adhoc

completed
2026-09-23T20:10:28.770460+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
238.8 s
total steps
356
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 capped ends farther from the arms. I’ll approach the capped end of the left bottle from above so I can grip and lift it into a standing position.
move_to
left_x0.3900left_y0.0150left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7933, 0.6079, -0.3771, -0.0196, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.3866, -0.0284, -0.0341, 0.9981] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9981 state[joint_eff]: [-0.4171, -1.4154, 9.7436, 1.7802, -0.0611, 0.0952, -0.1441, -0.9368, -1.0325, 10.4274, 1.8584, 0.0611, 0.1832, -0.2076] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":0.015,"left_z":0.14},"note":"All three bottles are lying down with their capped ends farther from the arms. I’ll approach the capped end of the left bottle from above so I can grip and lift it into a standing position."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe left bottle’s neck is still ahead of the fingertips in the wrist view, and the gripper is above its shoulder. I’m moving farther forward and lower to line up a grip near that end.
move_to
left_x0.4550left_y0.0090left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0406, 1.2781, 0.6292, -0.0242, 0.0166, -0.025, 0.9984, -0.0189, 0.7918, 0.6033, -0.4038, -0.0292, -0.0353, 0.9981] state[eef_state]: left_x=0.368 left_y=0.0156 left_z=0.1109 left_yaw=0.0271 left_pitch=-0.1107 left_roll=-0.0176 left_gripper=0.9984 right_x=0.2913 right_y=0.0032 right_z=0.1754 right_yaw=-0.0021 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.9981 state[joint_eff]: [0.3077, -5.4222, 9.6205, 1.956, 0.1245, 0.2808, -0.0464, 0.0205, -1.4974, 7.0359, 1.8486, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":0.009,"left_z":0.065},"note":"The left bottle’s neck is still ahead of the fingertips in the wrist view, and the gripper is above its shoulder. I’m moving farther forward and lower to line up a grip near that end."})
tool
executing move_to over 7 steps (0.7s)
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 neck and shoulder of the left bottle are now visible near the jaws, but the bottle sits to the right of their centerline. I’ll shift slightly right and lower to place the jaws around its shoulder.
move_to
left_x0.4730left_y-0.0290left_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 1.7149, 0.7044, 0.3977, -0.0227, -0.0296, 0.9983, -0.0193, 0.7826, 0.5842, -0.403, -0.0292, -0.0353, 0.9981] state[eef_state]: left_x=0.4408 left_y=0.0105 left_z=0.0559 left_yaw=0.029 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9983 right_x=0.2885 right_y=0.0032 right_z=0.1693 right_yaw=-0.0025 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9981 state[joint_eff]: [-0.4991, -7.5556, 6.5573, 1.7851, -0.022, -0.0366, -0.0269, -0.1709, -1.6479, 6.8444, 1.9219, -0.0806, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.473,"left_y":-0.029,"left_z":0.027},"note":"The neck and shoulder of the left bottle are now visible near the jaws, but the bottle sits to the right of their centerline. I’ll shift slightly right and lower to place the jaws around its shoulder."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe fingertips appear to have nudged the left bottle forward rather than captured it; its body is still off to the right in the wrist image. I’ll lift slightly and move right and forward to realign over the neck without dragging it.
move_to
left_x0.4860left_y-0.0640left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 1.9163, 0.7341, 0.5385, -0.1059, -0.083, 0.9982, -0.0193, 0.77, 0.5541, -0.3962, -0.0292, -0.0353, 0.9981] state[eef_state]: left_x=0.4543 left_y=-0.0257 left_z=0.0091 left_yaw=0.0159 left_pitch=-0.0773 left_roll=0.0098 left_gripper=0.9982 right_x=0.2848 right_y=0.0033 right_z=0.1603 right_yaw=-0.0025 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [0.1026, -9.4701, 7.6513, 2.1807, -0.1099, -0.0073, -0.022, -0.3761, -1.812, 6.9949, 1.9853, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.486,"left_y":-0.064,"left_z":0.045},"note":"The fingertips appear to have nudged the left bottle forward rather than captured it; its body is still off to the right in the wrist image. I’ll lift slightly and move right and forward to realign over the neck without dragging it."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe arm did not reach the last target and the bottle slid farther away, so the fingertips are likely pressing against it at table height. I’ll back up and raise the gripper before trying a safer grip on the bottle’s nearer shoulder.
move_to
left_x0.4020left_y-0.1300left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1165, 1.932, 0.7475, 0.5716, -0.1253, -0.1055, 0.9982, -0.0193, 0.7494, 0.5171, -0.3771, -0.0296, -0.0353, 0.9981] state[eef_state]: left_x=0.4619 left_y=-0.0282 left_z=0.0137 left_yaw=0.033 left_pitch=-0.045 left_roll=-0.0013 left_gripper=0.9982 right_x=0.2815 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0381 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-0.2667, -8.9368, 6.8034, 1.9267, -0.1148, 0.0171, -0.0171, -0.2803, -1.8256, 6.7487, 2.0733, -0.0708, -0.0415, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.402,"left_y":-0.13,"left_z":0.15},"note":"The arm did not reach the last target and the bottle slid farther away, so the fingertips are likely pressing against it at table height. I’ll back up and raise the gripper before trying a safer grip on the bottle’s nearer shoulder."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteFrom above, the left bottle is still lying diagonally and the raised gripper is now over its upper half. I’m lowering onto the bottle’s forward half, keeping away from the table to avoid pushing it again.
move_to
left_x0.4550left_y-0.1540left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 1.5116, 0.8436, 0.1837, -0.3527, -0.281, 0.9981, -0.02, 0.7261, 0.4778, -0.3584, -0.0296, -0.0353, 0.9981] state[eef_state]: left_x=0.4158 left_y=-0.1653 left_z=0.1613 left_yaw=-0.0876 left_pitch=0.1088 left_roll=-0.0763 left_gripper=0.9981 right_x=0.2777 right_y=0.0032 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.0354 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [4.0547, -3.6034, 6.147, 1.1111, -0.5934, 0.0073, -0.0171, -0.2803, -1.2376, 7.1726, 1.9805, -0.0757, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.154,"left_z":0.07},"note":"From above, the left bottle is still lying diagonally and the raised gripper is now over its upper half. I’m lowering onto the bottle’s forward half, keeping away from the table to avoid pushing it again."})
tool
executing move_to over 6 steps (0.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe left arm is struggling to track a low, far-forward target, and all three bottles remain on their sides. I’ll park it and approach the rightmost bottle with the right arm, whose neck is more accessible.
move_to
left_x0.2900left_y0.0000left_z0.1800right_x0.3800right_y0.1000right_z0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5022, 1.6363, 0.9096, 0.0662, -0.3584, -0.2653, 0.9981, -0.02, 0.7055, 0.445, -0.3431, -0.0296, -0.0353, 0.9981] state[eef_state]: left_x=0.4228 left_y=-0.1574 left_z=0.1132 left_yaw=-0.0724 left_pitch=-0.0498 left_roll=0.0139 left_gripper=0.9981 right_x=0.2745 right_y=0.0033 right_z=0.1382 right_yaw=-0.0029 right_pitch=-0.0324 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [0.0615, -8.7453, 7.5145, 1.9219, -0.1001, 0.1538, -0.0122, -0.3897, -1.2103, 7.2821, 1.9609, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"right_x":0.38,"right_y":0.10,"right_z":0.105},"note":"The left arm is struggling to track a low, far-forward target, and all three bottles remain on their sides. I’ll park it and approach the rightmost bottle with the right arm, whose neck is more accessible."})
tool
executing move_to over 14 steps (1.4s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe right bottle is clearly visible beneath the right wrist camera, with its neck ahead and slightly left of the jaws. I’m moving forward and left to center the jaws on its upper body before closing.
move_to
right_x0.4010right_y0.1280right_z0.0430
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0139, 0.799, 0.5724, -0.3214, 0.0181, -0.0151, 0.998, 0.3798, 1.3937, 0.5758, 0.1226, 0.2745, 0.1581, 0.9981] state[eef_state]: left_x=0.2988 left_y=0.0045 left_z=0.1763 left_yaw=-0.0061 left_pitch=0.0145 left_roll=-0.0082 left_gripper=0.998 right_x=0.3594 right_y=0.0958 right_z=0.0805 right_yaw=0.0362 right_pitch=-0.0932 right_roll=-0.0401 right_gripper=0.9981 state[joint_eff]: [0.3897, -1.9077, 8.6359, 2.0195, 0.0073, 0.2613, -0.0171, 0.0479, -4.9709, 8.9094, 2.0098, 0.2857, 0.2515, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.401,"right_y":0.128,"right_z":0.043},"note":"The right bottle is clearly visible beneath the right wrist camera, with its neck ahead and slightly left of the jaws. I’m moving forward and left to center the jaws on its upper body before closing."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe right bottle is now centered between the open jaws, but the fingertips are nearer its base than its neck. I’ll advance a few centimeters along the bottle to grip the upper body while keeping the bottom on the table.
move_to
right_x0.4260right_y0.1250right_z0.0370
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.8139, 0.5724, -0.3637, 0.0212, -0.0036, 0.998, 0.432, 1.6901, 0.5732, 0.4282, 0.2878, 0.1757, 0.9981] state[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1634 left_yaw=-0.022 left_pitch=-0.0427 left_roll=-0.0017 left_gripper=0.998 right_x=0.3807 right_y=0.1243 right_z=0.0282 right_yaw=0.0681 right_pitch=-0.0841 right_roll=-0.032 right_gripper=0.9981 state[joint_eff]: [0.0342, -1.4701, 8.3897, 1.9267, 0.0024, -0.1294, -0.0122, -0.2803, -6.2974, 7.4598, 2.0684, 0.1734, 0.1734, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.426,"right_y":0.125,"right_z":0.037},"note":"The right bottle is now centered between the open jaws, but the fingertips are nearer its base than its neck. I’ll advance a few centimeters along the bottle to grip the upper body while keeping the bottom on the table."})
tool
executing move_to over 4 steps (0.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe right bottle’s body is centered between the jaws at fingertip height. I’m closing the gripper to test whether it can hold the bottle firmly enough to raise its upper end.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0071, 0.7906, 0.532, -0.3298, 0.0151, -0.0067, 0.998, 0.432, 1.7214, 0.5838, 0.4728, 0.2916, 0.1761, 0.9981] state[eef_state]: left_x=0.2918 left_y=0.003 left_z=0.1582 left_yaw=-0.0149 left_pitch=-0.026 left_roll=-0.0004 left_gripper=0.998 right_x=0.3879 right_y=0.1269 right_z=0.0284 right_yaw=0.0654 right_pitch=-0.0608 right_roll=-0.0253 right_gripper=0.9981 state[joint_eff]: [-0.0752, -1.7436, 6.8581, 1.9463, 0.0513, -0.0269, -0.0122, -0.0615, -6.5436, 6.9812, 2.0635, 0.2613, 0.1294, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s body is centered between the jaws at fingertip height. I’m closing the gripper to test whether it can hold the bottle firmly enough to raise its upper end."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe gripper closed nearly all the way, so it missed the bottle despite appearing aligned in the wrist camera. I’ll reopen and move farther forward and a little lower; the fingertips are beyond the camera’s bottom edge.
move_to
right_gripper1.0000right_x0.4320right_y0.1310right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.7792, 0.5125, -0.3111, 0.0147, -0.0071, 0.998, 0.432, 1.7199, 0.5503, 0.6601, 0.2874, 0.1753, 0.0143] state[eef_state]: left_x=0.2911 left_y=0.0029 left_z=0.1563 left_yaw=-0.0147 left_pitch=-0.0153 left_roll=-0.0002 left_gripper=0.998 right_x=0.4003 right_y=0.1334 right_z=0.0543 right_yaw=0.0687 right_pitch=0.0835 right_roll=0.0316 right_gripper=0.0143 state[joint_eff]: [-0.1983, -1.5385, 6.5162, 1.9365, -0.0122, -0.0513, -0.0073, -0.294, -4.7248, 3.494, 1.3553, 0.149, 0.0024, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.432,"right_y":0.131,"right_z":0.04},"note":"The gripper closed nearly all the way, so it missed the bottle despite appearing aligned in the wrist camera. I’ll reopen and move farther forward and a little lower; the fingertips are beyond the camera’s bottom edge."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteWith the gripper reopened, the bottle fills the lower part of the wrist view but still extends toward the hidden fingertip position. I’m advancing about two centimeters and lowering to the bottle’s mid-height before another grip.
move_to
right_x0.4470right_y0.1320right_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.7776, 0.5034, -0.3111, 0.0143, -0.0067, 0.998, 0.3912, 1.8019, 0.6888, 0.4969, 0.2459, 0.1341, 0.9946] state[eef_state]: left_x=0.2897 left_y=0.003 left_z=0.1525 left_yaw=-0.0146 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.998 right_x=0.4215 right_y=0.1312 right_z=0.0363 right_yaw=0.0858 right_pitch=-0.0239 right_roll=-0.0178 right_gripper=0.9946 state[joint_eff]: [-0.2393, -1.853, 6.5436, 1.9267, -0.0366, -0.0464, -0.0122, -0.9641, -6.106, 7.3778, 1.917, 0.0464, 0.1832, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.447,"right_y":0.132,"right_z":0.027},"note":"With the gripper reopened, the bottle fills the lower part of the wrist view but still extends toward the hidden fingertip position. I’m advancing about two centimeters and lowering to the bottle’s mid-height before another grip."})
tool
executing move_to over 2 steps (0.2s)
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 bottle remains centered and the fingertips are now farther along its body at about table-height midline. I’m closing the right gripper again and will check its settled opening for a real hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0071, 0.7727, 0.4961, -0.3035, 0.0143, -0.0067, 0.998, 0.3786, 1.858, 0.7265, 0.5289, 0.2272, 0.1204, 0.9966] state[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1521 left_yaw=-0.0142 left_pitch=-0.0176 left_roll=0.0002 left_gripper=0.998 right_x=0.4343 right_y=0.1338 right_z=0.0319 right_yaw=0.0962 right_pitch=-0.0138 right_roll=-0.015 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.7436, 6.1607, 1.9414, -0.0464, -0.0171, -0.0073, -1.0325, -6.4889, 5.8735, 1.6386, -0.0464, 0.0611, 0.1929] 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 bottle remains centered and the fingertips are now farther along its body at about table-height midline. I’m closing the right gripper again and will check its settled opening for a real hold."})
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 second close was also empty, so the right gripper is still behind or beside the bottle rather than around it. In the overhead view its forward half lies slightly left of the gripper; I’ll reopen and correct both position and side alignment.
move_to
right_gripper1.0000right_x0.4620right_y0.1650right_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.7708, 0.4866, -0.3023, 0.0143, -0.0067, 0.998, 0.3794, 1.8561, 0.7277, 0.6487, 0.2073, 0.1215, 0.0143] state[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1484 left_yaw=-0.0146 left_pitch=-0.0241 left_roll=0.0001 left_gripper=0.998 right_x=0.4479 right_y=0.1433 right_z=0.0577 right_yaw=0.1115 right_pitch=0.1017 right_roll=0.0292 right_gripper=0.0143 state[joint_eff]: [0.0479, -1.935, 6.3932, 1.9951, -0.0513, -0.0611, -0.0122, -0.4034, -7.7333, 4.3009, 0.9255, 0.1636, 0.0073, 0.6374] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.462,"right_y":0.165,"right_z":0.027},"note":"The second close was also empty, so the right gripper is still behind or beside the bottle rather than around it. In the overhead view its forward half lies slightly left of the gripper; I’ll reopen and correct both position and side alignment."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe right wrist view now shows the bottle’s body centered between the jaws at their lower edge. I’ll test this corrected grasp before trying to lift it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.7624, 0.4698, -0.2871, 0.0143, -0.0067, 0.998, 0.4263, 1.9491, 0.86, 0.522, 0.2352, 0.1249, 0.995] state[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1461 left_yaw=-0.0146 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.998 right_x=0.4602 right_y=0.1677 right_z=0.0383 right_yaw=0.1348 right_pitch=0.0215 right_roll=-0.0054 right_gripper=0.995 state[joint_eff]: [-0.1573, -1.7709, 6.4752, 1.8388, -0.0366, -0.0659, -0.0122, -0.3624, -6.9265, 6.4615, 1.7314, 0.1099, 0.1978, -0.2759] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right wrist view now shows the bottle’s body centered between the jaws at their lower edge. I’ll test this corrected grasp before trying to lift it."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe gripper settled around a 3.6 cm thickness, indicating it has caught the right bottle. I’ll lift gently and check overhead whether the bottle rises with it before trying to set its base down.
move_to
right_x0.4600right_y0.1700right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0071, 0.7624, 0.4644, -0.284, 0.0143, -0.0071, 0.998, 0.4255, 1.9396, 0.8726, 0.5327, 0.223, 0.107, 0.3747] state[eef_state]: left_x=0.2871 left_y=0.0031 left_z=0.1443 left_yaw=-0.014 left_pitch=-0.0195 left_roll=-0.0001 left_gripper=0.998 right_x=0.4653 right_y=0.1719 right_z=0.0494 right_yaw=0.1535 right_pitch=0.0514 right_roll=-0.0055 right_gripper=0.3747 state[joint_eff]: [0.0068, -1.853, 6.3795, 1.8828, -0.0317, -0.0757, -0.0122, -0.4581, -9.2239, 5.6821, 1.2576, 0.0317, 0.2076, 0.3541] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.17,"right_z":0.17},"note":"The gripper settled around a 3.6 cm thickness, indicating it has caught the right bottle. I’ll lift gently and check overhead whether the bottle rises with it before trying to set its base down."})
tool
executing move_to over 8 steps (0.8s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe right bottle is captured but still looks angled in the overhead view, with its bottom toward the arm. I’ll raise the gripped upper section while drawing it slightly back so the lower end can pivot onto the tabletop.
move_to
right_x0.4080right_y0.1710right_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0071, 0.7559, 0.4515, -0.2729, 0.0143, -0.0067, 0.998, 0.4255, 1.7054, 1.0901, -0.0223, 0.2008, 0.1001, 0.3745] state[eef_state]: left_x=0.2865 left_y=0.0031 left_z=0.1424 left_yaw=-0.0142 left_pitch=-0.0149 left_roll=0.0003 left_gripper=0.998 right_x=0.4554 right_y=0.1716 right_z=0.1366 right_yaw=0.1757 right_pitch=-0.0516 right_roll=-0.0261 right_gripper=0.3745 state[joint_eff]: [-0.0615, -1.4017, 6.5983, 1.8681, -0.0708, -0.0513, -0.0073, -0.5128, -11.0564, 9.4564, 1.956, 0.1441, 0.1294, -0.0366] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.408,"right_y":0.171,"right_z":0.28},"note":"The right bottle is captured but still looks angled in the overhead view, with its bottom toward the arm. I’ll raise the gripped upper section while drawing it slightly back so the lower end can pivot onto the tabletop."})
tool
executing move_to over 10 steps (1.0s)
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 overhead view still shows all three bottles lying on the table despite the apparent grip, so that lift did not stand the right one up. I’ll release and withdraw to get an unobstructed view before selecting a better contact point.
move_to
right_gripper1.0000right_x0.2950right_y0.0050right_z0.1850left_x0.2960left_y0.0010left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0067, 0.7551, 0.4496, -0.2661, 0.0143, -0.0071, 0.998, 0.4835, 1.4948, 1.3281, -0.4732, 0.2169, 0.112, 0.3745] state[eef_state]: left_x=0.2871 left_y=0.003 left_z=0.1432 left_yaw=-0.0144 left_pitch=-0.0092 left_roll=0.0001 left_gripper=0.998 right_x=0.4111 right_y=0.177 right_z=0.2491 right_yaw=0.2139 right_pitch=-0.0513 right_roll=-0.0264 right_gripper=0.3745 state[joint_eff]: [-0.0342, -1.7573, 6.0513, 1.8437, -0.0415, -0.0708, -0.0122, -0.0342, -9.4427, 9.5795, 1.8779, 0.2466, 0.3297, -0.0171] 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":{"right_gripper":1,"right_x":0.295,"right_y":0.005,"right_z":0.185,"left_x":0.296,"left_y":0.001,"left_z":0.18},"note":"The overhead view still shows all three bottles lying on the table despite the apparent grip, so that lift did not stand the right one up. I’ll release and withdraw to get an unobstructed view before selecting a better contact point."})
tool
executing move_to over 15 steps (1.5s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteWith both arms clear, all three bottles are still visibly on their sides. I’ll switch to the middle bottle and approach its broad body with the left arm, aiming lower than on the unsuccessful right-bottle pickup.
move_to
left_x0.4090left_y-0.2910left_z0.0760
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0006, 0.7925, 0.5613, -0.3672, 0.0067, -0.0078, 0.998, -0.1905, 0.8593, 0.659, -0.4137, -0.2947, -0.2211, 0.9981] state[eef_state]: left_x=0.2909 left_y=0.0022 left_z=0.1635 left_yaw=-0.0148 left_pitch=-0.036 left_roll=0.0032 left_gripper=0.998 right_x=0.3003 right_y=-0.002 right_z=0.1844 right_yaw=0.1485 right_pitch=-0.0129 right_roll=-0.0032 right_gripper=0.9981 state[joint_eff]: [-0.7179, -0.759, 10.1402, 1.8144, -0.0952, -0.1294, -0.0073, 0.5402, -2.1675, 7.0769, 1.7949, -0.442, -0.1148, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.409,"left_y":-0.291,"left_z":0.076},"note":"With both arms clear, all three bottles are still visibly on their sides. I’ll switch to the middle bottle and approach its broad body with the left arm, aiming lower than on the unsuccessful right-bottle pickup."})
tool
executing move_to over 27 steps (2.7s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe middle bottle’s cap is ahead of the left gripper and its body runs diagonally down the wrist image. I’ll advance toward its upper half, shift slightly toward its centerline, and lower to the body’s mid-height.
move_to
left_x0.4640left_y-0.3060left_z0.0260
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8394, 1.961, 1.1294, 0.0551, -0.664, -0.5526, 0.998, -0.1967, 0.8505, 0.6479, -0.4225, -0.3149, -0.2367, 0.9981] state[eef_state]: left_x=0.4037 left_y=-0.2815 left_z=0.0691 left_yaw=-0.0162 left_pitch=-0.0223 left_roll=0.0068 left_gripper=0.998 right_x=0.2969 right_y=0.0003 right_z=0.1808 right_yaw=0.1676 right_pitch=-0.019 right_roll=-0.0013 right_gripper=0.9981 state[joint_eff]: [-0.8274, -9.6342, 7.8838, 1.4188, -0.4518, 0.0366, -0.0073, -0.0479, -1.5248, 7.0496, 1.9219, 0.0317, 0.149, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.464,"left_y":-0.306,"left_z":0.026},"note":"The middle bottle’s cap is ahead of the left gripper and its body runs diagonally down the wrist image. I’ll advance toward its upper half, shift slightly toward its centerline, and lower to the body’s mid-height."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe middle bottle is centered between the open jaws, but the gripper is still a few centimeters above table-level midline. I’m descending vertically without advancing, to avoid pushing the bottle along the table.
move_to
left_z0.0090
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.786, 2.1899, 1.3277, 0.1699, -0.6567, -0.5312, 0.998, -0.1974, 0.8459, 0.6289, -0.4213, -0.3187, -0.2375, 0.9981] state[eef_state]: left_x=0.4604 left_y=-0.3033 left_z=0.0462 left_yaw=0.0207 left_pitch=0.0321 left_roll=-0.0398 left_gripper=0.998 right_x=0.2942 right_y=0.0013 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.0306 right_roll=0.0049 right_gripper=0.9981 state[joint_eff]: [0.2393, -9.4838, 5.8872, 1.2039, -0.0122, 0.1245, -0.0122, -0.4991, -1.9761, 6.9675, 1.9267, -0.2271, -0.022, -0.0171] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.009},"note":"The middle bottle is centered between the open jaws, but the gripper is still a few centimeters above table-level midline. I’m descending vertically without advancing, to avoid pushing the bottle along the table."})
tool
executing move_to over 3 steps (0.3s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe descent stopped around four centimeters above the table, which suggests the gripper is contacting the middle bottle rather than reaching the floor. I’ll close the jaws at this position and check whether it is actually secured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7856, 2.228, 1.3437, 0.2222, -0.6636, -0.5293, 0.998, -0.1974, 0.8352, 0.6022, -0.403, -0.3191, -0.2379, 0.9981] state[eef_state]: left_x=0.467 left_y=-0.3082 left_z=0.0411 left_yaw=0.0263 left_pitch=0.056 left_roll=-0.057 left_gripper=0.998 right_x=0.2925 right_y=0.0017 right_z=0.1684 right_yaw=0.1709 right_pitch=-0.0284 right_roll=0.004 right_gripper=0.9981 state[joint_eff]: [-0.3214, -8.0889, 5.8735, 1.0476, -0.188, -0.0366, -0.0122, -0.4308, -2.359, 6.653, 1.8486, -0.2564, 0.0073, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped around four centimeters above the table, which suggests the gripper is contacting the middle bottle rather than reaching the floor. I’ll close the jaws at this position and check whether it is actually secured."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe left gripper also closed completely empty; its last position was too far toward the cap and lifted off the bottle during closing. I’ll reopen and move back over the middle bottle’s thicker central section for a lower, more stable grasp.
move_to
left_gripper1.0000left_x0.4040left_y-0.3030left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7849, 2.233, 1.3586, 0.3096, -0.7212, -0.532, 0.0127, -0.1974, 0.8242, 0.5739, -0.392, -0.3191, -0.2405, 0.9981] state[eef_state]: left_x=0.479 left_y=-0.3086 left_z=0.0624 left_yaw=0.0807 left_pitch=0.1456 left_roll=-0.1098 left_gripper=0.0127 right_x=0.2896 right_y=0.0023 right_z=0.1609 right_yaw=0.1725 right_pitch=-0.0341 right_roll=0.004 right_gripper=0.9981 state[joint_eff]: [0.0068, -8.5402, 4.6154, 0.4567, 0.3639, -0.0024, 0.5934, -0.3487, -1.9077, 6.9402, 1.8877, -0.2613, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.404,"left_y":-0.303,"left_z":0.035},"note":"The left gripper also closed completely empty; its last position was too far toward the cap and lifted off the bottle during closing. I’ll reopen and move back over the middle bottle’s thicker central section for a lower, more stable grasp."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe middle bottle’s broad body is now centered in the wrist view, with its base just ahead of the jaw tips. I’m making a short forward-and-down adjustment to get the fingertips around its center rather than above it.
move_to
left_x0.4360left_y-0.3020left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8833, 2.1418, 1.2621, 0.0868, -0.7898, -0.6827, 0.9945, -0.1978, 0.8104, 0.5411, -0.3748, -0.3191, -0.2409, 0.9981] state[eef_state]: left_x=0.418 left_y=-0.3058 left_z=0.0452 left_yaw=0.098 left_pitch=0.0368 left_roll=-0.0358 left_gripper=0.9945 right_x=0.2866 right_y=0.0027 right_z=0.1533 right_yaw=0.1723 right_pitch=-0.0358 right_roll=0.0044 right_gripper=0.9981 state[joint_eff]: [-1.0872, -11.7538, 4.4786, 1.0085, -0.1294, 0.1294, -0.1783, -0.6632, -2.0444, 6.8581, 1.9463, -0.2369, -0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.436,"left_y":-0.302,"left_z":0.005},"note":"The middle bottle’s broad body is now centered in the wrist view, with its base just ahead of the jaw tips. I’m making a short forward-and-down adjustment to get the fingertips around its center rather than above it."})
tool
executing move_to over 3 steps (0.3s)
step 204
assistant
agent noteThe gripper stopped descending at the bottle’s top surface, while the bottle’s rear edge is still near the bottom of the wrist image. I’ll raise above it and advance slightly so the fingertips can descend around the body instead of pressing on top.
move_to
left_x0.4650left_y-0.3010left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8619, 2.2017, 1.3178, 0.1459, -0.7914, -0.683, 0.9959, -0.1978, 0.7959, 0.5076, -0.358, -0.3191, -0.2405, 0.9981] state[eef_state]: left_x=0.4374 left_y=-0.3116 left_z=0.0433 left_yaw=0.123 left_pitch=0.0681 left_roll=-0.0814 left_gripper=0.9959 right_x=0.2834 right_y=0.0034 right_z=0.1454 right_yaw=0.1721 right_pitch=-0.038 right_roll=0.0055 right_gripper=0.9981 state[joint_eff]: [0.9368, -7.3504, 5.5726, 0.6032, 0.0024, 0.2711, 0.1441, -0.7316, -2.0991, 7.1453, 1.9072, -0.2857, 0.0073, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.301,"left_z":0.09},"note":"The gripper stopped descending at the bottle’s top surface, while the bottle’s rear edge is still near the bottom of the wrist image. I’ll raise above it and advance slightly so the fingertips can descend around the body instead of pressing on top."})
tool
executing move_to over 4 steps (0.4s)
step 208
assistant
agent noteThe left arm barely rose when commanded, so it may be wedged against the bottle rather than free to reposition. I’m withdrawing it up and backward to clear contact, and raising the idle right arm back to its parked height.
move_to
left_x0.3800left_y-0.3000left_z0.1700right_x0.2950right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8429, 2.2147, 1.3231, 0.194, -0.794, -0.6811, 0.9961, -0.1986, 0.778, 0.4713, -0.3382, -0.3195, -0.2409, 0.9981] state[eef_state]: left_x=0.4479 left_y=-0.3078 left_z=0.0458 left_yaw=0.1457 left_pitch=0.092 left_roll=-0.1125 left_gripper=0.9961 right_x=0.2801 right_y=0.0039 right_z=0.1377 right_yaw=0.1719 right_pitch=-0.0365 right_roll=0.0049 right_gripper=0.9981 state[joint_eff]: [-0.1299, -7.9795, 5.2171, 0.862, 0.0562, 0.2271, 0.0122, -0.6769, -1.8393, 6.9265, 1.9805, -0.2906, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.30,"left_z":0.17,"right_x":0.295,"right_y":0.004,"right_z":0.18},"note":"The left arm barely rose when commanded, so it may be wedged against the bottle rather than free to reposition. I’m withdrawing it up and backward to clear contact, and raising the idle right arm back to its parked height."})
tool
executing move_to over 9 steps (0.9s)
step 217
assistant
agent noteThe left shoulder effort rose sharply while the arm remained below its requested height, so I don’t want to keep driving against the bottle. I’m withdrawing farther into clear space to release the contact safely.
move_to
left_x0.3250left_y-0.1800left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9295, 2.0758, 1.4487, -0.0986, -0.8288, -0.7906, 0.9962, -0.1879, 0.8238, 0.5819, -0.4019, -0.318, -0.2405, 0.9981] state[eef_state]: left_x=0.4202 left_y=-0.3391 left_z=0.1223 left_yaw=0.1402 left_pitch=0.0889 left_roll=-0.1744 left_gripper=0.9962 right_x=0.2893 right_y=0.0049 right_z=0.1627 right_yaw=0.1811 right_pitch=-0.0357 right_roll=0.0039 right_gripper=0.9981 state[joint_eff]: [-0.2256, -18.0034, 10.4821, 1.7167, -0.5836, 0.0122, -0.0024, 0.4171, -0.9915, 9.7162, 1.79, -0.0806, 0.0806, -0.0171] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.18,"left_z":0.2},"note":"The left shoulder effort rose sharply while the arm remained below its requested height, so I don’t want to keep driving against the bottle. I’m withdrawing farther into clear space to release the contact safely."})
tool
executing move_to over 15 steps (1.5s)
step 232
assistant
agent noteThe left arm has cleared the obstruction, and all bottles remain horizontal. I’ll park it and try the nearer, thicker base half of the right bottle with the right arm, where the gripper has more room to descend.
move_to
left_x0.2960left_y0.0000left_z0.1800right_x0.3640right_y0.1730right_z0.0920
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8688, 1.4246, 1.0641, -0.503, -0.7967, -0.7395, 0.9962, -0.1909, 0.8047, 0.5449, -0.3775, -0.3191, -0.2413, 0.9981] state[eef_state]: left_x=0.3302 left_y=-0.1893 left_z=0.1959 left_yaw=0.1462 left_pitch=0.0021 left_roll=-0.0224 left_gripper=0.9962 right_x=0.2865 right_y=0.0047 right_z=0.156 right_yaw=0.1793 right_pitch=-0.0294 right_roll=0.0016 right_gripper=0.9981 state[joint_eff]: [0.4444, -6.8581, 6.4752, 1.3358, -0.3785, 0.1441, -0.0122, -0.6085, -1.7983, 7.2, 1.8437, -0.2027, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.18,"right_x":0.364,"right_y":0.173,"right_z":0.092},"note":"The left arm has cleared the obstruction, and all bottles remain horizontal. I’ll park it and try the nearer, thicker base half of the right bottle with the right arm, where the gripper has more room to descend."})
tool
executing move_to over 17 steps (1.7s)
step 249
assistant
agent noteThe right bottle’s entire body is visible in the wrist camera with a small gap below its base, indicating the fingertips are still just behind it. I’ll advance a few centimeters and descend beside its near half to prepare a secure side grip.
move_to
right_x0.3820right_y0.1730right_z0.0140
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1993, 0.8333, 0.6209, -0.392, -0.3386, -0.2527, 0.9962, 0.5602, 1.4731, 0.5865, 0.2024, 0.2695, 0.1581, 0.9981] state[eef_state]: left_x=0.2961 left_y=0.0037 left_z=0.18 left_yaw=0.2068 left_pitch=-0.0034 left_roll=-0.0091 left_gripper=0.9962 right_x=0.3467 right_y=0.1662 right_z=0.0711 right_yaw=0.2211 right_pitch=-0.0838 right_roll=-0.0334 right_gripper=0.9981 state[joint_eff]: [0.2393, -1.7983, 6.5573, 1.7656, -0.0171, 0.1734, -0.0122, 0.1846, -5.5726, 8.6359, 1.9121, 0.3248, 0.2271, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.382,"right_y":0.173,"right_z":0.014},"note":"The right bottle’s entire body is visible in the wrist camera with a small gap below its base, indicating the fingertips are still just behind it. I’ll advance a few centimeters and descend beside its near half to prepare a secure side grip."})
tool
executing move_to over 4 steps (0.4s)
step 253
assistant
agent noteThe right bottle now fills the wrist view and its broad near half is directly between the open jaws at table height. I’m closing the gripper here and will verify that the opening stays wider than an empty close.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2035, 0.8364, 0.6159, -0.3943, -0.3309, -0.2398, 0.9962, 0.5163, 1.8046, 0.5373, 0.5785, 0.2386, 0.1452, 0.998] state[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1763 left_yaw=0.1895 left_pitch=-0.0146 left_roll=0.0018 left_gripper=0.9962 right_x=0.3653 right_y=0.1635 right_z=-0.0005 right_yaw=0.2097 right_pitch=-0.0944 right_roll=-0.0265 right_gripper=0.998 state[joint_eff]: [-0.2256, -1.7026, 7.2, 1.6532, -0.3053, -0.1245, -0.0073, -0.4581, -6.3111, 5.3812, 1.4286, 0.0464, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle now fills the wrist view and its broad near half is directly between the open jaws at table height. I’m closing the gripper here and will verify that the opening stays wider than an empty close."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteThe right gripper stopped at about 4.7 cm open, consistent with holding the bottle’s broad body. I’ll lift just a few centimeters and verify in the overhead image that the bottle actually moves with the jaws.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8352, 0.6041, -0.392, -0.337, -0.2394, 0.9962, 0.5175, 1.8507, 0.469, 0.7845, 0.2317, 0.1379, 0.4995] state[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.172 left_yaw=0.1947 left_pitch=-0.021 left_roll=0.0086 left_gripper=0.9962 right_x=0.3643 right_y=0.1648 right_z=0.0004 right_yaw=0.2218 right_pitch=-0.0081 right_roll=-0.0013 right_gripper=0.4995 state[joint_eff]: [-0.253, -2.0444, 6.7761, 1.8095, -0.1441, -0.0513, -0.0073, -0.1299, -5.9966, 3.8085, 1.9365, 0.1441, 0.0122, 0.8278] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The right gripper stopped at about 4.7 cm open, consistent with holding the bottle’s broad body. I’ll lift just a few centimeters and verify in the overhead image that the bottle actually moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 268
assistant
agent noteThe right bottle shifted toward the arm when the gripper lifted, and the jaws remain wrapped around its body, but the arm rose only about two centimeters. I’ll try a higher lift while keeping the grip closed to see whether its base can leave the table.
move_to
right_x0.3520right_y0.1610right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.828, 0.5838, -0.3729, -0.337, -0.239, 0.9963, 0.5167, 1.6077, 0.4942, 0.3813, 0.2226, 0.1341, 0.5023] state[eef_state]: left_x=0.2935 left_y=0.0028 left_z=0.1686 left_yaw=0.1945 left_pitch=-0.0153 left_roll=0.0065 left_gripper=0.9963 right_x=0.341 right_y=0.153 right_z=0.0206 right_yaw=0.2279 right_pitch=-0.1391 right_roll=-0.0379 right_gripper=0.5023 state[joint_eff]: [-0.1573, -1.9761, 6.8581, 1.7753, -0.1538, -0.0611, -0.0073, -0.1026, -9.3333, 9.265, 3.0403, 0.1832, 0.0024, 0.7595] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.352,"right_y":0.161,"right_z":0.16},"note":"The right bottle shifted toward the arm when the gripper lifted, and the jaws remain wrapped around its body, but the arm rose only about two centimeters. I’ll try a higher lift while keeping the grip closed to see whether its base can leave the table."})
tool
executing move_to over 9 steps (0.9s)
step 277
assistant
agent noteThe gripper still holds the right bottle at about five centimeters jaw width, but its capped end remains close to the tabletop. I’ll lift farther to determine whether the entire bottle is free or only pivoting against the table.
move_to
right_x0.3500right_y0.1650right_z0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.828, 0.58, -0.3698, -0.337, -0.239, 0.9963, 0.5175, 1.3277, 0.6662, -0.1349, 0.2054, 0.1291, 0.5052] state[eef_state]: left_x=0.2934 left_y=0.0029 left_z=0.1675 left_yaw=0.1945 left_pitch=-0.016 left_roll=0.0068 left_gripper=0.9963 right_x=0.326 right_y=0.1482 right_z=0.0915 right_yaw=0.2427 right_pitch=-0.204 right_roll=-0.0481 right_gripper=0.5052 state[joint_eff]: [-0.0479, -2.2085, 5.9966, 1.9023, -0.1392, -0.022, -0.0171, 0.4034, -9.1009, 11.7128, 2.9328, 0.3541, 0.0855, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.165,"right_z":0.27},"note":"The gripper still holds the right bottle at about five centimeters jaw width, but its capped end remains close to the tabletop. I’ll lift farther to determine whether the entire bottle is free or only pivoting against the table."})
tool
executing move_to over 12 steps (1.2s)
step 289
assistant
agent noteThe right bottle’s image moved upward as the gripper rose, so it appears to be suspended rather than left behind. I’ll rotate the held bottle toward the open right side of the table, keeping it high and clear of the other two bottles.
move_to
right_x0.3450right_y0.1660right_z0.2900right_yaw-1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5701, -0.363, -0.337, -0.2394, 0.9963, 0.5358, 1.2552, 1.0702, -0.614, 0.202, 0.1226, 0.5044] state[eef_state]: left_x=0.2928 left_y=0.003 left_z=0.1654 left_yaw=0.1947 left_pitch=-0.0153 left_roll=0.0062 left_gripper=0.9963 right_x=0.3254 right_y=0.1562 right_z=0.2028 right_yaw=0.2673 right_pitch=-0.2073 right_roll=-0.0512 right_gripper=0.5044 state[joint_eff]: [-0.0615, -2.0308, 6.5983, 1.8242, -0.1538, -0.0464, -0.0171, -0.335, -5.5726, 12.7248, 3.0305, 0.3101, 0.1099, 0.4908] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.166,"right_z":0.29,"right_yaw":-1.0},"note":"The right bottle’s image moved upward as the gripper rose, so it appears to be suspended rather than left behind. I’ll rotate the held bottle toward the open right side of the table, keeping it high and clear of the other two bottles."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteThe right bottle rotated with the gripper, confirming a secure hold, but it remains horizontal. I’ll continue turning it so its capped end faces the arm; that will let me set it down reversed and then lift the cap while the base stays on the table.
move_to
right_yaw-2.3500right_x0.3600right_y0.1600right_z0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7441, 1.9488, 1.8515, -1.4532, 0.8402, 1.4425, 0.5057] state[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3594 right_y=0.1569 right_z=0.2056 right_yaw=-0.7805 right_pitch=-0.1597 right_roll=-0.0674 right_gripper=0.5057 state[joint_eff]: [-0.212, -2.0308, 6.4615, 1.7167, -0.188, -0.0122, -0.0171, -2.0581, -11.0838, 7.5009, 0.779, 1.956, 0.3541, 0.8034] approver: 1 step(s) modified (delta_clamped). 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":{"right_yaw":-2.35,"right_x":0.36,"right_y":0.16,"right_z":0.27},"note":"The right bottle rotated with the gripper, confirming a secure hold, but it remains horizontal. I’ll continue turning it so its capped end faces the arm; that will let me set it down reversed and then lift the cap while the base stays on the table."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe wrist could not complete the requested turn; the bottle is still held mostly sideways. I’ll lower it carefully onto the clear right side of the table rather than risk dropping it from height.
move_to
right_x0.3600right_y0.1370right_z0.0630
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7158, 1.985, 1.8744, -1.5524, 0.8707, 1.6295, 0.5066] state[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3573 right_y=0.1365 right_z=0.2034 right_yaw=-0.9259 right_pitch=-0.1253 right_roll=-0.0379 right_gripper=0.5066 state[joint_eff]: [-0.0615, -1.6889, 6.6256, 1.7558, -0.1832, -0.0269, -0.0073, -0.5402, -10.0581, 8.9915, -0.0366, 1.6581, 0.0708, 0.8083] approver: 2 step(s) modified (delta_clamped ×2). 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
move_to({"targets":{"right_x":0.36,"right_y":0.137,"right_z":0.063},"note":"The wrist could not complete the requested turn; the bottle is still held mostly sideways. I’ll lower it carefully onto the clear right side of the table rather than risk dropping it from height."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteThe held right bottle has touched down, and its overhead silhouette looks shorter than before, though the gripper blocks the view. I’ll open and withdraw the arm to check whether it remained standing.
move_to
right_gripper1.0000right_x0.2860right_y0.0050right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.7448, 2.0949, 1.3975, -1.0492, 0.8658, 1.7111, 0.51] state[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3431 right_y=0.1382 right_z=0.0477 right_yaw=-0.9524 right_pitch=-0.1211 right_roll=-0.059 right_gripper=0.51 state[joint_eff]: [-0.0068, -1.8803, 6.6667, 1.6972, -0.1636, -0.0611, -0.0122, 0.0752, -9.8667, 5.8735, -0.0757, 1.7216, -0.022, 0.652] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.286,"right_y":0.005,"right_z":0.18},"note":"The held right bottle has touched down, and its overhead silhouette looks shorter than before, though the gripper blocks the view. I’ll open and withdraw the arm to check whether it remained standing."})
tool
executing move_to over 12 steps (1.2s)
step 330
assistant
agent noteThe two left bottles are still lying down. The right bottle is visible in the right wrist camera but remains hidden behind that arm overhead, so I’ll park the arm farther to the outside to inspect its final orientation.
move_to
right_x0.1900right_y-0.0550right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.2394, 0.9963, 0.5594, 1.4265, 1.0485, -1.0809, 0.9676, 1.4403, 0.9981] state[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1947 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9963 right_x=0.2878 right_y=0.0128 right_z=0.1695 right_yaw=-0.9642 right_pitch=-0.0283 right_roll=0.0165 right_gripper=0.9981 state[joint_eff]: [-0.0342, -1.5795, 6.4342, 1.7851, -0.149, -0.0611, -0.0073, -0.3487, -5.7641, 5.6684, 0.5495, 0.7057, -0.1099, -0.0904] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.19,"right_y":-0.055,"right_z":0.22},"note":"The two left bottles are still lying down. The right bottle is visible in the right wrist camera but remains hidden behind that arm overhead, so I’ll park the arm farther to the outside to inspect its final orientation."})
tool
executing move_to over 8 steps (0.8s)
step 338
assistant
agent noteThe cleared overhead view confirms the right bottle is still lying down, but its cap is now closer to the right arm than before. I’ll approach that capped end from above so I can try lifting the cap while its base stays on the table.
move_to
right_x0.3280right_y0.0130right_z0.0850right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.239, 0.9963, 0.5453, 0.9802, 0.9443, -1.3682, 0.9684, 1.4014, 0.9981] state[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1945 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9963 right_x=0.2002 right_y=-0.0446 right_z=0.2148 right_yaw=-0.956 right_pitch=-0.0232 right_roll=0.0392 right_gripper=0.9981 state[joint_eff]: [-0.0752, -1.4427, 6.5709, 1.746, -0.1832, -0.0464, -0.0171, -0.6632, -1.2239, 5.8735, 0.6374, 0.6667, -0.0464, -0.0122] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.328,"right_y":0.013,"right_z":0.085,"right_yaw":0},"note":"The cleared overhead view confirms the right bottle is still lying down, but its cap is now closer to the right arm than before. I’ll approach that capped end from above so I can try lifting the cap while its base stays on the table."})
tool
executing move_to over 10 steps (1.0s)
step 348
assistant
agent noteThe right bottle’s cap and shoulder are visible ahead of the fingertips, with the neck near the jaw centerline. I’ll advance toward its capped end while staying just above the bottle, then check the alignment before closing.
move_to
right_x0.3860right_y0.0150right_z0.0410
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.0597, 1.0782, 0.3412, 0.0269, 0.1688, 0.1055, 0.998] state[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3032 right_y=-0.008 right_z=0.0653 right_yaw=-0.1678 right_pitch=-0.1267 right_roll=-0.0196 right_gripper=0.998 state[joint_eff]: [-0.212, -1.5385, 6.4068, 1.8291, -0.1685, -0.0757, -0.0122, -0.335, -3.3299, 6.065, 1.7949, 0.0269, -0.0708, -0.0171] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.386,"right_y":0.015,"right_z":0.041},"note":"The right bottle’s cap and shoulder are visible ahead of the fingertips, with the neck near the jaw centerline. I’ll advance toward its capped end while staying just above the bottle, then check the alignment before closing."})
tool
executing move_to over 7 steps (0.7s)
step 355
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.2394, 0.9962, 0.1333, 1.5806, 0.4252, 0.5446, 0.2176, 0.1303, 0.998] state[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1947 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9962 right_x=0.3764 right_y=0.0156 right_z=0.037 right_yaw=-0.1465 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.998 state[joint_eff]: [-0.0889, -1.853, 6.4068, 1.7558, -0.1538, -0.0611, -0.0073, 0.4855, -5.4085, 5.9966, 1.8339, 0.1587, 0.1001, -0.0073] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.858 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.",
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  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
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  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6079, -0.3771, -0.0196, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.3866, -0.0284, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4154, 9.7436, 1.7802, -0.0611, 0.0952, -0.1441, -0.9368, -1.0325, 10.4274, 1.8584, 0.0611, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:724cd841156c6449967eca19d0069d017638b58e9bb4fdbb229367f3ca6317d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c81ae87224c8b21a86705faf803dcf50fef421d89337972627870c5b48808a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c748f1e71f2bfc40fbbbd6ed5f44e01d8ff78f136655769e4c646be755cb5207",
      "type": "input_image"
    },
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      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 7.247 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJLRapTGhqXeuBfw4QDaSvq5S0xUKZg64CKHBd6L0wCSWARmamw9-Fh2dZZztSPmJshgn09yIeTL3C_9mmPXHBRVjalzC13r5mUHSeytQzAlRfb3ladrYNZn2azZvcwPhUAJnlAIe2wc7DynYFhefzUWqB8RwE49oBJn1EF-6o-0OoXdphHcNnYJsbnO-vtL3Xl49-gFVi_b5K-L_6X3P08eXPoADTaLmFwDnf9m48CeyZGoRJhLpdDCUzl8zlitqa_egD17UEZEoMb2d2_DTkAmIPcjs2_pL3MuwrTN1vTLfCy3HG5qT_yb5QiDJzO8KUZanCbHqx3YgTme0bcPCrH3MOGs0hHdjx_KWqkKE5bwU33B0VUlcoKvHttVBGqfpXzAcYGtb1anc_xwRetifv7YvoOvzHJxboR4FywNSy9TN9UWT8FqDqesZ_ynjsAiovrpNz-Z9rI325yX9sNCZRGIm5401R-PzJ6FossLPzsO9KulOocxZaIfxukxNjVCpy7LkKRCLQH_aIzpxygs7-sAsSlr2pFcnm_jiwNcdsu88Fn_16BZw3ZfIjNh2_8IbB-03TY7eN8HWw2tUirB7I-Xm6M4xo0E32D2KRGhH4xm6fGbJqqqnfc7tZiEMDxb8yWW74NW7ZVyw81K4HVw6yilVZL_WDekOBU3D-7lEKmCv0YynJvNH03JRtdQkExpdBIcT8Uk3tLXk_afctpP3oVrxhDcPhU-uVeF7nbtpb-0npV48DK9iT2GhV0g-6EpdYXScIqYRoJzXywstmowhDpHKG546rEIEipHOnIANN58fCsbf7KJFKRdblDhXH2kCipTwOIWj15ZwBp6ymir_EYcs0RSLVCwj1lasTIyjBou7xDbpDeOgpeZpiJMg6BqwDj6sgqwz2Dzs0Cdp7gqlPZLiY0UvzsfRYIXveGUWMJ2t2Q2O5xv_RE1z5QM7xfcwMJBvuYSHdWMAAktk3T3Ms7J6oIz0KPp8gCR9AiPrQkndRq8sO4NipoFsjR2velDl_RcuIzmfj6PP-xKVzDDCEth03_Lr19U9ZXx8sJBhl6jbBcajMXha6Q_LvkmluWAVepCGTXaJlgdQmPygqIVpbLnVBEzEcPHvZptHflfwm9K68zj_qHCnGL-UuoiUGxz2lDStbrMTwIiL4VZyprrqbfhZ2nupz_QFDeGyhJhvXetKiHknW1Wdkt5lLk4BLHfTUreMhEPL8BBJ1gVGgrOkRBtn6EPbXSlPGFwyZTwy1R3ARAmuSqmkl-asJVgvhEN5pLQVMrm_Dr0_bJtV2bqL0Rsjx5EievRbFlUuZZKC8pvXkRGmYCQd59qBVWfZaFmdNMyzUegzR9by0WUqy4SkIqwIlpSuxF6oFZf3u9SZZRjaGlNSbVawVh11Xl8F2pCQwYOX6-XKlIUi4hJb3OUbxvDnZmJvDnStCU2WDJF-pHP_-ccXHznxO-wcCy1uQFGhVPt2Hg3YV12__CLawZixOJdQoqiaKE1DsnF9zd7MXRLsnTXfgVyfZOOyk0SKRvCZmLYLHc6TYUCSBaAgIOVOJ9bq44xbROqY6Fjeh_x1aSiz2uJ6d35PS0GaBCrYLG-BT1ijRHciG14jUSo1dpppUGJyFEwkvk5B2uVb_OkxHM3oBmTd6e5hABeWMndcVN1tM0Uk8me_u8Ec70OIqpBaP75KsLA396cBYD9vwl5CATshkjlQam0nDJ2AbqE93RcJ2WVOSbnXPjTtUE2viiVwWoMSEdmOi7YWWU5CXb36UHfihIboGrGJglsnGKmHQJpAzFhsFK4KQIuUaVAfI4ljWV6tfRwgiUNG8n0FoLYoteUUoSYIy6bSmHq6yjggtScHu-6CrVo1W0RsvHHgKdVJdhfyW3L48Hbnh0E_WVqmrJ3klBVeZGyZRsWZ8YPbpOpM7ChNDLhu8R7ADn6r-3xUa8DT6OF5ZvWL9zJlSKGgJoeq1a0rLlhGSNoxn4ko5JfGGz0_vcJtgpXfph0j7lkSXGmFncY7PUe3GhOKV_d-Pexjka4BJPRAaayyYzI-3WDITzMNbfXI8icG7_0vLP3rW4fcHBmrhlyniXaaICJHZJ3IuNaYR57SPIOOUdvuVLVLmznbyiIetb8lbeYgIFO7mPas-MADhJ8JLtIh6isIOFv2t8tNehM8jIFVd-g4rI74gsYUeJyEPgRiUgydDVBqNSzRotxZMv5cOr6TIoNoVBpALA5Oe_jQmyaeNXqOz2tlEUGmEmWVq3ncK5sSmhavny-hG_4WTl8hYGHZPCcC3aK1rqK-il62fanswVSEkQDwa8wJ8etP86vWEOtfqrPIq5K986nUQz4Ow2mRdMnIQKkn47Vi2jOwzwoU_SlHXTtYMhRVmKCwcmmvbr_XUusSIzJh-euYfaxoLWXIJa_v-yAZcHE4_RZVh2bFFtFBAcQpcpk4VnWHAgUdNvcDvGVEFXCXyfWwD2HAI4MhyHjB9QX5Btt-ncnMJEQ7vzBWHjkwq_DMdf2vAMIOJXhkNiDAfJBqjASwzihHzSKse8M13M1XuuEZZwEEc4lKKYXbQyvIqTEpY_NgkXMTrO5r5NkBYBLRRYVMOCM-pwnRSDaOfRHDU=",
  "id": "rs_0a0de13f65f1b02b016ab43247501887d0a0e06bd3f6ed697e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":0.015,\"left_z\":0.14},\"note\":\"All three bottles are lying down with their capped ends farther from the arms. I’ll approach the capped end of the left bottle from above so I can grip and lift it into a standing position.\"}",
  "call_id": "call_QTTY0bS8H7I6qjKc7E3tVd1H",
  "id": "fc_0a0de13f65f1b02b016ab4324ab33087d0b0333d7d6f8c216d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QTTY0bS8H7I6qjKc7E3tVd1H",
  "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]: [0.0406, 1.2781, 0.6292, -0.0242, 0.0166, -0.025, 0.9984, -0.0189, 0.7918, 0.6033, -0.4038, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.368 left_y=0.0156 left_z=0.1109 left_yaw=0.0271 left_pitch=-0.1107 left_roll=-0.0176 left_gripper=0.9984 right_x=0.2913 right_y=0.0032 right_z=0.1754 right_yaw=-0.0021 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.3077, -5.4222, 9.6205, 1.956, 0.1245, 0.2808, -0.0464, 0.0205, -1.4974, 7.0359, 1.8486, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a845ed89bf36d2d2ed6cea131f7049abfbf4e204575203a0f8796c44d5998a9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a083fa54a7c3c45812998dd8997604006afc9d1e14ad1b5959a441a48dec6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80142633746e53b48d2bd24e5f7512c36c231281eb43fd1436ad38b80b309e45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.229 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]: [-0.0193, 0.7933, 0.6079, -0.3771, -0.0196, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.3866, -0.0284, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4154, 9.7436, 1.7802, -0.0611, 0.0952, -0.1441, -0.9368, -1.0325, 10.4274, 1.8584, 0.0611, 0.1832, -0.2076]",
      "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]: [0.0406, 1.2781, 0.6292, -0.0242, 0.0166, -0.025, 0.9984, -0.0189, 0.7918, 0.6033, -0.4038, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.368 left_y=0.0156 left_z=0.1109 left_yaw=0.0271 left_pitch=-0.1107 left_roll=-0.0176 left_gripper=0.9984 right_x=0.2913 right_y=0.0032 right_z=0.1754 right_yaw=-0.0021 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.3077, -5.4222, 9.6205, 1.956, 0.1245, 0.2808, -0.0464, 0.0205, -1.4974, 7.0359, 1.8486, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a845ed89bf36d2d2ed6cea131f7049abfbf4e204575203a0f8796c44d5998a9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a083fa54a7c3c45812998dd8997604006afc9d1e14ad1b5959a441a48dec6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80142633746e53b48d2bd24e5f7512c36c231281eb43fd1436ad38b80b309e45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJTLUC5C2D9UZ5aFOzbooFoG3PC5mCtq_URc_yJ2ia-tncL2Mt5yEN1J3S0TQF5wrqY989qtQZ2Hj1D07IMFxGyueT2fM-zDbSNXOLDe4jMOda_FUKmmOZFd2R9RZRWUnAqCEr319aRSxM5Ysp9JHvn8x7Q3Q1uvnX__1GK5rWVjSMPjUnHn47qkqIzFpBqPeOpxBKEztzNT_J43HT-Xi6uN1BL-Ygvn_Obklujw2_CU0YpYfdGxrTl50pxKbgaTh7NR6r2RuAxkmaTStnrThueOSnGoFvqjm9IUE0p6AF_aGYxSdxg-JL0Nzm5n2AHTPkIeQajW1H_eYwoMdNwsss9Mf8Hz43brtG4ixvau1bTkWdA7YtYyU8toz6VVKH6smd2fjWbPOsFElwUjmnjkP5tlbF8oTsixiTld4nBFJKev4fgdysAnsVJhS9usSUK9c7kXA8qRCe9aC4-u5al0HfJXeatHQbUCcufXiu6-rwokYdamk6oZhuScEloczLw3Kfh20A7q7UscDM04JYcRQMKGR7C6rMvqnesMS0oQnPhBJlqsPSHpjCsNPB0UgFV5fmqnuQdG91e-irI0Uq_AKFxinEMZLk7XhJFRvs3Wfeb78dMy5e8yFPpwvSQwu8NCJZz0i8uu_ibsbbFcWYLC6VjdPhOzD7s2n8-F6jb1Nekp2CoSsaWAl8Edi_ppKempZ78sX-w5mMQ0zB8BBEtTh2JQB611LG3X7ECXnkwVbOCodJ-jrdUjloNblvKCKkAK5MSLqovDED_2KQO30OGokdcG1MzdYJG-SCN0ecPtKMTAzqNQ-lujp_0vBmps1413C_Jl_FXpDR0WzOs2APWZ3lsOAb6X44rAtY4S-GCdNwMPG_kClUZRJ-C-zPydDPXRIn00g8UBts-oFvFDrFMlZ7753fOtSm68c9SOj46Ud4L_ikIjl9C7_-91FpZP20mOXYhanJeQtYawS0yJgU5xtyrtjVtdSuvwBIpx8HCSDKmsi3BszVOLxFKad8xR0Z45MDwSM-UujudZQq-Z7FdVBbDG3OnYRVIEyBmDRqrHuXzE4Vm23IRyk6urSR4naVjKCmZPAzfB49O5nRBcHNiomxaTP2M_xdQ9fv4oRExdAcLqZuHw1XPnMbZx22obGDeGTHDbM-6e5JfBs6jsu_giSSoLOnqu31TpTulMPUq7ibR6Vc4JcrFA9AgvrSgVJiwKNuYDQ-oaORkwlkppn_SHZKVr1somDIZv6FLw9QVP0h5cL8b0aUcCBYNTxb4LaSnSjSoADESDK584LhHNkgZtavuvJkm5mqCy1BPGTSIXAYMWg9W1tf5oHGh29PuHKcWmy6oQj6P_dU7xWg-BI-aLvxZBcJRs4Tb5j-f1f7Rcx9B5tBGYzq2gzlOPGs1DCxmbAmjvJkY6KlY2VRsuThBdJJmTDC8DFk7PuGla0P7lOW_tZsgvV2ooQ6Ey23xgiiWaMzh9j3SGZOnyd83HOBF1TvDk1BeXjczjPPQg9pwRm2nhmWi3cyTIW4kIg_zCzKHYpN2ey1QwGKSunwK-POqUiWywuzrZ2qW-QlggD_hN8_VytwVk0mmmLsYcRlQVszIy-3kgzzraT1v2ngrgqHKqttRJ_VLkie-E5dn4Hg6ctwCNaa_h2z31IYE2GWwAMKyBhBZrYmhmvoPxA7Jo9qKTif4Ab4pWhtWdsKLcXticVkPJBd7nFPNbXeq6Pk7gMcfFADMSIVHHa-JpLZlBx2f5rZvQJ7n8I8E8djm8wyu6zXYjcXvX7EPhzBoJIG4uiJWLSJINJKDdL08pEmLOS_gpKZwbw0nqvIFtR1emeoqZ9mz56WM0Bh1WSPthzWuQv0wRVX39Udmjy2cC84D7K4Z7GNgsD_rjuL0NZH9ZSWm_KNFeyDpWRzbc4GKXB108l2MUoeyypTJkgbn87m0Vu6eRa-Mxjte9z9bF0hrFElKA0v75vDEUMCYLzM76dPgbWburby4ga7Yn54auN_s3Z22hxwxvL2c2wTZnpmfaaqx0UtixkWNMuvSOozZoX7YT6tu1l-012G3Ueccx5uBQ5onC7D0kE7CPqOExi1sc_RGEz5eeZee_991LtiQ5k_6nSlmh6Tt00xK2Yo9H_Q7-FFbFYXSEpssSyopSsYTLC-1KWwBtI62_Q9t3DAGdIfKmhddvxZw2FX1eUn7ERYeZtC_s7gLXG0AXwnpFD5Bg_sZ3Yn023HGUQqqjJA-qt1uyEdT2j-Bkw5DJMAC7UuRe9ywno8P5gjiyUGwOL7b2Aum1_hBHIJtUkcGp6xZe-YvIllCrxgf0P3M-bmhVRCiim_9Wxuvj_0Czg0mD5hnn-aqz7QVJFyhsEbMyoHWB4XrvKtmtdJADGTKhnHbAyNstULLtCOpGTd9Ai-IG1QjWGenQbp1ePidVXZ4rA4GmeSW0ZST5hfIjigbWp-wp_piFD2OxiwSoCJ-mwTpcYeEVH6OHTjQ4kBH5F0S9423LnHBc6_dEt8rzsHdixeEW9WPSVib6dUmpimg4ljAHgnBh7RQYEdzcooa0Gs7EOTdWV5uxKPRNgaP8wjFtYIL7FwC36YqkMfPTPT44v-l555NIWNkjx-dPmVL0tvuVfP-2ZdEHYSx3pFz6XV4hPCgfwK2AA-8U9vaXIeciZgF4WXL6_vxYMwyUdlGIrFxmyt5AZtA1lqC_sUmeTsNcKY_B4iezPMvC1pSD7p77iPocpzgXyeQBRisOe_1cS8hzpv0xiNM6-DoDnMsfemy5ul2LkUDvf4Zavz8_iFo6qRt3h8HPXkVich6FJCuKnx9sZUw9bBsh5IHgPvev9pJUVniyOgg1aZ5KhYVydQImkq9ljVoAhL03m6B-VoEXyGPBwC_YH4Vko4guD7Zbbc7Io-yrUy6yOk8xWgKMAXJVSEflWE05GVm7mLvf-Ya0VLNSQVv5Af208RqVGxvjE4BXWmZw_d11ck9s6H1MBxzmE1kGmS2RctlJM-G2ThW0dYPwx4hMYFdEZwBOrkEGm2ej6E2mzxsi9j6HAwrYeMvLyTzngLdedOQSX1qIRe62V8GPMboDtl8T6IfN477Rh7fknxj2TOTtyeGtTXZM7YKRxfE7iqNDb_KLqVVZw8BfhDt1iMhqlWLQRYCbHQG4TL4kRMgGuZ1sSIEGyV13MtuJx57o3eVRjH8_UrWkD9Ws6h8rXV8HRiK8RftaxPkZ5Qtn3bBop8pyG95kHxcBUrPSFaxXmEjZzchb1KMqu4P18gRIZ_f9MqXoa5R5BGH06t5Y8evHErlksE02S9JwEjjW1HIcSdw7u5ZIYJ1EW-rX5VMYLS7p2XU0_GIuEo6NkLuxC3Nz-54ktl3QKsSRQ01lhX34q9aig0lcOdLsjQ=",
  "id": "rs_0a0de13f65f1b02b016ab4324dd1d487d0a9639c3823dc3364",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":0.009,\"left_z\":0.065},\"note\":\"The left bottle’s neck is still ahead of the fingertips in the wrist view, and the gripper is above its shoulder. I’m moving farther forward and lower to line up a grip near that end.\"}",
  "call_id": "call_Og81GjIQeq1vxsHIUs5hLfbR",
  "id": "fc_0a0de13f65f1b02b016ab43252c00887d09097ef9239685dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Og81GjIQeq1vxsHIUs5hLfbR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 1.7149, 0.7044, 0.3977, -0.0227, -0.0296, 0.9983, -0.0193, 0.7826, 0.5842, -0.403, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4408 left_y=0.0105 left_z=0.0559 left_yaw=0.029 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9983 right_x=0.2885 right_y=0.0032 right_z=0.1693 right_yaw=-0.0025 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -7.5556, 6.5573, 1.7851, -0.022, -0.0366, -0.0269, -0.1709, -1.6479, 6.8444, 1.9219, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afb878a37e5ff52b9b239a3189ab3b7b3e5cb06fa40348fd31ce7497679a95c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98833ffd003d03a0ab53f8125638ab7feebc662aa11d9cdd0954ce728f8ac688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c116243b67ef18a7bfa3a8204e82a1e24de45e59812d1086ac11a319dcdc717",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.368 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]: [0.0406, 1.2781, 0.6292, -0.0242, 0.0166, -0.025, 0.9984, -0.0189, 0.7918, 0.6033, -0.4038, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.368 left_y=0.0156 left_z=0.1109 left_yaw=0.0271 left_pitch=-0.1107 left_roll=-0.0176 left_gripper=0.9984 right_x=0.2913 right_y=0.0032 right_z=0.1754 right_yaw=-0.0021 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.3077, -5.4222, 9.6205, 1.956, 0.1245, 0.2808, -0.0464, 0.0205, -1.4974, 7.0359, 1.8486, -0.0269, -0.0366, -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]: [0.0067, 1.7149, 0.7044, 0.3977, -0.0227, -0.0296, 0.9983, -0.0193, 0.7826, 0.5842, -0.403, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4408 left_y=0.0105 left_z=0.0559 left_yaw=0.029 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9983 right_x=0.2885 right_y=0.0032 right_z=0.1693 right_yaw=-0.0025 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -7.5556, 6.5573, 1.7851, -0.022, -0.0366, -0.0269, -0.1709, -1.6479, 6.8444, 1.9219, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7afb878a37e5ff52b9b239a3189ab3b7b3e5cb06fa40348fd31ce7497679a95c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98833ffd003d03a0ab53f8125638ab7feebc662aa11d9cdd0954ce728f8ac688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c116243b67ef18a7bfa3a8204e82a1e24de45e59812d1086ac11a319dcdc717",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJYRJaRxBkpqF0P0nlQyfW-lz8FoLWSc_IivrUVU7pHTfsWzkzS4FuUYsCVMbeR0UnYGyiuodQzbp8jxcRIYkq8Zeqf5s3tLxya7HfVXVGG2-7FMTaNiBxPdyv9D2-UeJ6MIRpacKF_7oLm_sifLZ4BbGPGFsTEDdVXeb_iLGh8WuKc_aywkiUnxkm1rgsvmNWENpqpqo5BlvB6uMb-weT34gI5y8vBxdK9n-KDp8cScxvIPv0X4mBROUKiTf-re4dmml8EDPt7inFwNsBXTC2SbHAYNiPFxtb0dv6ByjxocJNxcPFA1f-DnSd3qV01my7Jj2wSINla3PZlc_E9aOgBgRxwTdSHqEHRRGJ862N7dATHKE16jnn-Ay3ymzThDcHNt07xlKOX2tKgIGQ-icrRmwYv4xUPBf05vM74vpZcEO1emaDLsHkCSuWsSnZSpH0Ze7qAN5GKSCTRJyr1i22SpR5jm9uQUfK505mzKVhJhPcLPgDj7bxjqYvCElURwQZkTZyUI-A6haO1we1P9vsu5ab8RBmKL7KRGqr2tk8J0FSdC6a04ck-1JMAg9PAXdXxG8nphhg5qtL2erb5KpNADdzxZnFvD3JpOXy0m-oDg1JoyhhaRDNl0YaEMxPoBpQHibeksibDJnnbzI4boDyjiFTGAE8IiI6p3CoeG9uyjE9wxEX7CYSsVR67_Ud0XZVPnhfStuNb56k9u9TKbY_poZgxl-qg8yuZf6ncZAtwnd_5XkokL9mVYtIDxV4pVxB02ghNHXveAwTSHEEDAKC2u5_JhYuNUNdBcHwU-IO2qjhrKp1wu4J9NUAjbtsaiuakvjzEevsngxqdl2PH7PT3hcdDWyoBahy1L34bT6SHMtt5ncAOAlfCYjGCII2aNOirVN7xWLZcrldipuTPQgKhsYtnHl_pb5Fa7dv0h1B9JEX3RRdD39WIwnobWUooJPnPiZlrxpzqLuB-OZrUGR_O1QfSfOc8Wmql--fn5eIkrEIfNLdtckYulqNAYVywO8_S_qCr0IgfeSvUE-pvlbqf3igI3YZFPXyTvDqxYzCwxuiChe_UHd1z6gchV7Yxm0i_YVvk9xk0-KF4QSGnVAXmlze2ERwa8BjgTlKsK4Kh55Lx4YAw23BsWaqvChdAZTnJ133cNnWstaOesf3wloWHxXKKOc1NknPgR7urIYZVRwbtvvoo6ldAOFU1ZeGLtDbP5yxGenyKtb7OqqaZTQmuGz8xJQDEarGbwCEebK0OzERJ8FFtcz124DVzlCV1KLVxVdZRBbZTtPI6OzACwjXapWnMiSz3cFKCBMv8Vw_eDghpOgRXrCUrCf6CtCScph7JGqmcg4ThtOxRYVJk1HbVqaFrzvt6hgCjRv9hyNuHR-pFXwnzT_Waqf-gZYzCxxd4Iq8HY2hYkEtiKUUBHiq_7XBnSupFm4amJNc9g7DdqXiHO2QLHcVGWL_OfeGqyvZFi7oLdmLK2-8N1CZr0Qri0vyBwjzABiUodMFO3osjPzpYGsOTuVDncs6anNiIui1z_hanPS5vPgApGw7nN_bqLLdJrsXYgYo7xad3sa3arGCkvLSzKCtV2DHe470RdvZiwW8UkBN9EVYiz0qYjNVipO3lJJ2L8WDUHiOEX_vGUyMJ_LcHeGl6H50HPSKby0NhIPEWUiJnx-NUiz24pu5hXz32LR5Vl9ypmhvrpgSzt9WSTWmo4mUxZ24k4-8lFPbTL8q9hM-ZNla84TPVpPO0x-fL4azS71MgF4iEKZCdx_8MUHG6zlQe3laj7jgkkQHVcfQl6eB_foICgWRWPFoKUMp33QmvnxGbyyxbBn5DXZcDTa-zoy6RzlD7NNJvf3cdGjXmmQpYZ6hXl7kO6VYkp3IzSVpliekndMw7uLlmRFb051rHA5naL8qdN4irlud1Gsp8ug-AmNisRRRp1VChL59TMaONevFe8tT_693LfyHBndeqG8TYB1ZoRRzdArdX_x3kKZmtVl32absQB1eVJS9DAHHzKexBOz-rgWu4r42TxHT7h6FsyoE3pQLN-f-l",
  "id": "rs_0a0de13f65f1b02b016ab43255a65c87d089eb4cb2d6cc1eef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.473,\"left_y\":-0.029,\"left_z\":0.027},\"note\":\"The neck and shoulder of the left bottle are now visible near the jaws, but the bottle sits to the right of their centerline. I’ll shift slightly right and lower to place the jaws around its shoulder.\"}",
  "call_id": "call_USlPLcHKRvfwjYoFzEKqDHyB",
  "id": "fc_0a0de13f65f1b02b016ab4325781b887d09d8d743c2e94b32f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_USlPLcHKRvfwjYoFzEKqDHyB",
  "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]: [-0.1055, 1.9163, 0.7341, 0.5385, -0.1059, -0.083, 0.9982, -0.0193, 0.77, 0.5541, -0.3962, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4543 left_y=-0.0257 left_z=0.0091 left_yaw=0.0159 left_pitch=-0.0773 left_roll=0.0098 left_gripper=0.9982 right_x=0.2848 right_y=0.0033 right_z=0.1603 right_yaw=-0.0025 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -9.4701, 7.6513, 2.1807, -0.1099, -0.0073, -0.022, -0.3761, -1.812, 6.9949, 1.9853, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dfa331ffc73625d47dca9139c37b7d514c711b66fddde9966a40fd20792003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95544c98e93da4547270a31ffb033bdc84c8f7cbfe00fd6f963b80b06476c42e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f12794e5f030e11da7efbe75bbef47ffa5fdf54dfd3f81d2abd59aff802708",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 3.374 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]: [-0.0193, 0.7933, 0.6079, -0.3771, -0.0196, -0.0288, 0.9988, -0.0158, 0.7883, 0.6037, -0.3866, -0.0284, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.4171, -1.4154, 9.7436, 1.7802, -0.0611, 0.0952, -0.1441, -0.9368, -1.0325, 10.4274, 1.8584, 0.0611, 0.1832, -0.2076]",
      "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]: [0.0067, 1.7149, 0.7044, 0.3977, -0.0227, -0.0296, 0.9983, -0.0193, 0.7826, 0.5842, -0.403, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4408 left_y=0.0105 left_z=0.0559 left_yaw=0.029 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9983 right_x=0.2885 right_y=0.0032 right_z=0.1693 right_yaw=-0.0025 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -7.5556, 6.5573, 1.7851, -0.022, -0.0366, -0.0269, -0.1709, -1.6479, 6.8444, 1.9219, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 1.9163, 0.7341, 0.5385, -0.1059, -0.083, 0.9982, -0.0193, 0.77, 0.5541, -0.3962, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4543 left_y=-0.0257 left_z=0.0091 left_yaw=0.0159 left_pitch=-0.0773 left_roll=0.0098 left_gripper=0.9982 right_x=0.2848 right_y=0.0033 right_z=0.1603 right_yaw=-0.0025 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -9.4701, 7.6513, 2.1807, -0.1099, -0.0073, -0.022, -0.3761, -1.812, 6.9949, 1.9853, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dfa331ffc73625d47dca9139c37b7d514c711b66fddde9966a40fd20792003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95544c98e93da4547270a31ffb033bdc84c8f7cbfe00fd6f963b80b06476c42e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f12794e5f030e11da7efbe75bbef47ffa5fdf54dfd3f81d2abd59aff802708",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJe3YsLd-NcUxHa77X173fvg2_8MP-hE_HAIgemFUg2o1RzdJJOY0BvbAYqnpoFBgnsunsPR-pJcyAaDYAtxTFGWF3LOA_hN_ELWeya5AB-lm5C2N7tbhXq8K2x-CDjCt6Aw_fHjg1Ma-dfwBV9tsFXCtOqcfmDDL7YTVVW8vgLR7m3ZLD66yByV9o2ffxOZTjIp5CfU5zeeg9N6I7hFhfGNV4PdIf4I96Irqg2XOPSdE01T7wHmnvZquKzJUlCBkHSZX786OlLMcwBLC-Lw76eLg4jWR3r4AOskxQSBgG5KcwSrQgHEEJNnFIaLew2ogYg9cp4j_1bB1DMzwQUmGekYGKniuX86eDUTWpakw7z4HYDxcr1aQQmc-cRqDTJ3nUcUNPptf7c5saBPgkwlu2JJSfe-bUXlMut9yYf0uL7iX-G8YsHAo7BmEb-wigALPc7rPAhcPHHww83gVX-sgvkH3oyqwlOYkq-9UBx6_Du49TuWnNe0Mo_gj9ZER9dfidGJSM8nGcrXLYgN1kWqcl2Tc0yAbpxF7jpQTcbPlKYq4xS5oVsCRvgO-0dNysqlJBJCe-RWOirMIKc8sHILldXUmtdHeerxJ8zMWDEJhrcgkIguqEmVH7RdQwoj7TX7ewM44Rm0-h7Ig93-Th_TFgXLuAMN0eG9GIyELLwTgTf8QsS9eKRuRmPCBcWIjy7RiMMpTM0s6OladGHCHa7GYCXWb88OJ_gGi9SmpWfq9yTcklBLVADpIc9Lv7E9bqqEJblWiECOBI7Aa1Z2yIzV46BPClzej1APioaYHXHcgjpYAcF-IccqrEMUWyB2u5mC342ssfkDEjeGbmwfN45cEDKzsU-EkL2os1qy2a4oF2iaY0rShpATilEuU_r8pQi60Kyvaqm_2LyOPD6voB4yxUb3I6BGNj0lHPlgrNnN5kwzkTkJcSRE7yEQ983-w5DdS9oUcTTL5sr7VEgk2jdH_QwjaWNLNC-eyeSsGhXZTTKbRWkr_0bLbuV4fZBAlWjeThDLfrDStqxNZD5bUdXWdGTrbxjQ7hzUFaGzbAsdkDGPKioTRbWT40-_VFBK4DAI4YNOj2QybGCUFgEHgsGIxCk4TNNOEmT4_N_YxGm2LOjmeO3vdDC9nSS3gbA6e9vv4n-Kvry6AWnVaNX4E7kh0hHdGEZnP267O7or29vURgtgxCOclube-jLfkFO8ZFHthOIGBFtloLQJjAGC_6Tb6UUlxHE1POwSBEEaCZ6s_xD_HREmLGTGB3OipinKrWNMR9ogM3YF00aK7HcVf6Z2gPbCjod7WwmkShBFoOSwMmsu3KiLNfpsY67CgtLWoeDCwsoofd0iJXnrxPbyWIrniNMJYqPBkK3nYPu3XuFU7v_LwqdBqQeQQXU00QQq8bYWC0SLH2VS0X8CHbYTuZ00vvb3OsD3KwPlI2FcwAQTLqcXJn3HaM-4_VpSGp-oP2nVVbwFeScm_n-XZiiFkvtqbCejd-q8AVaZmA3fowymz2KOmpMSMVv7pyZNAWA4hmIPApWY1n6tDCOdU0-9o8OjQaX2NMN-CXT2Y94EOzDcWtve2gw9s4hKOY05N75Fg75jshu1pR6Dwib2UABRJ7Z9Hm1sfTbhbi1EEzTYBTdl2lxPY3wyK8SUYQ4Hw82ajmxlyhO-nOy0iwT3EzG1K-AWDq8Qgr4_Pm3EfBI41MBHnWl6SpEVX_4Y-dphs1eQ-EsfvCH6AYyUC58lkWl2Q4_IrLFcePgYBIrq4kRQ8B-b9mx4ZSvsDv1aUDtm_kxJuqtLen286pfrUxAH2TKXS9Chlgdggxzn28N177qYRA7kFWEmX3Gt_WUP6wA2MuDNoNwVUsdxIqtyKwtIVzM94DeS2_E9-gHQggCVG_qnh4zpw-zRq4ChIbVcS4nRSDZu1DZUN6tZlusM0Nsv8aeV7YnuurHMwRmBXzMIO_ZFuRecaJtz_Cf31R4g1ks4retKR1tF1HlfjrrAczuEo2600vwxrwmW1mjCB__8sJWZMRAc6IQuuNmiaTd8fOJ6PqNIf2keklyg2PO6DXgaT-sm4M-AF_8Z6B8T-YVcpJmRRdzIrX2jwIEoGzAM-2cSLwc9rnYcaOp4Swm5nWZAz9yGVJx1A5uAhg85oP96eN66lhwjXRcDiT0-658TCv1V5g8bzU-1Hn7wqQM2bJtePQG-MH2fHcQNfqF_yR5A89sS-D0bIX6sSRwil3bS0YczGiPsgaumi9WucsLrZp_GOR2lbiC9NcOAQ==",
  "id": "rs_0a0de13f65f1b02b016ab4325b286887d0a5725d25b45b19a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.486,\"left_y\":-0.064,\"left_z\":0.045},\"note\":\"The fingertips appear to have nudged the left bottle forward rather than captured it; its body is still off to the right in the wrist image. I’ll lift slightly and move right and forward to realign over the neck without dragging it.\"}",
  "call_id": "call_s1GHIe3ETt7pRD3W0tbw7PHN",
  "id": "fc_0a0de13f65f1b02b016ab4325d16ec87d09d874ed297cee3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s1GHIe3ETt7pRD3W0tbw7PHN",
  "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]: [-0.1165, 1.932, 0.7475, 0.5716, -0.1253, -0.1055, 0.9982, -0.0193, 0.7494, 0.5171, -0.3771, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4619 left_y=-0.0282 left_z=0.0137 left_yaw=0.033 left_pitch=-0.045 left_roll=-0.0013 left_gripper=0.9982 right_x=0.2815 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0381 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -8.9368, 6.8034, 1.9267, -0.1148, 0.0171, -0.0171, -0.2803, -1.8256, 6.7487, 2.0733, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079e06b6708810bf14601464aaa1c7305569bbc2e5a64be422acfe83b9511fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c2ec66417b0abdc19c512c5196e8e66ac661ad7612cf96c62c1f47efe05a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e17b08a84583ce62aa4f797d0e7a8e67dc9774fe8bb868066458637656a9950",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.485 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]: [0.0406, 1.2781, 0.6292, -0.0242, 0.0166, -0.025, 0.9984, -0.0189, 0.7918, 0.6033, -0.4038, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.368 left_y=0.0156 left_z=0.1109 left_yaw=0.0271 left_pitch=-0.1107 left_roll=-0.0176 left_gripper=0.9984 right_x=0.2913 right_y=0.0032 right_z=0.1754 right_yaw=-0.0021 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.3077, -5.4222, 9.6205, 1.956, 0.1245, 0.2808, -0.0464, 0.0205, -1.4974, 7.0359, 1.8486, -0.0269, -0.0366, -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]: [-0.1055, 1.9163, 0.7341, 0.5385, -0.1059, -0.083, 0.9982, -0.0193, 0.77, 0.5541, -0.3962, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4543 left_y=-0.0257 left_z=0.0091 left_yaw=0.0159 left_pitch=-0.0773 left_roll=0.0098 left_gripper=0.9982 right_x=0.2848 right_y=0.0033 right_z=0.1603 right_yaw=-0.0025 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -9.4701, 7.6513, 2.1807, -0.1099, -0.0073, -0.022, -0.3761, -1.812, 6.9949, 1.9853, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1165, 1.932, 0.7475, 0.5716, -0.1253, -0.1055, 0.9982, -0.0193, 0.7494, 0.5171, -0.3771, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4619 left_y=-0.0282 left_z=0.0137 left_yaw=0.033 left_pitch=-0.045 left_roll=-0.0013 left_gripper=0.9982 right_x=0.2815 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0381 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -8.9368, 6.8034, 1.9267, -0.1148, 0.0171, -0.0171, -0.2803, -1.8256, 6.7487, 2.0733, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079e06b6708810bf14601464aaa1c7305569bbc2e5a64be422acfe83b9511fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c2ec66417b0abdc19c512c5196e8e66ac661ad7612cf96c62c1f47efe05a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e17b08a84583ce62aa4f797d0e7a8e67dc9774fe8bb868066458637656a9950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJhn8HFnOZp39ARxoI0uqZ6j71ZeWzKa3cKFVBAP3_03EHa7EHJVLqZJGTd5o-WnIjjtqxKjNKuVG9fZ9h47s9V_yqukf4lTsLRWB_gy7-Emj6KSPA8vW1kZkPervA0lOQVLRGBWYvVdpOvHw0gXFuJ__YRO8QSaDz1zgZNWAirPnmomfUCucpiqHmfNcm5tCiuXSnz-3_r-1nPY3l9BAZZfvPFK_isdwQP-hM34adEz6byhPvOYWoSp7VFYHN8Yyfp5GnI_nGizsSdIgcOrAOTTlShKMsxA1xx7E9zcCC5CR9p2xUcnO-BjvYrORzuUCCZL4k1TbHbRH4i5YrGZeihGpazhcAuoFK9UeCaIS38apD-LaWY0IJzC3S2BamROQ07eNIVx6vq2SKlLDyKn617MbSqIUBLOSX3QgQDcaUkVq4BbBBPKbxLFBjMciVVdM207RGQnU0dLucrtbkEqc79Tcq7hXcyvlcfTBPnJQtYs4sDByRDBTvJWvU74ZKdMf-5ku0e_7J_l6GT3dvlM8a0ZYQ0Gze9qhyviw8vrt5j-7T_Nz_S2yAaiYMIaxbgDc2sm46ruu1ZYrHVscSULWz6OtAaus-zJST4WmmVnrtHLzgzyZCYjY31oGhJ1MaqTkyFlqL-gG38s2skhxrJiMUC_qr23IaqP9tUgFpoxuodv7U-lNFXAHvS0fA_Uo2RJHvYkMRpXGx-SeKQzTMpzcvDdKBo2v0rBEf7BN-zNJB_kJz8BGv2DUPxc8LoqyvZcqeNFCidxQs7TRPVpyqdpLwofpNe-keAMFZiXmWhrpYbjlgSAvBG-9DlKsufg1Vsc_uxXPXZJ-Nw3i2J0GTFCgEaBBVsWEzP31n3y2LPJS3oqPF3kRliOwi51spz4qVB30HQ2HB9oTTHvfGSUYgUQpqXajwry3S2lKaiM0vJ_Oj5s6GvQQIIdfC_a3sV62t30B9bh_GjcEiOZMknswVrQIEJy62qJ6kFzVGr5-T0t-yeRQLs-pTi6BZQEGkmgItiYb92ZeIwa3c8qh1XqotgNyjdEC4b43MomAhJISe41s2I7o2FCixEcnIxKRKbgBeQiJLr8BQnbbC0Cjf_uozAC3g1QVl3fAd_wWXQF0APYrjFLLel9sW7vXXUvzV5GZL8NhvFDMIl1VOi46Vnuvn0VuM86VaLi_D_GuDmsF8vL-u01ODmgGVufm5mizwFkP-bNEpRPhr1KUKY4fi2tx5KzguxlFDFpSKDI-TQ4FnhfNK0XChLfLVTYk2k9Mjeszf957k_m5Uvv-2Ldi9Jbv19ih3LTDgTXfYDn082CIQLDr0-evF_u6EQDe9ZAtr-W44qD3BjO_rtjCgTgMWfL-2VWoPM1EPeLI1ILSbQM84YtR8oBVoIBo8YWUGLrXJaqukTekBU8y4pFeAwzyW_CBrAwfnXOPH8fGFPNXYGZHUWi5Aqn27LBM90BEz2wPFllQwcCd-LgXPAxNCzeakKFQm5713tMpYe4PGjfDaw_sf1DYH-sdV3kG32aEuMFUJds2amMCCIeI_9-GZ0Cj1FOA5a8wzw3oxv01exTGilsBZkStf3I_YI7HtjJb9EUBNMQ2-NtnwQulHl-m-SkrgopDXxPYOZUuQW5xIwAcA2xx8_FuN-TsmXfYb3uy_6JkJnByRMUQnMGBujvVqrau3SsjBcj3sIr0mZ_X0S5HmmhxZpDlj35CG__cMZbsLgvEbT0jwi00eqHfFPnZb3eUOKlgSF2DWvY5lq0rRyaOLJg-obt0sKlbl-jvh7r_PcnZ1y2ZTyeQOL9xAEGVWf7NKwu0T6pBGEXUYIQstfaa2BHfNNG1cWyHAiiUz40sRdvWZZ0V9TyFSidqF4AcGcPpqpL67Ef17STpoIJhzG_ZB2mjuCrtTxSSmgth3H_lFWXsicxUQRqmLzzaqyyNt4LJXT2a4fNbqHUoWP5IkoVmxfCAWa-kINKjOdzprQrmfktuAyBF-ej4J8vkPXvZ-FmyxsugNA9VDChiCMKDxfN0hbMIFwx8pIY0STno7C7r8MyWDEhqq-C-ulblME06MYU87j_RiqGJQmDA==",
  "id": "rs_0a0de13f65f1b02b016ab4325f922887d0a6e83b26dd65c30e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.402,\"left_y\":-0.13,\"left_z\":0.15},\"note\":\"The arm did not reach the last target and the bottle slid farther away, so the fingertips are likely pressing against it at table height. I’ll back up and raise the gripper before trying a safer grip on the bottle’s nearer shoulder.\"}",
  "call_id": "call_KN0OexiI2NruwtC1MVJyaHIi",
  "id": "fc_0a0de13f65f1b02b016ab43260fe8487d0a50c10b8045f08a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KN0OexiI2NruwtC1MVJyaHIi",
  "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]: [-0.5232, 1.5116, 0.8436, 0.1837, -0.3527, -0.281, 0.9981, -0.02, 0.7261, 0.4778, -0.3584, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4158 left_y=-0.1653 left_z=0.1613 left_yaw=-0.0876 left_pitch=0.1088 left_roll=-0.0763 left_gripper=0.9981 right_x=0.2777 right_y=0.0032 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.0354 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [4.0547, -3.6034, 6.147, 1.1111, -0.5934, 0.0073, -0.0171, -0.2803, -1.2376, 7.1726, 1.9805, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d1fe22a402d6fd2ad3ad5565b01c4a90d14a21bab07700fb8f4003af5e6020",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f07025615203ba3cf3196928a2a2bae2910f57051d70e7574fafd580fcae8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2398e801baa7df2f8286e258075da0cd2523494307defeb297af141b363d94b5",
      "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 · 4.893 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]: [0.0067, 1.7149, 0.7044, 0.3977, -0.0227, -0.0296, 0.9983, -0.0193, 0.7826, 0.5842, -0.403, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4408 left_y=0.0105 left_z=0.0559 left_yaw=0.029 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9983 right_x=0.2885 right_y=0.0032 right_z=0.1693 right_yaw=-0.0025 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -7.5556, 6.5573, 1.7851, -0.022, -0.0366, -0.0269, -0.1709, -1.6479, 6.8444, 1.9219, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1165, 1.932, 0.7475, 0.5716, -0.1253, -0.1055, 0.9982, -0.0193, 0.7494, 0.5171, -0.3771, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4619 left_y=-0.0282 left_z=0.0137 left_yaw=0.033 left_pitch=-0.045 left_roll=-0.0013 left_gripper=0.9982 right_x=0.2815 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0381 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -8.9368, 6.8034, 1.9267, -0.1148, 0.0171, -0.0171, -0.2803, -1.8256, 6.7487, 2.0733, -0.0708, -0.0415, -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]: [-0.5232, 1.5116, 0.8436, 0.1837, -0.3527, -0.281, 0.9981, -0.02, 0.7261, 0.4778, -0.3584, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4158 left_y=-0.1653 left_z=0.1613 left_yaw=-0.0876 left_pitch=0.1088 left_roll=-0.0763 left_gripper=0.9981 right_x=0.2777 right_y=0.0032 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.0354 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [4.0547, -3.6034, 6.147, 1.1111, -0.5934, 0.0073, -0.0171, -0.2803, -1.2376, 7.1726, 1.9805, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d1fe22a402d6fd2ad3ad5565b01c4a90d14a21bab07700fb8f4003af5e6020",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f07025615203ba3cf3196928a2a2bae2910f57051d70e7574fafd580fcae8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2398e801baa7df2f8286e258075da0cd2523494307defeb297af141b363d94b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJnnoyM16c9xLocT7GUqKwY1z7Owy2qkAjjnUPBpMcQP3AtHqCen7jwOLKbKHBHkvAi1_sFKJ3CUoFI_C9kBK9KBgDt2G2HbIU_Qm7L0oevqvV301mwTe1q81pwU_5fVeVwRwQmENaMdBYw008o2RN2pqxiIEwljO9rhdITHVDImBuSwjzPrOjvm4KaPp18aHUsK4k5LOsH0Bf1IrkJkt1UefXbaNTlqnPXAJ4P6m-RQFd1jFVKeLQueXfKTRskvj03fuxDA_egtgMWqkeKEKcwQyHi8vPhseMgFRjkVRplmrwoR-9gmcFoGbXb3AHiAf3EA6h5DUPJoLLYCQzxFF-cqsqfRg0-VS2UfymH39sQ8s-4SOg8KSEy0Vjky-BVhv3mAnStxgcXjVpeMrOZ-HkzL4pueKUewIau2GcO1RjxAbzjDf9KZlQl56HJ78mEtBlKewpsTsUS4_W6GHRIrtOR57fOnodeDG4q1a0dzkKlfd5wCG6CC0NrCtxSRa8ewW3SfK6R_GAFyiqODw84QQZcI4Tb49guatjwqYPbqK2owbSbZYIBdm_a_Jq7e237v57AI2p7OMV5iUD2UqSj9dkS4Nr0af4UqTk59oeIN7oZPfMnfhA4lyjOcTVbA_BnfhXFsGUJUNBNdStOv0kkxw4DYiCBluOpeJjT07b-OVGUFDJF5VVAPMomKIOaZVDYHdDXJ50T2Tiym-GYC5CSdI_By8fPeyyWWPxBLm8EehVQl8Ew4rxkcWl_QhiXdF4P9k6oDUbpHbYxJvfOeKILvS_jTMmi6FyQgpfg8J3IrDSjg2J7doWkiyOLzHlKSlnGLKiD0OxUQKVGiCa6rQkR2IdSfJFtZgMpuVodoeotVCtWLY__PwACR54dFOx2gC5hnIUVUKtrxg96U1usJuYUVBJh78XwvEwsh3qvZAZABR9QhySbbUkz0DV_QSsKxDvEhQINTvKpA6XRe74i8xApiYHmQAoBCJ8B9CESRha2yPNiCQjELA1IM83vsKlAh0fWR8EnaJ4CVbBGKIbW_QXYFVA_pMFi2Y5Z_p2e5R_hORpKSQbXXwxObjBa7wvdeHFeGuy-AinywQCaAwWWJ_haH7LK5sSNAv_ev00Ya54zNpWUpwyPpl6LVF2hB9Bgeqm26iX7AfDvWIFNZObzAHppljWNpMhs9dqCr_DfflusIj1j59JcyGOiMdnKHxt4NBJfIYEh_hJgJeV8uMZY1Pj7ex5mY434AF_OWMNEQC1uHvJBFnVkvJ4wXYhxCi5JgXtE9VqbkiUrNOQbA82Mx6VWxkAa0wjmnfj1nbyoM8onXZva-XrSuM4MXhe252zNBXHlfYGDlK-0f-WVG-NfXlfLRQMZjvG6Ilx41BYzjMPAdVA6yiPj1RwX4aRs97RiDJwm5LY0MgFSxfzZ9JEo6sOxvU6vkSNBQ-hDekwsDHTKBPZakLk3h9Ju1RWZyyt9iay93fruZe1IFbIgE6hgjaL0vyJK23YedJfjmyuqkEg75W2fICSE6qkanA85LZ6q-XFQQXzdVpobpVqybRBhBBGnRkKTn_276CTR1TkVPmHtMotgHjK6kzEyvY9khulgE1nUOW3IoZj6Kaskxe0I9TqmvYFpuFPAHSJAu6KQbftLq55Aptnc-O2weLjA8fDwiKVFv9RnBVA2ViRBW8LE2086CHs852h4G95CqhlSzjOX7Txp75CRuILIgluTIrSbKGrXV1nmiQApHZUXHeiwb7mwcLzMT6mtK4zV7Std2Yad_s608-t_PtUBW6W49OZBaTr06M0-1KIXOvfnR4jFIV0pNHmBVpXSSgKMa8-2moJakYSK9EHvQwrNKIa-Im3n3ilRLjqxuWFhZxfMXLR2rkJEz1cP-m_3tS3m_7OLt7gwMn88QChm_fEMBFMIKb5vLEcOg4y7iFa3gmcsj-E7ZoT625JQSFygJcE2hOVJ7R6o3MVPtY2FIZw9WGCJ-zS2swq6Rb5MViVutrOiQa9PEMt7zdbFYphAWcfgC8K7YT7Hifo8SV1C5GyeDhoByZsCnGm3X4Nl3bug2GBYkFYmiIOxMI-QA7vryL9CYlaWFKi5YMgwsrLB7fB3SAW08iqjaFQbcZp3DvPWtkPUJDZMSHG-ZAEWh1oJcoz04KktGj3WWCtHvXYv8IMevUGWmeg7dL6B5K5wlrMtJQviEGZMbOfHnxTY0MP7m43fTJXHYaxv3A4-xPwNNtyjwBXBXhWUsGTgRLVtOo8ezh5Rhbq8ugnZMGEncf-qHSiyup4n-87KiQKVorSMjYa5AzYDgfUNkd2YPcaCA0oCruGBuYDl-7FZqwcIMnvsXjK7c0oXeFVjSSEbANnGQFoGgxvanLJRo_WE2o1QkBURcajP6XOnUULKltHVnf-EyXQA4JpDrnmQaX64YvxZwmpLWsI5LI2Gc2TaSJwQjPt49vZxU9LhC-WvzFijr_j59MQ0CuGrd4o_zIxWsl7FbpL-IeKKu5RA_Sm5ZM40iRPDpu7WobS1YM76UPx8Ciq5z3QQCX2JH-sZQQjIE9Sgy8qqSG6C6YmHAp8IiyBR01Pm9FG9uyWk2VeO4x91Ta-oh6KvvWyqkgxC3rjqee8cVggfErMA_FJ7n8FLIED_NS6WdIe7Qd9dXX-GlSNSLHlYsGhcz4-7m8cL5j9rUIfEmkaEJTxSYT_z4BJXd55lO-h1ACLXaNxVf76xJDSsxQ==",
  "id": "rs_0a0de13f65f1b02b016ab4326399f487d0aa1eff038db84c5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.154,\"left_z\":0.07},\"note\":\"From above, the left bottle is still lying diagonally and the raised gripper is now over its upper half. I’m lowering onto the bottle’s forward half, keeping away from the table to avoid pushing it again.\"}",
  "call_id": "call_MAzxnxzpXZ736BJ29UMe9waC",
  "id": "fc_0a0de13f65f1b02b016ab43266713487d08b2f367b74524de5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAzxnxzpXZ736BJ29UMe9waC",
  "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]: [-0.5022, 1.6363, 0.9096, 0.0662, -0.3584, -0.2653, 0.9981, -0.02, 0.7055, 0.445, -0.3431, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.1574 left_z=0.1132 left_yaw=-0.0724 left_pitch=-0.0498 left_roll=0.0139 left_gripper=0.9981 right_x=0.2745 right_y=0.0033 right_z=0.1382 right_yaw=-0.0029 right_pitch=-0.0324 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -8.7453, 7.5145, 1.9219, -0.1001, 0.1538, -0.0122, -0.3897, -1.2103, 7.2821, 1.9609, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ca7f5438d004ca7637310afff998deaee41a0e41a68554e4dd28be9f32d029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c521954708c762156ba3f99ff44202aac1dafbab52f867b6cb3503ea741005d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249b18444091521c2016fcace4f646d540ca79395663222923ae6deb5d5a6478",
      "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 · 3.763 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]: [-0.1055, 1.9163, 0.7341, 0.5385, -0.1059, -0.083, 0.9982, -0.0193, 0.77, 0.5541, -0.3962, -0.0292, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4543 left_y=-0.0257 left_z=0.0091 left_yaw=0.0159 left_pitch=-0.0773 left_roll=0.0098 left_gripper=0.9982 right_x=0.2848 right_y=0.0033 right_z=0.1603 right_yaw=-0.0025 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -9.4701, 7.6513, 2.1807, -0.1099, -0.0073, -0.022, -0.3761, -1.812, 6.9949, 1.9853, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.5116, 0.8436, 0.1837, -0.3527, -0.281, 0.9981, -0.02, 0.7261, 0.4778, -0.3584, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4158 left_y=-0.1653 left_z=0.1613 left_yaw=-0.0876 left_pitch=0.1088 left_roll=-0.0763 left_gripper=0.9981 right_x=0.2777 right_y=0.0032 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.0354 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [4.0547, -3.6034, 6.147, 1.1111, -0.5934, 0.0073, -0.0171, -0.2803, -1.2376, 7.1726, 1.9805, -0.0757, -0.0757, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 1.6363, 0.9096, 0.0662, -0.3584, -0.2653, 0.9981, -0.02, 0.7055, 0.445, -0.3431, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.1574 left_z=0.1132 left_yaw=-0.0724 left_pitch=-0.0498 left_roll=0.0139 left_gripper=0.9981 right_x=0.2745 right_y=0.0033 right_z=0.1382 right_yaw=-0.0029 right_pitch=-0.0324 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -8.7453, 7.5145, 1.9219, -0.1001, 0.1538, -0.0122, -0.3897, -1.2103, 7.2821, 1.9609, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ca7f5438d004ca7637310afff998deaee41a0e41a68554e4dd28be9f32d029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c521954708c762156ba3f99ff44202aac1dafbab52f867b6cb3503ea741005d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249b18444091521c2016fcace4f646d540ca79395663222923ae6deb5d5a6478",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJsbK50cPF5RHDWR-oT7xU_pggZPMJDsnTC7HcqJdEoIcKMSZYaOgUoo32Xi_A6O94j9ictj5l1tsvP85HWJx-OziuP4g4qV-EBdPUx0rbxG_XWd3iku0N0vwE4gMhi1UJSpacmNq24zON_vUMQx5d2poZ0NZMZAjtH3rLPuSZK7KMlo17docLv9C4CXfAnFXTemrhLdDl0VwRAGN84UiV_o3qsifpk22boQb0uZF56zNANiPL63pz8Y4Zg7dyX8vSwq1LM6x5hTDfDFAoKP95d6ztvC7UGbB87AB1gF-gFdHS4jWHba0uBHxkd2lNdBIrCrcJyFVhXiuSbA66hBjYOl7PfvTT1ApUkETLBrInlBdPehj7IBnl6kBwyIvwM-Ey1NuyYkMWz3rqZZlYtMROPKSzWrBNuaJNe44m2CxnQpaa3Kua2PLFDRujDbrA23gvlxvFWVdE-owlqRLCRJKz15nbgB0hlgubhqzJaDvCyBWRDD1CqzxxQXAC3C0IffTVJhWub0q8z7qmQOGW7Oa_bJJz9YCoUE4gpZLi2-HJE1HwCq9iCZG8ZtlyVvxAaV5QAp_y--qmKync34FSaAo8VUWP5QtgsqkuhD_llhZKbSPE-sRGyjawzxJJEEA9ln2OoaQDGuhM--gjE5ieAGka014rg7m2bqUw1FU53sl0zz_eYetalEkLVFXwrV3szhw11ttX8orbYCqhj9eTrdM38u-x8NctjVMrv0uD0ZaeM1fn3W6U519TIoL9ACNdyD3oDVj2FR7ylOdWRG3IaaAnRlh2Fps0Pk4gPTKP_ovkHQXTcuD9pETskYuBKuZu05bnNYA0Lqp-1R_q6DEmbXr6_UDxcBqJ8dR17GCkFPX6uLbEVo5DOHOG_xaAtKqUHs6KnOiRX05ZGv0-MmTIPQAGTlx0hNK2A7RTfA3S6CTuOru7FdLvYDGxtkzGyOEXg7lMCWx6hihUIqpR9n6ykz7e2SF7at5xUiUw-4vWsZlx-9mrpx5UlCgeKnD9qHKjAZ9N_aIDJlkwn30EDDk-9dw5lcmG1XMc7m_aWuN4yARzQjYP7HW1n-sXkWfzh_4cliL5dhk693PPEwRuXoWWVxR9-0iRtr_-36a895Ix8Xrcl5TPeI6G8IjXHCTqWhEHUkx68qvgwBdyV6Zv4qr43zJSH2OIJ0pGAoYDbFjtqQFs4_aVqJX5tzip76aKulowoClnan8r1iw6SGP68od6dZBwGHCfddx3gLZbJrJIfyqjp7ZANgGEKICUzT2AXhNL0eIHkdT-TLBOQ9npWN7prH78aJhuKSkEyerN4oGkfAxIqv9MOSkYQeVb28ZObzDjLAwUiDgdYLWiQ75CFjsV27CFaPowTaxl8ICWmOvUzXrR2r84QnXVZUTRBFU9qEwSRSwvYuVqyi8uC9OBAOccHKbExbf5n-y0V3bsM2SMXcY0Mjea26MNT-KVbz9sM06G-8EzIXyMaAF2LOwywWjbUP0jt-w-N87K_Zcgg5s3nxdP9y6wOpC3l83a1PlqgcvaH2srw3mqIvpel7aLDStPMfO3gyP0d73rs6NfNvEt26fTn1JsXVGeZm3b_4-uplZI35_-XemLKHjMibJ7UfclpTV189zvVNPfbLjJII21QeD731IFMZEBh2UULyBZ2M0I4qlyHJ8iAwCtN5q_2sr6SBH48yJOT9qxVoktDn4BaJ87Gft-rOZf39oqTuhpecc6YEBZdlcLsf6hjgFHGfj7WJ7M8NwLXS0kupdVFqOYqWba_lPh1fT1rEC5gQV1upXKM54q87b0VHLzakXfn5UZay0NY-ciyaGWMNrjylz7P478NBbNNlCEi5gwq-wxsjBPDtiH4ZK8Sx6rKnf7rGzbFb39jBd3hVJLSlrLVnNtPNS-3IRnj-bKhth1MYS5_x4d2zgbu2Dno-bPaEItwkWCFQWMS1FMM3lLQ8ff2sQ8SklKitjnC4x_abJ3Awc5WPgificQ0bf1iXDPzWui0FQzKqUW2Q30-9ZDIClbnQSh2G6AobwphLTi_UcJ0Jsp18M1JMq95WX6RAU8RCvtxJa8dd6EHlr6KwCbRxgnVpqTyAMT4QkKlfbzxk9fh3byTgWNuUNd1D4g9KJzQFmMu2BOjG8OWrYaZKRcMbs1Su71gqD0RHHGR_rDWU64MIuu4FDnBuQHKDmzlkQxEqpHX7S0Px2b6teTVKFukhZvF5ffnbJRKY5yB4E_M7G5LIy6wQmZZ3YL0kLWuknTJ9VlRpVF_7NbXShhjoNGRW1gW1Mrusq3N4-aXEcemq_hwNq9UD_wKIo14OL5twYicfYDkPSQLRgXTV_4Tow-Du3wSIKUtIoRryXtgfPmEmY9h8bm4g7iGwYIa3ZccHXYfz2HaAElmJNC_Om053trIC4HElboLx5H7_PZyZptnGn0MK7ag1_auRFmWTmyO89nkEUhUvgPghmP9ZN-ZU_GCLHQeHZhZN9qBIL_d6_2BNU296fOtu75YQZ0jpoKMmqa82kN8LP2oYmHUDnYdN_EceKOeV2rxuUrGEv2a842kty6ap6arBKlSWGCEg6h3a2M-anK0VoEo5IqQ1fbCmiqR4rBO0dyJ0E94EKhol_hA6j56xMpi0TJc5SCq13M-zXzpClRpsfldKSAf7hbqwky04YKLAnAi47_tkb4CgTaxKpZsTnQ3Q78oPEAac73rvQnlJTxquQxezixVXjkBWvIwmXlMYbYEsb_hqnSH6kZJm1dbJjxhxx8d37jx6vaM-hFB63zBV02t0ynoXYI8ClctqN_-E5JkLE-CTvQ=",
  "id": "rs_0a0de13f65f1b02b016ab43268a62c87d0b8effdc7c11499d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.38,\"right_y\":0.10,\"right_z\":0.105},\"note\":\"The left arm is struggling to track a low, far-forward target, and all three bottles remain on their sides. I’ll park it and approach the rightmost bottle with the right arm, whose neck is more accessible.\"}",
  "call_id": "call_74kRDlkbcXCXic6PKT2l5Sut",
  "id": "fc_0a0de13f65f1b02b016ab4326bd4cc87d08d468704725d0c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_74kRDlkbcXCXic6PKT2l5Sut",
  "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]: [0.0139, 0.799, 0.5724, -0.3214, 0.0181, -0.0151, 0.998, 0.3798, 1.3937, 0.5758, 0.1226, 0.2745, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2988 left_y=0.0045 left_z=0.1763 left_yaw=-0.0061 left_pitch=0.0145 left_roll=-0.0082 left_gripper=0.998 right_x=0.3594 right_y=0.0958 right_z=0.0805 right_yaw=0.0362 right_pitch=-0.0932 right_roll=-0.0401 right_gripper=0.9981\nstate[joint_eff]: [0.3897, -1.9077, 8.6359, 2.0195, 0.0073, 0.2613, -0.0171, 0.0479, -4.9709, 8.9094, 2.0098, 0.2857, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83be955704ec1d9a7012148deb3bba362dc883a3aaa3ac64f4bfc34fbfb2b8cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76409fdba73d038c1447c4a12319735c3747e2eafb9eb55247b5e0a697ba0018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171c75cf235e0d555b4022629b9d97bef5e94d9290f5560244df6d44e085085b",
      "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 · 3.162 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]: [-0.1165, 1.932, 0.7475, 0.5716, -0.1253, -0.1055, 0.9982, -0.0193, 0.7494, 0.5171, -0.3771, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4619 left_y=-0.0282 left_z=0.0137 left_yaw=0.033 left_pitch=-0.045 left_roll=-0.0013 left_gripper=0.9982 right_x=0.2815 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0381 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -8.9368, 6.8034, 1.9267, -0.1148, 0.0171, -0.0171, -0.2803, -1.8256, 6.7487, 2.0733, -0.0708, -0.0415, -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]: [-0.5022, 1.6363, 0.9096, 0.0662, -0.3584, -0.2653, 0.9981, -0.02, 0.7055, 0.445, -0.3431, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.1574 left_z=0.1132 left_yaw=-0.0724 left_pitch=-0.0498 left_roll=0.0139 left_gripper=0.9981 right_x=0.2745 right_y=0.0033 right_z=0.1382 right_yaw=-0.0029 right_pitch=-0.0324 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -8.7453, 7.5145, 1.9219, -0.1001, 0.1538, -0.0122, -0.3897, -1.2103, 7.2821, 1.9609, -0.0513, -0.0366, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0139, 0.799, 0.5724, -0.3214, 0.0181, -0.0151, 0.998, 0.3798, 1.3937, 0.5758, 0.1226, 0.2745, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2988 left_y=0.0045 left_z=0.1763 left_yaw=-0.0061 left_pitch=0.0145 left_roll=-0.0082 left_gripper=0.998 right_x=0.3594 right_y=0.0958 right_z=0.0805 right_yaw=0.0362 right_pitch=-0.0932 right_roll=-0.0401 right_gripper=0.9981\nstate[joint_eff]: [0.3897, -1.9077, 8.6359, 2.0195, 0.0073, 0.2613, -0.0171, 0.0479, -4.9709, 8.9094, 2.0098, 0.2857, 0.2515, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83be955704ec1d9a7012148deb3bba362dc883a3aaa3ac64f4bfc34fbfb2b8cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76409fdba73d038c1447c4a12319735c3747e2eafb9eb55247b5e0a697ba0018",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171c75cf235e0d555b4022629b9d97bef5e94d9290f5560244df6d44e085085b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDJxY1FhXKB9qD6iqPG_BMzYKWA795QNHoAyBpgK1qz4W53S524dWX1aRyr6cnhsxyMot3h25B9WWsaIOeqWKbDEFDPDpPo9tLhCaiTBYivS3uRzZje3NkClyw2kLGBhUgpifx_VBjQ9VM4dS6nsw1C26kHDaRfX1sfBpJ4sR6e5i-AjSPi7hnrAJUroWZnCIYyL9cm7cTYdpYtUH9ujtYJnsYERfok9BmJJ8RP9RX0-1_I3_A-d7yRJ41tY6buVx9z8ldxq12360WuWb8tl67Z8lmyDnCjNZ4ZbvP7UR4Rot2bFZRzXKoQj1UIYLXqxPPhSD5G3j1-NB4MnV7mzdFsAmGaGTtz597D-AuEjJu8XwbxfIFB-UNd14yol2Kg34_7aOr7igdz9XLax2jMkdARlxNQT4Af7zxcaqXnhRTGVbweLsZwxvh_uAgnegVZXLAj27T7HyWgRvGzsELwS-awWTGHPrfgU5eNDRkEAolRiNQkgSfM2JP9ib91yK9ZxeDfvXYn1xybIoN6pf_IWB2Kq4cupGT8JPhFwBm71T5_sEipNeZivnvaUqdnSuXoVEKR3j7uBOWv6eWJah64VNabqxDFbs96DQutBLaUvwMigXO0nJlonjFGYMYI36unq8_864rzRo-Wr2DatvJwT6argK8bsYWZ3-kNorJaKXyk7MFl1GY0FeL0B8E2aOoyY0SNuu9UEdp-FEWJOl1Kv56r6wAbUoD8W3eLc-ex5gRNCHIyne1xs71MJ9CGnFXITsGOYVVsKJVXF4L2rHQW-rWtxsYrRVd-DCJnodNMWHth_7dKBBvfd2TfctKb_QpM8BjeD9QhEBa1grHQC3X_A1MlxsViqkk41ieAfR_kU6GOk5D-2-EsbVIQaFZ_X-D-lQMkvYkNR6CnG_yxbDGRbIgfoXtuJ5TZDtYhSboXA_gG3oYryp0fh46rNDgCrUP8NPuni0Nz9ghpIhYVpVvN3lY_2keXqO9GPmsxIyjwM42zm0OlIhGJ6dg-PvpdTO-f5oLVLOshPDcdH-7OqOA3fGIZ9s-Dr3Yg2hQoeSuhSG1BcxCCMN4f2FUstkZupi8UiHA5PmNc78r7Uik3UEfdXP7MXjFma6BdN1SJyKj7ZVWqcRZQvJucCnC1GgSDdqJKBLgv0qOjjv80NXyaQyq1BS0MEAs6NXcxHlcFpkSAi5cJCfpFcOem3Om94W2h0nO-ds2OkcPSY1Q4pFBqesZk74nivbAb1Plvp8WcfZRe1rK6Lw5gVpt3NnWerO3xugj-bdKsnCpUsciCQAWZ2Kv-JTJ8gaAF9QfHqZYvyaT9dr6LJS4XOHXBrV4aAXTjmlUhocFzokHs4zJ3j4UbXrWaeKiEVOksH7iMCknYPau4nqy0smxtbV6x12ClmmeZyd2h2_pOKXa2MVAGQL4F9t-nPVmuEvKHV0nc4Slo1MeqNCkN1nulIA3375dVOb2CtkyqgZir0sr60DWu-BjHjzx7u1pSQv_cBcUx3FCmFDfy-u1rEaFCt7YYXt7hJhzercXlY0nV0zpr9z9fQK092SrGdtS3JvQgSkSnuh5nbmVNG1TCLL_gCtdivTFWINpeb3iECXAEJtP2UrA0v993okptIdVyKnxmiIUVwaxM0psU57qeDXikEAdBgEGSSUu_v8O1cgoo7str9uKm_nUK0P66_1R61NtzKYlrdjq9ZTBujLuUCWqrT4eJmsgbVeTdSY-xa8jyUTaYFrz6D0ZBbWaO2gBAjCOOq-wEPaGOIiU4vEetlD0UmTKKoYIDvSiR7ZiYYvpoIFVHPmt28xjyMAOzeSk397Rfb4Bhw_LDZVWb_sOiWgdyZ1B4t2f_dLHBhOHQ4fDOtguEKsMScDCl1DOW_eeEpSnfmZql7WYZwVDbaNCsw5RtA0UBeu7jCxX8sqgtLk4yp2KUoFUmUYIKOsGlan1XjQvlv9FrcX84DteQQ_cb6MLw=",
  "id": "rs_0a0de13f65f1b02b016ab4326f368c87d0af2e5fa6b6cea17d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.401,\"right_y\":0.128,\"right_z\":0.043},\"note\":\"The right bottle is clearly visible beneath the right wrist camera, with its neck ahead and slightly left of the jaws. I’m moving forward and left to center the jaws on its upper body before closing.\"}",
  "call_id": "call_X9fcOb9wJ29nVLc77RTefJIM",
  "id": "fc_0a0de13f65f1b02b016ab43270c3ec87d093f1e9c3f315cc2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X9fcOb9wJ29nVLc77RTefJIM",
  "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]: [0.0067, 0.8139, 0.5724, -0.3637, 0.0212, -0.0036, 0.998, 0.432, 1.6901, 0.5732, 0.4282, 0.2878, 0.1757, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1634 left_yaw=-0.022 left_pitch=-0.0427 left_roll=-0.0017 left_gripper=0.998 right_x=0.3807 right_y=0.1243 right_z=0.0282 right_yaw=0.0681 right_pitch=-0.0841 right_roll=-0.032 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -1.4701, 8.3897, 1.9267, 0.0024, -0.1294, -0.0122, -0.2803, -6.2974, 7.4598, 2.0684, 0.1734, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8baf5cf87704be5f4705070d4a838b00fe33f588a5ff4aea25da51fe47c46a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b82bf049e6cb07405a61b9798f6f7496d1a5cecd3b5fc0909952ce5d195f7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2fc0183d9d1ed74153d14d61540072c1ec23a1900c0eb02357412ad984a2c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.241 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]: [-0.5232, 1.5116, 0.8436, 0.1837, -0.3527, -0.281, 0.9981, -0.02, 0.7261, 0.4778, -0.3584, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4158 left_y=-0.1653 left_z=0.1613 left_yaw=-0.0876 left_pitch=0.1088 left_roll=-0.0763 left_gripper=0.9981 right_x=0.2777 right_y=0.0032 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.0354 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [4.0547, -3.6034, 6.147, 1.1111, -0.5934, 0.0073, -0.0171, -0.2803, -1.2376, 7.1726, 1.9805, -0.0757, -0.0757, -0.0073]\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]: [0.0139, 0.799, 0.5724, -0.3214, 0.0181, -0.0151, 0.998, 0.3798, 1.3937, 0.5758, 0.1226, 0.2745, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2988 left_y=0.0045 left_z=0.1763 left_yaw=-0.0061 left_pitch=0.0145 left_roll=-0.0082 left_gripper=0.998 right_x=0.3594 right_y=0.0958 right_z=0.0805 right_yaw=0.0362 right_pitch=-0.0932 right_roll=-0.0401 right_gripper=0.9981\nstate[joint_eff]: [0.3897, -1.9077, 8.6359, 2.0195, 0.0073, 0.2613, -0.0171, 0.0479, -4.9709, 8.9094, 2.0098, 0.2857, 0.2515, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.8139, 0.5724, -0.3637, 0.0212, -0.0036, 0.998, 0.432, 1.6901, 0.5732, 0.4282, 0.2878, 0.1757, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1634 left_yaw=-0.022 left_pitch=-0.0427 left_roll=-0.0017 left_gripper=0.998 right_x=0.3807 right_y=0.1243 right_z=0.0282 right_yaw=0.0681 right_pitch=-0.0841 right_roll=-0.032 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -1.4701, 8.3897, 1.9267, 0.0024, -0.1294, -0.0122, -0.2803, -6.2974, 7.4598, 2.0684, 0.1734, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8baf5cf87704be5f4705070d4a838b00fe33f588a5ff4aea25da51fe47c46a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b82bf049e6cb07405a61b9798f6f7496d1a5cecd3b5fc0909952ce5d195f7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2fc0183d9d1ed74153d14d61540072c1ec23a1900c0eb02357412ad984a2c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ1C9snZPWa2--yhRSpanyUCpjxVyc-J1Ja3YBtf1WteDAK_jvCvD9W1JEGuDGHbvJeaYUq7XS8E46Tf7i-rs5Ouse02rSK3ryAtk7ePS-_LoHNi1hBOhn_hWjsX5SJqzPdv-AtGM23z0Orq_K0Eb3YA3061flRRuIIRjOystirOA35vDrKl_RKGlGt8A32qxP9iss20sSlwkZ-z0fL_F7RfIQYz9qkMelwVq-Huy2yfexmzt0AIpuYfGimQsqeKZBRUUaztbwcZVCb8wgiqPbqti5uuy_PEkXqxG5nbGwUuqVQc2YShHv9AvagNMJ_erqqGoB8YKkQiI3q-JXmnlqpifGi9unAfC3IYLTGfCw4JkDGboyizJwl08qbR2AAYUs9aP-OB3wD8_81W4Ddp85EnCmXO8iVo9nNiTDXy5RvAb92yyHb26LdFnF64tfwfKNztTR5RhJpG4EiCojYd-9gmnI28uO2pwOuJP0nOBWDUuiifI7k_GU-K0nswkxPfVN014TX-rg97NjMZ8HI5peUM9eMbDGlFTZ85EILS7KMnSdAUKXbN0jomGD3K5ShpSPNd9vV7FXIAxOs56La-i7g2mhpqD7iyZ-_nn1a61hzhirMSwSJMvYhgTO2dpiKcKbL-3Fg6ysC3bM3t5u3jmgKOc4Eu4iVcSZ1xLbSKAv7MGCLLka9KxQcjsYszN3iw-x7kRZV1D6CagBVsXi6nbe1a89dck-_I2S6rJ3ZM9sJoYSkPCp1aVYmiBWdjIn77o67lU9D3b9C4EBWGycATlvRGfsWv-dTAMjjc_-HytbKB0d5rVyM1uxUt672r26aGKFPmHn3mUokOZg_qmLVkm4npFUfyCUxortIUrhAvIBJS0sZMQu69f-pp-fqXqYd_NVvAKklcsCdhmo9cuIuNujID-qGkdFd921iW4_yfCVzcrD2fA6DhfVKOsPPFSlmSarFnEpKHn5He2jy9NGYTWlItVytVZ5okJ2WewO7QptaUgozBM3X-ou_NKMQVm2o-hWZpOuPe7R2tJK3I0OEh_MaqTyowTQKBx-MoEvd7Dr1OCmaNBFwZWEkEPnOPQkanubMCsK9ejGuS0YhpGaUuH9m_ByrQ9Am5COkrqgIdr9W7sFS6ZQMHwhJCclZGzypW1V7zpRPZvcheGcz-c1-bVBnksNszSoWgHadeOyo9CH0Vb58SXIQZN0pf07n5BbUCd_4N5FCOedKSLdM3XGVAo8O4axjJc4BSx98FAVR0jpk9vHB5VZH_oMz9toYfSvTJiw59Ug_1CV6Pv3E49epk_AUX5KOfc5782SMHU42ZS40WvOzJ1XDok4JBdEPjd0tMZpUY5_IRsyPugO7h7UtISbwQ01xW9VkJ5VaMex5t4e6z62libcsYuGEiMFJfLVKdLgBkgB6Hq9vaAx5ntzOSanJTRTVI2BWxvPL-2SL2aeB7wAaGW2SggDVr2En4IUEKvnKq6jbD46oD6D6PE8hYIaxqhrZsBms1GUCW-QxLTmOMSn9JYBVI6Nppj4q62-rzQfYyS6f6pMdA-049gfRnnh0UrsQ44Ofa9QaNg1uKb6i_bKlgbJ03u9_unP0GHjuyjtfPaR6f58A7t494iOcRGawKNoXjFdjUnd8X1BrI_zOYQHh-YuNToPBJn_8RX-fNUnx5PNYO85Hi6t4kyYv_yURTVvQ3q8yKqfX5httVoSxaflLwCfgB4BS1sQmbgNgssF8K_xlRs5o3BlAhxHtU0JMdXCrgUjTaTHk_Z4iPuJep8ZOQatqC9lfE2gNh2v2C3GS",
  "id": "rs_0a0de13f65f1b02b016ab4327329f487d0a1c483a8afae7ced",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.426,\"right_y\":0.125,\"right_z\":0.037},\"note\":\"The right bottle is now centered between the open jaws, but the fingertips are nearer its base than its neck. I’ll advance a few centimeters along the bottle to grip the upper body while keeping the bottom on the table.\"}",
  "call_id": "call_qjBfzoy2uv8wB4p9s5DuQW6a",
  "id": "fc_0a0de13f65f1b02b016ab4327460c087d084d1befe3ad9a49d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qjBfzoy2uv8wB4p9s5DuQW6a",
  "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]: [0.0071, 0.7906, 0.532, -0.3298, 0.0151, -0.0067, 0.998, 0.432, 1.7214, 0.5838, 0.4728, 0.2916, 0.1761, 0.9981]\nstate[eef_state]: left_x=0.2918 left_y=0.003 left_z=0.1582 left_yaw=-0.0149 left_pitch=-0.026 left_roll=-0.0004 left_gripper=0.998 right_x=0.3879 right_y=0.1269 right_z=0.0284 right_yaw=0.0654 right_pitch=-0.0608 right_roll=-0.0253 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.7436, 6.8581, 1.9463, 0.0513, -0.0269, -0.0122, -0.0615, -6.5436, 6.9812, 2.0635, 0.2613, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6625d99e81b4d612487b11b6dd3ecf8512af347be12d4472e96d9deeff6e1db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e878772e6d8eac4d110fd6a5be2d48890a0c4b4e781709d9d91058cedbe006f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be368ec001a67481f8eccc70b527660379518f365f34efef3f74caad7bcee38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 5.425 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]: [-0.5022, 1.6363, 0.9096, 0.0662, -0.3584, -0.2653, 0.9981, -0.02, 0.7055, 0.445, -0.3431, -0.0296, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.1574 left_z=0.1132 left_yaw=-0.0724 left_pitch=-0.0498 left_roll=0.0139 left_gripper=0.9981 right_x=0.2745 right_y=0.0033 right_z=0.1382 right_yaw=-0.0029 right_pitch=-0.0324 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.0615, -8.7453, 7.5145, 1.9219, -0.1001, 0.1538, -0.0122, -0.3897, -1.2103, 7.2821, 1.9609, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0067, 0.8139, 0.5724, -0.3637, 0.0212, -0.0036, 0.998, 0.432, 1.6901, 0.5732, 0.4282, 0.2878, 0.1757, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1634 left_yaw=-0.022 left_pitch=-0.0427 left_roll=-0.0017 left_gripper=0.998 right_x=0.3807 right_y=0.1243 right_z=0.0282 right_yaw=0.0681 right_pitch=-0.0841 right_roll=-0.032 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -1.4701, 8.3897, 1.9267, 0.0024, -0.1294, -0.0122, -0.2803, -6.2974, 7.4598, 2.0684, 0.1734, 0.1734, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7906, 0.532, -0.3298, 0.0151, -0.0067, 0.998, 0.432, 1.7214, 0.5838, 0.4728, 0.2916, 0.1761, 0.9981]\nstate[eef_state]: left_x=0.2918 left_y=0.003 left_z=0.1582 left_yaw=-0.0149 left_pitch=-0.026 left_roll=-0.0004 left_gripper=0.998 right_x=0.3879 right_y=0.1269 right_z=0.0284 right_yaw=0.0654 right_pitch=-0.0608 right_roll=-0.0253 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.7436, 6.8581, 1.9463, 0.0513, -0.0269, -0.0122, -0.0615, -6.5436, 6.9812, 2.0635, 0.2613, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6625d99e81b4d612487b11b6dd3ecf8512af347be12d4472e96d9deeff6e1db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e878772e6d8eac4d110fd6a5be2d48890a0c4b4e781709d9d91058cedbe006f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be368ec001a67481f8eccc70b527660379518f365f34efef3f74caad7bcee38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ4-0Mnp5TVOpclhPFTREf9C7guSZ99AbN5hcsCPYO2LOUeQgsNEWUCoOGgtHs2UrqAhDrw2MY1aXoIBwnWZRPd7QE6uLfSN25hxbOIzVHPhJnqcP-IPi23Qwzwr0TWJMILl2U1TsoiHPAnDIEGV0wdb4ksBqopKu2b1HGx2EVoBkNYzjnKRjhrPN431qvB_hPWdeyV7p-9d8sDSlgcNYPvR5URWWRERggJUElRkVxObw0WKz3X9TfM7tf7ing345DPThUfhW46WnjR6n1IvYhqlA5ZjVFASj4qCyV15I1CyrCiM1YQOrYw8BAjZTOgNMrAr6UjXg0CgzOaPHh_-4KfDX72V4ntzisJ0meMzij7afDP8VlUugcoQyYs7TxVa6-HFnyb09ByWeaoMWCvY_uCyeKMHB4M7ukm0Hdw6Z5URSu3S0xOIBhEh4kTfsy-AXSyBu-EBlgl9zX5cVeXk70qhXphS40m-XbjENGAxdfI2MVgZota7CoArSe8r_PmA-AR5fP8QAM7k6VE7-v-NnsokjwpNH6TadSye23hVgy62lZrxjKwhF-Zvlx-N7wcCYC_yDfR3Brw1QaqnweDOlOv3C_OhSg8cN88Hck7VjakdwjuzQfZ9uUJZxOWZvsx8RrCeMNTbU_TAo8pjt8MAuYUEz-g6EICkyjqstGyj8fqHZ198e9AwvjNarhlEECUo9iSGXow7UMx1nsaAck-hgaX13xlj6Hchi1lMDdGcldHVYxIq2oJNqP84UubhGRqRxniUUDMu8Ji3__WHGTMgvlCrayUUop1sSdX-QAbmPgh0d4GdJrUODwEJQdsAWJk-csj83IXXYwCPLVAXz4QBDZEm6du-22ehyJe2YTFl4i3JTHP_RRho2m3muOSje47V-EfkX_Ar2XQ8P9HEt8Ap_gBmYJnbmQIkyUbwUoqwVm73iCMSR3jykhETunbdOW1Q5fIrykQm3obF4hKJDcxbS6-nCjSg_eBWUDohErJ3JoB3wX9qd1AVru0xgswPknjCzcQBpGk_3MfPekZGaXSgaHaHEXn62CeNaMWCp8P5wS_14fW5IAMoJ8vMOXy1pjqg75kEPJ3b9p7lU1V11hQYNcn3pPq2jnFzOpONmtgwZXVqbGGr6zVzlmCm1YEVr-9U4UcScBUKt8-mm37veao1E_yLF6sIVrC9JMqTl8BhESnxDMObUS5-oQjGZNlT4Yi5PysTtWM3CKIr5Qu1dyDUXEl3LG8JV8WmJMP2C3TxQxrqTRYIYJiYiyWPGM0iLkAFWDZCBdWx5mqFfNeweMsaKwh3Ete-6vYtiHNRm4KlrK50UwPkyjq6C1xYhfDf20e8CO-Q8RIHt-2IBg_2KyK5cbrhUG7VmTl293BF8cp2R1jlrcpwHknpnZ757UUSZ2emI3RG5nC5wkjCI2xi-SBe7hLu0hYOUtDbw3TO_jVkdFCCwhVUWD6dC36NMjz_crgtxobFDBYBscMdjZuWOEOUhFiNqOryFV7J_58v1RfJusaoFxls9GwrEiNrAO1MsGXX4qMeEpDyupCQ3cNR-6NRzVynNxj73T50MMPzPVCX5Dgzu2JmPR3RIsM7fF8IpjrWOm26lx8YJ1xtb6EO1Zb99wtTiVL3pFJvqX8j9WBhwU_c_ellVRoLjNqIxI0kzmwD8-Sgy8sFuF1MXyjlNZD8RHNEz3tuYp9KAJXIyhWFXPhKtBboP0EPyakuokDqeJ3vy_wJQX_-gb1f1VrW1WBD9lGsrr3Qk5IFlCgMpCufs8mg8nvJZA0PC_RTtsjtRJKPZHP8TzRZkYbDD9BJ1Cze4ozWho92MPtu0fntWvIK8_2Zz9pktYVbjUv1Z7JHW6Yjt18",
  "id": "rs_0a0de13f65f1b02b016ab43276bbb887d09384cac858359edd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s body is centered between the jaws at fingertip height. I’m closing the gripper to test whether it can hold the bottle firmly enough to raise its upper end.\"}",
  "call_id": "call_k2UlYRtk7a8kpKmnOj0zRRAu",
  "id": "fc_0a0de13f65f1b02b016ab432780c4487d0b3caa501be23e976",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k2UlYRtk7a8kpKmnOj0zRRAu",
  "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]: [0.0067, 0.7792, 0.5125, -0.3111, 0.0147, -0.0071, 0.998, 0.432, 1.7199, 0.5503, 0.6601, 0.2874, 0.1753, 0.0143]\nstate[eef_state]: left_x=0.2911 left_y=0.0029 left_z=0.1563 left_yaw=-0.0147 left_pitch=-0.0153 left_roll=-0.0002 left_gripper=0.998 right_x=0.4003 right_y=0.1334 right_z=0.0543 right_yaw=0.0687 right_pitch=0.0835 right_roll=0.0316 right_gripper=0.0143\nstate[joint_eff]: [-0.1983, -1.5385, 6.5162, 1.9365, -0.0122, -0.0513, -0.0073, -0.294, -4.7248, 3.494, 1.3553, 0.149, 0.0024, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e68c08b3d8cbb5eb19f01ad52b6245abb5e623399e7236df3f96e102114624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c03f23ce3ea597dbf6268f73c14f1308c5032d1a567e1f85a74504b19bc93c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1821d4baca128f78f091a663f05d43cc3c0ea245b493ce3854940413396715be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.436 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0139, 0.799, 0.5724, -0.3214, 0.0181, -0.0151, 0.998, 0.3798, 1.3937, 0.5758, 0.1226, 0.2745, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2988 left_y=0.0045 left_z=0.1763 left_yaw=-0.0061 left_pitch=0.0145 left_roll=-0.0082 left_gripper=0.998 right_x=0.3594 right_y=0.0958 right_z=0.0805 right_yaw=0.0362 right_pitch=-0.0932 right_roll=-0.0401 right_gripper=0.9981\nstate[joint_eff]: [0.3897, -1.9077, 8.6359, 2.0195, 0.0073, 0.2613, -0.0171, 0.0479, -4.9709, 8.9094, 2.0098, 0.2857, 0.2515, -0.0073]\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]: [0.0071, 0.7906, 0.532, -0.3298, 0.0151, -0.0067, 0.998, 0.432, 1.7214, 0.5838, 0.4728, 0.2916, 0.1761, 0.9981]\nstate[eef_state]: left_x=0.2918 left_y=0.003 left_z=0.1582 left_yaw=-0.0149 left_pitch=-0.026 left_roll=-0.0004 left_gripper=0.998 right_x=0.3879 right_y=0.1269 right_z=0.0284 right_yaw=0.0654 right_pitch=-0.0608 right_roll=-0.0253 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.7436, 6.8581, 1.9463, 0.0513, -0.0269, -0.0122, -0.0615, -6.5436, 6.9812, 2.0635, 0.2613, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7792, 0.5125, -0.3111, 0.0147, -0.0071, 0.998, 0.432, 1.7199, 0.5503, 0.6601, 0.2874, 0.1753, 0.0143]\nstate[eef_state]: left_x=0.2911 left_y=0.0029 left_z=0.1563 left_yaw=-0.0147 left_pitch=-0.0153 left_roll=-0.0002 left_gripper=0.998 right_x=0.4003 right_y=0.1334 right_z=0.0543 right_yaw=0.0687 right_pitch=0.0835 right_roll=0.0316 right_gripper=0.0143\nstate[joint_eff]: [-0.1983, -1.5385, 6.5162, 1.9365, -0.0122, -0.0513, -0.0073, -0.294, -4.7248, 3.494, 1.3553, 0.149, 0.0024, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e68c08b3d8cbb5eb19f01ad52b6245abb5e623399e7236df3f96e102114624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c03f23ce3ea597dbf6268f73c14f1308c5032d1a567e1f85a74504b19bc93c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1821d4baca128f78f091a663f05d43cc3c0ea245b493ce3854940413396715be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDJ_O8CIm_H25B98yIRvDEySoeVgq5Nv3MrH0oGBAS6ONkWhgv-R7btaNwJDBxZ2ZTGPHf1T2zy3cJmdh0xHhy9uwqBG9ytyiAdXUmIq1bNJJQvkSvFclHOAhrsaQ0MlSqVcRteHtp0EXvuUJxz2sI7Xk4OK0gBCe_vIDE0j0xFHKkev-B_D3Qjwf7xpy8RQcgOM7bRNLWLOjjBGozOoBhVg3NRD26Dg-MCTM-737lqzvNsQnOm7ziUcc9mAWd-ZYiJFEwqGhUyjTCJp5LtJuMrYFAtodEze8Wf9Gr6kk2y5U3acSK1AVZ0qWZcB8J6H845jcQXGe_hNRGoYBQDK6CGw261XzDdOEcrXQc_hSzmwEXOw0p7ZB5bwTh_yGbgZv1wIsyerUtkZ0V6EXWuFv55qEYfinATjMIjov_HocX40qJwZtYSZ_OIlWhpejgZCp6I0YTOYzyFwbFGkFBMOz1YhhdtuGucynNWG0W9cRLHCf7XT_iceIWA9XeWc3CHGZiPlbCwr_KMaScgiB8evQOu4tC21pEYi2BeBoeSkHqhdg4t3vGl_m1ZrIn1GOYCNJ2-6CHxh-ZrToypVDFzVdZs3w3rjzfs0ZHaJZK41fal6YaoKzK9BJTAxXTkZObrJNTCq0jyFkVy1IpAj37I1Gza5ecgB_iZkLN77RO1KEjx4bYnrLSqsAWZMnu11Z1OduQNJN7G3lvEkiRrCUVOG5fljpMAj3WvcrbkrRRdg324GgkPTzVzE8zWtKkVCCiUVYfkKQU3pHTu87cS38p7FH4tjUa5UHv5tDH1h38p-aq38IOXTKXsnGDDtp1oT_M9-vII_85Cyjvxhr9-Kjmd_t1OXNBS_M2BSCVoEpArfUsr52fhH10JBCOw4PaDgQshQ7CeGBhIUm-YUypEYQCZv4_nMX1LDEmLCJ_kch92CLn5mAJ3m9Bd9koxzqj3iHAGMIkq6BkxPQud_i8MyhacjHi2vMvn51GlXRWgmFSAe4-RkHRhtj17OWsfxACu_5lb5ltTr82H6sP1yjeXaBe3UEnSBfrVszmGYv-VKBXsNSr92TFCC3U75H-xKXZ5hAjt4g7M7X6B_IDNfTVIIzkfOxtxqn6aBm4jBZK3rk4x2Se-T2SH5nEplEaT9LhL_PI1u295phawzQTF0vikc6xlrKgVwT0FcUykObjGPybjEgXHXGtNi1jF5R_WqM1il3N3avOPcPJ5-n43KGcox6e-jT6_SXErkF2mzMPuo-gAubWyZqVpBGTWptxD99CNQ27VoZE1hSZ3g4jLgePO1BOAl9qBXbAQrwH_fiOQJo2S66WffebNa_alU4wfvS4xrGYkDSP3jyE_xgw3wT8AOts54_gCG9R40jw428G-tup_pBRRhMpgO3Hj0IESPiSV-SwCD37-5R-oWWNPTIz50x2JfHH8-EOSJJB1KjDM-BvgoWmBE9Dx8y_7GFoRWgyydzHUTZ_3-DfgbHlGocW4qcUipKfIrPO2yCElXqkQYi53ESasz4cwgXWIPqGp7IzsYU9jxv6z0p6s1E_c1JZlAfHt3rfaRy_67C_KMkEtMU9RmwbSZRRQqmAVeR3OsEn44FesEG4uq33PqqL9onvQ9Gm1xbaKuSJxJyAFFhSAVRgmyNYHnJPDl4o14NjP99dAruReXFnEYhxRVA0puHA_7iK644rxdB-1wFaLJgFvpcdf1_-FDu8F1yPtXt1B8yLz8oC7stPmCafzRhoYCmBIzdIMWVFphgqPKEqT6Ccq2y8xEJqE2XpnYP0GrypFGu2v2kUz_Vx1mPfCY7vOfjvPMHrkRJpf1J5JwAwUYdBzU14HYpE7M7IXfywG3zZsqewszMivmli3cEmRJ3jqhUDgdaokRuIYlaQAQTY501xxVtkgFm3ee-QHAWK79EaXbAA1Bv30kIO1wErQQehDKHAMtOFWw4yWuGLxjXhM_1h5k-8gwsQJdNuoYyI3WIkSaoj0rikcFqsG2-kU4tXDHxnCVsUJ3nspEfS5X0YFpDk29tvNQs7c1tooX8spQp31-eh8K6Jh2Koe35PpJg5jMRZv3yjo4a1y8i2MfXEt8asBZwAqZ0sU-3_hgteqfP1aU8SvbiyoiPeZAHvrTLOHMIbOufkNH3YPKl2-EJXQvzu83M_7QHSCboCyQAUFqUT8Hhgf74SKOdHdaqucX1gvsc5yPUwaSZV2mnMUuUIWrb0FCYSFvutvxblOObL4ByADQ-g_MSjxZawDm-4GjteqdDXS89DOnmctNP702JeXK4fziDRrGlnC8fckKtClf-gALDN-dsYf7xCkXCjyLo-PVnIrQw0hiOoNwRjL9gi6eRciy-Y9aT4DyTj9uMDA5ant8IgujY6K6b15VOf-TOS-mKTnKolgSO5xmR2F29xTXyFqnp7BSC3D9-TBbuy2kyVeq9pVy6bSuilpg_Whe1iRVy2OsSq8Gn6F0AOMetu701ViJX1BFBPJ5lF_qH5wGaIfMMYUIbmltoUQGn2AR22mnzZUzvxPXf_gQgJvV0_MFvuUiiOQ4N1RBkQ5Jlcn-g-KOYLD9CJHGYneC-hVLciEs3B8_QfEsKTjXB7Tpo500Amm8XaPwbNjs6BDz-tt5xE-66usAgkRuLgg04DxJpE3VUSAKY20wLTEpGBLeo6VIhzkb9Z2RxQrr3bf0TBUWS4VccELLfAks4Weylb0IzLQQ-SMX5924CbxyR0LBJwZu2_3ETOrlIkaImr6IEfOcJCBSVjj2msnM_VgP",
  "id": "rs_0a0de13f65f1b02b016ab4327b8a3087d09b379e96ba97327c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.432,\"right_y\":0.131,\"right_z\":0.04},\"note\":\"The gripper closed nearly all the way, so it missed the bottle despite appearing aligned in the wrist camera. I’ll reopen and move farther forward and a little lower; the fingertips are beyond the camera’s bottom edge.\"}",
  "call_id": "call_YoxcdePPndxSBp4QRgKquTIr",
  "id": "fc_0a0de13f65f1b02b016ab4327e212087d09686581d2ff755a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YoxcdePPndxSBp4QRgKquTIr",
  "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]: [0.0067, 0.7776, 0.5034, -0.3111, 0.0143, -0.0067, 0.998, 0.3912, 1.8019, 0.6888, 0.4969, 0.2459, 0.1341, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.003 left_z=0.1525 left_yaw=-0.0146 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.998 right_x=0.4215 right_y=0.1312 right_z=0.0363 right_yaw=0.0858 right_pitch=-0.0239 right_roll=-0.0178 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.853, 6.5436, 1.9267, -0.0366, -0.0464, -0.0122, -0.9641, -6.106, 7.3778, 1.917, 0.0464, 0.1832, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0681d6003335fc15694421062e5f61316349bbc7e668dc13765259331478c92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26370b96a5f86e40e4dd09a2940f9f74e2434232cd14c5ad3db28a97cbea396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7877ad695971d9ea9eba40bc06750e5320be994883cbc9ffd35cceaee53c312d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.982 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.8139, 0.5724, -0.3637, 0.0212, -0.0036, 0.998, 0.432, 1.6901, 0.5732, 0.4282, 0.2878, 0.1757, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1634 left_yaw=-0.022 left_pitch=-0.0427 left_roll=-0.0017 left_gripper=0.998 right_x=0.3807 right_y=0.1243 right_z=0.0282 right_yaw=0.0681 right_pitch=-0.0841 right_roll=-0.032 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -1.4701, 8.3897, 1.9267, 0.0024, -0.1294, -0.0122, -0.2803, -6.2974, 7.4598, 2.0684, 0.1734, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7792, 0.5125, -0.3111, 0.0147, -0.0071, 0.998, 0.432, 1.7199, 0.5503, 0.6601, 0.2874, 0.1753, 0.0143]\nstate[eef_state]: left_x=0.2911 left_y=0.0029 left_z=0.1563 left_yaw=-0.0147 left_pitch=-0.0153 left_roll=-0.0002 left_gripper=0.998 right_x=0.4003 right_y=0.1334 right_z=0.0543 right_yaw=0.0687 right_pitch=0.0835 right_roll=0.0316 right_gripper=0.0143\nstate[joint_eff]: [-0.1983, -1.5385, 6.5162, 1.9365, -0.0122, -0.0513, -0.0073, -0.294, -4.7248, 3.494, 1.3553, 0.149, 0.0024, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7776, 0.5034, -0.3111, 0.0143, -0.0067, 0.998, 0.3912, 1.8019, 0.6888, 0.4969, 0.2459, 0.1341, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.003 left_z=0.1525 left_yaw=-0.0146 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.998 right_x=0.4215 right_y=0.1312 right_z=0.0363 right_yaw=0.0858 right_pitch=-0.0239 right_roll=-0.0178 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.853, 6.5436, 1.9267, -0.0366, -0.0464, -0.0122, -0.9641, -6.106, 7.3778, 1.917, 0.0464, 0.1832, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0681d6003335fc15694421062e5f61316349bbc7e668dc13765259331478c92e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26370b96a5f86e40e4dd09a2940f9f74e2434232cd14c5ad3db28a97cbea396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7877ad695971d9ea9eba40bc06750e5320be994883cbc9ffd35cceaee53c312d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKD2ioesYWU6C2v3zDez_mtUFSV6G8rFlmUna1eRsqN4NZJNFuoI3x0q-dgLMty0qSARqtYrCr7wvWQjltJghbNPp4laqwkd-pM9Aen1Kti1eQffrFGq8L7OKraC9muGC8FaQYqMUK0Lfrxe6La6QaB6breANMOsfq8se7cv5OSws9EGYP1QaC3JszkA2ulAMZ3iigplQt0VEqAksxTVx311dG2JPeYm7jEd5n8wuWdyLmKVLfjjBMWHNlEb3Aepl1lawAUQV-6W_f3gJ3NlmFQ9i4F8mhZjPr2XjbYr27ubRhbwordXa-du1gqI4yzKbtweUGKSo6XV2EOpkIi4Ke0171MVdXCaZ-qZsbv_eEbPFCP8sBLlZZj4VdA4R8sFQ1WxwG_ihmpy78fZcSiOJGfIySV1XWt8ofR3nUW14ZG6lV0Dp9VSt7KGQIcBOZbbSyUFJmZEMU2Yw5pAW9-67IyOQJMkHc-hMEWdkB8AXDgHZSGK1557r96u7_hTJFSpUl3K-MhxhQgrPFeJ1Ja0N8AtdceReYDR8nI_Ytvab91zksLhnV-sWM1uAcIMUeFnrjzQ3U3OZvPfBjZcK1e9WXfKR2z51WohvvyAXO4iFO3Ya2bq1sqOSG4lLAyt4YJVvuHijldFn1hePtvpfxu8sc_B2p4lWkyIloII1_aCvIV9MEGW9LsiUfsbmrHk413w46eM3nqgfxCWjuKHrG9rCBbbV6jBFJxs6GlHLdp4fsWDqlU8v4TmXrJkg--iGLq1jtoiCTPdNoB8kbimoqeyCBS0PGb1YTlMN_rNOgaypgfXqD9SUKhM-bC_r2NX79IGhiSV7-KYCbm9G5Fd1sFUl2n7tQ3kDGgJtccag6OJ_skccj7o8mtUTEaQWO7bZsH1NH4Bzdo9-HjiuHipki2C_XNlbIdtt3B_V2vt7Hi6nzZBt6ATt9FcXl9QY9b8CXBNcExmHUvokIBa6Trlb9QhRlMhq3QwONNCKYXOy7adbzdge9WHqbqaf9w6oaFcJR6CGuVOfcYHa9M_MQ-JZA7868h4WHiIjmlTmsYWYwT4Y-v-umg9p5ok_InnOdDpkaDTGYM8j3vqUtP6HPF1yb2wQtTrgBOEEVMzduOX7W3ocG67zs6PX7fxgErvxEZ06N88h2GY1HgjERD0FHTz_cPYNH0ANj9AHk9Q4qmsxN8MtsY5_UpgVo9lMMj6qoavaXEfp93SKAd9aoCDKuel7NNhhRjXEX94XNUBdaKLOGoMS9Sp8aSwa8mDrc6vQLr9lRlTK3YcH4IapES9cR4i9ujYxc5xnyVZiB3c_rdCK7GgAoqBE4qJ9xldxC__IaPbg0eQ7E5_AjUEKguUI6Gtf-NZHOHIqT3Uho9HBNuYNYPliVBfwL2r81MGwcTKdFbTMMTe2R-4TiXemfcqx6G3h_fq70oDfYf_C7q_FLXTwGPGo_a-EIBb_KVvNRUvx5-rqcjy0G_86pvOEojVb-_CG1cXv_aML3jFcVOawZQd_NI3wGqAGcS3Bn41jthon3p5Nj37hY2rjYNTfQ1ZaYEG9Wj8eRopJzsG6BxwQjSNeoHGMpAUE90AzCah9kJXYkRfl-0OvC9115UEUmInTE65zfcekWx2ljipYWevYGMY3Wj9fPYjowxEX6B3PoWkEn4cbaZb5MZybyPRRrTNOqdXu0Qxr_Sqg==",
  "id": "rs_0a0de13f65f1b02b016ab432813cf087d092b77f5cb375328b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.447,\"right_y\":0.132,\"right_z\":0.027},\"note\":\"With the gripper reopened, the bottle fills the lower part of the wrist view but still extends toward the hidden fingertip position. I’m advancing about two centimeters and lowering to the bottle’s mid-height before another grip.\"}",
  "call_id": "call_sD7sfHMPyA33dYyWu7thYVti",
  "id": "fc_0a0de13f65f1b02b016ab432825b9c87d09f356e620082106f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sD7sfHMPyA33dYyWu7thYVti",
  "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]: [0.0071, 0.7727, 0.4961, -0.3035, 0.0143, -0.0067, 0.998, 0.3786, 1.858, 0.7265, 0.5289, 0.2272, 0.1204, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1521 left_yaw=-0.0142 left_pitch=-0.0176 left_roll=0.0002 left_gripper=0.998 right_x=0.4343 right_y=0.1338 right_z=0.0319 right_yaw=0.0962 right_pitch=-0.0138 right_roll=-0.015 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7436, 6.1607, 1.9414, -0.0464, -0.0171, -0.0073, -1.0325, -6.4889, 5.8735, 1.6386, -0.0464, 0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420d622969ebabd006b05c4285b5beaa2a4b497b3ad3b69fae8d988cb55de138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1de23db08c1f2d95ebe086a50d0bea68bf6bd28b7be934206330bc8fc28d103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4fee321ec9bccc9319dad9d5dc1a5ba8a1dbe060775fbd1bec98d8c8867deb",
      "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 · 5.728 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7906, 0.532, -0.3298, 0.0151, -0.0067, 0.998, 0.432, 1.7214, 0.5838, 0.4728, 0.2916, 0.1761, 0.9981]\nstate[eef_state]: left_x=0.2918 left_y=0.003 left_z=0.1582 left_yaw=-0.0149 left_pitch=-0.026 left_roll=-0.0004 left_gripper=0.998 right_x=0.3879 right_y=0.1269 right_z=0.0284 right_yaw=0.0654 right_pitch=-0.0608 right_roll=-0.0253 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.7436, 6.8581, 1.9463, 0.0513, -0.0269, -0.0122, -0.0615, -6.5436, 6.9812, 2.0635, 0.2613, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7776, 0.5034, -0.3111, 0.0143, -0.0067, 0.998, 0.3912, 1.8019, 0.6888, 0.4969, 0.2459, 0.1341, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.003 left_z=0.1525 left_yaw=-0.0146 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.998 right_x=0.4215 right_y=0.1312 right_z=0.0363 right_yaw=0.0858 right_pitch=-0.0239 right_roll=-0.0178 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.853, 6.5436, 1.9267, -0.0366, -0.0464, -0.0122, -0.9641, -6.106, 7.3778, 1.917, 0.0464, 0.1832, -0.0708]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7727, 0.4961, -0.3035, 0.0143, -0.0067, 0.998, 0.3786, 1.858, 0.7265, 0.5289, 0.2272, 0.1204, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1521 left_yaw=-0.0142 left_pitch=-0.0176 left_roll=0.0002 left_gripper=0.998 right_x=0.4343 right_y=0.1338 right_z=0.0319 right_yaw=0.0962 right_pitch=-0.0138 right_roll=-0.015 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7436, 6.1607, 1.9414, -0.0464, -0.0171, -0.0073, -1.0325, -6.4889, 5.8735, 1.6386, -0.0464, 0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420d622969ebabd006b05c4285b5beaa2a4b497b3ad3b69fae8d988cb55de138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1de23db08c1f2d95ebe086a50d0bea68bf6bd28b7be934206330bc8fc28d103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4fee321ec9bccc9319dad9d5dc1a5ba8a1dbe060775fbd1bec98d8c8867deb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKGNToT1LkeyDYH092bgLGTPOhezpRLp8BkuGlbzhNrczxSXftyqa3AlT44MC-0WB9-H6xKq4bP6Ue39zRtTz0sAwgxyH9VDEPr9vr-X3RS91dS9mtdLfgcKz-VXXBjb2zA0EOrfmN02-lJe2zdNB-Y69pPMmqKNqTPHWW5Ks88hL6FOp6qd6ihfi0HJbQMAInTa07JPGg3IjCraSs1lX_roLM2PSJyxqdFUBniAyiZp73CuN1WbaCqAEKuI7zut8MUxa3sIsqkP7Sk8bT6JFa_RAhe2ijvr99GAY1XaGh28FsvuV37s1w1mTJr9-AyAHb7jm-bVOpkp0HmFOfAkCjY4QcEXBfBvCopnUyPfgEr_8rdPvFEzWzToq9Mdhcp-NA3QJH0g4tRznI2lCFxXvou7dulcpTxhVeof3-ElkpuMoA0-NzhQZ06wMuNUHE4FvqeW6IpXmx5bdih-ywm_vITejOBhmy_K330t9r16ycsTWhicvrme486O3WKaHOzCU6SrkW8J28nWkGQuOI-HViIsiiSk6NVTgYdjGdI4Emt2VgmEZOPP6h8u2b4Gjbk597UOYQbHPJIHqlimRLyApeYIVZMDHXcWj_k__CI6bVUvx37UdPInvhyiAmKFinfGSjvJX-LEIcG1iuzYPq9mqF0CJVnWBXwAnblDN3_1hpGHT9jEwXjVoawrFRLa3QcVVYAelI84WkteA9flJOCmuGjO355o_vunL0kGI5fUIn7qz6u77KvB_xvQnOyfUOhhqQPPveIkpOgdztHpGvgA8odyKFzsYRPchGmVqmYAsUQZaFTGzDXvtJo_vjAhjtTNOyTVInyhzXeiE7kBdn8zRzOIV_lGExDrm6-A2TM0Kj1d9qF3bp9X0J9m0BPqwmm0Sei9f9CJyyBoBXQpK9yNE3Vo1EmH65ITwRANNgqWp0lWMOqA7hSGiVxU0YUScpbRazQQlIrRRDtgblosLHNgcCXjfFpLF53dEkSAqEmjUr57Kmu-p_3W6Q8l0IBUZTKd4K5A-h8gXbjcnkAAZa4HiwbPG8jea-ck7hznwLRgsDDG0oD3dlZ44zZwD50cWOtj1JZcesukWLBf9A-F6C1smxTZwF9zrTkS8U2MYsjPDQLvFx05Tu4WKKO4WQKojmaBX1CAvpNQjomAqi6Q--YylgfcB9O7Q4k3kCCF1xGYedyIhtNpa7voOPjl0U2oAUfCxNf2_Dg0SjMdEtAVftU9kcCEQc0cs18UY-50roXsn7OhPS2qJ7ZBAMsQ5sn9KxjAsVw",
  "id": "rs_0a0de13f65f1b02b016ab43284fda887d0a98fa5366330e002",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle remains centered and the fingertips are now farther along its body at about table-height midline. I’m closing the right gripper again and will check its settled opening for a real hold.\"}",
  "call_id": "call_xaBnaJirek0sSDAZ8y9IAe4A",
  "id": "fc_0a0de13f65f1b02b016ab43285545487d0b7ea5ad1518119c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xaBnaJirek0sSDAZ8y9IAe4A",
  "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]: [0.0067, 0.7708, 0.4866, -0.3023, 0.0143, -0.0067, 0.998, 0.3794, 1.8561, 0.7277, 0.6487, 0.2073, 0.1215, 0.0143]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1484 left_yaw=-0.0146 left_pitch=-0.0241 left_roll=0.0001 left_gripper=0.998 right_x=0.4479 right_y=0.1433 right_z=0.0577 right_yaw=0.1115 right_pitch=0.1017 right_roll=0.0292 right_gripper=0.0143\nstate[joint_eff]: [0.0479, -1.935, 6.3932, 1.9951, -0.0513, -0.0611, -0.0122, -0.4034, -7.7333, 4.3009, 0.9255, 0.1636, 0.0073, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa7e2921bdff6e53141b066322f7576196f453a0432bd9b1d7677904bf878f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938deb8fc20cd9c52a304a7a0952d0cfb1dc2118bee4aadfdd9132862165a70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43bb7621a46b8cc14eecea6c42b107c1770ff8d014bc7e0beb9369e58fc2ab5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7792, 0.5125, -0.3111, 0.0147, -0.0071, 0.998, 0.432, 1.7199, 0.5503, 0.6601, 0.2874, 0.1753, 0.0143]\nstate[eef_state]: left_x=0.2911 left_y=0.0029 left_z=0.1563 left_yaw=-0.0147 left_pitch=-0.0153 left_roll=-0.0002 left_gripper=0.998 right_x=0.4003 right_y=0.1334 right_z=0.0543 right_yaw=0.0687 right_pitch=0.0835 right_roll=0.0316 right_gripper=0.0143\nstate[joint_eff]: [-0.1983, -1.5385, 6.5162, 1.9365, -0.0122, -0.0513, -0.0073, -0.294, -4.7248, 3.494, 1.3553, 0.149, 0.0024, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7727, 0.4961, -0.3035, 0.0143, -0.0067, 0.998, 0.3786, 1.858, 0.7265, 0.5289, 0.2272, 0.1204, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1521 left_yaw=-0.0142 left_pitch=-0.0176 left_roll=0.0002 left_gripper=0.998 right_x=0.4343 right_y=0.1338 right_z=0.0319 right_yaw=0.0962 right_pitch=-0.0138 right_roll=-0.015 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7436, 6.1607, 1.9414, -0.0464, -0.0171, -0.0073, -1.0325, -6.4889, 5.8735, 1.6386, -0.0464, 0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7708, 0.4866, -0.3023, 0.0143, -0.0067, 0.998, 0.3794, 1.8561, 0.7277, 0.6487, 0.2073, 0.1215, 0.0143]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1484 left_yaw=-0.0146 left_pitch=-0.0241 left_roll=0.0001 left_gripper=0.998 right_x=0.4479 right_y=0.1433 right_z=0.0577 right_yaw=0.1115 right_pitch=0.1017 right_roll=0.0292 right_gripper=0.0143\nstate[joint_eff]: [0.0479, -1.935, 6.3932, 1.9951, -0.0513, -0.0611, -0.0122, -0.4034, -7.7333, 4.3009, 0.9255, 0.1636, 0.0073, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa7e2921bdff6e53141b066322f7576196f453a0432bd9b1d7677904bf878f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938deb8fc20cd9c52a304a7a0952d0cfb1dc2118bee4aadfdd9132862165a70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b43bb7621a46b8cc14eecea6c42b107c1770ff8d014bc7e0beb9369e58fc2ab5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKN0lqHUJON0_isfdtyWf9joxYvWg6wdZVTtUtA2EJ-S-OWeYJXqfSJ_AzDpZAuMo1axa8FYn588ceTXUBHLIcIURlLgWsgpI5zZ6g7jabvvIp8-kstSNWNSgpGJe5A_3XUDlkBHHqiEJ9FGJFd9_NHuOTKNazOpoA5CEIajpF1XuCD4_7veV6VLt63UqCQUP11sHdyytpmTj77qTq2zy7Dk8gPphdYIY7M4xWUpujm5-1vD7OpNPq6rhH6u24UJLVAOMFz5Dj2OuDvF463pAK3d1Wmk8A-VawjT4AVA4RIIY7T9Eey8wPZNT8wdFkhUZOrN4VbHsaYj7lKJJzVB76RGn3MXO-Ggd5XlfisNO0Ienemj9PnaIVfSIWjgAwOeaGRRWJj38oz5Bji6BBcID9LkXMpMdkgs2oOhtGYaPhyBbMDBrk1MeD7s3-AQnEuRj7FfrEy_88xgaUPAOtiBy9XMGmQ-E_3udZ12ESq_l2_j5XK6_N_uUYJWtsyLQz8jfG-2gYRADxMTE8Da-89LQaS7uRDb-Of1kKKM34L05dsbN2CLpigad3Uh-jYg0Nb_v551d444WZzaPI9msRUcD_RZDZSnBO_yv0t8l7DKsDJgp7CgnfDSfOIZQoVR1JZORb6KsO490FLCRLwwRaBPzlWtVhyqSlbZcTQpMz_zYucH_AIEYapn54Yx-7r_J53IZqIQ_HK33XabzmDBkGFB9IaD9r15hk3h5zrsmyiLU4H2dxIIj1-qwuoVLfFuDsPJhz4gK7MhuNeUOB6a7GccUaw9BKzVxoa9f_y0JYQTKMEPtWdlrVf3lLMoVfc3Jn4LEYyHi9kx1yS1zXV-l76kouaW8QtcTOifqIG8HEylQTmiy1dnWmK083n5qP6Zl8xEZaAxJc4S5rCBKX4FQb5bxFgeRVVA-s6hZuzdWzMAFRHMvL6niWmCJqzeXO6-EVHpXXSwWje7snmXOL0BqfSrrtgsK8rlU77MtLI-ApEfbNZK1K-TQHxFxOpRSoggOEnw2ePQmGWaFRiCoEQTpj0PryuIsYT4KEEoCNLfGAbtE-tyQ-U3pC6COD9O8UObYdM2XHXezGMM2S5ZTqMypV7cv3xKBHJTSWw7dS2xv9mFpN65If7_b4FGFHnvANPsJaOocmj6RFwZnk939F8pLmtaPIUdgVQiDB4TdrwgRphfNwpAs1pMXLMkc1QA31LMErxac1_XdZIRAv516mZHdo0Z5RV_kHYmXBFR-mSxldxgZPcC2ZGpomwiybtGZV2PfGNEj72khNrdgLFJfbQqKtVt-HeqszZthzwRPSRpjPpPUB5O_E5qlFGCq6fHhhZXcGF8PCkNXl1Quy26Iv6PG0jpwZxqjCHdTOhRSYN1xL1d6TFWf7qZsjiPaP9fR8GtMs1IbEzq3h3e4H9g8aSkz2gv_9AErg_QzUh0i5ZJ_FKa14MqROCA4keEEQ75Ai22mMzG3IrSJz2GoJdVWV4y9OzXR7jp2NatDJCuXEBddEntmD1qqcTYHj2awLKbuF54rCiB9v0g3eJ-t52ccPNac-Qp5rqV8_HjR2BTdP0ayOnus69znijViyGSMMgOyMTJqFCrTQX3Yh4JwJbfWQTs-NHgOGgAGYKmkwndQWc3q5fyoun35whS4V5znFv4-pSAyWmxg3g9pR1YXs80AqFjko1JqzQaAqdUXvvR0LmVitta7Ur_XpmWK8dx7fJtkZOhetpGQSfFJ4WWSFDjI5mZL7_T5H9Wz0T3BYUEG9Ka-a0Nh6kHHbDedQ-nb2SPyXiKlj8KRByXbOw4BZMzPEVXmMaBxdmgpfyN09OE0qDU0yTP5Fea7UyjiuaKvZrONYu4-mvpkHf1K6h_Zr4lkzc01f1hJRSLoBokDgR1NHJS08X7G4dD_YHBE_sFNAUu3ZscUApc-18wYZGMsjU4x2ZfpjT6QEc_8VXOQU0NJZRff6pHG1yB5vcJ2lLTx1lBVSCatkwDv774XT64YswEdiB_SQyLsU3F3x49gLV5Z9bht_szzW1yZrlq13cr6YYGqnnH_0eeVcbI8rV4m-TSj75MfLbw1Tp90mWiSfywzJUZbM4wo8GmvQ1ZDxCOyuI_qn8RIrPzB6-0_x4WIbwyA3dHq3ogvSwev8c2PrXNSR2O7s3i9CCuZSs3TL5bBaM_vt9rZKrYBtzq9mte0RGA32haMZMoojqycw929pwIR2QR_PZwwrXZLbb2f1Ljqs_QrIYwcUFSQMoB6MQSt6_yDIVa3fs1vti8kRhCFhb5ydzMltSYmMDl2Ee_vKut0Snjk0ok-SEj3DF3jWAHUMhzxHLTZmN8B1w83gqmbqu8fz3PfMsu-ZP1RIwvSjcRaseyy8EaOig6lOzZo0siuM0f_nQ-ns3LqChEvbxzdaUsCg0my3gWKg7NkKsO9fJ1AuRoayrv1HNQElLho6LyJD9g154AJ4S0rKPNhGIzWP8_bn5tPl1xECVm2eBLKiyjvyDyUhZkO6ZHn1Bzk0IIvVWlr2MOfhnsyzAjoFykQEracX8chMmwWUgenC52_0-md3bI0y34NWJTZgoJzZHQYBdnyai9yJTRvA5UeaNUB2ZCdxTAnmJV5SUtSw34fO42oghU995a-lx4T9pArh5HyLHJF7pav8tk5cyyfgqzGehLx5DNUCiFVmQ4K69rMTm3rCwu3S33Z-Ik44SL4yfNMcdNW_KvNia5WTG4cwVyKdE6Pob6a4N_Ifxo0PTVn0eTJ6HfK3g4SvsQ_FKq58AVcXCy7M7mOhw6VLq8Zo1hsNKjC6z1ADVuzE6u7u2ktgMMbJPAbXrcvIZ__srIRMhoHsfiLk0EzCOziz5h819e16DFXmBRxwgH4yBShd6XFaOkFGLqIVdzczUgOo8jcZD4ikdU1HOv08HyjYOTobDwSIZRpjYh2s3TRQauyzAa3xm_WjXRF0JQE6zfa_6gnp9GJ7Ryc-P1urdtNAiEmHMAwhtpfDJVHfc2ECDPrbUVXivqem57TcGfaA9yc2y9-1P77v9TzNCYkpfs06SgVZYLBn5n2M05z03px6YQOH8ZXC7_vE5e3ZJZeU8_5gDYGQt_MYK9qtQR-FYcTXin16t8uaVezco1HaNQKyfRTAba7GNaPgtzaDp8smriXpE-PmVcSTC3CPBXkypF55e8jyK3aGOw9rdXq75OmowqripBjoPOjdrv_Gh45zVYsQYIUz6NEl9f3xon-ImjanSyHbKmLBtmfdDtLQ-XIfaeNXjR5qlo8ExEsOFBos5Fbp7fb-GHPITGp9VGIA7wajwSxHX45mLk4fXkYlmrvh6PVp7Tj-g4vJdGHAXbMlx00LVD_mKARQtVUPl9mqDmqO_oBFxxoqcH8FrF8_6tFB3jv08TvP3alKUiPYdjm2eKmmkq6ms6wg7MzWf3iuVGufpOYYQF7BOLCjq8GUw5U4TDC1M4EjY8W0K-0jt7QRA5ObbXe9AcE_2v1BpeFQq7UccHp_jxSoqw270uhF9R5Su0vEu_2g86FWnei4I9IuYKwXXeSYsgJNCJlsm7xGYuHCTW24Orv8l5Wo1k6IcktEYng8=",
  "id": "rs_0a0de13f65f1b02b016ab432889fdc87d09af82cd62ae1710c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.462,\"right_y\":0.165,\"right_z\":0.027},\"note\":\"The second close was also empty, so the right gripper is still behind or beside the bottle rather than around it. In the overhead view its forward half lies slightly left of the gripper; I’ll reopen and correct both position and side alignment.\"}",
  "call_id": "call_LFzkoSiUapEKAiLOpVH657j0",
  "id": "fc_0a0de13f65f1b02b016ab4328c624c87d0a60fc3e05d237267",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LFzkoSiUapEKAiLOpVH657j0",
  "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]: [0.0067, 0.7624, 0.4698, -0.2871, 0.0143, -0.0067, 0.998, 0.4263, 1.9491, 0.86, 0.522, 0.2352, 0.1249, 0.995]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1461 left_yaw=-0.0146 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.998 right_x=0.4602 right_y=0.1677 right_z=0.0383 right_yaw=0.1348 right_pitch=0.0215 right_roll=-0.0054 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -1.7709, 6.4752, 1.8388, -0.0366, -0.0659, -0.0122, -0.3624, -6.9265, 6.4615, 1.7314, 0.1099, 0.1978, -0.2759]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b84d68f932a46f56048f7f3111fbedcf5c536c28ada67f2446fd15ccaa2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cf7a061609e749c802f0f07bb41c5d44d6f0c18dfbecf5cbe46d9bf395193f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd8b4424b69bab91a52292e23d18b941bf9fc4e79682f0520a267c749f66f94",
      "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 15 attempt 0 · /responses · status 200 · 2.191 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7776, 0.5034, -0.3111, 0.0143, -0.0067, 0.998, 0.3912, 1.8019, 0.6888, 0.4969, 0.2459, 0.1341, 0.9946]\nstate[eef_state]: left_x=0.2897 left_y=0.003 left_z=0.1525 left_yaw=-0.0146 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.998 right_x=0.4215 right_y=0.1312 right_z=0.0363 right_yaw=0.0858 right_pitch=-0.0239 right_roll=-0.0178 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.853, 6.5436, 1.9267, -0.0366, -0.0464, -0.0122, -0.9641, -6.106, 7.3778, 1.917, 0.0464, 0.1832, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7708, 0.4866, -0.3023, 0.0143, -0.0067, 0.998, 0.3794, 1.8561, 0.7277, 0.6487, 0.2073, 0.1215, 0.0143]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1484 left_yaw=-0.0146 left_pitch=-0.0241 left_roll=0.0001 left_gripper=0.998 right_x=0.4479 right_y=0.1433 right_z=0.0577 right_yaw=0.1115 right_pitch=0.1017 right_roll=0.0292 right_gripper=0.0143\nstate[joint_eff]: [0.0479, -1.935, 6.3932, 1.9951, -0.0513, -0.0611, -0.0122, -0.4034, -7.7333, 4.3009, 0.9255, 0.1636, 0.0073, 0.6374]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7624, 0.4698, -0.2871, 0.0143, -0.0067, 0.998, 0.4263, 1.9491, 0.86, 0.522, 0.2352, 0.1249, 0.995]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1461 left_yaw=-0.0146 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.998 right_x=0.4602 right_y=0.1677 right_z=0.0383 right_yaw=0.1348 right_pitch=0.0215 right_roll=-0.0054 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -1.7709, 6.4752, 1.8388, -0.0366, -0.0659, -0.0122, -0.3624, -6.9265, 6.4615, 1.7314, 0.1099, 0.1978, -0.2759]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74b84d68f932a46f56048f7f3111fbedcf5c536c28ada67f2446fd15ccaa2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cf7a061609e749c802f0f07bb41c5d44d6f0c18dfbecf5cbe46d9bf395193f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd8b4424b69bab91a52292e23d18b941bf9fc4e79682f0520a267c749f66f94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKRqqbf8HIktyoxg7HXqcYGdMUDoA9FAWajUlJwLv_gEykkkf9WLQmYjWCD32csoRLVKnyBSa54x0fmUdAPOPphBkaUBTlOzZo-V72D07bQ4QGP9fcIO4FVT-KZ9eGpfhQ05DIzSu6Nl7P5KAr6-GDfsb2h0Z9lt2Cd8LOryhiv2I6X_MV8BOc6WeTi_13hu3D7js9e6tyhcNdL8iD-K8j89Q8I9VFNr3D2j91xpdDgPVFCVHWSB_m7T62W0_aeJVGKEnXi-pczmn9TbAUxfOf4bmkzM5OeBxhgup_QNdoxz3ecAg4Uk5LpNCPUG4CxWuhwFE0UBZz_RO321QigygokucBxpS0IpQeI-DhwN2I2iPlyeUQFnD2At0Fq7qhRcvC18fNnBbn9kV_KZXa9zQVBg1r0sjDPv7pSbLUmaiVW5k48DKpv1xgx5Ww7zMaGKvioNvTxWAnvDY2jAW5ye-3PzL04V55GwMOdfWhSgyq20pKrO1Ju1I8aQQYjwpv6lMiE2ItGjsKpkZV2BPLOPxUVjUhAvVhJwvSR_nmfLhCZ_sHrAkCSEFeT_nu2ejs-VOLhT5LAM9qkiAGoV1W1V_rDG69TMybaE1TnvJT0HjIN25zIa9RiQiNhfw0KKshdZ9O2bxDqLpQF5DVNf0nu66GWi0F054l6S8tyvDUWR1FgiLlblEz489IbQ3pPmh7ALt_lYi07mx8qq7DGRT1K1qawKDox0Rq1mOSEiwyZkHltb7jeL5wn11p9DJ_00VShOrIXnpdORmzL7UUXUwum67iEczIq1HeEverE5UGBO8_LSPB0Fh3hE3Xn4YqxoaBCXfEo4B0DIESsLDiVNpVopT90Cf1z1DienbohJUpzCxRcrfHtNhSs7EkfTAvLLUDNCz0p9J-B8m3djSMKHkdOO_6lrs8DVawocHukprftbFekks9Flaj_HB_x1eXXMJ1UcO_QyH73_iwwShPlWH7C2rP9AEzvLt1BMnAL7Hic3fUI4DZ8_Cz71PRXQVyjdgUtGNC-vU1R4xtEtlvFxpv9IXVv6QLv5KX3HK7J05G1Wpvu8MWWCj-5yL_VtfhLzI0c29o-3PCdaz8bfDWqXZAMd-5eENltyNDyHq25UnEp7V0JePOwARXVpgu_HeDP8yARyLiHJlIZiTUQsboiTHfo1vpMDH5PsrMzfvFyDKx5gxpXHrvYP4x3PLG6U1g4ASFX2PftehgsTebZnBe5h_WZd_nbnspQZIoFPn9JbO4oPkc27i-MxlZrjwNsN0__lFShjk8X-iL-jxpwFYTcQOCetdMhfF34LtblcyWXX2TxYL2rP2SgUGanAsPEmrlncsK6kkL60e39g5BJ1UQGz_OzK5QWUyHkW_sTUEFOU7JJ2LJb6XSkiEIBhOswwPGI_XMILRdzVtIWdNk4Hk8tcTKLA1mtWSXcdDewy_llnTwRcP3TWEWlVOueH1rpBxK9mOYQoyb0VOBS1Wa_E1dDU_pMjPn1VAL_LKrD0wufS0zFSiZFZSZCYrfGyhCh3mR3tU-GtY_GNpXZ-iTOsaCZ2HZ6B7fioUCFRCemM4b1qvv-QXCiuozakd7KeDnYKaR_z3QPKDwrVkQHsbJcEFmXoWe1Ty3sABxfnNI7UMqPaxE2H5dAlTMUm3iS1ylZK90jduvMTC3aBuYmW1_-yYd1NhL8jLbTNQ==",
  "id": "rs_0a0de13f65f1b02b016ab4328f96cc87d091a009411602e79d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wrist view now shows the bottle’s body centered between the jaws at their lower edge. I’ll test this corrected grasp before trying to lift it.\"}",
  "call_id": "call_4roInEYPTB5aZ3egP2ZW64Yw",
  "id": "fc_0a0de13f65f1b02b016ab43290584087d08d5be0f07d51650f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4roInEYPTB5aZ3egP2ZW64Yw",
  "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]: [0.0071, 0.7624, 0.4644, -0.284, 0.0143, -0.0071, 0.998, 0.4255, 1.9396, 0.8726, 0.5327, 0.223, 0.107, 0.3747]\nstate[eef_state]: left_x=0.2871 left_y=0.0031 left_z=0.1443 left_yaw=-0.014 left_pitch=-0.0195 left_roll=-0.0001 left_gripper=0.998 right_x=0.4653 right_y=0.1719 right_z=0.0494 right_yaw=0.1535 right_pitch=0.0514 right_roll=-0.0055 right_gripper=0.3747\nstate[joint_eff]: [0.0068, -1.853, 6.3795, 1.8828, -0.0317, -0.0757, -0.0122, -0.4581, -9.2239, 5.6821, 1.2576, 0.0317, 0.2076, 0.3541]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0a1ab26e3900c35282a36d7776e4794d7209edd5df08d67fc12db56499d948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56a4e4f217f4ced7206a0b59eb3fb04d9461d222459fc8dc7571c93c591bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14550047c564ff48a8ced79cee6e7d516fab3e28ab0d1353973fe35a436ca3b3",
      "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 · 8.583 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7727, 0.4961, -0.3035, 0.0143, -0.0067, 0.998, 0.3786, 1.858, 0.7265, 0.5289, 0.2272, 0.1204, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.1521 left_yaw=-0.0142 left_pitch=-0.0176 left_roll=0.0002 left_gripper=0.998 right_x=0.4343 right_y=0.1338 right_z=0.0319 right_yaw=0.0962 right_pitch=-0.0138 right_roll=-0.015 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7436, 6.1607, 1.9414, -0.0464, -0.0171, -0.0073, -1.0325, -6.4889, 5.8735, 1.6386, -0.0464, 0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7624, 0.4698, -0.2871, 0.0143, -0.0067, 0.998, 0.4263, 1.9491, 0.86, 0.522, 0.2352, 0.1249, 0.995]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1461 left_yaw=-0.0146 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.998 right_x=0.4602 right_y=0.1677 right_z=0.0383 right_yaw=0.1348 right_pitch=0.0215 right_roll=-0.0054 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -1.7709, 6.4752, 1.8388, -0.0366, -0.0659, -0.0122, -0.3624, -6.9265, 6.4615, 1.7314, 0.1099, 0.1978, -0.2759]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7624, 0.4644, -0.284, 0.0143, -0.0071, 0.998, 0.4255, 1.9396, 0.8726, 0.5327, 0.223, 0.107, 0.3747]\nstate[eef_state]: left_x=0.2871 left_y=0.0031 left_z=0.1443 left_yaw=-0.014 left_pitch=-0.0195 left_roll=-0.0001 left_gripper=0.998 right_x=0.4653 right_y=0.1719 right_z=0.0494 right_yaw=0.1535 right_pitch=0.0514 right_roll=-0.0055 right_gripper=0.3747\nstate[joint_eff]: [0.0068, -1.853, 6.3795, 1.8828, -0.0317, -0.0757, -0.0122, -0.4581, -9.2239, 5.6821, 1.2576, 0.0317, 0.2076, 0.3541]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0a1ab26e3900c35282a36d7776e4794d7209edd5df08d67fc12db56499d948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56a4e4f217f4ced7206a0b59eb3fb04d9461d222459fc8dc7571c93c591bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14550047c564ff48a8ced79cee6e7d516fab3e28ab0d1353973fe35a436ca3b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDKUR2ra2-Hv5ct1HAki_F8KIRHZQ3bOkc524P-BKpEBVMfHDtguzLQOodxBtlmnDvhuFm1bYfu9kIeJF9xO0dCpWsDR65fD-_efVSERywrz9WbMjhrsAUodxxsL0nO4L3O1ifQHJQZMwmXmD46Y86UxEOZfX9jhTjcVi_4fAOlOJEJBe9kNESNPBSqqqxbW7hJoLFI9k-sROiT1e9B3vXR11rC-7l0we1kXavG22tF6NBzAmyklPy7DyM1jNheBJcfy3rW34DoecrKzswpoE4UGhD3VqZxBDCL_X3sc7vMBmlXJia1aUSyo_trZVOiFmq6HEYYsRITVLdw0KKaGwLOZb817rfGNAjQ60mingyuD8kI4EG3hHAAasBEmN4DFTPptS2fmk7aJvlj36bntid5w7yErwFp6LOnGcrSayG6r4oyr95CxL4kSmpKqIeieVduoHXL05Drmv5MKYm-Rl8yRjoXkymHizEfkiPbmmc6KJN_5sb-SQuKqUMVG6T2auQfcn5mep620vdgs0nycqniA4TIZpqpUGJzY2fnskjRoS0hCH1EfId0p_b8CYXRVTE8O9-7ScfXTnz1Pb3Vvo84ykh7xMR3Lw5lq0laYUFK4J4JA6K-Z1CDeuBvDWYqzAeXoR1p-VEoaQfCBTXpuiLzegFIohicW3hanbpIJLjZwESHfWPJLqZs2Qen9uKctmYkgNhKR0d-bZA9dYoxpvu_jHHhCvkaUJtDcdDbISRklwsiXCyY70iBRpNbjDavS7JQs_usE76wmih7r8vT1ozj4WqAoqXcyH3wZQSoBnHRhCgs5I6AYWvnXXhuUi6nTzJ2KoC8H8Xqb81xsWVpyQnWPh3nZpdTth8nGjdKpCLNW66SRGxA7YNSHKrBmJ5Wg2rEDZTFLWidLpmDW9j99gtjkkOT4uDNbxlg-r8-54eScXq57tm3C9xO_iPnck1DBO-rNoPkwq_VaUxc3nkxbEIN_MwDqwxyfNG9bZ66GoyxCnJgmLcNEjnfTbTNv7Ti6-wGSEEq2Gkc2KkVG5sl1gNNIIMvYHbsFpXIFzLaP7eL_JILDORvLYy5lRWKjk4-IaRnBccfN_K6zuxI1dML-p6lvFsKBn4luGyjOD4ImPxJS1-KUAgd3CFA-nB8scbybosCY8fS2ezNjOS1U4nzZGoeUJ6upRGQ34sFzgO-KKxosmbVrDJB6_PaBSl7cdhmHaqwaqUuGgDkwjs7sbnVQKIs2IPvuBDYH9yzkkMAuADqDwrwl9AJ5cO5-QLQwiFTL_s3-FjlhQw-D7lm26G_fIKjFP1kMBM2n5Mnf0XiahiUFviI=",
  "id": "rs_0a0de13f65f1b02b016ab43293ad2c87d09f97c222b141001d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.17,\"right_z\":0.17},\"note\":\"The gripper settled around a 3.6 cm thickness, indicating it has caught the right bottle. I’ll lift gently and check overhead whether the bottle rises with it before trying to set its base down.\"}",
  "call_id": "call_zy51YPAJ7kDUkdmxLlqBr6NQ",
  "id": "fc_0a0de13f65f1b02b016ab432940c8487d0bacee4a9e670c49c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zy51YPAJ7kDUkdmxLlqBr6NQ",
  "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]: [0.0071, 0.7559, 0.4515, -0.2729, 0.0143, -0.0067, 0.998, 0.4255, 1.7054, 1.0901, -0.0223, 0.2008, 0.1001, 0.3745]\nstate[eef_state]: left_x=0.2865 left_y=0.0031 left_z=0.1424 left_yaw=-0.0142 left_pitch=-0.0149 left_roll=0.0003 left_gripper=0.998 right_x=0.4554 right_y=0.1716 right_z=0.1366 right_yaw=0.1757 right_pitch=-0.0516 right_roll=-0.0261 right_gripper=0.3745\nstate[joint_eff]: [-0.0615, -1.4017, 6.5983, 1.8681, -0.0708, -0.0513, -0.0073, -0.5128, -11.0564, 9.4564, 1.956, 0.1441, 0.1294, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1342370feed1c0d24c57a045a4318834ae78da36f66c50504fde9dd8160cfb07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354c2b2f1706c6eb8af6e41e1cfd41a17c1ed1aa2935b8960a4790d59cc4e5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3548b5d50c1ae8dfb72ebcd16d6449cfcaeb0d5a5cab9fb0558d2c242400299",
      "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 · 8.231 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7708, 0.4866, -0.3023, 0.0143, -0.0067, 0.998, 0.3794, 1.8561, 0.7277, 0.6487, 0.2073, 0.1215, 0.0143]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1484 left_yaw=-0.0146 left_pitch=-0.0241 left_roll=0.0001 left_gripper=0.998 right_x=0.4479 right_y=0.1433 right_z=0.0577 right_yaw=0.1115 right_pitch=0.1017 right_roll=0.0292 right_gripper=0.0143\nstate[joint_eff]: [0.0479, -1.935, 6.3932, 1.9951, -0.0513, -0.0611, -0.0122, -0.4034, -7.7333, 4.3009, 0.9255, 0.1636, 0.0073, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7624, 0.4644, -0.284, 0.0143, -0.0071, 0.998, 0.4255, 1.9396, 0.8726, 0.5327, 0.223, 0.107, 0.3747]\nstate[eef_state]: left_x=0.2871 left_y=0.0031 left_z=0.1443 left_yaw=-0.014 left_pitch=-0.0195 left_roll=-0.0001 left_gripper=0.998 right_x=0.4653 right_y=0.1719 right_z=0.0494 right_yaw=0.1535 right_pitch=0.0514 right_roll=-0.0055 right_gripper=0.3747\nstate[joint_eff]: [0.0068, -1.853, 6.3795, 1.8828, -0.0317, -0.0757, -0.0122, -0.4581, -9.2239, 5.6821, 1.2576, 0.0317, 0.2076, 0.3541]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7559, 0.4515, -0.2729, 0.0143, -0.0067, 0.998, 0.4255, 1.7054, 1.0901, -0.0223, 0.2008, 0.1001, 0.3745]\nstate[eef_state]: left_x=0.2865 left_y=0.0031 left_z=0.1424 left_yaw=-0.0142 left_pitch=-0.0149 left_roll=0.0003 left_gripper=0.998 right_x=0.4554 right_y=0.1716 right_z=0.1366 right_yaw=0.1757 right_pitch=-0.0516 right_roll=-0.0261 right_gripper=0.3745\nstate[joint_eff]: [-0.0615, -1.4017, 6.5983, 1.8681, -0.0708, -0.0513, -0.0073, -0.5128, -11.0564, 9.4564, 1.956, 0.1441, 0.1294, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1342370feed1c0d24c57a045a4318834ae78da36f66c50504fde9dd8160cfb07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354c2b2f1706c6eb8af6e41e1cfd41a17c1ed1aa2935b8960a4790d59cc4e5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3548b5d50c1ae8dfb72ebcd16d6449cfcaeb0d5a5cab9fb0558d2c242400299",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKeDfBgjLYaQEXL7rG7PZPUQ1QJUWUODPuCqqDcCTvasuHvnI7CXnC8ItxKZVRN-yCRGf2W4MTSZ1uDr7LNJ9XyXE54R-4FDWhDNtnAcSnDqGXibw2rS7QOArXXVD40gRKFsDHehLAY_fJ-8KhUF6uYzqRE20QveOEks2ISapHMEzAj-Dok70PhCABZo1BE57aCPbF-10B6okgql35Fw9Fvb49GZPfzZsdvf7-92eEqepXkN0rG_2C6-zU4vgdQO13jiqGBog08Pezs1F5tcUyClXlZJs5Z_yB-FFOFJonxFBhYFBKlCOgYpqd9qC4k0fkmPFXsu_PO5UEDluUFNoKHdYJMWF0Whckz1U5JVzhpPD60wE9NYP751tbYY9XgyGE_vt4XIaVsWd6bkdqK2e0NfSvcY-CEZTkjTTqcsMzHu_gGqVWbhi7k3EYKPl-Cav5i09bocWHUVhiNY60acUW0E8gdEJou7-tWTMEKTSIg30iJFGJoJ1Yn8RY-b0yrhPYOsdeguIibE4rYXqQv6NnC9iMHb8vRNalLhZDjcwydF5Kcs5oAxvAICba2FdAutRDsd97RWJFoHinUtSOXlkpDv9LLpUS1RY6-pLzxBoG77E4Y3MVBhzk51P93XrOV3cWFS_WKDPldGh6vXXqs0ARKk6L2deGTT7ureVKU50xpy8EWxDXw9MrTVwC1IhAgBeKHgh_1NOok6Ma390qQ1DP91aWhmg2gsQ_P0-6gmEKXX0jjvFHj7kQRB0_YOF4O7Gm_Wao6ft7C_zjmFS6gfqPIiK4pi6heRsIrA67hjAC1rm3tBfan2fnQ6jeOYyPqWg-BxkG5Bf3MjjGBQt8tLTeohqpXquU80NtwtAnuox64VO3FTyFQzdhHBH0sf7y3cYzEd5rszqot08HwaYwmA4LIGzgNfrNuFSKMsoZcCkyWlJ_ZeG9wNjjog1Q_TorNP_gadLCDVw4jVm4hwHX8PquOBL5ZQlMjhdaBZ-30S43cRQptAutfyjTilCzm0IUTxnvwAoHTQdMgPbpfetpzWuIhNVJtSjyMN1zQkyoMF7S01-peIEfwzMlIVcXxwHvt2GUr7t619RUQjySXUED04mIE3fvvUhrEJxO3MUsy6ioiahsgc6sQhmN43bNln1huy-t3C69Dby6f9OjNK0H7mybo1ZC_4PW_S6ZjLy3x6-B64caG8lBnE2uW3XQAGZ3d1jiGWW6D_kv5MqNXoXpK56KzubnLW4sH0Wkak_boezHbL9iP-IXmSBc5TL9mc6pEXpaUmMoS9x9QyMDD_Fi9Bb7ehq0wIY8Mrgysm_SAuOw366kPG5tsJiHC-_zQ6Johf3J4WlBKiaF2AJca0u5jduIMWrsCKfI0SjfYMWmTbZV04V4t6wE0Xabr_SVV1URpmxtXyPXLE_YeNYvtkHaXcw7BYVP5SssxvIQbYYaARy2mgYCEs4-zhAbjZu9CMUN9GCQSsmq2JgWjHCMtmhQkPlE2BxsbVbjKGW1PVkuguzCGWJcV_ZHzPYUUuml-m9iZBcfUvmyh00o3trD_tZVp_wupEF_nfSrFcND4etvhMqiPQT1-I95Ihkw6byS3Qx0OrhBnGlD1tXeQ2ftbzoJTrRZDkKZ5wR-lN5FdxdBdRERCiDNuCJxk0Ixred0cyi6yeZZTtq6wP5aZsR_I2490d2Ib5FHRD7saVr7j5U1MIRA_4Jn-xs0zc32EM9_qE-mKjGlup-l0xQh1fbiWdWzF7qiN8vGdqAFf1yPPxIvesB_8MEEnnMApRPNmC934HBtReNDk2BJ1vwU2B4h6EhvJcrLB5eDcAqR_mkIWwPTds0wIJXqpsMVQvz2Fkl0JqTCYnSHJH9uhu_wFSOB_O7taPuJMu1G0tBa4r1TI1HU2A0zS-fR2mbapiab2wj-Jcd7nkJkVuQuGZiJWytZMhJHf4RKr-LVJZtKOzt-w_tgM0i09BJbpiRh863-z_eoivM_H2fxEGT7WHuRRj3ghBlSBtHS8zdUpfzq4YE6csHObcvQ7xzJY1yDv1RB4CC2IUgFKE0jQhMvGAyQXycmf76CiboIISBFvHcfaBXhZHomVgE3-TH_KNSRhaj6nb9jgdOaylk07dZpHfYjVNe7mSxlHbvSx8caFCqSM92RFkUowtOCz61s0y1zL8bwfGOHJbaf3yfOs5yUovF1lM3GfLQSD4k_JENbjYYGtUDFOqHbjl-d61nmz9KO4C89qEdPnI37uQjcpLgsbORWpWr2EVIQWyeVdy1Q_0JdpxAdb7k-sLCvBhWuyqJGrid9Pb3XwmiI3ppaJnfAB7j3M3a_r5YaJ7LA3DadHVCGGDUhIu_0ar82NP_RXsqXhvEpVV4eJQb2Sue_V6dEcDl0PUEHwuTPCT22RCUjU6mt2Q9LQpUg5PRd7GU_suphmkVu5js9E5Glaiw0r46xOh_nznOsuEH42qh8uTDG3fOFBgJqlwiURJ3EAdGxogEEtcktdMW7BO2LZ7mgP6yJsLuFyT3R1YDEXmkCOpRtNgeOkkLYdMAbuZW_3aTJxKUWyEAhU8i5EnC4XHH_vYP1bu7Rd9ySudf26pY5hhO21EhFxD56tvYvCdGF8ILXCmYlCgj7TrY78rteXF2YVRscvE20ogt_E8iAW3U6-Ns1b6CxZKwTSRx7Yh4H67abXp-eTqnQ-gXRjNKaijFTzekFEW2GJjKqOYqeD1CUTWI53ZI9zvZ3z3PY709uGuoU8fztmHlQTLsebqiUBCtBnX-qO6T9OVbL1a3SHAhdsvQJTcEFLG3lwzvSZDHZYDsyFfu34s4glZy_7hRF55gIJ7ZqF6hQaGR3fsdyyMA74SpZb3lggXoekAXvsg2WD555btZoD5dKFidORFGVyS9lZ5-9NpGDxZHPuQrL43TcQ1pfLm8Wrcgx20vAPqBbDjU3ebvK0b5fHZLbzOuztbC84oK3UgC7CCjVnZnNVyRp8kBAkeuUUqlIQKQYFHXpsY_XOQBQaddgGNQNyzGWcW0X2OxsfkMesLHvYkROY4wapNK08lvDy8-o11D_T2ffkgOandNCOrqpOAZq_uqkTU6SgNeS8r7wQiWSWvTRVhmxPH2knAfFiJf3dxmfvXIXVb5PbMcTrCxTK1L-twieXjvsi2whWHXrdWzl1cA713hMynb6IHDoEGPyksBy6optslMJ453GvGpxr7VdKxPOzd5yiyjiUWZICHlqYEJ9NrVFBPTx1oRRd19hsn2QkYvZR5ttJaDlwThZTy8V8eRrRe3BLVdGFdN7RUD-gzSP-UAWjMtUW26xrQXd3AHYsqzZiF5SH3QRTQZoRE8q_sAu2owyQUUSt1gqEV-eUz8aCPVJxo3K1NKOSu6Cn20jh36yfXnkquqf_XvuTLrn4N-ArcTh7DwP-2XPUIapUTuGUGJWVnPx5DFZjPtNA71hQLmV9FrHhVw5VvfGuDajWfUXHWNmyL0gMyOSwonOyN_wrbLoCYQqE5LpP7gqYBm4RkFgrFK9wyEHCigsOZQTxjgxyqHeJhyP5KcHs6pqFDMhk52wt_FdjyF9SZCodnQQxI-yuktAUzSodeWpK6hqITa_poCEU9Mli_0hBVoVkJXP4Olb3bxJlNjMivaZjEPP-mf4Yv7sytHgxXCy7VFbv0Wegt8NiqoIQqzAObefUO7Rpw1HuUGD_htCx7feOt8faCSBjXWQIwxrNsjxEGUmOhXdsN6mP0eUF0ju7Mwu3ilqmTh_IRevW0g5W2FeKTgryaShmDJDFsK3QqiWjWJhz97bNw0bfzxR2wr0-JdiZ-FFeOmjZeulfmxE_2vwr5iaQAmH5wt_VAZ1GLKjBVHkTGsIh_LQjEJp1IGaC2wPBPMaL19VG5QwlKNP6xWOHXGAS3v2TrTOCEjnuirqNJ8olzq-to6311aJQxHfoLXuWCTTHco08-6Ztv45NHx8cx78iVN9CGQtlp63PiKqnHUolHMAt4nDASG10czU4L0IBk6jdjqnndYogB2NfzxvxcOHZpfyeuuVqbl4znbUQYlO_HT1qJMZRxBllVSkCtL46goKADCvMYOsNXvxMT0NXuzcxoLgDk00=",
  "id": "rs_0a0de13f65f1b02b016ab432968b0c87d0a03cd9efa3248482",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKed5wQZer1koHiqfJqoEROaYdEkbiFfz3MtgXqsn_tmUCyLtZWtrChJW3gnrKn4tOTiygUvwfmzCVthPQR38ZYtOy2bBit0xNIdcHLfA9OFjVA7SlW0xkuEqgJ7vUu59av3CRArPBlhIw02F4hQopBiQdPjYxNquVUvAEJKsyjBwJaKWrp6pxmTiP6Fbzd7FTSRhMqgGtFxMsBqvJoMceOdmMO2XIuK_TwiYchSiYTqKakfoZxu2XaC1An-aM77C8EVV_Ra3VnXOLw_WVdbvAhpIbG5TEmUFM_g0tp_QP_TSnjB1YcyQjlTGi5ATSbhpLzLhm16O_QkD1334ZpopkkralzDw4Liweo0j479VlgKAR_tXALDFRlxjQY1Ctps8NGBbiaOZitLr0x5LuaFZjbi4O_lxDCUzWwlNNEAxoDx70mJ7S_GZEkJFCvjjdB4OvAzGzIDEMS8BrRx7lNNFj0brv6NG9CuNYhH6LFvPPYdX5uYHApnd6-JjqI4NVwj6ZYzb0Y5_OkuGbUH6YTt96OioXwv3yMwclDpEHwgFzjppuFv0NPnWb8beNUUYzkDMrjkGBG_m5u8kyuijoyJgUeM__SIZIUeDoqDIjhMyPLvwRqnpF9pErc-TFkOj8euH6uq2iG23nOdX1P46MkOrBXnG38nQCPqmvL211IyXu0I238mUw1q2vMgOGOgA8nIuLKbP-XetWukX6-VyX0ty3yBtZqSszKttctCkSSBHMdiRPwDFBFjC1dbB7PTAJD7dLR9EbHBEHgnrOISoIOnFW6YnMEhQhx-zVzPCnikEiCuwJNeoUGGEI1pHgYfDOoJ4uwnStFWLu3mmRpIXvU0fEDBeEbwrTCMOzn8MGduluwkF9eWSOsyumjn9OswbHplY1oZxdDnDESGk8vCJyCXKZqmiAPR0PppIa_rOiK4RkaHVZIRBAUOJtDLz_tK0xQfBBqORsc7GODJ2kQfQht-Q1VBBmDXkP4JQ6S634lsyZyh1sQpUPTIexPtbXxI2WisE6qgtRS8T2SoqIK9hYiBavcEacByDgEg71svhi-HWTbiH_-Jq3IUW9Oamwu1Jrb_uE2GlobXz2A_2rIWa51IbU2VYY4JUdKiSyjYu7XQRssU7ZZ7xRp8YzODqCuI9js9fzELpPfHkshmj1pdnkBOdRFnUI-kNehj31wQHrhjEaUGk1NttIrM76yQbeVExKDZ3N0TYbNM0FI7Hl5qOxGd6TTfv-3ydv-4OlmXrQnEzDNrLpM0DMp0f2SW4Gz9xd9IzbDoVzraF2vGGX-UYhOrKfVNVpvSsLC7urENFMf_Zt5_UwaGsj8g3E3PCW_ro6Ejuupt8yfEh872EASLwH53bBiVAbSWu14_SFo1YKVr16o60LGS56PrHscUmBXMX9dfoIvDjwXwWQfuZ57qXdhREXhBu-gOq1LFUZjOnL3GGpQKdkStC8NX3IojpXgXayD0LLLmyJQKg2a_HGsErOqBv6Ij5WXU5uPYRMf9y5jB7nR4NJnKVYk6PucP3h-GTO9Wz_iePZJtpdMitMxSOLaWp4kkITPJ5VrLARsO6Y6Gt0KjEDJfQHsR5nESjj-N2AhPhbsPhG07Ejo9sWXa6qBeGn3V7PjOcxI0FnyGlTZxWCxHQ7SuiY_VwIUMYQk7xepiQ3H6ndHqd2jyUcKsqTpj31Byu1DGGsa_A1o4aq00De_sv6iYsd9OoVwB5dlDB8-6AmMxsI-QYlWJDAUIHeOpBzeI43gIi5LYQWtW8fCFtPjt8f0wKXdwmFLOYElQsmYzNh4nQWEHslQsZ7TgMG3lyewh_MXm6sTp4BEqMd1fOLokQKGG73rdD0CmC4qaYhVbq_sINNTSEM2ePU1_gQvnm_sYKINe2nVm5DqjhZBClVdu2FmuIRi9W_YywkTBYh9lR9ps-Ye-qnPHtqNTONHWzoA6q-6ZQJm25NbCWN24ccPHSppXG-8pKvqzrOGDmijIfmM4Mi129Z2C12zNlxrZmcbIJMVdVzbZXsclyLiWz3SVZqrCpH7F07-drfpR60iZ7pKic2ZJt-QvNPfrd9EFCfGC3J8AoySGboCDj26b4sKzCqnp9uJsoDhYDVIGVUme_S25OWuOqYO3i1PMuYGBNOhfXoxUAeEZtW9HJeoc7wF4tqnOXZiutf__08tHvo8SBWSC63b-36zKdQYeFl6zOJ04DvZ4XrdRs-JCVGKrGxTvd9HHKOlNwKXlgMpa-AxHXIV0B5AogHsQzUJdO105UqY5QhVmWCud2ssDhpk1tHUYdLbnzLqBvVHBwNGO_u1XcEPNFsNa70SlXSaYI1KFGIVPfxujs7g-moLK-6Peo0lfcjvZlWS2kSKEcLSQlP-V6KL64Xnx50ArF7eE1W11V6DfvWwm6hS2FPIjmMRI5Tymo_LDxBSJSKPxHhwYEu5JxVhvEFsl17Bjr-yw5F_roIwqA_mS5dx2HhxVLqUphVF425PrQla5jvENoDNSIWI9x-QvUpNywUKK2Re7pK4cD1jFsyvOr5N_g211yQsIDxi7Ap11a2DhCSY9ffNg4puVQCSkMrH-XK5kUYfdiHEoenw7nZ9KiFbhZiz3W3jqSBIaHmlG1IQmf8K4M2-JCD3YPFJkBEtay6fUFTjj41_ilbc88OVbQs0WMBpxQFjfqbfNEpsDfkQiTp4Sv9UrnPCubNj",
  "id": "rs_0a0de13f65f1b02b016ab4329a882087d080fd8920c3312fc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_y\":0.171,\"right_z\":0.28},\"note\":\"The right bottle is captured but still looks angled in the overhead view, with its bottom toward the arm. I’ll raise the gripped upper section while drawing it slightly back so the lower end can pivot onto the tabletop.\"}",
  "call_id": "call_ltNx9FSBGgzFqehp55nr2ftB",
  "id": "fc_0a0de13f65f1b02b016ab4329d265887d08684f5b259289188",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ltNx9FSBGgzFqehp55nr2ftB",
  "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]: [0.0067, 0.7551, 0.4496, -0.2661, 0.0143, -0.0071, 0.998, 0.4835, 1.4948, 1.3281, -0.4732, 0.2169, 0.112, 0.3745]\nstate[eef_state]: left_x=0.2871 left_y=0.003 left_z=0.1432 left_yaw=-0.0144 left_pitch=-0.0092 left_roll=0.0001 left_gripper=0.998 right_x=0.4111 right_y=0.177 right_z=0.2491 right_yaw=0.2139 right_pitch=-0.0513 right_roll=-0.0264 right_gripper=0.3745\nstate[joint_eff]: [-0.0342, -1.7573, 6.0513, 1.8437, -0.0415, -0.0708, -0.0122, -0.0342, -9.4427, 9.5795, 1.8779, 0.2466, 0.3297, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b83b2268edbc774da94c02dd319acecfb4261b2f6bd9259f6529dfb85a9c02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed38f0a93a7716d7f66422f515dfde87ec67a054637b08f3ffee82ab61d5db0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f672b5ddf05099ef42f1763e2551fd79f100410a47e49e19d21d893cb82de10d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 8.967 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7624, 0.4698, -0.2871, 0.0143, -0.0067, 0.998, 0.4263, 1.9491, 0.86, 0.522, 0.2352, 0.1249, 0.995]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1461 left_yaw=-0.0146 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.998 right_x=0.4602 right_y=0.1677 right_z=0.0383 right_yaw=0.1348 right_pitch=0.0215 right_roll=-0.0054 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -1.7709, 6.4752, 1.8388, -0.0366, -0.0659, -0.0122, -0.3624, -6.9265, 6.4615, 1.7314, 0.1099, 0.1978, -0.2759]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7559, 0.4515, -0.2729, 0.0143, -0.0067, 0.998, 0.4255, 1.7054, 1.0901, -0.0223, 0.2008, 0.1001, 0.3745]\nstate[eef_state]: left_x=0.2865 left_y=0.0031 left_z=0.1424 left_yaw=-0.0142 left_pitch=-0.0149 left_roll=0.0003 left_gripper=0.998 right_x=0.4554 right_y=0.1716 right_z=0.1366 right_yaw=0.1757 right_pitch=-0.0516 right_roll=-0.0261 right_gripper=0.3745\nstate[joint_eff]: [-0.0615, -1.4017, 6.5983, 1.8681, -0.0708, -0.0513, -0.0073, -0.5128, -11.0564, 9.4564, 1.956, 0.1441, 0.1294, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7551, 0.4496, -0.2661, 0.0143, -0.0071, 0.998, 0.4835, 1.4948, 1.3281, -0.4732, 0.2169, 0.112, 0.3745]\nstate[eef_state]: left_x=0.2871 left_y=0.003 left_z=0.1432 left_yaw=-0.0144 left_pitch=-0.0092 left_roll=0.0001 left_gripper=0.998 right_x=0.4111 right_y=0.177 right_z=0.2491 right_yaw=0.2139 right_pitch=-0.0513 right_roll=-0.0264 right_gripper=0.3745\nstate[joint_eff]: [-0.0342, -1.7573, 6.0513, 1.8437, -0.0415, -0.0708, -0.0122, -0.0342, -9.4427, 9.5795, 1.8779, 0.2466, 0.3297, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b83b2268edbc774da94c02dd319acecfb4261b2f6bd9259f6529dfb85a9c02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed38f0a93a7716d7f66422f515dfde87ec67a054637b08f3ffee82ab61d5db0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f672b5ddf05099ef42f1763e2551fd79f100410a47e49e19d21d893cb82de10d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKnn9CXw_vzor7-tvV4GpOvVSQhtVsN2z_7xmvSFB45o4UM2R2brdaC5lyEYZR_HBicZGAJc4n1js_752bcmnsjCqiME976IF_R1zGaMepRhEbsAAYXMRZpbgNAXawczS3DsbjMc9cjH6512dczUXkgBbceQnffV2c1K17U1e1fUF_zGD-sPinUrRFpjJBYgTj022fNzbk6x8V4zVEoS0eKyGUxJKL59m2Z7NCdlEsnrQqNYnFRu5bT7v-kwVh1mZvE7gbBQE4wcA3L6HwbmyWrK6Q2LBVjqMkkEdFnGAVoeVzXBhRmJlYea0BxGwYD8w_jMEo85P1cswWv6ly3gNYHRqgw_2_OgDub6KD1u3ByrnZKR_WiDJ5olFjtLceYKe65opWfi5lepeeVJL0593HhFFErx1PO6xNXBOI-FetMDADJeesD1anzjiLQFGUccV07CJnG9VMzkkZqfd_m2sVoZ4f0K_dboyS43ZUN3hCLZleeqPQ5TaWceiO5Ikp3O2J1f_jGydawLR_JCb_aybt6Leu8y12IrnJG19b2-xQ0zSqCylAldpCy7PrQ8R6L9DxofI2nu0ELls_JGzTR9YEyqzMhl73QE4-HOnhL-HORTHPEqQyD4MNWcx-NteUnODdTAqWJfPOBC1rciOrqHLBWHx6L1hrXiTGycMsKJrMG6ktG7Gu5z1mqZd7YCVJZXM6p8GyDLXmiYP5J3Ee5Fm_nHbV9o4PorDWul5fT0RiEsLkPeu5vXVVw41ojF1QlCTP1roJl0mCoJAPgzD1pvf-Uex99r9rAw3SG3ibn8IuRIL5JQYOJgv-KYD8O4V368BlVG7k761EmB6_9akyeDVMLznJ1YggmZfE4yY2bSHz3susO28NdqVP406RBa26COx9hKsB7EHlIcrlFWfh88qxDprP5lx8jxJEACzsY5I7Yx_cGpaifUGWw6MSYRWBTH2kor5kVQqIVqCYwQE9bAcwXm2pr2H6WyZslxJgFJuo-BOlxxLuCtop9XAzUDDBRHNcCq64huX3tR-sACo5c9UDQJn5aew_EUBWcZkDz9aT3Nx7XA1L8eAA6MQ5jbknD8KmO9P2ghaloQvNPIyIVxa2srXjdTemKawEhH7wdmG1QsHIOoehhDVHmTv8zbPtI1hq7FecXteLenwh9ghI_FbjUXhdX0aIAuNSk1Y3GSjIxDs9sKxwsexqNA3EQlq4FTSsKipYUU338E7u1cSkM7p2yefiEz0Cyx5CMazZM2btQ9LOXfj3Uu0Abp1m6t_ysaThO4bmMT5TWcuBQGtl_atrkvv_4rIE0_Ikm4B2JmbLUAfbwiJOUB9LwmYcnHLm0RpL035wvLUZVz22xu-_tVJwFSLubAmH8KUXj_uoaNbwYXHhGt5COfXety7gHuDGj4IVG3cl4hE7a3qqiHbSpgkxrJP30Nty-84_WqZbmJrebpcKVM3codkcbbqt8bCpcg4on_LW6ZLbeMIcj8O6vdN8D1LSKOz9624cb9ek7CxW9MarjKvi8RgHVmfw0pROa0Q9hn4-8x-W1bpPq8NSrmsDSN9MtnWhrVNDdUhnKlufHSK4Iu8je4eeM5JJNfNLC_96n5i1gNtmDIVSLOUVPQ4ixJXemW9EYdNVB-PdFwAQ0W5KnsHrsvVAbGgycQpsFFMUNc0wBhT7GB1Ir8DHxcl0VjZkUMwLogQogVezXbeEO8aK43PkFzxdL8Iv4Am_eSoTBPi1aqiVHiHrZMRJb7eFXLDK4iuvDl8S2GknFIb6bBinJdrJZHGCmUYI3pmZ_X1x4p-TOgAcen3N5tSV1FyA-WOvosNua535B_aSZVKv1EG6QfUVuQAvuKfhzKGqSQPoSvAf1nqZfuyL0ptOhXcvBdlVeaNqA9oaY0sM3jT-OLTGtDnEnS8R-rXcU5LFw8aGHc7Ofhh26B94Kuj9zPb49s-hRPXZPlem6jCnuDPR51apT3m9hdLBL_qpCSa9kd8F97ppI9QbxPV_B4OrNWtr6iKu3FxWHo0cb1fz-i-URo5cFXgiofQVBgUpKdzf3ovpo7D9JEdzxCe5hQFhftcTyYbQxIZsiOA0Dk4mNESCe9d4GGz_X1JakSJ1XvekvM5jcL3L2V-iU6c0YIAyuPZ9lXawBiur5knb5MhCNbbwyor5GEdpZp7qQeh98640JvZTGGSKo906Y_VbT9sRZVwhqjRFpMq6U_-lfAeRLaDjd6r-VgN-mE4XAYIflXIqiqT9lUR4SgoJrrpa5KdIdWV2RzPyhlWjfTFOeFO2HY97i008RpcHHrCMGk6rsrbM4RWNQw8RwA5HsvWC-fuVs54sGH5iBpXhrcxYLz9qBmmscukt5bSa8wba04uuEazxXbCrd6Yh8bEfGe_GdryGN1mRmEPwE0Vs5f5zRZUGWc0lIN8GKXhhunvKE34Uff040AYfZMNnbJd1NhvQYdZjEGQUh-l4xIASOWHUQ2GQN9Pa298M8S7w9sU1Olm6EpFvhP5EXh44na7vpfC5M5uEgmL-3xINTbJtSkRac3za1HG1DtMYKdnlaNN5l217Cg4ZyLquR8fNQADaThbNoN78oMPvDeNqA_C4usVKTJSOV23zG_ytIpP-5vPEwWmMk-m1FumtzjMSJZxTHDK_AhRMSNktI1eNt91k7HL19JUc9PNARbndaBmhKm9GhmaPufM8f6QhrmrkRn4uNbBk1NQCGaeww0U57QmN_vNJBnO0jE5tBXPSb6D-g6y1iHUYbCHIsMQc62yO2rcwNKKNazOYga_pUXP5cTRe3WAHMg1gqY5SdrpzcZAunoYx47rOSyvwNv21AGAdjxM0xVfSbeMY5Ebqp1N126jrT21wLkUQTdBP9dBxIYhZJs9HPfSHoLMPCI4jrCrH_TVsHSEV8JFozBnDUV8k8TqgcOvc0r0f9KbBubccNsmVOCLmSxg5KHZstQyPBwKZd7h5EC1asfdTxxzcEJZt24ANHROUqGNEAYv7bQ0JM5p8RF_g-l5zaNN0QPC41aPyPgKNYQ8bi0g8oCZrk26zvso0jJpr3jUYjGMLuoe4rJTsYEt8SktAPLcsVrVEbAlZptQG-4cb0RYkoFS3bQvUXqHepuuT0F0wi6O1q5n9VAhNraccKrRzVi1bxEXbqqbSjr4jhImUe86uO18jY4NkTSp82ZaFiD3K1dbUjdQGIyx37IQdZqm5lFazPmBCnafY1ag8JeGRrr56gcvZkRfazBmqTVae1EnjGM8lPPwmpEQmzK-1RTLQLrNUq6PY__J-glaNnCuBbQWGqI-z7vhIbKDq_t0Fd_2IUJTEulG1U4iLsFdiFZFO-7iClkdjqoUce-JWkh9SdE4vSpvwHNwWieTURcrlm3TPQtlyv-Ih0u6YJ65OM_QrMo4xHKfTZek1urzpaHNeqahtdxC5ldOwjB9RwR49s7NONeeq3EPkIlnvsIhXhndZjCFbxlgCujUVIyTm9h-yXHovZZpOZpzkWN7tJ5_Vg_LIYAE53F3iLLDhhY_dPVGqNXXkIQitumbBYjgHSkcv3BEDlsLrUL8ktmOtYz7SgUZenPF33H3eztcfAWj_yC8T9N1XS7U6buWrUSfp-h-92iE2fkt1vCcgptKlxRRVfgGDbHQbznO1f-fH4c_AY8conUNLbeStdiwJ3-egmG_SPmkCLUv4CLIw_RY8xczRPf_LQv4xz4GOvbeX3EyoiMUZp0-GnP6gkhA3hi1MaQXP3EXnAgC7CA7rA2P43wK4OPWHXlbnsA0YEpWv_hIditS0pX7MP4cdqSI2Zs_b4OS-fHZf8im4DgnvU87lrgokuUYZNak5GJ60FYdoyAmkhPzA3NXZm6kIHpCfQLp1LSe6EOKK9_cBylc7LPwJkiE4IrQOWGKDGIek=",
  "id": "rs_0a0de13f65f1b02b016ab432a0069087d0b9e18beaa8b74f61",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKnPPTn7Cq5YxWaUFJEl5SKngCZyw3cUXYWQvV6o_2aMPsw6zkEAFBBPdov6F_4VkDo3Yie70-mbc7fht8Z76aKHu-jdWFD-pH-M24dyjEQlkZMcLvxGboansxwR6Dit7Sk14-qdyk6Ve-ll0FT7rOQ8abYt81kx_GsLZ2uu4pntcsXCAurZQKs2wnWp67gE-04kYQvXWLDEdCze4OtuS8ij3Kdr-hPT5PM-jfeCU9LsyveAccaNkpMne19HGgxov0KcaUEE1eQVBR6BQ6oAjQXEm3ZJBX-9-oTKwIc7TFQsi2scJqsCAZ6Gn58P7zxS7uVCaJ6CHjLtlpyfkACqqRuNBZNsNW5MUqHAgyd1Ah30g5qlzKrRRVAtre701cxah_oa6vAe_7WeAufSWZqRTQG66np5ptaFcWL9rO63_w-t9QUMhftCdqeKACU_yUWQCTr8jqzcCB40Gl1yzvjQJaFkJFc1_uQCwYR2UUjnANs2wzQuKHwfP88ALzxp6RnwjAK0a8jXrAF9sg1VOKx4CBYpjNPbS4MZeDpDSHeUZbN1aK9_7cJAAxPy8ZBgVq_LeA8yiTZ5kddJuKWlK5F37FU3KElpGimp7iWWFjK91JM7dmUSyOiZOMxRV9f6Alzk-opYne381y7Ycb75MXwUYlFprV9BDfpiTzHZKJ4r4kPn4UP9ljNLiZTbHpLF4rbz4GOPNSAQMO76EvUFmkbSbdPnrZEkceGmdi5sEF8Itn2EeYUmzJ2gMKP5y7uOZgQYTk8RMonXmAJmvWy-qGwqn6DpA_0UPBpufQ8ygS4aVnwJqpm-aUI5bG6U-LgtAJSaOa0WwatFRAyZJ1XlI9g6mn0ufaFz9JM9-w3n-qdFSEl_3nMgO3Hl0V7vjbbBX6zbH7V0T5GlGywYT0KTbGFHUtAW9OkUwrIOTOxUL47QNTpukAq-m1xvswePsan6HAwvzxUhTaxFOogEIgPcr6fS6FlhNmlie3vDYXmPXJirNtZhl4JKmSa_qX0Xvqy9i-tAYo3NlWY1erTWGBSzMzL6w8vxn0WWj5InQeZ1adKn1IwHB0_tK3Fi3ZVwWtV2giyljyD6UhHbW1KtJaSZx9pJa3f5_u0tDf3ZVhIFub-PA5ni3FnF9OxzrxYnVxDZeqLIDhS-ldox2B5wjn2ttdPYXM04qhb8ObH3RJ9Vd5prhtxIbLiV2uB1Kr9Y0KDUWjpEtDFUUNnwVuZZMiRdLTkelNKemrKDI4vrYwHZ7YIf6fxl7Pp2bJLeuGH9rhk-phT6Crwr1roagoqzwKqVRCeatupqe-LwT2AI58VjnHZ5ej0ofqnHKwVVGQl5TA81VXp7UT8cUTq1zND5NsaQoyePzDFioe-tWHUzFmpeKu9lkHIw-ih0FZ6BkveKTmPShkDvwB5Lm30oxgF9pkqq74GBZ1vV4jbE2y-Ss52jzAQmRItNlLO7wWoVd4CnBSfmpwVgBV9zGA-XDKUaEOtLTJ1xW_c46S0pLA3CmvV8hKsPkNXPLtuK8Sb3gDpqZ6ZZhZ1FW6-O9UmVXFK-G97GGpazEuvIFFkZCqMRr59lS2Kwuoz7w64XQeLcpwZIf8H8w1pTn7x",
  "id": "rs_0a0de13f65f1b02b016ab432a5a78087d081f0d422068f45f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.295,\"right_y\":0.005,\"right_z\":0.185,\"left_x\":0.296,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The overhead view still shows all three bottles lying on the table despite the apparent grip, so that lift did not stand the right one up. I’ll release and withdraw to get an unobstructed view before selecting a better contact point.\"}",
  "call_id": "call_z47cl13lRh5gM7KQcsO2qKvI",
  "id": "fc_0a0de13f65f1b02b016ab432a6543087d0a79b9c0300ffffac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z47cl13lRh5gM7KQcsO2qKvI",
  "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]: [-0.0006, 0.7925, 0.5613, -0.3672, 0.0067, -0.0078, 0.998, -0.1905, 0.8593, 0.659, -0.4137, -0.2947, -0.2211, 0.9981]\nstate[eef_state]: left_x=0.2909 left_y=0.0022 left_z=0.1635 left_yaw=-0.0148 left_pitch=-0.036 left_roll=0.0032 left_gripper=0.998 right_x=0.3003 right_y=-0.002 right_z=0.1844 right_yaw=0.1485 right_pitch=-0.0129 right_roll=-0.0032 right_gripper=0.9981\nstate[joint_eff]: [-0.7179, -0.759, 10.1402, 1.8144, -0.0952, -0.1294, -0.0073, 0.5402, -2.1675, 7.0769, 1.7949, -0.442, -0.1148, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d0fd4927868e5b8f186752575613451dd58d9401a910ba0aad8925afbaa085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6297f4dd6d280110bef342fadb3c21436dd831694b884e95746de31de4f24cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12489253ebc0696cd9d4fd30d755d0a5fbbfa3e9f53d7746e0f881b00e3fde53",
      "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 19 attempt 0 · /responses · status 200 · 3.917 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 72 changed as sent

message 77 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7624, 0.4644, -0.284, 0.0143, -0.0071, 0.998, 0.4255, 1.9396, 0.8726, 0.5327, 0.223, 0.107, 0.3747]\nstate[eef_state]: left_x=0.2871 left_y=0.0031 left_z=0.1443 left_yaw=-0.014 left_pitch=-0.0195 left_roll=-0.0001 left_gripper=0.998 right_x=0.4653 right_y=0.1719 right_z=0.0494 right_yaw=0.1535 right_pitch=0.0514 right_roll=-0.0055 right_gripper=0.3747\nstate[joint_eff]: [0.0068, -1.853, 6.3795, 1.8828, -0.0317, -0.0757, -0.0122, -0.4581, -9.2239, 5.6821, 1.2576, 0.0317, 0.2076, 0.3541]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7551, 0.4496, -0.2661, 0.0143, -0.0071, 0.998, 0.4835, 1.4948, 1.3281, -0.4732, 0.2169, 0.112, 0.3745]\nstate[eef_state]: left_x=0.2871 left_y=0.003 left_z=0.1432 left_yaw=-0.0144 left_pitch=-0.0092 left_roll=0.0001 left_gripper=0.998 right_x=0.4111 right_y=0.177 right_z=0.2491 right_yaw=0.2139 right_pitch=-0.0513 right_roll=-0.0264 right_gripper=0.3745\nstate[joint_eff]: [-0.0342, -1.7573, 6.0513, 1.8437, -0.0415, -0.0708, -0.0122, -0.0342, -9.4427, 9.5795, 1.8779, 0.2466, 0.3297, -0.0171]",
      "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]: [-0.0006, 0.7925, 0.5613, -0.3672, 0.0067, -0.0078, 0.998, -0.1905, 0.8593, 0.659, -0.4137, -0.2947, -0.2211, 0.9981]\nstate[eef_state]: left_x=0.2909 left_y=0.0022 left_z=0.1635 left_yaw=-0.0148 left_pitch=-0.036 left_roll=0.0032 left_gripper=0.998 right_x=0.3003 right_y=-0.002 right_z=0.1844 right_yaw=0.1485 right_pitch=-0.0129 right_roll=-0.0032 right_gripper=0.9981\nstate[joint_eff]: [-0.7179, -0.759, 10.1402, 1.8144, -0.0952, -0.1294, -0.0073, 0.5402, -2.1675, 7.0769, 1.7949, -0.442, -0.1148, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d0fd4927868e5b8f186752575613451dd58d9401a910ba0aad8925afbaa085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6297f4dd6d280110bef342fadb3c21436dd831694b884e95746de31de4f24cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12489253ebc0696cd9d4fd30d755d0a5fbbfa3e9f53d7746e0f881b00e3fde53",
      "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_0a0de13f65f1b02b016ab432a9c1fc87d0960069011b6fd63d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDKxiw7hCx1t0-EE7oZ98BkML8HvGlQLWRlqLq1pMVsnYtnz9kZewiZj4-r1WbJSOse9BbMxuag8kP3FESJ7efq8iSii4X4xkCRDlDVpmyd_BpOUBMy35q1G-bzICExA3K-NgN3uOtA6GauMcwHeAqBsZKl7PuIjZgwZAULGcWc8ElwcGclA9qfppWhqtwqGmlPwVLKgnwYjf196fPFsTTlJTs0gB7rNx2CYgqR5aeRi-4ktRu70Vv2S3U67e7ITMKLID8sa959wITwT-5vdrS_5Lwomq-IrMUilRn2jcfWNaeRNVFdUFLI6RMq9uKsBRdjrF_1gxmPzDEixGaEVi_PEJFvxonJ3Ac870VwrhMI-ClJ9gEY8gRMq2RB037_npckX2GU9B1yxx4kQ1gjT4eGx-cuq5Qpqo1p6trH_WkJFtzf1O2pc-3N-M84d1kH6UEfwMaOQukmkiofjs97XlVCuzGh0bxNnJfMNZ60gwNCN5KKTMMd6Pa6nbhegWYh1TTOG87KOUAdQR35BfIP_3F-TLStldcDiUPMuo8_X-2cPCD-iQgeRUAKQpiDuCgO_-eDpuZ0IVvmynif19Vrfct5PssDiZOWfySXjO_rB1-N4XMfrmva-F4a8q9VKbuWZ849-36AzJgaxnnVL2QPrxc1Z76xwsYo1O8_AppFFoAjzynqt_jq4_t4v-4xJYdqxtfWY_GpovO2rdKrojD4y6qfGBO87naCDeuO7C1Dd2sDqTmj6Rk8wIBo7odmti1-2NR8jEJ621vFMVqE-fuzQt7XRqHHb9T--M4FzSmCKJEMRZc66F-VWk4hn6jbj182m-tf2Is92VrN5a0alvcZ4wFL2uXiGXQ5IHJ-H7csUw1zCTTcFkCESvrCn2xYMM87jpr0yEJs-7hX6NrS3t-Imk5pBNVC2HeoBJbfsuPhGBJN1oW_DbEVpOmm2E6KMZr9AOEfoylu2BIE9hXkGX41HmLhK_3TtutsSBsS7rVbxSEKAYsYFLDSxY7QOF9u3HHghs3f9IbgtL8AKfIAatZi4UrCUVFPFs_vtw0ZXO_G_9-34raUEd9AEytkPCC3q6-_pleLHCGKhq6SlDNiAvoGmdOjclc-Ae07NjemQ0aML3cJNbM96nzbklFNZkfTkWKEXGWcbgdJy5_iW9F89NLW8M-YRHcJfMvN1ROZab4WuDK0fGXwZXAFzgL9VYbhlGOfUhs_HOzRvnc_s4XMuWVQ69Px49Kzsh414cFyT_6H9oX7Iy6_jsNA-h4GZNqHCYXtS8jbpy-pkKO3stA8lo6c7WmDG-hv6N2_1nR99NsO4plRyhRotWvaAVBFAKErK77F5j5F19MG-Fwm_zeh_D9snJnVUv6bMMuscecaPVQuohoMkx-QweRChy1H9a-msWe3vTotweyoq-XQUp43EvxODDt3Ar1zD9kUZA2AKnP3lsEeYQWFWLtsJgSVv92DPuaXukTu67Jg1zOjCPKozirpajdgFmzA-BAOVECBtawj4pqItKz9y9sjoMQMLeXFkufS4KiA0WRhDcTybXgVvY32YNnJXgqUdIBVTrNxyqYyRLvuqNpvfUFN3YQCHsbrTZff9sVdmKThsGZIMnyxYEwG1TwHrAcpAdt_YAyiwcmNV8_sWk3bsnVJ7wN4jVQOAi0xCZiYkQmMrCsT6qkfOl6I9R2td8fcBqtFiswMIH919gcVzopHqhAXjHvbs1P3J1snlqV8cZ7ODA37Lxz9SgL7fNQHr05CKsHcqLMwZcydL5p1Jo8kDkzrnMhyBj4DjUCA57HIWe0TmBVHQb1kZOx9f0BNo3MKW31lciUoOAadhbkuujseijEyiaJ45OZu-nVPQIypZM80xQz5q7qq0zLDV09feMtDYGoiKkSw5ibyxGDwzmobPciF0nN1Te_P8akWBiEfGJT1xpeQeU81JA35O8itat6KJAXzScSvD5MkcZu7GqPhd734SR1vTjZrUtjvLGpI26xq2-qiXpolm9sBLM6j9f8BEXVmTvQ5I0DKzMlfqR-ETPyBn7uO4KmBA_iCzmIl5T06JA0U0WcBTIAilU0-RJ8R7jKTxW658wcbTY3XLCX1f3gmPcqwl2x5OYHT6Gq1aiEU_Z4CvdpSkgVI-1hlWYjctruzo-FEe6VN2qV8KejZq1iGum90Ub4Y0cZUaHWvHkd3sgkXq_p2CJ2mdYyYt4ZygY429mAOwEevQ6HuNjUVo0GLfhzS1L1Q_XQegJBCrbNdT4-2cjtx1LozqClwINuqYJnJ9McCIPNSqMo13Vo42uDbWbdS5IICBPzcn07jx145BenP0N-OgphjMJY9qWnZI12-uW62lHWCCFMza-Sd-TIsH15Aw6BzQyL5zKTT9m0HXiZ5G47hHgWCStbsrkUKHKXRpOXJUZQ33iuo-dsaak3aWWymI2aH1r5i_KwLSQGAjYf47YLZZ7Fr1YzhUwl2pcDcqh-gqguqJVbELqrdlBYLU0KnTkqIewO3DQPKBtdZEMEesvQ_9ukAkdrHXLVQYkukenOsGO6uxib2qrUZaWORGxT2qYEVIfSHciGf-BAzGiALKX2pGpJb9ci8NSLUL0I2DxR67oIkOJLd_DGsnzrypDmx7quI_3mgX_60_ELiJtoGjIlSJ3oBf0yNgodGlpMjlpY7kq_6i931WueC1wlx-AUxjn-h-6I7D8beL3tlOyL2HmTQcxIokqfsK1ZTMXSLOoFbM3bul0yjspY9njuPOeA2rQWpYDx8W3MF8LFEjNXLxqwXE8K5rmIMZZJhYmptdUmx8iOgWanQJCLCZIywCEVm_P8ertkPwGQmQR_ZM9D9Rkcy0utjwb_IEIPO6iCQSEe52hXvFQv6deD92jKpHLb2PQ-WklHde7WK001sLpPpUwloZq4uprWB9shULo6OphYnSJyaXtnCYj-806zAg_C9T0cAlllV9fiMdev0zKyLFrm-hYg8Iji_eKY5yyxnaybF129sSJpSCmG1g_hsxX1JnoSIxeH4Z0e4BpQQFAJuzRqMeu9U82wv08JAKDBOE5nNuRnm3hm3ZGEHZfkwJ6dnMIwIloj3VVcAKdnrZUWSozkGpAX8KovKwksxI_bSBMloDVjQrBYoG2Z50tXT-kCAoswKsVNpdAZN_a591mT0-ts7Fy9ZfN0hjxp6r19EqJB8Eigecdg1NalE=",
  "id": "rs_0a0de13f65f1b02b016ab432adbe2c87d0b8fd771e99e2f68e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.409,\"left_y\":-0.291,\"left_z\":0.076},\"note\":\"With both arms clear, all three bottles are still visibly on their sides. I’ll switch to the middle bottle and approach its broad body with the left arm, aiming lower than on the unsuccessful right-bottle pickup.\"}",
  "call_id": "call_MY23jKgT4u2Oyg0zucrPUc6p",
  "id": "fc_0a0de13f65f1b02b016ab432b08f7087d0b752206466621d6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MY23jKgT4u2Oyg0zucrPUc6p",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8394, 1.961, 1.1294, 0.0551, -0.664, -0.5526, 0.998, -0.1967, 0.8505, 0.6479, -0.4225, -0.3149, -0.2367, 0.9981]\nstate[eef_state]: left_x=0.4037 left_y=-0.2815 left_z=0.0691 left_yaw=-0.0162 left_pitch=-0.0223 left_roll=0.0068 left_gripper=0.998 right_x=0.2969 right_y=0.0003 right_z=0.1808 right_yaw=0.1676 right_pitch=-0.019 right_roll=-0.0013 right_gripper=0.9981\nstate[joint_eff]: [-0.8274, -9.6342, 7.8838, 1.4188, -0.4518, 0.0366, -0.0073, -0.0479, -1.5248, 7.0496, 1.9219, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6647c75ea44edc267ef9ce8563cd3e06c802b3b206dafe13ae6855bd39c8763e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac634d0215e3e5414848a9cca74053a20f478f5805b6ac6e2ae89f4e4f41a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39648f45439c527e817ed16bab24f186e337b0db358e58585f53ce6b80e32c84",
      "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 20 attempt 0 · /responses · status 200 · 2.941 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 77 changed as sent

message 82 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0071, 0.7559, 0.4515, -0.2729, 0.0143, -0.0067, 0.998, 0.4255, 1.7054, 1.0901, -0.0223, 0.2008, 0.1001, 0.3745]\nstate[eef_state]: left_x=0.2865 left_y=0.0031 left_z=0.1424 left_yaw=-0.0142 left_pitch=-0.0149 left_roll=0.0003 left_gripper=0.998 right_x=0.4554 right_y=0.1716 right_z=0.1366 right_yaw=0.1757 right_pitch=-0.0516 right_roll=-0.0261 right_gripper=0.3745\nstate[joint_eff]: [-0.0615, -1.4017, 6.5983, 1.8681, -0.0708, -0.0513, -0.0073, -0.5128, -11.0564, 9.4564, 1.956, 0.1441, 0.1294, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0006, 0.7925, 0.5613, -0.3672, 0.0067, -0.0078, 0.998, -0.1905, 0.8593, 0.659, -0.4137, -0.2947, -0.2211, 0.9981]\nstate[eef_state]: left_x=0.2909 left_y=0.0022 left_z=0.1635 left_yaw=-0.0148 left_pitch=-0.036 left_roll=0.0032 left_gripper=0.998 right_x=0.3003 right_y=-0.002 right_z=0.1844 right_yaw=0.1485 right_pitch=-0.0129 right_roll=-0.0032 right_gripper=0.9981\nstate[joint_eff]: [-0.7179, -0.759, 10.1402, 1.8144, -0.0952, -0.1294, -0.0073, 0.5402, -2.1675, 7.0769, 1.7949, -0.442, -0.1148, -0.1001]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8394, 1.961, 1.1294, 0.0551, -0.664, -0.5526, 0.998, -0.1967, 0.8505, 0.6479, -0.4225, -0.3149, -0.2367, 0.9981]\nstate[eef_state]: left_x=0.4037 left_y=-0.2815 left_z=0.0691 left_yaw=-0.0162 left_pitch=-0.0223 left_roll=0.0068 left_gripper=0.998 right_x=0.2969 right_y=0.0003 right_z=0.1808 right_yaw=0.1676 right_pitch=-0.019 right_roll=-0.0013 right_gripper=0.9981\nstate[joint_eff]: [-0.8274, -9.6342, 7.8838, 1.4188, -0.4518, 0.0366, -0.0073, -0.0479, -1.5248, 7.0496, 1.9219, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6647c75ea44edc267ef9ce8563cd3e06c802b3b206dafe13ae6855bd39c8763e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ac634d0215e3e5414848a9cca74053a20f478f5805b6ac6e2ae89f4e4f41a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39648f45439c527e817ed16bab24f186e337b0db358e58585f53ce6b80e32c84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDK4F4IwMMfHphjG8TQ5IwGaxynKeVfAtCBIHYoXqneQHGw_7RIGtHSfmEciDsb30zp-60IJ6I8M3tE5tZD5Yq975oDSFFf_veSYjTAu_2IO6RK155ksnGl9dUL9gM5EEIK_QlxEC53UMAq8vq6y9O3rviICEBK3OEteXd8IM4_vLhpxSBpdAXHbXFm6-Y2t_i7IBq9LVo4rpHQiTFMLNuxF6B24JvLHRla2sIT0Wv6DDQLevFlgsl_fC6Xw_bxYKLnbRhWxFyrAyjobZ8Em3oAikpkxG8oWXmPO4LJ_h6ELR0iK9HyMCjGJMudyCyAuIyfh2__03yfu5XtHHt1bAlRVnC5EB1DpuWAgwfSqVqM5ppx6luaK3jiiTiDag-ocO_Q3m-PyFNGtLFb5eaJfwzeaCOOxUHnFFNtWlay9kXS8fpwT-R7gseNuepEdgEiifrCxwIc2I2YoFjEstKkKPHZIQXHZ1_4H1I5brOYkmhRNWeBGmjiZdAygn-IDSYDrSW47TJwmUkxhRWaFSPuTSr4gMiBGHv3tRp2dwsuKAV_h-Or0EaqXGywo2sIEe6Za5jCKGSATdO2rjQc3AUKz_cx6tLPjPuSjm_fh8hmMrlypb5o9eYTrm8aoffAvoKpyKzgnLWn2gpflTaopHSuId-XfvIVdc18l3buqs53xZIjDuKdR3jd04hAD2usd5QmfgkLQS7rPlC5uSxdhw6YB9qvy5801c6KCF2wxWpE_L7jm76VR3H2L9e19OYVC9tVI7sZvQQW6N-hClP6tnQfvI4-PC9KfoUFh--sd_6SIYBL1WNrhYcI23Y_mbJVqG8-9oPnr40F6ouJoF5dsfwvaHy31Y9WdEip2p5dM0lbit7PDVA3evQG_-fqiHfhCvsWayu7s-Zy_N3J_v6rqfrvoxSK9g4J9MYljHvvcBg6Pf7aj2w-A0PxqdOE8Dqox5NJlGfH5f4Qoezd4HdAXvaPmuEfwvmsHrw2fl22kezFc9iUe0eDia4YISNFAqCWa7m4RML5MWSwzjw9nS2cdKm5_Yh44filRPG6KjvYElM7U7nNMKRB5_1Aycrc4tAoLlt2qyfAjeAwzGDIgq-7liXBx7EY0WmN37-PrkbykhBcZZpD6J1SIIuIQMSBVPg8MWmWksrrOm9W-OFu2O0CVMeXHpEyLUZSfC8ovVRT7rAfXjcM0uV-843XtNNDVGFnw1G6lvBaHQkrtbBOVr7qq9CJMqG2mhAJ-73JM_q38eXeUl4ojm0kfsuWfzPATT46KDOxrjRgMi_8vsMH5eRImEWJHBPwkef8tNlPBu8mskZkF5gh7IJXdd1fxo4Xe7zdCQcuzakkwtdClPtVGGtNZiqMDvw2xGv4vpRq5osdFRx514v5_2kv6q96zP_wgueomhQ9kAQ01jDQf1rT7XT-p7QXwuQCoKjcLQLbJOBvT9FN3aFdC_LUq3NSq9qYZQFqsQgpYQYsqoa8FPwADVzhjtyevh3jLIld9_qEO8G9tECQ1vDhGXsMy46o0NDT1jx8JHmPvd439VCyYtL9_wzfGxTP4S5py8zddAGTt1qZ9CDa_eEki39cvqMk3AYUGG_eHGKi416aTEg6SlJvvk8J1PRD4z8UUc1ZRyQhqcgODUypWUlBOTdRCUCcAH7FLlcox-0fIovHa8Fkj_3gA3z5EbxdBNN5sUzYaVw9C3x9q4yMaVeeZUFFlyoA7wA-KnmF4sx3oU3idNe2584i0fMton0HEC5vZ0lT2S3R2H603QEtzWYFL0B8WCLiunmymVRWEvws3UicI6O8WWQn3d4iw0qcH7CZUHBrIPJ1egAiQ7Yu4U1oKKUtnMaqeslDCgFeDvdZPhYLY8EipE7mZUbbyuBx7V9Nk7GK1sX411MXbNWfFX5DkiYdWK-2XVjFC99CMYMY7smgYrYWOgCcB3LR1fb9hTx5_-gynIqc3VOLDDcl11K5KEa59SnhfumccU3HOdXv1kea0S01xpB92gNYUCmokrgkAhkZMVY1lGIVIUtI9wsXyAz8vPla9heTOu4oiA7hsaullSQLPGI2KkppTd0MGVZ9dHA5HuD8Lg86XYhKD6mlS_12HpXfwY-XiFojpV5TEDWF-Z3GSFsHEAG2i4jfC1LOtpZUvXSi9vY9VX3anpxETmUc=",
  "id": "rs_0a0de13f65f1b02b016ab432b572fc87d08dad3dd827703a27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.464,\"left_y\":-0.306,\"left_z\":0.026},\"note\":\"The middle bottle’s cap is ahead of the left gripper and its body runs diagonally down the wrist image. I’ll advance toward its upper half, shift slightly toward its centerline, and lower to the body’s mid-height.\"}",
  "call_id": "call_8DcumubEJ66VTjhQGYzjeBWH",
  "id": "fc_0a0de13f65f1b02b016ab432b727b487d08434b413ce67b22c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8DcumubEJ66VTjhQGYzjeBWH",
  "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]: [-0.786, 2.1899, 1.3277, 0.1699, -0.6567, -0.5312, 0.998, -0.1974, 0.8459, 0.6289, -0.4213, -0.3187, -0.2375, 0.9981]\nstate[eef_state]: left_x=0.4604 left_y=-0.3033 left_z=0.0462 left_yaw=0.0207 left_pitch=0.0321 left_roll=-0.0398 left_gripper=0.998 right_x=0.2942 right_y=0.0013 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.0306 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -9.4838, 5.8872, 1.2039, -0.0122, 0.1245, -0.0122, -0.4991, -1.9761, 6.9675, 1.9267, -0.2271, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d199747ec26b9461ef50bcf1cc54336822038f49feb8ac196bb6d9de8acc6eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da2d5c952f9080221f6538a0e1cd676b7279038b9f33dd41f44ab4d6bbbe63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552bc7399e55e6f9ba218112ee7941e1b52e6eef242395d90f0c325ce4edede3",
      "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 · 2.388 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 82 changed as sent

message 86 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0067, 0.7551, 0.4496, -0.2661, 0.0143, -0.0071, 0.998, 0.4835, 1.4948, 1.3281, -0.4732, 0.2169, 0.112, 0.3745]\nstate[eef_state]: left_x=0.2871 left_y=0.003 left_z=0.1432 left_yaw=-0.0144 left_pitch=-0.0092 left_roll=0.0001 left_gripper=0.998 right_x=0.4111 right_y=0.177 right_z=0.2491 right_yaw=0.2139 right_pitch=-0.0513 right_roll=-0.0264 right_gripper=0.3745\nstate[joint_eff]: [-0.0342, -1.7573, 6.0513, 1.8437, -0.0415, -0.0708, -0.0122, -0.0342, -9.4427, 9.5795, 1.8779, 0.2466, 0.3297, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8394, 1.961, 1.1294, 0.0551, -0.664, -0.5526, 0.998, -0.1967, 0.8505, 0.6479, -0.4225, -0.3149, -0.2367, 0.9981]\nstate[eef_state]: left_x=0.4037 left_y=-0.2815 left_z=0.0691 left_yaw=-0.0162 left_pitch=-0.0223 left_roll=0.0068 left_gripper=0.998 right_x=0.2969 right_y=0.0003 right_z=0.1808 right_yaw=0.1676 right_pitch=-0.019 right_roll=-0.0013 right_gripper=0.9981\nstate[joint_eff]: [-0.8274, -9.6342, 7.8838, 1.4188, -0.4518, 0.0366, -0.0073, -0.0479, -1.5248, 7.0496, 1.9219, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.786, 2.1899, 1.3277, 0.1699, -0.6567, -0.5312, 0.998, -0.1974, 0.8459, 0.6289, -0.4213, -0.3187, -0.2375, 0.9981]\nstate[eef_state]: left_x=0.4604 left_y=-0.3033 left_z=0.0462 left_yaw=0.0207 left_pitch=0.0321 left_roll=-0.0398 left_gripper=0.998 right_x=0.2942 right_y=0.0013 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.0306 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -9.4838, 5.8872, 1.2039, -0.0122, 0.1245, -0.0122, -0.4991, -1.9761, 6.9675, 1.9267, -0.2271, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d199747ec26b9461ef50bcf1cc54336822038f49feb8ac196bb6d9de8acc6eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da2d5c952f9080221f6538a0e1cd676b7279038b9f33dd41f44ab4d6bbbe63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552bc7399e55e6f9ba218112ee7941e1b52e6eef242395d90f0c325ce4edede3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDK7ApYknEIluQntT8B6ZlkUo3KsYhMaB3C033wXjwqfn3nbbeIiKiKZK8y5BVF6gmIqVc2tDntbSL6xus9e1vnsA-NOGLEWDX8BYp2UVKd6HsQ1a5oF3Cq_wC9ljNstYk41vpqDFTdfyN98TW5sDLjtVc79ZAtL_tcWygAOaz7uXkPuvfTntv-E9QKnqSn7oKeLUUDvjBLrpuyGYtwbmloVvpM-E91S7c7yrjWJ5NA4je7gVmeCMzvQnv34hcGAHPitu7dtjecDDCkqP38RgDSOQig83C38qUoqO9Es2jp6TTPsljHrYlqpgP2ECuIyM3AnR-WMa2oMdKaEVxc8Uh8qCZgWIoQ1oh-NyN401y0BiQ5i5vu0Pkemea6o8B9n-YYzpRvz8neKMyly5K7cgB7b-3nYpKQ54lFs5XYuUVCoFJR2idNvf8mIr3SxLyRsm3sTXikgt7nspx6nAzLFZJG2m0K58FMCdEOWjliO5mzOh0ogLwyBtRWhHK3ZpovRks03NweThhOXiLdEAxzi5ifIaN2eHZwvFPWw0ipR3m8miIZQemIflu26B9diz40ZoPzaYGPKyujwoQVk9SSPFHvGfBdF0QYY0GqKxKXJSg7InMuBhdpuDstfNqfe-IEDbn7IhsMGl_4cf3L7VKQ4AYJV9o3Mmsbi4b2nm6ym0kWONlelJ0lKa9wvGiyAHcV1PFSZS7dsqdj8biISGaT_zDCcZh_xpvImK0q-I3WdXM7xyBDkIkM9aw6Ewsr_OKn9rBmCM0GR3cZQQZ_C24EsHwx5SOKo9uV95AoH1DkFA5JiGP_XQewg_3itaUkMaiw8IyZjXMCCvldwb5uGEHRO9gHK8cfYtSphU5_Ualvx41ZwKvcQez_BDYo44V34pOXDgsSKKPcxD9t1QAC6tUhuSJldRDH4gToW1IAjToE4sGOh95TPQlcgcZoONrga5fu9PTFFBrJKVLmb5RdMT2NcOdjlWVPVnF60JgFLxL8UHOj_jdlOT_BZyPJbkUr3gEgscubSiShg1SBfDxaWdkYlP3HRelPdYDhO090r-jydA0qVtDF5VEjH5_Vk62i0gfg1PTSmtQO2WzRco4QFmxwGb1w2l3fyZPLMLoqnyIl5QXvMbo5-9JDmFgVvqDPqXg8HFca4n6Cwreu7iZBfcY39uM0LIVf8GtkqCdVmK_vJ4DFD__adkNaeJF0AUE3DNWdCVqQujbtMqxkshUPtRzkxMU1svlfLSgNZz2MOLaao8mjsi5ZhbGLa0SgKmTelhDRra6a7-Em1bLDehPX8os7w998eEXo4Au4W8ZG--qrSiVs5N7Y3Nl4rF4KsSngcmGj9PQ9ViFaeuFxdNaD1_HwOgf76kGPrty2HduS8a3wkd2ESziAfsXEWtywXK-KXHyL6PEWfvogQJ7Er7iahQ5N-yaRFLJDx0VdPI93tqG3QB_C9sYrzrOMjlrb-mrHZbkrP-_feWsLTPKmIu1vgikV7E5E4QvMdTIiCT07JkyPMDPjqbuTrBPF6NiezunXnLxend78VJblQntsI9z6g6BLMa5i1kX6HhkDEFNO-a_Bbs7kIREWxQQ-epAqbS0ZZkjE_P637_daT3dlLAaDielQnzhwli-nYDPhFWax1qII9dRAznRRPMIBkIkIRVn4kWAgWpGpMZCLR1N4hIEGqU0nJycNB5A==",
  "id": "rs_0a0de13f65f1b02b016ab432b9d8a887d0a359936619cab078",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.009},\"note\":\"The middle bottle is centered between the open jaws, but the gripper is still a few centimeters above table-level midline. I’m descending vertically without advancing, to avoid pushing the bottle along the table.\"}",
  "call_id": "call_AwD4SRKIljPzm2RSEnvFhLNf",
  "id": "fc_0a0de13f65f1b02b016ab432bab95c87d0813aaa22af3b8057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AwD4SRKIljPzm2RSEnvFhLNf",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7856, 2.228, 1.3437, 0.2222, -0.6636, -0.5293, 0.998, -0.1974, 0.8352, 0.6022, -0.403, -0.3191, -0.2379, 0.9981]\nstate[eef_state]: left_x=0.467 left_y=-0.3082 left_z=0.0411 left_yaw=0.0263 left_pitch=0.056 left_roll=-0.057 left_gripper=0.998 right_x=0.2925 right_y=0.0017 right_z=0.1684 right_yaw=0.1709 right_pitch=-0.0284 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -8.0889, 5.8735, 1.0476, -0.188, -0.0366, -0.0122, -0.4308, -2.359, 6.653, 1.8486, -0.2564, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814270f46d80f71b4148034223986bd1908c6e75b5105d528cea021345eb9419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48ba8eac9ee5cd4fb845acc2a202e7b691fa84b864b07d95695788118d7069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea18cde1500e0e7d3826a8c39b6e1d8111471346140f6cd763fbbdf77c35939a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.684 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 0.7925, 0.5613, -0.3672, 0.0067, -0.0078, 0.998, -0.1905, 0.8593, 0.659, -0.4137, -0.2947, -0.2211, 0.9981]\nstate[eef_state]: left_x=0.2909 left_y=0.0022 left_z=0.1635 left_yaw=-0.0148 left_pitch=-0.036 left_roll=0.0032 left_gripper=0.998 right_x=0.3003 right_y=-0.002 right_z=0.1844 right_yaw=0.1485 right_pitch=-0.0129 right_roll=-0.0032 right_gripper=0.9981\nstate[joint_eff]: [-0.7179, -0.759, 10.1402, 1.8144, -0.0952, -0.1294, -0.0073, 0.5402, -2.1675, 7.0769, 1.7949, -0.442, -0.1148, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.786, 2.1899, 1.3277, 0.1699, -0.6567, -0.5312, 0.998, -0.1974, 0.8459, 0.6289, -0.4213, -0.3187, -0.2375, 0.9981]\nstate[eef_state]: left_x=0.4604 left_y=-0.3033 left_z=0.0462 left_yaw=0.0207 left_pitch=0.0321 left_roll=-0.0398 left_gripper=0.998 right_x=0.2942 right_y=0.0013 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.0306 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -9.4838, 5.8872, 1.2039, -0.0122, 0.1245, -0.0122, -0.4991, -1.9761, 6.9675, 1.9267, -0.2271, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7856, 2.228, 1.3437, 0.2222, -0.6636, -0.5293, 0.998, -0.1974, 0.8352, 0.6022, -0.403, -0.3191, -0.2379, 0.9981]\nstate[eef_state]: left_x=0.467 left_y=-0.3082 left_z=0.0411 left_yaw=0.0263 left_pitch=0.056 left_roll=-0.057 left_gripper=0.998 right_x=0.2925 right_y=0.0017 right_z=0.1684 right_yaw=0.1709 right_pitch=-0.0284 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -8.0889, 5.8735, 1.0476, -0.188, -0.0366, -0.0122, -0.4308, -2.359, 6.653, 1.8486, -0.2564, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814270f46d80f71b4148034223986bd1908c6e75b5105d528cea021345eb9419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d48ba8eac9ee5cd4fb845acc2a202e7b691fa84b864b07d95695788118d7069",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea18cde1500e0e7d3826a8c39b6e1d8111471346140f6cd763fbbdf77c35939a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDK-6Q31zdJrDAAWtI8uyzPSVhyHJCXCuY9C4NxEKf_59rVasqJ2GyUEzwKtWDnF29mY-Yv2K5Y8HSfzIdpyARRhZ26DD--fr8sPDJ8uBNTi8-RsYJSl_JNDbrE6N1iYJ7KvxCiZ0BQwMAgjDmMh_INO-SHmQzJdCvCuacqWrQ73ZlYtvsdBjkh_oGViAeIHwAn3MI5SjRjHpKjpStyrxbuiqEQdTclEjbtzkNMQpcEAupi0YEfVOGS1K24WtyVY-xszsh21JaV1fl-bla-XqGLsAYCwfhemqrxJ6wYUkzCoY64TY_pPUc9Jd3yw0twfWYXMiM0glqKywqbd0qga0IydOo8Zkxt1Ro_2_MCb4Pw2vA2a6hPfQSEqqtpBAm1XhuQOdww8n-eVuRZ5uqAw_nb_sbt5eGH56CezU4cS_JZEXJJXRf2OCGYgnN6IAu-XAMeEu3oiaV5NM_JDIBfKcKYo93zWzSM8lLmFlYogeueCau4UwgK7nLlwKFDTy4Gf9V4t3cjmDmE2Ccw8r-ETg-sbZ6X5zF4QtzKSpdQgPMlFwgp_vjfgxIUApkO5aXDn1QHaBSYas4Ah7Yo_HDaB3_ezIW88Fr8fnEDvtCryLOj6jBIXJQVpDq4jsuaR89WQw1OTua7WyyTdyPm8vbR4up0KMfm4wPsSZk4OqQ_giqdsaJXuaH01heiGFsnQ8vrO5zMyN4BWIa_0CEmzxtUIWQJ4zG2ZFUmy8xVw1_QqUrnaQuc5V_-anVjjLkUZUwWtfgFqoNjm2aEFF58RIWA0mF0NAHkE9APCd-QyZK6cTL8upYy9lA4wJIO1cACf1Lv4VEl5p7br0L673weCMovKeQaxOw55rpdE8OpjEMqDKF7neLB0qS8Ny3J_4X9FPLM37z8T5qcimFSp8MKhftWmcPQiYqwJFwg1uOkI1KS0xRlzpKUbigZ0FMJqy3Z3vNxhae0w1PS5u2zwYyyBdTcs_cAnhbn_7KbsKpTefgJw282IGmbZtriso0Y0oukU5CWFupeA24YW-DvVB_Wa9BUf_wky_m_GfzQEX9n6qJ_V55MO4Ka55Hci8Nv3PN9eP6TLvJnzRBGVk0VpmUhXyJsIaa6O0Y7ySFJfVklNQUlRzFBoFfcKGNB_c6zWaBbdGzgRzUIPuAWHoGMYjIRNk7XkdoMTGM8u-uj1HlvNHMo9-AaW56atHdPd0mQilcUNwowZG3acJC8FCMfJcZbPksB0-H36FAQhQ66JUbpPw_LTPjI_LpZKQg5siA4b-sQYsbtYhbAALGjLEm3FGb10KAynIbDlnxYsXFaFDgsKlArzGNSBSjdgiyoZY0-McUjAN83tWYl4jMzrqrhgn75UMcIUFXh_scrODwfpk_ytWvShlEO7-I4vqZ1Oq7RedhoQhLwaLQLe",
  "id": "rs_0a0de13f65f1b02b016ab432bcefa087d0a3bfb37a6ef0f43b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped around four centimeters above the table, which suggests the gripper is contacting the middle bottle rather than reaching the floor. I’ll close the jaws at this position and check whether it is actually secured.\"}",
  "call_id": "call_0G1n6gvTosvbAG6kYjcai0mF",
  "id": "fc_0a0de13f65f1b02b016ab432bd503487d0b32210643ff6d3ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0G1n6gvTosvbAG6kYjcai0mF",
  "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]: [-0.7849, 2.233, 1.3586, 0.3096, -0.7212, -0.532, 0.0127, -0.1974, 0.8242, 0.5739, -0.392, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.479 left_y=-0.3086 left_z=0.0624 left_yaw=0.0807 left_pitch=0.1456 left_roll=-0.1098 left_gripper=0.0127 right_x=0.2896 right_y=0.0023 right_z=0.1609 right_yaw=0.1725 right_pitch=-0.0341 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [0.0068, -8.5402, 4.6154, 0.4567, 0.3639, -0.0024, 0.5934, -0.3487, -1.9077, 6.9402, 1.8877, -0.2613, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e6b4fe27ab8e6a8b0cbece92225f12ffc2a8cacaa88608e881abb32857bf7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d205cf9fb6b0d068c043a2b2fdfc04e5f831343d04aec9beebcb1360538119ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f3d2db86b1056b2db83fb12a7d3b137564024350e5e278c456ce62d17aee1",
      "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 · 2.722 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8394, 1.961, 1.1294, 0.0551, -0.664, -0.5526, 0.998, -0.1967, 0.8505, 0.6479, -0.4225, -0.3149, -0.2367, 0.9981]\nstate[eef_state]: left_x=0.4037 left_y=-0.2815 left_z=0.0691 left_yaw=-0.0162 left_pitch=-0.0223 left_roll=0.0068 left_gripper=0.998 right_x=0.2969 right_y=0.0003 right_z=0.1808 right_yaw=0.1676 right_pitch=-0.019 right_roll=-0.0013 right_gripper=0.9981\nstate[joint_eff]: [-0.8274, -9.6342, 7.8838, 1.4188, -0.4518, 0.0366, -0.0073, -0.0479, -1.5248, 7.0496, 1.9219, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7856, 2.228, 1.3437, 0.2222, -0.6636, -0.5293, 0.998, -0.1974, 0.8352, 0.6022, -0.403, -0.3191, -0.2379, 0.9981]\nstate[eef_state]: left_x=0.467 left_y=-0.3082 left_z=0.0411 left_yaw=0.0263 left_pitch=0.056 left_roll=-0.057 left_gripper=0.998 right_x=0.2925 right_y=0.0017 right_z=0.1684 right_yaw=0.1709 right_pitch=-0.0284 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -8.0889, 5.8735, 1.0476, -0.188, -0.0366, -0.0122, -0.4308, -2.359, 6.653, 1.8486, -0.2564, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7849, 2.233, 1.3586, 0.3096, -0.7212, -0.532, 0.0127, -0.1974, 0.8242, 0.5739, -0.392, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.479 left_y=-0.3086 left_z=0.0624 left_yaw=0.0807 left_pitch=0.1456 left_roll=-0.1098 left_gripper=0.0127 right_x=0.2896 right_y=0.0023 right_z=0.1609 right_yaw=0.1725 right_pitch=-0.0341 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [0.0068, -8.5402, 4.6154, 0.4567, 0.3639, -0.0024, 0.5934, -0.3487, -1.9077, 6.9402, 1.8877, -0.2613, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e6b4fe27ab8e6a8b0cbece92225f12ffc2a8cacaa88608e881abb32857bf7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d205cf9fb6b0d068c043a2b2fdfc04e5f831343d04aec9beebcb1360538119ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f3d2db86b1056b2db83fb12a7d3b137564024350e5e278c456ce62d17aee1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab432c06b8487d0a0170fef1c45879b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLGGd2Vl8my7Fbpps-8fg0tWuw0ukbRUTXYs_bG30x8E6yak-AL2yP6UdoRdeXwliDGBIJ32nyDgmGXuEmhuiN1IPD_x7OLVkFZVgTjeCR8yKCKcCfBAwaGw1POOEf0E65kbYdXBrcWAcAvVSXHw8q50PCzhzpsc5zPQMBNAaYmoQ-IXQGV4ZFajk7EF9BwVHLiRftATqeiWnwUHj4WQ72Y5KdJhKjlpFIW7g_mGDzdPNMxrklUb-zQFMx83XZcH4lGNwPZw5z9-jYVugU0U-od2ORe-54D4tWmWWHwFZJusY9OJs-TcithAMcyONElJRbpFhivmtS2zKgZ8tr9lNE-tF4IUDU3VAcmU5yJXiaCKVYG2RDRqBmSTRTfzv-5WABwBBhcV4Xmw107Smtf7_aKIjuy6uYk5n4ftagbyWyZ-r365whvXJgmJzPtYR81om7umsGHmKsvktMdha0EZ4uEhhpo_Bw44bV3i82qisa4HmCfapYbWBVBjqwYso2pFWg0Ckqi0J9hdT1DasxIQqf0Oqlg38Shz-Zf_YlOfffDMMwDgvZ9NzcCrVanL-0R6-jTggqpdxN5Ya52fHpEiCc8LUpJdfEs-nSEMd2raXkzxoHHyIMZTa7uiIyNx08wbojd9UdhEuG8gIRv7VkAaLuolBOz17ouvE5xU_Qtt4SuXuNJwkOMM0HRccZz8LglqyoEouy1czRUYdX_6_-kTP07yHlEec0yrC3Pk5mt1ghNmgQBwiNVgISiNFWLdSHU9rYvehm2SNkYt_QwxmGrWCdWo2feY7TuFYV7HwfgUJM2zi5gaixaXP2_Kx3VNR1lWwMyP0Y6L-SKcsb5sFzmFuDk-GizANiUp09FDwYlQ1tSy4WcpUx0-wAh7GjLVBthZsZG29sliOG-aEDdr5UDpYfKKmc6wM5FMqiq3QgF3L0Pg9c3Mkx7nub80_iNl5ychwQ6bU_x6J7T5XZLO3lJ7JhYoC60CWHw30MwYN9dHUBuGP2z9kwg3ydm2kfGNjxpg_YjzN4wtXACwB29WBDuKrYpI3SUG6JBeE5zloqokHKA2LHvft_r0GzDUy95GFSbY_2arHvXSKNpEIi0xbyyL5rj4z9fxfv01T8cc0L-yGmOsZdNIiL-zXuSLxBuUFAdRYS_JIBWsk9SRcE5Mzgb1-K3SZXcqtIjL0r2aS51QUMj-z-gwLOqvGa9V6phGS0Xca8Sw1r4Qm4cUk2QloVxaXIx7Gxsc3p6C_gOe44dxCng7qCxU7SM73zL_MzdGyrtxD87OsjqiHbGcOsqVZ9pPStW0PR7QUBb3B_ZescMX0fkRMU7WLBV8wGMziHbu6UcsloUbZezOWvEHEOqBHb6uh3L11frSo_EaC9qna3TfC-6eSY2TnOvejFr0rdZe3MfPedt37P_TQDZjueSf57jfIqIPkQ4Xtt2U1Dt7h_bft6GlgvGt6kWHQTf6IZeNyw-Qov1mS3CT-jyNrFybFCYVRI2ntULTgNWisH_1HWKQWyMUJjGLScZ8j3NfbJkMZm3rrQNRv2zE4PtxSyPhE6VUiucjw==",
  "id": "rs_0a0de13f65f1b02b016ab432c4b8d487d0b828a2628cda1165",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.404,\"left_y\":-0.303,\"left_z\":0.035},\"note\":\"The left gripper also closed completely empty; its last position was too far toward the cap and lifted off the bottle during closing. I’ll reopen and move back over the middle bottle’s thicker central section for a lower, more stable grasp.\"}",
  "call_id": "call_KUujf6aYoCza9iiPAXI9MvSX",
  "id": "fc_0a0de13f65f1b02b016ab432c5c5b087d0ad6e2e4afd71a4aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KUujf6aYoCza9iiPAXI9MvSX",
  "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]: [-0.8833, 2.1418, 1.2621, 0.0868, -0.7898, -0.6827, 0.9945, -0.1978, 0.8104, 0.5411, -0.3748, -0.3191, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.418 left_y=-0.3058 left_z=0.0452 left_yaw=0.098 left_pitch=0.0368 left_roll=-0.0358 left_gripper=0.9945 right_x=0.2866 right_y=0.0027 right_z=0.1533 right_yaw=0.1723 right_pitch=-0.0358 right_roll=0.0044 right_gripper=0.9981\nstate[joint_eff]: [-1.0872, -11.7538, 4.4786, 1.0085, -0.1294, 0.1294, -0.1783, -0.6632, -2.0444, 6.8581, 1.9463, -0.2369, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f914d3859473ee4c0edb8c6f4b5b9933c18d01c7cee099842690fcbc9b4d1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62d1a234c79102a4d49a2575343cf09cdd8191e4571d512e39039f016a3d08d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229601b02afda16424567d6307a0e2ba80aa4f981c37b16171fdcb895f15173d",
      "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 · 5.059 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 99 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.786, 2.1899, 1.3277, 0.1699, -0.6567, -0.5312, 0.998, -0.1974, 0.8459, 0.6289, -0.4213, -0.3187, -0.2375, 0.9981]\nstate[eef_state]: left_x=0.4604 left_y=-0.3033 left_z=0.0462 left_yaw=0.0207 left_pitch=0.0321 left_roll=-0.0398 left_gripper=0.998 right_x=0.2942 right_y=0.0013 right_z=0.1739 right_yaw=0.1705 right_pitch=-0.0306 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -9.4838, 5.8872, 1.2039, -0.0122, 0.1245, -0.0122, -0.4991, -1.9761, 6.9675, 1.9267, -0.2271, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7849, 2.233, 1.3586, 0.3096, -0.7212, -0.532, 0.0127, -0.1974, 0.8242, 0.5739, -0.392, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.479 left_y=-0.3086 left_z=0.0624 left_yaw=0.0807 left_pitch=0.1456 left_roll=-0.1098 left_gripper=0.0127 right_x=0.2896 right_y=0.0023 right_z=0.1609 right_yaw=0.1725 right_pitch=-0.0341 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [0.0068, -8.5402, 4.6154, 0.4567, 0.3639, -0.0024, 0.5934, -0.3487, -1.9077, 6.9402, 1.8877, -0.2613, 0.022, -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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8833, 2.1418, 1.2621, 0.0868, -0.7898, -0.6827, 0.9945, -0.1978, 0.8104, 0.5411, -0.3748, -0.3191, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.418 left_y=-0.3058 left_z=0.0452 left_yaw=0.098 left_pitch=0.0368 left_roll=-0.0358 left_gripper=0.9945 right_x=0.2866 right_y=0.0027 right_z=0.1533 right_yaw=0.1723 right_pitch=-0.0358 right_roll=0.0044 right_gripper=0.9981\nstate[joint_eff]: [-1.0872, -11.7538, 4.4786, 1.0085, -0.1294, 0.1294, -0.1783, -0.6632, -2.0444, 6.8581, 1.9463, -0.2369, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f914d3859473ee4c0edb8c6f4b5b9933c18d01c7cee099842690fcbc9b4d1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62d1a234c79102a4d49a2575343cf09cdd8191e4571d512e39039f016a3d08d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229601b02afda16424567d6307a0e2ba80aa4f981c37b16171fdcb895f15173d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLKW4rLGs3CWSQm1aPpdGZuVkzwefIcdv9v8SnPlbA3gCgxsATRlEmMnKnPP-7YHIWuUN_wS4II6v6oqKWubJJwVurzFHvvlNW5gUd5yZeOeKzThJqRMC707NkJu7sUqc9evQr5E8bjW6A47KkLwLPBT29MhsK3fUbYjxBg1NFy19_lqDqTAbSleqE9bL5HNjMIncOTQ0K7_A9JwyfZLMGPy7odqWT3fRddTFhuEqG0fc3f4xv_JLsvMegngWB1TDRxjBgOTCeXbpkwdyspwWp7XO97dVfhLaGp4Uk3RlOjXOLWw7on_c1R_LoyC39VoMp0mBe2vRFbEK2-t9oxftZ4VkxlCGEGPG_OJTSFMQjDWiw4nAc-GItjHAB-4QOpsHkWW_YK8gz_iz-fNs4fWsHGAS8hT7pXhskE6YCNRcKZm7v1xDtNXH7KV9eya9VRQ-C2HEvx1bUrhmMsdzo1rwfjaQt1d-3ibl98wGlRO_WeEA3xboCCwaBfjN9EcU9szibvIm5tkPNblOo9CktUaPQI4LkqwBY0PpgVcjgJoDP9WLLzjFJZIJXPROYKfmlRIIAcKpmSFAHLQhzVjbtD_o4D2ZI7fq1eg1GPEbA7KRtUSOlJZ37WWqnaQUnbkgpS9aJ2LVh94z7DkUL7GLX2ZFFWTytWVhTBnqRbWiq3pe5abcUG9ra7LJ-kA8lS-TENpFu4WrqlI2uI05dkwOPfWK1i_LEqWIkL0gIaVazFEVIKTrdW2gqpqfNOQ3YsslNUo-1X0lc3LK8TN8KW-mA9ajZ_3vdBh3VlCt-3bdZE-_EOIiPPRVRGJRFi00hgZ72z-0zrl8LwbtGicopXRSuvvsBEFZDzoOZlNjoJVHOAYYKFp6pytWEKoiO85xbA4jftuh29MXhw_T86Q0PV8rVPkXYLLUxGv6Za-5Kl2H3iT-5ThSIEQchIU8Uhrc6-bMOaZQJQfT5QKN5pszcu7p5KhUZVQm5JjVG7Iwk9SusPXigV7ywHI1vjDbYIQaJgjckRvISeBDFQ6WvRcFNcDssNnrtOo43Bg3TPX9tfDwgHGMjnuSO_VmQwPjIE2pGxo_NLer8dd5vNvVuR9w8pa_lGwpEB_2pAF77Jjjd0-diRvJ4GVH285xJ5ZKVazmoM2kKBJ2nsKwBkXfhhPiuHu-Almuacr2EAFJZPb7d3PubhRw6ghfU5m63ohFS5NyHz91526iQFxrwGjhuAm5YCuuEoQuntzGjNXBAvmj5XqdhWY5lLqCrbK99kuFzewl1pJdeBd_WXibX8feyon3pAy9IbuY90Ui7MTz7KEnqvn1eRUCmaS3ndq7wVs-tI0seBeauiND-5hv1KIFQfuSw7GcqJkVSUpOTQRWQiKNLefP-WQ91oHDPiQzvTOZTYvvLjJy6JaZ3VGkjiBL1DgobLoVfkKjvjreIkXue_ea3xF9N-VXxnzO7mkcW6_Wk62FWuj9jPcJUVT-gA43WdNfVg7XmOlR8iXrAPkGFYczP_YuRlRrdV0Oy3fpcGeVFr8Apm9Rf6JYgtIujMWGE-kz570eXfQBsQe4QZgpeTW9LboNH3g9e78QEl63SSsVZD0B_pEEV6XIiux-o4d_D45MrXAciZG3REHzQVQoU3LqWm4efvKd_-6fonE52V1OCU56Z04ox2Qb2mrTERpaiJBqYuyS33NEBMsYir7g_c9TVQ1cWSfo6Li2s8SMooPGsawlsI_x-oG9B3LCwCZmGCmpHnE1bzoJJyya7bSfFntQKLbqxz5jbXkFk246GorAZPVpng0KM5jLKJvB-I38GboQNM2hO1fP9xMw==",
  "id": "rs_0a0de13f65f1b02b016ab432c8aad887d0905b7262e44c0ce9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.436,\"left_y\":-0.302,\"left_z\":0.005},\"note\":\"The middle bottle’s broad body is now centered in the wrist view, with its base just ahead of the jaw tips. I’m making a short forward-and-down adjustment to get the fingertips around its center rather than above it.\"}",
  "call_id": "call_oubGomqzEoor24VXeM2klIvu",
  "id": "fc_0a0de13f65f1b02b016ab432c9a43887d0a8cbd70f96ac9c19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oubGomqzEoor24VXeM2klIvu",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.2017, 1.3178, 0.1459, -0.7914, -0.683, 0.9959, -0.1978, 0.7959, 0.5076, -0.358, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4374 left_y=-0.3116 left_z=0.0433 left_yaw=0.123 left_pitch=0.0681 left_roll=-0.0814 left_gripper=0.9959 right_x=0.2834 right_y=0.0034 right_z=0.1454 right_yaw=0.1721 right_pitch=-0.038 right_roll=0.0055 right_gripper=0.9981\nstate[joint_eff]: [0.9368, -7.3504, 5.5726, 0.6032, 0.0024, 0.2711, 0.1441, -0.7316, -2.0991, 7.1453, 1.9072, -0.2857, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6305c60e29ee97f0637cd1d01207a50c49196932171cfcfca7836f1cbc2f94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f01c5f5302c85e1e4ace024fd0ed5055e6a880b2644b2ef80d0b9599fdd386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dfdc1ff9b1d80103f43a9426233e624fb764029d4c9a08d7db751b11829888",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.068 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7856, 2.228, 1.3437, 0.2222, -0.6636, -0.5293, 0.998, -0.1974, 0.8352, 0.6022, -0.403, -0.3191, -0.2379, 0.9981]\nstate[eef_state]: left_x=0.467 left_y=-0.3082 left_z=0.0411 left_yaw=0.0263 left_pitch=0.056 left_roll=-0.057 left_gripper=0.998 right_x=0.2925 right_y=0.0017 right_z=0.1684 right_yaw=0.1709 right_pitch=-0.0284 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -8.0889, 5.8735, 1.0476, -0.188, -0.0366, -0.0122, -0.4308, -2.359, 6.653, 1.8486, -0.2564, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8833, 2.1418, 1.2621, 0.0868, -0.7898, -0.6827, 0.9945, -0.1978, 0.8104, 0.5411, -0.3748, -0.3191, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.418 left_y=-0.3058 left_z=0.0452 left_yaw=0.098 left_pitch=0.0368 left_roll=-0.0358 left_gripper=0.9945 right_x=0.2866 right_y=0.0027 right_z=0.1533 right_yaw=0.1723 right_pitch=-0.0358 right_roll=0.0044 right_gripper=0.9981\nstate[joint_eff]: [-1.0872, -11.7538, 4.4786, 1.0085, -0.1294, 0.1294, -0.1783, -0.6632, -2.0444, 6.8581, 1.9463, -0.2369, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.2017, 1.3178, 0.1459, -0.7914, -0.683, 0.9959, -0.1978, 0.7959, 0.5076, -0.358, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4374 left_y=-0.3116 left_z=0.0433 left_yaw=0.123 left_pitch=0.0681 left_roll=-0.0814 left_gripper=0.9959 right_x=0.2834 right_y=0.0034 right_z=0.1454 right_yaw=0.1721 right_pitch=-0.038 right_roll=0.0055 right_gripper=0.9981\nstate[joint_eff]: [0.9368, -7.3504, 5.5726, 0.6032, 0.0024, 0.2711, 0.1441, -0.7316, -2.0991, 7.1453, 1.9072, -0.2857, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6305c60e29ee97f0637cd1d01207a50c49196932171cfcfca7836f1cbc2f94f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f01c5f5302c85e1e4ace024fd0ed5055e6a880b2644b2ef80d0b9599fdd386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dfdc1ff9b1d80103f43a9426233e624fb764029d4c9a08d7db751b11829888",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLPeIk1VMk-RULhfBwNuzXCUBPfMoU9LDN1-jNY4fciN8pXvHu8H6phl0j8dyuWIW8Q4q9ZziI_gXAMJ8jd9fvDNlxrd5LMDjey95WRjviiFswTwvlV3stZPJSaN1rJcQEYTf6dCEKzNQZTqnatBOWfrNFfziBjMlj79oABNZ4cEajezXe-5BmZsPimTdGn6crxtoV3czvlEfqgZ96d_byOqFYscoLWF8tK4dzbBscy37EVSQTxA1lqTCQ-i3DLB3IOjt-WL9_grMeKzrRr2FvqMJciEiqh5F_SG7oVLwEiVuuaN_2Hmv4PO2XwwWC1EhiRnN1qi_MZryrV6VmmFTmei1tx9k2Jj5gc-Zc45OWOdqbg57aonICYlxY1ZCKpnxh8K9M3S8qZ9bFT4CedSmtv3fE32OK_v3m4l9YgRO2T690Kt4NlNQc6Bt260u6_OSOwMrs0AXjdUueV2pGuppEREkWrMQgoLZ9y6bROj1TkXmdob5PGV5TBdSBO6vu_XcqHDlIHDFbII0xM0QeHDX7zL3Y6M62d5MTpXwOJCgEkGl-u8EVidj7pqOgYGY3Aw282EcF296h3Tzs69NbXZaBOxN3BK5hBcDxqvZ5Jb2JygHeP_ek98RlaSfEk8tpbd9SBIhESc1YqbrDEZ_RZhfT1VnfK3bIbPmUU_NXlYgK12AGOFjzOxpvwj2-I2n0wzVfzFK3afndk4SNg__HrBTgsTE85JxTt9q7wE4PBIl05pIraGV11Rxf7RsNFbXtNeFY76sZlODZUhoJBn71EEoJMXGIazxo_UsV8bndeDiZOInOTb9nSKG5r5BmhatzLIWgnpVOkfyFSUlzwQe08XkJGgUL3taeJYkPST_qZmucIX-B_l07ROy9lELs3pSDHdjCVI7uU0zfEnqmE75QmIVvb90IBVYHyH7SmgnvQ5MrSfGcTDW36khy30V6cCcSMa6GTTHQPrBoB8WN97-YFmaaAJoH1cHQ5O1d9LmwaK7MjUNgjuNNTe9myfACKUG3d4C5vUTks_bxddja58rHE_gsQWkVDBRuwJXCyG3uKos6y57Q-Dt0izM0ZJKTx1XrHU5aOvKtUD5-ErbNXe2ZB0iA8CUMBQqQr5gfdDiZ0QX9_uy3-9xUU_w_ioIUUAcWLT_gkWCnqKk7saMQMY46s-W0Q1CkZWv8BYs8e5GF7e-JAfrN6ZzzQ-NlAjA9RGHllqAe5vCGLtpzZxVvyDd2c_B_qWdcLb0epzsRrh2oh783CDkTiEDO5kTWTUBf3bJbnTTF-TL8PHw1g1uufflIUcO6ZSY4BLBB7WKtgi1qPx0lDanjvFeviSW71xz8v7aP3mM195-L4ISkaMuh9Wp0x_ssDSwDU-EqVzncybHr20RDEPlHB-LSLlCJQ3OxoI-Si1EHNz8XK3_FNIvkwETXsa_4wyhNu77jT6hRRinT3_6hsCFdEr_kQlCrkWTELjS3Hfv2nxbsAX6sB01e90T6rz7umHa00uDNFs7SGloInVdu9Wl4NkBEkXuLrEhJrSwLbSRhuj20UP23FUx70AlReg_ndf9Yi2YInSs3-SAKCG5FnQvyQIHEz191trUnxTYMjY9QX7H34j47PsKWiYj4HBAmumeQ6a4SWsWqzOJITr1rOJEVE0OmQo1defgUpLXRuRSL-eUjsKpvfuD0CD-ECM5RZz7D3bsFOSqjbYEb49gCSI4v1dk2ArCloCJmftUzxRSev5QcSmFbkgXQylaMzyYaT11SNiPlwBNXKl2UYOcy6oRShzGDk_kcRmd4ZEeOkf-DJFTR-VsXKPc0kqkmj3WqxnZzPNZG4Mtc0x114D2OrzaDetpwfOwcyFuLgw-x6Ohzry06MNzNHRs_w0kqOlgNZ5rXUVnijENeWbiDdhkJ76c9YJE2a7pjviZ-71HqZ45jVMC6dKjwSNumaTvxjIWHfEJUFOzGuL8qq5uNKJXbi0MJmi_dAi71prZMGyLV3SBiosJMhBObV7H9-rUvNVZondMTHGm8P4lxUjIw4IQXaPNVq7MaUP5YXRjwTq_hRWmdJy6j92bYtIlbeRqRX_2eZ75FVkKEnpLrrNwI3E0-cuJaPWiYrWfHLEvfl6NmPGvwGA67he4oKdoyg1Sjbnbf1bI304_JJ8oUxq5vmqVrZycHFqjCbOgFU-2YsuF9S9h1wOCXqCTdRuAeWU410jOe4yIsnudt4tqGBCpO1BPD_3j8lct4auuCtoxWSU8wH3B_2rw9bRddTMZP2otz3EawZvpWjaKGDFITg8gsXseusSAwuvqGGuzBv9FjQBbSvdxqt87GUwkpm5F7ttPCW_dcB4dqNkSPfwpGJlywjqcHnJj7quA6ptw0QMSgxxbOmrSwVRk52y7ENzxd3qs7CbTyWtnHurPC27bknoI-0arHORq--OvK5JOKBC3ICDvCeACgr7EzvH1j-4lIYXLuEqqX6ryDRKnNZR79T1aAvVmZE7zYIwQn1McJ_03jKysqsVgKBgWpDeIjl-NTzQdrHsQgxiMCqxJFJGvy3o8UHPVzErKIpvJy8cT42KSGYDALIaihEzLPZNLbrNdGFTAHZcMGg1Z-O62ozk47jbUHE0orw4TxIWZe10VlspCpR9c9z9pRwZCPBd-J6SwEojejl-_So3wvO1AQoiizXkLsSnrPQLa664k1biPFmU8N-Eg2uHUcD8cjPmOiigcPruZ5j-PQAeRfYji8jd5_pGqQn8BoaLrreNtjmdeHDlZZmHbMuZ8rvTRmlslSPS67Z67HDABfhIhFZZlHuOEBcS-lKvWRlP_x3bdofsK4zmhABQKTuc2wf8S_i4Bt0RKQr65deK0vf4cBPOOPnnryKkVQPJuD6hxerQxTlz6OEfubPy4gfBTC4W-5w_f53BLyGWWaxUm9w_qyZ2Q41yh2a8RhII6CMvqaf6hqD99cJwUcWU1oRgL3TXFMHhdAwEKpoNsMmCy7YbRQcB-GLQrMBk4aKjckoHsnhAmNiXCJ9gFXBpbz-pQcmj0auw75IQ0u5vpULM_jGbkIXTiVjRGYuXtc2GpYTgQvAkF70IurX6vVvZNncfCTBgWQ5gDz9lYHd-ufyF82UmGWk_PhhzUO1sFF42EBi9zuwXfz8_ecwBY6bhLj3WLfaE_Nxc0t9DJPJyqQsUu52HBi_fTNhyi2oR2poJkuwn5w=",
  "id": "rs_0a0de13f65f1b02b016ab432cb8ccc87d098c7dc2693b0c4db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.301,\"left_z\":0.09},\"note\":\"The gripper stopped descending at the bottle’s top surface, while the bottle’s rear edge is still near the bottom of the wrist image. I’ll raise above it and advance slightly so the fingertips can descend around the body instead of pressing on top.\"}",
  "call_id": "call_mU2OtinyLo8ADJN4hIaTRaT1",
  "id": "fc_0a0de13f65f1b02b016ab432cefb4887d08e6733522e2e9d2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mU2OtinyLo8ADJN4hIaTRaT1",
  "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]: [-0.8429, 2.2147, 1.3231, 0.194, -0.794, -0.6811, 0.9961, -0.1986, 0.778, 0.4713, -0.3382, -0.3195, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.3078 left_z=0.0458 left_yaw=0.1457 left_pitch=0.092 left_roll=-0.1125 left_gripper=0.9961 right_x=0.2801 right_y=0.0039 right_z=0.1377 right_yaw=0.1719 right_pitch=-0.0365 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.9795, 5.2171, 0.862, 0.0562, 0.2271, 0.0122, -0.6769, -1.8393, 6.9265, 1.9805, -0.2906, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455b9d67ae186b1dcaf6246ecdb189ef67f9b8b6002f20abeb261357e4c1b55b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51767045f0fcbf08eeeaf75f2866080c5d08c20a683673c05fa4dd5a6ad3e148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c075d9491170dc56eb205fb5e3413133eb74f702e5870062b7dce32c7a969f59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7849, 2.233, 1.3586, 0.3096, -0.7212, -0.532, 0.0127, -0.1974, 0.8242, 0.5739, -0.392, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.479 left_y=-0.3086 left_z=0.0624 left_yaw=0.0807 left_pitch=0.1456 left_roll=-0.1098 left_gripper=0.0127 right_x=0.2896 right_y=0.0023 right_z=0.1609 right_yaw=0.1725 right_pitch=-0.0341 right_roll=0.004 right_gripper=0.9981\nstate[joint_eff]: [0.0068, -8.5402, 4.6154, 0.4567, 0.3639, -0.0024, 0.5934, -0.3487, -1.9077, 6.9402, 1.8877, -0.2613, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.2017, 1.3178, 0.1459, -0.7914, -0.683, 0.9959, -0.1978, 0.7959, 0.5076, -0.358, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4374 left_y=-0.3116 left_z=0.0433 left_yaw=0.123 left_pitch=0.0681 left_roll=-0.0814 left_gripper=0.9959 right_x=0.2834 right_y=0.0034 right_z=0.1454 right_yaw=0.1721 right_pitch=-0.038 right_roll=0.0055 right_gripper=0.9981\nstate[joint_eff]: [0.9368, -7.3504, 5.5726, 0.6032, 0.0024, 0.2711, 0.1441, -0.7316, -2.0991, 7.1453, 1.9072, -0.2857, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8429, 2.2147, 1.3231, 0.194, -0.794, -0.6811, 0.9961, -0.1986, 0.778, 0.4713, -0.3382, -0.3195, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.3078 left_z=0.0458 left_yaw=0.1457 left_pitch=0.092 left_roll=-0.1125 left_gripper=0.9961 right_x=0.2801 right_y=0.0039 right_z=0.1377 right_yaw=0.1719 right_pitch=-0.0365 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.9795, 5.2171, 0.862, 0.0562, 0.2271, 0.0122, -0.6769, -1.8393, 6.9265, 1.9805, -0.2906, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455b9d67ae186b1dcaf6246ecdb189ef67f9b8b6002f20abeb261357e4c1b55b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51767045f0fcbf08eeeaf75f2866080c5d08c20a683673c05fa4dd5a6ad3e148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c075d9491170dc56eb205fb5e3413133eb74f702e5870062b7dce32c7a969f59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLT9ycpFq67ajvrRVzVwaOxHxx4--CPgKm-ITAFdpB8c5yAjr8RhzDX1OeP0_7YsPyXL56rQFGaUliZxxob5baY6sCngtWEhL6cOoPC3ysfxKjPGFahZ8uvxQYsKmZ0hJVj_jnjNo8yirGiPKa-lXW-wF70lbQzwIVp_Tf0i5exKMh9RWsD04m0r0FmP8YfUxsRYG4oz7IDnA1hjmxUP9fkRR8cVFb2Djowv7l7aky1AQbn03G56qmoY0JhgSri7EWEytvCkWl4lGn26nNX0eUwGhuQjWannlMAi92K0JJkkC_k9UmRA0nZrBsZVZCxr2pFxNxQitSlYiWOAxjrjjfi68kIqbZ_QhlnsdNS0vNa-svNTSbT9l0THpxIKlAzDpAbOVofSI-L0x8eN2JdxAlMcsS2G7SUfDz5mCDSYXn5yoEARGe-wfNII153SomOXhDZsgXrZMtT5Lf0oPB92iw9T7eCqOlE9xkZRo0vqxCRj1YhxpA0DxNQW1xoxLxFllgEXCg88jeaCpwUPWBNVTSP5rl3JaZO2u3ESOFblCFeFM82RcdUcnwT5PjsUicgDIKDmsRWAWWTcYfUumC2T64s4CrxfNXqUo0_pywR8Ay9mJmuamOQ5FHkggv0kpS4Kx9oNQX9bfG00otZdAbABOprweWTA77C4MeY9LwY5GjO5XFTDau5AmsKf05UAwGamX5vRcw-G29druGIO2xALcbyEZbB93DlxMKiN24xosf2wml_ZxREtBUyhpIjdPzgVg5gv4lblZCyoiCQWFRN-onSTz18FEfLFLBnb2b9Ukgat7KPoPkoLF3hxqT9XOX4AhuetONvs7KWWxHW5gb2e8xxZkpxo4LuGndGWiSwjZ49OvO_iM_BsjLgSmx8-IttTVCERe5yiyWRwRumI-cLXs74NhhwUhxMBtfuaPzkLr3wdTZaDW2ueJHJwmPnD4vN_pkRzPewBDqDbTnB7AcGBmXPlq8bRBY7qSooeZdEdfw8fTcL0CenbevzTiWljmQ4BZEPOGYS1aAUs2NY2Ib0YrjM6lvPzp1FnLfDfuVQGpvsMVt-w3Ai-U0rV3A-TAbBpMh08g_lj61JxMmtP-yIo6S_ot_Ngy8FwPFNs_okIQDe9ZGqq8wnMXMKXgcjLk-i0ph-vS-rEVxYcyzlP2lC0NhRJjBnHVRccoIBmqU8fUHCbkzVe8aISFt_DK9gKdQZknlWHuO_9HkvLfXojydl8f4eC-PYT96KdfITy2sybM59OzTmQK7RHHvCgqzLb9wloqtNQZLP_ztMsicl5PUisH1c4c8_2GcjJSL1U5e-aAwcJcXd5mgNobCdRcG7skHmSXkBHkzZUWPeyW-lps3fIjajFdZDTJT0T7gp04u6ZJh1cqgzidLJAjuEc0RnO_CfeJzGED-R1DP7pJCLjGAR7U8CfNXGQaM-EWGFZkff9Xg94RoYf8FKbNVgve41HLcdKY-kAnz4seAMaxcILkhwkiCVNrkChHvjQWXnUlNLgwHNCSlUy66kgi2rSk3-8RSKzAOWMABlasT7QX5JU77U6uiXViWhT0WXz8OdKj4er5T---KMQ6AfF0bKY71kaBve5h-YJ6IP6SDKZe_23cucVc6wMugqha1vPT3iEOdEmXan5uUXLYEEIkb9q-ns8WGC-rRGl5z3MaPL4-mLIbdakK1OLOOjTTc7uHOeUvjirS2PdiHDAU3SOBdV_dVaqwCmCbZC",
  "id": "rs_0a0de13f65f1b02b016ab432d11d6c87d0a76f4d3f84ecd626",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.30,\"left_z\":0.17,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The left arm barely rose when commanded, so it may be wedged against the bottle rather than free to reposition. I’m withdrawing it up and backward to clear contact, and raising the idle right arm back to its parked height.\"}",
  "call_id": "call_IXyKZmmRMLzawNwFjOamzFzV",
  "id": "fc_0a0de13f65f1b02b016ab432d26a4c87d0872d322eafa9ab1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IXyKZmmRMLzawNwFjOamzFzV",
  "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]: [-0.9295, 2.0758, 1.4487, -0.0986, -0.8288, -0.7906, 0.9962, -0.1879, 0.8238, 0.5819, -0.4019, -0.318, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4202 left_y=-0.3391 left_z=0.1223 left_yaw=0.1402 left_pitch=0.0889 left_roll=-0.1744 left_gripper=0.9962 right_x=0.2893 right_y=0.0049 right_z=0.1627 right_yaw=0.1811 right_pitch=-0.0357 right_roll=0.0039 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -18.0034, 10.4821, 1.7167, -0.5836, 0.0122, -0.0024, 0.4171, -0.9915, 9.7162, 1.79, -0.0806, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898639d5f00d44a113a00892f45c701a2bde14574ff26f7d0d219074a8db2cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c844f88b8273719003087e67273f96fc87ea53189396e206e1009e940173c557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a4bbed9c812a59b962d43b6fbfd1b8d0a45f9e8b2fbabada960994d3bcfd7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 6.811 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8833, 2.1418, 1.2621, 0.0868, -0.7898, -0.6827, 0.9945, -0.1978, 0.8104, 0.5411, -0.3748, -0.3191, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.418 left_y=-0.3058 left_z=0.0452 left_yaw=0.098 left_pitch=0.0368 left_roll=-0.0358 left_gripper=0.9945 right_x=0.2866 right_y=0.0027 right_z=0.1533 right_yaw=0.1723 right_pitch=-0.0358 right_roll=0.0044 right_gripper=0.9981\nstate[joint_eff]: [-1.0872, -11.7538, 4.4786, 1.0085, -0.1294, 0.1294, -0.1783, -0.6632, -2.0444, 6.8581, 1.9463, -0.2369, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8429, 2.2147, 1.3231, 0.194, -0.794, -0.6811, 0.9961, -0.1986, 0.778, 0.4713, -0.3382, -0.3195, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.3078 left_z=0.0458 left_yaw=0.1457 left_pitch=0.092 left_roll=-0.1125 left_gripper=0.9961 right_x=0.2801 right_y=0.0039 right_z=0.1377 right_yaw=0.1719 right_pitch=-0.0365 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.9795, 5.2171, 0.862, 0.0562, 0.2271, 0.0122, -0.6769, -1.8393, 6.9265, 1.9805, -0.2906, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9295, 2.0758, 1.4487, -0.0986, -0.8288, -0.7906, 0.9962, -0.1879, 0.8238, 0.5819, -0.4019, -0.318, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4202 left_y=-0.3391 left_z=0.1223 left_yaw=0.1402 left_pitch=0.0889 left_roll=-0.1744 left_gripper=0.9962 right_x=0.2893 right_y=0.0049 right_z=0.1627 right_yaw=0.1811 right_pitch=-0.0357 right_roll=0.0039 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -18.0034, 10.4821, 1.7167, -0.5836, 0.0122, -0.0024, 0.4171, -0.9915, 9.7162, 1.79, -0.0806, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898639d5f00d44a113a00892f45c701a2bde14574ff26f7d0d219074a8db2cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c844f88b8273719003087e67273f96fc87ea53189396e206e1009e940173c557",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a4bbed9c812a59b962d43b6fbfd1b8d0a45f9e8b2fbabada960994d3bcfd7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLXeOvOEY5KO5D0xa2Be5vvFvrerKu9hrLkaniX0LmiAIK7SNDU51kY0koH2Q_C1dSfcGnV427tzXl-WRAQcnCGdsc3sfvzV_NpdEw4HaE-QTsgRhs0r960NuIjbLnBGNYeEHtuh9Z8_qx_wEb-T8JW8jVuP9gHAzQ7zQHVGShPVw7aWI1GlREnpAc4VO23WKZuJquEWE13bkEjRJYqPGzfdWmxK6oXDa1TuoRBUE6rnzaLihJcPRBq2MSreTXcxlxLMF7zQC5bmhC2k2JSrLzFkrsj_cOoVL7hZvmgfeCNDBxrGo7gHrimYTVuhuzjD48uOOBk_di-X0ftNG3N454pESXDO-Syc_ME7tsyQMlSbMQRMsREPILi95c-vPs2bE0m0OJaiJqyqFRiLFaY6Ceq7puhYsePR8aatGxvo_1_KLQwdFo1t0YKYfdg2An0aw-M55N6PTnHTv75bNqMyH5cz0GQ8jfYHUgwXk_VxMM6DT9p2ydpOgfbrbRElaP7zrgJBVMlrJ8ZPRgYRTFa751HdkS9MFHDiRRc1v4xod3pGANx5IO2zftTZ3DUPCA-_e4jYthCv4axYcNRX4RKXyM9mh-ggaTXGAODS9vg0X7mwSAzsBks5B7FX8yhHmwZn-HoS_wZZNUqSqy9v2Of9s-2fnI0aEyIpzkNJszDXJ_eKNOuYcqnE-jG2dXNMb9Cyz89cvpT-YOfnrEjeA42Rax4JvhlDBNZvN04z6F32QGXUloWv3b0BKq8c0cP6VWSsEtoreR83rtRJmGi0sfADCPQemAE77R3QGAJUIwGuwnWbYRNsgvhF3YwIwKTlEVplgzFKa_2CxX5UXEy8n8OqDkry46wPHEOLV9bZrBhtkCsfwec9b1MWamBraX-Oe1oEFIl9bQ_6q9ygq1Mm9Zc7zsTs6fBiRUYadTxQqIrG1wSq64C5pnFLzFYhxkFfCB-5rZbA_y3yHx4vUSUb0adFVnQwoNuifIjlcEBLZ-QUosB4Pn4PaRdq4GXumCsa4w48oKyRXkwWB8y5c0wzwtiw8aV1lWRJDWSt_CpzIb-_yYbpPQI-KzAZGdh1V1Ukw41viQThP69Rcg73NJ0U3fjH8gE9fHvqgtYD2WhfJMhjb3w5gA0QHKV3NkzBiAVrmwgM-DT_RY1-_my1h_A4cpLodm2Z1h2Afc1VMCVz9x_bDZjDrTYqL-JojS4JFkl6cuwlufixfkVes_6U1ftqIJQfj1o1VSeNcJmJqPh75ID05Evxl87eoMojIWKMoyh6PbYroed_FoDEcwj0AVmbAlATmUW0NGjaRxHwG0WvtYzm8F9CclsIKLd4zTuCd99J9A4RjrTaOosy3ZE-smvuoQQ6teAdevt7hWjHmicX-lip4gzkcR3a0tYM-yqezoLstY3p6NeHhtyF5LUATlK0pabWLr2dUja5f86WNUQczpV_1pdLYIUy53BUWvMIQg2VW7ioRQRQCRLoy8JYdc6yYMWJqmg5chzeTD8d--Cf8P8wYKlWb4vfqVnCD0EtYc20XDEY62UtN4RDiqmcKblpGXRPwYaqcI73keb9jj4dFs_Uu-9epS4QSaqhs7n6zaymxTpHhBZZbsATyDX_A2m5GQ2Lio2Zooxulz_Px9ExgaxuQdV324UDsP6gX6b8KH-KkldgIbgsjlVhFsJ2QJRXuma7MG71P9_yPVYfNuGkSZIThlltnxyL3t5Dpb24PJdcV97iBFi-JVcbUZmhcwq6GTBUa19T6aUEm_0W-zbz41ouslOSIbk8w1fpexJSkK_LkXO_oJVHua-4qJh5KyGCWjiLNDGWAW7tcF65xA_e-rOLIp3Q5GPLFChR7wn8K8x4SV2CDytPsBvavbjf0mPweQ8Ce8yLkFAdn89UcU_VK4xwvTW8_gCPNI-PIcS8eQNVsZhyOqSQOKQa5HrIY1bzB_TP1Zw5ePAjMK31tbDIeLsHcqk4dnyix9Fs-U-qjDwCmaHBLF503ou_y_0TNBuDz2dIc8IrGTyOI_24fVp7JwxRgJCLciccCyDXAgeJeVu3VjxKiss9eKC235GvbbNvfqlvyfUmo7ERx_idwwUlVeDa0Lnu6YiqyJ40Npg0LzYL2WpNuWp-NBqykgz4N_ZVEnFq4dnHw==",
  "id": "rs_0a0de13f65f1b02b016ab432d4fb3887d08004225bea202cc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.18,\"left_z\":0.2},\"note\":\"The left shoulder effort rose sharply while the arm remained below its requested height, so I don’t want to keep driving against the bottle. I’m withdrawing farther into clear space to release the contact safely.\"}",
  "call_id": "call_4DRSki08gMSN93dlbQl6w44z",
  "id": "fc_0a0de13f65f1b02b016ab432d6bdcc87d0b89c65855d9f101a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4DRSki08gMSN93dlbQl6w44z",
  "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]: [-0.8688, 1.4246, 1.0641, -0.503, -0.7967, -0.7395, 0.9962, -0.1909, 0.8047, 0.5449, -0.3775, -0.3191, -0.2413, 0.9981]\nstate[eef_state]: left_x=0.3302 left_y=-0.1893 left_z=0.1959 left_yaw=0.1462 left_pitch=0.0021 left_roll=-0.0224 left_gripper=0.9962 right_x=0.2865 right_y=0.0047 right_z=0.156 right_yaw=0.1793 right_pitch=-0.0294 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -6.8581, 6.4752, 1.3358, -0.3785, 0.1441, -0.0122, -0.6085, -1.7983, 7.2, 1.8437, -0.2027, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9801337b88065d668f706ca0f78916495b21dc87457b62bff92955c9cc25cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf8e1f84af25eb50c39f9ff4c74eba27daef209a5ea8a2067d51c8acc27b8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5357a5aa13324f293997553640fa8ea7e5a25a15befbf67aebfad4a2d2037a44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.923 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.2017, 1.3178, 0.1459, -0.7914, -0.683, 0.9959, -0.1978, 0.7959, 0.5076, -0.358, -0.3191, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4374 left_y=-0.3116 left_z=0.0433 left_yaw=0.123 left_pitch=0.0681 left_roll=-0.0814 left_gripper=0.9959 right_x=0.2834 right_y=0.0034 right_z=0.1454 right_yaw=0.1721 right_pitch=-0.038 right_roll=0.0055 right_gripper=0.9981\nstate[joint_eff]: [0.9368, -7.3504, 5.5726, 0.6032, 0.0024, 0.2711, 0.1441, -0.7316, -2.0991, 7.1453, 1.9072, -0.2857, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9295, 2.0758, 1.4487, -0.0986, -0.8288, -0.7906, 0.9962, -0.1879, 0.8238, 0.5819, -0.4019, -0.318, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4202 left_y=-0.3391 left_z=0.1223 left_yaw=0.1402 left_pitch=0.0889 left_roll=-0.1744 left_gripper=0.9962 right_x=0.2893 right_y=0.0049 right_z=0.1627 right_yaw=0.1811 right_pitch=-0.0357 right_roll=0.0039 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -18.0034, 10.4821, 1.7167, -0.5836, 0.0122, -0.0024, 0.4171, -0.9915, 9.7162, 1.79, -0.0806, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.4246, 1.0641, -0.503, -0.7967, -0.7395, 0.9962, -0.1909, 0.8047, 0.5449, -0.3775, -0.3191, -0.2413, 0.9981]\nstate[eef_state]: left_x=0.3302 left_y=-0.1893 left_z=0.1959 left_yaw=0.1462 left_pitch=0.0021 left_roll=-0.0224 left_gripper=0.9962 right_x=0.2865 right_y=0.0047 right_z=0.156 right_yaw=0.1793 right_pitch=-0.0294 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -6.8581, 6.4752, 1.3358, -0.3785, 0.1441, -0.0122, -0.6085, -1.7983, 7.2, 1.8437, -0.2027, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9801337b88065d668f706ca0f78916495b21dc87457b62bff92955c9cc25cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf8e1f84af25eb50c39f9ff4c74eba27daef209a5ea8a2067d51c8acc27b8f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5357a5aa13324f293997553640fa8ea7e5a25a15befbf67aebfad4a2d2037a44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab432d9fae087d0a7d70da2f06770f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.364,\"right_y\":0.173,\"right_z\":0.092},\"note\":\"The left arm has cleared the obstruction, and all bottles remain horizontal. I’ll park it and try the nearer, thicker base half of the right bottle with the right arm, where the gripper has more room to descend.\"}",
  "call_id": "call_DvRqE61fg4HFUMnnRZ8kIrOe",
  "id": "fc_0a0de13f65f1b02b016ab432decf7487d0931a3d33d6f4f9b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DvRqE61fg4HFUMnnRZ8kIrOe",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1993, 0.8333, 0.6209, -0.392, -0.3386, -0.2527, 0.9962, 0.5602, 1.4731, 0.5865, 0.2024, 0.2695, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2961 left_y=0.0037 left_z=0.18 left_yaw=0.2068 left_pitch=-0.0034 left_roll=-0.0091 left_gripper=0.9962 right_x=0.3467 right_y=0.1662 right_z=0.0711 right_yaw=0.2211 right_pitch=-0.0838 right_roll=-0.0334 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -1.7983, 6.5573, 1.7656, -0.0171, 0.1734, -0.0122, 0.1846, -5.5726, 8.6359, 1.9121, 0.3248, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d922ed3a5e1d990f6ff3cb2f0003c30a2b4c84e7b3a9e9f4c1d474b6b84ab89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373fb4ef4cce376b4c4caf0b82f02331f72648d9ecdcaf22a3e37e4bcae25fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da5d52ed8261a1b31f7928c6c33e4e6835a91b378c41f59d540feef3e5610d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.274 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8429, 2.2147, 1.3231, 0.194, -0.794, -0.6811, 0.9961, -0.1986, 0.778, 0.4713, -0.3382, -0.3195, -0.2409, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.3078 left_z=0.0458 left_yaw=0.1457 left_pitch=0.092 left_roll=-0.1125 left_gripper=0.9961 right_x=0.2801 right_y=0.0039 right_z=0.1377 right_yaw=0.1719 right_pitch=-0.0365 right_roll=0.0049 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.9795, 5.2171, 0.862, 0.0562, 0.2271, 0.0122, -0.6769, -1.8393, 6.9265, 1.9805, -0.2906, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.4246, 1.0641, -0.503, -0.7967, -0.7395, 0.9962, -0.1909, 0.8047, 0.5449, -0.3775, -0.3191, -0.2413, 0.9981]\nstate[eef_state]: left_x=0.3302 left_y=-0.1893 left_z=0.1959 left_yaw=0.1462 left_pitch=0.0021 left_roll=-0.0224 left_gripper=0.9962 right_x=0.2865 right_y=0.0047 right_z=0.156 right_yaw=0.1793 right_pitch=-0.0294 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -6.8581, 6.4752, 1.3358, -0.3785, 0.1441, -0.0122, -0.6085, -1.7983, 7.2, 1.8437, -0.2027, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1993, 0.8333, 0.6209, -0.392, -0.3386, -0.2527, 0.9962, 0.5602, 1.4731, 0.5865, 0.2024, 0.2695, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2961 left_y=0.0037 left_z=0.18 left_yaw=0.2068 left_pitch=-0.0034 left_roll=-0.0091 left_gripper=0.9962 right_x=0.3467 right_y=0.1662 right_z=0.0711 right_yaw=0.2211 right_pitch=-0.0838 right_roll=-0.0334 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -1.7983, 6.5573, 1.7656, -0.0171, 0.1734, -0.0122, 0.1846, -5.5726, 8.6359, 1.9121, 0.3248, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d922ed3a5e1d990f6ff3cb2f0003c30a2b4c84e7b3a9e9f4c1d474b6b84ab89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373fb4ef4cce376b4c4caf0b82f02331f72648d9ecdcaf22a3e37e4bcae25fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da5d52ed8261a1b31f7928c6c33e4e6835a91b378c41f59d540feef3e5610d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLkzFRzkc2g4x2uK9eNueq9Lm1WoU9fdJmGKXFTGOD3MgKV39tnZobEEpPbiUb7jwezfsZLrWNatu0PpKhYhm7aeNCZe6vX7bmXQROswqWtOjC6y5PKvuwu-BaQehDHn8DkPCz-pNrt-O-BvOS0jg5_V3qz09ciWCQJqVolf6O8bXPuAN1gxU6g-eaevKIFKQB9Vs937bXTex_ivotAooNqnMIX2r8YZhhPzBRiBR4NctpHXwe2buwjKc8CizXPBHD9QLiTzHFheE7GDHS5QDCgeJId2jQoHYpm6Ol2d7-iODrRC61c7CTzWhMd108_LmvDcEC3xFwEWbK1-HhmuVGrh7rGYjULEbCgxctyW4fN0lg0RzTJlw0oTdrxzH4c1Ryg1G9I6fWsfyzHwnu2gVLk93KmFTz96DNv5AWyAGYY7B5Ghlzlud2sbMJ16VKR1AbHBg-wscc-4rNCI5f-Io0_4cDU7EhjQEdWCGXz92_ava_jrXTz2MBJPxmUCm0qkG-RyHAvCmHpreKnGD-qh9PtYCZJdEQCb45AldEpbgDPofMN3b-fZP0vaUBkm9xNUWGMN6eHHfjfpp15qMewwSI-MBOtGRkOA6l5Ujhf3srsfzJ4o8-LUVAsW5OFbnQ4k0NGPcKmh2gwuMISOasV3NlJYrKu9D9M5XQc9VhwNjXFvkGy3GgjXvTEbNsFROhrQ_n2kO9OugdNfZ0_Z1UvIZIIiUsJ53p2halBI8C6XgV4lvgZ5qXQuF2YXhUT0nldaUdYtTejqQnw0qEwQpDM_XKfPbypHQcVEZ6XPKaf9v_NEdZti7ygPqdC-ipEkSfTNNtVeuIQ1Zzz2mff7_b2luY1WuaRIl_nJrVFdG7A_kjaOWYgbLICff7AwMh87VVvUSSOUAH8OyNT1OnqGrjB-tsqgxRhlURAUlmvyNBYDAki2HPrtL-6THHT2Rd9BGZ9gn3oWDcEpP4QHsiGsIJNHHH6FGn5OC2sY1lSsxTxufseHVbeNZbsB4xI1oBNph-nvlIByy8pnlo08x0Jj_SNx12aixdRN5AifaOr-VY5q8ybMmeMmbMSiyRGhBhs-3ZwNtsj7D-70F47tROnPqe2CXeFOYmskXMoYbfCjJWSnKbv24PiDZz-4Hhey6Pawh8WYJLCEKJTH3sk0kFg1wfQPbw0u39L0gswbsD66lIXwQCFy5wZwT_68xh2hNBt65mP2tSJtLM4MhM5XAp0-gKnh4mrc82XlbzcS0RD3m6aHyhTpgazJ48y6gYI9xyEh5AgfdzOzmZA_eaUk66z48T5ZZDmMgXDgSlUFxKXPZoAR3XQMFRz8XkQHa2bYIQuPD5G4c61PRsST5MeyO2gCj5gFRW-7M3YcWX1_Z5DvVGF64DI4dMvLkH8Ryiks6OxGQtPveF55ston2dgkOH_wIFparogmvZqLiFz0XTjCuGNsmffEkyyodQduHdFgTqhnidXzTJ8WN__XLZ-GSAz84TqmRLS5_FPnemYq0_iXvw6Wcy32olE30k0yPzWcwnRnDVyj75lJ_eczzbGp5imVaYmkx4MsC44K-uAy6bY5QQ1FISlG2rI2IpP5c1ebOyF2Mk3aL7nIVFxRKMHXdMTBEfBWk0SbgH9HgZ0RAR32_I6e3BBsFQ=",
  "id": "rs_0a0de13f65f1b02b016ab432e28bc487d08489b3088e43979f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.382,\"right_y\":0.173,\"right_z\":0.014},\"note\":\"The right bottle’s entire body is visible in the wrist camera with a small gap below its base, indicating the fingertips are still just behind it. I’ll advance a few centimeters and descend beside its near half to prepare a secure side grip.\"}",
  "call_id": "call_zTy1QyXXmR8ww6mvUIVrIeXA",
  "id": "fc_0a0de13f65f1b02b016ab432e34c6087d088c34faccc3ea042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zTy1QyXXmR8ww6mvUIVrIeXA",
  "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]: [-0.2035, 0.8364, 0.6159, -0.3943, -0.3309, -0.2398, 0.9962, 0.5163, 1.8046, 0.5373, 0.5785, 0.2386, 0.1452, 0.998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1763 left_yaw=0.1895 left_pitch=-0.0146 left_roll=0.0018 left_gripper=0.9962 right_x=0.3653 right_y=0.1635 right_z=-0.0005 right_yaw=0.2097 right_pitch=-0.0944 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.7026, 7.2, 1.6532, -0.3053, -0.1245, -0.0073, -0.4581, -6.3111, 5.3812, 1.4286, 0.0464, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6349a1b90c12d634dd90a01f89f6427f2c58d94d3f5e0e8acb656e93e2609c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc0de213ac8ac7c7e1142149f4ee210ef70ef2436c8bd199218bd4a8391792e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4d163b31d0119a9290f2d30f6a2cb82978bb38cd2737862bdbc16980308bfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.62 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9295, 2.0758, 1.4487, -0.0986, -0.8288, -0.7906, 0.9962, -0.1879, 0.8238, 0.5819, -0.4019, -0.318, -0.2405, 0.9981]\nstate[eef_state]: left_x=0.4202 left_y=-0.3391 left_z=0.1223 left_yaw=0.1402 left_pitch=0.0889 left_roll=-0.1744 left_gripper=0.9962 right_x=0.2893 right_y=0.0049 right_z=0.1627 right_yaw=0.1811 right_pitch=-0.0357 right_roll=0.0039 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -18.0034, 10.4821, 1.7167, -0.5836, 0.0122, -0.0024, 0.4171, -0.9915, 9.7162, 1.79, -0.0806, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1993, 0.8333, 0.6209, -0.392, -0.3386, -0.2527, 0.9962, 0.5602, 1.4731, 0.5865, 0.2024, 0.2695, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2961 left_y=0.0037 left_z=0.18 left_yaw=0.2068 left_pitch=-0.0034 left_roll=-0.0091 left_gripper=0.9962 right_x=0.3467 right_y=0.1662 right_z=0.0711 right_yaw=0.2211 right_pitch=-0.0838 right_roll=-0.0334 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -1.7983, 6.5573, 1.7656, -0.0171, 0.1734, -0.0122, 0.1846, -5.5726, 8.6359, 1.9121, 0.3248, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 0.8364, 0.6159, -0.3943, -0.3309, -0.2398, 0.9962, 0.5163, 1.8046, 0.5373, 0.5785, 0.2386, 0.1452, 0.998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1763 left_yaw=0.1895 left_pitch=-0.0146 left_roll=0.0018 left_gripper=0.9962 right_x=0.3653 right_y=0.1635 right_z=-0.0005 right_yaw=0.2097 right_pitch=-0.0944 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.7026, 7.2, 1.6532, -0.3053, -0.1245, -0.0073, -0.4581, -6.3111, 5.3812, 1.4286, 0.0464, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6349a1b90c12d634dd90a01f89f6427f2c58d94d3f5e0e8acb656e93e2609c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc0de213ac8ac7c7e1142149f4ee210ef70ef2436c8bd199218bd4a8391792e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4d163b31d0119a9290f2d30f6a2cb82978bb38cd2737862bdbc16980308bfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLm2GrfwVqFwvHW60mOXbfs3X0mRLQcyIZsK02l8CU_DecE62efDfhSR8YbVymTvSSTfgeL7IAfJ1KH6o8ZWFlJg2AxrtyTmDIPrc275J3go2Z7v5zFKZVmPm7nPqSarpk_k5MXHCmzQQ0YKwzJJqLW5kJFrnFBJZfiNWeoubzwXM4eh-NNXd3dJmow4-KHu02k3ahYInK3blkoCaE0GyzTntjViUhLk8fZUw_9LgM3sQiyYNcqPxZYgIUDVAXieGNna8rhFE4iL7KIGCBV5hadMDAG66ayABgGvriJQC3c9_R1rebO4LuHBnzpOVjqeZ3jFU0fUvYeD-P3d66lL1eBL9_91FHfD8WyV65l_bFrKH7EoUD47SCjzpaTO23lhoRUq_BwWFSUOMcTfNwwjK0N61omOkZHJHIq2d6tKKAxBi4GNxUUXNFcng9S-MGvg8mQvskbJqYmthti4ToURYaMp9w-49T6cyjXhkmTjBmPDRQo8qMbJ0xo4DD9ic9yrxVB6xDHmjtjPZphd7JQAYbu7Agn3RGXbn8gopRMBBB2z0OoPt-7Og4Nk5U7Np3wkL7FgeZjgt8js-KNFXmBqZSpsbL7SZKKX6ZtrdmMtGzAIwyMSXlr-d7YdWXVP_YYpcyzFcQF_338w_eFzfRPM6lpMevqTd-ZkmiRV-EYx_9BMcqCo7GCDbeq0zJCRhAUcm4RyCJ2iPq7V4N4NUEY_pKEyHVCbng8jelhdEa7HK-GziCtiEfuGZkpFCjxf-gbCZ9MgskLruBBL1HhT5qOdH6nT2E1f5YyDRhYG9nmmv8Zg8d6Jgdy5FRKJWuvl-FN02agxunPa9s8QKSU4t2okXWnN8BRTacYDu3cFjcHDi2U4kn8FxUx6h3xJKEmvlE2nES2YyrzhPnl8W8qBL68I7dfmffEOTYt9mkfIk3QaGHoDvoGjHG_0U56Z876xCNhfmixgiHP3S-gbqAnzVyScVs8_0MVmh8QJZZB88QL1ysFtkvFt9bJyV88s26dUG4hFiXWmNNKOuYHcZI5X7DA_7PqZeqAP9OhP83axOwiJwUJNNr-qnQs3_C3kjRIzANUyPQ07N8FtDxQq5ZyAO5XcD9zkfl7UDVIM4gKFqwOw5qERr068f6kuxzR-n80IhTpUNtBQADjjfCqGgZWa0m3NSkC80HRsMW3nH5Yxv0lwItyAU_9hblvdveQUW-RVjqJGhni5rId6HYCS4NIqgd_7dxhE44djXSKV1U8AqYC81Pwo56-ORQfiLPBIp8YF5Um48gyp1SunB0fgilYeb2AcujY2AYXYYCaokFTykyi8WhjZ0ZtBPJG0n7F8bPqiuadDzaP42ZdmsbB-sJ3iLxstoCEyXK_U4--FEZ2-O51un2R-qdEu4ElBomrf0fpHb-Z1GkDBS7OtBFJ8i3stC6DRWQzR6rAKZl74CJmHKDBz8FOK_5Y3fXKsiY56UWlh60W_aG7KXhyx7xRWsknZ5SNzGEZg0Bd-I51PWQIPltYayqmgJg=",
  "id": "rs_0a0de13f65f1b02b016ab432e5ad4887d08a5a5f55f4c9c5b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle now fills the wrist view and its broad near half is directly between the open jaws at table height. I’m closing the gripper here and will verify that the opening stays wider than an empty close.\"}",
  "call_id": "call_aqfTsLuDKiWojzCWk0hiqO7F",
  "id": "fc_0a0de13f65f1b02b016ab432e6356487d0abbcd6a23b6da914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aqfTsLuDKiWojzCWk0hiqO7F",
  "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]: [-0.2031, 0.8352, 0.6041, -0.392, -0.337, -0.2394, 0.9962, 0.5175, 1.8507, 0.469, 0.7845, 0.2317, 0.1379, 0.4995]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.172 left_yaw=0.1947 left_pitch=-0.021 left_roll=0.0086 left_gripper=0.9962 right_x=0.3643 right_y=0.1648 right_z=0.0004 right_yaw=0.2218 right_pitch=-0.0081 right_roll=-0.0013 right_gripper=0.4995\nstate[joint_eff]: [-0.253, -2.0444, 6.7761, 1.8095, -0.1441, -0.0513, -0.0073, -0.1299, -5.9966, 3.8085, 1.9365, 0.1441, 0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d3323aef43f563aff17e24ab3b38db90e276f5a1cfad7b7d014bfd9e34daf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a39166a3667ca55b1e1e06a91e8135bc7593b233cb6009880140b869ddd2c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a18e9545356e9c1a786825e5967451d7622bf37e3ed358b385893a53f86e71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.622 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.4246, 1.0641, -0.503, -0.7967, -0.7395, 0.9962, -0.1909, 0.8047, 0.5449, -0.3775, -0.3191, -0.2413, 0.9981]\nstate[eef_state]: left_x=0.3302 left_y=-0.1893 left_z=0.1959 left_yaw=0.1462 left_pitch=0.0021 left_roll=-0.0224 left_gripper=0.9962 right_x=0.2865 right_y=0.0047 right_z=0.156 right_yaw=0.1793 right_pitch=-0.0294 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -6.8581, 6.4752, 1.3358, -0.3785, 0.1441, -0.0122, -0.6085, -1.7983, 7.2, 1.8437, -0.2027, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 0.8364, 0.6159, -0.3943, -0.3309, -0.2398, 0.9962, 0.5163, 1.8046, 0.5373, 0.5785, 0.2386, 0.1452, 0.998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1763 left_yaw=0.1895 left_pitch=-0.0146 left_roll=0.0018 left_gripper=0.9962 right_x=0.3653 right_y=0.1635 right_z=-0.0005 right_yaw=0.2097 right_pitch=-0.0944 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.7026, 7.2, 1.6532, -0.3053, -0.1245, -0.0073, -0.4581, -6.3111, 5.3812, 1.4286, 0.0464, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8352, 0.6041, -0.392, -0.337, -0.2394, 0.9962, 0.5175, 1.8507, 0.469, 0.7845, 0.2317, 0.1379, 0.4995]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.172 left_yaw=0.1947 left_pitch=-0.021 left_roll=0.0086 left_gripper=0.9962 right_x=0.3643 right_y=0.1648 right_z=0.0004 right_yaw=0.2218 right_pitch=-0.0081 right_roll=-0.0013 right_gripper=0.4995\nstate[joint_eff]: [-0.253, -2.0444, 6.7761, 1.8095, -0.1441, -0.0513, -0.0073, -0.1299, -5.9966, 3.8085, 1.9365, 0.1441, 0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d3323aef43f563aff17e24ab3b38db90e276f5a1cfad7b7d014bfd9e34daf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a39166a3667ca55b1e1e06a91e8135bc7593b233cb6009880140b869ddd2c3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a18e9545356e9c1a786825e5967451d7622bf37e3ed358b385893a53f86e71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDLr_cmt0iFgICOtDY3TiN6Y049jlpxUeBJ3zy5fPy_2PpqYGNTKFyuAemE4jPvN1MHz8KoxSYA7WcPbRKgXUH4nkNeaKLY5-Yp-to_B3rGTUZSWUBT4jsePcApcY9tukQYIagGkyciVqsHIJTJMyi3d2s8Fpn_ZKgbCqpaK2tI_EuUDKBJBu7-r1onjrBdGRIxHftcMfy0olf_o_ztlP1pb9SoooA6-8aQdF8DkzsYrVMwK0REOLqqirk3LX47h3r-IOTzwEc3ohmqEMkKUlxUL-gHfdu5LEgQbc1zXC9h_W8dQkIafFZsQQuJSJVs6xRI4OIgw6BFMkKhOyprWDny7VZqzd-cXnVH3f1UmkLFz8-Ctq4gkKfKEiiXXjo8hvDPLBVAug6HVZX4W5Egblj3n8O46EYQ4w_w51KV_HKHaGZIgCuAhYXHvSP0kSH4OxDSgxK-F8HGX4VLjb8A3vDMHIMJ3ZG9EjNsz-O5qJ2brEx_R5moXXBoCZwCf3S5L_rUjxS6AB9JfmrTYVd3QLri0nntYCGdlNQq6OcVj61tQOYNQwmEz8a454S9-8K9iaXE__tV99CM0tKN9AE8-6Qe4SHHrLn5wPYwyTrov4SOWvkL_wOmZdgPCSp3tou1MwpPDcCAFx9-x5x6Llx7FmY6WBcfjD2txU2Us1-WlvMCTOhyOjhsBJgblwhsSkpQkybVLH6wPrXpSOCYZpMgSiPBe9YlXFwwW1-HObpvoLmrIGSXJxpnZdaKJ5zUAlkAC6faaIBwxdQUDN6BA-OmkfgDKWaXAI_KdWr6ZyNkHr9DaTKL8jIWHG6kS0ztzwGMyspZYDW2OwOLZ9x-M0fyC5dePeMIX8fiDtf7ZyBXEITdvMa5oNZIMiKl_4p1vRHKnvCx5FSJJmvDCX3MISqN6RYxp5bZ4Esm4O2GorOyXGnCiWqE0BzNVIxK2Mm-xV7Wbt9NxWzEA2vpmvoTFxi06uajo6B_GlGF7chSMp6FQ1eKJ59DRpo4GJa3pFi7fy9oFT9do1woB0uTeqpc6b79mL2EtnPNtjASNDMDYhop6PpMC7VrDJYBB6KXXl03HBV1JvRs3ExX0v3tiJ9RBnHO3rCbrtzzLtn-5hfWIt10srn5Z6WsXA2rltd16ATph8BVRvZIn0m6IFJCnw0-UfWGWWi4P0kYM9f4RbgUjJCZisGUQn8ItwYIPwAzudnwxT76VL4DezLYJVZkugrUYVGBT_po8z1Vz94RZlGXRcCdsJPAaaRAmnl2XjVHqkV9dmf_G7jTMgP2aEgCIcq825Ik6Lfsp8SPACN_NJIzNSSgtBfqROuKYnd7dTyxxmC3WymMOhIaMSxESqgo7ACM1SJlmx2jT2iOsRcQ9Lo_Y0DbYxniH3PE=",
  "id": "rs_0a0de13f65f1b02b016ab432e9da9487d09b7a447e581289a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The right gripper stopped at about 4.7 cm open, consistent with holding the bottle’s broad body. I’ll lift just a few centimeters and verify in the overhead image that the bottle actually moves with the jaws.\"}",
  "call_id": "call_GlazaHTuV6D1j39MxUQuPHXt",
  "id": "fc_0a0de13f65f1b02b016ab432ea22ec87d08b8f5916ef025fbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GlazaHTuV6D1j39MxUQuPHXt",
  "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]: [-0.2031, 0.828, 0.5838, -0.3729, -0.337, -0.239, 0.9963, 0.5167, 1.6077, 0.4942, 0.3813, 0.2226, 0.1341, 0.5023]\nstate[eef_state]: left_x=0.2935 left_y=0.0028 left_z=0.1686 left_yaw=0.1945 left_pitch=-0.0153 left_roll=0.0065 left_gripper=0.9963 right_x=0.341 right_y=0.153 right_z=0.0206 right_yaw=0.2279 right_pitch=-0.1391 right_roll=-0.0379 right_gripper=0.5023\nstate[joint_eff]: [-0.1573, -1.9761, 6.8581, 1.7753, -0.1538, -0.0611, -0.0073, -0.1026, -9.3333, 9.265, 3.0403, 0.1832, 0.0024, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cc91fbf8941fdfe525cc70940bc9820853ecd6382eed32aecc79a88e8cdc3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686c2aa243d2c1d24298635ec67745b3fbc2c0ed4f4f13e6a639d951ff4d71fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a101e7d7506e045a76e1e9e65e575e0917e3dc0fe9f4979775f10b4e33029ab3",
      "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 32 attempt 0 · /responses · status 200 · 9.064 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1993, 0.8333, 0.6209, -0.392, -0.3386, -0.2527, 0.9962, 0.5602, 1.4731, 0.5865, 0.2024, 0.2695, 0.1581, 0.9981]\nstate[eef_state]: left_x=0.2961 left_y=0.0037 left_z=0.18 left_yaw=0.2068 left_pitch=-0.0034 left_roll=-0.0091 left_gripper=0.9962 right_x=0.3467 right_y=0.1662 right_z=0.0711 right_yaw=0.2211 right_pitch=-0.0838 right_roll=-0.0334 right_gripper=0.9981\nstate[joint_eff]: [0.2393, -1.7983, 6.5573, 1.7656, -0.0171, 0.1734, -0.0122, 0.1846, -5.5726, 8.6359, 1.9121, 0.3248, 0.2271, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8352, 0.6041, -0.392, -0.337, -0.2394, 0.9962, 0.5175, 1.8507, 0.469, 0.7845, 0.2317, 0.1379, 0.4995]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.172 left_yaw=0.1947 left_pitch=-0.021 left_roll=0.0086 left_gripper=0.9962 right_x=0.3643 right_y=0.1648 right_z=0.0004 right_yaw=0.2218 right_pitch=-0.0081 right_roll=-0.0013 right_gripper=0.4995\nstate[joint_eff]: [-0.253, -2.0444, 6.7761, 1.8095, -0.1441, -0.0513, -0.0073, -0.1299, -5.9966, 3.8085, 1.9365, 0.1441, 0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.5838, -0.3729, -0.337, -0.239, 0.9963, 0.5167, 1.6077, 0.4942, 0.3813, 0.2226, 0.1341, 0.5023]\nstate[eef_state]: left_x=0.2935 left_y=0.0028 left_z=0.1686 left_yaw=0.1945 left_pitch=-0.0153 left_roll=0.0065 left_gripper=0.9963 right_x=0.341 right_y=0.153 right_z=0.0206 right_yaw=0.2279 right_pitch=-0.1391 right_roll=-0.0379 right_gripper=0.5023\nstate[joint_eff]: [-0.1573, -1.9761, 6.8581, 1.7753, -0.1538, -0.0611, -0.0073, -0.1026, -9.3333, 9.265, 3.0403, 0.1832, 0.0024, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cc91fbf8941fdfe525cc70940bc9820853ecd6382eed32aecc79a88e8cdc3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686c2aa243d2c1d24298635ec67745b3fbc2c0ed4f4f13e6a639d951ff4d71fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a101e7d7506e045a76e1e9e65e575e0917e3dc0fe9f4979775f10b4e33029ab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDLvKsw3viCyf_STOCPk-GkDK2ETPszzyVhVizpiUoxUTspDDnI792dNcYyqNcNRqImlMRqIy6t8RwZdQqxU0sOalNkcYTO7UELBHPfLTACmwNryi14HV_dsFGeQz7BDTX_09d8O2ITNMge7MhHaDufT5x8NhAbU_mbkevCw_O3V1U_RfROOWEsqSZjYxIBR7u8e2K-VEa-d57p0MhpjM-JBdztK0oazbeN6mj9iUmB26_ocYdOK-RziXLRqjHc7sDCvb2L8pkl87RAzuVZfV5rwwAaWsocl0Mpk_cW7pNoRqcaEG3xhTVDYY7j6vyvDwbub86AbvIQfmqNoI0qx2_GxsWd_wbtNm7oJ4ZhVI9khzqmd2SzNFDQj8tgscE8aYQgQ0ESfiioO1U8LGNfr82uBmYwc29a9Mqldvdz1Y7PvnzVQC6Q2MPkkiEIPPn0DUpt7Lfg1dq_KRBGaGwdk-I9qDDTCPUfY9Gn6j-_oguyca6jRwRUmgYDFySAen78S-7SzUEbm7Q5ogis28OLJL3j1y71tOdj6iFcNZzzuVN74aykARZzgVU-AWjpB0si-7z5_X5I0oQ1BfCmZwN74_O26sd5_KHxI_fpWiALGSzUvIvXz7XBlrRZQPRaxrxMQgEMSLXmTZhgPghp7U4gmqAaKeV2JP_5MLZe8TN0xyvNXBUpdfVZbx0C828AsmFS38hY5kf1-u1A8I3ZXut7SOptgfCaJBUkb9RdAR1E4DqzQV6BxCELn-TM-pgvZqAyZ5HF-aWAW5OSykW79LE-fi6WYTL-_4L7ypPSi1j4hx0d0CrqAQ_3yjYcJDjG4hIJ1Mx7sQ5LCFEHIBnclo6WCW1PK92XWqwYHKPr3KHaZdVHpEfefsEJiey0HcYYuC1XJtR3ksvQSCWEFmbJGsiIAtpTh7_ZA6emy0VPD_hw0xdGIeqinQDHRlMkJ1hLIVWa5_bEMHch1Z6CsNIlFAkU6IS7tJh1d5jDxPsIfaX5yJehCdjT8-LgfIge2pvWsZ6HjjjkzNkIIlS2vo18eN6Us71M28PXHhvNgT3kpiLyxeVzjIbIKfQu-bnCHkM61cF0LO__e8LLnRW8lWS4Yi1Bq82sEoMRYg7__TxJrzvnb48_Qqz-M4PsPmE1wosdbm86TI2n-uhDJAfZl8qoIhUudUJpyxPY0kLIZUEXgCGm0DvvilLanEyhSiKW1x2aUKwEJmHe1q2FluNIZwi3ofAGJdBBbz6lcn40lmfGdZe3Y0j7OiAsNb47FZViYKvP7nCWKj4jrP4BC4M8ueGSjgDiggMYcqHhSk1g0yTq6shlqYG2JOMIEMrwRPa3kyilSx3mxP5RO8vs-YcWM00J_h1-OCSQqKotpE-gpkBE8R3TlPgzt9xSN2ceCnNkANWxe-K1UyksIbZUh3cSDBpUBxtyr8SJrX-h1gGPeg6LgaFGJXfdd-_UMSsw3CLiYft7wwhq-UYYTFEKvbJODGnOb9QJhFlwuoMkbf_KlMX1oLkiJeNfeDT78FxndnvCsoRWEL9Q8vh1BFkPYkUdilIsi0KVQy9iV7nvtq2PpKgVDXsL7Fr1oMz5htTDqcWtr_DRGdd8kmhzP759YyPiM7PAeTkff89vaADoMi4xPNcfDb42qGvwIhorumjTpE5SSFl5gLPM11rhkkhtzJERc8EtfHeEjdM1PXHVs4YsWgnjk1o2T8s7bJ0Q6cgvQlb6q-WkD6F1p5DtZ00CnqHTvfgHbspw37bmtuoohkf8FGbQy5DuB4_ag6jo9IhnPBXSyK8MI9pqzz7IJXOWgCHvpyRd7iVd_qYa2fZSWY8y47OufISa5KiDSwlGpigNwyzvQY-8L4iuaZgd4JLF0IbOqhJxJkt5xTwRuy1qGOm6AjGwi6JKQHpFAT1HX0Q8OBLOtBMcLXnVYvB-_hOkI4Y8U9F_c0Bruiz_hhbJBMjaSZgumMJ9bCDGzXwpmTZ-P91BecqQcIK5L6_BcQIqlw80BmeGEpdMFGnKCUhgdh3uPmkYTDMrp3KQrQ8620K1Vd6zsq582OypR_NEkH55kr5J8F8OI2uNn6iY8imONCMmx5X45VYAbXTc0UXQ=",
  "id": "rs_0a0de13f65f1b02b016ab432ed022887d08aa8e7be1126be26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_y\":0.161,\"right_z\":0.16},\"note\":\"The right bottle shifted toward the arm when the gripper lifted, and the jaws remain wrapped around its body, but the arm rose only about two centimeters. I’ll try a higher lift while keeping the grip closed to see whether its base can leave the table.\"}",
  "call_id": "call_m7mW3orpkwo2c4T5zOjB9zGM",
  "id": "fc_0a0de13f65f1b02b016ab432ee970087d090eb5919c2ef466c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m7mW3orpkwo2c4T5zOjB9zGM",
  "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]: [-0.2031, 0.828, 0.58, -0.3698, -0.337, -0.239, 0.9963, 0.5175, 1.3277, 0.6662, -0.1349, 0.2054, 0.1291, 0.5052]\nstate[eef_state]: left_x=0.2934 left_y=0.0029 left_z=0.1675 left_yaw=0.1945 left_pitch=-0.016 left_roll=0.0068 left_gripper=0.9963 right_x=0.326 right_y=0.1482 right_z=0.0915 right_yaw=0.2427 right_pitch=-0.204 right_roll=-0.0481 right_gripper=0.5052\nstate[joint_eff]: [-0.0479, -2.2085, 5.9966, 1.9023, -0.1392, -0.022, -0.0171, 0.4034, -9.1009, 11.7128, 2.9328, 0.3541, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114ee4cc3894c927be73ba46b8aa96c6b4d4f32f1aa4613fdfc18d207b6c25ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e544fae775cd4d5fd81a3bec347a3f2f0879e6f3ce0e1b89794d5f480812f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0bc7f29888d87e4b0330e82a66079b2eba22a8f08c9e3591cc6838cd38010a",
      "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 33 attempt 0 · /responses · status 200 · 6.829 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 0.8364, 0.6159, -0.3943, -0.3309, -0.2398, 0.9962, 0.5163, 1.8046, 0.5373, 0.5785, 0.2386, 0.1452, 0.998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1763 left_yaw=0.1895 left_pitch=-0.0146 left_roll=0.0018 left_gripper=0.9962 right_x=0.3653 right_y=0.1635 right_z=-0.0005 right_yaw=0.2097 right_pitch=-0.0944 right_roll=-0.0265 right_gripper=0.998\nstate[joint_eff]: [-0.2256, -1.7026, 7.2, 1.6532, -0.3053, -0.1245, -0.0073, -0.4581, -6.3111, 5.3812, 1.4286, 0.0464, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.5838, -0.3729, -0.337, -0.239, 0.9963, 0.5167, 1.6077, 0.4942, 0.3813, 0.2226, 0.1341, 0.5023]\nstate[eef_state]: left_x=0.2935 left_y=0.0028 left_z=0.1686 left_yaw=0.1945 left_pitch=-0.0153 left_roll=0.0065 left_gripper=0.9963 right_x=0.341 right_y=0.153 right_z=0.0206 right_yaw=0.2279 right_pitch=-0.1391 right_roll=-0.0379 right_gripper=0.5023\nstate[joint_eff]: [-0.1573, -1.9761, 6.8581, 1.7753, -0.1538, -0.0611, -0.0073, -0.1026, -9.3333, 9.265, 3.0403, 0.1832, 0.0024, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.58, -0.3698, -0.337, -0.239, 0.9963, 0.5175, 1.3277, 0.6662, -0.1349, 0.2054, 0.1291, 0.5052]\nstate[eef_state]: left_x=0.2934 left_y=0.0029 left_z=0.1675 left_yaw=0.1945 left_pitch=-0.016 left_roll=0.0068 left_gripper=0.9963 right_x=0.326 right_y=0.1482 right_z=0.0915 right_yaw=0.2427 right_pitch=-0.204 right_roll=-0.0481 right_gripper=0.5052\nstate[joint_eff]: [-0.0479, -2.2085, 5.9966, 1.9023, -0.1392, -0.022, -0.0171, 0.4034, -9.1009, 11.7128, 2.9328, 0.3541, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114ee4cc3894c927be73ba46b8aa96c6b4d4f32f1aa4613fdfc18d207b6c25ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e544fae775cd4d5fd81a3bec347a3f2f0879e6f3ce0e1b89794d5f480812f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
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  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDL5DTg0MLLUmiow9_hqfVLBODVqunBCB5509kfmBhimPipm3oEJuwO3NUmCpQR7BbHsFvhc6UGEnwzNCO49aC21qYBqLh_zVz2LzDShL2rnZrduSQJw3aMXguG90fua9rh4H5mbSpc69Wt34Gl1XOTVj1F6XTntBZ-XorM5nx_ZG1D7X82L-yLvbX5ToWPR4TSV-ekdZ8FPiyPIiZp2aAR7ZGnZXiA_0g6EnhtfkwIXWUkqAA5NOEDtVugo2vwQj_-A48fX7Vz4yxAMiVnLEW1hbdylFVv8VtHjRIJFR9J66SHPfXRvu1XJ5tw3EXUnSEvXUTdfhxdoIVLpKuOe7DSzp7pxTyy5M-fCzCjMdcm9aASZyf_TmOZ7rZMVzYWywuKGDubRYu1uVzp34g1D52zkDUjCjvUUFsAa0FURDByOTCMUa2U0IcKr9wqekLSPMdqLWbAgq0HpLIip7wNeNZ-a7jl6HssQGOm6h2U0n-GYyDbMLbDm9pvTXflHQicPWMwO26CfHuZpz7Hjc3hdYnEvL6oEhuhMev0ISxbhmMgRo-hoKeEee1gVKbzzc1DZS8i9GTehhW-mJxqrva4Oav2sGJ3Wj3Tl-5HMH6vYfP0bbhM2VBedfJRaU3KiWsMqnsvxOd53OCjdJ0sBofJ5LI6EAJB9iLb5ZxDLNr-Eeo5lT_cnu-VOlhhYP3zwOUygDRvOK3zk1ReCnRsLUs_S5c1hKwGa4FPmu89aJ04OYd-NalYtxASdEIRA6Wdn8aYHZIsndghwxVrOJ0_pPC8r82nUbAufc_-rb_bfEGU3trUDoqxxF745HhJN_YuYEaxtEIiXkkXvTzwAyCvq7CpoAeBrgYUDxYW0a1Cuq3R7_yalO9SxihHiIPv4t-UoAR23F1NVPnyELNeu7j2Wzib1WODbZDWcQDc_uAboG0NO0XcWZQHOAyaU3evLv-DzW02aXEjBZv1AM75nyWX5h6UejoUs5M5NvBzRnUXh3i6D6fJoVcr2XpUZ8zvw1I-kUgVR-GWUGdu4V-bHPp2Cv9ecP1FwNaq59y7SrVf9Jt3G2-NapyH5CfZzuCXb1GMPdIvuR5yO3J9H1vGaOOzoN0MD1mj1WsTKFipssY54HdrZAnVZazGXBSReOje_uysRBePEd4BL220hFeP2mp8iG7HNq0c6i6Ci-Qny_2vBUpBdcPpNqf1mYjOFDmII1FO_xpDmeU5Ay0s_l47WJyky19zLeKtgHYYIKKt3KbqjQjC3Nfsy6Vkf1RExYfWMfe0vZqcCbJUS1FfG65XpzzRrZdCeZKKXCQqIzFsWzREd7QB_s-YYT8r0JhUAWGprJ6jXRcKDTE_Sq5lSEEjXlhra1KKo2Qk-U4lHKBsq3OMDLHEMRwwsookt8KmHXq78JjAtv_GUcojyP9l0GFc-0tMCr0Hqb9aZf7KAQWo7aW1_Vnpo3eMHQcMraOYZhdba68oVopUXyOi196td0Os-PnmpWiyVEDEQpDF1vYsNeZcqGZDkgV9Nr_DTNuoym_AAZS84UaI7sxrN5Zl2Ypas-OVdXfYX984n0omaZ-valXvbKlLSTnv9mP-LoCv7y8hP6bNqO3qZPwLaPvTdInl6cqya3rBNQIrr-c9FyzuTN5aiRrkH9HrtTfht5f7pAUN-A_v5yC5rElIzTmUUitvQRd6uhTZDrJu2X_1j5tBkDBRmIA_Q3z3I8mRjo4zGb6eTBxR0p5K2R2vpXDE4uXrbxF0KmfrAFFSzCHNlbKUPofyk1MTDD4eVUisFgbFhFfFlcE0ERS7dYTqgb9ppcIrK2rP5zygzRiW-5YDeVkRbOR6MA0ckZcmlI3gGvzwYjGSApvmLXtszPwiYRK361NRWS13vqmbMC633NlMFdDqdu-wjvJ7KhuOME0VIj6s9kQFMGoBZLYtv9w8nsLFelct7Hb0n_Z98ri6xrd8EhAL57xpDEn2YsUviXHCZoWRuTrvQoIMSMOMaoJdt6V2PpIq6eUCqfnqudd9x6MV-3y5XMEUtVdltP7OrWMZBrdFm_XgbTYfLY63csXjmm-ZaK11VE5heGfh_w-luflSBjtZyNcA2CD57ZhPQVuXd0BOGOPMZ-OtCeNeY8hAweTDehf2SHtN3or-XsZk4NjLuujjLWWmV6F3sP0K1DSbhBSUiPdxJcyCF6OpR2GltGWuprbsJuPn2z7Wi9r8IZywfI89toyhfkKU6OYAlNn17Ll_ehRqroRutH6kdi84zzbH9xKC-3U1dztNJSjTri3kcsuE7aPGQf3VdhWcXS4w44B7-qzhFLwj25xCig9FRjtYjnVxMW3rf9_CdI4OYwQ56GHFNn6P84t0msuAKVoBriXkhCjl0iPybtd2HAG-m_sn2lgJFarMpp6jjxhVa12hBO__qf4vUcOlFSGXitYM_8YXPncO_Ik_45ASVdZGvvYVAwe-f7QPPKfUc4me-6w_3wOUD3wO4O3JBj8BcaPlhPruSoNs352mDegeez7_EBHfT6Obt6VZe4YyYhR6i_9lGfbubQPI_c3yDQZQNSkRI404Avw09v49LouUe5s1caDYhYTMG_UK9pLo0rV4inhH5RnePBSggfUxPiRTUL-L9pXxB2zo9neem0cOBerkm7cq2bRezHh_LU9xa78nYlxFs6LD5M-LaC_aw_HjGE0xALczOZnMobP3M6mMgWami6TptLFVPnoXH3eIAAOIZZ0lt7tG-VgjbcR5EmORhZzTjHMa8O_ECKES1Z2H7SONS4FuDSCPn3ez4jYGf1qIHlMg9FBF8UsJeOgJDtKIqNwh97un0luyRCnyDQPeSaOCREXy_jhYa1JMOgc0NZc7H9GojA3Ork_cRf0GEMfj_SSouw36T1NfI9hXzM7G1VEZ4Pl0oNB3q-qWQ8gjmZ1TkFyXQZl98iz6_LCIIknZsdVbc4oWdhD0C338tS3ACE0prftC6Gy0V-hZj-lqMOZ-HaMTXtBib1KyJvO2g4zTpkR_JTatoWi9YNhNjzn5Zou3RJ1PFTv63P0MGZVZZt75AHJuOoygxyI4IeDYITSVaVeon3UDj3kwmhLe-c2wtxdVMwKia6gjM_JnilEDcefPpfVfb4xfZeHQWYtH_qB-uuKAJyYFJAGJY8JxTglzQk5S9l0u7g5vO2UIgy61aVuZniT99jQVGvacEL5HBsqgEfSHGSIicM0NhiIZ3O5sq6x5qDquWCv7hJM9V-6nmknG3vY9hf4ZL6QOjHu-4fa4cqFUajnwSbIdtQNxqJ3ZcoR-tm69cKXFiSEgtIRWyy2w55UoYqyMAHtiRDaiWcmQ6IXvgf63erDR9cQxp0AX_9My2O1Qu5lcm9S6WL3ea07lz9lj-3xama_anFMAWeTViFgUWMjP4i5PoixJn3IZkAWRN20iUcod5DUq31ID0CZ0mXhCtrO3ep6yIhCTaQZndU8JMGGFkTrH_8uFySeHI80C_gCV_kKvAyg0YhSWXhnCbcZgSEZeL4MDX00S4dqMRdeWX9FHYkKBExKKfMTaDdx4tpUrKVOTFUdQA1mrbU8s1UhNRwvQLn8OWifhQptIhui4Pzxu4JkXyE6xk6NNRT_KqXNTglBchfRjDF9Hbhs2RqX3F55W7qEn4Hwl95elAlvC8Ij02kbVMvzmSG7VBcLizaBg3kt4c9lYNTWvi69RqXDx4oDoHdHEmP0z6CmLvEI7iCUZSsaQQAvToul4-2BAzAhNh8H4bc-2aFwxBZJZUGaIireSiOb_OCv0pRArok4dlbG7AMUxqd0lRcxr0dm0fx8Uj6JT5meG5aP2_Agpe-nCyAt0EyK673XVDY_3Ml3-I2AGB_nb3d_UROnsJvZnycPbSqUrkWAGeR9giJh6WixmK224ddHPFBWiEewH1DO92WvBcZgJrrq-gsktqayE-OjyGf_-F4495lkBnyH_fe_xIfU-z25o3QRgiimKI8jfBseP1YgVZoH4NjQZV2QJG44iZ_m4vdImgkFgJ5SSHJIscMoFvgYY2CCxmskXgHoO-P1mIvNfjSUuK4CTSYHS01UXKmbK4vjlr2y3_spB3kd1M48SQes0qa7WUGX1BLF1AffIfYNdn1exWVp-5nsPf",
  "id": "rs_0a0de13f65f1b02b016ab432f2634087d0aa40c677ad8fdadd",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab432f66ec487d0a53d50c6cc1908bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.165,\"right_z\":0.27},\"note\":\"The gripper still holds the right bottle at about five centimeters jaw width, but its capped end remains close to the tabletop. I’ll lift farther to determine whether the entire bottle is free or only pivoting against the table.\"}",
  "call_id": "call_V885em3gtFfM8m0decIteY0X",
  "id": "fc_0a0de13f65f1b02b016ab432f8ab9c87d09ea9870523be2724",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V885em3gtFfM8m0decIteY0X",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5701, -0.363, -0.337, -0.2394, 0.9963, 0.5358, 1.2552, 1.0702, -0.614, 0.202, 0.1226, 0.5044]\nstate[eef_state]: left_x=0.2928 left_y=0.003 left_z=0.1654 left_yaw=0.1947 left_pitch=-0.0153 left_roll=0.0062 left_gripper=0.9963 right_x=0.3254 right_y=0.1562 right_z=0.2028 right_yaw=0.2673 right_pitch=-0.2073 right_roll=-0.0512 right_gripper=0.5044\nstate[joint_eff]: [-0.0615, -2.0308, 6.5983, 1.8242, -0.1538, -0.0464, -0.0171, -0.335, -5.5726, 12.7248, 3.0305, 0.3101, 0.1099, 0.4908]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65959e6a9094cb06b4d608ae899be88d8f0f8c3e1b89003dcf7e7fe842e3290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4257a2ed87f0379524fdc61d7ac3a9425e09fd3f1b53f882729cf507060edd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b141af1ecf2fe6ed78f334a57af4a43e9acb75d16f420cfb1261bbbdf0bf47d",
      "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 · 9.162 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8352, 0.6041, -0.392, -0.337, -0.2394, 0.9962, 0.5175, 1.8507, 0.469, 0.7845, 0.2317, 0.1379, 0.4995]\nstate[eef_state]: left_x=0.2941 left_y=0.0027 left_z=0.172 left_yaw=0.1947 left_pitch=-0.021 left_roll=0.0086 left_gripper=0.9962 right_x=0.3643 right_y=0.1648 right_z=0.0004 right_yaw=0.2218 right_pitch=-0.0081 right_roll=-0.0013 right_gripper=0.4995\nstate[joint_eff]: [-0.253, -2.0444, 6.7761, 1.8095, -0.1441, -0.0513, -0.0073, -0.1299, -5.9966, 3.8085, 1.9365, 0.1441, 0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.58, -0.3698, -0.337, -0.239, 0.9963, 0.5175, 1.3277, 0.6662, -0.1349, 0.2054, 0.1291, 0.5052]\nstate[eef_state]: left_x=0.2934 left_y=0.0029 left_z=0.1675 left_yaw=0.1945 left_pitch=-0.016 left_roll=0.0068 left_gripper=0.9963 right_x=0.326 right_y=0.1482 right_z=0.0915 right_yaw=0.2427 right_pitch=-0.204 right_roll=-0.0481 right_gripper=0.5052\nstate[joint_eff]: [-0.0479, -2.2085, 5.9966, 1.9023, -0.1392, -0.022, -0.0171, 0.4034, -9.1009, 11.7128, 2.9328, 0.3541, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5701, -0.363, -0.337, -0.2394, 0.9963, 0.5358, 1.2552, 1.0702, -0.614, 0.202, 0.1226, 0.5044]\nstate[eef_state]: left_x=0.2928 left_y=0.003 left_z=0.1654 left_yaw=0.1947 left_pitch=-0.0153 left_roll=0.0062 left_gripper=0.9963 right_x=0.3254 right_y=0.1562 right_z=0.2028 right_yaw=0.2673 right_pitch=-0.2073 right_roll=-0.0512 right_gripper=0.5044\nstate[joint_eff]: [-0.0615, -2.0308, 6.5983, 1.8242, -0.1538, -0.0464, -0.0171, -0.335, -5.5726, 12.7248, 3.0305, 0.3101, 0.1099, 0.4908]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65959e6a9094cb06b4d608ae899be88d8f0f8c3e1b89003dcf7e7fe842e3290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4257a2ed87f0379524fdc61d7ac3a9425e09fd3f1b53f882729cf507060edd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b141af1ecf2fe6ed78f334a57af4a43e9acb75d16f420cfb1261bbbdf0bf47d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab432fbe4b487d0a7a23d8de34bb9a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.166,\"right_z\":0.29,\"right_yaw\":-1.0},\"note\":\"The right bottle’s image moved upward as the gripper rose, so it appears to be suspended rather than left behind. I’ll rotate the held bottle toward the open right side of the table, keeping it high and clear of the other two bottles.\"}",
  "call_id": "call_PikUVGQo1pNtqmY0lXaEfOP9",
  "id": "fc_0a0de13f65f1b02b016ab43300176487d08b3d9eb5794b7e32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PikUVGQo1pNtqmY0lXaEfOP9",
  "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]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7441, 1.9488, 1.8515, -1.4532, 0.8402, 1.4425, 0.5057]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3594 right_y=0.1569 right_z=0.2056 right_yaw=-0.7805 right_pitch=-0.1597 right_roll=-0.0674 right_gripper=0.5057\nstate[joint_eff]: [-0.212, -2.0308, 6.4615, 1.7167, -0.188, -0.0122, -0.0171, -2.0581, -11.0838, 7.5009, 0.779, 1.956, 0.3541, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62cda23e8d671b98f3199cf44d80efb89c57a33e81290c183128c07eaadaf0de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcbafed0e3269a6c9ac9052bf6b48f525ebaa0882044b97279dcdc2dc136d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75661b6135f374c8c550b6bc2937d29f6d0ef2cfb163552956fc0460eb05d303",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.154 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.5838, -0.3729, -0.337, -0.239, 0.9963, 0.5167, 1.6077, 0.4942, 0.3813, 0.2226, 0.1341, 0.5023]\nstate[eef_state]: left_x=0.2935 left_y=0.0028 left_z=0.1686 left_yaw=0.1945 left_pitch=-0.0153 left_roll=0.0065 left_gripper=0.9963 right_x=0.341 right_y=0.153 right_z=0.0206 right_yaw=0.2279 right_pitch=-0.1391 right_roll=-0.0379 right_gripper=0.5023\nstate[joint_eff]: [-0.1573, -1.9761, 6.8581, 1.7753, -0.1538, -0.0611, -0.0073, -0.1026, -9.3333, 9.265, 3.0403, 0.1832, 0.0024, 0.7595]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5701, -0.363, -0.337, -0.2394, 0.9963, 0.5358, 1.2552, 1.0702, -0.614, 0.202, 0.1226, 0.5044]\nstate[eef_state]: left_x=0.2928 left_y=0.003 left_z=0.1654 left_yaw=0.1947 left_pitch=-0.0153 left_roll=0.0062 left_gripper=0.9963 right_x=0.3254 right_y=0.1562 right_z=0.2028 right_yaw=0.2673 right_pitch=-0.2073 right_roll=-0.0512 right_gripper=0.5044\nstate[joint_eff]: [-0.0615, -2.0308, 6.5983, 1.8242, -0.1538, -0.0464, -0.0171, -0.335, -5.5726, 12.7248, 3.0305, 0.3101, 0.1099, 0.4908]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7441, 1.9488, 1.8515, -1.4532, 0.8402, 1.4425, 0.5057]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3594 right_y=0.1569 right_z=0.2056 right_yaw=-0.7805 right_pitch=-0.1597 right_roll=-0.0674 right_gripper=0.5057\nstate[joint_eff]: [-0.212, -2.0308, 6.4615, 1.7167, -0.188, -0.0122, -0.0171, -2.0581, -11.0838, 7.5009, 0.779, 1.956, 0.3541, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62cda23e8d671b98f3199cf44d80efb89c57a33e81290c183128c07eaadaf0de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efcbafed0e3269a6c9ac9052bf6b48f525ebaa0882044b97279dcdc2dc136d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75661b6135f374c8c550b6bc2937d29f6d0ef2cfb163552956fc0460eb05d303",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab43303736087d0b141160d6c30def3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDMLAGtJSNLG_s_VC6GXdsGXYr2MlANqJM7Oq0JeeqjQJX5s6G17465eh7lRVwlVztZKgBMgu2xX8byBoTAFae0FRkurzIEDD5pHIG-aHCSF_NuvxwN6NnnYlwdZirHlVC59mxVHp4hmY5H0Y0yuTB8mbEKDPMvyNbfl2x_uqjyNsR9I5_rvIEEzqwaw0gzvScRtqhwu991q_9DJfluxKWYWixowwKXTQ_Ze2kiNyJaH_zI0TZB34fHlvVN5wEc09XESajDHeSaCv908evhCX9xj2KALzXy9EihKKOjmyGuXC5JzFDJnxWm8EMRKa4F7PS0scwFdLqwn-msLAyVs2aD6nkKhPnxlUa1OhkTA-QVDZOjsAQtKPHUSQgvnliu8DSCVbx7bwyrDctVAjC7T_8Ll_2093cZzjgt0lhN-DT7c0KeJF9WzJdMSGYMVEaLCrjFIiV0VWgqjbsY4cvAoAhmE92ycBTRpdpcJcbC-a6Z43klZSJQqUm0dHSGt1Fl94_SrLzVgx7_p1MgI7nL52m294qz8kgCZDkIYoh8Myu5hDGxMtYt6fRWVrYqO8Da1mS8a-Wvr5VpBxN38dQZyaS3dJZRyFCzIk8ociFfezm_9X67nPSbalfwr7tDjaF_jeK7Oj3xP0tHckhOHYNsw1ECBBKMdisszSzxS0Fd-V97AKz6PGNOM8_sKZUuQJh5dDg3YekPfXIgtblNz4zfYf-Mib7ZahhBtExmYMK-Pljym2PTqaX0n8MgiBj0XwFXWgjafnlU6TXtDvN9pNip-3i2WIFk5BihaEzf5ZGwzsQB6M13J8mlY1UGezzgWRIzXwXrVxUinL-X_02ExVuZSEK9-4vJQv0CtCG1WPtfb6_NpZnD3umhc_v-w3JW66JC-vLosqx2GNqecAULw6IwgcOQJXMnpkD7D0TGvmBleU3g272PQwR8svQzieRIutsYaOzDczeA_EuUX2NufwNBwh8s2ewwPUkAs5fotpLkFJKd1uNdKGd6VcmB2frVDWJESArDOo-QyfJ18fkJIbQmIRfwo2XsjHdTB-Q11sbv8kb2fCy7A5xaVrbB9OWcycKK4LEfmSfe254JhtEzr_JpY6fqpIqZX-7I-FTT7JhYu3z-TP460FNVapUtP9n29L2ZS5R9G4-E9tNyz_Ne3tKyU7aGIbiba1911Lo15k_yPB6FSr8FqCwA0ixbIuc2qRTD7_OFTB1PxRxMkfvmN95HH27NlG0rVjkc56r-WNUxseRnFb1zpFzX85dvJQpT-TDAKkWiuxsHq7WTLT6bYbbQ6Yl9NIDo6dqYRCBA5FzPKP9csHKdf5DXx7CHF4OloB908idMuY6aD3AZOO1YW10ze50sQdaJlBpX-gkyhPMMm8xG5KZTY0rQVoXtddpmrdLnXHe2gYiHGBxe0dD513DG80293CR9wdrHeBs1T1iFhGmIrP9SuVFYzmVJKRDz5P57spq7cCDOoYdmiv61AHSXVd64kpVyBtMawDk2sQ65D4zHEcc5ujMMl4NnThvId5BuKkNjcEWPX6X9uu91YgZacYSw--kerscT1lrKjXI0KqRZj9-Vww5kosTwTLDBiX93S3SuhiNy3rHSgO30Nhhv27dB9tIeFu-nacSFuKaQV2zK1Zk5cOJwfEEN34YEqs9g--uhQb5QF8cSXUrXloXMbHtzr90a-X5O1yyeyan4RI1ks8ZebF6qlTNWBBXWnv_7PMr3nOWXLJum-EBuIPD_2xtAntzcoePQ-EeLflysCdovojjI6RzilS0L3JccnuW3-DwTB5zB2ARZT2z1qFO-5gasI-aoc_pyzvoaLofQzvwO3ULEIqPI-1Asdr2uNrv9Q8NpmvfXBr_62Dj7jZP0R_dNxruLDo1Ghb5OR5cG0WGebYZ_cBP-cXOATdK27qaZHje1pg7KwbvsgbgSlr9t31X9scfkISX7mjl9oKzHA00TFUb1bOSKHMQDP3i0_TzNSzA-d2sRNYME1SSEV-lB2UrTmX6KprxwLqzWSBjiLAmrU7WwsK5ZkE2Y1xj6G7zguVPx7mBEIpsDqyLZpBcoGqG6s6CpJ266oMQsTciq0Xz0h7bidCRhXhOcyzDHm6Be2sULnkbQkSlB65MxfDNcShgwkf8I2bySdEpABqriYR1PI2NwbK0AO18lIXe2yESXBVG3Z9VGy6TcBcbdK1GHlgnkJ0tP3K-E7Vji7-IJDq3eKD7QU0F7jRxAMO0NhA6sercoyzUsmTG45bxCBNgqBCVe7jqkw7MBXxT2VgVKTjqCkI6_W-EiDu6Ydq0JXfB8ynaUSkSCyf_b3l_bEm7aXNY704BIcqBzjq9RhSf1dhiiP9TSmeGRGM2QZhq8AtzetgDXVslfc7ImFVAJfsN7TwtlNTU_Xq68_B2DDfCjKRZTzeqXC0X8d6cDu8k5FfzpgStjMskmldc8O5TsJuq6oIDtxiefyQSRns-dTqv-IFHDREF9mWMm35W_0I9D2-filzEISs6kXX-uVJYtdms518ybj1sKX4HehYbdeLVl_FWNGgQk=",
  "id": "rs_0a0de13f65f1b02b016ab43307833887d0b0d71b232fd6ee21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":-2.35,\"right_x\":0.36,\"right_y\":0.16,\"right_z\":0.27},\"note\":\"The right bottle rotated with the gripper, confirming a secure hold, but it remains horizontal. I’ll continue turning it so its capped end faces the arm; that will let me set it down reversed and then lift the cap while the base stays on the table.\"}",
  "call_id": "call_hxVMYZw3MEcMuwiiqSkp0mAc",
  "id": "fc_0a0de13f65f1b02b016ab4330a51a887d0bf2717b75687f7b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hxVMYZw3MEcMuwiiqSkp0mAc",
  "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]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7158, 1.985, 1.8744, -1.5524, 0.8707, 1.6295, 0.5066]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3573 right_y=0.1365 right_z=0.2034 right_yaw=-0.9259 right_pitch=-0.1253 right_roll=-0.0379 right_gripper=0.5066\nstate[joint_eff]: [-0.0615, -1.6889, 6.6256, 1.7558, -0.1832, -0.0269, -0.0073, -0.5402, -10.0581, 8.9915, -0.0366, 1.6581, 0.0708, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28965a746d1f5a9b3abf2d7dce1e74549112b353ebc52179af9f1b98c39b336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba26d186ef8461ed4769cec21940115f7b3357291b701202425f53f3a8823efd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4138a5385ccd98cdaf0e4cdf59c962214095530569678daca50c3ee0b15eb50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.797 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 144 changed as sent

message 149 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.828, 0.58, -0.3698, -0.337, -0.239, 0.9963, 0.5175, 1.3277, 0.6662, -0.1349, 0.2054, 0.1291, 0.5052]\nstate[eef_state]: left_x=0.2934 left_y=0.0029 left_z=0.1675 left_yaw=0.1945 left_pitch=-0.016 left_roll=0.0068 left_gripper=0.9963 right_x=0.326 right_y=0.1482 right_z=0.0915 right_yaw=0.2427 right_pitch=-0.204 right_roll=-0.0481 right_gripper=0.5052\nstate[joint_eff]: [-0.0479, -2.2085, 5.9966, 1.9023, -0.1392, -0.022, -0.0171, 0.4034, -9.1009, 11.7128, 2.9328, 0.3541, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7441, 1.9488, 1.8515, -1.4532, 0.8402, 1.4425, 0.5057]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3594 right_y=0.1569 right_z=0.2056 right_yaw=-0.7805 right_pitch=-0.1597 right_roll=-0.0674 right_gripper=0.5057\nstate[joint_eff]: [-0.212, -2.0308, 6.4615, 1.7167, -0.188, -0.0122, -0.0171, -2.0581, -11.0838, 7.5009, 0.779, 1.956, 0.3541, 0.8034]\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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7158, 1.985, 1.8744, -1.5524, 0.8707, 1.6295, 0.5066]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3573 right_y=0.1365 right_z=0.2034 right_yaw=-0.9259 right_pitch=-0.1253 right_roll=-0.0379 right_gripper=0.5066\nstate[joint_eff]: [-0.0615, -1.6889, 6.6256, 1.7558, -0.1832, -0.0269, -0.0073, -0.5402, -10.0581, 8.9915, -0.0366, 1.6581, 0.0708, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28965a746d1f5a9b3abf2d7dce1e74549112b353ebc52179af9f1b98c39b336",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba26d186ef8461ed4769cec21940115f7b3357291b701202425f53f3a8823efd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4138a5385ccd98cdaf0e4cdf59c962214095530569678daca50c3ee0b15eb50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab4330d836887d0bdf0e567bac8ef46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.137,\"right_z\":0.063},\"note\":\"The wrist could not complete the requested turn; the bottle is still held mostly sideways. I’ll lower it carefully onto the clear right side of the table rather than risk dropping it from height.\"}",
  "call_id": "call_qsiHlbiQTKsJ0OQDxqwLq8DM",
  "id": "fc_0a0de13f65f1b02b016ab4331183cc87d0b2b2a70a8184c661",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qsiHlbiQTKsJ0OQDxqwLq8DM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.7448, 2.0949, 1.3975, -1.0492, 0.8658, 1.7111, 0.51]\nstate[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3431 right_y=0.1382 right_z=0.0477 right_yaw=-0.9524 right_pitch=-0.1211 right_roll=-0.059 right_gripper=0.51\nstate[joint_eff]: [-0.0068, -1.8803, 6.6667, 1.6972, -0.1636, -0.0611, -0.0122, 0.0752, -9.8667, 5.8735, -0.0757, 1.7216, -0.022, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679ee241fd1a96fb723b0470de4c5d00ba23a800f03cc070730c8d01d8d0af73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaa5cc46cb7b9d5ee48e2a06a01759488894b2a79aeb75de3446c3e5499a26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88e5b7181b8913d84eabb958ba540bd21ce15d92bd1b8d8d8bce60b13811a97",
      "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 · 3.682 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5701, -0.363, -0.337, -0.2394, 0.9963, 0.5358, 1.2552, 1.0702, -0.614, 0.202, 0.1226, 0.5044]\nstate[eef_state]: left_x=0.2928 left_y=0.003 left_z=0.1654 left_yaw=0.1947 left_pitch=-0.0153 left_roll=0.0062 left_gripper=0.9963 right_x=0.3254 right_y=0.1562 right_z=0.2028 right_yaw=0.2673 right_pitch=-0.2073 right_roll=-0.0512 right_gripper=0.5044\nstate[joint_eff]: [-0.0615, -2.0308, 6.5983, 1.8242, -0.1538, -0.0464, -0.0171, -0.335, -5.5726, 12.7248, 3.0305, 0.3101, 0.1099, 0.4908]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7158, 1.985, 1.8744, -1.5524, 0.8707, 1.6295, 0.5066]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3573 right_y=0.1365 right_z=0.2034 right_yaw=-0.9259 right_pitch=-0.1253 right_roll=-0.0379 right_gripper=0.5066\nstate[joint_eff]: [-0.0615, -1.6889, 6.6256, 1.7558, -0.1832, -0.0269, -0.0073, -0.5402, -10.0581, 8.9915, -0.0366, 1.6581, 0.0708, 0.8083]\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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.7448, 2.0949, 1.3975, -1.0492, 0.8658, 1.7111, 0.51]\nstate[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3431 right_y=0.1382 right_z=0.0477 right_yaw=-0.9524 right_pitch=-0.1211 right_roll=-0.059 right_gripper=0.51\nstate[joint_eff]: [-0.0068, -1.8803, 6.6667, 1.6972, -0.1636, -0.0611, -0.0122, 0.0752, -9.8667, 5.8735, -0.0757, 1.7216, -0.022, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679ee241fd1a96fb723b0470de4c5d00ba23a800f03cc070730c8d01d8d0af73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaa5cc46cb7b9d5ee48e2a06a01759488894b2a79aeb75de3446c3e5499a26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88e5b7181b8913d84eabb958ba540bd21ce15d92bd1b8d8d8bce60b13811a97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDMY3GqGc3XKlBOD_nYW8oErgCDJv7elVxMtyrOlLLrsrM2Mn98MVck_qaIYRn5jDPCJ7gbNpvF8n3mNOl7FTNrYE8F__8Kdu4Dvs_MDK1jUBs5dsKc8X7UywDGXVxLSSTclV3tAMxh8UiNQb8CteUWyNg1z_2PmLIufiaO3M5xTZXeizYqNg3i_dY_MowC4ekn9H23Orkyn3a8ivqwuCnjIRazRzZQUxWWlpVpxT16yO423DGe6t5I7GmVRKRpQ7PvI1dUiQ-teViUeGV_t3vgpIWBzwDZ_nXlrkVFEcpuHlesOcq5CpLurxACPVU-x7FOnhISjHAz7jxfiB9r8rsjqVLy8B9r6IWFwrKXSPl3HgkgzYr8Sh4DmGDS8xiJ9C_muBAQQVAaGgYdtpDOfXBj9DrVTsfDDGnb_70YXxM7MgVTHOw0lse8GP3BIOuko7tslinDOfsKGqb44ylRgL7fJSAyHMMQhJsXqRZ9hIy8G1HoO8M38w-3WIJl_kUgU-hlfgCGADadG0vyjWSGPJu1h0WTq0mgzNPS53hiHltdHpKN_gyR7FLWrMEpL38N_DukIb6bhfGv6rY_7hXT0igZrvBxgzaBOYoeFpsoR-Rd4zWTJkE1KaeXSqAZIPi4JeVUxq3ISBTljXbh9b1N_PJ2p005uYctFB4tpFn-ulrS25cKFqPvhUAWH6j3v7qvtsqkjcbNrYoVmx51RKQahTc7b9qeplLGCONqsI_iOlBoaf_c1LULkALGOIt6-3KYXRSLE4CDPXVC5BqM9XLYS6bOSZwT1SeYaD_vtZtZc_YVlgfUu5b9tw6No7BnWD5bqym89ya7JX5qRQDhxpGEkEMqgqzU7X-9BUuEG72l-guASsCFX0_8tPN8SQJMAn2VmTCmSMtl5QE--Fzi-Vq9Y-EkLj8oNGcrINAMkE2-IzPn-a0q_yp_Z9DF88p2LfvK0oBQhD-_n2RPQeMYceew2YFqbqKmaO8p2iyuEqgpHqlUIlY6h0wjdLwkc1lg47zfNOzTJqfzi_wuJ10nPGAMCkXDp5ZMGx4hVQhiZauFJJJ_EdgJvLrQCkSPTDn65BU0XdsuhCEqTS2Kl9RwebJGTC9TYsgHSyJFmpUarrXqgU2bSemGR6RoZZHNJxKzezzZoiMlALuQ4zn92WsOD_wYqMVMleGv5KR2NiGnRMeA6JquYmsm7X5rIOlsnb0GMJBzOln4DdiiWrDu1J3iHkIIjKcrMHbDKg5i3vtiQm-crzrjs4fzf5oTXoermGA3CnBLHVK1Byol7K_LyWNJkv-BuiGZRFYh6MJRkVyQbPVnblMhTxTGf0vt_GQ0ICDq0Da_jwJl6hGbDpLHmfEApLEoYDUapbfOgL5qmdmLW7iM-j91lKXKTYjKMYVkom6tQ_0B4JDBDsCpGWAabnXwIsy55ekgTUe_YpkBPt6qEf18lm-Hb4ryWiltV1t6WWeCG3R_ldk6Wyq14ZsnzMDE_MlafFBAXey2_zlK64O3aihlW0kNKgDOatrTWIaL2_SDTh3Lv11ndKiPVIAvo3_z4xh4g6ipKAAhyFFkKvThLlhb_rkwpyq9tek7G9xeteqD6iBbjx2z8fM-0dqLLoSNVD3yoa3EHzyhtdY2dwJz0QV3-HarN2X51mOYvtpx9eAY7oKlct15vRtDQlWcyGNOsRjV01BKQj0jMgm1n8pcmPO7cL1DLqnX-mObAuBAcBe8cwUllRelcyZ33k7a4Op07ha254T3pq7-IlA7JQ67Ro8d2MwKsEqcTrNg_HWYO-quL5AJnRfCBrmcEoBcE8mnKiH5Zy_N07g5ynNYCiBBRfMuylcY9x4ILXKQ7fX-D5krGZ0Ae1f1qBqHDFk9MD_t26poSvYOaTBouNalzG8Mv3WdQqvGPAcehfcq9E6ufu-Ji1xH7km6pr8k-hOFCW5i4JYHR0gNiCzGXAkW5bYfYzywMCFR9g8jMuC3FHeaPtU4BKsu2BmAgku7LXih7urWoeRXFIQWbDjQITv2y21JHU_vpZj44BUj3ONmSFvdac-CtOOE8-AsAwxDqiZfzXh8fX9InGpRVzpitFU13KzO6PdKl4PIMbT6A2ECB_kEZy1cbNpfgbyYUDdqBZKT9LhKalD-gb6IDFQLJLajC7lo9MzTs06fTiCIvqLnSMDAYTN-9F2sMY7P4Www4Yskh0wVa1LIm7tHAbb_z_IgyHlhooWZbWGgBkv3btl0O6QHRBh-bCoGzEgJBYPvTVjJwQRMc2pALlvNz3JaCz-aLdccM7gncGMu-vJs_lZ8jKj5JsGo3jnO5KQr2hlNq8fAwfl4lw3-6mYWp8QWXffVFYh4RBmq93qV040_OHsbx1YGL8Y6ohrtQkUPQJ4Jy6Rg_5r_tVMcNGM-uvbeKledfIsA-CP2EUxNCzvYNw-GWBEgJZCLQfdftAITMoWer1l7DUeaATcWtfve2VOoh0bPukQayBr8vGG4MoA3SOvYWBWt1VK8gZPU6XEl4R1xLCwU5UtFmGQtYpUy0FhhZawRUPFdzN5BQFpTUZvQ=",
  "id": "rs_0a0de13f65f1b02b016ab433147c9487d086a5d8b20a7d05e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.286,\"right_y\":0.005,\"right_z\":0.18},\"note\":\"The held right bottle has touched down, and its overhead silhouette looks shorter than before, though the gripper blocks the view. I’ll open and withdraw the arm to check whether it remained standing.\"}",
  "call_id": "call_Y0k4oODVQUuQGEdsSxoOrQCV",
  "id": "fc_0a0de13f65f1b02b016ab433167b2c87d0b36f3877d2a74887",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y0k4oODVQUuQGEdsSxoOrQCV",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.2394, 0.9963, 0.5594, 1.4265, 1.0485, -1.0809, 0.9676, 1.4403, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1947 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9963 right_x=0.2878 right_y=0.0128 right_z=0.1695 right_yaw=-0.9642 right_pitch=-0.0283 right_roll=0.0165 right_gripper=0.9981\nstate[joint_eff]: [-0.0342, -1.5795, 6.4342, 1.7851, -0.149, -0.0611, -0.0073, -0.3487, -5.7641, 5.6684, 0.5495, 0.7057, -0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcd977bb75a4b74d02e3d3ad351b9093ff6e44da17f4922f2b4501820673cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e682cf51390f8d56d2f4ed3a810b018055260b4e3dd40dbd2eb0329f83a3c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1862a3595284d1430c8da078a6f13dbb5c4101f78ae902f13fc95b4e06e1d86d",
      "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 · 5.584 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7441, 1.9488, 1.8515, -1.4532, 0.8402, 1.4425, 0.5057]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3594 right_y=0.1569 right_z=0.2056 right_yaw=-0.7805 right_pitch=-0.1597 right_roll=-0.0674 right_gripper=0.5057\nstate[joint_eff]: [-0.212, -2.0308, 6.4615, 1.7167, -0.188, -0.0122, -0.0171, -2.0581, -11.0838, 7.5009, 0.779, 1.956, 0.3541, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.7448, 2.0949, 1.3975, -1.0492, 0.8658, 1.7111, 0.51]\nstate[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3431 right_y=0.1382 right_z=0.0477 right_yaw=-0.9524 right_pitch=-0.1211 right_roll=-0.059 right_gripper=0.51\nstate[joint_eff]: [-0.0068, -1.8803, 6.6667, 1.6972, -0.1636, -0.0611, -0.0122, 0.0752, -9.8667, 5.8735, -0.0757, 1.7216, -0.022, 0.652]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.2394, 0.9963, 0.5594, 1.4265, 1.0485, -1.0809, 0.9676, 1.4403, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1947 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9963 right_x=0.2878 right_y=0.0128 right_z=0.1695 right_yaw=-0.9642 right_pitch=-0.0283 right_roll=0.0165 right_gripper=0.9981\nstate[joint_eff]: [-0.0342, -1.5795, 6.4342, 1.7851, -0.149, -0.0611, -0.0073, -0.3487, -5.7641, 5.6684, 0.5495, 0.7057, -0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcd977bb75a4b74d02e3d3ad351b9093ff6e44da17f4922f2b4501820673cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e682cf51390f8d56d2f4ed3a810b018055260b4e3dd40dbd2eb0329f83a3c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1862a3595284d1430c8da078a6f13dbb5c4101f78ae902f13fc95b4e06e1d86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab4331a889c87d0b8d3c9b198631413",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.19,\"right_y\":-0.055,\"right_z\":0.22},\"note\":\"The two left bottles are still lying down. The right bottle is visible in the right wrist camera but remains hidden behind that arm overhead, so I’ll park the arm farther to the outside to inspect its final orientation.\"}",
  "call_id": "call_k1rOQMkdJvjfXc9qnieCA181",
  "id": "fc_0a0de13f65f1b02b016ab4331c083487d0b7b602236d9573b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k1rOQMkdJvjfXc9qnieCA181",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.239, 0.9963, 0.5453, 0.9802, 0.9443, -1.3682, 0.9684, 1.4014, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1945 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9963 right_x=0.2002 right_y=-0.0446 right_z=0.2148 right_yaw=-0.956 right_pitch=-0.0232 right_roll=0.0392 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.4427, 6.5709, 1.746, -0.1832, -0.0464, -0.0171, -0.6632, -1.2239, 5.8735, 0.6374, 0.6667, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604752252d54176b640101b11f1f5577f660f06df4125f6bba4757b5b25c81d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33750acaf306fefeda42cd3f54a5fd7adf52a999c48c40edb20ed59d9f0804bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04add3b528151a043b2060f1bf3d3b1e68d66ad51dde73daa6bfe8babef6a6b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.511 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 149 changed as sent

message 157 changed as sent

message 161 changed as sent

message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8215, 0.5636, -0.3477, -0.337, -0.239, 0.9962, 0.7158, 1.985, 1.8744, -1.5524, 0.8707, 1.6295, 0.5066]\nstate[eef_state]: left_x=0.2938 left_y=0.0028 left_z=0.1662 left_yaw=0.1945 left_pitch=-0.0048 left_roll=0.0021 left_gripper=0.9962 right_x=0.3573 right_y=0.1365 right_z=0.2034 right_yaw=-0.9259 right_pitch=-0.1253 right_roll=-0.0379 right_gripper=0.5066\nstate[joint_eff]: [-0.0615, -1.6889, 6.6256, 1.7558, -0.1832, -0.0269, -0.0073, -0.5402, -10.0581, 8.9915, -0.0366, 1.6581, 0.0708, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.2394, 0.9963, 0.5594, 1.4265, 1.0485, -1.0809, 0.9676, 1.4403, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1947 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9963 right_x=0.2878 right_y=0.0128 right_z=0.1695 right_yaw=-0.9642 right_pitch=-0.0283 right_roll=0.0165 right_gripper=0.9981\nstate[joint_eff]: [-0.0342, -1.5795, 6.4342, 1.7851, -0.149, -0.0611, -0.0073, -0.3487, -5.7641, 5.6684, 0.5495, 0.7057, -0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 161 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3473, -0.337, -0.239, 0.9963, 0.5453, 0.9802, 0.9443, -1.3682, 0.9684, 1.4014, 0.9981]\nstate[eef_state]: left_x=0.294 left_y=0.0027 left_z=0.1656 left_yaw=0.1945 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9963 right_x=0.2002 right_y=-0.0446 right_z=0.2148 right_yaw=-0.956 right_pitch=-0.0232 right_roll=0.0392 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -1.4427, 6.5709, 1.746, -0.1832, -0.0464, -0.0171, -0.6632, -1.2239, 5.8735, 0.6374, 0.6667, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604752252d54176b640101b11f1f5577f660f06df4125f6bba4757b5b25c81d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33750acaf306fefeda42cd3f54a5fd7adf52a999c48c40edb20ed59d9f0804bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04add3b528151a043b2060f1bf3d3b1e68d66ad51dde73daa6bfe8babef6a6b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a0de13f65f1b02b016ab4331ed9fc87d09d895cb3342df768",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.328,\"right_y\":0.013,\"right_z\":0.085,\"right_yaw\":0},\"note\":\"The cleared overhead view confirms the right bottle is still lying down, but its cap is now closer to the right arm than before. I’ll approach that capped end from above so I can try lifting the cap while its base stays on the table.\"}",
  "call_id": "call_VswufRlvU7TtlCVZO23xfw5l",
  "id": "fc_0a0de13f65f1b02b016ab4332289f087d0bba45ab0cc434338",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VswufRlvU7TtlCVZO23xfw5l",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 0.8242, 0.5636, -0.3477, -0.337, -0.2394, 0.9962, 0.0597, 1.0782, 0.3412, 0.0269, 0.1688, 0.1055, 0.998]\nstate[eef_state]: left_x=0.2939 left_y=0.0028 left_z=0.1655 left_yaw=0.1947 left_pitch=-0.0072 left_roll=0.0028 left_gripper=0.9962 right_x=0.3032 right_y=-0.008 right_z=0.0653 right_yaw=-0.1678 right_pitch=-0.1267 right_roll=-0.0196 right_gripper=0.998\nstate[joint_eff]: [-0.212, -1.5385, 6.4068, 1.8291, -0.1685, -0.0757, -0.0122, -0.335, -3.3299, 6.065, 1.7949, 0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc1680fed2fd7f55d695e29e4b2b0b36106d8f9ee43159abf63fb0778ff7592e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc31d778cf798d91aab8f0d757418878bbd6d2aaf04a66dc9fb8dcd3eb8c9269",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe5edf683cb0655ad2b0eda9ace54d50bee2f4393e82b020b1d59394aaac312",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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