The released bottle has settled with its cap around the center-left of the table. I’ll approach that nearer cap from above, keeping the fingers clear of the adjacent bottle."})

tool

executing move_to over 8 steps (0.8s)

step 293

assistant

agent noteThe two moved bottles have rolled toward the near edge, while the far-left bottle remains isolated. I’ll concentrate on the isolated bottle and position the left gripper above its cap end without contacting the others.

move_to

left_x0.4500left_y-0.0750left_z0.1150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8074, 1.4349, 0.6132, 0.0116, -0.6975, -0.5934, 0.9962, -0.1516, 0.5072, 0.1371, -0.2443, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.3174 left_y=-0.1624 left_z=0.0863 left_yaw=0.0625 left_pitch=-0.0282 left_roll=0.0131 left_gripper=0.9962 right_x=0.2413 right_y=0.0047 right_z=0.0678 right_yaw=0.1058 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954 state[joint_eff]: [0.1846, -4.8615, 9.0051, 1.5458, -0.2466, 0.2759, 0.1148, -0.3077, -0.1983, 6.7214, 1.9121, -0.1148, -0.0317, -0.0073] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.45,"left_y":-0.075,"left_z":0.115},"note":"The two moved bottles have rolled toward the near edge, while the far-left bottle remains isolated. I’ll concentrate on the isolated bottle and position the left gripper above its cap end without contacting the others."})

tool

executing move_to over 11 steps (1.1s)

step 304

assistant

agent noteThe far-left bottle rolled slightly during the approach, leaving its cap visible to the left of the jaw column in the wrist view. I’ll shift toward the cap and descend to grip its narrower end.

move_to

left_x0.4700left_y-0.0200left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3012, 1.6222, 0.8181, 0.1669, -0.3447, -0.2592, 0.9963, -0.152, 0.482, 0.1131, -0.2447, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.4359 left_y=-0.0692 left_z=0.1004 left_yaw=0.114 left_pitch=-0.0339 left_roll=0.0011 left_gripper=0.9963 right_x=0.2383 right_y=0.005 right_z=0.0624 right_yaw=0.1054 right_pitch=-0.0264 right_roll=0.0044 right_gripper=0.9954 state[joint_eff]: [0.1299, -7.1043, 8.5675, 1.7851, 0.0611, 0.3492, 0.0024, -0.5265, 0.0068, 6.9675, 1.9072, -0.1832, -0.022, -0.0073] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.47,"left_y":-0.02,"left_z":0.035},"note":"The far-left bottle rolled slightly during the approach, leaving its cap visible to the left of the jaw column in the wrist view. I’ll shift toward the cap and descend to grip its narrower end."})

tool

executing move_to over 5 steps (0.5s)

step 309

assistant

agent noteThe jaws are at bottle height with the bottle extending forward into the left wrist view. I’ll close now to see if they can secure it for a lift.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1448, 1.8576, 0.7685, 0.5045, -0.2298, -0.2008, 0.9964, -0.152, 0.4557, 0.0937, -0.2447, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.4649 left_y=-0.0235 left_z=0.0425 left_yaw=0.1436 left_pitch=-0.007 left_roll=-0.03 left_gripper=0.9964 right_x=0.2364 right_y=0.0053 right_z=0.0593 right_yaw=0.1054 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9954 state[joint_eff]: [0.2667, -6.7487, 6.188, 1.2186, -0.3883, 0.5397, -0.0024, -0.4444, 0.0752, 6.7624, 1.8877, -0.1343, -0.0562, -0.0122] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The jaws are at bottle height with the bottle extending forward into the left wrist view. I’ll close now to see if they can secure it for a lift."})

tool

executing move_to over 10 steps (1.0s)

step 319

assistant

agent noteThe last close was empty, and the bottles remain on their sides. I’ll withdraw and park both open grippers so they do not continue pushing the bottles while I stop this attempt.

move_to

left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.2900right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1295, 1.8793, 0.7742, 0.6434, -0.2226, -0.157, 0.0195, -0.152, 0.4366, 0.0803, -0.2447, -0.2138, -0.1699, 0.9954] state[eef_state]: left_x=0.4824 left_y=-0.0199 left_z=0.0638 left_yaw=0.1311 left_pitch=0.1108 left_roll=-0.0285 left_gripper=0.0195 right_x=0.2352 right_y=0.0055 right_z=0.0573 right_yaw=0.1053 right_pitch=-0.0143 right_roll=0.0012 right_gripper=0.9954 state[joint_eff]: [-0.1436, -7.2274, 5.1761, 0.9158, 0.0415, 0.0024, 1.0037, -0.4718, 0.4308, 6.653, 1.8388, -0.1538, -0.0269, -0.0073] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [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":0.29,"right_y":0,"right_z":0.18},"note":"The last close was empty, and the bottles remain on their sides. I’ll withdraw and park both open grippers so they do not continue pushing the bottles while I stop this attempt."})

tool

executing move_to over 15 steps (1.5s)

step 334

assistant

agent noteI could not stand the three bottles upright. The grasps I obtained were around their bodies, which left them horizontal; attempts to grasp their caps closed empty, and further repositioning moved the bottles without standing them. Both grippers are open and withdrawn.

give_up

hindsightA gripper opening near 0.53 confirmed a bottle-body grasp, while readings near 0.02 after closing at the cap were empty. On this rig the wrist cameras look past the fingertips: a clearly visible cap ahead in the wrist image is not yet between the jaws. Grasping a bottle's body and lifting it did not make it rotate upright, since tool pitch and roll are pinned; a reliable method must establish a secure grip near the cap or use a tabletop pivot.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1635, 0.8093, 0.5819, -0.3077, -0.2459, -0.1829, 0.997, -0.1375, 0.7765, 0.556, -0.4107, -0.21, -0.1699, 0.9954] state[eef_state]: left_x=0.3015 left_y=-0.0025 left_z=0.1834 left_yaw=0.1291 left_pitch=0.0431 left_roll=-0.0207 left_gripper=0.997 right_x=0.2829 right_y=0.0016 right_z=0.1588 right_yaw=0.1169 right_pitch=-0.044 right_roll=0.0067 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.0735, 8.5128, 1.8486, -0.1441, 0.0415, -0.0757, -0.0615, -0.9231, 9.9897, 1.8437, -0.0171, 0.0659, -0.0122] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not stand the three bottles upright. The grasps I obtained were around their bodies, which left them horizontal; attempts to grasp their caps closed empty, and further repositioning moved the bottles without standing them. Both grippers are open and withdrawn.","hindsight":"A gripper opening near 0.53 confirmed a bottle-body grasp, while readings near 0.02 after closing at the cap were empty. On this rig the wrist cameras look past the fingertips: a clearly visible cap ahead in the wrist image is not yet between the jaws. Grasping a bottle's body and lifting it did not make it rotate upright, since tool pitch and roll are pinned; a reliable method must establish a secure grip near the cap or use a tabletop pivot."})

tool

give_up: I could not stand the three bottles upright. The grasps I obtained were around their bodies, which left them horizontal; attempts to grasp their caps closed empty, and further repositioning moved the bottles without standing them. Both grippers are open and withdrawn.

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 · 8.486 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, 0.7933, 0.609, -0.3763, -0.0204, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3866, -0.0128, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4564, 9.7299, 1.7363, -0.0366, 0.1197, -0.1538, -1.0462, -1.0462, 10.3863, 1.8486, -0.1538, 0.2125, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6ea191ca3fdcaa6d73ffb3237f22d9741aebf3a58018802d4a31bcbce0536e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a84e82191c12ce8a2a176309102c48512c106f28df62c5a6ad06853460ce0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726a8d8f425dc0fe2b136004c38cecd07a3a2b76f42b7dc4f4e244e5a5d56271",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 6.939 s

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

{
  "content": [],
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  "id": "rs_09b24b19cbfcd1fa016ab42acd7a8c87d08c3d07d513009ece",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrVA_h85qITNBRa0ZBRFxj7tXqr95AzBVC80xx69jjQ8QWdYlWefNK0eG_0hXJCM-8hBEXvQb44IZ_j7hH0S2N0XKlKPpJgl_Xhec7y1TbL2xXXwmjsLQ345nhVF-fZa17Z87jTs8mqDRT86qMudjBGhZ0PkKSXDqYjZvZY2j_UM-DqPCfNLM4Jc0VUZt8Qe5E-gM-urU7du_OT8PHB3XIkDUJLnc3L_RJ1AWcl5TC2uQe2BXkH75ReOH92qv6Z9F4ko_mNFVkCaABo49F3c6aqmy9X4aemSPYNimTAkZvg1rvqUJNtdepIO2jiRfJAGBIvuUlloWrV8iBg-t87r0tzLc0XLS4NmqHxO02sp4idfEo0kKsSqkKxWOfEq5soOu73Lo5cwKe9SuiJZQHqXFspBsjvtbovq6Nd5vP5WBwtTbacCVuyTamWpTtHhdBkQqvVJ67hQL2S2sw2xByBfE6zXjo4yPAMdGYVr36V4OI9E5Diz5Mc8ndD6I8m8I8GVUEHyz-Rn5DOYdWHqa7CPeh6N_oBwfELrFw5h0CVsYpD6R1KKYg8xi-HNbucnVJOF--CMmTih_46SJqn2a0XuZfhIlnEr4rc_VUuawKGhdzOOz9Jy1chQTOu0LRPY3lK2r1s0RldHg0qXEKaiPXjF7k-UsgRVkB6s2sX7Vmt0qbGMQa7Rptes_Danm3tgxetBoeuoLGrG0aSRxvUcKbUD_Y6QxtOC183qfkkphE56FZPboOPWH1uAGK4eTHmqzpwyz49mBr7N7ZsGiZGVqeIQ1Npo88mjNy7JS4ur7X4m6itPulASWz93lG5H9X3u6LYT56R3kNrKlHcLOKN5t6mSrdLE8gAXi94cesRqI485MzoO964UqlS_u79U_yAu-MRXA2ImC0MeTT1rIM46YCoTVSaOHSYPbBVMNeXEK2fX73rXAhDQhirBX_fFI1V_-lYaazjIBsWF55MGndFwY0fXCx0CVK5_eROPn9tgWhseBDL-AX2eI1-0bVNawsyLUwkj2xamSjMgTqoFQY60c530vvwmXbQ4X8IgkIKwuytmfhbLWFmyuGaYCJEfFXRP5NjwwA3odVLJpEaEdUhqLp4tZ7L9yYw8way2s6STTHtjF4lBci-zZgEAfy2Y7-umO7O-9Asv1xg1PNYD1pn7am1Rc5NhfuNt-91ahhGM-HOt8bdWlLYShKPvGqjTYzvALFWxZcOBNsnoFYIiyaWU7i5Q6bJQ9fQoKSotocRi8VDh49E7zrLn7RBNEiWkqrjOarmgpfe6s2ftlMU1f_UVql1haReDsGDFHynf8LyYuYAfipaySS4DVq045zw8GMuQb2kRl8OMbVWVj-4dvwh3sZSkRcORZDucdJyENJTeizaFf7HLjEcAEp0AMi-CfSiqDjCmeZop5qzKe1Y_Rz0m625DKQYy9jo3XQ4CN94bsxdMaPw1vbriyz-nDuWiENC_L-7646qGnuXItUxDshWNeShh8KgXMp4G3mLoiY-2W560CL3UXvyYNE5UAhZBS2JqwTBF_BLTXEEZWzP92LLAazXLK8fJrvzLIYQZ5Q5Tz3o0n6zeZuNt-xI1kWRVdAAtPl39uxO2U4NhFMgyr4YcCtpNsOeQQwYAeh3-k24PljXVFt5JlQ=",
  "id": "rs_09b24b19cbfcd1fa016ab42ad32d6c87d0abbad4e27891aa34",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.20,\"right_z\":0.14},\"note\":\"All three bottles are lying on their sides, with their caps toward the far edge. I’ll position the right gripper above the neck of the rightmost bottle to lift it from its top end.\"}",
  "call_id": "call_6Oh3WTeTl5KrL8p1Kvw5XqyC",
  "id": "fc_09b24b19cbfcd1fa016ab42ad4448487d08631a7c91b1637d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Oh3WTeTl5KrL8p1Kvw5XqyC",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3813, -0.0223, -0.0292, 0.9984, 0.6022, 1.6825, 1.0294, -0.0826, 0.4644, 0.2958, 0.9998]\nstate[eef_state]: left_x=0.2961 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0049 left_roll=0.0005 left_gripper=0.9984 right_x=0.4133 right_y=0.1924 right_z=0.1203 right_yaw=0.0424 right_pitch=-0.0732 right_roll=-0.05 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.5248, 6.735, 1.8291, 0.0024, -0.0269, -0.0317, 0.0615, -7.8291, 9.0325, 1.9512, 0.3053, 0.3248, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c865458e5fdf45c099cd7845409598841533a0dd11272b913ea63eaed167df5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9686833b50da7b7f697dd7ce86830cf6e719e42304c725f66936be625b847409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935a552a0b7bf7805d30dad67189c2cfdb3c5152562c9fbf01c31f11eaf58cf8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 5.695 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0204, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3866, -0.0128, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4564, 9.7299, 1.7363, -0.0366, 0.1197, -0.1538, -1.0462, -1.0462, 10.3863, 1.8486, -0.1538, 0.2125, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3813, -0.0223, -0.0292, 0.9984, 0.6022, 1.6825, 1.0294, -0.0826, 0.4644, 0.2958, 0.9998]\nstate[eef_state]: left_x=0.2961 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0049 left_roll=0.0005 left_gripper=0.9984 right_x=0.4133 right_y=0.1924 right_z=0.1203 right_yaw=0.0424 right_pitch=-0.0732 right_roll=-0.05 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.5248, 6.735, 1.8291, 0.0024, -0.0269, -0.0317, 0.0615, -7.8291, 9.0325, 1.9512, 0.3053, 0.3248, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c865458e5fdf45c099cd7845409598841533a0dd11272b913ea63eaed167df5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9686833b50da7b7f697dd7ce86830cf6e719e42304c725f66936be625b847409",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935a552a0b7bf7805d30dad67189c2cfdb3c5152562c9fbf01c31f11eaf58cf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrdsdJCGCxSuQYgYhVtIsq6bv3nahVCj8Zf-nvmUwu-mMqle15HFlB7uiYEeRv7nR_pBO8b4ntOixJicA2UYOW6idkmFfIxzKkHrkIuDTyjCDniK7irjZprow5a0WLkTj8GLKIARcs9WjrPvYgDvxFn7QW9TBIBNghEAM3myrWT7rge7z9v-M-XACIgVOj4sFubDA0ItHf_WSd1zQxHNN-zHYRAs8pQftip3qruTb36BsVKlB2V4i6FcMuBvHmVkKaVwALLZY-y5yeB1diwpilO5GhYo2ePtJlOkesT7uI1OC286DfoBUfendGcdb15hLjeOvXgYdxuEwoA07iowrAVPdwF_q9_96iB04U_O2Yu5-YePRmakSMUbuBYWiwF_mLZeHe-GCUCMgqS1Mnv6Jqm16RvGUAQSN-NXGMRtWfDZwESdDHWXdR00kuDwbsxZeF4Jg-rZQBlzbcK1InxpySPYq_XsISVIMJVqnXGh5fDLqXVy9vpUXBU4xSlZeCtmrVG39oYDeyyjSLJpLHKa-V4idmY2GixLim4-gaPnqzVRFoj_qcp4rvULbQesco5osTRFR2uBhzM7_WF6jxOlihkXU7tJGnQxIHGUdqsQqJ6307DR3wQvlBS3mF1P9cXU2Jvhz3OUfHo0mDPiHJZSZPkwKHZfdxOX6dSIgVis5SINXnbWh3AQTFVchRlsfOOMtbH8PcDy3X20QwYAKM_8BTF8VueXs7w90OzTn8BQcub8Yknuv5RuMpPYm7QagMBlQJef6eMElO35OUe0n9aWYEhcwQ4bWG3iotFNk2Vei7AaCckqecc327qLwJ-CE6pO20q62l6TSPbv49jdVql64ZDClE-81DxiXkvcrtiICqYmjqiQuKSP8fvqUKF-3rigmKyLpdT9_GpiqVHR8iJ8SC2XeUtusEPZIU01mNUh8fbXcpkNddccVPxsfdtjUrwEDtnpE6SNq7nM_bGJ1RZpltA3STicZjxrlDECzK7MfFHrNFXVue5olxSmaacR1wliRQlVbuP2wbT2scyiJ4-CGv_zND91DV28rJ1-DtdgxSDkjQYVEygmBhRixqt5EZHAWcIC2QxnnV10YARtSlmzqvMcxM6mQkRhUW_ik16L3WRbD-8Aa4F2PJgHILQAONYU3euQWGstf8rLavi9QjCaRJUEoJwMjvPwN7zACIZRSXrcZCiQUdjhG_9NVpJvITUNDqTli5Q3ga2e2AUKp6myF49NV_nPRFl_tbWOJklXRY60jzZVrY-ee3BhMjvRTBcXHlDLYfAsSgZN1YaPQOLvfVn1nVOSyxFdt4n3FOYtN29hcu0JqQiK1RDA-Pi1spL8LMf4BreTNG4UHUAS95rUBZPrGgutuq1BqMFJv8qdrf3YaXL-Q7a9cQlYUIyi6ahhN0nrZg9U9gJBKhu8ycesVkzpv6hIZQiHNk45VZE772U2IuaA3f0QF0OLwS3NA0txRRpzsLblMV1ZKdl1rsm9M6Est4P2ioCvYj59jqakS02vkasIxIxJoLcpxC0fgRw5WVH9GqcSAyq_O1p114GJFtiI4CyJ3E89rZqcXIQxMgyAOfU23HxkRISEEazv4TtkDGxOaSaYsBZaKXvnZuRKDWnb6Zh71UoWn-1-Dq5YKQizHWIV0SSxygjujZWR62uWoM6YscBM5B1mcUN7zvCy77Bh5J6HR035Dv-tsDYaAtK5F7kCaWHkjvddR2B5p5-jJd9y1rO_jjIzeuE0cKsrKr5kPGC3OKd2kPaH6Mb_CPWyYRHggm_Uft_IKu8n4RVA-G9cZHpLF_gNUy58PvqTr96-wQHp5IPmpiF5GnH7Ef0kgg4nZEUWg0hwsRZYarRez7F8DS4BK1Ra0lyQRf3jLdiluuMp0JCi9RNemTy9PtVmpfydNlXq_BLx_1CJZ8sSIJv6MFplpnDl-JnT-NqKh8nVfNKS3jFPKR0x2m9znikOp36ltlrETaXpBj8bJC_E3e6YQObjvDX5XwkcfR-MEk-EhywXPx92XEsgLEkjDwKoKSqdqUU2Q1hiOg8msfwoXYsvyeQOkej9z1epjEJCpSPz_DAl6hxH3X3pi_ATJil2yrUqJR9K4Gp_lvE_06D7dm_Art6Yo_B3_qVgeZajIm99pdf_9VpLO-wfwkpAqYVinwvLn36tUdM-CxW2f46bG8nTtYzw89tZAmuWcUhPqb2jh93jiitIr7GdGx1TKt6qE4fgIM15f5O8sN9AQuyqFKgEWtl25py6zjhmSUZwITkgG7-RVjlqYLhDKXjmO-_0GMAI1Pinj5FsuXk727O9hbDPxuXZ-b9_aDu5uO3saKzPCbTdDyytShWmgcc76caUd5WlD90GzARM5LSmjchWZexLeq0GDEwrv5sU3qoRRJp4q5IX69neuJPBI-vhx8QE9T3f6wSE1n56FCQLBPt2UkyUWdwQDa-UOyC0dYSTOAtzApe_gM657uYMP59jSI8VlMefIxFhy1bHXH44xxnVbwDpF8yLLMNY3R2jPKqkiFdpPDvs2Xe0YR7QyXcIXzIiVGx1xtDxFz51C63orXb9MQTGOvvb1s1cGvBXXGLqqdsBz9lLRpvbRmHbl5jAbvGqFtaYgv93wcD49KrwCQ-R7GVMqylm5CpeX_ZwBYUg88rzM-O8JS6gtQt-7Oo1N5BPXcntlYIVIJTQXRxzHjH-LSl83y5nUuFODTsAlqmn9phc3PKXmo2v2N73DDZThjebhkpB_Q5yRD5Z0ysYgiz4nBplyR6W6y5KVNwzbKGZOEFWZQJIh-9cYJRxYo73_h5uBy8tAns6gpzhPSnypUlKT78Pfa6QFSqW43Gk1q7C0HcKTOTqQOevdxHgRU5ChjiVXIcFoxcNZitF7rTFXzNRmld_BEX2IrY947fFQEOTwsrcPoU-ML7l07AytDBznWtintnjruzQKsO-MlFhvg_upDrNDwKGpZgA-ORa1zJJltJKjwnAWO621qzzPo2fWmyPNBQaHQGqfgsahQA1hG9t_EjpV3yxS1uIiT0Nl4T94MdthTpwkMm8fpVTaHMzT8AFXRadHx1YDgRsyT1vgx46K8sAALNTezeXirRUs8GykxEJWJXm_xq3KRuaFP3CPjS1nyb8jnYhGAokZAqqC5pGae0mtMRc07886OldFNw4nkpSlvqvmMkBqOxRW-zxRV7Cfaq8WonBxgyJxPOFFwrJQTMmCWwtDWhFUhxMSqRtH7eK_bB8fLROA13hi6QWeWtSWdU9Be-4-7RV4eVuIK4FVL5eDwCji-Awn5Yb7wotzgfP5KSc_Eaw0b9jjpSJZE4C3VlTO75lgD2kuv1ox4yzeKC7Ql4FDkqrafbF4ScvEFc-jb5nQh0W0XR-BKzANZAowDVGY4g70axU8_no3UYX6xKcPaU2B-XtytIVQ9cJnadUMyBpzV_-4w3-UCCXT2KRhmBqML9SUVsJcOVM_Orjqd17DQzfiF1HpeuApKKHOeZ3NwGk40QCkplps0LOEchpFvxi-QWlPtSVVWcKbiPG3DImTU3ITDTBJrFWiXOSHJzbAGD5V806NhgJ5JKpmxVmVVJCG-65GtrP4xbBtMNPnr02H_2PMfwDI9lmuNLtNru-l_94B0aovgZ8YMy6ToLweSGTO9yO37edy2V7Vh468nZOwd6ECWoovAXdO6SuzEWZcz4KD1Z_xii_9Qnz6Rn_kprXE_XuYvR5YxGJy1U7xVh3s8iOnsGoWBsJ7PwkMOiNQ==",
  "id": "rs_09b24b19cbfcd1fa016ab42ad8260c87d0a453c26325d592c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.175,\"right_z\":0.075},\"note\":\"The right wrist view places the bottle slightly right of the jaw column and its cap ahead of the fingertips. I’ll move a little forward and sideways, then lower toward the narrow shoulder just below the cap.\"}",
  "call_id": "call_yqkRMfVLtyIbUM8DhU5xPTLb",
  "id": "fc_09b24b19cbfcd1fa016ab42adce69887d0b439e8ac8ed88ac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yqkRMfVLtyIbUM8DhU5xPTLb",
  "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, -0.3798, -0.0227, -0.0292, 0.9984, 0.4999, 1.8339, 0.9451, 0.168, 0.3985, 0.2474, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1835 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.439 right_y=0.1658 right_z=0.061 right_yaw=0.0193 right_pitch=-0.0833 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 6.653, 1.7265, -0.0171, -0.0611, -0.0171, -0.0068, -9.1009, 6.5162, 2.0391, 0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9d5cfc31d3e390bacbbfcb2132761e1aa91df41a82791f9dbdf53d35783da6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722a7654eca1804e2fdbc0451369bb73012cc2921b145826d7d8b781a18da36f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79983949a9bad3af22f68e3876ea6d7f6a6b832baaeb3ca727b20ded2c63a541",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.062 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, -0.3813, -0.0223, -0.0292, 0.9984, 0.6022, 1.6825, 1.0294, -0.0826, 0.4644, 0.2958, 0.9998]\nstate[eef_state]: left_x=0.2961 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0049 left_roll=0.0005 left_gripper=0.9984 right_x=0.4133 right_y=0.1924 right_z=0.1203 right_yaw=0.0424 right_pitch=-0.0732 right_roll=-0.05 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.5248, 6.735, 1.8291, 0.0024, -0.0269, -0.0317, 0.0615, -7.8291, 9.0325, 1.9512, 0.3053, 0.3248, -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, -0.3798, -0.0227, -0.0292, 0.9984, 0.4999, 1.8339, 0.9451, 0.168, 0.3985, 0.2474, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1835 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.439 right_y=0.1658 right_z=0.061 right_yaw=0.0193 right_pitch=-0.0833 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 6.653, 1.7265, -0.0171, -0.0611, -0.0171, -0.0068, -9.1009, 6.5162, 2.0391, 0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9d5cfc31d3e390bacbbfcb2132761e1aa91df41a82791f9dbdf53d35783da6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722a7654eca1804e2fdbc0451369bb73012cc2921b145826d7d8b781a18da36f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79983949a9bad3af22f68e3876ea6d7f6a6b832baaeb3ca727b20ded2c63a541",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrj5sljXnA4fvZCOj5yCGoWNgNckPcrlrPh_bRHYHErEqGCrmZNqa6kos_YYfDoAiC5tZfeMYKTL1tRHbtWeTI9ZakBRfhDEilklc_2czEG-HiU_PSXZrG6EOzcNag5ZnNII975mYnt4cIXrwzycnKXTpsbMrGG4K3ulfsD4BD61ocwc1faNClmaDzQjgMJ0-tbp-xoJrQAvvoLQOTaMJlQDnh-sRjdLWLnPJuHTlzPnyqWZEr9Fr-N6E_3E_UUXdWRUunGymW-wnN3cMxA3WWV2Nds5v6pdf0XYRjG0hS-OPQq1X-BiTKM1ZD-6AX937jTdDC9LmMU6JaLZ8fCdwFjYReHHebCiiqL-9M3tPBVucFk48D1tn4JK5epIsMLQUEq4QybS6RdFLnKNXmOTrDmDZdX4Kiq2vUhkF7EfECbN19LiCQSTWQP9VGLiPFrN7btjj0GHx5VdMKOp6D1dVCTMl42VUF2wy2GNB6fetkex2J1u3joiazInso3Do3OP_NXzobgNJdiUl53XWGf_ReColSZqyScYzlqEO1ikFIEuSGnakbvbJmGz8dZXbSL-ejWpGbbmRb14zO-vPbpOj_wHZNnNNEW22N1x3ghvTEkoN_pH2O-XPLj1eg05935lKuKJKf97V2VbY7pS0B2PrIj6Eeox-bYIgdKRb6armFt53T4d3Zi2NR9cC1Ttumyb6oY2_gVDD9CYv363KBKsI-hMW0j0HO_FcNwkuxynlRRFaRvpky41bgxbm4mL-WeEPytu-o_UpevjB4VZMxjR6DuvP47gP70LdO6iCUVAdIOmWONIQPTNQA4jeuYBmEqb3jjARpPu80xNGXLlSi9hdjLKCiGjK3Tl18dSmNKej0HUUePriCk3dJ0BZCWqMh-JNsdjqA9WTGzmTCvjHTMPJ01QwEWi08ETdibyWEz55t02zpa1mUVInThjtj2pixBKVroYYU3Dw8iXby2UiBD1pcnm_S44djfGzZp5aPWi0f6p6qza9PBpJLAD2MIPR0Yc2cQ_NTOo2QyJQIXIMBUX_WwCorfO03YTzu0xCGj8XUtuzjw7L9Wj1PKcGzu6YjS8VO3xZCxYWy61zv9i2FaGkDu7ZK_1FSKJXxDQqQ6nGyoKjWCsn4WNv9WaRjSF3AotfGTql9QMpdjFoNDUU87sPMbwNAEpjL175W3t68vbXpVJUAPAUJOVLS5TqHZByGZ7keY4sg6wUGs-a1MN-ukksVCWi7sJB53J11BPZ0R8MnRtGrQ9R2o4UrS_LLFA7DCkdkRQMffgnnOzuBPqR46QyJrzb_NHC3yfetKvCE1Sx8Dn_Yv6Qi4OO7cNPLEh_2iqOD0ReS246PmAb8IRUEQDdYwp-HN9TwJSxfmBB7pjQEG13kK552FkXDzAMeMh9f7YpoMRPRyviJDxeZco25HJB32elgEJrRrHVKZk_L8NURC7YeXzLm6JufgizJQwfYWA4r4bWhJwPG3U9NspPlHNovhpXcXxCvO7gYol-rW1lh4uJRNAwGeUaG_2TnZrh2GO8bYrDFHdrB_tDvUrblMKqxb3Bug8mhQVlDuU29eUHWbd-kQXSJGZbX6OQiMDM6YZu1krn1ue3vOETrKDUq2esuo5t0yGhkC_IVZ13gv2g6QUjb00yEh-aWi64yxUyTKOwwxgeA8mDw72kzJjuFQy_JFYVkr1XA7FI_x-_JVT554FcnJpk_bhOJP4gCEnDIxvZBsYjdCabWz5G5qZlBa0ssgUl5lT9acXBUGxTQkHEMbPOlGtOKMo1UlTxd_HWqYn-cEHg4tBXB7AJKyqQ2Nk6TpK4fTZJYn29r5dWYuntNE1NYTlfKeXLuc4abU7TiP8dEv4aORZuKpMA-so71TQAw5BscaugrnJajKGlyQYbSJJt1dOgcWSnnraCeXNaQWpi9NhcwH86wokTd8ShKRJ2f3OWppdVfXBG1T_Z3XqWBG1RrKy-izPQ716CYSflVnA0-Ff-ZqFxw3XLZn_YO874t0i4epjWAjhv7gjyAZZUVrt6-Rf56si491EQhAe1g8HML-GrJl1V9YrT5yqrDfPAgEDrdQgb3um9ZzvtptjMlm2LMXv0N2OHsvdoEoxNY9skULQyQm9Bo7wZzDWPJ-6YUCw0q3vSCA5xiMsHGvTfIh6quvWYp9axCiaQJBWp75knyONWjnsZbxQiJOGZNkqwjpsx4e9M6oVIDf1A-lO3EgRh_Oe5C7DIwiviKGnTPYZVZ2mpd740dp5xWFb0BifNqjUs4tn5OOmjcz_UOb5Qx2swaO2QIhX26rHhn-J9jFTCtGJkRiWOTbNL9JPbVoKGFXrSYByySuLDBOFWZQXAd4dV3_8cjQP4l7N6m-bUj3uuo-6ltQniVNmaLg9SP0B2klXLbbrgE0LR7ta31iPYnqGIhAlzva3hL3UJuUjv24gWBHG7hmBw1cwrHLBVZLGXvrQw2i9WspS0EKWkpTqsk5FrpFFPfbdNDH4If719jdW5TiawFBkYnM0fxNYttoUD98rRz-kM8B3h7LoLe9wvWiYuj6CmzHJ6u6SzDcDEkrenfMH6b0Nz22XQ-ouS_X0B7reLk4sbzdrgrOjYvhGshl5R85I17cg1DsY98155nNbSCKchFq7QyoOeNcgbLgF-zO_r7BS9xy8FEp51-rAvIwKZh41eOUasP5YWffAOF2PsQnLMwN2DV0m8NgxZcunBdNdZvOiTLe5nwJfe_0KzfCzJv2BLFB6nhWgmgWDfq4eCygdvqk1E1fjDoU2ZdHs182NEC8n959Ix_6b_W2AdIzUQheZCqf1mxhdh5iFWwldTiz-4C6vpcLpr-EqxzcYFpDKUOGMhAFc6qBNB9SQrVjIO5UgyX9QbwKBBIs5l5_rYSy24hgBDDk4-M3tsnHjeB1Q9J6TgrIc3neVMHuFEgVsikhYc2qMnHbSpI6VyK_ZNtQx6tLPSig-KmC5F19b7dlnqaW2xMml3Jbpj58IZbulRTMsvewIAnDQUEliIIIpK9_up8O5WbMeAfiiIvzxTL483omiHT6Y2AfG4Q7978wrVI=",
  "id": "rs_09b24b19cbfcd1fa016ab42adf555c87d0a60225de9e3b13e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.17,\"right_z\":0.02},\"note\":\"The gripper is aligned with the rightmost bottle, but it is still above the bottle’s surface. I’ll lower it and advance slightly so the jaws can grip high on the bottle rather than across its middle.\"}",
  "call_id": "call_k1ERXrJL3dG54LllnmFdvq8Y",
  "id": "fc_09b24b19cbfcd1fa016ab42ae2dfe487d0832dd1f4756e8181",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k1ERXrJL3dG54LllnmFdvq8Y",
  "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, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9984, 0.4896, 1.8843, 0.8906, 0.3386, 0.3813, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.4449 right_y=0.1667 right_z=0.0481 right_yaw=0.0334 right_pitch=-0.03 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1692, 6.8171, 1.7753, -0.022, -0.0659, -0.0122, -0.3214, -8.1026, 5.3949, 2.0635, 0.1685, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c250b2eefa153efb2103e3ac9a5530dbea0277b6af9e793c965a34ffddaf21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77119ab9b5baf96516a016fa1b440b25f853375ba58e1002c9e5ea5bb687be2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010a22c8e44e1b7c3172368591442dcfe374bad634e668b5a78fd1ef9d79b7e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.679 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0204, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3866, -0.0128, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4564, 9.7299, 1.7363, -0.0366, 0.1197, -0.1538, -1.0462, -1.0462, 10.3863, 1.8486, -0.1538, 0.2125, -0.0317]",
      "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, -0.3798, -0.0227, -0.0292, 0.9984, 0.4999, 1.8339, 0.9451, 0.168, 0.3985, 0.2474, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1835 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.439 right_y=0.1658 right_z=0.061 right_yaw=0.0193 right_pitch=-0.0833 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 6.653, 1.7265, -0.0171, -0.0611, -0.0171, -0.0068, -9.1009, 6.5162, 2.0391, 0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9984, 0.4896, 1.8843, 0.8906, 0.3386, 0.3813, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.4449 right_y=0.1667 right_z=0.0481 right_yaw=0.0334 right_pitch=-0.03 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1692, 6.8171, 1.7753, -0.022, -0.0659, -0.0122, -0.3214, -8.1026, 5.3949, 2.0635, 0.1685, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c250b2eefa153efb2103e3ac9a5530dbea0277b6af9e793c965a34ffddaf21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77119ab9b5baf96516a016fa1b440b25f853375ba58e1002c9e5ea5bb687be2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010a22c8e44e1b7c3172368591442dcfe374bad634e668b5a78fd1ef9d79b7e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCrnkmdudFfLir-oo8tY6Vs8OhvAUgidHKbe1mfJhVcVICQcLFkPZ_GP56SxOYyYz9QIVKPSxHsZ3T6BbP7PDJC9e-B2F_vk1Ws3Ay_JDIz-trSC0XY3kFKWGUE6WsOfvZFfx3SSDkR5oWc8Hw9hi8EMk6m8eh5y6QN8eRj53ywLHwtg1iJgzJ6trKO9BGBhrDKDEFuhPHJT9c_fLdphPFu2PC902_LbJ7mde5NgTOL5xBmALCaSOIwoPVvWEmDas2GA6jpAvJmTOM2nks8rI7qPpXfsIfpO0sp3CXdIwpf9nudoFhFCce-q0hK6ERZWbvXXlfrvq4-CV--SJkOfsiaGmCw7ApDtw3TDdOzwSwjY1Ae33cKQz957HQxp23kgOI9CqA0kUl5W9N5NxkSYmnU3JMnsmHT0dIM8Tr3iVFA85sLtkvJSk3ZocdaGK0zVJWoNLhVx8gKA3Km7Moeqc21sFEml82J-tXOFBpcVNiUogEnL39GvvdPSSr-_-OssJr5GlD3gHm0gFik1adamV0RYB1gflH_PTifR5PY6W_H1IZbUrLY8gK9ME-VvOiYoOeYNJKFJMxtXUgK8f7GGXq4PLd0LsPD50K8a33QaoJPzXJOTFnEZdPzqdCbmO5UlWGqk09o6242x-LDVisEJKA7hEg8U7Kt1s2ZBEafLLEVFJFBtHG-0EzPryhPI75VfdNvfqWzOY-k9l7APQ8bDRTHuaGnGP2b1mjFfCsyNJ8PIs71gSE7T8IOGPTlI6iCtu0UmEzM11iFimtAoMt2OViXImApG3rx0LW8ZUhiEk9FoOEhjZVSYJ0sZwa9rEKR_PSdgEQ0fInlI1BHaGnuHefrKcZMjerz_eJhg1Eb4sfRHRo5iefIfX0ju5w1F8ENblzvX9ddM-pefTGeWwXLqKuffOMI3ToKKZXs3KFN-TGa9ASbe_yJKthS00y26zNHJIgK9p2tlrS0Ee7GtFDlN5tFb717hiyNB_W4W-IcNb0NJUr1ygLTEGGiwaFGWzf88FzSVZriiiKxb6aQaLo1PcDEsYh8b2kbXNxaBnyEWhp9tz0gHqlaXlzuawqbiW4YKL4jvygfIRZXX4K9NhK3QA09ggzHoCak-gxNvLs8Mbh_Rqjlbt-JKPygH_ltFVZqxk0nKcwwWwkSB8NybAKPmt0Iw7mbdIU49RYBHFDtkVr7C0QfWXfvkdD-EX9gDMrTuPis-PAiSzL_dwtu75EofO2dOqJvBdvXXB8pdVT0OJrbTSLZ6LBjMQYzIfQUt4L4VdwqpATsk-FfAKEtxtCsTjiGpquesp228-r3N90NOhtZXk-QQxfd45nTBaVonPpenPDDXT-juwkFgkg8aqI6LyQLgiE_al-jMUV7iHN2AMPmOmc7Os8job7fQqE6zk-2OefHKwwsO4m7RaFvlwqL0pO9DmLN442-gsMV8VD2JfauSutyyLm2f7W7moQiy2eRPEpv9ZZVhzhWOeaUaWKhgR5gSI8_E0anT_NOE1wDchj4IAm93AbIfCu9yuF3LoYiZDyHlrsmmH4amzaCgQDrP_xciAHVGb0E24nsU6Dm9aZL_gNIiatrARt9-RchmaShoVIMhbjRjvknSszw68Tx5OeOKFXyFwy3kH-xIl6uiuXQraX1fjviGU4dBPLOwtBEhKHhwHMPgu7PjYqeoliuorQtfX2loHOH8qIEgDDAHUIsUseDdsA1FY6Wq_qr9s0N0SKrLGoYoKTjw5tBw4A2TeofmWj7XCyXcEb5u9o3tgB6y4bn-rLXwaNURMSQUUr84U_OG82u5esWOztslS3OCYe5Yb-OJVqn08ZFuHRJOHCHIEr88Deaa3OcH_N40xiYIJGCcRQa7Du0j2ErI-co_c4Q6MKEipiy1_ENC_0kxKI7TqDyecBmqKu2TJ44gncky3Ly89UjjgApbPBb1Gn6PzUgOx2Hz7SJHzfihAvTG9K9wxEqSqis5Qo-BSOpM7uqq2eHrwY9p3Q87v-tTGZAjDMcTQiBTlJJlSlLY1eShbZybMuJGoVKlOrq6tvCjsDFrlIzjLZUQxDg4EOLtxR4t-_TyxxSoEwF-QmMwUuFZN7Cfr6bliRhMxlLcoCaNWz2AGWGr",
  "id": "rs_09b24b19cbfcd1fa016ab42ae5521087d0a04c72f726e1bfab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.015},\"note\":\"The right arm stopped short of the farther, lower target, so the bottle’s neck is near its reach limit. I’ll move slightly back toward the bottle’s upper body, where the gripper can reach table height.\"}",
  "call_id": "call_1zBeWeSKAAJMZMr4Bc2bqgPM",
  "id": "fc_09b24b19cbfcd1fa016ab42ae67f5087d0b11431c014b7b662",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1zBeWeSKAAJMZMr4Bc2bqgPM",
  "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, 0.7986, 0.614, -0.3794, -0.0231, -0.0292, 0.9984, 0.4896, 1.8843, 0.8902, 0.3424, 0.3813, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0027 left_pitch=-0.0034 left_roll=0.0009 left_gripper=0.9984 right_x=0.4453 right_y=0.1669 right_z=0.0487 right_yaw=0.0332 right_pitch=-0.0269 right_roll=-0.0151 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4564, 6.8991, 1.7998, -0.0073, -0.0513, -0.0122, -0.4034, -8.1983, 5.3265, 2.083, 0.1685, 0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b410075fedd5499c68aa8d4c01e630496e3bd76d8b3775dccecdde8075acf72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e629126fdcbc37563ae266f7497abdc34763a746c3cd46d18cddc4d429ba039f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d64189696251defd0aeefb8fae9e3a1e890f4b9e733567cf38172b06e1743d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 4.954 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, -0.3813, -0.0223, -0.0292, 0.9984, 0.6022, 1.6825, 1.0294, -0.0826, 0.4644, 0.2958, 0.9998]\nstate[eef_state]: left_x=0.2961 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0049 left_roll=0.0005 left_gripper=0.9984 right_x=0.4133 right_y=0.1924 right_z=0.1203 right_yaw=0.0424 right_pitch=-0.0732 right_roll=-0.05 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.5248, 6.735, 1.8291, 0.0024, -0.0269, -0.0317, 0.0615, -7.8291, 9.0325, 1.9512, 0.3053, 0.3248, -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, -0.3794, -0.0227, -0.0292, 0.9984, 0.4896, 1.8843, 0.8906, 0.3386, 0.3813, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.4449 right_y=0.1667 right_z=0.0481 right_yaw=0.0334 right_pitch=-0.03 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1692, 6.8171, 1.7753, -0.022, -0.0659, -0.0122, -0.3214, -8.1026, 5.3949, 2.0635, 0.1685, 0.0513, -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, -0.0231, -0.0292, 0.9984, 0.4896, 1.8843, 0.8902, 0.3424, 0.3813, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0027 left_pitch=-0.0034 left_roll=0.0009 left_gripper=0.9984 right_x=0.4453 right_y=0.1669 right_z=0.0487 right_yaw=0.0332 right_pitch=-0.0269 right_roll=-0.0151 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4564, 6.8991, 1.7998, -0.0073, -0.0513, -0.0122, -0.4034, -8.1983, 5.3265, 2.083, 0.1685, 0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b410075fedd5499c68aa8d4c01e630496e3bd76d8b3775dccecdde8075acf72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e629126fdcbc37563ae266f7497abdc34763a746c3cd46d18cddc4d429ba039f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d64189696251defd0aeefb8fae9e3a1e890f4b9e733567cf38172b06e1743d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09b24b19cbfcd1fa016ab42ae845dc87d0b2cd61fbd0d33b85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.11},\"note\":\"The arm did not track the low retreat, which suggests the low pose is awkward for its joints. I’ll raise it first and reposition above the more reachable part of the bottle before descending again.\"}",
  "call_id": "call_C8fY1taTHFPigdtPeOynnQ8S",
  "id": "fc_09b24b19cbfcd1fa016ab42ae9541487d0a4aebe82bc430654",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C8fY1taTHFPigdtPeOynnQ8S",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8017, 0.614, -0.3798, -0.0227, -0.0296, 0.9984, 0.6308, 1.5162, 0.7101, 0.1474, 0.4461, 0.2886, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.3659 right_y=0.1773 right_z=0.1001 right_yaw=0.0912 right_pitch=-0.0137 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.1829, 6.7624, 1.9267, -0.0708, -0.0757, -0.0122, -0.3761, -4.8752, 6.653, 1.4921, 0.5446, 0.3101, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b21a0813b280dbadd181bf5eb3871f6bc22fbaede328c36a8ed026aaf7105a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322291df8e321df5e9aeaf04e533469c9e8f3a05b4aee234bbb2f8473bef770f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8415df77300199950ee78bafea86dd690f4731864c6e8924fb5b6bc5ca22bf5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.42 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, -0.3798, -0.0227, -0.0292, 0.9984, 0.4999, 1.8339, 0.9451, 0.168, 0.3985, 0.2474, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1835 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.439 right_y=0.1658 right_z=0.061 right_yaw=0.0193 right_pitch=-0.0833 right_roll=-0.0431 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 6.653, 1.7265, -0.0171, -0.0611, -0.0171, -0.0068, -9.1009, 6.5162, 2.0391, 0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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, -0.0231, -0.0292, 0.9984, 0.4896, 1.8843, 0.8902, 0.3424, 0.3813, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0027 left_pitch=-0.0034 left_roll=0.0009 left_gripper=0.9984 right_x=0.4453 right_y=0.1669 right_z=0.0487 right_yaw=0.0332 right_pitch=-0.0269 right_roll=-0.0151 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4564, 6.8991, 1.7998, -0.0073, -0.0513, -0.0122, -0.4034, -8.1983, 5.3265, 2.083, 0.1685, 0.0757, -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 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8017, 0.614, -0.3798, -0.0227, -0.0296, 0.9984, 0.6308, 1.5162, 0.7101, 0.1474, 0.4461, 0.2886, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.3659 right_y=0.1773 right_z=0.1001 right_yaw=0.0912 right_pitch=-0.0137 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.1829, 6.7624, 1.9267, -0.0708, -0.0757, -0.0122, -0.3761, -4.8752, 6.653, 1.4921, 0.5446, 0.3101, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b21a0813b280dbadd181bf5eb3871f6bc22fbaede328c36a8ed026aaf7105a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322291df8e321df5e9aeaf04e533469c9e8f3a05b4aee234bbb2f8473bef770f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8415df77300199950ee78bafea86dd690f4731864c6e8924fb5b6bc5ca22bf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09b24b19cbfcd1fa016ab42aebe10887d0abdbfb824e750ab3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.155,\"right_z\":0.042},\"note\":\"From the raised pose, the right bottle is centered in front of the gripper, just a little to its right. I’ll align the jaws over its upper body and lower toward it at a reachable radius.\"}",
  "call_id": "call_e3ISknWrD0nG3LWibUUrYexw",
  "id": "fc_09b24b19cbfcd1fa016ab42aeeb52887d08276cbe64b488e7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e3ISknWrD0nG3LWibUUrYexw",
  "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, 0.8001, 0.614, -0.379, -0.0223, -0.0292, 0.9984, 0.5175, 1.726, 0.625, 0.3717, 0.3809, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0046 left_roll=0.0005 left_gripper=0.9984 right_x=0.3782 right_y=0.1439 right_z=0.0257 right_yaw=0.0603 right_pitch=-0.0966 right_roll=-0.0507 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5111, 6.4889, 1.7851, -0.0366, -0.0562, -0.0122, -0.1983, -6.8444, 5.559, 2.0195, -0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4737cf0f80c9886f5e1a523111f88b5097dc620cce1406d06a9a1ef893ac6d91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470f545b6fe12d5236ee16c3213c7b1919579ff0833ad1883195037f2d7f1a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e558335ee8cc42ecc9bb9e1546ce5d367919a2f573eaff368083e4da311305be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.367 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, -0.3794, -0.0227, -0.0292, 0.9984, 0.4896, 1.8843, 0.8906, 0.3386, 0.3813, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0023 left_pitch=-0.0034 left_roll=0.0006 left_gripper=0.9984 right_x=0.4449 right_y=0.1667 right_z=0.0481 right_yaw=0.0334 right_pitch=-0.03 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1692, 6.8171, 1.7753, -0.022, -0.0659, -0.0122, -0.3214, -8.1026, 5.3949, 2.0635, 0.1685, 0.0513, -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, 0.8017, 0.614, -0.3798, -0.0227, -0.0296, 0.9984, 0.6308, 1.5162, 0.7101, 0.1474, 0.4461, 0.2886, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.3659 right_y=0.1773 right_z=0.1001 right_yaw=0.0912 right_pitch=-0.0137 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.1829, 6.7624, 1.9267, -0.0708, -0.0757, -0.0122, -0.3761, -4.8752, 6.653, 1.4921, 0.5446, 0.3101, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.379, -0.0223, -0.0292, 0.9984, 0.5175, 1.726, 0.625, 0.3717, 0.3809, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0046 left_roll=0.0005 left_gripper=0.9984 right_x=0.3782 right_y=0.1439 right_z=0.0257 right_yaw=0.0603 right_pitch=-0.0966 right_roll=-0.0507 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5111, 6.4889, 1.7851, -0.0366, -0.0562, -0.0122, -0.1983, -6.8444, 5.559, 2.0195, -0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4737cf0f80c9886f5e1a523111f88b5097dc620cce1406d06a9a1ef893ac6d91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470f545b6fe12d5236ee16c3213c7b1919579ff0833ad1883195037f2d7f1a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e558335ee8cc42ecc9bb9e1546ce5d367919a2f573eaff368083e4da311305be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr0dpumuGZBwZ_vfg-FZvOf5dqcXSBRVOAYsSKRvM4WYChjPSfx_FjzRCaRkJGeKdYMc57TaUGdgA9Z-n4BOarhQgunN8QT9eoPieKTCuPqCXdo7xmPdY5rr5IPDs4jnAkG0aP1BRLeM9Yhrny5WA7Hw3u8WxF7Cuv3XHW4kK3XpAe2N4zLFENwSGUjx-XzA9U9tXcJug9RltPsE_T_IBDkdS33YWsY3PrfKB_FeMiNaYTPEDVdIjPTbfHVi9N597wLX_LWMqQ7Xd3XGj5i9gKxSvJxYhr1UgxJWu04K36A41t8RrWG0YwpyvtzrZIW5uGgOJBl5nu0g-7wVgv9L-0S6sTJDPKS9r4EGcwjSvpX99TwPZ8tH-mTb6VwyoAiPPmrX_lZnXoDq3aJQYG6EACt31tnDzcvyMRqIkTDqkvE5GeIXGO26Gc8bV0Chyd08F2du-zuZu4wLSkHCT653xuW0tywaJDO1DCFAc1Jar2cogYHfsPHCbOXpDz1QRLGsjgLJirMvS1fVGdm6i8Q0RYeeObAOAYMydvyocSNXu59MFEv4m9OasgtJxTCCNKbhKTxu78Hnp-8qAlPEDVEx_0L3X0W7ozmZmbyNRAfk92vBshR-c-nTegQ9W52Jv-jJv_EJlqMjt2M8V6jAW4PTEvYEfsSDfk66_k5OCyrtH_kUGYuVBZmt-9_myZ9QokCZct8G_Kva5sGtxn17xNo7c7VivricLeKwMsLTy8h7_wiJ2eQ4cM_Kb-8LLrPsIRTNp0cOo5c_beT-YSRheE1dSyNYRK_g91CC1kVYGCswGhBB7Kit-E9pt_Dy_m1ct2aUpiEGGaGxqpUdkCCHMvW6AnqrDNiptKB9C8waFjxQt4LfVTZjrCVy-NV1CLNFZpHXAutpQIn8Zi0X6RLlj1vK8JwSK-u9R_CFX0rcE3kpM6AcCdixPY1yJgM1LsOzxtCTNvSlTOQ45Hk1dEfcsj0IooOetsRVqI2w0Rj9ZIjLiSMZxwZ0kiXaa7IUR1UGd9ss6CphNgMqD-umRG5t-4-BHYqAfydZ_5nogX4xIXxaEc4TXg1dS-GSxVvV1-Iu8QYPLItGJiR6rXRiB-U5yJ61OvLaQEo8mWonFBcISpDfCuM90hDgG1JwCSKYjeQdZd7orGDLEEkRAbsKCshH-sD2vU54jgzSnlUl1o6DqV1Kl7aGBW5nrxI52NxFNduqvISvQ-i252tmeSIR4wl9bt956otgiW5IkvvfDz7R-q-oSXlye072iDNVdtP4crJ-mZfn4gC5om7BbxWDP3V7ohVSAzKLIOvHfuyuqa5A40sPekkRhRUbfj1kd81-o8rZbOSRc2Klcg2UEv7JUkGe1QPL-CdvNbsAPUqnnQBXAEb5nqhr8Tjq5HqM2sV6nPq1SJK6Cgn0sjhB9PROUVkWAtqg0oJsqjhYJGKvc8d4dga-cuKWIo8QGG5b8V55BL4xE8VUacjQ7PgB8upYOUZbHZaVTnMTk7jmF1AGlMIl1m4C4O6wKdL8ksKpM_5GmSQGPfPZcdo46zxgF3Cgm-1RlEQ7RxRic0GbRVHUiuQhaTq7EVKHU4cR5tubrzkajaFpFwJoIc648WnhJyiGsdIrV38-JHFUrzEGobuNR5dAH3Nd1jdRo3CsmIdFlHRVt9vBzJ25xqIfQWO60wxWTeja9m4tPunQPgdSzp48Q04eIpG9HTLqTqPXRfXU1QU_jvh5GPyehxV5bWm_vBZHZ99CH6ytrQiKeLvefFSXMgXoM2nco-uGEedg-qedpk8a4sAsYLwC57SQIYMp0YzqdumpoDfUno78Dr6-RcnQXq8HGkIRtn7WmLM5IswbfztdWbj-GvhVIkRzFs8cB1IpMtgJJ6Wa888TNk2EZ2QKxEZ1RURCATvaYAWKUrhSO3uPIeR4jUBrholB-h1fjcZ470akOb7mJHyq_hZ3WUL-z6OAvRKbvUQYEC4mTyhww5iyFDR9QmlNmF8e92534HvyLisJgNsUX3oIFkxqrSjmRaqGCK59r8nrl4Kh-vOBawClj2awWzk8tvw7Z26GdneOAAwxc1EisVvIQ2yuFdZ_tc_aMehhTrgv3pK9LVYwclRQyRPDLmUEk_GIvNhkckBqWJvGsfk6X5MRGVa2weAKC5O8EJY04b_SeG_Wd92ZXUMm4Q48ugOn79Wz2ThE84R5fqN9u6NNVTWzf3hW0w5Jf1Pb-5W6FEiWv2G8EXDHqy7uaTiajwj98WfQC5HbmvnJQZoZtOOLzKriACiNEawk4ET5mr3HUF07XYQibqlJf56bxXMr04q8edtmBhPPxOSG3_6Kj0RJ3dqs-Oe9v7x3fIfERTiAkKJWI6cOf8XtqEW2WVFou2THFSOMfagomMz8WgTqwpQLO07U9iKi8zwNe8sOPtvlPGDDofluGRln4yXUYLmvPEnBBs8--ye3m0ESipEaRS8dX994qC6HhWHueY24jdaeHRes7leQQ0_XVpRCHRu18jwcVuWdE5rUJ3-OesWoOanMKHq7rxqZq_FXrlJA5BUDs92Tk9PsExmen5IQ_ugVYm6KDMDa7lk2KpP_vq-EEzjlP35jWWTN1NUyjLiASHVzjg73dghN21Yl4B7Ec50U5V1je_RrHTQma_s6MqZUmILSYjloWSxywPjFT73A16lT_VFkLiN07mpze_3qCF0eM1c47Uhc6NCbWPRwqnWpOO0XGAzhwa5Cq8KOItE01Lf6O7QiNQ=",
  "id": "rs_09b24b19cbfcd1fa016ab42af10ea887d0a5b8646b01f26806",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the rightmost bottle’s body near table height. I’ll close gently around it and check whether the gripper actually holds the bottle before lifting.\"}",
  "call_id": "call_7Qp4D4EE8m1d87Pimw00Wocq",
  "id": "fc_09b24b19cbfcd1fa016ab42af3df6887d086ff061fda4383ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7Qp4D4EE8m1d87Pimw00Wocq",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9984, 0.5167, 1.7477, 0.5388, 0.5781, 0.3649, 0.2272, 0.5253]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3765 right_y=0.1456 right_z=0.0255 right_yaw=0.076 right_pitch=-0.0123 right_roll=-0.0007 right_gripper=0.5253\nstate[joint_eff]: [-0.335, -1.5658, 6.8855, 1.8144, -0.0317, -0.0562, -0.0122, -0.0752, -6.1333, 4.6838, 1.8877, 0.2515, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bfdaa14652041f4740f7699107b685ab3095fd0b4d1a29d190fd7b8913b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf0990118e358a5e60d05d1add8d2cde38993c45e23a5cd317fb1db8babda5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48fe9189eb60f1868534355e9dfd7c12b7aa3b59a2eb660579698a31ae70e27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 3.494 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, -0.0231, -0.0292, 0.9984, 0.4896, 1.8843, 0.8902, 0.3424, 0.3813, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0027 left_pitch=-0.0034 left_roll=0.0009 left_gripper=0.9984 right_x=0.4453 right_y=0.1669 right_z=0.0487 right_yaw=0.0332 right_pitch=-0.0269 right_roll=-0.0151 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.4564, 6.8991, 1.7998, -0.0073, -0.0513, -0.0122, -0.4034, -8.1983, 5.3265, 2.083, 0.1685, 0.0757, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.379, -0.0223, -0.0292, 0.9984, 0.5175, 1.726, 0.625, 0.3717, 0.3809, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0046 left_roll=0.0005 left_gripper=0.9984 right_x=0.3782 right_y=0.1439 right_z=0.0257 right_yaw=0.0603 right_pitch=-0.0966 right_roll=-0.0507 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5111, 6.4889, 1.7851, -0.0366, -0.0562, -0.0122, -0.1983, -6.8444, 5.559, 2.0195, -0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9984, 0.5167, 1.7477, 0.5388, 0.5781, 0.3649, 0.2272, 0.5253]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3765 right_y=0.1456 right_z=0.0255 right_yaw=0.076 right_pitch=-0.0123 right_roll=-0.0007 right_gripper=0.5253\nstate[joint_eff]: [-0.335, -1.5658, 6.8855, 1.8144, -0.0317, -0.0562, -0.0122, -0.0752, -6.1333, 4.6838, 1.8877, 0.2515, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90bfdaa14652041f4740f7699107b685ab3095fd0b4d1a29d190fd7b8913b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf0990118e358a5e60d05d1add8d2cde38993c45e23a5cd317fb1db8babda5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48fe9189eb60f1868534355e9dfd7c12b7aa3b59a2eb660579698a31ae70e27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr34YvtI1LW6JdRkVus11kSKyiR6TrrW_7fYMt12IVx5yxM0-5AkxEefBeMF0aQjLsf2YUTVwHlMvniYCvih-RfEzz9zhSlTNW5TCmSCFeLKw8O5xnNJ9zl7hr4KXV3SyXkSYf8acR-aoBRbUU2fc-liNTBXdNVVDRJw24fSIZlQ-Xc3rNsrVh8xAWArNeBbStKUdl2mGLEwNB3tFqtFNnZo_rX0I7ghytS7imW5HNl9GSSd_BZIXdzmLkcL9zSeOiCQ_sAOPhm0mPWfuqhYAk63SzO3JiTDdsOuUOuDUHhQzKLmLJIAu63bbDQW1Iu5tVuBFFBj3P0AKvH090kQ1Qk5BBHhsQf0TqSz4cJDbThdHco4xDtJlh0cZJKftN3wv5iDsD7OVnDGWBKB1jWTMcTvcAMmVwg3D2H7vmVoWKW6kFQu9HX5uUnf2Sh1EUfXVE6gDvMiRbwYrdCxhdN7wH-y4RMmu6KO_GM63R25Nc-9TG8jJmwKGNef1pO4MXeIe0U7tF3nWBcey3v_eqyKbKf3lK8WdPf-XvjnU_BkNBhh-aF01aKJg7YVUugmam8rACjuRHcvydJ0OSOsirgVMr091dJlMcTKxnX_alp9Pwrok9iZlz0Kmu8esASSMXVcBkW-a7qDUJ2xzBesVT1c71eWdiA86Wx-jOpoJ5jalcMDhnEblWfI-IUZihyVKgv5voPGyeeHanl66Wz7J9ORKTdjWQgxu3yf8CyTs2FNn484CcQPEB8igIuA7zy0846-XrHrOuj2NJFQy9A01LXRm8QzO--0rc21QVaqema3Bj-sFy9LW-l949SktjKXDJ07BIoLjJMUXJJJ0UzaH9KWyi8JSkfAhxBqMstmNobZfGIU3SDTeQfuA7HB233_ZGS1qTFjl8FgL7B09jHtFR4GLJKFSHeRZ5xBIyiflHU82VHjS5vdBkQ13hgYpgPvnGICTRmKdfesCyjWTlbOdobq9eBle5KUKKVAX8bp0LKyu--r90MnB7tP6Tv153ET9FPhtRlIG8R3JWyeaZcvs53UIYlc6uq6a15bNRcOfs_rzdYTZ0fDRFtdk52u6RlgTnCsO-hHuGIQTyIjq-f221eSarOIp3jTLqJ59KP2TScvdXhTmyYXBQgVrTeVUYGHzkp0Ekz4Nx9NLRTPH3H8U5x272NktCb4KkpshOK5Jn_ntEfQyaNeShIvPhLIy4p_UQhWXCiF-pkyihViYhROszSwgt-WojPunbPsOxleIWRmtHnpynsN42PiuJfeIIrpLSsI7a5454oZtTptJ5x9q5IdKd0fxPnS3OL1IEbxo5A3zjdzv6ECSnbdufFRq3uO4f5YBin",
  "id": "rs_09b24b19cbfcd1fa016ab42af6c70c87d0a5334b244d89f2e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The closed gripper is resting at about a five-centimeter opening, consistent with holding the bottle’s body. I’ll lift a short distance to confirm that the bottle rises with it and see whether it begins to hang upright.\"}",
  "call_id": "call_BGSuT6eqxwQB59FCbr4qse2Z",
  "id": "fc_09b24b19cbfcd1fa016ab42af6ffb887d0b246535aae8d2641",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BGSuT6eqxwQB59FCbr4qse2Z",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0227, -0.0296, 0.9984, 0.5167, 1.4921, 0.6456, 0.041, 0.3355, 0.2184, 0.5252]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9984 right_x=0.3493 right_y=0.1357 right_z=0.0608 right_yaw=0.0977 right_pitch=-0.1794 right_roll=-0.063 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -1.6342, 6.653, 1.8584, -0.0024, -0.0806, -0.0122, -0.0479, -9.9077, 11.3846, 2.8303, 0.4518, 0.0464, 0.9841]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a7074ccf7f5332838f59d99dac13e7e89e0e7cc63fe62e4390c6261515127f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5a653ef803d08c4f4dd46dbf112cf14acb188a63c9355fa15a5c1c057a20d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad23d073a41d6bfcf40bc31f5c3c451a2fb38724cf033db6693cd6188e0c798a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.845 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, 0.8017, 0.614, -0.3798, -0.0227, -0.0296, 0.9984, 0.6308, 1.5162, 0.7101, 0.1474, 0.4461, 0.2886, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.3659 right_y=0.1773 right_z=0.1001 right_yaw=0.0912 right_pitch=-0.0137 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.1829, 6.7624, 1.9267, -0.0708, -0.0757, -0.0122, -0.3761, -4.8752, 6.653, 1.4921, 0.5446, 0.3101, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9984, 0.5167, 1.7477, 0.5388, 0.5781, 0.3649, 0.2272, 0.5253]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3765 right_y=0.1456 right_z=0.0255 right_yaw=0.076 right_pitch=-0.0123 right_roll=-0.0007 right_gripper=0.5253\nstate[joint_eff]: [-0.335, -1.5658, 6.8855, 1.8144, -0.0317, -0.0562, -0.0122, -0.0752, -6.1333, 4.6838, 1.8877, 0.2515, 0.0073, 1.0281]",
      "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, 0.8021, 0.614, -0.3786, -0.0227, -0.0296, 0.9984, 0.5167, 1.4921, 0.6456, 0.041, 0.3355, 0.2184, 0.5252]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9984 right_x=0.3493 right_y=0.1357 right_z=0.0608 right_yaw=0.0977 right_pitch=-0.1794 right_roll=-0.063 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -1.6342, 6.653, 1.8584, -0.0024, -0.0806, -0.0122, -0.0479, -9.9077, 11.3846, 2.8303, 0.4518, 0.0464, 0.9841]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a7074ccf7f5332838f59d99dac13e7e89e0e7cc63fe62e4390c6261515127f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5a653ef803d08c4f4dd46dbf112cf14acb188a63c9355fa15a5c1c057a20d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad23d073a41d6bfcf40bc31f5c3c451a2fb38724cf033db6693cd6188e0c798a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCr7zy6zkY7zuq1RKLYMTjAxgIYPQKcbkQTh56zrJF8mc_GUos-BHXDYrzF0FKOz4o3SXx417BoUwUld845FQIyFnKvpDwhLM2-8X7onIfe8JB9Qwu4PbvR14NYsMwMeyz3NoIOGn6WRByaJVSPjYLZ815WQmUSXaHUwwpHFABJDIIp0vX67JWcVK95QpK0ccYTvK7FtD-m6rKVQzu0OnKtPjHwWi_xGNmoQTLOB3YIN1a2t1spZVr-7uDH4KcsEn9yBajVboAS0cO_WV_McKpkdgAmSzt4LR3XfiHljql7_g2AITZGLKAxoN_I5R1Nw_87J1-ckfCgdZaX-PGPetK3ttUjpdNdjDqPD7_0WfvemLwqwByTXbFz5l4giqOBpeO-3H9hN5m-76W77AdpGsIqlrlhjDjdKI6-BLkwOVxOuwFacuIjMYfM5T_VBkXNa0_im-LYPpAa4XRZ0iulu7LBktSB7wtXMtPvH2GmrIPIuVzySYoDoh2_bGnh6eHEcAmm4O6rYBKysbL-RpTfTTR57_i_LGOtspOGdwOL96dtC6I21jGI5wkWMcbrH_VVh3ODHtBB47KCZK6oltDbviA65Q1WY2GkfxKBnqF56N8IZ7z8rJTC6GNkhHAKrlLu95-xjTTbQQEqNToJ7XRxxygAmdMGqtO3v10tOUfjGjXPFLzrlifns9ALkBEGWl_4oXd5F_bX_e2oOK6xtuUZ8ZaAyAwMp7eE8ZEQrgFJ0guKeSLh0yEI90XhFCLH8NuPMuE9fRAgv0y0QG7VrsUsIzGhpiTrfS1aKxMBYl8pj_Az_OXb-u_vUGCHCxxClT_Zyb7Bikzd7gt5rDs0la4IcJkoOxF5jDypvaqg4Sep5z5_T_a_JOR21TViRzmmvr8Fwpdb9_hya1RBxYEfqjyIOjbvoxhuWC0mnNT9KhNtg2xv-Yi1BXVzbArxOy6SEa4Eof0gcxbf6xYgxd0l8G8AVOT4G2YYKAYsBfYYRyV3q9geGz31FPs8WZJFtI3c2ZhZDdPRaCSvpf7ItYfpm4Ujgj23D3pE42GvpyOucEB2rJ5wt0UmHypdWOYHj3fXngx9_gUbr_IYJ5MO2iwGvYICgItphyhRqtbwPrsPYyz7_Q-wlQnJZWNzuxRqkslTmbISJirOlMYJr-wL0yhb7uS4WFombeMikybZ2wMiRlP3hFo5R8KjfUatPPQnFGG0Tokh481JuRzZBMEtajU8zMs9m5la4NbXhUjZIBIbAKk0m5WqoUCYRGVd5vQJNcRmr-PBcN3CobdlqAGV4NWpT1sOSU2tFONEGDwfGQZUgosuaDeVYeo6WJRuhJ8_2RfCnC_LAYLpEcTUVqtZQA_CPlbfA23z-hwwHPtw9Bbn0B2mBM5d5DJFGOgYvtIXT-0zRsNue4AblEeyDVPwVEGVAagoETMqk8TMa7d0vgwaRbdA3vjDRnwzyrkqoACyqQBAEHUAeukC0EWG8pAZ2XuWN2bXfx3WLB-MiaJy0VojkD6NzLHv1JR8RUiwxrgHOGpU1tZ1vfQVpRlxTJIqIwXuNRQ1QNOmTQ00BRxOSLgoqWb-sxN_4f8wNe1hqlfr5d5KcWLImveQn2iOvqUatrNuKhY_qvVn2KS8EAx8wHu4H0kEvwbCfI4hLNs5fRK3LgwAwoG1Fmh-CZroArxljPD9Edz9ii40KILnl_6RhJ0YYxfgCGIIlTWMznm_gMglhQRA34zBShKvCMvlso8GUUOxx8hvK-YY0IMgaumFxV0tX51x6Kkr41-6XyrOUeUslP-My3l_3MvN-Zd3lb2kpGYB0Os0gfH51tD9Fmj4Dvw1yX70Ko8-oH-lYWVlyluM8SAIopU19EJjNeCTD_4m0A6sOKOQ-8MU5c6dDRw1LKOcrcCCqDmhUyvNKzQ2VfBhvCa2eB3PogaqO03vspCJU37AuFDtK5kXNJITbc_TU6eiS91QylzIap0-yIHJrPL0etrmbpX-o1Ml3ZeRwzJTjjQvYw-lNAoI4LddDgzdmSZhP7dkYeLOV-PDxYwFCS5ycEEBn20Khkr2Xvwzncjy8nIVWVJRfszbcCv9gRE1wEK5pPMR_aY6SFg_dug966152Yc5iFtqAAmVKGbE_aK8mGSFep9UQ6WZvdQ==",
  "id": "rs_09b24b19cbfcd1fa016ab42af96f9887d096c16452ae726f28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_z\":0.22},\"note\":\"The bottle remains between the right jaws, but the first lift tracked only partway and the arm still partly blocks the view. I’ll raise and withdraw it farther into clear space to assess its orientation.\"}",
  "call_id": "call_QL3yHjnAQgzXwGErkyz0tJ3G",
  "id": "fc_09b24b19cbfcd1fa016ab42afaf63887d08ee3d43a0599553e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QL3yHjnAQgzXwGErkyz0tJ3G",
  "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]: [-0.02, 0.8024, 0.614, -0.3786, -0.0223, -0.0292, 0.9984, 0.5705, 1.1923, 0.8284, -0.4587, 0.3393, 0.2157, 0.5284]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0065 left_roll=0.0005 left_gripper=0.9984 right_x=0.3108 right_y=0.1338 right_z=0.1529 right_yaw=0.1485 right_pitch=-0.194 right_roll=-0.0747 right_gripper=0.5284\nstate[joint_eff]: [-0.3487, -1.5248, 6.5436, 1.8926, -0.0366, -0.0269, -0.0122, 0.0889, -7.9111, 12.9162, 2.5079, 0.6276, 0.2564, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b08196cdd2867f0d5e66d0a281d023fa844bf39d534d899907d8d657233c633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b50b5761ee6748db987061114425d13a8b257260f1114f5b467ec02e15efe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53490a92a5f2a1b0389c170db5a38c7fa18aaa11b226b42d73f8418baf99210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 7.418 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, 0.8001, 0.614, -0.379, -0.0223, -0.0292, 0.9984, 0.5175, 1.726, 0.625, 0.3717, 0.3809, 0.2295, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0016 left_z=0.1831 left_yaw=0.002 left_pitch=-0.0046 left_roll=0.0005 left_gripper=0.9984 right_x=0.3782 right_y=0.1439 right_z=0.0257 right_yaw=0.0603 right_pitch=-0.0966 right_roll=-0.0507 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5111, 6.4889, 1.7851, -0.0366, -0.0562, -0.0122, -0.1983, -6.8444, 5.559, 2.0195, -0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0227, -0.0296, 0.9984, 0.5167, 1.4921, 0.6456, 0.041, 0.3355, 0.2184, 0.5252]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9984 right_x=0.3493 right_y=0.1357 right_z=0.0608 right_yaw=0.0977 right_pitch=-0.1794 right_roll=-0.063 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -1.6342, 6.653, 1.8584, -0.0024, -0.0806, -0.0122, -0.0479, -9.9077, 11.3846, 2.8303, 0.4518, 0.0464, 0.9841]\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, 0.8024, 0.614, -0.3786, -0.0223, -0.0292, 0.9984, 0.5705, 1.1923, 0.8284, -0.4587, 0.3393, 0.2157, 0.5284]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0065 left_roll=0.0005 left_gripper=0.9984 right_x=0.3108 right_y=0.1338 right_z=0.1529 right_yaw=0.1485 right_pitch=-0.194 right_roll=-0.0747 right_gripper=0.5284\nstate[joint_eff]: [-0.3487, -1.5248, 6.5436, 1.8926, -0.0366, -0.0269, -0.0122, 0.0889, -7.9111, 12.9162, 2.5079, 0.6276, 0.2564, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b08196cdd2867f0d5e66d0a281d023fa844bf39d534d899907d8d657233c633",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b50b5761ee6748db987061114425d13a8b257260f1114f5b467ec02e15efe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d53490a92a5f2a1b0389c170db5a38c7fa18aaa11b226b42d73f8418baf99210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsA8J1srMaSh2liG0fo4wEFsHBX6ieYbGS8COViu-qR8nvvho31S0MOsBf5G95mZ043Qalcy1hgrM9WvxCEvtbqjQA5yEOtobPYLvrO3varCOJdmEz_MrrLfjlQCkBVyQuccOtBEem9OUoeIDcX6MNsTuiuZcVce9MdjHm6osmV1OpGkEdDWZVrthveTMJ_Btzax_O-01Y0jjUSi8vVXsjpm1ImBHhaTlAfut4zuyJfQx4eAJb7TZvxM7XCifYKhw_9W4eUYSpNb6ZMmd66FFbJ30zkS7BVLUebDoiXf364oA9nqFI35u8dL4EBKi4pAvilLgtgoCKFpvNdoe2bifpaxNOtQRPBr6I7d8HoFewYP5b4M4BU693aRPFfdOHWTbP4IulE9qf1L19POA1t7sueNjR1U8SerAimWQXlF5okNqkoOjuDyCq_GxUOVgTyaA3UH8NwnoF4mkjEKVW65AHyYs8NLJI5I0QiBA7N6vjgluYaZeAhIjm8rfdpCky8xeAU6QBjzhRbiKqvivSIqcQtGzrhfHSWnhPyjbji9IYQl-912vwnuw1E50AUzttVM9GIVNVqHUT4-SM9il9Kru1Xbq2dmPeA2n6OLYtK47UwOKCUWGXEUJ3ICGd34Y7UiThm6plOwO2nLzYxU5iDf-2HoM7LLt0runPYHfIg8EMW-9p8X4O6m40BHU-mTCWYMDwvrmsciLXmZgzpCW6dzFWmznRo85uH-ZjF_JvvrmZSFrn5Zg_1r--UQOHxg-iekEEn447VfFXjMiHw3lHOTiOmzUoznfSwgOrj17ZFkXD_4-EggI61Wajf0meBCZtNrEEiDGhSYZgh9L-45_MlVOVcB1Uk_ed2R4_5HibhM8aSeQZ92ez6aD3Kmloml5p3iTdolAkkLtomySguntvSASA-HJ37yBzbn7GU2RQbfu22us4D_b8CKIsl5L92tRXdo6FLDqJA68LwdAkt6lq3dl4-bEsB_q7p_n3HoBERQBVj96oH5cYAoRpGQWJAAGvxGiXXIMdEN8THJ8gI50LryPeVoLpHhtZrlU32zambcsE73KfowVrYJVoNEyn0zsjYS6nsRFOACmWYjT9HrixolUXEAHsRvOe15tlV856t-GdXjhMW7Mb--d4BR-Gnj075w9CPFnCZLlZPivmCOsDMA62iGduOc8CRTUEBBunNc9RQoOrZlDlKHfHBDAPB6tzlb5LJsU4mxNprWN7FiMAwGP3pRe8U0rNHG6kcOsCMo6TVhnCI6CwdcczS5jGv7I3TQkIlWvFSCCJA6QNYhISvUFQ6frceaGOE_-FkzON9Ts7JS_nhr1YDmCWRU332D7Q9Bjw9cS9efcsNFPaipQZhdNyn97gsVICns_xI_9mkuYpCSpq5pBBecsKEaNPGSz6NDD94gvOKjuQ9-q90fK1qjnHuT8Jbf7CCbZNcPB7eFa9dOkbenO3CWCiAjs9AlHwTFz_L_QKQ7BM4ym6qIvfXtPQ2qLARtpshCgOMusF9w7GDtku3Mv-5HaT_EJKgmOLkdFG4hk3-ZjRZ38oUsjO5BGY-__BnHRXJ-QYTGaSTZW_EnRS7JeGAia5Ysa9io4yTwlL6RFT-h9ghSZiYyUr-R2pxke_cdMapLSMXbHdK7oEvqdDzozuISJ9bjnOmMgpC4PmVHnoVT7M7DfvNmkxEuRHzgBHXhWWkyigeEGetV1G8DvmjIpusszdbf1nfaebadODDArQRtWXdZ7jbZLyLS1v0pOCDqiQKK4v-IcWwjlRM0KYS9nIQfQ7mqVZXsKXuGAo-EUzrEwSHOI9UN9CzDSsXy9xRc7q_QJFqeVVQrP9AbaPImofanVcEpoEpfblbbVxgAI_s_j54_IOyDR9sgynB1MqE4wzVdJq8-MZDO4WW9lnKNHf-0GxJGFi1zd-16alMxw7wIlnAPHcQfL22MXPlYtNENnluc-mDeoQ1Tg6AiZJXmJHP-f7Y8cHdqnwmDKnhLCswnenO84fw74EIB7mFYpH2MYNvYQIK6p_oaL0URAs2A_RICgQH1WkZ6qcXoiuwvqcmem-vPK3TxKU9qTQ7sFCxprbIcfdYZynfasM0BkpXN5IcngY8Dr9zhrUVS2sAzAqVDRTYV1MGvU0bO2ZRdO7ANLPhfEupwCPPNAoWYiDfSptzWgHMJsPnBvqhCJjOnA8yzZCo6pEp1IQ8Er475C44p5s6fJBIDuaJWKJdX94rZJYHhiqgUU-C9JpTh0di",
  "id": "rs_09b24b19cbfcd1fa016ab42afdce3887d085c29fcc42e76376",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.26,\"right_z\":0.19},\"note\":\"The bottle cap still appears near its original spot while the arm moves back, so I need to verify whether the jaws are carrying it or merely sliding along it. I’ll shift the raised gripper sideways to uncover the bottle in the overhead view.\"}",
  "call_id": "call_HgdN3fs6PPVKSlxV0jkEjPhz",
  "id": "fc_09b24b19cbfcd1fa016ab42affd2ec87d08f173d6b1c57f1a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HgdN3fs6PPVKSlxV0jkEjPhz",
  "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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0223, -0.0292, 0.9984, 0.9482, 1.4601, 0.9661, -0.4286, 0.5636, 0.4419, 0.5316]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1823 left_yaw=0.002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9984 right_x=0.2881 right_y=0.2456 right_z=0.1363 right_yaw=0.2202 right_pitch=-0.1726 right_roll=-0.1088 right_gripper=0.5316\nstate[joint_eff]: [-0.253, -1.6615, 6.5983, 1.7949, -0.0171, -0.0513, -0.0122, 0.1162, -7.6103, 12.2735, 2.127, 0.9744, 0.232, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d7823d514a3ef0359d7ce5f82418739d43da93b31aec5c69f63d3aa2f64323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23892e6589b4bb23d5f6d68ffde3058003d81b9ba22f28d18fd6ec8f028c067e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70262f7551dcb87f3ed13dd154de255600b4fce35637d25044138ee04d6013f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.527 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, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9984, 0.5167, 1.7477, 0.5388, 0.5781, 0.3649, 0.2272, 0.5253]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3765 right_y=0.1456 right_z=0.0255 right_yaw=0.076 right_pitch=-0.0123 right_roll=-0.0007 right_gripper=0.5253\nstate[joint_eff]: [-0.335, -1.5658, 6.8855, 1.8144, -0.0317, -0.0562, -0.0122, -0.0752, -6.1333, 4.6838, 1.8877, 0.2515, 0.0073, 1.0281]",
      "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, 0.8024, 0.614, -0.3786, -0.0223, -0.0292, 0.9984, 0.5705, 1.1923, 0.8284, -0.4587, 0.3393, 0.2157, 0.5284]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0065 left_roll=0.0005 left_gripper=0.9984 right_x=0.3108 right_y=0.1338 right_z=0.1529 right_yaw=0.1485 right_pitch=-0.194 right_roll=-0.0747 right_gripper=0.5284\nstate[joint_eff]: [-0.3487, -1.5248, 6.5436, 1.8926, -0.0366, -0.0269, -0.0122, 0.0889, -7.9111, 12.9162, 2.5079, 0.6276, 0.2564, 0.6129]\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, 0.8024, 0.6136, -0.379, -0.0223, -0.0292, 0.9984, 0.9482, 1.4601, 0.9661, -0.4286, 0.5636, 0.4419, 0.5316]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1823 left_yaw=0.002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9984 right_x=0.2881 right_y=0.2456 right_z=0.1363 right_yaw=0.2202 right_pitch=-0.1726 right_roll=-0.1088 right_gripper=0.5316\nstate[joint_eff]: [-0.253, -1.6615, 6.5983, 1.7949, -0.0171, -0.0513, -0.0122, 0.1162, -7.6103, 12.2735, 2.127, 0.9744, 0.232, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d7823d514a3ef0359d7ce5f82418739d43da93b31aec5c69f63d3aa2f64323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23892e6589b4bb23d5f6d68ffde3058003d81b9ba22f28d18fd6ec8f028c067e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70262f7551dcb87f3ed13dd154de255600b4fce35637d25044138ee04d6013f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09b24b19cbfcd1fa016ab42b02c4ec87d095e4e7b8bf4e9fd3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsJ4uDUvQdwr-Y3sKScWjtgsrnzWEAM8cagOSz4OXhMHp37Dn86p5YvTJ1gt3UI8ZXJ1rE0cwZGdFL9wcn1Q4ulErOB6XPtfDz3wyioqCRU22pHZT96pu4tNWPF3fCDx9gO0M2oEA6GCTbY_daRW7BFBKdXd8lstAH0yLLCPltgvyMn8DLSI5O9OYFc09gb7iR-1gWI7YOXXsW7nhkoOhnvnkO6AtRBkfUc14F5rCAjCh9feCEklIp7YFgJXu7QHWTp_zJ44oq6YgJ0t5JUI3HeVcv8R6WT9d2XVvGTeNQhzOg6fdp5PmlQXuI0pSg1_nZDhktHgJxySQcTgJRMS_O-JhRXg95PObZk-w4N_k6K9eEE8oWVYr-XEXLwTFltw_vvfj87SPSfjt-bVTtrQdCviJZrRsiwidbPnR23kh4n0AsVKoGP6Ynedqo_8CRIFsVkXSEninuqKmDZCKRMdWr9N9VxLRQFE6s1ejYZwthtd3r-qGog5hHNQMn-Pz0qZUS0Ji8Li35ToBwqhduTT6w2e6zwv7bcPngk_QmFcyqjpKr_DqXSeIrppJ6ggjWZy2IvjWzoLgP4OIroWbVc4H7o_q-F_pGc8-yVJPNTw3IF0E2BBJNrgz7ca3HirBh5ehXElIOkK1yebDJxXuPy5lLENieEOoduw8Qk-kB4nh-pkV0kbYwec3ZsqUu_UVvDBg1sbqUcx1IkvKdLmdSTPFYLBA-E2ab9QJd2-YEWMkQFmkA4ULb0KaW_UH5XXLZyfshsNOJryCyQFE0Z9hBZXzrPzjDYMZWQHEU05__dQt0sa1Hsti0cAgsL_XuTUw_30q9XYtGfA54jqqE9lmgdfUMHHumKISG5WJ5WqMCEf1-zDkx5d-c4ARH6dxzQ4dB_9r0DaV0OArQEu68p61kNmrJRxyeS_UePuRjeIaDrTQzWYwR7MUukPsmecvAtYKSnu-Eh_BphRHzju20m4rMleCzBit3RvJyFiPt6cF-CZZow8SZfHRk04UUql7lcnBu89EennUIauTl1iIQ417vivz2iq6KkB3g1vos_tK3Io6WnOvcqBYDkbfUA7u-CnpKatc5KaOi1QIo9eBoHWNOPbHZflaCy9sU990RM4jXY5BMTeNDFHr35hv7GRaoseluRx0RQFdGjZcMxbvMuGPTaNsi6niT12vBkBOPACWQcnmzIIpS9vewqLYi41ouhX5XXP98q0qNXzYZN_lBYVBT94UTwHYBUo3-0Tl974R3sd6HZjsWGlCZUmr5tysnBDijc5IkGUAMSLNSVX-ehhqRS0FkmbwpCchd-1yczXVtNBx0CUOVfIzXZK3GtJvcRFukvfdyCI12Okg4DiOCMWe8gCziqgN2oUSLTSa0v7SCwR7ha7vA0dfFDjM0EpfteafoHZkMyYwrKZqtqAF7jqD4Uu47Z-kYHx0AZNSzflm56ONYKcJw7vO1tat3jvH-nwvWvXuWumeqNbwNovtB0jrYBBPrQjI0td0D1J0Vn788rZxqEdzkEtqW3hJziSgiBb8tWA-k31A8VuV_-mcFYB5DZEfS7mc-KO9DdRvlx-OQ0qiEYie-W8q5a-KHUMFL6zUvCGO5h",
  "id": "rs_09b24b19cbfcd1fa016ab42b07508487d0955618a719201969",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The sideways shift carried the rightmost bottle with the jaws, but it is still horizontal and held closer to its base. I’ll bring it into an open area nearer the robot so I can set it down and regrip near its cap.\"}",
  "call_id": "call_2gLdkTMNvjeVgSZxEr1bp0CX",
  "id": "fc_09b24b19cbfcd1fa016ab42b082f8887d0a5525218e9e61339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2gLdkTMNvjeVgSZxEr1bp0CX",
  "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, 0.8024, 0.6136, -0.3771, -0.0227, -0.0292, 0.9984, 1.0424, 1.0756, 0.6159, -0.4644, 0.5869, 0.4831, 0.5322]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0053 left_roll=0.0007 left_gripper=0.9984 right_x=0.2183 right_y=0.187 right_z=0.1162 right_yaw=0.2755 right_pitch=-0.1588 right_roll=-0.0927 right_gripper=0.5322\nstate[joint_eff]: [-0.0889, -1.2103, 6.5573, 1.8632, -0.0415, -0.022, -0.0122, 0.3214, -4.8479, 8.5538, 2.4689, 0.9646, 0.1685, 0.652]\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,$blob:6167c180a2b94cedc80d13b4efb7c79a439f171d427924082d16e4a6ccb13b65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f38a7eaf5405011b7c6cdfa4d02531cb2c4dac39c4e2068f1a99c552cbd835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5984c591c8828f336a9e8d787ad3c29ad2cb608e64fc5859a72b712c1d33adbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.774 s

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

message 35 changed as sent

message 43 changed as sent

message 48 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0227, -0.0296, 0.9984, 0.5167, 1.4921, 0.6456, 0.041, 0.3355, 0.2184, 0.5252]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0004 left_gripper=0.9984 right_x=0.3493 right_y=0.1357 right_z=0.0608 right_yaw=0.0977 right_pitch=-0.1794 right_roll=-0.063 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -1.6342, 6.653, 1.8584, -0.0024, -0.0806, -0.0122, -0.0479, -9.9077, 11.3846, 2.8303, 0.4518, 0.0464, 0.9841]\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, 0.8024, 0.6136, -0.379, -0.0223, -0.0292, 0.9984, 0.9482, 1.4601, 0.9661, -0.4286, 0.5636, 0.4419, 0.5316]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1823 left_yaw=0.002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9984 right_x=0.2881 right_y=0.2456 right_z=0.1363 right_yaw=0.2202 right_pitch=-0.1726 right_roll=-0.1088 right_gripper=0.5316\nstate[joint_eff]: [-0.253, -1.6615, 6.5983, 1.7949, -0.0171, -0.0513, -0.0122, 0.1162, -7.6103, 12.2735, 2.127, 0.9744, 0.232, 0.6862]\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 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3771, -0.0227, -0.0292, 0.9984, 1.0424, 1.0756, 0.6159, -0.4644, 0.5869, 0.4831, 0.5322]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0053 left_roll=0.0007 left_gripper=0.9984 right_x=0.2183 right_y=0.187 right_z=0.1162 right_yaw=0.2755 right_pitch=-0.1588 right_roll=-0.0927 right_gripper=0.5322\nstate[joint_eff]: [-0.0889, -1.2103, 6.5573, 1.8632, -0.0415, -0.022, -0.0122, 0.3214, -4.8479, 8.5538, 2.4689, 0.9646, 0.1685, 0.652]\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,$blob:6167c180a2b94cedc80d13b4efb7c79a439f171d427924082d16e4a6ccb13b65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f38a7eaf5405011b7c6cdfa4d02531cb2c4dac39c4e2068f1a99c552cbd835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5984c591c8828f336a9e8d787ad3c29ad2cb608e64fc5859a72b712c1d33adbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsNWxhvlC5JLYUJSW13k7lOKZ_lq9uIqbf80QS97Zo1NSb9KVsiemkftxWsuClY7bwXGCb-bLNL68HOdnNwdhXY_u-FQXURAeBcwJX-Yc2sY8opOsByTZILtREHFWTd3LYUkqWfLkIqATmCpeyFMB5MrZopiioOpPyfW9R7mHX1Y2CCoZwuDN2dFgvSm7twEZwB8t7SzmGoC2iLQEtv_zL0vyMuhehg30aP0-f2wQjhcRdCEzdnZ0hxRlNIexZF1lh6QiaYZ08iuVcMQn1VAzqDAPzRPQHupWARhbR7Dn60vQ71DnQQLG1zMabRbNeyfVrCa6IrOeSD6UTDM3--IYiiq-9b87V9q71TsWI4kqwxrpl14cRhuH8s5P2J4GWpiWD7zc8rsZxiKRX7OHsnC6Q8zWtgXBHL-EtjGzlt7BCWvrnQa1CaVnw8jP5GV9ZKnKxEklJN1axazaYkq9WAoBB_Z1q_y1XqNx7AkPGgrnxFsM2fCPPbMKsUvoqLq__lmfQXu6WEPjVWGuCPuR1MFYB6iTjjY36MBZ6xrwizyc6m5UrExFirGLx2KS2dh9GzvuN-BRgdvNTpv8rwVshFI_K3rKzGVAhM4Qj4cwutEfEY-uTiIxpD2xmVGIXP_jwqQfVXaHDTmEEN79Ekz0ljW5q7bo8hKnfHjJU0ZeIE6xAB5pvycnkGTcAze0ORWHQron-pppVzQo3XGu98koNrzICrePSCDSrhShAOBiCknfSFAtM8MJ5BE82Y6rEH1C-J7w2SF1hDHhW9VnzZ1WmeI49XZKxpQlKzhmUFP3QGRxF_G1oDLfyJ5Fdj_5QwLUzg-Crs7K-3Qde1EHmMb9P8PEEMoPg2tsmgTYLPxft5QqMMUQZvuBsKL8466cLYu051NGYo3u3nMif3FvOIOocgCi-lGbmUlTiUQk53zJGDZyM6Ji0Th6T1EITPRltoWxkggb0l0z_S4zsjE9m9XGfdu3Vl3n0KUpBf3rZ_t0zOiwFSonLwWO2EDdQenH51cKIfX9HWuF077KDh60p7Y5IHB4ORvE-t6UTmNV7Fmhq2j-n7YSZysKFChbkUXS85dZIzgmOcz0p5UjeZ11zWoMZ1qXN852F3ozsFqITQUhE5nXvcGRajIhvKUUpqQbRfepRobVF8e2Pw8EgovhdOj9mB_swC1AonnlIJil02Qu_Q_1ng80EQi8NStvMdswBR5czeyVq0F5-WkoIWSpgFdFX4zfetk9t99uzsLnwr0EYGhgKOdze4YBTg1j-3Ko5zHPa1RZb7KOS0fEBuMoe0O8hY7OxQD8tSv72HH9aDnUE6BV2bqGRowSyoCqf4HIXrIehONihzZXRst_S7wEWpYvhtfGnVcjgkQi0p9ziwOYQ5LGoK6VJdiYnhKZpTYP3D6IeIkazaLIPYyxsz7Vd3kSmwsuLWVCCv9dvreHIKVHQ_Ud_ALXBpVpCQvd7aLNqPgtNCoNoIehGXtA-0JirNVJu9ta0orh2h3QNGvQT-hgtoUWdURaN7ri5RGj9H_1k3Vth-yGNA",
  "id": "rs_09b24b19cbfcd1fa016ab42b0baa0087d093fe22b7f0151b3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The carried bottle is now separated from the other two and its cap is much closer to the robot. I’ll lower it onto the tabletop before opening the gripper for a new grip near the cap.\"}",
  "call_id": "call_BwITmW9w3AiG2IIca4KzMnxA",
  "id": "fc_09b24b19cbfcd1fa016ab42b0c4ab887d0942f9bb666cbbad5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BwITmW9w3AiG2IIca4KzMnxA",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0296, 0.9984, 1.0538, 1.021, 0.6159, -0.4938, 0.609, 0.4976, 0.5318]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.2156 right_y=0.1819 right_z=0.1276 right_yaw=0.2663 right_pitch=-0.1279 right_roll=-0.0764 right_gripper=0.5318\nstate[joint_eff]: [-0.335, -1.4291, 6.6803, 1.8339, -0.0269, -0.0806, -0.0122, 0.1573, -3.8906, 8.6359, 2.1807, 0.8864, 0.1343, 0.4469]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbabf8f8cc918feed9babd35198fbf1450d9135836bdc39c45abbbcc67c6b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f0c70055125dd1f8e22926761173a64435f238446a3ad113faeb6effddeee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe23891b1d103b471a27e00b562a704e6fcd5b08c4d0c70714d5fe1feffbcec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.536 s

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

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0223, -0.0292, 0.9984, 0.5705, 1.1923, 0.8284, -0.4587, 0.3393, 0.2157, 0.5284]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0065 left_roll=0.0005 left_gripper=0.9984 right_x=0.3108 right_y=0.1338 right_z=0.1529 right_yaw=0.1485 right_pitch=-0.194 right_roll=-0.0747 right_gripper=0.5284\nstate[joint_eff]: [-0.3487, -1.5248, 6.5436, 1.8926, -0.0366, -0.0269, -0.0122, 0.0889, -7.9111, 12.9162, 2.5079, 0.6276, 0.2564, 0.6129]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3771, -0.0227, -0.0292, 0.9984, 1.0424, 1.0756, 0.6159, -0.4644, 0.5869, 0.4831, 0.5322]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0053 left_roll=0.0007 left_gripper=0.9984 right_x=0.2183 right_y=0.187 right_z=0.1162 right_yaw=0.2755 right_pitch=-0.1588 right_roll=-0.0927 right_gripper=0.5322\nstate[joint_eff]: [-0.0889, -1.2103, 6.5573, 1.8632, -0.0415, -0.022, -0.0122, 0.3214, -4.8479, 8.5538, 2.4689, 0.9646, 0.1685, 0.652]\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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0296, 0.9984, 1.0538, 1.021, 0.6159, -0.4938, 0.609, 0.4976, 0.5318]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.2156 right_y=0.1819 right_z=0.1276 right_yaw=0.2663 right_pitch=-0.1279 right_roll=-0.0764 right_gripper=0.5318\nstate[joint_eff]: [-0.335, -1.4291, 6.6803, 1.8339, -0.0269, -0.0806, -0.0122, 0.1573, -3.8906, 8.6359, 2.1807, 0.8864, 0.1343, 0.4469]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbabf8f8cc918feed9babd35198fbf1450d9135836bdc39c45abbbcc67c6b28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f0c70055125dd1f8e22926761173a64435f238446a3ad113faeb6effddeee6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe23891b1d103b471a27e00b562a704e6fcd5b08c4d0c70714d5fe1feffbcec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsRZnqSSDZ1I2UrdCYeNj4c-EPFgFYqQ57oMdB7lwMU9l2u-XqkGgUNKi-cZBFeq5WDzanvemjukh4pjY0QpuwkfN8BLUGRCOy-64sdI0zqgJctZtO2kcHr4FUjS7lOMQD97qQ8GqjTebYzLWLlHA68xLcrCAKuzKNNYekrphqZQkBwGLva-6a5yuBr88zUk_yMtIt6xdGefh105eBowHwS8VyawwCTl-2rfJCumoUPMS5c5Xi3ImVXPaZAMinzcy6L_6nyE12-NtOKjGc4Sz9qHZme9v6dAMuRYy3EiiwlcV6iTit6u5IXx3Zfew3rq7cJ8x19OfJ-6WSJ5d9dTV3W7SzL9ZwSjPiUVdU1wn9KdMig4--Hm_CXoOYdeRiHk4gXRhfTnvf43IzGxkCBbvfWkPyucuMvy20fHBpWykD3nhgJuwQzHFTXI_Jns2lwtxRLaAna4SGyC-bP2ILneA3Nz1URVUWHTJZhHMD5E095kSfThCgHVjhgkcRWFa3Uxvw5KIyQcUfLo4yVj6Hh1alM_srslUju77nw-Vp7a51LZVTuiO_qLPOu7j1dL-30Pd-wXMoaKTblgkA58TVbt_YZFaacCGFfDDgr3jkjqOLzppitoCd4hmYxKqwmBKcdxNuKUrxGl5qtwjDoaxoCQ4uB2B8M71jxqdfiti-EczB9UD58NK9se9rTSJzSbzgauS37Dg7yKCzdp0nCoFyr3x9qgTI-XIv2NL-EJyEVvZbo1pep0aP7NT4Fiye8w9sRMl8wWCSjga6sGKzgDySX3irh8xkuadzWSk9fMlN3CJ5BKPJK0YtUTjM2-ElVM5oQf_wvZirxaaKGcUNwrT4g85Ly21nW6pGu1DPFW-qvNgJKJJZcMJ-HFKSko5hzvt-_aYgyJmAiFdWI-JnqfaXzjDJ-xCa6bWqIkvgImrjHi81jHqY4qimIu8-tFXz9oy1PdIwQ_ZecSXuVuiPH958b2xyp_BMeM45ur6mTJgWoJII-FJASSqEg_Gk6IRt4cCI3ghri4MSMxgsXo1KOyeBWOtUh8spd0YcMIEO9KoURwVvzYkZJM-emkMsY36435xoW0A_tR5ABKrMz1HboJsKVtJdi6SCk2PFX8qVjPc1H2898oSKgRBmQS0njoKWOeR-d2Ossg4LjV3bD7P8Gv_2IZquMjD8CYUFEe9JZC7cMu5sWfViWHTFvWSPcWYZTysbkwHFn-IgeIjseHY25sG1RNu1Jet7Y21W__iTzU4gIf9d_cAxOL7sARBhcyvmFTDeNu02TS85eyqEDeu-8atTsmt3irDKm0a5-rB38lE1PZ6DYy_JBbOHJf9AjlRAvDRJ9q1KrNDvkiURPqlcDuGrhzHMD0fT9U6eM73vDrUcGSnJTIAlC1gnm7hSPao-tiD1GVpYyWhj2XOiiDk2k33zQti-eAqs50lstIXv_vFer4t_zMMzxHhm6RoazaDAk1lcVFEGmJ1Koqq5KZzIxqdP6s4S_IVh7qZXdY3xmsWR_-2aiGR4Xes-NkNGylJAbnSOpkKCN6hm_kmBAfuXkCQA9A5AzzCLyl_e-vf86Hqe-vNmrN2ds4z9RYQ1iurYHJ37vp8_HYtu6zShFn437Fx3stuka5g4Z5LRpnVFDzU8bn9znSnEttUdpHbe6tGH66Y9PgEyUve0BuDnXrrQ-ukZy8cy2J5KC6W7AfWA2QNoEw983BRJv69H8V1dvMIinynJjIFieJxoCrh-Ss3uFFEYkWM1qSPsVv_CAitqJbyAv66poHqtznYqdflAXcOrGfmJqoI-pt-SjewjdiTePOInqnI408LZ3wC4ZRJCka-F0fqt6TohXSYYcbtJdMzFeKeyT8LVCPG7-TTXs4zcLEQ3izoZ-qWkyneNE53TXljoZAs61H4L_jYBHHSDMagEt1AlWAWmKykHrFDJgcXKjASCchp7czLhYvdVir6mStvjmHcSbkrRDPJQnPRcbiyiGw9H7aVwVzBMBTSXOC7zzqXVOZn1Xem0nnB_FK4ylC05vOVBzdSA=",
  "id": "rs_09b24b19cbfcd1fa016ab42b0ea5e487d09604e348858a605e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.15,\"right_z\":0.05},\"note\":\"The low target was not reached from the folded-in pose, and the bottle remains suspended. I’ll move the arm a little forward while lowering so it can place the bottle without the near-base joint limit.\"}",
  "call_id": "call_onnqJ1qbPZbWOOO4p5gbA8sb",
  "id": "fc_09b24b19cbfcd1fa016ab42b10690087d0a2a4e0454de1d1a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_onnqJ1qbPZbWOOO4p5gbA8sb",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3801, -0.0231, -0.0296, 0.9984, 0.9394, 1.1061, 0.5293, -0.3138, 0.5224, 0.4156, 0.5328]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0029 left_pitch=-0.0064 left_roll=0.0006 left_gripper=0.9984 right_x=0.2336 right_y=0.1762 right_z=0.0913 right_yaw=0.2591 right_pitch=-0.1705 right_roll=-0.0824 right_gripper=0.5328\nstate[joint_eff]: [-0.1983, -0.8, 6.4752, 1.9756, -0.0464, -0.0757, -0.0122, -1.4974, 0.1299, 3.4393, -0.1197, 0.9109, 0.0269, 0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d719f634cd8ecc6f48fa4439ab6f444f2f999f527e088538f599ec81b04002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fcf62887d9f1aceebda5e719cacc5350780c76561202ea4f6b937612363b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2406e6b7f8f876ca988712ebf63f0e274277fe930304d3258b73f03413564e1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 4.942 s

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

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0223, -0.0292, 0.9984, 0.9482, 1.4601, 0.9661, -0.4286, 0.5636, 0.4419, 0.5316]\nstate[eef_state]: left_x=0.2967 left_y=0.0016 left_z=0.1823 left_yaw=0.002 left_pitch=-0.0072 left_roll=0.0005 left_gripper=0.9984 right_x=0.2881 right_y=0.2456 right_z=0.1363 right_yaw=0.2202 right_pitch=-0.1726 right_roll=-0.1088 right_gripper=0.5316\nstate[joint_eff]: [-0.253, -1.6615, 6.5983, 1.7949, -0.0171, -0.0513, -0.0122, 0.1162, -7.6103, 12.2735, 2.127, 0.9744, 0.232, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0296, 0.9984, 1.0538, 1.021, 0.6159, -0.4938, 0.609, 0.4976, 0.5318]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.2156 right_y=0.1819 right_z=0.1276 right_yaw=0.2663 right_pitch=-0.1279 right_roll=-0.0764 right_gripper=0.5318\nstate[joint_eff]: [-0.335, -1.4291, 6.6803, 1.8339, -0.0269, -0.0806, -0.0122, 0.1573, -3.8906, 8.6359, 2.1807, 0.8864, 0.1343, 0.4469]\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 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3801, -0.0231, -0.0296, 0.9984, 0.9394, 1.1061, 0.5293, -0.3138, 0.5224, 0.4156, 0.5328]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0029 left_pitch=-0.0064 left_roll=0.0006 left_gripper=0.9984 right_x=0.2336 right_y=0.1762 right_z=0.0913 right_yaw=0.2591 right_pitch=-0.1705 right_roll=-0.0824 right_gripper=0.5328\nstate[joint_eff]: [-0.1983, -0.8, 6.4752, 1.9756, -0.0464, -0.0757, -0.0122, -1.4974, 0.1299, 3.4393, -0.1197, 0.9109, 0.0269, 0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d719f634cd8ecc6f48fa4439ab6f444f2f999f527e088538f599ec81b04002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fcf62887d9f1aceebda5e719cacc5350780c76561202ea4f6b937612363b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2406e6b7f8f876ca988712ebf63f0e274277fe930304d3258b73f03413564e1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsUBs9LwUUEeGcskuByaolj92ebmbAE5vAHJhQflmlHn1eAZd5k0r2syVW5Z0mLMGNBlvxLCVVXfBFTDJ6iTkck5cQEvzuczGhPh62qEHeWNwjy0JBsmZXMZpfhZKvHHccRRlJiudVYj9dR2UOUqqu5u-ysPRnyyMJ3Ii8iv7LqVgfTlU7ba6Na6r4zBe7UJcFx4DyvJLasI8J9perU1kMsx6nhU7Fsjo1zFaZV_fo5q3CI7ecrTnKrX-rb-Kerj7cPHIHM1CUx8amhhfICtSsBnivuFyZB_ev7i8CMesLB0hRBeZ2KYk7qgk7PXbNlTJZNOVMgNkRYqGifm6i7Z98Gy4liRkbMdLqBIn2E-d8RCgGwlj796FFuQIJtLl9olPWGKlvtsz-4CR1eH2z9-ygaQ2FeQ13LiII7BI4z8BTYsCRLCWM59IJUl_H7te4dBcBFSzN50M5pR3kjs3ZEPok6AP47UwD38KMNXGB_3MmIi_RIV9KykmdvtKdoxpAla6hYc_DdLnbN-rYw7ORpyujFIBmT6kJSUGWeOcJzCAlMGI_fJyqEFmbVNZwYYimeyjV7fOMNUYFn-eDNSUnu29iQiljcJUTbpZOTo7U-WDJWdu3yt5LXHB9QAlUUedAZ-NpbycaiOaeeBTudIu1QZ0PLtUGwzR6zSFT2uVaDG5I6XJzNsscaapXVHwpRIf43r0Ipf1mDg0ONgBQ19x2TpgKoK_4-G5G5k1CMNUsGwbe0gVDa3YFhKMYEOOZRaVWFF8eiEk4DpuV2dFFQh6I67oeRuuW9YwE1hCg27oux71laSzBbV4MbK9zfZDYY3X5BHpF6lhUG6KW2nJPvD4I_tOM3lbXmpSKdkx95KeMQ6fLIdZJvra6AcucrkTjjN4vaUB8KGBB7hvbFtOK13knSXmJKw6aeB44ErWx8r8DWJ_zyX7Umn3DOWQazAOyan2yAW5prUe5dw1rWnybfSWSnC2LQ2vsTpo5LisSAP5di4nyKe0CVrp7Z71iZ1fxW147crPADmWI7oQLfGA71txnokTuX-TSKBWYD2s_9bQuVIUoF7SlZLQqlUpeW2PgttNo9AC75ZuVFB8A56s1wYT4FAPAFHB-7UcxztsxnYZSRGMk0tMNAfQgoK1IbQAcABr14-fIyfnrPFMBudmuCDcHteyLw-XZ1lgyYj6icZtw6lablbhSYszXQK8rg3f2MebVkDb5SKFNDwznvQlsVL3cgLnZHzUQPXKGZscTdFHztSMD0OjnfntE9Owi8syDCGRjnCOcw3V5JYmftq-y8r1k7y2IbF2JyEGqJGDssJggDt36FWJBqBZktZjlBUL9Kc9xTyN6un287IljYevihzHpfat21_sljhltQknfndtCWAczRrK6pp-pFeKzXp4bwqN3pYodbZ-c02jaBDEOWruUnT1McYZKa6-B9ZZfk7MffiKhowviuSeiSAwnBiFD0gOlD5KA46Sl4OsgRtuKeGkgD0jUO0QXBTgeObtIAlyKO_ntQW06R2_f-6T0ya2IPuS50H1DsDYAaXrIXCS2S1LstGtsTLtpU35sEBakpqqLxAM5S4a8kU4TTWNnR5_V0ycuNxeZxKuqxaSpJMYS7s9iLs7xQ2C924Jw8u_DaXTOPEGyDmuU=",
  "id": "rs_09b24b19cbfcd1fa016ab42b12d0a887d0a72d1034a574812f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The rightmost bottle is above a clear tabletop area but the low placement is tracking slowly. I’ll release it here so it settles on its side, then pick it up by the cap end.\"}",
  "call_id": "call_56b8g8QGhBJVMDlt5XJJhH4b",
  "id": "fc_09b24b19cbfcd1fa016ab42b13b20487d0bdc20fc19546ed49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56b8g8QGhBJVMDlt5XJJhH4b",
  "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, 0.8024, 0.6132, -0.3786, -0.0231, -0.0296, 0.9984, 0.9695, 1.021, 0.3473, -0.0681, 0.5579, 0.3923, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0029 left_pitch=-0.0072 left_roll=0.0006 left_gripper=0.9984 right_x=0.2287 right_y=0.1744 right_z=0.0827 right_yaw=0.2853 right_pitch=-0.0394 right_roll=-0.0265 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -1.265, 6.6393, 1.8046, -0.0269, -0.0611, -0.0122, 0.1709, -2.0581, 6.7077, 1.7705, 0.4518, 0.1197, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d14f52714161754b328e93fe4705bc3b182f42914df27d2388fc555796254b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a476a328d362d2b2658feb0e5d7ff33a7187b876183c013013aef86698655583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca9b5a0a0041541a3c3406fddd3cb96930de4d91871e54affd011383805d9f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 5.443 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3771, -0.0227, -0.0292, 0.9984, 1.0424, 1.0756, 0.6159, -0.4644, 0.5869, 0.4831, 0.5322]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0053 left_roll=0.0007 left_gripper=0.9984 right_x=0.2183 right_y=0.187 right_z=0.1162 right_yaw=0.2755 right_pitch=-0.1588 right_roll=-0.0927 right_gripper=0.5322\nstate[joint_eff]: [-0.0889, -1.2103, 6.5573, 1.8632, -0.0415, -0.022, -0.0122, 0.3214, -4.8479, 8.5538, 2.4689, 0.9646, 0.1685, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3801, -0.0231, -0.0296, 0.9984, 0.9394, 1.1061, 0.5293, -0.3138, 0.5224, 0.4156, 0.5328]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0029 left_pitch=-0.0064 left_roll=0.0006 left_gripper=0.9984 right_x=0.2336 right_y=0.1762 right_z=0.0913 right_yaw=0.2591 right_pitch=-0.1705 right_roll=-0.0824 right_gripper=0.5328\nstate[joint_eff]: [-0.1983, -0.8, 6.4752, 1.9756, -0.0464, -0.0757, -0.0122, -1.4974, 0.1299, 3.4393, -0.1197, 0.9109, 0.0269, 0.3639]\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 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3786, -0.0231, -0.0296, 0.9984, 0.9695, 1.021, 0.3473, -0.0681, 0.5579, 0.3923, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0029 left_pitch=-0.0072 left_roll=0.0006 left_gripper=0.9984 right_x=0.2287 right_y=0.1744 right_z=0.0827 right_yaw=0.2853 right_pitch=-0.0394 right_roll=-0.0265 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -1.265, 6.6393, 1.8046, -0.0269, -0.0611, -0.0122, 0.1709, -2.0581, 6.7077, 1.7705, 0.4518, 0.1197, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d14f52714161754b328e93fe4705bc3b182f42914df27d2388fc555796254b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a476a328d362d2b2658feb0e5d7ff33a7187b876183c013013aef86698655583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca9b5a0a0041541a3c3406fddd3cb96930de4d91871e54affd011383805d9f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCsZ5ct4qaaPZxh8YEnbdOCMyMBklXUFX1Dc1GqP-mOfe77SQTwsemKlR6RL6q5t0665IXi2SNMm27XPao9_ZWL31E5GAG-ky7z0N58wYgDSHGS44zLlttn-Fq_oM6HALhKIDkS1nrcRPC_Un_lq1_sg_tAfxJgXHjPBrBzfk4-F5VvLUYXYk29VqbDf_GnIv4LJBVvgnw_i2QoeYIn7eC5HBeHhV31O2OObusHTpDZvkNfS127fom1f3Dz6RbAMVBB474KpcGvB6B6c6xYleNZJr3QcjAjYHqArmIvhj9uFMUOlkL7otVkoWBhskXHDZNQWwofa1LxzGclFZRGseD3dl1H3OGzAvDtMAWRTNeR5xPOpUXGCMh5ZGEWKuvQ-gjhhC6UHyb_uNVA4ZK8IkCQgtXTNLaDFexz4kJ6A4dx0Ef-Pf5BYlW335DDhWEgZso6ZA1aBP8rSlviW5iCy-u_mUQo1LYrl4rLijVw2YuPObL8Cy2vu3pzz3K3dLucPS0Fd5Le1n2QakzunMCZCpGH3GPi3K61mOiTcdS2_UlJ4cjwacU7QD0XR8PVBKiIkEfPbG3pYUhx3brPcVIw33eBp1if66R4PjA2WH8UVfODcbH5LyTn0QC0imgetGJ7-M21OyEZTAa0qAztHVE-8R0gj2S4JFO5peoh7TIIzXgP30IjN1Vt8OxJFBBOG0BWmvJTrsDQmX-jlHRrOzi0hbMQ2agG8FBRq5O7UmiETZmgj84utrfcw-QG1UWx7RPtmCwK8DaREesc5fYYzElU9aiA3B-ptfZ1bvDa-FCQ6jbbXz2V0mUYpElhy_dPgIKTBRw0Dx2bznCJORk_jo5hVoLMIRqbwtvt1KETWAGetLFhskN04QwWxePnqUxIYV5prqBkLVsWh5f-iT_9R9qqns3mU89nPw1K1kjTup7fU2ZjTBDxcU9QsDQfmgToKFsWbV-oJM5g2lc6UFa77Wh1Xcu1rbyhxLPlBnJY-AJqGE-2ULbAUWrTVuOGt-LePd9FxTim0N8KR5KDhbYPZd3MR5WyzzGdUfHGg6NgbeNHuArdINAFclq6bB3Oai_3yOTwVCjL3frJAfbxwRKg_2jMxslh6s7pTqIlap0s0rtVcje4QTaPgUVx9xtAvw_XNJAAbIQKAUAeoFZs6G0S5JgNjvmwSKbcTh5JyD5CXsKxQ5vZ7IW0JDijJCmzbYncm3a8AFDw-K2qABcOg2_Yl-_koKSCYBOUUbAFGG6x9xqhOc0-iaGoqz8cQuZfaUup4bOt8yntVHFxD-ukd3oObw-zTsOVekG8AY56hH_Y-h-dcmti3QMVzsaOpbkd7Mv38B3IfAQLJo-zIdCySjAITE0xxQT0Z17eV-MaQ3z7V-sZnbGi7dpDhsEpl0a_pvd7wHcjoQio3WBAf1v4PJAHGQ7wzRAuO7mOsoR4-8Kmfk_JIGPrB7eHaigjsBjcthokAZ0F7qWQ1ptzPr5ZhE8vsWjGlB7aFvJVJohApqjOn8wdRsJZX3w9TQKxaIOFXao4sgZXHJUXVfC6sx_SxV2W3JJZuNS1OhkzzIrAbsTLTEiUQPplSVCH5SRDbLacgMdhYdeLqKpXuH50d51Z33aXpk3aXguJ4ipIQk7ySLDAruWHm0DDbGtsPhJEToz8S6Tt3gAx15CXSKMk_HKoecGqiGnORy7g6J62BW2toALwgRGh9KaZZc11LPkDuGtsHyvqeTJ_711KfesK-dNWcgTnKUuLnRNSPI6ArDoDjmocNOvQMDXG7krEc8YyUNkDr8QVk-1g2tPBSmRI3g09yJuKVeB_p4baqdt8so9Pd9gsphW8KJ6mo_Pqog3IrYgFX2X3kc4GSziwg63BlaKseD2_4jmjywwSt9DRndO3a_MiO9h9Q7yEJH-L5e8w3x6xZoUaudrbF8oz-A3xEDJ2O39UzVloQPdxp20xYIjVkpNrG_oWQNoWWdxxFAmHV3xzhTs-6Wpq77zGyz2I0Uuc9aef4PXIeq8VmNYTjZCGGGG9PnJU9rMTC1Rkku5FSsYA1XL_rdb9OUrfN4TJ7wTr9_ZaqNsNLuYONcrLdv7eouJWrfTt6HwNBybJkBHcaxiePmSQAhOHmPM25nk1DuSaUwOdabPTS2OnJTdmveaXrEFfObhtCsBK6ofag3UHX7o8qFEv7X1YUvCWLWvFefQeCssG7j-pWcWdB8odOqbAqzF6aI-MpsGLqoGYDCyWIeYYxrVDYk33DtjQDe1bO41obdNGYzTUIyZnwAvum75OZIZxFC16MYeuQpfWtbB_MBX57wKQ4vix0_vmeP1bl1hGzSGUs9wTsEZAO4CFxrf80E293NIpXNlkI4tYuzPvN1iNMOgpU6nqoNHc5sXHKLdxqiNUH2SgYb_XGGfiiFpFPf8HJck-OHYJCZwXYwBMVxZGIGHDs9HPfoZe0qrS4N-CHyuGQJsXUUWzprw==",
  "id": "rs_09b24b19cbfcd1fa016ab42b1659b087d095cb24bccb149114",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.205,\"right_z\":0.052,\"right_yaw\":0},\"note\":\"The released bottle is lying by itself with its cap around the upper end of the right-hand work area. I’ll align the open jaws over that cap/neck instead of the broad body.\"}",
  "call_id": "call_qSIBCMAZdS33YHM7TobvCRhw",
  "id": "fc_09b24b19cbfcd1fa016ab42b18b88887d0aa23199068bb577c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qSIBCMAZdS33YHM7TobvCRhw",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3771, -0.0231, -0.0292, 0.9984, 0.9276, 1.5616, 0.5404, 0.1841, 0.7029, 0.5419, 0.9955]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0053 left_roll=0.0009 left_gripper=0.9984 right_x=0.2888 right_y=0.2009 right_z=0.0464 right_yaw=0.0551 right_pitch=-0.0319 right_roll=-0.0439 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.6205, 6.5573, 1.8437, -0.0708, -0.0415, -0.0122, -0.6496, -5.8598, 6.5846, 1.5263, 0.4127, 0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4009605542dab680b1d903938b3123b8d5b9905e6c31f430fb56756c0fd5bdf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ce70b940827ccb5c61375a637f6ee968e8f69c30e10017957a274d623b36bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98d6d7ef93f76f67204e05bb229ee50ff6a764da0b2c46e3fd0633d0793d444",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 5.183 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0296, 0.9984, 1.0538, 1.021, 0.6159, -0.4938, 0.609, 0.4976, 0.5318]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9984 right_x=0.2156 right_y=0.1819 right_z=0.1276 right_yaw=0.2663 right_pitch=-0.1279 right_roll=-0.0764 right_gripper=0.5318\nstate[joint_eff]: [-0.335, -1.4291, 6.6803, 1.8339, -0.0269, -0.0806, -0.0122, 0.1573, -3.8906, 8.6359, 2.1807, 0.8864, 0.1343, 0.4469]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3786, -0.0231, -0.0296, 0.9984, 0.9695, 1.021, 0.3473, -0.0681, 0.5579, 0.3923, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0029 left_pitch=-0.0072 left_roll=0.0006 left_gripper=0.9984 right_x=0.2287 right_y=0.1744 right_z=0.0827 right_yaw=0.2853 right_pitch=-0.0394 right_roll=-0.0265 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -1.265, 6.6393, 1.8046, -0.0269, -0.0611, -0.0122, 0.1709, -2.0581, 6.7077, 1.7705, 0.4518, 0.1197, -0.1099]\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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3771, -0.0231, -0.0292, 0.9984, 0.9276, 1.5616, 0.5404, 0.1841, 0.7029, 0.5419, 0.9955]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0053 left_roll=0.0009 left_gripper=0.9984 right_x=0.2888 right_y=0.2009 right_z=0.0464 right_yaw=0.0551 right_pitch=-0.0319 right_roll=-0.0439 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.6205, 6.5573, 1.8437, -0.0708, -0.0415, -0.0122, -0.6496, -5.8598, 6.5846, 1.5263, 0.4127, 0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4009605542dab680b1d903938b3123b8d5b9905e6c31f430fb56756c0fd5bdf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ce70b940827ccb5c61375a637f6ee968e8f69c30e10017957a274d623b36bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98d6d7ef93f76f67204e05bb229ee50ff6a764da0b2c46e3fd0633d0793d444",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsfx58QqNMsjoiBL5E-cyrc3DHiKy52vC0PqtZWVy1DasL41PNdVitAfdDL5aDL8DszxOaBK8Q2NXx7gI4ZJI0Iwk60ydDQtUmAJerGn3cIm2gOPepiwI3fknBIg4ARVJEtKTRsXtb1luYUu_m-XPfI8ixdfohJVzLWuqlo1ONRrRF67KIWIXYcbM2lxxErfQx1AgPw5DtlXq37eQHGWYlXYXUY5O_QQNVS8HYAWU_YFFmBwOWpyNHtp0EyeWwThlI6iTtaFhozOXR0CrFNDdXU6rVYZRX4TkB6LjnO5K-ZVHyEB4289vVqtYK78f_IPLQx579xKIX5Dk3UKY6hfYWTihPCpz0MSHA-Pn9H2upr0rn0uWu4O3ahwAr0SysQ_DHvna2bUd9fHd05l1L0HI9aZ7p9DcEz5zfqbbekW0iF2V7eD1snc81xovDtmhyQ2pfT5OBbONH5HVON6lF0pYCiP2QBF0izubL4NqFZaJV4ZAlVNNgp6bGUas66gitEHPA5Lkraftc9vGIgKTSJh6sRF_fay9BG3tgm1--Ph2jZX-jQlnMT9zEtbWGVdlXTH4XZf6V4SSNwygWs22CkNYxEgit-BDzb1_pNStG5wJoTAObvfeMbYVG10Bgbs0yUMzQ_n5NtmvimxmgJP7fzZEQzuARiPmjX1DXmZhbMCCBAhHjyYl8ocSUVNi5_vTReJfi7-GQpzy25PQJOFdFCVZI8cDCGEOGyADrybV_rAKkfUfcjS89TfRgbAODH61-M1S0dvTECW-RbmphNCzgEJYZs8So4dFBZS9_I_QH3FpJlc1W4hETEDwR8tRCWpMIfb1of7TMZtQ4s0rjL_PF63LNDqW6YU9R3pB1ON9g_lgNXTrz0aypHIO5W8ge-b0oN8j-pGeOO4BlYSWer9F8dc3cbERx1WivmFCvEx-qnpez6hmd6EG9u-kUIs9scLbK8dMAtiAjLcOU8OI4sSnAPl6vq5SrGBcdBGpD_GYe40TZMbIP86veb0eGPMorJ1dmcmdHWMxLjLSu6CPCDXUirGCee3WvhNCKr5-RYeLIFUhbNnwrykjkZOy3Qbhe5eZ6O6e8mcW26ZPJvmWDCYFu-GPALTTy5XR0aNABWUY2QjyW9XL5HY-Q5wkSXRcInsKZkvKpX9AbwE1P5HPhoS-hMh5kkxcbom0XsjgR_Qtu04MeYcNKzXPKTDVEJ8zlzUUmoxzWVDXDG2t5--ekVpNGBhTol9x03YZw1TeuhnelmlcxZ0z_1FyHhJLhO31EiY7kdE1rQHQeb8u8Vnht65ciD1b1H9ZqQPKW37-8y9N6v8xwDcrgcoXkeo2zd1AFvBxiFyasG_dDpbh1TRVma8SAkutu9OVGiqdseo-BSh8QoBlI-hTTjd_fUs0ta8PozDVrZ9pdVW5ELn1nCjPZ5_jUVhsQrQYfhv4UQsUp-o1eRv0eGJRcbMhq_Y8DBbJib1D4mK56ppb8vFVgb4kkwIMBrP_KR0ZRMsJYH2h_Vf6Co4sMMJwgBALFWBfaPBRFz0uPey9llHQbe8qDXIEAhEtOxcH2GziqgD7qeLPSE81bM2TiRJwa0jD9A-Qb0PdljpoOAblwZ5EJXKm2q1ncP6ZHg7-Q5OpLE6-y5BtiT-jYBl8kTkfKQqGORfAevDgDLkIFUk1eRIj_GyPNCHbENspSvizlXv_jW13Vee5CAYvNi7FCE3uWICyhhHnRDPdiEMpnP5-2oR_OPDuDfCOF70Yj_gBezIkl4d11mmfNbsn3OuJvpAeWcUlN0DS4sybw6O-FS0v6tI5FVAIsnCLtcdmBJGalugaHUNr2tGpSaJ6KF_UXHCw3KX8RIedb2CFwABqNVuQyQbkysfA8w65RldKQC_-7HBt6H1D3ZcIMiZLix2KzyNxKo0eTMC3lKQHcD5oH8z--kY0yhRIlClvW-SpEKCMADbhjri3dh8Ox93BJ0ZjPwCdrS7V26s7LWeJ4UO2KThdBpiFFd84YLx52o-9xNRCcH8HRhcz30HCI8rLY_a95FMx4OijVsglM2H3RPQghfpzV99yo_Nf8rsOn_Nl3_etUSNXnaK6-gXcFwUCrCbpvHDS_dzHnwhNdaAUvtUFwOQR99F0Y1kB9LVsQHHMlrAJchglD_imvllccWuxqGM-PJWaxFpV4XSSphce44MA45VyaleN85UNZNjaZdNFFLmVk38nOUF0chXH3kYxZAfIpR5ofAPgZL51Z5YwT9KSll2U_LPDwOEllRlGzLWACQcLm7woOKf-KXSCV1M9DP69GmUYkUD5voRSD4gyOgK0TeJe8LT5qjBS-a_vBk05-n3gLQjt3HmxCsdC5Muwmj3mc5lz6_UBW0w9ip7x6GB_sRC9dlksGDKPvbcdHpbUXAZL-Omt_5wAn4d2Bi9jaQpfcZ0_GWSJc4vBxfXhYDzw2MAJZ-TNXFCkGcu53ZoBuZIrz3s5L_LRcWIJseKqh6cb3Lc8KlE76Gx4VbR5gK2SOyOOZbsClZnrZQ0MiRnHlqpiYoFbNmNKauMkCym2qdAm8-ki0q-W3-_VB_JlzdacddHb1NacTkxSe0VQVr0l1zLuTxK3r1DfgyaXXT9LfPIeTsTT7lbU3HW2iLQpPY3ftcVKRP8ZFVYKTGaGk9-9tBExjiLQ==",
  "id": "rs_09b24b19cbfcd1fa016ab42b1b759887d090301144132c9392",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.255,\"right_z\":0.022},\"note\":\"The bottle shifted as I approached: its cap is now left of the right gripper in the wrist view. I’ll move left and slightly forward at low height to put the jaws around the cap end.\"}",
  "call_id": "call_5lKi3cy3Owqdzjdfhr2I1Y7d",
  "id": "fc_09b24b19cbfcd1fa016ab42b1ed55087d086ac8fd8dcc91c32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5lKi3cy3Owqdzjdfhr2I1Y7d",
  "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, 0.6132, -0.3767, -0.0227, -0.0296, 0.9984, 0.9176, 1.8572, 0.7006, 0.2977, 0.6792, 0.5282, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0049 left_roll=0.0004 left_gripper=0.9984 right_x=0.3185 right_y=0.2395 right_z=0.0081 right_yaw=0.068 right_pitch=-0.06 right_roll=-0.06 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.5248, 6.7624, 1.7998, -0.0171, -0.0708, -0.0122, -0.6632, -7.5692, 6.653, 1.7411, 0.5397, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebba5479455711a0a07f42364904f04da184fe31ab04be25e02b386c6acdb3c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3c01f6ffc722b0741e9760fc353ccad599c9c21066aeec1bec0aae93704b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf5aa9abb63df7c36673f1c3f6150ae878b9856e6f6e91aca1d75d3d6f60465",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.382 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3801, -0.0231, -0.0296, 0.9984, 0.9394, 1.1061, 0.5293, -0.3138, 0.5224, 0.4156, 0.5328]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0029 left_pitch=-0.0064 left_roll=0.0006 left_gripper=0.9984 right_x=0.2336 right_y=0.1762 right_z=0.0913 right_yaw=0.2591 right_pitch=-0.1705 right_roll=-0.0824 right_gripper=0.5328\nstate[joint_eff]: [-0.1983, -0.8, 6.4752, 1.9756, -0.0464, -0.0757, -0.0122, -1.4974, 0.1299, 3.4393, -0.1197, 0.9109, 0.0269, 0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3771, -0.0231, -0.0292, 0.9984, 0.9276, 1.5616, 0.5404, 0.1841, 0.7029, 0.5419, 0.9955]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0053 left_roll=0.0009 left_gripper=0.9984 right_x=0.2888 right_y=0.2009 right_z=0.0464 right_yaw=0.0551 right_pitch=-0.0319 right_roll=-0.0439 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.6205, 6.5573, 1.8437, -0.0708, -0.0415, -0.0122, -0.6496, -5.8598, 6.5846, 1.5263, 0.4127, 0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3767, -0.0227, -0.0296, 0.9984, 0.9176, 1.8572, 0.7006, 0.2977, 0.6792, 0.5282, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0049 left_roll=0.0004 left_gripper=0.9984 right_x=0.3185 right_y=0.2395 right_z=0.0081 right_yaw=0.068 right_pitch=-0.06 right_roll=-0.06 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.5248, 6.7624, 1.7998, -0.0171, -0.0708, -0.0122, -0.6632, -7.5692, 6.653, 1.7411, 0.5397, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebba5479455711a0a07f42364904f04da184fe31ab04be25e02b386c6acdb3c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d3c01f6ffc722b0741e9760fc353ccad599c9c21066aeec1bec0aae93704b96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf5aa9abb63df7c36673f1c3f6150ae878b9856e6f6e91aca1d75d3d6f60465",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCsk0ziIslY3Ftm4zYM-kWdgan3bzcHFhQ6tr-2vSAxc6PyqNDFNgMf_yBWuW4tSlBBxomQW0_g0WtPVuYBidotIdbhPRl5jsJhz21FnRs3oqVILL6fhg1JIjsClKj2FTzaR6TT_A41j6lxGCCfjN5MDsGGHSifV5v2K3Sp-whWeyUlRj06pzEpprKYfBinGg-9JAajODgsRJk9C4cj5tlTH8NDAfSKzmBbIvImlAjZKbdnSfonR6EkbvOpjfrqoJnIqNIR9RkSd3Q8fANejbBlTcgJeDcWVwhx6DvyxeNwTbLXlN26vbdE1wLYSESzR0zXoCJ6QsLgF0RP1OX0UFe2bpCn68cR5RxOQZ18ouRCh06Al3JOSJ_JRyZ8jll-3FnD7t6OpMYW5ZLCmjequospu2dUGKci7putuJZYJ5s88Ryr8CSBgKRjzaS5ftaNBrCOSPlma7KnlmlwFo0PtYmki2mTrFQHpWPeiNke4VAGb7yrJCGVbGsrRI7nl1bPW5t_uSosrfefWI9PwmFr0XcIosjtiZq272vVqkJ9gnVFZ-AC6vVBNeJMBr774Fweno91DBBQV7w1BvMDgWgd8mm1v0eaArHBMdOcKBJa3Zyp6GTQUq3Xh-xqo4EM1JlwWTdrJnTvhyLqMvk5-x6UD2VhmQBuNPYSLR10jdu-TgeUlBWK-QWH8yd0lpEI3A0p6rHpCvCq_jMgKQ6fBY4A4wjVlNR-Vm24Xuc_ES6KbMPFjOA8TEUsh2OVvueBx_4UKzCCiQSZN4E7EbnCytcKL0oT6bRxlFxcSeSjQlwEkNvYOrEhNJ6OzjR4PrG682G3OdYOZSWh9rEzZjM33_acXpLbL9vfiHy9fhqyips4sq6ZWezYfAM5rWp8pdr39ysGSFyQrjDoyEHQbI99ez45L2FfAdblRWl42qA0BFAvV7ozR8d6y8WO4lR4F5Hnr_sXahq-YwogzB_A4W2U871jzjKbzUS5e26q6o82BjhZILVccYfdU9_acar0ogTp-br_3gjkRnNE5PXUTLoPzt3APQW2SXj4xmlBb76-wBJ40soifHamLp72NzxdVMs0tFxmHCrnVP8cyn6w0Key5Z6s3XEhDZB4sVg4QBHj49ZqcSqZWoMKey8Xcab4cwhcP-eflO786nDTO65LV8gBgIH4L_SdzRsUhWnNRalD-aMbYTx0h3w-uKMzV8go9Ubf48OHrPVd1XZ53sj7ZbgLz-0z-0J7_C8T4EhtdSiqo9ehXqqt1oT_eiTJA7-plKLCipudkLr0EXnWG0wONrOpneOpPiSvEAl-tFXcOkmeK8a5gXk9P43Iq4vg4Uuul3XfI6nUlyAIK5AI_H215JrsM-yey5pJFblGENj1bg8fwx3c4Gx_RQi-aEEsGWB2MLyU8_N7FH2gs3BUNF6qrjoZQLQOR2tiiEFWilhxh8DjqllcpGO2KR7S2S1dQDYdCcI-Egv3wvcZr8y3Rf7IgvkqYl0XVhaFzQX7AA4obr0L49Je-pzaKYWnZ4-LAcNU1eBZqXCdH-67dYoBvE4164u7MIN-k2zVY7CJSeanl4D23bf84dVBxNDTseytWRDFcasgsECknbzHP3m5kVCF8b812PM6Tdxp4X-ueA3ttg_7hEs1DM4Pi1tYhrZQEVo2zN2RGY2V4jNDf8aUAB9j7WpnTy8NWoNIdRQA2RY5Pj0X57fOa4_mWxka2pJUsQdXJLH5Dqnfa5AXCcRFbD4gq78ZST60at3BF0E4o4tRQIqvqERiP9JnvBxSNLvP0h8vNezDyrp4nY9TtAG_88Z7lEnd2z6jzTuhO4JIorUqMt6oCe9vVt7GUsNx3zPH6YYJhvDY8snYmkYKIVNDBZbvzcfNITfZgjl5wp9zRTxDtQNfL4d3z2gc4PomZqU8pTkajM9WEihDsm-cZdBS74nIMeAqdo-K_c0PN6t8NK6cVol63BD7myZRE9-UOlc4uv-GBU-lnkj5kpkWxAQceUdWDYTU2QIm2w3fb-9WYWrVXRqp7LsMYtTQzo_bnSu-8zicVwftumkormmQgStTS0CLdG5Cfb9ZI_Av59b9z5eAZcDKeWFWsBFrAMCLBdrLz6LrHmofjtayRATAWDuEaxQN9ZLEMGchohO0nxw==",
  "id": "rs_09b24b19cbfcd1fa016ab42b21bf7c87d085f8c26d5ae5f778",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.315,\"right_z\":0.024},\"note\":\"The approach pushed the bottles closer together; the target cap is now just left of the fingertips, near the middle bottle. I’ll shift the right gripper left to center on that exposed cap while keeping the jaws slightly above the table.\"}",
  "call_id": "call_cKDWtip38NDfAMcQsqYJRUjG",
  "id": "fc_09b24b19cbfcd1fa016ab42b2394ac87d099ebd84acd344e97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cKDWtip38NDfAMcQsqYJRUjG",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3756, -0.0231, -0.0292, 0.9984, 0.9165, 1.8805, 0.7307, 0.3202, 0.6765, 0.5224, 0.9954]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3258 right_y=0.2489 right_z=0.0112 right_yaw=0.0729 right_pitch=-0.0422 right_roll=-0.0413 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.5932, 6.6393, 1.8486, -0.0415, -0.0415, -0.0122, -0.5402, -7.8974, 6.2701, 1.7216, 0.3492, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c819a562409be3dc0ca127e06d0215bb44520e829719523983189fde22fa28b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16869a3533f109a3737d7a25672bb7ecdb5f0b2333b7f1c3f1017a24cde7e16f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416294ce5950bc7f0a86362197f5f8e9c21b57821ee92c584bfe2e82f088a4ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.73 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3786, -0.0231, -0.0296, 0.9984, 0.9695, 1.021, 0.3473, -0.0681, 0.5579, 0.3923, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0029 left_pitch=-0.0072 left_roll=0.0006 left_gripper=0.9984 right_x=0.2287 right_y=0.1744 right_z=0.0827 right_yaw=0.2853 right_pitch=-0.0394 right_roll=-0.0265 right_gripper=0.9956\nstate[joint_eff]: [0.0889, -1.265, 6.6393, 1.8046, -0.0269, -0.0611, -0.0122, 0.1709, -2.0581, 6.7077, 1.7705, 0.4518, 0.1197, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3767, -0.0227, -0.0296, 0.9984, 0.9176, 1.8572, 0.7006, 0.2977, 0.6792, 0.5282, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0049 left_roll=0.0004 left_gripper=0.9984 right_x=0.3185 right_y=0.2395 right_z=0.0081 right_yaw=0.068 right_pitch=-0.06 right_roll=-0.06 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.5248, 6.7624, 1.7998, -0.0171, -0.0708, -0.0122, -0.6632, -7.5692, 6.653, 1.7411, 0.5397, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3756, -0.0231, -0.0292, 0.9984, 0.9165, 1.8805, 0.7307, 0.3202, 0.6765, 0.5224, 0.9954]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3258 right_y=0.2489 right_z=0.0112 right_yaw=0.0729 right_pitch=-0.0422 right_roll=-0.0413 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.5932, 6.6393, 1.8486, -0.0415, -0.0415, -0.0122, -0.5402, -7.8974, 6.2701, 1.7216, 0.3492, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c819a562409be3dc0ca127e06d0215bb44520e829719523983189fde22fa28b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16869a3533f109a3737d7a25672bb7ecdb5f0b2333b7f1c3f1017a24cde7e16f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:416294ce5950bc7f0a86362197f5f8e9c21b57821ee92c584bfe2e82f088a4ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtCsp4iQbEdaW52Q8BiAgGfTHDy3sECPYExkUxbC30s37nurOfhU0Hb7-lKtv07bvJNQJQyIpUjv-IGMZqq9Vm2NzfZnOpNe4axhL-mY927b1uWrVAe8TYpwn_SE48zVkj_m7gnFcP23Lgewi0XWJV-gFdKJYThWHn_NF3YorHuoNor01a-0VRZpbbUMk-VbcyWYzvuodbaSw61jB3liVQcYS3SyqHF2GHEGoigg5blJHNAjxzecv7I-_y7Gkj6CgmGBZLJIOwmq-4yrNyCKP6e7HS9CtENfazOgQDo-eCmuPm01OR0-mkL8thBpZutZVBXXcgx7973tq4FEf6XulO1h2xAqEIFo-5Y_9j2Upo9aQH_YeoJcJdNUDOfioDL8T__uz8QMVn1Rr10YRzga-PS3yhxf84HBu0OukIyVHWCu620v0D7ElCdgWBDTCCoDAPv45i3eGXobdKQE0vcs86tluM8upuH5QuX44tchLCI7SUpSRUPuY0Pt_neTzCspAVoCxeBFm6YZuU0gudfUVfP8KMgYppknvt0cP1XBQdg2D2kSJGxlO8YPG-ifpyEGW7v8Y0-ws8dLDQoVZJnJKRxmBg2rLFMKtla4LzDbZ1xUVObtmi5-hkF4UCR_oWE5EJstJUeG7gxOe0QkWucvfnaxXdhvwb-7IjiESd9ikkiGpO8YEQyWBK3UBgZLpDDjgWh2Nc6hOKUYkSVqCAXU_oxtofYKamI38ooWfqUWl7rMgApAK72we151yVH0Ieua_cXY2orqWHH0fm-yBSq-ktgfpaC-PU77Qua8rc3lSZED500-TQ6eNsg6DY3DGM0NyHJSFpzZbVi9aL26i7CMlMHnkjLhi1pPPFt5DmxCHrq4iPtleXvtzqIy1if9pfsbweSSKB85A9qJT11Vsq6piQmZc40Et3mXVXjmUD7io2charFY_7_arc5RvlqNOetzMS2ke52Q2we-P6Jz_v6Mik4XZPTvn_TrC2Im4SUG12VGJSYvtCDaWJJ9THWsg9PpfJOHkn64ghrIwpKqP7vR9IFTDxBT7n49ofnvxGmV7fd0MJN3WJ_QCIOIAf_kNYZu-4sm7dEJTCpIHbGyNC9VTqq7nv_ssd47gj_hoBjX61Lcvu0iA0NG06ouLUFDGv5PoD9yRR4ebPnDs1-bEtWvgtBdwaYP70MVPq4tbbN8a0PYJ9omKY8m85WsGE3XFI1iqShpmdiPVSNyxQoxth2oyYzZgOq6RxX5Md6j72Exe3GyYtSjXDXxZCQICfEmlai6GqXbQPBDNOU7QOZiAAUlP9tOP_Bdyxk-SrNz6SUN-zGHL4Cv-v7QgMfG7hNHbuRUbdT2xnezBiJffO-G4mudYIujGFHB7nsZF7p-NYf388nvSqUQkAlnGgYBUe2xovo7-wKwAMZWLW4sAQoH_Tv9TUnKQyWSE9TSoRaff9mLhjsUcbhPLQsgE5VmqZ9rUU3bdO1jRqPr3tx5xtuN9KAXVWGGhbH0ycbfUXQcAA-5m5B6cruaLYsXUVzOso2CVy7Q197E4cNL-5hRTRRZt4MNH6T6eug==",
  "id": "rs_09b24b19cbfcd1fa016ab42b2760e487d0b7962859612cc73f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.3,\"right_z\":0.12},\"note\":\"The low sideways motion barely moved the gripper, indicating the fingers are dragging on the table or the bottles. I’ll lift clear before moving sideways to the cap.\"}",
  "call_id": "call_2OaQ4GEiVBAaLWTaWozSxUuv",
  "id": "fc_09b24b19cbfcd1fa016ab42b27fed487d0bfd955f687259e66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2OaQ4GEiVBAaLWTaWozSxUuv",
  "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, 0.8024, 0.6132, -0.3759, -0.0227, -0.0292, 0.9984, 0.9752, 1.7733, 1.0492, -0.0444, 0.688, 0.5461, 0.9955]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.3395 right_y=0.3074 right_z=0.1098 right_yaw=0.1117 right_pitch=0.0043 right_roll=0.019 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.694, 1.7851, -0.0171, -0.0464, -0.0122, -0.2667, -9.853, 8.1846, 1.3309, 0.5348, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63472def9f9bed33a6bd77f4822e9738dc98cbc33dddf7c053500495acea8c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d347669ef2d0a33de932b5b001adea8541430cdd0d27b7e8c295505c57edb62a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64a1f47a42aade3ce6aec019b01d5438f232c3c27fafa84a7e65acbcf7d978a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 5.567 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3771, -0.0231, -0.0292, 0.9984, 0.9276, 1.5616, 0.5404, 0.1841, 0.7029, 0.5419, 0.9955]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0053 left_roll=0.0009 left_gripper=0.9984 right_x=0.2888 right_y=0.2009 right_z=0.0464 right_yaw=0.0551 right_pitch=-0.0319 right_roll=-0.0439 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.6205, 6.5573, 1.8437, -0.0708, -0.0415, -0.0122, -0.6496, -5.8598, 6.5846, 1.5263, 0.4127, 0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3756, -0.0231, -0.0292, 0.9984, 0.9165, 1.8805, 0.7307, 0.3202, 0.6765, 0.5224, 0.9954]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3258 right_y=0.2489 right_z=0.0112 right_yaw=0.0729 right_pitch=-0.0422 right_roll=-0.0413 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.5932, 6.6393, 1.8486, -0.0415, -0.0415, -0.0122, -0.5402, -7.8974, 6.2701, 1.7216, 0.3492, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0227, -0.0292, 0.9984, 0.9752, 1.7733, 1.0492, -0.0444, 0.688, 0.5461, 0.9955]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.3395 right_y=0.3074 right_z=0.1098 right_yaw=0.1117 right_pitch=0.0043 right_roll=0.019 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.694, 1.7851, -0.0171, -0.0464, -0.0122, -0.2667, -9.853, 8.1846, 1.3309, 0.5348, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63472def9f9bed33a6bd77f4822e9738dc98cbc33dddf7c053500495acea8c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d347669ef2d0a33de932b5b001adea8541430cdd0d27b7e8c295505c57edb62a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64a1f47a42aade3ce6aec019b01d5438f232c3c27fafa84a7e65acbcf7d978a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09b24b19cbfcd1fa016ab42b2c20b487d0a6a65b743f0d4077",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.37,\"right_z\":0.075},\"note\":\"With the fingers clear, the right wrist view shows the bottle well left of the jaw column. I’ll move toward that bottle and a little forward before the final straight descent.\"}",
  "call_id": "call_ZNRFZ5AXyOp9TfLYAvEALkXX",
  "id": "fc_09b24b19cbfcd1fa016ab42b2ee83c87d0a223aa5076720738",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZNRFZ5AXyOp9TfLYAvEALkXX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, 1.021, 2.0373, 1.2591, -0.094, 0.7059, 0.5503, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3491 right_y=0.3571 right_z=0.0621 right_yaw=0.1408 right_pitch=-0.0524 right_roll=-0.0655 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.5385, 6.653, 1.7558, -0.022, -0.0415, -0.0122, 0.0889, -10.4274, 8.3897, 1.5751, 0.486, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9098f7c9a63ed6d52a88904f499f3a430653f0a9fb6a4fa5e38243b66dbfccac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d2580505b9627b1a7af56bccdc3b4eead236742969ff714925dffbcbd2f07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503c8d2d7ab42fb9898f1ba351858b55618496cbb24e4b07363b39305b89fedf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.145 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3767, -0.0227, -0.0296, 0.9984, 0.9176, 1.8572, 0.7006, 0.2977, 0.6792, 0.5282, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0049 left_roll=0.0004 left_gripper=0.9984 right_x=0.3185 right_y=0.2395 right_z=0.0081 right_yaw=0.068 right_pitch=-0.06 right_roll=-0.06 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.5248, 6.7624, 1.7998, -0.0171, -0.0708, -0.0122, -0.6632, -7.5692, 6.653, 1.7411, 0.5397, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0227, -0.0292, 0.9984, 0.9752, 1.7733, 1.0492, -0.0444, 0.688, 0.5461, 0.9955]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.3395 right_y=0.3074 right_z=0.1098 right_yaw=0.1117 right_pitch=0.0043 right_roll=0.019 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.694, 1.7851, -0.0171, -0.0464, -0.0122, -0.2667, -9.853, 8.1846, 1.3309, 0.5348, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, 1.021, 2.0373, 1.2591, -0.094, 0.7059, 0.5503, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3491 right_y=0.3571 right_z=0.0621 right_yaw=0.1408 right_pitch=-0.0524 right_roll=-0.0655 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.5385, 6.653, 1.7558, -0.022, -0.0415, -0.0122, 0.0889, -10.4274, 8.3897, 1.5751, 0.486, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9098f7c9a63ed6d52a88904f499f3a430653f0a9fb6a4fa5e38243b66dbfccac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d2580505b9627b1a7af56bccdc3b4eead236742969ff714925dffbcbd2f07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503c8d2d7ab42fb9898f1ba351858b55618496cbb24e4b07363b39305b89fedf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09b24b19cbfcd1fa016ab42b3161ac87d0a0a139f1e0bef313",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The bottle has slid toward the center, beyond a good sideways approach for the right arm. I’ll park that arm and use the left arm, which can reach the bottle from the other side without forcing it farther across the table.\"}",
  "call_id": "call_vjN8tw4YqvxmDhA4BwFFp8SC",
  "id": "fc_09b24b19cbfcd1fa016ab42b3536a087d08aa8ba397dfd9b0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vjN8tw4YqvxmDhA4BwFFp8SC",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, -0.1406, 0.8036, 0.5674, -0.4023, -0.1776, -0.1539, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1827 left_yaw=0.0027 left_pitch=-0.0045 left_roll=0.0009 left_gripper=0.9984 right_x=0.2871 right_y=-0.0055 right_z=0.1578 right_yaw=0.0782 right_pitch=-0.0556 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.5385, 6.8718, 1.8291, -0.0611, -0.0513, -0.0122, 0.0615, -2.3043, 10.1949, 1.8681, -0.3004, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ae4bbf4cb570b591aed7dbcce9a383119a83f0a44fd63b18625c456df7414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d1759a950be738e4a9fe13f0b9df153325447e21e0fe2b88277c1b1eb4fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1419334015f90fa4ba79738431341e557e1e9b5f825830480ae22c77a1b0209",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.659 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3756, -0.0231, -0.0292, 0.9984, 0.9165, 1.8805, 0.7307, 0.3202, 0.6765, 0.5224, 0.9954]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3258 right_y=0.2489 right_z=0.0112 right_yaw=0.0729 right_pitch=-0.0422 right_roll=-0.0413 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.5932, 6.6393, 1.8486, -0.0415, -0.0415, -0.0122, -0.5402, -7.8974, 6.2701, 1.7216, 0.3492, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, 1.021, 2.0373, 1.2591, -0.094, 0.7059, 0.5503, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3491 right_y=0.3571 right_z=0.0621 right_yaw=0.1408 right_pitch=-0.0524 right_roll=-0.0655 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.5385, 6.653, 1.7558, -0.022, -0.0415, -0.0122, 0.0889, -10.4274, 8.3897, 1.5751, 0.486, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, -0.1406, 0.8036, 0.5674, -0.4023, -0.1776, -0.1539, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1827 left_yaw=0.0027 left_pitch=-0.0045 left_roll=0.0009 left_gripper=0.9984 right_x=0.2871 right_y=-0.0055 right_z=0.1578 right_yaw=0.0782 right_pitch=-0.0556 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.5385, 6.8718, 1.8291, -0.0611, -0.0513, -0.0122, 0.0615, -2.3043, 10.1949, 1.8681, -0.3004, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691ae4bbf4cb570b591aed7dbcce9a383119a83f0a44fd63b18625c456df7414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d1759a950be738e4a9fe13f0b9df153325447e21e0fe2b88277c1b1eb4fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1419334015f90fa4ba79738431341e557e1e9b5f825830480ae22c77a1b0209",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCs8TrX4x6zeHD0clzSz67BZGDrN8KCZL5qvTTJHGafYWamqpvriEt7RvtLez8XmUwnvoS75edKCFsB-0ClgGQwgVz4gX0IUqTwTlCtZFrwYc889kpe2GupKUCXt_BpwHxots5mZLsx0zRYrP9R4eweyre7-VmEkgbxvwujqwk8TCrkKkjSyo5rYHZLefc1rv7mk2ugDcRqcUhrVsQadWVZmWiB8VPd0kbxr9Q609KP_2uMwWXC-fx74QnlMndMuxkA7KU6OMM5LeQwsVIUa5oFzZqqACs8q59EuVe24GyvdES2jSm9-iyZkqhiQY9LBhzsz8bh8GAIvLBxt-GCog8twQvUccRCHK1D-mB9vM2S-OZ7sp7Io_UHkTY1lceTnuWlTg9tmPx4_JkYQM-wdkc-QzQRvGF9nuDg620zUeGDpa7bksTFFSIeDRPcteMJgyg9lJ7onEKze5Z5bPKVgb38sJHB_VSHHWcB-6BmpLZfDLDE3vv-vbU8NMTYKwdjLKHTtnIGD5UxCcXSNOtPPMxNIrPyB4AoWBtEaY7RYU_sCFo7Rga-677oKnnf9-VN4dy_KWd9FCM7f_Iq3Cl_mgOMuzyyKGAUiY1ww9yESjHLluHV0BzmnZv4AJw2IPlRPq_SR3-3pUThXyUIv5rFHDFQLnpAfPz4zeCoU7ft657ovEX0fu3UsF5z1uzME4Zzjy5yXkh24mD50iS_PmhhP1MqPUF1UQHBnriSeAgGjChhnF7v7QEyUDtXISig981gTrvtwrUEQMtbXTozC8CX7IOZ36qsu7jboyumeVsrPf1lKEa-lT2Xdkel83NGXkysnNdVhtajy1hfsiNTa8JsGkJ6JjznmM0W2pXs8pFBciB3fysL-rvhjok90y7Mzv_56epMAtzRG-vkaNqFWK5xka1umZforSvlfIEmiuI6RMJIDtqjDN1AjYxZevJNqt50yOWqbI_sf0iZHPh88qNddVgAkYi4ZDxsZ3Xlfgk4zl_7_FL-_aCOx0EmPAuqoscwzjAvvD6iP12vAD-HaYji3U9CI2ctrSY3Wwy_uyWBDzmdQgoyLmUSjDhOc74oAzJ9Vdh_lzk6hAkwLPpzU4NNnk3rjQXvpTWylfD63zz0EZ4vxG3DsZg-8t9K4sdCHwiH4_UVUJcXulGQQFpuK6Pc939YM4lhuG71k-2Oh4_KbyMpxGagr7ilcOOdMgsQ6fFdeQOTlknuZdkrCyFFY4SBVH6KnBAaink0wxnF-v8bf1jTyExvK8ADq89T09eA_a2-uk3RocwhgDh_ztsD-F5ha33FVK-8GZzjZIv7Ajt34_kD12PisQiaA1cybLJsdYXWdJmnjFzvNju-LIqAh6LJa0zNt2o1DTEItHhK0T26PzKkiBYpV-PmjnXH6o1HkeKD3QlzM1EDqPhedBGkct1NABS0AojhLmPDhF2_Nf0uMqEEEWhR-xWIf7opQ4WpNakmwvW3RnxKiPBWoAPCbiP2OouaU21pXdyueHrw2AyRieGm-sBZQ_oEr4xz0WSrXyVmYGBzvwm4AWrEPZbd-9vNjWWM7s7vNgVfYvGtYANcK2PEp1eMyuvugpz3zACENo2bUqB1_mV-xC84Hr1tnrD4CQVT5ubsNernRtASObIQ2SD7XjUGBsdNbSVcouy9GoE4D5LRbR4zKYi2TiaMZ66ZSI3EcU5loBUAbYSDp9lmcLbBSt6xl70YBRggzmTGIoFoTMFp27YE6HbxwgBkprx2q8eqVpfsTK79a0VgvPyw88eBqiFemFRzsPjCyCjWGcAhDI1pSwETQqgsASvwBsax9dTP2DA==",
  "id": "rs_09b24b19cbfcd1fa016ab42b3a0aec87d095f5bf87bcd13afb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.11},\"note\":\"The right arm is clear. The displaced bottle lies near the center with its cap exposed around the upper end, so I’ll bring the left gripper above that cap for a clean approach.\"}",
  "call_id": "call_noJnFqEdoAGado59uWMyHoE0",
  "id": "fc_09b24b19cbfcd1fa016ab42b3b3b2487d089cb16f347095cd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_noJnFqEdoAGado59uWMyHoE0",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8715, 1.7397, 0.9867, -0.0612, -0.6945, -0.585, 0.9983, -0.1501, 0.7692, 0.5095, -0.3656, -0.2024, -0.1658, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.2506 left_z=0.0989 left_yaw=-0.0081 left_pitch=-0.0327 left_roll=0.0218 left_gripper=0.9983 right_x=0.2825 right_y=-0.0032 right_z=0.1485 right_yaw=0.0956 right_pitch=-0.0396 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -8.3214, 8.4444, 1.4921, -0.4518, -0.1099, -0.0171, -0.1162, -1.6068, 7.2821, 1.9853, 0.0122, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed728673d27fc4fe74dc796382adf3e8232f5cb308a84d73e311b8524709821d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68363ddb6e2bf806565be011b290693a5837394a4c5193e2647f83347314356e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1ed4c7fef6a65dc600d7c58796fef0e9565c813e86b167a518cea5cd59ae4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.848 s

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

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0227, -0.0292, 0.9984, 0.9752, 1.7733, 1.0492, -0.0444, 0.688, 0.5461, 0.9955]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1827 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.3395 right_y=0.3074 right_z=0.1098 right_yaw=0.1117 right_pitch=0.0043 right_roll=0.019 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.694, 1.7851, -0.0171, -0.0464, -0.0122, -0.2667, -9.853, 8.1846, 1.3309, 0.5348, 0.2369, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, -0.1406, 0.8036, 0.5674, -0.4023, -0.1776, -0.1539, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1827 left_yaw=0.0027 left_pitch=-0.0045 left_roll=0.0009 left_gripper=0.9984 right_x=0.2871 right_y=-0.0055 right_z=0.1578 right_yaw=0.0782 right_pitch=-0.0556 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.5385, 6.8718, 1.8291, -0.0611, -0.0513, -0.0122, 0.0615, -2.3043, 10.1949, 1.8681, -0.3004, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8715, 1.7397, 0.9867, -0.0612, -0.6945, -0.585, 0.9983, -0.1501, 0.7692, 0.5095, -0.3656, -0.2024, -0.1658, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.2506 left_z=0.0989 left_yaw=-0.0081 left_pitch=-0.0327 left_roll=0.0218 left_gripper=0.9983 right_x=0.2825 right_y=-0.0032 right_z=0.1485 right_yaw=0.0956 right_pitch=-0.0396 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -8.3214, 8.4444, 1.4921, -0.4518, -0.1099, -0.0171, -0.1162, -1.6068, 7.2821, 1.9853, 0.0122, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed728673d27fc4fe74dc796382adf3e8232f5cb308a84d73e311b8524709821d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68363ddb6e2bf806565be011b290693a5837394a4c5193e2647f83347314356e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1ed4c7fef6a65dc600d7c58796fef0e9565c813e86b167a518cea5cd59ae4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtD248FNJ7oGRJI4m64RwnFjBy5kYXgLdrHnYm1g4A4EwDsaCN2UJ1zG8TezZvBcyX2X092NBzb54b5FciQeJus1zo201TFf3ul0O-rvfSIodAMv2WccH_-gwocdpLRjQiSr6-uJJvXYZWSXodmJFk21A9vV3leU0hAei3DX4OTM_LqlCounIV2RBEX0SRTk5OltorwVXkob1clC45-vRtZg81-ioyLvG-tUXIj9F-qEW4L9ruiclHk2TaLLlsc5uMFnJA8eI5JQxc1PjNbMGYjoMIO2MpsISHtMgT1_7_zeI2xgTU14muFACRM0UIOQrNuLb8K2YueRurvlM4_22IJR1DiVcLrr5BK3u13D_sc_mYpX9BzSOP2PeSRrLyt1i1v9EXDlJvqmGnsCmadr6jbNADReb_yC3SNl5AeguhZrRaTeJPIpa6REsTH0pmCvJdqzCN8qZlPxNBDzZ2dcCjSn9eWm79vw3PUkvZe1ThI-Rf5AoediKoN1C8EiIOm0blflRhG_47sLlKtzY39pSTR5xdu8CX79I23te30UVYMSBh_YDjdpMQ2o30gfiQv0REQXgIrvY1d3-AEXA1j59tfe3i2-GNIbB5WPXs4j_kF2g4snotn84mulBUDYLNY4qEVZDcszLlCXq1fSi_JOsMpNRj4Ga4U-4elkibwwtr3xrXbCGq1TWTRimzbWSAnovYAUQXZB3KUd9E7WIZV4zdN5lBL5pntZJhEp2KiNA0tmq3aRXZm881wP1iSX5voATc8sqx7WMoEbLl8d2rOs8676Q1KAEeZ3QkMnkfnro3NHueY2KF3cTRjuP8xj59oC0ps5V-FUnybB5xfW7w8K-PbtS1xJ6G0DlJ9yEnk_AkP8xqBP1L1jcqsH-vDPFTxPw5FMdRR2yy5lGslAOvEXmnJFkOJEAxE3nmuYHtzTQGuRy8KEw60FxGFGm2LsUjqP3MWxKC7oGDNnWQQN5-s0ctjgD9Ftd36A2i7xLaUit-SINxOF1IPJan3z2RptTA8z4XltYEDF074lfFWLM7XwsxmiNlmz9epNcLVgLj9uZ1XLbEfiZPIA4EeWKuAbQPEjUIKd1jJbKe6cpiCGVxCScUjbW72KL8OpUrGKjFlPFUxmccxYiwLMj2rrCaZfOnkyFEbIVE-2kJp_xNkip2DadDQ5bgJwESfOE__ElWaJrtQfCk8xMAmJslYPnTMSdLsw5XGUn0FZ8iRcP-VEA_Lta4l1YfTtSjFny2JodPJzV1AHsLUJvHr6GQwah7VtuYuUwKP8tj_Gh6zgr1io66pCYiv62dRzzUULVpzgSMCq1Q2lmSmECTeJO2nqZhpWT5oeqyYSgTWXs2mHUwCPtJgVclj5WQwvtADAQezwAKmqT02UfRRVayFMllrQ1B_qctB51Go13EsFtsNCTj1WoVsvLIf97rr1e0Vh99vUAnrfK_6x3w991Ga-n6ESSnKdp7hKvJIY_Db6Ut92kHtTrIOh_50FjC77Be8o4bygM5bb_ws4R4bx0Ix9KwbK397ueq3pFwzs5xXAUgt6OlHZazx2B7kwNSL5TTuFXN43eCb6mXa_f99of9rS92JqNVz5kp9NvWc2jvruJsks3frDVXCtAJeT5CANY0Lz6oCSyN5Kg1KhqduMAXyZpaYKcjMCOMrW-r5u9hyLLd-vwcf-7IgnBaUX_ggptrMFHNLgl2BPEcwPvn2LND7Q5qrCGvIrp5Peqx7UEyL72fPIqv5cDuR-xFrVN8o1I0Tky21-_CzSAMEJk78KtCn3fawMzWJhO3tNkA7SX_KqNhaNBKmVzKXVi1s5CYJ9rYaZm6_AujkFOJRtR6wwSi1M8f3bFBgMFJx3FFdUADknWu0ZtX38IPObG8YxLk30271-_HEgqvKFoMfUz1hPwVKXLItvSqvXDWT2GORZhiIn6V913tF692UhrX-D1h8A6KIYlG1qr06UunUYwnxoHe2fucevXVjZP1AYq-ln-odXlB6tZXqwdp--gNNzwvTed7S3_nsU4O0tLu_ne3H08VBFR1dR7ThpRLwwUAD2uRb-AKGVMNZC-RHtV7m4dC5WYVzifIY4p2G2y89IMpcHActD3nTCjVn4aN845v3Xtq8iLIyJhDUBKJsXa5_g1oi-6FPHZon3f6WOGArqas3yU3UL9USGI8TP4New27GSCV5Wwtj-i-4agvRWaT9qjBuihQfSwEU11ADttt_Qb9XI7HH9CHqviIp2gDx1-QCOqVQARkJXjRi1hi3uCx_E3nj9ChPnZzuV50MyjtuxPPWYGkUgkqKuNYYlFh5qEYeI9EjfW1Lm28-tFZls0SJG3Jgu8ziKIO1DsXfZWVDCg4gGJUJrExTRx77-Gp_8hFxw1xAiPyBc86gexTzacaE5CC-DGMdWdSLJ9GN6XshPqP46fQ40B0gh2vCAP90N01DeAn0j9VCL1Ufq86ddKilrwO0YgXvH_8s-GvC0WyGBPhNk2kPgcZv05cl6pxNK_xIx1_glxr7fP3Z3509fwvhC8CzdXQwVQu0gpdhje8LpX5tzK5zWcpfPxBVGCCvNbFs",
  "id": "rs_09b24b19cbfcd1fa016ab42b3f682087d0ba883830a69e5f30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.22,\"left_z\":0.045},\"note\":\"The displaced bottle is visible in the left wrist camera, just left of the jaw column, with its cap farther forward. I’ll move the left gripper slightly left and forward while lowering to the neck.\"}",
  "call_id": "call_XqqwnagNniiKsRjLjy2sMXql",
  "id": "fc_09b24b19cbfcd1fa016ab42b4240d087d0ac39ac92e7e6601c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XqqwnagNniiKsRjLjy2sMXql",
  "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]: [-0.7067, 1.8931, 0.9092, 0.2226, -0.6411, -0.4801, 0.9983, -0.1516, 0.7483, 0.4713, -0.3473, -0.2066, -0.1677, 0.9954]\nstate[eef_state]: left_x=0.4075 left_y=-0.2043 left_z=0.0458 left_yaw=0.0613 left_pitch=-0.0262 left_roll=0.0445 left_gripper=0.9983 right_x=0.2787 right_y=-0.0023 right_z=0.1405 right_yaw=0.0986 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9954\nstate[joint_eff]: [-1.4838, -8.1299, 5.0667, 1.6484, 0.2125, -0.0269, -0.0122, -0.4991, -1.4017, 6.9675, 1.9512, -0.1197, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c66e12023b1755b7f9b36a14111e11a1bacb31e6c1d27868ab01944563d075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df43d3750851cf2a733f5c906c324d5b0bfabec9e59563b5d5f0544503fe2f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ce5ee9e86f83bd958a275451b94a209a6036921d7cccbe40029b885cf75721",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 4.054 s

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

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, 1.021, 2.0373, 1.2591, -0.094, 0.7059, 0.5503, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1828 left_yaw=0.0027 left_pitch=-0.0042 left_roll=0.0009 left_gripper=0.9984 right_x=0.3491 right_y=0.3571 right_z=0.0621 right_yaw=0.1408 right_pitch=-0.0524 right_roll=-0.0655 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.5385, 6.653, 1.7558, -0.022, -0.0415, -0.0122, 0.0889, -10.4274, 8.3897, 1.5751, 0.486, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8715, 1.7397, 0.9867, -0.0612, -0.6945, -0.585, 0.9983, -0.1501, 0.7692, 0.5095, -0.3656, -0.2024, -0.1658, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.2506 left_z=0.0989 left_yaw=-0.0081 left_pitch=-0.0327 left_roll=0.0218 left_gripper=0.9983 right_x=0.2825 right_y=-0.0032 right_z=0.1485 right_yaw=0.0956 right_pitch=-0.0396 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -8.3214, 8.4444, 1.4921, -0.4518, -0.1099, -0.0171, -0.1162, -1.6068, 7.2821, 1.9853, 0.0122, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7067, 1.8931, 0.9092, 0.2226, -0.6411, -0.4801, 0.9983, -0.1516, 0.7483, 0.4713, -0.3473, -0.2066, -0.1677, 0.9954]\nstate[eef_state]: left_x=0.4075 left_y=-0.2043 left_z=0.0458 left_yaw=0.0613 left_pitch=-0.0262 left_roll=0.0445 left_gripper=0.9983 right_x=0.2787 right_y=-0.0023 right_z=0.1405 right_yaw=0.0986 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9954\nstate[joint_eff]: [-1.4838, -8.1299, 5.0667, 1.6484, 0.2125, -0.0269, -0.0122, -0.4991, -1.4017, 6.9675, 1.9512, -0.1197, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c66e12023b1755b7f9b36a14111e11a1bacb31e6c1d27868ab01944563d075",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df43d3750851cf2a733f5c906c324d5b0bfabec9e59563b5d5f0544503fe2f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ce5ee9e86f83bd958a275451b94a209a6036921d7cccbe40029b885cf75721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09b24b19cbfcd1fa016ab42b44621087d0b46c7d0af3cc5e86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_z\":0.024},\"note\":\"The bottle is centered between the left jaws, but the cap is still farther ahead than the fingertips. I’ll advance a few centimeters and lower to grip the upper shoulder rather than the base.\"}",
  "call_id": "call_in7iJl3Fmo4mtHc0iWRNFofW",
  "id": "fc_09b24b19cbfcd1fa016ab42b46815887d0b371159379a5e873",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_in7iJl3Fmo4mtHc0iWRNFofW",
  "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]: [-0.683, 1.919, 0.9073, 0.3073, -0.6102, -0.4721, 0.9983, -0.1516, 0.73, 0.4374, -0.3279, -0.2108, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2057 left_z=0.0453 left_yaw=0.0571 left_pitch=0.001 left_roll=-0.0028 left_gripper=0.9983 right_x=0.2758 right_y=-0.0011 right_z=0.1338 right_yaw=0.1033 right_pitch=-0.0335 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.6222, 4.9299, 1.619, -0.3053, -0.0855, -0.0122, -0.253, -1.6615, 6.735, 1.9512, -0.1197, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72234bfd95f696ea8673d84bd9459d7e44978dd930de02075e32f47fa377aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3454edffdc2ff437680ef9902be3a4a04716178a1e91fe028ea8d83095ff9ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55bd90e3060644fefed36f14ef8907c2156f8ad441426c514dbd03a940395c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 5.106 s

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

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3759, -0.0231, -0.0292, 0.9984, -0.1406, 0.8036, 0.5674, -0.4023, -0.1776, -0.1539, 0.9954]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1827 left_yaw=0.0027 left_pitch=-0.0045 left_roll=0.0009 left_gripper=0.9984 right_x=0.2871 right_y=-0.0055 right_z=0.1578 right_yaw=0.0782 right_pitch=-0.0556 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.5385, 6.8718, 1.8291, -0.0611, -0.0513, -0.0122, 0.0615, -2.3043, 10.1949, 1.8681, -0.3004, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7067, 1.8931, 0.9092, 0.2226, -0.6411, -0.4801, 0.9983, -0.1516, 0.7483, 0.4713, -0.3473, -0.2066, -0.1677, 0.9954]\nstate[eef_state]: left_x=0.4075 left_y=-0.2043 left_z=0.0458 left_yaw=0.0613 left_pitch=-0.0262 left_roll=0.0445 left_gripper=0.9983 right_x=0.2787 right_y=-0.0023 right_z=0.1405 right_yaw=0.0986 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9954\nstate[joint_eff]: [-1.4838, -8.1299, 5.0667, 1.6484, 0.2125, -0.0269, -0.0122, -0.4991, -1.4017, 6.9675, 1.9512, -0.1197, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.683, 1.919, 0.9073, 0.3073, -0.6102, -0.4721, 0.9983, -0.1516, 0.73, 0.4374, -0.3279, -0.2108, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2057 left_z=0.0453 left_yaw=0.0571 left_pitch=0.001 left_roll=-0.0028 left_gripper=0.9983 right_x=0.2758 right_y=-0.0011 right_z=0.1338 right_yaw=0.1033 right_pitch=-0.0335 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.6222, 4.9299, 1.619, -0.3053, -0.0855, -0.0122, -0.253, -1.6615, 6.735, 1.9512, -0.1197, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72234bfd95f696ea8673d84bd9459d7e44978dd930de02075e32f47fa377aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3454edffdc2ff437680ef9902be3a4a04716178a1e91fe028ea8d83095ff9ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55bd90e3060644fefed36f14ef8907c2156f8ad441426c514dbd03a940395c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtL-DK8hsz19wQw8cGV9U-UO6r8DELG5GgeCJuPTvi-RQy5Bit2S-qB8PSjzpFOaSjx2cdIffNwiSy-a9xBGnOxI4WhcB3pZ1rTWGJ1ERbqtR3uD60vLXHckz4We1jFJvX6zM0yHy5KPBb_x9kuls2t8ErcvXivRWVD2FGayo3LYzDPJHZzKYeirk2YVeBs2slvRrMf6xY77q48VlWkKblFC0XFO-VFwrqW6WBaSCizD9wewthlf07J52KkvXi0N1fJNNi1s-cywaFcq2cdrf3maADkJ-OTrvCjCZ4AHmHUjrwwk8l2aGs3K43B-C_oPNlsD1cYfaDE1LRCGS_mh8YlUE2sj3Y6IWLXb6Huqwyx6s2EGKYUBN3BiG4dJ5xh5bGpZgc2dQ_eRmVEQFkyQoSVSGtU1DRwXXRaVYrlR3V2t0OKfCUc4TZKNt4VE6VWH6STPuRQ6FHc5OBwnsbopWRJUhHGhuxuT1s805s7o83N-G77HC7OPl7DK3yYfb7a2xhNWYlemnR0kRxMrc3fDQoxd-iUrfn5wKyjbnk9g7Ji9lZ5HtMvAasH8-WQe90Bwz8WN9ykTyZ3Ud3Y0ru6aRmumzl-O8Tm1eR6-Kxex9vyueEuKGrdpv-Q-p0U4xXT1zBqFDpf3xaZAOCW2nH_XjCvWsM7ikAc3mj71NKOYHxh9Z4ByYzGJeHR5qThYrTIRxqLj_Cil0M9S_do0f-1wAEnqyvsGtOFYJihCBFTJO-zb33lry28lz_Grjl4BRjBuPEEkjDQQiVnCDOScHk58hw8_8yMc_QNSigyCz96nVNsZCJeX64TeXBZO99qlcj5OafRjIgAlXh4yt19KIttKoqavUfT9H5mIpzXIx8C91OeYN5WwIojydAJtJlpc9wYqj3jDt-py32uL-mTWYgWpmCU1AGP_mciYnXHhA9D57ZKy8WGKRGyeQxMmCjl-YFqyEdluuLkAkbuJiPsrGp_EEz4yL5d_T0pY0X6QYEiPUvqcaDSL8lFFbdel5nzcQImUr_aM7kkwALSD_-Fq0cyXc4ral1scXkoJMiw5MQk3L0K5osa7hr30o8Rk3maSRvlTRsmmWAiDOshR4EwOWcAGKnHjbSssFOzMs8kjgFuGL5Cc5Uz9Yu8JCi5dWk01fsR0p-uhOyoR1ULaJFZ7iF-6inaVwBxpLFMbKLhQLPSsSfHHHi_B-PXyg1N4plXE9NkaUB03hGLm13x4cek7JAE_eMBrU69YPxPFgMxUfcUI8vnIE_egkFRb0FxhgTXFww71ww2hf7kHg9I1bZ-nnQlcWQ34zTPUN0_0DT4oCPaK7JQkWZMrBP3mdILaaLjEsLCquTGlcp6n2G32iRfQHULgAE13-uSVE4ANVS6yhFpTi3m6lE7Nd4hAQYD-YzFViwLG8JvHy0ToiR4CNLmraD_Kl1wq0cBtl8zdMXWqt8ENP6ApylMC0I-uLK4GR2C2g_cElycxCyTzDL7JqGMAyT-ZtlmZgKMUotlAaoDu2j5q-UevRG23XGFWlvQNztMVrMWUQrEM33gD1W-SQ3qK9654RRPgzajtPAZjabHCfrj-7oKCEnUIBLDYg1j6vGGE_5qpy7UUlzk_Y-FxkxS3QBgDatE8GQG00lhGybPQFaNOefFJhZLGcOwAPjf-Hl2BCykzGrbg3fPT0_EIen_k6a4_BqkmioHABHh88zfsnRBPy9KlmBnskqy-8mGemcSDDyWFJbB8070UtL_-XC85EhDQuVq19kHGX3jip0rx704dvpsa56wmw77EE7jp-EjvraNMk4MSt_vVu8JubLyaBiEvUYIYoPFBhqidvLZD0c52zj52U-zqKnu3y5w-RgCxz1SweY3pQswy1F8SLqHkOWyHjsJrlrIqCbJ2v1EArnB3Uro1wMuZXkfnPbOUS9BoS9DZxPNj5tf_GPrC0nHZYcKMl0v1lW9OcaP-aYbWMa3HzfPL2PRCfK04YxLERsDOWw5l9MoKVoRamErl_vO0h8lnkeXFwxASSH6yQfNsOSPv2jJS2JtMy-XCzPivIU39bucwCnVjzAfhQG30Ft-0CyGLZ6ZHmn-UdZysrZ2r7rimkk07ETqj79a6eFVIbK4lHDGDCgQkiGkdE6SOhmvVYz7YfhW1XAIDDrxc_CXhgHiQxm9wYpz0PEy1OCuoCl0zFgHQabvUi1dmdgDFD8mlciAJwd_Z93zCK7bMu4k5kbYL0lBkxZl4FPpQAwqK2XoZeAcUtM-Jy7AJ0zTLZ4MVYWTyfPE9A==",
  "id": "rs_09b24b19cbfcd1fa016ab42b48aafc87d0bf399cbc2ad18add",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are low around a bottle and the farther target is not tracking, likely because of contact or reach. I’ll close here to test whether I have a secure grasp, then use the overhead view to see which bottle moves.\"}",
  "call_id": "call_nEPhkvi7Br9yGW9fz5aupbt0",
  "id": "fc_09b24b19cbfcd1fa016ab42b4aee8887d09ad84855748f8b25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nEPhkvi7Br9yGW9fz5aupbt0",
  "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]: [-0.6819, 1.9152, 0.9089, 0.3672, -0.6437, -0.4747, 0.0227, -0.152, 0.7124, 0.4061, -0.313, -0.2115, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4267 left_y=-0.2052 left_z=0.0597 left_yaw=0.0869 left_pitch=0.0628 left_roll=-0.0346 left_gripper=0.0227 right_x=0.2728 right_y=-0.0006 right_z=0.1271 right_yaw=0.1035 right_pitch=-0.0323 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -8.9915, 5.6684, 0.9255, 0.149, 0.0073, 1.1746, -0.3487, -1.4017, 6.8718, 1.917, -0.188, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1edceddcb984fc17dd93621b99532f93c1a937a2853961931acf69afc7f2e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c5053de9f4320d470347d6096341faca04b37e05f2b3f0cdcf205ff0f3a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3571e9d76b6dbfabe4be7ad72d39f28c71dca979c843d7a458812bcc31530cc0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 6.029 s

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

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8715, 1.7397, 0.9867, -0.0612, -0.6945, -0.585, 0.9983, -0.1501, 0.7692, 0.5095, -0.3656, -0.2024, -0.1658, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.2506 left_z=0.0989 left_yaw=-0.0081 left_pitch=-0.0327 left_roll=0.0218 left_gripper=0.9983 right_x=0.2825 right_y=-0.0032 right_z=0.1485 right_yaw=0.0956 right_pitch=-0.0396 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.6359, -8.3214, 8.4444, 1.4921, -0.4518, -0.1099, -0.0171, -0.1162, -1.6068, 7.2821, 1.9853, 0.0122, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.683, 1.919, 0.9073, 0.3073, -0.6102, -0.4721, 0.9983, -0.1516, 0.73, 0.4374, -0.3279, -0.2108, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2057 left_z=0.0453 left_yaw=0.0571 left_pitch=0.001 left_roll=-0.0028 left_gripper=0.9983 right_x=0.2758 right_y=-0.0011 right_z=0.1338 right_yaw=0.1033 right_pitch=-0.0335 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.6222, 4.9299, 1.619, -0.3053, -0.0855, -0.0122, -0.253, -1.6615, 6.735, 1.9512, -0.1197, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6819, 1.9152, 0.9089, 0.3672, -0.6437, -0.4747, 0.0227, -0.152, 0.7124, 0.4061, -0.313, -0.2115, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4267 left_y=-0.2052 left_z=0.0597 left_yaw=0.0869 left_pitch=0.0628 left_roll=-0.0346 left_gripper=0.0227 right_x=0.2728 right_y=-0.0006 right_z=0.1271 right_yaw=0.1035 right_pitch=-0.0323 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -8.9915, 5.6684, 0.9255, 0.149, 0.0073, 1.1746, -0.3487, -1.4017, 6.8718, 1.917, -0.188, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1edceddcb984fc17dd93621b99532f93c1a937a2853961931acf69afc7f2e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c5053de9f4320d470347d6096341faca04b37e05f2b3f0cdcf205ff0f3a1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3571e9d76b6dbfabe4be7ad72d39f28c71dca979c843d7a458812bcc31530cc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09b24b19cbfcd1fa016ab42b4dd22887d09826a098b466afcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The left gripper closed empty; the bottle was still ahead of its fingertips. I’ll reopen, raise clear of it, and move farther forward before descending for another attempt.\"}",
  "call_id": "call_BlyUqMyn8mKLM4cLdJHdVAA2",
  "id": "fc_09b24b19cbfcd1fa016ab42b507f1887d09a061b9977b6100e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BlyUqMyn8mKLM4cLdJHdVAA2",
  "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]: [-0.5995, 1.9148, 1.2488, -0.0364, -0.5804, -0.4637, 0.9943, -0.152, 0.6926, 0.3752, -0.297, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4737 left_y=-0.202 left_z=0.1158 left_yaw=0.1134 left_pitch=-0.0103 left_roll=-0.0114 left_gripper=0.9943 right_x=0.2699 right_y=0.0001 right_z=0.1214 right_yaw=0.1051 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.7043, -10.5094, 9.2103, 1.5263, -0.1197, 0.3004, -0.1636, -0.4444, -1.0462, 6.9812, 1.9463, -0.1148, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286dad3ee097b42f31651eb1138e4ebeec53c50c803e4cdce340e9554f662f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0d1ef25a6ab0697d082677b0d95d5df4b014120a0f9ed3813e7f3d6df8bb96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f9918a7a80a70f46a7deae2358ec35808f3dd340009a18e396bb00742abe63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.967 s

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

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7067, 1.8931, 0.9092, 0.2226, -0.6411, -0.4801, 0.9983, -0.1516, 0.7483, 0.4713, -0.3473, -0.2066, -0.1677, 0.9954]\nstate[eef_state]: left_x=0.4075 left_y=-0.2043 left_z=0.0458 left_yaw=0.0613 left_pitch=-0.0262 left_roll=0.0445 left_gripper=0.9983 right_x=0.2787 right_y=-0.0023 right_z=0.1405 right_yaw=0.0986 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9954\nstate[joint_eff]: [-1.4838, -8.1299, 5.0667, 1.6484, 0.2125, -0.0269, -0.0122, -0.4991, -1.4017, 6.9675, 1.9512, -0.1197, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6819, 1.9152, 0.9089, 0.3672, -0.6437, -0.4747, 0.0227, -0.152, 0.7124, 0.4061, -0.313, -0.2115, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4267 left_y=-0.2052 left_z=0.0597 left_yaw=0.0869 left_pitch=0.0628 left_roll=-0.0346 left_gripper=0.0227 right_x=0.2728 right_y=-0.0006 right_z=0.1271 right_yaw=0.1035 right_pitch=-0.0323 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -8.9915, 5.6684, 0.9255, 0.149, 0.0073, 1.1746, -0.3487, -1.4017, 6.8718, 1.917, -0.188, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 104 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5995, 1.9148, 1.2488, -0.0364, -0.5804, -0.4637, 0.9943, -0.152, 0.6926, 0.3752, -0.297, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4737 left_y=-0.202 left_z=0.1158 left_yaw=0.1134 left_pitch=-0.0103 left_roll=-0.0114 left_gripper=0.9943 right_x=0.2699 right_y=0.0001 right_z=0.1214 right_yaw=0.1051 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.7043, -10.5094, 9.2103, 1.5263, -0.1197, 0.3004, -0.1636, -0.4444, -1.0462, 6.9812, 1.9463, -0.1148, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:286dad3ee097b42f31651eb1138e4ebeec53c50c803e4cdce340e9554f662f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0d1ef25a6ab0697d082677b0d95d5df4b014120a0f9ed3813e7f3d6df8bb96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f9918a7a80a70f46a7deae2358ec35808f3dd340009a18e396bb00742abe63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtYAFsqk4ssAGd17g5MWzf7Onu3zs1Vgp3j3_rHerL41sFY_ZIPMLDVvPXpH25dST88WLzyyD4zlDs0WqJ2wZKH39vvWXR-kl5iJeuXpW_x4c8LjSOLhMNKru7CwlUMDPMOHoyWPpwKsJ7rvYUQ_TNFCTmGelGy6wliJd5wlJexxpuWAkbp7uwMi2GeICczYEBabX4idqA-0stuNh8ndqjGWBr-lvNETWrWzj_bEATCAHQG4fISwjl_hX-nkPaunGzwhKaY8Auys2H_eLpPPLTGZEA07lV4yJZ3wJm5Z64dmkbqL5U2GsjAdNMdT8Nfvoxlqrpkt_5i1YWwN1rVgpuxwPIl0hq1Rd94YNCgvZijVTO9hx3xy3MSm4Z-4b_mPTm8qWX8MWPNdpZMB4wnS0q7FVA0QsjTNIksr-R4MvpG8DBIkoTnXNsq9v8UeVqc_ovEepqdSOmQ6gXs5fVGxSswfD0uDj00fy_CHiohx7hO9ldek6GskteqpPx6tGfjCPgx17AYDVmM9LTpfHa2QbVM76PzjrNfyhJ8M5gFPxGeDoq-hLXAd1iRDsuh25ldaUETLkUXjVORTGQsN6JSx80EiB7urubbTPBpd80R-LGJe2GEimrCPOlXvZRqTwXFr1Ph2aLanlNffWrBPA1noMgVMVIJBSd_SzPTI-lO8WJz_bTzhHGoqvWl7oFLFgA0Ov3FeW83wg0V1BW1uaG4Yc2IsQgr7oDEDaZpy2UMkwaN9Uv71mGcUnquB_6siQxMZvDorh83X2d6_n2kXreTglh_9xeB3XcxYrS3UD1X310a_VuVozZtfGI68VwqOZV_fQeR9yFa_MAdtxcxHMvRmi0EWEMnC_D5Q-QYydNzXawl4VI8SrSumYqw-ALWP7LxP4Ol23AyIfRmzUHlDmCPRN0WeQoKZpWoRXMCFse141JedBe27wLkkNmyKcUEC2eRaqNzrxuvfe2M9OL4CY3F78S5EcWQeM_CU5uTBSZLVbns07CvhZ3Amb05IbqmrMHReL3iqyoevCBtkx2UdYMYMqPEDl0SUsOjdGVpeAppDR2F8lXMsIfP4Zki8ok8JkZEiBQn4pTHuDiofqwZ8Pal6pVTfOF6RUQWoPLOuod1xPIaM7kS6XYWzXQ9zDNVNa8bnne7xHDplUHc1U4fFOGiIO42ME35NQH_9JEbZs1BEEhodVtdotw7zvTQJZkQmtoc4z_-K_tAgqtPbuGJrpRMCRmpl7jXJ1TRy-5QbmRSE9VO_8Jhma2B7z_nE02MY9smOyJxh1EhUqWBsj704ozZsKFqGzxV1ADfXcvloqAhjV2ambmLBuDcxRiuvZINtLUh7HzNTL2ZGl_vdunCVgxE7hm3v2wR3FX-Dog7AgN2xzXLBR_N5OiCWXOW4MdLBbgrYVPyhpWnf8disFF12VCqN29-ipUqddaQE0TRwA0qR7flw23Qly_kPlMlDrOqbm9wFjnfG8hpq0BTfDVOGvO_eGBfYg1WIlNsh-Had2rETGTwr3SPZJLFPr0QJ5Ru1v4HKNK58WRbJpwqUrKHu3fM8rCbOep_pGKVcGrmfF_ALqBUfaebEUFlN1yU9oJF8bqL5wOJIipAeXCkxzVSaWGgmcaVttvj0M4INvlXwIuZhcR3nh5aTy4Lmf2UxFNsiXPTHoiS6Q-_l0D71AeVpp1B7H9PaCNTKZvpTx1j1G25vsLbQBNmKX-hb0534Fh53NX1GzpoyCY5tM7CoFIArQ0pzqQBP0YeHd2-oQVMr0Qdg_JUxN-l2drLWVQiZKmsvfmortRGkgG_DykEQi7JUifSUludzbbJgmK1mim2hCvzyMYwYDi8QatO-VO1wisTLfig9YHB8KCm2i5Kj7iazdpcUd7zTGxRViiW8bBpU0RU8dQAeYDmK9QWuRNYp-Yp1ajPAwcysJUM3tS9KRmwpPQCYXOeCEIbldxQAso36u26CDGnVDoJoqt8lyOJO9O_AFjEjdzMHz6dSQafPxG4CAeUDr7iEr6lslsIXWa4FTjbFcNIVvMcxYeWpFHRVgTuABzL1wh6ycLo1oXzppAREkFisQ3ayN9LVL4nF7OcSLUBrMn5YmCE6okosJTYiyLZ47Phf7aaHQmC51vhLG6FlbEAPcRUVBoXXWwxZXsQkzC8-XpIZS43VWM57EhFkS5hRemCcXqEev5xyz6tI-2KDaIme3vnMpoQDIzTznSGzYqC_XU6y8HTJhHtq7DOdFIEyAW2z7Zl_OCHl0UhHd5QHncuezBINSmb_RBXuWmtAp8s9SvzamjzUTZI6UyK5MU9hqksUTi7G08wPoLu3w587LHZX01UJ3fWdXsdHJW_I-E0p91WNxR9qvugwvXdi6iBE3xvtCmd2Df8K22bmdoFaS9XMye6ckSR3x4NiHtxFTeyZuPcn1cZMTXy71nqwP1fI3AlUEi2UBO8VlaP6X9x1ya3qisS3mduJ_iGIEhWFatczJx8PnZ9fDjb4xNDUjd2iZkSIAI-EoGgrf8ygbk7qtTgKbivOjxRou6YgH6oSDqgnRX5qQUA5SQKkDNG56v7GENkFYvkK3xFj-iTUdi14OXtrwqvRm7vODqQ1hc9QBTAEe0XJom4DBetThRiAGXG8uboDjJdDXnOq_ytdAvCu2o_uAvCLKcZe2HvgV9XoJOKwloY_My5q4g5Oauz0ClQOLzktkunfBLICzOvLAgGXczS45X5rRkXgIL5bRXJKT56ujotWxR9GCEU9NTDCbrhMLAmwNBISgGV7kPcMDeYka5xO9dnFivfLhEKMK3_dHIz5v1I5hAlnYTndYw8RbGXL5AxeUFtk6CJC9EEPNbKWK6Gj0hJxw6tRUOKLjqDZERHnFi_eesXzlERtjmmz-LSdGkI-mCaXVzhPiBdbhsrhaHPAvddPAAZ04Mg6mEa0eu8Vb342wnWujPDhC0K95gC-Ls5L75RXTL9NV1-2vsTqxZ-pmkePNer59fHUbbysH-1tZFRr1Q7ik1hkb9Q_lOaafiX6YaffIaUr-XR601RQ3n1jINNIduvjPkKxa5Mo5ZXcFuR-3jIEYY0gZcrPCbqZCCwOJDh",
  "id": "rs_09b24b19cbfcd1fa016ab42b53f6dc87d09e71f3be9d4496d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"From above, the left fingertips are now over the cap end of the central bottle. I’ll descend vertically onto its narrow neck, avoiding another low sideways sweep.\"}",
  "call_id": "call_mpkx45gUz6gCFSG9AVpRjxCr",
  "id": "fc_09b24b19cbfcd1fa016ab42b57b8b887d0bf9db9584ee49033",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mpkx45gUz6gCFSG9AVpRjxCr",
  "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]: [-0.6033, 2.0842, 1.1229, 0.239, -0.5945, -0.448, 0.9956, -0.1516, 0.6792, 0.3519, -0.2897, -0.2134, -0.1699, 0.9955]\nstate[eef_state]: left_x=0.4712 left_y=-0.2001 left_z=0.0325 left_yaw=0.1122 left_pitch=-0.0194 left_roll=0.0217 left_gripper=0.9956 right_x=0.2671 right_y=0.0007 right_z=0.1156 right_yaw=0.1055 right_pitch=-0.0298 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -8.7043, 4.9026, 1.6093, -0.2369, -0.0855, 0.1245, -0.4308, -1.2239, 6.9675, 1.956, -0.149, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5357b7af7e675b834aa6c9d401561cc49d595e3a53a21eba755f163e3755036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba4702fa0300cd7ddc3204940c2b795c9f43b6ed6929ee8699af454594aebab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c24b10c3e191588a5d1d6ff3f9b283233bb4d1efbcf431c12a3ae610038384",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 5.225 s

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

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.683, 1.919, 0.9073, 0.3073, -0.6102, -0.4721, 0.9983, -0.1516, 0.73, 0.4374, -0.3279, -0.2108, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4189 left_y=-0.2057 left_z=0.0453 left_yaw=0.0571 left_pitch=0.001 left_roll=-0.0028 left_gripper=0.9983 right_x=0.2758 right_y=-0.0011 right_z=0.1338 right_yaw=0.1033 right_pitch=-0.0335 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.6222, 4.9299, 1.619, -0.3053, -0.0855, -0.0122, -0.253, -1.6615, 6.735, 1.9512, -0.1197, -0.0366, -0.0073]",
      "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]: [-0.5995, 1.9148, 1.2488, -0.0364, -0.5804, -0.4637, 0.9943, -0.152, 0.6926, 0.3752, -0.297, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4737 left_y=-0.202 left_z=0.1158 left_yaw=0.1134 left_pitch=-0.0103 left_roll=-0.0114 left_gripper=0.9943 right_x=0.2699 right_y=0.0001 right_z=0.1214 right_yaw=0.1051 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.7043, -10.5094, 9.2103, 1.5263, -0.1197, 0.3004, -0.1636, -0.4444, -1.0462, 6.9812, 1.9463, -0.1148, -0.0366, -0.0073]\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]: [-0.6033, 2.0842, 1.1229, 0.239, -0.5945, -0.448, 0.9956, -0.1516, 0.6792, 0.3519, -0.2897, -0.2134, -0.1699, 0.9955]\nstate[eef_state]: left_x=0.4712 left_y=-0.2001 left_z=0.0325 left_yaw=0.1122 left_pitch=-0.0194 left_roll=0.0217 left_gripper=0.9956 right_x=0.2671 right_y=0.0007 right_z=0.1156 right_yaw=0.1055 right_pitch=-0.0298 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -8.7043, 4.9026, 1.6093, -0.2369, -0.0855, 0.1245, -0.4308, -1.2239, 6.9675, 1.956, -0.149, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5357b7af7e675b834aa6c9d401561cc49d595e3a53a21eba755f163e3755036",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba4702fa0300cd7ddc3204940c2b795c9f43b6ed6929ee8699af454594aebab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c24b10c3e191588a5d1d6ff3f9b283233bb4d1efbcf431c12a3ae610038384",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtcUsweAQ1eHNujyYhu9zPyfTYuQ8dFG-9fcxldeM5_MLtf24-ddTlYZjVupqlxKHPV35aoBls0Q82RqZdy7zkcwa03nz-8JwbgBhqeZHqwz7c5P_Gcqf8UDy2aNSHYvmHWoUi5SxqiAXDUxbrkrV89bS_PSelH8MDglIMv6urpTmx5M5JpIS3jsgQsAB600Fs08FwQMXkSQBo7aiNhkj4EWmdR78ZQSP0HLoMBRIFDeBqEdLNZDhDiSW3suhF-Y0ZbV1E_1LyniwnCJ_dvg8wErtYcpgCb24FV_RsiLKoweP7LmHiY7e6q2qAkNZeOszmj5qrIzr42-9UCForW8X4GJ-iuQ2la2uApTZ3BDHnXfWT_AWRBQUhidwX4M5Q2ns_dZeYeNH5AGbKR9OnVjT9GwEdW_uVwEOklXsv653SaVuC41j2lDj8zFt761EBWtyS36JxlVpUG7PjHJAt3A15m8LNnsc_0W3kAb-DaA8TOXrK9sbr-IKpVqX1QqhHq8sFMblPu0pT7OrY-t6ivnRHCjaHgfrqXU5uJm1sQ26nwZ7C-KtegcUvCTZpJK6W0_lr54xNGynV3M1aAkj7eT4B_8j0pCzALutjen-GQuaY2hfL0NY3lqbWu-PvY7wz5VOo87_yrv4aUOkJQxb_PvHncJNPkU15P0FQiXr5xe6RI1x_DfPXBtSob9KZHFuGYTnVm68ocvnKlkFOqPOWVUQBHEOsHxDlGnahdGjsOWgknlbJNRIvU5Wf64T4zrXxZDg8aT5na4NRk4VMxFrDfYchP982jipTaGo-eC56BXzlCY66rJO60bWyTz2WWucQChJjD9vWiksPFzjAtoJGi_dQd6ND8AAtvor8Z7R7yUt03aAXcoAoNnnBTOLpGdtLfUxyfoWskCab83Nkeuff0ZpfNc1VMtnvs6LsAlVy6KXIC-AkgZpK-q86GThU_ncPg78zZb8MJZ5kJ1rLl5ff8mNNeDYyDmZYAA_U_YmOs_jkGdxpqKPjho-PLZ5D9XZuraKkchFk63A18VsAZIYMyrUsdQ4gmLn3txbISjjlhz8stcv8JJFCFAnaQYddHKxuwSvj_V4vuqHqhZBA8rmiRJaEM24yztodtcA7ZpesTdtFqvtti7VlTjNvRSM1S31vgxNsMB6qrY_UdNPLzHpmSfspflbfjKjs-FqpgyUbUFfRZx3RPZbXXwzhRSDo5RZ3G6KH1Uw6Sdpisitxtov-k0xbzc0Dm2lttuGT71VTsbNnSe8M4s2I_0LXATzzn0_CgM2idBJbOmqSz9XPyjX3CGdJWd6AraolqtqVqj1QeB0WEU33BrumapoZgHuFFJ6qDGE3cJyURRZmFqgyXFH3mL3eomNf2C8ja3XYq49c94BgwXdjzjHdbTPRpE6lu_ettglqAIZl5uaVYilUoKZpRS4myJT25JxrVqYUVkyyd-NlEqhkDJ9D_QBha47K8X2Lo6UCZTsk5mjGMYST9-fpCANC7mJ-Ig6sqLXbYb4Mh4tLn96yCYWhYyPOII3lEyJOMWsaC",
  "id": "rs_09b24b19cbfcd1fa016ab42b5aa7a487d094ee0f03eaf32ff7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws have descended around the bottle’s upper section, and the cap is centered in the wrist camera. I’ll close and use the gripper opening to check whether this is a real hold.\"}",
  "call_id": "call_QuZ869rYwELWUr0z9MP8MpCc",
  "id": "fc_09b24b19cbfcd1fa016ab42b5b793087d0be016cdfa60e7e09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QuZ869rYwELWUr0z9MP8MpCc",
  "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]: [-0.6022, 2.0682, 1.116, 0.3775, -0.6334, -0.4492, 0.0191, -0.1516, 0.6624, 0.3244, -0.2829, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.486 left_y=-0.2028 left_z=0.0639 left_yaw=0.1486 left_pitch=0.1061 left_roll=-0.0606 left_gripper=0.0191 right_x=0.2636 right_y=0.0012 right_z=0.1087 right_yaw=0.1055 right_pitch=-0.0335 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.5932, 4.5333, 0.7546, 0.2125, -0.0611, 0.9353, -0.5128, -1.0462, 6.9128, 1.9805, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ae2c7afad993a1b08282c9d9e696ff2de96e8927657fb382ad5ecb9001a761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f048926f07db1d81cfec5bb4aa6d351ffc5bae0257672ddce5558b58f43791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c615ed0122e744f857e91625bcc081b4599abe06996be67c530422fce6ebe7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 5.316 s

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

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6819, 1.9152, 0.9089, 0.3672, -0.6437, -0.4747, 0.0227, -0.152, 0.7124, 0.4061, -0.313, -0.2115, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4267 left_y=-0.2052 left_z=0.0597 left_yaw=0.0869 left_pitch=0.0628 left_roll=-0.0346 left_gripper=0.0227 right_x=0.2728 right_y=-0.0006 right_z=0.1271 right_yaw=0.1035 right_pitch=-0.0323 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -8.9915, 5.6684, 0.9255, 0.149, 0.0073, 1.1746, -0.3487, -1.4017, 6.8718, 1.917, -0.188, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6033, 2.0842, 1.1229, 0.239, -0.5945, -0.448, 0.9956, -0.1516, 0.6792, 0.3519, -0.2897, -0.2134, -0.1699, 0.9955]\nstate[eef_state]: left_x=0.4712 left_y=-0.2001 left_z=0.0325 left_yaw=0.1122 left_pitch=-0.0194 left_roll=0.0217 left_gripper=0.9956 right_x=0.2671 right_y=0.0007 right_z=0.1156 right_yaw=0.1055 right_pitch=-0.0298 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -8.7043, 4.9026, 1.6093, -0.2369, -0.0855, 0.1245, -0.4308, -1.2239, 6.9675, 1.956, -0.149, -0.0366, -0.0122]",
      "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]: [-0.6022, 2.0682, 1.116, 0.3775, -0.6334, -0.4492, 0.0191, -0.1516, 0.6624, 0.3244, -0.2829, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.486 left_y=-0.2028 left_z=0.0639 left_yaw=0.1486 left_pitch=0.1061 left_roll=-0.0606 left_gripper=0.0191 right_x=0.2636 right_y=0.0012 right_z=0.1087 right_yaw=0.1055 right_pitch=-0.0335 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.5932, 4.5333, 0.7546, 0.2125, -0.0611, 0.9353, -0.5128, -1.0462, 6.9128, 1.9805, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ae2c7afad993a1b08282c9d9e696ff2de96e8927657fb382ad5ecb9001a761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f048926f07db1d81cfec5bb4aa6d351ffc5bae0257672ddce5558b58f43791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c615ed0122e744f857e91625bcc081b4599abe06996be67c530422fce6ebe7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09b24b19cbfcd1fa016ab42b5e89d087d0b933f996fc2e1a25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The neck attempt was empty again; the far bottle is just beyond where the left gripper can descend effectively. I’ll switch to the displaced bottle whose cap is nearer the robot and approach it from above.\"}",
  "call_id": "call_QqZ5LBzKY2cgmDtqluWiwUe1",
  "id": "fc_09b24b19cbfcd1fa016ab42b6146a087d09cee69971802d287",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QqZ5LBzKY2cgmDtqluWiwUe1",
  "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]: [-0.9031, 1.8717, 1.153, -0.1707, -0.7959, -0.7403, 0.9947, -0.1516, 0.6403, 0.2943, -0.2684, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3769 left_y=-0.2684 left_z=0.0977 left_yaw=0.1122 left_pitch=-0.014 left_roll=-0.002 left_gripper=0.9947 right_x=0.2608 right_y=0.0016 right_z=0.1033 right_yaw=0.1055 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -12.0547, 6.1607, 1.1795, -0.5739, -0.0269, -0.1978, -0.5128, -0.6906, 7.0222, 1.9267, -0.1294, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d76c808151ecc8ec1d16c79d8ce4638a00487a44403dc4816a36e727ba9f4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8594fc8863c9acf01b028e2054dca85b775c43632bd74500c02784b54e52600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d2c819e7d7de68e15422b93b68286f84672e84e990dec005f0eac05c0a63b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 5.103 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]: [-0.5995, 1.9148, 1.2488, -0.0364, -0.5804, -0.4637, 0.9943, -0.152, 0.6926, 0.3752, -0.297, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4737 left_y=-0.202 left_z=0.1158 left_yaw=0.1134 left_pitch=-0.0103 left_roll=-0.0114 left_gripper=0.9943 right_x=0.2699 right_y=0.0001 right_z=0.1214 right_yaw=0.1051 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.7043, -10.5094, 9.2103, 1.5263, -0.1197, 0.3004, -0.1636, -0.4444, -1.0462, 6.9812, 1.9463, -0.1148, -0.0366, -0.0073]\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]: [-0.6022, 2.0682, 1.116, 0.3775, -0.6334, -0.4492, 0.0191, -0.1516, 0.6624, 0.3244, -0.2829, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.486 left_y=-0.2028 left_z=0.0639 left_yaw=0.1486 left_pitch=0.1061 left_roll=-0.0606 left_gripper=0.0191 right_x=0.2636 right_y=0.0012 right_z=0.1087 right_yaw=0.1055 right_pitch=-0.0335 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.5932, 4.5333, 0.7546, 0.2125, -0.0611, 0.9353, -0.5128, -1.0462, 6.9128, 1.9805, -0.1538, -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]: [-0.9031, 1.8717, 1.153, -0.1707, -0.7959, -0.7403, 0.9947, -0.1516, 0.6403, 0.2943, -0.2684, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3769 left_y=-0.2684 left_z=0.0977 left_yaw=0.1122 left_pitch=-0.014 left_roll=-0.002 left_gripper=0.9947 right_x=0.2608 right_y=0.0016 right_z=0.1033 right_yaw=0.1055 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -12.0547, 6.1607, 1.1795, -0.5739, -0.0269, -0.1978, -0.5128, -0.6906, 7.0222, 1.9267, -0.1294, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d76c808151ecc8ec1d16c79d8ce4638a00487a44403dc4816a36e727ba9f4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8594fc8863c9acf01b028e2054dca85b775c43632bd74500c02784b54e52600",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d2c819e7d7de68e15422b93b68286f84672e84e990dec005f0eac05c0a63b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_09b24b19cbfcd1fa016ab42b64688487d09890e9cb0abc354e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.23,\"left_z\":0.04},\"note\":\"The nearer bottle is clearly visible in the left wrist camera but sits left of the jaw column. I’ll center the jaws over its upper body and lower, leaving enough clearance to avoid sweeping it along the table.\"}",
  "call_id": "call_4cTde1qLgZjs4ynyRbG7OwlE",
  "id": "fc_09b24b19cbfcd1fa016ab42b67c0e087d0bb3a29144908ad7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4cTde1qLgZjs4ynyRbG7OwlE",
  "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]: [-0.7376, 2.006, 1.0603, 0.1097, -0.7174, -0.6102, 0.9961, -0.152, 0.6254, 0.2714, -0.2634, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2205 left_z=0.0372 left_yaw=0.1556 left_pitch=-0.0332 left_roll=0.0284 left_gripper=0.9961 right_x=0.2579 right_y=0.002 right_z=0.0975 right_yaw=0.1051 right_pitch=-0.0302 right_roll=0.0052 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -9.4564, 5.5043, 1.5409, -0.2808, 0.0904, 0.1392, -0.4581, -0.9094, 6.7897, 1.8974, -0.149, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a4849a5b934abbb533d960f908ea99155401d9509316b1375bca3c34be1c3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2df573f678af7c8ca726b1ea5cf884a0a1e6902281ece7be2ec5114991f626",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3509a8712b0d049f8745784ec1a9e079fd87682d5240bd5815c1bc811a177010",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.066 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]: [-0.6033, 2.0842, 1.1229, 0.239, -0.5945, -0.448, 0.9956, -0.1516, 0.6792, 0.3519, -0.2897, -0.2134, -0.1699, 0.9955]\nstate[eef_state]: left_x=0.4712 left_y=-0.2001 left_z=0.0325 left_yaw=0.1122 left_pitch=-0.0194 left_roll=0.0217 left_gripper=0.9956 right_x=0.2671 right_y=0.0007 right_z=0.1156 right_yaw=0.1055 right_pitch=-0.0298 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -8.7043, 4.9026, 1.6093, -0.2369, -0.0855, 0.1245, -0.4308, -1.2239, 6.9675, 1.956, -0.149, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9031, 1.8717, 1.153, -0.1707, -0.7959, -0.7403, 0.9947, -0.1516, 0.6403, 0.2943, -0.2684, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3769 left_y=-0.2684 left_z=0.0977 left_yaw=0.1122 left_pitch=-0.014 left_roll=-0.002 left_gripper=0.9947 right_x=0.2608 right_y=0.0016 right_z=0.1033 right_yaw=0.1055 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -12.0547, 6.1607, 1.1795, -0.5739, -0.0269, -0.1978, -0.5128, -0.6906, 7.0222, 1.9267, -0.1294, -0.0659, -0.0073]\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 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7376, 2.006, 1.0603, 0.1097, -0.7174, -0.6102, 0.9961, -0.152, 0.6254, 0.2714, -0.2634, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2205 left_z=0.0372 left_yaw=0.1556 left_pitch=-0.0332 left_roll=0.0284 left_gripper=0.9961 right_x=0.2579 right_y=0.002 right_z=0.0975 right_yaw=0.1051 right_pitch=-0.0302 right_roll=0.0052 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -9.4564, 5.5043, 1.5409, -0.2808, 0.0904, 0.1392, -0.4581, -0.9094, 6.7897, 1.8974, -0.149, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a4849a5b934abbb533d960f908ea99155401d9509316b1375bca3c34be1c3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2df573f678af7c8ca726b1ea5cf884a0a1e6902281ece7be2ec5114991f626",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3509a8712b0d049f8745784ec1a9e079fd87682d5240bd5815c1bc811a177010",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09b24b19cbfcd1fa016ab42b6a460887d0b40b09f393bcb7d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now low around the nearer bottle’s body, while the far bottle’s red cap remains farther ahead in the wrist view. I’ll close and check whether this time the nearby bottle is secured.\"}",
  "call_id": "call_ruxcXbZGWsLZ9RArdxx0egqR",
  "id": "fc_09b24b19cbfcd1fa016ab42b6d375887d0a50d36e91ca2ee80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ruxcXbZGWsLZ9RArdxx0egqR",
  "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]: [-0.7391, 2.022, 1.0252, 0.1944, -0.7189, -0.6052, 0.5338, -0.152, 0.6056, 0.244, -0.2527, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4205 left_y=-0.221 left_z=0.0306 left_yaw=0.1519 left_pitch=-0.0114 left_roll=0.0071 left_gripper=0.5338 right_x=0.2551 right_y=0.0025 right_z=0.092 right_yaw=0.1054 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -11.4393, 5.1077, 1.3895, -0.3785, -0.0073, 1.033, -0.5402, -0.4718, 6.8855, 1.9121, -0.1587, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fac741b1ee8e15e20be54df6796956740f62aa3bd111f38b1b971d3bc914b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8558c1cb775b03de9b45edbdd63b4cd8597f5804980dc9d020e3a27ed487df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534db92d3cdd9580483b1f20a9d054d877231889b0f20b4486d038c3e13c21cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.629 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]: [-0.6022, 2.0682, 1.116, 0.3775, -0.6334, -0.4492, 0.0191, -0.1516, 0.6624, 0.3244, -0.2829, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.486 left_y=-0.2028 left_z=0.0639 left_yaw=0.1486 left_pitch=0.1061 left_roll=-0.0606 left_gripper=0.0191 right_x=0.2636 right_y=0.0012 right_z=0.1087 right_yaw=0.1055 right_pitch=-0.0335 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -9.5932, 4.5333, 0.7546, 0.2125, -0.0611, 0.9353, -0.5128, -1.0462, 6.9128, 1.9805, -0.1538, -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]: [-0.7376, 2.006, 1.0603, 0.1097, -0.7174, -0.6102, 0.9961, -0.152, 0.6254, 0.2714, -0.2634, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2205 left_z=0.0372 left_yaw=0.1556 left_pitch=-0.0332 left_roll=0.0284 left_gripper=0.9961 right_x=0.2579 right_y=0.002 right_z=0.0975 right_yaw=0.1051 right_pitch=-0.0302 right_roll=0.0052 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -9.4564, 5.5043, 1.5409, -0.2808, 0.0904, 0.1392, -0.4581, -0.9094, 6.7897, 1.8974, -0.149, -0.022, -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]: [-0.7391, 2.022, 1.0252, 0.1944, -0.7189, -0.6052, 0.5338, -0.152, 0.6056, 0.244, -0.2527, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4205 left_y=-0.221 left_z=0.0306 left_yaw=0.1519 left_pitch=-0.0114 left_roll=0.0071 left_gripper=0.5338 right_x=0.2551 right_y=0.0025 right_z=0.092 right_yaw=0.1054 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -11.4393, 5.1077, 1.3895, -0.3785, -0.0073, 1.033, -0.5402, -0.4718, 6.8855, 1.9121, -0.1587, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fac741b1ee8e15e20be54df6796956740f62aa3bd111f38b1b971d3bc914b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8558c1cb775b03de9b45edbdd63b4cd8597f5804980dc9d020e3a27ed487df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534db92d3cdd9580483b1f20a9d054d877231889b0f20b4486d038c3e13c21cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCtyuZcOxMWsqj7yR-1HZZk2eGoU0j9dultIX45IRa0fs4SFBIaJRX_ImIFs1ezDEA4lskdHozRO56bWWH-3OvuSy3mPMHONryEXCAdvgSPmDpwDOVSMzDHi0Ri-adBUTpmo0HRh8nSnhjXriMRdp8NSetj0I0yISiOLzcNqe3n80gJSsYNr_BtaoNR7UywEjf1VjksKkbxs3fG-V7kSBI4Eu1UeyCWuP65TXio8cTWSZEg_i6YqV13oTlgwGswb7fdhasiHJL0LoKHoF0DtZ5y9JVpGNB_ihD4AV1Bgx3t8uOkW4UUZI2QLVqqaT3EJVZfZ_z7ddf_fOelAnW0SXIR7OGpYRvhX7GM7qU7GySvA0LrAN0XtuqPksUd_AyHAi1kZd4e-Cn8rS387crnZbE5O9WzVdNFEUPtDYe_EzAD9c1VtFbZiCXAf0JDlEDz314duogh6XO3oi30X4vHpu8O_9YiENP3O2_Jg1e7kBAlPBpFbyYUR7d1-zCbRfWDtKSZa9gGzbCPjtMAfjk8CurJakL4J0LynbhGCK8VS-0yGJN4ercyPYdBBVs5ZNyEG-A0LUCnyNIG_1shC4h1BKVieWWFeyQgGLH219psHY2v1ABHdWzCaW_k5NW4tk4a-kifBwVcFMy47JfGVvJe5Ls5v-73gITxneiGcSTOK9d7TcBmjRr8Rk7ToE4pHH4QiW1lTM_IdArzBoShHzDTcUvwtsO2Nu1gB0GtbwnJeihM-sCK3tUnbbRhea7_d42nySPwveqc4max8y0iGgdQrb35CcgOubNfx66MziNQpVZhHofZQT2XltQNNGLrlCbEHy2z1K2j6eR-CombM8Gyr45Hgmfrzofc43NFYw-SBFuI4iPqxwU2jkQ-0sNGU-xkK2voaDOU8p3xsVhb26GUocjb0O_ZNgjp9G7VMGoQon-Rnc2ItB9m8ip2mvNDby39Qstu5mejMNLOUrKGMsBkX-eG-qxiV60S7cOstXM7F_SizdAEnieRM7dPLi-E8Pn6s9ooh9fCmnt4DuWsKGAOp8ex2lT64D-t3GJRJX3Kd_9IQErMNEfkN9ewjIh9XYmuDqG0DgTRJFy7J_K9-n4GRiSLOTCeg6FbhVB8hht21yrHF06n-RolwNC4_lyrkjsF_H_q2DZ-KC1WjImgp1gVI-ajMTdo6djmSd1W1Yk3lOZ89sRATXs8vTAZn4HE4JGwTwG3due0EbZs7CQZB_bG4UKC9HtzrYF1e0Chc2gFwag__FQQqhMG_QYrqWWkGvJY_KV1gL0DgxZOItUXYmuAfvwxhQIpyNVLn05xl6iUSTffrtbbo5K8aTqcKnzwuN5BAnMSK",
  "id": "rs_09b24b19cbfcd1fa016ab42b70cd3c87d0a83b7113a0170c00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.23},\"note\":\"The left gripper is holding about five centimeters of bottle width, consistent with a secure body grasp. I’ll raise it well above the table and see whether the bottle rotates downward under its own weight.\"}",
  "call_id": "call_cV74FDcA0fIQFzKJietk0pn0",
  "id": "fc_09b24b19cbfcd1fa016ab42b71225c87d0ac7c0202772b8b2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cV74FDcA0fIQFzKJietk0pn0",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8829, 1.6455, 1.2709, -0.6445, -0.7265, -0.7544, 0.5338, -0.1516, 0.588, 0.223, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3446 left_y=-0.2289 left_z=0.1695 left_yaw=0.1055 left_pitch=-0.1314 left_roll=0.0654 left_gripper=0.5338 right_x=0.2531 right_y=0.0029 right_z=0.0882 right_yaw=0.1058 right_pitch=-0.0228 right_roll=0.0035 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -12.8479, 11.1521, 1.6044, -1.2625, 0.188, 1.0281, -0.5265, -0.1573, 6.6803, 1.8877, -0.1783, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000c62ece941389fb43bb9c3bc947517387cbb7817d6145b5322f6e3a9ecdfe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850d68e45f177be1041610a4b9e8e9c1f4fa28a1e37d8826604050fa6f1cac36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7840f9523892a371aeb3da58305c7cca9cf3bf920bcc9dc927f16fe24c9be4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 4.858 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]: [-0.9031, 1.8717, 1.153, -0.1707, -0.7959, -0.7403, 0.9947, -0.1516, 0.6403, 0.2943, -0.2684, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3769 left_y=-0.2684 left_z=0.0977 left_yaw=0.1122 left_pitch=-0.014 left_roll=-0.002 left_gripper=0.9947 right_x=0.2608 right_y=0.0016 right_z=0.1033 right_yaw=0.1055 right_pitch=-0.0272 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -12.0547, 6.1607, 1.1795, -0.5739, -0.0269, -0.1978, -0.5128, -0.6906, 7.0222, 1.9267, -0.1294, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7391, 2.022, 1.0252, 0.1944, -0.7189, -0.6052, 0.5338, -0.152, 0.6056, 0.244, -0.2527, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4205 left_y=-0.221 left_z=0.0306 left_yaw=0.1519 left_pitch=-0.0114 left_roll=0.0071 left_gripper=0.5338 right_x=0.2551 right_y=0.0025 right_z=0.092 right_yaw=0.1054 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -11.4393, 5.1077, 1.3895, -0.3785, -0.0073, 1.033, -0.5402, -0.4718, 6.8855, 1.9121, -0.1587, -0.0611, -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]: [-0.8829, 1.6455, 1.2709, -0.6445, -0.7265, -0.7544, 0.5338, -0.1516, 0.588, 0.223, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3446 left_y=-0.2289 left_z=0.1695 left_yaw=0.1055 left_pitch=-0.1314 left_roll=0.0654 left_gripper=0.5338 right_x=0.2531 right_y=0.0029 right_z=0.0882 right_yaw=0.1058 right_pitch=-0.0228 right_roll=0.0035 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -12.8479, 11.1521, 1.6044, -1.2625, 0.188, 1.0281, -0.5265, -0.1573, 6.6803, 1.8877, -0.1783, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000c62ece941389fb43bb9c3bc947517387cbb7817d6145b5322f6e3a9ecdfe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850d68e45f177be1041610a4b9e8e9c1f4fa28a1e37d8826604050fa6f1cac36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7840f9523892a371aeb3da58305c7cca9cf3bf920bcc9dc927f16fe24c9be4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt4R49RUmj-pkn808KFc7e1U50aj9zzmb2RQQq2IhTZM3n0brnTWasskmSSy-Z9fiOwTEbM4rF5rTeDg3OHiU1um2zoOEEQvL7OFTfwpELB3kQEzB2UyacUh-b3le_to6CTXGHl-9WYjxCfE2d0bd3Ts4LxE5aXFnAT75AMoIsvIw9FFAliBbO3tA1zGpFX92T-_9uYEvhWIeNImX79FCiFupiqqq9KhbMHD7jokoXWy32iCGIY__U8zlsW4DYasF8FRech5RDQ_O5cn7hpCmc0byKW1HP5rjXOGbbZsrpggwm1Cjs0Bk0lj8dLGiEWVCMIbHd3U185aUQKtklGnJmMKGhtEF6PdRX7YGTJhvvcBPApSwaeQpVBCToQSXxBHIal6UeCCELQx4DY8SRWMscKN0M68-HgZmc4kl-HNfhy3E6TkP0L-adHxREg_ArbMsOs3rCjJks44ctDmOGq3-CY4b13f9naKYMMukAOY27yGdfOvC_lQiwmcVeG5-cJy0Ccw2FvfCk5hB7L74fjodiddhzbxWjEYJd9NCgX0cHG0QST_lNNbniWwqaak0xDnaUqwkl1ymrF30b1FlMEzPNN68FPDMCKjiVLK7YRey1xDB7piQgjg0TG4qfjiJY4anHYcJqFaO435ggM-2GwkjPIVRZoYP0R55zIT-iUV3FqsdWsotjHoeIkyTbA1qZ-Syz5xpu4S-91XweyO30i84CUiK75f5ArJg7VoJRZ2gEcZhfHsogUkNZd_gn78TQRQ6iVzj6InBQBWZZqxtVYZNAXUs6PH7r9XwEOF0xTfDEuB09cSaRhNgpChhurCPRPGDPH28QFT9jR3euCyDM05EdJMlI-8e7GCWeqaDvFV7GKTd7tN_EyCTdylaeEuTp1Wand85ccAVsgTCkhqqlj8TFpZymC8cvZCNUiRIM_tU63Ow0zSJxEZC03r8paJdJGk3MwvWraBkfjEvpeykzcipqXvidx1OmVecYTuYhpJpovBTZD46EM4WSsuSxfAwXXgb8Dtfo3vB2M62UbtuUOCgF-w8pCa6tL2-778VJtBsIoZxd7d6KAlFL77IBzYij6r4oHEVC6wYiVTDkRgDgc-Hhi_GRAgkIHFH3-wh8pkPBAEZ579iRMd-fm8mhIi-XWF6Ev3uNPN5qTexuLL72UdhTn2k4PgrscvWtMjEDifIYt46lcQoc8MoK3xD86LoetvlF_P-f-q68_-k0V4pjC-FYIUO-xf2H4hE0aFPq20bIXQfEiskf-zQPON3X78KDa2EaqNRxGcnmxsoCpiSpJog717yIwp-kQIQUzMVb-4KwLWd15eSqpQwetqF0zqXepZ0Oat3c5gF6a4mgr9BkUZFVUH24muYDooZfy_q4PlOdN1UkfuvbvA8s-ZOPSTnmYROWP62D94Q5xNmWrb4b1dKyp60c1lHmY9JK6IRF-l2Pv0fWMOyQLTsVO43RKDhb4sshn7aPuX_rMMKriFdKI-Ki7KdSFlm0wzs_JdRPqjMeBCgGiwePRbt9pMtDBSQRnEbCXWMqQrSWUu0y-Mg3Qi8SY1ngD4uv4NDp9BrTN5GMJmJIuHOdz0K7W1fZ5fJugwvGsb-qKZ4DngDa9KukKFYs7h3Q5rWmajAZC08ZBwK0UkP-_QRRx7CiUORvglLrnYUM9XRjJwgjlSflb7QwaMfWZ5T1f7w5S9T0dpmFlJUgaTjwdEtzdUPa86itGrL8vSSaX9k4JPyzbqxdQvS-gJoQ5hXqZBtHkSKn8KYwi49AAkA1ZvhvK6jewRP2iChABbp5Y3YhMzje-WryE9kNMWmL3MBoix9SjhcYKOjlIx2aiHw156eRBXP-ym-Un0uOfK3Awyy5bPWajC0WL57YirlBOJxUG-IfberAkIVpe4ZplYYy1nx5JerGUbAbOfZTbn6jR2pJOn2wjN33JETzHgAF04tbpprbPIqxy8QRecolonETZlw53rwWn4rH0QIUEevsHheJZny7d45LFmIyDT581ji1hZGlXdjBnBiRYWmNDo9wFswOfqcmOuw7Eu_l4-B7xrlS0J7wB-HKzw8AWegMBovtMTwxXyIyGbDp9SxWPJ5CKAstFAoXnqWcknNOF8qlP9jAX3KdVU3dfIZY-Aw4qUdTiaWviEk-LOIBLBQqLiK_LeZ7R9mKfbO8LSeQ5uOjH7tWbfEDDSohGkdmIOpQlGA0soILIKWBdYD-FFJbd8CsqypXPe1YW7T_2v4Hq0KNXrbgTzVQUgjY7-fpcqacx-VE5QYe-jrbJw9sGDwPr27Oq95cIs2__xGQoN1CEwXuHGIDsJ97uBHamjNrOJY3z3ZoGmlafCK3R8RdEEnO_Ye1RpMPaTsfWCiDEOJOeyWlhLHXpnM2Y6tGAPDEYnahwqS2_uBtAXRVrwOdmQcjYj6ZB7KGXcPe0tcT6iFtMcXVSBM2AJBSH9uWoOVNkyAvKLe00e8VcajfT4LMDbDkz7CzfZ5F85P2BPVg7NrzG9dulcC6R8-n3m3J2YLr8oL_N-T2cv3T3f4z7-mUdNZgi-c8tELl-otib7VXR9UGLAbc711oMWYThrpFIy5ioHKkMkSuszRL19GeloBQ9G9quwj8K3zLBVmw0vZMYwh93enMO3kadP1WWRDpRxwVLn472ckgh5VzP55F6JTPZZafP1CPRq0W9gW44cUcojZI7CID186y_rDmq814vET_Qv_2f18T6w76inYCik3Qcc-nZPO0odAr1VPW2y2aJ7g8TQRdWI6W3AG0trDSjz_bNyQsqlkyv6rGHQV2QeMQwGOjtsZ0mV5vmhrD3pitsCvxXDRBQU0WLOIc1MTk2nsTpinZN9ktEoBasB14jTasYDegZb1h0ZkHb1fKsqTYq7FBlTPMeKs4GgcqQipxI_4S8nbEvdJwZq1K5kxTUcSR62m-riDMAQuGlZH_MUuUKwCFKAFvvNaZvPrVqpl-fInWkwJOKom9RVooxFrUExTBOlL-4H_YY5y9KZnPR_Cw41pRd72HAm52GUFlzfK126f9kYqkr0wGQoLXlUuxTnv7naddxEJQ=",
  "id": "rs_09b24b19cbfcd1fa016ab42b74f24087d0b5bd44ae1fca83ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The lifted bottle is hanging below the left gripper with its cap high and its base pointing toward the tabletop. I’ll lower it carefully until the base touches, then release it if it can stand.\"}",
  "call_id": "call_AduPKhZ6X4ZTQjJidp2WEUMT",
  "id": "fc_09b24b19cbfcd1fa016ab42b78199087d085b15284d7f44727",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AduPKhZ6X4ZTQjJidp2WEUMT",
  "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]: [-0.9092, 1.6718, 0.9482, -0.3683, -0.7277, -0.7349, 0.5341, -0.1516, 0.5735, 0.2054, -0.2443, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3185 left_y=-0.212 left_z=0.0783 left_yaw=0.0787 left_pitch=-0.1718 left_roll=0.1424 left_gripper=0.5341 right_x=0.2505 right_y=0.0032 right_z=0.0837 right_yaw=0.1055 right_pitch=-0.0254 right_roll=0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.2222, 9.1829, 2.3175, -1.3944, 0.0269, 1.0281, -0.5402, -0.335, 6.8581, 1.8681, -0.149, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7132e08d6df738759e83104e684df77d3f9bb4442d89cd1b25d6240f8f7d143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ea93b665778e1f5a8de6c879924216c7793828f8b19c5e16ed80b9db6e92dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3b2cdc10d5c6df1d6b83ce0683ff0fbfb1aade8f11e491522004fc1ced6ce3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.831 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]: [-0.7376, 2.006, 1.0603, 0.1097, -0.7174, -0.6102, 0.9961, -0.152, 0.6254, 0.2714, -0.2634, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2205 left_z=0.0372 left_yaw=0.1556 left_pitch=-0.0332 left_roll=0.0284 left_gripper=0.9961 right_x=0.2579 right_y=0.002 right_z=0.0975 right_yaw=0.1051 right_pitch=-0.0302 right_roll=0.0052 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -9.4564, 5.5043, 1.5409, -0.2808, 0.0904, 0.1392, -0.4581, -0.9094, 6.7897, 1.8974, -0.149, -0.022, -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]: [-0.8829, 1.6455, 1.2709, -0.6445, -0.7265, -0.7544, 0.5338, -0.1516, 0.588, 0.223, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3446 left_y=-0.2289 left_z=0.1695 left_yaw=0.1055 left_pitch=-0.1314 left_roll=0.0654 left_gripper=0.5338 right_x=0.2531 right_y=0.0029 right_z=0.0882 right_yaw=0.1058 right_pitch=-0.0228 right_roll=0.0035 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -12.8479, 11.1521, 1.6044, -1.2625, 0.188, 1.0281, -0.5265, -0.1573, 6.6803, 1.8877, -0.1783, -0.0611, -0.0073]\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 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9092, 1.6718, 0.9482, -0.3683, -0.7277, -0.7349, 0.5341, -0.1516, 0.5735, 0.2054, -0.2443, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3185 left_y=-0.212 left_z=0.0783 left_yaw=0.0787 left_pitch=-0.1718 left_roll=0.1424 left_gripper=0.5341 right_x=0.2505 right_y=0.0032 right_z=0.0837 right_yaw=0.1055 right_pitch=-0.0254 right_roll=0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.2222, 9.1829, 2.3175, -1.3944, 0.0269, 1.0281, -0.5402, -0.335, 6.8581, 1.8681, -0.149, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7132e08d6df738759e83104e684df77d3f9bb4442d89cd1b25d6240f8f7d143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ea93b665778e1f5a8de6c879924216c7793828f8b19c5e16ed80b9db6e92dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3b2cdc10d5c6df1d6b83ce0683ff0fbfb1aade8f11e491522004fc1ced6ce3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCt-QAgDQP0LEsFr7acLZDXI0QSyOmCKJqm24eErXnhS0zGW1gOPuj21_Qyx_9NtBz2RSGfwiSj0BSNPUD-vT66D4KD0xBSahL-EvgB3h5fQWBe_lWAHPuKyJ8pGSWkmPeiQMuGUffbCELB3hN_kb3kjJbk7Ct0sc6A3XYwfp9pqeWuGtVPedwKOxODzZE-o6bkAhuaxETtP0C3eMZo5cHqxZoFyAqCUTFQzKqJ8MoQOUhyIv8bSodlZ7tjBIrFfukGVrF1XNPVMdSaej3V0eCYP8rW20POsz5w329ijD6cGblEfpPj_xy6wXTW2Qu4OTXusXLQLrZr0-m6GkjtApW6TF8EfLKghtiEs3Sp9QljF-5MUJOb9ipXWm5Rtz2GLAT30UEaPZmqh4J7zpo_Qw5u1ilfIcEVUzhpovWcfy02k1neuCgAdDExQygrDiQ-KzOtl8JWXNVBP7O3wnDEqW9uE_4R8uWgbCO7hr_JdDtxBAUNf1p6GOU43ufPWzNQvg8EXr65PjcKOwbEcnsd1pZdiUQQSvmTU8nI376-F5QdhhC9WBANBHrtYPGwnjrFjP0oUY5jlls9AVxw06Rgt_ENa8lHUEpJD92phDqMRcDoMTmwUHZaZN0INa_dnxDSfyjYC7QH__CVI3CDDwWX_Idq-zuiVFYd1Pd3clr9mmeGZgKhTv1I8EI5HOiICDFyP0w1S9kxxP7dIu2BGy4bvUU1HPMiys2xZjExUE8qpE52DnfHthm3X3q0Jr3K4fb7BjpV-3zHXLO0ufSKAyQlas-Our4FGH5nJc9pIpIVKcwWK3ghueVG3vsHLfZJ41yk1kRS90y119fTyBUf3qqVPIC-cVo22ieD-gqmkdP2jLG5fmDxAtjJ26d6cdAXUXnaw75nxnA15oRs6yLckJx8VTEpnKkMP9iv_cir8B7Pi7SAkpVSE3V8lFiGXMzuu_ramveZzXKPJagLNjUa5qASToe19ZSHBkirA1yNOTVnVP0gfhM3Rwdg1SebL0jWES7MXgi3qofXlGh07Du9aruieRjg2uZtw32zFBIqPzIGHbCdJYV5uPV-cW6T-z41090lfDeiH8tfFQmXXBQsBqn8Gc0FKdh7htJ1typnR7UgKlrpAbqzto2fGlnu3NDkJvSwJFKNDyL2HOXKiFitkgnDMCSBK65dm1uV2x5loK3MAVblV3kX5R7_B8pCiv834EXg8qvNIJJfb5-cOlhIdl6deOkM-fM1LAVJrITE8GcdjHuiFNaDZruya2YwSxdP3x5-d88Eo6sb6RTftDAUHUt_kPEVVm2QfJz0xas2RPej1mWqkOCeH4ulHGOK9Yitbe3Z0r5ue29CIS5oH1u_wtMNtlPXnarsGD8Dshu_TCe2uqRKYzQ9NDtYQCplqgnsTrNzk3A_vv74Xu3LohmuwdS38iYisFejeLx4W1OOYYVdvkmuf_Gs6pCdiGkpOUih7QPX5L5uHVS9v1n77UqmzQTvmnnqz9axEErUC_uIdURSsUOQILDghkX48QNlI0LAVX6d_Z-TAvb3pnfvppCNmpsiVmWoOho5Nc4XybPCzCfzgjGIHk0Mnw65IL0IurKeBvYINrqxVxh8Nop5klxqIjK_J9mm1lINI1gTD3jPzc48ABWwEFbZEwn4lIBQCWmzjhLRN0BgSgKm22YtExQYBmY2uXDGBH14XyXtlms3BhDZkzZSiPgPn6B9f5stat90jRM9_KsVXWUblg36nnEZgn2HlcGjcS_rm0mtdoS1CWCK5j9isU3sWmSstI7c7oMuXxdBTfOMs0zAFiTz_R9IiHYKcArOQPxXRvT6s-IDr7Xud4MN_pYJKeyxK_m5stv_ZnTLXkOhu_aQd0FhiV4301VRZ1oGu7C-3T9WykGCFrR_fQUQ4lPn0OxQzICiMKKi7YTP1CBVxK3Dczih0kks-0GLV5L1JCjjGUTGR2qbxCr0V_h-m65_BmFJiocQn_yGRzf88UGLNv6nZF9TQhvLbwDDWKXt7_RfZvD_ZruNrYoe7sYuXeHTTXfEFPAFVBY504qpy6-Pzh6gtEausZHw2kQZSvUCply-0KSnisYhFDBfnN6YSpBuK_Ox5_Ty4RAZL6DEIU1Ldj7gnWPDMLmheNJiFcH0s4VVe57SC2xl_MDldRP5hxxpZfrJgFi8Jrzie8ncXLFYrXAIM7E8kX5oHs3g3Q4uJxg_6s0nPICaCbFz-v5wO6y4aNPXV9FMYyaVI-qAV5re6AWizUv_zXExBXb7EP7V5LJlUOGz-JPK4kc3zc0vP7s69r07IxlCbDZaILz4oYAAAEPk-F3gaGmv1BJqNgWl3kSwmOqkMopO_jF645c1gjFKmhQI9A1Jy-xIMt9orJ-f6ifLfhPf6TJJuclcWnV46XSjS-p7o25xACvYbe_OLxK4Zr6jLUgK4U1pNylU48tMeWNMm-d5oKIrJv7LV8cRZsVC7Uf3C2NXXn_I0lku_jjmzBGJonzWdnan_mQPFYk3H0qb5sB0fllYQeGuYCN77oCGDUb1HGPXh_dkEtkkJ5MQQv-dkoONkvsqiiNpB5kMsdF4ulyAOwkbC9vw3PQVCInrOFc8shOlx5-juJzKQ48mlO2LT-UsaO4TwOx2Fy8sBDpO6kjemX6uiQyfYqHsCID0fajrnVYkS9l0J5K4rU-i-1ITWdK778rLfRourCBXS9AeJu5CHbyViGlNNmiT-mA2YmKBeNotXhiVjqUZWvHvExPR7QELshESqLg6dKqwx9xrI3G5Po3Y58WD84UEx-hAAGkp0MCRQ2yH6D6e4ze1z5qzUgdNcxjJdUnA0tSUnqEpYRQc_oxvAzsy4slsCkwWM6WCSRjWH-g0DLwGGhshSc2l6euSUbfe0j5zkaY6rnB2OYdCs7t6yg6ibb0S0ug==",
  "id": "rs_09b24b19cbfcd1fa016ab42b7a627087d0b72feb35d45c7133",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_z\":0.14},\"note\":\"The bottle is still lying lengthwise despite the lift, so the current grip is too far down its body. I’ll pull it nearer the robot, set it down, and make a new attempt at the cap end.\"}",
  "call_id": "call_S8mM25C19FhtXpBHMIKvTEo8",
  "id": "fc_09b24b19cbfcd1fa016ab42b7d83d087d0ab8e99b2a1557439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S8mM25C19FhtXpBHMIKvTEo8",
  "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]: [-1.1606, 1.4448, 0.7856, -0.5129, -0.8165, -0.9722, 0.5352, -0.1516, 0.5541, 0.1829, -0.2436, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.2375 left_y=-0.2144 left_z=0.0954 left_yaw=0.0081 left_pitch=-0.1244 left_roll=0.0699 left_gripper=0.5352 right_x=0.2474 right_y=0.0037 right_z=0.0781 right_yaw=0.1058 right_pitch=-0.0276 right_roll=0.0047 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -8.3487, 10.5915, 1.2674, -1.3407, -0.1538, 0.5446, -0.2667, 0.253, 6.9128, 1.9951, -0.1636, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6fe6c2147134138d42e9ef62d74808c29f748e7a93dcd4b2bb54c6476fcfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76776ddaf674c6af88eb1bb6342ec8b66fbe8e673ac000922296195608dbb86e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a732f66a28de04e981041f38c017fe335f56f20157bc2b5d1e48633be3385ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.842 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]: [-0.7391, 2.022, 1.0252, 0.1944, -0.7189, -0.6052, 0.5338, -0.152, 0.6056, 0.244, -0.2527, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4205 left_y=-0.221 left_z=0.0306 left_yaw=0.1519 left_pitch=-0.0114 left_roll=0.0071 left_gripper=0.5338 right_x=0.2551 right_y=0.0025 right_z=0.092 right_yaw=0.1054 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -11.4393, 5.1077, 1.3895, -0.3785, -0.0073, 1.033, -0.5402, -0.4718, 6.8855, 1.9121, -0.1587, -0.0611, -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]: [-0.9092, 1.6718, 0.9482, -0.3683, -0.7277, -0.7349, 0.5341, -0.1516, 0.5735, 0.2054, -0.2443, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3185 left_y=-0.212 left_z=0.0783 left_yaw=0.0787 left_pitch=-0.1718 left_roll=0.1424 left_gripper=0.5341 right_x=0.2505 right_y=0.0032 right_z=0.0837 right_yaw=0.1055 right_pitch=-0.0254 right_roll=0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.2222, 9.1829, 2.3175, -1.3944, 0.0269, 1.0281, -0.5402, -0.335, 6.8581, 1.8681, -0.149, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1606, 1.4448, 0.7856, -0.5129, -0.8165, -0.9722, 0.5352, -0.1516, 0.5541, 0.1829, -0.2436, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.2375 left_y=-0.2144 left_z=0.0954 left_yaw=0.0081 left_pitch=-0.1244 left_roll=0.0699 left_gripper=0.5352 right_x=0.2474 right_y=0.0037 right_z=0.0781 right_yaw=0.1058 right_pitch=-0.0276 right_roll=0.0047 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -8.3487, 10.5915, 1.2674, -1.3407, -0.1538, 0.5446, -0.2667, 0.253, 6.9128, 1.9951, -0.1636, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6fe6c2147134138d42e9ef62d74808c29f748e7a93dcd4b2bb54c6476fcfa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76776ddaf674c6af88eb1bb6342ec8b66fbe8e673ac000922296195608dbb86e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a732f66a28de04e981041f38c017fe335f56f20157bc2b5d1e48633be3385ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_09b24b19cbfcd1fa016ab42b8021b487d0a36301f9a983949f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bottle’s cap is now noticeably nearer and within the left arm’s low reach. I’ll release this body grip so it settles, then target its neck directly.\"}",
  "call_id": "call_9r1LHO91GnWvbMyc5rKM5bst",
  "id": "fc_09b24b19cbfcd1fa016ab42b81cf8087d0a9da05039a1faf2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9r1LHO91GnWvbMyc5rKM5bst",
  "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]: [-1.1973, 1.4193, 0.6613, -0.3428, -0.8917, -0.9913, 0.995, -0.152, 0.5316, 0.1596, -0.244, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.234 left_y=-0.2104 left_z=0.0869 left_yaw=0.0101 left_pitch=-0.034 left_roll=0.0137 left_gripper=0.995 right_x=0.2442 right_y=0.0041 right_z=0.0726 right_yaw=0.1051 right_pitch=-0.0287 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -5.2171, 6.2427, 1.1648, -0.6569, 0.1441, -0.0904, -0.4581, -0.1026, 6.8581, 1.9805, -0.1001, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8af68cf2a68841746312cba511b4836a55e93b957b3afcf981539b9366b383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fc29443d4b13123b61baa170075f6eacdaddfefd80431b90606d3758135ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff1270308b75767b8b325da8ab3b665d56e4bf9e41203602735493488dcb0bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.478 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]: [-0.8829, 1.6455, 1.2709, -0.6445, -0.7265, -0.7544, 0.5338, -0.1516, 0.588, 0.223, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3446 left_y=-0.2289 left_z=0.1695 left_yaw=0.1055 left_pitch=-0.1314 left_roll=0.0654 left_gripper=0.5338 right_x=0.2531 right_y=0.0029 right_z=0.0882 right_yaw=0.1058 right_pitch=-0.0228 right_roll=0.0035 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -12.8479, 11.1521, 1.6044, -1.2625, 0.188, 1.0281, -0.5265, -0.1573, 6.6803, 1.8877, -0.1783, -0.0611, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-1.1606, 1.4448, 0.7856, -0.5129, -0.8165, -0.9722, 0.5352, -0.1516, 0.5541, 0.1829, -0.2436, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.2375 left_y=-0.2144 left_z=0.0954 left_yaw=0.0081 left_pitch=-0.1244 left_roll=0.0699 left_gripper=0.5352 right_x=0.2474 right_y=0.0037 right_z=0.0781 right_yaw=0.1058 right_pitch=-0.0276 right_roll=0.0047 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -8.3487, 10.5915, 1.2674, -1.3407, -0.1538, 0.5446, -0.2667, 0.253, 6.9128, 1.9951, -0.1636, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1973, 1.4193, 0.6613, -0.3428, -0.8917, -0.9913, 0.995, -0.152, 0.5316, 0.1596, -0.244, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.234 left_y=-0.2104 left_z=0.0869 left_yaw=0.0101 left_pitch=-0.034 left_roll=0.0137 left_gripper=0.995 right_x=0.2442 right_y=0.0041 right_z=0.0726 right_yaw=0.1051 right_pitch=-0.0287 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -5.2171, 6.2427, 1.1648, -0.6569, 0.1441, -0.0904, -0.4581, -0.1026, 6.8581, 1.9805, -0.1001, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8af68cf2a68841746312cba511b4836a55e93b957b3afcf981539b9366b383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fc29443d4b13123b61baa170075f6eacdaddfefd80431b90606d3758135ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff1270308b75767b8b325da8ab3b665d56e4bf9e41203602735493488dcb0bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_09b24b19cbfcd1fa016ab42b84109c87d0b6fd6e56df0ec881",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.175,\"left_z\":0.1},\"note\":\"The released bottle has settled with its cap around the center-left of the table. I’ll approach that nearer cap from above, keeping the fingers clear of the adjacent bottle.\"}",
  "call_id": "call_okl8JjhkWF9zb4q7BIFf1rYc",
  "id": "fc_09b24b19cbfcd1fa016ab42b860a5c87d0af5c83de5ac0cb19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_okl8JjhkWF9zb4q7BIFf1rYc",
  "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]: [-0.8074, 1.4349, 0.6132, 0.0116, -0.6975, -0.5934, 0.9962, -0.1516, 0.5072, 0.1371, -0.2443, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3174 left_y=-0.1624 left_z=0.0863 left_yaw=0.0625 left_pitch=-0.0282 left_roll=0.0131 left_gripper=0.9962 right_x=0.2413 right_y=0.0047 right_z=0.0678 right_yaw=0.1058 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -4.8615, 9.0051, 1.5458, -0.2466, 0.2759, 0.1148, -0.3077, -0.1983, 6.7214, 1.9121, -0.1148, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66ce8a7c56bf9348c35817980aba6ab38e914e0619e9118cfb9ad99a07516e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb582a0bf041b4ba5de2cd1314d7cbf829f9c043274982f445857920bbfbcd63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35f9c845586590fa14994977539b542606e18436406467561a7203a0d553def",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 5.98 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]: [-0.9092, 1.6718, 0.9482, -0.3683, -0.7277, -0.7349, 0.5341, -0.1516, 0.5735, 0.2054, -0.2443, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3185 left_y=-0.212 left_z=0.0783 left_yaw=0.0787 left_pitch=-0.1718 left_roll=0.1424 left_gripper=0.5341 right_x=0.2505 right_y=0.0032 right_z=0.0837 right_yaw=0.1055 right_pitch=-0.0254 right_roll=0.0039 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.2222, 9.1829, 2.3175, -1.3944, 0.0269, 1.0281, -0.5402, -0.335, 6.8581, 1.8681, -0.149, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1973, 1.4193, 0.6613, -0.3428, -0.8917, -0.9913, 0.995, -0.152, 0.5316, 0.1596, -0.244, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.234 left_y=-0.2104 left_z=0.0869 left_yaw=0.0101 left_pitch=-0.034 left_roll=0.0137 left_gripper=0.995 right_x=0.2442 right_y=0.0041 right_z=0.0726 right_yaw=0.1051 right_pitch=-0.0287 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -5.2171, 6.2427, 1.1648, -0.6569, 0.1441, -0.0904, -0.4581, -0.1026, 6.8581, 1.9805, -0.1001, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8074, 1.4349, 0.6132, 0.0116, -0.6975, -0.5934, 0.9962, -0.1516, 0.5072, 0.1371, -0.2443, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3174 left_y=-0.1624 left_z=0.0863 left_yaw=0.0625 left_pitch=-0.0282 left_roll=0.0131 left_gripper=0.9962 right_x=0.2413 right_y=0.0047 right_z=0.0678 right_yaw=0.1058 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -4.8615, 9.0051, 1.5458, -0.2466, 0.2759, 0.1148, -0.3077, -0.1983, 6.7214, 1.9121, -0.1148, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66ce8a7c56bf9348c35817980aba6ab38e914e0619e9118cfb9ad99a07516e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb582a0bf041b4ba5de2cd1314d7cbf829f9c043274982f445857920bbfbcd63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35f9c845586590fa14994977539b542606e18436406467561a7203a0d553def",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuNDA-esHSvSOk9RmtgsvRF9ZFbF5bmTDZacMTLCb-nRWutSOA0QMt-c3z0lgYn5Fwfrw-EViYtpUSskJKMpI5nTXDZPKRVqaCTWetlx0eWqsu76tkKCXm4c9E7faX7l81LLWzPPz7eeB3LUuJijQWWNNx3-0QHSmsG7P9eQ_hxhOtfZiCsbt5fcY8FmwKpTRczaw8jHEgCQlNs4KOhXTKbZ8XZTTIAcyJ8eyEEqnLQIxnGJgAmd0xc040UWzKTgd8jq-kvGbD_kqfYwzTLkH4hwAOqMk1RGYvXspF3sp7TouGlrtihD7roD2KuvrbtWICs_oMOXA25VFjUF_LTo-NawRmEDe8M1SEOPaH_BnZUlMdWZEgPggTDKdvPg33kn6w2iptBW8cMtoaAW93n2LEfohruSrEGOhlTijgtctjPR4chJchMuYbN3iepmE_RI9eHr4LdV-z3zM8-6AtfbyaZ5YYQWdt6v1R3dkSglhuC8A46bLm611NH8W_p2dg58gL2DtxMRRy4szh4CA-e3gnN-PRAa8-5k9r41SIkNVyPpDh1-EDuPzgPgxTNj_B6rt4hA_l_rn6q6SMe9Dyuh1YEcI-DCvMCu-ZAaBP_ctuNaUTAwmExvyU4_WFiJiMhWWAZnSsy7Xui1M1zZdDuYo_FnWb6TEDR4XBqh5Pt_59maIM2Y81wTKRv7z35KY8ICX0ExkpSURHnSt2G-3zpK8fYZ297ajeBc-ezNOYMZutmVkCSlpnQiGen99jNf8GFe9Z0eJIk5TnDiENBEZo1Zm_SsL5ejkqvVNAamNeqn9tPtohVA1JTZbvh9nqIRMOeCga6Z2XEDnH3swaQiFp_lsOiCraAp8_B-q2SVLKnQUCedRznAoBzVq0-PgQ5od-8kA5iTINKu8T3EZUzrBr_oZlHAJmCndl1HcN7DD1A8K4KOiqLEAlYMcQCbmc86YLkoKC8CDOlGh5yeQIRt6wlKgxbwwtxajUu8XHDHDxEmWBytqz8hY6b9zzQI1EQpAWZifuu3i-H3vu54LrKwtE-jV61SH3x1prYGICl7amci2h6wMWOJdYyUYLWJx8Yw1NOAOZ_DFpGDwLOsKAvJuga-urKcls1SDEZJPsyytWrb42313oQ_hPb9TKKV5HiH_pnqlQ6iw7Z2LxaTEaEbVw_my1IRreincWeCOSQgU0CnclPEHOasuY4Mv2zb8nYuMV4iX14B2vrirUcrcQJzN4WafgRYLB0H2X0Fk2GkL1d3C3hIYAxEGCTYR-ZvqdMSXyVHxNEu8L1O189O8Njux-rFuO2bpMeDE7119nqqeX8TMAAkyChVvyYlnghPdJicPzfuNeFq8dojK078wYWrfW1Sn40VuK46Hz3S5znNgc-6sc0Q42vwfhepc5AMNeg6a5QYanS5YRvPKtfopp6854VLmC6rpLoS6YjZ9NzIwhQqDXM2fP0yin-rSvZeY9gK6ez6FZpFzoF_mEwmMTKWn4nStSPl5yB9JbDPokNnHqt_uU43Z8iToiAoOHjJbzq2lfiQslxpBtFduq1TiezwGHiwVxjBXIJ2tK6-XgxFYxKZxym7Ek2rHhVh8DPxsd4nZSKk7PRZy0yIeqYGQ7bHSvg-20Pjxdu6Z-v8tto-0OiSQ8pSTPkebHCNgMARDmT_gJsfJvWI-IWxtcPcLOOI4KCIE7AqipYtGPDv42BYn-VwH8EJeWfOMN2OWw_R7VC7xYptcQEFDc-15A_yvEn02W6mwbR08rV-w5WRPmPhCVsBJKDs4wQWYUG8O6_EAr3zIhhLYdfKEv3dkJdQYRqZnuWTG4bF8t7KcLpLToO03_LtSdmtFHz90T55JXm8VP_Q1SA71xc-8vYmlDVeHSD1McNw2gETj5o9U1s5lrNpzyko_tMJ1pkadHoGIQq--bD7bop_EWOuXZw_StRyRYRBslozvpdfVppdf6eSJgt1Z4_gl-Qg29JS9LW7lOXvd6fsoYTKDHkYaL9TQ4ZfSaqm4IXmHdN3AnbDd7Nak25AI2EJ86x5EtKX782okUNnYb1v2WTU2hVkBTwGqpHljtrDptYWXyvfU_7XZE3K9aIgb2ak7uhrcwE7khpjmbt2DfFeShoecsfz-Yi0dbl0iAlSB8CtpD8G2Z9laCLK3MybVDpGoQp6p17XvzJX-vhvyosj2SSU_SNwn3X4Unolh0Oc0As0BIJqNYaHBp8lhfYDFtLnDnrQ56nUD3Ky-DqF1nNf5Xk_S8zGbmwybKJM_fBjEfW8BskkT4Pv0l0amt_WCh0NLOp22Qey5aLzZI88E20nVTDTgYXGLsoAzZNTxc7OraF_Vu20mA7WEpgCKeEATCzDGYWCv37oV4cUyZQqzQLduGMQMONNRc0v6naxL6eTJjOH82-QxAaLSe7s5-HzSr6Ews8gdqVxHAVMevjrwKFk5WvbT3TlevYwh75kf-yaJEADxiI9ux7ZGA8GQ6faaYeLM2msz2kfx2gpmS-K6wPC5ZtTYuYwP9sYxn4szpgH7Z3EDV_BT7nRoN-YCq4xUaFzb_tjVAPVOvtO30p1P47yBThQeNMGcbm0Y71qR29twsqRTYbacQii-pz_4d1bi-wmLjm6jFjWV2icaShAAULmGPlroxcMERm_lteuVX5ZBb7GttCBfmilnwKr4e_l-Xl4jM05hq5mFAkN4VPW2Na81FDBDORzezbyfJKHx-UcdV9En8aurmOgRFnt0WSwwO2hD7qcvFvmogYYCAupZMRGliWo9Mh-cTpDViZXsTbL5zUlpTrbF-9eEdHRJY-5iAEAEK1zwbnVao5NDH8fgOYDEuvFOy6HY3O8xPm8QdEEEh28zBeHecyllrGoLX0CK0IFjqWKGEKXyX5pQXe3ElGmOR9adSrqnqHsGN8HOLhi4q0bdFV5-s9oDFO0GisMMFNCw_4IzenZuNfkwAT79tEI4Z83XSatWL8G-johbi1O3lB6E6ubTdaaj2V3sVmb8jDNZCfTEEHc4XQkW_FnoS5Bzr4e7eeAkjBEcWNrDpYPk8L7QrHyQ8-GO86YUXWFOi3hUhb8QJ_bcyws0dnzf2dHOW9beBqKh35sUYQraugwTvaM4DSV9IN44h8jgJoBlBpJf4U3ouiRQNklbfqAwqTgE59QnLkdPEDqSGIpeBgG-mMTGk2qN6nCUydBiECCry2sttC7yqwEGNebEt6hwqx6M9tcJpcOxSzmBA1fMlzSPqrErM9gPFWb-0QL-oE2CvAA8phxYQ50tPsndovsUOuvwPSBaQPwMqWuRii8o4rbaqFJgQNONk-TjkVFuHfCd1UJz1TpU_FiY_vnKNRDvXYb_CaJhn0",
  "id": "rs_09b24b19cbfcd1fa016ab42b88a8f487d0bdc690aad8d7ee81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.075,\"left_z\":0.115},\"note\":\"The two moved bottles have rolled toward the near edge, while the far-left bottle remains isolated. I’ll concentrate on the isolated bottle and position the left gripper above its cap end without contacting the others.\"}",
  "call_id": "call_s0brJPAyUgs9dEV0cLltroNz",
  "id": "fc_09b24b19cbfcd1fa016ab42b8c4c4887d08312ec877d10a1e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s0brJPAyUgs9dEV0cLltroNz",
  "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]: [-0.3012, 1.6222, 0.8181, 0.1669, -0.3447, -0.2592, 0.9963, -0.152, 0.482, 0.1131, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4359 left_y=-0.0692 left_z=0.1004 left_yaw=0.114 left_pitch=-0.0339 left_roll=0.0011 left_gripper=0.9963 right_x=0.2383 right_y=0.005 right_z=0.0624 right_yaw=0.1054 right_pitch=-0.0264 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -7.1043, 8.5675, 1.7851, 0.0611, 0.3492, 0.0024, -0.5265, 0.0068, 6.9675, 1.9072, -0.1832, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332f253bccaaed5cd2f64e7594082704febaf2ded1a2f165bf5216a5de3cc553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937e49c6ad3027d3040fa880af1600f632fd8f738f0fd365f54708c34932f43f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e891a023f84ce4f0be85eda936004487e1f63c0be874439ec368e23f657daf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 4.59 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]: [-1.1606, 1.4448, 0.7856, -0.5129, -0.8165, -0.9722, 0.5352, -0.1516, 0.5541, 0.1829, -0.2436, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.2375 left_y=-0.2144 left_z=0.0954 left_yaw=0.0081 left_pitch=-0.1244 left_roll=0.0699 left_gripper=0.5352 right_x=0.2474 right_y=0.0037 right_z=0.0781 right_yaw=0.1058 right_pitch=-0.0276 right_roll=0.0047 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -8.3487, 10.5915, 1.2674, -1.3407, -0.1538, 0.5446, -0.2667, 0.253, 6.9128, 1.9951, -0.1636, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8074, 1.4349, 0.6132, 0.0116, -0.6975, -0.5934, 0.9962, -0.1516, 0.5072, 0.1371, -0.2443, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3174 left_y=-0.1624 left_z=0.0863 left_yaw=0.0625 left_pitch=-0.0282 left_roll=0.0131 left_gripper=0.9962 right_x=0.2413 right_y=0.0047 right_z=0.0678 right_yaw=0.1058 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -4.8615, 9.0051, 1.5458, -0.2466, 0.2759, 0.1148, -0.3077, -0.1983, 6.7214, 1.9121, -0.1148, -0.0317, -0.0073]",
      "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]: [-0.3012, 1.6222, 0.8181, 0.1669, -0.3447, -0.2592, 0.9963, -0.152, 0.482, 0.1131, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4359 left_y=-0.0692 left_z=0.1004 left_yaw=0.114 left_pitch=-0.0339 left_roll=0.0011 left_gripper=0.9963 right_x=0.2383 right_y=0.005 right_z=0.0624 right_yaw=0.1054 right_pitch=-0.0264 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -7.1043, 8.5675, 1.7851, 0.0611, 0.3492, 0.0024, -0.5265, 0.0068, 6.9675, 1.9072, -0.1832, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332f253bccaaed5cd2f64e7594082704febaf2ded1a2f165bf5216a5de3cc553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937e49c6ad3027d3040fa880af1600f632fd8f738f0fd365f54708c34932f43f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e891a023f84ce4f0be85eda936004487e1f63c0be874439ec368e23f657daf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuT7-LXML2K_hGfsdxlteI2qRANVontFEtkMAAYZdaA-_2h_4cF9DsYOZ5PGeeO-dnbmkzJUINFm_-n3L5_wmysnFCT771RpnXGYVI5UezmQTiuHf0HOSz2MD5jT_UuvM8OLjSGHcc_RL4pbDM1HYYZHCuvUrJbVSUPKKb5mpZMD5SXrISYnNK1q6WxY8bUzSEH3CqnyCkc58Ssu04qTlx7yw2Rses3DvFuuVqIuE4wtO5eajHudlPtmGMtUeKMEH02NdyJ159KCVp58KrCw-1rrmpcKIXnFBVoMvAu1C2OEZIh1usqvo-CDnsFTc9yJ4lcI0sDoMBEVliTczzGrlQOYveakLVjOe-tfpbzAmSc61lId0nliDIxQnJ-2Rf_8adYXr7erykDSUh4sjRvJehnieeSKxS4FViPP9QKLwbzGSfAHMZW4qAAzaL2e2wc28O7EzjxV_ui4quccyVxIru8IvPCbPaNQqL0OuDJv-IEW_KSHz361ysnb0LbH7ImxpgU81KfK4awYgASAP2ZGHWY3KYHZTjHy3gRO1yxy-Zbv4xFetA3kPLnl-fidJCpDE4jdtH7NnilLIj-_64uJlMhpQ3-HARKWQfSKSga_PHD4Sx59kW1zytS9VvRDl2EYNk-tJwmZQqZ5CRHwXJHVNfXwWHrvnLG6_R6VhLa2g9KsF2JINLDVU7U7dzG4zvRuC2mtElMTL4iYpIIXhUqixNxfr0RtsHlYzEsyjVhoAcxAZY3fpmt7ZufjoNUvKPhSzL5GCZD09UaNAqbPx4QsD5enwu_-M9nMc7WeAscAD-BzI0cWNcqFtGeXSHH1o2vBHigvyqaD3BFgTG7nziKSBknpD6rVsYTLibRjaHZAu8mvPE_DTrhBr4qkc071RNWI6LRYjK_AREaZDkm9vYEgvpLTnhsI7SxjoNh0oRaFmDgPce5IB6Ek2Yd7XEGyTOQ_0F8B7oW6m-QO5WcI9HRrPOcP4jqxCqnqIxKlPoIytmnVgIcdcHmufUYw5pXFpU-HRzv7FcyubDP-Slo_2Um1Z5EFNjekNzVeblN8s0iBmuG_-qrkha0m2wKvWHB4jq-oufAJrpR3grENQ1E-gabLcDaF_mSg1hPQSrn_njg_N-cwi8VxmBimWGQDK4m3ORPR9nJcz84GfNYZSPSh4DqAiMLkomz94-duf6Hra92peu8ohRizQD49hew1jkVff81By7WZjYgxpJ1lyBUg0mxrrpOfyapYlLLDOc6ihTI-Prmx-JpgeY1Q_ZmDEfBouLsdAnvcS0Faxmipr1XgvDC46aVaTEPsrLicOzVcYQ4eYKErgrGlMU1iK101ITv1yR2XJy1ZAn0lwaq6_4VEkkzUbCY_z1fmxwzCy7sbF04JEm2a265Q02l8pcNRAhgL8_hiNDIGaiR5LFHltpFvriynImNCcKNkRAUZDrx9kfiGmwl9X6t6jvlL9Ac1qzu9o8An_aWOgUWhAtIf7pgxN_jpFsbOCFEsAQuFp4HWbM25ka23AFC3KZs1v4B94tGO701wBIRhRmfHFesllVUhKgftfHzg37zoEhzysg2nCQn7VtJVAiaV6iebPrH7ki4YEh01trx4gyCfwqB-hAAfbosteh-TrbYu1rR0DiLbwuI-LG5_-VsQqGanrYl7P79BcoebDXCShZ4nl-Pa6liQ0j5yOEsQc5cfTRu3GbrAhSaAlXD7iGlozg6JwwcvhGpafvsj3e0iMSdSm59zR10S26HcRFSutOuLyIUvMMNJY6AHZYdda2PgIZm39tQP039ofuqq5VrXe-UTMd4i0aH2lDBZuP1XtsSV1VeQRAGXbQnLPF85qzTuD-yPCNZ9NuCECsMVB-6t68Vl_Nmzbq9UNmWmPB2OcyyWmn1U7J_PV5_H3erPu3KJDjx2yBBvVDV7F98-IOOxT0CX6Zxwk0SAJcvrAlINNm108JDpOcbp4TIIccTCz6mbVds_XYK_Ko-RVDbFwv8W8w6vDE-Ji0MHvyUV_2lgLkZSZw4IYU-tDi-jbnHeavcsAJNgm5gJtgCAHDwt09Bs1BF9ZwLHo6pdvi5SQJRqu72v-PVAeeHMNbRJd73E6qjgDYN0GMjYacT3dqTaEw4fbCXLVDBaEnVzlsRKONRWqjIqTq6XNjIhnuUZa8MoEADl_vN2T2Y1hhKLxr2gnhFcnQIaJoLFqPHdJNn-vyhbjbsN5hSb94IuQ-6izJq4YtsaCvnzINAWGZKEA_gWoP0XOKtTTf11MpgwjV_Zw2eru_4kZyRne_DwytDzSAnToY-bnjmcfZnjSFlTQf89gp2A06i8eMHH7vAMHs93HG5tBWknsbPEZJitR4GLV7By7xi9rqzhNBgHf2x-SE_UrguiEInmHhaDZI1kyxdxdbHUJqbzFUhzYpwWM2X9fcWBgRLF8xiwKIHemFk283WKIyL1_B-AFihDyaK2fTCNRlosfFLATc9haxB5DulEan9-iYHcuUGaD2VHlMtK8XZM-QFQyv0mR2LGCsC0HGNftJ0tnJQZ2bYsJkFI5PPf_S8Wj8R_0Yh19xTYenN4M0RtAlGhPAI6uQBwLLzFIeSheC474ruyel70d3jD44ujHBk0-8O-nJeLAiiRgme3k9umHtaukPvlQPtb1ohrhAf6oDf88erCJvoH98RWHI6vLdwBATTtpY9IOhRSYLLP3G1UsE3iiHn4FBYJQ4WAddphPDIzRXgaz78QUTt3i2nNN5RJS9pwzSL68Ix_1KAPh7ktYkZSST9ZxM62Tgaal-5mlo3cjT0hV4WXjCyzAZXKJIl8jV6-kLY28AdTY-xkcyO5moErvjOAVFD3HjVEKuXKPV8LJxXLyNSvCImABxxEingmz0_oqbqqjWmdIewtck-WZj8l_YBYVTYpskmVcyXcTyR23pDgKiegDxJINsbm4f0drCJI3a3BIH5tn28o1u50SanVbi_PfHgxYKh354d4Li9YxUpBzqH__9UxrOFEJq7XZfhcGDOOOfJsomBbagTYKFk",
  "id": "rs_09b24b19cbfcd1fa016ab42b8f74a087d08d98fd778cb75187",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.02,\"left_z\":0.035},\"note\":\"The far-left bottle rolled slightly during the approach, leaving its cap visible to the left of the jaw column in the wrist view. I’ll shift toward the cap and descend to grip its narrower end.\"}",
  "call_id": "call_8SclXyQO6eXTJmVysHPYwDAY",
  "id": "fc_09b24b19cbfcd1fa016ab42b92b40487d0886f82c5c020269a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8SclXyQO6eXTJmVysHPYwDAY",
  "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]: [-0.1448, 1.8576, 0.7685, 0.5045, -0.2298, -0.2008, 0.9964, -0.152, 0.4557, 0.0937, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4649 left_y=-0.0235 left_z=0.0425 left_yaw=0.1436 left_pitch=-0.007 left_roll=-0.03 left_gripper=0.9964 right_x=0.2364 right_y=0.0053 right_z=0.0593 right_yaw=0.1054 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -6.7487, 6.188, 1.2186, -0.3883, 0.5397, -0.0024, -0.4444, 0.0752, 6.7624, 1.8877, -0.1343, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7076dbcc0ed597e83b88bf2c65f60d08ff95394b716c68328b38f636ea8ab8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b030870d2f407cf931d7af41fcdb507db254fca71e1a499dbafd911deacd571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43754198fcef3b6609718ff42886e7ec975823ec1415dfa3b3ee19cbef54de58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.756 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]: [-1.1973, 1.4193, 0.6613, -0.3428, -0.8917, -0.9913, 0.995, -0.152, 0.5316, 0.1596, -0.244, -0.2134, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.234 left_y=-0.2104 left_z=0.0869 left_yaw=0.0101 left_pitch=-0.034 left_roll=0.0137 left_gripper=0.995 right_x=0.2442 right_y=0.0041 right_z=0.0726 right_yaw=0.1051 right_pitch=-0.0287 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -5.2171, 6.2427, 1.1648, -0.6569, 0.1441, -0.0904, -0.4581, -0.1026, 6.8581, 1.9805, -0.1001, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3012, 1.6222, 0.8181, 0.1669, -0.3447, -0.2592, 0.9963, -0.152, 0.482, 0.1131, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4359 left_y=-0.0692 left_z=0.1004 left_yaw=0.114 left_pitch=-0.0339 left_roll=0.0011 left_gripper=0.9963 right_x=0.2383 right_y=0.005 right_z=0.0624 right_yaw=0.1054 right_pitch=-0.0264 right_roll=0.0044 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -7.1043, 8.5675, 1.7851, 0.0611, 0.3492, 0.0024, -0.5265, 0.0068, 6.9675, 1.9072, -0.1832, -0.022, -0.0073]",
      "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]: [-0.1448, 1.8576, 0.7685, 0.5045, -0.2298, -0.2008, 0.9964, -0.152, 0.4557, 0.0937, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4649 left_y=-0.0235 left_z=0.0425 left_yaw=0.1436 left_pitch=-0.007 left_roll=-0.03 left_gripper=0.9964 right_x=0.2364 right_y=0.0053 right_z=0.0593 right_yaw=0.1054 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -6.7487, 6.188, 1.2186, -0.3883, 0.5397, -0.0024, -0.4444, 0.0752, 6.7624, 1.8877, -0.1343, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7076dbcc0ed597e83b88bf2c65f60d08ff95394b716c68328b38f636ea8ab8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b030870d2f407cf931d7af41fcdb507db254fca71e1a499dbafd911deacd571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43754198fcef3b6609718ff42886e7ec975823ec1415dfa3b3ee19cbef54de58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCuYctoh-yzytLXrJbnBks_M338yXssFKIplZ__JlhTY90TScEIVqfSwu-04vDQK46MDXYEfzDLbWRcTGfLoFlFtqbvvY7I_De1xhwOhNXkIaVdNo4k1afxBzcSeBALPne_sUhqstU1Oo56mYb6ftJNx29A4SGfUYOWNpSftnEgrdw0dvytf-qY0_JfMykBjpWfelNwplfUFQ-xJ3C8JoGAGC-GGBHoIchxvF5CZ45LDRvnbpn8di5W___z9IQ8fjaZlJ2foObJlj_zryDlQhJXBxrC4Y44qGo3Nm1_l8lZFH_neT8Z_szPNSkNYBT49-aVkC6MWcoU32_hEUJWXSl_qovy4-mhyhV9uBWxLcTdXGExHcgpeBCXO7li3jUKZctJlxV1hOmiRHlCK76uLD_G0sJku3LY4XGgYm-5amVO5d7W1n9mXWrQNcqaw2sc-bo8Y7LZwQx4RLTU6Yy6TY9BgRDrQRmPYIXzCpnUeYpK0gwHg1gLzhhFUaQH01Wu4B_m3ulD-yfnmCAaVkSazEPltYdCoJrFH7TisDENfdrN_2FoL7Dsm6TVswmvtC_7DY7Z8SlX6o-LjvocEIz66rbIU_29hVbNb5LtwUoBwHozIv7BrkBq-8fUzLnIndDzdD76cyHb7CAzZbTUoPHYnTLywhHj43yLWpaF5UYQ4e7jufN1AH4Vfr7USCqAyikcW-o05xP75hLeWAPXZwHODa6IkcyjvMn0cLnZsfLOBe0z1-Nk4F4_d3lNBR0R8IeEueNjc0dFf3UFKSKgI-JKWkhTlNTuXn8hLwL4X9KK7-aluHMnucPMZkfek9cX3h_xToZ4b5_rJY_tTd7WCfOuYR68LDOx8scVA0-4OXruEjj6P-9hDygBekQPtcq_GRitjIuH0a799DCOQX3y-UAgkbsHSaChsp2NbIE2eEgnt2H8SKTAoOvBZ8AfmGaRffvGxJT8SeQdtNaDKK-8krqlXogcy9QI_tHjgGf6Lxld7dQyveNYgyD_ltbrNJWTm433GbEPaHnAr3nRQLepexfzyv2lnyOiDR0Gb4ivSFO1gLPekQ5AIRG3gTY3MOrCwaIwKWdhUVfHdbYbD64XDEn45MtXw8_kd-1Lg0FaUA7Ars28N7nOj9qpb4mFld2CQPcEQkqWIXhBzW4swRztudHKUnzr3FyaDIYlFqnhr-fZEkMlIOLZaSLejq6RkBBifAaxpuOv80aoYL9c7sMCiCwEmGr1Demtf-ZbAQwQtpESMtKxl_FvN5RmZWjqYl93KZwxlnMVEky9MlkSdAS-ljTgofKWp-iIjHR15Hv75B272a_OzOkeIFzvfrFQSe-keKfpgUxDyKi54yJdDNNyKrQhtYmFfUQ7JUSBr2B2mavNy-Aqs1dToNZQ63PBe7cy2wbYwnEfeYngyNpIhL685nVqwYQTz2S9KWr5fR6EpF05XtJIk3C56tiT6d2mU6WSeQKHMV3xrea7Or3yWIHzGioUO1kWxb3ZgE1kfGT-4FGQpSN9tAYrTEkeC6h40PIZWrBVg2AR7peFIuYrwsnG_ZpzISRGi7eZXdWz102HsySt9PxEWVBoDgIqFMGNjHObBrpJwz6qKW0P9q7p74kh37_RRwqkfBzfVG7sFhsC60aEhtNtvHX0tnxW3fiawIjpRQ-cPVhuaeCc8tjwhVWx-GsPqH1NQBmQ_r4nW-ystIxPRtONq1Qvd40Ig8K1rJOnpRHOkL6JuzlZof67k84UMrQ8NnFdOfOh0YdiYdJVE3db1rCoRACGl3pwcXibWaSr3d1rl3UEn",
  "id": "rs_09b24b19cbfcd1fa016ab42b966b4487d089113a1a907b87a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at bottle height with the bottle extending forward into the left wrist view. I’ll close now to see if they can secure it for a lift.\"}",
  "call_id": "call_RAcFbpqCOXlWR8I7EQllvtCL",
  "id": "fc_09b24b19cbfcd1fa016ab42b97fd2487d0910af19457ee5295",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RAcFbpqCOXlWR8I7EQllvtCL",
  "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]: [-0.1295, 1.8793, 0.7742, 0.6434, -0.2226, -0.157, 0.0195, -0.152, 0.4366, 0.0803, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4824 left_y=-0.0199 left_z=0.0638 left_yaw=0.1311 left_pitch=0.1108 left_roll=-0.0285 left_gripper=0.0195 right_x=0.2352 right_y=0.0055 right_z=0.0573 right_yaw=0.1053 right_pitch=-0.0143 right_roll=0.0012 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -7.2274, 5.1761, 0.9158, 0.0415, 0.0024, 1.0037, -0.4718, 0.4308, 6.653, 1.8388, -0.1538, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c72c48fe9399ee509c8445f477fc3dfec8720e05bb5d5df66d2a95b9ad3975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d5721f0c9f329361bcc5a18b8ec5ed3a62ec13c1e43e0f7be786ec7b21fd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e4b6fb929afd3448abb9c8254bdca89a6146aedbab32fa21dff9858eb8393",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.022 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8074, 1.4349, 0.6132, 0.0116, -0.6975, -0.5934, 0.9962, -0.1516, 0.5072, 0.1371, -0.2443, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3174 left_y=-0.1624 left_z=0.0863 left_yaw=0.0625 left_pitch=-0.0282 left_roll=0.0131 left_gripper=0.9962 right_x=0.2413 right_y=0.0047 right_z=0.0678 right_yaw=0.1058 right_pitch=-0.0272 right_roll=0.0046 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -4.8615, 9.0051, 1.5458, -0.2466, 0.2759, 0.1148, -0.3077, -0.1983, 6.7214, 1.9121, -0.1148, -0.0317, -0.0073]",
      "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]: [-0.1448, 1.8576, 0.7685, 0.5045, -0.2298, -0.2008, 0.9964, -0.152, 0.4557, 0.0937, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4649 left_y=-0.0235 left_z=0.0425 left_yaw=0.1436 left_pitch=-0.007 left_roll=-0.03 left_gripper=0.9964 right_x=0.2364 right_y=0.0053 right_z=0.0593 right_yaw=0.1054 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -6.7487, 6.188, 1.2186, -0.3883, 0.5397, -0.0024, -0.4444, 0.0752, 6.7624, 1.8877, -0.1343, -0.0562, -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]: [-0.1295, 1.8793, 0.7742, 0.6434, -0.2226, -0.157, 0.0195, -0.152, 0.4366, 0.0803, -0.2447, -0.2138, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.4824 left_y=-0.0199 left_z=0.0638 left_yaw=0.1311 left_pitch=0.1108 left_roll=-0.0285 left_gripper=0.0195 right_x=0.2352 right_y=0.0055 right_z=0.0573 right_yaw=0.1053 right_pitch=-0.0143 right_roll=0.0012 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -7.2274, 5.1761, 0.9158, 0.0415, 0.0024, 1.0037, -0.4718, 0.4308, 6.653, 1.8388, -0.1538, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c72c48fe9399ee509c8445f477fc3dfec8720e05bb5d5df66d2a95b9ad3975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d5721f0c9f329361bcc5a18b8ec5ed3a62ec13c1e43e0f7be786ec7b21fd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e4b6fb929afd3448abb9c8254bdca89a6146aedbab32fa21dff9858eb8393",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCudmEK_vNdfOa58Wmkj7J9WmCIRrMmWsZbdGSh2wFWbtGZwKXv4TaV_Z3yw2UwY-VuSoqk8Trewz8uvI--pewanfrE0mGbZZ5OQN4HwhOS5OuVTPcpJ13uJy5vc4cNX0F_N0_ozBaAOD32JkkSZ13yw8_fwj3jXwXqOeFt3rJ8IdZ5wTVwVHH8bZebdFxT3uDD7XFuVTL89w0_-6TKKFNGJDl-nYCQC1l04zGZHHXDI1nmP5au0ON-_v5UqEJ8Kc90PNK20ZZhSmbcRXQcr-1WrUXZH_sUkXx_Nhwag4_f0u9l4PLdNCldVu_bgtKtw6d7FMYBgTZqgKBP8x-3e6z9YNRd8dDVKv8BXRTKlB_72AVVYtfPDdM3iMGRoLXwUYire2pqM2TVaCgNC82TkoILq9BkFrl7rrhulUSsgkqBvRigNdw6ceeOAfyHdsZGBCPGEDPW2BYLinYeY5Xdcf_CNYU6a2k03k9Nw0xA-NPNzFd6RetZCblDv_9GwQoTQOl94kK7ELvT40j3d4b7on1_79i_8MdSSQM9C0VwSf9Ag9utg5M55-V8mXyp_EDmSuBjA6zS7fedL9bdbUhjXYTAByu2PuyAOI5HJ-BSKEUXKNE32NNdqx73AdlGFL3Jh3jp3Lm0aTDksHAFIdb4Hagl5nkB7JqzMsSwf3e01np1wOWsKaA6vgXmVnI6jrf_i6PSYeH_eFmmOnemWxDK1pV3c-wt9PV1Vox6Td3dGu2Vh5hk6-OHrowC8XE5OvUd-S-qvUTJgDP4NV5dP_v56iMGbHVzEg9Sm9E7zpomCEY6GeloJxhzCNhAfNSZnc018zusJPJB5N4PLa3s0HbVO7sSKLqbx4MGwbI6BgF5VoCNUF7gjVCWl0nCuaVYHeQGqYDN6q0x2qxvhCTS6siascZNg_iqb2gumKAkW-mCVQVxIOcwnxC8pclXRvKNovUd_V4cNpxDX-L5Rb1Ot7azGvneqG3HZtxd1uXInV5_UiUSgEuCApa4uRxtryaqA55-h1pXkK5GHvprvLpWtXxvKM3yzpe8Ee3tlS3nTWR_Gu92ThPpeVVHLeVavyP4NXIg-1P-MbmY2ZUodWdX4aqLSipC41kbIAJE60enX8PPoWuFRZvE5NAZ9hSqJJxU42C3_TmI50RuN09H_S26N6BPk6e92eazL_bg85Ok6uerr_ZfyOBxJ-RSyxQn8z-AqYYgB6sUotmuyrBUi6bupKm56fFRB-yGHqwTUinRGytqaMxbU3Iba31OQsFkG_qvUzQPyqgbUYqgCaVtEncHZYCA1AotgeEff3OLFyv00dfO8YjrBoRM7SxCylt_LEZLgvJ6Ph5FfPGVsAqnDSDwPX8-5QT0VBvZwk6DRMq4wlUFu23Swo45oyK2fzlnOLe1ZQz0zdsbvIC8MK-2VBzqt6TSoMOA3f2u1w88UmiKAGoBf2nid5wPzeTgCRpmmRL8ev_5P-4A7pLLRkKViiPNUlEN9RpU_RBdGydloYcvwuwFEqvXXLCJtYgoUZ4vUv4n4eDp5uJu3D_3cUTJhSuzd8G18oqbaygYrlN-t0B9B8wOAFimLGmnoNDgzAmlFVChKSBWEIl2QgObUV9gjxzSCL9fBu_EIHpNHGc8EP4FRkliIZ_ol80eME07Shs_hKoa6QDyNVUyaeXrZ72tKCqYT--1p51YbFHZl6JD8D6eFji0tkmy2JgsZLNOVfjLlKhWy1qjvRP7CM5Y0J0yOWwVsFkVL3yolYTZzeYLwvQesf7qgXa2nSjqjF1X2v0fU8fciH9e42ohY-SLWH3cOWDJK56Il_Qq1uIgr6YB5LEzNbxqM5ihayc8KrwAQ5Ih7wX5wCvZkO1gbci-NnKO7__TnmwiZt2pY7FaY7z6rTiKEyrmga5cAazcywrULGCkDacrQ3EBJMhSodzr1KRhJLW0AP_SlQiG3jJE-RkoMYE38BzF3a9SX4874oYQjoX_lVSCCnKDVkqshKJgNupaTaPq2fpA258vqh6FcptKylFBISid-aOaTH5sxAMrfrvaFmWUmdZjD40fUx9YzU6lGYKNXDUI2QHqNXVQ-85lOv0wGG9dr-hPnZRLY-8qvgazGQhwhEB3F_AZBL4hJi04zXvTuZubNX3WMgY69YsKNbB9R8r2QiFYYQWl1OevYuoX5OxiiVnkzys3KyfIXLnY3BFudC3YkRRqA11VHnBrj7C9mme8DiansV8LT3fWQXI5GLCVkQOMi3-B_",
  "id": "rs_09b24b19cbfcd1fa016ab42b9b2fe087d0b07ac7c22c360daf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The last close was empty, and the bottles remain on their sides. I’ll withdraw and park both open grippers so they do not continue pushing the bottles while I stop this attempt.\"}",
  "call_id": "call_FgcNRwyk0c9dq3yQLOVnF5G4",
  "id": "fc_09b24b19cbfcd1fa016ab42b9cc8b487d0a824d1c2e419c78b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FgcNRwyk0c9dq3yQLOVnF5G4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1635, 0.8093, 0.5819, -0.3077, -0.2459, -0.1829, 0.997, -0.1375, 0.7765, 0.556, -0.4107, -0.21, -0.1699, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.0025 left_z=0.1834 left_yaw=0.1291 left_pitch=0.0431 left_roll=-0.0207 left_gripper=0.997 right_x=0.2829 right_y=0.0016 right_z=0.1588 right_yaw=0.1169 right_pitch=-0.044 right_roll=0.0067 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.0735, 8.5128, 1.8486, -0.1441, 0.0415, -0.0757, -0.0615, -0.9231, 9.9897, 1.8437, -0.0171, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e29434785a12c523b28aecb3c56ea4d225cb8d4b04dc9e1ea416ae3b27e074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff652f7b559919d37990bd7001fec07424ff8891b189b1176b2379dfc60497c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62843197021d5d26682e291aed7f1f2ff6ed0eef328b8e8c789687956050a68d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]