adhoc

completed
2026-09-23T19:45:03.012524+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
212.4 s
total steps
309
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck from above so I can lift its capped end and let its base swing downward.
move_to
right_x0.3900right_y0.1800right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3771, -0.0227, -0.0288, 0.9986, -0.0154, 0.7879, 0.6033, -0.387, -0.0261, -0.0341, 0.9985] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.4034, -1.4838, 9.812, 1.7753, -0.0611, 0.1001, -0.1587, -0.7043, -0.8684, 10.2085, 1.8242, 0.0122, 0.1734, -0.1734] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.18,"right_z":0.15},"note":"All three bottles are lying down, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck from above so I can lift its capped end and let its base swing downward."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe right wrist camera shows the bottle’s cap ahead and slightly to the right of the jaw center. I’ll advance and lower toward the cap, adjusting sideways before trying to grip its neck.
move_to
right_x0.4500right_y0.1550right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9984, 0.6163, 1.504, 0.8841, -0.1234, 0.4595, 0.3035, 0.9984] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3736 right_y=0.173 right_z=0.1275 right_yaw=0.0448 right_pitch=-0.0804 right_roll=-0.0541 right_gripper=0.9984 state[joint_eff]: [-0.294, -1.6205, 6.5573, 1.79, -0.0317, -0.0415, -0.0317, 0.0205, -6.4615, 9.2923, 1.8926, 0.3443, 0.188, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.155,"right_z":0.085},"note":"The right wrist camera shows the bottle’s cap ahead and slightly to the right of the jaw center. I’ll advance and lower toward the cap, adjusting sideways before trying to grip its neck."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe cap is now centered between the right camera’s jaw columns, but it still appears well ahead of the fingertips. I’ll move forward a few more centimeters and lower to neck height before closing.
move_to
right_x0.4800right_y0.1480right_z0.0420
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.6136, -0.3874, -0.0227, -0.0292, 0.9983, 0.4564, 1.7592, 0.8547, 0.1795, 0.3336, 0.2035, 0.9984] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4238 right_y=0.1477 right_z=0.0588 right_yaw=0.0406 right_pitch=-0.1058 right_roll=-0.0498 right_gripper=0.9984 state[joint_eff]: [-0.1846, -1.6889, 6.3658, 1.8437, -0.0513, -0.0366, -0.0171, -0.6906, -8.2667, 8.8957, 2.0488, 0.0562, 0.0122, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.148,"right_z":0.042},"note":"The cap is now centered between the right camera’s jaw columns, but it still appears well ahead of the fingertips. I’ll move forward a few more centimeters and lower to neck height before closing."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe right bottle’s shoulder is beneath the fingers, while its cap is still farther forward in the wrist view. I’ll advance toward the narrow neck so a lift can leave the heavier base hanging below the grip.
move_to
right_x0.5100right_y0.1450right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3969, 1.9434, 0.9012, 0.3691, 0.2874, 0.1627, 0.9984] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4596 right_y=0.1422 right_z=0.0274 right_yaw=0.0427 right_pitch=-0.0692 right_roll=-0.0351 right_gripper=0.9984 state[joint_eff]: [-0.2256, -1.6889, 6.4479, 1.8388, -0.0269, -0.0464, -0.0122, -0.759, -8.0342, 7.5829, 2.0, 0.1197, 0.0366, -0.0073] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.145,"right_z":0.045},"note":"The right bottle’s shoulder is beneath the fingers, while its cap is still farther forward in the wrist view. I’ll advance toward the narrow neck so a lift can leave the heavier base hanging below the grip."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe right arm has reached its low forward limit, and the bottle neck is centered immediately ahead of the finger tips. I’ll close on this position, then check the gripper reading before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3923, 1.9625, 0.9234, 0.3908, 0.2745, 0.1555, 0.9984] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4681 right_y=0.1458 right_z=0.0304 right_yaw=0.0532 right_pitch=-0.0486 right_roll=-0.025 right_gripper=0.9984 state[joint_eff]: [-0.0342, -1.4154, 6.3521, 1.8779, -0.0317, -0.0757, -0.0122, -0.5265, -8.8547, 7.5556, 2.0684, 0.0611, 0.1001, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm has reached its low forward limit, and the bottle neck is centered immediately ahead of the finger tips. I’ll close on this position, then check the gripper reading before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gripper closed almost completely, so that attempt missed the bottle. The cap is still just ahead in the wrist view; I’ll reopen and approach it from a higher position to gain a little more forward reach.
move_to
right_gripper1.0000right_x0.5100right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3923, 1.9606, 0.9031, 0.5556, 0.2619, 0.1524, 0.0132] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4819 right_y=0.1538 right_z=0.0566 right_yaw=0.0644 right_pitch=0.0876 right_roll=0.0268 right_gripper=0.0132 state[joint_eff]: [-0.3897, -1.7709, 6.4479, 1.8144, -0.0611, -0.0757, -0.0122, -0.3487, -8.7453, 3.5897, 1.2088, 0.105, 0.0611, 1.1551] approver: 1 step(s) modified (delta_clamped). 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":1,"right_x":0.51,"right_z":0.10},"note":"The gripper closed almost completely, so that attempt missed the bottle. The cap is still just ahead in the wrist view; I’ll reopen and approach it from a higher position to gain a little more forward reach."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe cap now sits between the open fingers at the bottom of the right wrist image. I’ll descend over the neck while keeping the same sideways alignment.
move_to
right_x0.5100right_y0.1550right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3748, 1.9564, 1.1229, 0.1658, 0.2302, 0.1238, 0.9946] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4961 right_y=0.1557 right_z=0.0658 right_yaw=0.0891 right_pitch=-0.0755 right_roll=-0.0307 right_gripper=0.9946 state[joint_eff]: [-0.212, -1.7162, 6.3111, 1.8144, -0.022, -0.0464, -0.0122, -1.0188, -12.8889, 9.3197, 1.8632, 0.1685, 0.2125, 0.2564] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.155,"right_z":0.05},"note":"The cap now sits between the open fingers at the bottom of the right wrist image. I’ll descend over the neck while keeping the same sideways alignment."})
tool
executing move_to over 2 steps (0.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe cap has moved to the bottom-center of the wrist view, directly under the grasp point. I’ll close on it and use the settled jaw spacing to check whether it is held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.371, 1.9812, 1.1069, 0.2409, 0.2222, 0.12, 0.9947] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5012 right_y=0.157 right_z=0.0613 right_yaw=0.0946 right_pitch=-0.0439 right_roll=-0.0196 right_gripper=0.9947 state[joint_eff]: [-0.3761, -1.6205, 6.3248, 1.8144, -0.0317, -0.0464, -0.0122, -1.347, -7.706, 4.9573, 1.7949, -0.0171, -0.0269, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The cap has moved to the bottom-center of the wrist view, directly under the grasp point. I’ll close on it and use the settled jaw spacing to check whether it is held."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe second close also reads empty. The cap was horizontally aligned, so I suspect the fingertips passed above it; I’ll reopen and carefully descend toward the table at the same forward position.
move_to
right_gripper1.0000right_z0.0050right_x0.5100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3603, 2.0331, 1.0817, 0.3737, 0.2039, 0.1028, 0.0128] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.5097 right_y=0.1577 right_z=0.0511 right_yaw=0.1087 right_pitch=0.0072 right_roll=-0.0093 right_gripper=0.0128 state[joint_eff]: [-0.0889, -1.6889, 6.3658, 1.8095, -0.0073, -0.0269, -0.0122, -0.4171, -10.5641, 6.147, 1.6484, 0.149, 0.1538, 1.2137] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.005,"right_x":0.51},"note":"The second close also reads empty. The cap was horizontally aligned, so I suspect the fingertips passed above it; I’ll reopen and carefully descend toward the table at the same forward position."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteAt this forward reach the fingers remain about 4 cm above the table, too high for the cap. I’ll move back along the bottle to a reachable part of its body and try a low grip there instead.
move_to
right_x0.4550right_y0.1400right_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3607, 2.1082, 1.0729, 0.548, 0.1818, 0.0917, 0.9952] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5222 right_y=0.1667 right_z=0.0447 right_yaw=0.1325 right_pitch=0.0926 right_roll=0.0135 right_gripper=0.9952 state[joint_eff]: [-0.1846, -1.7162, 6.3795, 1.8144, -0.0562, -0.0659, -0.0122, -0.5812, -6.5846, 3.9453, 1.2869, 0.1294, 0.1099, -0.2515] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.14,"right_z":0.005},"note":"At this forward reach the fingers remain about 4 cm above the table, too high for the cap. I’ll move back along the bottle to a reachable part of its body and try a low grip there instead."})
tool
executing move_to over 6 steps (0.6s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe bottle is still lying in place, and the low-reach position has not brought the neck between the fingers. I’ll retreat a few centimeters farther toward its wider shoulder, where the arm can reach closer to table height.
move_to
right_x0.4250right_y0.1450right_z-0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3584, 1.998, 0.833, 0.7063, 0.1791, 0.0875, 0.997] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4781 right_y=0.1493 right_z=0.043 right_yaw=0.1341 right_pitch=0.1203 right_roll=0.0174 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8339, -0.0073, -0.0269, -0.0122, -0.5128, -7.5009, 2.9197, 0.6569, -0.0757, 0.0464, 0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.145,"right_z":-0.005},"note":"The bottle is still lying in place, and the low-reach position has not brought the neck between the fingers. I’ll retreat a few centimeters farther toward its wider shoulder, where the arm can reach closer to table height."})
tool
executing move_to over 5 steps (0.5s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe right arm has stopped descending with contact effort while its fingers straddle the bottle’s shoulder. I’ll close here to test whether the bottle is actually between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.395, 1.9564, 0.7189, 0.8097, 0.2073, 0.0994, 0.9972] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0008 left_pitch=-0.008 left_roll=0.0003 left_gripper=0.9983 right_x=0.4532 right_y=0.1535 right_z=0.0441 right_yaw=0.1394 right_pitch=0.1529 right_roll=0.0238 right_gripper=0.9972 state[joint_eff]: [-0.2667, -1.7162, 6.3932, 1.8291, -0.0415, -0.0415, -0.0122, 0.6632, -5.8872, 2.1265, 0.4225, 0.022, 0.2222, 0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm has stopped descending with contact effort while its fingers straddle the bottle’s shoulder. I’ll close here to test whether the bottle is actually between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe right gripper is empty again, so its approach is not intercepting the bottle. I’ll park that arm and try the more accessible left bottle with the left arm, approaching above its shoulder.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.4000left_y-0.0800left_z0.0950
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3992, 1.9556, 0.6956, 0.8886, 0.2119, 0.1154, 0.0132] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.1547 right_z=0.0539 right_yaw=0.1282 right_pitch=0.2073 right_roll=0.052 right_gripper=0.0132 state[joint_eff]: [-0.0205, -1.7162, 6.6803, 1.8095, -0.0464, -0.0317, -0.0122, 0.0342, -5.641, 2.2222, 0.442, 0.0366, 0.0513, 1.072] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_gripper":1,"left_x":0.4,"left_y":-0.08,"left_z":0.095},"note":"The right gripper is empty again, so its approach is not intercepting the bottle. I’ll park that arm and try the more accessible left bottle with the left arm, approaching above its shoulder."})
tool
executing move_to over 13 steps (1.3s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe left wrist camera now shows the left bottle’s body immediately in front of the fingers, though its cap is farther off to the side. I’ll lower toward the body at this reachable location to establish a secure grip first.
move_to
left_x0.4000left_y-0.0750left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.4788, 0.5934, 0.2016, -0.2634, -0.1886, 0.9983, -0.1406, 0.8204, 0.5701, -0.3195, -0.1848, -0.1459, 0.9957] state[eef_state]: left_x=0.38 left_y=-0.0741 left_z=0.0713 left_yaw=-0.0118 left_pitch=-0.0941 left_roll=0.0272 left_gripper=0.9983 right_x=0.2997 right_y=-0.006 right_z=0.1712 right_yaw=0.0685 right_pitch=0.0127 right_roll=-0.0095 right_gripper=0.9957 state[joint_eff]: [-0.1299, -6.1607, 8.5128, 1.956, -0.2955, -0.1245, -0.0171, 0.1846, -1.4974, 10.2906, 1.8242, -0.2369, -0.0171, -0.1685] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.075,"left_z":0.015},"note":"The left wrist camera now shows the left bottle’s body immediately in front of the fingers, though its cap is farther off to the side. I’ll lower toward the body at this reachable location to establish a secure grip first."})
tool
executing move_to over 4 steps (0.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe left fingertips are now at bottle height, with the bottle base spanning the space between them in the wrist image. I’ll close and check whether the jaws settle around the plastic instead of closing empty.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3069, 1.766, 0.506, 0.6426, -0.2695, -0.1841, 0.9983, -0.1452, 0.833, 0.5831, -0.3798, -0.2092, -0.1654, 0.9976] state[eef_state]: left_x=0.396 left_y=-0.0724 left_z=0.0171 left_yaw=0.0037 left_pitch=-0.0299 left_roll=0.0141 left_gripper=0.9983 right_x=0.2938 right_y=-0.0022 right_z=0.162 right_yaw=0.095 right_pitch=-0.0424 right_roll=0.0011 right_gripper=0.9976 state[joint_eff]: [0.1709, -7.1316, 3.7949, 1.8828, -0.0708, 0.022, -0.0171, -0.212, -1.6615, 7.0359, 2.0586, 0.0952, 0.188, 0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are now at bottle height, with the bottle base spanning the space between them in the wrist image. I’ll close and check whether the jaws settle around the plastic instead of closing empty."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left gripper stopped at about 5 cm of jaw opening, consistent with holding the bottle body. I’ll lift it clear and check whether the bottle rises with the fingers and how it hangs.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3042, 1.8038, 0.4877, 0.7101, -0.2638, -0.1871, 0.5149, -0.1459, 0.8131, 0.5411, -0.3508, -0.2138, -0.1665, 0.9979] state[eef_state]: left_x=0.3952 left_y=-0.0721 left_z=0.01 left_yaw=0.0032 left_pitch=-0.0199 left_roll=0.005 left_gripper=0.5149 right_x=0.2909 right_y=-0.0012 right_z=0.1543 right_yaw=0.0986 right_pitch=-0.0351 right_roll=0.0011 right_gripper=0.9979 state[joint_eff]: [-0.2803, -8.5265, 3.9726, 1.7216, -0.149, -0.0024, 0.9206, -0.6359, -2.1538, 6.9402, 1.9316, -0.188, 0.0269, 0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left gripper stopped at about 5 cm of jaw opening, consistent with holding the bottle body. I’ll lift it clear and check whether the bottle rises with the fingers and how it hangs."})
tool
executing move_to over 11 steps (1.1s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe bottle moved with the left gripper, but it is still roughly horizontal because I’m holding its broad body. I’ll carry it inward to a spot where its neck is within low reach, then change to a neck grip for standing it up.
move_to
left_x0.2700left_y-0.1200left_z0.2100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3023, 1.3727, 0.7444, -0.1047, -0.2451, -0.1947, 0.5167, -0.1463, 0.7971, 0.5056, -0.334, -0.2138, -0.1669, 0.998] state[eef_state]: left_x=0.3776 left_y=-0.0691 left_z=0.114 left_yaw=-0.0033 left_pitch=-0.1445 left_roll=0.0258 left_gripper=0.5167 right_x=0.2873 right_y=-0.0008 right_z=0.146 right_yaw=0.0984 right_pitch=-0.0377 right_roll=0.0015 right_gripper=0.998 state[joint_eff]: [-0.2803, -8.6632, 11.1248, 2.3126, -0.3297, 0.0366, 0.1685, -0.7453, -1.853, 7.2957, 1.9365, -0.2125, -0.0122, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.12,"left_z":0.21},"note":"The bottle moved with the left gripper, but it is still roughly horizontal because I’m holding its broad body. I’ll carry it inward to a spot where its neck is within low reach, then change to a neck grip for standing it up."})
tool
executing move_to over 9 steps (0.9s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe left bottle is now carried nearer the center of the workspace, with its cap visible well within reach. I’ll lower it back to the tabletop before releasing the body and regripping at the neck.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7822, 0.968, 0.767, -0.5091, -0.5854, -0.4713, 0.5176, -0.1463, 0.7784, 0.469, -0.313, -0.2138, -0.1669, 0.9981] state[eef_state]: left_x=0.2751 left_y=-0.1307 left_z=0.1978 left_yaw=-0.0635 left_pitch=-0.0121 left_roll=-0.0113 left_gripper=0.5176 right_x=0.284 right_y=-0.0003 right_z=0.1386 right_yaw=0.0984 right_pitch=-0.0347 right_roll=0.0007 right_gripper=0.9981 state[joint_eff]: [-0.1846, -2.4821, 8.5675, 1.3211, -0.2613, 0.1392, 0.0855, -0.6769, -1.2786, 6.9265, 1.9707, -0.1734, -0.0366, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The left bottle is now carried nearer the center of the workspace, with its cap visible well within reach. I’ll lower it back to the tabletop before releasing the body and regripping at the neck."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe bottle has touched down near the left arm’s base-side workspace, and its cap is now exposed ahead of the hand. I’ll release its body and lift the open gripper clear before approaching the neck.
move_to
left_gripper1.0000left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7971, 1.2152, 0.2901, 0.1371, -0.6064, -0.4717, 0.5166, -0.1463, 0.7631, 0.4385, -0.2924, -0.2138, -0.1669, 0.9982] state[eef_state]: left_x=0.267 left_y=-0.1241 left_z=0.0475 left_yaw=-0.0606 left_pitch=-0.0607 left_roll=0.0508 left_gripper=0.5166 right_x=0.2816 right_y=0.0 right_z=0.1329 right_yaw=0.0984 right_pitch=-0.0295 right_roll=-0.0006 right_gripper=0.9982 state[joint_eff]: [0.4308, -3.7265, 5.4632, 1.6435, -0.1734, 0.0659, -0.1197, -0.8137, -1.7983, 6.735, 1.956, -0.1734, -0.0073, -0.0024] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.13},"note":"The bottle has touched down near the left arm’s base-side workspace, and its cap is now exposed ahead of the hand. I’ll release its body and lift the open gripper clear before approaching the neck."})
tool
executing move_to over 6 steps (0.6s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteBoth remaining left-side bottles are close together, but the nearer cap is visible separately in the left wrist camera. I’ll align the open fingers over that nearer cap without disturbing the neighboring bottle.
move_to
left_x0.3650left_y-0.1050left_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7979, 0.9668, 0.4377, -0.1547, -0.6102, -0.4763, 0.9962, -0.1463, 0.7513, 0.4103, -0.279, -0.2138, -0.1665, 0.9983] state[eef_state]: left_x=0.2695 left_y=-0.1262 left_z=0.1218 left_yaw=-0.0575 left_pitch=0.0181 left_roll=-0.0212 left_gripper=0.9962 right_x=0.2787 right_y=0.0004 right_z=0.1259 right_yaw=0.0982 right_pitch=-0.0325 right_roll=0.0005 right_gripper=0.9983 state[joint_eff]: [-0.1846, -2.8239, 8.9778, 1.4823, -0.2906, 0.0562, -0.0171, -0.5949, -1.0872, 6.9538, 1.9023, -0.2027, -0.0073, -0.0073] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.105,"left_z":0.075},"note":"Both remaining left-side bottles are close together, but the nearer cap is visible separately in the left wrist camera. I’ll align the open fingers over that nearer cap without disturbing the neighboring bottle."})
tool
executing move_to over 8 steps (0.8s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe selected cap is still forward and to the right of the left wrist’s jaw center; the other cap is farther away. I’ll shift the hand rightward and slightly forward to line up with the nearer neck.
move_to
left_x0.4050left_y-0.1550left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4503, 1.4353, 0.4576, 0.2676, -0.3687, -0.2737, 0.9969, -0.1463, 0.7326, 0.3798, -0.2642, -0.2138, -0.1665, 0.9983] state[eef_state]: left_x=0.3437 left_y=-0.0915 left_z=0.051 left_yaw=-0.008 left_pitch=-0.0919 left_roll=0.0323 left_gripper=0.9969 right_x=0.2755 right_y=0.0009 right_z=0.1199 right_yaw=0.0981 right_pitch=-0.0296 right_roll=-0.0003 right_gripper=0.9983 state[joint_eff]: [0.1573, -5.7915, 8.4855, 1.9609, 0.0952, 0.1783, 0.0659, -0.6769, -1.1282, 6.8991, 1.9609, -0.2076, -0.0122, -0.0122] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.155,"left_z":0.065},"note":"The selected cap is still forward and to the right of the left wrist’s jaw center; the other cap is farther away. I’ll shift the hand rightward and slightly forward to line up with the nearer neck."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe nearer cap remains right of the jaw center, and its neck is still exposed beside the gripper. I’ll make a larger sideways correction and descend to neck height rather than closing off-center.
move_to
left_x0.4300left_y-0.2100left_z0.0220
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5465, 1.697, 0.6792, 0.3618, -0.4538, -0.3256, 0.997, -0.1463, 0.717, 0.3542, -0.2459, -0.2138, -0.1665, 0.9983] state[eef_state]: left_x=0.3962 left_y=-0.1462 left_z=0.0575 left_yaw=-0.0092 left_pitch=-0.018 left_roll=0.0118 left_gripper=0.997 right_x=0.2737 right_y=0.0012 right_z=0.116 right_yaw=0.0981 right_pitch=-0.0214 right_roll=-0.0023 right_gripper=0.9983 state[joint_eff]: [-0.5812, -6.6393, 6.7214, 1.5409, -0.3101, -0.1197, -0.0024, -0.7179, -1.0051, 6.7761, 1.8339, -0.2125, 0.0464, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.21,"left_z":0.022},"note":"The nearer cap remains right of the jaw center, and its neck is still exposed beside the gripper. I’ll make a larger sideways correction and descend to neck height rather than closing off-center."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe bottles shifted during the approach, and the nearer neck is now at the far right edge of the left wrist camera. I’ll correct sideways once more to bring that neck between the fingers before closing.
move_to
left_x0.4500left_y-0.2650left_z0.0260
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6415, 1.9636, 0.8825, 0.4755, -0.5396, -0.4152, 0.997, -0.1463, 0.7101, 0.3351, -0.2443, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.4343 left_y=-0.2066 left_z=0.0419 left_yaw=0.0128 left_pitch=0.0516 left_roll=-0.0512 left_gripper=0.997 right_x=0.2707 right_y=0.0017 right_z=0.1095 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983 state[joint_eff]: [-0.7179, -7.3368, 5.5043, 1.2723, -0.2125, 0.3248, -0.0073, -0.6632, -1.2923, 6.8855, 1.9219, -0.2369, 0.0024, -0.0122] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.265,"left_z":0.026},"note":"The bottles shifted during the approach, and the nearer neck is now at the far right edge of the left wrist camera. I’ll correct sideways once more to bring that neck between the fingers before closing."})
tool
executing move_to over 6 steps (0.6s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe neck moved away as the bottles slid against each other, and a low forward approach is no longer well aligned. I’ll move above the nearer bottle’s base so I can pull it into a less crowded part of the workspace before attempting its neck again.
move_to
left_x0.3200left_y-0.2850left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7185, 2.1094, 1.1355, 0.297, -0.6285, -0.4843, 0.997, -0.1463, 0.6926, 0.3073, -0.2298, -0.2142, -0.1669, 0.9983] state[eef_state]: left_x=0.4538 left_y=-0.2541 left_z=0.0365 left_yaw=0.0403 left_pitch=0.0309 left_roll=-0.0243 left_gripper=0.997 right_x=0.2679 right_y=0.0021 right_z=0.1042 right_yaw=0.0987 right_pitch=-0.0276 right_roll=-0.0008 right_gripper=0.9983 state[joint_eff]: [-1.4427, -9.1966, 7.0496, 1.1697, -0.0464, 0.0269, -0.0073, -0.8137, -1.0872, 6.7624, 1.9072, -0.1636, -0.0317, -0.0073] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.285,"left_z":0.1},"note":"The neck moved away as the bottles slid against each other, and a low forward approach is no longer well aligned. I’ll move above the nearer bottle’s base so I can pull it into a less crowded part of the workspace before attempting its neck again."})
tool
executing move_to over 11 steps (1.1s)
step 193
assistant
agent noteThe left wrist view shows a bottle body just to the right of the fingers, with its base near the tabletop. I’ll shift toward that body and lower, aiming to grip it where the arm can get down to table height.
move_to
left_x0.3400left_y-0.3600left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0405, 1.8183, 1.0458, -0.1444, -0.8116, -0.7727, 0.997, -0.1463, 0.6792, 0.2821, -0.2173, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3254 left_y=-0.2945 left_z=0.0879 left_yaw=0.0001 left_pitch=-0.0157 left_roll=-0.0003 left_gripper=0.997 right_x=0.2654 right_y=0.0025 right_z=0.0987 right_yaw=0.0984 right_pitch=-0.0269 right_roll=-0.0007 right_gripper=0.9983 state[joint_eff]: [-0.1436, -10.947, 6.2427, 1.2234, -0.652, -0.188, -0.0024, -0.5538, -1.1009, 6.8855, 1.9023, -0.2125, -0.0122, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.36,"left_z":0.04},"note":"The left wrist view shows a bottle body just to the right of the fingers, with its base near the tabletop. I’ll shift toward that body and lower, aiming to grip it where the arm can get down to table height."})
tool
executing move_to over 6 steps (0.6s)
step 199
assistant
agent noteThe sideways motion separated one bottle from the pair: it is now lying to the left with its base closer to the arm. I’ll approach that separated bottle’s base from above rather than squeeze between the two central bottles.
move_to
left_x0.3150left_y-0.2000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0874, 2.1124, 1.2446, -0.1112, -0.8387, -0.8207, 0.997, -0.1463, 0.6662, 0.2573, -0.2085, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3357 left_y=-0.3492 left_z=0.034 left_yaw=-0.004 left_pitch=-0.0262 left_roll=0.0246 left_gripper=0.997 right_x=0.2624 right_y=0.0029 right_z=0.0925 right_yaw=0.0985 right_pitch=-0.0299 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [-0.5128, -10.4547, 7.2274, 1.0623, -0.5055, -0.0806, -0.0122, -0.6769, -0.9915, 6.8991, 1.9414, -0.2173, 0.0122, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.2,"left_z":0.1},"note":"The sideways motion separated one bottle from the pair: it is now lying to the left with its base closer to the arm. I’ll approach that separated bottle’s base from above rather than squeeze between the two central bottles."})
tool
executing move_to over 14 steps (1.4s)
step 213
assistant
agent noteThe separated bottle is clearly visible in the left wrist camera, with its wider lower body near the jaw center. I’ll descend beside that body and make a small lateral correction before closing.
move_to
left_x0.3300left_y-0.1750left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9028, 1.5131, 0.7052, 0.0101, -0.7372, -0.6338, 0.997, -0.1463, 0.6476, 0.2298, -0.1928, -0.2138, -0.1665, 0.9983] state[eef_state]: left_x=0.3177 left_y=-0.2051 left_z=0.0963 left_yaw=0.0141 left_pitch=0.0038 left_roll=-0.0135 left_gripper=0.997 right_x=0.26 right_y=0.0032 right_z=0.0877 right_yaw=0.0981 right_pitch=-0.0233 right_roll=-0.0018 right_gripper=0.9983 state[joint_eff]: [0.1436, -6.8581, 5.8051, 1.4042, -0.1685, -0.0415, -0.0122, -0.841, -0.4444, 7.0085, 1.9512, -0.1392, -0.0464, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.175,"left_z":0.005},"note":"The separated bottle is clearly visible in the left wrist camera, with its wider lower body near the jaw center. I’ll descend beside that body and make a small lateral correction before closing."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteThe left jaws are at table height on either side of the separated bottle’s lower body. I’ll close to pull it farther inward, where its cap should be easier to reach.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8021, 1.7828, 0.5106, 0.4519, -0.6773, -0.5545, 0.997, -0.1463, 0.6346, 0.2104, -0.1856, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3232 left_y=-0.1697 left_z=0.0018 left_yaw=0.031 left_pitch=-0.045 left_roll=0.0423 left_gripper=0.997 right_x=0.2577 right_y=0.0036 right_z=0.0835 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983 state[joint_eff]: [0.2803, -6.7897, 3.6034, 1.5995, -0.2369, 0.105, -0.0171, -0.6906, -0.6222, 6.7624, 1.8779, -0.2027, 0.0171, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws are at table height on either side of the separated bottle’s lower body. I’ll close to pull it farther inward, where its cap should be easier to reach."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe jaw opening settled at roughly 5 cm, indicating a firm body grip. I’ll lift the bottle before carrying it back toward the base, away from the other two.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8055, 1.8015, 0.4725, 0.5888, -0.6735, -0.5526, 0.5392, -0.1463, 0.6254, 0.1917, -0.1856, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3252 left_y=-0.1744 left_z=0.0052 left_yaw=0.0227 left_pitch=0.007 left_roll=-0.0171 left_gripper=0.5392 right_x=0.2546 right_y=0.0041 right_z=0.0773 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983 state[joint_eff]: [-0.0889, -6.3521, 3.3846, 1.3797, -0.3248, -0.0317, 1.033, -0.8547, -0.759, 6.7624, 1.9707, -0.2222, -0.0122, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The jaw opening settled at roughly 5 cm, indicating a firm body grip. I’ll lift the bottle before carrying it back toward the base, away from the other two."})
tool
executing move_to over 11 steps (1.1s)
step 240
assistant
agent noteThe bottle rose with the left gripper and remains held horizontally by its base. I’ll carry it about 12 cm toward the arm so its neck will land well inside the low-reach workspace.
move_to
left_x0.1900left_y-0.1700left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8055, 1.3727, 0.7742, -0.308, -0.6197, -0.5529, 0.5398, -0.1463, 0.6056, 0.1642, -0.1753, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3094 left_y=-0.1689 left_z=0.1141 left_yaw=-0.0078 left_pitch=-0.136 left_roll=0.0764 left_gripper=0.5398 right_x=0.2516 right_y=0.0045 right_z=0.0717 right_yaw=0.0985 right_pitch=-0.0291 right_roll=-0.0001 right_gripper=0.9983 state[joint_eff]: [-0.2393, -9.0188, 11.6855, 2.0928, -0.8523, 0.0171, 1.0281, -0.8957, -0.4718, 6.9402, 1.9072, -0.2271, -0.0317, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.19,"left_y":-0.17,"left_z":0.19},"note":"The bottle rose with the left gripper and remains held horizontally by its base. I’ll carry it about 12 cm toward the arm so its neck will land well inside the low-reach workspace."})
tool
executing move_to over 10 steps (1.0s)
step 250
assistant
agent noteThe bottle’s cap is now near the center of the left arm’s reachable area, separated from the other two bottles. I’ll place its base on the table so I can switch my grasp from the body to its neck.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3319, 1.116, 0.8017, -0.9245, -0.8341, -1.0748, 0.5426, -0.1463, 0.5861, 0.139, -0.1623, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.182 left_y=-0.179 left_z=0.1522 left_yaw=-0.0956 left_pitch=-0.1275 left_roll=0.0574 left_gripper=0.5426 right_x=0.2494 right_y=0.0048 right_z=0.0675 right_yaw=0.0984 right_pitch=-0.0221 right_roll=-0.0019 right_gripper=0.9983 state[joint_eff]: [-0.253, -4.0137, 10.7009, 1.1404, -1.5556, -0.022, 0.9939, -0.7179, -0.1846, 6.8171, 1.8974, -0.2125, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.03},"note":"The bottle’s cap is now near the center of the left arm’s reachable area, separated from the other two bottles. I’ll place its base on the table so I can switch my grasp from the body to its neck."})
tool
executing move_to over 8 steps (0.8s)
step 258
assistant
agent noteThe relocated bottle is lying on the tabletop with its cap clearly visible just ahead of the gripper. I’ll open and lift away from its base so I can approach the narrow cap directly.
move_to
left_gripper1.0000left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3945, 1.359, 0.3279, -0.2779, -0.8757, -1.124, 0.5429, -0.1463, 0.5728, 0.1196, -0.1596, -0.2146, -0.1665, 0.9983] state[eef_state]: left_x=0.1703 left_y=-0.1618 left_z=0.0139 left_yaw=-0.1103 left_pitch=-0.1087 left_roll=0.0984 left_gripper=0.5429 right_x=0.2467 right_y=0.0053 right_z=0.0623 right_yaw=0.0988 right_pitch=-0.0254 right_roll=-0.0009 right_gripper=0.9983 state[joint_eff]: [-0.0615, -4.2051, 5.3128, 0.8669, -0.6032, 0.0708, 0.9402, -0.8957, -0.335, 6.8444, 1.8388, -0.2125, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.11},"note":"The relocated bottle is lying on the tabletop with its cap clearly visible just ahead of the gripper. I’ll open and lift away from its base so I can approach the narrow cap directly."})
tool
executing move_to over 7 steps (0.7s)
step 265
assistant
agent noteThe left bottle’s cap is centered in the wrist view, and it is now much closer to the arm than before. I’ll advance to the cap and descend to a table-level neck grip.
move_to
left_x0.2820left_y-0.1800left_z0.0130
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.4471, 1.0332, 0.4706, -0.6235, -0.9436, -1.1847, 0.9967, -0.1463, 0.5549, 0.0982, -0.1566, -0.2146, -0.1665, 0.9983] state[eef_state]: left_x=0.1688 left_y=-0.1696 left_z=0.0979 left_yaw=-0.1151 left_pitch=-0.0134 left_roll=-0.0529 left_gripper=0.9967 right_x=0.244 right_y=0.0057 right_z=0.0574 right_yaw=0.0988 right_pitch=-0.0257 right_roll=-0.0008 right_gripper=0.9983 state[joint_eff]: [-0.212, -2.2359, 8.0068, 0.6032, -0.696, 0.0024, -0.1001, -0.8821, -0.1436, 7.0632, 1.8681, -0.2027, -0.0024, -0.0073] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.282,"left_y":-0.18,"left_z":0.013},"note":"The left bottle’s cap is centered in the wrist view, and it is now much closer to the arm than before. I’ll advance to the cap and descend to a table-level neck grip."})
tool
executing move_to over 9 steps (0.9s)
step 274
assistant
agent noteThe cap is centered between the open jaws, but the gripper is still about 3 cm above the table. I’ll lower at the same horizontal position to bring the fingers around the narrow neck.
move_to
left_z-0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9302, 1.5742, 0.3431, 0.519, -0.7151, -0.5911, 0.997, -0.1463, 0.5343, 0.0792, -0.1574, -0.2146, -0.1665, 0.9983] state[eef_state]: left_x=0.2829 left_y=-0.1798 left_z=0.0322 left_yaw=-0.0503 left_pitch=0.0459 left_roll=-0.0534 left_gripper=0.997 right_x=0.2414 right_y=0.0061 right_z=0.0533 right_yaw=0.0987 right_pitch=-0.025 right_roll=-0.0009 right_gripper=0.9983 state[joint_eff]: [0.5265, -2.7556, 2.8239, 0.3785, 0.1538, 0.2906, 0.0269, -0.7726, 0.0479, 6.612, 1.9072, -0.2222, -0.0122, -0.0122] 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_z":-0.015},"note":"The cap is centered between the open jaws, but the gripper is still about 3 cm above the table. I’ll lower at the same horizontal position to bring the fingers around the narrow neck."})
tool
executing move_to over 4 steps (0.4s)
step 278
assistant
agent noteThe descending fingers met contact and the bottle cap remains centered in the left wrist image. I’ll close here, then check whether the jaw spacing indicates a neck grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9363, 1.747, 0.3843, 0.7643, -0.7475, -0.5873, 0.9971, -0.1463, 0.5144, 0.0608, -0.1562, -0.2142, -0.1665, 0.9983] state[eef_state]: left_x=0.3016 left_y=-0.2011 left_z=0.0323 left_yaw=-0.0259 left_pitch=0.1326 left_roll=-0.1266 left_gripper=0.9971 right_x=0.2392 right_y=0.0063 right_z=0.0496 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983 state[joint_eff]: [0.4855, -1.4564, 1.0872, -0.1294, 0.4127, -0.0952, -0.0073, -0.7863, -0.1162, 6.612, 1.873, -0.2076, -0.022, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descending fingers met contact and the bottle cap remains centered in the left wrist image. I’ll close here, then check whether the jaw spacing indicates a neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe neck close was empty; in the wrist view the cap was still ahead of the jaw tips. I’ll reopen, advance a few centimeters toward it, and raise the idle right arm, which has drifted close to the table.
move_to
left_gripper1.0000left_x0.3500left_z0.0250right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9268, 1.771, 0.3862, 0.9123, -0.8104, -0.6025, 0.0152, -0.1463, 0.4961, 0.0483, -0.152, -0.2146, -0.1665, 0.9983] state[eef_state]: left_x=0.314 left_y=-0.1991 left_z=0.0539 left_yaw=0.0614 left_pitch=0.2307 left_roll=-0.2259 left_gripper=0.0152 right_x=0.2386 right_y=0.0065 right_z=0.0488 right_yaw=0.0987 right_pitch=-0.0128 right_roll=-0.004 right_gripper=0.9983 state[joint_eff]: [-0.1846, -1.2923, 0.6906, -0.4713, 0.7009, 0.0513, 0.735, -0.9641, -0.0889, 6.3385, 1.8681, -0.2369, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_z":0.025,"right_z":0.18},"note":"The neck close was empty; in the wrist view the cap was still ahead of the jaw tips. I’ll reopen, advance a few centimeters toward it, and raise the idle right arm, which has drifted close to the table."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe cap shifted to the right of the open left hand during that approach, leaving the wrist view empty. I’ll make one careful correction toward its visible position on the overhead image and stay low enough to test a grasp.
move_to
left_x0.3850left_y-0.2450left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.823, 1.7901, 0.6647, 0.3996, -0.7437, -0.6495, 0.9949, -0.1463, 0.5152, 0.5159, -0.6041, -0.218, -0.1699, 0.9983] state[eef_state]: left_x=0.3534 left_y=-0.1999 left_z=0.0418 left_yaw=0.1084 left_pitch=0.0505 left_roll=-0.0818 left_gripper=0.9949 right_x=0.2387 right_y=0.0071 right_z=0.1648 right_yaw=0.1034 right_pitch=-0.0156 right_roll=-0.0041 right_gripper=0.9983 state[joint_eff]: [0.2803, -5.0803, 5.8325, 0.9939, -0.0073, 0.5348, -0.232, -0.8684, 0.8821, 9.1829, 1.7558, -0.1587, 0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.245,"left_z":0.005},"note":"The cap shifted to the right of the open left hand during that approach, leaving the wrist view empty. I’ll make one careful correction toward its visible position on the overhead image and stay low enough to test a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 303
assistant
agent noteThe separated bottle slid sideways again; its neck is now just behind and to the right of the left finger tips in the overhead view. I’ll follow that shift without advancing farther into the other bottles.
move_to
left_x0.3650left_y-0.2900left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.844, 2.0434, 0.9073, 0.2916, -0.7666, -0.6662, 0.9962, -0.1463, 0.5056, 0.5041, -0.6235, -0.2218, -0.1703, 0.9983] state[eef_state]: left_x=0.3792 left_y=-0.2367 left_z=0.0028 left_yaw=0.1103 left_pitch=-0.0064 left_roll=0.0094 left_gripper=0.9962 right_x=0.2346 right_y=0.0084 right_z=0.1578 right_yaw=0.1069 right_pitch=-0.0361 right_roll=0.0031 right_gripper=0.9983 state[joint_eff]: [-0.4581, -9.8667, 6.6256, 1.2821, -0.2613, 0.0366, 0.1197, -0.9368, 0.2667, 6.6256, 1.9853, -0.2076, -0.0024, -0.0073] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.29,"left_z":0.005},"note":"The separated bottle slid sideways again; its neck is now just behind and to the right of the left finger tips in the overhead view. I’ll follow that shift without advancing farther into the other bottles."})
tool
executing move_to over 5 steps (0.5s)
step 308
assistant
agent noteI could not stand the bottles upright. I repositioned one bottle into reach, but attempts to grip its neck closed empty or displaced it; all three remain lying down.
give_up
hindsightA low body grip on a lying bottle was reliable (settled jaw reading ~0.52–0.54), but closing on the narrow neck repeatedly read ~0.015, indicating an empty grip. Approaching the neck at table height often slid the bottle sideways; the other two bottles were crowded nearby. On this rig, changing yaw cannot tip a bottle upright because pitch and roll are pinned at zero; standing one requires a secure neck grip that lets its heavier base hang down.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9573, 2.1075, 1.0451, 0.1562, -0.8223, -0.7822, 0.9963, -0.1463, 0.4755, 0.4721, -0.6128, -0.2218, -0.1703, 0.9983] state[eef_state]: left_x=0.3644 left_y=-0.2865 left_z=0.0044 left_yaw=0.0949 left_pitch=-0.003 left_roll=-0.0134 left_gripper=0.9963 right_x=0.2322 right_y=0.0087 right_z=0.1521 right_yaw=0.1069 right_pitch=-0.0276 right_roll=0.0009 right_gripper=0.9983 state[joint_eff]: [-0.3214, -9.3607, 6.7624, 1.1404, -0.5055, 0.1783, 0.0073, -0.9094, 0.212, 7.0085, 1.8535, -0.232, -0.0464, -0.0122] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not stand the bottles upright. I repositioned one bottle into reach, but attempts to grip its neck closed empty or displaced it; all three remain lying down.","hindsight":"A low body grip on a lying bottle was reliable (settled jaw reading ~0.52–0.54), but closing on the narrow neck repeatedly read ~0.015, indicating an empty grip. Approaching the neck at table height often slid the bottle sideways; the other two bottles were crowded nearby. On this rig, changing yaw cannot tip a bottle upright because pitch and roll are pinned at zero; standing one requires a secure neck grip that lets its heavier base hang down."})
tool
give_up: I could not stand the bottles upright. I repositioned one bottle into reach, but attempts to grip its neck closed empty or displaced it; all three remain lying down.
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 · 7.005 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3771, -0.0227, -0.0288, 0.9986, -0.0154, 0.7879, 0.6033, -0.387, -0.0261, -0.0341, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -1.4838, 9.812, 1.7753, -0.0611, 0.1001, -0.1587, -0.7043, -0.8684, 10.2085, 1.8242, 0.0122, 0.1734, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b4c9bbc4a17d583cc9223d537b37988825fca152e2731d3151e92d3fa934d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b5839a772b2013cb2513d25d8932246482d2f2ad75852e7f2426550d3cabb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08e55e85d413ae43ef9d422c04cbd6d6f0f8d2bdd392cb61f23956b58076b92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 7.608 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0516d8c2dedd0b42016ab42c4cd98487d082ea7320408edb21",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxTzqCLZCKlSElHooqVpt_5fRN8_eCdwq_lvo5GLBJN8PTqggu7FHo9ALENkgWIlvMemJu0On822YcqUGXCdpE_-24Ep-SBPb3n3mmw_oX9QeTYOdOdLaArmKxX5V-qiAWS72Ow-vF1kOVnBf_XbVQwcw28VxRJyY5FOhNd310Y4x2NSwSxcgLAFJI2LLIVBlGZG2Dn3pxbapU0-Wx5JZR8pRJkTbf5c2SYSmFK3fozoAJ7Mj8D5QHlqJeIOouaEC4kAU36rDw7I7bFKrv3r_TqQ6nI1hVrA7-pPa8Ti7NnFukZLvc6FwSVj_UaoK7eHwsV1omF-VU1Z7p_0bWnXaAfwMxzTDbi82kClWLCUq42T0dbV1pE8x-FGbKwhRbDI42PGCFDvJjBsc3bFlUwGRXRwfZS_oiOD3YsiLhnJbsm4ntSm8oET69HHC_z6YsCbYgpgbiYZRlyWv7lypTTgf8dnc4r2btsHVYMpTRVc2nNiNaWMG5AWPX9PVEfHdOvws-gGbzn2Dd_pPktGUh6t1s7cXKAB9hV6m-iV6W-6S3ZQM_wtPbmVYPvBllGN2T_xZrnHU_kUdn-J-1umTUQFWoT0JIXhimx8QmR-4ecTXifXYpe1tRWRJjU3JaCp0Ss1bIPlJCffGaEJZOhUXNhL4C_SsPCzWeRK0INkAUMVru35fTKyomikSSFWnrFaoaUy5E5CbN7aGwFpZlvWHePS2DljuJE1q7XCSblcY0GnCgavNQn4Gl9SDI_SQH1FYbtgAQiB_JuQy1M1DTeFWBTj09E_A1vd8OoYf8W6sDRZ_sMtAqHJgJnUT6-eUJba4cqhr3mEhCn8BUugbvyBnUS8g2V_ENWeiQDY75Fiytp-I9YV3JDNCCSV5F3kWo-FiLGdmD6PKiQvhjjDbND-uH0llL46-sWeW7M2K3O4alhGe1LqNH_jC3lnyfMLyc-AO6fPmeq6ImfwsnC-VGyAAPWrGytD68EvJJ8B9N40MZB8MFSc5PYQ9-bfxkycCf9feD1uTeZky76T9Fzqwhp5iTw0kIWPREeQZh7obC9LrHrPSYjl07x3jG6M4UvW6ZJzlVkN31XJqfGaNzZiOA1P3jp_7gIBSZ6-zIFd-L7dGaNYA09-rJzfWZf8Paujw20nMBaXx5rLQAL4CJY_jymRgBmk8i0LuqumaSg5Bx5gjfVfA1Azxmoxl9_huCMlVjO2G_VV-6k",
  "id": "rs_0516d8c2dedd0b42016ab42c521d9887d0ab3b675ea157cab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.18,\"right_z\":0.15},\"note\":\"All three bottles are lying down, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck from above so I can lift its capped end and let its base swing downward.\"}",
  "call_id": "call_0nzWahJYddzrk2CZVTvdb5px",
  "id": "fc_0516d8c2dedd0b42016ab42c52469887d0bbfb3bd8b6f25106",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0nzWahJYddzrk2CZVTvdb5px",
  "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]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9984, 0.6163, 1.504, 0.8841, -0.1234, 0.4595, 0.3035, 0.9984]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3736 right_y=0.173 right_z=0.1275 right_yaw=0.0448 right_pitch=-0.0804 right_roll=-0.0541 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.6205, 6.5573, 1.79, -0.0317, -0.0415, -0.0317, 0.0205, -6.4615, 9.2923, 1.8926, 0.3443, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c44bd75dee65baf0ba190adc23d07b7b292b1f39e2bb2296b40f998040d502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bcfa490ddd770e557837be8c4e0960299fb5ddab6f387b2397dc0445308232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139cdbb36428dca61962d58fadb716c7adce18c26b9058a620a731b3d3c987ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 3.263 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3771, -0.0227, -0.0288, 0.9986, -0.0154, 0.7879, 0.6033, -0.387, -0.0261, -0.0341, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -1.4838, 9.812, 1.7753, -0.0611, 0.1001, -0.1587, -0.7043, -0.8684, 10.2085, 1.8242, 0.0122, 0.1734, -0.1734]",
      "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, -0.387, -0.0227, -0.0292, 0.9984, 0.6163, 1.504, 0.8841, -0.1234, 0.4595, 0.3035, 0.9984]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3736 right_y=0.173 right_z=0.1275 right_yaw=0.0448 right_pitch=-0.0804 right_roll=-0.0541 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.6205, 6.5573, 1.79, -0.0317, -0.0415, -0.0317, 0.0205, -6.4615, 9.2923, 1.8926, 0.3443, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c44bd75dee65baf0ba190adc23d07b7b292b1f39e2bb2296b40f998040d502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65bcfa490ddd770e557837be8c4e0960299fb5ddab6f387b2397dc0445308232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139cdbb36428dca61962d58fadb716c7adce18c26b9058a620a731b3d3c987ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxcRSxlVf9RvAPO2f2lQTYM07G4qUszjO9bidhNu7le7CGkIQC62rIWsHbbf0Hyt0Qz5-raHij3XLDjXPQfPkjdRhGXonggawmaUAmjkd-F1_HGLmLwcZ1vjGB4a9yCV9a_sHLohNPFQ5JfhhK3bsfIh0t72av_Jx7iIQV9lueEvz_VpMXYh_dTiDWgTi6ZF9OAAqxyljiMuGxZh33jdvxfXdtQ6RSR5dNpnJmzxvBLhwCXRhTNBDghBdG3mzPORKR2FFe3YzY_8CxyH3_jQk4nZOgZ29QUI_qQ6-NQe4Z-Jar-jpQOVmiQHNoOqkXHQgDbvCAjcIRRHFRwLWfSDP80fkWwRuNLqAcJnF0WRLaaPj6n93wYKwdxl_Xn8eXgxBWLEf7h_1Dd_JYUdAkNsyPSwFEu6dLX11lK1J1ESZNbfxMIM3hOj9RQZCrl2SdqqO6msIMpPBMg7pU6nlkI8HybdgOuuagCBOVKUrdbxt9vwaVTArRXkBLfIKsXWpzMWjP9y8jHXFfh6_I6rahCifbX7xTAlH3tTRliyxZO3w_7jhYuu7t2ivXCIK4tyGeStCOC2pPtFT1FWWnNiNbXMmDIVL6EkV3XJQtAX9ow9w7DCDuFoBDKGtzCgLJx5KFDCQmxSJ-ddKhenrfb-AUzNsvRgo2UKDddRMAbaK-4OK7PqJuhngtetLO6qklEtznDtsW7ig-QZam6mSgkli5H-o7Iti-a0iKk32FBie-HlmeUHJSY1FfBzAxhvLKfhi0tfrHyyLHTlLvob2u_azJJKvlFjm0QzWbbh5Hf_JVZ-k-388CznHhOdx92hnFRAvlDY_P2Xgn1tMuty8zuwVfwFbCJGPklczlnKUmwkXeuGE31UNTZrwE9Ht9BnYjzRbjjyOF01xwmy0bWKSd4tIBlPM3jKJCsLzEWLn2WFxLntMa_C7nMlHDPfbfqW9AqboGt-f4pG75m2PFb3ZJ5cUF7nL0wsgJ9FDONI0lIn2rw2cAnVtIaNoL19tJpdeCndGm2bI36TroRVPyo_idLDkzVlXWkU8vTCDnria_dwjjYqtgk9GsbMwTsM0Xo4ON9ai1oThwVAnSfbBv2pxP7of7jotEGo1EiDAqt1xC8togpiYNOex164gIn-BZ6KGRK2MV9flwb9aH6bRbvoh2HgTiEDCmGmhQFGSOWP29jj11QPA3aKUJZ0uoPwZ5i3CmnJrWJjutKl7HR-RaRgDyO4z9oCsKWXnlhA0W3Rkgv-ty4KOvL09oSLTBOt6an1An7Krhk0ux8ri_rTBK0FJ6p7dqhbwE2FCsar2YEMcGpavPiRdhxykbAont1s4kOXvxQEv3YuBbQckfLE-y4Gr0ih8GDOy8h-mibhoyGnC96v_rv7GzPhVuILbM2M9ZmlurPLrmBPC3IWNj4FiE0sPMXf_hvOubXn_eJ27PEqO4QLxyjxW1Ws7QR-rAPHZE2WxZMm9GLjeIeojKSPdq5f8_rZWwsrabS6GcymlKHQcRjzGHDAyKCEiTH25eKaJqLW5wxWXALXBtRsAZwGmGokkMLIHR13Xipi74k1XS4Kg2TaWdWYOJExCHStYlciF4i6FZAimJrHNQAQZhwC3TJEmLLylsJDofbZ8TFeHdI5tzW2oTu_BV7a8Y5t1wdKYlt7TY4Je_LXvsmTUBmquRuF9t_H0BbLIHaCGKiyYgzCYhA_paD0uHN4gZ6u7E2dgVlJhnZMh2HjkbNp2tUlFsS9aMMrQg4IzmfbE6QZqnzAL5EI5pliQpvtCdQV5gVbQ4d3KO7k6-KVnUEh1ISqv66XFEJrIH5YgXlBX_abDX3htF4Y7gqbPKRQOFrB7QGnm9_Ewtiqg7wEZLpqZOnEucs1rBtAZh6x2emsxczPVapxVCqPKAohFPUl2u__7Nge9E1a-tDGEK9N4TDmUtsBcU2H2SFW5dco4_pn7FfOn4P3l6yZ4WYfaF3bsIXK4yVQd_iToF7eadWVzpKz7z6avsroCWK9gzPBqLoc1ISRGi50VXpfvY0Z7NhjMe3ml8VlLtdZkJxucCWdGB541TXutxP8vX4-6aL1UqCldMLM2pPOLxXCyjulwfzsQyt9xaOxr4oun4AMCFksXXoKgsQ6R4KQxZnOw5BkZwoNXwBS8WO-KYmscbA9p3z7zUC1ZZE5WFUPlwjAf4a98jbyemYGx3Pfk1HH2yIovVCpy3cGfTEhRvLrv7YZgWJzP84ekJppq5prnHgMg0r8qMYviIEESDLiuaNPP9kPsT36xXKBr4kFnHPZg51yuogRAc4M8ELmQpWrEsnkGT_mWby5ytE4nDgPVAJVsJCzjcz5N_r9Rkr_RV-WSzMHqXF_gaYuWCQiLTquk1PDSXozamZcjc-Z-uT0zrOkg9fhjk83cgr0HEwFYpEsfY1t4bCW3cPd5PAxXz-A2ubmofmhvN1eLoBC-4ZrgstuqKp6ceFW7Nic1XkyvznQznbRWjppKDPLTy2KfTeRvws17VTDHWRsBG6E36wCqH5JPkKM8z569GIeBzde-dCL6omYLjdFhU899vrmUScPIatUiyTnCn6H_W9_Pb31Dy4BIgopbli_G2tSuaYlKFQ-wxdl0UQnX16j1Zd7uG0PIHAW_x0C9B7UZe3afoyoc0Dk_wkrSzhinOoJRComs69jYG8NUxyd_k=",
  "id": "rs_0516d8c2dedd0b42016ab42c584b1087d0ab3fa08b96082b39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.155,\"right_z\":0.085},\"note\":\"The right wrist camera shows the bottle’s cap ahead and slightly to the right of the jaw center. I’ll advance and lower toward the cap, adjusting sideways before trying to grip its neck.\"}",
  "call_id": "call_LXzV1X9HzF5FOExTeSkOMOg1",
  "id": "fc_0516d8c2dedd0b42016ab42c5b213087d08dcc3c534433913b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LXzV1X9HzF5FOExTeSkOMOg1",
  "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, 0.7979, 0.6136, -0.3874, -0.0227, -0.0292, 0.9983, 0.4564, 1.7592, 0.8547, 0.1795, 0.3336, 0.2035, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4238 right_y=0.1477 right_z=0.0588 right_yaw=0.0406 right_pitch=-0.1058 right_roll=-0.0498 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.6889, 6.3658, 1.8437, -0.0513, -0.0366, -0.0171, -0.6906, -8.2667, 8.8957, 2.0488, 0.0562, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f0c2a5a4f71eb73b3d36dc17083677975a80468b7bb2d2924834a4cbaa802e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd839c484f4d597b67d512fdd4abdfe400248beb68672fac6a3171a1c8e5c34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77ee2a9320175a43c61e8ebc433e5f4cb4b17025d2845bc90a7b4d757974711",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.735 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, -0.387, -0.0227, -0.0292, 0.9984, 0.6163, 1.504, 0.8841, -0.1234, 0.4595, 0.3035, 0.9984]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3736 right_y=0.173 right_z=0.1275 right_yaw=0.0448 right_pitch=-0.0804 right_roll=-0.0541 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.6205, 6.5573, 1.79, -0.0317, -0.0415, -0.0317, 0.0205, -6.4615, 9.2923, 1.8926, 0.3443, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6136, -0.3874, -0.0227, -0.0292, 0.9983, 0.4564, 1.7592, 0.8547, 0.1795, 0.3336, 0.2035, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4238 right_y=0.1477 right_z=0.0588 right_yaw=0.0406 right_pitch=-0.1058 right_roll=-0.0498 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.6889, 6.3658, 1.8437, -0.0513, -0.0366, -0.0171, -0.6906, -8.2667, 8.8957, 2.0488, 0.0562, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f0c2a5a4f71eb73b3d36dc17083677975a80468b7bb2d2924834a4cbaa802e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd839c484f4d597b67d512fdd4abdfe400248beb68672fac6a3171a1c8e5c34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77ee2a9320175a43c61e8ebc433e5f4cb4b17025d2845bc90a7b4d757974711",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxfBH2FsKfwtKlE0lTS61aGNgoCIt7zx-k29rrP13vyDhzzvcz_8daNKsd_7G0ouLkR5VqI6faS248vfB_r7uE0MSyd0crHUZAFL9YBEFK0CMeoK9jTPwKJL6-GO5iK6rU3yPnWxRaLmTrfiizwyB4IGXt78kWA6I9b4yaCvLRa1HI6hJnw8c3uyfSOkhHkWW9IaAHdRh-ve8TzhYoF-o4IPKELQkAqcRU51sSLMuGIkMx8NB6nSN0jmek_5FFShapHxsOie9kZ-WAbAaVO7xaBIYegAPfNYHkWHNAjOUB6WZI8MXmRcXRdGCM5RiHczc4YHuoWgGrAGQfIhiizeDwos1haPha0tHyw-IQKt3nwm4QTGpyYdeizJbW6CK4yxGuMGOMJ9V2wO6QnjXJHfcsKV66pFKCP1uO_wh8CpFb8bUj6r3nta_NHVN-WVkvHsdS9oEMk097kBz8Bfy0Do2FgXnsnasKR0X4x3yBXqv_mjoyNqJ3jXXe1nMUDl85JXA7AUNco-TcH_KIg2ol51mp6iUlpjc4PcXjWaYIpMUt85sjuU2jWLwRvUHsgSPGDu_uxqxuQ9FjfprLC_iryEmm3OYbrBrl8SJLERMkR8pzZZIXjNBY-frhCCzYwE5RK0XttyACVOcs5hZHJbbJxc6fzkgbD5bda7Khg6R0wHUWMQ-IIIh--nukAiHHANmzu9gjScp8yO_DPXX_x__7cawklm0-u-d6GZH_FXbrpomVdHn6AD8N7WX-d_SGamLdZ2GB_o4WoUt2Cz36_1-4u_PM8O5qMyf_MOkJfGhRdBlZ9PZfaMsYuxx_ldRkBzddVireDxfeuPLBduEMNYv_oGnJKmzeB2bz1dfwkAhHk3Wx_8gENihvf3dL1sm0TkFaV9EhYx04s89mBXc6pEPD8GZWfbl5QhSUBK9qzzl5qRcl1cF2nZ4pb1nKiutFtNLbCQsUQ_7rf2BVwo_NTu_6XLVAJLilERDgysdPQVKHe-pp0fB5xjuqhmxaeMCfOXHRwkdOytX0THPZF947pl2sDAml7fcz4OgThSDvL9qcyWRLyegV-85POHH_x9troX8_unwFtc6YDPF_JlFHIrpd0o--cM2D-C6cuL5obZ61xt2KWXe3INuGkCa83BWtGyILAUTpemGVWQs3v7kweoTMEeaaqE2b3Np3AWnIh_V7zYlGUvgfnVGu5_NQqm6IqwOfTZ2z3xg_ERuXRM3JFuy_YCoTQKBUyDT2tPKFYn1U7sjT9ygoMcOC0j5vmbJ_QeB7MCXXkWyyeodK_UTaIV4BbL2BiUxGJCKHfbWt0UNbBnUpKxnDG8_JoQFg4bWUv9CBoKpaICgBB38SdJ3GBQWH9nC582S8v43xET_4i2ORI-2bqWUwj9GHEL3z7K3QwCJ2GkzrrUTS2gxfo2oFzkNtj6XsgjdgvHZwpyFWP8wMJyC4eNhQ3bi_KViA7B0NMFGyLuL9ya9TINz6TriYvYbb28mb3Mv84YDmBbZL4sEZq1334fYS7fuzmEzBJNvU9WzWPaZe51uE_sZSTjCPNnP9vnY4nWandTn0HyUfUkWk0OOmV-LFS7K41EPWtrgSg33ArVc1ru4QgVHkTF5jrzB2wHVM_BRDwh3DCuNBLQpdz-fALO2NaD4cglasbiuX6CRKH-153WqOY923dvFedWxJNT7znmVbb7krLgHsxTsFxDx__qkEJH4PaHDKbY1RX7FCq52AhkVzVnFgvT0FsmROdawdKSGzl8-O3YqTJQs9pL5hrUwVhdrw5W2YBfjcj08L6kiL0ohubq25SRZi6Wm6SuVYCuSSq9jTlUIIFuw64JrXn13Ujfxf3NWmIIE4phbDh_Orxrz9SMvZh2pQhbAmWex_vSvuiLfIEVKB-Vg3c6BaAUVdQ_damRZiGj4qLW5e90eOkWIbWIqvp7UPaWHMusNoqtGzteI4sQNqIZAuVnUYC07ddZ6xntijnz7Z42HDn89Xb",
  "id": "rs_0516d8c2dedd0b42016ab42c5dd88087d09888030a82562b7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.148,\"right_z\":0.042},\"note\":\"The cap is now centered between the right camera’s jaw columns, but it still appears well ahead of the fingertips. I’ll move forward a few more centimeters and lower to neck height before closing.\"}",
  "call_id": "call_ABil3xrdMrrGFtxoEQICf7U2",
  "id": "fc_0516d8c2dedd0b42016ab42c5efee887d0ae588926fb7b4af3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ABil3xrdMrrGFtxoEQICf7U2",
  "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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3969, 1.9434, 0.9012, 0.3691, 0.2874, 0.1627, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4596 right_y=0.1422 right_z=0.0274 right_yaw=0.0427 right_pitch=-0.0692 right_roll=-0.0351 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.6889, 6.4479, 1.8388, -0.0269, -0.0464, -0.0122, -0.759, -8.0342, 7.5829, 2.0, 0.1197, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961c4c5bbc84cede7a5a4e1d332edd9a00b043609348cd34520237686f39ca5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c63e2ad8290684223c5c3fd83b640ae11b89681cef20bc34ee540bedebdf60c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141fb57479197928da4e8e112bab4aae7794d889addc99ab5dab62afaf3d5900",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.438 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3771, -0.0227, -0.0288, 0.9986, -0.0154, 0.7879, 0.6033, -0.387, -0.0261, -0.0341, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -1.4838, 9.812, 1.7753, -0.0611, 0.1001, -0.1587, -0.7043, -0.8684, 10.2085, 1.8242, 0.0122, 0.1734, -0.1734]",
      "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, 0.7979, 0.6136, -0.3874, -0.0227, -0.0292, 0.9983, 0.4564, 1.7592, 0.8547, 0.1795, 0.3336, 0.2035, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4238 right_y=0.1477 right_z=0.0588 right_yaw=0.0406 right_pitch=-0.1058 right_roll=-0.0498 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.6889, 6.3658, 1.8437, -0.0513, -0.0366, -0.0171, -0.6906, -8.2667, 8.8957, 2.0488, 0.0562, 0.0122, -0.0122]",
      "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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3969, 1.9434, 0.9012, 0.3691, 0.2874, 0.1627, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4596 right_y=0.1422 right_z=0.0274 right_yaw=0.0427 right_pitch=-0.0692 right_roll=-0.0351 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.6889, 6.4479, 1.8388, -0.0269, -0.0464, -0.0122, -0.759, -8.0342, 7.5829, 2.0, 0.1197, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961c4c5bbc84cede7a5a4e1d332edd9a00b043609348cd34520237686f39ca5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c63e2ad8290684223c5c3fd83b640ae11b89681cef20bc34ee540bedebdf60c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141fb57479197928da4e8e112bab4aae7794d889addc99ab5dab62afaf3d5900",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0516d8c2dedd0b42016ab42c618d9487d0948aad43f4d6fd32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.145,\"right_z\":0.045},\"note\":\"The right bottle’s shoulder is beneath the fingers, while its cap is still farther forward in the wrist view. I’ll advance toward the narrow neck so a lift can leave the heavier base hanging below the grip.\"}",
  "call_id": "call_1CeuvRVS4UOvQyb0E2v6ncs9",
  "id": "fc_0516d8c2dedd0b42016ab42c632c0087d08513c6fb25fc5afe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1CeuvRVS4UOvQyb0E2v6ncs9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3923, 1.9625, 0.9234, 0.3908, 0.2745, 0.1555, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4681 right_y=0.1458 right_z=0.0304 right_yaw=0.0532 right_pitch=-0.0486 right_roll=-0.025 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -1.4154, 6.3521, 1.8779, -0.0317, -0.0757, -0.0122, -0.5265, -8.8547, 7.5556, 2.0684, 0.0611, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ecbf93fd01973717ba79a503db00ed19c10009d3a6449b7f861720b3a9a81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715e816062485ab13a40394c04914794b2339ba35baf719f9f60c9976523b2af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8b8712ea4158373983cab6a2c665aa196eb5d49bc6e6715b49d41243954fd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.929 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, -0.387, -0.0227, -0.0292, 0.9984, 0.6163, 1.504, 0.8841, -0.1234, 0.4595, 0.3035, 0.9984]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3736 right_y=0.173 right_z=0.1275 right_yaw=0.0448 right_pitch=-0.0804 right_roll=-0.0541 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.6205, 6.5573, 1.79, -0.0317, -0.0415, -0.0317, 0.0205, -6.4615, 9.2923, 1.8926, 0.3443, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3969, 1.9434, 0.9012, 0.3691, 0.2874, 0.1627, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4596 right_y=0.1422 right_z=0.0274 right_yaw=0.0427 right_pitch=-0.0692 right_roll=-0.0351 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.6889, 6.4479, 1.8388, -0.0269, -0.0464, -0.0122, -0.759, -8.0342, 7.5829, 2.0, 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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3923, 1.9625, 0.9234, 0.3908, 0.2745, 0.1555, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4681 right_y=0.1458 right_z=0.0304 right_yaw=0.0532 right_pitch=-0.0486 right_roll=-0.025 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -1.4154, 6.3521, 1.8779, -0.0317, -0.0757, -0.0122, -0.5265, -8.8547, 7.5556, 2.0684, 0.0611, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ecbf93fd01973717ba79a503db00ed19c10009d3a6449b7f861720b3a9a81a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715e816062485ab13a40394c04914794b2339ba35baf719f9f60c9976523b2af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8b8712ea4158373983cab6a2c665aa196eb5d49bc6e6715b49d41243954fd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCxno1E4wT4ZWWh1ZWpMVpfWut2c42GfS9K84pvHz2dncqQkAUw_-wi37LSO20wzckJfFB4qXiFSgQXk0YHFdW_IVP5Lv8Hc_YJPtv2r3BpWt_ctYGWmIbf2bd-Si-Ll50Khe3z58fI3_xDsVfz0v8yvAYxGJ3g-DVlwiGbjyyHLdTeI6ohzJ7bcWY2l_z8_T-QFotgWoKNkOcfmF3eF_rMfPsj8Ne_A8upvKntJCsw5W6ZyPX22NK72TV6OH6YACpPdQzxcB9QI8k86ZCKKqJtmL1cg-EfV9rZK_ttyArmTk3U_7JGaggg8eRpIY3QYU0ayn6W6hG81LE-dWq0Qe9RFksVX9HJPbdfhVc7eiJNNMNTVKmOFNo580fdAKdv6eu7SvSpttPnGdXfXUQBcd4vTEUFBSkfNxkmr_ht5siX8jtKPgEKDHm_zQR3leQ40CZvEmauFnjQcwVzAd2njpgZtp0MHjqHKaYFa1tMVayoZp0R9IG4MU0jlYB-0YVvKa5J9ULlYtvuOmCaXMiAVjOSSbOPZ7j9Nw2WtO4MwixB4O8XVf53krifWVWx9dez-IDyT_ip9dq4jr9LSc5XDmPju_OU9opUTrmn3VM-Yd9LOHQPc8YRBQ3pM-tkeCqhBE6Msz1hbioirozsbUKiS-nHIeFl01M-6AKkMaU29Uu3a8UUnMeQrbZrqIfYhr4DtKswqyrE4QWbx285fB-DRCo-fYz1aHlVKirTqbzeIfjEFBvneiTRutXaI0PpyXsXZ-4Cv32cf-qhpKK_NBuyt_aOn8cmRpnRD11gRYvyrHzeF-6p8XSunyN0Wu5KqSwkFDjvzeGtLCzuzJR-Q8s1k7mG1cvhSP4MV8SjWXIXrBGfQoja7aDIgdkrzOzg_oMAAfaNQYbhJZTUP6sG_jZM_mwjCixy0LMLBeNfpxGJtJyLfoHF422QwdZo-pVQ9gVRGIwlXS6_jKqM8Y8t3XmkoQTLvcWLTYSvrcs3RcKDF_hCaPS7H15KPyQQBmj0_Uezd5PWoREV2BqlZpDM5Vh3mmHGUi3i_zs6Yv_m9HqAQC1gs0aRUwIh8Zs4NhpRDA_-m2ik1r7hGzag-tirwvXrM3Xmm-9A1FANuGReA2Sa6vM-b6lQy1IIsSXgbzGzzDwPQqpFHBPjmNhQIpsugIBBGsAiaItXI3g8f6YYJaomYSQ2UQhH7tAlsTL65QA_BdSKDeTH6H_zjvmpYT8kRn8rRzShyX0BzS5v1kyh7JJHz0FCiACX_0fvwv10_JElT5sN1nBL9ACJjsTGItyL8MEh5uL-hMK8gof-RVqlSeuWkeyytofNsjSMxDz3mGq5iDJdZKAm-GsQB34PaP43EyJpbmyvs3XDAs58pTiETIWfncgCW96cOBTJgsSfGRtEhWVxT55qi2R2twyDu5zgw7O6eMyTqrodjCE3cGR0ltk5H7UfVAoobfDoV91G-LiimoesgY0elp8mgNT7ZKraFq2c5O8uwj8HYX9y1gSliwYPY-Fes14DC_sOWta9Wf0hGsfXf6YrjAEKdckCoQjxPN5FfeMbl_Hs1HlOhxn-miJKY08lPY-tIz9PxdheKwnZr35WXR9Nn1aQZbZyd3pIzQg4mEZmbbfOvCdthoOTu5KTM6hJJYR35AZSJhgYe4NjiLGxabtVCaGS63DApRYmma7Xy_-mcz0vvtvcBCUXeU1b2lbK6_vmGddFY7Q2aqVCGjPMJ7I6i4e76sblJVn3mEgoxbHZiiTjSpBpnIj7iJtRnn1l6iLFSjeGTin9uMvNfW15Ld-T98YeQEKjqiFdp7b-oF2zBS9bmZfewns5gDwwxLv6NAAcJ3SUH_jm2JZt38rialZJhjNlr40AVhr05cu0b8V-VbR1sKha0JZz1PeiEYqAQVY-nuFhSqqtqNrEz6PaqGM98GF6QRfSaGWr9elBirplF9c5Bm3WtQNEw2tpgFweDw4KRoHo-3dQZCDGlvFGepsiTx7L3OYLYuLRA4V0RiTKgGwVHorYjPAhZZRVZzUVSiCGdXSnRm-h7TMe_y6HgYIVeO7EEXV6AEitKgfL6GwHQgNM__PanTcgVtxOdJrwkD3w=",
  "id": "rs_0516d8c2dedd0b42016ab42c6546a887d0b9f0f4184298d677",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm has reached its low forward limit, and the bottle neck is centered immediately ahead of the finger tips. I’ll close on this position, then check the gripper reading before lifting.\"}",
  "call_id": "call_biMk8r67GD4QHbYbhjFQgH5D",
  "id": "fc_0516d8c2dedd0b42016ab42c67212887d0a5e28d7697b02f83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_biMk8r67GD4QHbYbhjFQgH5D",
  "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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3923, 1.9606, 0.9031, 0.5556, 0.2619, 0.1524, 0.0132]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4819 right_y=0.1538 right_z=0.0566 right_yaw=0.0644 right_pitch=0.0876 right_roll=0.0268 right_gripper=0.0132\nstate[joint_eff]: [-0.3897, -1.7709, 6.4479, 1.8144, -0.0611, -0.0757, -0.0122, -0.3487, -8.7453, 3.5897, 1.2088, 0.105, 0.0611, 1.1551]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b011eaf8c505b32e09cc27cdd980c50056e3625cbb061795d706985c8454af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a06f9a76cb904825039e63b2c7cfc3f1bf2286a8ae1b36ca87342ea3f2ad55f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e674035f207ad7380ff20e5dfde146d6228d9a343592b75bcc100a9ca37cb56f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.18 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, 0.7979, 0.6136, -0.3874, -0.0227, -0.0292, 0.9983, 0.4564, 1.7592, 0.8547, 0.1795, 0.3336, 0.2035, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4238 right_y=0.1477 right_z=0.0588 right_yaw=0.0406 right_pitch=-0.1058 right_roll=-0.0498 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.6889, 6.3658, 1.8437, -0.0513, -0.0366, -0.0171, -0.6906, -8.2667, 8.8957, 2.0488, 0.0562, 0.0122, -0.0122]",
      "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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3923, 1.9625, 0.9234, 0.3908, 0.2745, 0.1555, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4681 right_y=0.1458 right_z=0.0304 right_yaw=0.0532 right_pitch=-0.0486 right_roll=-0.025 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -1.4154, 6.3521, 1.8779, -0.0317, -0.0757, -0.0122, -0.5265, -8.8547, 7.5556, 2.0684, 0.0611, 0.1001, -0.0122]",
      "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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3923, 1.9606, 0.9031, 0.5556, 0.2619, 0.1524, 0.0132]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4819 right_y=0.1538 right_z=0.0566 right_yaw=0.0644 right_pitch=0.0876 right_roll=0.0268 right_gripper=0.0132\nstate[joint_eff]: [-0.3897, -1.7709, 6.4479, 1.8144, -0.0611, -0.0757, -0.0122, -0.3487, -8.7453, 3.5897, 1.2088, 0.105, 0.0611, 1.1551]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b011eaf8c505b32e09cc27cdd980c50056e3625cbb061795d706985c8454af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a06f9a76cb904825039e63b2c7cfc3f1bf2286a8ae1b36ca87342ea3f2ad55f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e674035f207ad7380ff20e5dfde146d6228d9a343592b75bcc100a9ca37cb56f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxucKgDpOBXmV0ddmf5xC58ctMNW8p3HCkpa65y1j0qMKzoqTAWkYC7TvG7KvxEz9kV6fl6HBMS92SEQiI38zbB9RBab0kD9pK0Wpmme0ZmYMPc1EM3NKjOjAA_llHgQMh0cAJ25NVR2lbmocTNuOvVyJLN9kH0mrQPG4Q3pzk3L5LTWevfL-djv8tK-ijPVuDgrI8EJO6xzel3g_ojIgSMQGUAiE0C_szrNS5NECF-SnkyQTm_NhPxjXRpt_ckP4ZIwGIiiX0LQTk2nZtNysg-F96ECS7p1QL7zosmIlL83XC4Qc6pSOUjz8ESzAtoTwU6f7upov5RgFbEAgBJCISCtfAsJt_juJbLz9a3jkxGB5I3HpRKEkssOdaLb-5RZBc6mviH4PMGo4vgwjnPGhy1cOBnqGY023u-5SxagVs5J0xVOxRiqqa0h88ra9e41Do9gl5wVqoCQZ6c6nlbVlUwbl0s2OtiP8qiXL5cN0sDNM4QVm8UZrWIeee8-vJ6pqck1ooo7Ow9qW89XhMlP1F7e_HAHXIzMSkkv4th0Dn8DdFLFyRBs9nYn-kZd34iG32U88rJfbN0rnFEMcJlQN9DftJX2Klyeq5IgxA0Dgz_XqEOouW7KVEe0x6AVYp8C--fPfORt6GKPZUOVywYSCn_nLvHDAqweI1-O-Tma2YeN_mI6-QPIKUvRLuYZ5xu_O1AFSVSqkAzXfHi95C1QTquqea83rIMrHskSosKU0_9Oy1CUisS8JCyxDpM5YmiGRdnfqr4rsLsN-IQLW8OXBDiz8tbbkElsgWNEkO_l_At14QQb3iYCb9cA-T-CPVZeyiHIU3ItHwhGipyug9iJwcqZgjFayy59mNMZJ-_gFbn97K6LYaravW3c1ZhkW9RmeFQoHi497ZQoggNjrVJFeilW3jRZtJdv1jkSVl9qoNrkre8eVxmLzKlzs__aGVPopVAZO_RPBDG1BBU618LOFjcbS1cA0mmLhRpjIcm9IjuXvSwpTeSIC5dTPSZQYLKpstIQeOwUpyT1b5GF6ltReNEUonvqgAnulAGkMPHJydsdG4IoWWgBkq2cR-wb6sVunS73DTuBAiVQ9j_IlDEWPIjFZ_IMLgj5pd5cItWnTzcSRbH37UIKLrR8--2xFuaCIfGuZrkxh1cD2kz9xrUuNewo4pl-A2m44__YfYWCxO6zoVs8-lIFOjGJSXtWhRxhWq-TzWMyRj9tbDxrWyfGAPGHKt_vyPXR6W6jrZ6-iTkhFIjjXY1jVkQx-u8jESTUSdT39Le6Lz4fj8doud_dKYLax-N8d9Dai1eeddLeNP_hJCwlP_p5s9joGJwKpcKfBJ06TsTPI2XXDlMeip3IWre1XOPCxZAzZhCO12gmIrHYY-APB-wgNBYbiRwiBvzUzPBi33kCm0GtY7PC9ZUHWp8pEI_TVDQZ30Q4kRcEA1C4mxqG5CdMAEpVAaK0sWcDf2wBih-yIsUq9RNhWi5LBSPW7hvBnf7dBPRnQBJ-jTJ6nm0ZWLjrju99tqnHodm85ZLJ4Y5805rhkmo7pnQ1iJx5AE6fEzhHZ3Pj9qKEjL5knt4C0ptCjngRy27pMr8sZj0MlvjG7apUpDgp5cDLNYwS8T7AYQRi_7Vr3O3_VmNs5BuY_Ym2fXknDABF83Q8dX_iyBAjDWGz7k6NuzAUcAQJbOBE_jrNTiL5wqf14LkBlrDOJkFvGLYN5bYI8Pat9Gu5_3Hl6DP4SKp2YWI4ri3_v7aiSvSh8FFaqNBzzuLdlPywZPEdYoQYAWNrjQB0UBdoCHX2qisaopI03XBJjpdGLkvGma4Is8BW_Osm1EuAEBtfk913SHehqZVf2Mmjn6vjoTrSC1GbRMtSH0MiqvdxDe_UBpKwIIf0T0F8whSqniMhPfBGTcdbVLyLVN0n-sckb5CNYFKBGCVk-4rSJJgQSonQVJyGywqNcYPV1ffxwb5vdugaMYj_VEO7TF-bqjJvp8107acE0J-GsnCk5xLh8gh5TZpOkwmPf7-7yIZA1AxmegjtJ7JdxD4o2b2UDyS0wWqlmFuDNIdT1Gr7xiBl_BFUMItLM1QEDWCL-LuPgA-nAguPVXopHTHA96bqJ9DmlJWnG70IuHmRDccjYUVsz_zTVb_LkPVfNaVUIRP24obM35PV0MuqrnBgpZQYNG11XXP18jXllXx18SJuCGrq7kX0dL9ynpgRmh_GbEAk3ifWplHGcRr38pRFerMR0tOD6o75xYHqq09XG7v4eu_rFBbTfukQZxDqy4MrEXZgoDSqwGtX4xbLI9Ub21nnsTdTz55KUElMZ0ID5u2B5Z5hb_ZKxtwxWKFaawHkBdu10PHi21JpOcaXDCNzzf_77curix7XepS68XoW2tp6L8i9PCIkag2Fz-svOVG-77KnOsto9ypUUfd81ypPjt0kpm7EEXmvsDxtt4SHtUNReD_W3xGHQRwsLma9MA_nVy1Qab8ZL4EagRUuZ8sT67BIzFbf2SX9ujUZxUMPmV-jp3hBYoU0qtNtr7LFGTJh6zqeFdPiT_PTlln3-FN-B4ouCvH9hE3Jf9G9OEbh3ZVeXF3Hz2UPMyiV7aVae-7z_MBu7n7XV2Ibi9Ah-wET7pkxbNiQI5Mnet_LNilnVhMKMn6vzluE9D-FPEUacCXwdBAWNmRH85RVOinwZg5c0MADlG7",
  "id": "rs_0516d8c2dedd0b42016ab42c69b5dc87d0a99c477ac658db3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.51,\"right_z\":0.10},\"note\":\"The gripper closed almost completely, so that attempt missed the bottle. The cap is still just ahead in the wrist view; I’ll reopen and approach it from a higher position to gain a little more forward reach.\"}",
  "call_id": "call_sbcLVKwpwQZUW744STHFndCU",
  "id": "fc_0516d8c2dedd0b42016ab42c6d340c87d0bf58dc88803b6f8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sbcLVKwpwQZUW744STHFndCU",
  "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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3748, 1.9564, 1.1229, 0.1658, 0.2302, 0.1238, 0.9946]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4961 right_y=0.1557 right_z=0.0658 right_yaw=0.0891 right_pitch=-0.0755 right_roll=-0.0307 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.7162, 6.3111, 1.8144, -0.022, -0.0464, -0.0122, -1.0188, -12.8889, 9.3197, 1.8632, 0.1685, 0.2125, 0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554ac4486ee444640c5efd46fb56eee964d3f81de7453d8b754f22baee5e41b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31d297987e1111807824adf94931749f81b54a328745f2118ff35fdda0a615f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b4239771ba47175e9a32ade525fce6bdc0660c53c931a47bcac1f5147fb356",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.356 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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3969, 1.9434, 0.9012, 0.3691, 0.2874, 0.1627, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.4596 right_y=0.1422 right_z=0.0274 right_yaw=0.0427 right_pitch=-0.0692 right_roll=-0.0351 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -1.6889, 6.4479, 1.8388, -0.0269, -0.0464, -0.0122, -0.759, -8.0342, 7.5829, 2.0, 0.1197, 0.0366, -0.0073]",
      "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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3923, 1.9606, 0.9031, 0.5556, 0.2619, 0.1524, 0.0132]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4819 right_y=0.1538 right_z=0.0566 right_yaw=0.0644 right_pitch=0.0876 right_roll=0.0268 right_gripper=0.0132\nstate[joint_eff]: [-0.3897, -1.7709, 6.4479, 1.8144, -0.0611, -0.0757, -0.0122, -0.3487, -8.7453, 3.5897, 1.2088, 0.105, 0.0611, 1.1551]\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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3748, 1.9564, 1.1229, 0.1658, 0.2302, 0.1238, 0.9946]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4961 right_y=0.1557 right_z=0.0658 right_yaw=0.0891 right_pitch=-0.0755 right_roll=-0.0307 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.7162, 6.3111, 1.8144, -0.022, -0.0464, -0.0122, -1.0188, -12.8889, 9.3197, 1.8632, 0.1685, 0.2125, 0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554ac4486ee444640c5efd46fb56eee964d3f81de7453d8b754f22baee5e41b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31d297987e1111807824adf94931749f81b54a328745f2118ff35fdda0a615f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b4239771ba47175e9a32ade525fce6bdc0660c53c931a47bcac1f5147fb356",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCxzXUCAAnl_pB9rCIAHZpf-qoOvLD-cnYXpQxrOZXKB2BXO2f2Qkh51bCYYs4g8M83KlypfTZTgPqUVltbauqcL66pN4jUjwulh0gglwQ_KdgRerwJsju5kPFb-BAPFY2m43sZPCbztcqTJqbOxkQHNdNGnFucuPoLQpANSurlD8Gzu22URyJjmM6f70sXZ8rDOcYtWaEe02UK5wqcn3h3tABSamk28hrq5x0XnngB8Rh-_NgGYwYyOdM8xDPAWsUBY35oqg16__vfeHkG55Ez1ERB-eBqNBPwhZ62qGPNj-Ubwee7QtLoVmBUSEj9zNvj12qW2cJ2xQcWFunFK04Noy8AVbcvuxUvwQpgOEM1KuYhWpmC-iXezD7qJv-JGXjLGZfmPQqZ3wD8nm5KK1KR1hbMPzRgAmgp1wyqbMT8siyPt5VmcARaqYChQLRjb-zy_Ki51tBUfuqWelJ2UKzVGO1ZI8_mo4zW_BeCGNVCb0yye4nUGsC08YcwIt0T-L-MpP5HVnHMgP2mUH-N-aHABT58qwvV7lRcXy1w_CNS5zk8NYLXG6hZ4ItCYK60AhJLwuDHxTT5z0ndIeqd4TRs_ZrZ7kNDxd5wgEaP1gfL4KMUapzaTiT10ZL5FZ6gzy-2saIJjPWpS1xfxXlJZBHzquXAgyaahVfQpX8-hSiy3I8e32QpvLb3PYj3sRyjCVQsz6aDieF_9FuPcwBVxMNR4LqljI5YMROFbD8XysIi4RFRvAMzxEnK5xLA0WElMaoFxijYMsyH015X4sdwaai06J_wsI4UYUUSJPJYUdLzCXG3vB9e843nT0C_v_KOamyew68ZVWgfs7HuyMWWsZC-pENLsal48l5BLKbpkvo4JrGbRBD5LQnzWv7RIudWBiOM1KC90ZiaZluKzzTBPC7KLFvR4pGuFVtZMNzYBDhdyNaOKyxHAqYTKQgLeChfPYNE0jPq2Fv6N-W54Wqff73dm_poEF5gc5tdygQYGb921T1rZCQeRYqWMB-3RSBeLUVsq2YHhAaEGQfaPzIYQKmXXPxwqvvGpdaZqUdIrOjZRHphBo3ShLK0gXY_mwk6R8S8VrrjzX_hVW708yRTeeYGtctJHDuCpnRtPjCyJQDsUX56CV2WGRNOWs5VHlHH2VEVXhAqR8dqt_ozdb42nNWsL5CNmC6CKA0t9DiNx0hDQE_ElIFxpkQtcFBrwpALfKU8qB3WtS5Z6Lvc1sqmzYUGt0BIe3z4sS9rh_KiUXwaat92IsA4VBUM7hKZt5baAs4k6pb04i15WfXLvTYx6yt53Tpbt1O-QOz4i8zSmeIU0g795cM6cjF7qdWKdmADYwhVwCpL-ETSwXAREBSKBLFy3JBxRcnWtVhXNOdNCSyMLmrhk_G_DjvkTxV2Q6YMviM25h8VLcc6V-sqSGWiCEpJ1WLdDF-U8w8gTPl6vAGHi2ru4H2DeRE7Y-XocY3Gnid46GRTdnrmKYoWKFY_w6-NlwNXJaWTq9ePO6GhVWdNcDf3AFbiqqed4s1lP1m8122uU5sZ2F7aOPbVGrXODp5TVpTangjoweHgvFuZyMmaWhoX2ew85S0OgtVnTyLD7IEgXTHDZTEHksS-U0vL-R3vhP6MbToAe8LNUuQcMLz3eFXz-oynVmDvg67JAXcjyQogCL_K6taIwEezumrTF4soZIaiZ2pO6EDfgricaNcABnFw8gCJH2N241K2aC3olYQZkN19NCOt-0jviKJ-vaCOqyYchl_IeHR1R45jqYlzGLQ1XGuBDr3rh5YnwzAgOOlhPBLKTOyF4pkInD7ZasKKpty86zpy0mlZnvC2Ru-vvFlc=",
  "id": "rs_0516d8c2dedd0b42016ab42c716a6c87d09cbae29a649e7f73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.155,\"right_z\":0.05},\"note\":\"The cap now sits between the open fingers at the bottom of the right wrist image. I’ll descend over the neck while keeping the same sideways alignment.\"}",
  "call_id": "call_oHp8xoVRJx8vj5e4KVdnnkCD",
  "id": "fc_0516d8c2dedd0b42016ab42c72f49887d098f9986fd1365cc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oHp8xoVRJx8vj5e4KVdnnkCD",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.371, 1.9812, 1.1069, 0.2409, 0.2222, 0.12, 0.9947]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5012 right_y=0.157 right_z=0.0613 right_yaw=0.0946 right_pitch=-0.0439 right_roll=-0.0196 right_gripper=0.9947\nstate[joint_eff]: [-0.3761, -1.6205, 6.3248, 1.8144, -0.0317, -0.0464, -0.0122, -1.347, -7.706, 4.9573, 1.7949, -0.0171, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dc15429dd55ec4f5a4e9b0d41f1ca494f7bcac9146caa7572e141e262f8236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac268dc1098305474c314e0016c2d4ac38d0c149ef5e7731eb49f7315ce4a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092d005ffb12ede31dcb0f6058e351e2690de30ca3c38bc6031a2c14de426545",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.6 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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3923, 1.9625, 0.9234, 0.3908, 0.2745, 0.1555, 0.9984]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4681 right_y=0.1458 right_z=0.0304 right_yaw=0.0532 right_pitch=-0.0486 right_roll=-0.025 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -1.4154, 6.3521, 1.8779, -0.0317, -0.0757, -0.0122, -0.5265, -8.8547, 7.5556, 2.0684, 0.0611, 0.1001, -0.0122]",
      "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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3748, 1.9564, 1.1229, 0.1658, 0.2302, 0.1238, 0.9946]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4961 right_y=0.1557 right_z=0.0658 right_yaw=0.0891 right_pitch=-0.0755 right_roll=-0.0307 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.7162, 6.3111, 1.8144, -0.022, -0.0464, -0.0122, -1.0188, -12.8889, 9.3197, 1.8632, 0.1685, 0.2125, 0.2564]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.371, 1.9812, 1.1069, 0.2409, 0.2222, 0.12, 0.9947]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5012 right_y=0.157 right_z=0.0613 right_yaw=0.0946 right_pitch=-0.0439 right_roll=-0.0196 right_gripper=0.9947\nstate[joint_eff]: [-0.3761, -1.6205, 6.3248, 1.8144, -0.0317, -0.0464, -0.0122, -1.347, -7.706, 4.9573, 1.7949, -0.0171, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dc15429dd55ec4f5a4e9b0d41f1ca494f7bcac9146caa7572e141e262f8236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac268dc1098305474c314e0016c2d4ac38d0c149ef5e7731eb49f7315ce4a18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092d005ffb12ede31dcb0f6058e351e2690de30ca3c38bc6031a2c14de426545",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCx2E35dsmbKWSkR99m_OQKYquhvwiUt94tt_RJ-GbjGa1OKtjhdC6XeJCt0Ixnt8dW6lpoc3CSeimrjiJXwHZibNBo00lHrGfQTqILIFbAUflL5kDt0OMUFhD_4GLnoBb_ngqQX2hH-UjpTcmbo9Wmovbzu7TV_Z5U-4W9Px0FlIgU5JfBmyaX-4-6GsccTlheMa1WM52O0KK8e9YOFZKmBuZrPqIAwrTMkGcXGHMNa-BtuVzm72z0EqZ8YD5ut_8gYVrQeHazASxrmTxR-cAkOd17kA8NjrbKvWPCfyCOYIEAIUUs8UmuCxHkOD2_HcrfTobhp2aErsmreRpg9xC7Rsl2elNcYqKA6vgXMpWnrKqGiqvNY3Rm1JskygbZ7pqLXKSnzoScnrzFF_IKahP5WWoRpIEyQPLHhBsYy4w5imK0OrifElb5L7FmwG03_BUmA5xCimVfNSFJY6fzXcMTQtWCcO61LD11zWaC385QOR8EVqAk_M7b5GUkLn6mxe_NcEl8aOP2pEfBoF-Nn2uFRr5YKGU9W6jbn6GK0px0XhP3bDTdGH9xGFprFYDJsdzoGh9N9xhzo3tLSayUAauIgCXLYRQ2yGMOBq4CQTNj3bw26hv_dYOE3fYJmBAG8gEPRziu-OC-_Tfa0kV3iv8yWi2C0sVg-YcABXjIUg9UZrixTmIzk3HglaOPLmhkjFwXR0eRlwYYT8x8ir6w54F289inotJqiYskFbPya2EYX93WsSUsQ5ovKV9hWF__iJiUKNV9YN4-WkWrqAJc2-R_Y2woIl70diDf7azDfOWyd1cICqEXCgu1WOW1aaxcGaiwn_jTklVVbL5RH_F6sQNtvqlRc92yAoDSr2USizsUsaJqXyqtsFzLpzQmJkX-Y8C5gNtykB73M3HCm_3eKx6ERyNRqZdSlcaz2q0sUUytVp8Xbf9siJqETuh8B59BiHrc6eGFHSF43PiAeCbF3kjfUB3QCAeiLsDAQI1BDLU4_djl9rkfqVBNCc4zkU8O82I2UVLr8kSqzY-dgnMN0elKBsB491w7bzbF_FQmg2tlX-NdoRAOtEFZKO7lcmyDvwmxEccPZcNA40Gq8ci_bDlSLGW35iU-qwQDnSXXMezpH1q19Gak7TIao-xSNsVaubgkeLqJJ7QNlyWKW2KLMashsD18HOGbWXaoM1j16jXb-rnyUKJlqdErb8YQUko56b1WczKvAckatiINS367D42GXKgG3ezZwyvAAXq_MlLCirZb9J81hbx_N4v0BGaGr4LLb5Z1RP2SkO6R6Pq94F9Lnkj9DjkXt3m5c1UpHZUbnE3pcEOKD5aiUNlQkq0w48WxT",
  "id": "rs_0516d8c2dedd0b42016ab42c74d86087d0b55e6acb7476c47a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap has moved to the bottom-center of the wrist view, directly under the grasp point. I’ll close on it and use the settled jaw spacing to check whether it is held.\"}",
  "call_id": "call_4ljrKGZDcS3rBtNAChfo18lz",
  "id": "fc_0516d8c2dedd0b42016ab42c75288887d0bc979365132a41a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ljrKGZDcS3rBtNAChfo18lz",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3603, 2.0331, 1.0817, 0.3737, 0.2039, 0.1028, 0.0128]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.5097 right_y=0.1577 right_z=0.0511 right_yaw=0.1087 right_pitch=0.0072 right_roll=-0.0093 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -1.6889, 6.3658, 1.8095, -0.0073, -0.0269, -0.0122, -0.4171, -10.5641, 6.147, 1.6484, 0.149, 0.1538, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9a3133572929721120152f6cf260151933375bd1bc36c90ae4280fc046db2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b08bf06205d9bf8fa1b2dd02524487b354fa003c24c2dbbdb5fb7872a2c7106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cb1606269fb5644181649f914e0fb18e0cb43c1540668a231b34cec1f3dfab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.573 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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3923, 1.9606, 0.9031, 0.5556, 0.2619, 0.1524, 0.0132]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4819 right_y=0.1538 right_z=0.0566 right_yaw=0.0644 right_pitch=0.0876 right_roll=0.0268 right_gripper=0.0132\nstate[joint_eff]: [-0.3897, -1.7709, 6.4479, 1.8144, -0.0611, -0.0757, -0.0122, -0.3487, -8.7453, 3.5897, 1.2088, 0.105, 0.0611, 1.1551]\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, 0.7971, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.371, 1.9812, 1.1069, 0.2409, 0.2222, 0.12, 0.9947]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5012 right_y=0.157 right_z=0.0613 right_yaw=0.0946 right_pitch=-0.0439 right_roll=-0.0196 right_gripper=0.9947\nstate[joint_eff]: [-0.3761, -1.6205, 6.3248, 1.8144, -0.0317, -0.0464, -0.0122, -1.347, -7.706, 4.9573, 1.7949, -0.0171, -0.0269, -0.0269]\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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3603, 2.0331, 1.0817, 0.3737, 0.2039, 0.1028, 0.0128]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.5097 right_y=0.1577 right_z=0.0511 right_yaw=0.1087 right_pitch=0.0072 right_roll=-0.0093 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -1.6889, 6.3658, 1.8095, -0.0073, -0.0269, -0.0122, -0.4171, -10.5641, 6.147, 1.6484, 0.149, 0.1538, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9a3133572929721120152f6cf260151933375bd1bc36c90ae4280fc046db2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b08bf06205d9bf8fa1b2dd02524487b354fa003c24c2dbbdb5fb7872a2c7106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6cb1606269fb5644181649f914e0fb18e0cb43c1540668a231b34cec1f3dfab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCx67sr7m6RcqHR7reCWy8ce7CShLHhVYriTSKqdOXMenb3D4R35zcMVn-yfcfYh7usq73Oz_T-aUnLCUG9N6FLjU0sH08bQBMB1x_Zi2_NjyanGWgWanf5_EimheeNB7XOTv4SDsxCc55u8yIzzY-kxQNLMT0MxqoK4D8fEBGGz-kWvySriweFhJB3mtdIYMw1jD1Ce-CtGyqiIga8FOxDlhAZtowerORBsDtppYvYeF55A3LbXV0qxmQGsRzy_fXCwciJTd7eVCsvFA5F-YnfYe16yYdOyZRLvI1XnDIJdbNR8itDup6CixeR3KwFEgENqOsyoWcQueyAwn4dkoZu8elEzwUmw26fephqpKODxuYA9s21zPk59B6PNaq388G6WumQ8z6UCba_bDQdoE3HHG-XoDfpQVbw6VYz1PspKx_-8aFyV8YrVA0bW8o905j0_znNfQjQ7-XdUbZsNqjIBPeM4ZyNtogLovqEwdAsSvh-OshBLqwqCKPeaIQ2RohN6FULhjWNlBXuOVYY_2XKnLMGW1lX1__z3_alLTIOofmf7fRi3iB3WYpZ82W6b_bUeNUvVS8Bz6k3P94d6-9ORYz3olAfomjZDDgpA-DGVVRy3clkoWJKZF_m0GF9x16g4sXnsuOvt8kbeCKiCge-uLfgp0osDiSNG0MY5CJCHHLxM5niAeG4jQnyqBqTUXvrNop4cyq3E-5orLimssMfYY29QFC7V-JeAoqP2Q7P83WWs09D5ess4gztcMJ2-9JrDcZuwbLtqW49zfGGJjRzq_RQRCHMN9y4hUwlQ4kiQ09fe0jIXTuqSuZw9r097EGztXj2YWbJxoegkl4zbKFcw0OjjT_qv7XyJbN_BS2ZWIiHqo3N640r29Z8S7HfbInFyZYEuxUAWLJVhjwtUU40b7W0nHRjOXlNVGxIXkob8yPxxT5KwzCoyeDs3X_1VAqnnrQ2qNf4WQs4pP_jVWgM9FpIY2wsEG1DAoi5lqoxX_RybzUnmLEgwen4AXEG2XS6NvdwSxcfHzzt50CjcrW5nZ0533oeXq8JVHoKdOUohUy2TOtNVcWX9TJBvyy9z-CPJkwT2k0EqpXpkJQB6XUj2VO31FJ7Ob0c8xgASzq1qoasvv2q5RmxBfdI7kgPf2P-kkOuzr_Jo9CaqU94u3DkCBPfEDxli8x3KhVwDIyyo3C1Ut4HK77c3hQl0LTz_puIKIqiVv9dAWJBAZBLUgPpZD7Sl_nwhzepUpSz8D1YABCQ8d26olpUXGPV9_TX5ccWQTZTlRp4HAViFv2DTK8KFsqYOEQj2q_RY_FzBjCqiXzFp6UfFosjhoDpaTa3hK933XJ3P9EEp5cW6ifw2m_MCXlj6g6VmMRRjBfMzRHN06RJYxDDt61lebuQ_NlXl_uAJvAWsRkaLZViiu_hjuzVbxI2z_w_75dNJl7XkeM-KQkRfvKafXzkSrpSMVxjCtp312u2L8SfHf0g4ADy09ekVG2BhcIGvuSpfbXkiP2sK7gAvxX4PuxRAfish35egrysCUgFFDqcRcpd5AFCm8T_4KpKjiwIH3vOVIYryQd-FIZoqPuygGu2imz9uxWlH8UWU5r5De4-W91wwSeG-kDmF-fvWCDBx9xYPTVQWh-iBrl9CbfKbMAlmgkOqK-WG3M7vaudd5C0IOg30c-Qn_XIwq6Un5gj7Kp6gzvp3eeIM6u7D-lXUyxrzt9QKmg54_YsaXceZnO7deDqpdspa7GKXpfTvD98Xb-rAMuUedoRT5jAp06OuWvlL2a-iu-RztGYo5XcP5cQYCuLpY0JIRsT-i3H1kQpiP6ZIwkhKmKA8tLL09un82q763cEsEgXk0FNLLUaKwTFVn47eoz-8FGQYdnTzrmXX7w936jkdyTxxynrBrciyY5kR_mb2hFsI5bytZP_1dztFgQPwhATMsBH7_38FiCzevk0Y6WDJ5kFgjNYUkmtJk9fYCwsZLRwGqS0O7elVE-3TDCSjKy6M2iLBUJbQZbFhPrq7xxx1OzhQvilf_1pE_AkotAzTmn7fAjlIfz436BqimiZLW4mFfngqDJjD_en-DjZeQzgQJyeAoVm2okpMDpbm6_tcUHCgyGrpu2CPd0WDS5gx4E3JIMeRHYM7YWqSZJFxdeNs88rNvzs=",
  "id": "rs_0516d8c2dedd0b42016ab42c7821e487d08b80395e27c21dd9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.005,\"right_x\":0.51},\"note\":\"The second close also reads empty. The cap was horizontally aligned, so I suspect the fingertips passed above it; I’ll reopen and carefully descend toward the table at the same forward position.\"}",
  "call_id": "call_LafBPoBhTOfmC2Slb8jlxTnx",
  "id": "fc_0516d8c2dedd0b42016ab42c79ec1c87d08ccf88a9ac71bd77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LafBPoBhTOfmC2Slb8jlxTnx",
  "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3607, 2.1082, 1.0729, 0.548, 0.1818, 0.0917, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5222 right_y=0.1667 right_z=0.0447 right_yaw=0.1325 right_pitch=0.0926 right_roll=0.0135 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -1.7162, 6.3795, 1.8144, -0.0562, -0.0659, -0.0122, -0.5812, -6.5846, 3.9453, 1.2869, 0.1294, 0.1099, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92da7084fbc1fc7b3d18361526029faaddfe8cf585f2ca895e0cb9b4148c2ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e2d2134ba08229176036a2270036e8a3987091c3583355e02e79debc8295d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8637cc4fb3faf8cadc759bd3d86a9b1a28642f85537372c4e5e800ddd64d00ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.167 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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3748, 1.9564, 1.1229, 0.1658, 0.2302, 0.1238, 0.9946]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4961 right_y=0.1557 right_z=0.0658 right_yaw=0.0891 right_pitch=-0.0755 right_roll=-0.0307 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.7162, 6.3111, 1.8144, -0.022, -0.0464, -0.0122, -1.0188, -12.8889, 9.3197, 1.8632, 0.1685, 0.2125, 0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3603, 2.0331, 1.0817, 0.3737, 0.2039, 0.1028, 0.0128]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.5097 right_y=0.1577 right_z=0.0511 right_yaw=0.1087 right_pitch=0.0072 right_roll=-0.0093 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -1.6889, 6.3658, 1.8095, -0.0073, -0.0269, -0.0122, -0.4171, -10.5641, 6.147, 1.6484, 0.149, 0.1538, 1.2137]",
      "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3607, 2.1082, 1.0729, 0.548, 0.1818, 0.0917, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5222 right_y=0.1667 right_z=0.0447 right_yaw=0.1325 right_pitch=0.0926 right_roll=0.0135 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -1.7162, 6.3795, 1.8144, -0.0562, -0.0659, -0.0122, -0.5812, -6.5846, 3.9453, 1.2869, 0.1294, 0.1099, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92da7084fbc1fc7b3d18361526029faaddfe8cf585f2ca895e0cb9b4148c2ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e2d2134ba08229176036a2270036e8a3987091c3583355e02e79debc8295d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8637cc4fb3faf8cadc759bd3d86a9b1a28642f85537372c4e5e800ddd64d00ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyD0Rp6Qaqc6HfPdvPIgIwQPaEKqNK0eKuJm6WxfPvD2LiXdUfvehTciBeIY60YqJ0tnP1kgzsyV2T8noqULgVS_KKib8wbOf4lC5cJ2IS6Na007cnR0VdBh8fWo_FK3vaaSRofeQmd-EGzE5cktnFyrL8dTjfjQNd0uIVzMMC8nN5Bz4DWZdRSZcBcF85LQK_aNR7WZBPLOw4lxCIUMfmn6bVmtDmPNlpBPOQZlsd64vU2dmUTj3BON8kO0ffkKvB6SkKsnwX0bvbBy8YH3Q9ZcYcYuZ4aFZh_ZqSENqzUYQ3jsPZa2weADkfKxbkPZMGQJIgzYDpZFTOxFUD8f24mMJhR-XQwUc-lt9d23brku8yWo-mu2UwKxWkpJ8_ymHbq-C2mqVauMyBMPMvFP8oVKUnobtpTdOgfXaO-Q_w5p2zKhVmipXWX4buU-NvV-CDUrFs7pgrnk7Svn3lHH_WZ1Z7Kcc76EGrY9AmfMoUu8YNXqCGl5wP9dYo_5QKofv2kL9wVP-toHv6y2pr3LbbxxzGVdVoSLY3Cv6T2ReSw2AMW8AbA-YBOY_lC9d57I-0ASea-uvAPtGws8cDFMnCD8NtOsBfx1CWAQYczG0I8xihwPeQI3-Uj31K6V5l21srvgkcApe4TrKhdmwF0fN2msF-dZ2B47hrfRPttZatdEsj3WRAsZX3BTnemdhgYIVM1lA9SLNAHFe8U1u71yvSbmlChZmCO56rWwnaCB8PFGR9BPeOBk3SDvDrB6EgifxcEATjfhUMJBsvrV0M9az72gYmdz06b7S_KgeZY7T-mwx0RMs8st1Oh_IlJncsHRHgCcbMp9qy8OCfegGpXsl8ICxRm_KLx18ZBG6xRkMSZHWq-MsnXPw4RAyuHrKec6Is7uX6ALTubKDniUwHr2y3OGJ-FNuA324Z1lo9MQSN3McgAEQFsoWW5rwLvwGeopd1GubiKpbuX3Bhw5bgEK3yvJ-0Ee-H7aYdkCMAEeY052GWM_X_8exC6v_D7dd1p2yBM7G8mWq2gPPhXSguWUFug9dncWEXY0UAqubdbxI64TGV7EWk_FXGzgFP2oy6SDIuL5BPl9kb_3tE9eU5UF__fQ9xNqo6K8COr8CeE5HGx6hOBkHB28jfLCbu6UxCdu49kYLFCiCVdgNteg3qwyBQHs-s0dxVgmzxPOZcVqaOXq94R5Mq8l4psqYhQjyCSgx-A6MUZ-VGFkPSN4cSbJeD66NpJzkcImAfKIcv7flkeeNsX8-iaQ790KTgQVr3z2p2T7Kt8TiVONI8oIf7-UePyX---dpKiSM57V8jLpbEzMd1b4IFHHUc3rrBiucq4OtP26gGftQ-NLd4U0ElIptdI2g14sKvsSY8mb-Tj-tud6Lc4ARcLMqjj9_8GGMQR4QFNK6AbyFHdn9YsOTd0S5frSeEY6Ne9u49oHCZ_wVTeBIdaxcmAT7goxYs-jWSwu7NOKZjsMTcOkOnpI0NcuWObynyfDtT6bYj0VpXq2nj_8Yd4oUANwA44Ppyl2-sw8du2RpYv7hNoBmVOsfdn3h5ht-guAdmtmD_Uxr4GxduHPXXV_xyePjhvr3OtCr8sjm_50LPGh44mfeTGWGr9uSt0jWTTyKmpOao41dvYA1n0ZZTyKTUP6yHB3WwAn3YckaQez6xlLXVVnaZ7pHzkqsQoIrfCsDSKIkqE_ShILtYcq3h6ICsLPv28oEid7KAMl0QddX5C2DM82okpwwTaZwl4c7u1COq3BGsOHc0jrDtDWykg0Shm18F3FxzXPGuBNXMBmCvbI7As0ysLEOppRzX4zgi9KBVZlU904EjGWNDwBKVLX52u3f4VdGajcnmE5DsE2GlRNTWQ7dXi7EYlDPy0nqyo8AOeoW1CmT8CrzD3coDjNEuNdNs1mM40l5q80TYLewxr05k4FdTxdD5TXwH9ug3sRmUirZvCf58ZCiCrfZ4tB5dqZS0r62HWcIHHs1x3vc_6uV03i1Ix-zxd3Amq_oV1GUgWK4VdrYnVKQxxdSDIB-A7SHwLus5R4LkRBZOwxsByMVwTNVsnvybgKE2m0S8G0aHzxU2-kBPgfYUM3PU2miVsV0aMRBh25cjsp3YvuqlrSWv_ky154_ML4w_Unxg8y80JjOt71fB5ih5eyvqHvJ6IJYDlHUabyTqnoeTNijupwRaCklTftISrMvT5HBoEgEYJtepW6_g5ZOt2ruCHN0odQYOFpG6gLoq0jR61BlPZ5TZqob-gYPCXXkkcZ87GpLko8AG6O25u0CTGlhO-0cmAA0hiBomJCEDFPBqFSLq8rgUlBJdAJYami00AGrBXJQZStfnhN2hygxB-g4keUn4er2eUIzk5A5R8WJT66wat7tyPmUxtYXZEpFqwnznSgdbjmehtoFXrjofrWozT4LMQnWZOA6oZkYudoyRZiVXHTA_rAM-XCuQFZiMTMiLVR4UWecYLg0dnDaCAjMWBityB2lo9v7shd39_sFGWpt-DF_HikQjS7dAkFl9IehN0EqPCTP1TC1KEHPsL0mdtUd-y8-6pbZru-fY_sqfsgj4Itr47-69hRfHdIp29LUvkpTWeFutMdwi6b1beksIbG2QSNYBf0qHIgbBbqEbNQPW-m8hpLaVm5ruNBXNHfNehj7B92Jv8_xfBWSpP8kR0UA_YmAcaZfdJHxXyUyKOZRxh8ZGoljJ4nQXbwJ8u2xPbTDjsaxrRCEHWGhhztSQvybdNphq1iN7D8ocCiDWsJBQH_okBt_i3cwfcufRj_f6_mMtNo_G7gWp9QAHUu44bXHo3q4ZVEf3ayp01OfPMZiAZCRa11hyjh5PSDAIjJkN1k1N8uIYnpRdQkGTu-wbtwCG6xkvERz7KfrxR1TsXOVRBno6f260vGL8pRTxXN5OC5tt6epyouUZclGaZO0C6cXs65dxSh0_KirSiEZncPhxF9xtoZMZ0wv3piYb2T47gqs4BbQ2zLP31S8QfvCCOEaUE7rddswBwnF-LFUkWIBCLOOs9_7wWSmKEt_3xrYh3lqPULofIyiOHm2SEqt3VMNeTPX-KjHhH6afpjee2vqqwvyu6-ufNdq4gE1KRD-81ZlLZGMQvXqc5Rk2orAlp96sZ7Yl_p56smD_OzBzkDhMow6F4NgU1EucoKtMbqpVpzVBQsGvt4m9PTCwqPz8HYxK-HsQjExvas6rO1ks4UNuZqBXsStZM3DyFpFFkIXJIGD8g7FHEXbgg0RJV9sZrUKUH2NSWRpywRv3oBUFLC3UxX7-ZECPG0Uksmv40480WLlm_tyhpGBWFDfXaK5S8mcGwYJ53u1LjlPJqgvuigrEHOdGwB5BenAGKV_9mznE8WV1QES-HwIAtEcWbpVyxxdwH2VrWAWLUMtknUfXnW2vzS3i5jgIQOcBKuPZAeAsZfBjws5Q-JfnAeCAM-IzX70pZ__DzySbHH0pM3VjzDjq_dZrmTAbTMMJgl9ZPwI5cVcI35G9HMN3wwxb0OwztTtLzNLt0qhI4qWtQuBk0hx-j9Kn-FtP64vke4rO92SvVfE0sEOhySCewNyq6si7or4kTDv-wv_YGdHU_N3RzpR6W3EDg0i2FI2HY7yV_uInHvi-JT6FHcpKoFa990z2EAWlvw3CvOFv--aS_QcTGqRDgddd1sM8h_7YTTo4vOY0tVJ1h6llKrqFLTLxRYqc1qg0N-EmythJoqqJ3tsl6B7JNKAKzsH3Ly8SPOmHfZf0QGddCwViQugyjdOccqnyPBKFvM8me9AH-vRB3c0r5o97mMR2fgMGAzQQ1ZP3yB46YNHMS8QSBUZWI8qCpncyL8J-WZdU4SvVUMCGyGRRDQxFJK6vFQGFC1MM8R2QgtevUcl07gLcisjc3AQ_lekWahlDD-V6GmpRdrd4F9u1C9CFy8WPXky46xEg-xfX6wg==",
  "id": "rs_0516d8c2dedd0b42016ab42c7ce20887d08d1c8235eb99d0a3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyDdSMR9BUf6Ao4K7VMKXGu9gZfkxlbJCuFGZaQYrojMUdTdP_UZMdaazWfSj060YzoCnKhW64KwhNpAMPXOR9rvxh3QpCoB-rrbTjNR-zCFjZ2nFzUeUI51P4ZCwIdln3w1yUt2xOAqrWn7k6RhSlKwkMzJS7PG26AKritBHRgfMIGqW451SdTI3MmUkBEZX8qRiTU_D1nbyl9mhA5LTLvP6AZ0QDF8K6Rj2j5f6PuCCAtlvpZQFeiDxuRRqKm-DxT8bC3dvQMBOrL7keNcUAKU4DMZyyE3o9O2k23INE1YhBrGi8H9eeR73lPXK4IK42pIlRbPd_C7wKMgOSG512cuxe_gX8ik4BCINrVpv2tj49lUAPd5fl4iSp4XlkBPm-pyg71ri6ZRohwGA2z7XhKZTkRVY9Gnh9CAvXD7wlkjLfDbNIrY8XEzNY6h_ZYS7tyN_ECtLZ9hD6MbQnwKTLZA2uwhUb2s_dv8HeowRD8-sOzbGVMgdrdiAAuXtAud2fiurzHGVcRB8kn9KqczS7s0dyewbvnUhjdq53YITD4LJ13H_V1YS9hxlstZYhsQ4wSwZ8n92eaLwJMz0VRyRfZ8w6c7c1ARvOv8d16R6SLEbzzUMl8or-ZDFiIhX_Y386I4xpcjnKmC33VPxGk2U9gJiuVnr13H5NY8eGSADLrHFNrroui98iVgo_eVteQck7ZpTziVG-KaW3Lybu5XZmUmtq7wky8WeUFob8S8jwDA76mC8anhbryTpQ_MemrwU7ya1ylbZiDXpPKbPuW6ILGczMTKqfpaDnxUzIzAWm-2Va-IOnqtxe4FEr7er1Wc3Y7g-3ZHou0kwsLtixMJnDrt70gg0JZa-zMByre5_kvsv2DkK63AA62KFJyUcmjGusLwXI2kBb7fxAhRETN0r_AUax8nFbz9q7cQ3nTZ2p0bmotmBIwdHk-efKapbAJQQmGux0YLNPlRQK-p_-gG32U8ok9dUJxEtS06mc1JOkg4UDGwUN1MXdz7RT6JzLt_e14MdG209lQZOQmk7BcBaP6wyL4d90OZqWN47-JOOP964m4V16Dafv-Qruy5-Pu9NCgAw7Fb2_gLslF9WhqN55CJ7cqXQ5h8OmLl_fRPBrzMONiVewZ1XGTnLgdjRSaR7IhwsExoWFc2OHVhH9sZ2MQuhHmjKulnoweimZ_bpLyyU_HhEl7LttMy-qAcBM9FaoZSrVqk5FbXQ5bDPFHfvDIaPUKe8PvzHyD02LyC_2aaHw=",
  "id": "rs_0516d8c2dedd0b42016ab42c82320487d0abdfaf59bedcea19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.14,\"right_z\":0.005},\"note\":\"At this forward reach the fingers remain about 4 cm above the table, too high for the cap. I’ll move back along the bottle to a reachable part of its body and try a low grip there instead.\"}",
  "call_id": "call_brh2U9MpwmsA1pP4uznGVE61",
  "id": "fc_0516d8c2dedd0b42016ab42c8249a487d0928527f2169d1746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_brh2U9MpwmsA1pP4uznGVE61",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3584, 1.998, 0.833, 0.7063, 0.1791, 0.0875, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4781 right_y=0.1493 right_z=0.043 right_yaw=0.1341 right_pitch=0.1203 right_roll=0.0174 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8339, -0.0073, -0.0269, -0.0122, -0.5128, -7.5009, 2.9197, 0.6569, -0.0757, 0.0464, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2687772cc756ea978714be6c379079da9fc25546dae564d0e5ee3a871ef64f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ffea0898c94bacaae67f3f1d16558259d298381a7ef46bf944ca926d1e92b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cce62f765579dddcd59b506cd28162e487fc9414112a06ca6e48af44e42845b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.893 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 44 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.371, 1.9812, 1.1069, 0.2409, 0.2222, 0.12, 0.9947]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5012 right_y=0.157 right_z=0.0613 right_yaw=0.0946 right_pitch=-0.0439 right_roll=-0.0196 right_gripper=0.9947\nstate[joint_eff]: [-0.3761, -1.6205, 6.3248, 1.8144, -0.0317, -0.0464, -0.0122, -1.347, -7.706, 4.9573, 1.7949, -0.0171, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3607, 2.1082, 1.0729, 0.548, 0.1818, 0.0917, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5222 right_y=0.1667 right_z=0.0447 right_yaw=0.1325 right_pitch=0.0926 right_roll=0.0135 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -1.7162, 6.3795, 1.8144, -0.0562, -0.0659, -0.0122, -0.5812, -6.5846, 3.9453, 1.2869, 0.1294, 0.1099, -0.2515]\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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3584, 1.998, 0.833, 0.7063, 0.1791, 0.0875, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4781 right_y=0.1493 right_z=0.043 right_yaw=0.1341 right_pitch=0.1203 right_roll=0.0174 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8339, -0.0073, -0.0269, -0.0122, -0.5128, -7.5009, 2.9197, 0.6569, -0.0757, 0.0464, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2687772cc756ea978714be6c379079da9fc25546dae564d0e5ee3a871ef64f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ffea0898c94bacaae67f3f1d16558259d298381a7ef46bf944ca926d1e92b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cce62f765579dddcd59b506cd28162e487fc9414112a06ca6e48af44e42845b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyK__099hDIK9b4VuepiRY46KqmVhEOm88NxreiuQPDJ6kaQQA39XzdDc5bD_2MbRvuoA963HSQqKtE3Zb2TXM9FfPPHICjno-mPQt5Xh0qXMg3Xo9pL2nb6OH8qS52xBM7MtH7We0NLf9KArUgUekbJE8yd7_GBgRrRVv8aXuaOZpxPKdNn-hKk4yCvZROX-ag-FYbCQv-jX7Yxd2J8hTsFx-dP2D5mvOMG12STbZB0-CwWQQgBipsoIg1JsEI1zCX6ihp2co_7JdQ8Oifj5vMI1tEG-1pwNBOuNeybp8vdM9uGvZFF3nxkDD8jF3aBspgKPG4AK_IheNd2UyJI1L_V0nZpciACHTLmeJJDSJr3ULaEwrbuzX0FAuCxFTtmA5UIadah1iRzGf3GLwtJkNYrxMFzYBB3sqQ_pGwGHDIFO6HeFwQNZB-X5g1S6EHURavPNtHTI1Y89UuXViLqn1DPi4P7CfseIWQVbfRGZyIKNKIK-Pfb-KAr0dPhi8vcK__V3mXNNsclB_BMEo8LrZyZDqOP3XFnIJBVpRItFdjmN-MsInC63qFa1MIXIvju0ejnjCECx3LIDTKR-cS_qUbUO92Vny438Xje_tHxBynl8YliL4StO91FF7QJz-SHvEz5CzXEoJoaGZNDqSbyQfP3MeQIPoR_Cz8DFQ_MeJ9Ux1cqCLdJsVELsIDwM6hd8qmU9XGoOWphkxdS_nbcgZIRyNzMvJGg8epAjZKoJq2GIDnpfYO18RhM1TzfE3TaGTJVKAlWh0IaT_W4vG4Zr0ZyfbveO2Xb7IFM3XZxhTITmORoo5swDcsBqaxFzfhpYRSNhvT6BvjtYQsInpr0oIWAwjRuyONBVfyW4RXjr_4cbhCkcMax9mjD7JsezKdcIa62N6jLj0ZUqlzvsbGz-u-amawfVst1OiLpgpsZprHm51xLI7mXKatrPdyW5PwePn_P1PkfaL5Z7pHSu0HTiI2INi8lVH6sAEtIIaBwR2vyG_SorGnbl2Pop7AY8y5DOD_XeDJBJ1n5YSxncnXUEvemGG4KBIY2yd_dQY1Q11dvIUBgnLj2bLrx8e1Lq7WoVjs40qM99lNhJxUTeXrp9aAVvju28-xFRyvJie6s_ElY_UcQYOCG10VwqbACdBpmN8wk4pdLx_B40eSUv5VjWzCeTizY3zuxJE9G8O8VqF0rii1EJDFzLK0hnXrP2zho9TkGjxK2gVT4yxwQPTao-vdE7qIHcWTt6fMmph-WE9cocTJTwxTcUmkxybHmCmgKuWJxCEn83W12SpqNiUBxT47a-PTdsm5JoFfB9z-ixKf22gq0f5JnTsIyGnoj2bAu4HKg4qeEvTSznngQQIeij3m2fudR2W-1-dnjkvuKCcqavHVdq3nZbi2_bYMzOKw3kuhi9xV1lgWsfuY-oxH4M8wZASTIvQ5pZ2Hb9jbz08e775Nfl0vJMQTOzCw7fOSVD0KDHHYfw284y5h7Kc2TJQzvYIdtHJvi_7Nqxaz1nMqvm2qkjVbwRTvoLJ4NZDeAu8VQzTVcXP8Qh1fA6ND6A1DDha2guHlyEDPspDroDbt7ws3_BYsa-1D27Sp5gFqAbFMVyznYUbUTg9Azzx4-rnWGg8FA3dA74KFW06-r1tACB-0XCkAZxro1mp5vwYzZYCus4zcm26F-GcUGyS55gYcQ1dR83YNbG6J1BTKBmLT0X4D1OukNefD2mK2g2n6O_xN6f9EqnHgAgAUjCd5bHGMG5RcuGiy6jmM7OZM9o8p4h51DC8icHZqMIptx-HM_r-tCMiKSogqzo2TcW3-nGnx69EWb65M-crI8M7bpJJxw14Q9YYN2UnFF8yILt72ftkSiZGn7CpPjTkvBUIqtDWB-Fk9-EFIUIOeh-jLxnqyjZrCtP155SGMOWp05MmrA_n_u7sQEdj46jzGPp5A4Rnu40foJXDJUMqu9oq7GnXB0ftosi1n8mO97OFAmoRpQYRAdYvI7TxHhdOyNj-m7gDlFSALON1xlJ4RceWmbGa-m3zv_W7vBITXJ-b3chaoEE0YpKWbG3i6V0PSrzgD8Yj9l2JSjXuPkl6M4kPnXNJwva65Y51vrTjLlpxmDFeEZcN_doBQj43Zk_16RVf6ZrTRM8z4ief5Yw222jWuGkyEd-uv3xXvyp3r3l9vCcQDkibykgsOmekDiVHy-YmPgUHF0rGNNjDCp6gjRlX1NFNY6h5VaVVqGnQrlaU2GnYhqQtHmV19pWC_NNxPeAI5rbkWZreNu6265ltUn2Hwx5SIc1PNzeI5SsbxmispMXRePDJC6-4TPW5H-rWjRTAU4SgEdHCdJl7CxsLkAMQSkOdGj37alC-VvngYNniV43DR_iA2zg1AxeIB0YRIewNYv2AMnr8VrHysc8AOzexinS4-cma6Cbq6A_oqpCU4bd0Dtn32US_4Mn_fQ4IVXMjGixV_l_lvTZ_drHsX-nLW51Cm5Q3AyX_ez5JhVriZG3nNAFnbleputOUHGltqOpfGwM4yVwko7bOzuZUVjyViOIhgb2LjdSKEKl5Z-gFcf9PUueZ5v0J4fM-GoV4AOVVVNWSobNm0oM4dkaNX3leiBa-qFcGdXqU9IF83r7aN5FDOFsCSHRbxRxtHI49CmMyrx4iRfGUbXTNwzrB0B7y1Y0vsd313qXwNEZ_x08A-KW3qFHEINDrdkwwfbIRha4CJE80ykQHMHUQbrcUl3mv038W6HZFgQwTT0GF2-4UuAM50X1EPjTIwJ-DJuu99A-5F2xr7IxqcvIHJyb4GbsQrShbFXmzj9Jy-nWZqju7ot_D3fwbmYbdvGPN-I1NgxUS2LhHbB34gJu6n7Xo7idXeh742RGAYxe27TK5mLKGF3DIHzFD8RlsXMi-F1UuxUO7PvDDR2USR82Kc8EcPFnt6Ysn5owgTizA-RPrgjLtDnFq6Uycmj6xlN1X3SGVaQ10x_X18WXCzEa2evaFtAS15KO5ziAVMh8-L342UtcnjvFN5t1unmQSrHhjJsPyDKNppeNshXI95fVKtUVlMwmQZ3sDgMUqIt5qZbF26vE_NWn1g8DZ0168iWjmDzsY_vPt6kbmKlPsRdalVUXgxgqVFVG5mqTM=",
  "id": "rs_0516d8c2dedd0b42016ab42c86b1b487d0ad4370888547377d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.145,\"right_z\":-0.005},\"note\":\"The bottle is still lying in place, and the low-reach position has not brought the neck between the fingers. I’ll retreat a few centimeters farther toward its wider shoulder, where the arm can reach closer to table height.\"}",
  "call_id": "call_LBIQEZCQgsWSNfSJBiefY4OO",
  "id": "fc_0516d8c2dedd0b42016ab42c89f88c87d0b6757a6ce5be3796",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LBIQEZCQgsWSNfSJBiefY4OO",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.395, 1.9564, 0.7189, 0.8097, 0.2073, 0.0994, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0008 left_pitch=-0.008 left_roll=0.0003 left_gripper=0.9983 right_x=0.4532 right_y=0.1535 right_z=0.0441 right_yaw=0.1394 right_pitch=0.1529 right_roll=0.0238 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -1.7162, 6.3932, 1.8291, -0.0415, -0.0415, -0.0122, 0.6632, -5.8872, 2.1265, 0.4225, 0.022, 0.2222, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbab7b5cc918db297d74f4e6e10820dab106d6669f7d9cda484b1a177357b8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1ef508b380a9035a87615b9ce9e45ce2227b1d8d96e80eaa179195ca2e545f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065a783824f302d91b1281903422419c9b2060e2640d68e5c7b8ff57c51b91a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.653 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 44 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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3603, 2.0331, 1.0817, 0.3737, 0.2039, 0.1028, 0.0128]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.5097 right_y=0.1577 right_z=0.0511 right_yaw=0.1087 right_pitch=0.0072 right_roll=-0.0093 right_gripper=0.0128\nstate[joint_eff]: [-0.0889, -1.6889, 6.3658, 1.8095, -0.0073, -0.0269, -0.0122, -0.4171, -10.5641, 6.147, 1.6484, 0.149, 0.1538, 1.2137]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3584, 1.998, 0.833, 0.7063, 0.1791, 0.0875, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4781 right_y=0.1493 right_z=0.043 right_yaw=0.1341 right_pitch=0.1203 right_roll=0.0174 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8339, -0.0073, -0.0269, -0.0122, -0.5128, -7.5009, 2.9197, 0.6569, -0.0757, 0.0464, 0.1734]\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, 0.7967, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.395, 1.9564, 0.7189, 0.8097, 0.2073, 0.0994, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0008 left_pitch=-0.008 left_roll=0.0003 left_gripper=0.9983 right_x=0.4532 right_y=0.1535 right_z=0.0441 right_yaw=0.1394 right_pitch=0.1529 right_roll=0.0238 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -1.7162, 6.3932, 1.8291, -0.0415, -0.0415, -0.0122, 0.6632, -5.8872, 2.1265, 0.4225, 0.022, 0.2222, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbab7b5cc918db297d74f4e6e10820dab106d6669f7d9cda484b1a177357b8b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1ef508b380a9035a87615b9ce9e45ce2227b1d8d96e80eaa179195ca2e545f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065a783824f302d91b1281903422419c9b2060e2640d68e5c7b8ff57c51b91a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyOHrl6MAZ4gwewahzH_0LI9NOvP27PNeC2evs3UuIDgzRrpy0-x7zglAo5Ue598YX9Rp7QSUcGIClqpE_R5Q8dJDTbVBuVq_9p8bBCWuocWtBEuxbJJHucgbIKKGiPCkBUSjaThuutWNBlh_UyFw7nTsYH7G9NDmcoJw6kdFOO3ZbLGSuQuM1UP_eUxs3NvtLnX2_3My8mslygeDGumVjHdM4YjST-P1oVGxt9zQP_rW9jqhsuaXrnEYyfwmGjquB5lVnEw7ZiPizTUDqerBKwxwoJwLAIwrFimgGv903njxq6t_Jxwh74XfMHVY2W2BhN36nOz9ExxZVJJo8DJhMZJlqvib7QXnXRwGMpa053KT3zwQGK9-Ja6MCsIoQEOKnWg-iTY8NDfcd3__ML8gSdt45ncgN5g9chiKgbFT3fqey8Zzn0U5bTT9jSs2qdhnyla398oFkVyOhdbSpALVpZ-ec33T7PIuiwkz-YfI-Vt6Y8MYfNCbgI4bCAYSwfpCQ1c5Axjb4d6ccLFgy5kqOrtAL-5_OQ8zES0SaRZbZcpwWz_XyQnQXZJFUb_AHRMdJ6nt-91IWQUPbHTIh4_kecf23m-TcXvEau3JiLEGNkKndWIOtoDgvswv0FiGB6P4CVUUuKsTpwCZQ_RJzoCxAtvg3a1_3_yROUtkSpWuiNXI4wIigUBT81pnujW18QxvaYm3ruEA2A_n4WclJKK7TleWenQSIVoUdvxe9ZVUfjOnUTBuh10YWbGHHxC64F_rLOFaVIBFgRX24MEL8KbYYXtzMQJiqSPxNHuuZh2VqqFpg6dq21CFIwzrWKHiyNSrzHLcslcVGkwVqAh7aWSv34KVWPLP9igcKuPKO8_88_IwtCYVcvzPH78dwOa9JSPwE55BQCCshZjuxpU3HMIWbyasGaNjm7bHuP5qteOPUTxhYEpa0J4IVrxzeZLH_LDkZthiyAMLfWIDCirE8dQQP7fcbbL1JyOEs2UBjgl1oGqpEGlSYHqreMRB4NWW4yrgvvPi0a6GDFJRP6SUIMnVVxJ9qgtmaWAP7CnhleLwfFztuU0dA-9BKexVeBA6GCPPMy96w5kYokDPKdrfGa3CmeT0vzCdprrioBpsIRRb9_q0z0tB_A0jEwV8f__-zah6YfTZONfzemLy3jQ-V1ydfYGYHJq4ay722Gx3iyowuphq-cdLnEbFJLEv7WuQ6tIUi4ChJqgGM3l_39IWLwJLe1dfF2M5Y7hqf8sIBUSb0bhVCUmWH5pNj805qoCgQtEQjYoxJwHrG32MmYfCMEQEqBoy954PS6mcUF82NckABQ1C35efVpDGHWsCfNP57IMTM7Zsd_s_VswG3LrqE5qk59Dzc90_G8W7hzfBQ6mznPK8NUq0CjHye3xf-nOkRdxgtHb6S83W_d8jxmRlYSgOIPg-AAzIM1N-RtSWyjMI_B83bR-90aCwa5FWb5qrKIl-sqsrRXp2dSEvsGWd3ef48K7-1i4nBtlOqtuUe1pY-t6AcIxKVICpIFnnq3Bn3-xFXRo7MWozYdf5Fjm6DhPmXnXkYpezlczHPICIHsZOLn11i5rkREgJSeL4h9NpNNfZsNK0L16IHQ94vNvIhubp7D1wzeZMWtBnKlleVyNvGZc7TLzVWLoze5aK6W8Ow29NJA0c90BXXJbejuCLlTp0-3x2Qnca9qbkEI4U4xorzPmBotwtfDwPXT7TCWk3pt1JH14nq_a2NA8HU03EE7J55iJBf6ZqXs7xhbrCop5Iz5y8FyI1XD0wuVViRboRRYU41tCBFOGdd3TE9-3KYtLbrSc5EI4ZWLXAX22AIZLzJn14s=",
  "id": "rs_0516d8c2dedd0b42016ab42c8c4e5c87d09cb495ba375d5054",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm has stopped descending with contact effort while its fingers straddle the bottle’s shoulder. I’ll close here to test whether the bottle is actually between the jaws.\"}",
  "call_id": "call_a1z9Sfv6iFapxlJ06cXL1nfn",
  "id": "fc_0516d8c2dedd0b42016ab42c8d85c087d0bbe3f37ef904aae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a1z9Sfv6iFapxlJ06cXL1nfn",
  "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3992, 1.9556, 0.6956, 0.8886, 0.2119, 0.1154, 0.0132]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.1547 right_z=0.0539 right_yaw=0.1282 right_pitch=0.2073 right_roll=0.052 right_gripper=0.0132\nstate[joint_eff]: [-0.0205, -1.7162, 6.6803, 1.8095, -0.0464, -0.0317, -0.0122, 0.0342, -5.641, 2.2222, 0.442, 0.0366, 0.0513, 1.072]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcbcd9c55f810a3445ee24f63d82304c0af14221c324e52cb4c531c02d1b7af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b74e9a45a8d39cc15dec1f410d1bbedcfedb35ae0baf84c2967f3e69b921b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816bbcf4fa97c40f4c3369586eee01839454a0ff59643777365669d17c562e3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.048 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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3607, 2.1082, 1.0729, 0.548, 0.1818, 0.0917, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5222 right_y=0.1667 right_z=0.0447 right_yaw=0.1325 right_pitch=0.0926 right_roll=0.0135 right_gripper=0.9952\nstate[joint_eff]: [-0.1846, -1.7162, 6.3795, 1.8144, -0.0562, -0.0659, -0.0122, -0.5812, -6.5846, 3.9453, 1.2869, 0.1294, 0.1099, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.7967, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.395, 1.9564, 0.7189, 0.8097, 0.2073, 0.0994, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0008 left_pitch=-0.008 left_roll=0.0003 left_gripper=0.9983 right_x=0.4532 right_y=0.1535 right_z=0.0441 right_yaw=0.1394 right_pitch=0.1529 right_roll=0.0238 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -1.7162, 6.3932, 1.8291, -0.0415, -0.0415, -0.0122, 0.6632, -5.8872, 2.1265, 0.4225, 0.022, 0.2222, 0.0122]",
      "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3992, 1.9556, 0.6956, 0.8886, 0.2119, 0.1154, 0.0132]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.1547 right_z=0.0539 right_yaw=0.1282 right_pitch=0.2073 right_roll=0.052 right_gripper=0.0132\nstate[joint_eff]: [-0.0205, -1.7162, 6.6803, 1.8095, -0.0464, -0.0317, -0.0122, 0.0342, -5.641, 2.2222, 0.442, 0.0366, 0.0513, 1.072]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcbcd9c55f810a3445ee24f63d82304c0af14221c324e52cb4c531c02d1b7af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b74e9a45a8d39cc15dec1f410d1bbedcfedb35ae0baf84c2967f3e69b921b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816bbcf4fa97c40f4c3369586eee01839454a0ff59643777365669d17c562e3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCyWVjVNp3jEfBzhYLOH0f7qvGYVRH-3gl6AHD0ZRQ2gEX9704x3k_YVwSpBkb_jiQwlTlclM9AhpdL1KzOANQ4_2QzkRBv845aGNmMjtqKols7ocyCLQELTrzHk8lm5eWFzXe-W9nDlF137mI47XIDZCQSTV1m-Vp0f9oO4HyWtourIqkFnHi_tIBAXu4BHukVkVTdAYczLCgnlmGJyIZkk_w2hYDHzQ104U37ZvVIFesTr-Yo3rRI1tCXcjqK0iKZbUCwGnH5EjrTxnketGrxCuP2R_d2_WxeCzOBoivN526r4-dA0DuyoBJImxVqaH1Y7Lc0FkTUGfLohAuRrPG7MlQ36Ol6a3spAIM0YEP7fubBwptFYXr1hTZSGDPXk5elzuqHTJIHQHtNGhCLUkNeKgWLWMJnca0KXt_YXfyIaTLGOVBwtoK7m7E5kDeqgSFzZe3qJzzzDNN2hbqEQKMdTKFingvFb8TrdmKeWi0g9dE1eID6OVU_nDWoeHrWpHoPXqXe-OT-GSmEIOjqUZ1bIvDvW7pZ9PgeWFS3HpppEaXp4toHCn46zouayArv6FvwcTQjm9sMFXiY0yBFC1G-75DMFc2D5TboD2y5IeJaFfd1-MRpYZJvM8HTZua4E-C3suiLfC7I0_QGGTUyJX2SXwzT-iYcmApF6dIr3R1GfhK41Kl7rPFHjYlIzsffR-hVuTaqXLgX2X0dSSEKuRTlUXOrvhYInnJh99APU3l90lfLbCRj30M9SIJWfb0z3hSRbvoKJTS3xpcYC0gB5797uFZ3t0kCqEIMu1SDv5tOtZvKb0e5QPqb7LG5a0R72MYlFtS7RgY8v7wAedW8s5NCV_l3GMJj7z-PLwbyMminmLGH1wnUwsrsx0cjlnknL92OyiDwbeIvJlQZIENPnVjNkwE-rAzO-BtZ1SxUfMeDiKmoTW_sHSAMVbAHa4g3Dz5mNiqGdqMGkYvECQSETzp5SMXXFsWFxU44miDdR84n8gJLUZSveeb_AjMRq1bvSOTEqHI-8-TFv1AQ-ANerpUu_oKhjehIAmosi5MvZWDP-VeI41P3JfAySHylB8lZAQPggyt5oaUpmllFJ7zKfEhK9O1VAUZ-7P3J8KsILkUTI7RBFtBkYeyeHbYP92c-79tJFA396drh9PTjU0HZljV5dBcEho5sWMIHQheQ1C6ZXHyghSvOr9eq3k9uwZfA5hGRUM3Sk6nxLr-wBfsM8adjKEEs3cHDqmwTbBkqZpbjxamrunAdvxP4Cz-5hcmnXbn0iIvFBty-mGUAkU5wgKTUSRzQdXSLG9ZRE1Qv7c8mfWE8NLhKeL98CDISFwSKAQw7wimlD35czcA6t12kKe-llrIqmItXXAZVAGocK4LgACClPZA55hwTWXLl6Av_DPlVuO7ryNW3QJBkF_sK0TIZmCj6FPdwZ7Py19IbTK9-rZN6Sum05yTZGKHdkPtzZqV8cNzdCZmDZ_hcRINOWesDal5WEB1aECqtB1qsFp_7B22vf_yrcjJiigFtQC_DqvLe7BSFpzDMpQ0CwGsYMDnQwggvekfHlPaNzKWNqdjn-laXVmr1MHinV733z2vtO4z6y4RcpMjnyS1bTf4-gmd75g0AGCaXTypcBOR1BcEs71gIce22GcDYPeP_xKvqiwj06iGrOMdYydQW19-ESAg0SO5gpmf1F_kAlDcunyRsWMGjd7XgRGVwoO1gtNykSfBiMYP8rpLRvYnVnNOqBlUer5CaMvGxawpf5nJhI7eLmWoBcCQpapNK6TBU0KbaujPFnWBO1DRF3LVFa5zxifZ7PkNygbg1U-A_cNHqxsLYksn9op7HoEVKgoC6_dRLLWMSwLGgEeBRWaQPzMPIP5ORcc0vzU5XHWyYeLKBhgFnb2bvBX0G-r8YwVfx-DyJPXaIglu2kQIaxxRcWko9FyvLzSbwZU59LBketN4L-8ZG2THJIBCsHexZSUqbq3v1-QszvVKg-znzLCVkGHfp-AJxek6eBgi020L3vGzip4SeP9_4HdtVUNB7oR3UuVXYU33zYjFRCGydhmd97aZxz4y8t3AJOHw19AxSG1-5M6GQHlU2QSvF4U7oZV_tFzW2iMzSUXMnTVmkg8skwBZtqAyU1I5AoGyZp3uiCOS4UD5NE7nUhfh3wAf7Sfr2sVuQZCpJl32GBqnZ7oNVZ_eybDMiIi1lPUHPMwSOAMeS-8u-jqEPjMD_VyOUcGXS1945jkZnX3WCyRx-ryIsuK0hv9T8Er1cS2FUT6zJWwWhYI7tr8FkORujY3TyYBg_PIuXhUR1CduSscDdt-xFkJ4TgFqaqxehPQkyrlNihgXP5SXXUFPlvauKrQNKVNzY220xQcBdw6fKLuCWcsdzlGkm1IUPmm7fMmHKFkYfNDDhLXTm2dJ-bpYPLn5ylGbCM90GNL0Y8JuoX44373pxd4F5EUe6JhfrubKCuhKY-btdmzPgGTr44-5cCOOzRmRQyIvD96WazW9nbA_r0KlM1V4h5vipBAZb-qsH2b9elTFzA_5KvVzb8RX1LI3GNeLOYZf801IoeUj43KxOJoW9Ggq6RhoMMjFWcZgDxwkLzi8RGC98idMLJf9dd_UM-eP-QqHn1pPVPrQBVjTOOAO4O09UzXIkIMI-a_PTQOJj4zxKhRpqrXFGXk8iv23_dtbzMQ3W9p2EQTCxvJka5NeKBTJ2TFvDmHBibh4v47QxhUfHy19wu0rrx8HB9SHk5ZGpnSfCfjPinUpsOsvy1cXfhw_1z0VtJLdpyFJ82hn35DlWTIxYKSi7DTuntGCmdRLyI_jJPEZH2-jb_1XDDKgpdO03QjWOgl1RscDqqRORvjkqVS3sc7Nerwj9rZmm24sobu5mcb1mg6jbss8GvlmqfBv-Z2AJXGMXGThfc3K0gxaifA6tfr8U6jwOTo_BfGdVeehxaKiSfPcNLrl_Pad-ZP608r01UtBeXOpkTGr6uJlK1kFKP8QMSjLZOHhw1IO2oSbtIqQmQIrX0vDFi4ayc_07Bx-f280G7zCSvFyj9AJu3MYVBuGqMi_fVmJ9YkcQ6ZKdR7Iriv8ckHGDqU35sUxFCMpY4-TdBJmwnCPR1ElIqKsGoUWFeqtO5nOwLEXOBKNSgXAI6kq4i_RotqnrJXCd6c-fEJgoaaWpzVM1jT8Cad7yQJzwjhnx7JGuwjuhIdRJtsdjCMCubDj6qzdcqQkOTblrl392i7gQNdhWSAr2Wt1y64aAUJ5nLsg_TpxSjv0AIzKQlrwzCp_fIO6nnffALzXoGatBngds3weFHQ-sI4jt3X5QxSkSSB0sBqxrkVYXzg4x4zwjDC4ZpQnQV_a5KUSjzgIR4An35hPOkom-KWKd7I6BoJjVYhnrGRMTofgil4kEyXFmIEB403caW2jZ1MGqZjjwSRbV1EE_QDMA4MHY5K9FHzciB6JSiRMYdAbIk5neQGuv9bgoYVyEtAg4ikokAEQQsRFZILXHRpQTR2gOstgekyHWzotOJtmhPbba7LkFt00K6yW7b7nMfnlYbbNCrv2EHvi32zcfxFQtwloAQQdTMUY4hCAtWIy5EgzTGnh-2dak_ZKjKXf3S_n9So8Wfa0J_2QeN0yL6mlfAZAaYN3-GR_P5DEHgi4ApzCPnN2v_IP0Gq89u3J4lmxgZqjYWqT2j5iYzoZUfjCn9lOkCD3O4bOI5fXUcm7UfyrOENjcNHb7MLcEm5LhXCh89DTUjw6dVZF4HbNdqF_LMMkH5oZwJrNUvkf9rVVEh0PWxEtvUXO38RunHA9ukMvGTcmTl5r1I3WTSMzKJTbGjIVCjcrL3U2U2i-_xgpMryxj8QnSu",
  "id": "rs_0516d8c2dedd0b42016ab42c90103087d0af542545cdec8b4b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyWR2yAzywp0HUFzk_UCnkX1bsHEpPCmvNAnNJPf61g_FdbCPdYQx4i7sYzzenfjPetbLJcmUsdorAN5JihLp5h_9oYe9DfBUzNWkhkSxuTLQ_hbVgBdEBYl4RC95nLZrAZ9cVZP7CMboPoUwo1yuAff5VzO_PWmK6fdXtqAcpqc5jEd2s0DAYm8EGuTjkFttBwmLSNuiGcDHU1lF4RYiIkRzFQat80sDhkjvjlirZ2SIY5lG9jmnQaHIEPFr2MINGcvLois-C4YSTYEjtY_RHYqDjUQihBdy8Pu-tglN_hUkEdpm7YsQKABMlSI_Fjl_UCDsgWcIRccKpdkMb8GJ5YGaNPy8L6MLQ5z3k8B2LWssGmDJ7zB1TA_3f3XF5XW_swWdgYZtdyV22vvhhzvjQaTkdIzFuqX8t-eUCuXGl5HckUloBmdaXvdwMfwxfWpBwnleQ4qlx-Yos-4fcAw0Bw9CSxUhXPhG4dXqv_C3i63iCoBbMEzKr_fXIkdxDkD_OVWKxZhVyyzenzf38Wev0cp7lqCLF8kbnCMjRn8evwjZvm969FxjSKW57t9vvDq2_t2P0ynU8tQi95iNziix3leP_nnCc6mkcNocgKjRA0NdkBfFFDb1OJ8YyEcuvyEhRWrJVsIXg9_10dm4PrtHaYkI2_d8Cx6Hq1nC_8VRbssCW5_loChNyY4pIQpdnhd3Xi4ckT1vn8Mb-kX_QK3YeIoGtg5j3AwO4SxIipuArlVWsushKHhRm762yz8C723vWMTqm3yeEUX4TiCiWXMwf4SKTwU2TwvQcj8rP5NRC7nE5eCu2QV_cCmHq8vhbabJfByuP40TLrhTXTZ0guXXhkvgfujmujSEZLkTfqsOvIe8QQFe4nuK8Ls891QF3ssiGVLR5mdcbw4rzF7AaNTiSB-6a6YZ3ml-AN3lmhsM2awOtd6vAhLIs4LnW6kwO3iU3AiwwuPDLiFB4F8FhAUStOsbPLpOESQJMbyXrjUGTdzs8jEmKRG1z618mafDtibvJrI3xeR_yW6j_zqihvqPWd_i9yj4ZJ-RKnyM59-34PXzp7uDbboYN4s9L2-2yNtb2wpcrKNKPrDtJBvQ6nT6JuaRhoJjlvF50oM2ANpGkvOxhwKfa-2GK1AwFBBtrecdQFneN7ojfgOoJZiamM6ER9Y6gFCSyE_SIY0CEB0nICXEznE8tHA7YRoBKCiNXI7T-ncL_XeeTjRy8G2mpLaO1OdrIfcbA3UDeIubAUKX58FX3Q3g5dcnEPSVLS6TQcleSQYQY2QvJAZgXKgxkKglo8HXGTUBkXYDZeNkC9iAhxvbfpIaIQfYIwY5Z9k8xzobZ4-JEuoz2Nd0_zuCYSxLF8BsaxF5KfY26gMF277iKLR4z1sMadxt4osbbrWd1tW94MNV1sItVAtPEfxOYLNzChTSXC9kM5qQm0uVZAiI1zS-xryMZT2l9pZxqe5DuIQa9DYlJbIOiRp2f58HN5FGp_V5arqMGOHiuZ3GnkAzPKnKjGhAeQaT8PpJ8BBEbTAp-Mmb33ceZcbm36wjnssoM2b4aGW1G5m1nQ0536Nb0yERxh-i90MTk0hC8My7yqwnnHT97-tDS7j6SSlmNKwLd3lMLH2UgFBJOSSGWpwlnjbHLNP3RrNURilZivGCxuMSEOjvmDznfqsgGERmkz4QA0kfaUCw2YbXz-SKjjoAlteojSgZRZZxspiEnwkb8tmaJKqohYTLC9vLAS_LR8IZtsfxvvzmygr0oPnnVTXSg-aMAdOwC9rKDtZnIiYj1LNhrXE0omj4b_0L8DhiXhdNmCbg==",
  "id": "rs_0516d8c2dedd0b42016ab42c94ada887d08322a06024f6aae1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.4,\"left_y\":-0.08,\"left_z\":0.095},\"note\":\"The right gripper is empty again, so its approach is not intercepting the bottle. I’ll park that arm and try the more accessible left bottle with the left arm, approaching above its shoulder.\"}",
  "call_id": "call_aelsikNR2wIQGYau9LNIwWCY",
  "id": "fc_0516d8c2dedd0b42016ab42c95f25c87d0ad96b9aadbbf3f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aelsikNR2wIQGYau9LNIwWCY",
  "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]: [-0.321, 1.4788, 0.5934, 0.2016, -0.2634, -0.1886, 0.9983, -0.1406, 0.8204, 0.5701, -0.3195, -0.1848, -0.1459, 0.9957]\nstate[eef_state]: left_x=0.38 left_y=-0.0741 left_z=0.0713 left_yaw=-0.0118 left_pitch=-0.0941 left_roll=0.0272 left_gripper=0.9983 right_x=0.2997 right_y=-0.006 right_z=0.1712 right_yaw=0.0685 right_pitch=0.0127 right_roll=-0.0095 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -6.1607, 8.5128, 1.956, -0.2955, -0.1245, -0.0171, 0.1846, -1.4974, 10.2906, 1.8242, -0.2369, -0.0171, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a16bfb352c77766a36fd6c72b44c46f33d5a74733ae22f5d6d575f1eb2bfda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0208b9aea50d4bb542940a7d708603893113986cf9c29dea92d0b16f93b73617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08b97ec2ccd8755bcfbc00e554fc7ef897e1fb1ba9750cf25fcdcc5eeb169d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.417 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 57 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.3584, 1.998, 0.833, 0.7063, 0.1791, 0.0875, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4781 right_y=0.1493 right_z=0.043 right_yaw=0.1341 right_pitch=0.1203 right_roll=0.0174 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8339, -0.0073, -0.0269, -0.0122, -0.5128, -7.5009, 2.9197, 0.6569, -0.0757, 0.0464, 0.1734]\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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3992, 1.9556, 0.6956, 0.8886, 0.2119, 0.1154, 0.0132]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.1547 right_z=0.0539 right_yaw=0.1282 right_pitch=0.2073 right_roll=0.052 right_gripper=0.0132\nstate[joint_eff]: [-0.0205, -1.7162, 6.6803, 1.8095, -0.0464, -0.0317, -0.0122, 0.0342, -5.641, 2.2222, 0.442, 0.0366, 0.0513, 1.072]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.4788, 0.5934, 0.2016, -0.2634, -0.1886, 0.9983, -0.1406, 0.8204, 0.5701, -0.3195, -0.1848, -0.1459, 0.9957]\nstate[eef_state]: left_x=0.38 left_y=-0.0741 left_z=0.0713 left_yaw=-0.0118 left_pitch=-0.0941 left_roll=0.0272 left_gripper=0.9983 right_x=0.2997 right_y=-0.006 right_z=0.1712 right_yaw=0.0685 right_pitch=0.0127 right_roll=-0.0095 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -6.1607, 8.5128, 1.956, -0.2955, -0.1245, -0.0171, 0.1846, -1.4974, 10.2906, 1.8242, -0.2369, -0.0171, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a16bfb352c77766a36fd6c72b44c46f33d5a74733ae22f5d6d575f1eb2bfda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0208b9aea50d4bb542940a7d708603893113986cf9c29dea92d0b16f93b73617",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08b97ec2ccd8755bcfbc00e554fc7ef897e1fb1ba9750cf25fcdcc5eeb169d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCycodCIvxmTr--B-XzOz_pSPoDX3TRURY0sJu8e8vTK9HvFzJZJGl0lI_SULKaFKA6nHd1KX8Gt7WFS5kyYYzm_6_css6YdmGQuzmpEFl2kAo7ShzGV61rc4WhRakn_vPMCaa302OpAEntYr0DuUTOudqMMNusbWbm54F6jPZHgFsVItpr3Nb5H0WbcRq8bnpKJeJxMuHesUpgbVKPmYcSCdbVlZGNtI0cFttCt4KZqyub_6ju7ltel_moW1VAiuFY5REVaCzaDdnqvTZDRkQqeKVi2980OMHP85s3sur71FE-PgP99FmuBGRD491ctun225DoaSsG_sPXFNRU03I6otQzQGpr8o7_PCkuqEZc-ceCg3-wZGNlCdD7Kkv1Z1TEALJ8qcmH37dg28L9AeNTE36ObG-Mi6XDa4oSRFxln3J6QxXkdjjKglfCO4bmd9TNexFTtRbUu6XQWqRIin4uH9CvWrZ2LfKgKj-hSvpTv5FEjrfk-NXZFLIlILGdxwpgu40-S4oygOVl9Ok-j9Eb6U7mWaaT3uZer9kceVFEXgxrc_LcX3c9p6gpC76yCwx0f4beN7W0LmzKkIrvqpO6RCrLIvWRBtoRzbbfGy_14IadW4ScTGgyv0beTFn0sSgBqWJfUkD6IHNWbqIuJYuXUrVefQ8XpRq7seH-LDeoXw4dwqLIwOzKs1Q9LD6zgD4TK0YvE-GJCmf6CZsEN4PK3wfHFyWTOqnPDrdIxDw3lpB4FSKwMl75fsUUdEZdWCEXyOvqUAT5MLDCEFp68at83H0Q1_JAaxg-g91T6PpORUX4Fatbn315lf8K8C2pYBBqaTmsKZ5SRsjJUtP5_zoezpF0nJjm69hJUNiRQNeGUxQVXhqhC7GhfWRL_BSPesKdsn0g5OOKHfaqf2i7Nj0CvAzg9Iob2nEsjdm6aaDecXAxd00XQmnTWt45kggdfk4Gjr1CEpOC373A32zNpFJ9TD-t7PhbylE8GVE6SkH2f1Xl-_3bBiX7-dqpjAodUjN-2SnW9c18gjb-dHlqySKWziga1k51ITc3C8vA30ESILBbyGqfGb1QSWYMM4jl1qWFuJcyDDVqKpvMmwRmpDJU_nNaZpAlRtOwo-80Tt0sBRWUrYIyGPgWO2n_nwYiWC_LCXmf6oVialFSMos7QjwJGibhR_CBvwr3_KvEQth4ceeS9gWTkpr-uUL_dyP8wTFXB5eoOVXdR2DvrlXT7omezIfv0xDiVZFbTPl7qEXd5kxY7Ihwyw_JzSwSWq2DeNq6l6RQrjyFoKsezJbbaYiTZ8srr0Ls_l_OTO9EsGz3rZZPfk-xZ2stUoqu9VwOA7tV3DazsVxSu0ugAeuYCMsyDtOBhEzV5ulnuIKuFcMWqsdv5TGtKG0ip7rFTkiHJ9orfeKLpuUa0VYiSSamWgyA9bm19Ov_WfKK56BCHGccluQrS53tlfIgrOyM97pyyYRQK3osuuV0n0mQl8omSn0m2RuwW_14Tr9Ej57nuFRurPJWTMoXBkhjUadas_oY1EFp6tnTEYddVVrBA_Tt-qFgwU0IAV2CA4x453jf4EeHQXG6Lj0R7leBbOPb6vBMEgrA79jlSpzVktqU2krBtpY_DvXJSXFywZJVFGgIxpjEsasMCgLIw7uj6bE4Tr8eS7dQ8laVA8HsJ6aQkbT15Q4bNR9na_83jYUd97y2utiOg6A26mm75ik26BgIWhDFilDq8279Q5cZgC4lyPAKaL-3e_IRN3A6fDP4quOoy7bilQCyRTZ-Z4eSai4vbQV9Lpkit04iAFNcZ5OYqpQCzvRUQgS1zYmCN-_BYM99y_599_qNxl9Xz4OBZ2AUUpmXwScaBskC0z9E_Ov-mjbY6DxKAbyiVLnIeg6_3R8m8dIIZBd3F20wez-iuxMXpa5MfI6mZyixwEFgqUpgD4dhBLlTmOxOntrvL34zOsLuAQ46g7BeELW-gnyFTnmvxNVL4ebJCl18v7wMFaG2p91EVvJCZhacgKBIhOnRCkxhRw6FEUYoeXF8s1k0W8HR9DEDa8S1Yr7UBTMy6E6VmNDa_8ppRnxO3p6ej0-vBbEBYmtazaUVvQlM6dkp9KqGddgJjUNUvKMp0umrufU6tylk1zS0iao-6__gx1424VDDIpF33aM5rnijXO0K3tze9Lao1HOcd8kdxAjG9a9mgNm7YmnNksz5pQDa0sRCCFMYHj3dMFUDuYI2L9o4RTjECC_4XF99iJ1c55WDtFqhPTBdKKc6OHzsw5sYXDL9mUBkZ-z8ingAvuNEOVznplsQN5B-Gwh4BnMdYUSBB4Rme5wxweAyBkAOVNVqZYMWISOy2BLlbkUF3NGYa2zuylHS1EqX0lib8-xuq7K5hpjtAtIgHGTC8NQ9yq_50GFmn_LnIxsqMu4n0nZSAszny7oz8NnrzaTFs",
  "id": "rs_0516d8c2dedd0b42016ab42c9901c887d0a7f260914886e563",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.015},\"note\":\"The left wrist camera now shows the left bottle’s body immediately in front of the fingers, though its cap is farther off to the side. I’ll lower toward the body at this reachable location to establish a secure grip first.\"}",
  "call_id": "call_2dfV0mb3PqlfXz4vgZnsGJCh",
  "id": "fc_0516d8c2dedd0b42016ab42c9b4f2c87d0b0b57856039b93ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2dfV0mb3PqlfXz4vgZnsGJCh",
  "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]: [-0.3069, 1.766, 0.506, 0.6426, -0.2695, -0.1841, 0.9983, -0.1452, 0.833, 0.5831, -0.3798, -0.2092, -0.1654, 0.9976]\nstate[eef_state]: left_x=0.396 left_y=-0.0724 left_z=0.0171 left_yaw=0.0037 left_pitch=-0.0299 left_roll=0.0141 left_gripper=0.9983 right_x=0.2938 right_y=-0.0022 right_z=0.162 right_yaw=0.095 right_pitch=-0.0424 right_roll=0.0011 right_gripper=0.9976\nstate[joint_eff]: [0.1709, -7.1316, 3.7949, 1.8828, -0.0708, 0.022, -0.0171, -0.212, -1.6615, 7.0359, 2.0586, 0.0952, 0.188, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc66a50fb80c86aca90fb8e4250a08f03fd332deb07f8629f688df154de25a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0f3b356bca1f4b60e9dbf9818dbb67db429028955a3b1e9e727ea3ac79f0b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fcb2dfb8a9e646df17d2d8a8230cb888b83af20d56fe9dc44fb72ba56ac7c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.295 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 57 changed as sent

message 61 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.395, 1.9564, 0.7189, 0.8097, 0.2073, 0.0994, 0.9972]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0008 left_pitch=-0.008 left_roll=0.0003 left_gripper=0.9983 right_x=0.4532 right_y=0.1535 right_z=0.0441 right_yaw=0.1394 right_pitch=0.1529 right_roll=0.0238 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -1.7162, 6.3932, 1.8291, -0.0415, -0.0415, -0.0122, 0.6632, -5.8872, 2.1265, 0.4225, 0.022, 0.2222, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.4788, 0.5934, 0.2016, -0.2634, -0.1886, 0.9983, -0.1406, 0.8204, 0.5701, -0.3195, -0.1848, -0.1459, 0.9957]\nstate[eef_state]: left_x=0.38 left_y=-0.0741 left_z=0.0713 left_yaw=-0.0118 left_pitch=-0.0941 left_roll=0.0272 left_gripper=0.9983 right_x=0.2997 right_y=-0.006 right_z=0.1712 right_yaw=0.0685 right_pitch=0.0127 right_roll=-0.0095 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -6.1607, 8.5128, 1.956, -0.2955, -0.1245, -0.0171, 0.1846, -1.4974, 10.2906, 1.8242, -0.2369, -0.0171, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.766, 0.506, 0.6426, -0.2695, -0.1841, 0.9983, -0.1452, 0.833, 0.5831, -0.3798, -0.2092, -0.1654, 0.9976]\nstate[eef_state]: left_x=0.396 left_y=-0.0724 left_z=0.0171 left_yaw=0.0037 left_pitch=-0.0299 left_roll=0.0141 left_gripper=0.9983 right_x=0.2938 right_y=-0.0022 right_z=0.162 right_yaw=0.095 right_pitch=-0.0424 right_roll=0.0011 right_gripper=0.9976\nstate[joint_eff]: [0.1709, -7.1316, 3.7949, 1.8828, -0.0708, 0.022, -0.0171, -0.212, -1.6615, 7.0359, 2.0586, 0.0952, 0.188, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc66a50fb80c86aca90fb8e4250a08f03fd332deb07f8629f688df154de25a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0f3b356bca1f4b60e9dbf9818dbb67db429028955a3b1e9e727ea3ac79f0b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fcb2dfb8a9e646df17d2d8a8230cb888b83af20d56fe9dc44fb72ba56ac7c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCye033OJgCDsZGJALjCofwndcdYM7VP6l4txQx3U5_pm7x6m800JRiGvOOLfkG1tCStyKWFiYuCXFRZR7H2vfWYWdzYgSAmpY1yNI-hefj5fADNCwRCiD9SnfiGYijhkFBE5JyyqbQLjbPR6KMxRYLovenO_SD-eRqZCWZPeeZ3yNmICPi5HFD7LS8z2ZF47Cu0_jkMOrcrH74keT04uFfNMhHiargnfndAm-z1jH4Pdnb5FFleJ7sACr4sfF0sNxwdSfsfScJl7UbcgwE-TgHTNkTVhrF9KruWHMSSOfX8XW2nWEqW1SCf7dzJOxndw5SyBW4fCAdLgzWk3Yedn-wDlv08t78FoKcQoJ3v8TgtkzL7JGtsKeiU2KxTof0WoeNTn0m_MUAAcV25z77FrdTx5r_dCjtvD6kae1BTrYLmcN1FbHt-BpLrjWmRiITPJofWij6aRnhaHBnhazGjyDAcVIbgKlGUjsc7L25O9VWoqqgDd_HO5mfYE-GBMgK--9cCyeEHM8Ot4zLakmPrIO8YQtTnG0IIEy8jISB8nx1FE-w4JY8VXL9ujdVnAUIPc2mZC2Fe2887R0FBl8oR7_JUUfVAifdIyly7vifGB45PxYn2XMxlTOElcWsbcaNfj853Dy7EmWiO_SGaW6Lo_wybTx5G0kyImtbVRVy79dMJoUPyZABl-F8yh5nBbSFqwrsOu1RVGl43KFtMURHcMSh00qi1c3ng9LRCLvWdfKGA1r7S_OOIfEaW_Mvej_Zkv0gQjNw4-GPrWsV7sKgYMeuFhl30G7dq475UwcOohsStIseQbYNh2XsBMXE2pHKXdKfO_XoaCB7unpJunGldJ7amhRiWkzfnkDYv2p5MkQm-13FBFl90f7puQSJGV230RJ_l-cmkrzcM1WrmwAygz2OfjtAsA2PU974c2mRyNCdLkbUHh8wOIA02L3HOaEhqEbk6TDo3R5J9eRCFof7RTTJpc_MRkYxKbVdftW7rmNvStnvFsas_5Cr3ko8kTZEVyURoYLRmJOWcHrNJalCYodqcwNw_-jJ-vI1nmya0SPL_yKsMTkFs5nxAUTTpnw8OH3AdD2FJwzfXGNQ-kECqGjfPbfrfIRc5CT9er1hYpZsMqPNND5GiQZoMVXHbalhxsp-FlWKYzeqeX0pwXzWWNsCCl3TPmKOZswaMGSFTAKBWBhI8AEzjz-WWQt592unHCNTRbrcpimDdh8iwCFjX8dDWYyUZo1c7DPcmxotwG_xgT2Zn8ubj2qEMfFqCtQ7I1UnRbzsnYYW2Dx9ahg5M0Y9Gg_ausQMdZKCmjTvogzgsq5ZD8fa9dPKYPgFZioeJPJUpQCqUthoGWfglhtSKaHOTQh1vPbKtVUm8vJOmbSNectlzypA5P6JBjLLW8NTfMqRx3LHM3iQqjba83dWYY8gBkFqlmAWrVv2LHuXh6GjtozuC1LxnS7rlYuuqOC-xN5da",
  "id": "rs_0516d8c2dedd0b42016ab42c9d560487d08f57cd26f54edafe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are now at bottle height, with the bottle base spanning the space between them in the wrist image. I’ll close and check whether the jaws settle around the plastic instead of closing empty.\"}",
  "call_id": "call_ve2KTxNL64yGuEimJWVN0PWy",
  "id": "fc_0516d8c2dedd0b42016ab42c9def4487d0bccfd170f78663f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ve2KTxNL64yGuEimJWVN0PWy",
  "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]: [-0.3042, 1.8038, 0.4877, 0.7101, -0.2638, -0.1871, 0.5149, -0.1459, 0.8131, 0.5411, -0.3508, -0.2138, -0.1665, 0.9979]\nstate[eef_state]: left_x=0.3952 left_y=-0.0721 left_z=0.01 left_yaw=0.0032 left_pitch=-0.0199 left_roll=0.005 left_gripper=0.5149 right_x=0.2909 right_y=-0.0012 right_z=0.1543 right_yaw=0.0986 right_pitch=-0.0351 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.5265, 3.9726, 1.7216, -0.149, -0.0024, 0.9206, -0.6359, -2.1538, 6.9402, 1.9316, -0.188, 0.0269, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5d163ce126d4b493ed351b433d5438f5486831aec89b67333eafb4c40d7e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb471f6ce4f5eb4165143a5acce661196b0af7c07ad8f5e6ea078390257604b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fae709418e59cc7e0b285adcf40c1816776008eed2a88d93e77664b753ce4a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.434 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3992, 1.9556, 0.6956, 0.8886, 0.2119, 0.1154, 0.0132]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.1547 right_z=0.0539 right_yaw=0.1282 right_pitch=0.2073 right_roll=0.052 right_gripper=0.0132\nstate[joint_eff]: [-0.0205, -1.7162, 6.6803, 1.8095, -0.0464, -0.0317, -0.0122, 0.0342, -5.641, 2.2222, 0.442, 0.0366, 0.0513, 1.072]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.766, 0.506, 0.6426, -0.2695, -0.1841, 0.9983, -0.1452, 0.833, 0.5831, -0.3798, -0.2092, -0.1654, 0.9976]\nstate[eef_state]: left_x=0.396 left_y=-0.0724 left_z=0.0171 left_yaw=0.0037 left_pitch=-0.0299 left_roll=0.0141 left_gripper=0.9983 right_x=0.2938 right_y=-0.0022 right_z=0.162 right_yaw=0.095 right_pitch=-0.0424 right_roll=0.0011 right_gripper=0.9976\nstate[joint_eff]: [0.1709, -7.1316, 3.7949, 1.8828, -0.0708, 0.022, -0.0171, -0.212, -1.6615, 7.0359, 2.0586, 0.0952, 0.188, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.8038, 0.4877, 0.7101, -0.2638, -0.1871, 0.5149, -0.1459, 0.8131, 0.5411, -0.3508, -0.2138, -0.1665, 0.9979]\nstate[eef_state]: left_x=0.3952 left_y=-0.0721 left_z=0.01 left_yaw=0.0032 left_pitch=-0.0199 left_roll=0.005 left_gripper=0.5149 right_x=0.2909 right_y=-0.0012 right_z=0.1543 right_yaw=0.0986 right_pitch=-0.0351 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.5265, 3.9726, 1.7216, -0.149, -0.0024, 0.9206, -0.6359, -2.1538, 6.9402, 1.9316, -0.188, 0.0269, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5d163ce126d4b493ed351b433d5438f5486831aec89b67333eafb4c40d7e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb471f6ce4f5eb4165143a5acce661196b0af7c07ad8f5e6ea078390257604b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fae709418e59cc7e0b285adcf40c1816776008eed2a88d93e77664b753ce4a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyiMBJX8bcN9dc7AiovJi8PoIhnUTF6LGlnf7mIWKR-_8p0mKeRkprPvWFWlL83GU0khbsDNxXR-cllikNeybr7qFpcq72HPZ52LNfko3kWVmS2V-oiEOpejDcfbsw47G5Izwl-LN4p6iIzck7oV99ZC4aTUyC7krUEIXpzmUxGlzK8sCDtGhJquqiI2PXTLtrAJ8ZXb6gSRrb8um4UeWDlNUzC045Z_YLpIBviiQ16Qc_gx7wxFY1Sa-gsgLegUdAgjqwxrsfPme-bYd7Pt0YzlgahbeNLCRLPcIl3bKaN4dUvrbbMX4KA8X_r3tSilZyLMpzU_RKb-DjrUzt0TFtyNLxopZZLS64Ydc9gZvfojEoOsyccfa6KpQ_N3bVyiEAG1ovyAjZcu14Kmas0r6fYYFl8qXK48ye5AqZ9LjO4X1vXsHsmpwi58FwvNnEYcxW9q82KkWcLY1_2TSHcYHGFuT-92JZVcI0XmAZIygygSmkCVdHebyOxWfh0RAe8lUB1t9TU_TS8VyRKvEqK1lppBXTyKqdBEce7TEDgpcYzwoFniz7LcIlvQbZVw93f1xuWQ0x8Mx0qF5jLzXgGJKN39vL_K_Ck9XB0wMo6HZtTb7q5AOy-oFA0Kkax1RsnRDKnqKRYliztMyrCbwAXaOrjzmJOt3WAlXVya4cl1tSUBRh2z3JpNhpcmmaKKplvTFMqLo3yEmBRK2umaUg52Vz2my8JqGRWYc6YKP8C05Zmz2vggv27Ir48WIfwD1o0c3HiKwfcpYVSglEuCV710sWISYBpYm1YmbmXm3xe2mU4wE4O3nQ8cj-pj21bxQBSdoHto33n32kGbJEGJsOOx755fCeocBlIXSlVLoRWhio6brfe3l1NgPDH9ZLoNhrLgoxHN1xAi8WydCkgYQwNUjzaIPOKiZ2NKCnP9DnYHR__Bg6HMPx_mlIMMmGeiDbR6ea8My5MBPnnz6n2u6USus-r4JLS8JeiYTsIiJFb4UKVOjyTouOT1WCd18q9-icGoppLw_y6A7sH3GMRzsy9Etj2GplDbNyV7wAPVG-EsD356qsFemmA1y7hT5_792DSWJxsk06nKsV9IAhbVPbDwhWoGQJvIbu5KschZ-L6kGiw8Zk2znX-OOtn5iUbqAosbj9HxkT9lXGvHFqfQQ2evSBDQAGl7RY9dzzCNCiH6ZfhJF8Fv5iYnvPX78qOd_EZQOi6EacQBI0mNu9dOh98wFzGK5kDpb32-FECWaD-UkGO97eSq0LsfJ8qCqAqO3xUfSOeWwT2xGSINJydHKR4SD3_qrwTBVsBkqZlU6Cevq9n1i5eQVZOJa69yemf8dFRsS47S9HtILmlkE7iDtqjTs-s1N-_Bw_L4KNmJHNZZHo7kE8WGcyeo8119jRXVOI2YnGh9BaxRjzJcPREgPGK6TsNlQ==",
  "id": "rs_0516d8c2dedd0b42016ab42ca0c84487d0baebaea6574e745b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper stopped at about 5 cm of jaw opening, consistent with holding the bottle body. I’ll lift it clear and check whether the bottle rises with the fingers and how it hangs.\"}",
  "call_id": "call_9o7rW6fWpjuPw8is4MbGbig1",
  "id": "fc_0516d8c2dedd0b42016ab42ca1448887d09c54d3efe6e96326",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9o7rW6fWpjuPw8is4MbGbig1",
  "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]: [-0.3023, 1.3727, 0.7444, -0.1047, -0.2451, -0.1947, 0.5167, -0.1463, 0.7971, 0.5056, -0.334, -0.2138, -0.1669, 0.998]\nstate[eef_state]: left_x=0.3776 left_y=-0.0691 left_z=0.114 left_yaw=-0.0033 left_pitch=-0.1445 left_roll=0.0258 left_gripper=0.5167 right_x=0.2873 right_y=-0.0008 right_z=0.146 right_yaw=0.0984 right_pitch=-0.0377 right_roll=0.0015 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -8.6632, 11.1248, 2.3126, -0.3297, 0.0366, 0.1685, -0.7453, -1.853, 7.2957, 1.9365, -0.2125, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bc59e6f87771712061bb43ab1eeff77a449b5dc1be6bbbe9e7af7b1d608160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6ddcd6676c923a82cb16e18f6f9702e1be215066808e6b784c616f9aeee993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4be66bafe6d45f1e56c0e288344fe1bcb579b7dd10f743269de1afd5753fa4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.524 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.4788, 0.5934, 0.2016, -0.2634, -0.1886, 0.9983, -0.1406, 0.8204, 0.5701, -0.3195, -0.1848, -0.1459, 0.9957]\nstate[eef_state]: left_x=0.38 left_y=-0.0741 left_z=0.0713 left_yaw=-0.0118 left_pitch=-0.0941 left_roll=0.0272 left_gripper=0.9983 right_x=0.2997 right_y=-0.006 right_z=0.1712 right_yaw=0.0685 right_pitch=0.0127 right_roll=-0.0095 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -6.1607, 8.5128, 1.956, -0.2955, -0.1245, -0.0171, 0.1846, -1.4974, 10.2906, 1.8242, -0.2369, -0.0171, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.8038, 0.4877, 0.7101, -0.2638, -0.1871, 0.5149, -0.1459, 0.8131, 0.5411, -0.3508, -0.2138, -0.1665, 0.9979]\nstate[eef_state]: left_x=0.3952 left_y=-0.0721 left_z=0.01 left_yaw=0.0032 left_pitch=-0.0199 left_roll=0.005 left_gripper=0.5149 right_x=0.2909 right_y=-0.0012 right_z=0.1543 right_yaw=0.0986 right_pitch=-0.0351 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.5265, 3.9726, 1.7216, -0.149, -0.0024, 0.9206, -0.6359, -2.1538, 6.9402, 1.9316, -0.188, 0.0269, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3023, 1.3727, 0.7444, -0.1047, -0.2451, -0.1947, 0.5167, -0.1463, 0.7971, 0.5056, -0.334, -0.2138, -0.1669, 0.998]\nstate[eef_state]: left_x=0.3776 left_y=-0.0691 left_z=0.114 left_yaw=-0.0033 left_pitch=-0.1445 left_roll=0.0258 left_gripper=0.5167 right_x=0.2873 right_y=-0.0008 right_z=0.146 right_yaw=0.0984 right_pitch=-0.0377 right_roll=0.0015 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -8.6632, 11.1248, 2.3126, -0.3297, 0.0366, 0.1685, -0.7453, -1.853, 7.2957, 1.9365, -0.2125, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bc59e6f87771712061bb43ab1eeff77a449b5dc1be6bbbe9e7af7b1d608160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6ddcd6676c923a82cb16e18f6f9702e1be215066808e6b784c616f9aeee993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4be66bafe6d45f1e56c0e288344fe1bcb579b7dd10f743269de1afd5753fa4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyoY8k9P-IbJ9vOrrXjeaucn5sd0c8Jfq923sSQSxGcQZnTobA0ZDRxfNuNGQ9pQIHcsoWksQqPFHV6g1H7QjFUUMalj5IFgK2bQhi-farvlBHN9N5fX7DLwnQURKjYwatNx7-1iedY3WwDr9gP1OZ-NtOwNTLDGMS2ZXTZh_IKh91w6avYbs432nhWhVszMW9WNvF53q9bsQ1NHVU0mCn3ZgwIoLl4yOgPoVbgofelEQ8yR8MoPbtQKPoU-pWNakBik8Gdf-DlzDt2fqnF1WNpC68j8ifEHQd3cHIqbyAsNWJ9FMgpWNNVDqv34yML79Bd1YBx_LfOn65nVu50F3OJrWKZAbyuDp2hgSUHe3M_dRN8m5jNYZfuARbBcPGc4-sxG4csWZMp1lg0lhRMnfdYKuLZQvAA7rR2Hfjag-diTyIyrWSBFPDGmFnE-bfbjez7xk8a_Y5uYpC-WKnbQYeSGaS69NyJ6iKqDGhitkO8-fIDzqEjBJ1ksxY6EZCV7j29jXVQMU5t1HiBSCvigf_1_ybXHkrMWa_7w4o_9_x7hqUHbXCis2lAhqXfaboSTKNpFWCLE7c01NmMsDdY6z5Jw6TxB0AFyoxulxqbpyO2ztrJFARVcPlsTsh_cUHxttIoIfEaiRBp27AcH1Z6Aea992Bwyu2sk_rqjrXMJXGJaN7udTRSLKhdQr19uGGTwsNFfzs731WZ7MhJt3_ixO12A31jgVpKcijVA8-HaaziNXz43ka8rOzVnVofTsqYBJO8pujvbeWVF_kZP8iHJ_AOkuZwMQZE3JvSbfsaxT_ZHhBspxQ2u5vm9_1mdkoVn3_O8qrbYDOpCFfKL6Rr_UUkUiQ4ieW1IIS36kgSYUnMxwrjahvsBU2sGPkz5IZr0uwZ9n8ByBv07oJ03iq8O2qoGw3t3sBpY2sq1l_s5uPp0J_56m6fKY2QaBBHHSsd9Lyg98KUOj35mg5PeoZyr-c6pq6xARn42P4y1ksDGNrBR-VkJtThiLRhUKhbaec0qOBUflO-6lwEIOUPRcWcRYQtRZKPwdxA3pVQMYXbCgNeD9rylXdi-PGdW5ObZSKa5gxj9XBtsmbNfKP_2SBEXVhIfJbh7kjuNyrsxp9McoLshkcoK-U6uKkLNOB_1unxsx4V-BBeYuf2txrDl5INNhRB_4p8XOQP7wVFwyfmW6Gx9F4HT6iOO-BptRvI94NFBFoDAlo68Qxcat4Dm0W-PVXHpWAALQMF5r4QRjKZj5snKBHykcaDh8VpMoZXRRCCC8R7UXYk7_-43QLu99UkRQOVJya3ki6G3QupUOBgKB1kccppWz0-ytUyfh0u-YnC7lpoISx9MrFuKpTTDcWJPOUGuVF0glanJiNj_6iSNbRb_SbHCDa8M0hG-IKE24CIvnt1iZPCmIS1F7mHQG0RD4bu9Qn-PklPtRdBiV3voXAGAxbx-fA9AjQ0HjlDVl_B7LaG_3CJ2-PKiiwM518PJaI7f7iBzQodFgAk--5v_8kwNz0mROvEzKUYGbE6tzSIcLHD35Fyq2BFFoy-h2iHGBiVb3TR0ORmvm-b6Depo40C5fVQih1u8Bc7z0SiuagJ5yzQ6ZPg271yFP_Pl5S-Q_UVEHVcU1YJyQ7En9bLgbw498uMeWXgADq3ysspabxSa-Wi7nyZs2hAloPCGfFSfSK-dJr_9ok8doc6KSmczMTlDYc7Ii_EtrmLbY0m_KBANMg4PW-331EGbH8ioGfPDyPU-LSJfXik01hBxxt5_WO8sPeVHAY8SAL2XtrpjIWiQ1jx8f8b1CVpqN5weTgnvhhw5kECDdwtIzFb0I7iRuuqJ5-u4ycWW68ao3fAZ4w0vKnh4GB6GsNwV6Q7cUlOT1zGTYcrupsI5GLJz2nBzoroHw04G6XqvADanBU8vrcWOEXXDCme1VWOZKFTWD8ImYLfhJjsVKD1IXFD-B2L_eaB1FCDTaPjen-seqWHdSoj_0gpaUWwso94i2WIA9kqimv0mg7yM9VnxhLpGgpvDQbl9GmBSsFHI-hB2Qv2ATBzvAcvkIaxHL5VtyvbKQqIEBTTiqY6JFkwDLi9lUcAhKi3QKMlwtSk23qV8ufNjB2hEG-N7FtLjHmgTsXsL2D_L4-w2iuKqYluhCwW8A60tPR3mgozxd-yJQPaCAfhjlNX1v7kE-KWzR_GJikUALP_Bl2WdmHCCDRwuIAow4F_f2FSkTIapFmfoFp60ehKF_5CtiFfE0sI5hElYd0BOiqNVNiRoUHJqitv5P1MCzZ03lwWZz8wKvIubN2uYO37iUW6Rvi1TzM6_OKg77NU1dCJNEYi_4q_X5R20ihJRZW-W_SNsF5Nl2lUEnAZMPfJzhtlozW-ZA5WOqE_Lb7wTjAInljpkHdvqX9R2iZnRDwx5VP8Sd-6tXKmECKqpZCm2B2N21QBzT8yWa75sAUhCffBolfEqLIXeObUa7UI2LoiT1H6hDEgzu3XzBrse-Wrd7vrYjO_XCMJo_1DybVyQEbYcXFKuKAszTrndUwws-H2SOrfKn6Q60TJLGuRZmjdCOC5aIHWMYzKoORzyet2LARwPOglBusgo2M-ro--COBHZu_V-JeVao7nSM5rZoWpTVG2Of4RNRwQnz0GyRF2742dI1fnmrRjwbzFstc-fJJd34CT-GZzCKd4HBIb6ggwm-_9vB-3GeF1C02tzYGSKmDIXYpB1vvrjrPE0vj7JNzJmkQUtFRoru5YwjJppZ9zNdZ89ZLkTYhsuXnpAuZSAoKZqwxSaLTgwrRv3JY9jiNh3_cSrlLV2zO3Vv-u-ASCgHUcqDtxp2xYN1T0jRrO08uUx3dPMS825mb58EGk4CY0313vFjKRzJPj7KHnpvTN1pU7VOynflJQRf2pdwvS6vbolIvBOqaN3aIDH9EndJ1x8QR9scRf78Zg-dB658IA3ycvDw4W511817J-tBJh07HsJhm1_kI96qBQUJQ1iy4Vd1HEdaT4F3iV3X4aTOGGQIFNs0D3cXaPY18xlCDzlBA056OxUfRcndCmWSAHjld6D95JaBMs3EshMEWBuCpIUkS2n0Ek",
  "id": "rs_0516d8c2dedd0b42016ab42ca43c0087d0a10c1d644f1d94ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.12,\"left_z\":0.21},\"note\":\"The bottle moved with the left gripper, but it is still roughly horizontal because I’m holding its broad body. I’ll carry it inward to a spot where its neck is within low reach, then change to a neck grip for standing it up.\"}",
  "call_id": "call_Kwqk2THYuac09Bj9BtD9jZP5",
  "id": "fc_0516d8c2dedd0b42016ab42ca7572487d0ae5d391625316fe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kwqk2THYuac09Bj9BtD9jZP5",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7822, 0.968, 0.767, -0.5091, -0.5854, -0.4713, 0.5176, -0.1463, 0.7784, 0.469, -0.313, -0.2138, -0.1669, 0.9981]\nstate[eef_state]: left_x=0.2751 left_y=-0.1307 left_z=0.1978 left_yaw=-0.0635 left_pitch=-0.0121 left_roll=-0.0113 left_gripper=0.5176 right_x=0.284 right_y=-0.0003 right_z=0.1386 right_yaw=0.0984 right_pitch=-0.0347 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -2.4821, 8.5675, 1.3211, -0.2613, 0.1392, 0.0855, -0.6769, -1.2786, 6.9265, 1.9707, -0.1734, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd358bbd82f34a2555be56080d007b53901c2f221a969874fa4352b7493959d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbc6d7aece3634599e8149f0b786dc59efea9165edbf83e77dd63ab4a9d65f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcfbeb9c9b00ea7000306983823aaca2356e648e63b7abb2ed7318343d04d918",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.51 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.766, 0.506, 0.6426, -0.2695, -0.1841, 0.9983, -0.1452, 0.833, 0.5831, -0.3798, -0.2092, -0.1654, 0.9976]\nstate[eef_state]: left_x=0.396 left_y=-0.0724 left_z=0.0171 left_yaw=0.0037 left_pitch=-0.0299 left_roll=0.0141 left_gripper=0.9983 right_x=0.2938 right_y=-0.0022 right_z=0.162 right_yaw=0.095 right_pitch=-0.0424 right_roll=0.0011 right_gripper=0.9976\nstate[joint_eff]: [0.1709, -7.1316, 3.7949, 1.8828, -0.0708, 0.022, -0.0171, -0.212, -1.6615, 7.0359, 2.0586, 0.0952, 0.188, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3023, 1.3727, 0.7444, -0.1047, -0.2451, -0.1947, 0.5167, -0.1463, 0.7971, 0.5056, -0.334, -0.2138, -0.1669, 0.998]\nstate[eef_state]: left_x=0.3776 left_y=-0.0691 left_z=0.114 left_yaw=-0.0033 left_pitch=-0.1445 left_roll=0.0258 left_gripper=0.5167 right_x=0.2873 right_y=-0.0008 right_z=0.146 right_yaw=0.0984 right_pitch=-0.0377 right_roll=0.0015 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -8.6632, 11.1248, 2.3126, -0.3297, 0.0366, 0.1685, -0.7453, -1.853, 7.2957, 1.9365, -0.2125, -0.0122, -0.0024]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7822, 0.968, 0.767, -0.5091, -0.5854, -0.4713, 0.5176, -0.1463, 0.7784, 0.469, -0.313, -0.2138, -0.1669, 0.9981]\nstate[eef_state]: left_x=0.2751 left_y=-0.1307 left_z=0.1978 left_yaw=-0.0635 left_pitch=-0.0121 left_roll=-0.0113 left_gripper=0.5176 right_x=0.284 right_y=-0.0003 right_z=0.1386 right_yaw=0.0984 right_pitch=-0.0347 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -2.4821, 8.5675, 1.3211, -0.2613, 0.1392, 0.0855, -0.6769, -1.2786, 6.9265, 1.9707, -0.1734, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd358bbd82f34a2555be56080d007b53901c2f221a969874fa4352b7493959d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbc6d7aece3634599e8149f0b786dc59efea9165edbf83e77dd63ab4a9d65f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcfbeb9c9b00ea7000306983823aaca2356e648e63b7abb2ed7318343d04d918",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCysK-4ALUyYPydd3mzVO8PVe23e7S9QEtBuMizV2TUpP1x_OAhjIKneELDRy5Me27YjDXVAw0CL_-_WPyUW0R5eqiM9EdpeWNe_nUG2fAE9EphIreubqiVHj-DG_bJk2O_1GdsnYLrWvaIaHtvwOcjGJ2PFp3Bg1HBxrUsk4HQVUwFWsBdweiFz9vpP3W3NBW5wklL3rj3mpKa8dzW9C787LqbrrkS77s4rHA4RXxWYDqeZ8PWlo0Pd6NnfutUaVKHBCeDu2zpE9pCeHPVu9gMJL6z-HG1DSNgO1nus_J4Ch5HL73RoGbmcAsc47BuxwqGkiNzRTiLZWlk6VKnMC-y2L-ZZa0cnUUosqODoN4qOLZ1hX79V-PddF20aeVLgSz-L-GHnPPBPmTK_4DWNjfJahXubGWU2k2WBRGkF--jz1ktNFheHxllfSlyLPhjoAGyROeHoZtfVTb8CQIDdY1ZRiK0B3vqKG-Emdf_aVoinZqRY6GKzGwN8wBiG-KKe7tWLAS_dG0VGBPup-hLE7iB4KxcpvKRYTYcZvJurDSrwSF8fYRjthbXg2fvBtUmHUcjh1jVsjeivYz-o7uO43sCUUSmuiTUGAB9BzZv92SwgQfG52uEvPKcv5DFOHd2EpNAsfit_43hv-m2TkcbPF5EEgH2iY8orJoNyIsjl6pIgWFRRMNz5OgPXqHCNKr6LEBMm0gi4FIBp4I26JQ-Q4TYCy7GYy--EhfIujJp2YZP2EhzR6Z9JFrBNF6Hx4UZzYrlqI1iK-WKScZRL4-WCbcybohcmWHl8i7Q1CQTlB_jUsWyRetkadFQsTCQ6qYBJlgsUKlTZ44CN9LofS7yroAzV8e7V5BheJh3gOXnHit65u7uahK6R8Kints79JrS-9yu3_Isb5eCDG2QKSc64DMsbgC7Qof76p_qhcVYEev57-1amKGdIJ9Oahvy52YjL7G56wQujHqPz7Sd7oojcx8mQMGzgl7sgqhRXODLUX-ZpK6QPUcSBOC_7sUa0JCyVM1hxQwA7g4RfRfcFzJBE8U7BUrgd8p5fEJ4m-VdYucO8nnz0AM5URpMFzInvdIAiuz64SfaHubjfI52PX35Rh8bLj1HxYvzyoEAZeW0cFm-OD8cV6zrQd3OqSs01zxwsV8uE7KC54xaRNz6v1iWtj2hLKztWtBoqbuwHPTjWn3OHkuyYxD3S2t-0zUyADQVJi-0w-SM5iMPMdyF9cayQx2KEupCheXM7rkgeCuOPYYGAioEZFjitiJeboCfvmIXS67ehfbnM_SIqxKVk9Cd1pXv0PzHp9fmLhxxboZ4Jcmccnmd8VkHDVPnyrUvdrBUY3t_yhJjxrE3wAi5L67H-VPQI6zk3o-baTAOmQf4dQ2q4O-zFSfa9ERN8XGRQfebjwMv_PSR6XZOYqjXcxrzwbfTpPdOZqdmHyPmnVaMaOxFimE83qXtMRYXiYiSNIpygg0nlF0OiP6ZqvDxX33pA2CFAhvk2oZ-6whX4ageWP84a0efBC3DtfumcXqwST-rAcIwxriqXZo6rmUegEJkxRmUpTUW_zAIAjPl3IffNvxqZkIh6bX1_CGgVpUGTm_gg181P3NnNpHVa70X4b1t-ruFA7cixl1P0y3riW1yww0o9QrMmbZsLRfwzMbJRMU3QCF6t-ra9meOtsLYHLTLfhP7scVVF_o-zjwj2mKA87ZgV7QKk4aKWUk34nm9sj7nVD-8XrkMJldeWgFvxRRZHHH-ElRPYlA57KhKPnTXSMAGRSnybemPyBMXa19oh-RGrCpITgj460TfZqERskkKPAf3L7A==",
  "id": "rs_0516d8c2dedd0b42016ab42caa7ef887d0b51397882604af55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The left bottle is now carried nearer the center of the workspace, with its cap visible well within reach. I’ll lower it back to the tabletop before releasing the body and regripping at the neck.\"}",
  "call_id": "call_n5NBhbGRKCOtFqy1KGGaF9uN",
  "id": "fc_0516d8c2dedd0b42016ab42cabb73887d0b8df9f6cf5cc6b44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n5NBhbGRKCOtFqy1KGGaF9uN",
  "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]: [-0.7971, 1.2152, 0.2901, 0.1371, -0.6064, -0.4717, 0.5166, -0.1463, 0.7631, 0.4385, -0.2924, -0.2138, -0.1669, 0.9982]\nstate[eef_state]: left_x=0.267 left_y=-0.1241 left_z=0.0475 left_yaw=-0.0606 left_pitch=-0.0607 left_roll=0.0508 left_gripper=0.5166 right_x=0.2816 right_y=0.0 right_z=0.1329 right_yaw=0.0984 right_pitch=-0.0295 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [0.4308, -3.7265, 5.4632, 1.6435, -0.1734, 0.0659, -0.1197, -0.8137, -1.7983, 6.735, 1.956, -0.1734, -0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f063ca86e00ef27237f3d4c9f7530a18f10e0ff97c73faba93739caf5b2e27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec252e2516630506d7f44dfc90e419deeb89a2a4d89c399d05b8bf5d27e68264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867886a9b1a68b20b730e50360e10cc254318d8fe0d8120d26f008a85c3a46ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.179 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.8038, 0.4877, 0.7101, -0.2638, -0.1871, 0.5149, -0.1459, 0.8131, 0.5411, -0.3508, -0.2138, -0.1665, 0.9979]\nstate[eef_state]: left_x=0.3952 left_y=-0.0721 left_z=0.01 left_yaw=0.0032 left_pitch=-0.0199 left_roll=0.005 left_gripper=0.5149 right_x=0.2909 right_y=-0.0012 right_z=0.1543 right_yaw=0.0986 right_pitch=-0.0351 right_roll=0.0011 right_gripper=0.9979\nstate[joint_eff]: [-0.2803, -8.5265, 3.9726, 1.7216, -0.149, -0.0024, 0.9206, -0.6359, -2.1538, 6.9402, 1.9316, -0.188, 0.0269, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7822, 0.968, 0.767, -0.5091, -0.5854, -0.4713, 0.5176, -0.1463, 0.7784, 0.469, -0.313, -0.2138, -0.1669, 0.9981]\nstate[eef_state]: left_x=0.2751 left_y=-0.1307 left_z=0.1978 left_yaw=-0.0635 left_pitch=-0.0121 left_roll=-0.0113 left_gripper=0.5176 right_x=0.284 right_y=-0.0003 right_z=0.1386 right_yaw=0.0984 right_pitch=-0.0347 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -2.4821, 8.5675, 1.3211, -0.2613, 0.1392, 0.0855, -0.6769, -1.2786, 6.9265, 1.9707, -0.1734, -0.0366, 0.0024]\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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.2152, 0.2901, 0.1371, -0.6064, -0.4717, 0.5166, -0.1463, 0.7631, 0.4385, -0.2924, -0.2138, -0.1669, 0.9982]\nstate[eef_state]: left_x=0.267 left_y=-0.1241 left_z=0.0475 left_yaw=-0.0606 left_pitch=-0.0607 left_roll=0.0508 left_gripper=0.5166 right_x=0.2816 right_y=0.0 right_z=0.1329 right_yaw=0.0984 right_pitch=-0.0295 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [0.4308, -3.7265, 5.4632, 1.6435, -0.1734, 0.0659, -0.1197, -0.8137, -1.7983, 6.735, 1.956, -0.1734, -0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f063ca86e00ef27237f3d4c9f7530a18f10e0ff97c73faba93739caf5b2e27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec252e2516630506d7f44dfc90e419deeb89a2a4d89c399d05b8bf5d27e68264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867886a9b1a68b20b730e50360e10cc254318d8fe0d8120d26f008a85c3a46ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCyxFtcyUW0JrSEOiRecfODjMLIe1c2-YvgFndrcgaZrzz_Pcjzg4gVN-p8IJsIeXS3VuanfsdwGo5HVmxkiYXB6oWggP1H61TSUMjXzenQ9yJ5puo3PHWxWGa5WHx4wCgYfQ9995t-gcuDripGuN4xMRinpGkxMpNdEpc-Sn0bzwjie0s9zpceaWbMJS0yG_WJS37XUdsMuzyI-D6_7CjjCyW19_oRZnAtk57fe1YKzChrncOd1SKEERItDHXwHBPgIeq6D-cNOkdJFo01h4FJgLOVa0ldasjC3IyMcA9pMzUL5XPrV-lDA3B2_RueB3mNZgzvk084V39BhNEp9DJlQIh_z2YL47ai0g7VYEZ2eIhomysdZmt1azp0RtUQPBvCQIGB7fVpyK8aGLAtFRHvi3xQcobwlR8TZZuBFOlllz4ThZJqLeZ8j95qgla-d0MViqqQswThkPaWh_9Xu3EYHaJfNN9i9g35GvKDth3_3BjYahPJvZVzD4vyeF8UAPhHdtYfDbWke3alXLE9nfqLZraHx6LxuSVEgPGy38mJN9hwKD-WNbWCaMxCdbjcPE_8wq8ZH4XtVr9F6z41wA3KstMesLj0cqseZaHD_yULb6cAXcYc8W6WWdBbDZZC2IfOeK6hHYB4JGiqVy61HQjmHWDNZPieQ8OlyMGP8NvvHf4lmcUocM44U65xkeDOQ-Ba56HossuIlAPeyQQqcWH5CQtWvZLTaKMNiYPKUVPL9wiEf8_Fb-EI0EgeGygSgtwhiVFrcx9dRJxaqLVgkyuwgP-VLBtrui_ORMQnSj1M_a5LpOu3kizdDl5TE-Ez0qCKtVcODyHD183qrQ2H4WmwCAWo81dMXtgOmZ_YtYS9WuYVLaK-G1vJiVe-iMyEGvhLnb07cLG6BVXE70cLDig10uxjf-4M9Lbi9jdjYJgVyiJ9eg2-mojaqvu30hzR0r8L_aapnnCXg8vZRq-3KMwyxOYnnhFSCeezB_i3rxqPWerMmwe7vcxb0AUWgLQVsY_jrdDzL2Lu6eUrl1PtiNrt2ieLUOSVaMuRRvgTSA8CjcNt_RPMntXNThASuRZaUZJcsonkRFv3VDfJUe49Zi7cewiNOHaPf6iKnl2TOt8iszV-I-FCnw4KeknluiLIOd2lnqKMHc3l6ZfWPGb2BrErImziOCi9iGQe8Zh4h6mix63OScNEuaF3Q0N_0xXRGa1CuDlSTajAXAZLHxb8VSfeP0WUDjdFit3C-9wxQm729-KZNiwkpvXSrhG0wJpUxZT0M1HoPokT0x2dIAOfANYVSRtgwqWq2rY0lC62_EGJYTvbSlmJKyLWnJk5gn0EqCz51UOB8lnJG7f09lXWhGDgRovuTIrcq_wWjuQyqUMbnEP6XJrCmeGpYAEFKb3cMC3uESfYo-Sbvm7gny0AX8bXxNqQYcVVN9Y6FFrTMBnNUC1dnABl1zdNcIumo1XcB5VAT6OmtISTkqLskZZYK9a0wiTal4gCUuxJ1Saw0Lyzt-kITaXstDq1GAx8HP_ccfGjY7wndoSZOIx_IBYik6G4oVUD1n8yGVA733wiECzBIM5ng8Os-QVV07pShy1XKu9Re2ZoyIdaD9MuTeP6GG4ijwKXv31MVsnCZBUUYX-9E54AlxLDEZOm4FGAs_RbC-gNoxmteTHnLtV-UtBrsGZm_pz9aY88D0gurb6nAIbzaGdWudfptcU9tHloyqfzzkwuaYTG92pfbMwflwEPoJSE_Wtss88D5-8YAKAPL9fR2eOX57HCJl036KfSj2iil2A2Gv1g17YjnrTM_q3uJ0k1AdYF6K3aufAnovV9HMcz_f9E=",
  "id": "rs_0516d8c2dedd0b42016ab42caee12487d0abd5b4a2cf91e95f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.13},\"note\":\"The bottle has touched down near the left arm’s base-side workspace, and its cap is now exposed ahead of the hand. I’ll release its body and lift the open gripper clear before approaching the neck.\"}",
  "call_id": "call_cyPh4bIcV3MbopuBaegSkMri",
  "id": "fc_0516d8c2dedd0b42016ab42cb0580c87d0ab668213d27d2b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cyPh4bIcV3MbopuBaegSkMri",
  "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]: [-0.7979, 0.9668, 0.4377, -0.1547, -0.6102, -0.4763, 0.9962, -0.1463, 0.7513, 0.4103, -0.279, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2695 left_y=-0.1262 left_z=0.1218 left_yaw=-0.0575 left_pitch=0.0181 left_roll=-0.0212 left_gripper=0.9962 right_x=0.2787 right_y=0.0004 right_z=0.1259 right_yaw=0.0982 right_pitch=-0.0325 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -2.8239, 8.9778, 1.4823, -0.2906, 0.0562, -0.0171, -0.5949, -1.0872, 6.9538, 1.9023, -0.2027, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d78e6cb1b57ae154bb0112b720e4b2b27e131b7fd4c2fc773175178df62fffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ede6ae3848631ff58c91ce5d137ca11c837f1157b475d79b2944f10e380ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154ab0370d637996cb8ef953d4680cfb85b50f9a15afef1b2d3d5cc5ee2ff2af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.377 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3023, 1.3727, 0.7444, -0.1047, -0.2451, -0.1947, 0.5167, -0.1463, 0.7971, 0.5056, -0.334, -0.2138, -0.1669, 0.998]\nstate[eef_state]: left_x=0.3776 left_y=-0.0691 left_z=0.114 left_yaw=-0.0033 left_pitch=-0.1445 left_roll=0.0258 left_gripper=0.5167 right_x=0.2873 right_y=-0.0008 right_z=0.146 right_yaw=0.0984 right_pitch=-0.0377 right_roll=0.0015 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -8.6632, 11.1248, 2.3126, -0.3297, 0.0366, 0.1685, -0.7453, -1.853, 7.2957, 1.9365, -0.2125, -0.0122, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.2152, 0.2901, 0.1371, -0.6064, -0.4717, 0.5166, -0.1463, 0.7631, 0.4385, -0.2924, -0.2138, -0.1669, 0.9982]\nstate[eef_state]: left_x=0.267 left_y=-0.1241 left_z=0.0475 left_yaw=-0.0606 left_pitch=-0.0607 left_roll=0.0508 left_gripper=0.5166 right_x=0.2816 right_y=0.0 right_z=0.1329 right_yaw=0.0984 right_pitch=-0.0295 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [0.4308, -3.7265, 5.4632, 1.6435, -0.1734, 0.0659, -0.1197, -0.8137, -1.7983, 6.735, 1.956, -0.1734, -0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 0.9668, 0.4377, -0.1547, -0.6102, -0.4763, 0.9962, -0.1463, 0.7513, 0.4103, -0.279, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2695 left_y=-0.1262 left_z=0.1218 left_yaw=-0.0575 left_pitch=0.0181 left_roll=-0.0212 left_gripper=0.9962 right_x=0.2787 right_y=0.0004 right_z=0.1259 right_yaw=0.0982 right_pitch=-0.0325 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -2.8239, 8.9778, 1.4823, -0.2906, 0.0562, -0.0171, -0.5949, -1.0872, 6.9538, 1.9023, -0.2027, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d78e6cb1b57ae154bb0112b720e4b2b27e131b7fd4c2fc773175178df62fffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ede6ae3848631ff58c91ce5d137ca11c837f1157b475d79b2944f10e380ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154ab0370d637996cb8ef953d4680cfb85b50f9a15afef1b2d3d5cc5ee2ff2af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCy1wbhuQkHiMfG6qcgC0dINtqiY_YE3L8HMjzl9gj14TdzScMtxXs8PiAdC372TeEnrEaVQucXTLwAGKY2LLnxLJuDjlI9paazR9TG2RkT5Dv9cIu7wwYfCWzRC2mncUr6KdCw8W0lnoO8gJHSG6lbnm8nuCPMcV4jtARfDXX6Q_-wL3ZVXi6vvCldME7broNwWV7pkw9-hozDfmKTj94k4GxOisjVM4HbQd_O0bGm4LBdkI09fCAIl9NaVq-GA-mVVsRWY8Iy9yNSnGoaugmMgryunTBmgcaLxLIeCcPzheT2jQyRyjx-muxMVpwE1pIw7kUtzAdGk42LWpMWeJVF_LoqXEaoGP-aZ7_E_KFFe_Zw9z-0EWEJy1Z-e2dP26_bwDRlSH6xCbsoDfu0-sm6gohw4tXPJ8dmpPsnZ7nj8-cwQAxfjmy9qjF45IDCu4GdvLsx-xHgkkk1Km72q0Yy_aoEDhi8fzVnFHIcTRyfEkJ1WbnGkLV6fkZe-fZK56VZNxx-_T38Weh2mJ15TTgID1WA4upKQQnR2PNmOO8tOulCVcIDkQW8TkukxTa6JIE_R0uUnNpvVhruu_Z4enyOyMTPxTugQ1shkN7IKr-04dJ2DQ5btIjNESbkvJvTSCifIkUsk94dzVCaODDf4nopASuOqURoMkpT0zD6-y--05Gz6lZfQg8Xyoa9MJfYUs8AA1yNruJoocZ79766dTUOwDP9vyhgI_HtVAoIkEuUr_DSk8bxEIBbV56sP1Nj_y58gpGqBLs13e3uj4SeiRSmQ11vAIqfLsSkLtrOZwQUvHAQwOtndzH_4OHq16WJdfCAjK51eewIUaIM4cIFI6txeZ34usagtHmK0s5_yCL-n5fmn2LMKiqz4eHSuuLvm9-xK7TaGYW25tYY9y_cyUQasPnItMCQaG0AgkM75C7qSPwxCmnF1r-lW_KMOpHoz1oMMiCmbq9f0Yp8ORf3kUx-NIZ43ffYGW-hl4-Wmf6klTm-S08CIzVioTNmTvNjARnBqi3jzVDQkr1grZ2a1aexqJlIGdHsigyO94L1uqCoiv3wmA9f4gjgZS1o88s6-wx9Y8rRkFo4LJEdaHbSdXInecQJ0lhY5l3kOxRzhIsyaVsv-KGk2zVXXFwtioJ_wKo01dgczy7Nfl8R2hUzRq_CYWb_hZIev1YOFfjb9x_VC93riawKID6sOqhN3YAj2T6CcHZvoIkTvKeCy5tUVGScudH7sX-JT1zEv_LGnSgYs1pUdWVDUfz99IH_xMcSuevCDsonmsqzgf4fEmV8TSL3R5HiWa-B7j4o9B9q6IDzcW8_73P5XoQ8h8CmLWIysqE6NGIctBGhtc3X29qfvPAwmQeVJpQ11obqpGZmPCshLcdNx4gFVYW6YP5KWuz5f9Dfjr9-FZoR_CiT9T2UrK-Zq7ADzDBcXlPLn7cod1NKzfH5UXPpBx2DG2KY8a9xT1-_TBqNarY_fkXgfm6sZ6XwBOhHuyXw9ZlJjbxBpuEaPMPMwwUmPwQAvW8-fgsBeqqY2SzKEhtz2Kp1SX04UpoJUnyCRN86aTo_o31t9O3QAKzS26XBidqd-GCEywuLXvevriyuYUzLGtiMsnxNd-MFw9wKEPa1r0UTqwxdnVAPzqU2BM1AlARlS5LgvPtRSQfF_XHXdPLXIN4Jt4l_Y3IASUBMBy5WWNIKvBCI_i2Cth2ag0cxuyMwW58fC_xUuR3c3IwgdC0ghSgpkq5qts6rV5p0168R8UFge7dav4qY_L-YH6VBbEgFohB2__86OY2DJD6CbAbbQcT6h3r1qeoeYbvR0aJcsJcffLZlWae3Eo6zEUzkJN3EP5f3DH_J4eZQJzaUB0_YcZzFVwuOJoRsEsgPsVis4Jo0v_xLvgrseA6LJ-WnUapA0dn16fC5iHzma53_kPIQ38gg3NWhKsEsk5tVrYj5R0k_HWTdQiqY0vFKFv8FurjUh-C1mvuQJV0_onVw0QKpdoRtQ_ritAZtcI34P3Th1S2NmGPLLX9yNfYPwx4HcO3eR0e1ZJ7o3ul6RjJPnqcTYxR0j8E6cCfQQwsJ9HNEAEmvlXvZj8kkIppQnFxcBUpnOMJI6TkmERUSfFuBZuiT-tAoJJwYmrJf8fv2ScUjd9zvlkbthr7skzIHhCRDp1YHI3-m2oY62qDKw",
  "id": "rs_0516d8c2dedd0b42016ab42cb2d0c887d0942ff7075c76b5a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.105,\"left_z\":0.075},\"note\":\"Both remaining left-side bottles are close together, but the nearer cap is visible separately in the left wrist camera. I’ll align the open fingers over that nearer cap without disturbing the neighboring bottle.\"}",
  "call_id": "call_b6o1ecuEQCyNWXtn0sWGXPYw",
  "id": "fc_0516d8c2dedd0b42016ab42cb4d70887d0b00476252f2e65ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b6o1ecuEQCyNWXtn0sWGXPYw",
  "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]: [-0.4503, 1.4353, 0.4576, 0.2676, -0.3687, -0.2737, 0.9969, -0.1463, 0.7326, 0.3798, -0.2642, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3437 left_y=-0.0915 left_z=0.051 left_yaw=-0.008 left_pitch=-0.0919 left_roll=0.0323 left_gripper=0.9969 right_x=0.2755 right_y=0.0009 right_z=0.1199 right_yaw=0.0981 right_pitch=-0.0296 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -5.7915, 8.4855, 1.9609, 0.0952, 0.1783, 0.0659, -0.6769, -1.1282, 6.8991, 1.9609, -0.2076, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3153ebdf392b9ddcf7bb0d0687e591998907624f37026ffbcb63b8f5d4f3135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea277ca95ea90bdcdd75eed2f8c1d0b20dedf7dc58a145ba473309458b608e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ced42b8929c3d6a118a76d9f5a42a0136bade93a226af6b9b0e17e8a31c14c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.481 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7822, 0.968, 0.767, -0.5091, -0.5854, -0.4713, 0.5176, -0.1463, 0.7784, 0.469, -0.313, -0.2138, -0.1669, 0.9981]\nstate[eef_state]: left_x=0.2751 left_y=-0.1307 left_z=0.1978 left_yaw=-0.0635 left_pitch=-0.0121 left_roll=-0.0113 left_gripper=0.5176 right_x=0.284 right_y=-0.0003 right_z=0.1386 right_yaw=0.0984 right_pitch=-0.0347 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -2.4821, 8.5675, 1.3211, -0.2613, 0.1392, 0.0855, -0.6769, -1.2786, 6.9265, 1.9707, -0.1734, -0.0366, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 0.9668, 0.4377, -0.1547, -0.6102, -0.4763, 0.9962, -0.1463, 0.7513, 0.4103, -0.279, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2695 left_y=-0.1262 left_z=0.1218 left_yaw=-0.0575 left_pitch=0.0181 left_roll=-0.0212 left_gripper=0.9962 right_x=0.2787 right_y=0.0004 right_z=0.1259 right_yaw=0.0982 right_pitch=-0.0325 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -2.8239, 8.9778, 1.4823, -0.2906, 0.0562, -0.0171, -0.5949, -1.0872, 6.9538, 1.9023, -0.2027, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4503, 1.4353, 0.4576, 0.2676, -0.3687, -0.2737, 0.9969, -0.1463, 0.7326, 0.3798, -0.2642, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3437 left_y=-0.0915 left_z=0.051 left_yaw=-0.008 left_pitch=-0.0919 left_roll=0.0323 left_gripper=0.9969 right_x=0.2755 right_y=0.0009 right_z=0.1199 right_yaw=0.0981 right_pitch=-0.0296 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -5.7915, 8.4855, 1.9609, 0.0952, 0.1783, 0.0659, -0.6769, -1.1282, 6.8991, 1.9609, -0.2076, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3153ebdf392b9ddcf7bb0d0687e591998907624f37026ffbcb63b8f5d4f3135",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea277ca95ea90bdcdd75eed2f8c1d0b20dedf7dc58a145ba473309458b608e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ced42b8929c3d6a118a76d9f5a42a0136bade93a226af6b9b0e17e8a31c14c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0516d8c2dedd0b42016ab42cb7d28c87d0a7de2ceaa5b5f0e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.155,\"left_z\":0.065},\"note\":\"The selected cap is still forward and to the right of the left wrist’s jaw center; the other cap is farther away. I’ll shift the hand rightward and slightly forward to line up with the nearer neck.\"}",
  "call_id": "call_r8civ6fxIbavXpsjpfpcaBUO",
  "id": "fc_0516d8c2dedd0b42016ab42cb94b6487d0af665b4fd92fc04a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r8civ6fxIbavXpsjpfpcaBUO",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5465, 1.697, 0.6792, 0.3618, -0.4538, -0.3256, 0.997, -0.1463, 0.717, 0.3542, -0.2459, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3962 left_y=-0.1462 left_z=0.0575 left_yaw=-0.0092 left_pitch=-0.018 left_roll=0.0118 left_gripper=0.997 right_x=0.2737 right_y=0.0012 right_z=0.116 right_yaw=0.0981 right_pitch=-0.0214 right_roll=-0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -6.6393, 6.7214, 1.5409, -0.3101, -0.1197, -0.0024, -0.7179, -1.0051, 6.7761, 1.8339, -0.2125, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5e568eef6c243848494d70add982ac38bad83bd52cd51a454e5ceb765bb900",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18dd6d842466fcaad1502ce9c8a19960e697b3d4fac3bfa8837b76a6a0910fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34081ac2de105c69008ff886ecd4d8005ea082adf510794e247cfdfde5732369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.086 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.2152, 0.2901, 0.1371, -0.6064, -0.4717, 0.5166, -0.1463, 0.7631, 0.4385, -0.2924, -0.2138, -0.1669, 0.9982]\nstate[eef_state]: left_x=0.267 left_y=-0.1241 left_z=0.0475 left_yaw=-0.0606 left_pitch=-0.0607 left_roll=0.0508 left_gripper=0.5166 right_x=0.2816 right_y=0.0 right_z=0.1329 right_yaw=0.0984 right_pitch=-0.0295 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [0.4308, -3.7265, 5.4632, 1.6435, -0.1734, 0.0659, -0.1197, -0.8137, -1.7983, 6.735, 1.956, -0.1734, -0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4503, 1.4353, 0.4576, 0.2676, -0.3687, -0.2737, 0.9969, -0.1463, 0.7326, 0.3798, -0.2642, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3437 left_y=-0.0915 left_z=0.051 left_yaw=-0.008 left_pitch=-0.0919 left_roll=0.0323 left_gripper=0.9969 right_x=0.2755 right_y=0.0009 right_z=0.1199 right_yaw=0.0981 right_pitch=-0.0296 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -5.7915, 8.4855, 1.9609, 0.0952, 0.1783, 0.0659, -0.6769, -1.1282, 6.8991, 1.9609, -0.2076, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5465, 1.697, 0.6792, 0.3618, -0.4538, -0.3256, 0.997, -0.1463, 0.717, 0.3542, -0.2459, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3962 left_y=-0.1462 left_z=0.0575 left_yaw=-0.0092 left_pitch=-0.018 left_roll=0.0118 left_gripper=0.997 right_x=0.2737 right_y=0.0012 right_z=0.116 right_yaw=0.0981 right_pitch=-0.0214 right_roll=-0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -6.6393, 6.7214, 1.5409, -0.3101, -0.1197, -0.0024, -0.7179, -1.0051, 6.7761, 1.8339, -0.2125, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5e568eef6c243848494d70add982ac38bad83bd52cd51a454e5ceb765bb900",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18dd6d842466fcaad1502ce9c8a19960e697b3d4fac3bfa8837b76a6a0910fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34081ac2de105c69008ff886ecd4d8005ea082adf510794e247cfdfde5732369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0516d8c2dedd0b42016ab42cbbb1d087d094ae24621f146fe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.21,\"left_z\":0.022},\"note\":\"The nearer cap remains right of the jaw center, and its neck is still exposed beside the gripper. I’ll make a larger sideways correction and descend to neck height rather than closing off-center.\"}",
  "call_id": "call_DORIs0ahLMaH1JtNYHRNMuNa",
  "id": "fc_0516d8c2dedd0b42016ab42cbd461c87d0acb3945db54f0e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DORIs0ahLMaH1JtNYHRNMuNa",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6415, 1.9636, 0.8825, 0.4755, -0.5396, -0.4152, 0.997, -0.1463, 0.7101, 0.3351, -0.2443, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.4343 left_y=-0.2066 left_z=0.0419 left_yaw=0.0128 left_pitch=0.0516 left_roll=-0.0512 left_gripper=0.997 right_x=0.2707 right_y=0.0017 right_z=0.1095 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.7179, -7.3368, 5.5043, 1.2723, -0.2125, 0.3248, -0.0073, -0.6632, -1.2923, 6.8855, 1.9219, -0.2369, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d9d984ee3574c14c7ff9657d7912cbc2ff77127a751064511cb8747627fda6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011a7c864a6b61bdeac181f38719b4b125a24db8e353c5016064e52edbbdb7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4db85aa0440153bae9e4713910a575f125c3de2e646ca6868ed9c9da48192b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 9.275 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 0.9668, 0.4377, -0.1547, -0.6102, -0.4763, 0.9962, -0.1463, 0.7513, 0.4103, -0.279, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2695 left_y=-0.1262 left_z=0.1218 left_yaw=-0.0575 left_pitch=0.0181 left_roll=-0.0212 left_gripper=0.9962 right_x=0.2787 right_y=0.0004 right_z=0.1259 right_yaw=0.0982 right_pitch=-0.0325 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -2.8239, 8.9778, 1.4823, -0.2906, 0.0562, -0.0171, -0.5949, -1.0872, 6.9538, 1.9023, -0.2027, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5465, 1.697, 0.6792, 0.3618, -0.4538, -0.3256, 0.997, -0.1463, 0.717, 0.3542, -0.2459, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3962 left_y=-0.1462 left_z=0.0575 left_yaw=-0.0092 left_pitch=-0.018 left_roll=0.0118 left_gripper=0.997 right_x=0.2737 right_y=0.0012 right_z=0.116 right_yaw=0.0981 right_pitch=-0.0214 right_roll=-0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -6.6393, 6.7214, 1.5409, -0.3101, -0.1197, -0.0024, -0.7179, -1.0051, 6.7761, 1.8339, -0.2125, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6415, 1.9636, 0.8825, 0.4755, -0.5396, -0.4152, 0.997, -0.1463, 0.7101, 0.3351, -0.2443, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.4343 left_y=-0.2066 left_z=0.0419 left_yaw=0.0128 left_pitch=0.0516 left_roll=-0.0512 left_gripper=0.997 right_x=0.2707 right_y=0.0017 right_z=0.1095 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.7179, -7.3368, 5.5043, 1.2723, -0.2125, 0.3248, -0.0073, -0.6632, -1.2923, 6.8855, 1.9219, -0.2369, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d9d984ee3574c14c7ff9657d7912cbc2ff77127a751064511cb8747627fda6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011a7c864a6b61bdeac181f38719b4b125a24db8e353c5016064e52edbbdb7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4db85aa0440153bae9e4713910a575f125c3de2e646ca6868ed9c9da48192b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzCVWkkLJDluK0pSSdU0JGE0o6m7P8OdcAiWyPWeuc2cYaTMDMCweCKgKmWqaQJKYMxX7FjWg_0ZdBUQ1PwCiW0bPJJ2TMMOF8-s4ZkBSK4rArEKZhWXyogyAgEgB3AnRMU_sqZWn6iEmALGDmv9aDVaK6btF9sp-CNkFjxmthb9vDg12iwst5Mf3rDDQgk0H_t1vMovCrwriua8rKQYYD_TcMqI-lAJwzoBdPQZIOQcGIIl0UjNw0seYRVqxr-LB_b34ZBX7eCpNfM-Hh623OC1-pMmuG3peF4t86CH8a7j8Aw6ftSCCmaLGhpMYoVUezKEkjn5cUCccEf7Agz-i-e_Zibei1mqxZ7trCG1esmxJIyq21UvFOYXzpj7MyerZUjsHkKmGys2Q8EuCSqUw_bZQRndW7ZaSZd7-daQKyvr4JGQVIFCTXeFbuTPcMvlyPhg4i9bXYEeDpFlvDheLQ21dVYZrseM7QeKcNN4rB6lCvQDLkPqVJ_xcvQKjjyIPjJBCr6wBDi-U61Lt2cOo0vvGeqBVYCxsyUSrvUOfkjOIlz9ZszzJTcnEIRaRF6ZFpXNXHcAQ-VCMds6FkjCrLIlitOugcWJYpucWRwdfsQJBHAiTkUqAyDhZPfCOpRJQ4apQ4Hbt8pblTKXFx4CZg--Y8BQjsG2CpbPnSo9LB6xaXuhBqk3QgddHZ_wV_euXTyY6lB2ZnRd0BQOqRaUcmsxrD_TkgBbJierSzlpot7ROMZCf1lPZ2OYVy3Bsz8T88ZcbwcubFkumz7O8mnYVBLQ64LKe1Bi_YyzKompPJKuQSnW2A4jOZKQqMetBafugEEdYcHP08zF-smKElXg965Gc2cqtkjPRrXad8d4JJAUaX52LZpHj-56vutXLS6pEXpuzgtZwEx2OMpUh7S_8u5Yw55B7oduWz3MWJmzRZSocIpJ-wniGlINveiZaO4BPzJIzPa8pUEh13TRAR1xq68oywIGiVQrClSeQvqVGEiqSNMiiXEMdf1BcMKH-g4A56mRGePVPvDIFotVF3I5IJtdR7As2YLocvQB8lMmF93qFuhBKMTGTHE-MfhDpZp1a9GJ-rk3gSQ-fbNXl9Ea4smBfbNgryNtXeLJMZjOiP_fUNgVy8RBsnLQLYdPELQYycISJRAQHxaqXUD7BhlXlQ8kSUzMsixQIl1jIL0x0PE4dEosTSAZDLvjH4HHGatuQp0CArtaOWlRMEajdwb5c9XhQkuq7_P0mWAu6HtDTTGgHXP21aiFxAQaqvOGQwIXHvn0MhHHXaES492a5pkWMvLhGcNQFJzft7rNIs9RfEYuVh_shcMweyXlKxH-P_4XT8TncuOvq9Fln8xoRk3vnkvFL3th80UXgOWy18Eyl7koKQg5o5CL4zYYXj676v88FLl1QlPFHuYZEfSDNRjrOaqXO_IabpxJi314zRqz1uxVZ3vNOdAl1b76lU1ChduJ8xqzZUQVpbNSIjJdPRph4JIgCYJCBYnYplRf4ekXiUI5iXzztFsMuSWc4FYhdye-M20m2TsE2GvwvjWaDHLj5AWzZFj2InFe54CSv-snCu0gyha2Pz-RIiAuLk77WBsw2B9AULQ5YATsWicv8xYAOPqD1Ng5zIcSLigK2XRmXtXReiOO5jyaV_hI95UXku5oglJ1ohdEHRvxiSmY3tYgMfYAYXRBNf1LjMGpxCHUECAtLf8HlM1ZGULfwRg6kdzdi8eQjcjSc5jsn6TIt8Dy5FlaRn2vPZllcFv9CMbCETBcUyEuRT-w7NTEETfGJRPjzDPr4WtJIr7Z052d_Qu0LffkyBK5YKIS5AE4QButn3mqyXvjSaWFR7CfZFxo7dnYGu6cNx9YBHh-OskYcExlJ-vR_kS7Y5-LJE6bfthIOSxlfaQ48K6u6nU0aMqZPTpRXp-KWK8zrEKQICfY1mExXQSafl7VrUhpAo1nMOGQrZWSWVpC10g8EPNdmJethPWBDk0Kmf-jFymVAdi40FvWjYQAzZSYFLnc3LT-0kIH4wu5Yjq9U2-imkwe_iScQmO3PSjYTVXRfQDCk27ncb0VWPxKsChxyZXhH5BjRTcg5NhcSTXa7S0CCUARv2wtEFxfrwmuKY-Vv-L04wiN-WVQS_GIaG-3TICLKBE9kOH1PQxDeHZXuclqMHO8iwqd1So4NVXuk3syR1cwDFD2U_Zugt5WTZe2L0UhWFZtoO8qyw88vFbsgiZOlPwFuXVIIWqd2509aJSHazdkNyX7D5AowoHOw==",
  "id": "rs_0516d8c2dedd0b42016ab42cbfb5bc87d0ae2a5d62fde79c54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.265,\"left_z\":0.026},\"note\":\"The bottles shifted during the approach, and the nearer neck is now at the far right edge of the left wrist camera. I’ll correct sideways once more to bring that neck between the fingers before closing.\"}",
  "call_id": "call_BJlHVX9KeujaCccnWN4N13xa",
  "id": "fc_0516d8c2dedd0b42016ab42cc1d90487d0ace34dd18b79745e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BJlHVX9KeujaCccnWN4N13xa",
  "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]: [-0.7185, 2.1094, 1.1355, 0.297, -0.6285, -0.4843, 0.997, -0.1463, 0.6926, 0.3073, -0.2298, -0.2142, -0.1669, 0.9983]\nstate[eef_state]: left_x=0.4538 left_y=-0.2541 left_z=0.0365 left_yaw=0.0403 left_pitch=0.0309 left_roll=-0.0243 left_gripper=0.997 right_x=0.2679 right_y=0.0021 right_z=0.1042 right_yaw=0.0987 right_pitch=-0.0276 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-1.4427, -9.1966, 7.0496, 1.1697, -0.0464, 0.0269, -0.0073, -0.8137, -1.0872, 6.7624, 1.9072, -0.1636, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ef0d5e8619d7abe9119356fa1518c434b4a0a151a3956d0082da788d02e913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0227d5e637ee53828dd496ada522fbceaafd56e948136e52892196ea582e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f253d75c342dff09c31a1ad373cc117b74d7590d70e74cbdeffa2163191a6466",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.822 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4503, 1.4353, 0.4576, 0.2676, -0.3687, -0.2737, 0.9969, -0.1463, 0.7326, 0.3798, -0.2642, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3437 left_y=-0.0915 left_z=0.051 left_yaw=-0.008 left_pitch=-0.0919 left_roll=0.0323 left_gripper=0.9969 right_x=0.2755 right_y=0.0009 right_z=0.1199 right_yaw=0.0981 right_pitch=-0.0296 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -5.7915, 8.4855, 1.9609, 0.0952, 0.1783, 0.0659, -0.6769, -1.1282, 6.8991, 1.9609, -0.2076, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6415, 1.9636, 0.8825, 0.4755, -0.5396, -0.4152, 0.997, -0.1463, 0.7101, 0.3351, -0.2443, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.4343 left_y=-0.2066 left_z=0.0419 left_yaw=0.0128 left_pitch=0.0516 left_roll=-0.0512 left_gripper=0.997 right_x=0.2707 right_y=0.0017 right_z=0.1095 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.7179, -7.3368, 5.5043, 1.2723, -0.2125, 0.3248, -0.0073, -0.6632, -1.2923, 6.8855, 1.9219, -0.2369, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7185, 2.1094, 1.1355, 0.297, -0.6285, -0.4843, 0.997, -0.1463, 0.6926, 0.3073, -0.2298, -0.2142, -0.1669, 0.9983]\nstate[eef_state]: left_x=0.4538 left_y=-0.2541 left_z=0.0365 left_yaw=0.0403 left_pitch=0.0309 left_roll=-0.0243 left_gripper=0.997 right_x=0.2679 right_y=0.0021 right_z=0.1042 right_yaw=0.0987 right_pitch=-0.0276 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-1.4427, -9.1966, 7.0496, 1.1697, -0.0464, 0.0269, -0.0073, -0.8137, -1.0872, 6.7624, 1.9072, -0.1636, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4ef0d5e8619d7abe9119356fa1518c434b4a0a151a3956d0082da788d02e913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0227d5e637ee53828dd496ada522fbceaafd56e948136e52892196ea582e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f253d75c342dff09c31a1ad373cc117b74d7590d70e74cbdeffa2163191a6466",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzMSCtDYBs6BNYrkuo7aA7kTHqIzryqJ4DV7JhrTbpyv_mRAsZGn2jFVmYIBWXUHes6QATSetj0Cf-aaKmDyTwGfTOUMSRP8lv5qGB8UcoWBSNh1--pI6uoIle67jkuyr8H7jeIcenRCTBMph0iRqKcwJDSxayuGNQUtNbmB8-2kGWqJBPeFoDK6OVEEyGu63CPtc7Vhmf0PtS9QLsZ14HS-Cqt90B0AKQb4pMJYQ4_9oCBGiKYeIkY09yIjDm7iuctuGPgKn80TYmpavGbn-qwa4kn-jvjm0HkgNH78f_wb7WpwwP2ojHjPYXJa3WMqWsLkR87tTfhfxcIM5_K7j-TYfiGp704neNBB1Ut6e4Ifi-E8yQnFS3aqOBb8gPv94ioxDaeAtl7W9nWNtcc2NmfbebWe3T0Jf6bUdCi9m0VqJDZ6zs2yl1xrN9etVx7DaFpmf77FpWsOQoDN-KcyU8hWOPBdrUtM-regDoDboC32DNc9IBhV5kJuR6JmGv7McI7Psc5tcR46YG85k5G4twTBk1u4Iag3hoJmByyzpyM6uQngpqp0KNkJpTVTId5Q2xvrh37MPRW2Vw6c2DKMoJpSTAty2P5tfjXojpOGxUYYzOBz-uibM6fBUrnQliCIziNZ_U9N-iz8czZMoWjMHjvRi8X1GEyBB-1SR6_9mO-AE_uSd5FvgMFlQS9HQNVZjAahtzwKFSO_JGIgHDwRHKgb7iOssTG1GadyqT27TedPG2xQqhHexNNeIEEFSXxMZIUBV7P6Qi9t_oU52-DY6YakSN65DCVxOmHSvydXKkYmG2tfVF_XSRRqJHkQ1zuLC0uHrbEjZJBsG9EyRfEld4q5gqk6sqxSCFPzf3SX8HO5SAX5G6UuEQmPaWOZ4uhlEgnjj5lSUE_EdUXjqaotNKNtuTwzozaqAIMdP1V_7LCw676FGgfnb2MyrlsGcHmS-DeL7NfOdS0BqBOHTIMCbHbKxmm9I5QEI2HslBFtPRxpROzEJcufa-xSwxU8S02o7av0RaaReu1nBeNu9AR5qPGzKp3yfhufa_fqousAVT5Yp1ofnsGikls0xgIZLPtppP-_vnQQsIu-P966kuRljYUTnkO9Y7IK_4viRvQoy9exEjrClYyC7hp6K3grWDB4ipUmil_tixoTPJbR3G-xIcLK14SzcP9nga7hukQPU5pFuTTWYrpjM-fkPOoLE-Bjsnr9pIfg847t88qgdmP_tDgjnPc7yv4Z082eQzbj1rVvWbc17Bkh-ylq0L3Zw3Mon33_6IQYAnaE4JzkHpKEqBi46dQhgCJ7j2DvmqNkFed80DHo44fUPuk8e6xkiWX0zSN7jrywsqmEUbepTUQoy2Ewgm_mxtVljBaZKDUV6evi5Zx0rFW-m8C2wCmqYyYt1BIO9pScDSYGDWbGYdS6021cfdo0Dt5wGa7QD_iBrr1_Y0RJlQ9PaQx6wKCykb_iEVzqIO2M34cyQpj1niyU0M86hAkv3j3909PA4-hHDCyvmbGMr0p_pYf11v7K2fpPFdEbxu24y3UXUy0SYJNGSWhqaRF0SmVv8VDEL58p-F_ttt79aVXKwuiQjQyS7Z-kX6jq1OZjkMS2PTQAWArRX4GdHOmIUk9IG43sPf6QYsCE7OiomaTHzzn4nRxOt4pRmACIG-2BxKBTsDrQ4Il3d776l31ymU5nJMssCmB5deseLat6U8LzCxidBkHjW3rPolihQCigNbPZ1TR8dnT-w85wcapKu3g02DWNNGQdBErJcnQ4guTr-Qaqboi425KjyiHy8Xn8LZFe-ukVko9cgEmjCNlV95t1R9jsgR4ktjNy7CBZJKNghAFvlBAdrZ2gu7El50sT83OJZp5hnC7XUKnlmZOllo2kdIs2OGKl0PEn8IIKjc7Y7Kgi0tQeUVeD8toVtTjvjtTHYVfbzh5-xDDCmhH4IHGnNBQfNXvy5s8a0XC6Wnd-BRmP458c0OV_oG9EuRRK9ei1k0ZQPJt4neOhda9ChQG9skBjZ1kUYYvhzst9HX9jIkeFcZRaPQXcx4v0SSNdL48Hr5nzUPCUgrVfXJC4EiJNoGeK-hspWG6vpBdyg5N2tYFSZyqqI7Wo1FCJcpd4fzoH9-yRMqQwK0Z0N8TENvGTV7Oi9jCkG8zvkNUvjzzHaAyMo7xaxtXkiy4sx-W9fYpLN0g5fv8oLymTemhsLkP85TOHXK5Fr9S-YI6pCvXM-cgrVOYLO5UmMx2WuLP1LOuBW4vEjI1kGOtEeSyR5jqVZ3Q4-8DD79qvIg94DsTn-Q_8MWRxS_WnkGwsDdy0XVcImU5vxcuSNIy1-VskNBbfG-OtIR3Vq058CXOYypIwMfPDLu478XQpX6UyP83OPNQIs0tRvI1FgirochCewLfoQgS5I533Zo5qch3jmJ_ZGXlRFf22QnPDJEBtVTfnKb5pLBNu9pHwQMA047Mh9qfuwCFVRdUXofXfiv4T7C6IPe5wtL5FmiYlOWJe5lbHAcDT0b0CNprO29F0GA862dpQ4BvdhjC3aL7JO8aoWTVpQb8qk4xiw-rW80nEbd0CH7BcK7kLuhTrza18x1P0vnS6jv-Vkw_f3cJAOT3PzNHSJTs01hpusrIFibZ6K33zbB_jHOyv21PNtsZuzmFk71bmxU6IFu_ZdqHK-hQNGNO_utSvJqbrjFlm2IIg724WtKzOi6wIKme6AYdEnRNp3T5BSMGznMphznbZt4y4_XUeltULMIAjTadXlSYXMQoSAcyauA0-zzUwKhCJAE93e9AKvphhYoQMej-O_vDrg7KDqV-AbG69aOCN3s0Hgi_kSM3258uwbwZNrTAN-TAb8WN6HdbV0KztS1KvBWAd5Try4g1aPrQ08mI0Pv0FPBI748oxHmQQCSbb9AaFZVL_EsG8HSvyC22RQ8vf4F6cWs-V-lGIMFLiMe0U4LwpmgBjDNbljlMq1OTV5Cmv7FMUEYS7xX88fSk2ap2AAB6Zih28xpKYfLdHkWxB57XDTcACZ6H_F0j0ZhpnDMT-3dqwZsbMhGCDCMcCoZucVMdCiRwlP8Vukv_6xv_f2x32D7W3hZRYuwiwBSJslLd2yMqkrnWqoqNyJMYo1rKeRExvvOT1u7C7sJoeOVNrYyK9_UD3Fu99Ts_PMaVUEJ9jOt_EbN0_vku-HlOuOXTAwMQNw4zyV29Dxa22YKg5Z3aDgYzmZNGf8cbh2bzX2jGUfpCUP95kcuFR73KSj13Mf1zhxU2MVy6Iq3NUv416F9cr4Z5PscgHZKE0plCzFyG5hQpWxgImE-izSgiYi3RBtvLOYji9A24EliARh2c_ELoYQr8OSx5OL3J7P49jLKDscwiIYYyZfAo00Ic5Z5EFBsNtqWbNYpDkXRxp_l9eydMWUxDiRk4sg_la87HrZ2rM43C9eYl6taGfjiMsVqZjRIo7bp6ikUtF8cZqV69lASXkPR345-BWVgm0EwaWsXKQ-5hO5z1Yz6GeQqEBGbgpYcxBmpozB74iHU-eiQ1l3QXDVxha3jiBbAE7p5zv6SkEaNJGBvJlD14lglumOnfCGNyzviRFoQLW19L5OjAdviaskVs65uwzACLXQKig2m4FKd6VDCIyXPr9XOj939mhCgw7sq9MCvkPjoMyV7XfdnzO6avZcPZLeNDThm1D0UaEGdIASL_DaXwwLIDRrKUfEh-kISdDfL4MlS3t_cKDsFJEBT7Wnk8F2pL9AkbwG1oJMEM932mOsuuaVrv_sk79T4tNScUVNDZY2o2sDISYhGwLU026TPNrmvV6u0YbyFvb9-cPfueluAtHK8ZYZQ05tkgpmVb5hwOtTpm8ZbF8TL8x8I2krhe6bLtLCNliHbza2S88SCzD1cPv1L72-63rbk=",
  "id": "rs_0516d8c2dedd0b42016ab42cc48ebc87d0805c791d5b9811c2",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzMLTDW9hctJL2-kX8tm3H7sx4RoybFkZ2EVlvuo_wwi3MrSkhJK_e7L8e9J6g5bkfBV6-_o0mr6KZW1Th1inztePsuN3_uIeAqxCuigEKAlwDvHYfuOWPrQiGmp7RE9xoxcvY_bLBZH50NWZVGIcA77LZQK1XUsfALKpW8P8JGKQZjm_GyOyEjm4oIAdykQI02RuV8k0z8Etmmy6zbh-92kr8rZ8YXLskEivQiER0buYcQsaHz3CaXvO_Yecj3-NjKZ2JexYoCTkOGBjLv1Mf92hJzADZR8ebfYYIrjqjL59TW_kQkSUUUkogtT3_8df-p0OcdIU2d4uuuFMxRcAY3S2TjjNEO1_Fl_JKYIgfBbfszWor64O7-Lns2KM4wKi8OPK6-Uv4P-Na6AFhxk_-1KJ6tS3p5l4uOndnRW_zJ-_Rc0SENGoH3wFzoZcUqFfoE8bSh9ZJNNvyNVefnQzBvnG1tejsaXs7Gn_yK14uSvKSb8Lz49GOO4y5x6UV5QXa0GICQlxwiP0z4ITYMAo4CkQJCjIvNi9sdD5Bs7vhF_W6nOr7ZOXixjabBZhBu6lCeINIESO4ftNHsJMGaDV3eOzpelWbN37dDE-UdJqPKtT3y5DR_ErIeNWuUOuK1W8iETBqRXSHGom8YP-xB2CinVL5dEQt8v32nu7oFswM3kFJnuMOtmF2d_Ai9YB8zWft94aWWsKd8uD1Wp3KVK4SzOqpc-ml5s0R4JZGOMWGocm3PWRe-5knM137-wk88Idjxf2N0qxdK9vcLs3CzIwep_mu3upfafMeYGADSvNXD9LpOql9Y_NU3K3nZqTpDxbKQ0sTmyDzF2FmlTNnYEQPT58GKMlFiezFAIK71tXP8RV0wdhTAiBJ5fxOJDvVaHLvF_X-HIZdnPz9TcaJ5J8y7hVsxUEOOTUlmpZ0dMg7LiXVwB1aR0U63tLzssqaBPUffx1kD9SEGM7VbZ70aPFwlUePEEY0Aq1VRF2KjrnKQRycXn0UYNRLKqDYxQyw33uLnBPv-S-js-eaBTas9_ac6hKtjO31tnPBH91OcK1fop2CbNd9xK6kMHCc4Rk4leWrxx3o5OV9zfVapPxEKZ1Cp-B-dhYWiydeWw8ZhilzEp-kzHGuOxDrhOEv6jpQpVkG1aXYud0U5vswxj-9ZY8ItkL_LtVMPFgr6vvtv45mGu9A6mE_nEbLtIF19phKxspBbsKWUVQcBAUPPblYkeZxPQpKj-Xh3pt9ggiCUP0EXtuTxlh4ZWXZ3BDpuugP3EuYuBpTPUoZlMRm9yCF9Re7kPgK1zywtglj65eJwXxJISFsbZyZiLli0V6Ki4mGZYVgVVFdBsW-yFks9W_tNpUEKhaLhO8UC4dOc_A8L8--5AdrSvitq7NSTGVWHSSUuME-i4m3gMg6F8yIoebLoIsC8_mBRpzy5AotlynjV9Ec8htGyjCOI37b-bQwlKEPgeUCozc1eKt2Fvc-gXn9l8MJtcHhLhBlZ3BRgBc7KpxyO6F8dbEMSEuBjqeVb4MbsMqI_hP12WbxGeeVfuluPQfEHraW0dy4ERkVMKtnPm8e6rkLuSg8nO--Klt7csUM7urqsBvQuu2VO6_zHgi1OCo3biAXKjyTgr8Vq-JrXjD67mETHlHXDttcriMRVr7GOppnT1nI3_d9hIy4l8R9Dd9tPO0ijt5i5L3som9vbSEEYj19IPSBY6LOpWnyWSHylllF421alC77zMexgOhV9Nxnv7zOtJqyUEpUR2k1U0TlKUgqlEObJKdja8zl1FDVKBcNncLp03QOMSwM-zhxuWa_MxOICxU6D6N9T1KgbdgzcXXjKSe2E_TudTFnpk-iW59DIuZQOcsXKb1MbNON092wiwe_GaUPO1f0Jqvv7hUKk3_itWRGQU_LNjLyjj6gAznjSOqaJm_9XP3dRC8sC2C_UjAna8W7qamDrBgan0WiWmXDNdXc9R1pcSUg9xLptSxW0r7c3aMYB1wxJzp71JQIgSmzupU2RfqhqeRYGAGtQ-RjIAqQVBhBOi7mrjNlwap75Mc7GJJpOlTMzxThVCUQowczBrDcLj-vDIfRNv_7vPcaymF8gBzyrcQEizVN9P741oCccvow5HPtJRKUQP6Lu5EGqJv8ZNFbTTTR4SrzyrghTg-V4HYSZZGTDLR1SO0Haf3vPCmtgz5_hiAWvmOY2Cv2pOxXiPF6DQpDi6AJpfbVaLdz9HWACxWxqoAWdqCrwdCY5HKFkkuiWDdw9V44Lms-d4Xjq8ZnmBMyhfc9q186rQKG6tRHri8bMmb3vhzBnSh_6_Y8SDn8z-LjPaF9Gppz1Yo8yczLi7AxuDz_rqtSxgoUOLGUZaRIu_DzRZfOUa2MK-jDFJPHUNIiz_D2KsQ==",
  "id": "rs_0516d8c2dedd0b42016ab42cc93de887d08a6b1f81cabace1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.285,\"left_z\":0.1},\"note\":\"The neck moved away as the bottles slid against each other, and a low forward approach is no longer well aligned. I’ll move above the nearer bottle’s base so I can pull it into a less crowded part of the workspace before attempting its neck again.\"}",
  "call_id": "call_P8WWPg77643jmWJUrbo8yY5y",
  "id": "fc_0516d8c2dedd0b42016ab42ccb539887d094716baef6a6a915",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P8WWPg77643jmWJUrbo8yY5y",
  "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]: [-1.0405, 1.8183, 1.0458, -0.1444, -0.8116, -0.7727, 0.997, -0.1463, 0.6792, 0.2821, -0.2173, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3254 left_y=-0.2945 left_z=0.0879 left_yaw=0.0001 left_pitch=-0.0157 left_roll=-0.0003 left_gripper=0.997 right_x=0.2654 right_y=0.0025 right_z=0.0987 right_yaw=0.0984 right_pitch=-0.0269 right_roll=-0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -10.947, 6.2427, 1.2234, -0.652, -0.188, -0.0024, -0.5538, -1.1009, 6.8855, 1.9023, -0.2125, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5343950220a0f75e37816f3d36546974c903a13ee55f0ab6694704057d96c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04e4c4eb2f2c50b9d4caf54f4d1728ebb115a8ddcb5f79cb13ddba07b4bf3a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9471ac5d9b8e42ddec23e34d9b6aa5cdf4ba9eab77044a68a02769eb6dd1bcf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.682 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5465, 1.697, 0.6792, 0.3618, -0.4538, -0.3256, 0.997, -0.1463, 0.717, 0.3542, -0.2459, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3962 left_y=-0.1462 left_z=0.0575 left_yaw=-0.0092 left_pitch=-0.018 left_roll=0.0118 left_gripper=0.997 right_x=0.2737 right_y=0.0012 right_z=0.116 right_yaw=0.0981 right_pitch=-0.0214 right_roll=-0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -6.6393, 6.7214, 1.5409, -0.3101, -0.1197, -0.0024, -0.7179, -1.0051, 6.7761, 1.8339, -0.2125, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7185, 2.1094, 1.1355, 0.297, -0.6285, -0.4843, 0.997, -0.1463, 0.6926, 0.3073, -0.2298, -0.2142, -0.1669, 0.9983]\nstate[eef_state]: left_x=0.4538 left_y=-0.2541 left_z=0.0365 left_yaw=0.0403 left_pitch=0.0309 left_roll=-0.0243 left_gripper=0.997 right_x=0.2679 right_y=0.0021 right_z=0.1042 right_yaw=0.0987 right_pitch=-0.0276 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-1.4427, -9.1966, 7.0496, 1.1697, -0.0464, 0.0269, -0.0073, -0.8137, -1.0872, 6.7624, 1.9072, -0.1636, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0405, 1.8183, 1.0458, -0.1444, -0.8116, -0.7727, 0.997, -0.1463, 0.6792, 0.2821, -0.2173, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3254 left_y=-0.2945 left_z=0.0879 left_yaw=0.0001 left_pitch=-0.0157 left_roll=-0.0003 left_gripper=0.997 right_x=0.2654 right_y=0.0025 right_z=0.0987 right_yaw=0.0984 right_pitch=-0.0269 right_roll=-0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -10.947, 6.2427, 1.2234, -0.652, -0.188, -0.0024, -0.5538, -1.1009, 6.8855, 1.9023, -0.2125, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5343950220a0f75e37816f3d36546974c903a13ee55f0ab6694704057d96c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04e4c4eb2f2c50b9d4caf54f4d1728ebb115a8ddcb5f79cb13ddba07b4bf3a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9471ac5d9b8e42ddec23e34d9b6aa5cdf4ba9eab77044a68a02769eb6dd1bcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzT3C5oygLSGj3tkJQM4aCK-WxHPNcrmY_3J14wJIiB9Q6MTF8Q2Cao8bIXZ4cHLuBQEzToRFpRd6VLXAhcqGHbzZpLhqEty2TcqaFMUAudhGLvtNJFslMKfbAnFa7Q22-V9P-9NsND-Hq5tjfny4jIHldGEp05cUdKdOW94X9vrcZ8jJW9qji2uOw24fKVX49y5watKo_khE3955t06xoIy1j4AtSgnwwSHppkmp6ok0WfXPaSY-ysapuTp8e7AxnsR8d2Ul-gXcVVpMJZYBmdEUOUUnvh3w0rrBe3neNTsTsRCzie8HBGegjgsN8ikqh59UlKb8F8IbwTapK5U_p2ZQws9zW7nP_MFqDVjBVMFJ67iJa56E2SRBLgWH5R1Mxuyreg7xxLWicv5qhSWpnuQnGh-MIc7RZMpAVzEVmD9eyXO9oUSg_ozM8aOZLVt5c83yPZHvYC0ZY_C-xn7CHFbx_b6hgc1_uhNiSmVlaEoNAY2JtSU6uRfoMzaQ7PRZF_g5pGHZQMTUcf2qwmvIOtIktXPsop3Lxq6WwMheWfoniVrUjQ8d8DNm8hLa2CLWL_uJrV8krrSXgXNBl-Uv_q8Mm24aLZ_ljS7K_j6cId_k9vL1ZidarF9-lcYUeKlybhN4snSmgloRmaTZMbUsJUjLA1D94rQsOfMJ5clIHrO2bU8rd0sXMNVg93Sv9CjRiR4oWkSs6RO28RMu1NV16hXz83-FyofTPtSLxzXh-Hlpx-Wn8vObLOyyy15JiqDPF0QQxO0xJkU6nTIhDjfAbFWA-hgBIrUSpqitO9XJtOY8LGRNCGYyiRg7RW9Sgwor6hSQ_5Jy1KigmxNrvSQYDbkOfHXFbr9nHVRTGhDmzPf5Kp4pl1Rt-8qRFEVVQOVWkfOVF4uw3JFCWGJuQynQ4DRYYP_1yi88IRzd40MXXb-64LwKV8Q9yY5FZEwwks2Nl-RQ0KEh8DFrORALq0SdqOREfOqvSOuvnPGEG_QdNMqdCdnxCtd9IjPgLxlXHm3ZRiAjnnrnlHO1BjZAaXQm61XKy08nSuFxU3lMie7ccnfXpwuaZJJdQ6PH8_NPt3LWCCfnUN-RRCYA8rvlksD9V3GQgixSFr6CzxHrbr_82cYQPGLJc-OVnM4Po-t1P9RS0OB5dR16OX4zGtnVMPy6lkuZlaGk9M9PEH8xeFm5mQuZbx5cM5ispTUpRiUQFFj-PtffXvBEIh9q9QPMpUYANpJQ3sKScFbyvhLfBc6QlZ24mL0KFmpNKfJ251kHAp-Zdaulqz2fwQg0lWX1-z5Z-e5fA0DhFR7zRkUcyiM-hs0vBwCRdEaVQmCfSByTE9-9WrDlNhUfIgJbOKUly4qfu7vNdfY2moIJLmHqWf74nTHB0TkUlwhVS3zkLBjdOij6-hAwBrFgm6_43wq1TfbIFfaKEY6MW3vEuB9BojWepXPZ56h0UxWKRNEm8LHke55l1mCFfbUF-zXeG0QC9vKLt6K5buYXho9sQDE6ZZ8rO-7ir9CnN8lj5A5-CpSVPb_AdYRY0rhunt_RZAsMaF4gfSRYxomWwsbov4kRwPXNyjgAjjNU_PtqUiSpJBLNklheghNlRbEWTIoMnm9HFBpnrIxh7-ydn9FwzfScQqG9nQ9tLU929VTinXzq2WE-vJtkgblmoEWK7u2guiam62FIo66qmiEvP3WBOx4B9zZ_-XPEDDNGTqytWvH-95A74ZfaOlHOzdKtTjIXeNFbVu7z_AwsZUgGI5jT2WzlJTWditY7oLw-PagebIGhrmPJPdi1fqjA4zIps0WDe6HbVArYEnolJBiUu_rFnqYx2TknXSt45kz2gc41QUDcj8inNuJwN-Rp_vNbAwZ2xsQkxrHk-jbiDS6Fw2J0Mhg9aNih3GHDzwskEqejiSTeQumnYPoAqE2IrglHyQWSFKkhcnoSlJoCCI_PmO4CGfwZi9oIOd_a29w4uGvzdGh0O0JNrI8goPMQGIJ07YgDrsrMRXszFmXRRY8yVlkL2SPcVbFpAD7Yo9PkXYLggWOwi4M2VlsmcssN9-tFNiEVom_4-OKTNUelRhSgbkX0_ie0oF3hcQXMCpfbdU83kXq7ZEzKoj75WBCR1ss753_5ChalBGQeBcBMaciT7h4y1LbIH0KXk0wwckMRDkMyOo8RY8GOZ74yR10rNrnqLfDClHzu0h4DnOriR0rHdN4msTW-gB0PRCiXQoLwIMV6PrmeZk86NgXC9Gr8SB8eRIh6wuqW5rC3u4aQi9HVS_uIyt5o3YEZkB1CKJkfVMmV2aajPcX_FRfS-9CJJA0qPZbSDrM_nCETHb2seLhUbirznDzr9Dlwx6wYmof5wwPKHiGQEREPSq-LtTnph48tCyrAhmQo_ifqmEwPnNv76Pk-GaZMsAOy-s-lQVYXOqizJPONsXrVqxYeDJ9FLxfPm_eS9BJMg8uQ6a-kYJXpzf3Dp3LSCsDt0QEw_NdRJx-v-a449gxqeJsYtbrWLE-UTiR_UHTtFdR5ap5z2y268GYfrQJA4uSGkdPxg74ny_2jv9v873vAn4Se30G-wlJd2VuZpUIGn9Vos-UCptVKAO2OFtPccZEcGVXKUrA6IZBH_b6ZhYC1vNIH6PEbDjMJFUVQcEeg1Z80_2doVbxwd9x1hyV-xZCIs7JZD5T5jxuuUSDNIU-QfY2x30UANk0hokWkbut1B-lNNJgf6zO-pPebLWGZzOaexm654ikApS2GEzbvxqRXfH2kHkEZAHJS9EfbrJHl4wOfXmIHx-JCOEZe4UUqVAFMV_5MbWdSOt7BUr7bTqHVDnA9ycJ3oKPKpJZXbFOU1VceVVkWs76cFVFc8DxLEF2snqz1OTR1TF64-pV-dd81V0wRSqdTyBTqfwiAUpPacMOZV2c1UnCzGkHQDiXXljysCGENVQ6XQBQa0CJCJ-_78d7zXD9sdQzSZ4q_iJv6sIivfY1lHl2u2MD_ThBBOKANcjQ_kkvMP2yF_7-CMcSUxpbWmE5ZRVi2GK1dBe1uPn6KNC-sgJSTFPA4H_zunl9kdUuNI=",
  "id": "rs_0516d8c2dedd0b42016ab42cce9d6887d0aed852730134fd78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.36,\"left_z\":0.04},\"note\":\"The left wrist view shows a bottle body just to the right of the fingers, with its base near the tabletop. I’ll shift toward that body and lower, aiming to grip it where the arm can get down to table height.\"}",
  "call_id": "call_vOlzY6NoqidrLZDiJOSSGQtL",
  "id": "fc_0516d8c2dedd0b42016ab42cd2b47087d0b0f2cd3484f764db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vOlzY6NoqidrLZDiJOSSGQtL",
  "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]: [-1.0874, 2.1124, 1.2446, -0.1112, -0.8387, -0.8207, 0.997, -0.1463, 0.6662, 0.2573, -0.2085, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3357 left_y=-0.3492 left_z=0.034 left_yaw=-0.004 left_pitch=-0.0262 left_roll=0.0246 left_gripper=0.997 right_x=0.2624 right_y=0.0029 right_z=0.0925 right_yaw=0.0985 right_pitch=-0.0299 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -10.4547, 7.2274, 1.0623, -0.5055, -0.0806, -0.0122, -0.6769, -0.9915, 6.8991, 1.9414, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a430f389dd10318c8c90538cab93fb2c757d8198de749b2546f1ad3a7f407234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13f830d747fb207d79495cbc49f61b02ec8f7200abaec89f711c5bb5efc6d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca316fe6294a72874dcc770c5becef8555cfc729fdf3caba677d13d3508ab53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.708 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6415, 1.9636, 0.8825, 0.4755, -0.5396, -0.4152, 0.997, -0.1463, 0.7101, 0.3351, -0.2443, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.4343 left_y=-0.2066 left_z=0.0419 left_yaw=0.0128 left_pitch=0.0516 left_roll=-0.0512 left_gripper=0.997 right_x=0.2707 right_y=0.0017 right_z=0.1095 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.7179, -7.3368, 5.5043, 1.2723, -0.2125, 0.3248, -0.0073, -0.6632, -1.2923, 6.8855, 1.9219, -0.2369, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0405, 1.8183, 1.0458, -0.1444, -0.8116, -0.7727, 0.997, -0.1463, 0.6792, 0.2821, -0.2173, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3254 left_y=-0.2945 left_z=0.0879 left_yaw=0.0001 left_pitch=-0.0157 left_roll=-0.0003 left_gripper=0.997 right_x=0.2654 right_y=0.0025 right_z=0.0987 right_yaw=0.0984 right_pitch=-0.0269 right_roll=-0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -10.947, 6.2427, 1.2234, -0.652, -0.188, -0.0024, -0.5538, -1.1009, 6.8855, 1.9023, -0.2125, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0874, 2.1124, 1.2446, -0.1112, -0.8387, -0.8207, 0.997, -0.1463, 0.6662, 0.2573, -0.2085, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3357 left_y=-0.3492 left_z=0.034 left_yaw=-0.004 left_pitch=-0.0262 left_roll=0.0246 left_gripper=0.997 right_x=0.2624 right_y=0.0029 right_z=0.0925 right_yaw=0.0985 right_pitch=-0.0299 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -10.4547, 7.2274, 1.0623, -0.5055, -0.0806, -0.0122, -0.6769, -0.9915, 6.8991, 1.9414, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a430f389dd10318c8c90538cab93fb2c757d8198de749b2546f1ad3a7f407234",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13f830d747fb207d79495cbc49f61b02ec8f7200abaec89f711c5bb5efc6d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca316fe6294a72874dcc770c5becef8555cfc729fdf3caba677d13d3508ab53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzZ0hxwVf0Ko606r9wUBeuestDGk-G1AVfEfRIFqesPZq4LyZgehG2Z7FxoR9S5G7Lm-RGqUDsKD1aWSp6InlXS2vpyyWDwUVDJ7XlaUDafuNpYD_8fy3TNbzuYtumSVGI2hV0qFkRRIjnhCzycJiBsERS6d6y29c8kJz4aYZLamRpO7cCbQqNqSFUsW_JJqFr_nInEaoSp8yG2uqVJyEJNnTEi0pN41FDo18IPnKeBsyOR9pBdfk9Ef9u_mqwE0Lv1M0-78fF3s7TROzfIR7P0TYfIFDYsWBnUFIDoneSXCSu_BvGtwOax6EH86wr_Uh-Pi1uz5LwIdaTLm377ReP6SWZaaJ-2jZbmRCaN2TesUMuPo2_0_i0CMxTOptllNvYdJX8MFyimMFf0tufWwyeZ3BrlcwOV1eiizaFXG4B2o4IB5Zv-eWiyQESZWJp6mlQe5iZfA4QpSPUPNUh4b13T2Cn87KCFkxwuGUekfOA0YwfetY_psZupAMQ43j3IT5CcQoeO-a1FSoABayUj4SkBir1sCwW7hcmwhYrXWS0Y3op08zNXb5395blEGM5Mwd-hIAeKDqHS1eCV7ve5ZZuDpRbTAbDBS9EB7xcHDYTRhKWCEoD1MSQUxr3C4yCAhGBw6Kvj_okbj7B-WU4Vi5P75o-lLjjlMfWjs5p01BlByIN8ft-ZTPw2LJLG-TVZlbPd87cc1sWORLLSNAz30s2twXcdoTl1VRZEQJBSq4BGG-K0cQjYeDuMnBoyUqQtydts5Eo-bZdyhZ8zQbe-Gdlh-pSa1wU1fKEhmEjEntMOkA0wa8aG4CNCYNOv17NpizVxHyWio6Z7X-GaGFXd9lB9LRNBcTuS2l3w4mMg1b1YGEZoSZwO8s0g4p_-HV2f23fX4_ghC1M2mqgPVZNCuW_P04SCIDHFaoi8Ad4grwGu0h37FNhNdcyrfg5B9fmi1z_9sLgTuFQfNa7Av-VmRP1_EEGl7am5YVgXHcJr3DNLfm2WQscIjeREnx5WvqahJXOH4WvoP4OHJaYQgLjeD0BhXKTNZbWc7Q9Dwyw2N6o-R8VH0vqBtPk-TD5nVm7naDLn8tfDkLefzsEzLBmUqrXAvzv8ofJCAWLe90eyIsAK1r78WtadXHlAc2X6ue3hQYC1mBXYVSaqqdWhzAswfm7b9YQ1A0jtz2TAlxxhJPHKUGbxhSxmU_enQE-qSrwFHvYLxPQzCkOjlu5mN8IICFGfC9tVTE-K2D14D4z_ZGgnfewLDDZSZvx-nhvKxXlnJMWrxsNaz_ctE9rapNimOdeb7dDsVSda66q00af5A-Py_kP_pG61xo7kWoHm2m0BaVnISHthDPboQVEn5JzGeFiwXJUKCaNFo0EgRaqaLizAX0gWh7c1HCWlp8II7p-bRzbIHIDq3QJsPyuJBFTf_vmPxj59q5T1YFEO-QsxJJ52Bz-rkPNhpcuC76oUNnuIStucRkDxhT2oOhKAxbeV5XQ9PA0EDLAW8OKHe7E1kaNJMg6Obt0goQgT63VoF56Cc3p20VqgYUMK_wH6Edfthh9XhOo4AgBikoUMvhT2CC49OfTyGpLMCcQY2VxPTpgC5pve4U7IePp9rlOq1DCu2Xt_fLUL4_UyMPeXfoNjC8drBHbtMFVMI8DUH5_7zJYWAF3TJ1P1hM-dxGs-jq3dU717mshMWMrLxZU86NhD1SCk6NCsqbJNRyg9D17hY401Sl64qqyyPLhLMI-Tak2HROQs3z7Ka86Xd4RrgHBkG2wkNzWEK8yNst2xdLj6M6f2otzxyAu_u6J9i7IBcEwje8sdym9lP3DX9wffLNJYFIHg-U9kaIGHpEtVIponC1uMCnWyRF-ZACe_kOiHpZysIzXhJbVS2MwR35bErkRVZIhaXgZ9d1SaZ664I1E0RJYGec5ekHiIplmL1w8R5x23dAL9ywD7NGKKVV1uEyaIKSSjii1mkf20FLC-HlPTa44DY1TDQkJuJA365jnzSl3prUkInfCWvAVQKIsGPiBNMo3lbSuwEbPH3BauInCLYkZo9SKJEIn6STHx306tPGvneQZ5cmg8O7gh5gmMm42IPhdRVRYGK1tf3oCV77JUWfl9CP2vkuj33XdxLRghNU24es3OcdhPZ-GVPTX35ftkyEDu9rN5vJDWvkvorTkOdMDPzoOFE56vmNZbRfP1H7h7BK3GpmG4gNXhM8oiivUyDhJ6cSZLbhzrlPstijIJQWlEq_YqrmN-E9k0N11QHvOh_jOPilLDkmPu15f5gUKj_Nv7b9a0lhNLhmitZB8UZV49-_qUxFjSTmbWmCnbsheNld6HozFvNj6W5heg3zDcJqztPG3f9etOlgfBRuZCFRtTisasCTJh8nRBGKhomiuyUGPhlrYj5IdP5P3j-4jXzoMYzJqkX_kSgnBSH5S-JOwj-fhKG4VjPodO87dB43cSOxY3LRYAVdBSQBN3jLyeuKy64dCjpApRFxxUqdJWjXd4DXs2aWAGt3e3fJefxzALEr-zlFLwrSBnQXFDZG6UT6Gwc2yqc5dHcGwyDwFJRVCI2OABQbdhBDmFjiSmMexre-bDNBtlR-IHx-kY3ULXufvIPN_Cwf2T3ALMaFBXP8g9rIn3zY9p7LnDA1shrGq_TFIPcp94wotA_-CDoBBGYBPKlCYTHZ-P9V7VbnS7KXNFTC43rzghipcZh3GzUAH0WAYPRKQJBnjPLgsUBT1w2xqvjr7dKO4SzgbY-rd4rIV5ixwfzzNXxkO-VyieLQIFP7DmcQ==",
  "id": "rs_0516d8c2dedd0b42016ab42cd5380087d0abd160011dd8d1f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.2,\"left_z\":0.1},\"note\":\"The sideways motion separated one bottle from the pair: it is now lying to the left with its base closer to the arm. I’ll approach that separated bottle’s base from above rather than squeeze between the two central bottles.\"}",
  "call_id": "call_qR5o4xaEDdyk5hVeWwu7dxBe",
  "id": "fc_0516d8c2dedd0b42016ab42cd82d5487d09ae1c90f00b754b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qR5o4xaEDdyk5hVeWwu7dxBe",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9028, 1.5131, 0.7052, 0.0101, -0.7372, -0.6338, 0.997, -0.1463, 0.6476, 0.2298, -0.1928, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3177 left_y=-0.2051 left_z=0.0963 left_yaw=0.0141 left_pitch=0.0038 left_roll=-0.0135 left_gripper=0.997 right_x=0.26 right_y=0.0032 right_z=0.0877 right_yaw=0.0981 right_pitch=-0.0233 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.8581, 5.8051, 1.4042, -0.1685, -0.0415, -0.0122, -0.841, -0.4444, 7.0085, 1.9512, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9509804da1497174aeb80df1f065f4f83e5e59b37c92f72913ff3bc8e3f0c9f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554c498e62a361191d7bef1a92aa144433477330aaddcb2327f651b7c7f3e33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dfb32b1b6f5b0f6449eccf28d109f89467adc777623a59d4fd432fe0eee25a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.401 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 106 changed as sent

message 110 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7185, 2.1094, 1.1355, 0.297, -0.6285, -0.4843, 0.997, -0.1463, 0.6926, 0.3073, -0.2298, -0.2142, -0.1669, 0.9983]\nstate[eef_state]: left_x=0.4538 left_y=-0.2541 left_z=0.0365 left_yaw=0.0403 left_pitch=0.0309 left_roll=-0.0243 left_gripper=0.997 right_x=0.2679 right_y=0.0021 right_z=0.1042 right_yaw=0.0987 right_pitch=-0.0276 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-1.4427, -9.1966, 7.0496, 1.1697, -0.0464, 0.0269, -0.0073, -0.8137, -1.0872, 6.7624, 1.9072, -0.1636, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0874, 2.1124, 1.2446, -0.1112, -0.8387, -0.8207, 0.997, -0.1463, 0.6662, 0.2573, -0.2085, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3357 left_y=-0.3492 left_z=0.034 left_yaw=-0.004 left_pitch=-0.0262 left_roll=0.0246 left_gripper=0.997 right_x=0.2624 right_y=0.0029 right_z=0.0925 right_yaw=0.0985 right_pitch=-0.0299 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -10.4547, 7.2274, 1.0623, -0.5055, -0.0806, -0.0122, -0.6769, -0.9915, 6.8991, 1.9414, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9028, 1.5131, 0.7052, 0.0101, -0.7372, -0.6338, 0.997, -0.1463, 0.6476, 0.2298, -0.1928, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3177 left_y=-0.2051 left_z=0.0963 left_yaw=0.0141 left_pitch=0.0038 left_roll=-0.0135 left_gripper=0.997 right_x=0.26 right_y=0.0032 right_z=0.0877 right_yaw=0.0981 right_pitch=-0.0233 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.8581, 5.8051, 1.4042, -0.1685, -0.0415, -0.0122, -0.841, -0.4444, 7.0085, 1.9512, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9509804da1497174aeb80df1f065f4f83e5e59b37c92f72913ff3bc8e3f0c9f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554c498e62a361191d7bef1a92aa144433477330aaddcb2327f651b7c7f3e33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59dfb32b1b6f5b0f6449eccf28d109f89467adc777623a59d4fd432fe0eee25a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzgCaLcuFpJXLGvMgL4RcCxJU6OcwiCUU7FxtDnkeM6n604mXdyI5sD4cU0XV1yXOzS3RWwZ9TJHeGZDevG1ND7ZiLxKockWbw156RWkX-djK1m8dqB0XtVJhyvQ1aD4u92SN4KhrvwN_zyNAb_9PaFm33nRPyA3uFYqfUFTCSM6ruZrL1XguIJZ2XOMxlf9mwjUIHfRg-Rg2MUYw4JFBFKfAp223u4hxzKtB_GF2bz0x5XQ1gu8HxXGpQw-oeNIdV1mwNf6o_7sBpVF67lNIRIEkns0bFgYmKwx2wt8zZpQP28GPDVpggzWE6p0OFQw27tKYSa_sa2882GfZZG_vxecSp2tYKMk7y2yVp4IyjID591Gk-aEk7nAy3ngcx16ERmHNg_VYnG116fIwzcSUmCt_Cnv1oSuJ_anPRPI_jXykNv1y0gOlBScC90SkDSjPElLC0EtNwr3ZHzYY8-0IFRdm6_nHweLXNu6yAY9d6ktliuadV-ATOGdhFbvP_9RG2c8tOlnm5yKk0I2GvCJu8dnspzKEjPjQl5p__ecr3IkuJ0nJGO2b4eJ07k7fTAuWEDaIvoXIRg4rDYBVVVdwFNP8g-IxdhnVNDP7js0Ci8WrO3-tyFHSMtXfHLHeOw1VmalAFtY0kHcS0zcX2a37ww8gMWG7CdUJ0K-lHsEbMBcgLhqFt41Y7VMbgX47OT8OPSHDFAXVEZomIAQ_IyDRUZpoAbzTx4jFMugqbA15kWoA1JyhCbP0rOT2qrZab94FaHfjq-Q96L5nom_TQYsRmDooj5fplL7IAVgbMXDCQfxPVyrpvxmDcPp7cqxC4nDwkYVIhrSLUOnumc45vMXqbEx1ANGmVkO_CjCKeG3m8yEUwO5F-_gzISd4jlZ85qtzapJLITLDqSGLrcuQosx5jgctz2sfHW5OcsL7-6WzmL1RJiA2SqexdYGtE5gT4WlpZBPYSAX2bxL3BK0Bs0whC7NtUjMSb2wq_pLsl3jPQQ-yUPQSnXDZtEbyJ_ntRG6G0rq37Yf_7YYoFyXBLlOWLiOdC71R_WOEMdLIyseiZQJWGLBlilsR-oLeCIrVziQ0mkyeNbE0B-ZjzUwcCnONfipYch9lmFRj3tCYTUg6KUcc-AzaJJwZIrmdBl9QV0hbrjOri0ZPPdialt-7vbkKcsOnI5XbLM7_LO178fgfIuFzQEHLaNFSLl5XU4zGZ6K4hbJ4IHMMycAT2_JgcKd3eA9jq_C9ega_X4lCey0i3w6G2C20P_zh30enSjfE7gZbwX_c5JMkTA4p0e1Uws2J3MH8NBQzcDBo7aVCrVHtLyzrhj8jHHNNeY35kOSKH1iuCegZ0cuFrj1OEBFT6C3xK884ebPSvDXHvdzriBWeFxLXlbySekFmdoQUy0QUHlrWGlLvhIL7uAPRgU4_LyUm7SbdQs5RdPNFbzlks40E9Rw4Tpe38pzqfEwJDznhpEN4yZRczVHr7Yc6D8nikI4pk1IkbUFeJtXcDHzIWgK27iCtMXapeJmnsZRmIsAUI622_30YHUm59QCkrG_pRpodbDeatPO1hLOxeLhymrJUZtLkfIa078eLnc7eLLBCXTurkMKTNuuF3nDT7HqGK3ksPCreWn2Od5lVkCedU7vvo14NrDsk_MNdh3853NIyxsVwDaUkzfvnBqBAOiuVv94TisbnQXBsZ6hs5wepjfwh2yfOnpytXUDna0ILxPT9NuYeg4-qzUm3lebgL6BKKvuMLrmPVbvLokUpqJvwW9adLZJzCe7UYjyfAScGVb2Za4f1Y2uV4SRz-_Qr0nkC405WK90MZQqGDO2gQR2u5LpIT3K84PFOILzT55wwXHFeLXTw11q3FQgV8yRqJXXyY8pbqVchLV-Pus7fos6Y_3RBXQDH3t30wlnTLS1OU6SKg5SkLaeSW7KTV_C6Mm5By-nbPSFDMGc0Xtrb1REloylb280-poN_WZ-p24H4CDjqWXFVwjABhdlOWaodAxaPoYYQfEjfGv4bCa93lyVeyY6F0H9wkErLJKqFTlOBwa_PJxGpPvivMiLAGgZsmcyJ32_NjPqvPkbmGF51wz38zmQZBER3dJoQE3y6kYoyY6K555bsOtZHnebSKX0KL-n-MGDHHrMEk-gWokxJHvXYhS8p2UWg95T1M-uVaE41sBNxNx72_qW5-LbaT8TqBl8JWLaFanmOebCWWTcqS_CgHj-Px5srkww1mbKmsJbYHNIgQVkPrnsCnBBvNplwdRWQWOif1zKG8zUx9G9HY7lbKh5kRlB54tobbQnc7e6iaCmkVWybUvrZoMregikz_Kj_du1nTM53SWYsupMXwJV3vzUx4is3kgWrwzjwNkkhh0f39kkDB1EoP8c-UPu4dhgQUFNJ4r_r2Vwv6oLqDb6lIYfL4-afEBW5Ao9QCOpkltaGYOmCMQQ8AXgansVIUk8EbJeFwtRbeXsdyVWF3U9wL1UsGWJLWNeHrnB8wmgDoO_XC3mxxCYooalTI1Ph3kXzCd27QsvImzm0RQt6s75jF01hobSS3_Kxeee8exr4vYJA2VDFNb2aXE6LOBVvWrIAgCHRZLmWNFWKDABlDmXGDHyXStEzmNckxFOgsjo3htRKEdbntmF3QJdgCFtvYSigV7kUIfbmB4A0GoCHT1PGotUp8ivIAhtsEnoaa5rnHVg-0j8OLDGyNR1IJQTug3CKk7foUqeHXmFWRzo_ewuTOSGYGJafus_q0uPJLnV4dHZkH-xuTwkbYYhD0GOmr4sqAKbeONorTp_M6G1A5huyoztLPSu4mSLWvhpGXHctYDBe0xjSl0VeiTFF7Trrze0bXOyFNClvfynuWIs_K2UZd2POtoKwAf4AGQ2tR86opfy0BdV7ptgYIl84u0lJx_SrVzK2-MD-L-D3WZ74E8NMq0fSLtP-KTjwbxuHL_b9wBn_M1Tw6m-Tfb3ImQwrbIGgie5uYF743XfulL85C_qtRaXB6TehrVgdPaNyx_FNoyCKQW0IGLoewOSjzuY_zg0wgKbas1dViNubcyjJd2cJ1lJD6ZjwSmjO4a1z_ZIgh6Fge4f4ZoGIPVlhU-SVbJK10GCnWqpr5H3Xe5QeRBKLLRcy47e270ZExQvzpa9u5kHI8H93_0",
  "id": "rs_0516d8c2dedd0b42016ab42cdc69c087d08674604583063b27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.175,\"left_z\":0.005},\"note\":\"The separated bottle is clearly visible in the left wrist camera, with its wider lower body near the jaw center. I’ll descend beside that body and make a small lateral correction before closing.\"}",
  "call_id": "call_dCrZj1yTnQumi9ur9LFjLom2",
  "id": "fc_0516d8c2dedd0b42016ab42cdfdc9487d085be4cc162c05496",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dCrZj1yTnQumi9ur9LFjLom2",
  "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]: [-0.8021, 1.7828, 0.5106, 0.4519, -0.6773, -0.5545, 0.997, -0.1463, 0.6346, 0.2104, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3232 left_y=-0.1697 left_z=0.0018 left_yaw=0.031 left_pitch=-0.045 left_roll=0.0423 left_gripper=0.997 right_x=0.2577 right_y=0.0036 right_z=0.0835 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -6.7897, 3.6034, 1.5995, -0.2369, 0.105, -0.0171, -0.6906, -0.6222, 6.7624, 1.8779, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8391de3acbe504d17a804469465a5168748c883e6f636d3390e137e7da9d3ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85244cd01c63c8d8f87cb99b107f184e27e5d90aab4a844dbce8e66c36beb90d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282ab311b5fd3a21762f6aa6ab40116f33da1a0c4100d8f397996d0b83a2e568",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.559 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0405, 1.8183, 1.0458, -0.1444, -0.8116, -0.7727, 0.997, -0.1463, 0.6792, 0.2821, -0.2173, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3254 left_y=-0.2945 left_z=0.0879 left_yaw=0.0001 left_pitch=-0.0157 left_roll=-0.0003 left_gripper=0.997 right_x=0.2654 right_y=0.0025 right_z=0.0987 right_yaw=0.0984 right_pitch=-0.0269 right_roll=-0.0007 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -10.947, 6.2427, 1.2234, -0.652, -0.188, -0.0024, -0.5538, -1.1009, 6.8855, 1.9023, -0.2125, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9028, 1.5131, 0.7052, 0.0101, -0.7372, -0.6338, 0.997, -0.1463, 0.6476, 0.2298, -0.1928, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3177 left_y=-0.2051 left_z=0.0963 left_yaw=0.0141 left_pitch=0.0038 left_roll=-0.0135 left_gripper=0.997 right_x=0.26 right_y=0.0032 right_z=0.0877 right_yaw=0.0981 right_pitch=-0.0233 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.8581, 5.8051, 1.4042, -0.1685, -0.0415, -0.0122, -0.841, -0.4444, 7.0085, 1.9512, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8021, 1.7828, 0.5106, 0.4519, -0.6773, -0.5545, 0.997, -0.1463, 0.6346, 0.2104, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3232 left_y=-0.1697 left_z=0.0018 left_yaw=0.031 left_pitch=-0.045 left_roll=0.0423 left_gripper=0.997 right_x=0.2577 right_y=0.0036 right_z=0.0835 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -6.7897, 3.6034, 1.5995, -0.2369, 0.105, -0.0171, -0.6906, -0.6222, 6.7624, 1.8779, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8391de3acbe504d17a804469465a5168748c883e6f636d3390e137e7da9d3ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85244cd01c63c8d8f87cb99b107f184e27e5d90aab4a844dbce8e66c36beb90d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282ab311b5fd3a21762f6aa6ab40116f33da1a0c4100d8f397996d0b83a2e568",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzjcqz670pU8BJHY8S1rnDQypsatKbBsMxTxQoxTk1gYPKjtsWBpcp0T_cyWbON4qBDqLvTwpQidmx555nxYDap3MttMg1X1tk75jM5gXmv_UAZTYts5aR1RdK1vkCiItc13VD0j0yqU_KU8A2h9UC5VQ0wIYb2IkyDx8Urf3Mjy5oJme_QZB0P9PKmai4LDdxjMdfM100z7puZ5Dzqq3i-egAiBditYpFPFZM6fdVed5uZHwU5O2RbbdXQJCn33SBBVsvGQdgd4giB7v9izQrSZCNpo6SrZPeIe_ypcAaTcXyJttAEi5BF8eYH15RKJou0yRquQMkE0fMz6ALtA5dt_fN5s-855gL2u8Sc6GPunrZofwk9_SXUX4_TmetidEe_BQuJtaN7imsOgE1bnuN636YNBIL-Zlr2r6uzqU7trV28K1uZ8U_pQdQT8m4WHMZsGg76jvmExhWl9kbFFxNGLlYgCV6YI3ZQpaXhBxQ7YNS_8_XQez1ItBP18GxtPahyBaQRWkO0xdRlxBgqjJEmV_5B3K6AsLH_0kdC6GRzLMWaNXpV_LlMmBwNLnWQ0K55PE2pOOYjnltBHBoNX9DXCcTGDn5tboVjxwK4rOPcQ23Xw21GOAoTSyo6OgOg_138vfzXq5mugiRzl87o2K9iQ0HfcxwJgvNkykDm3Q1eNIQ4_FswzLnFsGm5eON4ZjTMIpNCj84p6ZKd6RZyi0JinNGA7lQCfNB0vh3ZBVFVrl8pIXB3ubT9sqxLG_-IASg5BRE_GmKfx1qRBgsyJ8ps87MOWVikFql3FfKzXGvHvriHvMMhnYDqTwsKpPUtjnQswMkcBtyz7XGeX5LEuJytQbNWqwszdkbi0_u6cMeGHnzIuddnHmCvHdEjimasmnm8Jqc4GQlWTwfI3sSUpSBaUBP4vcDd1MU_5JGa6mUFFhw-D6UAjqX-QOlExDLe3qu8OW7HpxcrdL4I4y4sB6ueAo6Svm8FzAISSzTtDL680lY8yWcwQ5htqExAtRu7NVQJQa_MTV7W1xkjcys--TC3Iu8vykgRUKN-gZRxdc_Vv0DKdEflcGqG8zfd22e8KH8DgUwIBqeaIt9hknotaCA_cZsXC9CBP53L0cI9dsm0u6RlsDrzitxeQ5iD-kVNN5MHXcNEU_op3hfWDl776D7GsotCmQK1bAetwTAafIp9zbPxY-kyH2JYZDPDI_YFjpvoJRC15AR9v37ghd3a4QwT0Ww6RU1Di-y5bYVDQ_wr4MWE9Sqe2IP6HPzInxV1gwOKS_zHQx7hQthXjhcn5a2EjOKob6bBBI5qG6dkQ4UElDNNoCVgxYsZP6OFxVF8O0oWPRmvo79LMZyTNMh4VaoXfg==",
  "id": "rs_0516d8c2dedd0b42016ab42ce2385087d08bad629df55d725d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are at table height on either side of the separated bottle’s lower body. I’ll close to pull it farther inward, where its cap should be easier to reach.\"}",
  "call_id": "call_ctO2iB9enoeoItwjINv50Ifb",
  "id": "fc_0516d8c2dedd0b42016ab42ce2be8087d08dcbf9b7a66afffe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ctO2iB9enoeoItwjINv50Ifb",
  "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]: [-0.8055, 1.8015, 0.4725, 0.5888, -0.6735, -0.5526, 0.5392, -0.1463, 0.6254, 0.1917, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3252 left_y=-0.1744 left_z=0.0052 left_yaw=0.0227 left_pitch=0.007 left_roll=-0.0171 left_gripper=0.5392 right_x=0.2546 right_y=0.0041 right_z=0.0773 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -6.3521, 3.3846, 1.3797, -0.3248, -0.0317, 1.033, -0.8547, -0.759, 6.7624, 1.9707, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981431bcc6d2fce98aa29dc5fccd0eed36a326d03143803bc9954f4edec9c434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f09afb92ff0ce3891ae71b4b33fe2badd6516088e932a30ba55c7c991dc627",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3e466500371d501d78bff90ab489cb9eda91477a47596b7126adbdd6559554",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.298 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0874, 2.1124, 1.2446, -0.1112, -0.8387, -0.8207, 0.997, -0.1463, 0.6662, 0.2573, -0.2085, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3357 left_y=-0.3492 left_z=0.034 left_yaw=-0.004 left_pitch=-0.0262 left_roll=0.0246 left_gripper=0.997 right_x=0.2624 right_y=0.0029 right_z=0.0925 right_yaw=0.0985 right_pitch=-0.0299 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -10.4547, 7.2274, 1.0623, -0.5055, -0.0806, -0.0122, -0.6769, -0.9915, 6.8991, 1.9414, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8021, 1.7828, 0.5106, 0.4519, -0.6773, -0.5545, 0.997, -0.1463, 0.6346, 0.2104, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3232 left_y=-0.1697 left_z=0.0018 left_yaw=0.031 left_pitch=-0.045 left_roll=0.0423 left_gripper=0.997 right_x=0.2577 right_y=0.0036 right_z=0.0835 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -6.7897, 3.6034, 1.5995, -0.2369, 0.105, -0.0171, -0.6906, -0.6222, 6.7624, 1.8779, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.8015, 0.4725, 0.5888, -0.6735, -0.5526, 0.5392, -0.1463, 0.6254, 0.1917, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3252 left_y=-0.1744 left_z=0.0052 left_yaw=0.0227 left_pitch=0.007 left_roll=-0.0171 left_gripper=0.5392 right_x=0.2546 right_y=0.0041 right_z=0.0773 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -6.3521, 3.3846, 1.3797, -0.3248, -0.0317, 1.033, -0.8547, -0.759, 6.7624, 1.9707, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981431bcc6d2fce98aa29dc5fccd0eed36a326d03143803bc9954f4edec9c434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f09afb92ff0ce3891ae71b4b33fe2badd6516088e932a30ba55c7c991dc627",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3e466500371d501d78bff90ab489cb9eda91477a47596b7126adbdd6559554",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzoAXZcxX4vrTlrqPMTfdLsh-Jhyzwg_xu80UxC-QRwE5YliiLfZIymyBadRien3_KZ-Y9qBXK_yORps3ZqOL8qeYuZgTIKEW9kohxp2GHqWajc9RlC-3IOD8wy1ZGhsVuH6Lhmz6g3EMpq9aCRLWV8j6XH7u1wJAx7hZAFqQvoqf31JDdSqI__LJhzM3EjjtRqMMBFCCwiQehZfd64qnSo-wc8e7ybSdCa85CGhTWfRKx3CMl5bMI_78SAZt01wivg-vOwVy7Fy2tQ4fTZUQYb5sLZTaWENoIybZS0c2VNWQdslQZomtkyWwDEnBjkdWZjHuEAMQGaKy2alKM02pRtx6i-gdeeNqiAvOp7MU5Crz-NRjWW7OeQ_xmdte-iFPCXxNHV2YVSJNy0ZOJGTOJ-Bc6H8Hx5xzM2m0o_Xx4jjfK-oeb96_bSHcp2JpXN-H670vdDxxFMCazQx7UYWkQMzyUK-JGkoHdrQ-vX38_yW_TwIBAzDGeA-YzmLF_HEqjBELqIbfD5RqVDJpzesA7LlpbxZfPI_4kcY8SZMQhbn7a-c14iX7nLTziseqZCqPgMKbPFuaF--_UcoN2rlUa_09BbBl6Wmaikw4A90S7MsMhRvBW66WjTOKTIU-cdorLXi-qTvcRk4Md9w16yZZsvCmA8PjOHGj_SpClFexfhKEnhs_DHbdpH8Bh8-TkIMtpgOr6yVcTmEEbyMB16iwoysWJJvYMG0t4maA_ds4lekGvi8qEYeblhHsLEZE9nlFIPZj33aBHwBtFYmwcofiy93oFkz5h6p9LBOuKWCVkoZVKU-Ww2wZsgqv2L_hjpWVRjvnUQpuBeE7X8DXTdn00SDLbCVjelJFPbIVB2ncTdyK4HNA6n1mADUYOYVI1lLuvXX9LqEZZVZsUL31OXXXF0gUQ5tHGwZd1TD6k-WEpoekRJ27nH64JFHdcSd2PxoR44woTzNKcn5KKhNCL6W1gRRw3pvTY70JXpj49deEWWX3rSi-P4rsGhdtiPTDqxlG14i4yoEfH-jyKKVW2UG709-0aPvUV0UpvsNSNcBRGV4kqY6vPQ3h-hOLtymyG6kU6YoeRVrZ8_MRW-UAqH4JQRrhQAJkc_IQs55rtz6YZiXJH12QxUo9LnRj1x_EZSnIMGEDDlNBthD811tjQewd3WPmfzhkP52bGmjlkIgni4re3Kl4sW8_VfzWpsEyb1sIfQM4b230lOt6bJJir3izYQqPJj2jRdiKmWCd8YDAnvwyGjn1-18PpAlmkl7g_OfI2gmDYoCB6T3HLA1OKxpY_1k3tIoPj38r935QGPPeF0pPpUVXvcMoVFy08dCWoixwhgIjwa5lwdHFH5t1WWlDUM5U_GUAAqUbg5rJ04KcWiYvAt7c5QpwmFUy-HMTalmDl4fbgMROpAhGJX91Ujr4ek0xqSH8VP2_02OgRB63CJYltC089M1G7LZPUyG1hNlDEKVdIsrHotgnEUhUcWR78l5qWaDjrjw6yFlMwOKG5iMyOpaxn9wJOOEt17zgMZ8jqtaNIi4KEct-hrio3fa5hmyl2uGSBZxU90TwN-IxBsntRt1-VWxxSiMGhIw5OdGF708s5LoM_1zdObLoun_3PkvSacOc2z8zt5HLLIkX7duLc2yCYFq8VGFJUYMLR_XYn34ZQxflpcz81fzumyig_V7WkxrY8IN2JBXxqYkJD22T7wzrWKwfZRvzww-KiiKvici4gK7V57hgnixzeeVZvuSKGcbpOVNIYNaRq_WUAU5QHdAKGHCW__8sHj6DED9ocdniGq-opDgFrqXDq_BJcJaeeNuDJILrGs3pLiCzgeekN_aQvwVqCf71YPq2N6VOHAAcNMncvkjBv4c1CwsYcXfDJ2MTIR2sLDsfJ7Z-p_1FM=",
  "id": "rs_0516d8c2dedd0b42016ab42ce5b80087d08cde9cb9c3c409e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The jaw opening settled at roughly 5 cm, indicating a firm body grip. I’ll lift the bottle before carrying it back toward the base, away from the other two.\"}",
  "call_id": "call_0UV1uLjsTXlMB3XMqaDY6WyG",
  "id": "fc_0516d8c2dedd0b42016ab42ce72a0487d095987953559fd685",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0UV1uLjsTXlMB3XMqaDY6WyG",
  "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]: [-0.8055, 1.3727, 0.7742, -0.308, -0.6197, -0.5529, 0.5398, -0.1463, 0.6056, 0.1642, -0.1753, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3094 left_y=-0.1689 left_z=0.1141 left_yaw=-0.0078 left_pitch=-0.136 left_roll=0.0764 left_gripper=0.5398 right_x=0.2516 right_y=0.0045 right_z=0.0717 right_yaw=0.0985 right_pitch=-0.0291 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.0188, 11.6855, 2.0928, -0.8523, 0.0171, 1.0281, -0.8957, -0.4718, 6.9402, 1.9072, -0.2271, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a02fcfb4ee6d462b2aa8bd4ddd21c37803bd112d0f3e664c09ee6c8a3edb2b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec1712d3874d69dfb8cb345e0564855f07a614a19e43c8fac44de55d20cc93e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104b1d1c93b7071bcbbeb5cae7ecc30ac0de229b664f6811d5caea3d371ce563",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.683 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9028, 1.5131, 0.7052, 0.0101, -0.7372, -0.6338, 0.997, -0.1463, 0.6476, 0.2298, -0.1928, -0.2138, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3177 left_y=-0.2051 left_z=0.0963 left_yaw=0.0141 left_pitch=0.0038 left_roll=-0.0135 left_gripper=0.997 right_x=0.26 right_y=0.0032 right_z=0.0877 right_yaw=0.0981 right_pitch=-0.0233 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -6.8581, 5.8051, 1.4042, -0.1685, -0.0415, -0.0122, -0.841, -0.4444, 7.0085, 1.9512, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.8015, 0.4725, 0.5888, -0.6735, -0.5526, 0.5392, -0.1463, 0.6254, 0.1917, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3252 left_y=-0.1744 left_z=0.0052 left_yaw=0.0227 left_pitch=0.007 left_roll=-0.0171 left_gripper=0.5392 right_x=0.2546 right_y=0.0041 right_z=0.0773 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -6.3521, 3.3846, 1.3797, -0.3248, -0.0317, 1.033, -0.8547, -0.759, 6.7624, 1.9707, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.3727, 0.7742, -0.308, -0.6197, -0.5529, 0.5398, -0.1463, 0.6056, 0.1642, -0.1753, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3094 left_y=-0.1689 left_z=0.1141 left_yaw=-0.0078 left_pitch=-0.136 left_roll=0.0764 left_gripper=0.5398 right_x=0.2516 right_y=0.0045 right_z=0.0717 right_yaw=0.0985 right_pitch=-0.0291 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.0188, 11.6855, 2.0928, -0.8523, 0.0171, 1.0281, -0.8957, -0.4718, 6.9402, 1.9072, -0.2271, -0.0317, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a02fcfb4ee6d462b2aa8bd4ddd21c37803bd112d0f3e664c09ee6c8a3edb2b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec1712d3874d69dfb8cb345e0564855f07a614a19e43c8fac44de55d20cc93e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104b1d1c93b7071bcbbeb5cae7ecc30ac0de229b664f6811d5caea3d371ce563",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0516d8c2dedd0b42016ab42ceaa5e487d0a74494084c9ac23e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.19,\"left_y\":-0.17,\"left_z\":0.19},\"note\":\"The bottle rose with the left gripper and remains held horizontally by its base. I’ll carry it about 12 cm toward the arm so its neck will land well inside the low-reach workspace.\"}",
  "call_id": "call_qhRsLCXXJHmwhISFnMP1fpWN",
  "id": "fc_0516d8c2dedd0b42016ab42cead5ec87d0a74d28179d95cd31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qhRsLCXXJHmwhISFnMP1fpWN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3319, 1.116, 0.8017, -0.9245, -0.8341, -1.0748, 0.5426, -0.1463, 0.5861, 0.139, -0.1623, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.182 left_y=-0.179 left_z=0.1522 left_yaw=-0.0956 left_pitch=-0.1275 left_roll=0.0574 left_gripper=0.5426 right_x=0.2494 right_y=0.0048 right_z=0.0675 right_yaw=0.0984 right_pitch=-0.0221 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -4.0137, 10.7009, 1.1404, -1.5556, -0.022, 0.9939, -0.7179, -0.1846, 6.8171, 1.8974, -0.2125, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68cd8f3bf4b9277252f0a4107c9968fa9f506ab50965713b4675fad855b0426c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29087325dc706d81d126a1b91bd7ae11cab9d62e482d934bb2a550938b64cb74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbf582692a30e6239a54306f7aa214ad0c298fa247a04c28a8758269eef9276",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.392 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8021, 1.7828, 0.5106, 0.4519, -0.6773, -0.5545, 0.997, -0.1463, 0.6346, 0.2104, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3232 left_y=-0.1697 left_z=0.0018 left_yaw=0.031 left_pitch=-0.045 left_roll=0.0423 left_gripper=0.997 right_x=0.2577 right_y=0.0036 right_z=0.0835 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -6.7897, 3.6034, 1.5995, -0.2369, 0.105, -0.0171, -0.6906, -0.6222, 6.7624, 1.8779, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.3727, 0.7742, -0.308, -0.6197, -0.5529, 0.5398, -0.1463, 0.6056, 0.1642, -0.1753, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3094 left_y=-0.1689 left_z=0.1141 left_yaw=-0.0078 left_pitch=-0.136 left_roll=0.0764 left_gripper=0.5398 right_x=0.2516 right_y=0.0045 right_z=0.0717 right_yaw=0.0985 right_pitch=-0.0291 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.0188, 11.6855, 2.0928, -0.8523, 0.0171, 1.0281, -0.8957, -0.4718, 6.9402, 1.9072, -0.2271, -0.0317, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3319, 1.116, 0.8017, -0.9245, -0.8341, -1.0748, 0.5426, -0.1463, 0.5861, 0.139, -0.1623, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.182 left_y=-0.179 left_z=0.1522 left_yaw=-0.0956 left_pitch=-0.1275 left_roll=0.0574 left_gripper=0.5426 right_x=0.2494 right_y=0.0048 right_z=0.0675 right_yaw=0.0984 right_pitch=-0.0221 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -4.0137, 10.7009, 1.1404, -1.5556, -0.022, 0.9939, -0.7179, -0.1846, 6.8171, 1.8974, -0.2125, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68cd8f3bf4b9277252f0a4107c9968fa9f506ab50965713b4675fad855b0426c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29087325dc706d81d126a1b91bd7ae11cab9d62e482d934bb2a550938b64cb74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abbf582692a30e6239a54306f7aa214ad0c298fa247a04c28a8758269eef9276",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCzwJyMpdHbUEnU4FQBElY7HvpHefX8B6PH5hOkb8sYRvtEROBFA3d-RqiQ_sLXxgvYIyp_4j3vsi58e7R7PZYS8NY5kPETjA1hnx7fiOls2FPtv31pUOXjfSsKFWnni04VyRa03qU5upnIuXVgg4c6Qq-g0n4gdI5zUQCHNfL2mYAaJWttProh0N-KNYvJ9VtrnXNEFxqPV68XBNHYa6V60Ja7mTOcuH9dPt-eRNaj5lFCERGWlcwjxIZZs8xwUwUPOjSkGOER6pqV-0TVcwjhkN30IpvAXSt6TPhw0OHY3716Rd95_a6pwuG__TWAmJbK_xRcxwhVqZVmg5vH-XDkJmYTPV831diQmwvSJozNN3u_k5U3HdPwIdpkmqIKUyk-3gs6nFcpxigfk-bYAf43WRZVh05qq5hMe4Js0TTHx8K1vKYnmj6BUF8w7kKRlHD3i1L0XjT_f0zY8n81Djo9komZkhSPhLmCgTsfCkUWF7HVl-RWX1dXa7Xb18dQRs2FTj3G5Z_-nQRGHOFbjE056bhgbvGANnurvACc1ElaEHvZHHB41aEZiIBJ7hzcMi9raRnwFi5QvKhcVcFdcGqsX7VbliBSP4NOTXmLkLjC2Xpx8e6-bskCT6OaNfWwC-7DS8DI7JCCWTrD30ZuYh-WdVRVqcfOXuuBKBw3lz08YRcuVCJvJV7pJsm99tfP8vzWg1AEB-Jbv1wPsCqd-SAkWhKyWFIGXGVU2X3chdwvJCQK5KY4MwPcfbJ0_Y5kcSG1q_zwZ3vTsPiND4YquWKpmj9b4Y3RIm_8k6pcKL65AFirPGNk6AqqzGkJJCG1eZQWQtor4mu5WbNDgBlcU9BdJE_MR0Q7US5dCnq7-OLv8_a4npWzrmEdaWa5uiZo7ZrdjMnV9AQK-QjME6mXNjY0rWhR7qMKOUnBSd8lRnln83C4n9SkgmzCRrv1e1-fL4nfyHcZ4HUFJlHmDBmWUnGVZbst4DWW1Q9Y7Fw2yh4VtcqfS5UxW8u_Bau_amd2pHxgW5gnegR5sXE4PfnU0FyzJ17VC4BsvTaQg7ie36YoSgSDIyIe9mFHa2rsp2lEZ7POTTf_juHuQPX08Ormyj8zPMo26Y3YP8xBkHU-rISUff3ARiDfyPS-jYGO31WFfdmSOvHoJ0VeYWDT8W2ldigJDly0hRmjTjxTZoc_TYPpmV6CECqpX_R7CT4pAeKKdUG1imDgu4qgIHtCaxYfvLfZ2bTRWgT5uuN4scup-C1b-m7p1U5Z6JKlO0mCiMDKkYyB9--_O-KvMLaXSITTkalKllTCMgrwkEN4MtIraldztiCRAfT2Sy_TFlBviIKc8b_-5n4nN56_wMFs3h-c4YUOQr-LJ-nezfkrLQK7ObJ_v7d_SE7EIPClfK1byaIIqkV2xP1W8kAAyVhkyk-xuGR4EWd_EtiTm4FwCZUyeD1_1lG-MD61naI6IzRz3qZ2OW-3eSKXj3Pa8IXed8vU3cV6WzMC8-epr6J8IyHpUWkqio47RNU-WkO4q2OChRRwpwjXt",
  "id": "rs_0516d8c2dedd0b42016ab42cedc30087d0b4f2958da4e052f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The bottle’s cap is now near the center of the left arm’s reachable area, separated from the other two bottles. I’ll place its base on the table so I can switch my grasp from the body to its neck.\"}",
  "call_id": "call_2SMwk6LvasHjgraxiSegeiV1",
  "id": "fc_0516d8c2dedd0b42016ab42cee91e887d083adf5e2f898e217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2SMwk6LvasHjgraxiSegeiV1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3945, 1.359, 0.3279, -0.2779, -0.8757, -1.124, 0.5429, -0.1463, 0.5728, 0.1196, -0.1596, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1703 left_y=-0.1618 left_z=0.0139 left_yaw=-0.1103 left_pitch=-0.1087 left_roll=0.0984 left_gripper=0.5429 right_x=0.2467 right_y=0.0053 right_z=0.0623 right_yaw=0.0988 right_pitch=-0.0254 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -4.2051, 5.3128, 0.8669, -0.6032, 0.0708, 0.9402, -0.8957, -0.335, 6.8444, 1.8388, -0.2125, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5e4b621b54d8f66a0e4c101ce514b3d6dd3ea4555a0b112a03419df28fbd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a8aa5419e79688e05cbb036d61f1b82cfe8c70a6f35f7e873b55b6fd8fde13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe4407620732330fce9a6fec7efb06ac3857ae3764a56715f2c25d464829460",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 5.305 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.8015, 0.4725, 0.5888, -0.6735, -0.5526, 0.5392, -0.1463, 0.6254, 0.1917, -0.1856, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3252 left_y=-0.1744 left_z=0.0052 left_yaw=0.0227 left_pitch=0.007 left_roll=-0.0171 left_gripper=0.5392 right_x=0.2546 right_y=0.0041 right_z=0.0773 right_yaw=0.0985 right_pitch=-0.0317 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -6.3521, 3.3846, 1.3797, -0.3248, -0.0317, 1.033, -0.8547, -0.759, 6.7624, 1.9707, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3319, 1.116, 0.8017, -0.9245, -0.8341, -1.0748, 0.5426, -0.1463, 0.5861, 0.139, -0.1623, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.182 left_y=-0.179 left_z=0.1522 left_yaw=-0.0956 left_pitch=-0.1275 left_roll=0.0574 left_gripper=0.5426 right_x=0.2494 right_y=0.0048 right_z=0.0675 right_yaw=0.0984 right_pitch=-0.0221 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -4.0137, 10.7009, 1.1404, -1.5556, -0.022, 0.9939, -0.7179, -0.1846, 6.8171, 1.8974, -0.2125, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3945, 1.359, 0.3279, -0.2779, -0.8757, -1.124, 0.5429, -0.1463, 0.5728, 0.1196, -0.1596, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1703 left_y=-0.1618 left_z=0.0139 left_yaw=-0.1103 left_pitch=-0.1087 left_roll=0.0984 left_gripper=0.5429 right_x=0.2467 right_y=0.0053 right_z=0.0623 right_yaw=0.0988 right_pitch=-0.0254 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -4.2051, 5.3128, 0.8669, -0.6032, 0.0708, 0.9402, -0.8957, -0.335, 6.8444, 1.8388, -0.2125, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5e4b621b54d8f66a0e4c101ce514b3d6dd3ea4555a0b112a03419df28fbd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a8aa5419e79688e05cbb036d61f1b82cfe8c70a6f35f7e873b55b6fd8fde13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe4407620732330fce9a6fec7efb06ac3857ae3764a56715f2c25d464829460",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCzzw2-ZurNRofnjeWA1JpYUjHN-0E1BcMDAvWdvi1ci7BOhfGMrAmz-wMTbuIMv2_p2omlxh6vvI24LUZBGXyFUh4_Khx1L8UUtaygk9p3tIf47uf-3J-LraqxSLdvV_Serb2NvXOcWD6oyUilneh1_NYS0syCbCr08JNEYYFilMT4XVvyugM32B29Y7iI5T8hPZ5lV5fUhSbBeqzWmeQrcwGe47m8Kf7dTyNYu2w77eFGm2P81aSog3h5o6IA3stJKw4Awfp7FCE36QZ4IlufA8Z0w5abeRbEjRV_5gLOu_pZXykVgQT5La2Kj-d9-9iwuOfOsBomucIp_5yhUuJZUBvFSQcx5YCkWDVcHikH9H-OZP3eLSuNumpu2GfdGAy5i1QGMUPUjBWcXp5Z_3--fSFBtnkccmsGlDjJtSdMmInxO5PcyhRr_5Mx4J5A603-NlByX593tpV14tyQx4vApfCoWygNt0T7R41GZUvbHycupDih0dNlRh-LGm9_tr2hOuKQ8ObSvnbnD9Uq2MIdMt7HVkE1QqxohdPU6X3tSUNyX2QbkYwSZDE5e9DpHTZVrzW62bqmPmV38egZP5mHYV9vY9bPpUlJJ9i9FssBsV7kK-IXqAuWadbbX6Re6at7m1NaoE6TrREMlMWUgB5u8cVlgPn4RDUDnrlF5UcO3iCeku5buYcirTThDOZk3gUQUavKNCRi3Ev-t88BgYAxbVdkzx223pUKhsmx6cktQ2nFgXXXKvLYDiuRTo5o5gkn6NnHUxdseJsmMFLcHOjf1rSVbxnLubnPpdicaQbWreVbeNLl0RUPLn-aPqur-DeGjcM75wDYTi4mwH3xFGqwbL3fFzsOPQW-PAw9U0osjEGq7fXi0Y1lBuOccEmTbR-sgMl9zHogdftS8ZanxuNpnPRgBZA2FHRKtknM0Z66goRR1FvqYxoITkfUg0C9p7Zi_uB0i6OgFqIVbaZml_PhJ9F6RufEMJfc3VqV3hi01Nicyv9Sa7gquFbPdvLJ7OJ-hvJ1jR1ngsMUbyCRdHszJdRhbxF3OPjrq5NsaFXXJoHCIf-5q5EX-Gehv5989bb-5rtqp7OzKC28fPxYho5lyNwoAbDumUJKFAG3FTZ-yMq10bbqEhKPn4jd28XZE4RX2hDYMv78qwz6xySnuFnSpkPD96P4G8YLczx114OzFZGWB2zBzeSkJaBFjySKS5OB-ubhO5Vg08UDMWcd5f0ngStarTBRZDAJiCVwnAtXCcrqfB7ujjMblP_m5BHCLVLe0cG9YhCp5vrzjrmjoAJLnzuifBQa8hwGp-xk9kzuYPmDh1yKKBUkJqCnaetCCuezzx6b6r6QecDXrdXSwgU2-kDJXssZ12qTLl0d3yj8fvhcNyNtJ3Bmwa1r6taWq5B2KzWwR4LFlf5LRTkp9vo04HKKpBHNf0k7W7_Xbn5rgkgpnuBFv5usCUF9-7dnhrPEFRH8gRtAMZWcEg6Au22u0fuyZl6tOPvr3mbGEJ1IAzmk=",
  "id": "rs_0516d8c2dedd0b42016ab42cf1c7b087d09856db7b86941c7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.11},\"note\":\"The relocated bottle is lying on the tabletop with its cap clearly visible just ahead of the gripper. I’ll open and lift away from its base so I can approach the narrow cap directly.\"}",
  "call_id": "call_C9i8vS2TUN3XkzyjP8OLIbMI",
  "id": "fc_0516d8c2dedd0b42016ab42cf2572887d08e92d9056ff11e1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C9i8vS2TUN3XkzyjP8OLIbMI",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4471, 1.0332, 0.4706, -0.6235, -0.9436, -1.1847, 0.9967, -0.1463, 0.5549, 0.0982, -0.1566, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1688 left_y=-0.1696 left_z=0.0979 left_yaw=-0.1151 left_pitch=-0.0134 left_roll=-0.0529 left_gripper=0.9967 right_x=0.244 right_y=0.0057 right_z=0.0574 right_yaw=0.0988 right_pitch=-0.0257 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -2.2359, 8.0068, 0.6032, -0.696, 0.0024, -0.1001, -0.8821, -0.1436, 7.0632, 1.8681, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b677c959340aa010511b117dbddda4117b0688246f81835ee97c2a6e2ec2a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6889532697d32dabedf8ef3cf5716048f1d0ff77e121bd7d0554251d3ff8ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8342c797e0562b8390afc0ecca0e3fedae4eb9c46d143c6902d3b7accd2d95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.41 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.3727, 0.7742, -0.308, -0.6197, -0.5529, 0.5398, -0.1463, 0.6056, 0.1642, -0.1753, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3094 left_y=-0.1689 left_z=0.1141 left_yaw=-0.0078 left_pitch=-0.136 left_roll=0.0764 left_gripper=0.5398 right_x=0.2516 right_y=0.0045 right_z=0.0717 right_yaw=0.0985 right_pitch=-0.0291 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.0188, 11.6855, 2.0928, -0.8523, 0.0171, 1.0281, -0.8957, -0.4718, 6.9402, 1.9072, -0.2271, -0.0317, -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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3945, 1.359, 0.3279, -0.2779, -0.8757, -1.124, 0.5429, -0.1463, 0.5728, 0.1196, -0.1596, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1703 left_y=-0.1618 left_z=0.0139 left_yaw=-0.1103 left_pitch=-0.1087 left_roll=0.0984 left_gripper=0.5429 right_x=0.2467 right_y=0.0053 right_z=0.0623 right_yaw=0.0988 right_pitch=-0.0254 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -4.2051, 5.3128, 0.8669, -0.6032, 0.0708, 0.9402, -0.8957, -0.335, 6.8444, 1.8388, -0.2125, -0.022, -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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4471, 1.0332, 0.4706, -0.6235, -0.9436, -1.1847, 0.9967, -0.1463, 0.5549, 0.0982, -0.1566, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1688 left_y=-0.1696 left_z=0.0979 left_yaw=-0.1151 left_pitch=-0.0134 left_roll=-0.0529 left_gripper=0.9967 right_x=0.244 right_y=0.0057 right_z=0.0574 right_yaw=0.0988 right_pitch=-0.0257 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -2.2359, 8.0068, 0.6032, -0.696, 0.0024, -0.1001, -0.8821, -0.1436, 7.0632, 1.8681, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b677c959340aa010511b117dbddda4117b0688246f81835ee97c2a6e2ec2a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6889532697d32dabedf8ef3cf5716048f1d0ff77e121bd7d0554251d3ff8ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8342c797e0562b8390afc0ecca0e3fedae4eb9c46d143c6902d3b7accd2d95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0516d8c2dedd0b42016ab42cf4e9a487d08b1499da7d5e2f90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.282,\"left_y\":-0.18,\"left_z\":0.013},\"note\":\"The left bottle’s cap is centered in the wrist view, and it is now much closer to the arm than before. I’ll advance to the cap and descend to a table-level neck grip.\"}",
  "call_id": "call_zDwruFLJNzuXSNYDddPUx4C0",
  "id": "fc_0516d8c2dedd0b42016ab42cf830c887d0a64d88b81f5a26c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zDwruFLJNzuXSNYDddPUx4C0",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.5742, 0.3431, 0.519, -0.7151, -0.5911, 0.997, -0.1463, 0.5343, 0.0792, -0.1574, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2829 left_y=-0.1798 left_z=0.0322 left_yaw=-0.0503 left_pitch=0.0459 left_roll=-0.0534 left_gripper=0.997 right_x=0.2414 right_y=0.0061 right_z=0.0533 right_yaw=0.0987 right_pitch=-0.025 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -2.7556, 2.8239, 0.3785, 0.1538, 0.2906, 0.0269, -0.7726, 0.0479, 6.612, 1.9072, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195baeca8953eda397327cea92bd3991cd65880e2d56cc8e8a056c4e0864d40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c112adede03559149a36955dae9ad60809ac47271867500aafb384635041af11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae5064d417ed1b95d819597b545da36c95cfa2096648ee7e0049579be3a241e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.554 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3319, 1.116, 0.8017, -0.9245, -0.8341, -1.0748, 0.5426, -0.1463, 0.5861, 0.139, -0.1623, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.182 left_y=-0.179 left_z=0.1522 left_yaw=-0.0956 left_pitch=-0.1275 left_roll=0.0574 left_gripper=0.5426 right_x=0.2494 right_y=0.0048 right_z=0.0675 right_yaw=0.0984 right_pitch=-0.0221 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -4.0137, 10.7009, 1.1404, -1.5556, -0.022, 0.9939, -0.7179, -0.1846, 6.8171, 1.8974, -0.2125, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4471, 1.0332, 0.4706, -0.6235, -0.9436, -1.1847, 0.9967, -0.1463, 0.5549, 0.0982, -0.1566, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1688 left_y=-0.1696 left_z=0.0979 left_yaw=-0.1151 left_pitch=-0.0134 left_roll=-0.0529 left_gripper=0.9967 right_x=0.244 right_y=0.0057 right_z=0.0574 right_yaw=0.0988 right_pitch=-0.0257 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -2.2359, 8.0068, 0.6032, -0.696, 0.0024, -0.1001, -0.8821, -0.1436, 7.0632, 1.8681, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.5742, 0.3431, 0.519, -0.7151, -0.5911, 0.997, -0.1463, 0.5343, 0.0792, -0.1574, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2829 left_y=-0.1798 left_z=0.0322 left_yaw=-0.0503 left_pitch=0.0459 left_roll=-0.0534 left_gripper=0.997 right_x=0.2414 right_y=0.0061 right_z=0.0533 right_yaw=0.0987 right_pitch=-0.025 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -2.7556, 2.8239, 0.3785, 0.1538, 0.2906, 0.0269, -0.7726, 0.0479, 6.612, 1.9072, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:195baeca8953eda397327cea92bd3991cd65880e2d56cc8e8a056c4e0864d40f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c112adede03559149a36955dae9ad60809ac47271867500aafb384635041af11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae5064d417ed1b95d819597b545da36c95cfa2096648ee7e0049579be3a241e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCz9stbls_Z2Gj0xFNsS7PRK6IflnQlD4FdHh-XMsyFbgXzn67hMp6sdy07j-c3BMHVRRJfIXJX3x_GDThMan34dmLMs1AB8T-wgJxEQepFfj2yIf975vpD58ZdUeT_-oclaqoRh7612vX-rnU6OdLgEdRJUIRZn9dXf-q8XAWKx8UoaXPJ0Tn0FSGg2YdExKjDikxTAtQq8yigBYHO0qYWaS0llAAsWTwFA4x4R4jIqwVqLTLmqmSXaZ4imcZ4bSOcdEpRzwr-xr8T-ENrUSncHlC5c6WfSbXTjk21tdr5A9LXC5hYwXdeZ0Fm1bd7nCTFCWogetryVWbCiokhlwsGOT2BS6Uj0CGfgwOJbYukkcmWWxMUMH8UGCcGCT8X0jN7-Zg5QSqF5UbQe8aXiHsnzjK32FDNkm2RL-6xihr9wjnl5UNdhNqF_tGc9g5pJQrXuX_xq4VZcpsCNi8mVdrMAxJivwMZ2PFNG75pCxGlYGyaraiCdLINbz6ypEMCnGO8Jo2aJQZTo1DFGBH9YY2j-rW2sN8064L38JpM3zRWQi4W7d63NWW6sxg5L0JM4j9zDqqBhp-yh9BznUObh8a9r1YTLNgbQpNhInm2When6s3z8GapuO_ZqsBjj9K8xP7gpxM-LvDQCIxi99fWI2RV87YTz3ou1IXAJiewBfIUTeuJRyXQXKq1rrBoP-Ib_DwclgBBui8ZQfLUf8FW_klGb6yOyfiRht0CF9gPou-PDdOBWx2L-atnAiHG01Rc053JvOmj3wvdYb_BM7Ms92XDOlN3Buj-MEZ4uTnM_1IQhA4cISKQG8FdxvDfbNHN2pOOqM1vNNyQ7TxnJmntZkYePzUbtnaMJHNx3twLqr54VfmCzljsPPaPd4v8AH-lH4Sgm22ylGgmLo3aat3y0nkyZ4QLbx8hdj-MxmID0m1Wx7n2uLaLDxJuNcJqW8sA7gRuMwzCJuw0jpWjUuphby-8fLro7FVhcQCr75rOJvkbCXkO-_MJLeTB1kAii_DOk_8GErHJ8emjSMFm1tH10DLq45STgmquGAcMaW5OgqUrTAJ-DnwvXQPVVJbFcJwR2z_8XMyink8wTj9FZ7x4klypwtn_lOv-1MY4q4hBKytcIvye5Oenr-ZskMmoqR3qYozbpjPWMyU-EjfdrH8uUK-uou1tT4EHUiqVGASCyCViA39-NkcEpu-WUiOBaAcC-COiAYH6v9blWhH8tHYqSZxe40ihOAYnpZEPJzMdr2q0V6CbRZIM8PBDCF8-iC_Mz5I4JaO-KFHh5_-kTkMOZOdvSw2caURVwFgLcPs8vAfl1IwKrS0neoE13d9XY_uSSEgfX7sEWA8ACM_Vg3rci0v8B67JYNY-c3UF8EJX172vrpuZcdMa0mndgd3pIHGpHMOr424D-JBxC-F3qe5FGX_rTdnXra2LSha7jZuYL_C6PspNeK3eOFxRbuzYg19IkPxisGwlOQH3380ySRcvjuMULjTsqyfhPGG92nSRyQvi2nWE1al1NsiBVrv9ns_PHuLcPb8LyznFH3p698Agh_07oxBmnA6RM6WZmBcZycAns_DDXpSKVDa_9TKmMVGGGyg9wxI2SdvbIdU95fPx4QkZ0pRA_rAS1EV4qJ8fzhksy5nz1LpWzKE2hpw3NRSL9clkw_XV2tORRvAMDYoKCCaL3BzmW25iuC7CZNriiLnyp4k_T3pCtW6NYaxrbhKVCTk21M83-jmbNzLjBb4qqJ4hEmcAqxnxF1Rs4SEF3WZ166eI3Wl7sLJisLZisNVoy0UhpMsiFLowPdK8Y1iopUd6lzGmsfrcKj0YTrYfz2fKlk4QOm8aagWErVwX0NsqmTjyd0CXX4LBqmVbDlWO6Lb7Ytg==",
  "id": "rs_0516d8c2dedd0b42016ab42cfb17f487d0b890dd38f055f49b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.015},\"note\":\"The cap is centered between the open jaws, but the gripper is still about 3 cm above the table. I’ll lower at the same horizontal position to bring the fingers around the narrow neck.\"}",
  "call_id": "call_IGBLsu7N6ggALtygF4S0U7Ka",
  "id": "fc_0516d8c2dedd0b42016ab42cfca5dc87d0aa60fd2340b8122a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IGBLsu7N6ggALtygF4S0U7Ka",
  "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]: [-0.9363, 1.747, 0.3843, 0.7643, -0.7475, -0.5873, 0.9971, -0.1463, 0.5144, 0.0608, -0.1562, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3016 left_y=-0.2011 left_z=0.0323 left_yaw=-0.0259 left_pitch=0.1326 left_roll=-0.1266 left_gripper=0.9971 right_x=0.2392 right_y=0.0063 right_z=0.0496 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.4855, -1.4564, 1.0872, -0.1294, 0.4127, -0.0952, -0.0073, -0.7863, -0.1162, 6.612, 1.873, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1c85c488a3216c2154236cca2de091fb591597934e7e41342c9e0bf4b7055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668e6d06e144adb43feab9b7746943af06b4ac5da08ba6796525016b4e2a3253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68fd4453c6f985009a3b9d326b75b4872d2946debc047246514eff9f6e56dbde",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 7.267 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3945, 1.359, 0.3279, -0.2779, -0.8757, -1.124, 0.5429, -0.1463, 0.5728, 0.1196, -0.1596, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1703 left_y=-0.1618 left_z=0.0139 left_yaw=-0.1103 left_pitch=-0.1087 left_roll=0.0984 left_gripper=0.5429 right_x=0.2467 right_y=0.0053 right_z=0.0623 right_yaw=0.0988 right_pitch=-0.0254 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -4.2051, 5.3128, 0.8669, -0.6032, 0.0708, 0.9402, -0.8957, -0.335, 6.8444, 1.8388, -0.2125, -0.022, -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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.5742, 0.3431, 0.519, -0.7151, -0.5911, 0.997, -0.1463, 0.5343, 0.0792, -0.1574, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2829 left_y=-0.1798 left_z=0.0322 left_yaw=-0.0503 left_pitch=0.0459 left_roll=-0.0534 left_gripper=0.997 right_x=0.2414 right_y=0.0061 right_z=0.0533 right_yaw=0.0987 right_pitch=-0.025 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -2.7556, 2.8239, 0.3785, 0.1538, 0.2906, 0.0269, -0.7726, 0.0479, 6.612, 1.9072, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9363, 1.747, 0.3843, 0.7643, -0.7475, -0.5873, 0.9971, -0.1463, 0.5144, 0.0608, -0.1562, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3016 left_y=-0.2011 left_z=0.0323 left_yaw=-0.0259 left_pitch=0.1326 left_roll=-0.1266 left_gripper=0.9971 right_x=0.2392 right_y=0.0063 right_z=0.0496 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.4855, -1.4564, 1.0872, -0.1294, 0.4127, -0.0952, -0.0073, -0.7863, -0.1162, 6.612, 1.873, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b1c85c488a3216c2154236cca2de091fb591597934e7e41342c9e0bf4b7055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668e6d06e144adb43feab9b7746943af06b4ac5da08ba6796525016b4e2a3253",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68fd4453c6f985009a3b9d326b75b4872d2946debc047246514eff9f6e56dbde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC0A-7Ne-z6GNT2boaMLvs2zKKjaqSLncbdof084qk63q_R7os_1TfVuzm2lmipuMH7FxLyVr6t_hUL6LeivGWr4QytBWM7J65Y_D3aHwuea5Sbq_In9i00gc2Daldkxh0Qc4yBa9W4eKoqhXSVpuFhxM70UpBBQC457S4ks0Omw5TWT2WQIaaYKhxdVSlixFQl1BO4RKp1d0bsxqmkMHQd_rmq9u-9InyYsju4Dx2BTCyvF9vkWVCsAHw0tav9K1UrEyRe6ZzSVpOyGM_OPNqnoqz8HKOjRhlA1_7q10N3s8NTrbHW-jlhEf8pCZhEe9dHz4ur4RGfMkrOFyII_nQmZYrz9ReFtd-XBS7Qwq6VrHAx7mz4XR8wyXmmgD_szGc-PHF0IDGHGvD0mtxGv6fprpybjQBZ6nXHyHq16EmuvQ_A4x2bUSzNG7uhVRwrt8ADoltdWYf77Dm_RBR9b_pTrkScdOkX5of2vWKvZ0mmKAGCHNhJuRXVk4r7UJ_VrCskLwBemBpW5O2myDeeGzBSWtOcy9rNgVEaBpxQ2El26ChEUG-u4xM-C4CNzJcwrJmRful_A584JT1YYE2fHvdeIW1KBzX-xPbPSb1zqHgbgRSnFD1Z7MtsNLVYZ9i4sjxMXuQbvlcgyiy41Q7TCY9b4m8hlt561xAxITDUrMJcc8oUv9olWRQq4i-CHhLyDbq0l_jxLb4ORdOWFlxVYfAMPHVj_s_pmOmhQuTZtxukhFKeHxU6umFDehLIYbfqQFDaKvesQNVOQQ0QLfo1akZPQXYReJf29X_Hf-YSJBhT3wMQ0cv7aePf65367wkp3NwaUIH5dDWAudtwbDoDB8peWk2F15pOL5c-ivSOogPcHrH-nqMy1wsoKFs9Qofw9SfnW1U5dZ1OPVk5H2KWJerjzUoYNFr5FTlfHMSJnf5XkOMxslbT-IrFUigEyufG6wr462WkuGG7rxQlqgazLIb9qmT7adsvX5u4dUcQWA5585TTWZZkAXdP8h7xL9bq1oIAL0CjQDUaQcspO5-vmYf_SLlObUvv7YuWHF5VUx-T20dhjy0N3OtFwlNKcPMj7S9Kos6jdhwFeLfBWXq0bQfc85b4hQI0OUoaKPuDwRlQLobKSQzU6PmYZxZbnwt5QfFTRJbme_Ntr8ijrrhAq-wEdILMxNEE0mu4BE8jkNWKsSUFWRMXZq5J1a1izgEY84rPxEICIJQIUjIO24aKmg4Ymaw9duQuq-nKg0hDMA-5QVdxXfcymxyAsMor4bf1fzKWMn7Rap8Ia6D3QlnUWB7ViXx8pn-iuTg0N8aPwIp82fiCef3D6ilWEQ82_aN7KA15Jj6qlETwRsb-_LA34IcT4w3TCFqMEw9GQXAqSGP441suJfnJPo6YFUKXuNuVmcVGNQC_6B3SaTM8v4qnovAThs3Dx1EjZDDsYpFxAxddzpR0ysAde12vmyfxgStsM5fAYjj2Y2M3ix3EblOgnbOHFaGOxmi4TogJV6JG17YNDNu3_4CZIxTuoWMJFgnRPLvWn7PbCgUuQ3x4ccfluBdixXxw5a8QTXM3rUSMY5jxly3gPGGRmMXb8-EoThTioVs1AEP8YKHnW-XQWRD_Si2beiA==",
  "id": "rs_0516d8c2dedd0b42016ab42cfec07087d0b35e86e734024407",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descending fingers met contact and the bottle cap remains centered in the left wrist image. I’ll close here, then check whether the jaw spacing indicates a neck grasp.\"}",
  "call_id": "call_DyBAh7dWS4NFNyr4vRoUx528",
  "id": "fc_0516d8c2dedd0b42016ab42cff877087d0a3c421be84dd73f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DyBAh7dWS4NFNyr4vRoUx528",
  "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]: [-0.9268, 1.771, 0.3862, 0.9123, -0.8104, -0.6025, 0.0152, -0.1463, 0.4961, 0.0483, -0.152, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.314 left_y=-0.1991 left_z=0.0539 left_yaw=0.0614 left_pitch=0.2307 left_roll=-0.2259 left_gripper=0.0152 right_x=0.2386 right_y=0.0065 right_z=0.0488 right_yaw=0.0987 right_pitch=-0.0128 right_roll=-0.004 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.2923, 0.6906, -0.4713, 0.7009, 0.0513, 0.735, -0.9641, -0.0889, 6.3385, 1.8681, -0.2369, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409848aa8148db153dab20867984ee6a6d7c0f708a4b6498aa5df80c55304037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00304d510ebed147fde613518701512d51a855b11ae2eebca831a1cd31444e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a5172fcbf9a810444f101ee3435387fc9aa8a1231047949870d05e60ad6aa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.046 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4471, 1.0332, 0.4706, -0.6235, -0.9436, -1.1847, 0.9967, -0.1463, 0.5549, 0.0982, -0.1566, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.1688 left_y=-0.1696 left_z=0.0979 left_yaw=-0.1151 left_pitch=-0.0134 left_roll=-0.0529 left_gripper=0.9967 right_x=0.244 right_y=0.0057 right_z=0.0574 right_yaw=0.0988 right_pitch=-0.0257 right_roll=-0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -2.2359, 8.0068, 0.6032, -0.696, 0.0024, -0.1001, -0.8821, -0.1436, 7.0632, 1.8681, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9363, 1.747, 0.3843, 0.7643, -0.7475, -0.5873, 0.9971, -0.1463, 0.5144, 0.0608, -0.1562, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3016 left_y=-0.2011 left_z=0.0323 left_yaw=-0.0259 left_pitch=0.1326 left_roll=-0.1266 left_gripper=0.9971 right_x=0.2392 right_y=0.0063 right_z=0.0496 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.4855, -1.4564, 1.0872, -0.1294, 0.4127, -0.0952, -0.0073, -0.7863, -0.1162, 6.612, 1.873, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9268, 1.771, 0.3862, 0.9123, -0.8104, -0.6025, 0.0152, -0.1463, 0.4961, 0.0483, -0.152, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.314 left_y=-0.1991 left_z=0.0539 left_yaw=0.0614 left_pitch=0.2307 left_roll=-0.2259 left_gripper=0.0152 right_x=0.2386 right_y=0.0065 right_z=0.0488 right_yaw=0.0987 right_pitch=-0.0128 right_roll=-0.004 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.2923, 0.6906, -0.4713, 0.7009, 0.0513, 0.735, -0.9641, -0.0889, 6.3385, 1.8681, -0.2369, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409848aa8148db153dab20867984ee6a6d7c0f708a4b6498aa5df80c55304037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00304d510ebed147fde613518701512d51a855b11ae2eebca831a1cd31444e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a5172fcbf9a810444f101ee3435387fc9aa8a1231047949870d05e60ad6aa3",
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  "role": "user"
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  "id": "rs_0516d8c2dedd0b42016ab42d02476887d0b7e1551bc642d333",
  "summary": [],
  "type": "reasoning"
}
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  "content": [],
  "encrypted_content": "gAAAAABqtC0II-_M9tjiXBC74CugDfhgUYzGvvO819O7vANhXge0R_AIigYRMcy1cng081aqsGvP8M6s0Lnb5Mdvf7dBFTu-Bxs9t9NdeFBjN_xtFEKNUmEB-gzKY35loMGPrLzf2DpawP1--PzjAx6qPpMs8ah7pdFi_SG7b9BZyzaH-Em7S6qf5IQmBU6pcNhEh8r-chSy6rJJ-Z8g0_2xPD6GyqvAJxI21Xx4ppt15Y6FS04gEnfCfldID9jduV-uKMuNzQJPJShNHSKv_C36AmwSOSC5i5Ln-r6UVivbUSW7lf1tfyXFylRgeU5XUv7catzEC0UeujxbbidZ0uzdP_2ieskRrTSPankq9ljvLDFddRRZ7DwxCKt8WfRtfvJZLOJLKU_4x0ocGyPQXB2h5HPXfQOmXHAB8r32v60d_ER-NiQNxK_4neWFwtT_cwfHylMS0Z30g96CisC128Q8o4opKM_sLXdkqKMsVlwt7dYbLTi7ldkdteZMQNuRzaQcrFkGc9xKWrWcmjINQtC21uZAKUZsLARIU1KI-pfaVPdN31ZOtD--V6-3iOhkvTA9iCdEy5gV4RKGba3ewxkLEeN1pabypBl2vOWHM93AlY2be2HNQVlCyzSt_YNzWBpR1Ab5xfwVrGCYnbnVzg53yGYewNh6iN4wDC4iQd9r-ebvwCfCRSxelCbXN-5QXQr6QXuFKexKUPDcJjRNqDD7pJCo637dQ0l9-ACLKXH6it2RLriRbVw9g5BhdGELz5JKPim4cHnFUftnlQEPN5oxwyHTtpXpEi_4_dohhF5wOzo8JWDzuUwpr5haNcc_O14lqCr-RsC9NhhIFGDhxbnW01QYj8gPq5GILSuCFHWx3nlUmfsnRpvShArepllHF7Ac4lMXh_NtxueBBnuB0vfEgQY8JVsM14zy1jeHIQoSjMYJSZHhusq61dbU0cCP_LdG0VD0cifv1MIN0VvREcIBX0R-2s_gJcuFNCysSmhP42fxoKdLHjCG7rrYf_svaiFzVGo6fXvju3d9FTQX0bNHQqnYGM6xr0WsJekJVtCvqMTPL9n8RxF0y03kMj9MERYsJ1cobSIToCcvm5OJJsisO0LUPRVEfh9eG67laYvueFkmjWKEGaKg4nyYq2nEbfFiOwuqQX3s8sUw3QcdAhxLY6IRk7Xqijgzbtp8O1JnM9tNL9Bd7GynZnvYnV90vEIHxeEfnBk22XjgdiqH4cW-dTxfKmeAgj3rTc2-lX5fHx5GFJpaqg7TGlkEAbDqwFmsw3dEF_d1rvVlGvrr4xUyQvUW4CIt8l85iqjhfLBQZAguWi7rivG9kBwII__KFjln-_CZy1NTn3NTUufDuztyXAxjDSoqVdWvwyE6G60DCcxQdqWIj_naDG1kozWkTp8299USvOaXZJplLpV0bDo_EShQDLNukVt3ajqK-d4j0afvgT4lwchCIyw9ADgsVshSUPzc8Jmu6gZUZkHti5A_Y5jGiig8A150oC1BqAD63FBtnf4jjEdBJZlR5qinjsk84xhoi5tC75LnqjYjYlr49y1nc7FP1WNZW5J1wIYL-OcUsV4SBKidXPVIPvDwaDZ_wCV_bKBl-HUQZ_JwPxpOqQ9oaZ74stoWK7SKo6F1fUlEwFJol8C5dbSC3UzvkG7I65Fy5SBy4cw80YYMJOicJVXf-fkBnw==",
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  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_z\":0.025,\"right_z\":0.18},\"note\":\"The neck close was empty; in the wrist view the cap was still ahead of the jaw tips. I’ll reopen, advance a few centimeters toward it, and raise the idle right arm, which has drifted close to the table.\"}",
  "call_id": "call_XphE53WBmEbZTX6WDvhiyjI3",
  "id": "fc_0516d8c2dedd0b42016ab42d07a96887d08925afd15e50a04b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XphE53WBmEbZTX6WDvhiyjI3",
  "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]: [-0.823, 1.7901, 0.6647, 0.3996, -0.7437, -0.6495, 0.9949, -0.1463, 0.5152, 0.5159, -0.6041, -0.218, -0.1699, 0.9983]\nstate[eef_state]: left_x=0.3534 left_y=-0.1999 left_z=0.0418 left_yaw=0.1084 left_pitch=0.0505 left_roll=-0.0818 left_gripper=0.9949 right_x=0.2387 right_y=0.0071 right_z=0.1648 right_yaw=0.1034 right_pitch=-0.0156 right_roll=-0.0041 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -5.0803, 5.8325, 0.9939, -0.0073, 0.5348, -0.232, -0.8684, 0.8821, 9.1829, 1.7558, -0.1587, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea55bdf29ee89f7624cd3ee118595e074fe6b8cf39582d5d12cae5f271aa8cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f6f010ca68dfb53e13f19c2e78f0fdb4b13a335f72351e44016dae884e68e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e285b1bc867e20a4b8ec67de9be222cb26ac1ec056bcce4916a532fd0e24222",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.5 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.5742, 0.3431, 0.519, -0.7151, -0.5911, 0.997, -0.1463, 0.5343, 0.0792, -0.1574, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.2829 left_y=-0.1798 left_z=0.0322 left_yaw=-0.0503 left_pitch=0.0459 left_roll=-0.0534 left_gripper=0.997 right_x=0.2414 right_y=0.0061 right_z=0.0533 right_yaw=0.0987 right_pitch=-0.025 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -2.7556, 2.8239, 0.3785, 0.1538, 0.2906, 0.0269, -0.7726, 0.0479, 6.612, 1.9072, -0.2222, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9268, 1.771, 0.3862, 0.9123, -0.8104, -0.6025, 0.0152, -0.1463, 0.4961, 0.0483, -0.152, -0.2146, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.314 left_y=-0.1991 left_z=0.0539 left_yaw=0.0614 left_pitch=0.2307 left_roll=-0.2259 left_gripper=0.0152 right_x=0.2386 right_y=0.0065 right_z=0.0488 right_yaw=0.0987 right_pitch=-0.0128 right_roll=-0.004 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.2923, 0.6906, -0.4713, 0.7009, 0.0513, 0.735, -0.9641, -0.0889, 6.3385, 1.8681, -0.2369, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.823, 1.7901, 0.6647, 0.3996, -0.7437, -0.6495, 0.9949, -0.1463, 0.5152, 0.5159, -0.6041, -0.218, -0.1699, 0.9983]\nstate[eef_state]: left_x=0.3534 left_y=-0.1999 left_z=0.0418 left_yaw=0.1084 left_pitch=0.0505 left_roll=-0.0818 left_gripper=0.9949 right_x=0.2387 right_y=0.0071 right_z=0.1648 right_yaw=0.1034 right_pitch=-0.0156 right_roll=-0.0041 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -5.0803, 5.8325, 0.9939, -0.0073, 0.5348, -0.232, -0.8684, 0.8821, 9.1829, 1.7558, -0.1587, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea55bdf29ee89f7624cd3ee118595e074fe6b8cf39582d5d12cae5f271aa8cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f6f010ca68dfb53e13f19c2e78f0fdb4b13a335f72351e44016dae884e68e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e285b1bc867e20a4b8ec67de9be222cb26ac1ec056bcce4916a532fd0e24222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC0NjVjbHo1U15Qwm6-0H6UuzJanN3vBci9iuPhTDraTXontycCns-T27lB44BvSxJdmhKT23e_7o2ruS3UHTjREpK-GXz2wJIqe2cmCcdcF6DoHuAr37DcJb0xWi2aXEHjvgoLalxqasWHmVwmK-17zxoqjN2yrzuHHiqcgtCjIHB-1eSlz9V44Xl1eGc8Oc-eqV_m9SlwVHQJQETIakYoIHPlV2fDMeKntawdeSRI19C5WdB2YYYBDWrdbhhFzPzoMHWl8S6nfeugdr2TqAU7LSzq0FrIjhIFhEbtAkLQEJ7d1yrEDMliIwAQlgZIBy4VpcW9Fjn_Gcr8p4NioRcBgx2BjW8PP4GXkN2YlnHFKXpAr17TDpXI2mj-iFPNs-bNESFdkCVhk8-7oidr0ckP6Ngv8mbdLY_KeiChjliupG0DacvqRTSqXpDuleC1-wVg4tzqY7NJGncoUfS8nGuCV-D7YlZhXL7I5J0-KxMZxgh4JQZV0mKggyg2NJITRYf6Lj5tca10z_VfM5RSrOaSm4cQ61ovdNCDii6w-HdfFlb2EzsTl5sLJBRSI8mmNN01c9wTDONl34pyhULiDcNLi93TtVkVHoqrTYeUJiWnGffWRYec4N-fNlWFz5kjrln7drto7PDiryCd9SIfe3gjSwgmXmId1uB0sSzOtdZ9_6vDr1olFD3wzDtQsc7Gni6a7qwuBsP0_2fBOP-GBFug3uvugJiVSk6LUkuusjwZXt0k7MRAtnDpRD9F_Q1bjZTSOTuvD0MPyAxpIKjRh653ORGoMzKAch1Z38v6d2AZaBDPhgDcjWpBx4TrbTH_Gq42WmOS_amq4q0pnR28eJmyWoCoEiJYmLP7NyNl0iUZZvJ2tJts7mvhvV2tA8P9eOGcD8KIxdXSLcvFaBTiVUeaZP5-rnpd6K671FxPCQbtb04TyOjmFC1L1uyuJjLd8UP5sxxvLWzwltITAR0ZHghUqiKOxcoaW-dBfz7pSPgS4pH-Y4iwEiSEm72ax4ji2oJOYtjhSPvCkst-gShInjC6_Nk8FOlUCQbuVN6BHPmO3FgijGqYY8B3YaIh8XGyyV68jbg7QEomxHXJ1wpbvDV3mcMSsNLyRCoJKK7OskWxrbPLdpM-TecaH7e_hTMoFYg5E3vT822COwaN11_EnCh31CdeKNxLt8oXtf_Z65soMuXGOmvTRTgpsBUsoOSCTYrUEklCSU-Ey4MzrI2EavjDqrUF6Yvri4CP6uY-aCI9WATdebV40NP5gfXREX2KZ10rlvEdqosmWHW7cF77-UGMJCsCDV-7bwToNSksdMzDhep00JiYFqjnBFd1QuCm9r9lERxTLvqrV4F_uegED8MkMm5HPhihEgpBc5ReQnezDfMElor7hLqy1UGdpf89t8_otQdNcsJzr3UO-32fgCuNYk-AMfj2GnR1-1s61s4W3hSJxf_17n1E55NT1UG92bREMqgL_1RyPaqKSPbj6TbD6OSjoUHKknAgnqStVJQvJYJX5cYWpO_Dpd8rQ_hfhH-_aum3ct_TkgLaWyQoKfXG_ke_FPQ8TqDRCaMxo1spDSODxtN3zNrM_DgsPE2z3pdk6PClpM5I1MItAngia7usM-9nDEpERxpAMh0iacR9T1FNAdz9Jx_vt7wC-vQ9xDpTLoLUS4SQQofAwFxHjgA9xzTv-GCISD0XumbSi_MMQSMZfzR1w61iIIS98R3HtqetQeKZXamWNGMu4ntJyYfvySeHaPHtLty7iBvFsd1yWC87cFtprXfbbPYWzxsc8ACnZC028pOZGte-fX6yes35vJ3HRu5P94wP4NIhVVh1pam0wfFgszxUABAo353GXoNynmZjKCMkUBtuZVxfXZxf5rUKLF8MFN2HOWvqouI-nBME5IL3nJyj97fRtTpq-92OaXyAjteAMWoFEOt4Z7_eFtsBGHSXzVMkUC5adXIssw47afZxTINpJIyHev5j5k06jIDXRPMwjK-e3_sDvN9XilnKM_rNosiiWke_P6fo8AOUUx7rtNSuF9ShN87iwqGZ0geMJweGXvUqBQJ8r9PkD4B_9pyIZuuKuyaM97cXldQ1bQ6pBZBAXP1wGFh9hTsHRakONGjS0dTqa05O4m7t2qyEbmxDrgk1u4a9HHkxCTeQ=",
  "id": "rs_0516d8c2dedd0b42016ab42d0ac8e087d0bc223e81eccebd22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.245,\"left_z\":0.005},\"note\":\"The cap shifted to the right of the open left hand during that approach, leaving the wrist view empty. I’ll make one careful correction toward its visible position on the overhead image and stay low enough to test a grasp.\"}",
  "call_id": "call_8vNvSTHdbR2c7400p6sSIu15",
  "id": "fc_0516d8c2dedd0b42016ab42d0c487487d08e126e22371b7fe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8vNvSTHdbR2c7400p6sSIu15",
  "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]: [-0.844, 2.0434, 0.9073, 0.2916, -0.7666, -0.6662, 0.9962, -0.1463, 0.5056, 0.5041, -0.6235, -0.2218, -0.1703, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.2367 left_z=0.0028 left_yaw=0.1103 left_pitch=-0.0064 left_roll=0.0094 left_gripper=0.9962 right_x=0.2346 right_y=0.0084 right_z=0.1578 right_yaw=0.1069 right_pitch=-0.0361 right_roll=0.0031 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -9.8667, 6.6256, 1.2821, -0.2613, 0.0366, 0.1197, -0.9368, 0.2667, 6.6256, 1.9853, -0.2076, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a012087c60609999d78559a0815117cebc4264fdb9d3e2e1b4f946d4776a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8211a9ea37ca5631d2ea89f1eb928a5c9c8a185af0fa4fbb4f995d4b2fc0de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a573e6d672dc6d16ea381745b1069136cc501dfbc3dba77072fb4da0b0e5782",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.683 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9363, 1.747, 0.3843, 0.7643, -0.7475, -0.5873, 0.9971, -0.1463, 0.5144, 0.0608, -0.1562, -0.2142, -0.1665, 0.9983]\nstate[eef_state]: left_x=0.3016 left_y=-0.2011 left_z=0.0323 left_yaw=-0.0259 left_pitch=0.1326 left_roll=-0.1266 left_gripper=0.9971 right_x=0.2392 right_y=0.0063 right_z=0.0496 right_yaw=0.0984 right_pitch=-0.0225 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.4855, -1.4564, 1.0872, -0.1294, 0.4127, -0.0952, -0.0073, -0.7863, -0.1162, 6.612, 1.873, -0.2076, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.823, 1.7901, 0.6647, 0.3996, -0.7437, -0.6495, 0.9949, -0.1463, 0.5152, 0.5159, -0.6041, -0.218, -0.1699, 0.9983]\nstate[eef_state]: left_x=0.3534 left_y=-0.1999 left_z=0.0418 left_yaw=0.1084 left_pitch=0.0505 left_roll=-0.0818 left_gripper=0.9949 right_x=0.2387 right_y=0.0071 right_z=0.1648 right_yaw=0.1034 right_pitch=-0.0156 right_roll=-0.0041 right_gripper=0.9983\nstate[joint_eff]: [0.2803, -5.0803, 5.8325, 0.9939, -0.0073, 0.5348, -0.232, -0.8684, 0.8821, 9.1829, 1.7558, -0.1587, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.844, 2.0434, 0.9073, 0.2916, -0.7666, -0.6662, 0.9962, -0.1463, 0.5056, 0.5041, -0.6235, -0.2218, -0.1703, 0.9983]\nstate[eef_state]: left_x=0.3792 left_y=-0.2367 left_z=0.0028 left_yaw=0.1103 left_pitch=-0.0064 left_roll=0.0094 left_gripper=0.9962 right_x=0.2346 right_y=0.0084 right_z=0.1578 right_yaw=0.1069 right_pitch=-0.0361 right_roll=0.0031 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -9.8667, 6.6256, 1.2821, -0.2613, 0.0366, 0.1197, -0.9368, 0.2667, 6.6256, 1.9853, -0.2076, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a012087c60609999d78559a0815117cebc4264fdb9d3e2e1b4f946d4776a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8211a9ea37ca5631d2ea89f1eb928a5c9c8a185af0fa4fbb4f995d4b2fc0de1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a573e6d672dc6d16ea381745b1069136cc501dfbc3dba77072fb4da0b0e5782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC0RQUygBCvpSP2Bh98lKAAA5vQKYp-E4TSKA-3ShCx6vc5h99_G9GVgYnoMFSKLx2nBD180h4XIbr0K0jyBgiIzJ1MusNeCuUGjGhMjYdU-TDE1V6obVzx6swB8pKIktxE7_f64WtOs4D7t1_3G4Fm4_NONEgCOGGYVGZGUckGL-FGDm6WKiqoDNatsgEQCBK9xvPq8lK2XncGGBnpybEFnmw7zgL52HKy94RoJGEa2Td0U9dPHY_-ClWfxlOm49OZQS-2yABaPmMBnbmZAc334kVV6J1nD2C12lJWoL72wvU9xb-E-d3f6P2EzlJ9CBy39IQwxVizOPBZQ7LyhOPgEjvVncmtGQFzjq_7rRZxJliZ_6RkwX_rpSbl7-zHu9xqX6OYd6qwAEeckIhS6QI3eseL2Xa-C-qMwGM5PbOPj_ycuRGbUXLjzH2gZ4Oc4gldKCon0FqRbRlG7mWUwBWXiLaJRhIshQj217eklzPVMDxgH7kjSf6dvnwiAwEdTPpt74iuC8BHo0ihoY_SORDByfkukzR1nIyO7JAHBUOKslHfD4Ien8jgw54-5vQrPcVtrc36eAh-VRi-dZzFdbDEaCslpOAPew4ry4wt-r4ORuyqk6KAmbAVl4jInsC3D48ApeVqNx7kOGDvg7xlEwjwIVQ-YuS3SdQGxlzYjAX08rk2GKXjoEBP-tZ-07uiBkL0TzMOGrWmMrpVfVJ552mro-q83zBRT4S-9QCkf77Ms6Z6ptjvA2_kB6mD_COMAxXd6EF9nlcr2WA68Q6Bpn3-ux5XOKWnwW5XEbxXoqvApyTxmR-jC74hFY2BNl7eOdT5WSTHh9YG8gcjOTz2SgvAtgs1FwpEeYUSvJrhaYA_cHB62qgj2LGOCHjFOJKvbwrJsxyGLjPl_4kvoZ8ubz50NEfqHNXEmffJ8RWeB5AMnOrJNXAHbI6zl67WevulXf2SzULZ5GdGAKxB6DxXYVY1uKNK6AnQTlDZaaGUvB5d52JFKhqoC7u5Gf8neK1j3h_e2QLzLUI7ptjlZK9CBDk57AT8ccS1fwXMyHIS3QOoZ9fzSBTKw-ve9eeXQUNwqcCFoB7c5IBSsib7vCaAnUFDtLoZNj9wpGRYivXK_jEIvE6-KIo2j0nZtvP4ZV3zBnswSh8MHqqACNkNaLj6zqtyldAUmqKT52sTrHA0ajN12f22qrG2fNsQkRqX0rucG_-qYrDU7VgfOTOnCkOGZwleJeDEzAnKgnp9yO8GJESJVV4PX3ck6kR_A34wzBUK13eRO2oeEZKtN79DXk5lUfjUy7QnETOj9MmuEstHMNnEUvrJSzaDg5misTVGMdJmTKQiB2_c94u1tameKz21kyx9QghPiqWyViczxTJJgbcT8QD7PyFyNCQk-AoIth3KGZ2wWW10vJbYuQLFIoKLZqkI9wv3iDbRmKV1_3cGY9wqW4DLhPBfv2LL1l6JfRqclIMFdO-a5Lh94kpR6XuKOO3XRFbiqNYB7FRBHYQyY8flJbF1LbRqFlk_zp9g2j5LNZWjbT8KXnJOuPkcIUkoEu6yHFjoXr5ciiX-0MIFTQ-ORPGt3vQ8Phwr7sal2DEpWxwS_mi_lDy8BiRyDJn--uD1KFOnnfVAPch1fFyt5oObv0zke5yZEcnkg_n-NN8bNxHEgaBknjZneWDAsjM4Ge-579Ya3AmHC0vO-wx3TdEqocJhleJck9klNNoVIrAOiYEyQJpkuyF_D5dSERxc29g1vYQCUsHkeyw4kZuJqXEed7lzg35uZGNNcwfjt-R9SrdUcXgRhrZHIZiJR-tSTwev9cNw1iyPNecugZPeyWPQV8ZmCwc_pR6GpbLExyLB3UZoC",
  "id": "rs_0516d8c2dedd0b42016ab42d0ef3c887d0a6c189a6c52bc787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.29,\"left_z\":0.005},\"note\":\"The separated bottle slid sideways again; its neck is now just behind and to the right of the left finger tips in the overhead view. I’ll follow that shift without advancing farther into the other bottles.\"}",
  "call_id": "call_4mnwSAYYmdwmNOWfL7BloNCg",
  "id": "fc_0516d8c2dedd0b42016ab42d107b1087d0bbdf0d091c58dd84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4mnwSAYYmdwmNOWfL7BloNCg",
  "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]: [-0.9573, 2.1075, 1.0451, 0.1562, -0.8223, -0.7822, 0.9963, -0.1463, 0.4755, 0.4721, -0.6128, -0.2218, -0.1703, 0.9983]\nstate[eef_state]: left_x=0.3644 left_y=-0.2865 left_z=0.0044 left_yaw=0.0949 left_pitch=-0.003 left_roll=-0.0134 left_gripper=0.9963 right_x=0.2322 right_y=0.0087 right_z=0.1521 right_yaw=0.1069 right_pitch=-0.0276 right_roll=0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.3214, -9.3607, 6.7624, 1.1404, -0.5055, 0.1783, 0.0073, -0.9094, 0.212, 7.0085, 1.8535, -0.232, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f627bab38efa2f41bcbb5974bedf98534cd4c6fa43afc23e716fc1e36c35d1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1028251ff366bfba7f295a78eae42d87584cbed1db1798c88256648bbe7013d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b9bb218d3806899d4c5b317986b925e289e02f937a93069c214f41cf65bcbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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