adhoc

completed
2026-09-23T18:55:46.903376+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
222.7 s
total steps
294
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 on their sides; the leftmost bottle is angled diagonally with its cap toward the far side of the table. I’m bringing the left gripper above its neck to see where the fingertips line up before grasping.
move_to
left_x0.3700left_y-0.1100left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0254, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3847, -0.0235, -0.0353, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0032 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.6068, 9.7573, 1.79, 0.022, 0.1148, -0.1587, -0.7726, -1.1282, 10.2632, 1.8046, -0.0366, 0.1832, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.11,"left_z":0.14},"note":"All three bottles are lying on their sides; the leftmost bottle is angled diagonally with its cap toward the far side of the table. I’m bringing the left gripper above its neck to see where the fingertips line up before grasping."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist view shows the diagonal bottle ahead of the fingertips, with its cap slightly left of the jaw center. I’m advancing a few centimeters and shifting left to align with the narrow area below its cap.
move_to
left_x0.4100left_y-0.0850left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4732, 1.3098, 0.6666, -0.0589, -0.3756, -0.2741, 0.9984, -0.0189, 0.794, 0.6041, -0.4038, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.3543 left_y=-0.1046 left_z=0.1169 left_yaw=-0.0277 left_pitch=-0.0833 left_roll=0.0309 left_gripper=0.9984 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0236 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3487, -5.3949, 9.306, 1.6923, -0.2027, -0.0806, -0.0366, 0.1846, -1.5932, 7.2, 1.9023, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.085,"left_z":0.10},"note":"The left wrist view shows the diagonal bottle ahead of the fingertips, with its cap slightly left of the jaw center. I’m advancing a few centimeters and shifting left to align with the narrow area below its cap."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe cap and shoulder of the left bottle are still ahead of the fingers in the wrist view, so a close now would miss. I’m moving a little farther forward and left at a low hover to bring the neck between the jaws.
move_to
left_x0.4400left_y-0.0550left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3305, 1.5059, 0.6369, 0.1932, -0.2913, -0.2157, 0.9983, -0.0193, 0.7845, 0.5835, -0.3973, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.39 left_y=-0.0764 left_z=0.0776 left_yaw=0.0138 left_pitch=-0.0809 left_roll=0.018 left_gripper=0.9983 right_x=0.2893 right_y=0.0022 right_z=0.1696 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.3487, -6.1607, 9.2513, 1.9853, 0.0415, 0.2222, -0.0171, -0.212, -1.812, 6.7761, 1.9609, -0.022, -0.0317, -0.0073] 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":0.44,"left_y":-0.055,"left_z":0.065},"note":"The cap and shoulder of the left bottle are still ahead of the fingers in the wrist view, so a close now would miss. I’m moving a little farther forward and left at a low hover to bring the neck between the jaws."})
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 low forward move barely advanced, suggesting the arm is near an awkward low pose rather than centered on the neck. I’m lifting and extending over the bottle first, then I can lower onto it without dragging the fingers along the table.
move_to
left_x0.4400left_y-0.0750left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2085, 0.9983, -0.0193, 0.7742, 0.556, -0.3882, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.005 left_pitch=-0.058 left_roll=0.0015 left_gripper=0.9983 right_x=0.2864 right_y=0.0023 right_z=0.1617 right_yaw=-0.0031 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4581, -6.5983, 8.759, 1.8779, -0.0122, 0.2613, -0.0122, -0.0752, -1.8256, 6.9675, 1.9853, -0.0464, -0.0806, -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":0.44,"left_y":-0.075,"left_z":0.15},"note":"The low forward move barely advanced, suggesting the arm is near an awkward low pose rather than centered on the neck. I’m lifting and extending over the bottle first, then I can lower onto it without dragging the fingers along the table."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe left arm is not advancing, and its wrist view shows the bottle body already between the open fingers near the bottom of the image. I’ll lower at this position to try a body grasp instead of forcing the neck approach.
move_to
left_x0.3900left_y-0.0750left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2081, 0.9983, -0.0193, 0.757, 0.5224, -0.374, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.0048 left_pitch=-0.058 left_roll=0.0018 left_gripper=0.9983 right_x=0.283 right_y=0.0023 right_z=0.1538 right_yaw=-0.0034 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.5128, -6.5162, 8.9504, 1.9365, -0.0122, 0.2759, -0.0171, -0.2256, -1.8256, 6.8171, 1.9805, -0.022, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.03},"note":"The left arm is not advancing, and its wrist view shows the bottle body already between the open fingers near the bottom of the image. I’ll lower at this position to try a body grasp instead of forcing the neck approach."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe fingers are now down beside the left bottle, with its label and shoulder between them in the wrist image. I’m closing to check whether the gripper catches the bottle.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3214, 1.6436, 0.5152, 0.5407, -0.2741, -0.2287, 0.9983, -0.0193, 0.7361, 0.485, -0.358, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.3941 left_y=-0.0771 left_z=0.0466 left_yaw=0.0144 left_pitch=-0.0011 left_roll=-0.0317 left_gripper=0.9983 right_x=0.2791 right_y=0.0024 right_z=0.1456 right_yaw=-0.0034 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -4.7658, 2.6462, -0.3687, -0.3639, 0.696, -0.022, -0.4171, -1.388, 6.9812, 2.0098, -0.0269, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are now down beside the left bottle, with its label and shoulder between them in the wrist image. I’m closing to check whether the gripper catches the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe closed gripper reads almost fully shut, so it missed the bottle. In the wrist view the bottle’s body lies to the right of the jaw center; I’m reopening, lifting, and shifting toward its middle for another approach.
move_to
left_x0.3750left_y-0.1200left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3279, 1.6432, 0.5125, 0.6132, -0.3141, -0.2256, 0.0126, -0.0193, 0.7147, 0.4473, -0.3393, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.402 left_y=-0.0753 left_z=0.0616 left_yaw=0.0406 left_pitch=0.0721 left_roll=-0.0335 left_gripper=0.0126 right_x=0.2756 right_y=0.0025 right_z=0.1377 right_yaw=-0.0031 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -6.2154, 5.641, 1.0427, 0.0024, 0.1441, 1.0672, -0.4034, -1.2923, 6.9812, 2.0049, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.12,"left_z":0.13,"left_gripper":1},"note":"The closed gripper reads almost fully shut, so it missed the bottle. In the wrist view the bottle’s body lies to the right of the jaw center; I’m reopening, lifting, and shifting toward its middle for another approach."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteWith the gripper open again, the left bottle’s broad middle appears just right of the jaw center and reaches the near edge of the wrist view. I’m lowering slightly farther right over that middle section rather than trying to catch the distant cap.
move_to
left_x0.3950left_y-0.1500left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5198, 1.4246, 0.688, 0.0723, -0.4553, -0.3412, 0.9945, -0.0193, 0.6933, 0.4122, -0.3214, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3732 left_y=-0.12 left_z=0.1122 left_yaw=0.0249 left_pitch=-0.025 left_roll=0.0024 left_gripper=0.9945 right_x=0.2725 right_y=0.0026 right_z=0.1308 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3214, -7.2684, 8.7453, 1.6288, -0.3394, 0.1441, -0.1685, -0.212, -1.2239, 6.9949, 1.9365, -0.0464, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.15,"left_z":0.035},"note":"With the gripper open again, the left bottle’s broad middle appears just right of the jaw center and reaches the near edge of the wrist view. I’m lowering slightly farther right over that middle section rather than trying to catch the distant cap."})
tool
executing move_to over 5 steps (0.5s)
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 left bottle now runs between the open fingers near their tips, and the gripper is at roughly the bottle’s mid-height. I’m closing here and will use the settled jaw gap to tell whether it is secure.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5751, 1.7405, 0.6449, 0.4126, -0.5419, -0.3527, 0.9956, -0.0193, 0.672, 0.3813, -0.313, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3887 left_y=-0.1391 left_z=0.0422 left_yaw=0.0444 left_pitch=-0.0106 left_roll=0.0483 left_gripper=0.9956 right_x=0.2686 right_y=0.0026 right_z=0.1237 right_yaw=-0.0031 right_pitch=-0.0336 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3077, -5.0803, 6.1607, 1.0574, 0.5104, -0.1929, 0.1099, -0.1026, -0.6769, 6.9949, 1.956, -0.0562, -0.0366, -0.0122] 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":{"left_gripper":0},"note":"The left bottle now runs between the open fingers near their tips, and the gripper is at roughly the bottle’s mid-height. I’m closing here and will use the settled jaw gap to tell whether it is secure."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe jaws have stopped about five centimeters apart around the left bottle, which is consistent with a grasp. I’m lifting it a short distance to confirm it comes off the table and to see how it hangs.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5632, 1.7596, 0.627, 0.4477, -0.5159, -0.3714, 0.5257, -0.0193, 0.6521, 0.3523, -0.2974, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3877 left_y=-0.1375 left_z=0.0335 left_yaw=0.0458 left_pitch=-0.0211 left_roll=0.0203 left_gripper=0.5257 right_x=0.2662 right_y=0.0027 right_z=0.1186 right_yaw=-0.0031 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1299, -9.1692, 4.6838, 1.6679, -0.1587, -0.0415, 1.0281, -0.2667, -0.9231, 7.1043, 1.9609, -0.0415, -0.0757, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The jaws have stopped about five centimeters apart around the left bottle, which is consistent with a grasp. I’m lifting it a short distance to confirm it comes off the table and to see how it hangs."})
tool
executing move_to over 6 steps (0.6s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe left bottle followed the jaws toward the near side, but the first lift rose only a few centimeters and it is still nearly horizontal. I’m raising the grasp point more to clear the tabletop and let the bottle pivot downward.
move_to
left_x0.3500left_z0.2100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5632, 1.5711, 0.696, 0.0563, -0.4782, -0.3756, 0.5277, -0.0193, 0.6365, 0.3275, -0.2905, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3651 left_y=-0.1302 left_z=0.0608 left_yaw=0.025 left_pitch=-0.1462 left_roll=0.0712 left_gripper=0.5277 right_x=0.2632 right_y=0.0027 right_z=0.1126 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.8239, 11.1521, 2.3516, -0.5788, -0.0269, 0.7643, -0.2667, -0.5402, 6.9538, 1.9707, -0.0366, -0.0659, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_z":0.21},"note":"The left bottle followed the jaws toward the near side, but the first lift rose only a few centimeters and it is still nearly horizontal. I’m raising the grasp point more to clear the tabletop and let the bottle pivot downward."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe left bottle is held by its wider end, so its cap still points away from the arm; simply lowering it would not stand it up. I’m turning the lifted bottle sideways into clear space while restoring the idle right arm’s height, so I can reposition the cap where it can be grasped.
move_to
left_z0.2300left_yaw1.5000right_z0.1800right_x0.2900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.601, 1.269, 0.8978, -0.2939, -0.5209, -0.3977, 0.5279, -0.0193, 0.6193, 0.3016, -0.2836, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.3548 left_y=-0.1323 left_z=0.1935 left_yaw=0.0259 left_pitch=-0.0029 left_roll=-0.0108 left_gripper=0.5279 right_x=0.2602 right_y=0.0028 right_z=0.1063 right_yaw=-0.0031 right_pitch=-0.0313 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5265, -6.7624, 9.2513, 1.5702, -0.2906, 0.0464, 0.0073, -0.3761, -0.8684, 7.0085, 1.9267, -0.0708, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"left_yaw":1.5,"right_z":0.18,"right_x":0.29},"note":"The left bottle is held by its wider end, so its cap still points away from the arm; simply lowering it would not stand it up. I’m turning the lifted bottle sideways into clear space while restoring the idle right arm’s height, so I can reposition the cap where it can be grasped."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe rotation brought the gripper much farther left and lower than commanded, obscuring whether the bottle followed. I’m moving back and higher into open space to check whether it is still in the jaws before attempting a placement.
move_to
left_x0.2900left_y-0.1100left_z0.2500left_yaw1.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4583, 2.0834, 1.6752, -1.5131, -0.9283, -1.9789, 0.5279, -0.0189, 0.7643, 0.5495, -0.4034, -0.0273, -0.0395, 0.9998] state[eef_state]: left_x=0.3668 left_y=-0.0193 left_z=0.1349 left_yaw=1.3364 left_pitch=-0.0363 left_roll=0.027 left_gripper=0.5279 right_x=0.2828 right_y=0.0031 right_z=0.1583 right_yaw=0.0021 right_pitch=-0.048 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.3761, -11.0701, 5.3812, -0.6813, -0.6178, -0.2808, -0.0171, -0.0889, -0.6632, 10.0581, 1.8974, 0.0317, 0.0122, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.11,"left_z":0.25,"left_yaw":1.5},"note":"The rotation brought the gripper much farther left and lower than commanded, obscuring whether the bottle followed. I’m moving back and higher into open space to check whether it is still in the jaws before attempting a placement."})
tool
executing move_to over 9 steps (0.9s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe left bottle stayed on the table as the gripper moved away, so that grasp did not retain it through the turn. I’m parking and opening the left hand, then bringing the right hand above the neck of the rightmost bottle for a cleaner end grasp.
move_to
left_x0.2900left_y0.0000left_z0.2000left_yaw0.0000left_gripper1.0000right_x0.4100right_y0.2500right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4114, 1.9259, 1.4925, -1.552, -0.9241, -2.0602, 0.5279, -0.0193, 0.7372, 0.5034, -0.3771, -0.0303, -0.0399, 0.9998] state[eef_state]: left_x=0.3217 left_y=0.0174 left_z=0.1498 left_yaw=1.43 left_pitch=-0.0226 left_roll=0.0227 left_gripper=0.5279 right_x=0.2791 right_y=0.0036 right_z=0.1497 right_yaw=0.0045 right_pitch=-0.0407 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.3761, -11.4256, 5.0256, -0.5348, -0.4274, -0.3834, -0.0073, -0.3624, -1.6752, 6.9402, 2.0147, -0.022, -0.0562, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_yaw":0,"left_gripper":1,"right_x":0.41,"right_y":0.25,"right_z":0.14},"note":"The left bottle stayed on the table as the gripper moved away, so that grasp did not retain it through the turn. I’m parking and opening the left hand, then bringing the right hand above the neck of the rightmost bottle for a cleaner end grasp."})
tool
executing move_to over 21 steps (2.1s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe right wrist image clearly centers the rightmost bottle on the jaw column, but its cap is still well ahead of the fingers. I’m advancing toward the neck and lowering to its height while keeping the jaws open.
move_to
right_x0.4600right_y0.2500right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0601, 0.7853, 0.6662, -0.4702, -0.1734, -0.1474, 0.9977, 0.7456, 1.7412, 1.1069, -0.1276, 0.5579, 0.3958, 0.9998] state[eef_state]: left_x=0.2883 left_y=0.0168 left_z=0.1937 left_yaw=0.1481 left_pitch=-0.0172 left_roll=-0.0168 left_gripper=0.9977 right_x=0.3967 right_y=0.2439 right_z=0.1236 right_yaw=0.0494 right_pitch=-0.0558 right_roll=-0.0427 right_gripper=0.9998 state[joint_eff]: [0.1573, -1.3333, 7.4325, 1.8291, 0.0073, 0.4127, -0.1636, -0.1983, -8.1573, 8.9778, 1.7558, 0.5495, 0.2466, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.25,"right_z":0.065},"note":"The right wrist image clearly centers the rightmost bottle on the jaw column, but its cap is still well ahead of the fingers. I’m advancing toward the neck and lowering to its height while keeping the jaws open."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe right gripper is low and centered over the bottle’s wider body, while the cap remains too far forward for a direct low grasp. I’m gripping the body so I can pull the bottle closer and then grasp its neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7792, 0.6529, -0.4671, -0.181, -0.1345, 0.9976, 0.6598, 1.9991, 1.1019, 0.1051, 0.4896, 0.3275, 0.9998] state[eef_state]: left_x=0.2869 left_y=0.0146 left_z=0.19 left_yaw=0.1351 left_pitch=-0.0205 left_roll=-0.0009 left_gripper=0.9976 right_x=0.4344 right_y=0.2364 right_z=0.0374 right_yaw=0.0509 right_pitch=-0.1104 right_roll=-0.0773 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.4838, 7.0359, 1.8535, -0.1245, -0.0806, -0.0269, -0.759, -10.7419, 9.4154, 2.1221, 0.2662, 0.0122, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper is low and centered over the bottle’s wider body, while the cap remains too far forward for a direct low grasp. I’m gripping the body so I can pull the bottle closer and then grasp its neck."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe right gripper closed almost completely, so the bottle is still just beyond the fingertips. I’m reopening and advancing about three centimeters along its centerline for a more reliable body grasp.
move_to
right_x0.4850right_y0.2550right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7727, 0.6342, -0.4526, -0.1921, -0.1345, 0.9976, 0.6548, 2.0144, 1.1374, 0.2188, 0.4744, 0.3096, 0.0202] state[eef_state]: left_x=0.2862 left_y=0.0164 left_z=0.1864 left_yaw=0.1436 left_pitch=-0.017 left_roll=0.0047 left_gripper=0.9976 right_x=0.4562 right_y=0.2531 right_z=0.0616 right_yaw=0.0719 right_pitch=-0.0054 right_roll=-0.0082 right_gripper=0.0202 state[joint_eff]: [-0.3214, -1.7709, 6.8034, 1.7949, -0.0904, -0.0171, -0.0122, -0.8274, -10.5778, 7.0359, 1.5311, 0.2222, 0.0757, 0.9597] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.255,"right_z":0.035,"right_gripper":1},"note":"The right gripper closed almost completely, so the bottle is still just beyond the fingertips. I’m reopening and advancing about three centimeters along its centerline for a more reliable body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe right bottle’s label and body now sit between the open fingers near their tips. I’m closing again at this more forward position and checking the jaw gap before moving it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7719, 0.6212, -0.4488, -0.1921, -0.1349, 0.9976, 0.6277, 2.1162, 1.1927, 0.2787, 0.4404, 0.2729, 0.9957] state[eef_state]: left_x=0.2852 left_y=0.0164 left_z=0.1815 left_yaw=0.1438 left_pitch=-0.0251 left_roll=0.0062 left_gripper=0.9976 right_x=0.4763 right_y=0.257 right_z=0.0404 right_yaw=0.0917 right_pitch=-0.0048 right_roll=-0.0144 right_gripper=0.9957 state[joint_eff]: [0.0068, -2.0444, 6.653, 1.8437, -0.1197, -0.0757, -0.0122, -1.347, -8.6632, 8.1846, 1.7705, 0.1245, 0.1294, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s label and body now sit between the open fingers near their tips. I’m closing again at this more forward position and checking the jaw gap before moving it."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe jaws again closed empty; the wrist camera shows the bottle just in front of the actual fingertip contact point despite appearing centered. I’m opening and advancing farther at low height to reach the bottle’s broad section.
move_to
right_x0.5200right_y0.2650right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7605, 0.5972, -0.4301, -0.1921, -0.1349, 0.9976, 0.6289, 2.1044, 1.1923, 0.3546, 0.4366, 0.2607, 0.0204] state[eef_state]: left_x=0.2842 left_y=0.0165 left_z=0.1774 left_yaw=0.1438 left_pitch=-0.0192 left_roll=0.0048 left_gripper=0.9976 right_x=0.4843 right_y=0.2643 right_z=0.0607 right_yaw=0.1011 right_pitch=0.0695 right_roll=0.0213 right_gripper=0.0204 state[joint_eff]: [-0.335, -1.6752, 6.8581, 1.8828, -0.1001, -0.0366, -0.0122, -0.6222, -10.5231, 5.2444, 1.1648, 0.1636, 0.1978, 0.8864] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.265,"right_z":0.05,"right_gripper":1},"note":"The jaws again closed empty; the wrist camera shows the bottle just in front of the actual fingertip contact point despite appearing centered. I’m opening and advancing farther at low height to reach the bottle’s broad section."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteAt this farther reach the bottle’s broad labeled section is clearly between the open fingers in the right wrist view. I’m closing once more to test whether the jaws now contact it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7521, 0.5819, -0.4225, -0.1921, -0.1345, 0.9976, 0.5934, 2.1937, 1.3609, 0.1753, 0.3824, 0.2268, 0.9959] state[eef_state]: left_x=0.2829 left_y=0.0166 left_z=0.1742 left_yaw=0.1436 left_pitch=-0.0184 left_roll=0.005 left_gripper=0.9976 right_x=0.5062 right_y=0.2662 right_z=0.0427 right_yaw=0.1289 right_pitch=-0.0328 right_roll=-0.028 right_gripper=0.9959 state[joint_eff]: [-0.2667, -1.4701, 6.735, 1.8535, -0.1001, -0.0171, -0.0122, -1.347, -10.1402, 9.3607, 1.8632, 0.1734, 0.1783, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At this farther reach the bottle’s broad labeled section is clearly between the open fingers in the right wrist view. I’m closing once more to test whether the jaws now contact it."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right jaw gap settled at about 3.4 centimeters, indicating contact with the bottle. I’m lifting and drawing it slightly inward to verify that it moves with the gripper and clears the table.
move_to
right_x0.4700right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7456, 0.569, -0.4164, -0.1921, -0.1349, 0.9976, 0.5961, 2.1899, 1.3323, 0.2909, 0.3729, 0.2188, 0.3546] state[eef_state]: left_x=0.2818 left_y=0.0167 left_z=0.1712 left_yaw=0.1438 left_pitch=-0.0188 left_roll=0.0048 left_gripper=0.9976 right_x=0.5116 right_y=0.2736 right_z=0.0552 right_yaw=0.1434 right_pitch=0.0463 right_roll=0.0103 right_gripper=0.3546 state[joint_eff]: [-0.0205, -1.4701, 6.5436, 1.9023, -0.1245, -0.0317, -0.0122, -0.212, -12.0684, 5.3265, 1.3114, 0.1148, 0.149, 0.2662] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_z":0.16},"note":"The right jaw gap settled at about 3.4 centimeters, indicating contact with the bottle. I’m lifting and drawing it slightly inward to verify that it moves with the gripper and clears the table."})
tool
executing move_to over 7 steps (0.7s)
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 right bottle still appears ahead of the wrist camera after a small lift, so I cannot yet confirm it is being carried rather than merely squeezed against the table. I’m lifting higher and retreating farther to expose its position in the overhead view.
move_to
right_x0.4000right_z0.2400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7387, 0.5541, -0.4076, -0.1921, -0.1345, 0.9976, 0.6434, 1.9614, 1.3712, -0.0853, 0.392, 0.2386, 0.3532] state[eef_state]: left_x=0.2808 left_y=0.0168 left_z=0.168 left_yaw=0.1436 left_pitch=-0.0181 left_roll=0.0049 left_gripper=0.9976 right_x=0.4701 right_y=0.2726 right_z=0.1239 right_yaw=0.1644 right_pitch=-0.046 right_roll=-0.0317 right_gripper=0.3532 state[joint_eff]: [-0.1573, -0.9504, 6.694, 1.8632, -0.1001, -0.0513, -0.0122, 0.5812, -13.2581, 10.0034, 1.8291, 0.2955, 0.2418, -0.1587] approver: 3 step(s) modified (delta_clamped ×3). 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":{"right_x":0.4,"right_z":0.24},"note":"The right bottle still appears ahead of the wrist camera after a small lift, so I cannot yet confirm it is being carried rather than merely squeezed against the table. I’m lifting higher and retreating farther to expose its position in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe bottle has stayed aligned in the wrist view as the right arm retreated, so it appears to be carried by the jaws despite extending beyond them. I’m raising it and rotating its far end into open space to reposition the neck for a later upright grasp.
move_to
right_yaw-1.0000right_z0.2900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 0.7326, 0.5465, -0.3996, -0.1921, -0.1349, 0.9976, 0.754, 1.7111, 1.3945, -0.3794, 0.4507, 0.292, 0.353] state[eef_state]: left_x=0.2806 left_y=0.0168 left_z=0.1677 left_yaw=0.1438 left_pitch=-0.0117 left_roll=0.0032 left_gripper=0.9976 right_x=0.4033 right_y=0.2781 right_z=0.2074 right_yaw=0.1988 right_pitch=-0.0452 right_roll=-0.0306 right_gripper=0.353 state[joint_eff]: [0.1026, -1.4838, 6.3385, 1.8339, -0.1245, -0.0806, -0.0122, 0.4034, -11.5761, 9.8256, 1.7118, 0.442, 0.2955, -0.022] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":-1.0,"right_z":0.29},"note":"The bottle has stayed aligned in the wrist view as the right arm retreated, so it appears to be carried by the jaws despite extending beyond them. I’m raising it and rotating its far end into open space to reposition the neck for a later upright grasp."})
tool
executing move_to over 8 steps (0.8s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
assistant
agent noteThe right bottle rotated with the hand and remains between the jaws; its far end is now clear of the other bottles. I’m continuing the turn above the table so the cap will face nearer the robot, where it can be accessed.
move_to
right_yaw-2.4500right_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7273, 0.5415, -0.3988, -0.1921, -0.1345, 0.9976, 0.7555, 2.2616, 2.1777, -1.4624, 0.9504, 1.4841, 0.353] state[eef_state]: left_x=0.2798 left_y=0.017 left_z=0.167 left_yaw=0.1443 left_pitch=-0.0106 left_roll=0.0033 left_gripper=0.9976 right_x=0.4174 right_y=0.2006 right_z=0.1822 right_yaw=-0.7906 right_pitch=-0.0501 right_roll=-0.0302 right_gripper=0.353 state[joint_eff]: [-0.253, -0.6496, 6.6256, 1.8193, -0.1099, -0.0513, -0.0122, -0.3897, -13.9282, 6.0923, 0.9206, 0.8327, 0.1197, -0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":-2.45,"right_z":0.3},"note":"The right bottle rotated with the hand and remains between the jaws; its far end is now clear of the other bottles. I’m continuing the turn above the table so the cap will face nearer the robot, where it can be accessed."})
tool
executing move_to over 11 steps (1.1s)
step 208
assistant
agent noteThe wrist stopped rotating near −0.9 radians instead of reaching the requested angle, likely because this pose is awkward for the arm. I’m drawing the bottle closer to the base and requesting a smaller turn to recover wrist motion.
move_to
right_x0.3200right_y0.1900right_z0.2600right_yaw-1.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7269, 0.5373, -0.3969, -0.1921, -0.1345, 0.9976, 0.7261, 2.262, 2.1883, -1.5818, 0.968, 1.6405, 0.353] state[eef_state]: left_x=0.2796 left_y=0.0171 left_z=0.1656 left_yaw=0.1443 left_pitch=-0.0125 left_roll=0.0037 left_gripper=0.9976 right_x=0.4101 right_y=0.1744 right_z=0.1878 right_yaw=-0.9084 right_pitch=-0.0303 right_roll=-0.0108 right_gripper=0.353 state[joint_eff]: [-0.1026, -1.4017, 6.5026, 1.7949, -0.0952, -0.0317, -0.0122, -0.6496, -11.3983, 7.6923, 0.2222, 0.7302, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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":{"right_x":0.32,"right_y":0.19,"right_z":0.26,"right_yaw":-1.45},"note":"The wrist stopped rotating near −0.9 radians instead of reaching the requested angle, likely because this pose is awkward for the arm. I’m drawing the bottle closer to the base and requesting a smaller turn to recover wrist motion."})
tool
executing move_to over 7 steps (0.7s)
step 215
assistant
agent noteThe bottle slipped out during the right wrist rotation and is still lying down. I’m releasing and parking that hand, then targeting the nearer left bottle’s cap with the left hand so its body can hang below the grasp.
move_to
left_x0.4400left_y-0.1300left_z0.1000left_yaw0.0000right_x0.2900right_y0.0000right_z0.1900right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7227, 0.5316, -0.3958, -0.1921, -0.1349, 0.9976, 0.58, 2.0792, 1.6276, -1.5593, 0.8909, 2.046, 0.353] state[eef_state]: left_x=0.2788 left_y=0.0171 left_z=0.1643 left_yaw=0.1445 left_pitch=-0.0129 left_roll=0.0034 left_gripper=0.9976 right_x=0.339 right_y=0.0622 right_z=0.1261 right_yaw=-1.3084 right_pitch=-0.0351 right_roll=-0.0408 right_gripper=0.353 state[joint_eff]: [-0.3077, -0.7726, 6.6393, 1.873, -0.1197, -0.0659, -0.0122, -1.8803, -12.8342, 5.2308, -0.3785, 0.5592, 0.1978, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.13,"left_z":0.1,"left_yaw":0,"right_x":0.29,"right_y":0,"right_z":0.19,"right_yaw":0,"right_gripper":1},"note":"The bottle slipped out during the right wrist rotation and is still lying down. I’m releasing and parking that hand, then targeting the nearer left bottle’s cap with the left hand so its body can hang below the grasp."})
tool
executing move_to over 14 steps (1.4s)
step 229
assistant
agent noteThe left wrist now has the left bottle’s cap centered, with its neck ahead of the fingers; the right arm did not return cleanly from its rotated pose. I’m making a small forward, downward neck approach on the left while lifting the right arm out of its awkward configuration.
move_to
left_x0.4600left_y-0.1200left_z0.0450right_x0.2900right_y0.0300right_z0.2500right_yaw-1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4301, 1.6695, 0.8162, 0.1726, -0.3717, -0.2665, 0.9976, -0.017, 1.5269, 1.0916, -1.1561, 0.5224, 1.7023, 0.9974] state[eef_state]: left_x=0.4234 left_y=-0.1197 left_z=0.082 left_yaw=0.0076 left_pitch=-0.0652 left_roll=0.0257 left_gripper=0.9976 right_x=0.2496 right_y=-0.0888 right_z=0.1039 right_yaw=-1.7046 right_pitch=-0.4807 right_roll=0.0558 right_gripper=0.9974 state[joint_eff]: [-0.3897, -8.1709, 8.0068, 1.7802, -0.1245, 0.022, -0.0122, 4.8205, -4.7795, 6.4068, 0.4469, -0.2662, -0.0513, 0.0317] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.12,"left_z":0.045,"right_x":0.29,"right_y":0.03,"right_z":0.25,"right_yaw":-1.0},"note":"The left wrist now has the left bottle’s cap centered, with its neck ahead of the fingers; the right arm did not return cleanly from its rotated pose. I’m making a small forward, downward neck approach on the left while lifting the right arm out of its awkward configuration."})
tool
executing move_to over 10 steps (1.0s)
step 239
assistant
agent noteThe left cap moved closer to the bottom of the wrist view and remains centered, while the neck is not yet at the fingertip contact point. I’m advancing the left gripper a few more centimeters and restoring the right wrist to its neutral orientation.
move_to
left_x0.4900left_y-0.1150left_z0.0400right_yaw0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3927, 1.8687, 0.8112, 0.4339, -0.3523, -0.2626, 0.9976, 0.6125, 1.5772, 1.4246, -1.5204, 0.9649, 1.6558, 0.999] state[eef_state]: left_x=0.4512 left_y=-0.1171 left_z=0.0429 left_yaw=0.026 left_pitch=-0.0181 left_roll=-0.0057 left_gripper=0.9976 right_x=0.2903 right_y=0.0309 right_z=0.2285 right_yaw=-1.0311 right_pitch=-0.0322 right_roll=-0.0159 right_gripper=0.999 state[joint_eff]: [0.3761, -7.241, 7.0085, 1.6337, -0.022, 0.2125, -0.0171, -0.0615, -8.3214, 7.3915, 0.0513, 0.6422, 0.0317, 0.1538] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.115,"left_z":0.04,"right_yaw":0,"right_z":0.2},"note":"The left cap moved closer to the bottom of the wrist view and remains centered, while the neck is not yet at the fingertip contact point. I’m advancing the left gripper a few more centimeters and restoring the right wrist to its neutral orientation."})
tool
executing move_to over 7 steps (0.7s)
step 246
assistant
agent noteThe left bottle’s cap is now low in the wrist image but about a finger-width left of the jaw center. I’m advancing slightly and shifting left so the neck, rather than empty table, lies between the fingertips.
move_to
left_x0.5100left_y-0.0950left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.358, 1.9671, 0.923, 0.448, -0.347, -0.2619, 0.9976, 0.2352, 0.823, 0.7021, -0.5983, 0.4, 0.4736, 0.9994] state[eef_state]: left_x=0.4836 left_y=-0.113 left_z=0.0415 left_yaw=0.0559 left_pitch=0.0058 left_roll=-0.0189 left_gripper=0.9976 right_x=0.274 right_y=-0.0014 right_z=0.1824 right_yaw=-0.3784 right_pitch=-0.0896 right_roll=0.1305 right_gripper=0.9994 state[joint_eff]: [0.6769, -8.2393, 7.1863, 1.6386, 0.0757, 0.2808, -0.0122, 0.1026, -1.1282, 7.0769, 2.1221, 0.1685, -0.149, 0.022] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.095,"left_z":0.035},"note":"The left bottle’s cap is now low in the wrist image but about a finger-width left of the jaw center. I’m advancing slightly and shifting left so the neck, rather than empty table, lies between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 249
assistant
agent noteThe left bottle’s cap is at fingertip depth but still noticeably to the left of the jaw opening. I’m making a lateral correction while keeping the low grasp height, then I’ll close only if it is centered.
move_to
left_y-0.0500left_x0.5000left_z0.0370
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3103, 2.0155, 0.9859, 0.4412, -0.3214, -0.2501, 0.9976, 0.342, 0.8185, 0.6506, -0.5308, 0.4477, 0.35, 0.9994] state[eef_state]: left_x=0.5029 left_y=-0.0989 left_z=0.0395 left_yaw=0.0762 left_pitch=0.0073 left_roll=-0.025 left_gripper=0.9976 right_x=0.2759 right_y=0.0208 right_z=0.1756 right_yaw=-0.2422 right_pitch=-0.0489 right_roll=0.0169 right_gripper=0.9994 state[joint_eff]: [0.3761, -8.335, 6.6667, 1.6777, 0.022, 0.2955, -0.0122, -0.1436, -0.9504, 7.2274, 1.9219, 0.4029, 0.149, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_y":-0.05,"left_x":0.5,"left_z":0.037},"note":"The left bottle’s cap is at fingertip depth but still noticeably to the left of the jaw opening. I’m making a lateral correction while keeping the low grasp height, then I’ll close only if it is centered."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
agent noteThe low-reach lateral correction barely moved the left hand, but the cap is still within the open jaw span near the fingertips. I’m trying a careful close on the narrow end and will judge it by the settled jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2932, 2.0254, 0.9981, 0.445, -0.3191, -0.2359, 0.9976, 0.3695, 0.8036, 0.6067, -0.5056, 0.4931, 0.3351, 0.9995] state[eef_state]: left_x=0.5079 left_y=-0.0917 left_z=0.0399 left_yaw=0.0839 left_pitch=0.0125 left_roll=-0.0164 left_gripper=0.9976 right_x=0.2724 right_y=0.0197 right_z=0.1673 right_yaw=-0.2425 right_pitch=-0.0354 right_roll=-0.0216 right_gripper=0.9995 state[joint_eff]: [0.0068, -8.759, 6.5846, 1.6386, 0.0317, 0.2466, -0.0122, -0.1983, -2.0444, 7.0906, 1.8339, 0.1148, -0.0659, -0.0024] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The low-reach lateral correction barely moved the left hand, but the cap is still within the open jaw span near the fingertips. I’m trying a careful close on the narrow end and will judge it by the settled jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe neck close was empty; at this far, low reach the arm cannot make the needed sideways correction. I’m reopening and backing up slightly to free the lateral motion, then I’ll reassess the cap’s alignment.
move_to
left_x0.4750left_y-0.0400left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2882, 2.0251, 1.0073, 0.4801, -0.3466, -0.2207, 0.0124, 0.3695, 0.7822, 0.5701, -0.4873, 0.4934, 0.3313, 0.9995] state[eef_state]: left_x=0.5153 left_y=-0.0864 left_z=0.0514 left_yaw=0.1041 left_pitch=0.0594 left_roll=-0.0064 left_gripper=0.0124 right_x=0.2692 right_y=0.0184 right_z=0.16 right_yaw=-0.2407 right_pitch=-0.0328 right_roll=-0.0232 right_gripper=0.9995 state[joint_eff]: [-0.9231, -10.4137, 6.3521, 1.0623, 0.1197, -0.0708, 1.033, 0.0342, -1.853, 6.7897, 1.9023, 0.1832, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.04,"left_z":0.055,"left_gripper":1},"note":"The neck close was empty; at this far, low reach the arm cannot make the needed sideways correction. I’m reopening and backing up slightly to free the lateral motion, then I’ll reassess the cap’s alignment."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteBacking off freed the lateral motion: the left cap is now visible near the right finger, about three centimeters off center. I’m shifting the open jaws right and slightly forward to center the cap at the fingertip depth.
move_to
left_x0.4900left_y-0.0620left_z0.0430
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1909, 1.8847, 0.8501, 0.4465, -0.2661, -0.202, 0.9944, 0.3695, 0.7589, 0.5373, -0.4706, 0.4931, 0.3313, 0.9995] state[eef_state]: left_x=0.4793 left_y=-0.0417 left_z=0.0499 left_yaw=0.124 left_pitch=-0.0028 left_roll=-0.0132 left_gripper=0.9944 right_x=0.2662 right_y=0.0173 right_z=0.1545 right_yaw=-0.2402 right_pitch=-0.027 right_roll=-0.0188 right_gripper=0.9995 state[joint_eff]: [0.212, -10.906, 4.8615, 1.6337, -0.0073, 0.2222, -0.1294, -0.0479, -1.2513, 6.8034, 1.9121, 0.1343, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.062,"left_z":0.043},"note":"Backing off freed the lateral motion: the left cap is now visible near the right finger, about three centimeters off center. I’m shifting the open jaws right and slightly forward to center the cap at the fingertip depth."})
tool
executing move_to over 2 steps (0.2s)
step 276
assistant
agent noteThe cap remains near the right finger after the small correction; the left hand reached only partway toward the requested lateral position. I’m continuing the sideways shift at the same height until the cap lies between the jaw tips.
move_to
left_x0.4900left_y-0.0980left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2176, 1.9156, 0.8768, 0.4534, -0.2859, -0.2138, 0.9958, 0.3695, 0.7483, 0.5224, -0.4622, 0.4931, 0.3313, 0.9996] state[eef_state]: left_x=0.4851 left_y=-0.0526 left_z=0.0476 left_yaw=0.1201 left_pitch=0.0033 left_roll=-0.0137 left_gripper=0.9958 right_x=0.265 right_y=0.0168 right_z=0.1521 right_yaw=-0.2402 right_pitch=-0.0235 right_roll=-0.0164 right_gripper=0.9996 state[joint_eff]: [-1.0325, -7.9658, 6.8171, 1.6679, -0.1197, -0.0611, 0.1197, -0.253, -1.347, 6.6393, 1.9365, 0.1392, -0.0317, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.098,"left_z":0.045},"note":"The cap remains near the right finger after the small correction; the left hand reached only partway toward the requested lateral position. I’m continuing the sideways shift at the same height until the cap lies between the jaw tips."})
tool
executing move_to over 5 steps (0.5s)
step 281
assistant
agent noteThe cap has moved near the jaw center, but is still just ahead of the actual contact point at the bottom of the wrist frame. I’m advancing about two centimeters and making a small lateral adjustment before closing.
move_to
left_x0.5150left_y-0.0800left_z0.0430
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2474, 1.9373, 0.8986, 0.4591, -0.3153, -0.218, 0.9961, 0.3691, 0.7372, 0.5037, -0.4541, 0.4931, 0.3313, 0.9996] state[eef_state]: left_x=0.4893 left_y=-0.0634 left_z=0.0476 left_yaw=0.117 left_pitch=0.0142 left_roll=-0.004 left_gripper=0.9961 right_x=0.2632 right_y=0.016 right_z=0.1481 right_yaw=-0.2406 right_pitch=-0.0232 right_roll=-0.0162 right_gripper=0.9996 state[joint_eff]: [0.0889, -10.1402, 5.3949, 1.4921, -0.1538, -0.1001, 0.022, -0.3214, -1.6752, 6.3795, 1.8535, 0.1294, -0.0171, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.08,"left_z":0.043},"note":"The cap has moved near the jaw center, but is still just ahead of the actual contact point at the bottom of the wrist frame. I’m advancing about two centimeters and making a small lateral adjustment before closing."})
tool
executing move_to over 2 steps (0.2s)
step 283
assistant
agent noteThe forward request did not advance the gripper, so I should not keep forcing that pose. The cap is now centered within roughly a centimeter of the fingertips; I’m closing here to test whether the neck is caught.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2474, 1.9373, 0.8986, 0.4587, -0.3153, -0.2176, 0.9962, 0.3691, 0.7288, 0.4904, -0.4461, 0.4931, 0.3313, 0.9996] state[eef_state]: left_x=0.4892 left_y=-0.0634 left_z=0.0475 left_yaw=0.1168 left_pitch=0.0139 left_roll=-0.0036 left_gripper=0.9962 right_x=0.2623 right_y=0.0156 right_z=0.1457 right_yaw=-0.2405 right_pitch=-0.0207 right_roll=-0.0145 right_gripper=0.9996 state[joint_eff]: [-0.0752, -10.1949, 5.3402, 1.4579, -0.1783, -0.0855, -0.0024, -0.3487, -1.3333, 6.694, 1.8877, 0.1343, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The forward request did not advance the gripper, so I should not keep forcing that pose. The cap is now centered within roughly a centimeter of the fingertips; I’m closing here to test whether the neck is caught."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteI could not stand any of the three bottles. Their necks remained just beyond the low fingertip reach; repeated closes there were empty, and body grasps did not retain the bottles during reorientation. With pitch locked, I have no reliable way to tip them upright from their current positions.
give_up
hindsightThe bottle necks lie near the far edge of low-height reach: the left arm stalled around x=0.49 m at z=0.05 m while the cap was still ahead of its fingertips. A nonzero jaw gap after closing on a bottle’s body is not proof it will remain held during yaw rotation; verify carriage after a lift and turn. The tool pitch is pinned at zero, so this task requires an accessible neck grasp or a way to move each bottle nearer before righting it.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2474, 1.9369, 0.9054, 0.4751, -0.3222, -0.2363, 0.0119, 0.3691, 0.7177, 0.4717, -0.4465, 0.4931, 0.3313, 0.9996] state[eef_state]: left_x=0.4933 left_y=-0.0632 left_z=0.0538 left_yaw=0.1327 left_pitch=0.0373 left_roll=-0.0248 left_gripper=0.0119 right_x=0.2594 right_y=0.0145 right_z=0.1402 right_yaw=-0.2406 right_pitch=-0.0273 right_roll=-0.0191 right_gripper=0.9996 state[joint_eff]: [0.1573, -9.7709, 5.9009, 1.2674, 0.0122, 0.1978, 0.7595, -0.0479, -0.8684, 7.0085, 1.8291, 0.105, 0.0073, -0.0122] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not stand any of the three bottles. Their necks remained just beyond the low fingertip reach; repeated closes there were empty, and body grasps did not retain the bottles during reorientation. With pitch locked, I have no reliable way to tip them upright from their current positions.","hindsight":"The bottle necks lie near the far edge of low-height reach: the left arm stalled around x=0.49 m at z=0.05 m while the cap was still ahead of its fingertips. A nonzero jaw gap after closing on a bottle’s body is not proof it will remain held during yaw rotation; verify carriage after a lift and turn. The tool pitch is pinned at zero, so this task requires an accessible neck grasp or a way to move each bottle nearer before righting it."})
tool
give_up: I could not stand any of the three bottles. Their necks remained just beyond the low fingertip reach; repeated closes there were empty, and body grasps did not retain the bottles during reorientation. With pitch locked, I have no reliable way to tip them upright from their current positions.
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 · 9.83 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0254, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3847, -0.0235, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0032 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6068, 9.7573, 1.79, 0.022, 0.1148, -0.1587, -0.7726, -1.1282, 10.2632, 1.8046, -0.0366, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395607b44f6ab367d6410ad661b2d8a1b499fbe024b72567dfd91df0df297a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f9a34834e51a2ad7ea67b7747366288b0aab94e4dbafd119ed173f4061a606",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39987645642400aecefd60414d88f7d1492f9b8a2b59d99e1c4d0b2c55f1ee4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.006 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_098d7f1ab9a71059016ab420c0aa1487d0bc6849383a82fb1f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDJJ4A8ju07HlnvXZwyuswEHGQdIjmb8t9wUz5in5iAXz1faTEJ3t6KMLfBmh35Zp8TWkscOpiWewjIDV0Iy-A2UNVg6UxbhElPJVYCpcOpX5WMO6Pgdh6VRhzYdLQNasvl4qpJ7qTrQWIOBNUGSQTsj12Ji1sFCEIjD7qM_STO0oCRdsy7KMNwlGx--6S11zU_uX1Sp2M93uMVRHPcKAFw1JKcSlb9iVbvhe1DrPimm_ikI_vFMlCJwXsCt5duZj_dZub5z8Q4tR35avJq0MkZH_EaW-GSiLSnsxwVgEtrWrYbdk8YBIdv81YTdhvH3Ydp4BZz5XOSz6suws3U_6GuN5EVLtTBTl2uGNJnRZEP6lvk9id8ixh1FNpvU3gLPRQerHunWUJT6yN3YSc2vwhBkzC0iuCMUow0EGSQEIbMpTG-lMbJCtkn285VAV7eU1xTMfNrxhCFy4o8HOEhb7ssEP52tZ6Vgh2J8PcewZRI97CRDuj2VwfqMBY8CdzejkXb-v87nB_zgHEvPGJ5vPIzvVG8SvOhUmtUYdq2ztjNs9MW5zyZT1WBZXOIIxUCf-JBacvbz3rtm9UKneuj7uQltQSGkGullVMGLvE7UIyE9fv09eGvtuNLl1uAuLsaBTXCFyU9LLWt-ze0QwQvfQrquNOFfzVMTi9MiSoJLJR_CetKyARez-MGKXAsWGtREj5sAGInqcN8ld_A22rb6J7e_WRZElZVW73weoFjPNJCEiEmtxcYJ-UZmrtg1AOwUlhcqmMyha7hhfcfSRN413zdjHXWbt9-_XB_7DFrmCyB-ZVIlGyyERJdiKtetZnlp8fUQ6yLmq0HpW2eoUKGaylXFhFnzVUZf7BZll-SLtouW6xGvXw00xJKpiyph6ruVWA0ynwnt_MNY6pcaweX50koFIyzRlHymbu0FpD1O4UVAgl3oh6HWVhWLp3BPf0uKYqYuY13OmDfSDsll2RjG-jYBWC1qk9JCAQg7_NARqgYG_OHF_RgQR_KlDH7ntBLwzvY85kzrOmAsQuMF4H0cl73bbbBilzyYFnTAwmR5IL4bA0Q9SLjbc6WVSDo4J_SvuwuKUsyWYxVz32t6uEIcEzEPgNoyvAze-R58Ez9iRjuUi3zQOyXkOSAipjFPwxBXC9JeZDH6Ztb8W6ofO2A2Yyx6WxxMV0Wn93_L4hQx2ZrqD_h01GaDKzwV6znc9QMT0QGDqpUomZLVao0SP9U6zWlibHJcXhuqZOQEfsFsm0YwUxuhRkKxfacTzLC3VT8vWehiq3s43Dc-dv-WqZUiXbrzsLKuIEbWv9HRkWI2hJ_T0xsv8eN2HOdA-D4meImBGeODZlloBjnu3QZ9IEWe4XcmHV-Y5GH3TIo4fCEw4aOFxBMJFDU2qSemaorCSTxZbysWZhWYwD97PBD5vIMWUJms2hX-rs381Rlma1r4p_1WIswUNYc1CiVtjMGO0TpqW5PY47mG4D_QmLV7vAb_G0YcYXmkO33cQH8krMTAAyRqHKJJ23qlpNiDg9VgoI_ttXYjPMoAKOXRmSHLhLwh_n7xkTeNyPmAnV3aPo6eDc93Y08GPx1b__7EiVjvB6O9yB8Q6rkQIj8Qu10eSUPX4znc0o8-Zs3wN6wakd0-1uFMNVJWy1Y4Iiq-QZlKgOO68pSJXUtBADpr2PSeMMtyXC-U3dWWsz4HrwLMPNv0-0r8g6G3Z8pjDqqsjugFSXFyFPLPSHmYFC1Z3WjFZr14HPXfIqUi-UfHQ37mXqKU2Y-cD5CEwSKHmX1AKwc_RCOlCnMtZ_0d_ETqSXp-f8kTTzXQkRtTBSZcA_GLfEvEeoST693WnacwVGUfAHnZPhO-C5iNRi17ER9k2XD76zdklLjy69o_ayY930MlBiS8YX8eP4qHNF-8uCpeWtcmF0QWjVAHFWhtB4JBLFOJlClF7ED7eacPwNdBMileMdrPhM-VShSOzMBN_cbqCrzr5Xkt5vUgGruXOmaELHCOtsdeQraXqc1j30JdYwCfblRzGI6EWUFAjbYETqctFf7dVRCibrAEe1CBTze0KgW-A8P1wvapPUnZeUkVUEe9K_JGl9HFLB5ScxOTVoDyO5RTGYRke8m9qeF_y_Gp-ITzSMF7crREkO9KBtK3p0lQPH0S9dZSol12TuyHPqvgrJSUDBoQsVPkmUQAOFj-Lx7UESH8XcZ9hx4OAMjlnEC7IMgKidozmVKIuMnQFrps5upIrLRor2IZYkHDT7E1zPLkRlPibT_nHTdjbJ4JmR9_-U47aYwYLNz5auYZYa4YYN0XmefYFxhwJnf-7PwpnmMIOUmptH5URMWMk6nPueaPqwfj1HIHxE=",
  "id": "rs_098d7f1ab9a71059016ab420c647c487d0b4010c730a7a9d8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.11,\"left_z\":0.14},\"note\":\"All three bottles are lying on their sides; the leftmost bottle is angled diagonally with its cap toward the far side of the table. I’m bringing the left gripper above its neck to see where the fingertips line up before grasping.\"}",
  "call_id": "call_OlecoGngPcsd0HNWaxKNhLRM",
  "id": "fc_098d7f1ab9a71059016ab420c8d16087d0961bfa99b6a51073",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OlecoGngPcsd0HNWaxKNhLRM",
  "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]: [-0.4732, 1.3098, 0.6666, -0.0589, -0.3756, -0.2741, 0.9984, -0.0189, 0.794, 0.6041, -0.4038, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.1046 left_z=0.1169 left_yaw=-0.0277 left_pitch=-0.0833 left_roll=0.0309 left_gripper=0.9984 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0236 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.3949, 9.306, 1.6923, -0.2027, -0.0806, -0.0366, 0.1846, -1.5932, 7.2, 1.9023, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5370efea44935ffa047c55907deacfdc9c5b1c8345d6977c9baa78ae89e17ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf794bd54ab51c7681138ec2894a4f4d411f563744bc566315a3fefec4458b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b289c172c3154a087808ab2991d66cc9a0a50607c6674fc49952f5f0f1bf2d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.703 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0254, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3847, -0.0235, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0032 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6068, 9.7573, 1.79, 0.022, 0.1148, -0.1587, -0.7726, -1.1282, 10.2632, 1.8046, -0.0366, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4732, 1.3098, 0.6666, -0.0589, -0.3756, -0.2741, 0.9984, -0.0189, 0.794, 0.6041, -0.4038, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.1046 left_z=0.1169 left_yaw=-0.0277 left_pitch=-0.0833 left_roll=0.0309 left_gripper=0.9984 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0236 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.3949, 9.306, 1.6923, -0.2027, -0.0806, -0.0366, 0.1846, -1.5932, 7.2, 1.9023, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5370efea44935ffa047c55907deacfdc9c5b1c8345d6977c9baa78ae89e17ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf794bd54ab51c7681138ec2894a4f4d411f563744bc566315a3fefec4458b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b289c172c3154a087808ab2991d66cc9a0a50607c6674fc49952f5f0f1bf2d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDQAegyWsmEHl1khYKPAUVsfAzxAeFjTF6dMRH4FTNhDac0FLKhEL-Q6yF7NSzPvk8WA6-mGS-rLJwYGpnxgDZOyhfLt2OZoAkijTkh6oHZR5Vnu8stng8uLRtG46agGcbZlpw7Z4tDuXNKXeLm8pUphX2hLFiJBp6b5mXpNa9tu72VdLCul671syx5St35SHyQWSDxLIdj62vxyHbqcgW8w7xcayx_XG0nlvKz1ZE5P3pOUOa_UHN3a1nN3cqlrrZHWUkxL_olhyD8JML_baxUp4IHD2_gcgWeO2yigga3OQc9Wmr7_thaIw20XNHlxT1cCK4FjMHOZXEJOVkhpPLXl37lG2YnyiclSnP04M6YARk_blqQBcb_NP0BV-E6pGsqegwRbBQHhVZmLtZMJHc-JEcVvYSlgxNsEhxRgZZWwuy4l1YktYGkE6WY3hfp0p_VmXQrMhgNNnOHEppTiXOy4LyxysXhcl1-rXFvo7Xt5zqlx_HCi3cbpLfrv64okWtm4tSFeGhcqQC5MPy2vb6gdXl8c6GBFvKHa4y7r7WEKUWTebusrHGVHIJqiBCpRmewpWpgWqFk0BqzedNySJFw9U9j4XbpNHDwUseFGVpn08gTcLMjI4PkggG4IPCj-xmDFhUMgrJ9tP1bXJSGegf8HcNAPE5_KVkXypX0kIN5uu8U60OCbJIcdJCfHR1uMiEM4LWJksmMTXYOoKcrGa-NslOMlmKEPAUPqldsSzsXQ5ZfHDHNu7II8RtYIP67TI2fYgcnm_HVXISbSjPDk3iNjtmkV0fOpkIGxIJM9zCDule6XzGuboosSVCwNv6hktaiqkJyxNXNpdqme-ayDl9AJHUdBPnfYQxClHF4g2AZKv6BO__GwHDMJgSLDq_dvt7eV32RlUFKyhLHenTSgLEL0gMJMH3iuNv3HyYDvkDs5Ih4E1eca7S1yS0LSqv5ZGsfFmA_5jSlIc-8Kb7fMaVICKpKDCqmJiJA0pxn-NSHZ-aTQf7mLThStk2wRHVPU2w1o-On-9vL1tL7pUeiLuk7tjdgI-bTjPuhngmADmYHjOwX706GMgIlPXd9D4K86Kgquy5oLc4qWWKPQNThM6xm3jSqn80jmAnheeRT2yOMjvYzY7t6_4R_icqTVPTssifH4wXpo4UhHlu244O3NvHG6msJVp1O1u-f0wkuFLLobOyL2DVtl1FEylSKJOCKFm31YvwMmV66IcVms9Aa5U3CjwyJB3aE_4VFJGevZZ3jKBNhT3XAVH56bXeaB3ZOA7nU1pRPnuoLLVGDdlYTCwwfWSA1O2VIZ_dGtNyzbvf5q6fyYh1A2uua60X8t7qj6DEj4lEwn9_UJhaoV5f_y0BfaDr-iixjjtox4xl-GTlkAXn7Ce5LAhItWqvYcjadypvpWU6HfMvH5T_X8ah5nWgNk9Z1lT9pXoQLJNa3stzkdn1lj1R0krW5wiyhyqYPp3nPE6uYvuE5SXtBrNxde_-8-fiaeycn8c7vQjkJ4DZoHQEoJI0xbCHLiGTDCiX4gYXEWNUTJEq2a3YDWfc6nP6Q6hoCFc0_V0g9jIzgeWw5Mn9d_ckrH-0jFN6ykBm1NiYTFJ13w936i4Z90nHglv7vZMNwGKMWhlokZ-7yKw_fivFLiFmL227kSW4qTy9UAycLIvAGRS3zO2xbyWYXZodfGgKOMkHyLtNJsvlOsJHNT11pytS37kf1u1Rq0TayMddvXd7pB92H5YXTsfDz1ee6Jpww5uUMXGBl5U9-Ns1XWYdfVw_NikUF5l0GxoH8UilQLsQa6jFBzyT6KGXCEvwlnvups8OavjIhrIUriwcZeUaelUusKQl0N9HjE5IumbHR3BMjA1toQBgYlEUskAE8aXH6hzGxzt63eCmt01wbzkZUygBoKNQDRk82f5u7u630wu6F0lmZuHRoYGrrYU2LdoFEEFTMEhkq3G7mKY23NkpzO-Cb9foDYFGIxPOfyY-rsuaSJap3Rn8mom7ucvNPCVLK67VohVnot-paJauqSc34iL55lvaILreNqF28n1Fuwlv0_jl3Xm6HTPUo09JLzAM43D8naIko_-BuIyq4_t9S2m6FsFUxxC_3xUBJ1MDFZsbCSE0FMKXoA022i_Wn7mWctYdzAEnrUgZJc9NvND6DHpcoCAzwm7foqcKn7ueHqyvxMxBOknUOvJt_smWCwaZf_EdxbbC9CIYwXLAuk5sNkZawXhTT4Rwa00gbLvDKMTE-PWpVFWwjycMRJ3SvVf9wCCxowSuU6qEhM0PCV_BenTU8brppi7K6sO7LciAD2gB4aAVhJNSGlZk21VKblpc-55ohdVVUq24pt9reKRzVIvy7G8a6oWAtjfyw18BaQSmeW9GXUwoYmAvcF_Bz9BqHr7wvW2JTw-GnePlf3pYEfeIjvi6NqA1QdkA1QWG0_tW5qs3w072YzQTnfzMOWDMhXmVpBWiERCsLK39Fy4MtNaVXf6UaS7B-E6vfxehUVMDRS4FCPHRsyRG-EIvPqL5T1rgE4NaQ-N5xnP3xfkZl-ZYYNscaruEoDOZfx1EpflYBXILypNkLkhw2gW0dTHuiE0y7gnAyx9zKRxw1i0-OEZ1zRQIlvl_c01tw2A2aSIFUe_eST8cTkbIVu2uZAlx0nTlBNfB_oDnuwCjW6KloM-3YGhepuBOfeSwQZaQaeFzcht1xZooPfjHWLb5dueKI0zSMcDBYkz_gN59p09bEUREHC3EE_KK5ummmqtyu0GXN9Q8Pr-5pAqt5VjKT94hq6QuU0XrbP-25NbIANLf6nLHzOWG4xVGuOq04ECQpmLy7hQ5OJi5MTXzT72BzkLyd_0wQ_-5Gxyuhkh-qrqsNoTy5auaVfWxlVtkSxq_-K7gtj2d8hfC_HGKJZWw3SSqrYe-OICy4LZOFRrXJPWjDP_oA-H4Qhc5RB1A8Rtf0_XvCDTWeenXCXgM2JxA3gV4lm84PavqZk0jrohMJrdb-7tmo1M7GkbaEkC0-lC_XANpUfl3Xc-26CB0gbvRmK-FhsEq2f5McrIquU2_ZCuplSRHwP9EVBV3MtIXdUaZ7ijBA7kt59HUe4PH51D9oe2Hner6t1jm-qoWrLmQmkWpMIm1wLrJLWe-GFq4o5SF-Fevshsd4g7esr1wlpVQztf1cGIFJLuf1hZPOn4zJTXc=",
  "id": "rs_098d7f1ab9a71059016ab420cb88fc87d093746a572ab996d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.085,\"left_z\":0.10},\"note\":\"The left wrist view shows the diagonal bottle ahead of the fingertips, with its cap slightly left of the jaw center. I’m advancing a few centimeters and shifting left to align with the narrow area below its cap.\"}",
  "call_id": "call_R6vl2pS66JSums11gyurx0ap",
  "id": "fc_098d7f1ab9a71059016ab420cfd54487d092313fc8844396e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R6vl2pS66JSums11gyurx0ap",
  "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]: [-0.3305, 1.5059, 0.6369, 0.1932, -0.2913, -0.2157, 0.9983, -0.0193, 0.7845, 0.5835, -0.3973, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.39 left_y=-0.0764 left_z=0.0776 left_yaw=0.0138 left_pitch=-0.0809 left_roll=0.018 left_gripper=0.9983 right_x=0.2893 right_y=0.0022 right_z=0.1696 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.1607, 9.2513, 1.9853, 0.0415, 0.2222, -0.0171, -0.212, -1.812, 6.7761, 1.9609, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489a1afcf4677d3b9e0292b97c58a2552ec2266849607d95fe94bc280ad74cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de46b60239d465d06fab233dda312163fa00d8ae7432dd8816d03c1efd1dab6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5436810a36f655353e662a11c815de0109c30954eb2c3b223779515d5c583c4b",
      "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 · 4.072 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]: [-0.4732, 1.3098, 0.6666, -0.0589, -0.3756, -0.2741, 0.9984, -0.0189, 0.794, 0.6041, -0.4038, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.1046 left_z=0.1169 left_yaw=-0.0277 left_pitch=-0.0833 left_roll=0.0309 left_gripper=0.9984 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0236 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.3949, 9.306, 1.6923, -0.2027, -0.0806, -0.0366, 0.1846, -1.5932, 7.2, 1.9023, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3305, 1.5059, 0.6369, 0.1932, -0.2913, -0.2157, 0.9983, -0.0193, 0.7845, 0.5835, -0.3973, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.39 left_y=-0.0764 left_z=0.0776 left_yaw=0.0138 left_pitch=-0.0809 left_roll=0.018 left_gripper=0.9983 right_x=0.2893 right_y=0.0022 right_z=0.1696 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.1607, 9.2513, 1.9853, 0.0415, 0.2222, -0.0171, -0.212, -1.812, 6.7761, 1.9609, -0.022, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489a1afcf4677d3b9e0292b97c58a2552ec2266849607d95fe94bc280ad74cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de46b60239d465d06fab233dda312163fa00d8ae7432dd8816d03c1efd1dab6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5436810a36f655353e662a11c815de0109c30954eb2c3b223779515d5c583c4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDVRdD615EItkZmgGaHfnpGB2GehzNZUbQYANWF2e79XVaup-PiU-p6-LdlGvMLS3oVdbqijZqGBDg6z1AhCfweOM-EQuM9J_yjeQ8WhqNei-hrMjTLRoOS9qazWTnphkPHew9IDsBb7e1Bwfq-ef8mvR4HsvdgSYx8P1hdaovKJmtrjwtJCjnaAYWLgqLHdLEV9ke1hIxSlxkiWWmwDVndustC9qcbgD8u_7K8ZP01vY3gzdlj5nXPW2ADxUvoycAhtUGkXKSGzBZ5XoFwsdo1ixk0jjzISpbrziYIJz9q1vC9WGIEXZJ2SWIDk3lvm_UE43nJ0gnx93Vn5GyGnFU8psllBJaPed3D5lvUqD3aiDJXca20tQygZ2tHtMZO15VU_3Z7VoQhJ2ofdemS92NoS5kAcyGkFmlrXU8rvqp-Bg2ZwXrOLRVA1hlztE1X9jq8sfcy8omc4NSbyORwfBbAx185ywcvuPEFLpiDMAWW4WMftt7To5hG4SGVAb0cQE22okrBUAzD_JG8nAY0JGQn3K4OPtJ9VhH48alGDxZlcLCrKwBeRwodMjkWeXrM4TZfZbcSApnjpZi-4_u-AIz1UafSuum5liTpPxakIVC7fwHCOJp08RZb7t7nVauutcqLcomMRYF6055trWcI1mpOEbukLpTn_ER6hoL91sHJWRnTtHHtsGrVZvLp4m8m8DWUXEzhMEuEyablnDffrvOsN1Il0ovIx7AzYFldVhJdkbgFENspnJNKuzQVlhafYXZDo4uaBV14-SbxvxhewyEQR5hYFXxIbKvTvQKqTFeXI0ZgirSy-ZUGRq8AJb-_yfje-S9Z2Df-FeryAQhVS2Y8mLG68RSiIeFcqQuqReH6_nQzTat6_5hL6xWfTI84chIrUimHl-CdTtoDplamnrGe1JZy7_1SXwqpHZ4E3UdltQ6u0PYuTINmdjE82iRo6zglK60VhbwJ43l4buorS9FoSbHZY-VwRqhMrn7NxyRN7BVVkResOMKx19en5uwwYPicECm0eK8XDlmhP6OSTkV1udYf77MIV9G8Q_W3p1rdAz7JR83cV9S7Zv9wZS9ofJW4k9OxF3UUHN4mSolydI2_FF1ITnr5KTsLNtNj3KvIFKJitZnCIp1OiDSCHuDXOi2JVYpQg15rLZxHLY82WED9B6qiaSTdb-crHDyHBukmU6RspvDzdyfjUZt_WFLfoEdze8MFE_EdGRl9l6Xt3T06EIA_m7kp8BwLcW2ykj8MrOhTlWpUKZCgrLHpNRCHUfU_ntaIUWVm_OdoRh5S_FFpU8DObWsXmtrhsw97BOWMjmdvdFPmzzrEcuHvWwAPnN23DzDsE5N6ivx_Om2vJxH-tZVclk5l89uv82Pkwb8K1QTc5rpHj_QipbBByCKFWTgkRk0FWCTBCqjfE_qcnnlK5KbXoiCZhpkbqLliCxy6_tsDMBoxRa_wAHOxusi-UeCQa7LNi4bA6iOG7tGBckxjMcGUs3PU3cjMHpKhOjfUgCQmUHYiRjivcV6L-hvyAWeByrnyxQbbETL8VYuQvTftZwfGoTY22CbZhvGM5sf_qKpq4W3CLJHMNB5IzJKD9tcxWiMpQmIF2VyEdM0I1YMAVXmJjL5CgnIhE00KF9xR3SKWEujIg7Q4soNwB9yoBHy6FMZCNETB-BTojN_h620voJYyfAebJVrson0YhlzYQXUkmINPjGQKdWDAHF7X6E3D6_YD0RkR95GS214TSmMYauXj4UdqX7PvajQCwh3t11Oj5utjz-hntKMz00NnrzWtGQiqv_6x6iJn4ICyx5pa7QK_dQTk152YJNnrSMhAMxWS8I1nbQYNEGhNhWzqgOXkiec-pAWtiPjOZyys3BwnmESpCL_adrv-w5sUI6oxPVYbv7Hl218PpgUyc1-MEr0F7it-5qC8x1MQ5cP1O038bFGvLmBKhhcUO-5XTTp39ZRA0YJk8v-zJbEhzvLdTXtkfePKvzmtlQzA2M80YgBGol2B0xiks0GytUvRThlByt-2okwP3SmVdpOC7Z_ctuw-gUriwkgud0utH7l6uliZSjmDEMe98BqDNK5SIZBBUklcJ6zeCo_oxXdf8THEOfYETg0voR4Tu3YqGFrY9rzZTWj0Vww1tu7APlexGTBs_3iKixSKhjb1JeySoFB5--7qXGaofSYAIjWPiSJrm5FLCbczEQNcsb-wRJGRq35oAGJp2geDyNH_FrvQBiNff9ycR4or7x4_YO3jHHizQbjRJZU7cBM7P_xCg8tQV5OPTAor2H2GUu--wruENwx2RX7DLEs3BJen1RC5KbBs4PRw30XGRo12Fkufj9hjb3OTmfQ9lfM4iMvvjy4cKOyawcWe_BS2V4MvwpI0hsxB9dIrkmEo-HN_pMuN2avt5CC6Sw2SI1wN2YJKBD4WbpqqiE1RJosHJHZNZDrWSsVYSXfk1ILMCwIsqRoUfTIe1YXpqFvuDPgXDtqa9Vb4HaMnIw_eHvG0KNX6P0IWixRalsz_IwxiewefCgJRBZeqeMKy3wxJGlTd9YVM2WeYUsRhJcuL",
  "id": "rs_098d7f1ab9a71059016ab420d1f89c87d094f8226a37fce126",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.055,\"left_z\":0.065},\"note\":\"The cap and shoulder of the left bottle are still ahead of the fingers in the wrist view, so a close now would miss. I’m moving a little farther forward and left at a low hover to bring the neck between the jaws.\"}",
  "call_id": "call_ZGdoMx8luZgGMbXWPDNnSY1J",
  "id": "fc_098d7f1ab9a71059016ab420d4ba3087d0bef5971aa844864c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZGdoMx8luZgGMbXWPDNnSY1J",
  "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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2085, 0.9983, -0.0193, 0.7742, 0.556, -0.3882, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.005 left_pitch=-0.058 left_roll=0.0015 left_gripper=0.9983 right_x=0.2864 right_y=0.0023 right_z=0.1617 right_yaw=-0.0031 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -6.5983, 8.759, 1.8779, -0.0122, 0.2613, -0.0122, -0.0752, -1.8256, 6.9675, 1.9853, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18f93391ba1c4258d6670213e4676903cd25ce825ec6b7ba8dbb9a2b9007921",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c2e4c9554f742a2928e3c8b0cd5adb62ae1f7df243485a94fb8c422302f7ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd166eb0f0fd3e4af313a18ef6142bcef55ca24c7fe5fad2fb55a902e068ec0d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 6.616 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0254, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3847, -0.0235, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0032 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6068, 9.7573, 1.79, 0.022, 0.1148, -0.1587, -0.7726, -1.1282, 10.2632, 1.8046, -0.0366, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3305, 1.5059, 0.6369, 0.1932, -0.2913, -0.2157, 0.9983, -0.0193, 0.7845, 0.5835, -0.3973, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.39 left_y=-0.0764 left_z=0.0776 left_yaw=0.0138 left_pitch=-0.0809 left_roll=0.018 left_gripper=0.9983 right_x=0.2893 right_y=0.0022 right_z=0.1696 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.1607, 9.2513, 1.9853, 0.0415, 0.2222, -0.0171, -0.212, -1.812, 6.7761, 1.9609, -0.022, -0.0317, -0.0073]",
      "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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2085, 0.9983, -0.0193, 0.7742, 0.556, -0.3882, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.005 left_pitch=-0.058 left_roll=0.0015 left_gripper=0.9983 right_x=0.2864 right_y=0.0023 right_z=0.1617 right_yaw=-0.0031 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -6.5983, 8.759, 1.8779, -0.0122, 0.2613, -0.0122, -0.0752, -1.8256, 6.9675, 1.9853, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18f93391ba1c4258d6670213e4676903cd25ce825ec6b7ba8dbb9a2b9007921",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c2e4c9554f742a2928e3c8b0cd5adb62ae1f7df243485a94fb8c422302f7ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd166eb0f0fd3e4af313a18ef6142bcef55ca24c7fe5fad2fb55a902e068ec0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDa7XtcB4GMDv6zEQyGFw5ePc63JyLS29v7vTEoYBPKviM0Hy-j3fSGM-V_Pujsv0zBLk3j23113WJIAyMEg0Xt8Be-TZf4mgbbXq6PqZEVHFDjGJUMzTEDEbUMyASyupj6hmn4KOYbQ4yrYKj0z8q5QlhGIvP7-WRqb8KFXY62Fks2RQIhpQYiFQbM6JoHZXYOvsIBXgR8A2N5Hlpgo5r2qQCjNvID2ugq0Eat4-B0ysqDaCE8zBU_0n-saFJpKWfEoIYlNImK0RvYPJ35H8HIcT-GNJJI2qjso1C70JUdMIu_EDEbZNZ1NN9Pg3u9L3G10wVhCtYSRZL08ccjXSrSDhDySkjsfGhcAa1xUeNCuNvlEYZswZU45-UAso7s6tNxrZzUJdUhYhL1RYuNiLQj03jRF8d6RKdRtOBhSc89-CPFM7tgi-gWru1IYWXzTNzFSqXyzAnuKq0TBuIqEc3okKgHQFM1Q8edUJPA0VQSbxDfNY-gTnaM5RwqjIur813ttlm1cavp0Htlrfx1FuZErSQay6AGcTlvdb2Hzfrliriq_kq54zS0j-cdaobaNlLMuA83XyJvN9RTPGtL4DkRmYOKM4bvly3wdoy2SoXjU3IK1D7MK8IuQAb0PZn8DuRBmd3xiwSEJQbwc82JTjgi-wNrfxYAls8s0zsQiWy1EZ60ie0Fd3UhziwSpfW0ScXsfxtXHtnQsh7TqZVqYM0i34vIo2x0AfrfLQvycddHXqr8v3p340eBrHjbYVdZDKroAiJWZmKkynXAP_4SxTb3K1VNHTUpXP1e39HIxr2hFx-bMCD8GZlehx0sZWaGR6UVVwWk77DNZPCD4KM4b8rnIrjKb7Z0SQCo3nJGp20GYO4_5bUN-yNoutuCrLAQVGauyqjhO53_AH8kUJCWrTTqh8RLVOJhX2veWHhFI22LKt497WYgbJ5eHx684S0horwhumEQF5Q_SlrW4YRULzLLvdRUEgPg_VDM47mAqNrsde8oSn-_v9E2iksDeEHUHy1Gn1es-Ig8147CY-uuODgWVDO9ZC-1F09N_5HtasfW16x1rd7InyAet9yCUuDUGfB8WprKWuOoCyfaO2FWIJVVPe7wmINE42jB6fwKFpNtVMtrDH2FB8100oEUsaXGt9s0kSj-lBwTg3ubf47TmJ77CkLfdUy1ACpqedq8XVZDXwbkIzZJqcnNbR54dG3yKGo2FiKSO5LfWXDiIRlNvXP4nu9-j5RmqV5KvmXe1-pJ-Js9JyPSIl2sN31qEBfuwyjbKgTkCzXk8IxzJqg2Po2-JPqPmULaubEgS70xqMJnzD_lSfZPpqloRDmz9wEEGCUz9LPLi8cB-0KkuKMoZbNFXUN9cqT5KEyf1kl8GXHamOH89HHJLlE_T7K7QqQzuUR6D47oL2R0ufuWBGh7kSANxIMj6qlbjkXHAVRtuPKqJl7OZqGICyM50Ylnf4xmxiuhbYMZsRhDUkuL9Rc8vlP_LG6YSJbKGMsya3VBqSOREm2v_2gqkXkglZUOEo99XifqpaHiD6GjbyM1Pk-2QX4hwzObOl7pCYzhk8xA7eBSbmplHHZ7XfS1zNNQnk2ddwveY8DIwLnku0utsR2fKdG3WhEhHlMJ_K--LMpUxu_JaFaEc8WIoE9mik726f5q-0IRdgM6sX3nX1wXOD9tK-mmAgu_V6H2-HN5p45E3PcyVyJcqmgBHE6JBRrcj_J2GeU7HK1bDgDvEM16pfqmDE1s3C2_k8rVjDs-tanCXE-s3mv15b3vqV2V_wlaikXvcn9KyfUG2W5q8oNVEsHDfskU-E1khTF93krkXJ7ztSGp0ttgmN5mEPay6L5dQqK-SwAwOhTWQO89A3WkbGCjCsE3YdSugGfxFC96Je0Q4xerAWtHV0hmSLCshnoa6sMhu6enLYljBZyCBEAgaPec_sjdGm6oIk4XpijT3GDQX3UN3nE6swSi_c6B3dmsyenap72vBzsaoEsdjJteBlmlW5TElfnBwri2SQvfq5vd8UAFeuC-Nfar6fi5QyYsVatwW7JzLFjw3lrHZ6f1yZGSPHuo7GymhlAqxw-mBHx1zppZWvF62ws31fp2__Lta1fyx7US9X-8kkUJIP27CgwO7KiWlgNxlW9tXmgph4lRVBrgW0_j1XQDi5qJpFjLpAf1FwkB",
  "id": "rs_098d7f1ab9a71059016ab420d73bc487d0adb48d222bfda2c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.075,\"left_z\":0.15},\"note\":\"The low forward move barely advanced, suggesting the arm is near an awkward low pose rather than centered on the neck. I’m lifting and extending over the bottle first, then I can lower onto it without dragging the fingers along the table.\"}",
  "call_id": "call_lgIHgBC0Rhz2jYyVenafMvT9",
  "id": "fc_098d7f1ab9a71059016ab420d937d887d0b344b61ca876e8f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lgIHgBC0Rhz2jYyVenafMvT9",
  "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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2081, 0.9983, -0.0193, 0.757, 0.5224, -0.374, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.0048 left_pitch=-0.058 left_roll=0.0018 left_gripper=0.9983 right_x=0.283 right_y=0.0023 right_z=0.1538 right_yaw=-0.0034 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5162, 8.9504, 1.9365, -0.0122, 0.2759, -0.0171, -0.2256, -1.8256, 6.8171, 1.9805, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9957e7d2244d27063bafba104f3af71fa8cc9a35ee135fb9b031add753ded2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aea1a60b8772d4d46028225fd7b28075bc6b664dfe426b4288ac7370f25c766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a001607e2b6bfdac52e23325c798ede0cc6cdbfe42696b6e3722395764ecf184",
      "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 · 1.991 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]: [-0.4732, 1.3098, 0.6666, -0.0589, -0.3756, -0.2741, 0.9984, -0.0189, 0.794, 0.6041, -0.4038, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3543 left_y=-0.1046 left_z=0.1169 left_yaw=-0.0277 left_pitch=-0.0833 left_roll=0.0309 left_gripper=0.9984 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0236 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -5.3949, 9.306, 1.6923, -0.2027, -0.0806, -0.0366, 0.1846, -1.5932, 7.2, 1.9023, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2085, 0.9983, -0.0193, 0.7742, 0.556, -0.3882, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.005 left_pitch=-0.058 left_roll=0.0015 left_gripper=0.9983 right_x=0.2864 right_y=0.0023 right_z=0.1617 right_yaw=-0.0031 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -6.5983, 8.759, 1.8779, -0.0122, 0.2613, -0.0122, -0.0752, -1.8256, 6.9675, 1.9853, -0.0464, -0.0806, -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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2081, 0.9983, -0.0193, 0.757, 0.5224, -0.374, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.0048 left_pitch=-0.058 left_roll=0.0018 left_gripper=0.9983 right_x=0.283 right_y=0.0023 right_z=0.1538 right_yaw=-0.0034 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5162, 8.9504, 1.9365, -0.0122, 0.2759, -0.0171, -0.2256, -1.8256, 6.8171, 1.9805, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9957e7d2244d27063bafba104f3af71fa8cc9a35ee135fb9b031add753ded2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aea1a60b8772d4d46028225fd7b28075bc6b664dfe426b4288ac7370f25c766",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a001607e2b6bfdac52e23325c798ede0cc6cdbfe42696b6e3722395764ecf184",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCDgLznKilFxv9aFuU2V8by4qdbvhh7VvZ1AQNqX8BhtZQHVwdslXOCRzxjXbn5in_EHbG6YkZK4hSiNmKShIA9VTOu2PxDJiCwaUz20NfZdw1AjZsu5jXlqfbKpYEhbUBNbZrjETOoGYvEJjhXnJfp-xurLWrF5hBnl4fGXptVkWRuK948V-b1w6lA-OfRoI8p7k9TLOgJZBOfZDyaQ0Oe-Cth4mnnt238RvkUu8sEGsOq-kA8A-qYvxVRartHoS3bOGo7h-2zGdjKsPrlYrSG_TD5hlolxrcs7keaENv273jtMvvPuf1HUOh4rj5xg9tTTevkFuaTdyzmoa1AudVWXmgMcn9XBcHA2BKMrPhcCbplFDRbTnwH5s4sabWN80bKkNAyWWg9WlGFshKV--aXJWlYyjVhR5Hd3IPVI_YlT1zrmqkDUhm-TK-HnXSTSyVJwSbI6hwEObHiu-hN6d8zr0nxJuZfJPCSz-US596UWLzoDXNfjm0y_qnG5HVUX6ngcpytS2nRDUeFKMITxjUorYJL8KhRFiVu8m2iUKvzDb_DHKzLF2DbDWYVyAN2njXFQ0GnC-H-ioald9_dXVfVoCXpyekiWOAPGJW12zF_cx_02oNkImCLNwACZNnuQyY1sXyvL4R75DetdFQkmEon8a9CoajmdlU3HCG0Fgn7oMxeGE_QXb9cBUTbjr3ojYI0BcCsi6Mp6HE0dD8cBz5LgjL0WHRL2XUOiVQiJomg7F1E1NPTNe-1XIiNE2zqak6EcaleRtIy3Wm4afabs9K6k5_CM5hSxVnj13w6H30K7Sbbg4884pFjLZZ0rdgmCPsluVBxRQPN21zqWRXmw-8Z8XkFzHXjhYw1bksPUdAMVyfwhuzO6cF4osE-o0WMic7g-vOYETIfWd9KqfiLpgXPkGehTq7ZiOmyILwvbqYDP8wnK8MpMUJ-EbtvOhWMx10YYjAP0ZG14NDcAjaatJvqTT0w_x3E_PWGCwKjFt2XGWYcsTieDwaK97srGXg8eKYaPB1oZV30P2tjSVwYcIYqxpaqGqyLa7Zptg13ObWW-aQ9k4QlEx3Tfi9KqRoqXiq-nFK9GqRlcYxT4hii4d8xL3eI7DyAtY0Yes9yDWnCX-7qKTP1Gm31v4QDd5q4byxPcqtsI0622kzWCnG9vQ5hbHpEktc9rko3eQUwWftKjGlWWnu8kOLaAe8SM1XiT8sX4qHlH_ueFV182dCgjC-XLXPAUrc_mk5Q9Owc9d1fF1NKXkZARqibQNUkiHxxPbFbFRyub-nq8qE42ybG6_pQ8n5MiyBTkzIqKz5lCLuwOALXi1Z0BvvcEnILUdWTeW_e8LvScQuylfba_Ez-GYZYJc7_1AmDPayqGrbKxqB4a9jByBNyR6BamkHou_EzLhXdZoAwkEAtpqKMqrPgjLkLTFQDh1r6OF8lk7MC5CSRjPB7s294cMu99qaw2ByeipnDxxkOA2JfGz4K7-8JMjriqJKQqgZlDjmtq2eu60Bk8xbCIcaup07yJAVNsOADoZl20YtOmjsLFUdMSEgRnhjShyK_Qk22b6mGoCcLrSmuvytr30W9zazldXpOwPaazhkvhEaR8z4Lan3gCmoj5UsPACRyug-kvOZHjajHZSyAv22rSNgq00fuMCgyI1YjC4ZDWqfGw4V6-w3t9t9feYOVq9E-8XC1v76h4SRGMBGKgwRGTXjbOOL3OW3CCdFv3YMdAEzo_LkbdgulRrPA7tpzkp6_lKVACxWEv0n1_wNlbQtk47lGMPj5ToyyjtgFlx6-OqNzjVFVH2HV1pltwztbzDjIZ9373CMykLepz63iNVg_SnJUJfm5u7a8zz7LcW8dFUlFTD1vsdiFXhRrwzWLs8Z2PqzYLO_7ZKOnQgxgosoX9aXkvZRKQQSWKhHt-IN6eU_Tpcx1foRM03CiJZJJffZlvjAzU59wLqigx6DCOudlYYg2xSh_ssxloLFl1pJ3mxX5WepxYAcoEIotwLPWSxTQKvHOMfLLvBdbSxm8UFQblOtMdugDb4DO-IU4X0K1VvGxP01XyybV_NzNkJbUXuWfd7ib6E5KYKdmNuXgoZH6HQvMlCmZet6uUqzXsqyV9HTg6fc5Y21LrNLnUl1lw0BhbR-JS13QFJqpfQQF_NN7JSvsvKdYnMn5O3eF4AQTs4HALks92swmr0PDftrySQbxiqlGXa4UqSCvIph0sw12u-mgXjwg9Wq_f46_oFjiJne5p5V1l0qwiByxL8KocQkSoKTjKdhfLVTWsS7M6KJyyp65QyZRmjCAgk6WmgRBh_BcdFUa7PP26oK38bwhPo920aZWYkoI3BWLSQmkfD1d_nnUBRLe9VMkgAsgHR4D08gBts2rASrEkBycrOzL_5uM_dLEh7VCkxXxcKL9otVCMGHj3tIto6qGELOz0907k8UlJl08d75TZVSC0rxn1kPTfXX13am3M4P21TdhSVH1G-JxG7nV8xWv4rA0hL3k75dhXmKJ7eUNLCM6mgqNwsydcQRLxgZH43RuXTtjQhojwkvVjizBwQvrlAKBzxmeZxBmnQUIIkCNZiuxcVc66d-Ovi-ESqp2l5LdQIqyZPFcvWAyLA-kG0mudUyCoE8RgXpek04_gkOU_3xlMpHrtiHmJ2ctAfSKYc8o6ngxQLhtypkV0myrsily-1J3c_Wm0i9AN9U3bwXzh0twGchqqRgpFf6L3GWtryUrARIsKorbvATnvD4Iv7rnpj6yXOWzkum3uSDniqsUhlLqyqCe8RrBd5ho3I-3iLsmHT1eyVishYF7NC7OhkXAsWmdtsnyMA-Q1eEv6JyDC44JO1BOa3ZJucx7M6oTizNuNu0bm_tkaVl9VlhSiL3UWHXqxeinqTevXHUciINLqDUi5wXTqqdNJg1mAFAnvZ7UId_KGCp9Uwd26HctIAPrUiF_okjg7Y32f-vZfEI8vO2PLoWOqfVUSAN4DtQ2AOs5-Dy4KlrxMOh9t9MfiU34rs6httuEHmkPEVRltMRjejBijF1fYeAUDiCQN64BTBnSKN-WNKpKrswXH_Hs32JVghf03QStxXs7FiIOnFZmMLXUX59VvKBfKKnPYYo4h1ISO4tuGIUKETolzKgrwxVr3-91OrsAy4mlNaI1RwSGiID26PJ0RPwpj5xxDKO6QjKNMNh2_JxE=",
  "id": "rs_098d7f1ab9a71059016ab420db8af487d0afebc8ce90425d2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.03},\"note\":\"The left arm is not advancing, and its wrist view shows the bottle body already between the open fingers near the bottom of the image. I’ll lower at this position to try a body grasp instead of forcing the neck approach.\"}",
  "call_id": "call_KFC52hXbaH3B7IgK3IacuXAF",
  "id": "fc_098d7f1ab9a71059016ab420dfe22887d0ab631f06e154c1a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KFC52hXbaH3B7IgK3IacuXAF",
  "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]: [-0.3214, 1.6436, 0.5152, 0.5407, -0.2741, -0.2287, 0.9983, -0.0193, 0.7361, 0.485, -0.358, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3941 left_y=-0.0771 left_z=0.0466 left_yaw=0.0144 left_pitch=-0.0011 left_roll=-0.0317 left_gripper=0.9983 right_x=0.2791 right_y=0.0024 right_z=0.1456 right_yaw=-0.0034 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -4.7658, 2.6462, -0.3687, -0.3639, 0.696, -0.022, -0.4171, -1.388, 6.9812, 2.0098, -0.0269, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc3a40095654da96de48b7a6a2ff85d8f750c9dd050a2db1c9532c33a00dd9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8773094b1c84da880de85051091ac2ce48512855f19e7df051ca8b495661aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e92353c526c523f46fdb9474cb92077b8bfb7ce66f5a52e048661686f51890",
      "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 6 attempt 0 · /responses · status 200 · 4.518 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]: [-0.3305, 1.5059, 0.6369, 0.1932, -0.2913, -0.2157, 0.9983, -0.0193, 0.7845, 0.5835, -0.3973, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.39 left_y=-0.0764 left_z=0.0776 left_yaw=0.0138 left_pitch=-0.0809 left_roll=0.018 left_gripper=0.9983 right_x=0.2893 right_y=0.0022 right_z=0.1696 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.1607, 9.2513, 1.9853, 0.0415, 0.2222, -0.0171, -0.212, -1.812, 6.7761, 1.9609, -0.022, -0.0317, -0.0073]",
      "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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2081, 0.9983, -0.0193, 0.757, 0.5224, -0.374, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.0048 left_pitch=-0.058 left_roll=0.0018 left_gripper=0.9983 right_x=0.283 right_y=0.0023 right_z=0.1538 right_yaw=-0.0034 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5162, 8.9504, 1.9365, -0.0122, 0.2759, -0.0171, -0.2256, -1.8256, 6.8171, 1.9805, -0.022, -0.0757, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.6436, 0.5152, 0.5407, -0.2741, -0.2287, 0.9983, -0.0193, 0.7361, 0.485, -0.358, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3941 left_y=-0.0771 left_z=0.0466 left_yaw=0.0144 left_pitch=-0.0011 left_roll=-0.0317 left_gripper=0.9983 right_x=0.2791 right_y=0.0024 right_z=0.1456 right_yaw=-0.0034 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -4.7658, 2.6462, -0.3687, -0.3639, 0.696, -0.022, -0.4171, -1.388, 6.9812, 2.0098, -0.0269, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc3a40095654da96de48b7a6a2ff85d8f750c9dd050a2db1c9532c33a00dd9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8773094b1c84da880de85051091ac2ce48512855f19e7df051ca8b495661aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e92353c526c523f46fdb9474cb92077b8bfb7ce66f5a52e048661686f51890",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDjjakuBpBRTNPd8b9GRAbJc_Q6S3KkXqizs0P2fJtlHOabuMDzwmTokpN1ii5GgHy9NU33cgm2mvK1moMHmf50ArGjrx2yxJRVwpSVhhGZpv_JbLes8SwITwi7vMe7hurB-AL1R2xI1CHX3Mcv2PFTYCRGBlOP9aDZuhhKqmiHpL1VDYBPmIbmWivE4-I5QK29HcAXk3nFsCIs_9kCkoKewecSjlrM4RXGCIeeW9C5pQe0eXkYIJIA8yLtAk0fmvE3dquxu9dvdN4DgEVJ0lCEOKES8tAiqU0KV0OqHf-TYZ71JU547RQ0l-09R9yWA-yfUelLVeiS_cJzgeYAWaIIJChE9Pf3AfDuHTzfDMJMQI5c7xxq4VT1wsy3rZEzT0j4RyyjFV0pglOMNgU8shuGlkrXigKSSzZmrjlERM_PQLnke8wx1Kyvkm_qcZHGyXoVrJRuUVL1DtdLo_3kwaMgArPGGGIQBFDNVUa8DiWy3RS5Td8dnasWSmS37KMFqaZOLegzR3pHpYNBRr845YyMqxvS_1-cDXG0nwcN1sQA_3FGDUWEi15yukzBwFH5DFt-ztphpCYuY3rwaCWVmiY50Uzjdtxt6zEWd-poN-lOTm_knKljZqXvGMUI1Euc1Oxq0VI_zMO8NOM0dS9AwfxZJ19U8LVTq6DzZYWXe57OpeQ87Ba8ld2Jr6sVmYbp4_KQR2Cg0rqFXD1uWJmwzPu7AOnIMM6U_YQbdeCr_NE-snXihsmE-5hMgsdmmrr5DTJSlhky1MjqwlxAinfE0jjbjrSy16hHVVB_Tcv_w1LN_cePQpDV0aykaMlLMM8jI9600WZZdqljC8dXtJGaKT7K1Hbmz7CNTVSKrxL1Pok_f6foIzQPG0NGW4bHdk79n32cAwMYsM4XDka_znS670_ZTmUzBvC-sxIjvPa23Rf0Y-UgJVMvbgqI5q8XewTZW96L2WSC7_LSd5HqdD8Z5BtOGX8uMXbpd7fUS3CwpkK_DKRqlNLwUVra9zqgX3ZqppDoTT5Lyte0jyZ0pg_RfdGQQg-M3w7z3ykMwFqpt1yt1Xstqrloga3R9vPQF2iCDU9Qc8xIHhRXiqoh07cw86VXcoVUvAr5b6-GJNpWRDdqXz3dMIA1_Sone9sSDCoQ8ezArY-Fe2vePmSiWk5CYtsFTc7B1SnGEY0dYdTZP0I8-84SrqossLDIPI1qhDhBGG2Y1IcYxF9tfZ_7ft1aVZWUKJXC9v1BMmPx_yclx3ZRlK0=",
  "id": "rs_098d7f1ab9a71059016ab420e2684c87d0a937bd3715943eca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are now down beside the left bottle, with its label and shoulder between them in the wrist image. I’m closing to check whether the gripper catches the bottle.\"}",
  "call_id": "call_4YTjmbjCiupqFIUr4odMuaFs",
  "id": "fc_098d7f1ab9a71059016ab420e2aaa087d0ae9aa5dc9821c6e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4YTjmbjCiupqFIUr4odMuaFs",
  "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]: [-0.3279, 1.6432, 0.5125, 0.6132, -0.3141, -0.2256, 0.0126, -0.0193, 0.7147, 0.4473, -0.3393, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.0753 left_z=0.0616 left_yaw=0.0406 left_pitch=0.0721 left_roll=-0.0335 left_gripper=0.0126 right_x=0.2756 right_y=0.0025 right_z=0.1377 right_yaw=-0.0031 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.2154, 5.641, 1.0427, 0.0024, 0.1441, 1.0672, -0.4034, -1.2923, 6.9812, 2.0049, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867db73b95bb6e2a2aecb634f85b81f90eeb602e35134a959b5519c86e79ea5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45023d156f2752282130bae43ba3e0515918c41ac63c867e071aa2fc5c34e9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acce223b078f504e4ae4b9c769c9c740452a5239efd3cd2ea7039b6bed015dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.161 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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2085, 0.9983, -0.0193, 0.7742, 0.556, -0.3882, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.005 left_pitch=-0.058 left_roll=0.0015 left_gripper=0.9983 right_x=0.2864 right_y=0.0023 right_z=0.1617 right_yaw=-0.0031 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -6.5983, 8.759, 1.8779, -0.0122, 0.2613, -0.0122, -0.0752, -1.8256, 6.9675, 1.9853, -0.0464, -0.0806, -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]: [-0.3214, 1.6436, 0.5152, 0.5407, -0.2741, -0.2287, 0.9983, -0.0193, 0.7361, 0.485, -0.358, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3941 left_y=-0.0771 left_z=0.0466 left_yaw=0.0144 left_pitch=-0.0011 left_roll=-0.0317 left_gripper=0.9983 right_x=0.2791 right_y=0.0024 right_z=0.1456 right_yaw=-0.0034 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -4.7658, 2.6462, -0.3687, -0.3639, 0.696, -0.022, -0.4171, -1.388, 6.9812, 2.0098, -0.0269, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3279, 1.6432, 0.5125, 0.6132, -0.3141, -0.2256, 0.0126, -0.0193, 0.7147, 0.4473, -0.3393, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.0753 left_z=0.0616 left_yaw=0.0406 left_pitch=0.0721 left_roll=-0.0335 left_gripper=0.0126 right_x=0.2756 right_y=0.0025 right_z=0.1377 right_yaw=-0.0031 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.2154, 5.641, 1.0427, 0.0024, 0.1441, 1.0672, -0.4034, -1.2923, 6.9812, 2.0049, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867db73b95bb6e2a2aecb634f85b81f90eeb602e35134a959b5519c86e79ea5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45023d156f2752282130bae43ba3e0515918c41ac63c867e071aa2fc5c34e9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acce223b078f504e4ae4b9c769c9c740452a5239efd3cd2ea7039b6bed015dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDonXNpoG5UgmC7-UiLIgN_TG1VtFWelU7mmtw28ulPZek1SRMipo6iX4eecl8417NoWskXL9G95VE3W5spY1sMUS9JG3eQq09Ve35aG122UPh0rcHv6-PgoGuwC0lqQginQGYj8BIdvrpz5mWQt6sbFvTYnxvaeAJN27KgCt6h3i1iu898w3xGWZ9B5M16WOQbfnO5fpkydbXcK_aetPL7qThjt-Y1x0fbTQ6_fLpw6hqyQ9BETQQkHjgiwjljnJmAP6LS7m_uJlC0Qz5gN3FTl4fvPF-N1djpqqWjRLr8iHZjc75cKmCHJRb9-hG1iVO8pc-eryi2oeqvDcFN5yOMmA-lJGSJUqkiv-cZmwwSDg0jzyYe7Jz6xOaHKWEflbbdXzMA9ey-622ol83CQzZxwdfiMZPm-XhIn6sknZKwXZXIQgYEpzu9cYGVmMqjg3eABkqox0rYlIN9HlN6mlLZo9dm1j2NZj07nU1VxK7qsaxOq0xBnB9GdtyiLB74-mLhIcWx9oTEFiu_XufO_HmbM-Y8MOlPVDj7n_jBua3lQtEPE1SKYIY1pdPNuc6vtqKrVDrtajefyecQJuVa_NOAXh5WAdJm7ukVVU9DacPcpB3-cyhRR6ssxZ3gfL6BAFyFF4Gx6Q0Y5Iwo1bFftJFlTV_ytIqsDZI64oyS8IxEzulRP8W7K_7HYr3q5RnFhYb8s9PgtupCqOl-r8unD2LCxtofvia7LrnNTFDHFub6xvqfphQ3SR3tfOA2eZu8E1SQAsZZh34z1Ut7COl9hVSKQpl9VRz20NGxT1rKFLLKOrYXFW2BToHGYaOk9I71B7acERJvGsfkVVxvMJqFsNaUepkfYnXzsiqn4bWPutA3dpjh62dZtHiDg4FvDnsUu37brMvqUAsEJl_KrDtsgcxFKKAn_U2jpk5hJ1emL1iQ2G3Y0Mf3lxgyBTQ1-cGRGMi5UXvHMT1wu98b_FLEwNIi6waU-SVPpnoUZUE0mGvB4XXCUHY6MeYW2FjamUVu2OpTcxzKrYSeQGbTFAVN4MXXP_Cmoe-5X97GZudIIEYRHPUSw66SKys_uO4Mrf1qouQbqatGgJ6pg4LKIpJ9ulT-iaLDrTxDozME0J6sPiLXCJpxkyJsQH19vE894sSarv4udwl1aDQUhl8fth_oBcL5ma9Y4rtZUJuI_rH0Pm0oh6xxQ70ODE7CxUYThIC0datJjHrZ68oswBks47WzC0oX4R6zKckmR1asq6UxNe9F0CaeXL-LfL8IWgZ4cKVfAZZX-WflELa9P3ik_niJl002vjC1pTSIVBNLfx3r6d04tiwS5P3pQCNWDvFDfyX1C-kexuxOu59CPNCbh-5F5_PBehQT8ftBk9BChD9USlfszFgCLyjuB1a8Vm1jM5FHR26brKrWhcc76HAioLM2gNoz7bW1pvQlsYij4VIKGRVYDl9g2YmFupHKUydlkxDsWKQDDxNHbki2PLN9DepaVLnqV1Eqnoi_C_knIA7ayf9MMMWhNwMO-LqE8XYakX7g70o6L_TKMko0oa1FhX-jiTmpgSV_fgX5qBJ_NsvIRKeUoyKyCEI60Rbs0gvBh8SF57rxCHSHBjxoSe7InJrmIpfN7WC_TKsrzWLwYuuFA_GpuG15JCRhiXIvX_TZzYWQIQycUZEOK--Qly4UQd1lpACjShSvT5DrfJHmsYwniLx552fL_IkfJWZpTpqYAGVeZ1xIoyTC3if6mVlPSslGti0SZTa9at104VXuHfgmLEE_CB0IDVdrUvArlUrnxMPiuuVVE07Ai3Rrlv0WhaUKRw8aTFwNqNAjGEn0z4cPc2xc6cK2jRnxs16lvIlzUgtbNOyrvF0z8-3i2lkkMXlg3-7rEyYYG3HeUlcwUI9-FZo70CcXCX1rtjsGUavPJ1tg6MsdAFJyJZaLZjli-jxSXzbPQjMZZiF2eWpkOLGnPo4HFVUeu_bS-dRe8zISVD_OCOumgArEVCTFC7KiNAEI1ywHLOyl5ZQdEfwEWTPAH8_QXwqkqLen5DuMabwA5NrohE5P6kA90mCRGYfcrW-XXV9CtFHnhmCJ_7XE0FepsoPgtC4SFSzJHIw89WHv5ZcZ4yYwXlRoCTHz8F7Y0IhtUxWLY_cIAiPbPBk5nMbS3mMw17b1Etp_8juuHivfkO2Np1dQ7Lni5_NHGVzISH3Kj83abKQT_9ZbHXPxq_4aY4jViPp2IDL40O7yPHnLDfIZbSUnxhS4mi34k_OeMgfcyMK6att0_YpeOfqPvEvB67XZ9Fdtk0jy8V6RNzH9VZS8DMzzqrd3GXfqnTsCdJuTAS8avJb7DJWgcKx2T3YhsjJkHsUKW2xrqq2Y7OD0UCOFMKjoIloIK9k4zdAmC0OU2Gd_nkhMGMvgIs7HSOZcfhctjlDYJ8NDlqtcL5KZHdD86_PotNRrZvtbkM89fqRASYMxK6Gj2x-_dhx1DvnW6jlig5AcxuaNNxOqZ6dsv9A7tjo0w781a3I2a1LaVV2heUTdwA==",
  "id": "rs_098d7f1ab9a71059016ab420e57a9487d08bce21d89fd537c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.12,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The closed gripper reads almost fully shut, so it missed the bottle. In the wrist view the bottle’s body lies to the right of the jaw center; I’m reopening, lifting, and shifting toward its middle for another approach.\"}",
  "call_id": "call_TRnoeiqd6xrRlB75FcfVqpmq",
  "id": "fc_098d7f1ab9a71059016ab420e7f95887d090617103f03e8b80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TRnoeiqd6xrRlB75FcfVqpmq",
  "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]: [-0.5198, 1.4246, 0.688, 0.0723, -0.4553, -0.3412, 0.9945, -0.0193, 0.6933, 0.4122, -0.3214, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3732 left_y=-0.12 left_z=0.1122 left_yaw=0.0249 left_pitch=-0.025 left_roll=0.0024 left_gripper=0.9945 right_x=0.2725 right_y=0.0026 right_z=0.1308 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.2684, 8.7453, 1.6288, -0.3394, 0.1441, -0.1685, -0.212, -1.2239, 6.9949, 1.9365, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80dfe2aa00d6b9631399da27f68398ee7df246b0c5e0759b274a9def2fc35b59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bc38222e3d316332e70bd2110a2349c4621716af44d235e243ac4f0a121e09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e775c7ece6a11d5571e48292b6cef0721dd6db36d88febe43a3ed20cc723fd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.315 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]: [-0.3164, 1.5249, 0.6426, 0.2356, -0.2691, -0.2081, 0.9983, -0.0193, 0.757, 0.5224, -0.374, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3976 left_y=-0.077 left_z=0.0799 left_yaw=0.0048 left_pitch=-0.058 left_roll=0.0018 left_gripper=0.9983 right_x=0.283 right_y=0.0023 right_z=0.1538 right_yaw=-0.0034 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -6.5162, 8.9504, 1.9365, -0.0122, 0.2759, -0.0171, -0.2256, -1.8256, 6.8171, 1.9805, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3279, 1.6432, 0.5125, 0.6132, -0.3141, -0.2256, 0.0126, -0.0193, 0.7147, 0.4473, -0.3393, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.0753 left_z=0.0616 left_yaw=0.0406 left_pitch=0.0721 left_roll=-0.0335 left_gripper=0.0126 right_x=0.2756 right_y=0.0025 right_z=0.1377 right_yaw=-0.0031 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.2154, 5.641, 1.0427, 0.0024, 0.1441, 1.0672, -0.4034, -1.2923, 6.9812, 2.0049, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5198, 1.4246, 0.688, 0.0723, -0.4553, -0.3412, 0.9945, -0.0193, 0.6933, 0.4122, -0.3214, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3732 left_y=-0.12 left_z=0.1122 left_yaw=0.0249 left_pitch=-0.025 left_roll=0.0024 left_gripper=0.9945 right_x=0.2725 right_y=0.0026 right_z=0.1308 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.2684, 8.7453, 1.6288, -0.3394, 0.1441, -0.1685, -0.212, -1.2239, 6.9949, 1.9365, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80dfe2aa00d6b9631399da27f68398ee7df246b0c5e0759b274a9def2fc35b59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bc38222e3d316332e70bd2110a2349c4621716af44d235e243ac4f0a121e09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e775c7ece6a11d5571e48292b6cef0721dd6db36d88febe43a3ed20cc723fd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDt4RgjqrlVwyBNfGNYnEpRzyC_uNp_7HqfjE0N0GMGgPFow7C6BkYJZQJIkNlP5CCrG1_ET-bJ5oTcLhNx4RPrGYYCSnaFmjZM8950T-BYYwyGXSShwAFFxzPp2EQw2M5OTqz9z_kLddhf4-vCplySsDjwi8yl5we3a4Jr5PYbxiXQN6XoUNjJP5I10dF3yBnyPvrIYhd-rs8Ud-jddqGEQc-T7MRprDWzm2lpQ0NOXmWVa8hLOhNFKD7GnbtQe1kajGsvR9a72Jf4nigPjblyGarmmfYF62NovyZKTJtscGD0OyNnm7MYVgSVYT33Mm2kYceo3wEeGN0aMc5wEUPSmmN-rkLdWnWFjU_YIYAMCXtq0X0RZeFrlWGipv0e9WONNWFT38RXlXiiOi5TgyHyvDarnbA6_z9xjDF_pkEJtSOxWJwjmKOpaenK2hN2uiEblo1fu_8hg4JKg3Ziwhk03B88c7svIjXui1yrN27ikYhxvXBWTIlPw1jUlPtVRPVGJvNn3kfyRvNKWqXXgvT7Wzd-YByBl-0RA4gtdDzIjpk-kfmepsmKQD_XzFQdS0dhJPvrMDeTRFjfH8U7yTsAZ1K1cdd1RxfsPSdG-lcuslye0L0_VITVoOuIejG4G4J4KCzh9DyRQcv0871mp7OkB1hnr3yph-89Y0p5Kgi9B8Au7uAdIfGK4P2DmCs-04gRhQ1LgmB90itZX8mlUf-6vFQ76KuO-j_V37lEiua9lJUlumFZiLL3nVregrLiBznBxeaMREHVaDlMidvWmhXWzBqNmNjReGj7FcZhRgnf5Mvda_XvP0gtgz6TYwBbxM9KM31VMmty-Ldkzrvlo-BH82wcKAuoJ80wRtxfkzdJFlF2PedAzaSHxNUqDi4JMNCb8T_0XXGOIcYzmPkWRblbRCVJWtbsnlHYnDnRuQxpjGXpfR6y2SHdbLH4PvevHluIB6rBzV8B0sLa56Mnh8jAuXJKxux-SjL97sMkIEO3HhhcvDEFv4VUpw57Nh4pHfImRYcD3kiGx7PBIKkvaaYSq8_naWvHtDA-x3Rl7xLGTzvrvOedaY7mqOgWy-a0CntGp6vtaXKdzaaBLO0e5MdMl0HBmmeDc4VJrdwuyS1iCITMeRk5Jcxc-PXZyVnm45DfTxo8w_gb3Xlw7Wju8HxZYt1Uh-JVnPZW1n0LuW5ODyBtnuF1wXTNSCwCJM0Tjvp6SyuAqqIaRVQErje6a-1OWtrlMbQrQ-jlqMX7TUyihjSgXuximNoXiZOyRHwx8-tLOqk_KXep80CUlRXciCmt2OZUgErJrPZ1YgfJJ7Dc5zzt4yOEKHe6QvF5UYHRCoPhNDMgsmMgMNUQ3opYzYA7LF7QVgxGdFcZuCRWdmHrdTrQXoVdIsZGBJZ390jz-Vqqjib0GTl3cf-FXD77brmMKZSJjUsfdu74W1H9UUZBvfuWXA0ZVqgeTDMhpklHlZChP_ZGqvmKiNSqkbVRfs5TS3Ai0gg5paxazouBkMvacQPKvt0WrgNonT05ZZNs_WTD6UbKtpQP9iDT2msgQSFa951lQgcmewZ9X_ZatOeOK3fzVYwWUFhxTMaH3wbzfLcTIn3ZpySIjSFg-UEQvrpxHPeHyj7kHMpXywzXOZQHvH-wBgfpnQks3-7N0SuR_qkt544PoJ666tc-pRy9Kd8pkN4utR2AGH_erutA6q4PTXt-GJ0-nXfTg0GfAe0y1irIrF4agwVbNLHYVc9u-bRCkjtKW45013hQCqAMCjIVoy0nK9AAHlYCY6GPerdsnff1q327ZZVkWXj70CA778UkiBlR-FkvlQLtqazzLbnlEGORDxGCI09NqSDWii0k7cwG7EL9KWyTjxKBCvfjuilVwik36Mo1XIeBQHB_kce0m8bCcwGExzTT0TD-Pq6UGAUnDiqO5_VhXjReJUBh-Njh-eYRmGCerlWULASEjkyjqMs=",
  "id": "rs_098d7f1ab9a71059016ab420eb0e5c87d0afdec83eec7fd8f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.15,\"left_z\":0.035},\"note\":\"With the gripper open again, the left bottle’s broad middle appears just right of the jaw center and reaches the near edge of the wrist view. I’m lowering slightly farther right over that middle section rather than trying to catch the distant cap.\"}",
  "call_id": "call_Wp6Htz2pz84ROAFC6IYEeeck",
  "id": "fc_098d7f1ab9a71059016ab420ec9da487d09e06587d6d790a8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wp6Htz2pz84ROAFC6IYEeeck",
  "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]: [-0.5751, 1.7405, 0.6449, 0.4126, -0.5419, -0.3527, 0.9956, -0.0193, 0.672, 0.3813, -0.313, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.1391 left_z=0.0422 left_yaw=0.0444 left_pitch=-0.0106 left_roll=0.0483 left_gripper=0.9956 right_x=0.2686 right_y=0.0026 right_z=0.1237 right_yaw=-0.0031 right_pitch=-0.0336 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.0803, 6.1607, 1.0574, 0.5104, -0.1929, 0.1099, -0.1026, -0.6769, 6.9949, 1.956, -0.0562, -0.0366, -0.0122]\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:587b8031302801d13fa66f3ddbd2695a68a82123bce350c7a44fb72bc8e2f2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9ab202363ef947c5274a4baea5b8afc655873629307900dc5f73b51e05d3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee6cccee330c76a67831c95f441330c51775a372485a429f181a0b9a797135d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.043 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]: [-0.3214, 1.6436, 0.5152, 0.5407, -0.2741, -0.2287, 0.9983, -0.0193, 0.7361, 0.485, -0.358, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3941 left_y=-0.0771 left_z=0.0466 left_yaw=0.0144 left_pitch=-0.0011 left_roll=-0.0317 left_gripper=0.9983 right_x=0.2791 right_y=0.0024 right_z=0.1456 right_yaw=-0.0034 right_pitch=-0.0389 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -4.7658, 2.6462, -0.3687, -0.3639, 0.696, -0.022, -0.4171, -1.388, 6.9812, 2.0098, -0.0269, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5198, 1.4246, 0.688, 0.0723, -0.4553, -0.3412, 0.9945, -0.0193, 0.6933, 0.4122, -0.3214, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3732 left_y=-0.12 left_z=0.1122 left_yaw=0.0249 left_pitch=-0.025 left_roll=0.0024 left_gripper=0.9945 right_x=0.2725 right_y=0.0026 right_z=0.1308 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.2684, 8.7453, 1.6288, -0.3394, 0.1441, -0.1685, -0.212, -1.2239, 6.9949, 1.9365, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5751, 1.7405, 0.6449, 0.4126, -0.5419, -0.3527, 0.9956, -0.0193, 0.672, 0.3813, -0.313, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.1391 left_z=0.0422 left_yaw=0.0444 left_pitch=-0.0106 left_roll=0.0483 left_gripper=0.9956 right_x=0.2686 right_y=0.0026 right_z=0.1237 right_yaw=-0.0031 right_pitch=-0.0336 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.0803, 6.1607, 1.0574, 0.5104, -0.1929, 0.1099, -0.1026, -0.6769, 6.9949, 1.956, -0.0562, -0.0366, -0.0122]\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,$blob:587b8031302801d13fa66f3ddbd2695a68a82123bce350c7a44fb72bc8e2f2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9ab202363ef947c5274a4baea5b8afc655873629307900dc5f73b51e05d3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee6cccee330c76a67831c95f441330c51775a372485a429f181a0b9a797135d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCDwD3Uj9esWLoipDUKGuSgZ6fVo1D3UuPzGsAWaA8e6xuHMgnPvCcVjlNDsAZtrF1tdubdE2Me8Pr8-x-U63J74Q4dESM2M3SoOeHGwOow9k1nElL3Mg7TiYCa1Vcw35q1XP5ToWwFWDTHtOLQEXmMsqBNUndGZfeshojFFoJPKpKWBHjqXavZ7OlSgGHvOZo7gueDnhF-FPw0sTI_oKwt4LLHx27aEp6mDe9ZrEhyGegnvsT9VBlVdYIqM6PC-2FLqXvmLwZQTWpH8e--VBYFDZjRN8Rui5BvdsrwYsj4MMxmdPxpmnAaJoY5aEjZ6ktQFmToSlNC0OM4ZJiIH4iIb1ZmjmcGzX6Y1QlLumjxIfUvqHovILjKzD2Ba6aM3eK4K-w_Qm5k0XwoCAJfCH0xFl8a6K--lBwPNeTAdQUODFlXmFHsR3sRwH78And9PwfeldsPsFLc_2Z0-VIXFAjmaw5X2Bhq2JsjU_nGNgJTVYzln5sCZ4DI-NA1rx8BJblJyAa3FUN9ibCjX4X0UqgGxvBZRC6_PmBnyJneGeALJwBsWsf7mJqceglCO3A9ZyEncpjk51ndKs22W0irOOz5rhJ7yw1Rdv7BIW58EcSBX4kVSGSju-290QotyVO7ch0OpEs_XnTbnkQV1dR339yKBnvrZYCEBDkpBmyo3RqPHVfu8XGymzmu3ZU1xfDI6Ia0NPBjFAD6rot-eyiQJzvVg_5CZBT7G7hY27uhM9e2BLO0ysQRpBsUVQdt2kVuIoP8DA9mbtkuahsSD5970cVHPd6Y-z8ajLbUmVHnDnZCW9f6zyKzrxsKq4lJlJjL_TYDrcL2Ys6If92A2o17WXh7FXyB-JKBIWTUeYsU6dE2iZhFjNdNgbbuXFQDM9g0C4xdXUIjK7uO3XRC_B50z1T8-Z1Q_Y7wiGgPtcOI-nGddXnSwEIxpGWipHBArRU6W460CQ-2KEDY2WkPwUpSsj-VTpt84zKTowVmcXIeuYILSG2UKUTx7ovEik1UDJybFC9Q77GJy_w0RKi0otsUqTqal24aUGZNfTNHeWftmuk4lXHYIhnb7LhecSkxZA8B0eMBDLokWOzQv6NryUcHPeVJvMF9BG99CvsVpP1-JTVPAa5EQLMiF3kIA-cw2M6a9bfO_AG5MrKyyxSRgEVRgD1eT_RYNzFMfUgAP-CKZlpWN-CsKhF84Hi5rnX-uc0-mjPxHzGd61cG4jFj1boedOm2bJXVBsTxraxBhPVBiFV8UiP3mAcAu7-H_PgYLTzTymN23bQbgIHqcMPwKeQI_ZBC36Q==",
  "id": "rs_098d7f1ab9a71059016ab420ef5e0487d0a83bb936be01b26f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle now runs between the open fingers near their tips, and the gripper is at roughly the bottle’s mid-height. I’m closing here and will use the settled jaw gap to tell whether it is secure.\"}",
  "call_id": "call_5HZR9UnPTSL3Ae54GQuUQuzq",
  "id": "fc_098d7f1ab9a71059016ab420efac9087d097d12c7e66fcf8f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5HZR9UnPTSL3Ae54GQuUQuzq",
  "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]: [-0.5632, 1.7596, 0.627, 0.4477, -0.5159, -0.3714, 0.5257, -0.0193, 0.6521, 0.3523, -0.2974, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3877 left_y=-0.1375 left_z=0.0335 left_yaw=0.0458 left_pitch=-0.0211 left_roll=0.0203 left_gripper=0.5257 right_x=0.2662 right_y=0.0027 right_z=0.1186 right_yaw=-0.0031 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1692, 4.6838, 1.6679, -0.1587, -0.0415, 1.0281, -0.2667, -0.9231, 7.1043, 1.9609, -0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb47a55725d2b1f9a57ccb840faa048d4f4f393fecd095423a254ae283d8ace0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7055a4af16987fd5bd5af1dbdb4ebb3d753720019e923c11f6cb4e0943222b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c270ba1dfaf61e7f05388a7c6fd82f13089a52c50e7446a14b15d75e715b9dde",
      "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 · 3.9 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]: [-0.3279, 1.6432, 0.5125, 0.6132, -0.3141, -0.2256, 0.0126, -0.0193, 0.7147, 0.4473, -0.3393, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.0753 left_z=0.0616 left_yaw=0.0406 left_pitch=0.0721 left_roll=-0.0335 left_gripper=0.0126 right_x=0.2756 right_y=0.0025 right_z=0.1377 right_yaw=-0.0031 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.2154, 5.641, 1.0427, 0.0024, 0.1441, 1.0672, -0.4034, -1.2923, 6.9812, 2.0049, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5751, 1.7405, 0.6449, 0.4126, -0.5419, -0.3527, 0.9956, -0.0193, 0.672, 0.3813, -0.313, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.1391 left_z=0.0422 left_yaw=0.0444 left_pitch=-0.0106 left_roll=0.0483 left_gripper=0.9956 right_x=0.2686 right_y=0.0026 right_z=0.1237 right_yaw=-0.0031 right_pitch=-0.0336 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.0803, 6.1607, 1.0574, 0.5104, -0.1929, 0.1099, -0.1026, -0.6769, 6.9949, 1.956, -0.0562, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5632, 1.7596, 0.627, 0.4477, -0.5159, -0.3714, 0.5257, -0.0193, 0.6521, 0.3523, -0.2974, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3877 left_y=-0.1375 left_z=0.0335 left_yaw=0.0458 left_pitch=-0.0211 left_roll=0.0203 left_gripper=0.5257 right_x=0.2662 right_y=0.0027 right_z=0.1186 right_yaw=-0.0031 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1692, 4.6838, 1.6679, -0.1587, -0.0415, 1.0281, -0.2667, -0.9231, 7.1043, 1.9609, -0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb47a55725d2b1f9a57ccb840faa048d4f4f393fecd095423a254ae283d8ace0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7055a4af16987fd5bd5af1dbdb4ebb3d753720019e923c11f6cb4e0943222b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c270ba1dfaf61e7f05388a7c6fd82f13089a52c50e7446a14b15d75e715b9dde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCD0spZG6l4Ru-6YT6J2x4Fv5yYEt-YOpAOvUAkd21ZEReU3F6muG_nFnL0GY8ge-yDa1nFYQbGBfV00cp64uL3KKig7khhrB70A7dybEVmFtlC3wgJkItiDCbZt6_PVOX8fodt2SUUN3Ta6kRRyil5K30tEwH0DSvVY6ULGC5eVs8OaYi6ib_N2F8hNJvKC2ew3PPDVWWpawl6kpDnRXiz7DD-SA596R7pCKR3BqQGy2c2W-6n2CatYmDF0fHGgmr1XVWaeVtnQ3I8jGptcS6vNNmPOz2MzbXcqRYj6xRu2LbWW8P6WyyhLndKDxgkeM6fH86n64ru_qsDcGHfJBYR1yZrX3EK9xrJicbFIwM0PnsEbRwSFMZuFGMZja6zyXCCzB5L2XQCFvYtP0w1ynUB1BMhoDz7eWdRPGNp4IroRn6mjxYSvP4N2IR3zYl003ShP7jHtY9jnnv5WmjtKTqVcczpnpoTRuyXSJ6wcGO-7BZ8QJ1qszKMtg9C3ENyyyznppRu9wGBHGuXnGgXj4qh3iM6veMH6AcRDafWboyFFFHu2x2cJutbYclJnPaSrPIaiNvuH-KLutrMRu81CIXDw2poDFeJS_do1JYDTYeB9VQkrMkbKCTlDREg2BD3L07JeBEaY8964GL-vjxsui2zBWEk02fLUOQpcOw12-LLhpDZfqDI6nNqMWPJVS5QO82z3p4b6yREO8ExxJFl7cFpWWSYoKqQjerVWPkBLqKeGYW24Kc4I-nWQfw1QBuPM1OastLSRMkb5sm2CgXWq1JI9IMel2Ucu1fRUuNlGOWKBBbMArn_6EAwcwKnM3XFDG9lKNKId2oxZZvSUuw8aBRzR_xGYImuDGLPdVb4UhAvB5l22RLBz20xt7c8h32zJfWprJr6nVkijGLqOHH2TW15pBe9C_uJpZRclceihM3D75E62h2PVllchbKo9OzAo5ssVSYU2kg-tAGR_0y8ijdVgyKQo3wRBb0pPJxNb9bg11uH-Kg60a2SD9N6-DSCZz1kRbAHrtDeiCf2f4_ydsay3kWgZ-YlQIaxx_CKjEu3LcCCd1grwWiHm8GTMQPZVz69eNP8FIg2zAMjZ9QjwjEaVp5970_zGZnv3uGjaXKILDMvSmlCcG0P2C-D7G--GPiYdPlkp2LGE4GSNY9Fp_Nc3Pu-hsS2B_CIOi0VUhSsSHTw5XK_I6KyBbVX-DkuKiQdcG0WPa54EW0-ewyVnTg6Afqkvy3tp4xHzVttFdXGs94oOorMolPx9mjQrk491t2AbSPVVPDIyYlLpLp8HlUaIcvcQD4Eu0RhnkozliyYY0K89uJVRDvUozkN1MDlB_hd5",
  "id": "rs_098d7f1ab9a71059016ab420f3201087d08160e382270218f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws have stopped about five centimeters apart around the left bottle, which is consistent with a grasp. I’m lifting it a short distance to confirm it comes off the table and to see how it hangs.\"}",
  "call_id": "call_JebUNZ8JIFssVpN1v0FHFbol",
  "id": "fc_098d7f1ab9a71059016ab420f38d3487d0acd534a9a7c64d38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JebUNZ8JIFssVpN1v0FHFbol",
  "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]: [-0.5632, 1.5711, 0.696, 0.0563, -0.4782, -0.3756, 0.5277, -0.0193, 0.6365, 0.3275, -0.2905, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1302 left_z=0.0608 left_yaw=0.025 left_pitch=-0.1462 left_roll=0.0712 left_gripper=0.5277 right_x=0.2632 right_y=0.0027 right_z=0.1126 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.8239, 11.1521, 2.3516, -0.5788, -0.0269, 0.7643, -0.2667, -0.5402, 6.9538, 1.9707, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ee426b0d91ee7fc20ad8d4c31f30d0c5fe488f590fde1888b968827cdf38f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39233fa521af85dad707eab34d6e0cb7dda5f8bb08adb626c199e8589b96d6cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6a9509adc147a28f7a3ec991d40de22e005280b9a24a57bf196dbc6941ce05",
      "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 · 11.8 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]: [-0.5198, 1.4246, 0.688, 0.0723, -0.4553, -0.3412, 0.9945, -0.0193, 0.6933, 0.4122, -0.3214, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3732 left_y=-0.12 left_z=0.1122 left_yaw=0.0249 left_pitch=-0.025 left_roll=0.0024 left_gripper=0.9945 right_x=0.2725 right_y=0.0026 right_z=0.1308 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.2684, 8.7453, 1.6288, -0.3394, 0.1441, -0.1685, -0.212, -1.2239, 6.9949, 1.9365, -0.0464, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5632, 1.7596, 0.627, 0.4477, -0.5159, -0.3714, 0.5257, -0.0193, 0.6521, 0.3523, -0.2974, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3877 left_y=-0.1375 left_z=0.0335 left_yaw=0.0458 left_pitch=-0.0211 left_roll=0.0203 left_gripper=0.5257 right_x=0.2662 right_y=0.0027 right_z=0.1186 right_yaw=-0.0031 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1692, 4.6838, 1.6679, -0.1587, -0.0415, 1.0281, -0.2667, -0.9231, 7.1043, 1.9609, -0.0415, -0.0757, -0.0073]",
      "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]: [-0.5632, 1.5711, 0.696, 0.0563, -0.4782, -0.3756, 0.5277, -0.0193, 0.6365, 0.3275, -0.2905, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1302 left_z=0.0608 left_yaw=0.025 left_pitch=-0.1462 left_roll=0.0712 left_gripper=0.5277 right_x=0.2632 right_y=0.0027 right_z=0.1126 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.8239, 11.1521, 2.3516, -0.5788, -0.0269, 0.7643, -0.2667, -0.5402, 6.9538, 1.9707, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ee426b0d91ee7fc20ad8d4c31f30d0c5fe488f590fde1888b968827cdf38f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39233fa521af85dad707eab34d6e0cb7dda5f8bb08adb626c199e8589b96d6cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6a9509adc147a28f7a3ec991d40de22e005280b9a24a57bf196dbc6941ce05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_098d7f1ab9a71059016ab420f63c1487d0ba43b52131d3b6a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.21},\"note\":\"The left bottle followed the jaws toward the near side, but the first lift rose only a few centimeters and it is still nearly horizontal. I’m raising the grasp point more to clear the tabletop and let the bottle pivot downward.\"}",
  "call_id": "call_4DDnGI54JQPLwtWckvONPlHs",
  "id": "fc_098d7f1ab9a71059016ab420f8635087d0b6445839027d4593",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4DDnGI54JQPLwtWckvONPlHs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 1.269, 0.8978, -0.2939, -0.5209, -0.3977, 0.5279, -0.0193, 0.6193, 0.3016, -0.2836, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1323 left_z=0.1935 left_yaw=0.0259 left_pitch=-0.0029 left_roll=-0.0108 left_gripper=0.5279 right_x=0.2602 right_y=0.0028 right_z=0.1063 right_yaw=-0.0031 right_pitch=-0.0313 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.7624, 9.2513, 1.5702, -0.2906, 0.0464, 0.0073, -0.3761, -0.8684, 7.0085, 1.9267, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b931d8d70db9688d8fcddc4f9d79681d59a2fcc14f532021b3c1c886ca022f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b1e1fbd338fdba546869d6a337635d15576471ab012c7e8e18cdd763e696b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1907b56f9e4381bffee3548c982023310e4391839833beb80251afcd28dc10",
      "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 · 5.99 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]: [-0.5751, 1.7405, 0.6449, 0.4126, -0.5419, -0.3527, 0.9956, -0.0193, 0.672, 0.3813, -0.313, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.1391 left_z=0.0422 left_yaw=0.0444 left_pitch=-0.0106 left_roll=0.0483 left_gripper=0.9956 right_x=0.2686 right_y=0.0026 right_z=0.1237 right_yaw=-0.0031 right_pitch=-0.0336 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -5.0803, 6.1607, 1.0574, 0.5104, -0.1929, 0.1099, -0.1026, -0.6769, 6.9949, 1.956, -0.0562, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5632, 1.5711, 0.696, 0.0563, -0.4782, -0.3756, 0.5277, -0.0193, 0.6365, 0.3275, -0.2905, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1302 left_z=0.0608 left_yaw=0.025 left_pitch=-0.1462 left_roll=0.0712 left_gripper=0.5277 right_x=0.2632 right_y=0.0027 right_z=0.1126 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.8239, 11.1521, 2.3516, -0.5788, -0.0269, 0.7643, -0.2667, -0.5402, 6.9538, 1.9707, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 1.269, 0.8978, -0.2939, -0.5209, -0.3977, 0.5279, -0.0193, 0.6193, 0.3016, -0.2836, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1323 left_z=0.1935 left_yaw=0.0259 left_pitch=-0.0029 left_roll=-0.0108 left_gripper=0.5279 right_x=0.2602 right_y=0.0028 right_z=0.1063 right_yaw=-0.0031 right_pitch=-0.0313 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.7624, 9.2513, 1.5702, -0.2906, 0.0464, 0.0073, -0.3761, -0.8684, 7.0085, 1.9267, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b931d8d70db9688d8fcddc4f9d79681d59a2fcc14f532021b3c1c886ca022f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b1e1fbd338fdba546869d6a337635d15576471ab012c7e8e18cdd763e696b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1907b56f9e4381bffee3548c982023310e4391839833beb80251afcd28dc10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_098d7f1ab9a71059016ab420faf62487d0b0ad39c2c079479c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEFnNeo3jtr-WQvlpZhToSOnhGDGsul3__vWa4nb3H0_p4bhr6Pk7JzGiLspNP-PnzsZdd-nRrTOynZBIJsOnBxuCUzACVwW2QaUM1tAxJG9iVSooKwC2A9jz0PxtYoKLxEYCZ-OGroIPN14u9IFk2c40w_l2oSzjnOL75dP3q5sPaqMxzTJFlCq0k6yN0j4OPRmKEt8oOXI8lYFbDAVbARvFuHrkz-KR64zXW65-BEb-KmjmCWIiEY6epqes2khfWAwgEs6QdpztgJg3qLegV2TQYMVeSRTNuGbeP_K1b2XiBjBzr1Cd0Rv24buRtZdt0O9YysQef33VVXfv7RChdflNvuG59pI_1I4hmBwyk15gmD1IOTI6Xp6A92fEzWIXrYbwASysF5YKY_bF6gktibCA-ZoJaSh1dWGOGW7a7Qp0OB_6bR05PE0VfVz10GUjDgnrEPw7tZm8h4oB3m0xVCnOMQEVqIdcjQA2XuOHWKhbEo7rcTmrOBnc9fNQ8uncviUaInvAFc0rE73_wt-xSID9uEVK0IgZcK3kF0TQQ5XaLEnJ3H7_TCnFLta1PiyEElUjRxuJ6IQa97xrSA5jA67FrB-9YcB3jQaR9lMrWZWaYfzNxqt8bLn5B7o5uTtCDkgJplDdPAy6GzEH5F-1L0Z3XSs8xrynGmQKNlQBpqp6iHs8VUqltTcxPNjRlg2aAQpW3FjUylz-gAO8PEz4_8T5Pej6D9RQTc9zRzjq8dCfzqH2WQ-NOPAd5WrjJdKX-MUBi6lmNomyDRBzAxxOwiBFSsxhqhjTV0RYv8vOSTEXfbvGXYCiOkXOnX35v3Fwkn7uBAn5mc60zo3662zKDsqbGr4nPfBQvji_PUCMRtyTbIrZcFNMGYZrnveHhkc7NlcOrhdGZ8-CsPZM-aG7igQ4PwVDKgqzdHCrva5vnd9h5nUBRjVE5oKP3COaG5dtOEy4WXeE29ss2xVVKOdm5C64f63yYUcuv6wR1JyuOWxcj7YxOPRawAmLwlCqyA-JyIuqosth_Al4ZFsHeEOFcS-I3LwA-VQ2qBu3fw_jNFywbQ8VSLZEqHa7AJIu5S3Z1muX1u-zhBKThSiLr_79NPGvPdoNMgzljL255uwtTTjNsH84xhaNETbv_VPlsh3a67KeAMLUkpP0TBAKdrP8z5EeSkeDV__MQhIrScIOX7EUot85bke2RliX5qM2T-hEHx_d5lIv2-KS0t473FTfFRUAdD9JVC0C60V5hhwSsHr--d0N9nTpULL_dxyUjmw_6VmueSogaIi1PyzIcHskwxGlKAZR1pETuuIUjCjYB7yv5sMhtsS4a3USoqy3YP8DH0o1yhhSvMF0F4-N7DFK-nJ3PGTdUsSGYDap1P1V7vXfaiVbiHiom5fUrBhJofkEn4KjpMu9i0Lm_s7Oie88MfiSTnkBBja4scJvRddvl8aol0YKHZelV1kV5fbDcaBbtjOdDQRewcFItTMn5cDYFdUQQc86tp5EStsWNDD1HFpkTzMaBY0XVHQaMNfPr7PqwYM5Afdykl7Aj8ww6MsyzfQeWDXrr-b896LNgyjoOHfTF-BKhY9G9-ZbEfPvxQ2S19ac14wR2OoLhvRSH8xLIDuyhlTTZ_WmSl3psAZb66C4QD8CEmPauFAdbom2aoQj6cIzIy_mmJuWfl8DQNi5h7JAP068Xde9Bbl9IutzRnm-aSZVu-Oyxh4PYywVM14M93YwUnlw3YEeQSP5UJEwuKkrDK-xlBFNJvtbY--oNjGHgskA2p9P7Rh-NIz4lidchs9lnCBmdzLy02FcZXziKCUko1ZCXGuw1v3bRSirZIhsQ7hy9j0eRpkkkzdFeUqZ765nMVS7Osnkl-InIkMCql8sPfbafjduwSgvgTsbVMdRN_Xs7e-TH20pHOfereRliIFAuGHiNK_zJbIHEIBI2ZpIjuFqopaklTb-jhAN_sdGFc1why9dvEgv_kypnU5LA3amSUy2fa059yUg07KmlXmBD21qAabwdnmIGQ75w7dEqNnf8g04i0tiuW5bcT2wEW8GmGXJTXbUSSO_cfjvSBTyARFAjFdOMRp6HHa5-w8udEke1LKdmnMVqrVKBbNX7o_enYtPsk7_HwwC_OQWKLKKfhb8W11QSg7hhOn-kfiDgNshL1IvkDmQvT9mfbj3O-dwPIW3y8hFwGJMHSA7GxXoRm0ToEaQ7MC0qh8ti1B6GIxTU8e3GvhsFK3DhnBtWtxXAuGP_Tl__2qv8gSncnP9F1jcuQVCOCqBUuPSKVggkFNMpeTGSwNRNNJo3jtTXvqGRRogZPRRWmk-vavA6mz_RegJu7zA3ODEn-eFRa1Qi3w4HyXKzOfYGZih0zXIfUmL1QGQF81ihhgbiikJz7QwvFstjylpsdzhtFFEWgHxDHyvUZSs4HZaaIV-RYV6iFawt9VjnHoEr6Umi_rgq7-ji7JMXtKA1M27ow9zeLYvXP8gFMj1pyZYNszBXI8wkJq33mOIt_o1D4uDHLgpBZwg1tbkrJo-cXpG2c_9w-r1ySc0bUqG629YPvI678r9kkBsZmG1EUEpUEYPIA6Ta80dJIYNGcLsQ9-8CuL9rz9ndQF7y0Hl8pP3YRUkkcof4udxUDYZeG8e4ibF9xePeQ5hUaMztbZnzAnrCt5DVrX5SqZPX--aT6LqK78NDAiLxevjG3iCrw_JwIGgGtAPi9s1-p9yuGMbYA8PX_X1BCmRCt1KY0KVdgCZtj83VTGV4qxzTwbWzrIHsnbpRygTwOTbjF_vcJzK-aTk2kFpUtiGtUMBgeDWw1EkESRQWZixtunnc0ryUkvmw3M3owh-_0L2268Trz3wzAUfU0LAa7lgJSG3RErM1Efko1IFEaaoGEFMksdbAsCeHqLUy1Nh0LsrCTqB6MVcynxssN94QKdZx_2k6zPFjRFUajCbKDouYqCWubMORpVRV8nXq1VLFPxWIvh2-hmufZB48LgkyTgpf90JPDIcp5KbgpIoepZx-EwdqwUNONWFulNUL1zQrLej8mNSuqnQO02fNR7_MXFLlYXw-E2WSZEDtN3pw4Do_p4TUZzep91m3e_HnmcRwwFYEsLmu1PfF1XvrSy3ylT85qlk7z52ZVkJGtV0aIGPzmku8KzChGIHx-iFlL6EBg2SUDH0RafxAcX60wCv0Hf3U7mf4hIL_iIJIqrfKrghsoIr9NJMOEfJs1WjAoIm1F_7HzjE8bV_eRDfQIMfQqtjuhZj42hrECtYrFSyS1kUoOPF_LDjLu-_3Z1Q44TwcZRNJ1GpHVx0R3NKvFXHGJwb5r51ab4a9jia4Ik6t988WdWsHx_uHq6OKLDaw3jr56p2iHHovKONc5eyIx9WJvZAcUjlIcueDViC_atdAu-z4LqlxdODg9IjlI4_dZLiCSGMnJGlY4-8jqOGAZlzfpWXpifvAV6ViKDSZUwmQW1P_k7cF_lQ2OJuGpb0QPwjYjey7m-ef4WmFWIIXWi_MB3-OfATbIkytMeeeHJI9jSJVxmLnCmtH0m5u5FYKAoD9SkRVFWCeJUanQJZt888YAwufkkelxSSCAGaFqpn1paqcSAO3uk63Aej-LxeaTqeAQ1EB4AR8FZcTstjMhpXg3Q25YE1AwyMY0kV9rqpnTmkEtcRsUjM9aZRF0CDow2SnNP-seo6Ux5DhuqqZpnbJpD6o=",
  "id": "rs_098d7f1ab9a71059016ab420ffcf4087d0aa728942099f5f24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"left_yaw\":1.5,\"right_z\":0.18,\"right_x\":0.29},\"note\":\"The left bottle is held by its wider end, so its cap still points away from the arm; simply lowering it would not stand it up. I’m turning the lifted bottle sideways into clear space while restoring the idle right arm’s height, so I can reposition the cap where it can be grasped.\"}",
  "call_id": "call_ap1Bj7E0m6DnuaWkcvMCmWui",
  "id": "fc_098d7f1ab9a71059016ab42104ac1c87d091fe640298275e62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ap1Bj7E0m6DnuaWkcvMCmWui",
  "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]: [-0.4583, 2.0834, 1.6752, -1.5131, -0.9283, -1.9789, 0.5279, -0.0189, 0.7643, 0.5495, -0.4034, -0.0273, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0193 left_z=0.1349 left_yaw=1.3364 left_pitch=-0.0363 left_roll=0.027 left_gripper=0.5279 right_x=0.2828 right_y=0.0031 right_z=0.1583 right_yaw=0.0021 right_pitch=-0.048 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.0701, 5.3812, -0.6813, -0.6178, -0.2808, -0.0171, -0.0889, -0.6632, 10.0581, 1.8974, 0.0317, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffb59ed63998056fae80030352639f38197566fe25bdc37becb9a245218c555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1967b8873081c4617d2843aae086e50dde78497af4f05a5a27b28815361adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9a241df4e1123e4878c8f786ae255da326247c521b69928c7a8e9e57842da8",
      "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 13 attempt 0 · /responses · status 200 · 5.242 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 52 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5632, 1.7596, 0.627, 0.4477, -0.5159, -0.3714, 0.5257, -0.0193, 0.6521, 0.3523, -0.2974, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3877 left_y=-0.1375 left_z=0.0335 left_yaw=0.0458 left_pitch=-0.0211 left_roll=0.0203 left_gripper=0.5257 right_x=0.2662 right_y=0.0027 right_z=0.1186 right_yaw=-0.0031 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1692, 4.6838, 1.6679, -0.1587, -0.0415, 1.0281, -0.2667, -0.9231, 7.1043, 1.9609, -0.0415, -0.0757, -0.0073]",
      "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]: [-0.601, 1.269, 0.8978, -0.2939, -0.5209, -0.3977, 0.5279, -0.0193, 0.6193, 0.3016, -0.2836, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1323 left_z=0.1935 left_yaw=0.0259 left_pitch=-0.0029 left_roll=-0.0108 left_gripper=0.5279 right_x=0.2602 right_y=0.0028 right_z=0.1063 right_yaw=-0.0031 right_pitch=-0.0313 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.7624, 9.2513, 1.5702, -0.2906, 0.0464, 0.0073, -0.3761, -0.8684, 7.0085, 1.9267, -0.0708, -0.0513, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4583, 2.0834, 1.6752, -1.5131, -0.9283, -1.9789, 0.5279, -0.0189, 0.7643, 0.5495, -0.4034, -0.0273, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0193 left_z=0.1349 left_yaw=1.3364 left_pitch=-0.0363 left_roll=0.027 left_gripper=0.5279 right_x=0.2828 right_y=0.0031 right_z=0.1583 right_yaw=0.0021 right_pitch=-0.048 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.0701, 5.3812, -0.6813, -0.6178, -0.2808, -0.0171, -0.0889, -0.6632, 10.0581, 1.8974, 0.0317, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffb59ed63998056fae80030352639f38197566fe25bdc37becb9a245218c555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1967b8873081c4617d2843aae086e50dde78497af4f05a5a27b28815361adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e9a241df4e1123e4878c8f786ae255da326247c521b69928c7a8e9e57842da8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCEMJFBrsscKoPX6en-e7k2QMXjnwN6ovLgFvCqJjGu_1pnd3sNK4faVxSiD5gceq0Hilm1cPaKjktgD8XxZDlbkBNfJSVpO3D_QL-VX6NuppvDlJfQAdo-QnLtWn9sTcdwiMu4IFIjS7eYETin9kyYjCG622e2rAXuWMJx9x0nElXyElOreSVTH4eBZXS4ljk4Rs3VL88MeQqhtKU1gW6lU2B4rgW_gF5Q15FvTy--tKfGgnTimVxWvTkUyVncCO27jSB7OMMW37G4Bj6_vl_cxW0WPGB9T9q2bzJsuwWO2zzY1CoT2LoodJvOEPWwf-xqVb3dd_25hRjTRHzIPhztKic-hsWnp4AMpKWf8UIRofSyOlPj13mJ45BMAk44mcXYIWQ_Q7yWx_9nv0FcRZz2lEUj_giJ-1ZgxVL9GYa4rKgXJSeIRPsByxkVdKbn_OaR81CM9RvFaJKoBA98UGLxo7mSiSeRV-9Vme9MH5vCVNFDvFYJ1DlZIxSMMNDpumBi-lXF3VvK2qc6guFYsWU--gq7o8iUNHpODdXT3y_ZENcmBwB87kxikqKS4RTFbRoFkEVgGsihW3kdJugJu--ojjvcJYGHofA9UwlHZyUhTE2KWM7bxQMP_enbeBq_gfjBfcmmd0m0BjjSmUolKOg_YcI5y404Y3Me6AYaJJIZnmvSUXXIe9c_TvAjlb_f5Qrnhpg35T7Gn7B8zq2BHOK0uEu7Pi9AWQlCqnVEFJv4pPiKNeN-GtRy0005YsEfgZUnV9v8SjSRM6DUDV7w24AopVPR8-MuE6dbma36un73Hy12oBm1sFw5bI7Esw-jqDhDT3UhoHsaEnZ3KBU1Q3jlk8cvfgss8-LlVmvy8sIn_svmUf9AvsZ_goP-CYE8czrW7oEVvkjo8n1stiWmSRvKzY9x0l_Uk634_Dmaz-VpxIAAKwEow9k2Wn1GZOzAQbl3BqifEvaZffWRLbcXwXzfIECsaxoDP3SJO_kmwIRNEsm2A_pcX_9Jq-wXdqzGuWZ6G52sU7jkqRksGZM2nqXBsKABBJ9NibDtsB-qvopXxfwcbmxVAEg7fLkW1YuOFPDiaXInZeFebs-8OLg5mP3SXMgwxQkrPy7A5c-LupUDGA6VPClyLcnbSIRF1BYbsDsU1LYUhkavTwpJjwIfmiYsmQssSb1Mxn7y1B3GcK9Lo3j6Wg7vpYjC_zqv1miDuc0PEDo0DFWoW8EdUtHFzH2Mj4RzsCMaayepyBI6F3Vf1Eup4mUcwbJ-FzBaKAsomrYQhxOFuIP04_pGD0vPLcWewmkLmvYUrJj7YEpgGRr478J7_B8HBCYzdGG9NFjxUyfcvumBQ3i03_TdLMB4--DFRJcU0kxGOOi5gCaxnEmT-SzQg2eHz_Vcf9P9J-aCg8hUMwzxGzkylz0rbcjwrjx_svteKdFchXdW5uouRG7mYhnK0uSN706qezEFTcbOwHqYa8fPQM5HAEKQpkE-nry41J3JztCScvNHOP72-C7hNgTR76fSa2U6xBe89Y_HhkZSLANyZUp9lEnJOCkPJjoADgOTjv3JyjlhDrb_Zoy9xeWCQ_b7B68vfLyIeR1AHCrdUsVVooMN91n_jV79Ex1XDMvCfNGBSpybCMJLSPQOXQkcduZED0hBNkpcLjhXJ1FeW9pLlVik2zS6RGKRrTouDHDgrU4upMCCu9wVyoJ6YaQB-yLJLKz2ysM0-nl_rvtjrDa1LysWlHuqKWL9Ijxq6cuZEUGEKroQAOZFvKXVbiLTYpkkhskLhX3434WIyKF5UH6fQjkbLDlck3vD_skIkGas_T93WLQgSlEvJGxfy2zr9l8PPWYCkj5XjQRNQKuCIMLAaU8xoD6K7OfqK_HfS3NqO_dSCl8KDDML6FYo55fg88tvEktX482BdR2nMYpAy2pR9YtlzSqF0BxrOSuAgC04H2S63dpSykdrL5Sd7yLYqC5eDmbYZ1O_RRUkqSdemL-O0_9-BPqOLX4ZtLvlk1yGAjCZz3rq0tLZzhJrFHYJEKx40EgEoeDsMhwvPbTwso1J2Zz8j1CRQPiLol7tr2L2hPnG_Mc3tL__E6STROhAuhiDZeqcayXWcoMcl_rtcIzM5p88jh2bim8VXVYxB1jSCVIhLeubWsby-Ku2NH6gIpa-k-YmDxmX4jDQgqaY1UtWJt3pR0Wj9giPyDAJOv2Kon9Y71WxLXkVIV6O-JG8nxFqbcuj-OE9lj9gNSOZgA-gnWjC1UX-X5utCFBfaYvxMNxx8lmWRpBZDxwSKbPUULVyonBq2-ruqJPHB-pNFJ_MLcOVDzKrZ6b48suLXFcka9ZTz1qGr3OIoPiVnyu4dy2wIQbgEjvqQe-mU95z-Ya4oCa55ASY4t4m6gMe98e5XcX49wf-_GSl-2BvwE4K4bSn5OXubxQmGenTv-8VePm42h0vRGQvXzEQXYpJ3bz9RMwH2gdLgGA-8mUrfmt7jQlm7Giop5uzhCs1kk6wT6UuyqrbSrGRHD_Wrcx5gOsJWT2dSCeR4KshKbgfvA_XR2hK1mYX78t4mZ2bD0qYv1OOw2dyUAvU4FGRnlE9m7-XE4M-hsxIaS9PyhLodc0C-Rghg5eflfeD2_h33tIW8tMP1nd05QVNawpvVTf0UcW8ocDy8-MnUvyHbXG7gkbkv2XepZ-HfPqRQCDozSR59sKLK02BYVUvGyFS0TmbUJEjaqtd0aUGjDyuByP5leTz-1tRG9sBIDMKE_I3sUau27Hjdfovfpy5HiHFdmLYWqZQPWrHQv5MpnYiw_6MojGj3esixiDV9GHoLLDxVN_uwqPimkxKJ16tNW-bNgmkPO4VeswHfQiNl3b11QUhiBgLU3Ms9y-UfoXK9WAAY3br7UjKPX8r7KLBfyIcBy3IVZmcM3XfGpuCICLUOCKqF7xpUW8x6bhFHutI5dPuCgL9wF1BQUTrd6Rw_2DgXuIBZn55Mjg3kkXXs6G74fuBXgp1CRPDRDAi51KE6g8wCaZHBT9zdmH_U_JhHbjSq1e3jq_17bf--Spb-HN7wOZhictjJ_4jlhMlUVPxazV7BpVkZOrnoW4Gkgx-yuq7_Evxsh6Mdc2InTfEiqUAcSvpDUVxZ2mSnZOrfA5J-VeN8blAvuB7QeRYiMQgZqaGDpHj7SbwVsYK9HrE8UsxtIIqJ_vu_J5qWvzmMqkAreqBELUffpfN8Rsjvp39Z8J32bwiUGFngTb0Reaq0sC6nlAxuZOpAwgtHFEBy3zCCLzu-GwHj3-_6nwEkbBEDJOfZhYovqaZD66sV1se9L5QyALQLafCJEP1x5RLTd5Bq0aKwH8ltHNrvG1ePyV82FXPmC9gUtb8XjzfAgCIifrYfBbmAUGQq-2_OE3F-M5mQ8W-bwckq",
  "id": "rs_098d7f1ab9a71059016ab42107cc8087d0a1f082308a45d57a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.11,\"left_z\":0.25,\"left_yaw\":1.5},\"note\":\"The rotation brought the gripper much farther left and lower than commanded, obscuring whether the bottle followed. I’m moving back and higher into open space to check whether it is still in the jaws before attempting a placement.\"}",
  "call_id": "call_Peig6tRoGsTbEYPb364pDeVv",
  "id": "fc_098d7f1ab9a71059016ab4210bd97c87d0aa55414e8263a919",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Peig6tRoGsTbEYPb364pDeVv",
  "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]: [-0.4114, 1.9259, 1.4925, -1.552, -0.9241, -2.0602, 0.5279, -0.0193, 0.7372, 0.5034, -0.3771, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3217 left_y=0.0174 left_z=0.1498 left_yaw=1.43 left_pitch=-0.0226 left_roll=0.0227 left_gripper=0.5279 right_x=0.2791 right_y=0.0036 right_z=0.1497 right_yaw=0.0045 right_pitch=-0.0407 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.4256, 5.0256, -0.5348, -0.4274, -0.3834, -0.0073, -0.3624, -1.6752, 6.9402, 2.0147, -0.022, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568c01c3ba44102df6c1740171475cba81bcee18bfc7bb5bcb669953318e95f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd211731a7e9b0415cba295b0ff5da01b84c4e4676f2d30f5cd4b17524c0952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a11bd8768949021ceaea4f111a99559f70600febf3fba04b37d7fc33c9cf431",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.299 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5632, 1.5711, 0.696, 0.0563, -0.4782, -0.3756, 0.5277, -0.0193, 0.6365, 0.3275, -0.2905, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3651 left_y=-0.1302 left_z=0.0608 left_yaw=0.025 left_pitch=-0.1462 left_roll=0.0712 left_gripper=0.5277 right_x=0.2632 right_y=0.0027 right_z=0.1126 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.8239, 11.1521, 2.3516, -0.5788, -0.0269, 0.7643, -0.2667, -0.5402, 6.9538, 1.9707, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4583, 2.0834, 1.6752, -1.5131, -0.9283, -1.9789, 0.5279, -0.0189, 0.7643, 0.5495, -0.4034, -0.0273, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0193 left_z=0.1349 left_yaw=1.3364 left_pitch=-0.0363 left_roll=0.027 left_gripper=0.5279 right_x=0.2828 right_y=0.0031 right_z=0.1583 right_yaw=0.0021 right_pitch=-0.048 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.0701, 5.3812, -0.6813, -0.6178, -0.2808, -0.0171, -0.0889, -0.6632, 10.0581, 1.8974, 0.0317, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4114, 1.9259, 1.4925, -1.552, -0.9241, -2.0602, 0.5279, -0.0193, 0.7372, 0.5034, -0.3771, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3217 left_y=0.0174 left_z=0.1498 left_yaw=1.43 left_pitch=-0.0226 left_roll=0.0227 left_gripper=0.5279 right_x=0.2791 right_y=0.0036 right_z=0.1497 right_yaw=0.0045 right_pitch=-0.0407 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.4256, 5.0256, -0.5348, -0.4274, -0.3834, -0.0073, -0.3624, -1.6752, 6.9402, 2.0147, -0.022, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568c01c3ba44102df6c1740171475cba81bcee18bfc7bb5bcb669953318e95f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd211731a7e9b0415cba295b0ff5da01b84c4e4676f2d30f5cd4b17524c0952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a11bd8768949021ceaea4f111a99559f70600febf3fba04b37d7fc33c9cf431",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCESIX5hg2jjox_OsmfCP4VjZ4pqDRpKUKHBf_U-ds_qrzvGegpXsJ6z6ArFjsdVGedM31wBcGls9gJQcUYCa2G4Ekcia7bozleEDTHBLMFbviRnQYUvRvlh_IJmSXw9Dh9hiwpc4DXh3QBReN5_5M9ZGZOTpb710cnQIgXmdAbioHZ4y93B42-7eHrKLYfyTGyNTboTXU0PmNt5pXrf19P2ylOIcD5pz3FNcY-ZKfsCWQ51LSzRtqDZxluoXWCP3gjh2Wp93EqN2VdOJ_gg5VAXj0Y1wg5FIH0YqgkeTLD-2qobWnPkAB0Qt75TlEzTkgTCTLOCywPM0xUmSuBvy0tRoPvas5-XIKAT8CnHCjVP1vRMPqmG7FRTs2O2CDTzWn-t4Rye-br-IIMjQkLIdf4HhAJeTJ8DfMqoTPOk684NF0kH_2wzm3daV5VoiK_lThGGuWIcgN3bQIllbQ3h9Ss0JaHd1swClGoFSQluOm2afGsuBwbQbsOjelZDxVPrHpUCkZ6r0pnns4lE9rNoCf0nUJ85AwXB5J-SN7mkjaxsyiRZRM8b2DJxGfj4rHlqRF6pvLUsFUFAiYHmnQMhSn_Xv2o-qOQzJ8yh1m_CKL6eJnuU9cax2zTkurNzpKT0bvtNiKI5G5tbmul9nwPLimN5DamMqKJqNGFbjS4O1b8iS26VJCa8phWyK857m2_MptJMs2HD0qTL-ztKiuU_ztgaVxbzQ_T2y4TPM03kEwVC4tgKvT_P2EtKkHGXE--ozxroYWHyOLtfBbzKJJZEnzkCyQlGp125VeRutCNiTA4kAC9haUYt2qAiDRI1rCVk1TFidNb4VcX01OUD00y30_kjrYF2ip48GlSyyFHFx3gjn3UZ_8Ok-qjXniHyLkmQ9BWTdLyhV_tQORB4u7V4D0fCIdSfSeYZpeay8JioWEZSXtLRSjLHqIPwsjY8f20gkuXU6IZYF9UdIqe5nOA8x7xbSqmDuDzmeJ24-uQRHhAopRLUmKL3MaRAmo-McInRA09q-tYfZ02kxormrLWDWBf9yC6P0qg-DKal-jIXOhTeioGS21eXZeUmWMijp5-BDeZd6_9hOOpQJBlhcCyNj4mywIufZzogHoWpkj8LW6A99OZ145tn7OVv71mDkNEkqVOweZPMbq-3083VtkFHaj4UKYmzXwxYSZK1wDramFUUFOwWmiF_6ADceqAdO-D_YUQiXK2-DAJzttaewBoUwg3n5DISuNtZ_gRVoCOhbIdjgdLMNkvMRxVlzlOD_C006j9lTBxAE0GHSs0GL45Qy8gLJECReTTPY3hno8cd6KwGsnODkSFb9sAGgB61Og4vP9jaTF_pfMYqefW5cezyXPYi5sYN7WQYJsccGDZUQuO-8YQSPUP-BEWrn0Jj249694mChAqULP9FcR9qExBlKgOjvFSkwDoBoNSrUdQFboBHzdzBCZOAyZo8lr_SEviIYiQQGy3h7MSElX5u2A7nzRzPlWFhzaezeAk6G6TRPBndTvDAbp4SaTuJDobtoT5bOV_v7QT06HPl9yGTAuyBRGc4IeNGYMkVNqh3yrkggxJMdLxwDhB2opMEOMPBjJE2ThGiYWCBH--WqfEQ5YtO_qzTDT8K42ihO4hlKd6oB_w0M4GAJUj8fg69YwpGnewQlJ3zUtjXgoRazvX7DEiwZJi0cmw15686YQZ00-SIWsMlvZ9YFU-tCU4MdGHUTTiZFKJ_FRU6F4LaUr_8ushMo1AbJKKYjSz_djp7l9VlnypzK0cZhQum1apKZN4D5YCgDyuZO3PA-0A2SBnvsOimk-pt_kZnbdaWgo2rFwCWX_lflRvUVt-3RxNa7_XQhQvuHF6W4Sgwbqm1c2FB5OPQ5sSo1ggjFN12N48Wdt-nUUwZc3cELzFXap1oT2UCyk8P8PApXYkMgDutAkRYxdNCzOmdscU2fvAigt9RVGCmrFrhrJZ7WsIvW4wNz8F56Cgtyb4e_t-hFH1KtxQdqYdL8Ywx-dpi9zWv8sZ23ZU_D2b6eNCTFoiHYso9PAHmnHNbChiUBsaB6Iz25eHrz6mZII3VTcS_BsUOBXccJMKIDXLD2WlTAbtMbtOMp1-Sk4-36Slg6wCVLV4r0zDTXppkEXUUds_VzF4KNUGA67DCLkpmasMHFmyjbmtG8s6YQGPp-bO3RzlKa9GPkZEUxvrmrjENBN82qPN-HfZfomtG4m7VEMtCHlq0Jq-5knu2TEa6SnEbjGzYqILzlP02Q6vK_Q5vARGcOpkLk24329kfefxsbL0VuLFWYHuXI5tJnJGoJO4FBfTb1FVD753cYO-Xt9jij5GKL20tmN5udb9AMQbqpAe0aLg_ThdnsioyJpqj0ZGbIj7F0lYSvJN0QYgDIeEiRCC_r1l0U87tPNQI28eFYrJ7IXi9x7rpwIpirEZNnq3mjd5oikQ1BZK116FmMNgWZQ5h8Yppx-T58pqPFuLG5cCYTyR5ndV1IOUIm666ioNfvnrtlgqh0B0390oGH8GIvqfmPwK9NtX58vBXB1iUzTf4FqIeOGeHUWGyPTlfuKuoCkxhPLdeiKguMKB-U61DZKCV2GGvMTFL3VtGsFWKfmITUdi5XvUb2Je5phbaMWQ0YrlfIzjs7ty8YTIZHEjXTYdd-_7n3v8CRq_LOiocvjgH3Q9FbHKchk61HXN-UAyQ4oTJUWpG75CLOYECb_tI78mcftxAnWzv0pK5shm_7Bne9PrlNp78xMAamUlmWhE-2G4JAooipYF0knPK3Izk1fR_DzxkQBRYDgxERKpVJ39dgdm-E7bd0lhv0adFTvzDrkdLiMBeDOMH8L9IWsm2Nw==",
  "id": "rs_098d7f1ab9a71059016ab4210eca9887d0a762f04f1eaaceb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.41,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"The left bottle stayed on the table as the gripper moved away, so that grasp did not retain it through the turn. I’m parking and opening the left hand, then bringing the right hand above the neck of the rightmost bottle for a cleaner end grasp.\"}",
  "call_id": "call_6iSqbLIierofPf45DzyoJQdV",
  "id": "fc_098d7f1ab9a71059016ab42111bd0c87d0bdfb67c88d0a9671",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6iSqbLIierofPf45DzyoJQdV",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0601, 0.7853, 0.6662, -0.4702, -0.1734, -0.1474, 0.9977, 0.7456, 1.7412, 1.1069, -0.1276, 0.5579, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=0.0168 left_z=0.1937 left_yaw=0.1481 left_pitch=-0.0172 left_roll=-0.0168 left_gripper=0.9977 right_x=0.3967 right_y=0.2439 right_z=0.1236 right_yaw=0.0494 right_pitch=-0.0558 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.3333, 7.4325, 1.8291, 0.0073, 0.4127, -0.1636, -0.1983, -8.1573, 8.9778, 1.7558, 0.5495, 0.2466, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860fb1a4bcb910a0d21494a06643f009950402bb27c145fe6b11bf583be1999c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf6cbdfc7a201b0c446feb5e3cc087654e662897b2ced82f7910c204bd43dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4ca57fe86bb1af974426f6551f1c5f74a9eb343be4ada801db8ab064f2c4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 7.487 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 1.269, 0.8978, -0.2939, -0.5209, -0.3977, 0.5279, -0.0193, 0.6193, 0.3016, -0.2836, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3548 left_y=-0.1323 left_z=0.1935 left_yaw=0.0259 left_pitch=-0.0029 left_roll=-0.0108 left_gripper=0.5279 right_x=0.2602 right_y=0.0028 right_z=0.1063 right_yaw=-0.0031 right_pitch=-0.0313 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -6.7624, 9.2513, 1.5702, -0.2906, 0.0464, 0.0073, -0.3761, -0.8684, 7.0085, 1.9267, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4114, 1.9259, 1.4925, -1.552, -0.9241, -2.0602, 0.5279, -0.0193, 0.7372, 0.5034, -0.3771, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3217 left_y=0.0174 left_z=0.1498 left_yaw=1.43 left_pitch=-0.0226 left_roll=0.0227 left_gripper=0.5279 right_x=0.2791 right_y=0.0036 right_z=0.1497 right_yaw=0.0045 right_pitch=-0.0407 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.4256, 5.0256, -0.5348, -0.4274, -0.3834, -0.0073, -0.3624, -1.6752, 6.9402, 2.0147, -0.022, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0601, 0.7853, 0.6662, -0.4702, -0.1734, -0.1474, 0.9977, 0.7456, 1.7412, 1.1069, -0.1276, 0.5579, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=0.0168 left_z=0.1937 left_yaw=0.1481 left_pitch=-0.0172 left_roll=-0.0168 left_gripper=0.9977 right_x=0.3967 right_y=0.2439 right_z=0.1236 right_yaw=0.0494 right_pitch=-0.0558 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.3333, 7.4325, 1.8291, 0.0073, 0.4127, -0.1636, -0.1983, -8.1573, 8.9778, 1.7558, 0.5495, 0.2466, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860fb1a4bcb910a0d21494a06643f009950402bb27c145fe6b11bf583be1999c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf6cbdfc7a201b0c446feb5e3cc087654e662897b2ced82f7910c204bd43dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4ca57fe86bb1af974426f6551f1c5f74a9eb343be4ada801db8ab064f2c4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEYJoJ6CUhRZuNU8JG1W3NrcbJLcgGc9pfK-VtnXNpJSkFrwmCg0W8HdNjQAUmeExRaXlubHsYDX7CZsSSQ7JNqjIZ0chBXYN4AqvI7mNcndujktoqXEVbMqQltEaF3v7QRXIe-xwdST3ypDQxC-R34amge45mZH_IRZYvVkGUdssum1RmpJbFVLpt-xQHcQsvyraDULnfs7-UbzhLsLXrEHfLFaUVoBete8LZ-L-RTh7iK1PDoA6BvWLPL6Es4xBQgvdWenZshca9MBW_RUQN_1vuWBGVTwaFBpXt5OhaEkToP1TxYwsrWgKTg-nEzwgEvovsokZfm_OlKvVr5WC4tEMtt5ywDFI-6B3C9hLjqN8TiypVR9NZB0Sm9D3_iE5spD26kA2JmS2EtvSP84jDT5KTAnhFhHHaQZiuMUxyMAJ8oPztvw-49gKx31_N8vK5lqtJtSlaCMa_RrF3BsJZ0kYVzyn-kJ3I6rU785T0IoG5_D6F87ZZR0a3E7Tn8QMI_iGxtgMmePTfbiqyLq5e01vk2e2ZuwcWxyfGWW57nu9JmNX0k2r6oB1FPw-mwwhSa2QH5OnKGN0YPg5LcTbv_5xncSJ4uMk84a2BUFdH2ue_ugJdzNFaGxcPnL3DGQsoPp7XxcRZn0rnagIQI4DuJ7eGjwu0hwOy0FBZEb4s3wWFyAam71t0_cCZcsoaFb4yQGv9z-gxpXOhXd6RnxtBzufCeyUiMBx9I-Cua1ILrrYjAla2zDSknQNZn_cChVNnZwWlbOS-VgGenn5lFn8rHosoQPjvua8OcBAE5uG7NuJ8IDetqkJ1g0a4gG7G6522NVmLxy7VgedzW2JhZ-NFjSkNIgxX6ihv-z0rJm3sGtyQpexsDR9DrtGPbBB1Q7z63vITsNXkI3aTFijbUNxv2U1wyAGCQ9hvzaAKss4v4Oc2FtfzR_TLyewrdr_IH8NFDkVXgIsSwifiHx0he60RcRMRxw6zORzYLISh6OZLkIYo0tgRyBNxrRRWI26J4D9yDZX6h2IbXTKS65aX1n2K4xNPesPnXqcH0AsPRquttItulB8_L8y5J27G1JH5CQ_YYQsKqVr7OrRfCrbF1BSKRRHQZldlqyfreflbSSmUnEi7YHmvZPhBn9oglZxG4LNEFumaKkEBHLdK74HFY6cvtfz3zYHj08U3XGp3FDI4xjeDGDQU8tIz9Yb8hIjc2dmA9Wo18Sv_k2XPAXqZ5pi2ifQy7XpEIzXXZL5UT2fWInlcimhgJE7vNINewkSSYPmW0XYJp-VYv80-kOFReJWiKv6C36xuV5oD05VXR_Eks2hH1sfyVnpu-DDXW9MsciGPC6Ykn0yDq3QMvuYB7Utt3YhcHC1CUwNOM4qUoz2asGVDNrkCnfK9ZxbQq7STOGPVYE6Q-cvVfZWyXhJucszO_pPgNt61_FVQU81Hf70_uiZx3F0FRRUzrHkGW0U9okuvWtk7qTSLqky7D7kbgiPuaZFLiGc9T8x-AGGfEcU74JuZjG1I6BrMCTqi3XS_h-EDiUG77m-jKoHV4XeGuNKLRd1nIHPDm4kpsUnmEazUdx2h_lhX9sOHxxYq9MdcpQLWysL7BoPz2kmfXlcpSUVrNMjyz5ST47Kg8Zh8HPhzWVx_lwSrp26UKxmK3uY9RrOOdJsbeTs6L8iMFZ6Oc6XmHhFN6yXIxKM6Fj0lnOsXQ04pNPlVm87k6Yx6cZQC3wRRgPScDH3BOqw23gs-oBNZ_8MygbJrhh1K59MePv2cbsChD5tnb4kBbmC2Joaw5kRsz9oUVUQe3gDV8wtxGn2iF6fQ_6X9JMbN2JIztWoGQnJhJHbOXl10DvcdIQHK042xWQTEmwTJBto4npIB0ovR5lQ==",
  "id": "rs_098d7f1ab9a71059016ab42115e2ec87d0b22b5ca10eaa4e9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.065},\"note\":\"The right wrist image clearly centers the rightmost bottle on the jaw column, but its cap is still well ahead of the fingers. I’m advancing toward the neck and lowering to its height while keeping the jaws open.\"}",
  "call_id": "call_qXx2Ij45CC4nJOWZTWl6uoZv",
  "id": "fc_098d7f1ab9a71059016ab4211767a087d0a359982cd2fccf85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qXx2Ij45CC4nJOWZTWl6uoZv",
  "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]: [-0.0727, 0.7792, 0.6529, -0.4671, -0.181, -0.1345, 0.9976, 0.6598, 1.9991, 1.1019, 0.1051, 0.4896, 0.3275, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0146 left_z=0.19 left_yaw=0.1351 left_pitch=-0.0205 left_roll=-0.0009 left_gripper=0.9976 right_x=0.4344 right_y=0.2364 right_z=0.0374 right_yaw=0.0509 right_pitch=-0.1104 right_roll=-0.0773 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4838, 7.0359, 1.8535, -0.1245, -0.0806, -0.0269, -0.759, -10.7419, 9.4154, 2.1221, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dbc212cc0f82c29a37c8c1b1e3936d7c43088ee60b909b5e422bff89c39503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3743881e8890aa60a5e6b792401906f5f0172e1e45c7964d927e147aea5910e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc8646371d7771cfcbf39df6313f82cfaf02a3814352ee7cc6dec390322789d",
      "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 16 attempt 0 · /responses · status 200 · 4.08 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4583, 2.0834, 1.6752, -1.5131, -0.9283, -1.9789, 0.5279, -0.0189, 0.7643, 0.5495, -0.4034, -0.0273, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0193 left_z=0.1349 left_yaw=1.3364 left_pitch=-0.0363 left_roll=0.027 left_gripper=0.5279 right_x=0.2828 right_y=0.0031 right_z=0.1583 right_yaw=0.0021 right_pitch=-0.048 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.0701, 5.3812, -0.6813, -0.6178, -0.2808, -0.0171, -0.0889, -0.6632, 10.0581, 1.8974, 0.0317, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0601, 0.7853, 0.6662, -0.4702, -0.1734, -0.1474, 0.9977, 0.7456, 1.7412, 1.1069, -0.1276, 0.5579, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=0.0168 left_z=0.1937 left_yaw=0.1481 left_pitch=-0.0172 left_roll=-0.0168 left_gripper=0.9977 right_x=0.3967 right_y=0.2439 right_z=0.1236 right_yaw=0.0494 right_pitch=-0.0558 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.3333, 7.4325, 1.8291, 0.0073, 0.4127, -0.1636, -0.1983, -8.1573, 8.9778, 1.7558, 0.5495, 0.2466, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7792, 0.6529, -0.4671, -0.181, -0.1345, 0.9976, 0.6598, 1.9991, 1.1019, 0.1051, 0.4896, 0.3275, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0146 left_z=0.19 left_yaw=0.1351 left_pitch=-0.0205 left_roll=-0.0009 left_gripper=0.9976 right_x=0.4344 right_y=0.2364 right_z=0.0374 right_yaw=0.0509 right_pitch=-0.1104 right_roll=-0.0773 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4838, 7.0359, 1.8535, -0.1245, -0.0806, -0.0269, -0.759, -10.7419, 9.4154, 2.1221, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0dbc212cc0f82c29a37c8c1b1e3936d7c43088ee60b909b5e422bff89c39503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3743881e8890aa60a5e6b792401906f5f0172e1e45c7964d927e147aea5910e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc8646371d7771cfcbf39df6313f82cfaf02a3814352ee7cc6dec390322789d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEgtIoMA1Eo9jGTgak2M2-CDyvpOFVU2vyD7wujmUl6pBka4_xXt_DRvPaQIgsuEwGwH5L_02CcezwyAMc98PTxBu0riZmvPxJhKeI7h23D6TQcScPbPuNghdNOdqGtrT4R2tCPckRhuXADSm2mrQKJPy-xm7eDzNFWtwXcoA5XjTd5cyYyynAi_sqZeZ-FJMANCoybbJTdxNRKoChvhNEYfCyBdOLxlRGFTSMEGPQqXvHxBeANapYvzASUqpvcTXsBIIqmVa1NLoUswrL7SHbmhbe8t_up5L0BqnXJqK33ty6Y6EdBgegdonhZCE12QvCazExn43LA_hQ8vmEufA3y-iiRr-P8rPPTogcZsGQsnQrQSTP7Rb8O4igWvrAm4_4mhQqJ7-9hxErWxJCTKEzp3MLN1u7wpGvus6HldVuPxZoQHfjUwj1gzQxfGYimVJe3vjy03PTDFETkOHb69Xu71lSibP_rKez7jzPl8fav6TjVUGqy9xOle7Ug2Mgll0Da66mp9oJcKwbFNCe83o3p-R64UWVcdUbL7iLiPgeHtwv696igQWTbl9e3v6TR6JvLmTGPOS4kk6bCxKueWk4Gj_qIlwiekyEtRRxyBoHnZy7KvmodNOawvLi0K3ADbNpHJZV7S_GLnAiwtENbw13ZleAYDvqMIXY2kGr9YewzyMMg5pplORTI2aB2n4k5CO9VJrdPYMH4uMtabk_-RNhwnmfujSClf2UltEYcvZHkgHsVyjfFKbdCoWQPHy9Lb38ku3lR8EQgplhdaf71fmn4MFsM-Jeiw5k48jFs-HdLmtjbHQdnE5-4NYVeqAw1xyIUjsfTzfwOG0hYKxjVPKtX5ZrTZcQpZXDhQYMJeZ-g1AlIbgePU1JG04cp9jSjPc9vQDhbHF1r2V0POscBTKU38IT3GRWRE-kvRfHd1-kFEQIpFNcSILHVfIsVg5iXjdwKKXrFOHjtG_b7l7CpJUGNorzHSeLQ7NyJlHQcYBezF4N9EGHAJlFDcUjDAB9ghYZUtDbNi9rZJZ8lU081h4MclgpIlgDjRBl1Q9TeBEXZuRPthDDcRHZ7kvGKV8KIGjMe-qvt2YIIG-W8_qDB-jqEp5H5QyFdNVy0vmHB2htATxJMj6loJ_9vJexk6NOeXQjjVP8B95KxD2_HcJEVsurRs6E-_n6LSMjlhKvaf2sLDUCMYCz466VOuNERPUku0yjbkTYwakzT5idZv17GVqEJM0vl2BoO2panZUqGx0a9XPqlPUWW6RCSJyXuGHcMzKWsO3QwthwKrNPOBstYatyluWZ7WzfElO6aT5vD1hW0VZYxBx-inT-xNg1dCrN7li9v_F60Cik9yLISDIjUiX_y1jjQGUQAEgkq2iXU8EHBwgcx_Vo3FyCBJPqIVZOGiCOL8s_Ry__bfdy_W7VA3RnFOIP6pQ-KLt98myTJN9n8HAhdfkNLjfHLzWyuUaRwgZzTyUw-k6W-hFU8X49r2qevrEoB2O3xHSRHZIr0EdPy0tbjBcc2DKlQDCYF300pc5HIRzls0sz2VbuDzR4yEPrr-fOT6iuLMAOnIsUlhD9Oy0EM1d_B2XJ1gVsroE3H0imjdF-BPtEQLRibSkFVpAIGTIFXPlnsiUwJeXj6l5cKkr8jgObdolK6sAmEerrn1K5uabRoAG9F9SsME5CiotVaHieNn-JkCYEyuPIN_6FIjzvHCd0S8q5Oz6uEbs2sHf3Mn2CTsJkY_I8Pb9saC4qCHrVfzgjH7u2GzsT9UBT1xDnQ3l-T1Id_wDZ6Vi7hi2nOL9y3df__APSMGkbhWT23jVLd9yDbUANgEe9TUovcv2j0ODamGMGOi4lGLbtevq7-AvTA52GleawNj_HlrZ7BPCHLnKG55Yoc0Y_Rsa_u_CKbAKVXhq8-7-vThCBIwlVlfXelhn83WV0qIGJiIt5jqO7Ti-qzBymE5JcTQbHKvOrDZxibU9_BpGoGBTITVF0vDwjbxAbkmu8WsgRZqe6e6i5tmT458zecuQ0LINblfTwgE69Fe3RO8DnNFRYLeljQGuktREPdq2YnZLPyw0yweqK-F7wHNkZ0U_0XwcqAmLHCJsJGVZ6Ni0X1W6-X9mfUUf2hCR8Ib78XdJFn5j0ml8LVYB8_cyy4gTTnUh2h_mMsWkHK0TzIk2Byd9teFY0zVkFYM9q08nRUGid6v1RmD3YprXMt4_p2SjLl0Mgmg59t6O89TC2XWH1-5hRGmbxRiDGygxOCdsVmE-9IvHfnOrCAr7OYZ3qcGcVSOFap0O7MItEy-5InxB3yGX68XA3988CkerEDK6Gau2Pi8MVl_wQBggEBzsMwke2SFuDTDDVWdkRdvc6rE0IYdfzTo4SsKNTuVIoDxhVUgyxUmarZB4lwIq1p5WZwPWbXxHrqZ2ujX5oQM1QDQsPLMXDpn5uwLRjZPnHPuXBikpq42ZKKsrvzFdu98gtHUwQOocJofw5dXmHicccBFAuBgAbomv0kB3Q6jRo8oFIVGJAXA6xWhwGOeH_xXqOziDQu1K1OrixGWMbFmpks9bTk3yDhRoLePN283jNuKa_MjxNbsGpD8zI56XLJwuTFT99AoisOjTN0sYZ8HbwAVrPcESXk-gMlaCCEU9FEx-H65bCNH0rrKjNJvS1E-T5-xXo_DkIaIEaEa0HVys9Rz5lTtZSxjdTHtuTxQYrW7ED840eWz8PveqM2oQvKviKbYwoQPL79etBCFSUmMnVcVaP7jMzFjyMHbBX-LAowoxFzdf-66GnlDnKzr0fo5EVend5hOUV3q4ysAGf4_YE1njT9_882grmKp4WHDtFMECWdZubdFPPojcGDz2byaQLIsMP41KHp6G8VRH3q44s2jjbVU40Uq2CdQTgaE-AQfOkdtSYhAEHZYY-Yv9wRG4jg-QICjMaTTE9hL1EYg4BDs1gJj4BNvQt8yfBZC-95wioWFJYgltoi3DLUT5gkL6tQuxSd21Z3GIGtax_wOdDbZ2WM8q5iZ1dejPnbM0Nrh7ND-FTcofY9Kx9bKtpDZMXy8NCJgneX1eFE4buXuMofbmgqrMAW450s-DrJ9e822UFyZ1J0Gk5Hn5zykd1aTlYcY_CeyqOTNwIOwCsrPpI0uya4CgHMKysBx2iAw7IOcQHPFbBkxyxtVej0yBxVrM0VqvsHlIvpzpa5U2bScAspKhmFAefTc9S7k7MyHEb09Z67wHW1IovoRBPS4M57HrRdcJmMWyaoK_LcSHW4ygKZpR716G4QxVybmWBdK_aIqzv5aySzhoKduYI1QaSfql5eI7-KUUcClmXFut9E_MtzC1R_CvhEJ5exDR6o3I7x7tDI66ThdtYaRsJmMPLZYjhr_9TXBGyqGioRKBb_gtYpQbuwuUcXLkHWcPQw4PcDjY4EIjJccXDDo45z81iXy_OmzHNmqYOLhyYquaCXOYHaWm61d_bjWVyN1YndXxT14Wg3Brqf2WSivHIP8gCfC4hVZRJWGjoJyZi9Icn8QSDVRps1DNmhKYl0gG2DN2UE8c5TAADgpqEb_1mrwpjlFmQJT5oEY4C_mjBCBi_wUnb5jV8s73iMR6fOCyjUvLJvtP5CzXnQuFLQ_YZ7_CGpwJ75kQQF6iC7b3hbUAWR-4a57RHJ9FlQXATGsRCsDOKzaHy3Ch795e9npWzK-IKldCYtuF-xRD_jvyZE28_IlaJEQCEYc083dtfBefiP_a8PdEFwECKHJXCjaBkxwen3GyPuHyecuN52cVRxO-Kz5U3cg7JIiWtMV3rQhPZV9dUqQz9z-VyNxjQZ-Q==",
  "id": "rs_098d7f1ab9a71059016ab42119a5f087d09eba675a28465075",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEgzvnQs0eQMsmN89ioXu2pSknOg7RYi052wnHGPW08z4EotvfD70OdvDMygoriLdD2ox0AR8B-twbGWYMSuWqcEkO-fpmZZpMatfW2prYmRWavc60JcYzb5a1AQarJoOVQHOC4_GXuLPbWWUdaFBosA1vgZTzwzQTxuI3AaGY64iqramKXKiG4lkkVC0siOy6MOEQyNYxyDYssPiAy8LpQK5Vto8qw3wqDsNow-9yYUgzxFzyNUdCgZb8Y7QbGyGXuw6mlE6-iTss4lyz7O0_fisaPhHJNDXdiOhQV4D96xiQDWKVTgzqxapyk6kluzuWZdNeAPbU8klpWtDXj5Y0P8LRmbcyap9Fb8OkYIlIrpJWe-lCrDSPLNcSW6n3UMCMriuUBnTKnjwoSRbh1bxC6LJi-A7Tt1SXRfB-ho6QExMVxzB2rSska1wXMRfNisUqFPaaCr3qG0-PzAuAWq2F0ieBv_2ohK3QZz-faqSmeIMEU_ezNIHDHxFdhHnT5SEP-ly1NfEKSixofklQ9oKzG8cjVU8gdel2qBkWqO8mu9houA0HizLtzbSuye1SSS1aGrzCwLQqmn29CbneP6VqoHA7ziISTqaR8vfRTJJSni4G3h1JDzO02Y7r1AJmrI5GuPVJVDkKlqnqf4eggIjfL6DZKMMGWS2VBFaFTf6ZTXFheV3J1Qi5-T7wk21YeojaMSSo6tMATBpPOQ5j8-tUwWAEPLorxXtGmlZFJZS9v7t2GyNIrHpwcMtkmCkJJ8R4Qw711p7hoFQG1jR2wQN96qam5aBQ5r8L-g-aZPzhkGKgeOfBn-TUGsKHIQeXh0VVlf6aUlk1jKD78KQDhBXbXcwm1V_bgu9iR7dIfgJApe6jwUbEl2eYSQQBwrQEHWImFFewv0S-q4D90rIPQDtMh2alF9bXT8MfJ4cdaKobe1UDpvzSWURcNyrPiXuHDn6gBtnM6fuxULUioiym81oLCdFb-0HjWAcCWm8D3x_5TpG5JMAuyi_k8u3otMkBAE-PGSLX-dvY_jFm-SBW5xoGamzHSxpjQdtNwAKoyW5g3LOqvIIFtvQgbqWBL-M73tgrSn6Wf-tg4AP3Vy1wWubaBMrco4TunM3Th22wg3Tq6q2jkqzy1yjMb_3Xyjp6BcSFL4pVlRgtsKiaIOfLkub14qgpEyOIw7Dddq0bS4kRQOULkv51sV2TMDZGU9H19zD0GIHGPayhIWK8BaGUK9UikV8FdFKqiZKrsOPkK3Pcu354uqB4gHLduhrEY0I7P6j0_gIhPbPBD6FGV7hwFZgviK4ZWJZuXwQlkhrOT2bSNjJNcZBt2jEg3MEGoLcw9G1M39mEYssYlM6TevD1sRGUkmUhwi537Uq_A9_2yq3YDvBVVhNHfk8u18Vm9a8v9Fr2PrNnWnCO9iOjO6gfMSiGAqdThB3kvV0xHGTU1qtal5SDWggdkUmqR-dDwyxRIyW7Qrwm3sS8zEgFvkvKACj1eCLdUszq4964lPmCLWUYEPvc0Dnmr8CYvG06H1VWDCuYcNeMKxU0xhb4suLKMQ6DvkWzgT5CGKyojgdip5ZzGTYo2vjTHPHdh1Fwac2LVY-DS",
  "id": "rs_098d7f1ab9a71059016ab4211e403887d0b73c1efe01c3caae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is low and centered over the bottle’s wider body, while the cap remains too far forward for a direct low grasp. I’m gripping the body so I can pull the bottle closer and then grasp its neck.\"}",
  "call_id": "call_g1weR8pVn1EbhRnseW8pFQJf",
  "id": "fc_098d7f1ab9a71059016ab4211f457087d08efd7ca7fc064812",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g1weR8pVn1EbhRnseW8pFQJf",
  "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]: [-0.0734, 0.7727, 0.6342, -0.4526, -0.1921, -0.1345, 0.9976, 0.6548, 2.0144, 1.1374, 0.2188, 0.4744, 0.3096, 0.0202]\nstate[eef_state]: left_x=0.2862 left_y=0.0164 left_z=0.1864 left_yaw=0.1436 left_pitch=-0.017 left_roll=0.0047 left_gripper=0.9976 right_x=0.4562 right_y=0.2531 right_z=0.0616 right_yaw=0.0719 right_pitch=-0.0054 right_roll=-0.0082 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -1.7709, 6.8034, 1.7949, -0.0904, -0.0171, -0.0122, -0.8274, -10.5778, 7.0359, 1.5311, 0.2222, 0.0757, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3679ad4e7b83ff17bf29a5416f838e0c5c2619745dcbe5ad19e469360d8b449a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01831bde4fb0a4c3fc46af041d78a21d580a75316fd9a579526b735775efde86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdb127dae846af8ef8166e11d1cdea74b73596a345b230efe12bfac95fac173",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.082 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4114, 1.9259, 1.4925, -1.552, -0.9241, -2.0602, 0.5279, -0.0193, 0.7372, 0.5034, -0.3771, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.3217 left_y=0.0174 left_z=0.1498 left_yaw=1.43 left_pitch=-0.0226 left_roll=0.0227 left_gripper=0.5279 right_x=0.2791 right_y=0.0036 right_z=0.1497 right_yaw=0.0045 right_pitch=-0.0407 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.4256, 5.0256, -0.5348, -0.4274, -0.3834, -0.0073, -0.3624, -1.6752, 6.9402, 2.0147, -0.022, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7792, 0.6529, -0.4671, -0.181, -0.1345, 0.9976, 0.6598, 1.9991, 1.1019, 0.1051, 0.4896, 0.3275, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0146 left_z=0.19 left_yaw=0.1351 left_pitch=-0.0205 left_roll=-0.0009 left_gripper=0.9976 right_x=0.4344 right_y=0.2364 right_z=0.0374 right_yaw=0.0509 right_pitch=-0.1104 right_roll=-0.0773 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4838, 7.0359, 1.8535, -0.1245, -0.0806, -0.0269, -0.759, -10.7419, 9.4154, 2.1221, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7727, 0.6342, -0.4526, -0.1921, -0.1345, 0.9976, 0.6548, 2.0144, 1.1374, 0.2188, 0.4744, 0.3096, 0.0202]\nstate[eef_state]: left_x=0.2862 left_y=0.0164 left_z=0.1864 left_yaw=0.1436 left_pitch=-0.017 left_roll=0.0047 left_gripper=0.9976 right_x=0.4562 right_y=0.2531 right_z=0.0616 right_yaw=0.0719 right_pitch=-0.0054 right_roll=-0.0082 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -1.7709, 6.8034, 1.7949, -0.0904, -0.0171, -0.0122, -0.8274, -10.5778, 7.0359, 1.5311, 0.2222, 0.0757, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3679ad4e7b83ff17bf29a5416f838e0c5c2619745dcbe5ad19e469360d8b449a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01831bde4fb0a4c3fc46af041d78a21d580a75316fd9a579526b735775efde86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdb127dae846af8ef8166e11d1cdea74b73596a345b230efe12bfac95fac173",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCEl6nqv5Bbp15C0lKRfbKUtWXOwibcbCp14Qt2ZwBzk4F9uW5BD6T03IjrVTv9aejWIbtnf194-x1Bwn7gLdSvTVwVIazBaNxctU_n9n8L9ReQZCNpPo_rabje-1bII7H_KPfcKQZnl4dxzaYxdMXSmOeh406SWe5fhXTmNxtX8AHZFGScTL4mf1QA_WCt8y_1KP9Ba2-rvWOmbF-l46av0gKzfMMqpa0-3KY2J49hn6ux2-i3zeGtyLyuHadV6ah-GpOnsdL0Ozie-188l4ZAo4sGgioGDSMnAj-83Zla84CrQFrgJPF8Y1K3O_G4tdHOX4RgUtPL7rxV8QG-ZHskv345UjCaTPAuHwm6rRM_JnqmQepab9EpLabSI_4NEnF8EdVDPPdANyR60yexqdgFhaMvO0sAyYsJvP5T1ABQoEcHzK5uhtVnIBf7owfuHGZscURuxp4mCzK-xyhAwg4vuIaRdNMZVtIUp02WYZE16PcdL6xQ4RHoFye-fh2SpgR7UTzVRx--QUCOhBGTyuQ_1a-CbM8VzL-mPPfL9KpGvD5QDKKV-Z3ngOxH5PaVo19p1W1ZiZShbctUX4o1KnAqt74DGAcXrJtQ25gQx6SHLodTvfwzvzEEsXiwH0khZ55Vmr7Aa8Ik_ehuJCUz7kMd00koacaX0ExNXEsSE7UmtpkUQqlsAP8ExrR3AKEm9mAtqRMXGbIxN35oyc3t0i94GAgheAPbaBB1CvRUVliK0YrcIKfOiHjtnnIxYodujwgo-jmUtaHHYYEwe1i_QLO6oopPMySJD7Xy_hheU61JAhe5eOMin5EMW6dNIUswc_3XQzgPLA5kJtKVz0zRvVinrQ6odSkfgoIuw-OKScVyIAqL5v5SS6riKhstXWnJdafavw9gM8nON0A47Wu1pxKSffl0A2Va0KDLTf6-ZGSxe3npb1MA_BtYVO6QKo1W2AD-v-0bY6So5-z-gtp8F65yBQ8uY3hAvmvYT3bVFK55bFtnXvfVZlV7bK02pMpHF5BnskQXAgbGNo7RJoLWKHc3JJypsrEGZnuKn8JOy4NperYS3o_s7-92yXNuEOA-43Rg--XVv8Jo73olxgV4KGCGOIKQcBvTi889U1EAVUIr9WZMWOroVyXKJ685jrhLR433su0O4FYuvcWYh3oCD0jrwN9W5enG8EVgH8o7qAMEWRq8uo8zqgKBGfL_VIkKKHC-AZVOXvkBujWbtV9TEixcHciO2pL7R1W6amGktHbJFPmyc_WuUc90UtOpMlygs4PzpNnSI6kAijS_GifHL-fMJLKafflAzaZ1Ckh-qzoPO8-Pgbl64qkrwZA9KAdEF3rIcDC2SFwEnc3O8B7gk73o7_2sjtOCUTs4wi6E9uHm8fd-XhL_-VVynTEwTmoyzwopZwE938TDA7lj-FNaVauKOtW6E09hqwAL2aKjhjacVN3uKnbbPi_Ux-RbrtghsKA1A7tqQrPoJ58dqdKRrwh5qR8RdUcReeI9stt4Zw3Zj8Cbvp-U0sVKeC6xl4TwaYEB_Gyc6Di6qvxCp_TcFhNaU8AhqsRyqw_UmR5DqMFUPvdGDLxRV-psZzHO1f4EKnoxuK7t4-1LtEb1YwP6vUXjml4sjnU3sVKrzTxrzolSrMqsdbzhi0bSOJXqtyX9XxUoqlQ6Bv5UAUf2Ojqswko971mr2CK6Ld0fpaMMpOrLS5z5XicEaynG8j7-XfJ2Idt6Q97Xaz0HidA_K3eIMUsj2Q1fL7zp8ydktkkWxK2Ua07WdnWfJspnM0Mu_FWLQ59ph_get8WF3v38UX8KB3Sq4BLkf_AWXV89pQ8PT8aR23q8RUtoV0KwtLvOQky2bUVF6GU1wvlhlZAn12JYd73gBQ1hMerMLNWjBb1ssCTjo3C6kq8uLQVVQmX0FwID-stzsvnF2-rY9bg9QC3T5VNis8ZQ2gKqkkGvJGvGfy4xs0LPMGGeAR8B3smT1dMYNXRHhdcY5S9_HQemhUzf9rsp66S_-Mu1EVCcKClVJQP4bOMYN36a35DD8uEemycr_Lap1qH3YT7Hl2qz-0euiBrnAoQ0xX0gfxv9IJXE8hLi1q_g1W5Gc_ad53CPkDE-DV9C01RVKxqmnyMHthtbM6eVEslkKlxwqwXbHNe6UFt-byXw=",
  "id": "rs_098d7f1ab9a71059016ab42122522487d0acbe1ad2076b9501",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.255,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The right gripper closed almost completely, so the bottle is still just beyond the fingertips. I’m reopening and advancing about three centimeters along its centerline for a more reliable body grasp.\"}",
  "call_id": "call_3Ofbn0FKzjDgLO9tVx1nl8bO",
  "id": "fc_098d7f1ab9a71059016ab421244f1c87d095a303eb0df10d0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Ofbn0FKzjDgLO9tVx1nl8bO",
  "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]: [-0.0734, 0.7719, 0.6212, -0.4488, -0.1921, -0.1349, 0.9976, 0.6277, 2.1162, 1.1927, 0.2787, 0.4404, 0.2729, 0.9957]\nstate[eef_state]: left_x=0.2852 left_y=0.0164 left_z=0.1815 left_yaw=0.1438 left_pitch=-0.0251 left_roll=0.0062 left_gripper=0.9976 right_x=0.4763 right_y=0.257 right_z=0.0404 right_yaw=0.0917 right_pitch=-0.0048 right_roll=-0.0144 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -2.0444, 6.653, 1.8437, -0.1197, -0.0757, -0.0122, -1.347, -8.6632, 8.1846, 1.7705, 0.1245, 0.1294, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19944263c7bce81f1a63f7aed5d9c2ea2f02755691a17594f30236f96446b62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1f2374c0c18c289207fb90cc7c227ffe9f7e886677e957937ac47d3864e61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b7b1efeeb93c129ebf906128506b3779f13aa539bdeb7530a8bcbcbd9db529",
      "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 18 attempt 0 · /responses · status 200 · 4.653 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0601, 0.7853, 0.6662, -0.4702, -0.1734, -0.1474, 0.9977, 0.7456, 1.7412, 1.1069, -0.1276, 0.5579, 0.3958, 0.9998]\nstate[eef_state]: left_x=0.2883 left_y=0.0168 left_z=0.1937 left_yaw=0.1481 left_pitch=-0.0172 left_roll=-0.0168 left_gripper=0.9977 right_x=0.3967 right_y=0.2439 right_z=0.1236 right_yaw=0.0494 right_pitch=-0.0558 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.3333, 7.4325, 1.8291, 0.0073, 0.4127, -0.1636, -0.1983, -8.1573, 8.9778, 1.7558, 0.5495, 0.2466, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7727, 0.6342, -0.4526, -0.1921, -0.1345, 0.9976, 0.6548, 2.0144, 1.1374, 0.2188, 0.4744, 0.3096, 0.0202]\nstate[eef_state]: left_x=0.2862 left_y=0.0164 left_z=0.1864 left_yaw=0.1436 left_pitch=-0.017 left_roll=0.0047 left_gripper=0.9976 right_x=0.4562 right_y=0.2531 right_z=0.0616 right_yaw=0.0719 right_pitch=-0.0054 right_roll=-0.0082 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -1.7709, 6.8034, 1.7949, -0.0904, -0.0171, -0.0122, -0.8274, -10.5778, 7.0359, 1.5311, 0.2222, 0.0757, 0.9597]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7719, 0.6212, -0.4488, -0.1921, -0.1349, 0.9976, 0.6277, 2.1162, 1.1927, 0.2787, 0.4404, 0.2729, 0.9957]\nstate[eef_state]: left_x=0.2852 left_y=0.0164 left_z=0.1815 left_yaw=0.1438 left_pitch=-0.0251 left_roll=0.0062 left_gripper=0.9976 right_x=0.4763 right_y=0.257 right_z=0.0404 right_yaw=0.0917 right_pitch=-0.0048 right_roll=-0.0144 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -2.0444, 6.653, 1.8437, -0.1197, -0.0757, -0.0122, -1.347, -8.6632, 8.1846, 1.7705, 0.1245, 0.1294, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19944263c7bce81f1a63f7aed5d9c2ea2f02755691a17594f30236f96446b62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e1f2374c0c18c289207fb90cc7c227ffe9f7e886677e957937ac47d3864e61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b7b1efeeb93c129ebf906128506b3779f13aa539bdeb7530a8bcbcbd9db529",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEoo1bmMAR874BLHD5-wHo-oV8ADZvmWN3W7Rf8NpqOEAgEQChM98EVNnXfve_8yNv23-2pl7sdk6q65zrcf_2c_LG16pE-8j7JOl6F4mL1sVr59MIygB3OK1j81XzvNn9rqK_2h2qvEocDvxxZdJ1_iCi8ake-oHoVGyGwbrcmygQbxj1qdlbHwtbsmIHLrdeTVXqfjYEQtM7UHtuE8AfR2iS8oC-EQpNHtR6-JL8Aw4zChaUQbaF9wtWumVkuU1khECX4Oc4O-PJUh-EybM7waXdHLfsPjEziOsAVWaf_k9yGZD6DMnQ2wYOOM2zCmgDazk1UVF06yDJY0tsPFs3RqfpPoe6mn7w3wIyjb_lvTCZ2rNWDfofxjU1jcznU4xHJUmBMNbk7u-73nfYmYOs47rqP_yg-kj-QtKS2syUZt9fxTWpCqsHliYdU72NAUulzACfR5CgB4izsd5HjEyN7_7u5okMafZqOjC7hxZx3ISM1MIlG-KPG5Pl3su3Kw894OQ6ADqjQSls6QcnER4OXEXvJK1Amk58GXwFijoT9LGhAHeFXPjWlXGjBCnd9cx_atcDlv_LeGzG1EYfspXuD4q4etnoVFhCqcCIlhObrcSmsg04LldgewTY0JZVQHcBuPoKDK5uKQoKJQ4v4VVaHA8sh_3hXcBY1drBVyaYMOg_igLzGXsk9LNqesjHT1O3-qTscTh-K2btZRqBSYd206JdNqW4IlR-_L5F3VX-jyHXcUoSLXFt_xfLIrKunZJZcQiGmeuo2PtSP4xB-fSEUtPH7gEldVQvEP7bVH-LutdNes8T2fZJI3DtuOSWcT58EbfYA_wvFnSm0YdR41sE_0emz24UcN-gnvgvXO-3uw8qhjBoS98o6hlEEa4IDItGdr69hlk8kPTx1HzNu74jrwPkv4nrrIB_sEanf0-e7BwCUUUX7Ju6PuK-lHipx3A7zNeThM8FKKeXchjKrTC-5l0ay9Podq-UwKrKXSOwKSzsBALhK7MF8jzKRvKGR3KJlPat5GXAAUKh3MMGiPz_pJolteKX_p_eAgYuPlr-PniLnQ5LO0xt78_jIMiRp-ku6lWzUpsm__AHCEAWdL0kqf5Gp5XG-cCGDhBc9n4_uRH4MsjLeH4dtqDswd8zyfbRyjF2CcH3_DvrDz2OrOW0Q_N-kMud5TJbH7nX5oa1ExgOILfiauVVlzfDs1vWMZPUm1W_IfJo0P5nRdnQljZjVUDObsa3o4IzDl8v-01Cq_wPYfV4H7KmC6aZbuywPO3UE",
  "id": "rs_098d7f1ab9a71059016ab42127644887d0b36e282464695522",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s label and body now sit between the open fingers near their tips. I’m closing again at this more forward position and checking the jaw gap before moving it.\"}",
  "call_id": "call_yaatXqPECb21P9dplK0vLjk5",
  "id": "fc_098d7f1ab9a71059016ab42127846c87d0881cbd550efd8ca2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yaatXqPECb21P9dplK0vLjk5",
  "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]: [-0.0734, 0.7605, 0.5972, -0.4301, -0.1921, -0.1349, 0.9976, 0.6289, 2.1044, 1.1923, 0.3546, 0.4366, 0.2607, 0.0204]\nstate[eef_state]: left_x=0.2842 left_y=0.0165 left_z=0.1774 left_yaw=0.1438 left_pitch=-0.0192 left_roll=0.0048 left_gripper=0.9976 right_x=0.4843 right_y=0.2643 right_z=0.0607 right_yaw=0.1011 right_pitch=0.0695 right_roll=0.0213 right_gripper=0.0204\nstate[joint_eff]: [-0.335, -1.6752, 6.8581, 1.8828, -0.1001, -0.0366, -0.0122, -0.6222, -10.5231, 5.2444, 1.1648, 0.1636, 0.1978, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0624b27ea784abf66d8c82fa6a368372f6bffd0e6d9499007fe4e4b5109fd7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4968139d971f32aff16ec53cabf0af2028dd2487762f7b0639b7d43f8f44266e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ed8695a2817650dce4529f7b34bd976b516bf1e44afa54e8d939255e6dfa07",
      "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 19 attempt 0 · /responses · status 200 · 2.457 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 73 changed as sent

message 77 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7792, 0.6529, -0.4671, -0.181, -0.1345, 0.9976, 0.6598, 1.9991, 1.1019, 0.1051, 0.4896, 0.3275, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=0.0146 left_z=0.19 left_yaw=0.1351 left_pitch=-0.0205 left_roll=-0.0009 left_gripper=0.9976 right_x=0.4344 right_y=0.2364 right_z=0.0374 right_yaw=0.0509 right_pitch=-0.1104 right_roll=-0.0773 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4838, 7.0359, 1.8535, -0.1245, -0.0806, -0.0269, -0.759, -10.7419, 9.4154, 2.1221, 0.2662, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7719, 0.6212, -0.4488, -0.1921, -0.1349, 0.9976, 0.6277, 2.1162, 1.1927, 0.2787, 0.4404, 0.2729, 0.9957]\nstate[eef_state]: left_x=0.2852 left_y=0.0164 left_z=0.1815 left_yaw=0.1438 left_pitch=-0.0251 left_roll=0.0062 left_gripper=0.9976 right_x=0.4763 right_y=0.257 right_z=0.0404 right_yaw=0.0917 right_pitch=-0.0048 right_roll=-0.0144 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -2.0444, 6.653, 1.8437, -0.1197, -0.0757, -0.0122, -1.347, -8.6632, 8.1846, 1.7705, 0.1245, 0.1294, -0.1245]\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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7605, 0.5972, -0.4301, -0.1921, -0.1349, 0.9976, 0.6289, 2.1044, 1.1923, 0.3546, 0.4366, 0.2607, 0.0204]\nstate[eef_state]: left_x=0.2842 left_y=0.0165 left_z=0.1774 left_yaw=0.1438 left_pitch=-0.0192 left_roll=0.0048 left_gripper=0.9976 right_x=0.4843 right_y=0.2643 right_z=0.0607 right_yaw=0.1011 right_pitch=0.0695 right_roll=0.0213 right_gripper=0.0204\nstate[joint_eff]: [-0.335, -1.6752, 6.8581, 1.8828, -0.1001, -0.0366, -0.0122, -0.6222, -10.5231, 5.2444, 1.1648, 0.1636, 0.1978, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0624b27ea784abf66d8c82fa6a368372f6bffd0e6d9499007fe4e4b5109fd7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4968139d971f32aff16ec53cabf0af2028dd2487762f7b0639b7d43f8f44266e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ed8695a2817650dce4529f7b34bd976b516bf1e44afa54e8d939255e6dfa07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCEtImjDFjsdI9yIrszmZn4JDFDvTyQ7fipBVvUaUFqMoXw6TqhzQYZRVFAnSZhW2S_wPvNmcZeULUJSjVJlavGUd9obgRc10pa8hmEXWskouydeNhyGsL0bzNkheSJFOxLOQTNzkiqa7t6QGqeK3LjD-NSNdIfk0F5Ux1Nrszdjh8BujYSokfcoh5i03DF-0eP2TejWJ7hfiJ85AYYozL6g5N343nu3ARzZe8PVBm_3ToSStT1_tY_tkN4NmIvF0y9RPZ3Pe1wJ7aqc4o4MX4V9_CaJ3LKX42o-cUoVM0HRY9NZQJ_XRzT1W8Nh0r_NuU1TkashYwDSHDVDPepY8_Px8M4yPOSf0uDeDRmuYBXc5Z_z20ohf5ljSajAE_-M49ZKzXT5R3VkGEFnh6ErHE9Put_4fNB2VyZcCsqJx82p8fl4wzaKh_ZYztoO0tzSE-WQE85G3dE-vGPQaCa1npLvUfDI9zb2agkta39nROoUXzGDS5-AdBWUIZSbwTNMsItHancYpFaaa04bC2awhZURMJ39kFXGW8vbNoiTS3t7-wvw-U7bbGN1V1_KYcf2pufEHrzg4buchlw8uY6vxH_C_PUXoPPh_ovC0joIr9F8pRwPuWnMgroZhPF19irr3-uY7g-JIm9Voq5RhAKOcRC_K7YNXsuJdh0y-caidcgeRj9LRcwUXRZhiniB3VFgrU0zO7qbsUNLf1tB4ERwQ1u8QWfpoIjtfI1v069EpfrXBHJNwiVRvJeH0uqrFUQxOr6GpxCUKKomAM7HljwugeWtHayJa2Ltcl9CdW9Gmqf5c35q069xpsjwrdpYlugQvcEIDykQwBFvtOfulNF7MKr_C8lhqMvasV9KchibL5kQp4bP6H5OaEQAkjN2G2pyZT_10VTW2m--TuxI1y0WbEcc_wUKNWqkLVFs2tG0B_586fqqPncwjROopeBB5dxi4ITCGamH0VdHp7Cnt3HnIZ0HaGkSucrNLOGbWxMBwZg3DKYVam17dty6VRqCxy8C9AIOHa5OcYcr2p29FM-4A6QmK7BD5--QIamd8q3e08JSctmU8whsRQBkWDG36KfdDslQ580RrQfKSvdpJZo_1dffZbZgxt6UfJUT2linUGIcUKkaOKu49rB0gHl72vuFFBGsahFO6CMXAwGAgUHCvbok4XwjnhXInRXLG-7AJNJHMpTitSZCnJdK4IefMy1d4OTtKC2mr5Cwj9IKEQo1p7EfyEXQWBjTwqkdNBTLYqb0IR0GtC_9mYZZbBH0iBq6BziYCJ-RaMvRYtyiR5XLDhCkXpsbUm4yBrmSOZp_hUI9LihpdeHRl9zZ4H_UpIYFS5WnOFCNAG8omN55Rgv4H5NszQivPHLkqdq2N3MoQa4ayA5dURqrnxTrB4RAURmgndSxGtIO7StZS-cnazSBMltsp7o1Z7EringjBZZnKlA55VnYZzDb_kk9cKm6IQiWBCHNPODiZxE4flzIGrNMsHxUQX4TGztjVBm5ptU5mQEj71WnabnfqSf0QCmD6nP30YrUr2GGhtRTfVmrqGpD9_OxAKQmjCmc9vpaIbL34L9AH99XaH9xXbOM4vUbQ8OZKDh1MsbqdQhBv0wzJkXw2Q9nkkp3dybsTdRNt5UZH8070Q5M32SxCsQ9WDAtwKXnbhFTrQVSfmM45HlvhaUIA-pxVmm0A6NeBfzj6s-sG5hkEL63hHghODT2xY9JCpvUgj_cpzZIiT7_HyZ582J6x6Wu2XbtrccALYKVi7c1AaUj7uFJLSvKEPp39mcVE38CzVT4j7g0o-7s_2q3EesZ7JmnuuEEtSQis2oGqCvLhkpRyEDR_wWl0WN5hlF7GnhgCJVsso0PqmOsv6OFtpAeedRu8G8mGpt_4DjdsbFSJpUCzvhR0Ag6eakUVhQxNjF9x-gkBy6Fe6MtUVMVbV9kCw4JOrjZ_cgsIE_4wC1W5Ue5-dFpeqy_L8ZW5gi4g-c9JC7qK92b5VtfUca3_zxhEKr7nyA-avtS5IBiUjZ88jZBKL53inCEGOklCszNaNnyRTU0OKodqOuxMbZmgpOxTw1YLB5vH54fI0w8LIq7c-vOAG4wu1DaUOBViY5NDuMoJ6mPMA0bxzheaGRK4IphrXSyACYxz2tjgZ7bO0AwmHxm_5lXlc3eShJ3IuLhJLZE2pVdxjXsZzrmNQCxlMq2XObMPGu2moLEzdwUu7ca7Z30OLtKxIe2QKO2_HZoRVevLGhw0BVvpOrZwkZ959ZAdoNriPjJ5FIvdo7bEOqhUR8Ya4aV9jeRg6nCtJAtdChdd-Z3FTyOobKDLjBXd6RJ4KUwSuS37tRbBe0T4DaNjb4l6h7tHodJL5EiLunyAOlUEkvXgNWO77UQVIqzG-CsffL975X0eHr4zRunBEeMitfynTj0dNZUrDOMPIeRwOeyZZ9ALkxyqgMhT-QaWerXr4c2LG_gIdVVJGs55wRIMKs2X1cP82H9x4QHeYpg67FbOTmJtPw3ZayvrurzZgbCsZdL2Fwokw2P_SiAk6QllQZzDdjucqKkNBLdBCyZ3J9JUmesIPdlPv3ngE3J14o8WHCJ8Dhd0IPhARK1VOKFf7APFIla39mJJqMUisw7ccVeBEGHhFFuD2xdbfGQLKlu41I5OU22xiFV4AXcr0I4visQW6HptT0GwK5bsfXVNFtzuqln",
  "id": "rs_098d7f1ab9a71059016ab4212ac7e487d08649e50b4842f80f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.265,\"right_z\":0.05,\"right_gripper\":1},\"note\":\"The jaws again closed empty; the wrist camera shows the bottle just in front of the actual fingertip contact point despite appearing centered. I’m opening and advancing farther at low height to reach the bottle’s broad section.\"}",
  "call_id": "call_WD2TWkfwn8Vei9eu3BUVRiSk",
  "id": "fc_098d7f1ab9a71059016ab4212cf3e487d0b518614974f56692",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WD2TWkfwn8Vei9eu3BUVRiSk",
  "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]: [-0.0734, 0.7521, 0.5819, -0.4225, -0.1921, -0.1345, 0.9976, 0.5934, 2.1937, 1.3609, 0.1753, 0.3824, 0.2268, 0.9959]\nstate[eef_state]: left_x=0.2829 left_y=0.0166 left_z=0.1742 left_yaw=0.1436 left_pitch=-0.0184 left_roll=0.005 left_gripper=0.9976 right_x=0.5062 right_y=0.2662 right_z=0.0427 right_yaw=0.1289 right_pitch=-0.0328 right_roll=-0.028 right_gripper=0.9959\nstate[joint_eff]: [-0.2667, -1.4701, 6.735, 1.8535, -0.1001, -0.0171, -0.0122, -1.347, -10.1402, 9.3607, 1.8632, 0.1734, 0.1783, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cabe9604726383961e1e131b7f466b569a0df6f48334e4f52b520946df6f254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5cef26c1fd3daa859f34e296db08fd4457dd84537270455194da022db1dae9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16cdfd2328cea9e9f67e1c916e814d085f1c4e27dced544e06f10e03f8cf83b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.269 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7727, 0.6342, -0.4526, -0.1921, -0.1345, 0.9976, 0.6548, 2.0144, 1.1374, 0.2188, 0.4744, 0.3096, 0.0202]\nstate[eef_state]: left_x=0.2862 left_y=0.0164 left_z=0.1864 left_yaw=0.1436 left_pitch=-0.017 left_roll=0.0047 left_gripper=0.9976 right_x=0.4562 right_y=0.2531 right_z=0.0616 right_yaw=0.0719 right_pitch=-0.0054 right_roll=-0.0082 right_gripper=0.0202\nstate[joint_eff]: [-0.3214, -1.7709, 6.8034, 1.7949, -0.0904, -0.0171, -0.0122, -0.8274, -10.5778, 7.0359, 1.5311, 0.2222, 0.0757, 0.9597]",
      "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]: [-0.0734, 0.7605, 0.5972, -0.4301, -0.1921, -0.1349, 0.9976, 0.6289, 2.1044, 1.1923, 0.3546, 0.4366, 0.2607, 0.0204]\nstate[eef_state]: left_x=0.2842 left_y=0.0165 left_z=0.1774 left_yaw=0.1438 left_pitch=-0.0192 left_roll=0.0048 left_gripper=0.9976 right_x=0.4843 right_y=0.2643 right_z=0.0607 right_yaw=0.1011 right_pitch=0.0695 right_roll=0.0213 right_gripper=0.0204\nstate[joint_eff]: [-0.335, -1.6752, 6.8581, 1.8828, -0.1001, -0.0366, -0.0122, -0.6222, -10.5231, 5.2444, 1.1648, 0.1636, 0.1978, 0.8864]\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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7521, 0.5819, -0.4225, -0.1921, -0.1345, 0.9976, 0.5934, 2.1937, 1.3609, 0.1753, 0.3824, 0.2268, 0.9959]\nstate[eef_state]: left_x=0.2829 left_y=0.0166 left_z=0.1742 left_yaw=0.1436 left_pitch=-0.0184 left_roll=0.005 left_gripper=0.9976 right_x=0.5062 right_y=0.2662 right_z=0.0427 right_yaw=0.1289 right_pitch=-0.0328 right_roll=-0.028 right_gripper=0.9959\nstate[joint_eff]: [-0.2667, -1.4701, 6.735, 1.8535, -0.1001, -0.0171, -0.0122, -1.347, -10.1402, 9.3607, 1.8632, 0.1734, 0.1783, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cabe9604726383961e1e131b7f466b569a0df6f48334e4f52b520946df6f254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5cef26c1fd3daa859f34e296db08fd4457dd84537270455194da022db1dae9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16cdfd2328cea9e9f67e1c916e814d085f1c4e27dced544e06f10e03f8cf83b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCExFget1Hhf6hgQlWhRdFfL0hgDruJc9hi5mAcyEhsQj_6uubEnkfhI_nNVJnzcEwEPSLFCAvv5zm8G5hCcQvQAb06YRwZoA3sWotTbn5dc7d4i2RRfxsBZ0eGkJobFy1oZdF8yW4xz4f85aFt2gKOzGln3Ph2y0hVcb5QGL_RntL6NQq9eKOkDSpd4s1BA83EQgIS2dg0Sm3f9sEI_VBYDf8zdknefal1KjN_Zu_uGOBJh5oGJUi8CwGlfW7CAmYxrStrbLkFdZfGymHeHcuPAZsn5G5EyTjKpZQod6zo_TJjn7EjRBtqhy6tDxP6SqpWT5BFHSX8KPqPNDHMc8n_ZX5n-7zCEa7hunSmSTs5ycx5s_9L6Au-hrvE7n2OJolrDo97-r-MwLzmrN7nxd0TdI7g-Fg9XeAFlPHwlreIV7fFxpoUOfD5roYocB3psZCEM2CqWzWtovDmGqQS7VDaqxrf2aruSd30d79pnaUNiVRk_G7_o0EXwrFLTJac-gdUl6WGXk0m7nK2-FS-JU7bK15ZeRMHuNtFLarCcoGpUmR9a81-RFInUaqTNNq80Be9gUp2Vc0rIPODGKRiDLq05e93OzOW4VyPQHDB8gMIY7nUuD0dWE_kxAO4gKwOqfNHchI1Wm9m8OPqGSz1g1HEtMGllhsN3s5jN_ApOL_OvVsv9rAT4KpqKIZEgghDd8-YBrBqFD7s5vGkIEJWxdQWJ7NrwNAb8KuZbF2oPLJdJB2IFCL8PFP6nuZFzM2BvE6m-yct12gS_TxMuVZkDYBglODs7aHrjNs8aEHs_RVdvCRWHidiLxEYeMD3vAAnapPi4VKaRkccXpqKQ1Kwkj4_uaskk6Ejz915T-COFLi-8z7nF1yDTP8g2ew30Ol39wi1SNlH3h0iwb_iwiBT2nwyjCIOm_cf9Sp0CzvvlUPwnvUykAbTgOjKns9PWvnAlTkg52GtvJNtGYQ7BVjDfLMI6ZwQUdF1tGH6qmdKcbpKDy-NZwTvOfaL4LIVR0uRjWcNQmqo9rnGG2rF-5SgBxAPerZo6_YgdyIrcw0Vu4Uf-dOsc4junJaG7DLTVoVFsx-hFrYPM_y1oK4pe6Xqo16PO6A_0U83Z3K45MRuUccptfkweNIMAb0N9bsvGFYQStccqjqshpf8WgWUPfyuJEaWPI_bl26AK3Y-niPa2wGkkDOGtOegNhd5XNJ1ItKfSfHmaonDNtSD21UfFtyaEneafJqJRNhBvBBuYaSm1T61wudbVtnfEU8Ozq-POr1jMDbGPNUt3AEs5_a5CHbiaJKYF4YrlvdIW0lZGIRnPe29un3FKsa-_DEtlkmbTHNhmUk3gQZQ4IRmulIJwzEfmkM1DoC4GEEOmGFdKdT059Kp5MWGBpExg-PN-DpFVrDDtY7JZX_YtGebwjkkwIbg0NDKuouWcQLjfTo1yFPn5Z3vWSNX8zePR9SJS71zS-pOz7bC_h_2UzaPsDDcUw74SUKzcxw==",
  "id": "rs_098d7f1ab9a71059016ab4212fd2c887d08e864e04b25b1a1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this farther reach the bottle’s broad labeled section is clearly between the open fingers in the right wrist view. I’m closing once more to test whether the jaws now contact it.\"}",
  "call_id": "call_YOsVYddqUVlRVcdV4CfrJXJm",
  "id": "fc_098d7f1ab9a71059016ab42130806887d09fc3a5472187a32e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YOsVYddqUVlRVcdV4CfrJXJm",
  "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]: [-0.0734, 0.7456, 0.569, -0.4164, -0.1921, -0.1349, 0.9976, 0.5961, 2.1899, 1.3323, 0.2909, 0.3729, 0.2188, 0.3546]\nstate[eef_state]: left_x=0.2818 left_y=0.0167 left_z=0.1712 left_yaw=0.1438 left_pitch=-0.0188 left_roll=0.0048 left_gripper=0.9976 right_x=0.5116 right_y=0.2736 right_z=0.0552 right_yaw=0.1434 right_pitch=0.0463 right_roll=0.0103 right_gripper=0.3546\nstate[joint_eff]: [-0.0205, -1.4701, 6.5436, 1.9023, -0.1245, -0.0317, -0.0122, -0.212, -12.0684, 5.3265, 1.3114, 0.1148, 0.149, 0.2662]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93937845a9e9a6ecb22ee42a8a2d2c780a8792a054c9492e9507ded0ff24b89f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854342d19b5583f25e4ed5a5ca0d902c7eb6deefb8a6832e55ce7f405b1ed261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f16443926d96a8946e23ab23753b4a73b00795049b7baa41bc96e013aa2759",
      "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 21 attempt 0 · /responses · status 200 · 4.038 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7719, 0.6212, -0.4488, -0.1921, -0.1349, 0.9976, 0.6277, 2.1162, 1.1927, 0.2787, 0.4404, 0.2729, 0.9957]\nstate[eef_state]: left_x=0.2852 left_y=0.0164 left_z=0.1815 left_yaw=0.1438 left_pitch=-0.0251 left_roll=0.0062 left_gripper=0.9976 right_x=0.4763 right_y=0.257 right_z=0.0404 right_yaw=0.0917 right_pitch=-0.0048 right_roll=-0.0144 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -2.0444, 6.653, 1.8437, -0.1197, -0.0757, -0.0122, -1.347, -8.6632, 8.1846, 1.7705, 0.1245, 0.1294, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7521, 0.5819, -0.4225, -0.1921, -0.1345, 0.9976, 0.5934, 2.1937, 1.3609, 0.1753, 0.3824, 0.2268, 0.9959]\nstate[eef_state]: left_x=0.2829 left_y=0.0166 left_z=0.1742 left_yaw=0.1436 left_pitch=-0.0184 left_roll=0.005 left_gripper=0.9976 right_x=0.5062 right_y=0.2662 right_z=0.0427 right_yaw=0.1289 right_pitch=-0.0328 right_roll=-0.028 right_gripper=0.9959\nstate[joint_eff]: [-0.2667, -1.4701, 6.735, 1.8535, -0.1001, -0.0171, -0.0122, -1.347, -10.1402, 9.3607, 1.8632, 0.1734, 0.1783, -0.1392]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7456, 0.569, -0.4164, -0.1921, -0.1349, 0.9976, 0.5961, 2.1899, 1.3323, 0.2909, 0.3729, 0.2188, 0.3546]\nstate[eef_state]: left_x=0.2818 left_y=0.0167 left_z=0.1712 left_yaw=0.1438 left_pitch=-0.0188 left_roll=0.0048 left_gripper=0.9976 right_x=0.5116 right_y=0.2736 right_z=0.0552 right_yaw=0.1434 right_pitch=0.0463 right_roll=0.0103 right_gripper=0.3546\nstate[joint_eff]: [-0.0205, -1.4701, 6.5436, 1.9023, -0.1245, -0.0317, -0.0122, -0.212, -12.0684, 5.3265, 1.3114, 0.1148, 0.149, 0.2662]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93937845a9e9a6ecb22ee42a8a2d2c780a8792a054c9492e9507ded0ff24b89f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854342d19b5583f25e4ed5a5ca0d902c7eb6deefb8a6832e55ce7f405b1ed261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f16443926d96a8946e23ab23753b4a73b00795049b7baa41bc96e013aa2759",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_098d7f1ab9a71059016ab4213400fc87d0a6feecddb62bfe33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_z\":0.16},\"note\":\"The right jaw gap settled at about 3.4 centimeters, indicating contact with the bottle. I’m lifting and drawing it slightly inward to verify that it moves with the gripper and clears the table.\"}",
  "call_id": "call_kYfVixlj7oQx2kfBsE5l8IJ4",
  "id": "fc_098d7f1ab9a71059016ab42135fb3887d0b327f2e6948a5c20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kYfVixlj7oQx2kfBsE5l8IJ4",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7387, 0.5541, -0.4076, -0.1921, -0.1345, 0.9976, 0.6434, 1.9614, 1.3712, -0.0853, 0.392, 0.2386, 0.3532]\nstate[eef_state]: left_x=0.2808 left_y=0.0168 left_z=0.168 left_yaw=0.1436 left_pitch=-0.0181 left_roll=0.0049 left_gripper=0.9976 right_x=0.4701 right_y=0.2726 right_z=0.1239 right_yaw=0.1644 right_pitch=-0.046 right_roll=-0.0317 right_gripper=0.3532\nstate[joint_eff]: [-0.1573, -0.9504, 6.694, 1.8632, -0.1001, -0.0513, -0.0122, 0.5812, -13.2581, 10.0034, 1.8291, 0.2955, 0.2418, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb1dc028d15492a1bbd210cf9537d3d62e0380f79a09a81881bbd833614b416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6917601b90bc269b50708de0819a81013b9bc345e14c058b97a90d1e6d969c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf12a582feecabdbdb0cc35b8c70d9bca43e77cc401cf61c6454eba141c069",
      "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 · 8.077 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7605, 0.5972, -0.4301, -0.1921, -0.1349, 0.9976, 0.6289, 2.1044, 1.1923, 0.3546, 0.4366, 0.2607, 0.0204]\nstate[eef_state]: left_x=0.2842 left_y=0.0165 left_z=0.1774 left_yaw=0.1438 left_pitch=-0.0192 left_roll=0.0048 left_gripper=0.9976 right_x=0.4843 right_y=0.2643 right_z=0.0607 right_yaw=0.1011 right_pitch=0.0695 right_roll=0.0213 right_gripper=0.0204\nstate[joint_eff]: [-0.335, -1.6752, 6.8581, 1.8828, -0.1001, -0.0366, -0.0122, -0.6222, -10.5231, 5.2444, 1.1648, 0.1636, 0.1978, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7456, 0.569, -0.4164, -0.1921, -0.1349, 0.9976, 0.5961, 2.1899, 1.3323, 0.2909, 0.3729, 0.2188, 0.3546]\nstate[eef_state]: left_x=0.2818 left_y=0.0167 left_z=0.1712 left_yaw=0.1438 left_pitch=-0.0188 left_roll=0.0048 left_gripper=0.9976 right_x=0.5116 right_y=0.2736 right_z=0.0552 right_yaw=0.1434 right_pitch=0.0463 right_roll=0.0103 right_gripper=0.3546\nstate[joint_eff]: [-0.0205, -1.4701, 6.5436, 1.9023, -0.1245, -0.0317, -0.0122, -0.212, -12.0684, 5.3265, 1.3114, 0.1148, 0.149, 0.2662]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7387, 0.5541, -0.4076, -0.1921, -0.1345, 0.9976, 0.6434, 1.9614, 1.3712, -0.0853, 0.392, 0.2386, 0.3532]\nstate[eef_state]: left_x=0.2808 left_y=0.0168 left_z=0.168 left_yaw=0.1436 left_pitch=-0.0181 left_roll=0.0049 left_gripper=0.9976 right_x=0.4701 right_y=0.2726 right_z=0.1239 right_yaw=0.1644 right_pitch=-0.046 right_roll=-0.0317 right_gripper=0.3532\nstate[joint_eff]: [-0.1573, -0.9504, 6.694, 1.8632, -0.1001, -0.0513, -0.0122, 0.5812, -13.2581, 10.0034, 1.8291, 0.2955, 0.2418, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb1dc028d15492a1bbd210cf9537d3d62e0380f79a09a81881bbd833614b416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6917601b90bc269b50708de0819a81013b9bc345e14c058b97a90d1e6d969c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cf12a582feecabdbdb0cc35b8c70d9bca43e77cc401cf61c6454eba141c069",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCE7mWpD1exT02RbtAofhSMAFbUjEIhUwmSS8UJYorA5jXy1XItKS0dws2aASaaJHVoDX8PQfG92G_nchBODLGbM6o009dsKs2_teGHqYHkq1kB5UWr2w5jCKc90ljALNe92149zS5Wc3aHFjyeOpmTZ0FZdUTjyGQzX_Ld5-gPVRMYkQNDxSvl5wE4e5V5CAf6wX1ZQF1Yl4qDrXzd4NRKfnkFoQTRwq4nXACx4aqZFw8rvf7Dx7gPJYimSnNlyJMkmBlrMa7eGEIxCgOh45EnPqpy-iQ27YSR5V38u2nbw91r5BawJR_wLUzqffJGnnE2ljrk5BfL96oLwAqhJ-5ybKVIdCIJrK2MV0RKib-agbVVfwxJ1bNTjx1XJoexpZ2_9H1fkR5fVPjnrbhArpbBm9gb8PdlpskE24yMGQK2acZYNuew-x3OpmsjKDGZmUseGfoQpUQfHkPnM6fUyMwYmm9neI6Jgb8KjOhqZzdzfDA5cCofHiiEEHx9STpIWUYXiP5S5uYVVFwDOCij-q3ZyrpJI65O3KGU6ILrYJyf4HqtEZGCItTn53P-QFy2rL8d5cLrdYvfEIWmW0HZzWCBMqs5HmRLasfUv4dQ3GD_yxCsZvnipl5qmJM8Iu_ZWb1NfjOo8Mf3DpMNCdTxZFBT95NihAhAXAvCHmvNay5fk9pWBh3jILTFkCbUPT05wSiZoQh76fPze9QS8PChV2jghC9x0lYghAz6eaNznBlkVP0qNgsCAIIRg2KpIgv9ocif9jY2JH9FX65yZNze0t8GZn8twxHVmM5mZaqlTk7VyBmWFscj6Kg0Ei3Y3rRnPx4u1O6tOuK5_hW-ZbH2hiO8U-jeoq2gHTkOKBDlXqi74HWe-RwAxrExjOulTrHQmCWzw-0BcCQ6RFdMmsJob7Bq6AmCBG562l_e0uDbLLAIjvj2UsXOL-p7_OlZotdFYBS0FYxeGP9p60owCnI2eVJMGEtS0G0cEMdcIs6p32-mut1egV0UfZ64DXrMV61A4LYCu5r8JLeo0bKGSVQtZJIL-SGPH-Iv9pNH2QVJrQnznnKQLBB3mPfXBU6ZTVf4b6s9Jrx9mzpQR57IfieBkkCknsFTQndkd1Y_CyIYHtdAo10goh_M9m56oMDBtreEauhdCP1GBq-XHA-tvpOVZla73o-Zo-lz8Sl8kRq6utlSgNC06gZI0aqtdYUdBHlQnBo2SluX8tveRiuCVOQUsQB2uf3JkwHpsO5bwmQrI8biveAHc_33nPJphPlXxGHkdyATKbJdKsRYWzhFLbGSmcRtPaX4Ce57mksdZq3EwvumeF1_EdI2-z0rqZOCmlZChc-7KmDzSw1IAhoV-nmpJ6bqy7Bd7N-zhYPOT8p-25MLbFZTTRCGYEB1DzUk4t7e4kJIQ-R6GyPsnedKUhp3NqCuUwRq8004xL3wt5sVVjOCKJsNmMBbv7q_TTPW6DQYxn9N9FUEkgJA6hzwkZIUrUMeh3BAxQfXHC7qJQSVFeCfDUpIXR6E2HfhfkeYLYbffj7t2oZ1g0XpT4PLmcZlbkzjDL9jiKHFLiP-0HMuGPuwne_iP7pk7W74pE7pRircwJtcHt5UrJi_Tn3y6AbpEpLX1FwK7-FgajdH4PiJs_WeobGHB1ApCl4VmZHd1pCj5J4aDAv1DPpQr3nrqiyEGJj3T_KLppY-ggfal7UXKyar4BcIvOTp2F16wCddGS6qvtUjI1_N1G_ulRL6tiNNmDJqZA-6iSJXnMi4677XQ986Z6oKURx340OSn0nSYt8OisngSsclhPQ7J7OuV5f5CcvOc_zwv04ZtLUKppsMOZ2cI-WnI-YWKPkV1HOMrHJUlp-s8lhNEpTa0vvRZPMib0tivfnPzHOa2iy1-IexdouDh76nboQBUSQg05fPZehaROtQs0F4qo-ZR32sggbDpeJp7HguWlhKzjNPq_roYVKkbzn2CN3nQXoU16iZwBf65Tgu5mAB1zVPvolknbLLaYTWLLJwj3EVJ49Os2SvSypY9SZEqlv60jAyu-iSRPeNcwa1991L5d92Dm9MGLOIBS-KCtRZgZYClLXu7VSV4mzEmljkcrJaVsgtDz_3BY_53PHpJkAoOmLqKQhj4PA29hlijDqcIJi7feZRgkZSO4MamFuK2DLAJS6YAzBIJ5KwHHnYZC8A0udE59ezI6ipLHcKlGhf2-o2LBbbw8-bmv8h6dARdr6Y_6dd4TSrbullf4Kfo--oSNlETmqjWjhhZgDBgb4PnhkAa0VU3nHi2_dHZSs80j3VIyB9dIpkCfSD4llgmihkcea8s7M2vJDzT9C7IBp9TDyh93TKtVMIUFlnXqQ92Ef-RRXkW3duloYdPaapqG8kpAD1HEVbHbm4a-5Crhc8MBoqqX3b8VZIvxwqsSXmOyHag7wySh0sEL6EnFDLkDjxlun5mUWruh9iAsw2v02MPXI7t4n6EONh83NqL5VioPZ5HLFNf4UKss_w7xfPMDJEJzsRz0phjsjSsrHBVCIk2Sek_cEkszc4IEEbwGNAxYjREZyRy4q3aq-WcccAV3hLcRGOkJdp7D-GZN0CXpkbHjpFi3P7Y_09V3hGdnoepzhLaTbxJyZgaqeCdID2S21_pHnD3yMTwe12FVmBCd32Yla6O92P0CKIi86fdtnc=",
  "id": "rs_098d7f1ab9a71059016ab42138dd3087d094b8349c1c2241ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.24},\"note\":\"The right bottle still appears ahead of the wrist camera after a small lift, so I cannot yet confirm it is being carried rather than merely squeezed against the table. I’m lifting higher and retreating farther to expose its position in the overhead view.\"}",
  "call_id": "call_qQfKYnqV2KlEBhewNFJfWTGf",
  "id": "fc_098d7f1ab9a71059016ab4213b118487d0b785d2cb95137f77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qQfKYnqV2KlEBhewNFJfWTGf",
  "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]: [-0.0734, 0.7326, 0.5465, -0.3996, -0.1921, -0.1349, 0.9976, 0.754, 1.7111, 1.3945, -0.3794, 0.4507, 0.292, 0.353]\nstate[eef_state]: left_x=0.2806 left_y=0.0168 left_z=0.1677 left_yaw=0.1438 left_pitch=-0.0117 left_roll=0.0032 left_gripper=0.9976 right_x=0.4033 right_y=0.2781 right_z=0.2074 right_yaw=0.1988 right_pitch=-0.0452 right_roll=-0.0306 right_gripper=0.353\nstate[joint_eff]: [0.1026, -1.4838, 6.3385, 1.8339, -0.1245, -0.0806, -0.0122, 0.4034, -11.5761, 9.8256, 1.7118, 0.442, 0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0671cc80b283d578a295958fee4ddb93ab78b35acfe836afeaa58be0c2c76ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fcfeac68b5cfb57961d7c2d690c71a9379e813f85c6f8004ae93649e4e6431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e40052de6a814d7dc385cb69cc63dcf629e4aceae806dafd7440df8e170979c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.013 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7521, 0.5819, -0.4225, -0.1921, -0.1345, 0.9976, 0.5934, 2.1937, 1.3609, 0.1753, 0.3824, 0.2268, 0.9959]\nstate[eef_state]: left_x=0.2829 left_y=0.0166 left_z=0.1742 left_yaw=0.1436 left_pitch=-0.0184 left_roll=0.005 left_gripper=0.9976 right_x=0.5062 right_y=0.2662 right_z=0.0427 right_yaw=0.1289 right_pitch=-0.0328 right_roll=-0.028 right_gripper=0.9959\nstate[joint_eff]: [-0.2667, -1.4701, 6.735, 1.8535, -0.1001, -0.0171, -0.0122, -1.347, -10.1402, 9.3607, 1.8632, 0.1734, 0.1783, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7387, 0.5541, -0.4076, -0.1921, -0.1345, 0.9976, 0.6434, 1.9614, 1.3712, -0.0853, 0.392, 0.2386, 0.3532]\nstate[eef_state]: left_x=0.2808 left_y=0.0168 left_z=0.168 left_yaw=0.1436 left_pitch=-0.0181 left_roll=0.0049 left_gripper=0.9976 right_x=0.4701 right_y=0.2726 right_z=0.1239 right_yaw=0.1644 right_pitch=-0.046 right_roll=-0.0317 right_gripper=0.3532\nstate[joint_eff]: [-0.1573, -0.9504, 6.694, 1.8632, -0.1001, -0.0513, -0.0122, 0.5812, -13.2581, 10.0034, 1.8291, 0.2955, 0.2418, -0.1587]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7326, 0.5465, -0.3996, -0.1921, -0.1349, 0.9976, 0.754, 1.7111, 1.3945, -0.3794, 0.4507, 0.292, 0.353]\nstate[eef_state]: left_x=0.2806 left_y=0.0168 left_z=0.1677 left_yaw=0.1438 left_pitch=-0.0117 left_roll=0.0032 left_gripper=0.9976 right_x=0.4033 right_y=0.2781 right_z=0.2074 right_yaw=0.1988 right_pitch=-0.0452 right_roll=-0.0306 right_gripper=0.353\nstate[joint_eff]: [0.1026, -1.4838, 6.3385, 1.8339, -0.1245, -0.0806, -0.0122, 0.4034, -11.5761, 9.8256, 1.7118, 0.442, 0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0671cc80b283d578a295958fee4ddb93ab78b35acfe836afeaa58be0c2c76ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fcfeac68b5cfb57961d7c2d690c71a9379e813f85c6f8004ae93649e4e6431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e40052de6a814d7dc385cb69cc63dcf629e4aceae806dafd7440df8e170979c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFE90iVuIIgmRxoR-XneV8ufV7MNrBHv0ytIZaApo5c2V3AGAtpf1vhcrnrGv7O_pjI8gw_xmvq9YjJHYEHOhMnc2t7qXX87BJqM1smuBfmAfldlLc7H91W2NXyI_mWUB2Zr1L0Pu7U3xnGno9zSvm8TcqdxhRNs2wviYMULsjN2yBBBK809qWXt_yeBz0EueKUhUYF0nlHxssSI-NLs7QUxsWAkwf4XKZj9tmMiJCTh_jeP7AYZjQ5FCohjlvOhpPH67KGscxiy96t1FQf--xS47Ib7YuGmk8ggdK294k3Zm0lnlKf6nSW2te_c0A0OeGPBvR-NDqKFqLj4LKR7MdGcOYNGEdD1s51jynFW7WEMNRMw1gBWIZoeULEMhBpdMVDhBg-tYTuiKlwJTHN7n-Nttc5NvNlRXt03RdBtlrbbD7roPJgQaTlyN4eDQxPJJ2dI-OfmSrdv13kQOtRSnlz9rWag8-hmsEoewzAyxpySj_-dvUuOALOENRn-SMid_js2xnaaTQ8Ny2b3f1jUkXaTnoJjMJiH0rYdeO1P-JlqUEYcxD3nG2W2LCKsdqxb1KrB1OpvZKYiKdT9sCH5JXxj6tfHZq0gegCQFaoFuvCMrxgWuG_z-ZWUv2RwlukSyjkGHc8L-ygp4YajidnuMpgTzCIkWCF8dfXEL5AIRTbuID_YDY6a62MN4CZ3OyHR-Mb9cg6B77yrJOPTwMAl1mQ_qRD3-rU-qymtscti6cHoBsTzDaGWlRxzj1GrQurNuZRf9KGlemt037NFBG80o2c41iVSgrGn_y83nW73PudrLK9fJwSRGuNAM6cVzk7IKJEAkNXtW_0pXllUSoCFY6ilUzrMAAwlKr-9CubJlXnAq2VZifMVWAtRinHoFyNnejIb3UZnaAHFCXI0GuLrhu0qxJCK4wgBtlsbOmt7A8yXpXq7lp5ZYlTYH40aWH1L53ChFAz3a3OlWVwgWN1rGi7MjSMMKOQ0cYP9t-eBh0o0eXI2f4w7i5jd58il5LjeU0qhIa45MmIdkIDMO8gHjEfKQh_s90HTIaNxbzozm011CtdWQ22vupWjqBuTVmdYi-nfwF14ifhD8TVVLFB682fJc40A3d07Xs09fVotaGUivETM_SLk3Qv_G5gaxMSZbkQNpyJm-WlaV38M58x0hZSw3AA5pVz6wrNBKajv5cSMKfC-i5w0bSdj1-AWTioKQQ52e0U31tgn-YSGaP_H-rwVmDYc3XlvV4lfDjuIAgcTyjhjkoaJtIdIYxHjVc4aRV_T0-23wJzQ5BNhtNZl-5hr5JAvNSIC3uemAtE4P-trtHOqFOngEQTzgDeXazIF0W8dJ_2TiRTCOSJNyCnq6iyZbY_6WVtu4aRu1Z5seSELGa1tZ60XoDuterIZ31mXOgVMqHgkVA8tdmLT7riPDGmAyLCcP2TEhGiJRO5GZSsGuindXCSOtTA8wgJnEycVREXpHevHVAvbYdFmSO8mHgLQGH1dnYNA8D14JlkLQWId-SWcIWeZJXWnb5vrcdpW8SbydNsUKDm3AIqOxOURVbW5ijcP4RNl4twVcnZA-At3cDcGCxlerf6BP9wqjRVS9LyGbSxA2F_luLg2Ung1tbeuer0ARWDXLGCN_WGxGy-0xo9sOUWQdphUZATldpcrlCXnWbFwJb9PIC4DmzzfmE4wtpd_3lSv2xuTklM3HYBMPtOUzXUxzVHDDflJnAUyTUZ_af1IQ-U6efQRXrxnMu5-p9OCzkcvxx3_JxXrKppzJ-Jcx2DdX2VyoeFWvd2Baq3vFKBFPFZ0rdlnS0Q1m8dXKNUTvZjrmVT51pCeKgjfHfiiv7axmTbCHC02b3w4cbwdZJhTcX2mwubuRQbh7fk1AfScsFL3bOmjKRHU0YRVu3tZKt16l6fG3SrZnvMBOKIjjQJKX7yKUhF7CYTN4rahRsQEi8Z1EtunS1sejF7MSc8BRCXJXmeIU-pnJPx5kpAwmpagWqo7FaKNNIM-8IXSrcCa-FMYJuuCaXDmGoAG8A6Z3rB14ccCOERhnENLLZ2KZ-trNx75ESuMuTE3SkOg79mZyKnGGbM7vwalwnkGAwXEvMjyye0GOIxCHTucw8zlsV_PpwCIGVD8OI_BrEf9cDic-z9UKZsiEWalg1oc4ugBHOxXkSEku_XhbPJ2AIr4MvKlpvhs_oVJat_7zoLycS_3IzDpxStVZxXhEqTS25c8udyCyUMxBOxFJqMJn_MQ2lq5bFL7u0vdTJZeY5oJz5Da2Sa1dapGrzdQrsQfcHeSlCyeRJqFIZneAJEm6NXkZL-tlb_LAHZ8vanaoLArxGIzowS9XZZHCGOwobUTn2ayXYkOgdioso4PtIJKul7phv09qwdUf7cxpWXR6WVqVHCm77nuAQ6yzuqZ-sMcTxuLnyJ1hoQ-N5IRCw46avg2f4oZm-hW9Fm36wmBG6hVvVbpiBaai0vDpkGRO_G_mpjd21Swjdj8ViOQj4EI6eBBgWBNtxcFNEwJTRezxJWxQH5MrixrQX-OzEVLGxoVfd2SnsCChvQsUdAAn8znScrlqnsVY-qAtgoiS2jhDpF5NNspq9dXQco1MhcVQSJldWj-ERXp6HuGDUMiFwfynNFQa6oakF334lQyHnXIZVRKoapil4jLglSRWAyTZcCR0HBnu6uaiuu0E39dS26uTiKYbYamvZQm3lP4JaDKqEMVq-hLuxXXIkJumyXb2wsCDDdWxTme1UlMJqzFOMuKqde5y5JP8YshPgKJtYHiOOBo_7qkh5AHMFUMdZlbkbp6hMuCpis8yxLb-iKa4vhLA3JECfjgD6lyY54X71Kf6WXaNUOAPXFYIppR-EPqxl2_Rd6AY_M3i1ZSYMww-gq-0L26tN9IccGJQzhfU7ULaeMVigmRIwY__qd81zMptI9YdmcAHkf-4a4QjusHtjm6hSXt4y8dCtliL7h6UejFacRZJfTZTDYGf2r3ViMXstFNkuCkMeSlKG1S6wsWoPncy2H7SdnUs5mbQeBRQFSmMMgwOzc9Ff3P-mz8gFPIdPKXNe4RZEw5OIfFuh5OY8X3XJspzx3WHubKfIjX_wW77CJiNZaTXuOOvJca_NXqORludzs8MVvkCzw_0MZFTm0WVEiuBMI-eqt_o4maM-MxtI3oe5Uqe8xlEJ2U6uAPNDpxhagBlUK0mDO9PL367ehDPDqz0iHkEDFJdPzJY0QYPUIUM4PDpPbDtmpuZIlsXs58Igo82JdWdWGEHNkCHtXKAvtCZ85Ydl8nJ6cFv-9ibfyIlhY_jUgSVkWysAq80Db65T7OSsZJEIC8W3gtdZx_tbkHpXjPPgp4qXtws1IAFQUNpoGKDzaDFoMJ1ijd5mcXjYeQa497Zx2CCtIw9McI5RX7_S4WwkOI0nNZsEvBoAp3wotIMVHb-LmymivzxctUNUJ-LWnnyw2JykSKMusHv-qSb_ntSqUfRwtvEgKG7ypsuuUbOyWm5dITR7D3ClXIzIp5KsrqdEeihediox8DhqJ91roa8qwWeSOUzUhpuTeITLyeH1Euthw80xz7a3pUP8EuRDlyqfJteAoXdzPnDtPchLXIgzjr2YkiIhqP6z7RMeaVp5TiT5GVjRBvRad7O0syGn1hdiwXihOSGCOq9VLniaSj1J9mWGyyc8KC_TwOzZeDmvtEWrAoR-BNzu7FAb2BTflpuB-QEaqDOXo7ORSaTSvTWL8-RFe2SGHrgsVBwet4h-BBRPlIycmIVRFqKZ2NajaIGFPAeIXQVtwrqMJZgNsaDxkRl6SA8cAHlmU2-8oGV7YsaxM1BBIjcQjgo_r0WlsAMRyclZuP5-Xb-cOxJxZKwRW1BoHt7Z6NdXbCA==",
  "id": "rs_098d7f1ab9a71059016ab4213dc3d887d0a262b2627f369e7b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFED8YSiedosvZfbwq3tR7JOdwY9VjEVuD9rruhMdgiGA8WpcSvV4k6nPtmBCI3LTwtoTxssdEbaXPv0Zlx-nS64t4ndsGwa3r3n_Z3WmKe_EU5jDzNvDChIA5NvTw8z9qptR5R1l8rB8NIKuef9QovQOEhNuoazZOW2DbRJ5nXWPANlSgfZwGB7IYYqWRHFfZa6crmQEj0-F_lqVDC-JrSlZdDp25_vvaAqBu6o4fcj61vRaPzoXoE4l8u4szcIhkPmBmwVb48ViIoLcJGwrqGpW_No-Sg7RgON1EfUo4IFn9Q-cjy6GUQl5i1GWmCVh-0lqgB57cW4vep5AhhXY7i2ynUUyQ9NGX3LaNporgv2-cPmQjnrOx1hxYNARxrLewyh_Rv75E-2W4LHBJGFF-kr7DKBbEFd9W1Je-N9QHKw4-mpO-WI3j2G3KCWWc3O-bDGye6qvv1AQwm_FZeimQFvZLj9cuWdujdsq9F6H5XaG6NTTXm9LoETRhAzUh80fN8YBi0DPFjzEAr0OL2bHqy8SJB7FJwZjLUhvao5GIG3g8cRJdYwOb4wqFmD0IgM1FtAQRazQaP1AuMqBZiwdeXXqmltY9DwRw5LL_Sht9IOzqZlIj9X5yRrgWGphsJ5Auy5A3VZMhM4xIQlvfiwNvR9bbz2NKxMPSpWwKxU_lUn1WmzYwlHTAUP3b4-JKvdNgloh05lXhk-2Dc7SsGIOpBO-NXgbEIw7d22SPyDRr27OIWvOO2WO7wNXaWpMzyhrsPCuz6-2xSf5YmPcmHMN8ZOWvKBAra-Jkr2ePki6ENI7Ybr6qufceuW703B76XTG-sip8RtrZZVx1Q_fA0SlicIaiFFiRjiRiL8-_s4-phJ5jCyd4ky3xzTepNNCiGypKbrDqvijfr11X01ffGF_ZdR1ckDGdub8ZF85jfggaDsVhDzbNr369JZd5Q13KvAhbM-Hr0810WRoG362Yu4fH7Yip2Zn0fAUw93svHL1VHoyH9EmgW8YCJDEVoY3P46p6xn9CUfIwpg4n74RcVGphwWYfV0aoCqOTwxpQtsBEoecYo-e3rrWkMzhfulyPFdnNVK9NjixpqMiigsSqrCK2Y4xP6VKOgQHOQNnX5djT5XNHs2y-GapKsQBT2esp1gRkqqUHpQa_-xKNokV22vHLhlD5Otp2oYiK5D4XPhtFAq9hFgUlRz0xFUQRdnWhvavnhxzLVew_4e4IaFqtTsfHN1C4f_QTKnDeS0kh7MieLPJhdCU8bYfVhtcU8QSXM-nHAvHqZu6PaTtvqtP9c37Ziw4OO3uTzLsHpgQ4thOTmpFT5rOj796rMoXDFfbWg-rbCJo2aH3aezFU_pR6pIO0PKidjVUdbwUjEJc0tbuzzhodD_GtKJP4tw07l6EaBqLTyRJDVmkeP--Kx4EH579zpeWFVbFpEykVQBm37lDwIhCOIffVZVT1Hks7tR9TQJoGfOF-FAe5nHyNlMiOeV1CYzuhPBYKpQcTJsy7ufi48VqN9jSggk2RQr7-1xELPglcMuGrJV-tZD_9ekPPcBkB2I8yi-0yLlld4FOWlb4KM32E=",
  "id": "rs_098d7f1ab9a71059016ab42143126087d08d81aaf84eadbb8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":-1.0,\"right_z\":0.29},\"note\":\"The bottle has stayed aligned in the wrist view as the right arm retreated, so it appears to be carried by the jaws despite extending beyond them. I’m raising it and rotating its far end into open space to reposition the neck for a later upright grasp.\"}",
  "call_id": "call_t8ZHxXjwa9zOBRgiOCLAbQhZ",
  "id": "fc_098d7f1ab9a71059016ab42143c82487d0a0a61d8e2530d689",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t8ZHxXjwa9zOBRgiOCLAbQhZ",
  "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]: [-0.0727, 0.7273, 0.5415, -0.3988, -0.1921, -0.1345, 0.9976, 0.7555, 2.2616, 2.1777, -1.4624, 0.9504, 1.4841, 0.353]\nstate[eef_state]: left_x=0.2798 left_y=0.017 left_z=0.167 left_yaw=0.1443 left_pitch=-0.0106 left_roll=0.0033 left_gripper=0.9976 right_x=0.4174 right_y=0.2006 right_z=0.1822 right_yaw=-0.7906 right_pitch=-0.0501 right_roll=-0.0302 right_gripper=0.353\nstate[joint_eff]: [-0.253, -0.6496, 6.6256, 1.8193, -0.1099, -0.0513, -0.0122, -0.3897, -13.9282, 6.0923, 0.9206, 0.8327, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a97b64dc2ec7f45f36ecf5ec8ba2d4c141a4bfc216df244d53aaca7def3e56e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e438ba4da90e1191846dedab7ae3d8b68de2161dd28d49790418df756cb0df5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccad4fec12a7e58db4676c06db1b150a2833839c01a3d5642f4218d3bd7f95d",
      "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 24 attempt 0 · /responses · status 200 · 3.744 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 98 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7456, 0.569, -0.4164, -0.1921, -0.1349, 0.9976, 0.5961, 2.1899, 1.3323, 0.2909, 0.3729, 0.2188, 0.3546]\nstate[eef_state]: left_x=0.2818 left_y=0.0167 left_z=0.1712 left_yaw=0.1438 left_pitch=-0.0188 left_roll=0.0048 left_gripper=0.9976 right_x=0.5116 right_y=0.2736 right_z=0.0552 right_yaw=0.1434 right_pitch=0.0463 right_roll=0.0103 right_gripper=0.3546\nstate[joint_eff]: [-0.0205, -1.4701, 6.5436, 1.9023, -0.1245, -0.0317, -0.0122, -0.212, -12.0684, 5.3265, 1.3114, 0.1148, 0.149, 0.2662]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7326, 0.5465, -0.3996, -0.1921, -0.1349, 0.9976, 0.754, 1.7111, 1.3945, -0.3794, 0.4507, 0.292, 0.353]\nstate[eef_state]: left_x=0.2806 left_y=0.0168 left_z=0.1677 left_yaw=0.1438 left_pitch=-0.0117 left_roll=0.0032 left_gripper=0.9976 right_x=0.4033 right_y=0.2781 right_z=0.2074 right_yaw=0.1988 right_pitch=-0.0452 right_roll=-0.0306 right_gripper=0.353\nstate[joint_eff]: [0.1026, -1.4838, 6.3385, 1.8339, -0.1245, -0.0806, -0.0122, 0.4034, -11.5761, 9.8256, 1.7118, 0.442, 0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7273, 0.5415, -0.3988, -0.1921, -0.1345, 0.9976, 0.7555, 2.2616, 2.1777, -1.4624, 0.9504, 1.4841, 0.353]\nstate[eef_state]: left_x=0.2798 left_y=0.017 left_z=0.167 left_yaw=0.1443 left_pitch=-0.0106 left_roll=0.0033 left_gripper=0.9976 right_x=0.4174 right_y=0.2006 right_z=0.1822 right_yaw=-0.7906 right_pitch=-0.0501 right_roll=-0.0302 right_gripper=0.353\nstate[joint_eff]: [-0.253, -0.6496, 6.6256, 1.8193, -0.1099, -0.0513, -0.0122, -0.3897, -13.9282, 6.0923, 0.9206, 0.8327, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a97b64dc2ec7f45f36ecf5ec8ba2d4c141a4bfc216df244d53aaca7def3e56e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e438ba4da90e1191846dedab7ae3d8b68de2161dd28d49790418df756cb0df5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccad4fec12a7e58db4676c06db1b150a2833839c01a3d5642f4218d3bd7f95d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFLdiJyAtwWnKYId-LoTCsA7--FGPJ3tTJkPujNFwxHv_GBeDC4d9oFtLy1lLOuDvbjBFf2ZNkPHA9Tb8rmgTqLh4AkU5n_KmtaprG7uGYvA2d4sGP2HHRuaTJLpfY7np7KPMmpFH3WQU1DVZ0EzUYBnkwrnvvi6Ww1nkadi4l4XeMfC2FgEiFQYkkrf0tTtLGXjuOje4neyZ9OkaOf2ZSMuRtxoOkow6b0P-e7SL7HEbgE7zcJ7fOqJ4PmikchPp8jFqpk_iN7ng0N5ZwRx-Zegd0__tXrlnWWIS_DR6007vjBq8ozkHBgl7tf7Qtd6VygnOW_GeNX1TX5Cxsz8nxrWp5e_w8xbOMV0KoeIxlZXbFXH_9-JwuKVB3XvANoFnI2ybM4ymrRGZ-nf-rQnjH5y9wQfd_1MLk8k_rM74gZDl46LrXZTgcUHir6DHveJZun7WB26SDhkGNyfnimr1Of6dy5TtTwvwVkTsFz82QngantiEOvx58gq1actr1Fx1VNxml8x5T-0G1oXxe4GeVt4x--ngX6YuvgDHPmwdKqKnj1CNSKLYDIjysjwOUQhBwpbqfVEb_Kklx-JdY79ZtkO-7hKqgToCGOpaNJDekiHCW8K2bjsf2HhNB5-0StJuljMm3zFBn4FBEybNeA3ZUAHPxI4Ba-26GfCne_tw8wAGlUtAO48ez8L55FX5u_OnDY_rYch0cj99QAo0vyxN11sJyRTh37bf-iZB8pEmNW8wFLR9ASzuiRyvkVjlhcsEUowYcJP5PkEl2Y2VhGYB683b6JhPTa2J251GR51k87D1Lej7kA9gZsEn5A6ncGyzOfr6gPSikYM4hiFEgA9qFclYYYeJAYCJXYBGR3pzPaDV-6c3u1ZdBuHeif3VS3lMO8D5ij65Hl7IIXzcQPMMSe5r-8vzqw5lshnfzxbJ8uQdJ6ktNAEkF62__oH8uNVNV8GDOM0m_okywcmyd0bZqUTKdn_7d6Zy7dhCzQ72vbGEx78c4Lgr9MUycnj52sMYTgYs0JJZFFS28zWBZLbwtgwxixSbFM_72tdEu8K3DQ2cXuKZ9oy7-gahutLUz4CO3yobhKPimWzHsqgT_4R41R5QhqY_hKmsOhN__7Tl369fuif-lFUJSEDrie_T7wJgwGNplxh8x4f9psHVMHA2_kb6t8dyN7sAg-l0JBXE_4aDUEbPopPw1GH-yFY35kFtOOMYFVG3r_ozMGcr26Cmdz9aAHWttgfvkXBqRDg1xeyExpzmqEDr-Pq79BkCJoXHlZxgpD01DCZ_wEfqnHb1l-b5GIEJt1iYjPPmr9NtP1X6loy07LbeuV73oPwPtKncsCBFQWcU21o_r4w_2oBUzw0bVdyBow_AX4fAPS28IjSKS94IaTNpubAOH3us5R6sOMJ9e0483PjF7SDaozqAR7SXnSZKFRVHNA7XyrBzRnPJBxTmxjgW3g71cOFvpwKoQr6sSA9gQxY0f6pfu1IH-LQ1eIMfAKu2WdKrkEQNlu2BZEWevKg0m3dY4J69i4fKoLeyO5X96BBEIcXw4Bly_cXl5FgQSL8NTZSt6a0uz5DoIm9rOAslIW5SNFCPrPbp7CF2TmFIB6abANEae21D48I2XIl5Aa5dZwBsnvkxqCRvpshkggThX-3BHrdLHbXObGh7eYJj2Tmb3f1-wTH040nMePa1buoeL4XmAgLBz6TsMuf4s_YebQd90CfvPxzC6ZHFaoxnzFEoUW1wNZS-5-DYkOKYXDFpPMFUcgeN_iIdHY8pzQYYh51Ksx65IZ5F8FnkwYnwXvyH6XXsRpjsdLlrJulD1ZapkvtZXb8DPX7gSuU2J1cRRXTthHupULt-0YPZ_OJTle6qe_TlEHyd0a5aIKrY86v2V74AKpMRm_ukl2Tw1OIqlKPPr0x88ZDPOuXEyTpxzeySx-JxR2SPoWbmYN77uxtnsHOAe6JQBZ59pW8U029EOHBrZXQxZArKM58GEaF-_bM82ZFfPeaHi2rHMt5T7KvAZklPq7omwz82sdwpNy88_GB34-s-oPr3PX",
  "id": "rs_098d7f1ab9a71059016ab421477ebc87d089a0830ed0330548",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":-2.45,\"right_z\":0.3},\"note\":\"The right bottle rotated with the hand and remains between the jaws; its far end is now clear of the other bottles. I’m continuing the turn above the table so the cap will face nearer the robot, where it can be accessed.\"}",
  "call_id": "call_pvgp0ZHJIiKGx8jsKqINsasK",
  "id": "fc_098d7f1ab9a71059016ab4214a154087d08c0a3704acca2f36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pvgp0ZHJIiKGx8jsKqINsasK",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7269, 0.5373, -0.3969, -0.1921, -0.1345, 0.9976, 0.7261, 2.262, 2.1883, -1.5818, 0.968, 1.6405, 0.353]\nstate[eef_state]: left_x=0.2796 left_y=0.0171 left_z=0.1656 left_yaw=0.1443 left_pitch=-0.0125 left_roll=0.0037 left_gripper=0.9976 right_x=0.4101 right_y=0.1744 right_z=0.1878 right_yaw=-0.9084 right_pitch=-0.0303 right_roll=-0.0108 right_gripper=0.353\nstate[joint_eff]: [-0.1026, -1.4017, 6.5026, 1.7949, -0.0952, -0.0317, -0.0122, -0.6496, -11.3983, 7.6923, 0.2222, 0.7302, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b51329c76533c8b3c3b0230722b42e57fcffc86a8fcb02d6cb55b342bdd9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eab16cc43df4bd68a8d5250119f07964ca2256efb7380a1b88a68463c2e58fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caddf186dfe171f304f552437f0ccb6ef6606ed3bf97d541747e2caa4d7e354c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 8.146 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7387, 0.5541, -0.4076, -0.1921, -0.1345, 0.9976, 0.6434, 1.9614, 1.3712, -0.0853, 0.392, 0.2386, 0.3532]\nstate[eef_state]: left_x=0.2808 left_y=0.0168 left_z=0.168 left_yaw=0.1436 left_pitch=-0.0181 left_roll=0.0049 left_gripper=0.9976 right_x=0.4701 right_y=0.2726 right_z=0.1239 right_yaw=0.1644 right_pitch=-0.046 right_roll=-0.0317 right_gripper=0.3532\nstate[joint_eff]: [-0.1573, -0.9504, 6.694, 1.8632, -0.1001, -0.0513, -0.0122, 0.5812, -13.2581, 10.0034, 1.8291, 0.2955, 0.2418, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7273, 0.5415, -0.3988, -0.1921, -0.1345, 0.9976, 0.7555, 2.2616, 2.1777, -1.4624, 0.9504, 1.4841, 0.353]\nstate[eef_state]: left_x=0.2798 left_y=0.017 left_z=0.167 left_yaw=0.1443 left_pitch=-0.0106 left_roll=0.0033 left_gripper=0.9976 right_x=0.4174 right_y=0.2006 right_z=0.1822 right_yaw=-0.7906 right_pitch=-0.0501 right_roll=-0.0302 right_gripper=0.353\nstate[joint_eff]: [-0.253, -0.6496, 6.6256, 1.8193, -0.1099, -0.0513, -0.0122, -0.3897, -13.9282, 6.0923, 0.9206, 0.8327, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7269, 0.5373, -0.3969, -0.1921, -0.1345, 0.9976, 0.7261, 2.262, 2.1883, -1.5818, 0.968, 1.6405, 0.353]\nstate[eef_state]: left_x=0.2796 left_y=0.0171 left_z=0.1656 left_yaw=0.1443 left_pitch=-0.0125 left_roll=0.0037 left_gripper=0.9976 right_x=0.4101 right_y=0.1744 right_z=0.1878 right_yaw=-0.9084 right_pitch=-0.0303 right_roll=-0.0108 right_gripper=0.353\nstate[joint_eff]: [-0.1026, -1.4017, 6.5026, 1.7949, -0.0952, -0.0317, -0.0122, -0.6496, -11.3983, 7.6923, 0.2222, 0.7302, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b51329c76533c8b3c3b0230722b42e57fcffc86a8fcb02d6cb55b342bdd9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eab16cc43df4bd68a8d5250119f07964ca2256efb7380a1b88a68463c2e58fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caddf186dfe171f304f552437f0ccb6ef6606ed3bf97d541747e2caa4d7e354c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFPjiW2OPI-Azi2UfwmTjuDo1bOmWDCPu_LiBveuuUDakpiCUp0iI0iN0tIypn2yUcNGh2EzJeGLvzvRgZr-41-m8DUmQurF9nRiZ548-b8SC57zXc5liHfV3nznl23Yw5ZkvWWQmeNJz1Mud_5GJTXTWd3lVCZrly552FJ6GdTNxR-n3qUDyMUG1-HfRn4IcAabHKs6NGz-W0aGLEIE9q4-i6vRen5xCXt1w0pLhnzBoXe5mbhpvedz21FUL4ha8aHTY5kf9i93zk5xrikTC8-qXoRITIZvMrhtAa5hhpVyE9eGR1lBvba8gs4zC0DPTiHZcSKHsDPqYUB2eByJ2DKagmCl9NhHr-btNjYR9vIwmL29odlaH_XU8K6HHaQL3v_65zP0WVzf47AHw4YRVE1W9j0_xQRT28nByE4EZGuRu_gUJnt8x_RlUgnTEswnGnNj860etP8E2Fx2Qr4UuwsLXRRzihTSdKFMPjCnOuVKzJWVzetMq2M1FGrGwKej8LLJDP1LoT00gSc_NgJ6V3dVsK67ahtpPzUXmTVSQnKBRv1DuC-9lM9LkPzSqaZQOwAk9k9c19JGYd6Jm4KYGVeynmR44M1S2BsxmD8x6w72zyczKB91NZbwWwkssAfHXJHYDaiVwCtQu2tv8jgKZRALwJsr_sg0hZx4IIlbkT8VpJEnS3-1TuWEDgtzKMn4vraRBFAXK614f_J7QGDmVnFHNIXgj8A3E5nlLNwNscgJiR4STDE3Ir_XdQ7KqtLbMH10GgZQMpmhMGr3zSjzvARJG5hnBq-nh7Wft4Td-x1D0rugq3IlqWGE02aCfSrlyDRldIi3_VZ4DNjDmy3RwZ9ky5HkIacdiugqTeTgAQMRgc7sC0uFPVusRlnsvwVtysOAJG0JvUvgdXSmAIlyKQ9_2eJjXeKSxC1AlfViHpfR6o--T5OPBXClB53xEiFwRgtc8xbW4MtwR1zZeO3I2KVAixCTRbpfPcAB8AgT5u9qVjeGWDaB8reQdDBH7nXQ-7Ow0GOc4E2hdlROGl5sC_Ccrzy8CBVBv1qhNoWUVRIs3gW2GQH-BrAujTvmXDI3pYMahwv3xzRVNfML4CrBu13xgq_bKEopf28z52ItpvTeTT5iJGKdO6YszWjXu65MzZxsgN33JaOqfehua17qD2MGy3ZjhTNp6Wtbacc0GMBfdB_lkbxxGZo6AXIYv38JiyeIe3Ey5RG-2peof4Z6rS-v70SCjyVOOeVsjUsyPPQXfant83tog2RgaQGonFlpcDIz3o_dqq3JmMsj6DBXOyN8EMulk2icXEjWbQ3dyIYnFOQZBY7qKlIdPi0hpy1OXfsMGc7dC1B54WLsLWCxcVOvtKiwFANQM-HzgZ-ywi0FgnD7SwysJj9sxvCKrGL12PXOZMPzTVfdx8eqyoKEyrJ4RtcqoX490LMLh7q6zcXJsql8izj_Q92kUHmIr4Bi52bOcSvT3tzgKwnzS8EpBiz_r7MxEKsMDCprXvgulw6Sc_vSN5QfCCC7xMhHgFkx_ND38x-LX5S9dOtfX3_dgR2-9N3bJSx9F1oi_YCFejc2l30Xpbhsy9XWgfZd2rclh2XrCCevLrduiwpwGMW5O53psZ5oy62aFSCO4kDrgrswNtVpym0eGE-j0F-yAEqvgoVhU6obK17MAfA7gahLlARj63Dggw-bdgYvuLzuuJDI0a1STNzcG7I9vtEIR_soCKO",
  "id": "rs_098d7f1ab9a71059016ab4214dceb087d087f575190ea6e4d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.19,\"right_z\":0.26,\"right_yaw\":-1.45},\"note\":\"The wrist stopped rotating near −0.9 radians instead of reaching the requested angle, likely because this pose is awkward for the arm. I’m drawing the bottle closer to the base and requesting a smaller turn to recover wrist motion.\"}",
  "call_id": "call_29jWo74bAZg9A7bgDAxBULkH",
  "id": "fc_098d7f1ab9a71059016ab4214ed81487d0bad3396f090c1f57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_29jWo74bAZg9A7bgDAxBULkH",
  "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]: [-0.0727, 0.7227, 0.5316, -0.3958, -0.1921, -0.1349, 0.9976, 0.58, 2.0792, 1.6276, -1.5593, 0.8909, 2.046, 0.353]\nstate[eef_state]: left_x=0.2788 left_y=0.0171 left_z=0.1643 left_yaw=0.1445 left_pitch=-0.0129 left_roll=0.0034 left_gripper=0.9976 right_x=0.339 right_y=0.0622 right_z=0.1261 right_yaw=-1.3084 right_pitch=-0.0351 right_roll=-0.0408 right_gripper=0.353\nstate[joint_eff]: [-0.3077, -0.7726, 6.6393, 1.873, -0.1197, -0.0659, -0.0122, -1.8803, -12.8342, 5.2308, -0.3785, 0.5592, 0.1978, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132d578d0fa43d42e37d2d1bdc65d7db44d735777390028851fc61e25f980f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35b39b4cec8485d21d7dc19202950f51dbdf0efd23deaf0e20e5935b78878bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35f065606f1e55d64f9032411292dd198173a4eaa234232fc7a524b998ccc34",
      "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 · 3.822 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 102 changed as sent

message 106 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 0.7326, 0.5465, -0.3996, -0.1921, -0.1349, 0.9976, 0.754, 1.7111, 1.3945, -0.3794, 0.4507, 0.292, 0.353]\nstate[eef_state]: left_x=0.2806 left_y=0.0168 left_z=0.1677 left_yaw=0.1438 left_pitch=-0.0117 left_roll=0.0032 left_gripper=0.9976 right_x=0.4033 right_y=0.2781 right_z=0.2074 right_yaw=0.1988 right_pitch=-0.0452 right_roll=-0.0306 right_gripper=0.353\nstate[joint_eff]: [0.1026, -1.4838, 6.3385, 1.8339, -0.1245, -0.0806, -0.0122, 0.4034, -11.5761, 9.8256, 1.7118, 0.442, 0.2955, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7269, 0.5373, -0.3969, -0.1921, -0.1345, 0.9976, 0.7261, 2.262, 2.1883, -1.5818, 0.968, 1.6405, 0.353]\nstate[eef_state]: left_x=0.2796 left_y=0.0171 left_z=0.1656 left_yaw=0.1443 left_pitch=-0.0125 left_roll=0.0037 left_gripper=0.9976 right_x=0.4101 right_y=0.1744 right_z=0.1878 right_yaw=-0.9084 right_pitch=-0.0303 right_roll=-0.0108 right_gripper=0.353\nstate[joint_eff]: [-0.1026, -1.4017, 6.5026, 1.7949, -0.0952, -0.0317, -0.0122, -0.6496, -11.3983, 7.6923, 0.2222, 0.7302, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7227, 0.5316, -0.3958, -0.1921, -0.1349, 0.9976, 0.58, 2.0792, 1.6276, -1.5593, 0.8909, 2.046, 0.353]\nstate[eef_state]: left_x=0.2788 left_y=0.0171 left_z=0.1643 left_yaw=0.1445 left_pitch=-0.0129 left_roll=0.0034 left_gripper=0.9976 right_x=0.339 right_y=0.0622 right_z=0.1261 right_yaw=-1.3084 right_pitch=-0.0351 right_roll=-0.0408 right_gripper=0.353\nstate[joint_eff]: [-0.3077, -0.7726, 6.6393, 1.873, -0.1197, -0.0659, -0.0122, -1.8803, -12.8342, 5.2308, -0.3785, 0.5592, 0.1978, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:132d578d0fa43d42e37d2d1bdc65d7db44d735777390028851fc61e25f980f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35b39b4cec8485d21d7dc19202950f51dbdf0efd23deaf0e20e5935b78878bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35f065606f1e55d64f9032411292dd198173a4eaa234232fc7a524b998ccc34",
      "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_098d7f1ab9a71059016ab42152141087d09d72fae576a3be18",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFZsXjynYH3r8dBL4oQimZZ1359nxTnXjoKXJ3ZIn2jZYFl01VBju0zAhxvMPU8WWRRUQs8DJ79EQRNHZbkULXzXoCG7dmzboU8_43neQtwp75CuMxX9SFxo2_go3_YRMnS2KHbtiODMYbOH12z-3gvujIYYG7VsV22KTdY9kEO9TDFiu5m0DMDGJk3xxIJPccWtzuMyeDq9J70pkTwCNfw0Nsfgat9P2wM4WcyU8lytKK2TzUkY6TBs5fSNbne1BEuAWb1y7W8BUkvEM3OBfi95Zaz0crctpJkkjQB2MsG8kMkJnTef-CGnt7_USLnDWGDjCExTlBgmDvCEv_VOt3VeBhiSS-y3UWuIu5OG8O9jWTBt-CaUK5UmCqzu-YPXCk5szVYmptajQAxTVrAXlC_1um42srADa_noQwYOLdxaQvlGkFdzdLOR6DbKYJBe8XGtCTqjvWffJsDN0exWqrg48ppREJ20SeBRIagN_tei_dtUXJ4__UwDoEYNTxTvJ9QwOw3zSdkMJB-N1ToM0YmnO_UwVE9N244I90MDFT3PkZpsz6bsCDNMWKwoCPhgvJf4vJ22C3GHDUstdOLIaCHqWcJh7ZM5B09Jq7_5imH9JYLoRSkw1_t45KUm8M9dkmpDnP9iIDKxUDDexFmBfUBN_IOgV28LPfVmd4usKChHOahd-RGvCrgihDXOTAThMkUv2cmviXvrOhN0kM-ZwYFRnTpRLi18qQ3IIP_JS-PFpLH7ifxWEcGOxFILdyJsH0uBlxGZx5dghogFvXgvgfcZlGejTT8_k3Xol5ltFOX57dcQh58cT7sRxCF6akPbE2nMjRE8Yq0oKsYVt_QcBTSrHKG57OymZBhDM6LGNHp4rYzIhuHp9rKjulTUosjcpSWN2qmx4HbJ7tVPxZb3BWBLCIsgrHa0lT8WdZd8xOimlkyhMoUVVyO1PCIziN6-DX1afU6EDDr5ssbNBQbU-9TkW0esAq-3JdPBNmY8_l5ApPYlNm09xlvBdhPMRpMTxrQPttjZA4_i4cSEfgPnuLkyBjfgh0hAQFnGWWBgnEUAb6yPD0Hr5aJqGm8KW-CbRlUMbxJTa3AnVYb64P_r112AcsqInmZ2l624vxUz7oW48tVNkhlw2nc4a1vKvc-cGo7skM1Q287NzrfFAtWvaRKYo0KEpdYA5p9iTYu-jt_YXXtQ2gDj11hN4ppXYVf_n0ayz5ML3jjEP3yUZRvFWCEsZXHowUFDNC9gCuCf7cbg10UP57QFKU_LbFYL4QLRVP0lV_zLfmFNiOQ1mLQ3OXPpQxom3yXzk3sPKWKEnK7okO_btHhZntImiH0OW7EpyqYngQBBvwjalEViEI2ES3Zd740pZAcvabMxniQP7_CKv87tsCPLEkEnbApj5Cuj1sCeRXIVdQBOBDjxdYsBNmp7mpb1A9nlx8ZasDt7N6D4tECPB38p0lGRwZLIGsBcVSY5hJ04w2MR50ETeDtMN8qKYXS6DqxDYhGTaBJ3WOJASek_wI1wQZXApErGDZm6v3NTq49-1uvtNU_fXpQOcHep_TUQTAmfAORRDGX7IZ0kdBldM5yaxjYStNuYCDqUfPLyKxGb19LW-A6GrHsWMDL2hmRogkmjQJWEYoaCXdxJz4cpx-FeUVHpnVW_liVpuSjuNX3lQiwU06VN6TzpKXeuA==",
  "id": "rs_098d7f1ab9a71059016ab42156e13c87d0894fbffa778ddec6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.13,\"left_z\":0.1,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The bottle slipped out during the right wrist rotation and is still lying down. I’m releasing and parking that hand, then targeting the nearer left bottle’s cap with the left hand so its body can hang below the grasp.\"}",
  "call_id": "call_DxM5vXsDtA91I83JwPeguOui",
  "id": "fc_098d7f1ab9a71059016ab421580d1887d08a16c55a72bf7d59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DxM5vXsDtA91I83JwPeguOui",
  "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]: [-0.4301, 1.6695, 0.8162, 0.1726, -0.3717, -0.2665, 0.9976, -0.017, 1.5269, 1.0916, -1.1561, 0.5224, 1.7023, 0.9974]\nstate[eef_state]: left_x=0.4234 left_y=-0.1197 left_z=0.082 left_yaw=0.0076 left_pitch=-0.0652 left_roll=0.0257 left_gripper=0.9976 right_x=0.2496 right_y=-0.0888 right_z=0.1039 right_yaw=-1.7046 right_pitch=-0.4807 right_roll=0.0558 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1709, 8.0068, 1.7802, -0.1245, 0.022, -0.0122, 4.8205, -4.7795, 6.4068, 0.4469, -0.2662, -0.0513, 0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7794c73a2a7faa5d72890c0f87a6017c53c62578a3c059e4899bdf5ff136b8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94aea7ce866648ffd2e5981781b0615b6128e2883cb3d3ac955dccdf8da6c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d425fc3792566444a2d9bb151429a83b9d2c34704547aa3e62a1614aeccdb13e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.02 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7273, 0.5415, -0.3988, -0.1921, -0.1345, 0.9976, 0.7555, 2.2616, 2.1777, -1.4624, 0.9504, 1.4841, 0.353]\nstate[eef_state]: left_x=0.2798 left_y=0.017 left_z=0.167 left_yaw=0.1443 left_pitch=-0.0106 left_roll=0.0033 left_gripper=0.9976 right_x=0.4174 right_y=0.2006 right_z=0.1822 right_yaw=-0.7906 right_pitch=-0.0501 right_roll=-0.0302 right_gripper=0.353\nstate[joint_eff]: [-0.253, -0.6496, 6.6256, 1.8193, -0.1099, -0.0513, -0.0122, -0.3897, -13.9282, 6.0923, 0.9206, 0.8327, 0.1197, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7227, 0.5316, -0.3958, -0.1921, -0.1349, 0.9976, 0.58, 2.0792, 1.6276, -1.5593, 0.8909, 2.046, 0.353]\nstate[eef_state]: left_x=0.2788 left_y=0.0171 left_z=0.1643 left_yaw=0.1445 left_pitch=-0.0129 left_roll=0.0034 left_gripper=0.9976 right_x=0.339 right_y=0.0622 right_z=0.1261 right_yaw=-1.3084 right_pitch=-0.0351 right_roll=-0.0408 right_gripper=0.353\nstate[joint_eff]: [-0.3077, -0.7726, 6.6393, 1.873, -0.1197, -0.0659, -0.0122, -1.8803, -12.8342, 5.2308, -0.3785, 0.5592, 0.1978, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4301, 1.6695, 0.8162, 0.1726, -0.3717, -0.2665, 0.9976, -0.017, 1.5269, 1.0916, -1.1561, 0.5224, 1.7023, 0.9974]\nstate[eef_state]: left_x=0.4234 left_y=-0.1197 left_z=0.082 left_yaw=0.0076 left_pitch=-0.0652 left_roll=0.0257 left_gripper=0.9976 right_x=0.2496 right_y=-0.0888 right_z=0.1039 right_yaw=-1.7046 right_pitch=-0.4807 right_roll=0.0558 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1709, 8.0068, 1.7802, -0.1245, 0.022, -0.0122, 4.8205, -4.7795, 6.4068, 0.4469, -0.2662, -0.0513, 0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7794c73a2a7faa5d72890c0f87a6017c53c62578a3c059e4899bdf5ff136b8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94aea7ce866648ffd2e5981781b0615b6128e2883cb3d3ac955dccdf8da6c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d425fc3792566444a2d9bb151429a83b9d2c34704547aa3e62a1614aeccdb13e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCFe9RGPBHBHFBohUTSzFoAfDHkMfb5PVhPZ9rJuj_L2JLZo91YiINXEaeSR3sNSOz2o7Lpciz2g4IuctFcCSyfIby0nFxxmjh8dx-QT09HhtMOIrzfskrWdwfhyLC59LcOnqxN_zB3PBtCRTXu2QH-1KBMSL5cXL8r4Fr0flKl5JpcS9zY57sIBvifzlYtaZ2Bn06d1e_ddLEbSi0875oACK7cIAhH7WKXpac-2rkfST-zUHdbBgUwzo_061GMj3VHr6EwP31bks2QnEWQZuE_YH85XOuoj_vkWrroqXjNvG71fJDQU667wpGW6tuFDfJ40il5yXXJ59mgHLYM72zDBL8UPtv1vxDyenYkKjCzZYMnF31DaY2neZTfdhz-VxwqPYt26a2uMiex08yFVy6FGUpKJIpB6e3isUoy5yA4sAeMo4klPKp5NgFNjHGm8aDlN2m2FixW5szaLrArSrw12MYcVyv56JFdRu2taJHD7tnAiv2pOGN1s4syYVVnHs0njg5PV6N0JDNBreHrj9zxkQLV_FG87hGghxt0jRmvuLh-DTiM_OtlUdDoHNe84KMQc2LlSiTaX_eqje4rZFEdQOZCnyiyUqPHayBLv_78gli3OFcDw2g_wJSrv3RqRVbV5fNoC9R-wBLldV3kHpMpqXcblZA44f6PpJHWDV2oxALsQlLMyevEIqIyf8A6ikCQ3WVw0n-KJrT7rCcmUj7tMjCKr_BavFhIXQrcllaNEJDdBlYW7s0xZNDpTzm_EC2OjUQwstAYIlLgpql2S44iBUDlIDSbODFMdF3QUfGYAv43hX2HlS97ztn5DbvAgVbd7ndt_5cVGGJNeLDvLcxUTyEAK8yqjecwC5X96_AYPeSXoE4N4JL7trmrkXZKZZ2Wi4MWGb2v6xsMoH7dxzCXXNYyoo0VXG7wjxGK-0g9iWKiMbBaiMFafFlJZxCxvWyGXK_AXpPn1986pMAIHkoV2013otjW_ovPeWc5sUm3TfYLzSyEi8jPz_xXbV0ltG92C53ovvf2vnZK6hfx_lnPfZ90Zb3AtKErU4cD2CCRYuwNTy5VlVeB4UlO8iy1KJDyCgxRo_TBD1Y49uUHgyZ0ZwjqCawNYjJghp0wQ7PSpmtjrGroxB0tvZ8OrYIQ1Ie_IhQeH4A-xen3l7MNwj9GgS-tt9C6jLwWBYGQbnAW4eJRJHtW-Ki7eFniOLyUE-FnumdxAZYmxNXkBcP5OacLSBNCvn4KIdo5gTqZyR1ptEoyJDJhevtBUDIi0vIjlv--WOkj2ugdyAe27h-NIEdrP_WhscmL5lnzt63zjVGklqXw-dKGN25J3pw0TPt9EFQpxncCtHUwE1EMY9HFaJTftT3zG1ZT1tEoCmOh3VChqUTSFNSGTaQS-f-rf-DVpXIFBvLNDtRHreT9Jg0rF0qXnuLlNlCxyakn-XPAO8e50g4wPrI35QcOyF2yXXf3zXRMXfH7N6_ZI0_6dm4HFKa18QCQvx8fuDiJY07oqsYEcJMfbwwAMiKvKpuiDg38a34onbEx4k8N9g1xCtIlNYczxzLCz5BJm3Pjh5WYNPBMxDEoefu7jGwsDxnkTFKkFfdT2bSlCHsiQjTQH20d6GNdsgoT-EVut-6BZbTcNPB3GLUZ--cR9lFoqAdhi14BmetOPqN-1mTDQaAF6W3yz2_ngwCChVmhyAP3FAM5j6Gq7N5w1mayHR24TB_HeAip1Db3rA5SPF88Xk6OhVtf8G2a5zt4k9DdLVX05wOeOra0IJ6LGiwT2WbmhDupRSXq0vtbThEBjW3H2mUuvtJuZKfDGsJExTKBjhWtMUD6_rD0XvK1PT39FJfeUY3r1YSEI_FvkIui_woTSATydDADjbhnPeAFyUufNZVXOMsn9QGJZcKiHqkf-SLYRacuiogTbDjC6viHacvidfcCGE4giTfJPNg==",
  "id": "rs_098d7f1ab9a71059016ab4215b5d0c87d09f0d61095c087b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.12,\"left_z\":0.045,\"right_x\":0.29,\"right_y\":0.03,\"right_z\":0.25,\"right_yaw\":-1.0},\"note\":\"The left wrist now has the left bottle’s cap centered, with its neck ahead of the fingers; the right arm did not return cleanly from its rotated pose. I’m making a small forward, downward neck approach on the left while lifting the right arm out of its awkward configuration.\"}",
  "call_id": "call_LzoWfDdKsrM9qC7qcUVybA2R",
  "id": "fc_098d7f1ab9a71059016ab4215d197087d0bbb724385f31e450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LzoWfDdKsrM9qC7qcUVybA2R",
  "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]: [-0.3927, 1.8687, 0.8112, 0.4339, -0.3523, -0.2626, 0.9976, 0.6125, 1.5772, 1.4246, -1.5204, 0.9649, 1.6558, 0.999]\nstate[eef_state]: left_x=0.4512 left_y=-0.1171 left_z=0.0429 left_yaw=0.026 left_pitch=-0.0181 left_roll=-0.0057 left_gripper=0.9976 right_x=0.2903 right_y=0.0309 right_z=0.2285 right_yaw=-1.0311 right_pitch=-0.0322 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [0.3761, -7.241, 7.0085, 1.6337, -0.022, 0.2125, -0.0171, -0.0615, -8.3214, 7.3915, 0.0513, 0.6422, 0.0317, 0.1538]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67361ae0f9f1bd210de4a3e43ed2d29e12d46cfce054f5c496832234f74cf1d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7c3660a514a9cf8c486660928bd9a9f0bc5ddf7654d03c0c9b7f69c5cc37af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d0313050e2ade4c7518111d2254f4ab464dc18f449377ca79a5c7f1d90fa96",
      "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 · 3.317 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7269, 0.5373, -0.3969, -0.1921, -0.1345, 0.9976, 0.7261, 2.262, 2.1883, -1.5818, 0.968, 1.6405, 0.353]\nstate[eef_state]: left_x=0.2796 left_y=0.0171 left_z=0.1656 left_yaw=0.1443 left_pitch=-0.0125 left_roll=0.0037 left_gripper=0.9976 right_x=0.4101 right_y=0.1744 right_z=0.1878 right_yaw=-0.9084 right_pitch=-0.0303 right_roll=-0.0108 right_gripper=0.353\nstate[joint_eff]: [-0.1026, -1.4017, 6.5026, 1.7949, -0.0952, -0.0317, -0.0122, -0.6496, -11.3983, 7.6923, 0.2222, 0.7302, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4301, 1.6695, 0.8162, 0.1726, -0.3717, -0.2665, 0.9976, -0.017, 1.5269, 1.0916, -1.1561, 0.5224, 1.7023, 0.9974]\nstate[eef_state]: left_x=0.4234 left_y=-0.1197 left_z=0.082 left_yaw=0.0076 left_pitch=-0.0652 left_roll=0.0257 left_gripper=0.9976 right_x=0.2496 right_y=-0.0888 right_z=0.1039 right_yaw=-1.7046 right_pitch=-0.4807 right_roll=0.0558 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1709, 8.0068, 1.7802, -0.1245, 0.022, -0.0122, 4.8205, -4.7795, 6.4068, 0.4469, -0.2662, -0.0513, 0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.3927, 1.8687, 0.8112, 0.4339, -0.3523, -0.2626, 0.9976, 0.6125, 1.5772, 1.4246, -1.5204, 0.9649, 1.6558, 0.999]\nstate[eef_state]: left_x=0.4512 left_y=-0.1171 left_z=0.0429 left_yaw=0.026 left_pitch=-0.0181 left_roll=-0.0057 left_gripper=0.9976 right_x=0.2903 right_y=0.0309 right_z=0.2285 right_yaw=-1.0311 right_pitch=-0.0322 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [0.3761, -7.241, 7.0085, 1.6337, -0.022, 0.2125, -0.0171, -0.0615, -8.3214, 7.3915, 0.0513, 0.6422, 0.0317, 0.1538]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67361ae0f9f1bd210de4a3e43ed2d29e12d46cfce054f5c496832234f74cf1d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7c3660a514a9cf8c486660928bd9a9f0bc5ddf7654d03c0c9b7f69c5cc37af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d0313050e2ade4c7518111d2254f4ab464dc18f449377ca79a5c7f1d90fa96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFi7afU0KO4N20aJM8kQWOlvHN8DfkHGqv_vXy_3Brdv32y9fg1BoLRuP_brgRgSEx_CYudjHe-L-JoE-3gHtBHahNyJCUwqdCbqLlar2O6BFtbdNiVvgYVF8DYVAPg11zucgM3EM5IHyMfGK2EmoqK4SQBzG9mYSWPKPaI6vK5AgMvgOtOLivgnGiIwS2ddk66xB7Rf5zvfy3CGEe8Pz8gsTzkEpGA20iIxfRhUr_8AW5q6sxzkBCD2EXrV2NxoMfxNcVb-T2vdN2NIyG18zb4APWOBO3tz6WangH8UEzFhR8FlUA1N-d-JqZ0yIkvOVEh5qVCy3kPt6tLKjj-YeNFb9-yW6LMkv5qk1SZh298ws2tdrNV9cryZXgwjj2jH_hb3otiNCgFrGRh5BXA5XuBDI8CMoUCpyqq3ZAdLFkGR9_1Lm0qVSWVtL0sBYWnt3DDTV-3Ve_ZW8T1sNOZ8T3h92ZHoVwDDhuScDH0FXvQ6EI-aLWfEvXanUa6RvESbnNz3q-xMwJYRcjBE25HLgEmmvyYXuU_43S2RSi1SNVjqQXeBJGF1MyjJR75jhLv8mmwXPDLcA07nAn4R5t-HBcW-aFwZeeZ0j1Asvo_cgDlq8unEIp4uwz6TsvySoXf9rxV-FIZXxhd-TedvLDwrqd1HjZcrFZHQd5u-5h-xdpTF1dXjIcdDCWE_vwplTbdI1l11Hw5MJjze494ooo9CD6KBFGxL3UEMUaL2T7SqblgfjfuPJcWT8eMDgr_Bdu8n4kBy9pOxBm851i18qkQVJPHFWJcV4z4jqVo7WfSSOFsulYDVtF0lhKeeqYmh6pwlWKaFSQ9x-bQ1dRxeEocj1uEqPQw1WQNFiuAFJ1C3q8XUQhID47YbW4qgCKhcGZxNoGODDskQFWlmwFOVqtPweLTRpel7FFSatDxkMcwmCa0CF8tATA_jJd-hYmHDsErG-LUm-RobNWB2NpPw6-vJaTFm-IsM7G7NaOy62_Qb7o0svVCisVJCE1bto18OP2NWd-_9FxkwQxTRixIGUcjfR29LXksojVq-jPaCxZbDjXH-2IADG1f0OASZOWKvBWKaCZ4t66uh5vmZiX4JYjtLraKRPTcs_SWcewW1awXwPknZ3706lPTYq9BQIcIDfk8GtnTH2GrwX2v9LECVRBn5Fb_9IYV9_F-ayq2nDn0Hh89LlG9ebZ9zdp6g6OTmlt-gFD8_JUOHE5OU4i9M7bwM5-CNWEnj1xmgCCnrP7AkiXVvdxZob0-10oGj7FZ9h7Nqtdc5oBkbuPcYGw-Fppd-gITE7LsxIIfKqZIbbrqjR3f4qHADTLQDrdR9gZtkD1G3EKe_3TyR0TyUeRWE65bP684ue9E7VN5ad7M-EjDJboqYWCbIILtcuvLVnwr2XUulCbyJYnhsjn2A_A5H6_nQEwbcli3fUwNb8WUZVTOKD9Sc_lbP5OF4nT8I1jUN26HmNdjV7miaYSIHdJclMFFWxKEzQjKkanqeM80NlOCJO6WSur1OouD-i15LS7p1hnTKPpkQL_fQPqVA7toAnKPhgl97w==",
  "id": "rs_098d7f1ab9a71059016ab421604cac87d094868e5b3fcb8a6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.115,\"left_z\":0.04,\"right_yaw\":0,\"right_z\":0.2},\"note\":\"The left cap moved closer to the bottom of the wrist view and remains centered, while the neck is not yet at the fingertip contact point. I’m advancing the left gripper a few more centimeters and restoring the right wrist to its neutral orientation.\"}",
  "call_id": "call_Q01YrsbXCshxcvAc8T3kOhe3",
  "id": "fc_098d7f1ab9a71059016ab42161375487d0b62e7d0d91bf7a33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q01YrsbXCshxcvAc8T3kOhe3",
  "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]: [-0.358, 1.9671, 0.923, 0.448, -0.347, -0.2619, 0.9976, 0.2352, 0.823, 0.7021, -0.5983, 0.4, 0.4736, 0.9994]\nstate[eef_state]: left_x=0.4836 left_y=-0.113 left_z=0.0415 left_yaw=0.0559 left_pitch=0.0058 left_roll=-0.0189 left_gripper=0.9976 right_x=0.274 right_y=-0.0014 right_z=0.1824 right_yaw=-0.3784 right_pitch=-0.0896 right_roll=0.1305 right_gripper=0.9994\nstate[joint_eff]: [0.6769, -8.2393, 7.1863, 1.6386, 0.0757, 0.2808, -0.0122, 0.1026, -1.1282, 7.0769, 2.1221, 0.1685, -0.149, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c38cd0b5a1d16e8c3a3a15cd94132e16ffc206853b55b86aee3deea39a53f76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8101af138173d6261b521fc6a3effdc60abf4ee9cce909429d1d9843304b731d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b03d8ffd3914e7bc846a131f4507ed3378abfcdfff5184673585003c9cd18b60",
      "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 29 attempt 0 · /responses · status 200 · 11.78 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7227, 0.5316, -0.3958, -0.1921, -0.1349, 0.9976, 0.58, 2.0792, 1.6276, -1.5593, 0.8909, 2.046, 0.353]\nstate[eef_state]: left_x=0.2788 left_y=0.0171 left_z=0.1643 left_yaw=0.1445 left_pitch=-0.0129 left_roll=0.0034 left_gripper=0.9976 right_x=0.339 right_y=0.0622 right_z=0.1261 right_yaw=-1.3084 right_pitch=-0.0351 right_roll=-0.0408 right_gripper=0.353\nstate[joint_eff]: [-0.3077, -0.7726, 6.6393, 1.873, -0.1197, -0.0659, -0.0122, -1.8803, -12.8342, 5.2308, -0.3785, 0.5592, 0.1978, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3927, 1.8687, 0.8112, 0.4339, -0.3523, -0.2626, 0.9976, 0.6125, 1.5772, 1.4246, -1.5204, 0.9649, 1.6558, 0.999]\nstate[eef_state]: left_x=0.4512 left_y=-0.1171 left_z=0.0429 left_yaw=0.026 left_pitch=-0.0181 left_roll=-0.0057 left_gripper=0.9976 right_x=0.2903 right_y=0.0309 right_z=0.2285 right_yaw=-1.0311 right_pitch=-0.0322 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [0.3761, -7.241, 7.0085, 1.6337, -0.022, 0.2125, -0.0171, -0.0615, -8.3214, 7.3915, 0.0513, 0.6422, 0.0317, 0.1538]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.358, 1.9671, 0.923, 0.448, -0.347, -0.2619, 0.9976, 0.2352, 0.823, 0.7021, -0.5983, 0.4, 0.4736, 0.9994]\nstate[eef_state]: left_x=0.4836 left_y=-0.113 left_z=0.0415 left_yaw=0.0559 left_pitch=0.0058 left_roll=-0.0189 left_gripper=0.9976 right_x=0.274 right_y=-0.0014 right_z=0.1824 right_yaw=-0.3784 right_pitch=-0.0896 right_roll=0.1305 right_gripper=0.9994\nstate[joint_eff]: [0.6769, -8.2393, 7.1863, 1.6386, 0.0757, 0.2808, -0.0122, 0.1026, -1.1282, 7.0769, 2.1221, 0.1685, -0.149, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c38cd0b5a1d16e8c3a3a15cd94132e16ffc206853b55b86aee3deea39a53f76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8101af138173d6261b521fc6a3effdc60abf4ee9cce909429d1d9843304b731d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b03d8ffd3914e7bc846a131f4507ed3378abfcdfff5184673585003c9cd18b60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFms7XBGc6bBnKyiSe_7ZVB0k6FNPV88ZyVse-dcXCQ_PDmaOGtWIcnwJrzXCiepJ5M9ZDf4lyIctUGDZFoZ8vwj1RLw47q5upSz7udaVvUWSEHzZiDFNsXnmpJbw2a01jXWStoxfo_AUzxixoTM-xekpl0ib-XlsaYUXYnWs7aLlZylRwpABnLEftCYta3db25wKBuMX88O4DhINTwyM-_RQAAaWSbB4_CvWugv5qm-pylG7x4zfhH1KokoCUI5iO7vo1xnQoDSkm--SRA5SE9yu22R8q1RtMQy0feu7_CnZJt_duZMDBpG3DfwyKB1HGfNh0WAwO5DJtBd7agKllPQivoxDI22hTKlkxG8Uy2Y0tqjBpObE_sL8nzpOCD3vIrYQpdg7_poDHHm1vxlBHg0KGXQW0d9N9RyEfqRAVQrdzeT9miftza_EPpi9i5bcEkydXVVM65etoJRJKOi-VCQ0DAGfnIvY6a_YDtSJqORnhC_6n6Y1fzei-RQbEhWKCdQgv7NbbPtQ_JtTne6ceYm8fvJgamu455v2JtjKip7yUTXBlPWpJ0JvX3xvDrYkfv0v_ksvY2bugRzHlD1JZzIag_tmOdKJat9_gyivn-6mYmlOWk2bVD2Y8ExMKPhvz0pIkQLY97UJMczY3zW7qhoefAXsVU6Hs3Aq1yL-fW0M9eCPZ4i-z_uJYmhV3NvVnu-DxdcwmYxSzQmJgF0BxzMQfzjMffYln1HCWiFPIBrb-XzNY4ybVqkn0DC3GNrJ9K17s6KhCNkg7vWQCtqur3db97osaBqA6-RVGle8dxytbMzczKyblWpdQiGl7H7hDE0Tq47BEvxhre_1ZE7KGFof8DZnvJ48Xia8PejiS5bvSNvzGNvyjYiVbuUftISaqthVI1_GTEkTQGoYoH2csSwXInl0Aq4DEP0krWAiaGfOn5Q0GPSpw-a7LshwzzoQUa9aAi_u_Nz16S_C8I0OtVMF5VvIJs4u1e1gTV1BG21tS-M-TYWNdr4Jyl46VqpP8YGSe26t1Uen6EPLnWzpi0894pPSy3B_oXl9-6mJ-E5Fsq8FY1u66lQS77EC_QU16BGQh5aqCHlbMk0bc6eBuvGziGAvtUEB-9JxT3KDKKY3u4FQZubPDHurlZavO7e2eu7W_kU6y6RUWS1w6T2xYKMW3j4LH9Jfcq04tZRrfrEJqRoSpDwpFbGvHolHm--bEnMX35R6MO386LFURqUBbpBKVGCt04hIGyg5LNg4Z6Ev2-sVl9X1tUshwYB2jnj0Fc6zrpjc6h710qCdOco87MjnrI3PFzuXUTvpFQl9IeqNYXMrs_VhifMi-IEkqa8rXN1RFZRqwJrsste65Lv1dLnJTro_IObzHAJ5n2DACHgV7IYmSeeIhe-yrcGndGsRS_DCg0NivfHi7VfHug3mArvodQvg8IquxFLRnDmEgOxPksZlDan9FDqW09g3lg9Q9Yb2IEDytDU8zP9r03in3S4ZQ6HeaT77IsI-He-vhUqOV5Lmd2eh1qV83WXwnsLW_UgFqAeV0-9hu0D8SS1-Cz_hFDweovvpv48Wge3aUJp-gXaznQIJAacdUuPpBtVDICTg8nSVALt8gvK_ld0-qm9US4HHk48ccSpkN-bEnP8JbNZxtPRB4F3vz4PScJSl5RJd0f-IYSRWu-jWKaElDyCTci_IRekBoYUhPq6jP4wnwQ16DzZ0V-b4z742KD4ueo_G2e-QbqQIbvMuMnx5PrSb-FJzwUkvxjYTfY32K4ioGffgxivkJoPWVT83SGlm4xKm3Kb6Nq8Nejs5-E3hUCY3xQJB1GOdidBWw3Ic7OT3Tfoifu0jAb2HAw3qc6liccyDAwI-xfeyVGVAu7KEM_rPFc5XNn2HNcBOM_9RsdHnzLfsXBYohVOyoE3DH7n2i8XbuBNJ9Fyb2hRwqYmfyWHP5UwhoE6g3UoCIYgd_8L3g=",
  "id": "rs_098d7f1ab9a71059016ab42163fc8487d0a25202ec4652d985",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.095,\"left_z\":0.035},\"note\":\"The left bottle’s cap is now low in the wrist image but about a finger-width left of the jaw center. I’m advancing slightly and shifting left so the neck, rather than empty table, lies between the fingertips.\"}",
  "call_id": "call_81kOeRKzgrcjA7njiTjDKhp3",
  "id": "fc_098d7f1ab9a71059016ab421653e0887d09e35977db29d7d5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_81kOeRKzgrcjA7njiTjDKhp3",
  "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]: [-0.3103, 2.0155, 0.9859, 0.4412, -0.3214, -0.2501, 0.9976, 0.342, 0.8185, 0.6506, -0.5308, 0.4477, 0.35, 0.9994]\nstate[eef_state]: left_x=0.5029 left_y=-0.0989 left_z=0.0395 left_yaw=0.0762 left_pitch=0.0073 left_roll=-0.025 left_gripper=0.9976 right_x=0.2759 right_y=0.0208 right_z=0.1756 right_yaw=-0.2422 right_pitch=-0.0489 right_roll=0.0169 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -8.335, 6.6667, 1.6777, 0.022, 0.2955, -0.0122, -0.1436, -0.9504, 7.2274, 1.9219, 0.4029, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ede23ba1e28beeb780889d357491ba69e490019ffb0d0cc7634027136abc066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1894dcd8e8711c2b67627eb0d96ef30e40c0e99ab7f1bd00f70122aa1e3e961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf502519ed872ec24097f59bbf25b3f0a9dec0aa9c88d5735d3a4ee230cb3d6",
      "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 · 4.049 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]: [-0.4301, 1.6695, 0.8162, 0.1726, -0.3717, -0.2665, 0.9976, -0.017, 1.5269, 1.0916, -1.1561, 0.5224, 1.7023, 0.9974]\nstate[eef_state]: left_x=0.4234 left_y=-0.1197 left_z=0.082 left_yaw=0.0076 left_pitch=-0.0652 left_roll=0.0257 left_gripper=0.9976 right_x=0.2496 right_y=-0.0888 right_z=0.1039 right_yaw=-1.7046 right_pitch=-0.4807 right_roll=0.0558 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1709, 8.0068, 1.7802, -0.1245, 0.022, -0.0122, 4.8205, -4.7795, 6.4068, 0.4469, -0.2662, -0.0513, 0.0317]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.358, 1.9671, 0.923, 0.448, -0.347, -0.2619, 0.9976, 0.2352, 0.823, 0.7021, -0.5983, 0.4, 0.4736, 0.9994]\nstate[eef_state]: left_x=0.4836 left_y=-0.113 left_z=0.0415 left_yaw=0.0559 left_pitch=0.0058 left_roll=-0.0189 left_gripper=0.9976 right_x=0.274 right_y=-0.0014 right_z=0.1824 right_yaw=-0.3784 right_pitch=-0.0896 right_roll=0.1305 right_gripper=0.9994\nstate[joint_eff]: [0.6769, -8.2393, 7.1863, 1.6386, 0.0757, 0.2808, -0.0122, 0.1026, -1.1282, 7.0769, 2.1221, 0.1685, -0.149, 0.022]",
      "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]: [-0.3103, 2.0155, 0.9859, 0.4412, -0.3214, -0.2501, 0.9976, 0.342, 0.8185, 0.6506, -0.5308, 0.4477, 0.35, 0.9994]\nstate[eef_state]: left_x=0.5029 left_y=-0.0989 left_z=0.0395 left_yaw=0.0762 left_pitch=0.0073 left_roll=-0.025 left_gripper=0.9976 right_x=0.2759 right_y=0.0208 right_z=0.1756 right_yaw=-0.2422 right_pitch=-0.0489 right_roll=0.0169 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -8.335, 6.6667, 1.6777, 0.022, 0.2955, -0.0122, -0.1436, -0.9504, 7.2274, 1.9219, 0.4029, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ede23ba1e28beeb780889d357491ba69e490019ffb0d0cc7634027136abc066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1894dcd8e8711c2b67627eb0d96ef30e40c0e99ab7f1bd00f70122aa1e3e961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf502519ed872ec24097f59bbf25b3f0a9dec0aa9c88d5735d3a4ee230cb3d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCFqAnzCNxRVSW2QoRtDrfkG7WODT1gdmsIcLo4cU1wqjk0lKfB5vTo6bLRZNdkrsqT1uR8rOeaYsLjr2hDh-4Rv5egHbV-W-FpX5B9j297jXs9mc1uKuquMGFsfDGkrd2X4lDXOKvPS3P7Xx0hC9WMZDx5Dta_nXOOiHcOkGtuVrj1Mm04bOX3PoZjy9Wk94YLMeMX19yl7KH0VXk8xgZsvUIFRmoWi4ghdqm3fvluX165SCgIBDRISwns-apAF-18dZssoCBYhIBgo-b8RFdDjUD5zXmt5YuPklB1oDEd6j42_VpIiOoYgvfzyVUVZ0gvtRUDEdp2JUeAUGxrOOpBOIN7QSgLFb2jiSIlhyT-fr56ftjBrfuBvu118GUdgsDqB449KyALzusCTAIXBsdaWKSCRB6AelQ_hClWrWNlSwAGC_HlRuEtrrNKKL2oYFAsv2PXE5vgNjAt_gMoNDiNxPBUDLs33Ruuh0l01zII8x8BDxD093oSHMgjwyOJC-Ezn-HjBLQeZBi25rAXH69T1bJUGK1mQqZfTEJgWCe79PzrROq3BVgS_BkX5ZNvX68e7W3eckcQKVElDH1kjc7700-vMOjCAO5p_PuM5ljiIUkYY9TUoJCP3Nc2VtCj6AFb_f0im5ks4Gp0n_jmesj01YAS5U2UfWcG5G8UyXOIPoFHkz4P58LXx4OLtBio36ctoxp2_O0xtE9QeGXdfGIlbrwGppssedrAkISrubfVtHJi8-tZBXtqgTFN8IstkDQWEEKQM-R10HGHWLd5P--hJ5MqbLt567ah3wqf6VBwYA6pZQgXYoNL3dNjMz2tZFvuhevrgoWWN1aE2gZ63otm96jTdQE1yTHN_GASDSLcEF2m5RAlCIL5nxLOSDbU4WPHiOl8lPWrYJrJUNorCVMsunfO3lAhL4Jw8bprQjx2tKDWkU1NiNAQKZg9bcVogRf_GStF6y-YuHfJZ95bJ0vuKOUc3aQP43JBJLpTRhnbcXkmqUXIrNK7FgdB7RLVVaJfR9F4u6PkIoZ7HozSYAutbVu5F6AHlz7Y5vutGbAkyoc5LSmremWtlFt4ITt7Tl3gNHfvRDc2IZ7VKDtziiVYHSWaM7bxuxpcYv5E9Y1Ssgzj4e0I4fOxloGQes451nCxSqFLHLtVrOPzN-boP9_Oonpwbg2CG8gSqlpCUQgANq545sGEZSjDHJEfbehjH1Ji-J0B_G-q6iXpaqI9PaOstvdtteK1zMYdUptNUGgew9cGmo6CT4v7Du4xbt1AlK_i0tXCfrByl0vegheTG0ll352Md9NvHADTTuXHHRCNUK3YOseEngMcBe8Ddc0_FNQO_LrlgQomrxMyBm-ebY9d9S77Wo_DTUDYU1WkrPvCb1Zl6rZiW3ux7xE5SmHRDD9Te1iJxjmZ7061E5sgV1YcQaYQY4u79PpTlMROlvEPaAtATLNIfcBmJ-R_FxPY9lvMFdpVOGU7Ilm-j3xRfVA8dxu0-qvPFWjW44fMmPktT2xiCdzx0OVVOIsv3QyC_98DSO3ygziwsdU4w5fz9E9LIYlv69WFQDjg2mMFTTGRLEAmLY6dPghdSTQ_BfcdeQrHJphC3xPM_EqS5IhnRfVnr5gGXDIW9M2cX8hdFJwf6aaGxkH0hjU7vl9oR2NMy24cDYMgD2XPelnOwh7IZcLqVaDxnSsyRYGgpaNsD3dMXiMq55Pj3jWlV5pIrnoDKLZrx6ihNQ242S7Fa6Pg8oAYp6-_MvE_wHEgOjlDrtchJriHWteT3kz9ad1DoDP0q9eB-yofJ0e-F6Fmo8XUAs931HvQfTS1HhTHWGeiWwg_zVareC55vI2FjffYDFTbtwgmqxUUfbdRWV3EkvtWbrnh6z09CX6pRUOops8jdPfIdSo8xwe8NxLQsk_A8IQm3Pb5HkwpykuYWyyuyX4Gosxe7hTcOcqRUCM3pdXuc7gZcBpIuqKdCED2K5bAyy4FrarWxK-uWdJqEcOzA6At5AMcnjJwlypKYko_JrY1m5p65xWCD5SPNHBarcXbc2UL3s4AN531d9LctRdH5qYXDMsafZDcGjy2Yf1qRcsqx7mDEwmPM_KgyYcriHhsJ8wIdUU1ny_UCPxECzc6SzSlRzSeZCb_7X0thNpeEwzA5EtrCQB7saxidU7LmlZmm7fzu5zlmWLBwz6cDS92B40PW4NNcuQ==",
  "id": "rs_098d7f1ab9a71059016ab42167954887d0a3349a5b42426ae4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_x\":0.5,\"left_z\":0.037},\"note\":\"The left bottle’s cap is at fingertip depth but still noticeably to the left of the jaw opening. I’m making a lateral correction while keeping the low grasp height, then I’ll close only if it is centered.\"}",
  "call_id": "call_tAKyvANl7nn1atxvsyTKiMOo",
  "id": "fc_098d7f1ab9a71059016ab421695d0087d0b1ac124b7de78c73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tAKyvANl7nn1atxvsyTKiMOo",
  "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]: [-0.2932, 2.0254, 0.9981, 0.445, -0.3191, -0.2359, 0.9976, 0.3695, 0.8036, 0.6067, -0.5056, 0.4931, 0.3351, 0.9995]\nstate[eef_state]: left_x=0.5079 left_y=-0.0917 left_z=0.0399 left_yaw=0.0839 left_pitch=0.0125 left_roll=-0.0164 left_gripper=0.9976 right_x=0.2724 right_y=0.0197 right_z=0.1673 right_yaw=-0.2425 right_pitch=-0.0354 right_roll=-0.0216 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.759, 6.5846, 1.6386, 0.0317, 0.2466, -0.0122, -0.1983, -2.0444, 7.0906, 1.8339, 0.1148, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fafe92a2939ba3eb80a7cf2a963a52acbd5bc9f7409ecb7ccd420ce1d74565d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a0f28e02712c122d040d80e81d313119c0ff07783c0798f32067dab2c8ad69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c930f3b600ca3db292b74672400e8fe99e9d0a7591e7e720eab7764535855e11",
      "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 · 8.767 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]: [-0.3927, 1.8687, 0.8112, 0.4339, -0.3523, -0.2626, 0.9976, 0.6125, 1.5772, 1.4246, -1.5204, 0.9649, 1.6558, 0.999]\nstate[eef_state]: left_x=0.4512 left_y=-0.1171 left_z=0.0429 left_yaw=0.026 left_pitch=-0.0181 left_roll=-0.0057 left_gripper=0.9976 right_x=0.2903 right_y=0.0309 right_z=0.2285 right_yaw=-1.0311 right_pitch=-0.0322 right_roll=-0.0159 right_gripper=0.999\nstate[joint_eff]: [0.3761, -7.241, 7.0085, 1.6337, -0.022, 0.2125, -0.0171, -0.0615, -8.3214, 7.3915, 0.0513, 0.6422, 0.0317, 0.1538]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3103, 2.0155, 0.9859, 0.4412, -0.3214, -0.2501, 0.9976, 0.342, 0.8185, 0.6506, -0.5308, 0.4477, 0.35, 0.9994]\nstate[eef_state]: left_x=0.5029 left_y=-0.0989 left_z=0.0395 left_yaw=0.0762 left_pitch=0.0073 left_roll=-0.025 left_gripper=0.9976 right_x=0.2759 right_y=0.0208 right_z=0.1756 right_yaw=-0.2422 right_pitch=-0.0489 right_roll=0.0169 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -8.335, 6.6667, 1.6777, 0.022, 0.2955, -0.0122, -0.1436, -0.9504, 7.2274, 1.9219, 0.4029, 0.149, -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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 2.0254, 0.9981, 0.445, -0.3191, -0.2359, 0.9976, 0.3695, 0.8036, 0.6067, -0.5056, 0.4931, 0.3351, 0.9995]\nstate[eef_state]: left_x=0.5079 left_y=-0.0917 left_z=0.0399 left_yaw=0.0839 left_pitch=0.0125 left_roll=-0.0164 left_gripper=0.9976 right_x=0.2724 right_y=0.0197 right_z=0.1673 right_yaw=-0.2425 right_pitch=-0.0354 right_roll=-0.0216 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.759, 6.5846, 1.6386, 0.0317, 0.2466, -0.0122, -0.1983, -2.0444, 7.0906, 1.8339, 0.1148, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fafe92a2939ba3eb80a7cf2a963a52acbd5bc9f7409ecb7ccd420ce1d74565d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a0f28e02712c122d040d80e81d313119c0ff07783c0798f32067dab2c8ad69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c930f3b600ca3db292b74672400e8fe99e9d0a7591e7e720eab7764535855e11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_098d7f1ab9a71059016ab42174826087d08e9869c4c434b27e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The low-reach lateral correction barely moved the left hand, but the cap is still within the open jaw span near the fingertips. I’m trying a careful close on the narrow end and will judge it by the settled jaw spacing.\"}",
  "call_id": "call_fOwnVUzP54KfCxeWhv4haN5Q",
  "id": "fc_098d7f1ab9a71059016ab42175b00c87d0a0512c1b9ce190cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fOwnVUzP54KfCxeWhv4haN5Q",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 2.0251, 1.0073, 0.4801, -0.3466, -0.2207, 0.0124, 0.3695, 0.7822, 0.5701, -0.4873, 0.4934, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.5153 left_y=-0.0864 left_z=0.0514 left_yaw=0.1041 left_pitch=0.0594 left_roll=-0.0064 left_gripper=0.0124 right_x=0.2692 right_y=0.0184 right_z=0.16 right_yaw=-0.2407 right_pitch=-0.0328 right_roll=-0.0232 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -10.4137, 6.3521, 1.0623, 0.1197, -0.0708, 1.033, 0.0342, -1.853, 6.7897, 1.9023, 0.1832, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27789dd4210d91dcfcf1a301ab289b73ae7a3c2db20b6ec23dc7cfd6cb81a0f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae37d3756e8f6401eede3b8c69b96122949b68b72688d3f48a87aee826b5b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de7e19df3ee35cd325fcca307ba44fc8c65203563cf4babfb976052e5faa17c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.188 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]: [-0.358, 1.9671, 0.923, 0.448, -0.347, -0.2619, 0.9976, 0.2352, 0.823, 0.7021, -0.5983, 0.4, 0.4736, 0.9994]\nstate[eef_state]: left_x=0.4836 left_y=-0.113 left_z=0.0415 left_yaw=0.0559 left_pitch=0.0058 left_roll=-0.0189 left_gripper=0.9976 right_x=0.274 right_y=-0.0014 right_z=0.1824 right_yaw=-0.3784 right_pitch=-0.0896 right_roll=0.1305 right_gripper=0.9994\nstate[joint_eff]: [0.6769, -8.2393, 7.1863, 1.6386, 0.0757, 0.2808, -0.0122, 0.1026, -1.1282, 7.0769, 2.1221, 0.1685, -0.149, 0.022]",
      "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]: [-0.2932, 2.0254, 0.9981, 0.445, -0.3191, -0.2359, 0.9976, 0.3695, 0.8036, 0.6067, -0.5056, 0.4931, 0.3351, 0.9995]\nstate[eef_state]: left_x=0.5079 left_y=-0.0917 left_z=0.0399 left_yaw=0.0839 left_pitch=0.0125 left_roll=-0.0164 left_gripper=0.9976 right_x=0.2724 right_y=0.0197 right_z=0.1673 right_yaw=-0.2425 right_pitch=-0.0354 right_roll=-0.0216 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.759, 6.5846, 1.6386, 0.0317, 0.2466, -0.0122, -0.1983, -2.0444, 7.0906, 1.8339, 0.1148, -0.0659, -0.0024]",
      "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]: [-0.2882, 2.0251, 1.0073, 0.4801, -0.3466, -0.2207, 0.0124, 0.3695, 0.7822, 0.5701, -0.4873, 0.4934, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.5153 left_y=-0.0864 left_z=0.0514 left_yaw=0.1041 left_pitch=0.0594 left_roll=-0.0064 left_gripper=0.0124 right_x=0.2692 right_y=0.0184 right_z=0.16 right_yaw=-0.2407 right_pitch=-0.0328 right_roll=-0.0232 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -10.4137, 6.3521, 1.0623, 0.1197, -0.0708, 1.033, 0.0342, -1.853, 6.7897, 1.9023, 0.1832, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27789dd4210d91dcfcf1a301ab289b73ae7a3c2db20b6ec23dc7cfd6cb81a0f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae37d3756e8f6401eede3b8c69b96122949b68b72688d3f48a87aee826b5b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de7e19df3ee35cd325fcca307ba44fc8c65203563cf4babfb976052e5faa17c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_098d7f1ab9a71059016ab42178edb487d0844a9f8d23af17bc",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGAWKx8ATJDz9t0VxpZtLi-4MfZjXJk1rpNpI9cox4U50htM5U0Ct3e5H5yvJsL-SJV4t59ItVhjoDPjp1UsulGPGGPc1FhQRodQlRVcudfSNDu2V7iwJjIr_D433Qv5Umq9r39xMFLbt77I4RsMzy_DySw4wicTOqaAeBfovwLh9x4qCpPlbW-c9Sk-0pMpkPifZNUVRM3vHLqIoyUJxWohJuYAQ8f7HX10QLVqvGOMmlLachVelyEafBSPtTp34lJknOra7idh5gXZjZdqoqjSgPlLr5hSAPGRnMBhMQGLJ0dhB6EV8QJ-YHQoqY0pSValCtT5CixIyQT1ytzo8Gu9eoTQfozdfcZQyHravkxR7n9IljTjaqw7XXzGNrus9zs5W0WC1y1slAnnpfS3CGh1WRlYilw9MKPnBgykyz2tVwAO2KGjRbGcoIqnIkRns0gTl-Yh8Vv_bjVnPu21XgqIHZI43kd0AFKqJVvNf49NcGsuS5hOtKwaeg7Vy_p1cbm0Ls6RDeTpiGll4tVAge5GMmE4E6R-rdq8yBHoI2knbN_7kj7kqmQgpJJxgbjbcao8ySLwO1BHUhiITqco6EmFPzPpceYflygJJQ0LJhWrXYy8cxBH40e-NssmnDtkG8PJkPqbZEGZYS5l2fAdEWioaQnKt6_iGzjPLJaMRxRQmPeBOYP5CkVzsLItUX6lISJIChFCkczuYHnADYp1QmVsPiIG6dlN8Fw-iyF1kgZ2l4k4-eT-urVCkAQKpDZPPI9WfMLDUx5O18vSPZ7p0NUizQkfknBe24g-NQNtUJanimioRmpu-74Je2AcgqHmRJ5t4e_EkzMI_Dh7DKQhttfVtQ3yg_M2yYYHwEPYnREMbqUaBLwmoPO3dCkKZBXtkIEX7zfaKI0Pg5B9jAXe7UMT2_BSLwVjCFOmevWUlWg1QywwbYpiFJVxW31KPhjcE124eO52ofEfNZaRyzeukhIInZNpCKHChaYDtdPF7y-maHcsG53wOXSU39aN0Sh61FV_99Q8U02FLtcnSnNGeSjPdDY53fi9fQxmPi7PZZ2AI_sh61LP9lLIS12sW_8bC3cKetXeLLYB2xDFO-NyzA23mfrfXDnmgngylUl-pA31U7_w0nuOVFVJKYElukb3eXSeb_2TWdz_MYSTZdqx5fnSwmm-Onm2H9QpOwVBjC_XiA86n-igdKY6DsboKU91dSPlSQenqovKIkm6hoVAqofFOCj-H-bZkuXrj5Rplt7KOcCAJKTZn93Pkp5Gx4omyQi4NTRhqE1J0He_F1g65dA0Jv5zEFcrqpiI1NiCiyCl1GqCjGqel9piYJMbad8AkvMbtMbKO6DD7Rl-C0JvhnKPQ4oVvyoUzCTZHcoZCQLxD0HG7EzJAL86IIL8Aucw6GSElhGuTpQlJrQl3Jhf3zOlihMssvmwhO0g0IOA7RCuQRpzsdymxPHlTz0tIslvVYDSV5dh-rwOq7BFc4vQJOmWnWjMfJdTvh20yTpzlbAFPHgnuAGMQbOMLW26quLM75GsaGptQrPk_FGX-HjCySaetQSO-pE4teJLdAVm4J75VpDJ_3Pe1Xc8wilS9JQ9KCo3UUMnJ1GEK4BxKPKKr6V8uwH9kSDPouvzdYKHT2jlhEYMNu1t0BXTfcJx_WqrHUDm2S5K6jdfvchhwGgc4R0ccwmGyeumrAmlPGqgzmfySk0d4lu-bvBPIqG6ufi016ofGESNl9SQH6GySn7VwtI8mIG3AyHSDyvFC8Q52LIbmD1ie6D3RFX4HX8Jlv8DZPKJ3ygO7dU4DbMA5R4FQOANY6hmaV6I2Zn05UdrrzpQL3EZk-_QIlmR-3bapjKnlBz_d55kBItP9-92GTT6Ra7401E2UCKr-VQI8_ciu4HGvAlAeUWzdoYUznsUSm9DKveV4dX5MybyzHO414garC0Io_jYxJbkjCwZDm5TBOiL0JyiUPyMA5l5rkxug_4aCMpVKQymYp0rnq2_MG6sHZXqumHobOOCCEP8BWpAAcO0yTzw6bybRVbOtxqfC2vZEj_bUc6eCq69ldM_IIvxsddJpj8BXe9BznFN0HlaZbKXPlb5OcLp3eyE-wLlSDLxoyjDz9roYlxqLdd7U41r_zFf4k3Fk6ocH3YOiTEuGZK8JA7mU_2kNzRiQkxH1dCTAqNQsS2v9Xy3ndhbvk0L_0xt95Y-kuMB6pRlg-gK34mLfgxHM5HKrx_Ly_8J12aP-HjEMQJLzBvQ6ovGeDky2QlbVsPGzvzEq1-Xa-IwbsUCMbqel67iuxSVS4w5z8aBoOIYqSJ7NR41J1rdDy42bcC_bz4K4-bZy_7Gs-P5tUxJXceUsHvQrMwVtwxHkL_3a_PuwpTFLd3TPumgqB6ZJ4aOTr8-4x6qliHakpF-X3FTtjS3uNIstTVxJzH8wVaVSQi01T1AIxHBUJVuHf9UC02bYNO2qanukGqPbCnC3zYMl3Fe0tcIzP7i-P7RIgjYrj_r2d36mJiHeHzW276-928cq8atVc1V7F3vA0ChRqL4tq92q8yRMoDFFqXHx1cEZ4TXf00byZPvSjHKXW3gEC87Q==",
  "id": "rs_098d7f1ab9a71059016ab4217cc3ac87d08c37eeb3a7b64c85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.04,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The neck close was empty; at this far, low reach the arm cannot make the needed sideways correction. I’m reopening and backing up slightly to free the lateral motion, then I’ll reassess the cap’s alignment.\"}",
  "call_id": "call_kVbCJvSn23vQajGzcncuM0DI",
  "id": "fc_098d7f1ab9a71059016ab4217f5c6087d0bb85fbd8f1288e1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kVbCJvSn23vQajGzcncuM0DI",
  "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]: [-0.1909, 1.8847, 0.8501, 0.4465, -0.2661, -0.202, 0.9944, 0.3695, 0.7589, 0.5373, -0.4706, 0.4931, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.4793 left_y=-0.0417 left_z=0.0499 left_yaw=0.124 left_pitch=-0.0028 left_roll=-0.0132 left_gripper=0.9944 right_x=0.2662 right_y=0.0173 right_z=0.1545 right_yaw=-0.2402 right_pitch=-0.027 right_roll=-0.0188 right_gripper=0.9995\nstate[joint_eff]: [0.212, -10.906, 4.8615, 1.6337, -0.0073, 0.2222, -0.1294, -0.0479, -1.2513, 6.8034, 1.9121, 0.1343, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ef9afe55e8bbec0257fa28752f57cfad6be638a46c578eb32792361b9dcdca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e87b609fa8f4e22837118015fc5d98d161c00d803d875203eddaaae999c5afdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad620f3e284351f7a5e9138437a832283b6bdcdb0894946d0e18eda70cccecb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.721 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3103, 2.0155, 0.9859, 0.4412, -0.3214, -0.2501, 0.9976, 0.342, 0.8185, 0.6506, -0.5308, 0.4477, 0.35, 0.9994]\nstate[eef_state]: left_x=0.5029 left_y=-0.0989 left_z=0.0395 left_yaw=0.0762 left_pitch=0.0073 left_roll=-0.025 left_gripper=0.9976 right_x=0.2759 right_y=0.0208 right_z=0.1756 right_yaw=-0.2422 right_pitch=-0.0489 right_roll=0.0169 right_gripper=0.9994\nstate[joint_eff]: [0.3761, -8.335, 6.6667, 1.6777, 0.022, 0.2955, -0.0122, -0.1436, -0.9504, 7.2274, 1.9219, 0.4029, 0.149, -0.0073]\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]: [-0.2882, 2.0251, 1.0073, 0.4801, -0.3466, -0.2207, 0.0124, 0.3695, 0.7822, 0.5701, -0.4873, 0.4934, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.5153 left_y=-0.0864 left_z=0.0514 left_yaw=0.1041 left_pitch=0.0594 left_roll=-0.0064 left_gripper=0.0124 right_x=0.2692 right_y=0.0184 right_z=0.16 right_yaw=-0.2407 right_pitch=-0.0328 right_roll=-0.0232 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -10.4137, 6.3521, 1.0623, 0.1197, -0.0708, 1.033, 0.0342, -1.853, 6.7897, 1.9023, 0.1832, -0.0464, -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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1909, 1.8847, 0.8501, 0.4465, -0.2661, -0.202, 0.9944, 0.3695, 0.7589, 0.5373, -0.4706, 0.4931, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.4793 left_y=-0.0417 left_z=0.0499 left_yaw=0.124 left_pitch=-0.0028 left_roll=-0.0132 left_gripper=0.9944 right_x=0.2662 right_y=0.0173 right_z=0.1545 right_yaw=-0.2402 right_pitch=-0.027 right_roll=-0.0188 right_gripper=0.9995\nstate[joint_eff]: [0.212, -10.906, 4.8615, 1.6337, -0.0073, 0.2222, -0.1294, -0.0479, -1.2513, 6.8034, 1.9121, 0.1343, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ef9afe55e8bbec0257fa28752f57cfad6be638a46c578eb32792361b9dcdca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e87b609fa8f4e22837118015fc5d98d161c00d803d875203eddaaae999c5afdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad620f3e284351f7a5e9138437a832283b6bdcdb0894946d0e18eda70cccecb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGFJSDqDQ88ptIK5OQJqXejpU16cxiUJZm3xP8gTeHGvozztVy1KAbasfVTJdnAaL9wzFMQBE6ulHtNEl0V9ODCDnrqZ6l-5xMWDSp3zpLz_Nkzvb7dQ_TVCjIF2PygH_ESQGNgwAXMJ-HZa6mirAC4PfNZOn2_IydnEmNsuVx5WzObnNgX8GLx4OAqukm5gr2kGm9lczLaHoTJVgzlJBMcH-Ov_CBA1CaXtbZJ82fCLOWypnhZmN7ySGolclX75x4PPq3qg9zgJwPgymbUf2lLJS-U2uO5ranR-hyvOpJvYUxGTbAkbSTSP7Q8_7XzP3C8LofGIC9hwJ-7FDSMgtArshQu51X2YckHbAc6CwcQv37IebD79Luvyghhbw4iI-6Y43yppYh_mpcaSPu6J3OD33NmWndQLahMpXds77O05ULDe2Y15a7RXvvTVYWykYlFIfOIEcJuMDGb4NAb2PpiAfWIu9XZvWs1lM8ELLoKNOuVTlQWhggIUbvOSGn6ZrF23kUFK6DSanJ8GPmLwPxuwD7SwZcmK-4RC7WXsnACpeRsbMdK5rbLpZfIIOvnp78M4CAJJQE_srhoZa7tCOGNw33gjLjQFFLG0KC8lToKTenxVGlQCiEGoy2Zt5tswk-Kniu8yCPggn-A1Dc8VgYjIbSkHLXzTNdZKTvwuNmMNP9izMPNtb9Nbw2r216E1DdLZ7Lq8v_OfjTg2Zlc7z4ujwJR7SLNPcV7MK8ssFJQ78dbt36G96_KuokX8skwSs-wdrfwdQcuDxdE06JkggfIr9hSJTfCPgTSTvE6sL7HpMLQ1FP2QEAuPQBkesNLGeQ3181-xthqncRqa-oCUQUgTY48WWNdfOO9ROINCHKBjfwUyB4u-OnJdfWjl8bQAx-wo5YoHX2xFnHL2NV5qCyG6pqCFHl3Nr_wz65vL-hdXshZRIDMtuuhX0s3CBTkav2uHmAQl3bL1E8vCdYSggCwDL4yELcWaQ43_M-_nA3cqvMNuYfufXwcLaM_4W8f7OiARnGr9JM0Y0AHVpqkA9UeS6C8LjbyvpQ7l6SToCmPLySfDencRqHLiuc2zgtzJdb-ZCRraE094grbfseV1FCzb6-T0pVR1vqGbNyWhwfO8J8EOOrMC44HisOAmzWKIMw5Y-oP4QioD9LZ8vVINl2FEft5npmqdw9cIkmNBlFjmVuLN7C065tChar0PvjU9cP4_lEeA5uEn54GTrnfasLcwbmt0jmUeqKtTKmu9ewsqKUIK_kLvlBFDvc-5nHPcYdfu-UE_BWWCgUF_t9URESiiaXA9KGue8tUlJ699i1k1TE4shLtoxdiQnhyXCHjqWMrVcS_wbkgNcVo3RpZpIQhbNR1f9nj33YxzYa9U4FrjC8RtoEhQ6eCx__5wGyYfsoWgHxbySAwxaqeZZjdGbjPItnQO6S3uLivDcuACkQ2GQghAe5e_PaOenF6umfaL0e_dhiZWqRfuKdZfLFTMDp6drOownZ_onza4VicjUJH3EZl3tKThqKBkmLqorgllp6gmvmGVkzAbkrpmkgwSgvHPAkJXzOBITyseOSLIq7JOHa-BXfuvUPEuJtSwL6z3EAE-sT_Q_e4Wa1u4qkRKho6AYAIVLTIAyFo4CDP3IRdiYmVMxor8OkTmU3Ag-_jEgPOkbhqfjg82otoTXXcgsUoFMnllU2y6MEAldywCGeTvICBOCDcp7KVS1qiPxHxkZ38LFFU6ly6EdKx7Ixdk6tTgSCSFcfb_ArSpxiwyQ2Bj1rC-lzwfBhENPafBrondQD_2_TF5FVqbQ0odUMvHWFfy41EUi45DuInEX2DCWbUBEYRFXnS-BZE95qYL_R0sb2puTqqktlCZQLv50lptzXvug==",
  "id": "rs_098d7f1ab9a71059016ab42183282487d09ebe6b954c96f7a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.062,\"left_z\":0.043},\"note\":\"Backing off freed the lateral motion: the left cap is now visible near the right finger, about three centimeters off center. I’m shifting the open jaws right and slightly forward to center the cap at the fingertip depth.\"}",
  "call_id": "call_pk3APfTbmj5u2wGL5M6p4ThT",
  "id": "fc_098d7f1ab9a71059016ab4218473f887d0a894ca23721e3a20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pk3APfTbmj5u2wGL5M6p4ThT",
  "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]: [-0.2176, 1.9156, 0.8768, 0.4534, -0.2859, -0.2138, 0.9958, 0.3695, 0.7483, 0.5224, -0.4622, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4851 left_y=-0.0526 left_z=0.0476 left_yaw=0.1201 left_pitch=0.0033 left_roll=-0.0137 left_gripper=0.9958 right_x=0.265 right_y=0.0168 right_z=0.1521 right_yaw=-0.2402 right_pitch=-0.0235 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-1.0325, -7.9658, 6.8171, 1.6679, -0.1197, -0.0611, 0.1197, -0.253, -1.347, 6.6393, 1.9365, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cd2d9cde6719bd38ddc90f950830cae5909d30affe51bba5d84ee36f1c77c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b78178964bcf5a643ccaa8545b0529d45058c0d9114472b5efa7d35b2c543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0dd9d1c943a69076d853f7f147f5ea84ce9190773698a50c7ff3f1d87e660b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.547 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 136 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]: [-0.2932, 2.0254, 0.9981, 0.445, -0.3191, -0.2359, 0.9976, 0.3695, 0.8036, 0.6067, -0.5056, 0.4931, 0.3351, 0.9995]\nstate[eef_state]: left_x=0.5079 left_y=-0.0917 left_z=0.0399 left_yaw=0.0839 left_pitch=0.0125 left_roll=-0.0164 left_gripper=0.9976 right_x=0.2724 right_y=0.0197 right_z=0.1673 right_yaw=-0.2425 right_pitch=-0.0354 right_roll=-0.0216 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.759, 6.5846, 1.6386, 0.0317, 0.2466, -0.0122, -0.1983, -2.0444, 7.0906, 1.8339, 0.1148, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1909, 1.8847, 0.8501, 0.4465, -0.2661, -0.202, 0.9944, 0.3695, 0.7589, 0.5373, -0.4706, 0.4931, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.4793 left_y=-0.0417 left_z=0.0499 left_yaw=0.124 left_pitch=-0.0028 left_roll=-0.0132 left_gripper=0.9944 right_x=0.2662 right_y=0.0173 right_z=0.1545 right_yaw=-0.2402 right_pitch=-0.027 right_roll=-0.0188 right_gripper=0.9995\nstate[joint_eff]: [0.212, -10.906, 4.8615, 1.6337, -0.0073, 0.2222, -0.1294, -0.0479, -1.2513, 6.8034, 1.9121, 0.1343, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2176, 1.9156, 0.8768, 0.4534, -0.2859, -0.2138, 0.9958, 0.3695, 0.7483, 0.5224, -0.4622, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4851 left_y=-0.0526 left_z=0.0476 left_yaw=0.1201 left_pitch=0.0033 left_roll=-0.0137 left_gripper=0.9958 right_x=0.265 right_y=0.0168 right_z=0.1521 right_yaw=-0.2402 right_pitch=-0.0235 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-1.0325, -7.9658, 6.8171, 1.6679, -0.1197, -0.0611, 0.1197, -0.253, -1.347, 6.6393, 1.9365, 0.1392, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cd2d9cde6719bd38ddc90f950830cae5909d30affe51bba5d84ee36f1c77c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b78178964bcf5a643ccaa8545b0529d45058c0d9114472b5efa7d35b2c543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0dd9d1c943a69076d853f7f147f5ea84ce9190773698a50c7ff3f1d87e660b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGIua3mpMyje5gToHEDj22UPMM3jGnbVMgK6YHhHwe8gdeVYvJLVaFCQIwFQT3M79kNhPF_ZzEqlkTyI218pYmzZ1Ruj-JZu3gSZbJDFXxlonjUVryWbCGxH2VgWqPTgvkgldIUz4dpLwifDYOBoX5VLATTCaGZ9dGnGPEBpeWr2DXDG-Ec93znwccCMf9guL89NCZanvA8Z973sxB6Oe-tPtwHS5cnM5E0SCa4fbwNfqLfIjvsrjXXg8JokFXj2GFGSmh7cgpxnjc9FpLp3UjETL4ov39EM5gz6IhTfgVi89To8CKSb9QFvSCyNi4jiM16z64vQ0v8Ftj98fnQF9DbnMA2MCiThGpjqPRUawgy0BIt75LqeRD6P0EBKw8_pQV4_IM0RmsVM8pTeWQu22pA59AD20ora_1RURHsls0AQvJbZnUmGBqnZxjA3KTCK1M8NFSe7ErNaV7FO59avlAxwOwkY1M1qH0VqcW741a58wA1ugDqRdo37Ki55EQeruIwOW0hSL56gcYcZ8S8x2ONe72P4-QQYPgHcG4nRTVk8FoAnjDqO1YmBV8fW3QO5itdYEbSBfidlGzR4ynsnv9SXsdxYrW96GgwLx7tqqJDCJSmcbUtTxIyDPlY1aWjhYf_6LpIYc0-Impy9mESfn0ZW4jXq3I1bANaIZmXF64MATQVBNpvhTqOFTagyVJPzKJKJEIMXwV8Ptvj5fCbCkPxe_Grad66hdOQrHc2xZkhbVAEBiqfTrZUUi1ZAu9a5al3mu_6bOAC4vFQnbu01XePPNio7bVyArM5CHcCpm7D-AWpE-G-QDp7h70Ch9w7wbGwU4WnJRjKFgLXP6XD5itxXCXUy8Bjv4F9ZlHyy1ZVf8fl4QKUurBvfq_ReDhMI2Fr8CX9MoZ1opq_WiJKO9dsDy_zoVpxbpB-2eCysT8DmS8fMc0D7xxSRSn1FlYSl268nbM6Var9aa00IKBkddTg65jYGy5irb99jEXvG5C3rG53kQ4WVP9Vn7J1kHuTHwH2mchk__CrCOPm4ELKrzN6YUBh6nrAbnThdwbgBBCF1on2-ObdeUQP9azxvWqC0lup8IImn9NbPK00EVWFLrA7zF5uKVQJn_Gls2CS9j3vKjQaNyqNKV6u4P9aBrizhrWZgmYGWw-gD6XrHWH0FMezTJCduqpYA0mAA-V5kteGrpR2yMVoifWLP6QGYgMu09oLSxaPHG262fG4fBgC9IKd461srBG3lRS1IANSlUVk9iJMbUFGI-JoU-J1IY6JM9eC3KZHW05HDxzW3UFtCXPBB_uMroXebQP-qX-ah2NaI0J3zTVnecj3E-fY3nqWA1jLQiuexSX6lwLx-GStJb2JHnStPXdJHH4M-mw4TUI4FRQ6P24-ltAag9MbIp4CJnZx",
  "id": "rs_098d7f1ab9a71059016ab42186de0087d092edd6db5c7cc2ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.098,\"left_z\":0.045},\"note\":\"The cap remains near the right finger after the small correction; the left hand reached only partway toward the requested lateral position. I’m continuing the sideways shift at the same height until the cap lies between the jaw tips.\"}",
  "call_id": "call_sEhWG76PTneKDqsPHCitzuYm",
  "id": "fc_098d7f1ab9a71059016ab4218768b487d09d65768efb4e4a31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sEhWG76PTneKDqsPHCitzuYm",
  "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]: [-0.2474, 1.9373, 0.8986, 0.4591, -0.3153, -0.218, 0.9961, 0.3691, 0.7372, 0.5037, -0.4541, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4893 left_y=-0.0634 left_z=0.0476 left_yaw=0.117 left_pitch=0.0142 left_roll=-0.004 left_gripper=0.9961 right_x=0.2632 right_y=0.016 right_z=0.1481 right_yaw=-0.2406 right_pitch=-0.0232 right_roll=-0.0162 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -10.1402, 5.3949, 1.4921, -0.1538, -0.1001, 0.022, -0.3214, -1.6752, 6.3795, 1.8535, 0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1333a18db2255e156683de77439a6a899bc303b7376bbd99ca40560ada5556c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d943d9c6dd04165e721dbe0255927ca11a6022a12c475c5658825c89a8e64549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c98f3c4b50ef00f87a6e0e4d93ba1d9b3e50d40b484bf68ff264b6dd3d3f07e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.789 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]: [-0.2882, 2.0251, 1.0073, 0.4801, -0.3466, -0.2207, 0.0124, 0.3695, 0.7822, 0.5701, -0.4873, 0.4934, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.5153 left_y=-0.0864 left_z=0.0514 left_yaw=0.1041 left_pitch=0.0594 left_roll=-0.0064 left_gripper=0.0124 right_x=0.2692 right_y=0.0184 right_z=0.16 right_yaw=-0.2407 right_pitch=-0.0328 right_roll=-0.0232 right_gripper=0.9995\nstate[joint_eff]: [-0.9231, -10.4137, 6.3521, 1.0623, 0.1197, -0.0708, 1.033, 0.0342, -1.853, 6.7897, 1.9023, 0.1832, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2176, 1.9156, 0.8768, 0.4534, -0.2859, -0.2138, 0.9958, 0.3695, 0.7483, 0.5224, -0.4622, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4851 left_y=-0.0526 left_z=0.0476 left_yaw=0.1201 left_pitch=0.0033 left_roll=-0.0137 left_gripper=0.9958 right_x=0.265 right_y=0.0168 right_z=0.1521 right_yaw=-0.2402 right_pitch=-0.0235 right_roll=-0.0164 right_gripper=0.9996\nstate[joint_eff]: [-1.0325, -7.9658, 6.8171, 1.6679, -0.1197, -0.0611, 0.1197, -0.253, -1.347, 6.6393, 1.9365, 0.1392, -0.0317, -0.0122]",
      "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]: [-0.2474, 1.9373, 0.8986, 0.4591, -0.3153, -0.218, 0.9961, 0.3691, 0.7372, 0.5037, -0.4541, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4893 left_y=-0.0634 left_z=0.0476 left_yaw=0.117 left_pitch=0.0142 left_roll=-0.004 left_gripper=0.9961 right_x=0.2632 right_y=0.016 right_z=0.1481 right_yaw=-0.2406 right_pitch=-0.0232 right_roll=-0.0162 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -10.1402, 5.3949, 1.4921, -0.1538, -0.1001, 0.022, -0.3214, -1.6752, 6.3795, 1.8535, 0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1333a18db2255e156683de77439a6a899bc303b7376bbd99ca40560ada5556c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d943d9c6dd04165e721dbe0255927ca11a6022a12c475c5658825c89a8e64549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c98f3c4b50ef00f87a6e0e4d93ba1d9b3e50d40b484bf68ff264b6dd3d3f07e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCGMcSJg0y2ea5XQgglr4yeYWHBN_r5YaxwWgEMfl8Jd8F_ESg6FrZBBW7NJjyhsv5Vw-WFJidjfT0L1Z2zU9GPJXOyR6YvIfrN06PC5j_EneHnZOJLQtxQcSGBxAI2o7GYoAYW6dVkqo_yxXVd2p-r-P07-RMm0v-Ih5C75XPuHxRMI0ru0QRRs8X41nQvar8i2VeyrEbYhuvNAfZIzSzoUr0UngLrH9lNdnPwnWgGRgjGXoNJlSPBSXf9FcdPqMLfH81BEAks_qHQJhZR68a_a9qow9hV6IgtoflXn6Ve8q1cJnGURV-XlztI11kJLEFO4sQ8s8CncUSAGbFR5BUHallIFpUTzLyxH3mgBSUhdw9f2O3R0LcNuQXQ9C2h5a8J-TSx9rlx45UzodjhjrP_C8YuRuW5ovCcIqPQCmeAca6jh0WhTDfNKutvAYybV4NrDOX5HYMNHeQuM3kjJevQAjnbaPkcwn6kfGmxIcmdSxAK-Xge8g66sBzQQ0956oK6Gq4rDKO9YyioLj6QS5rN90Vk4JulfUOETgpUadJv2CkuSB_WE9lpP9tEHgrMjvxK60tSYMJWUQh6CAcT6e96EiWw-8F2ZCwmvqfe3ngq5KyAwGD22Hy5fJAooQxpHYf_POSLdUahnqGdR6hnhRAZnb7mPTJvBYCuQUgmfaQk_F2tC5Z8oC92ltwpjecTv8021lTmIGmmp9h5hjp8WRTR6Rzt1aNJ004v7rPLEEMtAZdkM6WrONu8nSuQ3ivtZPKH0BfNQ2LJvhf8Cn9w-v7hrRx-R8dV_OwzaeVi_E8echLlhw0egYYt0ZUyObMcNBEC0dM1LdRGkqFFE3kRzRYrxO7m3Q0s3tyJhVvD_jOvhjRHGPb2UcUzZVK7W6dEMWmkpqrZIQXVg_BkzPtxdWzSerZmHNTtoQ2GCuhmKYJJYy2o4a0d3DCGktpWn7FQMRaAGIohqCWqo9yrjLIscvSbOKl1SlJWGmhuoNNaP5ohHYkUFr0dew2apu35u-mL5IYHzDv8-qpIhwoJfQzkWUWIRGCNooAxD6r0HBA7RmaDUwpJ9cz24OPYAb8fiv-XJSRbP7iwt3vbW4jFNV_urs9TEAipcMR044BcjXAdOC7vE4X6h0owDkWu2tpYqgWQlot_xJLpYfvmZ_aLZYf1-sNZ9OeBrSj1xfw3aE-1g0nYThZ_Bg1HYg2GxvZ5o_5vWBuGjGXPBC4GzMmnNPxwpSCM1xunu4_0RFfJqAX6vG5M4fStkbXEs5VCOSUw5P1KHrQp5d0I77PI7MpZENxSYbiga81AuZ0eYGPkTJDiy_wkFqsNtDtjYfcR2icAT94SYElncQ1UAGtHr3fNrGMhMO8VUrNNKnb0mydJ5bwN8wQi6XNmZFhbzIf4Brq_Y0scC2OE9SnGWO99_ecHaJV5tVM8n48DQbkJg6TeAG-kf7FxH6DoT4gg68K2N-SkHGmN-t1a3iFn6eyKR4H6PDF77bAtM8Fd98fRYhtqENXz2AGymrfIquULNFjJBwk7rZHVBawrrSHsqRgmQ8Qz8EYsNGAxi4E5iJQK5efcp-lcedG2nLLS3OdStcFSX61PmpWlgsrwgc2A3e1EjMwhjsPGPVdGmVWX0zSlW2AHVr68fJfHpkxAKL0NM8on7VgDlFDK51B0lr84EH6ntfJqEmxMvPKnOaIQNGJki42bQ06f7Ec5VbdikQX3z7IfsqPVQE9F34lYRR7S2Gf8l0ycVnu7yW_KAbCzZquPfy65VR8WbDKDW5eZZ_lhpxgcmJukBBWQKeW_FtToOvQYkSWuwZ1dRFF9cAMGxIA7lODb4yKqR3zwlJnA=",
  "id": "rs_098d7f1ab9a71059016ab4218a0cf087d091f42634aabd963e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.08,\"left_z\":0.043},\"note\":\"The cap has moved near the jaw center, but is still just ahead of the actual contact point at the bottom of the wrist frame. I’m advancing about two centimeters and making a small lateral adjustment before closing.\"}",
  "call_id": "call_zBVDRYQ25HDuyur1ynPBUcsi",
  "id": "fc_098d7f1ab9a71059016ab4218b54b487d0ac94cc0fe90f1f2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zBVDRYQ25HDuyur1ynPBUcsi",
  "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]: [-0.2474, 1.9373, 0.8986, 0.4587, -0.3153, -0.2176, 0.9962, 0.3691, 0.7288, 0.4904, -0.4461, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4892 left_y=-0.0634 left_z=0.0475 left_yaw=0.1168 left_pitch=0.0139 left_roll=-0.0036 left_gripper=0.9962 right_x=0.2623 right_y=0.0156 right_z=0.1457 right_yaw=-0.2405 right_pitch=-0.0207 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -10.1949, 5.3402, 1.4579, -0.1783, -0.0855, -0.0024, -0.3487, -1.3333, 6.694, 1.8877, 0.1343, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9566aa679f5136807e795b1c7c0a4aa7691a6d11f9a09c2f69dd40f7dc9645d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11b2a4d3a2e49092dab6c4e04311f1b6cacc00d0804d5886c251b695e163fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bc9a6bd13a0739caf258a0a842646d9adb817dbd52858f6d6c461ef096ab8d",
      "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 · 5.502 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1909, 1.8847, 0.8501, 0.4465, -0.2661, -0.202, 0.9944, 0.3695, 0.7589, 0.5373, -0.4706, 0.4931, 0.3313, 0.9995]\nstate[eef_state]: left_x=0.4793 left_y=-0.0417 left_z=0.0499 left_yaw=0.124 left_pitch=-0.0028 left_roll=-0.0132 left_gripper=0.9944 right_x=0.2662 right_y=0.0173 right_z=0.1545 right_yaw=-0.2402 right_pitch=-0.027 right_roll=-0.0188 right_gripper=0.9995\nstate[joint_eff]: [0.212, -10.906, 4.8615, 1.6337, -0.0073, 0.2222, -0.1294, -0.0479, -1.2513, 6.8034, 1.9121, 0.1343, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2474, 1.9373, 0.8986, 0.4591, -0.3153, -0.218, 0.9961, 0.3691, 0.7372, 0.5037, -0.4541, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4893 left_y=-0.0634 left_z=0.0476 left_yaw=0.117 left_pitch=0.0142 left_roll=-0.004 left_gripper=0.9961 right_x=0.2632 right_y=0.016 right_z=0.1481 right_yaw=-0.2406 right_pitch=-0.0232 right_roll=-0.0162 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -10.1402, 5.3949, 1.4921, -0.1538, -0.1001, 0.022, -0.3214, -1.6752, 6.3795, 1.8535, 0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2474, 1.9373, 0.8986, 0.4587, -0.3153, -0.2176, 0.9962, 0.3691, 0.7288, 0.4904, -0.4461, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4892 left_y=-0.0634 left_z=0.0475 left_yaw=0.1168 left_pitch=0.0139 left_roll=-0.0036 left_gripper=0.9962 right_x=0.2623 right_y=0.0156 right_z=0.1457 right_yaw=-0.2405 right_pitch=-0.0207 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -10.1949, 5.3402, 1.4579, -0.1783, -0.0855, -0.0024, -0.3487, -1.3333, 6.694, 1.8877, 0.1343, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9566aa679f5136807e795b1c7c0a4aa7691a6d11f9a09c2f69dd40f7dc9645d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11b2a4d3a2e49092dab6c4e04311f1b6cacc00d0804d5886c251b695e163fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bc9a6bd13a0739caf258a0a842646d9adb817dbd52858f6d6c461ef096ab8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCGQRMyjY57oMJcfG4zTWXmhb256EaEjhs93uhKtBL5HQTk_plS5vtnhWx-CEoEPtQqwHVYgwYu_TZku2SSAVrZAR628_5Rym5sF42bWHUonr-UKGZScQDyuPKrDnTevFdz7Cja0GIJdLKAs-zN9eIACJLJWRyNqb46ohqSPx0bZLtXhxviCL5FiaztoCd3IywaDor1RTTpQDEUFNI17WrIRYnMyoxL6IiwzssQs_JEWMTDD90KhmXfAt0NW59cCjMLj90G39D1R8Ld-lQPCGRj_BPWKAkQ7n-TzOQvYnub7DgSd7sPWFEqBGw65sAL7xcpNquj28btN8MV2BoMz2MUbda7R9cdE4X9iVHqAxzkmylCflVkEsVF4M8rfrdKB57Hd9G_NS105C8ptYd_T5SwQzOcAVXRe7hdbkL_CQpz98d26MK7N5fD_qWTWZK22yOvqVZ0hrbFXSsS8AWSVkL11ZGpDIy4cLprAa_ZASelStfgL7C_RVaCNqm0N0oSi_-KfRCbEuQK88VkS7rBGuItoeZ6Bh_eAcqpuK6eQRumGGWslQj62iiP-AF4pkcmjqEDcBIZ_VI2eHYM3WLf5SXEE5A44Z_HTqthOKZR-fTLuiZZzy1Ntkx-MbVferP1XrNUGWwi7qBry9sQLq_m2QsAisB_869mLaNA-TGTGLx6_wUIRaADOP8duH6-TUEMmaGyzqTX8WnE7J2Ar4V9SePhse_w6IaQzXbaN9xE9EWtDEXkl7NILbSznl-jrr09x3aGTrHRHjCI-EkRMTfnMeJDTz4hv_oAesY41-aO9G67jTRXaO5cO2ekCfjELM2mbxpmOzpELqP_Qp2XvKziQkbxXG9-rIRNzKJ0dPhdoNvdnoqPr74KrMDxMuXoMEjj0pfaao_OFs9fXzeuoa0dbmkcvfu2wK8s-PBKrr3b17gANIWuk1BoBsXFLSSuHbW2qy2Zikfn4oVOYUUJWmYDG1IBxDk2PCgkcu_3JOCDxl3R6kek1iY-Yjp_-L6bXQmlnevqziCf2OCKbMF-yubZA_wSZ7Bhco5yOoV-ikLOE8J42Im1UIcRaPRufgs2q6nLuqAUYbgT_6bubYuyjKFddFnQL8l4vZOlszYpzfl59m5X_nFR89E39ICeBblr6St6_poU3AvA-cgoTSJbL5wFrkTx8dRqKEe4m3GVbla_FOU9K9l_Q9nmlC7Zw6oAhQ3UYlEL_WwLPczjDEgh38lM1QzSHyQI0kR5KhvHELfRdQUZq0LzUCjzVSclkbl0TuPeJloWHBIpiR9oIspgonIW75UvWPr5dbpVU6vU7P38nMLMk41eCxarCp5AJoOXNBXA9KIptfeBHWdRRCIIJNYlzHa_K5ga2Zm2JUeQOzQZUOWIHNSFbENpRofEeaQ2s9x_c0LzpoPlqeO4yT1UTLtXSoFeg6bXh_kRpnzRALwrrKGHbpXtOY2bVFXkvHQR4VU0DpXGk7Aj9R57lZt28Fb1sq6vhb-Aoa_TpthpqHo-WS7rTkL7qFdmLhA7a2p_tAXmU9BA9ENbRRaGcgF56zVFKxyj5LDYnRD6BF0n-kRHbuvDLzQufWg3ugYsMWtHHjBRlrLL8o8YDfxTe2y5VZ6z_7MHXGDIULEwXBWC6IuELjWJJCVs1X8CeFuJ6M6iznPUf8bGPncDJXxcZzk5uta-qpfNXWKE1w2pXIZdT5gLnNYyin13YmB-ukKZUEsAOAc0RCWO93FIfm0ZrecrOa0w3LF1GuBMQTkIKL-XoOWWiirgNDF3X0jn-U4pFrbHHd5GK_sVolT0jMci7v-1aFSP5tnUYbSqe7R0senK8fwZGDGUt4D5mMvtHI8mm2QOQuhn1P5oFI6l8m90tkC80J-H44E1Evpq_1IRURmRfk8OdblWT-64=",
  "id": "rs_098d7f1ab9a71059016ab4218dfd2c87d081e1d83230e0ef26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The forward request did not advance the gripper, so I should not keep forcing that pose. The cap is now centered within roughly a centimeter of the fingertips; I’m closing here to test whether the neck is caught.\"}",
  "call_id": "call_ISZGCgLtw98c9lVIZlgQuBKc",
  "id": "fc_098d7f1ab9a71059016ab4218f3f0487d0af8b29efb5cb5cd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ISZGCgLtw98c9lVIZlgQuBKc",
  "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]: [-0.2474, 1.9369, 0.9054, 0.4751, -0.3222, -0.2363, 0.0119, 0.3691, 0.7177, 0.4717, -0.4465, 0.4931, 0.3313, 0.9996]\nstate[eef_state]: left_x=0.4933 left_y=-0.0632 left_z=0.0538 left_yaw=0.1327 left_pitch=0.0373 left_roll=-0.0248 left_gripper=0.0119 right_x=0.2594 right_y=0.0145 right_z=0.1402 right_yaw=-0.2406 right_pitch=-0.0273 right_roll=-0.0191 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -9.7709, 5.9009, 1.2674, 0.0122, 0.1978, 0.7595, -0.0479, -0.8684, 7.0085, 1.8291, 0.105, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d87ea03a25a5cb331be1ab6fe878bafb0a3b2c6a991b7ba32083b5d6913201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5a600e2c14bfb870f6c79f5f3a23be80a19bd1b53f5a0d8d712054093185dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973909f103601041cfb4e5c666f4ff8d0be0be165595b47c630793120537a05a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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