adhoc

completed
2026-09-23T19:24:14.387745+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
230.9 s
total steps
300
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 the table; the leftmost is diagonal, with its capped end toward the far-left. I’m moving the left gripper above that bottle’s neck to prepare to lift it upright.
move_to
left_x0.3950left_y-0.1400left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7925, 0.6079, -0.3775, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6037, -0.3859, -0.0288, -0.0345, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.388, 9.7573, 1.7998, -0.0562, 0.1343, -0.1636, -1.0188, -0.9368, 10.3043, 1.8974, 0.0464, 0.1978, -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":0.395,"left_y":-0.14,"left_z":0.13},"note":"All three bottles are lying on the table; the leftmost is diagonal, with its capped end toward the far-left. I’m moving the left gripper above that bottle’s neck to prepare to lift it upright."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left wrist view shows the diagonal bottle’s cap and neck left of the jaw center, with its body extending toward the gripper. I’m shifting sideways and slightly forward to center the neck before descending.
move_to
left_x0.4050left_y-0.0950left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5251, 1.4761, 0.7612, 0.0093, -0.4232, -0.3157, 0.9984, -0.0189, 0.794, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3803 left_y=-0.1324 left_z=0.1098 left_yaw=-0.0159 left_pitch=-0.0711 left_roll=0.0278 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1747 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3761, -6.5436, 8.8547, 1.7753, -0.2906, -0.0317, -0.0366, -0.0205, -1.6615, 7.1043, 1.8877, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.095,"left_z":0.13},"note":"The left wrist view shows the diagonal bottle’s cap and neck left of the jaw center, with its body extending toward the gripper. I’m shifting sideways and slightly forward to center the neck before descending."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe bottle’s neck is now near the jaw column, although the wrist view places it slightly ahead of the fingertips. I’m advancing a little and lowering to the height of the bottle’s side for a neck-end grasp.
move_to
left_x0.4150left_y-0.0850left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3729, 1.4734, 0.728, 0.0834, -0.3473, -0.2558, 0.9983, -0.0193, 0.7872, 0.5823, -0.3969, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.3971 left_y=-0.0869 left_z=0.1076 left_yaw=0.0415 left_pitch=-0.0545 left_roll=0.0141 left_gripper=0.9983 right_x=0.2893 right_y=0.0032 right_z=0.1684 right_yaw=-0.0029 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3214, -8.0889, 8.2803, 1.8535, 0.1001, 0.3541, -0.0171, -0.3077, -1.9077, 6.9128, 1.9658, -0.0562, -0.0757, -0.0073] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.085,"left_z":0.035},"note":"The bottle’s neck is now near the jaw column, although the wrist view places it slightly ahead of the fingertips. I’m advancing a little and lowering to the height of the bottle’s side for a neck-end grasp."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe attempted low, forward approach did not advance: the gripper stayed around 11 cm high, likely because that descent path is obstructed. I’m backing slightly toward the bottle’s body and trying a smaller descent before gripping.
move_to
left_x0.3800left_y-0.0900left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3603, 1.4712, 0.728, 0.0818, -0.3107, -0.2356, 0.9983, -0.0193, 0.7757, 0.5518, -0.3847, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3973 left_y=-0.0882 left_z=0.1069 left_yaw=0.0132 left_pitch=-0.0627 left_roll=0.0095 left_gripper=0.9983 right_x=0.2863 right_y=0.0033 right_z=0.1601 right_yaw=-0.0027 right_pitch=-0.0381 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4034, -8.1299, 8.1983, 1.8584, -0.0513, 0.2027, -0.0122, -0.1709, -1.9897, 7.1726, 1.9414, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.09,"left_z":0.065},"note":"The attempted low, forward approach did not advance: the gripper stayed around 11 cm high, likely because that descent path is obstructed. I’m backing slightly toward the bottle’s body and trying a smaller descent before gripping."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper is not descending further at this spot, but the left wrist image shows the bottle body between the open jaws near their tips. I’m closing once to test whether the bottle is already within the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3599, 1.4693, 0.728, 0.0818, -0.3103, -0.2356, 0.9983, -0.0193, 0.7582, 0.5175, -0.3676, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3974 left_y=-0.0881 left_z=0.1077 left_yaw=0.0132 left_pitch=-0.061 left_roll=0.0085 left_gripper=0.9983 right_x=0.2832 right_y=0.0033 right_z=0.1526 right_yaw=-0.0031 right_pitch=-0.0377 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3624, -7.9658, 8.1846, 1.8437, -0.0415, 0.1978, -0.0122, -0.3214, -1.5248, 6.8718, 2.0049, -0.0317, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The gripper is not descending further at this spot, but the left wrist image shows the bottle body between the open jaws near their tips. I’m closing once to test whether the bottle is already within the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe closed gripper reads almost fully shut, so it missed the bottle. I’m reopening and retreating from the bottle to seek a lower approach that does not stall at the current position.
move_to
left_x0.3200left_y-0.1500left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3603, 1.4696, 0.6651, 0.1833, -0.3218, -0.2367, 0.0168, -0.0193, 0.7391, 0.4793, -0.3504, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3951 left_y=-0.0853 left_z=0.1016 left_yaw=0.0223 left_pitch=-0.023 left_roll=-0.0001 left_gripper=0.0168 right_x=0.2795 right_y=0.0034 right_z=0.1437 right_yaw=-0.0031 right_pitch=-0.0397 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4855, -6.4068, 6.3248, 1.8535, -0.1245, 0.0806, 0.9402, -0.3077, -1.6479, 7.1043, 2.0049, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.15,"left_z":0.07,"left_gripper":1},"note":"The closed gripper reads almost fully shut, so it missed the bottle. I’m reopening and retreating from the bottle to seek a lower approach that does not stall at the current position."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteFrom this retreat position the bottle’s wider base end sits between the open jaws in the left wrist image, and the arm can reach a lower height here. I’m lowering beside that end to try a secure grip around the bottle body.
move_to
left_x0.3250left_y-0.1500left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7345, 1.4452, 0.503, 0.2264, -0.588, -0.4576, 0.9944, -0.0193, 0.717, 0.4404, -0.3305, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3229 left_y=-0.1548 left_z=0.0687 left_yaw=-0.0205 left_pitch=-0.0157 left_roll=0.005 left_gripper=0.9944 right_x=0.2759 right_y=0.0035 right_z=0.1357 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.7641, 5.094, 1.5018, -0.4225, -0.0171, -0.0269, -0.3761, -1.4427, 7.2, 1.9902, -0.0904, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.15,"left_z":0.02},"note":"From this retreat position the bottle’s wider base end sits between the open jaws in the left wrist image, and the arm can reach a lower height here. I’m lowering beside that end to try a secure grip around the bottle body."})
tool
executing move_to over 4 steps (0.4s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteAt the lower height, the bottle’s body crosses the jaw opening instead of sitting entirely ahead of it. I’m closing to check whether the fingers capture the bottle near its lower end.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7227, 1.6482, 0.4068, 0.4759, -0.5816, -0.4603, 0.9956, -0.0193, 0.6971, 0.4061, -0.3134, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3167 left_y=-0.1451 left_z=0.0121 left_yaw=-0.011 left_pitch=-0.056 left_roll=0.0319 left_gripper=0.9956 right_x=0.2727 right_y=0.0036 right_z=0.1287 right_yaw=-0.0028 right_pitch=-0.0339 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.5265, -6.3248, 4.506, 1.7363, -0.2613, 0.0952, 0.1148, -0.3897, -1.2923, 7.1043, 1.9707, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the lower height, the bottle’s body crosses the jaw opening instead of sitting entirely ahead of it. I’m closing to check whether the fingers capture the bottle near its lower end."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThat close was empty: the bottle’s end is still visibly ahead of the fingertips. I’m opening and advancing the low gripper several centimeters to place the bottle end deeper between its fingers.
move_to
left_x0.3650left_y-0.1500left_z0.0260left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7315, 1.6775, 0.3569, 0.617, -0.5846, -0.4492, 0.0168, -0.0193, 0.6785, 0.374, -0.2977, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3152 left_y=-0.1471 left_z=0.0115 left_yaw=-0.0246 left_pitch=-0.008 left_roll=0.0024 left_gripper=0.0168 right_x=0.2697 right_y=0.0035 right_z=0.1219 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.0889, -5.2581, 4.1094, 1.663, -0.315, -0.105, 0.8767, -0.3761, -0.8547, 6.9538, 1.9951, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.15,"left_z":0.026,"left_gripper":1},"note":"That close was empty: the bottle’s end is still visibly ahead of the fingertips. I’m opening and advancing the low gripper several centimeters to place the bottle end deeper between its fingers."})
tool
executing move_to over 10 steps (1.0s)
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 low advance rotated the left bottle on the table; its broad end is now ahead and to the right in the wrist image. I’m moving the gripper forward and toward that end to bring it into the middle of the jaw opening.
move_to
left_x0.3920left_y-0.1850left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6193, 1.7355, 0.4911, 0.5755, -0.5106, -0.3885, 0.9948, -0.0193, 0.6598, 0.3447, -0.2901, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3573 left_y=-0.1443 left_z=0.0207 left_yaw=-0.0026 left_pitch=-0.0097 left_roll=-0.0049 left_gripper=0.9948 right_x=0.266 right_y=0.0036 right_z=0.1148 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.5265, -5.6547, 6.6393, 1.619, -0.1245, 0.2418, -0.1978, -0.3897, -0.9915, 6.9812, 1.9756, -0.0562, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.392,"left_y":-0.185,"left_z":0.035},"note":"The low advance rotated the left bottle on the table; its broad end is now ahead and to the right in the wrist image. I’m moving the gripper forward and toward that end to bring it into the middle of the jaw opening."})
tool
executing move_to over 4 steps (0.4s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe rotated left bottle now spans the jaw opening at low height, with its near end around the fingertips. I’m closing to see whether this alignment produces a real grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6582, 1.8286, 0.6777, 0.4644, -0.5472, -0.4122, 0.9962, -0.0193, 0.6384, 0.3126, -0.2729, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3851 left_y=-0.1771 left_z=0.0281 left_yaw=-0.0001 left_pitch=-0.01 left_roll=0.0041 left_gripper=0.9962 right_x=0.2633 right_y=0.0037 right_z=0.1089 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3897, -7.5692, 5.9419, 1.5165, -0.2662, 0.0171, 0.1245, -0.3624, -0.9368, 6.9538, 1.9121, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The rotated left bottle now spans the jaw opening at low height, with its near end around the fingertips. I’m closing to see whether this alignment produces a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe gripper shut empty again, and the overhead view shows it just behind the bottle rather than around it. I’m reopening, raising slightly, and shifting toward the capped end so the fingers can reach around the neck instead of skimming its side.
move_to
left_x0.4230left_y-0.1100left_z0.0620left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6605, 1.8328, 0.6701, 0.4667, -0.5468, -0.4191, 0.0189, -0.0193, 0.6212, 0.2897, -0.2646, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3826 left_y=-0.1764 left_z=0.0244 left_yaw=0.0011 left_pitch=-0.0176 left_roll=0.004 left_gripper=0.0189 right_x=0.2609 right_y=0.0038 right_z=0.1044 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.0479, -7.9521, 4.7385, 1.7314, -0.1978, 0.0659, 0.8278, -0.3761, -0.4855, 6.735, 1.956, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.423,"left_y":-0.11,"left_z":0.062,"left_gripper":1},"note":"The gripper shut empty again, and the overhead view shows it just behind the bottle rather than around it. I’m reopening, raising slightly, and shifting toward the capped end so the fingers can reach around the neck instead of skimming its side."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe bottle now runs across the left wrist image, but it is still clearly ahead of the fingertip row. I’m reaching farther forward at a safe height to bring its capped half into the jaws before lowering.
move_to
left_x0.4650left_y-0.1000left_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4076, 1.7458, 0.6586, 0.4278, -0.3771, -0.279, 0.9943, -0.0193, 0.6064, 0.268, -0.2615, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4113 left_y=-0.1028 left_z=0.0396 left_yaw=0.0435 left_pitch=-0.0442 left_roll=0.0105 left_gripper=0.9943 right_x=0.2579 right_y=0.0038 right_z=0.0986 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.3624, -9.6342, 8.335, 1.58, 0.0952, 0.3248, -0.1001, -0.294, -0.4444, 6.9538, 1.9365, -0.0513, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.10,"left_z":0.075},"note":"The bottle now runs across the left wrist image, but it is still clearly ahead of the fingertip row. I’m reaching farther forward at a safe height to bring its capped half into the jaws before lowering."})
tool
executing move_to over 5 steps (0.5s)
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 bottle’s neck and shoulder now fill the open-jaw region in the wrist view. I’m descending straight down to put the fingers at bottle height without sweeping it sideways.
move_to
left_x0.4550left_y-0.0950left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.7885, 0.8257, 0.3569, -0.3496, -0.2611, 0.9956, -0.0193, 0.5869, 0.2432, -0.2531, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4549 left_y=-0.0954 left_z=0.0687 left_yaw=0.0735 left_pitch=-0.0027 left_roll=-0.0118 left_gripper=0.9956 right_x=0.2553 right_y=0.0039 right_z=0.0937 right_yaw=-0.0028 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.6085, -6.9812, 7.4325, 1.4921, 0.0317, 0.2759, 0.1197, -0.4171, -0.4855, 6.8171, 1.9072, -0.0611, -0.0415, -0.0122] 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":0.455,"left_y":-0.095,"left_z":0.025},"note":"The bottle’s neck and shoulder now fill the open-jaw region in the wrist view. I’m descending straight down to put the fingers at bottle height without sweeping it sideways."})
tool
executing move_to over 3 steps (0.3s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe descent stalled around 7 cm while the bottle lay lengthwise across the open fingers, so the finger orientation is obstructing the approach. I’m lifting clear and turning the jaws a quarter-turn to close across the bottle rather than along its length.
move_to
left_x0.4550left_y-0.1500left_z0.1500left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3397, 1.7973, 0.8589, 0.3237, -0.3363, -0.2569, 0.9958, -0.0193, 0.5682, 0.2234, -0.2451, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4601 left_y=-0.097 left_z=0.0707 left_yaw=0.0656 left_pitch=-0.0138 left_roll=-0.0118 left_gripper=0.9958 right_x=0.2536 right_y=0.0039 right_z=0.0907 right_yaw=-0.0031 right_pitch=-0.0194 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -7.8701, 7.1316, 1.8144, -0.0757, 0.2369, 0.0024, -0.3761, -0.3761, 6.7761, 1.9023, -0.0171, -0.0513, -0.0073] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.15,"left_z":0.15,"left_yaw":1.57},"note":"The descent stalled around 7 cm while the bottle lay lengthwise across the open fingers, so the finger orientation is obstructing the approach. I’m lifting clear and turning the jaws a quarter-turn to close across the bottle rather than along its length."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe large turn did not track: the arm unexpectedly reached farther forward and remained low, so I’m stopping that maneuver and withdrawing the left gripper to a clear, high position before trying again.
move_to
left_x0.3200left_y-0.1900left_z0.1900left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4221, 2.0872, 1.2373, 0.1783, -0.5953, -0.4595, 0.9962, -0.0193, 0.5545, 0.2092, -0.2459, -0.0284, -0.0353, 0.9998] state[eef_state]: left_x=0.5224 left_y=-0.1221 left_z=0.0627 left_yaw=0.2986 left_pitch=0.0207 left_roll=-0.0222 left_gripper=0.9962 right_x=0.2515 right_y=0.0038 right_z=0.0873 right_yaw=-0.0037 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [4.1641, -8.2803, 0.212, -0.3541, -0.3248, -0.3639, 0.0317, -0.4034, 0.0205, 6.8581, 2.0391, -0.0659, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.19,"left_z":0.19,"left_yaw":0},"note":"The large turn did not track: the arm unexpectedly reached farther forward and remained low, so I’m stopping that maneuver and withdrawing the left gripper to a clear, high position before trying again."})
tool
executing move_to over 16 steps (1.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe left bottle has been displaced toward the near-left side, while the middle and right bottles remain lying in their original lanes. I’m parking the left arm high and bringing the right gripper over the rightmost bottle for a cleaner, lengthwise approach.
move_to
right_x0.4300right_y0.2450right_z0.1300left_x0.3200left_y-0.1900left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8406, 1.3571, 0.9413, -0.321, -0.6716, -0.5514, 0.9963, -0.0208, 0.5362, 0.1894, -0.2455, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3292 left_y=-0.1976 left_z=0.1861 left_yaw=-0.0138 left_pitch=0.008 left_roll=-0.0198 left_gripper=0.9963 right_x=0.2488 right_y=0.0036 right_z=0.0825 right_yaw=-0.0043 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2393, -6.5573, 7.0085, 1.5653, -0.3346, -0.0952, 0.0024, -0.294, 0.294, 7.159, 1.9609, -0.0464, -0.0171, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.245,"right_z":0.13,"left_x":0.32,"left_y":-0.19,"left_z":0.19},"note":"The left bottle has been displaced toward the near-left side, while the middle and right bottles remain lying in their original lanes. I’m parking the left arm high and bringing the right gripper over the rightmost bottle for a cleaner, lengthwise approach."})
tool
executing move_to over 21 steps (2.1s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe right bottle is centered near the right gripper’s jaw column, with its cap still ahead and its body running toward the fingertips. I’m moving forward toward its capped shoulder and slightly sideways to center the bottle before grasping.
move_to
right_x0.4750right_y0.2150right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8459, 1.3422, 0.9413, -0.3756, -0.6773, -0.5571, 0.9963, 0.7017, 1.8004, 1.1244, -0.0612, 0.5278, 0.3691, 0.9998] state[eef_state]: left_x=0.3226 left_y=-0.1918 left_z=0.1833 left_yaw=-0.0118 left_pitch=-0.0158 left_roll=0.0073 left_gripper=0.9963 right_x=0.4169 right_y=0.2406 right_z=0.113 right_yaw=0.0396 right_pitch=-0.0492 right_roll=-0.0366 right_gripper=0.9998 state[joint_eff]: [-0.4581, -7.2137, 6.3385, 1.3455, -0.4176, -0.0073, -0.0073, -0.0068, -8.9231, 8.9778, 1.7265, 0.569, 0.2662, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.215,"right_z":0.085},"note":"The right bottle is centered near the right gripper’s jaw column, with its cap still ahead and its body running toward the fingertips. I’m moving forward toward its capped shoulder and slightly sideways to center the bottle before grasping."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe capped end is now centered in the right wrist camera and the bottle body passes between the open jaws. I’m lowering vertically to the bottle’s mid-height for a grip.
move_to
right_x0.4550right_y0.2050right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3403, 0.9295, -0.3527, -0.6773, -0.5571, 0.9963, 0.5686, 1.9301, 1.0962, 0.0944, 0.4301, 0.2783, 0.9998] state[eef_state]: left_x=0.3225 left_y=-0.1936 left_z=0.1827 left_yaw=-0.0154 left_pitch=-0.0071 left_roll=-0.0023 left_gripper=0.9963 right_x=0.4526 right_y=0.2061 right_z=0.0627 right_yaw=0.0315 right_pitch=-0.089 right_roll=-0.0565 right_gripper=0.9998 state[joint_eff]: [-0.1573, -5.7504, 6.2291, 1.453, -0.3687, -0.0024, -0.0122, -0.7453, -9.265, 9.812, 2.1123, 0.1294, -0.0415, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.205,"right_z":0.025},"note":"The capped end is now centered in the right wrist camera and the bottle body passes between the open jaws. I’m lowering vertically to the bottle’s mid-height for a grip."})
tool
executing move_to over 3 steps (0.3s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe right gripper also stopped around 6 cm instead of reaching the requested height, apparently on the bottle. Its body appears between the fingers, so I’m testing a close before moving it again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3403, 0.9291, -0.3489, -0.6773, -0.5575, 0.9963, 0.5587, 1.9442, 1.1023, 0.131, 0.3985, 0.2565, 0.9998] state[eef_state]: left_x=0.3228 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0156 left_pitch=-0.0048 left_roll=-0.0052 left_gripper=0.9963 right_x=0.4591 right_y=0.2104 right_z=0.0632 right_yaw=0.0598 right_pitch=-0.0748 right_roll=-0.0413 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.3949, 6.2974, 1.5263, -0.3932, -0.0366, -0.0122, -0.6906, -9.853, 8.8547, 2.0635, 0.2418, 0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper also stopped around 6 cm instead of reaching the requested height, apparently on the bottle. Its body appears between the fingers, so I’m testing a close before moving it again."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe gripper closed empty at the far-forward position; the low target may be at the arm’s reachable limit there. I’m reopening and moving back over the bottle’s nearer body, where the arm should be able to descend fully.
move_to
right_x0.3800right_y0.2100right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3403, 0.9291, -0.3492, -0.6773, -0.5571, 0.9963, 0.5587, 1.9438, 1.0363, 0.26, 0.3965, 0.2565, 0.0185] state[eef_state]: left_x=0.3227 left_y=-0.1941 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0051 left_roll=-0.0046 left_gripper=0.9963 right_x=0.4585 right_y=0.2104 right_z=0.0613 right_yaw=0.0627 right_pitch=-0.0197 right_roll=-0.01 right_gripper=0.0185 state[joint_eff]: [-0.5675, -5.2171, 6.5299, 1.5018, -0.3639, -0.0073, -0.0122, -0.3214, -10.0991, 4.9846, 1.5604, 0.2125, -0.0269, 0.8962] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.21,"right_z":0.04,"right_gripper":1},"note":"The gripper closed empty at the far-forward position; the low target may be at the arm’s reachable limit there. I’m reopening and moving back over the bottle’s nearer body, where the arm should be able to descend fully."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteAt the nearer position the right gripper reached about 3 cm high, but the wrist image shows the bottle still forward of its actual fingertip point. I’m advancing only a few centimeters while keeping the jaws open and low.
move_to
right_x0.4150right_y0.2100right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6853, 1.8427, 0.7383, 0.4183, 0.4759, 0.3279, 0.9952] state[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3822 right_y=0.2126 right_z=0.0307 right_yaw=0.087 right_pitch=-0.0277 right_roll=-0.0129 right_gripper=0.9952 state[joint_eff]: [-0.3077, -5.2718, 6.653, 1.5311, -0.398, -0.0171, -0.0122, 0.3214, -10.4957, 4.9299, 1.663, 0.4664, 0.1441, 0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.21,"right_z":0.025},"note":"At the nearer position the right gripper reached about 3 cm high, but the wrist image shows the bottle still forward of its actual fingertip point. I’m advancing only a few centimeters while keeping the jaws open and low."})
tool
executing move_to over 3 steps (0.3s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe bottle’s lower body is now centered at the right gripper’s fingertip row and the tool reached roughly 2 cm above the tabletop. I’m closing here to grip that body section.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6384, 1.9114, 0.7731, 0.461, 0.4358, 0.2932, 0.9955] state[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3995 right_y=0.2081 right_z=0.0194 right_yaw=0.0907 right_pitch=-0.0338 right_roll=-0.0155 right_gripper=0.9955 state[joint_eff]: [-0.3761, -5.3128, 6.5026, 1.4432, -0.3883, 0.0269, -0.0122, -0.8274, -7.159, 6.8171, 1.7411, 0.1245, 0.0464, 0.022] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bottle’s lower body is now centered at the right gripper’s fingertip row and the tool reached roughly 2 cm above the tabletop. I’m closing here to grip that body section."})
tool
executing move_to over 10 steps (1.0s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
assistant
agent noteThe right gripper stopped halfway closed, consistent with holding the bottle’s roughly 5 cm body. I’m lifting it a few centimeters to confirm that the bottle actually comes off the table.
move_to
right_x0.3950right_y0.2100right_z0.0950
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.6353, 1.9274, 0.7471, 0.514, 0.4225, 0.2829, 0.5385] state[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3972 right_y=0.2074 right_z=0.0129 right_yaw=0.1041 right_pitch=-0.0285 right_roll=-0.0112 right_gripper=0.5385 state[joint_eff]: [-0.4034, -5.1487, 6.4889, 1.5165, -0.3834, 0.0122, -0.0122, 0.253, -8.8274, 4.7658, 1.873, 0.2418, 0.0611, 1.033] 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_x":0.395,"right_y":0.21,"right_z":0.095},"note":"The right gripper stopped halfway closed, consistent with holding the bottle’s roughly 5 cm body. I’m lifting it a few centimeters to confirm that the bottle actually comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 195
assistant
agent noteThe bottle appears gripped, but the first lift barely rose and drew it a little backward, suggesting the far-reaching posture is binding. I’m retreating toward the arm’s base while lifting so the bottle has room to come free.
move_to
right_x0.3200right_y0.2100right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6357, 1.755, 0.7692, 0.1673, 0.403, 0.2798, 0.5434] state[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3711 right_y=0.1922 right_z=0.0308 right_yaw=0.1141 right_pitch=-0.1667 right_roll=-0.079 right_gripper=0.5434 state[joint_eff]: [-0.212, -5.2444, 6.5162, 1.5165, -0.3883, 0.0073, -0.0122, 0.759, -12.7111, 10.8103, 2.591, 0.4762, 0.022, 0.9109] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.21,"right_z":0.15},"note":"The bottle appears gripped, but the first lift barely rose and drew it a little backward, suggesting the far-reaching posture is binding. I’m retreating toward the arm’s base while lifting so the bottle has room to come free."})
tool
executing move_to over 8 steps (0.8s)
step 203
assistant
agent noteThe right bottle moved backward with the gripper, confirming the grasp, but it remains horizontal because I was holding near its base. I’m setting it down closer to the arm and releasing it so I can regrip at the cap and tip it onto its base.
move_to
right_x0.3050right_y0.2050right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.8089, 1.4166, 0.7174, -0.1551, 0.4831, 0.3683, 0.5473] state[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3014 right_y=0.2022 right_z=0.0904 right_yaw=0.1737 right_pitch=-0.1618 right_roll=-0.0827 right_gripper=0.5473 state[joint_eff]: [-0.5265, -5.1624, 6.4889, 1.5311, -0.3932, 0.0122, -0.0122, 0.3214, -9.0735, 11.3299, 2.4835, 0.7839, 0.1392, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.305,"right_y":0.205,"right_z":0.025,"right_gripper":1},"note":"The right bottle moved backward with the gripper, confirming the grasp, but it remains horizontal because I was holding near its base. I’m setting it down closer to the arm and releasing it so I can regrip at the cap and tip it onto its base."})
tool
executing move_to over 5 steps (0.5s)
step 208
assistant
agent noteThe right bottle is back on the table, now slanted with its cap toward the far-left of the right hand. I’m repositioning the open gripper above that cap-end while leaving the base free to pivot on the table.
move_to
right_x0.3500right_y0.2500right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3411, 0.9291, -0.3477, -0.6773, -0.5571, 0.9963, 0.8181, 1.6451, 0.4335, 0.3862, 0.5045, 0.3618, 0.9956] state[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.2883 right_y=0.1881 right_z=0.002 right_yaw=0.1728 right_pitch=-0.1292 right_roll=-0.0831 right_gripper=0.9956 state[joint_eff]: [-0.4581, -5.2718, 6.6803, 1.3993, -0.3932, -0.0171, -0.0122, 0.0068, -6.1744, 4.6838, 1.4872, 0.3053, -0.1148, -0.188] 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":0.35,"right_y":0.25,"right_z":0.085},"note":"The right bottle is back on the table, now slanted with its cap toward the far-left of the right hand. I’m repositioning the open gripper above that cap-end while leaving the base free to pivot on the table."})
tool
executing move_to over 6 steps (0.6s)
step 214
assistant
agent noteThe right wrist view now centers the bottle, but its cap is still several centimeters ahead of the fingers. I’m advancing at low height to grip the upper body just below the cap, which should let the bottle pivot on its base.
move_to
right_x0.3850right_y0.2500right_z0.0240
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3415, 0.9291, -0.3473, -0.6773, -0.5571, 0.9963, 0.8188, 1.6615, 0.7265, 0.2722, 0.4946, 0.3473, 0.9956] state[eef_state]: left_x=0.3231 left_y=-0.1942 left_z=0.1829 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3425 right_y=0.2487 right_z=0.0748 right_yaw=0.1955 right_pitch=-0.0023 right_roll=0.0071 right_gripper=0.9956 state[joint_eff]: [-0.294, -5.3128, 6.5299, 1.4628, -0.3297, 0.0122, -0.0122, -0.5402, -6.5983, 7.159, 1.6386, 0.2759, 0.1441, -0.022] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.25,"right_z":0.024},"note":"The right wrist view now centers the bottle, but its cap is still several centimeters ahead of the fingers. I’m advancing at low height to grip the upper body just below the cap, which should let the bottle pivot on its base."})
tool
executing move_to over 4 steps (0.4s)
step 218
assistant
agent noteThe upper half of the right bottle now lies between the low fingertips, with the cap visible just ahead. I’m closing around that section so I can lift the cap end while the bottle’s bottom remains on the table.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3477, -0.6777, -0.5571, 0.9963, 0.7441, 1.874, 0.7673, 0.4374, 0.4587, 0.279, 0.9955] state[eef_state]: left_x=0.323 left_y=-0.1943 left_z=0.1827 left_yaw=-0.0155 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3753 right_y=0.2441 right_z=0.0301 right_yaw=0.1859 right_pitch=-0.0194 right_roll=-0.0352 right_gripper=0.9955 state[joint_eff]: [-0.4444, -5.3402, 6.6256, 1.4286, -0.3541, -0.0269, -0.0073, -1.0872, -4.7658, 5.9829, 1.3358, -0.1929, 0.2173, -0.0171] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The upper half of the right bottle now lies between the low fingertips, with the cap visible just ahead. I’m closing around that section so I can lift the cap end while the bottle’s bottom remains on the table."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteThe gripper has settled at about 3.3 cm open, indicating it caught the bottle near its narrow shoulder. I’m raising that end while drawing it toward the bottom end, using the bottle’s base as a pivot.
move_to
right_x0.3550right_y0.2350right_z0.1450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8494, 1.3422, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.7334, 1.8977, 0.7815, 0.5854, 0.4328, 0.2573, 0.3466] state[eef_state]: left_x=0.323 left_y=-0.1942 left_z=0.1826 left_yaw=-0.0154 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.3927 right_y=0.259 right_z=0.0518 right_yaw=0.2054 right_pitch=0.0919 right_roll=0.0302 right_gripper=0.3466 state[joint_eff]: [-0.2803, -5.3675, 6.4479, 1.5165, -0.3639, -0.0073, -0.0122, -0.8137, -6.4342, 5.094, 1.0037, -0.0024, 0.2076, 0.2271] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.235,"right_z":0.145},"note":"The gripper has settled at about 3.3 cm open, indicating it caught the bottle near its narrow shoulder. I’m raising that end while drawing it toward the bottom end, using the bottle’s base as a pivot."})
tool
executing move_to over 7 steps (0.7s)
step 235
assistant
agent noteThe bottle remains visibly slanted rather than standing after the first lift, though the grip has held. I’m raising it higher and bringing the held end farther over its table-contact end to continue the tipping motion.
move_to
right_x0.3350right_y0.2200right_z0.2400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.7444, 1.5391, 0.836, 0.0444, 0.4206, 0.2691, 0.3465] state[eef_state]: left_x=0.3231 left_y=-0.1944 left_z=0.1828 left_yaw=-0.0155 left_pitch=-0.0046 left_roll=-0.0047 left_gripper=0.9963 right_x=0.3556 right_y=0.2344 right_z=0.1218 right_yaw=0.2222 right_pitch=-0.0223 right_roll=-0.0177 right_gripper=0.3465 state[joint_eff]: [-0.5265, -5.1897, 6.4068, 1.58, -0.3883, 0.0024, -0.0122, 0.5812, -8.2393, 9.8803, 1.8242, 0.3053, 0.2027, -0.022] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.22,"right_z":0.24},"note":"The bottle remains visibly slanted rather than standing after the first lift, though the grip has held. I’m raising it higher and bringing the held end farther over its table-contact end to continue the tipping motion."})
tool
executing move_to over 8 steps (0.8s)
step 243
assistant
agent noteThe right wrist camera still shows the bottle on the table, so the earlier narrow grip slipped during lifting despite the gripper opening reading. I’m reopening and returning over its near end to get a firmer body grasp and move it into an easier working area.
move_to
right_x0.3350right_y0.2100right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.7528, 1.3575, 1.0702, -0.387, 0.4145, 0.2634, 0.3465] state[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.1825 left_yaw=-0.0158 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.3361 right_y=0.2223 right_z=0.2136 right_yaw=0.2384 right_pitch=-0.0378 right_roll=-0.0269 right_gripper=0.3465 state[joint_eff]: [-0.5675, -5.3675, 6.5299, 1.536, -0.3932, -0.0269, -0.0073, 0.1436, -7.1726, 9.8667, 1.6874, 0.1978, 0.1294, -0.0171] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.21,"right_z":0.08,"right_gripper":1},"note":"The right wrist camera still shows the bottle on the table, so the earlier narrow grip slipped during lifting despite the gripper opening reading. I’m reopening and returning over its near end to get a firmer body grasp and move it into an easier working area."})
tool
executing move_to over 9 steps (0.9s)
step 252
assistant
agent noteThe bottle is plainly still on the table, with its near half ahead of the open right fingers. I’m aligning slightly toward its centerline and advancing low to get a full-width grasp around the body.
move_to
right_x0.3750right_y0.2250right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.725, 1.4929, 0.6041, 0.1909, 0.3874, 0.2485, 0.9961] state[eef_state]: left_x=0.3226 left_y=-0.1947 left_z=0.1825 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.326 right_y=0.2044 right_z=0.0728 right_yaw=0.2397 right_pitch=-0.0668 right_roll=-0.0353 right_gripper=0.9961 state[joint_eff]: [-0.253, -5.3538, 6.4205, 1.5116, -0.3541, 0.022, -0.0073, -0.7043, -5.3949, 6.065, 2.0293, 0.0757, -0.0806, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.225,"right_z":0.02},"note":"The bottle is plainly still on the table, with its near half ahead of the open right fingers. I’m aligning slightly toward its centerline and advancing low to get a full-width grasp around the body."})
tool
executing move_to over 4 steps (0.4s)
step 256
assistant
agent noteThe right fingers are now at tabletop level around the bottle’s broad midsection, rather than around its narrow shoulder. I’m closing to test for a more secure hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8516, 1.3441, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.6807, 1.8378, 0.6174, 0.5091, 0.3416, 0.2222, 0.9961] state[eef_state]: left_x=0.3228 left_y=-0.1951 left_z=0.1821 left_yaw=-0.0174 left_pitch=-0.0059 left_roll=-0.0033 left_gripper=0.9963 right_x=0.3531 right_y=0.2145 right_z=0.0029 right_yaw=0.2463 right_pitch=-0.092 right_roll=-0.0356 right_gripper=0.9961 state[joint_eff]: [-0.2393, -5.5316, 6.3932, 1.4286, -0.3248, -0.0171, -0.0122, -0.6906, -8.1573, 7.5009, 2.1221, 0.1392, -0.0269, -0.0073] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingers are now at tabletop level around the bottle’s broad midsection, rather than around its narrow shoulder. I’m closing to test for a more secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe settled jaw gap is about 5 cm, matching the bottle body’s width. I’m lifting nearly straight up to check whether the bottle rises with this fuller grasp.
move_to
right_x0.3500right_y0.2150right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.3453, 0.9291, -0.3454, -0.6773, -0.5571, 0.9963, 0.6804, 1.8729, 0.5442, 0.6998, 0.3378, 0.2111, 0.5333] state[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1819 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.351 right_y=0.2134 right_z=0.0015 right_yaw=0.2569 right_pitch=-0.018 right_roll=-0.0081 right_gripper=0.5333 state[joint_eff]: [-0.2393, -5.3675, 6.3795, 1.5409, -0.3883, -0.0073, -0.0122, -0.0205, -6.5162, 4.3009, 1.917, 0.2466, 0.0464, 1.0379] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.215,"right_z":0.075},"note":"The settled jaw gap is about 5 cm, matching the bottle body’s width. I’m lifting nearly straight up to check whether the bottle rises with this fuller grasp."})
tool
executing move_to over 5 steps (0.5s)
step 271
assistant
agent noteThis lift again raises only the near, broad end; the cap stays on the table, so the grip is too close to the base to stand it. I’m pulling the bottle farther into the reachable area before setting it down and trying its capped end.
move_to
right_x0.2400right_y0.2200right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.346, 0.9291, -0.3458, -0.6773, -0.5571, 0.9963, 0.6804, 1.6527, 0.5636, 0.3183, 0.3237, 0.2077, 0.5326] state[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1816 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.3275 right_y=0.1974 right_z=0.0204 right_yaw=0.2654 right_pitch=-0.1513 right_roll=-0.0604 right_gripper=0.5326 state[joint_eff]: [-0.2803, -5.5043, 6.4068, 1.58, -0.3736, 0.0024, -0.0073, 0.3077, -10.359, 9.935, 2.9133, 0.2711, 0.0611, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.24,"right_y":0.22,"right_z":0.11},"note":"This lift again raises only the near, broad end; the cap stays on the table, so the grip is too close to the base to stand it. I’m pulling the bottle farther into the reachable area before setting it down and trying its capped end."})
tool
executing move_to over 7 steps (0.7s)
step 278
assistant
agent noteThe right bottle followed the pull toward the robot, and its cap is now much closer than before. I’m laying it down and releasing the base so I can reach its cap-end next.
move_to
right_x0.2250right_y0.2150right_z0.0150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.3464, 0.9287, -0.345, -0.6773, -0.5571, 0.9963, 1.0317, 1.2404, 0.4492, -0.054, 0.5251, 0.4026, 0.5328] state[eef_state]: left_x=0.3231 left_y=-0.1953 left_z=0.1814 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.2255 right_y=0.2115 right_z=0.063 right_yaw=0.3472 right_pitch=-0.1343 right_roll=-0.0761 right_gripper=0.5328 state[joint_eff]: [-0.2803, -5.4906, 6.4615, 1.6093, -0.3639, 0.0122, -0.0122, 0.0479, -5.8735, 11.2068, 2.3419, 0.8571, 0.1734, 0.9548] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.225,"right_y":0.215,"right_z":0.015,"right_gripper":1},"note":"The right bottle followed the pull toward the robot, and its cap is now much closer than before. I’m laying it down and releasing the base so I can reach its cap-end next."})
tool
executing move_to over 5 steps (0.5s)
step 283
assistant
agent noteThe right bottle is down again, with its cap farther forward and to the left of the open hand. I’m approaching that cap from above at a reachable distance to prepare the actual right-way-up tip.
move_to
right_x0.3200right_y0.2650right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8516, 1.3479, 0.9283, -0.3416, -0.6773, -0.5571, 0.9963, 1.0546, 1.4963, 0.2268, 0.458, 0.5575, 0.4099, 0.9957] state[eef_state]: left_x=0.3234 left_y=-0.1958 left_z=0.1813 left_yaw=-0.0177 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.2173 right_y=0.2008 right_z=-0.0003 right_yaw=0.3446 right_pitch=-0.093 right_roll=-0.0672 right_gripper=0.9957 state[joint_eff]: [-0.5402, -5.3402, 6.4479, 1.5214, -0.4029, 0.022, -0.0122, 0.5675, -4.3556, 3.6034, 1.6581, 0.2808, -0.0659, -0.0611] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.32,"right_y":0.265,"right_z":0.08},"note":"The right bottle is down again, with its cap farther forward and to the left of the open hand. I’m approaching that cap from above at a reachable distance to prepare the actual right-way-up tip."})
tool
executing move_to over 8 steps (0.8s)
step 291
assistant
agent noteIn the right wrist view the cap is centered but still ahead of the finger row, while the body is nearer. I’m advancing about 6 cm and lowering to put the narrow cap-end, not the broad base, between the fingers.
move_to
right_x0.3700right_y0.2400right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.3479, 0.9283, -0.3412, -0.6777, -0.5575, 0.9963, 0.8631, 1.5837, 0.6216, 0.3347, 0.4152, 0.2707, 0.9956] state[eef_state]: left_x=0.3235 left_y=-0.1957 left_z=0.1814 left_yaw=-0.0168 left_pitch=-0.0051 left_roll=-0.0044 left_gripper=0.9963 right_x=0.3118 right_y=0.2603 right_z=0.0734 right_yaw=0.3445 right_pitch=0.0032 right_roll=0.0019 right_gripper=0.9956 state[joint_eff]: [-0.3077, -5.2718, 6.5436, 1.4579, -0.3932, -0.0317, -0.0073, -0.4991, -6.0239, 7.2821, 1.8291, 0.1294, -0.0415, -0.0317] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.24,"right_z":0.02},"note":"In the right wrist view the cap is centered but still ahead of the finger row, while the body is nearer. I’m advancing about 6 cm and lowering to put the narrow cap-end, not the broad base, between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 296
assistant
agent noteThe cap now appears near the middle of the right wrist image, but the jaws’ contact row is still farther down. I’m advancing a final few centimeters to place the neck and shoulder directly at the fingertip point.
move_to
right_x0.3970right_y0.2400right_z0.0230
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.3487, 0.9283, -0.3405, -0.6777, -0.5571, 0.9963, 0.6846, 1.8294, 0.6395, 0.564, 0.2817, 0.1665, 0.9956] state[eef_state]: left_x=0.3236 left_y=-0.1958 left_z=0.1812 left_yaw=-0.017 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3609 right_y=0.2358 right_z=0.0218 right_yaw=0.3313 right_pitch=-0.0272 right_roll=-0.0135 right_gripper=0.9956 state[joint_eff]: [-0.294, -5.4632, 6.4752, 1.5018, -0.3639, -0.0024, -0.0122, -0.5949, -5.9419, 5.7094, 1.3748, 0.2271, -0.0708, -0.0122] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.397,"right_y":0.24,"right_z":0.023},"note":"The cap now appears near the middle of the right wrist image, but the jaws’ contact row is still farther down. I’m advancing a final few centimeters to place the neck and shoulder directly at the fingertip point."})
tool
executing move_to over 3 steps (0.3s)
step 299
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8516, 1.3499, 0.9283, -0.3408, -0.6773, -0.5571, 0.9963, 0.6441, 1.8912, 0.7097, 0.6064, 0.2256, 0.1333, 0.9956] state[eef_state]: left_x=0.3235 left_y=-0.196 left_z=0.1808 left_yaw=-0.0177 left_pitch=-0.0063 left_roll=-0.0032 left_gripper=0.9963 right_x=0.3855 right_y=0.2445 right_z=0.0271 right_yaw=0.3554 right_pitch=0.0114 right_roll=0.0048 right_gripper=0.9956 state[joint_eff]: [-0.253, -5.3538, 6.4615, 1.4921, -0.3541, -0.0073, -0.0122, -1.2786, -6.694, 6.4068, 1.5311, 0.1538, 0.0611, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.168 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]: [-0.0204, 0.7925, 0.6079, -0.3775, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6037, -0.3859, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.388, 9.7573, 1.7998, -0.0562, 0.1343, -0.1636, -1.0188, -0.9368, 10.3043, 1.8974, 0.0464, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563f7e982516ad2714ffb4249bcacbea9018ba91f2dc2365b3910ee3e731d021",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af824a76026e530372b45e4b4a26643d7f05dd0815e05f20a4a2bd225661789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0750d6ec219c1a74455a172765d666511c6b2d448b26779aec390c90617ca7f4",
      "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 · 7.403 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0796a69e9d0ad8e5016ab4276c4d2487d08f451aa75030a446",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.14,\"left_z\":0.13},\"note\":\"All three bottles are lying on the table; the leftmost is diagonal, with its capped end toward the far-left. I’m moving the left gripper above that bottle’s neck to prepare to lift it upright.\"}",
  "call_id": "call_53zF8dnnAriXD0giIiQHnFQr",
  "id": "fc_0796a69e9d0ad8e5016ab427718c0887d0a5ed85e8d463e99d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_53zF8dnnAriXD0giIiQHnFQr",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5251, 1.4761, 0.7612, 0.0093, -0.4232, -0.3157, 0.9984, -0.0189, 0.794, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1324 left_z=0.1098 left_yaw=-0.0159 left_pitch=-0.0711 left_roll=0.0278 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1747 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.5436, 8.8547, 1.7753, -0.2906, -0.0317, -0.0366, -0.0205, -1.6615, 7.1043, 1.8877, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ffba42cef6c5aa45c4e6928a51cba06c87d694bd1aa9c4dba75b32538925c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90097c22289e2d0976e0416f6bf34b7aa327188a762268eebd31f50d628fc43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bdb5aa3434715c9d38b9643c766a8234c497416674000e8f23aaf1365bce9c",
      "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 · 4.621 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]: [-0.0204, 0.7925, 0.6079, -0.3775, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6037, -0.3859, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.388, 9.7573, 1.7998, -0.0562, 0.1343, -0.1636, -1.0188, -0.9368, 10.3043, 1.8974, 0.0464, 0.1978, -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]: [-0.5251, 1.4761, 0.7612, 0.0093, -0.4232, -0.3157, 0.9984, -0.0189, 0.794, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1324 left_z=0.1098 left_yaw=-0.0159 left_pitch=-0.0711 left_roll=0.0278 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1747 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.5436, 8.8547, 1.7753, -0.2906, -0.0317, -0.0366, -0.0205, -1.6615, 7.1043, 1.8877, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ffba42cef6c5aa45c4e6928a51cba06c87d694bd1aa9c4dba75b32538925c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90097c22289e2d0976e0416f6bf34b7aa327188a762268eebd31f50d628fc43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bdb5aa3434715c9d38b9643c766a8234c497416674000e8f23aaf1365bce9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCd78PKAvCH7VjTkzgqWDeBA8hcmCKDJLCmejseLwLx4mVEQsvySt2UuI5g_zZ52Rn3u0LFNZHAsPjfP2uxvNoljS3HZ38_kJP0qqFEHn-jDs6SatRs1qFGOeHlMaIT4WInWR0tSjXgTZNEyfstU-Ym_eMp0HXY6PDkXUEkBdzBAQQSccV3SYNyNq-P0OSILD00vI0IDzLix8EQJvPioagEXSoGHOHW_1cjrkuFyIYcMdAcPZP0tBQDO_t3H_822WcN2G31pH6Dxs0nVhqeWVJbB4N3p9FOo3fTDT-6R9pq15PLTzZNEyol-R2W8B_xBSK_bsppxu3V5Wyj1sdVWKixyWbilQkaY7dUtw4-Q0f2IbEdRDVLyHMo87xf0rK_wgdO4MWPMIce4L5LdOySQkXntyNc9uzcrIt2ov5vs5HSwnow82BFMIqYvG5-taqr7UuL-ZD2WYUTkq2-loHNNt22ZPQnC1UDV4dDJOZTdzfzzDuDWsYa0hiryz7POa_ny5oBGOsRDao0aHxhYK9Boh1UkQWAZ93kXwCmwaYWYWMcahJUd_YstgY0P8h1vWu1oVuVU1YCwRiO2g-wcvuk8XlcAcnDvwpKi_dQ9_n2xYPA0kSYaNgrvG5gd7k1zHcOOhxFKcbqjJ7lnTCw2JMXIc33-uvUWBC80l1BD8CQ6tdSX3xEgNA9fYtXLE894CxVMNn-ZuCIbZuDgJT2ZfG6s9UE_U69cuUWm4YNA4-bm77OzLpfLhsbY9_WBeKIiJhxu3D4mjDAcILBt7GTTY6MFrUmex5cR7E0H4DEbzJEy1fCdQJyG2pfTbuZ6YJ1MJ1Yc6_jeqSpg0zQSAf_h_0j6DKdd8OfcNAAUXO9jNjrdIhEBGRXN5viHUxd6ArOwWSnPfoNzbknoSBE4nYPIMhO6FW5ZTngSgiCbJ7zdr4l1k7Yonz8IKQvT1foe4hZPGv7FQQwL2PrAiZ8Uku2vn5a_4NhY-sOG96DZyF8GDIZqKKYtWNFFPjvBc-FRmk2Gfy67PuXGRKoWq1CtDiHgKRLOPlf_yIJJCMqP1IpOhNas6vt0VPyTXlm9QyCBf-3_8JdOswN5pG4Nj-9czQY3-ySkebpClq6XLGzGBjxFxViT_9O8iLXfk0eEVaF4mJ2cCcQ7DUNhbxBC-30sox-e6cweBoxkrNfCiuy9ixOiUAzQhnEErUKJkoDRxwcgMOR_Kx-vC4wcBVtpEbOcjQ0O5cO3nJXRBGubnAeFTp67u33ig0k6sHPWjsIA82IpGbY9Gz3gQWESDxaCdmrc_agF0yzFoYhVbO6jU6To-smBYbxkih26gZ8iw90fKay36ke0559z6Q6BYtF-ISJ_YsuHFQtqE44xMJS9U-34tVyi7yAoG9iejBlH4RjryVv5UtI36b2uSQmoSh69Rk0jC5wVacuH3_RPoDYAKgXTZ2pVRt9UnTMaHT6FfcjGvGfpgmguF0nKtAGbXn-e3TPyMH16Pi-5v5lsnPrKhjnXYf-N_3DPWXHbltHWvBKKAQ5FuXibPAUriEk_3PtLhINyJsQzJ5vyjERlYgX3QPYSDdDkPyEFycV_ZL38dvd_z8btvgrM3yFvcHGGwgYUmRD9FVHEWfaH4aavrLHd5y30VEmbXa9n-Ej1QFYoYx09FjhAssIeIFdJ4Buimc9sYaYoEIGyPJrUSEq0AK9_RmuE5rUpfP42n6ZchGf17q34rxNTbJhq6r0Jqoe9yCWjuJ8vq48wCWPk2xo2ANH-EGw2gs1nLnYsdeZPSTx0F-nzcK4AHle7YI_SmUL5B0K2HPoxGa83IYvgB89K4vrlBmVVxdFw5doiv7iEsLfsGydNASeCzgXNuJO5xhEALK5oDqf0FH3aHNPm3Nncy7iLs-kpWKlR2jOxoxbaO4V4gLlXkQdM4d2exid8-ckkq8XGJ33mfQxp_1TkD2kK36spLvJAFYLmeYcPDqh7M1h0u0HhADtCmsLShW-4qMW4q4FQffMLeInfvoZ8VHJUkuKAtu6H-5SoScBJEH-eItd4kw3V5K5W2rd6hCnxXwCaDsIwRnRyh4Wbse_-NGLbUUpQJmnejzHdPnL29Swm1kdTPLIGW479YqzaSX_xbFz0D5q7XJbPJSJMNEGUvaBW5wdNTx0vNATsSakbnBqKfTbnXI3XAkppv2EUSfOOrLOxJE0zyEI4P5Wbs5YHusuJolcGJyr8JEgGVw28qqDPZ1dw_A20odMldw4OsJrwOHG-h8TgF19RkrwhpQGq_i6WOkRcU-JcttDtLY6_jorHOJOydKinvXu_JzwMAovxtagRzsIl4r5wDcyQuXe4QRnBqpI8ILIDB5hqmQiHiKzcBhQ7qofwiCxsdHouOdsuihIvnzGEm7RBRHersjLW_p6bKRgPDM0nAq0jp3uQzPnGBcgwPlw2o3LSRYnTYQ9WHBNt0BICz8mfE8ox1kkwoy00COs-crGv8sbRJPGuplz2HegOqeG3GLNxFwaGkYyGqmvqkrnt7SQQSvwvj5ZTm1t_ceGZdr5nnlmJQGZkjKotPs_HFZUxMgxWtTDVNaUs8IPpZUuHoOFVs4dojWt3W5YrCbLMVRsbTRjfTD1rZjC49L8LZsaEUAT4tvy8uQK-mfN2mxmRF2faWx7aHK6rXKOrAm2AXiu80-9TzBn3E7OCheOlPH2HlW1IEWDtqwtjicHRyyGaDHP5VQzIwwFjWXezDgfkE6Tt01q3tpE3BfhvzXObNkywH9OluxkAdLNl3nmofgcUvuujHTe2iml5S_JkT89lLVlsHNkO1bQyNzzgzWWdj38ENKg5mjp0a2vUsnBeYObyBcuDDCJOnZSD8RfUONQuxDZncvvcR4NX1JdDIVi_0XJl5u4eZExozteOj7ioKj_SpWw-FOkQ8Bt-Wwj5b1nyDoXrFY-gik0VhBcalSN6uzTMhq_wIzoP0X2I5Lg9oNSQ_Su4kygsfICfdJ8J3kz_zq7_S62ssjahlnAj9XArAVHzFqnuV8Ix5F_92R0eap9MwdpcHpn6hIWcQHBq2c9qaGy-_L_Fzxi3jJx0LNE_huv-doegB_Ws6e2GIjQocdSnoHIApwJJ9vc-Ig_PbzonHYY97bggJMKz2gNRdnjzSrEOr1d73HO9iICM2wGlxTtTlVpj5PlQtx9Z9GCwnqIoTb1oCtNCMPB1OUPQNUU-LdPXBIJqNcc-6ijLpEqnq6rDlK8iyBt9upce3mDbtulL9TGV8rXFJQtn4oAIvZ29EO48gf4dcr9EIUfcxkkEZrxeAyh-Kr992vhjfsVSFmSql3-FA2iMJJ6fF0vww10-EhrTObFwEvYLn-nBTO_01-rPJuiPxjMmIhC0QBB6F8KDnhlCcvyypmdOg8gzL92WBcNiW3aZ0-roUF5qZtHO",
  "id": "rs_0796a69e9d0ad8e5016ab42775344c87d081b81627ca5f101c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.095,\"left_z\":0.13},\"note\":\"The left wrist view shows the diagonal bottle’s cap and neck left of the jaw center, with its body extending toward the gripper. I’m shifting sideways and slightly forward to center the neck before descending.\"}",
  "call_id": "call_vroWBr2L6SHLgPgvLw5t8XGH",
  "id": "fc_0796a69e9d0ad8e5016ab4277a3db887d09def3234c12d911b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vroWBr2L6SHLgPgvLw5t8XGH",
  "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]: [-0.3729, 1.4734, 0.728, 0.0834, -0.3473, -0.2558, 0.9983, -0.0193, 0.7872, 0.5823, -0.3969, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.0869 left_z=0.1076 left_yaw=0.0415 left_pitch=-0.0545 left_roll=0.0141 left_gripper=0.9983 right_x=0.2893 right_y=0.0032 right_z=0.1684 right_yaw=-0.0029 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.0889, 8.2803, 1.8535, 0.1001, 0.3541, -0.0171, -0.3077, -1.9077, 6.9128, 1.9658, -0.0562, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0252ac10b4061c8da4a551d99127dc06d84fbd7640b986b50b62ba98c0d3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4e5b1ad9e499d54995b4fed099058917d19898fee9a50bd138e6c575aeb6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968b55fe06656063b5b0b39d30f5b002250f668f78ad72e26aa81f8837eb5f5f",
      "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 · 3.701 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]: [-0.5251, 1.4761, 0.7612, 0.0093, -0.4232, -0.3157, 0.9984, -0.0189, 0.794, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1324 left_z=0.1098 left_yaw=-0.0159 left_pitch=-0.0711 left_roll=0.0278 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1747 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.5436, 8.8547, 1.7753, -0.2906, -0.0317, -0.0366, -0.0205, -1.6615, 7.1043, 1.8877, -0.0513, -0.0415, -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]: [-0.3729, 1.4734, 0.728, 0.0834, -0.3473, -0.2558, 0.9983, -0.0193, 0.7872, 0.5823, -0.3969, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.0869 left_z=0.1076 left_yaw=0.0415 left_pitch=-0.0545 left_roll=0.0141 left_gripper=0.9983 right_x=0.2893 right_y=0.0032 right_z=0.1684 right_yaw=-0.0029 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.0889, 8.2803, 1.8535, 0.1001, 0.3541, -0.0171, -0.3077, -1.9077, 6.9128, 1.9658, -0.0562, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0252ac10b4061c8da4a551d99127dc06d84fbd7640b986b50b62ba98c0d3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4e5b1ad9e499d54995b4fed099058917d19898fee9a50bd138e6c575aeb6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968b55fe06656063b5b0b39d30f5b002250f668f78ad72e26aa81f8837eb5f5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeA77Y_nUn38llfDZhkM7fZT_vPh8pPznIHkc6r4Opgl4xjFntboP7tZPmtac-2YS1ymmXGAqRguxnhpxFFndNhVf9THgdiHt5uXOghVUOePo5v6REKvtNtiJQ9rJMlW6VbqIrE0HTplKQZ843pJh24xuI13Dbu73gLM8Ocgb3XuBUgQl6fUcMWjduky2bje_6GwYdUXp9Dl5WfKAnox-9ZiOyNMXp7UwPWj_c2REiPMthDQZqLmxF6OQFQWts1qkp49a6sBa2AvLv0Nt690lPRDow1IZdP_xjWkSS7ebIuTnKG0SJ8A9fxLkxtimnMAbr2CjhcFzIsgl3frMtBY1X758fyqDdYGkUThFrYs3_y0d-zrhAzk-CH6ygDLM6u11sDVOfzUvA1vYq41H_-IkduImz_guMwuHgnByGjl1PvzNNP5UGWrErbIWrH3y-j7MJpXc7nxaxIhTymmEITyETB-FhI5F2zdcUNiT2MygstdLKjTOM5voCX6Kdx2igK9jqHKY5QA3w_3kMXkxgO5c5UMZw_dLkuONQEDyVXNGSAgWvUD8Q4tkqd_PZTwJNQ1ARr9w0egEFBGzGNDjRpVU6KKejSVtyGYEk04OOapQetJlvNNF4AHRNmpPoeikRkX2OTl-GSPWHvMrBQzI5E8Efv5BxrlnhxxD_H3X_TYqHYUrlF71hHRgEMyCHcl9KegZKmphPHJDNfTdFHOC5ok6Yucqq8vKPh7VMAiqzfYe0FGlEQQvUKJMoQ1sZAVJfVQ-lJ-nIuOo4a7zBdud6yZtXUWreJRW8WfaEAoUfw5wFMAIoVijcgDUk7O3SS-250K3nFnBM4BnZbuRb0-QzKllNE0LcCxgfxBRsJmnmX1ogU_jT5DkLaSolKjnZa5pXl1mL6dd9ld5Eykux4QStwRWN4aom9N85paE_OQ40EI1EXBqOya05sOi_OIuQ2g35YsVt6JE0MfyGGqfWYyKHmUX8osDp7trTxCtgmA88HpD4ltg0GN2D4b78wIFPHPQz9lAYP2TuRVcyuxiegPrOgNHqWXp8YeIEVtoxoWsNzIOifD2VehWKumQxo_Af9xqLgB-vN2QELbR538wOqA91VlEk7V1LRY_HQlBkLOARus4iSap8xHEIK5h14I322PmP-l30_WwEyGNiOGDBpaEb5zFCiWx-h2dofxU5A05NAF1Aj2qACC1DBiPiQZnX_24jCI1nDA9aP1t9zG53DJMqGR4mUF1H-bqjCqQjoknRVpY0JUSBlVpj3Rg3XokQXj5Ze-5mQuhS2JCTDqQA145BNDElJDesYWs5OufWAl5fAOpAcPzljKJc9yfvEU_uDpdkFfLy21uo75y3VqYiMzBBd9jHRqx3RrjaTW5UFI5SjIB_HDnLF7nwFvA3vZIRcfnZ2rOQiAjnO9WjmACNEvmGADm626P7PjaRnyji9D9MiHDC2MWEkoM-zvxty2rblwP4En4siWgupeVSyjSVsS3v5aZ-F2RrlK0v_s1tn8LdatciG1yUCGw49ZhGU6uTihjTYljGzFkcZgflzZVnTMD6UPqpaTZGKGOZrY6oaT3VSzkxebhU4cCwD6w_sd1NGg6hi8uIynnUinW92EJh58_GRAyptC5znn2QoZrgh-v57JQjWj0yO6f_jmVXVcBnK0QaBVBZ-pPkB6zeXEViUVS12h2nd4j3AuJgAb9ZICLuCgiLVV1LOy8H6JJwqsiZwErDtTnn1jJpiOSUOYF6_ItPx5pajQAkqiiL1ty06scFUG8IcKGEAB5wy9aV3ERupWz5CzCeeIILEryLtoC6ec52nk7-iwSUvMq2o8jLDPjTZTdDhAtxNySdP2mAVm5VYfDKv-but0RqB2ScvnmlBTzsxbEjzdGIqC6DW3PiIlgQir4OiN0UcZ9VrF_v_OHIZsdcFb5kRPQhw1YOQgyXnzLYY4yT0A2c8l7OK-7KTUsF7ThRm3V_W_crMWZEz3hofzf6l93dFZVNVzD9pzsOSYMU0_2VqFE8mXneiauZDdQ-T1fDWlXfKCqp1HWLsCtoOEO1oNDp_r5vB_JLAitKupu4JeRxlb1yKaInA3eYImzc8BVbrDG_aMnVixuxjhGcZ1PFllzo67aRcxrbx2FBTJ49Awu1sega8THXzdNz4rBYr2gn5qSOAr_uWUDDICTSHkf9Uyk-JOydbC0pD8q1wDfnGwXberVfyCi68VtSz01ABPEYp717YxN3kSSVqwb__MOubv1yJQd-5QuMRr7m6jBluytEI6m1qCkM59ER_yMD8srupkbcmlpM0n7fVFOHV18NZgqTSATPg9aqilk_hnY4KxAwcvffOLNhbvwE5JGJKLJYSPqINbj-KzNa50UnSe4iOfo2h87F-puffTTsgNY4Pjf9c30fRQWlTgeAJf_4_UtegQbDBJhOjsRYrrNzODMnKlWbtLaCJ3Qy0JvU0vHT4fbDTE9ctAGrJISP2iOE-i_e0S_Io2eSmRrmUmOYcYzBSFlUhPGyqheiWE1zjtsxE_vHxc142RCL-C0ZWxm5aeVCh-IkLrxr_Z3a-17ws_4sFvf46TBq7bb3fvpSJgXapXqnKm6jEF6LxKxbQs1wHlxEdWV8s_E46jm0J1HU7dMwDaTESdcstsF5aVnt7WgLM4RY7wcDHwU-2oeadqzXnFApHBXR2eqxUHGJ-Z1BA5CkN2n_Wgos8vDibT3MnLDrNwoQw_edA5lWedjf8uyeAGOPTP1Lek4drAZD0c00fbke_ClMB-_88HIQFFHUI6bLtjqO6D5a1QIAbLflaIk24JqTWg5oeB7dnuYCcaJnYRQSiXJHR",
  "id": "rs_0796a69e9d0ad8e5016ab4277c634887d0aa33a84f88b57adb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.085,\"left_z\":0.035},\"note\":\"The bottle’s neck is now near the jaw column, although the wrist view places it slightly ahead of the fingertips. I’m advancing a little and lowering to the height of the bottle’s side for a neck-end grasp.\"}",
  "call_id": "call_0bFkejkpuJuVGpdiNAyemoFV",
  "id": "fc_0796a69e9d0ad8e5016ab4277f647087d08377d5dc450cd7ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0bFkejkpuJuVGpdiNAyemoFV",
  "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]: [-0.3603, 1.4712, 0.728, 0.0818, -0.3107, -0.2356, 0.9983, -0.0193, 0.7757, 0.5518, -0.3847, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3973 left_y=-0.0882 left_z=0.1069 left_yaw=0.0132 left_pitch=-0.0627 left_roll=0.0095 left_gripper=0.9983 right_x=0.2863 right_y=0.0033 right_z=0.1601 right_yaw=-0.0027 right_pitch=-0.0381 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.1299, 8.1983, 1.8584, -0.0513, 0.2027, -0.0122, -0.1709, -1.9897, 7.1726, 1.9414, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f99316593c8320893ea51127bc5f54d2ed0c7cceb2bd8dc6df48dbdf5c07f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f070ef7f27e4e4f19284ccc27cb1f7aca42344ef0d05d8ba47c2434b4f469f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cbaaed402288e5a6e8ca31f07ed9f195617e6f8c0f253fb4c96d2ea71b084e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.542 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]: [-0.0204, 0.7925, 0.6079, -0.3775, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6037, -0.3859, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.388, 9.7573, 1.7998, -0.0562, 0.1343, -0.1636, -1.0188, -0.9368, 10.3043, 1.8974, 0.0464, 0.1978, -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]: [-0.3729, 1.4734, 0.728, 0.0834, -0.3473, -0.2558, 0.9983, -0.0193, 0.7872, 0.5823, -0.3969, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.0869 left_z=0.1076 left_yaw=0.0415 left_pitch=-0.0545 left_roll=0.0141 left_gripper=0.9983 right_x=0.2893 right_y=0.0032 right_z=0.1684 right_yaw=-0.0029 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.0889, 8.2803, 1.8535, 0.1001, 0.3541, -0.0171, -0.3077, -1.9077, 6.9128, 1.9658, -0.0562, -0.0757, -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]: [-0.3603, 1.4712, 0.728, 0.0818, -0.3107, -0.2356, 0.9983, -0.0193, 0.7757, 0.5518, -0.3847, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3973 left_y=-0.0882 left_z=0.1069 left_yaw=0.0132 left_pitch=-0.0627 left_roll=0.0095 left_gripper=0.9983 right_x=0.2863 right_y=0.0033 right_z=0.1601 right_yaw=-0.0027 right_pitch=-0.0381 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.1299, 8.1983, 1.8584, -0.0513, 0.2027, -0.0122, -0.1709, -1.9897, 7.1726, 1.9414, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f99316593c8320893ea51127bc5f54d2ed0c7cceb2bd8dc6df48dbdf5c07f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f070ef7f27e4e4f19284ccc27cb1f7aca42344ef0d05d8ba47c2434b4f469f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cbaaed402288e5a6e8ca31f07ed9f195617e6f8c0f253fb4c96d2ea71b084e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeEn7_NGmobC0dA_f18BXmFw5E7MWVtWyWAvwlD8xM001piIPvi1DN0jhinKKe8QBJSBVeG0ZKkJln6KZx1q0Lqd1RvM67fymRwzjvSImz4KfSLtxsiRZKxsW-Vh47evmvYf3pAcEKMxuHvxl5QEQKtgvmZcHzFTaAagbbUJbWJ4aIgdaSZGYPa1VssHOy4TuAHOx4imcvThEK7J64SgbODyeZ80Sv3qpSdpnSQjo70zqGtenSjd1roE6_uHW5WTt8xhklicXKbu_ceiTI1IMB4psR7ylRlq90T6hKAXGVJypmLVmkzxGkq7C5cTLRXytu-MDeFB0LiIAiUcssZFO3hHqO-YHbsXv96bbBnaF85juuvgkS1yV1HI_SI3qPpMl0MZYNhTM9iu7aFO9LurEs2sTZ0BTV9-t64kjiaNue4gDoV8GQj7Y3XewBL4T-wjFlXb6Xy-3CVgk0XD9XqR1L4R0L9D1w3TQX7TFS0i18N7LtiQdH9zfsnixDyzRPmXrs9-B2iPuyWvh3s7ahrUS8Qrls8nfG-lJnxsmQiLkKPK623g6v3GEBOiRLhDi0zy1SaGyzIdjuzZfGvj7PmVuxSTWfYZOuLn_60ESfDx4MtuOHuwZMk-qkxurE_if3qn2O5nCMEspwMfLRwjZTJ8nngTf_ur3JptcJxHP5DLyK1F9vhtthCV3Jr9lJI4U7NrTgspSimKKd9wnXEV_iMz-Mtc0nEX_t83TIssNvijoXi6vLQrZJnoLVnuDv02JtGKiQWzzIzpeALviamy_i0vL0OLDVE4EnrJ9wO7DvFB4fVLtCKB1VjCLsgMXAC8yVHBIyYDdyGOw43eEuaC3svjH67rncf-vgTFotUmF9hOnupQzo5dfmfVQhxp_LrMDKex7GjzsDf8eW2q4rqnSwraRgtdjn513mGkQdq0cKFab9c6Jtj9eF7pFxE6FJztHrBmrEXi9aFbxzZF8M7O3F0wTMvXMDG9hIZPEnhyooUG0FQ17YMESIPGkGjxoaiH7QlpQWC06HEobncZkDRohTQc-73M_pgAu6yeY9T1o_WdykxIvi4IVroFXDDYL8AV1hGCrk9DVkS-QFRQqgtZOK4ASUiBs6TnX_tCKIf57xvnrOQrNJ6d-nxJlp5oiCPmztZD5NwkM8sl021RUqkKY8cAMldLGn666rjBvqyu9rAKB3-TrbHmXZUVy6tC4qTdaKkq716_ivhEtPfCCAbkWzVMf5SHVf5evVvJTVc85OCzYwMO3UdnevNpBSM8I9FCJLlo5nSdhWphMOVrF3SP_LbNOuHEyP34VwnTJX4_L-LOZnWU00AsyxnduMnJxLRsFvcr9C_-mcx3EkcVVz0iIr1K9SEco7cX9iJHuWXw_OTyEM-RpKB8b6whR34PTGGkbpQqZ-v2XOCTXd4MS7QWavb90sODIw6hvskdQm4Io4orjb0bJUnCZ00EsJ7X6leZoyJrnFL78DakBFdlyg6oe3eu3QNke51WTqn9CnkHDsm68zk4lz53YdkCR9WAjswizwDpSYFbhBFuCEeVL6uVylUHxONUsicAaH6X7pvO4d8dhnJWRlaMvjZNRjbaI75K0Te-OiStRdy2PEPVgL4WfXY3cyXl7z2oiAsPXXRkaYCfFBecTsfrReyTnwiwHM5ozrSD4C9e-CGx_6MHO96eKMH5faoxcmPzo9iBfkl-FKjv-vcDo6yss453r9HqhofhMzXWamGM8hPd2hiRxN8kj0zhl3wyU2bjqYDtdetXkOBt29zu-A8EDTrWblXFToKTFUJjBhMtY3Lai1rWmpOouc0uuttjs9DSooMC3ZqknZ8NBjDLCrkrRfC_4GwiXPovIzLZY9xdyjREFkfizUaMn2LVZoQslud7phIJPMiMB3bVsddpyuyfQ51-r5XTudC6JX5-_vZIiG4WiaBU_iTUA4ZMmOUhxBxpZFPJbg9AFTSDuZK8n9ChBn_9oXizhSjHdoC2KZMnLjM3Of_6OC1n2aaNJ0I8b1vHFWaeL-UQxNyTv8-PJCApFF4otzG74bhQQoYjCjNSEabmwx6MRLCrCo5CqbZ8EPtwksDWl07NT1rc6pnnKvI6YleigpdIzvBy5jIMwkvmDN4052aKGQgLzwM61G3WA==",
  "id": "rs_0796a69e9d0ad8e5016ab427815c1487d0a1eae89600fe26d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.09,\"left_z\":0.065},\"note\":\"The attempted low, forward approach did not advance: the gripper stayed around 11 cm high, likely because that descent path is obstructed. I’m backing slightly toward the bottle’s body and trying a smaller descent before gripping.\"}",
  "call_id": "call_JlTaCYspcyoaW7sHHAk6AF0z",
  "id": "fc_0796a69e9d0ad8e5016ab427832e1487d0ac4b02c9405802be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JlTaCYspcyoaW7sHHAk6AF0z",
  "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]: [-0.3599, 1.4693, 0.728, 0.0818, -0.3103, -0.2356, 0.9983, -0.0193, 0.7582, 0.5175, -0.3676, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0881 left_z=0.1077 left_yaw=0.0132 left_pitch=-0.061 left_roll=0.0085 left_gripper=0.9983 right_x=0.2832 right_y=0.0033 right_z=0.1526 right_yaw=-0.0031 right_pitch=-0.0377 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.9658, 8.1846, 1.8437, -0.0415, 0.1978, -0.0122, -0.3214, -1.5248, 6.8718, 2.0049, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3458b721a52b29043c3a90a93a45dacd978a5634ea1a483b76e954d30b83169a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334f1f0fb164a53023b63ff3f0b28b2baa428b9ecdc5185a31028eb9595f6943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690c317212d22af202328195dbe86e7e4c1e1b465b6ad015bea8b740c1b63936",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.667 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]: [-0.5251, 1.4761, 0.7612, 0.0093, -0.4232, -0.3157, 0.9984, -0.0189, 0.794, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1324 left_z=0.1098 left_yaw=-0.0159 left_pitch=-0.0711 left_roll=0.0278 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1747 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.5436, 8.8547, 1.7753, -0.2906, -0.0317, -0.0366, -0.0205, -1.6615, 7.1043, 1.8877, -0.0513, -0.0415, -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]: [-0.3603, 1.4712, 0.728, 0.0818, -0.3107, -0.2356, 0.9983, -0.0193, 0.7757, 0.5518, -0.3847, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3973 left_y=-0.0882 left_z=0.1069 left_yaw=0.0132 left_pitch=-0.0627 left_roll=0.0095 left_gripper=0.9983 right_x=0.2863 right_y=0.0033 right_z=0.1601 right_yaw=-0.0027 right_pitch=-0.0381 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.1299, 8.1983, 1.8584, -0.0513, 0.2027, -0.0122, -0.1709, -1.9897, 7.1726, 1.9414, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3599, 1.4693, 0.728, 0.0818, -0.3103, -0.2356, 0.9983, -0.0193, 0.7582, 0.5175, -0.3676, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0881 left_z=0.1077 left_yaw=0.0132 left_pitch=-0.061 left_roll=0.0085 left_gripper=0.9983 right_x=0.2832 right_y=0.0033 right_z=0.1526 right_yaw=-0.0031 right_pitch=-0.0377 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.9658, 8.1846, 1.8437, -0.0415, 0.1978, -0.0122, -0.3214, -1.5248, 6.8718, 2.0049, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3458b721a52b29043c3a90a93a45dacd978a5634ea1a483b76e954d30b83169a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334f1f0fb164a53023b63ff3f0b28b2baa428b9ecdc5185a31028eb9595f6943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690c317212d22af202328195dbe86e7e4c1e1b465b6ad015bea8b740c1b63936",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeHeLwsf4a5CV1rRpBfYA2DEQYH2SHMMUMzM_pVCghyXjPVUa_Vnu-iWsd-XNPT3frMtp4v3W9lT7a10xPMgVcWdStKtS6vg2hUDwbAahrtHdSbeSBlBlVK_moiL_pmW9WpebvVk_2gQehSuI0UFMBQITQLH2_1iCfhWtRGTiyUYgyqG9qX8QgOQZLPUsnAyimRf4hByv7A5HptzUUValfK1aLpKyS6r3GP5_aIlQ_FfpecNrN-oFB3UnrQrSLxB0jvzjzpbcUlP7DnjBcA4G-UHXPuLeyCWCqgRtm9_G8-sOPiEIpAYs9NM-7yID2ypzXirEGOT96ccigKqL3LQlKbV0DcN2n53SUH7o7RMNiye4sAbzVjTxrU6cVuLpe3QX37aAgOfqxRo6lWoNcdWsue8gXgT97-eXtbAjM9C2kb8pQRZpvepcP5Mwd5yfp-VIJntos91WYfTJfM-GKIRXK8K9oFIDL7NXUfTZZ0LlUPaH7ZvxRdLRQBwFzPCny_FhyaXrRU9d6NbmEGcz0EFYRRwMTNFBPon-N0ev01mIQz3IJRkzAWFwrvm-QcNovcdpdmKgyfvTsX8YUsGC3AdAxj-omdJRLXfaQyqCLZcXvGreENtdCbcZbUXfabJtdXB-w0h6hOulJtxMHTn6POVO6S91hEMzpSmmoezGD4o5HaCf5lquINW4P0ZFd5s_HNAns-uxC9JTRvKxErxWz_96FhBIF_NU2ycv9ZDd0WZERu6aRGMabgy1F7enqsoY3yUkRzaeuZdMrG_5yEI-fYHq4Fzzh06y8JXimdDeIAZXZP8jaeXJnPJ1Y4AW1WgCAEgpFRab19KaZhiJK9UriZ_t6auctFV_neyPfuAQIQuBhvRgyCUmiub-B2HyrmrbJyWdAsBecGk_9YLgg3LDKFTteDi126hnUGQem0iNxy7VkuWApZge7HnjVIbkzD9rbQc1bqq8W1WctKp9VjT96gRepAlJSYALIQUuALvJxBxdFcQthDcr1pTfdO7hnkZ-PZlLkeUP-QmJYB5LzpqSadhub4qC7_FzjCmGYCw_kmXH37XoDuafEXIvv_SfHkSnESBLlnA2TxrSL32v9yJ-HUseaDO0BaqmZAZULbr3PfBqAYlhbc6OP9W_bj12Kz0aEWYPOiM8aMSADj8Y6MKzxxy1_X4O6y9w4s90i5uIM1Ef_th9NT_7-9F-bByqXfkAijbJJ2mddm3CWZaEKRMQqp-fgunRf6hb3qQOoyidyVvsZm0OLbf7gmDZJCUwAsKbwtRulnsOBzmZPUSaVpYitaBvra7wlHhJliZsqNnalhHVe1tbX-H6SnYlPRCT-tgPbFBsAp7KfFbVuC5LbUnte_004HYYhnvnBdD30S74TAMNiTatyGjotRC3FGrmK3oCosQg9N2e9NWeOTNC7jrugzoFmvTJZ6Hbvafg00lQwrksJSvXzMUQxeRISRjfmNMbZz7WM6qlBjuDGQaxGW0UNL8Pzx8DLviOrhkDRBUrfhBF09gHgRp3Vpup_CmgXjHehY1YAyQzWhXm785iTCoiC0McHR_iIZoPushIE6rrJg0dxgrI9dtBTAqGpmRfbzepRHtM79qnw5icEGIqVR1f4CR9wkWWooqur0nOiZdjLWZm_I2aKHwU8EHFgeHk8r5IMQHfRjQnxMcEyL4_AuRpjejNKX5PwP3mqui5ybFsv_wn4tQdf3hW53mfuhZskC96YBxgPixTl53Rp_W4dp2AaG6yhUi0eeZ2j4lXqvyS-N7cu3tz34BGjlizbWKxPwp6tW4HKeA-kKqFPqfLeqHNJLvmU6ISAk_j7AMTJNBwvGeCIIY0JBN0I9z3dT7D0Pk57l60V5W-ohlhcQV96N5jFErA-TuMbaVrjOOyDecYPY6iS9M4z8bHTPV5_9N2_75PaKdBx_a-iXkMk43r2l9v6IwJSIxl1nZXlsPM5VizYXyha71ebhgpw9TNPuLlplsfo319lH8ozQ1qGx0iokfxFCPn7LGnSz-RcNiNQiKEoCEASP_BXmRcDd6GD16keML69kxufXxH7qk43AkLuF3hy8b2nL_tpcdZofGAD6Hd72M6aNRVQGilT4baupR-PceL_yqmhO",
  "id": "rs_0796a69e9d0ad8e5016ab427855d2487d08e9c20c9c5627159",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper is not descending further at this spot, but the left wrist image shows the bottle body between the open jaws near their tips. I’m closing once to test whether the bottle is already within the grasp.\"}",
  "call_id": "call_6PooADhcxKP7H5EDGZtKgcnE",
  "id": "fc_0796a69e9d0ad8e5016ab42787407087d0971e2d93c5d0c546",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6PooADhcxKP7H5EDGZtKgcnE",
  "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]: [-0.3603, 1.4696, 0.6651, 0.1833, -0.3218, -0.2367, 0.0168, -0.0193, 0.7391, 0.4793, -0.3504, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3951 left_y=-0.0853 left_z=0.1016 left_yaw=0.0223 left_pitch=-0.023 left_roll=-0.0001 left_gripper=0.0168 right_x=0.2795 right_y=0.0034 right_z=0.1437 right_yaw=-0.0031 right_pitch=-0.0397 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.4068, 6.3248, 1.8535, -0.1245, 0.0806, 0.9402, -0.3077, -1.6479, 7.1043, 2.0049, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef857499c1e47d7ab2c490133bed6da92ac11f8b76ae1b434556e7be41ada5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668391df596ae30d596f67c84457954a97b52a560110d476f5f65819b30270a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6b0ad06eaf99d0b5015faa628d6574fd217e64ae82674612b11cd17f4d559a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.308 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]: [-0.3729, 1.4734, 0.728, 0.0834, -0.3473, -0.2558, 0.9983, -0.0193, 0.7872, 0.5823, -0.3969, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.0869 left_z=0.1076 left_yaw=0.0415 left_pitch=-0.0545 left_roll=0.0141 left_gripper=0.9983 right_x=0.2893 right_y=0.0032 right_z=0.1684 right_yaw=-0.0029 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.0889, 8.2803, 1.8535, 0.1001, 0.3541, -0.0171, -0.3077, -1.9077, 6.9128, 1.9658, -0.0562, -0.0757, -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]: [-0.3599, 1.4693, 0.728, 0.0818, -0.3103, -0.2356, 0.9983, -0.0193, 0.7582, 0.5175, -0.3676, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0881 left_z=0.1077 left_yaw=0.0132 left_pitch=-0.061 left_roll=0.0085 left_gripper=0.9983 right_x=0.2832 right_y=0.0033 right_z=0.1526 right_yaw=-0.0031 right_pitch=-0.0377 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.9658, 8.1846, 1.8437, -0.0415, 0.1978, -0.0122, -0.3214, -1.5248, 6.8718, 2.0049, -0.0317, -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]: [-0.3603, 1.4696, 0.6651, 0.1833, -0.3218, -0.2367, 0.0168, -0.0193, 0.7391, 0.4793, -0.3504, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3951 left_y=-0.0853 left_z=0.1016 left_yaw=0.0223 left_pitch=-0.023 left_roll=-0.0001 left_gripper=0.0168 right_x=0.2795 right_y=0.0034 right_z=0.1437 right_yaw=-0.0031 right_pitch=-0.0397 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.4068, 6.3248, 1.8535, -0.1245, 0.0806, 0.9402, -0.3077, -1.6479, 7.1043, 2.0049, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ef857499c1e47d7ab2c490133bed6da92ac11f8b76ae1b434556e7be41ada5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668391df596ae30d596f67c84457954a97b52a560110d476f5f65819b30270a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6b0ad06eaf99d0b5015faa628d6574fd217e64ae82674612b11cd17f4d559a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeMNGkdIDyfqH07Lynl5_kw6hnRNYSjcSF-zYNB6oW-6EsDNRB1EcpMbFNNhsmMEOpwNqiokShAOeBMkM8RrVtfU8NC1gQlMozQUze4QWvYS8OK2zENAsELwQ3bnw3ZwZIEURqXiHkCCXiFFLC4vxvWbhl6IwkQC0BFtsv4xMqg9wO3DV-lYgyWMYyYPbDUeHEW4Kvhy083OXQPmKGpbigxD5WokDAMhmnGGE-VJqA3aQNv3Dp291khGLTkbRSxPeETupc8xMf5eTkz1fDyDZceejDArBuEYlJIUobUFOLT_dkXfNeM6EoqosJ9brsTZj1NIzFJTXxUNz48NYbeHQ6KDNqoigor0KwAj0mJdDuckD7Wn-mET5J_wRoW7819-mNz1pMyZrdxHEZkqrCPHRr7TsUiLe8XfA7ten9vVdQ_SYyRBkdE7_xSpNPePIYHqazFI70tjDDYFoqsiZOGpo60fYoO_LRM6kzlpkQLGixaYTDngQxrMETWKd3ECPJQGm5qrOY1KT2t_deuORR9zZDBkRiUH0a2MW9fd9P-wBYeCV6g5s62O8Rh2bQkXfn9uSiyeaHMvUwfN9wnscRppPZg7wE6RP82s7xcNuKIaQsMewQ0-yqs5n_UYlmteH38vjWRIWwA-cP7Q68Mqm66OhGkrbt2Ndk1Mut3h_P4cSARF1DQC3wVO1tjW4YF1Z--Gnd6jhDY1D56_DG-xGSUD7SxT_G7sR-owJjdRmgKkg-WbqYtZa7B2_yw8Q6jST38nVWyW6FM_eZDjLDdpXAZ6m76LVMxfhb5uQlk2bQTqCQDWbfSSBa6OKE8sSDbkBQ3OvizWsy4M9eFzj-bW-4id3Nvnp86qcA9TBP2XVPJ8I84gBnXqGw6Q78QxeNg-VOfF_q_iNwkbD-HmZpXjUQ8ypungZvotoIodAkO2iu58cL4pnMS5NAKoER3qA8qMmWheutlH7Mzuutq7iv88gkp028yUCswKVu028tciqIH78nbsJbhB-Tm-SpvvB_uBuLh2UtAup8_XLzm03ftjZmVK7KxB_ONcbjn8jpr5zNXrtpqeXyMLJVcPud9zf-5d04_3TW7CkYr8akCNakbHYg8zOx2E7v3k_uOSnSinuCJitSj8Q96vy7wqB7oWVZ4huOGJ_SKtPumQXOhLh6_VR7MRMCKvIhNjV7AsdTIERr44gh2qmQSvzg9EWcPDvpvFWEJJdgzMh87cLzV8YX-rKthjHsHbMfzrSnmdOHQ2wr_psdfhSoJX4rNafw5qThCmH67tMvgkK7gjnq8mCMloXGFDQtG1nTYT07HD9rysHiebbekRPZMVgOk0GoRRiLozOy4_ZWGbtqWAv59l5ON1RUKVCpTdO6rMWN-VGV6m7FEASrfJ7mjigk_91_mkvdLpYLzhost6mp45qhFrgSuU-SnrjZFWOyioe-e3Kup0wo5JMNtyFSvyy5uFxLrLGFNGLZpPZPh8ZUWhJj2w3fkjd0_lMkTt8z66T-1haCClPoNtpxuWU_aMnjOY8_p7v87oiYrrAuR5E8enO2a9M_ORV99G1FsOAlIvXj_g3yKARFROwJGtWvGSu301Drw4leDjAR30J4pCE71q6A8ISihVSAmMj7YnHEXl4vhH0idPHehoq6GS3WEGUe6MbsnA--v7IXrJkZRRGBfnCXBHVsY-4UW78CPvxx8Tah5obKp0Xwvj7bx30N03uUHST-Dfx1o00gq2wpYpBL7VVfrAHsMUPr-5SaKZP9Phh6JZvIlDnqFF00U8qzIP3L9IXsP6G3BS22dIG99hFKgHlzxZqvF2jEMTB0N3fGP8kzktp495z7PFtU4LE3oZwmE8PXmWJqMKlaS7bg6u9eGOTnDHumfB62z0NLhvrR_GVm0l_UDirKWqT1S_kzlB3AoR9snrIWjAWPjF4yjhY_4KUkUlN5YWvLCROC2BQKQCuayW6nad44Ec2tP2Dr7MerIMBJgljcvsasjW6p90kkRl3FVT0NX0lBRUxMnBnLle2Hw_8XvCJ9xOVT1ghf1Fbtb1cjozRJsqDpUniWP8N_jUFVwxX0VpH6tMXXtYE4wqK7GuPu_xaUd4iI_RrYIssVm-dZGcw5ROUs5pZvn4RojCS5d3JkPfo2gM9NXFW9LIvQGqz1eMl3QdLXKyEl_yZWWCgTuEKVOhzWCDVIydJg4VV-m42S8dfEnUT5rACZvspg0KfUL2ID0LkvNI4U04GIcZLCeKDCG-lS9pIBaf-02gEUWmPzCCKP9xOtwJavt1DxbI2IkIOogOz6xHxJRgEzTA2Nbz8I8ASgTziHh",
  "id": "rs_0796a69e9d0ad8e5016ab42789ca9887d0b3c44122db873d8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.15,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The closed gripper reads almost fully shut, so it missed the bottle. I’m reopening and retreating from the bottle to seek a lower approach that does not stall at the current position.\"}",
  "call_id": "call_3f8SzacYfFpjAFxaqZe7u3oW",
  "id": "fc_0796a69e9d0ad8e5016ab4278bd7b887d0bd943ca85fd0d4bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3f8SzacYfFpjAFxaqZe7u3oW",
  "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]: [-0.7345, 1.4452, 0.503, 0.2264, -0.588, -0.4576, 0.9944, -0.0193, 0.717, 0.4404, -0.3305, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3229 left_y=-0.1548 left_z=0.0687 left_yaw=-0.0205 left_pitch=-0.0157 left_roll=0.005 left_gripper=0.9944 right_x=0.2759 right_y=0.0035 right_z=0.1357 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.7641, 5.094, 1.5018, -0.4225, -0.0171, -0.0269, -0.3761, -1.4427, 7.2, 1.9902, -0.0904, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e31e3a0653abf506db8e28029a74014374671409a60808dc8f6400a06eb61af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cc0323cdec7f3a4ef9a3d5ee162094f2a4c80f00e68faa5494e3d23b5206f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74acdbf0b540f89a66a75f708ceef717cc65950dc6bb634cfc7802b36da1c852",
      "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 · 2.144 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]: [-0.3603, 1.4712, 0.728, 0.0818, -0.3107, -0.2356, 0.9983, -0.0193, 0.7757, 0.5518, -0.3847, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3973 left_y=-0.0882 left_z=0.1069 left_yaw=0.0132 left_pitch=-0.0627 left_roll=0.0095 left_gripper=0.9983 right_x=0.2863 right_y=0.0033 right_z=0.1601 right_yaw=-0.0027 right_pitch=-0.0381 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.1299, 8.1983, 1.8584, -0.0513, 0.2027, -0.0122, -0.1709, -1.9897, 7.1726, 1.9414, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3603, 1.4696, 0.6651, 0.1833, -0.3218, -0.2367, 0.0168, -0.0193, 0.7391, 0.4793, -0.3504, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3951 left_y=-0.0853 left_z=0.1016 left_yaw=0.0223 left_pitch=-0.023 left_roll=-0.0001 left_gripper=0.0168 right_x=0.2795 right_y=0.0034 right_z=0.1437 right_yaw=-0.0031 right_pitch=-0.0397 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.4068, 6.3248, 1.8535, -0.1245, 0.0806, 0.9402, -0.3077, -1.6479, 7.1043, 2.0049, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7345, 1.4452, 0.503, 0.2264, -0.588, -0.4576, 0.9944, -0.0193, 0.717, 0.4404, -0.3305, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3229 left_y=-0.1548 left_z=0.0687 left_yaw=-0.0205 left_pitch=-0.0157 left_roll=0.005 left_gripper=0.9944 right_x=0.2759 right_y=0.0035 right_z=0.1357 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.7641, 5.094, 1.5018, -0.4225, -0.0171, -0.0269, -0.3761, -1.4427, 7.2, 1.9902, -0.0904, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e31e3a0653abf506db8e28029a74014374671409a60808dc8f6400a06eb61af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53cc0323cdec7f3a4ef9a3d5ee162094f2a4c80f00e68faa5494e3d23b5206f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74acdbf0b540f89a66a75f708ceef717cc65950dc6bb634cfc7802b36da1c852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeRN31piWAhv0IZzHHXPVIQJ5Ld1xo_y-qjbMf3-mpU_QJNetutX6IwzrcW2swl28dkg1oHGU-TnKtufm7vKArDB_MH96ub7fUWFU1ryFJNKFahkXEoLPgTQmBED7wNI-6p7sZDREB_5CANftiu6WY6cVNaF_0QW8TTLjFdfuM-XvM5ViiSmEsMo0R_j4sYeD___BZu_RYMwadY3J6z0fUJNoYfWuhSnDU23iKi4UmtUuEfvhy8YAz1CbEtUW_tyP61OTNwFHzude6jPW6_0W7d9GkohzOS0ds9E83EDh1IJ6aq1rXNFmrU1VrM-qcAi_xnKuOb8Szc-4yTVfKfkQmskOhRjZaahyYWuVl2CHgY2LVJ5iFqzEffkVhGZJP7_6d_8dTz5TKr3A7ocYEPhq5VN2C2_WXsq5UQm8rfqeZWGF5TnvLi31u5rlDyw4ZW7gFRsR5WHv41hNTA9ek747nnoy1BinJMXz2EV4N_7fz_2zzZ3q3A1b7M1bdFPDjTcEoO7eTwNSYtcFzLh9h9_Ko_0nkJYNJ0k0ScxoFEsrH7iTrcumRTMyoYwk4fFB65X7xRg5ITxf7xVNHdKcGJALDzZbnxPaXHtDDc-XbsCvIup4wWo63Ch-kxd-ZOjA-PQuaXe6Ar6RiYcVt-ka-XFCK0Gv0zfBMa4GosUTQ_vdjKY8MnDFQO_9gIxAT1ebf2akapyACzEHXyBTKAuvGrnEEr5qtiFoWifkQtvDcBhwG1kq9C4f8COtkzwhwYvfNRhUTxgDH0CMaJdpcLTtq3wrVyj3_n0M0pFVgRegBhhFpSlI3FQKWeXNReW2Nd_JAWshaUfNH6eLcmNDPT6aXSZm6WHJab7TvO8URsfzUxk-E9C58QgzyFyknBqvSV1YCNhd2Tt0-hJy-IgxHRWNKgTN8FADuVT1RfxxruFMmShFIum_QoK4E4u_JwzuVxcVXJX6FE3cawJy0Ne6QutL03Cb0gtFEpFjwSdy2VwxtpEWFfFTWPdoEkPZn2DmCV0yfFabflhFIeJqR83cydus9HB9FmGy5DjhfOC4s7LRENFpmhN4pu4MmPYP_m_on_P50JAKCjhSX7ETlVOdSxJ4ruFWMGKIv9Sz1Uji5okkqGB9MfiFiTWLqPlo5NMRw63M-I_DiiNRUH2attD8JY8wokkgu74oxOO5MCTHyJ2hmUTdLlTyU8LOJRwIHf8uHMdkM00NHLZnuD1nlX1-KX2vqBgoMNzTF4CAZLspm3V6dNS9FyB6aMnDZTZlruL8Md7_5ibJaT-_K7RIQYLRhHl7vF1DCkMtGeuyv3KFC9TfjtrV-u4EhvpRH6BSb90k0ActOxHs81qiNymjmrPj7D_ejnwdo1ojDHE6FM5-IFeKPB5m6jRxXMtmGGl467AeurLCWajtNVlDm-pjeEMz_-VmgiJL8sBJoKBXwc6xSi72XeO2aVZe5k4ScI8LABAtRPs3Eh2T2xxrolzqkqU71QD8_VTWtFLcL7wkazTWUcgBorJdpmb1sdQCS1mxvN5HoCQkkGIeGeI5AT5SRafVRbFsfivWFZHnV_eYgAOYHIpPVDcNb1_TbtsSbJ8BS-sWZN4jlcTDfPvGQBe6NxJM0sVkVwuk8vLehWTxLZqem7GbWqwA2c4DyV3xo7OaSC6XJ4KYVDAtU7xaa31BQPcEH7Far56-3J58HQWD4uVn4Gk9d8oFttoz7P3VzruSK_7i_wk3VQSZbFoxGLJOPmVlItBZTO9TvXGKpa1b2tIno-3JecwahnxKkchkP7p_LE8CxLfpZoMdzKySEBXLpenq__sZL93cB2gVooP1LUAXnjrscHYcaPDraoR7j96tuCwXCsKqk0k0RiHmqFb7wN2rNOFha069y2R-Sf5OF5Sb2N8XvQD99-kc1n37lLMhWaEj2l_peqHkD8i_qMRd2VhKtadrOdBoJjuDsUdR0MruBudduLw3hb95F3gIkR667pDN1XkTr0MM-idlZph8LVFig6XJbn1Mzj1il_UJOQX7gtJlmV9dbo4fZ2QJ6bmxMMFnQZUAZ-91GMYPEvFA4i_AzUWOa_SS-uBR0jVdTM8onAi0TKbjXnuJYT7LaoPJ4QK3BuVX4vBq6kAUfORS90vJWdmkA533BMMK6TEulYDc1PO_LGB0xusCPEfhCCzEXoGUV2XQkT6GIq2iAysEAcIbcmcWCyz_0gCU7NtbUs3blMeAMj-nBMsJC-Fhvo-3tyzz2g5SLPb6le",
  "id": "rs_0796a69e9d0ad8e5016ab4278ee05887d08f7e54c42bab8a46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.15,\"left_z\":0.02},\"note\":\"From this retreat position the bottle’s wider base end sits between the open jaws in the left wrist image, and the arm can reach a lower height here. I’m lowering beside that end to try a secure grip around the bottle body.\"}",
  "call_id": "call_39SCKC1JPgxFvavhfM9SLC5g",
  "id": "fc_0796a69e9d0ad8e5016ab42791054887d0a30c4281702047ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_39SCKC1JPgxFvavhfM9SLC5g",
  "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]: [-0.7227, 1.6482, 0.4068, 0.4759, -0.5816, -0.4603, 0.9956, -0.0193, 0.6971, 0.4061, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.1451 left_z=0.0121 left_yaw=-0.011 left_pitch=-0.056 left_roll=0.0319 left_gripper=0.9956 right_x=0.2727 right_y=0.0036 right_z=0.1287 right_yaw=-0.0028 right_pitch=-0.0339 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -6.3248, 4.506, 1.7363, -0.2613, 0.0952, 0.1148, -0.3897, -1.2923, 7.1043, 1.9707, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf282b437fb4a3b48a9d787c3f7325f23acdd4cd2cac4eb67fa9bfafb1d8466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8399728b0993be084c1e349eb2f4885efd24db6fbf13e4606c6776ad4ec800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a32b66d259af527bd31c41bd4c65758cfa9b11b934da5ec6a82c6d4e08fc8d",
      "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 8 attempt 0 · /responses · status 200 · 3.222 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]: [-0.3599, 1.4693, 0.728, 0.0818, -0.3103, -0.2356, 0.9983, -0.0193, 0.7582, 0.5175, -0.3676, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0881 left_z=0.1077 left_yaw=0.0132 left_pitch=-0.061 left_roll=0.0085 left_gripper=0.9983 right_x=0.2832 right_y=0.0033 right_z=0.1526 right_yaw=-0.0031 right_pitch=-0.0377 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.9658, 8.1846, 1.8437, -0.0415, 0.1978, -0.0122, -0.3214, -1.5248, 6.8718, 2.0049, -0.0317, -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]: [-0.7345, 1.4452, 0.503, 0.2264, -0.588, -0.4576, 0.9944, -0.0193, 0.717, 0.4404, -0.3305, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3229 left_y=-0.1548 left_z=0.0687 left_yaw=-0.0205 left_pitch=-0.0157 left_roll=0.005 left_gripper=0.9944 right_x=0.2759 right_y=0.0035 right_z=0.1357 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.7641, 5.094, 1.5018, -0.4225, -0.0171, -0.0269, -0.3761, -1.4427, 7.2, 1.9902, -0.0904, -0.0708, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.6482, 0.4068, 0.4759, -0.5816, -0.4603, 0.9956, -0.0193, 0.6971, 0.4061, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.1451 left_z=0.0121 left_yaw=-0.011 left_pitch=-0.056 left_roll=0.0319 left_gripper=0.9956 right_x=0.2727 right_y=0.0036 right_z=0.1287 right_yaw=-0.0028 right_pitch=-0.0339 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -6.3248, 4.506, 1.7363, -0.2613, 0.0952, 0.1148, -0.3897, -1.2923, 7.1043, 1.9707, -0.0806, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf282b437fb4a3b48a9d787c3f7325f23acdd4cd2cac4eb67fa9bfafb1d8466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8399728b0993be084c1e349eb2f4885efd24db6fbf13e4606c6776ad4ec800",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a32b66d259af527bd31c41bd4c65758cfa9b11b934da5ec6a82c6d4e08fc8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeUbb-pBkurfg6yz5ch_scp9laQdOViwQohQ5ksbT-yKjCgWsGV939YPn6quqZJqkKSQNGN6KlS83M9gCQoGdsY8HU-9ogr-MI1MRmpXYdkkX3hAI6F-PXbemL0Bs4bSqItHYc-LGNU8_XKMbQWnclXvGfjc3Hk7ErP9jf_FqD7JZ4ajcfXI6n3QEL-pOoFFcOjciLu02XsHmshC0C1aVAvVuGqVDCQCTLpQpDjF0nblLBrKvyC9ls5g0RmT_clztJZWpa1zWPmqPGVgXN0Ibw0u95i8i-cVNwmS1wvtH6MfeSEb0Pg5noWlCgC96K9C0BoDV3H0i6zOEsnpN-negJ9Pcu-ojIuKfwgMccGW5S5QJXV1mfwmknRNj0sQvWpYPw8tS7tz3h3ysZovIW4_NnqeMPQXwTq_QvRjS6mCknYRrdhyQ_rRpl7dWnAOxyUv_UjTVsJtVJ-6Fu-PlXmQBlS_0vqNdnwDDs25hvhSI4QIXiEFXkd-Akw7Ub712k8KlfaQOGNA2nog0n0cu7_P5xLYIBI03EFgqjgfQfNOWnO60-gEn_ywlvY-9yS5Afkc7NrTXr7JD4BGIoWIq8nCWBwdvbk5ktsxSsqVlEKpWPqzv8oBS3c3ADNS6EUJ3fJpeI6xPWWoJhnG4bF-Ou7yvJHvUgJf_7XYT-9Ygh1WctRoT3C76GS8VCfQxcxvF4Nj8VZY_1ARKZnu57hDuj3w_21LXSXEww-hjrljg2RdMkcn_nueFKMdJ_53xcxn_bEIEhjfONfAlie6Ojwe_z6ucKvpABo_7sw45EXa643dZovmpGy-nl2vZeCS7TftJg4EZXBrePcLY2CCmZe_M2r38oKcLoDWrHlc5AxLrX8WUljTNCm7n8pcOcRWiWd7wjiz3IXacI4qVCRPqLXx58RMsglcFpGFZIeO4yDc1JPRB_skZWvorXwCns-sPqL1tFwm8ccZfMohWSmqSbi0kw6oFONv3n1JtU7WHu3W1Pr_0zkM64KdXcg3CjxZNAW1KTjyQN9rYWEnXofmTYXDsQFp0q1FeL3xoBfZbAUzZC84f0KJshRCuKPQgdfLqS5YvByRYMpLKSnl0Jssfhwq3AYV9PUP0vd-aBrp-pqwEhxZBtNjzvF5xzHbxjvBP2q_owAN96qhUJmpSz-Hj9hnmIr2ujtKL1MMtu7CgOnX6hxoHt5jznmFmnR327xK1A3oAG6skw-GqQf_22KCPXifOUeaI3B1k8HnWFk6eYjexdPjdEO-bIVFgNSFcmULPWwnvY5R56JhIX1GWROHwAwZGugKyLhWVXZow0PycaRVf7gAPyCVbnUjElpKAxnQVUufZnuDy8Mrd4XgLTNrNigEOxuUOXQtCWDmiNE_dYC-MKVdmwHYnc=",
  "id": "rs_0796a69e9d0ad8e5016ab42793196087d08eb6c557a88313a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lower height, the bottle’s body crosses the jaw opening instead of sitting entirely ahead of it. I’m closing to check whether the fingers capture the bottle near its lower end.\"}",
  "call_id": "call_D9ddy9EwB6CdQh3VFdx0DL7y",
  "id": "fc_0796a69e9d0ad8e5016ab42793a00c87d0b390392b4f1933eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D9ddy9EwB6CdQh3VFdx0DL7y",
  "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]: [-0.7315, 1.6775, 0.3569, 0.617, -0.5846, -0.4492, 0.0168, -0.0193, 0.6785, 0.374, -0.2977, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.1471 left_z=0.0115 left_yaw=-0.0246 left_pitch=-0.008 left_roll=0.0024 left_gripper=0.0168 right_x=0.2697 right_y=0.0035 right_z=0.1219 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -5.2581, 4.1094, 1.663, -0.315, -0.105, 0.8767, -0.3761, -0.8547, 6.9538, 1.9951, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6309d12873efd10601373983c1ce143b528bb14c378e737ad00133b349f431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699f1271cc451d806d8ad5a13c7c8bbf513b73d8464c516ccaf3c39d153365d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18be983ad166471ed400a4e3a77c6275e16d43dbc270a8aa7de55de8d484839",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 5.247 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]: [-0.3603, 1.4696, 0.6651, 0.1833, -0.3218, -0.2367, 0.0168, -0.0193, 0.7391, 0.4793, -0.3504, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3951 left_y=-0.0853 left_z=0.1016 left_yaw=0.0223 left_pitch=-0.023 left_roll=-0.0001 left_gripper=0.0168 right_x=0.2795 right_y=0.0034 right_z=0.1437 right_yaw=-0.0031 right_pitch=-0.0397 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -6.4068, 6.3248, 1.8535, -0.1245, 0.0806, 0.9402, -0.3077, -1.6479, 7.1043, 2.0049, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.6482, 0.4068, 0.4759, -0.5816, -0.4603, 0.9956, -0.0193, 0.6971, 0.4061, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.1451 left_z=0.0121 left_yaw=-0.011 left_pitch=-0.056 left_roll=0.0319 left_gripper=0.9956 right_x=0.2727 right_y=0.0036 right_z=0.1287 right_yaw=-0.0028 right_pitch=-0.0339 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -6.3248, 4.506, 1.7363, -0.2613, 0.0952, 0.1148, -0.3897, -1.2923, 7.1043, 1.9707, -0.0806, -0.0562, -0.0122]",
      "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]: [-0.7315, 1.6775, 0.3569, 0.617, -0.5846, -0.4492, 0.0168, -0.0193, 0.6785, 0.374, -0.2977, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.1471 left_z=0.0115 left_yaw=-0.0246 left_pitch=-0.008 left_roll=0.0024 left_gripper=0.0168 right_x=0.2697 right_y=0.0035 right_z=0.1219 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -5.2581, 4.1094, 1.663, -0.315, -0.105, 0.8767, -0.3761, -0.8547, 6.9538, 1.9951, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6309d12873efd10601373983c1ce143b528bb14c378e737ad00133b349f431",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699f1271cc451d806d8ad5a13c7c8bbf513b73d8464c516ccaf3c39d153365d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18be983ad166471ed400a4e3a77c6275e16d43dbc270a8aa7de55de8d484839",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0796a69e9d0ad8e5016ab42796481087d0bfeca8e87515154d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.15,\"left_z\":0.026,\"left_gripper\":1},\"note\":\"That close was empty: the bottle’s end is still visibly ahead of the fingertips. I’m opening and advancing the low gripper several centimeters to place the bottle end deeper between its fingers.\"}",
  "call_id": "call_CfDKwohvqN3D80jmgGYr0cCF",
  "id": "fc_0796a69e9d0ad8e5016ab427978f6487d081b85ed666d4021d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CfDKwohvqN3D80jmgGYr0cCF",
  "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]: [-0.6193, 1.7355, 0.4911, 0.5755, -0.5106, -0.3885, 0.9948, -0.0193, 0.6598, 0.3447, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1443 left_z=0.0207 left_yaw=-0.0026 left_pitch=-0.0097 left_roll=-0.0049 left_gripper=0.9948 right_x=0.266 right_y=0.0036 right_z=0.1148 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.6547, 6.6393, 1.619, -0.1245, 0.2418, -0.1978, -0.3897, -0.9915, 6.9812, 1.9756, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e821f3b2496568f4e0d120b992efa03b0a51419e9e2d2fb2299e1b8831f222",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b213cb45fee47d1f2172c941110be78d347918af649f661a6268d61484ede31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365fa57f39bc1a4204bfe642b55378ce4a0438a3505d6460c3af22fe70741ab8",
      "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 · 3.551 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]: [-0.7345, 1.4452, 0.503, 0.2264, -0.588, -0.4576, 0.9944, -0.0193, 0.717, 0.4404, -0.3305, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3229 left_y=-0.1548 left_z=0.0687 left_yaw=-0.0205 left_pitch=-0.0157 left_roll=0.005 left_gripper=0.9944 right_x=0.2759 right_y=0.0035 right_z=0.1357 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.7641, 5.094, 1.5018, -0.4225, -0.0171, -0.0269, -0.3761, -1.4427, 7.2, 1.9902, -0.0904, -0.0708, -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 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7315, 1.6775, 0.3569, 0.617, -0.5846, -0.4492, 0.0168, -0.0193, 0.6785, 0.374, -0.2977, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.1471 left_z=0.0115 left_yaw=-0.0246 left_pitch=-0.008 left_roll=0.0024 left_gripper=0.0168 right_x=0.2697 right_y=0.0035 right_z=0.1219 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -5.2581, 4.1094, 1.663, -0.315, -0.105, 0.8767, -0.3761, -0.8547, 6.9538, 1.9951, -0.0513, -0.022, -0.0122]",
      "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]: [-0.6193, 1.7355, 0.4911, 0.5755, -0.5106, -0.3885, 0.9948, -0.0193, 0.6598, 0.3447, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1443 left_z=0.0207 left_yaw=-0.0026 left_pitch=-0.0097 left_roll=-0.0049 left_gripper=0.9948 right_x=0.266 right_y=0.0036 right_z=0.1148 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.6547, 6.6393, 1.619, -0.1245, 0.2418, -0.1978, -0.3897, -0.9915, 6.9812, 1.9756, -0.0562, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e821f3b2496568f4e0d120b992efa03b0a51419e9e2d2fb2299e1b8831f222",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b213cb45fee47d1f2172c941110be78d347918af649f661a6268d61484ede31a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365fa57f39bc1a4204bfe642b55378ce4a0438a3505d6460c3af22fe70741ab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeeuhT-Oqw0pnd_lZwRkhPPytnDwT5uE5x3CL8S8LlXRcH0UVrILtqM_gTM3fESKCiLKHghebLtlNQN7xv4Ci8p3wWQrnXvqazKXgIf2lasRKGzgi0bxyid_RgJriVo0Qh2y8TFuWkBsbPHBdTfgpuKQqZALpxA6tFI1NnIvys8jr6giZwBDlS7B3sKlcXO89dqxFuTyvbHwbOMCVoZqA1s6hZRasLYOOvknpMcnRitehx1QOxjElEx_fHp-WRXYxf_zK5739Wz1VRDmRkPgBCZTlDwgmWkTb-a7Mu2Wtig26R0dFgWyouuTLcVihDpC85VQVJ5EjAaF8ArFKK95-J74wlx2Yy827jatMVdFy_RgMFLmwc6zuRznJ5ZQEYJwRa5flk5o1WTfFY7T2mapbIRKEy0YVfs4z7K6CkeO9jvQtV8kxo90gGpRjFAtp8W54-_mx-rr6R3332GNb9rkH2vfVQnhgMkeWZms0rjdwMfC4oxI9-SS8EiuoZAgCTPC7GKC9fX-CndwThKoGDweSfDdmyaFY54xXIQsR1yq6uLoyiiRAMVelcr7bH8AkumiSKHGvkkLXwDioKwN-0kumpc19ooFnFcB9-eWpulkB7Rako67Tf8YkRQuEfzgT6WebFyK19E4RPXPD96QS25ZT2h4Eo2qxYzD8ZyBEuKBa42NZ95zpGKBXBrJZ7Yg5YEyiqVedmf233fyxBUf8tvIETERRaTmDpGegMYxQP57nK4y65bheG2E-IYui4I23O9J3GRjhdgzDMlu88zLki9LiT24w3AhUsdgHHF5-S5Wz5nIMq_473Mgnl5Bh45sDvDzMYJ63n221z6pUM_A1hHg_P9V_LwfP_Cd57d41dDCe45ykn9TU00ZA5ow3sjmPsFcQhJBFv5WG925doWgav-bV_6uuEK---TX7wOCQbJM2hT9kI713O-doAfqInaube7P6asgraL7bI4BD9Z9bG60GZ4Vdahc-8xSze-qKifks2U58s6cVfzUVXtfrBRiZ-nxKsTFVla2GBQLlo4hRgLSnThEk7H_KyQ2hdK3TY1QvxzrLz-ySTO-85ZgVZvpYohX2e5py2jOt8rzwsoBlMViuaGuNLzfRNtZU711l1IlTQLNa29RSDU2fp6tLsghkr7Vi1qHK8enSjCdf9Ww_H7eNnD69MrJucEK2QVYBPQd7qBZl9sBlPAfNPLHEJoeqKakCaJCOOJOnxqHoHydlpo8LqWABDZx8v_30M-pQLrIXHKPiepEzL80ibzJJ5Bsqv1BmKCqPtGQMYJF2zW3rJLxAhc-EVg_F4bn2agi5CBwCBty5U174zLJvBZwPTNoEYi7vWbR3kJPPVB50llXClOiYk9vbdeh3o5LwpfYatfFVh6CBdDcjxOOJe8fTVCKWQ6ofACz0TUlTCbSyThA8o-sYF-fivq3iiVBBrglwwV2F9-LvRsbAgFHEUV4JCWnGBOlr4UWRhWd48pJxVmKYtGUgnGFnOn8tXXm10Mb7s9T1hiJIGv3RxLawmxaOLbOUsdTZqxoNiLT-IpFNcZnZ9mKmr-J5qIdVvqAXpxhOqiOv3S1hFBd7gD6_c8wS0SWu4B9O2OoZCTyB8i3f1PClpvTfO1GcnGjtXy9oyiGxV_k2lcjVxidAdlH900P2qB80d2NmJSs1d8fZTuuZ9js2fOXWR1paIKFqXoU8HdB6hGHwe0Q49TNsj5Q1aYnSeO9lDDCTf_JYF4yHi2Vs-XLs743PIkAN38pWAdXpy0ZVDX-kaJO_a7-Ji15Vv2ZgtE-G74VnnvD08vsM53UNPQ86-iSpSaCVzy9aE10bsnizfmMHq0DspwEBNdqNgyGw0eU3Oi0GZbF7IIvyvhie_GMcA4lLlpwFcT4Hy8t1wL1Y_5RGX85CILY7j7cbbl_Ml9Elus0uQLSKBNr3zfF3Nytep2vNanBgyxk3ARvMkNyVHSoemj1JwnuQUIisOHk59bLdlQfXFtbA3vjk8JtgXkoG9ml3-vY8RfLZMQnqdCURQvOnTbs6UISg_M4VLfDQQ-bM99wcbx8U-h2482EDb8DlPCxq2QRYHI_SrtN2X01XnBxB2rTNl_D9tBxaDlZO3omNCGvsrA4sJjaxonAqFBJfdnb1HW7MtUc1IpIQkUxhU6Kk_nRkHoTD6x1nH_3F39SSg8X3o5vi0uqMkuHXnBxmZLWswQsIZ-OERZv6HrEp3RCCX1sdI0WHzfyrYjZCf8J4BqJjfE0WKMIx4VdbcxScnO3s791o-uz4L0t4KoVecvEcjjhmdxUsB5XkjXKYFUJ65s4htreLx8gqQHIwngqF18QxIBnB6WR9PHLeRL18vbBWx6NU-TpWXDefCJ1d3x-hPJGm5773r9pHuNm0BoLnDHEXyjv2FJQgsXkHTIDIP1BHHAWQcJSNW9alBVcPIViCi7RM53tYIhc9rp3RN9nqL55UvdOZQhsp_hMKZ1NpYKUc_8SEhYV1YY49UCSmW5NlrprcNuDTIHZfcyYJQZ6YmJu0n26BHrrLeVJRY5FUrZafwVkPt-rcl5UFt6MI8UNbs2_96rcoB3bpn-xYIyj4VvKEDyLCQLbkTT4fPEFrmikZUGHfXIs7A7su0bbHtCbisC49aFYBvaOvnAqEXpK1nvwl2EboqnNQ7z_9h3DCATnUflyljKsmV3Ojd0w7PoIiMVdWmKOj5CACADpkeEoLTNVHfYZ_KZIARVvQDxqf6dyaZPTWb-MvSxer_ba04L8iuEb2M2-UADNffoUn3DMQXzbXJh8oKoj8pHN4QmP-UxwVppoTbGRV_nE20vXVIxvQdkZHYSElnmtZfVr-HCRlKehloTxqxyvWjzDz8oD7KoYDbISckhTKy5tM9zjtBlLnp1f6JJKX426FLkUlPZHE4uT7RhDrZazwjy-3rJRkcpmT9NnIZ0_X_niAWAOumPCkyCThY2WHV-MAFUC9Khe7pG0NAFCnhhCvpdF1YJjXmVObhPBkA=",
  "id": "rs_0796a69e9d0ad8e5016ab4279a42d087d08fc89af471594c8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.392,\"left_y\":-0.185,\"left_z\":0.035},\"note\":\"The low advance rotated the left bottle on the table; its broad end is now ahead and to the right in the wrist image. I’m moving the gripper forward and toward that end to bring it into the middle of the jaw opening.\"}",
  "call_id": "call_Tt6QpaW7ozWWpREcX4sLLWCN",
  "id": "fc_0796a69e9d0ad8e5016ab4279db5fc87d0bdc22788e575e98f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tt6QpaW7ozWWpREcX4sLLWCN",
  "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]: [-0.6582, 1.8286, 0.6777, 0.4644, -0.5472, -0.4122, 0.9962, -0.0193, 0.6384, 0.3126, -0.2729, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.1771 left_z=0.0281 left_yaw=-0.0001 left_pitch=-0.01 left_roll=0.0041 left_gripper=0.9962 right_x=0.2633 right_y=0.0037 right_z=0.1089 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.5692, 5.9419, 1.5165, -0.2662, 0.0171, 0.1245, -0.3624, -0.9368, 6.9538, 1.9121, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cd9c1a9b641e2a1e158c425f9fdbd297e37a44546d411301de1646b4d86397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc93a3be116d103f6457ad460f91d5d33f226dabdb802fa74e79213051187499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d73cf291911692aa83cd00cc5e6777cd2f50082a14966590f08c02d316255a",
      "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 11 attempt 0 · /responses · status 200 · 9.874 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]: [-0.7227, 1.6482, 0.4068, 0.4759, -0.5816, -0.4603, 0.9956, -0.0193, 0.6971, 0.4061, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3167 left_y=-0.1451 left_z=0.0121 left_yaw=-0.011 left_pitch=-0.056 left_roll=0.0319 left_gripper=0.9956 right_x=0.2727 right_y=0.0036 right_z=0.1287 right_yaw=-0.0028 right_pitch=-0.0339 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -6.3248, 4.506, 1.7363, -0.2613, 0.0952, 0.1148, -0.3897, -1.2923, 7.1043, 1.9707, -0.0806, -0.0562, -0.0122]",
      "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]: [-0.6193, 1.7355, 0.4911, 0.5755, -0.5106, -0.3885, 0.9948, -0.0193, 0.6598, 0.3447, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1443 left_z=0.0207 left_yaw=-0.0026 left_pitch=-0.0097 left_roll=-0.0049 left_gripper=0.9948 right_x=0.266 right_y=0.0036 right_z=0.1148 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.6547, 6.6393, 1.619, -0.1245, 0.2418, -0.1978, -0.3897, -0.9915, 6.9812, 1.9756, -0.0562, -0.0366, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6582, 1.8286, 0.6777, 0.4644, -0.5472, -0.4122, 0.9962, -0.0193, 0.6384, 0.3126, -0.2729, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.1771 left_z=0.0281 left_yaw=-0.0001 left_pitch=-0.01 left_roll=0.0041 left_gripper=0.9962 right_x=0.2633 right_y=0.0037 right_z=0.1089 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.5692, 5.9419, 1.5165, -0.2662, 0.0171, 0.1245, -0.3624, -0.9368, 6.9538, 1.9121, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cd9c1a9b641e2a1e158c425f9fdbd297e37a44546d411301de1646b4d86397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc93a3be116d103f6457ad460f91d5d33f226dabdb802fa74e79213051187499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d73cf291911692aa83cd00cc5e6777cd2f50082a14966590f08c02d316255a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCei8G2b4UnEcn_GXb5Pszwjap8bS0jP6-eZXUM45VkKH2DslgyMpeZiXiXmCmys6h-UAcyMmiYCc41pfOOijU32hbq3YjQOcuTZ8sDr2V71E4Y5MIAq-oOgj6VC8EjVnl-5iz6VwkVmn3-0Scgi9k5qUF4HaUDAiGhsDdcINafZ_AFfQYK6w1C38zVirSPPj1ION0asctkYkHm7CFfL7zNCCE6QVTcKtVEd2_fxD6GRD5-jcfJ_iqakKDoi_1Z7cF1eXAkMucqLAMBH5V7YQwCRiCd_xbufsRAC-ODbjgWqlygOrm-wkbthdE7BSunZz11_NPTvN03XxUCPHu3iQlAXohMfnVdbkHAUAxZtakji7ynfU63QHYR3m86nIHG-BuiMeTZWYitat0tXK6mTLuiWFxpz3yJZ--dgcu5P9XbLkZDXYE4RZ7rKe1jRil1eN3PrYKKQt9AgP0jE6K8omO3VDsRJ_yKRIFY3huhW5ANQX-HTnOtC35Ww0g5wwpYtmkLuy8_U0Yo1oy5-6Jdfi3Fg2GZlFkgGTEni0V-IrlTi5o26HDSxjYaAa5cpwYbZReOLW3ElUDS_yioOpZkgZ9ovHfO5okSI02gDmGUy6wF9COOgH7jR6LD3nd4GoGICreM_NdEAnxCxfMa3n9NfaHTjV9mxB87QktucTNIj_0ipuIdaVRG_pifNjw0_KqVzu3gVCp-mvcbNfGCy7p5pIbSYRDXbomFuJyvc58c_0g982XceUrHyTeJNDQn4aLYoyyxukbhoBOsk61TVDRetE-reBjM2keW-5HAULve7Z-l_5-ZVZg5d4hGeOxob0fBKJ8Nsn783sGndmu1Ju8WetSDwJmEWKUg4y1duTcW_n_2vRWsBZy-kfxz0IZopyjza_j0ADwbjfR3xDkQ8Hq7PuW-UD4iQFp5awYcMiK9_2ugoPjzT-nAE60XlcXU4f215oaRMJzaaisl6WqmDiP9OQ5E8Pdu9CXpGAN8s5H6foO9nQdFW4c_BufQSabZfKk4xNx9yt-aAB4vpMuO4TcZq69kK_ADYHN1tj7MgRL89ONjE8YxRlPwssstxxOCYFpjETsxHJeJYHD17qkjGUlLXEsYpkdkIFTK4PXPxwb-VI1CgjY2nV5DtHVxKOd0MZVtDkf94BY4UxJN51TkxVQftl5go5pt_zt9DeWUwvCigU7LaCH-z4YXbwXJwphZeRyybssDSen6lMGQxrGT2bwkn0TpBnMWavv4tkML-oeiRviC-qCvtCMFR-VSna-WV9u6IDwEIH_iGw3fgPOCMgtgXrGINTj-00rtJOdgU43FBNfvaOcmiAl14bIU5PzeULdwkXlXvbhZRaD6VdTT7BdhpxJpmKGova2owzFqFqXHZEhI5zMx0yOkTYeUpzgh5w7bdLmi_iYs7V5nzGBHzep3YSMJcYP0out0zhaM_nTwxcOE7D_Hnm677NbQcE9VQhvnoYu_BIYYMLeb4LUBGWISO-9KoBQdAIi5h-5PYR0scljTJzcLIA-_F9BYPmQcjtIaWcLG6uiD199-hFSk8PnnCxJZe1Ax7UDaxmGtWWdknhzaPLOC9S-C4V4aUG7jU1u7kPCJn9yzZvtFYIF1HF2Mei8lRBDxwJA1bd15n2xlJWDUMJQEpK16N_jMWnPprOxZ5o3Uk",
  "id": "rs_0796a69e9d0ad8e5016ab4279fdad487d0be50e5deb225e396",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The rotated left bottle now spans the jaw opening at low height, with its near end around the fingertips. I’m closing to see whether this alignment produces a real grasp.\"}",
  "call_id": "call_bGrSptGuNI8UHTv7EtSHkgPk",
  "id": "fc_0796a69e9d0ad8e5016ab427a0e9a887d0b0f183edd96e1849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bGrSptGuNI8UHTv7EtSHkgPk",
  "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]: [-0.6605, 1.8328, 0.6701, 0.4667, -0.5468, -0.4191, 0.0189, -0.0193, 0.6212, 0.2897, -0.2646, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3826 left_y=-0.1764 left_z=0.0244 left_yaw=0.0011 left_pitch=-0.0176 left_roll=0.004 left_gripper=0.0189 right_x=0.2609 right_y=0.0038 right_z=0.1044 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.9521, 4.7385, 1.7314, -0.1978, 0.0659, 0.8278, -0.3761, -0.4855, 6.735, 1.956, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894f5b7f5345ce714a13418f95c74cd1a417b514a578295ca729fa7c93c346a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ac9586bf86a3fd55d7c97349688e2afdacf74e2f7c476df46e68e4a985ca29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0450f2ed8d020dda97edc0620dab557a8456096de787f68e326c5328ffb7c143",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.903 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]: [-0.7315, 1.6775, 0.3569, 0.617, -0.5846, -0.4492, 0.0168, -0.0193, 0.6785, 0.374, -0.2977, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3152 left_y=-0.1471 left_z=0.0115 left_yaw=-0.0246 left_pitch=-0.008 left_roll=0.0024 left_gripper=0.0168 right_x=0.2697 right_y=0.0035 right_z=0.1219 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -5.2581, 4.1094, 1.663, -0.315, -0.105, 0.8767, -0.3761, -0.8547, 6.9538, 1.9951, -0.0513, -0.022, -0.0122]",
      "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]: [-0.6582, 1.8286, 0.6777, 0.4644, -0.5472, -0.4122, 0.9962, -0.0193, 0.6384, 0.3126, -0.2729, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.1771 left_z=0.0281 left_yaw=-0.0001 left_pitch=-0.01 left_roll=0.0041 left_gripper=0.9962 right_x=0.2633 right_y=0.0037 right_z=0.1089 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.5692, 5.9419, 1.5165, -0.2662, 0.0171, 0.1245, -0.3624, -0.9368, 6.9538, 1.9121, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6605, 1.8328, 0.6701, 0.4667, -0.5468, -0.4191, 0.0189, -0.0193, 0.6212, 0.2897, -0.2646, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3826 left_y=-0.1764 left_z=0.0244 left_yaw=0.0011 left_pitch=-0.0176 left_roll=0.004 left_gripper=0.0189 right_x=0.2609 right_y=0.0038 right_z=0.1044 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.9521, 4.7385, 1.7314, -0.1978, 0.0659, 0.8278, -0.3761, -0.4855, 6.735, 1.956, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894f5b7f5345ce714a13418f95c74cd1a417b514a578295ca729fa7c93c346a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ac9586bf86a3fd55d7c97349688e2afdacf74e2f7c476df46e68e4a985ca29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0450f2ed8d020dda97edc0620dab557a8456096de787f68e326c5328ffb7c143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCetAyLgrTyxaDBotT5mDvdh4YE3HlNlOaMWb2wodNH_74VNFwZjpvyo4VUTDkXo_m3D1t3Z7zwCXi0WUahvRP5fnnGFG7HSB2HN31X4OiFGuDdQV9jysjCsThaqwAh0uEz9BHTPEvS0lJVq8ZacYV1xXhhmr3ajUAkLv_ljoZ1KirSdybKnRTCy0gOW8xuDkS0Mn8C3qEbCI-OLB2SDLqKcdCKqIiN2My0fA8kJUHuQSPJWhebIqNHAPl9u6T1T-eXU6HIPxmd6fSFVEH0ijyLub4M7orna0qBCIE3bPVWRCKNiwzvxWjaXJ3ni18i4Ey-BylXfIa0saZH6tJHz2sULH5tz0AX0YjOJmEUASySjmLXoF41VA1tyZTBeAuuD6Yc2GLdOUlfZ5HK8j_9a7t295LayoDD5qehOY0KhVniVzclxkx3GCoF4p8h1squ4VW25wjOEcgCltH04JX9QogPGB3ArVrCGOb_FDX-ST4zaU_biKMb70334ABLJeUnB217N9pRHS4cmaXbH_sYRFmaUNqbiML4rfT4id5-1D7am81mBKVFoXYO9bshMeWyBuvMCQteUNPqDZdghFvwDZxByGZDMhkBqya4ZLGuAGO5inQ3ratjWaDcsay7-BuRTQ3fd803_XBDC4tdWCQhVbNTk1MKh9dw8w4SHmsum2zpqRNGZDULD4Baa3hv6zYUHn4IYwlCtSZrw3zyTsd5BHowQjR0nH366jmWFATcvAmxsWmXzJ_Wid9R57d1Z3IDtMNIL-n2Tz00xOWnkBMjsLoicSDnI8iOizNzoLcGONYKbaIjcCmYO8VyKEG8DdN1PsnVAQbWUUfoLOdBSIg0fmP96OOLzTdI10C1VybY72a6MttlRypWNYqCKctAYhWclbVIUqpcsJXifImc_MsbzaGApc8AKiwe8DHdH9BDce12OfBDmXYIE8rA1uXzkKUNh3mtwcSckjC_FTc6N_8Zzx8TSGlQCS9bzakApQV6ZGbO3UmqYYISzUpHDr-IioOn0yPxPiAWyMcuJT44zmcb9oGs_icyOGiXI6yYg4NieY2tvYEklU8A-geJ51SoN2FUkOm4Skzi9KPXGUAi4uMXBGDgohlsOFQXEk_Lueg5FhcIJPOaTyeCVVoLb0925F55dAhDQxQgZshXZyYbNCDa5K-KlzPWDznSey5ZmA0pBB-0OMduhgWd7o6QlIAquhDm96bI9VtkhaN6JBd0_d1hShkQEX-kjcFlHc1u-Md14pFRKK_iUiUGrqC8m4du4U5It1muVKEM80DTnbtyMo1pwUMumzbUiAHjkn2TvvEKDf2QYJE_pUXizRAhUlXZGMif6dtW0i775m2SKyNuHmgGrYSRyRsxSxJ9tkMTeGB8lc_Q7LdFC68bp3VTG89dhWsrsvmusjcYs6wzWIXx2MTSjdDCtiXa1TmfdtMW6wmOa6RHQw-AvH22SfvX8SUdN1dP1wtfYahIo41aBFbQO4N3rvD2hitgRdoG-tZgZRf834FMqAsLr7D-ZxvXZ2iXH5_t_mKjuIPYTKS7KNk87P7uHcmvYnCMQnRC7_fUGG0tXpjTYGbE4kEFoD7G1WeWP0f5tN2YpA4nkmoHk0ZitYxrDxyt5IH6KV0htXDIvUfDn_vWsOb1H-rciT4RHublGut-84A3oK3i2qOOXwv-qUnQhOGIOQHNU6lstT_Vt-erAfc-Wx_5MNdbcvWPTzeoL3M-NAStNLLTsmov-_TWXeeMqiFKVrAh3AnHKU62Xj36EChS_4lMh_3pELLiEtBfZ3kq-YGfsIAT1FIYMMRgvgnrfT6En_aNyAs0pMsktGIhJCymioHQVop6SJsgsr-ynUhv4-iru4GCGuikSzyAWQlWbGhJkAFsNSJXsGrDl7iKbrZJ5nQbujEN3tYmYl83-uf2VCnZYsQtYbcHMehoyv4Duj9Vp6mOeMhGHilvmV-Ce4vSoPxs25JF8eGFf2_hn2BoewAla4oGQInIe0L12IbjU9GqODZge1NvGAMxiicBHxulXPXV3F6JNxKHWoDHYvjvd4v5VXkwNJ1ys0WBGIKR6fOqf5L2QMyxghFhGF-3ge03ixdUUIj2TWvpiHhUHNZje5gSH0QT9nVHj8ymlgkZnlSvjvVUNiR9E54NNPvPZ69X6nBaZGGzNM1nKWRUq8xGSXmdW4KZzN98x6eSq2wMA9v7ldFiWlSHKbiZUUWazUGRjUL3gayW93X96nn5HeDtfkYilfGphm6AKlUkR7VW4CZrbiT2XNU9BrXk84pFx1Q5QVQz5T1NV1vW3VxuMmfxRnWDoBpSALaW2X88lzObMhD98NEjURGn7XvXlvTtEQDKZC4tORzCt9nHA_k7phLTvEfWRkn7yv-1awfudN7MbKoZFx4vOEcNWabyaKUm1a0LGBZA2ncartFGQTu6J2OmvZ5iRN5iD32tB28OpuTvPkWqlmJtbOtfidWG7pvTF4hnPYOzDuf4KnRccs3COuFZmE6CDK7F-9DEkW_-YlvlZXWd2hyMRHXjBFr3JNv3ZmBBu_TDJ3UNnj5XWm5o2FntwPF4deYkbnE03UkHyeBPmviEXXs-cNKzqFKApD-s2Ny7V3K4VdEZSKV-JOy_LcdyKmnPMY8FK-D0lvSVTz8Nw6Dxr7fiCZIE6Uls4CIAfkDCQJAm08zGJdJ3xa7dZBdLnXLd5vk8b_nnpjDTnLrPDLZ4aE4o4-uYvULlODQae1VyLXl6vfnTeTEkLjzDCMoNR8-mvOQPYPu1s2viBOXw77zqW-png1WqVU1-3frwhTcK8HeysOAn5Gdu6U6pHn-cIuTkIqtczrzlqsEFJ49zdvPosGrxFQXiMwORggPPaGp1ufrDXxIB_iuSyvLLrg9GLdMpw96Rmx-OCYk0V1vhvutm_VsDXBLC_CpVbrI3ZuakbUKHnd-nlYslkpJUTSaDiYziXcksQU0-zghOgjxlIFy2BvsDz_vbuTGj4LsFQh_o-yyDxs1ng4XsboOxokSmLt18h5VY0KEtbuKv8cbEyCxft9_bkcI1pKCsiwxu8qVujg9E-RC3okLWrOtJMneR1Ijyh2XegKOYoBsJecqUOEK0_avGopXSQvTgR7k5LrVbd7X7qiLDTtAGVUM62vihiaKTdCF5NKRACzOb2fwJSX9HOYBhlp-V8GngtoaHDY3m6VVPaqaqSVCn3WP8W1kjbWmE-K5_ZhUgWrWg33aMQagzfTz4ap4ptuSu9afX1StvvHDuWQRxGpgUt9QJ4XayKdByJ_90TXjKxWtqcIbk7PGXGUv-zdo_EiHpL5OQRuMyPz6Mey3Tpwl3KDIV4tDAsuotA0w6-gUTk6OV4YGAsV9X3qsJNoj2TnvrFQrwGW5i3BaGz6JQxR5hSt6ZVgz5R2dfBKLbuDtIFZ7cnQ4R_CVKfzSnRTc0trHEQVsF_CJYO03PurUXNka-eiJv54pTDz7DpJHRkIclku-RLuKrkJfBmplwl6CneQa0F3XBYMG0Uoz4=",
  "id": "rs_0796a69e9d0ad8e5016ab427a507e887d0b85f3094d5e98cbf",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCet9K-X7ykOHLl36bLS38XYPiyV1GeqTOK3NkWWQiMY5r1q_UG5aWyTCCWFMyqLdXqwYIkIGWY3rm1QxMI43Vl0DvqB4Jd3ayfdMuHorqwWUsE8i3ow3qGJEmHMiczXETHLaEtnuYF325Psh18cV-wJzJgsii6bAK7Vws80EzsNSq2yPq1Utwvzi2rBZ1sjjmyccEcw3D9peImCC0FFTq3oaSW_P8tqiTAeKeaxFIQ3V37TYlpf-t7RSL1khbes29VOyl3OUP8hdIFZZ7zAhwP-rpLeZJoBbYS5XgDR6GIkhoH7_UBtsNrY6nTUQK484AzBE03V1qbgGJedr3yg3dn8vsvD_GfAkoPa4cHSvqhgE3H4V1anqJ-jaH9hB2d_mHcsVbXU8t7qce7wAeGvsOQm-iU9AYNVe6Q0wjJ-gzoy30s4Y3ySJuSj2uDc9YXH0Iw66shzkD_tifI6wM1W_rX2LuX01ZSRlZPeGVVZIyqWRpPxqyIs4d6oFtAn5gs23h-yyy5DkgTrRCugKm8qMA-_RJGCQlJ4pfsZxghIXrN0feGhi0p231N6hW6UZyByfOJRB54qZGARhNu2CXJefbP1-jTtBb49uclXme6EErVzjZi8XMDFTJqoYfhFBbbE-lZmAqIE1TBRCkMytXax24hYFvQNg4Mr_A-2We0MFDj_Vjr-yqtPKx4xAflQ2tr3h4HpF3hA-HRvbC_7v9Gq9C7iq0EYg3tF3E2xa6mNFLqsKMZdlHmR8-KTEDvoPbI54oaPyt8pc5ZJckp8NB7k8y3JNuJieQKenbVsfVg39sdai6rtV5eUbyy9VndktBfpUCamnLPgb2VN0Op3Ib_M6qHzH-HlK_hFIO1eXSJG2_aUnIKZqOUR32vLxI3DEANlDqybONmAswFhmgHbTrZ31cMav9eURaaAcntuhLxCyyTFXvQcIWvKDTNzi4i0N9f0KomOiiti4Ih-vjJlzDr6u4O4JlUBp8CzQtWfUCgzI6t87t4FpHnJsQwKamB7oNHI2XaAR-9sivIJRbjaS0SdYnC56z7YVQfcQXdaf6C6hTWhEEBFUdb29-4dEoEtKTRAA0ULTZzcVrmdBYBvRLdRDUMbnyZfP0jpMPBtrLykLOPEkiINqGYmsNfhglo2xicQ9cgxNrzSMGntY9nvs8YYcoE52fKbO6lezumAOdfLbN0b_F_FZACmkHCjNUALaSgKmgYMLonY81AtwzHs8NOawbltZ7F4kpNcMnxHOg-0XKvnWd4SxgZlk_sptyzWVvyyjX79D8x4DlqWWNrYrTOzFFEa-iurhW2utd6NQyyNJKhUTwCHkBBDh6EgH17UOycbhxyVgLBH64cMovasK-48RlY7BQQlkSddFkTRhceUALT06gIwQ6NARD6gFEoyuv9MlkNeacWKAxJw4oEqY0u6KbrB8CC_OygeaA9Ku78sjNdAw4EQtaC72aEgQQP-bCsOS-9-5RrimkoTlGj8HHn_kJOJQ1l-wYvuxjEoGfY8rBdoIhjDhEW8NWSAThjNZkQd2j2fmXDkuwchE_l32noOJwNL1Ms8PCuM_kSKN42mv-OHzTiD0107u_IOHdJZrLltN82bhlbxCczf7WKlHMoxR5ZCa2MCk_oXMZKymCkBIiY1AkZsYKX-RbGP0ECA79qBG_GwL3frliI7F8lplHQ1FZOxmH3sdxtF7qTZ4I2RKUHV2aA8ArJiyeSNou8ASCtWNDG-TqonLWBL2XstEJZY6-Tv2IJ9iEr684GMCyJxb2EDRtOy16Xw5RQQ2chJ7xAd13nw-6T6u3SXb2yopGI1cy5hNWjtA4WGlfjv7daNrypBCojmFkxx7b28mM_8PBe-g69THjGjD8eofMAcrjzRgN9V8Tjp-C36Mu4FdqB4Q9z-ArTXoyPEnW1DhWPJzhe9WtElnXKVqtyCeFf3VVy0ukUOQSGRqVQ9CA3hyMgHWmuSyM5HKIO8XfKE5sFCscQCuP_yv79rJammahGgyfIVbzlZSJ2qqrKEcNgbyH40VwC8wolXCGmqwUpWhSJuiQMSEyfuMNd9U0iSmVqExRPMXsaBtNG7aJOk-9DGav_gK20yNjs=",
  "id": "rs_0796a69e9d0ad8e5016ab427a9994887d09cbee9b3d76e46b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.11,\"left_z\":0.062,\"left_gripper\":1},\"note\":\"The gripper shut empty again, and the overhead view shows it just behind the bottle rather than around it. I’m reopening, raising slightly, and shifting toward the capped end so the fingers can reach around the neck instead of skimming its side.\"}",
  "call_id": "call_Wpyd1YvX019gLr5Z6plaYaM0",
  "id": "fc_0796a69e9d0ad8e5016ab427aaff2887d080cd684518e97e7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wpyd1YvX019gLr5Z6plaYaM0",
  "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]: [-0.4076, 1.7458, 0.6586, 0.4278, -0.3771, -0.279, 0.9943, -0.0193, 0.6064, 0.268, -0.2615, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1028 left_z=0.0396 left_yaw=0.0435 left_pitch=-0.0442 left_roll=0.0105 left_gripper=0.9943 right_x=0.2579 right_y=0.0038 right_z=0.0986 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.6342, 8.335, 1.58, 0.0952, 0.3248, -0.1001, -0.294, -0.4444, 6.9538, 1.9365, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79cd8d4bcde139ff3c96bb8c55111a7d2f0d19de1bacdcaecaa1ef76fa01f24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c79de5dbdb28f4c1e21c22b238e3765449fd1577b185ece97f80377ac360c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409295f401259e70a7c67b52f7753a3449c8f5ff220233e5483fb1b8afc6a5e1",
      "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 · 3.159 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]: [-0.6193, 1.7355, 0.4911, 0.5755, -0.5106, -0.3885, 0.9948, -0.0193, 0.6598, 0.3447, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1443 left_z=0.0207 left_yaw=-0.0026 left_pitch=-0.0097 left_roll=-0.0049 left_gripper=0.9948 right_x=0.266 right_y=0.0036 right_z=0.1148 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.6547, 6.6393, 1.619, -0.1245, 0.2418, -0.1978, -0.3897, -0.9915, 6.9812, 1.9756, -0.0562, -0.0366, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6605, 1.8328, 0.6701, 0.4667, -0.5468, -0.4191, 0.0189, -0.0193, 0.6212, 0.2897, -0.2646, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3826 left_y=-0.1764 left_z=0.0244 left_yaw=0.0011 left_pitch=-0.0176 left_roll=0.004 left_gripper=0.0189 right_x=0.2609 right_y=0.0038 right_z=0.1044 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.9521, 4.7385, 1.7314, -0.1978, 0.0659, 0.8278, -0.3761, -0.4855, 6.735, 1.956, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4076, 1.7458, 0.6586, 0.4278, -0.3771, -0.279, 0.9943, -0.0193, 0.6064, 0.268, -0.2615, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1028 left_z=0.0396 left_yaw=0.0435 left_pitch=-0.0442 left_roll=0.0105 left_gripper=0.9943 right_x=0.2579 right_y=0.0038 right_z=0.0986 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.6342, 8.335, 1.58, 0.0952, 0.3248, -0.1001, -0.294, -0.4444, 6.9538, 1.9365, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79cd8d4bcde139ff3c96bb8c55111a7d2f0d19de1bacdcaecaa1ef76fa01f24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c79de5dbdb28f4c1e21c22b238e3765449fd1577b185ece97f80377ac360c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409295f401259e70a7c67b52f7753a3449c8f5ff220233e5483fb1b8afc6a5e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCez9B1EPHRcctNRzHHby7T9ekxtk5JJgavJHOYjLzmpchdAflYY4Mc4-mQ6FE1rhz2ofxPGJ7NPMcvgWm3-ZMvRqAa5zpZXYmW4TbtcqWMoyCwaxN0nwLaRmwwEc2hDfIacEMJDdOjMbbiOZf7OuUlghSQpYfw_Zx3M4qK4gpg8KG6SLUIYJmnSlu7il9dyXHH4w7lvZXRFcekG7UsaVNnpo8T5EPLzRAQr14Ti6TedKxk-YTXpLv6szYB-zR4XtF46V9GRsC64OdamxAImyn12wxGieFef3BwEs2GGEIfro3V0BHofPm1MTwPxEyUuMjzGxLqlNkfxBWIoHVeFEJpKlxnfhpULQ1BcNMY2PJCEtGb8puXDEppX5UGH8fL-AyGEs6yW1pg7fvTbV3WE6vTT5WE_3wk-Z504bs0A4SOepR1uDyMrrWFFySwERSWTL2YuUyjSZ2mEFP7uHF4JLcJJL12Gk3Q4KFe5-5J7QfA55l6msOn9l58HTmGiBIr0KfIi3uNxEfM1WUq01a1RuOOZcsCUK3v8pklIGtvUXNBb2O-lnxCXjLhsgUsQqaxIDsfwVzQwHL-yWmtM-BT-K8Wrozq4YyCRkXmDe1UDvFIUNgAWA-QIs2l20-soms5-cZm2CrcpzRPoMGQR3nBv5-FGw1PXncDIM6LIzchnLLh6zEPT2BoYxF4PG1TmOeLgXyulYqq_QiO2lACZOdIsLDdpohXInl3IEkL4ryXh5OVilX_3_eEIGmYPE6dp0E1TCUXyxGf20zYw1Ibcio19H9a3gv5RLSf1P95uHtmTx2kuAcLsEFw0E5Z3MiB4IqjhQ9M9HX-I5TbFEwKU1rI_i02Bab8PBLnNla1cogLEvzrDy4U3CGRX15L0m844mYz94dD9LMsfPuD4pEIDAfD0UFOJlhnaB1V3Qaj7YPtBnCSXSLK6RVoV6UX6gp4eTrb3Zpb9SXTNAj9pb3byMR7vTvQj0fEr6e7WAUjxQ6TPd4OC2DxOdaNsAlzx7yMQyYo5WehoB2Q6KFFowOxMFq_MRFNFAMinkrUWXB5fKkw8x1x0Hzbwqi75mUVvdZGAaq-mwMBmjPQ36Hh7fY8HGGy8gAJyRRa6qq9J60WFxvNp3IyP4FfvhNPAZ2QB8ivrEyw3RAGEGiJrkQiBTXggPAF-PO9grTZrhg60rU6rKf5b9Ip9QvlE3gDUxBgZLYKg6JT4ysHFjLQ8MBo1pfKpllf__mDtegUND-VZUxXw-yM8f8DfZQtCBooCXxA1kFwZfOmeI3NO-vo5JCsz6D_UQvemkyP04YbnSXx_foxNO7e9hI-c23e3_0p_LaWv6ul_SQ78u2y6bnhZcJTl24fk7f__GQcl7VL6Pm6c4ChKP41_wjxJoB3rVy32nxRR0cKFlRllHJxlat4ocV6NGF-k-AOKGscIEs3eA3Dv1_1XA1rRlB_PTL_lx88HsAz1CldGYONDFrgu0t1T8R3Ct4YJIEyZaIvvgjvzlQXEPXwarFOAdX4AK2WyldcdCiQVJFrNJqVvjnhky279s36qWB1ew9mNKthfFjC5Lk1i4DElXRU8FbZ50wmvC5IeYUJde2x3-CtzmIvYOuBFk6-BEOmLVSATOY3-7wFZNIHyJvgrz7VqY9HtKIuF8xIn1avhmPvuKnGuRR7n7fFdx3gCzJx_yKKg0k5A5FDjSrg6kiZrZAjeAdweEt8whnv_tlxBdP8_qPb-jacSH9K_LmXZXscbU_r1IbIrQYyNKkUGIMbBAlkRY91CINtpiEWTrLIr496IMv682UK3ZIlV5Y6srzSqgReIoUOmWGx-gF9RNGHwXQcIs32us7gMxesQXkP4uic10Izx86cLaU6kO8DslVB41dnWjTErHCrq5-S1KucfJBpuasyZ1BdTq8UIfcmM3ofO9QKN5SJrVGvmf1rU9eH3PVE5Ua0jUDLOus0rzwKAM5hGI8zn__c-C-QpMSw_7hrkF6m-Ss5JlpPFMtrNjTeGs8aM4HStYanWAh392jlDfyEe_SRetyb7DflpUqZJooJoqkdgtyfUna4zf1qhCv_lHjCeVeOTtLwVqGgq89k7dNL-5MEdu58rEIFWWkOPwxPfD7RvCgs1xk_qu0ERO9kxnApRXWFwYwRVB0QoCEbwT0y-3AK3pZ19OdNhhCRAfieq3Hu66z5dmLBtHZajXdE0bF6ZB2eictzYg-rqP4EvTknwWshOLIK6tq0lB14-atlGJREJaYIMMCiclnB3pfYtLzdhB5cMpt6XnvuM8CljHk53Nr3Q2MvHT4j8Mrobn9twppoXsil8rnkJhMtCTJzid8LxAuvpdjRXke85KeEKGde34fK5Smu7Qb7ZwnI7ZGVgLhg_23pUfNblka6myPJCdWVqTQkdxJDsL8yA3XH1j-XEamFiDIqtl4MI8EUrD5_pGxDwjLI1HHk3L806LqZHieafLvhqYevP13aevBwalxDbfusht3fgr5O3tFUma_r4KF9zKxI9t93HMZmXizMm_C0jncBkeNVwfcGTa-UdVRnF9QsPFAy_JY4KCbnzqzjyjL1DgOPY5IozqOLJaCHy2DQSe-DiGGqjYPzELPu-DBFrA9vjMdnT_kBVF__RyBRNmXoqdnnorazWa_091K3ZyJu5mSguJNQpzyk6PcHoBFiRvXz3wyUizoA8gAHog6UthBQ_22997cvPrNylf285gr5l8t2fGdazTv-ruJ25yBL3FSVn-qM=",
  "id": "rs_0796a69e9d0ad8e5016ab427af273c87d0b3d224c28dc54589",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.10,\"left_z\":0.075},\"note\":\"The bottle now runs across the left wrist image, but it is still clearly ahead of the fingertip row. I’m reaching farther forward at a safe height to bring its capped half into the jaws before lowering.\"}",
  "call_id": "call_znJ00Et6eigB8SJ4sJVvy2Ag",
  "id": "fc_0796a69e9d0ad8e5016ab427b25b0887d0af3a036e7aaba2d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_znJ00Et6eigB8SJ4sJVvy2Ag",
  "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]: [-0.345, 1.7885, 0.8257, 0.3569, -0.3496, -0.2611, 0.9956, -0.0193, 0.5869, 0.2432, -0.2531, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4549 left_y=-0.0954 left_z=0.0687 left_yaw=0.0735 left_pitch=-0.0027 left_roll=-0.0118 left_gripper=0.9956 right_x=0.2553 right_y=0.0039 right_z=0.0937 right_yaw=-0.0028 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.9812, 7.4325, 1.4921, 0.0317, 0.2759, 0.1197, -0.4171, -0.4855, 6.8171, 1.9072, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7fb5fe52e81ac707a87c1a3cc6993e4b2d88114c8ac3262ddab3092d453516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f140a33ba74402aaa9ac656e37d420354e970805d0362527e64e44665127e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290b98982f7691b1ece81c25e4d793ea1b66b6843bad8a404dfd3a2bf3229248",
      "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 14 attempt 0 · /responses · status 200 · 7.145 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]: [-0.6582, 1.8286, 0.6777, 0.4644, -0.5472, -0.4122, 0.9962, -0.0193, 0.6384, 0.3126, -0.2729, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.1771 left_z=0.0281 left_yaw=-0.0001 left_pitch=-0.01 left_roll=0.0041 left_gripper=0.9962 right_x=0.2633 right_y=0.0037 right_z=0.1089 right_yaw=-0.0031 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.5692, 5.9419, 1.5165, -0.2662, 0.0171, 0.1245, -0.3624, -0.9368, 6.9538, 1.9121, -0.0513, -0.0317, -0.0122]",
      "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]: [-0.4076, 1.7458, 0.6586, 0.4278, -0.3771, -0.279, 0.9943, -0.0193, 0.6064, 0.268, -0.2615, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1028 left_z=0.0396 left_yaw=0.0435 left_pitch=-0.0442 left_roll=0.0105 left_gripper=0.9943 right_x=0.2579 right_y=0.0038 right_z=0.0986 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.6342, 8.335, 1.58, 0.0952, 0.3248, -0.1001, -0.294, -0.4444, 6.9538, 1.9365, -0.0513, -0.0659, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.7885, 0.8257, 0.3569, -0.3496, -0.2611, 0.9956, -0.0193, 0.5869, 0.2432, -0.2531, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4549 left_y=-0.0954 left_z=0.0687 left_yaw=0.0735 left_pitch=-0.0027 left_roll=-0.0118 left_gripper=0.9956 right_x=0.2553 right_y=0.0039 right_z=0.0937 right_yaw=-0.0028 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.9812, 7.4325, 1.4921, 0.0317, 0.2759, 0.1197, -0.4171, -0.4855, 6.8171, 1.9072, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7fb5fe52e81ac707a87c1a3cc6993e4b2d88114c8ac3262ddab3092d453516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f140a33ba74402aaa9ac656e37d420354e970805d0362527e64e44665127e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290b98982f7691b1ece81c25e4d793ea1b66b6843bad8a404dfd3a2bf3229248",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCe2pwS4Fqkkq7FC5xqS0TdMH4L5HtiHdF1RhK9tQIf25JbfoYEp-B5cS6meeqdTFSvdsHpz7wZah-cXBF6Br47djKZynUi9FCLMf_1Qyx9RM254AIIA3Dq-wn3c9Rvd5FCGODkzBIdlhc6o0t8SkMbKbSJHf6-nxHkO4JJueoy-WXQkxpanYPGC77Zy68KiyREX95jr-Zs-L7u6Py90XYPOkoCnlRA6MntBkHAdtL3FhfOsVooiuGS43sw6OIlRBjePv2k51v2bJeIr0QqgULpOsOrUexZAwgBaYymGiI8gZyzjH2jF701cwUADT_kIjAY9jJq8mvEAj2R_2IpYzA4onbfpYPEmeF9bL8x4WOL2SeRZQJO8AbXfMMNrRmHsdeWt-SvzkbibInAJL3VsB4ugOR8GsCkLLB0sInA9hdZIslsKU-D_-JhxTpuBAtoCFjWASCjThNMWixu0UWaVEu3ITZM0s1dUxCechIjxBdcRSN-nYaFPrSL4BSUkWpUbQz2ip8366QWi0qmu6fhEtkS0pQiAayrIaJLfQ9LyuhiA_noM7Ghco8wSOoKCQ7h25M8AhCfxakTRx1EDmjSaI6qu6MhxJTDy3IVqcHhic9h4ZDmnmWJ3ywaK0D34J5Qfgrsw1yK5nDYbc9LYKFNQfBnbHrg_PMnCWhyPieus2malS1mMMV8fCvo4GY9YNIr_9fEzmL0yY7wWv5TUKcnVJ_TBYvKXmxoAPb4XQCQqSJyYZQZQcNmWYHTrApw-FMlbmKOAL86DZU3PwcSHxpHwvJKfNGVDnaqQie_T7SDyRFjn2XkKh7FYoGdqG-EUXSA9YuoZ6lzpMdDOA-3uUl4TXuBOCU1YqRbDtU56BKHvu2bwvfbVYq_BrAdx7KMbElTttQXOhtOSsWnVX36hQAMnGJWZknsVLAszEtlWKU1_T04BsZfIrZEJ3EFVkwDRNbbjB942aZNvGh_u7Wv_ECK4melaPd9iJkiZfcUPlkAaPSICHXPlCxyqC_eb1NcmzZDoRlDoRkdGj4prSjpQUm2H5UWbcJNZ-BW6oyL_SC9qi15EcWYQjVCSVu507u7utDbJKrIbxJNl_dRYsiCVjwtPipF8J9mnEWv9VbO6kDmNXtGd8MgmUVWAxorrKVmEsdCTRYm2LQLrf6UuAOhRu_jbfqMp0lvkM5vjCwMis7du13wBU3mB1zaiSjA1TmkYmts9Ny_jc_WLdbcbLoXQEFXqR4f7G5D4qwRIaNH-1d0CkcP-KH5uQlodwpGfflCpEW64Ogvw8REV8zbtelSTzI9a1GUT7rRDDgHWjd1RfJfMVLQGncDrX_jFS0aDu26FLR_DgUFeKNr9NqYdc-faqnIcqR3X0URv6k6HLKICLhqAFDkaKWejFlDQXRW6neVz5rb6IE05UOOIoxrAHss2Y81EmXx5_Q2ej9Dm60dC1ZPAu8ApDgc2O7fIroUlXCHiS8JVfzbg_37Oj-SGwkg-BiXu95PBnZrM3OxKKzJzhsA45bwNasW26nlG80FciPz2n2dT3BGjYIAGxmYc4h8hmKoWyfFA5-4eczcVIdZe9NLMVB8_JF8YM1nhsw2ijncbqvQPmT9_XqwQsgI7arEpCUNIPr3V8rxKiiAldU0Z0RpUqKki_JL-qgPOYOrCm-W_Lcrw4_B2mqXKoZL7hwJMSAcMj1JEbRh8zkKgixUEma4WdD7hPCylIug0uzCarL8KtK86sXJwSnz77T6oKBRZ4HuEnJ4nrambCtn4A-oDJBSbO_hCGxlt2jpC5JhmO5K8qjOLSWGgZdfbSPFi9sgmg07uHcz4VLyuJsbxIal2iQbUeILteNvHKBSV5ku6RgtUXog-FYN6",
  "id": "rs_0796a69e9d0ad8e5016ab427b48c7087d0823775273fc1f754",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.095,\"left_z\":0.025},\"note\":\"The bottle’s neck and shoulder now fill the open-jaw region in the wrist view. I’m descending straight down to put the fingers at bottle height without sweeping it sideways.\"}",
  "call_id": "call_3humJAfFp8U0MnPoLw6QMFQ0",
  "id": "fc_0796a69e9d0ad8e5016ab427b5c42c87d0b0e0037fce0b8094",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3humJAfFp8U0MnPoLw6QMFQ0",
  "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]: [-0.3397, 1.7973, 0.8589, 0.3237, -0.3363, -0.2569, 0.9958, -0.0193, 0.5682, 0.2234, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4601 left_y=-0.097 left_z=0.0707 left_yaw=0.0656 left_pitch=-0.0138 left_roll=-0.0118 left_gripper=0.9958 right_x=0.2536 right_y=0.0039 right_z=0.0907 right_yaw=-0.0031 right_pitch=-0.0194 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.8701, 7.1316, 1.8144, -0.0757, 0.2369, 0.0024, -0.3761, -0.3761, 6.7761, 1.9023, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f85f47d763cb90d88e7b1f5459f520481badd5987f606e26e195b1dece1ae8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3c20648a07194dd3a45dbf686118efcf2fb393647e65f77f8a90493641b610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cf340f0492cca33924fe649f601d4c2a505cff26a34ab50a61d7a3b4dde738",
      "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 15 attempt 0 · /responses · status 200 · 4.702 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]: [-0.6605, 1.8328, 0.6701, 0.4667, -0.5468, -0.4191, 0.0189, -0.0193, 0.6212, 0.2897, -0.2646, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3826 left_y=-0.1764 left_z=0.0244 left_yaw=0.0011 left_pitch=-0.0176 left_roll=0.004 left_gripper=0.0189 right_x=0.2609 right_y=0.0038 right_z=0.1044 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.9521, 4.7385, 1.7314, -0.1978, 0.0659, 0.8278, -0.3761, -0.4855, 6.735, 1.956, -0.0757, -0.0366, -0.0122]",
      "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]: [-0.345, 1.7885, 0.8257, 0.3569, -0.3496, -0.2611, 0.9956, -0.0193, 0.5869, 0.2432, -0.2531, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4549 left_y=-0.0954 left_z=0.0687 left_yaw=0.0735 left_pitch=-0.0027 left_roll=-0.0118 left_gripper=0.9956 right_x=0.2553 right_y=0.0039 right_z=0.0937 right_yaw=-0.0028 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.9812, 7.4325, 1.4921, 0.0317, 0.2759, 0.1197, -0.4171, -0.4855, 6.8171, 1.9072, -0.0611, -0.0415, -0.0122]",
      "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]: [-0.3397, 1.7973, 0.8589, 0.3237, -0.3363, -0.2569, 0.9958, -0.0193, 0.5682, 0.2234, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4601 left_y=-0.097 left_z=0.0707 left_yaw=0.0656 left_pitch=-0.0138 left_roll=-0.0118 left_gripper=0.9958 right_x=0.2536 right_y=0.0039 right_z=0.0907 right_yaw=-0.0031 right_pitch=-0.0194 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.8701, 7.1316, 1.8144, -0.0757, 0.2369, 0.0024, -0.3761, -0.3761, 6.7761, 1.9023, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f85f47d763cb90d88e7b1f5459f520481badd5987f606e26e195b1dece1ae8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3c20648a07194dd3a45dbf686118efcf2fb393647e65f77f8a90493641b610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30cf340f0492cca33924fe649f601d4c2a505cff26a34ab50a61d7a3b4dde738",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCe-jnv5ih6jo_W4Rqa0gQG3SLfjCddpUBPSZuEVfSv61dC2tG1-XDzIU2B7XPu5N3yIta1nDFdM5VP-z3lIOxq4T3B_TQoMliu3HQReXZPJob0_3w_crYTK5DxgD8AURGuR7gJACe4vnavbk-uSqd8hx1bn_itRkmiY_-Et2shuOdTKTknh5-fFtyDNsaYtXwo7aObc_jvzXVSXfAE2ZlEim8W5U0j_-t24U4CfVQ0dR_mSaICPSwSIjavEMyFMMLGeI43u1sVsRWsVIdjBd5XkvV3Z2ogsTRTtfCsvZxeble-HFVHo0GffNYG2a7rFz-N8bRsvUpvv3IcsRfvgvzESRIVOQWGVLjXyZEgHcKqo2Yq4hrImmyuOvy420ldzPDbS92TRVOTu5JYOAMGnMxGTKgKn4DpmpbmsRfXsMPFiqv7TyMMO-Yi93XzxEidGVXGF7y0V-UC-wahLiic28gSU5wmJ23qN5KzZB0yqsytvO5ddu80lJpDl1j7CVKP5V2RH6mYu-vtlpTsK0X_jtM_EgnVXt2P3rxr3eBa0irVaDSCOuDQ4yb6s1WouOh-iflY3Sh4NOkb3zpWN9QP3mlUopYp1FMlJphsdSa87FeQtphPZos8iOZkcgsXZMXhrPBH_wWECOq-Sl1VhYNLlad0iJVPu8JaCRaV90UIeiyDGDQ8aCTCMZK-GhI71PNFH-BrXYLyiF8DJg2BvAZy50tQrTIrFGq26xEGAX06cGBRulpShCj879WCkHzfRXoPGPTmcXOnihJHhRbvos6_4I9Z1ldoNog-LRAEZPM0HOy2z5hRtry1BIJpx7aXeTBkVSPa0xXeKE2ZESeFbpdi5A3C8yy5ek7wZCzHQIJ-zyMcDhM9-SA58k3zflvHBQ-XqlNmEFezv5Ns4nsHUra2IO66J7KsG3OlmRLvLZZddY3a3QPgNLzrnLj-VWX5_kZy811PI2nU_EGo_g87fuEDrux61JYYrLLdkqwZeWTWFTxh6QH6zxzKt4cVH_uz6E7-EV5k0KMetOUocLj4-RbJQGEQnmsZuCrc0Qp_h6HpXrVE_IImnqBPI4AaHT1EKOXkSp3dChtcaiR98e78Ve8gFeBvnfmEasqwTgXPVTJmfABa_HNSNU80k55YLbffqZtwAvZhrop8Z562t53ry2vfKH4esoTuzKlwCf4Oy9bH5GmGpdJOUj5YfIdA5xU1rsqr5SIS0FLXESSkA9EVT_EwgGn-u_jR7OKN32mIAekXB_qSQoh6T7g60Uhefvs8qC7ISASJEzlbCZ-hzV7CMGm1If0oeUQcOv_rOuJWY5hbBqhw0YDFGPDjU3110O6J_IWxc35Eo5F0nNqeBUMcqkFFBSJ3LEK1mZgP93AE_dmAsmeak6phduji-cMM7WMFr1adn6ppxg-96p_8Thbb6zClc0G9Ldh2C2eSnqz6-cWvNv_racD1QdTI85MpRzZwzKXqvOINlSpz4nMtzfp4P1uV3w1hVV46tDqe5stm0vltBKZL7yHfqW53axyiGeFiML1AvDJ6K5DkAVNsjgJhhbYa_0HKU4Yf0RKDBrKkPID2G9UIb3mdZOBXL2QCF-5eAmO0yLx6_h-poSu8jS3PeC0zV38jEczFb8gnYbntwXNtJt6h64EBTmlyKLbluIQSjq8kR7kCtZqH3lP1OglhaI3AJy6AsFtV4-hlCmgQrH_uTru7i4vgkKwAAh5yZEeCzNsc7vFgkxyMUOyysm7TQSnSwmVS-BhGM9XZ2lkvmChtfUK0NAdTGslUsnaS1jhvxR4Y-ZL_TTXBC6dARyrR3GemRMafAfBiXEjKdfv6E-vYZA0X3YTFak74eCq5WY2Dha8TGLoa5fZAhiis20zdtYL0O9Wr3FYTvrFCHWLju8osBm1IwNM4z6loZccRr1UOW7lJlWYkO_NuqPsGQH7ORveKFUzQ6rZFNPH3s0tx4VLngK_eWEJTav0C1gzDtcGKsI15GbD1Dv6bEw0184e4PavUk_F7wXopPazZJA0z4ualenYuvAMl2cuVfS4d-wNnugcKKaiTcavTtQ1UqB9r7RaHn6bXW8K91dJSV28YTp_6iH8Z0q-y7PRfZOTjc7MJHMPrUo5fMct85yEKuyPPy-ONKdobojpaEOkv38aSidI2rYHSiL5SVdaeuFLeKWCj9NlyfEAZuCp9wJgtiHloTo9NKBV8a5jfcXkO5ruTYXbqqeDmCq4V0D9JagjHhmxJQAtOdvIz-9nWMv2uWH-vwClr1-dBzpDbwAk4x66nTWkNKAPHeX8JYuswMKEIg8ks5ZAK7W3Kpb8YJ-K1schjF5L2SrEP53ghUZIz3Qfh2lWeofW33C01Q_Gmfzer5um4ZjjRmKhpCaYfPAv8PgA9ofUdVI5NJTpw_EAL-W2B5qMe14dvPNI9bFoKZctSM7Qsg9aoIvmiDzcVvBgN4FzEtbtcp8YqMvmzTUwGHp23iD4zp67F4Zo6qRGMupoQuKmzfKfE1uTvBuwYXwWkWwf1q5R6PbYvrMLDMeFISeqEg9_BL2VlD3dGjijlzeqBcMdAHNGfcp_gbZUPT0sFz4bPckdC22V86CywdDlWcKl5TtxKnmDZvfSkYN4RN6yCeKl3NaS1uwVPe8Kr9ZRxwIux3bW2RqFgzbHzQ-pYIpOq-FPg5BkO3-LKw3_EMSMQc5hX5wLKE_JfxiTiolO_uP6TkjIwCaZV2KFjkMxEoj8gHR1AjfMAXSMrhSo_07L_7k1YExM5888Mer261F7xdsvJddaVi83QuOLF665veeuHjEJ1yOaxB_UHOogzBLr40FNJoXRGG9rE3dSN79TW3W3NIBeA2rRGifKm-jzuCUbTLzJWxB6WJC0KqhL-mMsmLu-wcGZUMeLC4wPny6oVpHTmZygal1uUJrU1OWDXbSgaqYBPqY_txqXmXclLMTuaFP3uItaJzF8b1a5qU0W_y_J9ZCZaUS-OU5bcGntULaasbFwrcBEIeKXcUoO1VsN4Y0rPBSYfWfVP9l1TPNxFosSOmbXBeE7bIuhn9ppNRpu8Xrckk-jk_NhGqBYeGlsoonsLQeQirHklccl7ZrIugir2eZAvaM_7QXC2PZ0VapTr_eNeMsDI6GEdCpl2fqRDyrHOa11dvMgRZlwmEa4ReGBwLGvxAVPUaWbO_O7KeZVlcgsk01c7pJnaffWF4ODDjK1OF7sSLDBngLGDIO2ZifMGAiNqG4aJqMOLtvLSCpv-x8OxuYU9JSvTrvfSgak8jKH0ePCZEhanSs33iYs9D4QgPIIKjo6tBRDhpiUODkGaEfsocLQAIooO2vck62xhMtMjjQZusMbP03Qdk6mCEN88cF7nTl5Fjt2RBAvY79q1QOax256VPayk=",
  "id": "rs_0796a69e9d0ad8e5016ab427b964a487d08e0803a372a0b1f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.15,\"left_z\":0.15,\"left_yaw\":1.57},\"note\":\"The descent stalled around 7 cm while the bottle lay lengthwise across the open fingers, so the finger orientation is obstructing the approach. I’m lifting clear and turning the jaws a quarter-turn to close across the bottle rather than along its length.\"}",
  "call_id": "call_V2MpdlgpO2pMmU10HBVQJzI4",
  "id": "fc_0796a69e9d0ad8e5016ab427bcf5dc87d0b67e0d1214f2c935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V2MpdlgpO2pMmU10HBVQJzI4",
  "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]: [-0.4221, 2.0872, 1.2373, 0.1783, -0.5953, -0.4595, 0.9962, -0.0193, 0.5545, 0.2092, -0.2459, -0.0284, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5224 left_y=-0.1221 left_z=0.0627 left_yaw=0.2986 left_pitch=0.0207 left_roll=-0.0222 left_gripper=0.9962 right_x=0.2515 right_y=0.0038 right_z=0.0873 right_yaw=-0.0037 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [4.1641, -8.2803, 0.212, -0.3541, -0.3248, -0.3639, 0.0317, -0.4034, 0.0205, 6.8581, 2.0391, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3effcb91117040223ef3d17891ec6a77fcfa7d50883f8fd983571402c08ed03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c99849d96669d1a13e30b9883a89d8be266fa81e18a42b7f78b18ebc82f0533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221f3bd9339d1c641474c9062f1c89a4dad666386e6892bf676fdff6c4eb3789",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 7.362 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]: [-0.4076, 1.7458, 0.6586, 0.4278, -0.3771, -0.279, 0.9943, -0.0193, 0.6064, 0.268, -0.2615, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1028 left_z=0.0396 left_yaw=0.0435 left_pitch=-0.0442 left_roll=0.0105 left_gripper=0.9943 right_x=0.2579 right_y=0.0038 right_z=0.0986 right_yaw=-0.0031 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.6342, 8.335, 1.58, 0.0952, 0.3248, -0.1001, -0.294, -0.4444, 6.9538, 1.9365, -0.0513, -0.0659, -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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.7973, 0.8589, 0.3237, -0.3363, -0.2569, 0.9958, -0.0193, 0.5682, 0.2234, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4601 left_y=-0.097 left_z=0.0707 left_yaw=0.0656 left_pitch=-0.0138 left_roll=-0.0118 left_gripper=0.9958 right_x=0.2536 right_y=0.0039 right_z=0.0907 right_yaw=-0.0031 right_pitch=-0.0194 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.8701, 7.1316, 1.8144, -0.0757, 0.2369, 0.0024, -0.3761, -0.3761, 6.7761, 1.9023, -0.0171, -0.0513, -0.0073]",
      "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]: [-0.4221, 2.0872, 1.2373, 0.1783, -0.5953, -0.4595, 0.9962, -0.0193, 0.5545, 0.2092, -0.2459, -0.0284, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5224 left_y=-0.1221 left_z=0.0627 left_yaw=0.2986 left_pitch=0.0207 left_roll=-0.0222 left_gripper=0.9962 right_x=0.2515 right_y=0.0038 right_z=0.0873 right_yaw=-0.0037 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [4.1641, -8.2803, 0.212, -0.3541, -0.3248, -0.3639, 0.0317, -0.4034, 0.0205, 6.8581, 2.0391, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3effcb91117040223ef3d17891ec6a77fcfa7d50883f8fd983571402c08ed03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c99849d96669d1a13e30b9883a89d8be266fa81e18a42b7f78b18ebc82f0533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221f3bd9339d1c641474c9062f1c89a4dad666386e6892bf676fdff6c4eb3789",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfDglAsxpBFknnurxrHImL0zK3uVgO9gSJd3P-8AseQMWWeBFjVEqa4V2jWOjNPGbi7IGW9v6aXL1sNBy1-C27OCWZSw9OrJYbKn8xF6-UKdHhlvLdJGrpu4D74F-RkwFgMlgx97o2_iEti4TlxmyL2ZS3SJ2v-tKoPdxLlf0HuoWw60c7VxDrcsovH9a3e71gOXY04A1MwdL1F4r2ugbL3he1SMID6wkL8annhwLZcs4d6Wg2h67J10yT6RhBmB8s8iW7FEYFENnSvzsMOPBpGaxBoJcp3BclM48fqMIFY0QjNneLa-d4smWyrbsjI0DUDNPMliPnWJlSZOy7-P6YSeAyvxTKUfWVPJ6qC8-1SvZIF7ZnkLaAf3tpf9sU4CPFWwJ9Vt18G2d6ueBgFSkEs1gOE6ACfvynBqRXxLHdrcErxFH0jKbQZY8DFkN4X3b9c08kkv2Q_yXn0ZdUBPq0k6pMsx42jAAJR5UEqgxy-TROHlEh0qgjI-6fih-BjKrRfbwO9Y1kN9IB4PIvf_eahkZ1Tqz1L02aaPhd7dfe_Ya1ushXkL5h4L6Y9qo4eqlPysZE2pEefyWihm-muB1NOHbj8O0hA87r5YGZQ0r2n_p1clsLh_Xdoxhj5eJFgPLXxfxoVhyZhHtqg4y3wMcw7wPBBaMlAOKH2gqImhKyDzsuYHQdMqr2ErKbusDWuPcvOekM3yag_frelC_C7LOnMqT4BlBcz0LFpUOCLjqrXR7RKRvOFT0lDM3eCiSDGBOws456Kl7rDIrQyEWkiHJBTaZjK_xz5QmZVH5M3S-ieeADfckranOnFGrEtt4gEKm2oYAp_Aaaa6y9ilNf8cj0NNirl_8TSbVVXQW60NH8LtZVVnfjWKjzOieppx8Jo5MlvDu9BxihBl7avLEp-z0j155MvHo_EZKRmaxUJAGjmudFFw9tTmCaDH4MBFnt_v_ns2B8luSxCjDboa4aKe4arqqp6aGeFM2qDbxqe2gnup22BvIwnKTDVUefuQUsgihCtF5vDFz_S2Tr1IjD8-PLA8at-Ey9KDpV3lDY4cUq58K1Bx3qVIs-v6rCYk9Q3uUQU6r0vfMzLIDz2NGy8DXm4rvSyg5SmGX5TvRc8ZQHKXzwh5QNV-IxFnCUFhg57lDSubs9rQmVxjGBf4W5SG3sQfRaJnd2DynKxCAwj01F2Yz_sCcegt9Ye32ijIRu20fwF7kRi0mtSWsLy-QKlxxC1D1pE4VgXL-Whdlz3_4TWu1DqnXsuF3du8aaaQpMpavObCOCb7Ac4DXwEdTG5QaDY0hEf681-UsZZqj6ZoYE1hGJ5qVHCOK5kyiYOBRLeygc-6Wcq9CJejUZgnsQAvnXUFppdlthw2LIGeS9DdOfgav05Cfx8IKD52yPHxP8mGbrYYfGPjUWQbVMqhyyWRT5uh5RFE2QM_IdYxcxsygpRlO5k0sH_tT-g9aZQ9QGFdKJUmgdcYAnlmX2d35N8R7lWTisL5j0W6ntX8S8xzH-5KYOnJL-tRLERaySLOQtXaAKWMr_zDiqt8pkKYQTQM_TonpzZZmzaR1ce2FRxC-cjbzGb2rrJ7XsCjjQlAHfQd650W39k_ACrohfszWFFJeSj1gkAFHEdmZZ83iI0bARlvyVRayjMdM2qBQQq1Hm8NzWI4BbEyKh2GLkSTU3sUvIdyPAmlYIfvbXMA0-hCnOzYUA=",
  "id": "rs_0796a69e9d0ad8e5016ab427c1039887d08e418a1d550282a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.19,\"left_z\":0.19,\"left_yaw\":0},\"note\":\"The large turn did not track: the arm unexpectedly reached farther forward and remained low, so I’m stopping that maneuver and withdrawing the left gripper to a clear, high position before trying again.\"}",
  "call_id": "call_xfMw0zUYDXSjg0iqNIQQVQ1Q",
  "id": "fc_0796a69e9d0ad8e5016ab427c22fd087d08f0280776754157c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xfMw0zUYDXSjg0iqNIQQVQ1Q",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.3571, 0.9413, -0.321, -0.6716, -0.5514, 0.9963, -0.0208, 0.5362, 0.1894, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3292 left_y=-0.1976 left_z=0.1861 left_yaw=-0.0138 left_pitch=0.008 left_roll=-0.0198 left_gripper=0.9963 right_x=0.2488 right_y=0.0036 right_z=0.0825 right_yaw=-0.0043 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.5573, 7.0085, 1.5653, -0.3346, -0.0952, 0.0024, -0.294, 0.294, 7.159, 1.9609, -0.0464, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001fc4f5085bc5bd716ecedd2be91846acda4bd05c250948a898f7bb2ac7382e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8a7b81d852c48a04878c1deb23234facac48e7853bde6de526c5fb94db3241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c69a27fb9c5c0f3de7219aa8d1926c725431820765bb0a1d176c1897adf91c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.054 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.7885, 0.8257, 0.3569, -0.3496, -0.2611, 0.9956, -0.0193, 0.5869, 0.2432, -0.2531, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4549 left_y=-0.0954 left_z=0.0687 left_yaw=0.0735 left_pitch=-0.0027 left_roll=-0.0118 left_gripper=0.9956 right_x=0.2553 right_y=0.0039 right_z=0.0937 right_yaw=-0.0028 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.9812, 7.4325, 1.4921, 0.0317, 0.2759, 0.1197, -0.4171, -0.4855, 6.8171, 1.9072, -0.0611, -0.0415, -0.0122]",
      "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]: [-0.4221, 2.0872, 1.2373, 0.1783, -0.5953, -0.4595, 0.9962, -0.0193, 0.5545, 0.2092, -0.2459, -0.0284, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5224 left_y=-0.1221 left_z=0.0627 left_yaw=0.2986 left_pitch=0.0207 left_roll=-0.0222 left_gripper=0.9962 right_x=0.2515 right_y=0.0038 right_z=0.0873 right_yaw=-0.0037 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [4.1641, -8.2803, 0.212, -0.3541, -0.3248, -0.3639, 0.0317, -0.4034, 0.0205, 6.8581, 2.0391, -0.0659, -0.0269, -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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.3571, 0.9413, -0.321, -0.6716, -0.5514, 0.9963, -0.0208, 0.5362, 0.1894, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3292 left_y=-0.1976 left_z=0.1861 left_yaw=-0.0138 left_pitch=0.008 left_roll=-0.0198 left_gripper=0.9963 right_x=0.2488 right_y=0.0036 right_z=0.0825 right_yaw=-0.0043 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.5573, 7.0085, 1.5653, -0.3346, -0.0952, 0.0024, -0.294, 0.294, 7.159, 1.9609, -0.0464, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001fc4f5085bc5bd716ecedd2be91846acda4bd05c250948a898f7bb2ac7382e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8a7b81d852c48a04878c1deb23234facac48e7853bde6de526c5fb94db3241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c69a27fb9c5c0f3de7219aa8d1926c725431820765bb0a1d176c1897adf91c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfMq8i6Z2_uY_YXX_SplSbxPstTIApR5gGmXvKU-87d-DF2oSVDKfLjcrinhNQ3LEU8pFsLSj1BffpY54fBlSlX76X0SYuuU3IM6xaE1fPWVeeLvqUmN8FQ6q21mRdgDkOmWmZdCZ48DbB2DD5ofodPnDubt_Nvqvxh4_loseoNSuCpwCSpqFCws8OMZkcEuY8Nxa0y0GgPtxrcn1yYgAPWIiuVy2f5u4kyCp4AvzHhoZpHngATktMio955hTIQ9NFORkQ3HZ6VsK6DnNmZscwE0wqHfd1FdCpbsdoJbkmpmtwAjcDGQQ6OyehnltP3yNPtKxPW7-AqQdXfylYOEXSdxTUa5_wzJbpjiI2JticXetWv3_Dj6LtnhTZevItFKOyWNMad1_UesW9A_HoHMaqC5gW1MV1RAV00BpztCNQakcsR52DKZT0nVcSB1k9CfGoK67OsnaSkM8QJwYVKizKy8EaNPqBU9WPIMMOQmVoHhOaluIefVHbO9X3VBmfPwEdAIV0Zzkrg3y0tLCKPZ6xnP1KbmkewaKN_HBdiRAIQS7J_xAoQ3fGceWyD5ZbmJLNii9xwq6VqsVZas8E1vZQDyRtz9tKfZo-hs9UwEqejUZybeDbiL3boED92ohyXiONtld34tdSdR2sKP6x5nY8CsjfGgUCbkWZi9kn7a8ciqijT8oNxppSCXhStIHFaU0cziPQBv02EZDmP8F1xpA3LJUMnCHI90YuCk5UPcKxnIrgb8y76Amlj0UuYb4zXVzhL3t-KjkBU74vqiXPmDFEOx_1kw60yd2lxmnzqYPkc1sWuU4gkac5XKkQ_H8aWjB0dCh0Rrt1pW85uk2xzOtyZFbfMhZRnPKTo0rP38ySfvA4KYhArfz9_TgcZl8xyRsQoG6J7CYOQs6NKNqVbjGQMgSZrbOTCcfYxVsqi3YoVqjT44kOOPuVk0gxBH38-TDGTWtbGyLS_twWPbZqDDXg0rLZ-OIE2SmrUDXGKgZJlxcIJr6Ah98gBqCztW-eqeLdsOkuP6tDYZ6Oz6hKiBWa6DJyrcfRE2fecznnOXXEB-1n_1R2BcayWt1RZvq7CPfbr1A9LQ_LEzEr6DYU4IsOrczJWmujNVtX-T0oOLpq-UPNk4fz8gjPjwcYvvc18gj8I9LYQ8QtLOR1Y1a1t1mz91U4kRCzbCDiFeGsDuatJuAV0W-EXJdQt4Y90TLvXYls0LpTJWffaQT9juZUpEjKuDDN65mEvaGaSLFatuyHusPWjZNd8NvnRkxo_Wc6EaKXex4DE_a-I27yu4pVIapF9OirgS9_vZaVwGdKGO9PpZohTfA4V1WS6GwSltsx889v9vIYJ72Gk0Hge2BnnUxS0Zn8ZBw1HCfClDWo6ifdcce9uqr18z8tHvzqh93eTAoPyppnj9rEgzMpQM1m2ku3-kun73_fk0-5qAzErxigyrTf4FTN2EikqRDxpso5wOc0C-2A7RFr6comlHb8D-X4nRr3XfqJ1ucFtmUUT3NLZOdV5h3nE-8-MHAn17rtOVHL0_VYdmGRrP3AVQn28Pz693C7JM5TN_uAf5u05_aGb3oJrFKCZVa398m4s04PGAzfaa-JuUeXm9Ll3PlqyYFb5Lm1quGwzvShdCy45OrYP4mZVFqQEP1J-yK_UCOmgsS437qtSiMrQl2t-gd-JeRKVSmmM3dzlsqm84dZ3dJMS7NU9racD1_HxdlLLV4FMbNSEWL7ZBFiIa-yab1aBQHWO3phehuEnggCL-HRkl9g1wV8NJ27I9tt_MoWNleMzZld6-xsAmdt8n-oK-JdyzgnBC6GbNmTqtPYdnSTHn0uBYoIq-FmXbYHbqU9Vu0ox8FxGtvsvyFrBKvwgCCW9jVTsqaJwHIfqQc_AeofSlqqwOMESnkKQglzi9gTSQFDO9FhUrAEVbSzyHK152WL8V-Xq7_4lFbS2pO-IyJ-ujqlAPxywWOyU9fqOZqCeKfIdC7G0VRzCXGzo2hNNT28SES2CZNRxx5YqwtclqSk2W4WZNazsu0DC4kXhbu73z69EZ0nJJX39LF0X4g21xpc1c4NZwQIeCrVadryROteht3Ozdnk5FczQNUUn3EG0x0P3oHgUQvyFV39WBcsElYdAW2Tg56An7p79tar8tpJw-dg_vpc7QP4yzrEDD3DJoQ-3XMcmwPpU9uUFwuW21XaURd--aM6gJ4Urz8tGdSmS0-k2AjnJ3mnG7hVaThtF9ra9YtIRtjYDSHc0BOJSRPIOrrIKbkKY3zIM-uDDSoTOBO3zofampfaSk-TxBdkc7w0o854X4NfIIwMqQI1toqq3BrU2EcyIDqgDp3x6YZuzx9BdK3tBG_heqRqUdo6k2FFZWuy81ZqLTRt_X6O5veVEgJVv11rD8urkwyufQuI2aAAKRyCQtpt8F7vXj1k44bjjT_w2bPIChnMgBUkF6mAOPAXbMCY9oVSbJtrCZdmHClqDLtBHwtOa1S8as_LurhZn-E-GwpUIqV8vJXMR-kb3eMJA1dddonIETdAGDsp8xiBgsS2fLRJKpsJn2viB50APdjLL3PxME2rXrAHtSA7oqpOIowZQkAXMHdzv19gXwBGCp7MNIRb1U_RrE3L_X1aI1DBme8dXC2c7X7bqsrKQuL_O1bq22YJGUOhKSS4LajU7AENc7FNsQH1rRmKCKRUcPXHNbmc698hlAYqVcNX8NFyGbR5rd8I6Fpt3ncLL4qGfwDsIilBWCH35j2HrPOKfR1TLQzLgmmMIanghnh_kM8SfQN3iDi6rDH_d5eNxfjjfoIwc1SoNTADbZ238o55vszneGjhG51kOyFI2QzuTIcg8HWTIaPrW-C0bErujiejnvDRP2Fk19nvxySLN72Uq_BFCgc2y9_c9jzAm0-x7roiG3XCzq5ENWVCLvLHOwf-dsmpMN8JcbAr2IFEAn-rKbxal4sWx7uxASqD8KDs82xh3A5VB7IYPQX-whOiFAl8_h4sLuvHZR3FBs-LoPDMUbnaWBcmes433YS1Yx8bUpiZaSbA5Sbs82iXMFa7h1uZX_6AaelJAa7bHKdPn40jcLN4Mx6wg6DcLazDHWAJ12G-5N4axqqLFULubES0Bc0ho0JtJQF-CiB4eLdwEtGbaZumZ22k02xO41L5dIzx2CF4cNSa03s-6MKI3uGvmNZF4dGfDiw9yYYcMBVdnlYbK7CoLzfzDarvW6yXlZTNaz-j-5xT_iFDNL4UKmULxUg0lNRRSpxJ33_IOCi_VXTO6nLeGf95hsEUoQ68nGjK475t-7ySxKKXoYvd1Jb8dNlRPHbUWJ8xRknlnJsSdMvVObV3RLpPnIbSwRAFWWBsZ_LyQgTNdn6VCihSQp9vo0fdrQPPKboPz3RlZwCjeWQi28S53Hk9xC5t5L-0CcdjqSoqBEQ1HeggQCuhtdKiVQ4vFFV3t5ij7akU97xM3lUg02VdY6JJLSLtJAbfMeAHWekDatwA67oVI4pfckdEo-sqsSpXlEKhyH-8_hLe0hOgqvV1CVmtv6RHx0lSdmyQ0vys1TeeDQiav1RXbiRbpFiqaR1Ao3XH_X4csXsgqMTyGmE48FzSvuMHtFNHVDGHAZ-ImjA==",
  "id": "rs_0796a69e9d0ad8e5016ab427c621f487d0a487059284b61426",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfMZsjlZkiRscDl52RsfaGwRs9qk1WG0jmOSnkrem1mF9G4jAuH8jpkIdcV2nBS8XWAfGuB6s2v0-1Frv8gNwUsXbx1Dd7LqWv0WM8NsCd_eEVDf_-spypajFF46Qn10DI78ZTPaNxVOHKcoXys5v_bkRyuvEHn9MnhhSW83Xop-AH90_oCFiZ1FZzPRa1kDpx0TYciSj3kR3AL3zFOsn7JsHnBn_P0PYsGWUAbrOD_WD0Z9G6ArE1cim4j2omWqEvjuNQBiycAkRf0NXjP_rz9JuZ4neSr7z02h-xDF2a4E1v5Mbhf6xBGPwAv9e43RGmv45BQzNukw0DgY6wJTtbbHqNM9evIbbRvahxAf7n2XsMqJTBZwvTxTo3hsTzI4Tm465pw-eyy_tEm34D5fOnG_CHGycDwTK_MWOhROLMAtTNBgiwfHDweDuNFp3OLybKO4K_Wk5gC1J51JIArjW1cu6vXWuh_W044TenHqJAAjuEM65LO32ZwT_ejzXayPWuoeb7nop3wOh1wowAtRyEkk6CASyTGqnRWNspFblqAHj5otaS32RDtMKM34r1XlCDMv44wIbhOeE3urgBxY7OcqYViQYhPHbLd15yPqJCD5qJpGM2-3dVXLAFZ-qXKiX9X5LADK8rpwD3P6W082VKbju4CeEQkUAgLqEMdhly8mEuFl3tnjCED54-YVtb2En-hLCZ4uVvICvDe-LUsRyYSjRW2wsakVMl15qvRtMlXljiQYnLS31c3qBwINpFJlh3jjQGfL6LMKY_t2FT_-w1Lu6U1fGCi2ygNvOWfc47xHQv1sLlEYsL_C3cBmlVJOigrI5onUDFTll12EuhsmfBTorIiGkDMmsYGqD9eRqV2Ve2z9_T7vpYRtcFHMF3L808MnEWzyYqZtrH2qu47uBUfBmFHj6za-a1xzlq_M43KVgigp_Ib2eVDK--SDZCtE1KqlOgwQAzPgLgKJbe7Q-txChjCfit7j_loTynMQ6NPZTGczAiUvp5lXnedNV680sLy_Qpxn9T5bASXtiSZa3jnxfs1ZesKDohPWcOhJ8_enQ6K3wZWjJcrMxEWIbg8--avLycpZdRO_3qUZy4lfh4iCcIaup5I5fXIlELUHJibn9AbB2ciqOBNGClAEE1PO2jHcX3HJwNRDDNUA_2ChmLjnbi_0wNNDa7CFkONF3jg2iT9CWSrKaO_xqXuzIkdYqFWZAe3VFkiGYQfnHA4GNJlDJwtyhRPhcvKs8WTk92dgKnpdFrBV8Fw56S-l8JP6Ulw6EMga-bC5mO-FuzwQvX-OHC8ivH0NUcVZSGGi-mHMox2T-hdA59Dw9TzDZnJo5I2GFXX5T6RR_AWTV7PQFdGUEJ7UuUNz-swRPpAHu85Dm5Nr23Rmz5Fe5RQK4YeCDr3EDM1lg5iOuXF7FAXrRrtMUpA7bqK2kyfReHKK5BS-LQ=",
  "id": "rs_0796a69e9d0ad8e5016ab427caf70887d09118c7436ffda006",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.245,\"right_z\":0.13,\"left_x\":0.32,\"left_y\":-0.19,\"left_z\":0.19},\"note\":\"The left bottle has been displaced toward the near-left side, while the middle and right bottles remain lying in their original lanes. I’m parking the left arm high and bringing the right gripper over the rightmost bottle for a cleaner, lengthwise approach.\"}",
  "call_id": "call_oUlA7BJso49BZzZwba8mnQRe",
  "id": "fc_0796a69e9d0ad8e5016ab427cba88887d0a1774726648b90d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oUlA7BJso49BZzZwba8mnQRe",
  "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]: [-0.8459, 1.3422, 0.9413, -0.3756, -0.6773, -0.5571, 0.9963, 0.7017, 1.8004, 1.1244, -0.0612, 0.5278, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.3226 left_y=-0.1918 left_z=0.1833 left_yaw=-0.0118 left_pitch=-0.0158 left_roll=0.0073 left_gripper=0.9963 right_x=0.4169 right_y=0.2406 right_z=0.113 right_yaw=0.0396 right_pitch=-0.0492 right_roll=-0.0366 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.2137, 6.3385, 1.3455, -0.4176, -0.0073, -0.0073, -0.0068, -8.9231, 8.9778, 1.7265, 0.569, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7244849309f7fee0341eccd725c5ba65065cb29a4333fe69a7b5461391070ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6d0fb7fc873c4f5fe9d6d4c74b70cb9fc38ce29d5bff9c806a9489f3eb52e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c4062a555926af523d9c81a8fbf7bdf0bd5dccc17a2dcda171ecc31c8c2cbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 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]: [-0.3397, 1.7973, 0.8589, 0.3237, -0.3363, -0.2569, 0.9958, -0.0193, 0.5682, 0.2234, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4601 left_y=-0.097 left_z=0.0707 left_yaw=0.0656 left_pitch=-0.0138 left_roll=-0.0118 left_gripper=0.9958 right_x=0.2536 right_y=0.0039 right_z=0.0907 right_yaw=-0.0031 right_pitch=-0.0194 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.8701, 7.1316, 1.8144, -0.0757, 0.2369, 0.0024, -0.3761, -0.3761, 6.7761, 1.9023, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.3571, 0.9413, -0.321, -0.6716, -0.5514, 0.9963, -0.0208, 0.5362, 0.1894, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3292 left_y=-0.1976 left_z=0.1861 left_yaw=-0.0138 left_pitch=0.008 left_roll=-0.0198 left_gripper=0.9963 right_x=0.2488 right_y=0.0036 right_z=0.0825 right_yaw=-0.0043 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.5573, 7.0085, 1.5653, -0.3346, -0.0952, 0.0024, -0.294, 0.294, 7.159, 1.9609, -0.0464, -0.0171, -0.0122]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8459, 1.3422, 0.9413, -0.3756, -0.6773, -0.5571, 0.9963, 0.7017, 1.8004, 1.1244, -0.0612, 0.5278, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.3226 left_y=-0.1918 left_z=0.1833 left_yaw=-0.0118 left_pitch=-0.0158 left_roll=0.0073 left_gripper=0.9963 right_x=0.4169 right_y=0.2406 right_z=0.113 right_yaw=0.0396 right_pitch=-0.0492 right_roll=-0.0366 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.2137, 6.3385, 1.3455, -0.4176, -0.0073, -0.0073, -0.0068, -8.9231, 8.9778, 1.7265, 0.569, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7244849309f7fee0341eccd725c5ba65065cb29a4333fe69a7b5461391070ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6d0fb7fc873c4f5fe9d6d4c74b70cb9fc38ce29d5bff9c806a9489f3eb52e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c4062a555926af523d9c81a8fbf7bdf0bd5dccc17a2dcda171ecc31c8c2cbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfSuxrbgSo0COyKm9KnR03-CRwprXlALamrFok5Fa2xqeh5ifC4IxsBC1yKwyejwtmxN7hjWxc0-_dGqCp58q76tKZFPcOesYoJt-Wlq36tkYjEG9i-B5SvmvVrNGLTMxDgdH9zC7lG-WG9kl2ElRgfNY7lFLFllsFYbutdEpN1c2wAGpz2ImObffnOEiMHsqWoyRRht4jlsmQBXv78CZhyWvWrKM1lZyGCGJk2Vs5hZGwigj98PGZk5ZueILCb-49NzEoWieE0Aq5ii2DYTyupg41UHRaO9d2T8FoBo0zF6TnP15U_2x-w2zxawY8j91gAgZcPAU7ZsQCWv_B2YGpcP8ySva2GStTpi28pUI7UwgiSsNj3IxBoE815VV6zKR2vOfVLNDGRPEyMDABJWGnsFN3lwoCdYdhTQOAfbGHvzIeHMf3uC0A5KVcmMHopZ3lOwjy7nWvae31P8dgUn2vAjzHW71ubDc9Z9qBKhTYgGXmaJpgN3A-mc0suh6UEzaKSINcP-VI3UK9QZaggGhb4wdF0yGbyznbOqK0AfsuUaUID9rdY_n_VFcGXkox0c6agb5nslIpyBx_v-OP-9O95SEi-RIFwb3pDIQgBcoFhLxTbysXJZqEk0SM3JDrHXPPPjJq0bTeX82EVB8S3xHlodR3R4ffgVpAJfWCyFI6ZY4KndIRyAt30fRDEjE7vHZN02ksc4NGHftC24izvq-xlP_wbyQ9z-3EK73EpghUirnDdCW1ublCn0um3UfEvQsaxK9HK1XNPmxuCmehmwgOED_KfN_sDTXnKs9bha0iyQtnEeqRyprkzSqdCfjXr4M7E2hxw_pkRTAuu5qcpGnfEg46QB7VVeat-dJ-JcwRG9zjS2dPxwlRug2CY6h5uTEVUcx18vidAGJ1bjevMJ7wnvHvcBtdkTzdPCwbACjSS8zx3fmfbHiAQ-HIWab-VBkESpMRK0iO4xb5-_g18T1WqBkNYd_K-eqox0vMyy_nIP9_ylNdJoxH3U4dBjDGyeYl1QiAZ5cQ2rmbv-AjO_J0jlQSNEioVX100sXjCEFoBtzagOapXHobbDmxFiWS0BJ5wmUz0OFJqwTZApzLvhihLquWgq_YELl85OW3IoGO-0cW08V58RZFQ1T46fIZZ5v-sQLAZUEWVjjRggHSMen3Y_sZWeoZ4Dj28qHgH5Q74ZNZfU6bgcSLWJezkb3t4wBV0CCABRGKSuPGCgBHfyTV_TRBrF3nFIfc1TSKGf43jqvH5iKMEBut9ohtIkJDmpvVwURc87IxVNZFlF1r23MKnE5-EOIGecVfoXxn4jxjkfZzvGykqmxr2DJngoiXz1YmZ0JFZxiyTRDzmiNrg9oSUxZuS9-eXIIzRprm05i3HWWkEloOJOxR58EYBJbDvSHHDySSebPZEzt9N87SXASLrbFu7OT5MnKUJfTMB3j97E-_y5I5KoW03hzvm_twoLvv4WU9kc0yCxCjDbVxI_d08n8hQ0EN0PnkIm1MGZtQp2fW_hVSbprPru4QXLggOXbm8Ey0sOYznmKMZB995LTMwsFgnyrDA-_JXpGNnASFIq_7_4gQTNO45QQUc4HALi82foyLipJOgBL51ruQcAixXkUOWIqjIxl1P4F69uNiQc-xUCe6NgT8aubHDP2B3ozALfd4iAhjkLaH36y1S-l8OC7LaLsn_MlFYlMK0biUVFYg716uIbz6Pkc6r8WLJ4CTq6V_2KQMTRe2FPqXTRbaVcYzYDT1kjoc3_sYropR4VTE5Ve2WbEE5thcvHnixQDTqGwWr9lTrpEjNlBa0-VZXpGK0ZM1ophD6O1j5EsmrtuoBGJigEuiJzkqjHJ6f55l8q5FXsneJ_Sx5Ic7obwAD8P04ipqvn2NydXZBU7fjr3hVB3eJ8R05djmWyfa8-vh_7lITtu4z37aouMD045nwlEiHywhOyzCmCJU7Sp-j24YYgfiKr_oIWKoztr06ZpZ2RnISlWqv8LH_xG6G1zvv2VLgwbXQi053N4o8KJ-RZblLt_DThAs1Q9-AvVJ7DouMgPWmX1aU8Ac0T3YB17wHzTGCu8FYKxmLDbYXkBkLNOLdjf6EfAZX9kpBnq8OuG7uyqL8HnVdzIPJlZzXvv8eokBogm-uDUiafpVa89bhWZymIfR7p6S_VLrI7uv3ED_u",
  "id": "rs_0796a69e9d0ad8e5016ab427d02bb887d08ef7ca430f047b1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.215,\"right_z\":0.085},\"note\":\"The right bottle is centered near the right gripper’s jaw column, with its cap still ahead and its body running toward the fingertips. I’m moving forward toward its capped shoulder and slightly sideways to center the bottle before grasping.\"}",
  "call_id": "call_mKl9GQkJKX2u537tjOtPoMy2",
  "id": "fc_0796a69e9d0ad8e5016ab427d1b6b487d0a69114431c918c1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mKl9GQkJKX2u537tjOtPoMy2",
  "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]: [-0.8494, 1.3403, 0.9295, -0.3527, -0.6773, -0.5571, 0.9963, 0.5686, 1.9301, 1.0962, 0.0944, 0.4301, 0.2783, 0.9998]\nstate[eef_state]: left_x=0.3225 left_y=-0.1936 left_z=0.1827 left_yaw=-0.0154 left_pitch=-0.0071 left_roll=-0.0023 left_gripper=0.9963 right_x=0.4526 right_y=0.2061 right_z=0.0627 right_yaw=0.0315 right_pitch=-0.089 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.7504, 6.2291, 1.453, -0.3687, -0.0024, -0.0122, -0.7453, -9.265, 9.812, 2.1123, 0.1294, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3e3048994f07f9a9dc26d3de038f30adc9a65251eea21195e87a06201a1b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fee417e6b5369718414c480ca0da515098d0eb263bedafc6878b55bcbcf513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228eba6ee8571d06da2a32a9f0655949d5540bb9327eb26a2f68e824f73d692c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.387 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]: [-0.4221, 2.0872, 1.2373, 0.1783, -0.5953, -0.4595, 0.9962, -0.0193, 0.5545, 0.2092, -0.2459, -0.0284, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5224 left_y=-0.1221 left_z=0.0627 left_yaw=0.2986 left_pitch=0.0207 left_roll=-0.0222 left_gripper=0.9962 right_x=0.2515 right_y=0.0038 right_z=0.0873 right_yaw=-0.0037 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [4.1641, -8.2803, 0.212, -0.3541, -0.3248, -0.3639, 0.0317, -0.4034, 0.0205, 6.8581, 2.0391, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8459, 1.3422, 0.9413, -0.3756, -0.6773, -0.5571, 0.9963, 0.7017, 1.8004, 1.1244, -0.0612, 0.5278, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.3226 left_y=-0.1918 left_z=0.1833 left_yaw=-0.0118 left_pitch=-0.0158 left_roll=0.0073 left_gripper=0.9963 right_x=0.4169 right_y=0.2406 right_z=0.113 right_yaw=0.0396 right_pitch=-0.0492 right_roll=-0.0366 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.2137, 6.3385, 1.3455, -0.4176, -0.0073, -0.0073, -0.0068, -8.9231, 8.9778, 1.7265, 0.569, 0.2662, -0.0122]",
      "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]: [-0.8494, 1.3403, 0.9295, -0.3527, -0.6773, -0.5571, 0.9963, 0.5686, 1.9301, 1.0962, 0.0944, 0.4301, 0.2783, 0.9998]\nstate[eef_state]: left_x=0.3225 left_y=-0.1936 left_z=0.1827 left_yaw=-0.0154 left_pitch=-0.0071 left_roll=-0.0023 left_gripper=0.9963 right_x=0.4526 right_y=0.2061 right_z=0.0627 right_yaw=0.0315 right_pitch=-0.089 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.7504, 6.2291, 1.453, -0.3687, -0.0024, -0.0122, -0.7453, -9.265, 9.812, 2.1123, 0.1294, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3e3048994f07f9a9dc26d3de038f30adc9a65251eea21195e87a06201a1b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3fee417e6b5369718414c480ca0da515098d0eb263bedafc6878b55bcbcf513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228eba6ee8571d06da2a32a9f0655949d5540bb9327eb26a2f68e824f73d692c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfWlNYdsxtkcsLhGyUHCzODfIrD8dULf55UHMSVak6LKuFsPlq9nqje-HMo5GmGM9kKKfZrgAoal-Xr23Wlavfwl-u1HpQF61rh16NFfHlBvAVmx8JbyqSUIwwCHKJPi4a1cQ-VI8GnEaIkJA4Y_1YbpNRFHqvDQg8gP56lWcCFmp8OMLbDEBD_m0vXRlrSU5Uo0zWMxg9lAxBMcxHX4lGj7gfsZ3njB0zzKZ5Wu1ndR4FTvWvJrtrDzTKW3F0Zhatay6EUu0vWfBmTDhzpLxFKaBLa28aKrYaZVnTOgz5XbzzUHUIO26nvJN0FZV-Np2L5WNBElT6II18PdreHEwzYZw4ds-nfDzfIxiendyYRBAEyMkE9o6DsZPXSBybVaanzwfOyRz6jftY9KM1kkTjteegVhY4fLo5CnHf9H-3Z8dODKjyzQZbwSDd6YSvABH2F5fT2ExvRN_kCf59tsXVVYvCZebtaQ_M5ue_u34gk3kCm3Wsn0SK0LYkyx3be4ktRA8KkJ0pAxOGYzYHPGEkmPIPp7w258CFoxY8QoXWStTnOcPXfDknPb-EnwD3BioIWiiIxD1cQwBRH16gn_pOYQiEZgRxpcqYdNMQepe8cy2k6sF9Jf6hgZ-UaOid5Ei6OmJnhq10_FUmoQJcZM1DMXK1182ePsrs7arVm2KEmBJANJGwJkF6TJERwHAJVU1Maax4Dt4PAqD-q0z-wz9sfnep_8NoiHDQGwuvxY_K9HMXM1LWYp5IoAZlZvg1AF2JAc_87ICOcCg_qQjgts9NCM3a9vEsOZcMCGsfFRdgEz2tz-_-ngcAaRxy96ZzBri4LvIBCiiGJv1RsTOFA-g9IQvJ8ZDopcN4u4dQij_2vJMzJ0Cd39a4XHhOA5cjqgtvrr1GOVFHdlFT4Ikr_BQFx4-VD01LBKX6XKCT9gFfoRpFyN3q3q2Xj8K_-H1i1qi4_GWYs1nU9Z6p-NkGz41sZ_Kqmndmt2knFvKnED9tQ7-5BetmTopm7LZ6k7tE3e3NaE6-LqR7rflv4JpOD1n_UOER45UTzwbiRQXW-qPsLduOpXDT_aGuZAE09blW5g8ciNu20jGfisNGk3Qn5tuBPsgFzx5_cETjgzcdLxpO2IPuNiz4BmY0dFt65Msdh138_Iz8aDFTgiwRqNcNFKa-dT9HVhAE1HQLUcZuCDWxBo6xl1eo4BkSQrzUK5a9vM57t0T1aKIGF06vPmNI9ySiiy85ot0v-K6PCpnBlZdRj-8JrLlDIlkLGtuZwzvr7hCY6kc7wmYvyLuEe6wHuTbRizchXLPG-ySk60L6DS11KELj32tznb7cInu384Heh0e8uvCWqgOP2dKWP6Vtoca47hbUKTxJ9o7Zx-ll0CBXTBYNQxs4hHxN9FUESXuvHUyFLvuEmxrcxiBHfIc6ldjlyvrGO1ktlA4avWeCL3HKUD3DWK8w6bQ_A1KByoLP2pfyeNwWEJbJVr1m5ITe-vX69_wcPVfROwJmSD8BF45Hr5IhrXSV0usFYpALiU-esWzxK2vJZpunBozy5tkclZiGKL9GmzBd--rEz-YgmnO7fDYJsPO_JghmyVUTXQuyqbdqtX5EXJ_3ZMYckjq8LvuPpppCngQoTwbL8m4W-ValsQEIyRUTexNr7UXBK3Q1UeKgQNvixzy7MMX0-9qUW7xO3pSGAhR0XeXbcmMHPMwffjpH-pvbYC-naEn7ifMakqfMAFucttL3spM9s4CbLo6110_mfgLc7blq60Av-sUvR9D4FBUCeLUPJmGLWeg4BaRxldWyYzxN4tKn-FmBfS_4IhXHbWk6TzeQyn8FfPpm9Nkig0AGTvCcnjrLXgrVfbhURt1I27Pt10KoJWf_tksu68Ko8_AoO1qjvtVi2fYxKEtBCkE4vS0wgSeJLQlEhPdLjdzyWKT4bV7Wf3ja7LxEqQQ==",
  "id": "rs_0796a69e9d0ad8e5016ab427d4364087d09bb0f37c85c3c69f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.205,\"right_z\":0.025},\"note\":\"The capped end is now centered in the right wrist camera and the bottle body passes between the open jaws. I’m lowering vertically to the bottle’s mid-height for a grip.\"}",
  "call_id": "call_zrVndXHhAuuPPbQ1ZGYaSaQd",
  "id": "fc_0796a69e9d0ad8e5016ab427d5ba0087d082a1530e12cd3614",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zrVndXHhAuuPPbQ1ZGYaSaQd",
  "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]: [-0.8497, 1.3403, 0.9291, -0.3489, -0.6773, -0.5575, 0.9963, 0.5587, 1.9442, 1.1023, 0.131, 0.3985, 0.2565, 0.9998]\nstate[eef_state]: left_x=0.3228 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0156 left_pitch=-0.0048 left_roll=-0.0052 left_gripper=0.9963 right_x=0.4591 right_y=0.2104 right_z=0.0632 right_yaw=0.0598 right_pitch=-0.0748 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3949, 6.2974, 1.5263, -0.3932, -0.0366, -0.0122, -0.6906, -9.853, 8.8547, 2.0635, 0.2418, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf823c186276af067fdbf36eb438024a012ea5a2a52e803e58e7345715c2a100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824dede7b08036a485d64016149275116062327a13cc016886ce68e7666c8a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5bb0976ce6136109833e6913192521a85486baa63f85e78b9afd64b2456427a",
      "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 · 9.367 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 77 changed as sent

message 81 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.3571, 0.9413, -0.321, -0.6716, -0.5514, 0.9963, -0.0208, 0.5362, 0.1894, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3292 left_y=-0.1976 left_z=0.1861 left_yaw=-0.0138 left_pitch=0.008 left_roll=-0.0198 left_gripper=0.9963 right_x=0.2488 right_y=0.0036 right_z=0.0825 right_yaw=-0.0043 right_pitch=-0.0217 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.5573, 7.0085, 1.5653, -0.3346, -0.0952, 0.0024, -0.294, 0.294, 7.159, 1.9609, -0.0464, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8494, 1.3403, 0.9295, -0.3527, -0.6773, -0.5571, 0.9963, 0.5686, 1.9301, 1.0962, 0.0944, 0.4301, 0.2783, 0.9998]\nstate[eef_state]: left_x=0.3225 left_y=-0.1936 left_z=0.1827 left_yaw=-0.0154 left_pitch=-0.0071 left_roll=-0.0023 left_gripper=0.9963 right_x=0.4526 right_y=0.2061 right_z=0.0627 right_yaw=0.0315 right_pitch=-0.089 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.7504, 6.2291, 1.453, -0.3687, -0.0024, -0.0122, -0.7453, -9.265, 9.812, 2.1123, 0.1294, -0.0415, -0.0073]",
      "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]: [-0.8497, 1.3403, 0.9291, -0.3489, -0.6773, -0.5575, 0.9963, 0.5587, 1.9442, 1.1023, 0.131, 0.3985, 0.2565, 0.9998]\nstate[eef_state]: left_x=0.3228 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0156 left_pitch=-0.0048 left_roll=-0.0052 left_gripper=0.9963 right_x=0.4591 right_y=0.2104 right_z=0.0632 right_yaw=0.0598 right_pitch=-0.0748 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3949, 6.2974, 1.5263, -0.3932, -0.0366, -0.0122, -0.6906, -9.853, 8.8547, 2.0635, 0.2418, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf823c186276af067fdbf36eb438024a012ea5a2a52e803e58e7345715c2a100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824dede7b08036a485d64016149275116062327a13cc016886ce68e7666c8a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5bb0976ce6136109833e6913192521a85486baa63f85e78b9afd64b2456427a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfZYlIR9SwAmPX2L0hekutFKxQ_3KNrxy2-_OChdztkd3FWvqy7FjbfxYdTxjXJIINpvxB8JrQbc9vk1u4ZwG7-Z0NZGDT3bra-OeAm2B9xwgJvbE0mRcn4MW-1TfsrMptc0Gm0YL42OAB_FRtEIvZXbjy2ZJYNxefi7Cb6bqyxzaTTXslVtMqfX3wPeadC-xcRjmLksWHy_zLXGLM23RxDc7LTIsswG9K66C30xevqciYaLalw4DEKbnnZoruQksWcXRa3cS7tY6OUkoF7aRyZ5REvXjn-bpEc9Wg25nk4UnPILPKEuCc5J2_SBabA1LRmCbLyDeLkci50MV7hcZVdxCdN6ZzPlahjz9r_5oH56L82H0Gh8vnjjjdgMr2NiTQO3jVHWexW1f2SuxmzfrG_XXfXbq1QEN1zS-RENY4QPnukgPi4pL4Tv9Q33u1yvMGkrhq91U14bLaui0y64i57IwsRGvQxw3gqbdmuJdfY81b_GPdMsFIFmrp6zqavgS0WB3uIR9tvOjRwKDn9HXsV2_XTL-f19N9dNisGS6lucfREi63vJPqlR91Q22ieg3dgIpIBApzqboGOI8aWW8MoowK6PbrJA-jOG-aDy042v1imQiH4_bVClzEIiEVzQBoi3OuQjiR55g3seFSFp2doUQVofKBJ_b9Ryykx7dJfnpt1kqiwMV70Y6qhuy4UdMoYALo84dGKtVC6cA6eULMFgyXuFednF7NeQ-RvtcU9UJx6SthHXjnIJtUX54rGr9JppTkgbaiNucMaOxHwz3BP1cO9ph49DjhO3WoLfhVhDOO5p7aVy57W6m7oj9u21aFX8b7WKOe34EzjfX04avRYuxiLDz-QYEPWPyDY7K9YcppG3CNfveB2arAmCKg1L4HlFk4Z4-76eor_rTl3Z-zEWmUe7ja1BgaZYwSkv0jGm3G8APusovWoJO3NTriXvtsLCMXIK6UxOgj9pXy6yKm3o0bfb5hC7pMQWOo2QVDMPxie57Rk4UKsHtn8jfA84VTgt6H42YmFDU6i06hYGeI5UbpJBvlk3QuHcYcqCmH2CYxYkiV1xIoW_RkntyYtiXkqFc2MKzybGGIMTpejLtJQ_idsc0h1v06pxXHgVdcfkU0hC7vKdYG2FWibhIWmH9V43tApsb__hBq3_3YU6-KYFY1Z8NTNWrOnodv-i7OsuYMlx7B2b05YDs4alySC8E9Hma1t3DpyIJfR5fNfjWqRbmaP_miF3KGuOsV-oPH5_imap0YhcDWFesXdAcfRA13M2yURx7VMO0J7S7j8r6YHsWNGuSfkTM8bBG2mS11Tzuksqf8w7fpZnw32PKVAskIn-50iDDGDgXgKQLuigIA1nJSz6tWRYyd_3ouV-Pcqr8SEhJOpPZUppqs-IgfTqQs04x5EmU5u2BkSHNIB9jjPtKx7iacGJeJzoPK9pO7EOSuh_7M0V1gi7TD0nAvFSHZz",
  "id": "rs_0796a69e9d0ad8e5016ab427d7c37487d09354d20b5fd6b08e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper also stopped around 6 cm instead of reaching the requested height, apparently on the bottle. Its body appears between the fingers, so I’m testing a close before moving it again.\"}",
  "call_id": "call_8O7usKYjIuIfiUGb6NBRKdAk",
  "id": "fc_0796a69e9d0ad8e5016ab427d8389c87d0b57f7fc2ffde82ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8O7usKYjIuIfiUGb6NBRKdAk",
  "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]: [-0.8497, 1.3403, 0.9291, -0.3492, -0.6773, -0.5571, 0.9963, 0.5587, 1.9438, 1.0363, 0.26, 0.3965, 0.2565, 0.0185]\nstate[eef_state]: left_x=0.3227 left_y=-0.1941 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0051 left_roll=-0.0046 left_gripper=0.9963 right_x=0.4585 right_y=0.2104 right_z=0.0613 right_yaw=0.0627 right_pitch=-0.0197 right_roll=-0.01 right_gripper=0.0185\nstate[joint_eff]: [-0.5675, -5.2171, 6.5299, 1.5018, -0.3639, -0.0073, -0.0122, -0.3214, -10.0991, 4.9846, 1.5604, 0.2125, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f4562a28921f2201165186d3843d92858461a7dd4432cc9c0b6f0e69a2234e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7634063e4518c77ecfd731642342787086fb31903969033c98e431b9a27d1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77898b73ee1e3810ffe1791d085f74d77051a87d8506bcf89271b8d6135bd64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.807 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]: [-0.8459, 1.3422, 0.9413, -0.3756, -0.6773, -0.5571, 0.9963, 0.7017, 1.8004, 1.1244, -0.0612, 0.5278, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.3226 left_y=-0.1918 left_z=0.1833 left_yaw=-0.0118 left_pitch=-0.0158 left_roll=0.0073 left_gripper=0.9963 right_x=0.4169 right_y=0.2406 right_z=0.113 right_yaw=0.0396 right_pitch=-0.0492 right_roll=-0.0366 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.2137, 6.3385, 1.3455, -0.4176, -0.0073, -0.0073, -0.0068, -8.9231, 8.9778, 1.7265, 0.569, 0.2662, -0.0122]",
      "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]: [-0.8497, 1.3403, 0.9291, -0.3489, -0.6773, -0.5575, 0.9963, 0.5587, 1.9442, 1.1023, 0.131, 0.3985, 0.2565, 0.9998]\nstate[eef_state]: left_x=0.3228 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0156 left_pitch=-0.0048 left_roll=-0.0052 left_gripper=0.9963 right_x=0.4591 right_y=0.2104 right_z=0.0632 right_yaw=0.0598 right_pitch=-0.0748 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3949, 6.2974, 1.5263, -0.3932, -0.0366, -0.0122, -0.6906, -9.853, 8.8547, 2.0635, 0.2418, 0.0659, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3403, 0.9291, -0.3492, -0.6773, -0.5571, 0.9963, 0.5587, 1.9438, 1.0363, 0.26, 0.3965, 0.2565, 0.0185]\nstate[eef_state]: left_x=0.3227 left_y=-0.1941 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0051 left_roll=-0.0046 left_gripper=0.9963 right_x=0.4585 right_y=0.2104 right_z=0.0613 right_yaw=0.0627 right_pitch=-0.0197 right_roll=-0.01 right_gripper=0.0185\nstate[joint_eff]: [-0.5675, -5.2171, 6.5299, 1.5018, -0.3639, -0.0073, -0.0122, -0.3214, -10.0991, 4.9846, 1.5604, 0.2125, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f4562a28921f2201165186d3843d92858461a7dd4432cc9c0b6f0e69a2234e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7634063e4518c77ecfd731642342787086fb31903969033c98e431b9a27d1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77898b73ee1e3810ffe1791d085f74d77051a87d8506bcf89271b8d6135bd64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0796a69e9d0ad8e5016ab427db203087d081e1f618ab2968c5",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfjCxw2WGAzUsUYi7NG1a_hIPw-YEUvc5YcuCLh4oHwQPRLWLd6cxycSG_aCnvzy5lgGhx13xgP7RoTg8drzKPd_DfT-hWMmVVQfsZ9g1VfqzGE01cP4AdMTo2FIIG5aCVq2szav2PVKoCUib4G0gC7g5mErnwK7Ubd2sqyoD1k2G7QZSUO4ZT8RZXwe73kWU_wL7_vQyCAls7dJHQRQZWIxGxGhYE_DGXF5Ns083CLHKhUoZ0wLnqalRDzDZrJzEHTXwvAIKrvY_jkfVQ-atz0lAmFud4SMbKu1ngtWWRYHiJWjQwMsMgILsHbug2gXxvdKh8Nt7ZRh_KuOAMtSz3iaHgouyZ864-x4pGdQrFV-HxNs8SCChYqHcZrZbmQG5HAfs6rp4woxtke4fby2hocvKtTlme4NV0c2Z3t6FaijrSqpSHEvpKwS81TpCpfdkKcwGqYN5xvzs75bAlwDtPonKuBqGOUDk_FfARH59aIwAPw6tgKg0dcgEQrOIZiV3DdTMIMskmQw1-9Opd8TNYTwxX4NhulW-W0yMOLx13hM_lnL76uIVvtZuBwH5zCFwxC-bfYOBYcu7cpKY3dfS9kXlSH9SG9ZSeu-OLs7IijL3YbKcBjnpehY6oPMnyIkFvNt8fupjfo3YtZciqhZXUcQAHbSEFEbYISiqeJqsos2ni6MZaUFj4XuaEtdQs0wx_bkNrglz74L2d1XYP0yMOrS36nI7m7de7LSy__GT2Bu8IKHHBmBOuZRDntB-6-sXM0_7D9bFhVgICQ3Kb9clugeMsWVvEogwRrWBEY3o9JBiW_ea1zbco0vjrtJPFR7OYqOIkc6VoxBHjS8ya0kLpjbYB6HWbNSIRCGNxIGpOfS32y1Le3eJiHY_Bjle3mW5Zd_HOszBkMQBtLr4ZzNdYwK98fRS3lnbvZrcnQUwifaRE69eE6DNSFaGsTzvoofLGJMKdey4jr2b832NZH2ym1g7MTu_W-f9NS_P4HZ6bOLWA0ByHOTEN7s74AV1m60PWMM28EvmCbvdkXsPbZD-0mve39IiVFhkEdvXLapMtMLezHITrZ5kFgcvCDAxlVeNNIUzjN9mHziWvvxkO3D9b2YWVHdEF8yVTZlv9pV21hkeX_B6xUfIsyXG34JZfx4omVkQMO_tFP7WUvkiiWT-feFz9zvgR6TVJx4R-CPSkYd_WNry7oFFvoGP_xSZ1T2pyOGi2FZclfAnWqipin9L6f6zw48RY_bv9olC8uSsbo0SuGil5x9wkXZ0v9jDbWcsgwzCR9kZ5ggrWYg01UU4JxuYmqUZR-TygMu9CcD278_7qhTxsDpqPgsXSkGXhA7AcIVfeYEm5m_5Xg6T8Tb0MPkbVxjXwxbUN2pldMRvHtvIox8_AJ4UAaAKbCUmsICCt39mx1jwoxZ-YwmIg97GKGexlhbv11HgfzCqJ45qAv9kwaO75q2Lyn-XjZzC6XnQwva0yNf_EyxGoLyd0D5jd-IRpY9GQKeA87wjAo_CkI0yhgDcDVuVmAFVl-1EbwTZJlL7FyeKeu26T8YU3POurm31DXtpHaTzf5hMTN-vZZamMgkiuX9LZdFkF87nyI1WGIyMGnovkCxdtY5mGsZUXVZnmv7IIn6YlDhdFzZSXwTtipSlXVVHleSnSQ6-LjK8RfLDs8YoSM2xydbUX9Y2n5_140uY6FwyjQYSZEJ7h40xL11NIDOLWusHdPDyyGryUA3eoYqX-ZXRLftw6Qbsa6WJfpEQVasPBgALo_ltFZjVzjGm_5ZoY7taxwAeZTuZct06eWvgN57LmnWxrzXvljsBkiAA9K6xAp3T4Ppu08ZipOGT3Aqp0DghkLbFnFhXmc-W8jY_5fmIDQOlrD-bxIj-u64NKX7L1T5e1uAn__fMzzuVen-qyb9OXI-m6NjSV3XPhW0kBy5rFT5FhkL5hruclDBrHr8zCxD2IYK-Pl3J-gKupA1uiFzxwMGgr__pRE0G9pi6BZ8fdUcq19UFnMphyQoKZBjaOB2xf3ynlmQ8OxNcIRxEpnXRH8Tv04pcKIKkuw6R15ImDo9Btki_6UMu21o9GFomx_ey1Bv8zypwM0VWPr-NfyLK4vLTT9r1jvj0WT3kednnrb-UV1z28_2NQ8Knodtlt0d2bynqlv1cpydY09wKweIRlj-9CzCfBrRf07vLV378spWxJ9Z8ZnVKS0j6vM4W4xFbe_k5ebnlHuJarW1p-1I5HTez-FVxHBJPY7kv-SgPHyx2cemRH4IyCbOui5xLszZrGxPUGLCHSCuF7UjdiBLMZk-8PC0lTJQHnhEXptSkFpE9truiOIdo5HuY-5fHY3RcPsZYStJrloNCRJSGmnRH2E1fHGMz6GdbjTNhS311YAgbo4vNXctw==",
  "id": "rs_0796a69e9d0ad8e5016ab427e03af087d0a643012721fcbbf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The gripper closed empty at the far-forward position; the low target may be at the arm’s reachable limit there. I’m reopening and moving back over the bottle’s nearer body, where the arm should be able to descend fully.\"}",
  "call_id": "call_UByB7lwfv8oWN1KyjPa8GX0m",
  "id": "fc_0796a69e9d0ad8e5016ab427e2350887d08e501a8bf0f61ae2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UByB7lwfv8oWN1KyjPa8GX0m",
  "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]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6853, 1.8427, 0.7383, 0.4183, 0.4759, 0.3279, 0.9952]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3822 right_y=0.2126 right_z=0.0307 right_yaw=0.087 right_pitch=-0.0277 right_roll=-0.0129 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -5.2718, 6.653, 1.5311, -0.398, -0.0171, -0.0122, 0.3214, -10.4957, 4.9299, 1.663, 0.4664, 0.1441, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c5a0c939160a7d8d455a1c77e4e8cd05b40d03b33814a28b344f616e75809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af49163697b266fef22062fd194eeea1020798cb40965dbb49eb55d351bec33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fe112efa817ebe39bd099cf5a80973ace213505fc8c1b4c5eae302e140142f",
      "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 · 2.219 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 90 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3403, 0.9295, -0.3527, -0.6773, -0.5571, 0.9963, 0.5686, 1.9301, 1.0962, 0.0944, 0.4301, 0.2783, 0.9998]\nstate[eef_state]: left_x=0.3225 left_y=-0.1936 left_z=0.1827 left_yaw=-0.0154 left_pitch=-0.0071 left_roll=-0.0023 left_gripper=0.9963 right_x=0.4526 right_y=0.2061 right_z=0.0627 right_yaw=0.0315 right_pitch=-0.089 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.7504, 6.2291, 1.453, -0.3687, -0.0024, -0.0122, -0.7453, -9.265, 9.812, 2.1123, 0.1294, -0.0415, -0.0073]",
      "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]: [-0.8497, 1.3403, 0.9291, -0.3492, -0.6773, -0.5571, 0.9963, 0.5587, 1.9438, 1.0363, 0.26, 0.3965, 0.2565, 0.0185]\nstate[eef_state]: left_x=0.3227 left_y=-0.1941 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0051 left_roll=-0.0046 left_gripper=0.9963 right_x=0.4585 right_y=0.2104 right_z=0.0613 right_yaw=0.0627 right_pitch=-0.0197 right_roll=-0.01 right_gripper=0.0185\nstate[joint_eff]: [-0.5675, -5.2171, 6.5299, 1.5018, -0.3639, -0.0073, -0.0122, -0.3214, -10.0991, 4.9846, 1.5604, 0.2125, -0.0269, 0.8962]\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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6853, 1.8427, 0.7383, 0.4183, 0.4759, 0.3279, 0.9952]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3822 right_y=0.2126 right_z=0.0307 right_yaw=0.087 right_pitch=-0.0277 right_roll=-0.0129 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -5.2718, 6.653, 1.5311, -0.398, -0.0171, -0.0122, 0.3214, -10.4957, 4.9299, 1.663, 0.4664, 0.1441, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67c5a0c939160a7d8d455a1c77e4e8cd05b40d03b33814a28b344f616e75809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af49163697b266fef22062fd194eeea1020798cb40965dbb49eb55d351bec33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fe112efa817ebe39bd099cf5a80973ace213505fc8c1b4c5eae302e140142f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfnkafcHQ2w_hMRTYBLYp_4w6vMLBXDvqYky4EbyUEbpCGcMkZ9s4AFmNMb2l3a0SPcOZYhyVxyU0lUwQAV1qra8ixWjI1SsfazJdYEMWKeRlmdulmGAEc2Ojm6-1Kcs8dN1A6p2G4OdzukLU_IU0ml_OscC_qAvKFnBngPIFwnfy8Yb0_Y-d_r41xFksnC02od06zRrIGrBHcZ3z_bm2o28itRW2OVraQ7v7ZP2xt-AxI23tx0UMAImb91Ypvp2nI9w-B-5PXJbShMlaLnpADeEKVRRtitWRyG3F05j7EpEiC32tG5Ny42wPEpKWeyY18TEz2YhTeyBZ1NIT9rP8K54CRMssfs3IT2LANmrwQRTrhM3Ut9AJDjWrzW7aXfMe4tHftVFRmawNVcFgmSCLfyYYIWPdkxH_KLSzn3xMirLeb5kw3VQEQ2LrYhXiB2l7wSWomzjW_DP5vkN8IeEG0DEOMKGQQr7FHX35izXuYTHoF4HPa3D2SpTGeUqRBPkqlYW-S9VzuK8VQjzdkI_gqETWIHKHysWcEIFi7-GOz7XOZWHTt9rRCiO280a61-nn3cI0rvQKowQQfqVDzqqfj-2TQDTWe8JvuS-UXAbILUN5Y56ajZFtmW61_o8ha9IRH0jIUT7BkDpjxAk5YONRXEcYnKCD1G0Ux4bprmXioKKIdBrwaiAbhMVZG9PsljQMse31wbOgP8j-y2sGkJZxLRuLCqKxjxm6ZBs2ALmZIzmQJ8wn9WqpVHDMug3PIMdIea6y1d7nfhcPjFcviswkogT4I1OjfjCYr0fr1R4ZuVK2Z90L_A1CkRft6iwC8HJaPAMnL60m-KP6aEgRpaVLB3roXRgl-LfrGpM2x3JoJeY9nbs8bpKx3bR_fhL3AtUDpxF5869VINj7EQRdATPUtc2srkcz2WGO-6_S2Po7UUD20cv-REeqiVtd4AO9Vqv8j0xmimvhOXJPz6g52yOsDra6F5VImd7Wd2GNqW54KSBYk6xBB-YLEiJYyr0DLW2Tx9nYf6TTBVYGZ9DoSe2lTSFS7PdNFuRQjv8a920l93aIYGBz_F5PMfI_-UfyTv2Bf9P77vh7w4tgYKSWSJ-WUCMA5eaETU87O9JV_WRncfz3tGNYCt9XhpEyH2GjOKkLdyEswZsFc3hnSvfVDaKhduIL-Ol9KVGKGDutD3uNIUXPw3ijsfj1-smYVUUJlZTB0Y0K8ExJCYWRLPMZYt0Q0aYIOp1AiOqOCOaVqWHCJv_fGfoBWb8AEwlUIJMWFprudydq_f0zKaMnFdHeI7vXIJJSRH7loqJ_2W2fQVKiUK13QmDiQGhOsJ6YlHI4dCcT2RU4UP3AnwSS5C8J00M93T2Fn6Aqa4pxEENoo-S5L96v_Tg-QN0XhmV0pIknzj46MXmcpfwY1X7vVscR6-I2DBeKOg6cJiY--U7lLyoaK--zVHdsM_0EUa8Nro828b-cHm8dAhj_5uAXE0clGrIT9MaIwTgqY9rJL3jTt2VYWq7qVAFT7yPURjCgroHrgvBJdBaWxyUqiFNy3Peqo0L10rlcEnH6OcxGX-wImuB_EafWxa_a_qI-LYM4HyEnZg7LGN57cqH6y8Dnd7MsWMwrXginMrnQEK0hHPjoJQZbh00S3bXgrRdTrFNFchPic4uTeACImXAC0sCUx2Ak1luAzG2QOMdg4AIZajsUbFVCJktssGdubT-81BJcWqZR22nsbAWS1qdCqaikLOsPGVnJwxOZSm693ph_tOsQ-GwQrXDLkh8lg-hyrt2z-gggqk89Ao0vTd6eKQJEabTm9DqsdpsJLQDbYWbUfjOI4jajP24rKez8HIBk6CAcNLuBssrdZphaxf0BBqBSyQVwxyT19f-i5ofQowrcSKxUlzKAaH0oyIZQ0l9A1Iqb9-aqDeszLRbgfeaNLfdPyS-RQ-q95oOw0__ISB1tgLkfAF3f2YZPHok067wfgR8xJBw190F7PJh87EI66Fr5ZUk1A-oKf3a6kJgkqMbN6UW_bI--FjkxDcUI_M4uhwG6wFNcpMQBc-9HYVkXdDIHapvA867iDUwg==",
  "id": "rs_0796a69e9d0ad8e5016ab427e5634c87d08a8624f9f1feda6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.21,\"right_z\":0.025},\"note\":\"At the nearer position the right gripper reached about 3 cm high, but the wrist image shows the bottle still forward of its actual fingertip point. I’m advancing only a few centimeters while keeping the jaws open and low.\"}",
  "call_id": "call_HfnYaMAIjJbpRHT3th77smZ4",
  "id": "fc_0796a69e9d0ad8e5016ab427e71a2887d092a9525ad7f0767c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HfnYaMAIjJbpRHT3th77smZ4",
  "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]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6384, 1.9114, 0.7731, 0.461, 0.4358, 0.2932, 0.9955]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3995 right_y=0.2081 right_z=0.0194 right_yaw=0.0907 right_pitch=-0.0338 right_roll=-0.0155 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -5.3128, 6.5026, 1.4432, -0.3883, 0.0269, -0.0122, -0.8274, -7.159, 6.8171, 1.7411, 0.1245, 0.0464, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28611c317beab3ed4d933c62251792a1b91e41d47e1d39867a15492ebe031190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffda72fb52e3393272ea3e61676011f53424ae7219e0686feba3c831c0f9e8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b310013221e67bfea5a99fc374189b24c5a077594e3f642fe238af05b9816e14",
      "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 23 attempt 0 · /responses · status 200 · 2.176 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 90 changed as sent

message 94 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3403, 0.9291, -0.3489, -0.6773, -0.5575, 0.9963, 0.5587, 1.9442, 1.1023, 0.131, 0.3985, 0.2565, 0.9998]\nstate[eef_state]: left_x=0.3228 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0156 left_pitch=-0.0048 left_roll=-0.0052 left_gripper=0.9963 right_x=0.4591 right_y=0.2104 right_z=0.0632 right_yaw=0.0598 right_pitch=-0.0748 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3949, 6.2974, 1.5263, -0.3932, -0.0366, -0.0122, -0.6906, -9.853, 8.8547, 2.0635, 0.2418, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6853, 1.8427, 0.7383, 0.4183, 0.4759, 0.3279, 0.9952]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3822 right_y=0.2126 right_z=0.0307 right_yaw=0.087 right_pitch=-0.0277 right_roll=-0.0129 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -5.2718, 6.653, 1.5311, -0.398, -0.0171, -0.0122, 0.3214, -10.4957, 4.9299, 1.663, 0.4664, 0.1441, 0.0513]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6384, 1.9114, 0.7731, 0.461, 0.4358, 0.2932, 0.9955]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3995 right_y=0.2081 right_z=0.0194 right_yaw=0.0907 right_pitch=-0.0338 right_roll=-0.0155 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -5.3128, 6.5026, 1.4432, -0.3883, 0.0269, -0.0122, -0.8274, -7.159, 6.8171, 1.7411, 0.1245, 0.0464, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28611c317beab3ed4d933c62251792a1b91e41d47e1d39867a15492ebe031190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffda72fb52e3393272ea3e61676011f53424ae7219e0686feba3c831c0f9e8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b310013221e67bfea5a99fc374189b24c5a077594e3f642fe238af05b9816e14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfqYaK7Dr9gTAi0J7MLgq1tNsLDajLYYYVnqobwSOfRtFqomIoSRJwWvZ-YZFI3p0-Ulzv1-Etfk41rHwB6Yh1RVpC2b9L0muSal4NrhPva1TzbvP__d2yFATx2oNThBZ4Cbq_AfFKr3-qvPzfU_7pp1RFFJYTs745XxfQoSHxom-G70eqUJTmWFPgtzkiS0YksE5CAdOWkNgBSHWqOODayhIpaOP7QR994gw6vAa_ffmgt1UYcJCjIbSoJTiY-ofkSFIjCJL57H948ahHcznR7ciUT1uIl-01twkpMR7Kdd86mu_cNnGdhQIaBi3TYX-Y4PSTUeKgq1a59xxoYuWDDHnxz3h4R4B2wJb-ufXqTi6b0agwxy75sl-A-0GZyoRiuXnoOSdxIm12yfO60-qyD9ludisJ7rRllDzt39DulgjjJwyTCbgZCVjBh9D9mZUYqbqjSxO7zPJvj4qTtb52AZIUc5wIRAYjDRNFwS-UgWY35lWq1eZHwve8MaZQksEPIQKsPW5XsnscjdJYEwfJnNqtEX2DkonQVcgUx4xKx1psWRrjj40dM4eitSjndZbX9wyBJyDSf9Ns24pCviaINQHeRMVkB1WUKUyoumFwCSlKbjMCd_9Uk5rYdoKMBc6ZhmvplXjIS7kIa8P3pDAB0octSbSiHvJy9DkHepbgxRlYV0gnCIkRgp5jUDPMkwFNJ0LHXWTxdHn14ZAaRdjrjmEZOSGbHB4aaBtUXXBwic5QVXPepxKIg-We57A1MadsexZ8xYAFgd4_xTgWv5mVSooCqxL5ixnUGSATSQWAaEKCn0cJpjT7dGlOtQqqIFj7k51V-7O_dYNSXlJQz-R8pEut5q6yVV9zpCou9PxNe3IBcJ8BTSD5Flp7T6WstWRBQSNa8_w0SVMw8j92M7C6fdA6FGfBd4_TT90kNl64jD17AfDCqQv5mG8aPXuW-mlVrRy2251-OoD4owoxob47nKTX8tA1U24oJ_fxV1_aEHoMdL79DFAcfsZSu7Xfrg44jsxa9P8SwcHN6ylm1plFIYbsmW8LHYZ5ZrhWW330ALWKMBeY0qjSlje8QKjedZuFN5HsZeh44wcdMyoouRlvtrpco4n50jQLnUgnUngz6lhzDvz0S43h5c_ULbOYX74B_yNCCo6A5u6hIjAvGXOQZXDw2Oim_7PXK0FnXAoRnfwsDPhXWeMTb6JEubxVIhTucaGryUl92eas3T53Nxah7_EOwq8S-rPZxsR4RS5zXflAc2CSFdfNSmdjCgiFxYK72nq0LBFfIJK0-kMDTw-9iBtF-dHUZOnvLntjpMZ9-T8aHNav3ASMPGAZrg30AeRvUpONjzOMUpqCCgLBhD2OebXOnwOB3Ry8lHO-ec4TTQAI=",
  "id": "rs_0796a69e9d0ad8e5016ab427e958b887d0a961afc8f4679944",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s lower body is now centered at the right gripper’s fingertip row and the tool reached roughly 2 cm above the tabletop. I’m closing here to grip that body section.\"}",
  "call_id": "call_6rORemU3fhK7thbyfpBXS5hF",
  "id": "fc_0796a69e9d0ad8e5016ab427e9b81487d0ba1c4ec7a968aae7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6rORemU3fhK7thbyfpBXS5hF",
  "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]: [-0.8494, 1.3407, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.6353, 1.9274, 0.7471, 0.514, 0.4225, 0.2829, 0.5385]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3972 right_y=0.2074 right_z=0.0129 right_yaw=0.1041 right_pitch=-0.0285 right_roll=-0.0112 right_gripper=0.5385\nstate[joint_eff]: [-0.4034, -5.1487, 6.4889, 1.5165, -0.3834, 0.0122, -0.0122, 0.253, -8.8274, 4.7658, 1.873, 0.2418, 0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438641fad16480c9a67549c22d220faddb0a4886b056fd57fbfd1e47dc3f528f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b972469c110c9f50b4e88f5a0c048627557be5858ee248676b06f646f85425e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9674931e952c5db358e73aa3bc0cc3f687022ed862a89f929544d06cec42ea76",
      "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 · 3.537 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 94 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]: [-0.8497, 1.3403, 0.9291, -0.3492, -0.6773, -0.5571, 0.9963, 0.5587, 1.9438, 1.0363, 0.26, 0.3965, 0.2565, 0.0185]\nstate[eef_state]: left_x=0.3227 left_y=-0.1941 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0051 left_roll=-0.0046 left_gripper=0.9963 right_x=0.4585 right_y=0.2104 right_z=0.0613 right_yaw=0.0627 right_pitch=-0.0197 right_roll=-0.01 right_gripper=0.0185\nstate[joint_eff]: [-0.5675, -5.2171, 6.5299, 1.5018, -0.3639, -0.0073, -0.0122, -0.3214, -10.0991, 4.9846, 1.5604, 0.2125, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6384, 1.9114, 0.7731, 0.461, 0.4358, 0.2932, 0.9955]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3995 right_y=0.2081 right_z=0.0194 right_yaw=0.0907 right_pitch=-0.0338 right_roll=-0.0155 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -5.3128, 6.5026, 1.4432, -0.3883, 0.0269, -0.0122, -0.8274, -7.159, 6.8171, 1.7411, 0.1245, 0.0464, 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]: [-0.8494, 1.3407, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.6353, 1.9274, 0.7471, 0.514, 0.4225, 0.2829, 0.5385]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3972 right_y=0.2074 right_z=0.0129 right_yaw=0.1041 right_pitch=-0.0285 right_roll=-0.0112 right_gripper=0.5385\nstate[joint_eff]: [-0.4034, -5.1487, 6.4889, 1.5165, -0.3834, 0.0122, -0.0122, 0.253, -8.8274, 4.7658, 1.873, 0.2418, 0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438641fad16480c9a67549c22d220faddb0a4886b056fd57fbfd1e47dc3f528f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b972469c110c9f50b4e88f5a0c048627557be5858ee248676b06f646f85425e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9674931e952c5db358e73aa3bc0cc3f687022ed862a89f929544d06cec42ea76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCftiMHG8jPFWwaGiomRAKZS9Os5NF2xPSFX3PaE4OJfPAxNeNajiFES1MqKwHyzgWgwy52Xrzjgcf9erPA8tuAtZ_0cTcRFbxAu11CCd2D1D6CUNM_PjECetR92Lx1gZHg6K2A-poNR9QXh8HVr0344_0h_gbx3IJnUFxHEYu4IVWXKax6jBYrnIPi7rpGNG7hQIMC38SeePS1T2qGuHIaTxewiEZWq1J_UzVgsdv1lxAQiGzQuhGOXQEYvAVCrDj_eQ73VPz7smERK1OjB7F4OISVq_lJeoFjJWOWo-sy6_9b39T8yJ7OGtGjt1cIt-oQCCPPEfeZ_5gOIC-Y94pvqfPObZePeEb25uYVT8WOUXhLmnt9qSd2ky_0X8dJ8AieTHkUoPhLq1hZxy5qMrlbpZLMKnRix39CJg8FGGx4CUOEafr1oKUYvRhtbhvbVMR2tEAn_9MH7sHS8oC0sVjcfhdzCp0ZhDrFsUNxq0nVO-LJ1uU_sTdIKaBv7l0W7rniMuWQ6PaOnnbAOWnp9GOh_yyTA5XjgNHJ1IkWdogKKyPHPQdm7zZemBhXcv3QvahkresHnESgWX1-G50PgKgwElxYT4szNd0uswy76AbMs2aohf7znJk02mdOHH6eHBH-XK80NDqt9iSe_tSM4dGgzVRXe0ymsM_F9_Jkos6_6gUqPIlDnp7qPrK6aK5puvDS24Ck56Q__Izl8ZehPhfyZYe8sVUy5Q1ara7-mwKDjaECWrT8KJ02eADRL0uV96D-1l4DIfEacRuZ2vDvtyfFCpRp4mtNKgXgL4YhYN-20vF97ArdQ4asDQQBapTK-JYvwHlawaGgUqLJdRcycxbHUTf3ruHgivIe-8vjEuTe5gtfzSkX_31OsF62A2NeQ_xhelvQ6i3OESxLJ6WN17K16SnLJNIaOB-e8IktEtbkpIG6J3cwsbvSsXzqcb_zp_rX1JyJlztX_q8MIP1aFlpMLhwn1tK1B48hzkPjp-LIBIbf-KQl8OKCP6cc0SIGwdh8Oo4CPPqz7x7YLWn-hPcM_cqLgdLU5U4h7YPhTujTt6reh6cy7Oz1UCxN93t3UQP03xrEfuIENrXjVtv_9i0XUY1JoM9-Q8BOl4YZCuKoogBft3uCy29lz9Ml_OhJxx4HUFxO7uaoJ2JwX1SM1IFtyf5ALE_slOUDL5VwvYw7kw8Ne3cwd-Cuyxy5UTAHLskpJ10A6AXDQcjknxoFUPiwXjVoRVBhxEl4DbbnpNllqeBqC2GMYigMJFpX1VGjtv8NR1TLkJjtAB92sLaZP_vsjmymJvyjAvwVOhHtSyL2zTX4=",
  "id": "rs_0796a69e9d0ad8e5016ab427ec8e8087d0bbdc3c6b00ec382e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.21,\"right_z\":0.095},\"note\":\"The right gripper stopped halfway closed, consistent with holding the bottle’s roughly 5 cm body. I’m lifting it a few centimeters to confirm that the bottle actually comes off the table.\"}",
  "call_id": "call_U7aTT5f2bJZIxwI8LlWdVcZS",
  "id": "fc_0796a69e9d0ad8e5016ab427ecd68c87d0b73ea2ad8dca5ae3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U7aTT5f2bJZIxwI8LlWdVcZS",
  "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]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6357, 1.755, 0.7692, 0.1673, 0.403, 0.2798, 0.5434]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3711 right_y=0.1922 right_z=0.0308 right_yaw=0.1141 right_pitch=-0.1667 right_roll=-0.079 right_gripper=0.5434\nstate[joint_eff]: [-0.212, -5.2444, 6.5162, 1.5165, -0.3883, 0.0073, -0.0122, 0.759, -12.7111, 10.8103, 2.591, 0.4762, 0.022, 0.9109]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3b30e25210b719a1b2b10c30d2f3b9905fffcb29832af2cb02aec50b774119",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d02ae4c844d1a8156a33b4ba25890c7db78deb14279e21e16e05ceb4c8cb13e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61e4dd495048490ce4bee93abe7bde57e2d8cbb7c4d3697ca809d94b164f492",
      "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 · 8.424 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6853, 1.8427, 0.7383, 0.4183, 0.4759, 0.3279, 0.9952]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3822 right_y=0.2126 right_z=0.0307 right_yaw=0.087 right_pitch=-0.0277 right_roll=-0.0129 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -5.2718, 6.653, 1.5311, -0.398, -0.0171, -0.0122, 0.3214, -10.4957, 4.9299, 1.663, 0.4664, 0.1441, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8494, 1.3407, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.6353, 1.9274, 0.7471, 0.514, 0.4225, 0.2829, 0.5385]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3972 right_y=0.2074 right_z=0.0129 right_yaw=0.1041 right_pitch=-0.0285 right_roll=-0.0112 right_gripper=0.5385\nstate[joint_eff]: [-0.4034, -5.1487, 6.4889, 1.5165, -0.3834, 0.0122, -0.0122, 0.253, -8.8274, 4.7658, 1.873, 0.2418, 0.0611, 1.033]",
      "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]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6357, 1.755, 0.7692, 0.1673, 0.403, 0.2798, 0.5434]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3711 right_y=0.1922 right_z=0.0308 right_yaw=0.1141 right_pitch=-0.1667 right_roll=-0.079 right_gripper=0.5434\nstate[joint_eff]: [-0.212, -5.2444, 6.5162, 1.5165, -0.3883, 0.0073, -0.0122, 0.759, -12.7111, 10.8103, 2.591, 0.4762, 0.022, 0.9109]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3b30e25210b719a1b2b10c30d2f3b9905fffcb29832af2cb02aec50b774119",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d02ae4c844d1a8156a33b4ba25890c7db78deb14279e21e16e05ceb4c8cb13e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61e4dd495048490ce4bee93abe7bde57e2d8cbb7c4d3697ca809d94b164f492",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfxZDZwDT6mAvO-SCuP9ILntsxdBQFvrR2dho0Yz-nQN5eU5kdiEwwBW6WpsSQi7Pl4KXqNu3j8axQrVLXeTwiavf5TsA5RrSBBDhu9CYNZl1OmswJ2aCGW1dW9D8ck5Qc6d7VeI8CBkRlyhuV_lVJNRYME-z4XddxfoHwZj5eH_YNWc34TOWwMFYfiiQqIL2x38_zLB5DsldXP8-7eK_2Yo5hU5NoPCZK2-N-vYUg1pF-pi5E7n9-aPDOgVAwhsOZrOtZ_2J5VSSRcOjblTgU3mtWIsLvZwKG6wJLwkrQjDTRLPfNaowEt8LBAPDgreM6yt4IBzmvvDxJON1Huy26liAy2BhUMTVgPR6MLqExsazygx30Lcgf-IMOQnp-4Dcoc9rGzXMzfaym5Pkx30MkRZSaPBOFYW8XzLw5snf5u4bfRadi7A3DKXJQ4c_thgZgAUdk-FQUNfAoqCBDY1QfFThjmLmMOwebUI5T3R4PTOWIDT9RSsk6_4wMFIl6JGAgnUztRdk2uhfF7YFvGwGAbPrHiCfupzqhO4CNwZ_tAauYcs5DIN0qoVUmg4TgFrRh9JOEBpTS3alo97c1vSeg8LtvXhiF_iC03QKOmG4ZdBorolDEZFA8kOsQgpK_33oVcTf29laVPLIMt8tWP7h3eiruFBJ6vZPmJnHxk1l4mmgNVMpIES334eaEngP4KY06kVGlatlSilEhfOIT5C0vtHELOfmh0eJUqLhnaT4wRQme6ZL53SH13VENEtaCqXuDZmxY4a4ryq4oe9NxT--01FkW9x9InP_pt4--FQxPdhzNuo_zzPtW3aqXHozg9bFkeLawX5UA_tIucT1LYWXRZK8tx6RvSpqK5O2fbldHwyVJlJ-3ijJyh8pjk8GoHxwqFuMbmDnrMy4Uc4z3Ej4WBnAaKBpk_UrXQ4v3HSZ_hBPSEvqpAE4xPCHCpDn7O65EzrGfH7-KyHzR6mXum4XUt-DcQEP_icaR2mxco9zeOO1H3NRcQ5MMBUwR1G-KPwiVzJqyjrAQtjDrx8KAmgXMn_2uTzbt5OLJpkRFUZb6juZ8N-nndtoJAx4cpTLyQkAmbAvARqGBugy2H36t5i0TOyEAOzEpYgBMt1ur0zP-P2JWdx4rFYwimva42S3qe9W3bIstU2KgxLrZj8eO0aw2TgxiOESi2KZyDR0-yV5OEFGK15_8hVNpefTQ1ueRA02nTnbQjL8YGMG7PbcW-Vw1Bn1qRVrlJzY2oZxDX62PkLBeP7_JGZHjOJJ90PKUr-Uw3O9fc8fqnb878ACLhhp_jJCIGgbwE_4jO50q9KyTxJr1QnTDWwGoK7yy28Mg5VWCAayhE7RfzZOL4dC-APm1DrAZDtS9fH0_ccBTwjtM1YUndtVRIzWJhRRhU5xz-dkWKdCn691UcNp-iXnFKpXs84zgwd3tI8n7vuQHjFU9hIUwhQuRfVkNxdOsoqcZTC3MNGLLBT1f4_h53_03yYt71bm3or13YYfJOPvtOJB6EDU2E8GoG4X7eNXVqEQJOWIPVdOwXtzKJY5ZmIygGM-dOZcExfiR0St62qVJjOnS8QhQ2JOEPTdckx_w1gCRbygAGQ8h-4asXRrzYR-kft5AHM3TLkNQSmg97mHX31vdW8g7M3yTbU3o5CgmN16u0KwdBYyirttJ3zGvS5nmr_vGAPmuXb8gk1-D9iIRfJ4Mqtz1fiL_0ah-6yBrwGCNuJ_GCej_ed2Tv2mD6IA0nObLEE12OExWrHIesEwHI_rdx8U_ECVsEtg8A0F4bcXW0ZhcoGSGVOYXS3dkrXHcqUSewDXG-KZiHwCbXGhIWHsa17mGQQd15yxZahx7qelF2jiS-g0CGaqhX7aJAjxc0Q-RszR2ELYdNCaH4at2M4C2Ouuk5CMBO-KUbncBtw2aSLScCTe6vw_6Hd1Xm6qpZK2-4JQ==",
  "id": "rs_0796a69e9d0ad8e5016ab427ef497087d0adb1144053cf25a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.21,\"right_z\":0.15},\"note\":\"The bottle appears gripped, but the first lift barely rose and drew it a little backward, suggesting the far-reaching posture is binding. I’m retreating toward the arm’s base while lifting so the bottle has room to come free.\"}",
  "call_id": "call_SpWyUcLlIlWFGgnYlhWvpike",
  "id": "fc_0796a69e9d0ad8e5016ab427f0b11887d08d93cce60d247ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SpWyUcLlIlWFGgnYlhWvpike",
  "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]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.8089, 1.4166, 0.7174, -0.1551, 0.4831, 0.3683, 0.5473]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3014 right_y=0.2022 right_z=0.0904 right_yaw=0.1737 right_pitch=-0.1618 right_roll=-0.0827 right_gripper=0.5473\nstate[joint_eff]: [-0.5265, -5.1624, 6.4889, 1.5311, -0.3932, 0.0122, -0.0122, 0.3214, -9.0735, 11.3299, 2.4835, 0.7839, 0.1392, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d754d28e67306efdbcc63197088ba912d675f3f33c4bf91d0164e2db2b7eef1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd5d085439399e9d308b05284b320602a80ea9eb181bffbe5a046f3880000c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edf5cc8efbf0b46f09de798ceb7a926e1f1d1db341775c6e60bc51fc6e36641",
      "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 · 3.464 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6384, 1.9114, 0.7731, 0.461, 0.4358, 0.2932, 0.9955]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3995 right_y=0.2081 right_z=0.0194 right_yaw=0.0907 right_pitch=-0.0338 right_roll=-0.0155 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -5.3128, 6.5026, 1.4432, -0.3883, 0.0269, -0.0122, -0.8274, -7.159, 6.8171, 1.7411, 0.1245, 0.0464, 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]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6357, 1.755, 0.7692, 0.1673, 0.403, 0.2798, 0.5434]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3711 right_y=0.1922 right_z=0.0308 right_yaw=0.1141 right_pitch=-0.1667 right_roll=-0.079 right_gripper=0.5434\nstate[joint_eff]: [-0.212, -5.2444, 6.5162, 1.5165, -0.3883, 0.0073, -0.0122, 0.759, -12.7111, 10.8103, 2.591, 0.4762, 0.022, 0.9109]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.8089, 1.4166, 0.7174, -0.1551, 0.4831, 0.3683, 0.5473]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3014 right_y=0.2022 right_z=0.0904 right_yaw=0.1737 right_pitch=-0.1618 right_roll=-0.0827 right_gripper=0.5473\nstate[joint_eff]: [-0.5265, -5.1624, 6.4889, 1.5311, -0.3932, 0.0122, -0.0122, 0.3214, -9.0735, 11.3299, 2.4835, 0.7839, 0.1392, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d754d28e67306efdbcc63197088ba912d675f3f33c4bf91d0164e2db2b7eef1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cd5d085439399e9d308b05284b320602a80ea9eb181bffbe5a046f3880000c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edf5cc8efbf0b46f09de798ceb7a926e1f1d1db341775c6e60bc51fc6e36641",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCf6F5CS3zZXoydpVYNx-2ivdxoQBFHkJKEqJBMnU5IvpIeemXl9_ZGrk8Uiwx1uuWZEx73W5yEuJzt6T0SxI_tg-h6GFNOoIAh_KDRS6EekEd_OLMlFAwXbWNGLopJw_K32pyF3OI9UcciMvfsKnrdl1_Bt5sDf7cpvFx1QtvXgdEFJSxtUZS1IaCqixF2inbPl9jKBWAydEaGUVLmKR9MLjhpTo0KN92AXG-LQRbsboEfQuuxi7hCH3PVlU-xzlRE7aID6fdFUC4O4R7MMdUr1w6C_c7nHdIV0gF33ZnQP1K9U_11LT99iBQByfIclCfVR1Lt46zR_rQC1aw35I8aUPxt4w0Ks1PncCg8QiH4mrxifG_SkJHMeje90QG-1lZGytV_NFbyhCnLIQhV4DM1jju9CaZi_0Y_Xn0xwO4VrlCam5KFfCgxm-dPBPkqeUaZAu6eAEX1c8qFd7vzmzz1K0rwjrBthR4rdN74dXNJz6-UtdvKzf5aRENDlrhpqZkjkmi6YF1FtOTlett5wEGvZBA9b5yxjfU89kMEGGJHEOm9STByp_gitbP8j6E8EnimIMDP8OO8sD07bKQekaBvvIyn2sgdbuqMvnPUSuRxhN3-o2RkOm5rrIRngWGAgvTUR5_kh0ML7Gw2LwvnDmmc9RuqNUyhG1Df5FuoR8FzEZ6Z2WY5ulI45s3Mmv1YnUGYx63e4blwqzvGQgqSaRBXT0SsTIsildeC0Lpx-X_2JvCqlYMWKkN96D3DFvcNSrFqmTJyngZ5nhtepBy2QgFD9E0ccSynyrH1LxsUxFn5GxoiIQKSPzLIxpQvROiYhWuXu9xJiI1axlTf9mp80Xx7dZgGcp2YZqYD-nNM5i7XDuxe6o_a7P2bvu3bFZWp1VTUJ0Bl2yKWc2NaXX8-t1I_9fl4Q6KR2dVW_9UkobT5zGCcfAjQl2YqCMM005u3PWbmQM0RulipBCzKYFw_2Op0KEsyLquodX1ebeYF8RLx4QEltft2QtntxRK6HDKNoA8If0ogaqUEWvuMrwpbgrbDC-nX9brr-6VUencH1az065a2pnqzOkS8VrpIq8g0eWTxv0-P6nLZrPmIhy-TrZJhPj72-DhWN2suYIvvWRcAlOFi4qjUcqG3hXBBUj7slZsAhiGqQYBFMGAxuUdYwSmb36I-xrQ8Ot-DnvN8PH72sDZEADpLwzlvfmWoEF2AEoR8TFFfCl3Jz5J3NdV65utcOCbfvpwT_an0_iEIbz4ZXckacBEsQ_p5I8NDtG-nu-WkleAm2CpAOQlaAAEj3FgHlIuX5YMD-o5WMwQtu_eg2zKoQcBYHFqPV2uzAdjmYOjGbShnkhGzx2kjS0boX8yfXZU7jtEoBmV1chHNq2hBK7Q7MSnniiUraR52hA2vmf90SfcB2nSQnohbJPMAmU7g9O4lvPIKaRWLq-zpr9UsehMPIbR7w3aBeQbW1xWKpnnyN7c4qIMB8jYUihxULOhMjvZOv1eSSuCdtU5CzIwzMYlfOvQvZ4SFMfzYrjGkwS8ftZX_GzRG-YVM45_ekUqH2IHTG9PyE603uir7B3JKqkclyYW0kjEeWyecRPRVxg7Hc8R3IIW2INFiS-xRGaQTeuyq2yYNV6CyaZ1HsJdCwUrfTSw4jVjbcv2o5Oi3aebt4T0OBa7ksTuDwvhwaoPHjwRPm6Rymwgp9xuTdvCbsCEm7t37O_7vE1WWbSkN_KKxTwcYrurj8lGkFDAQ7bozynGy6idUG-E-96NtIVLoKm9tn8aCOY3kHgd-L0zszzYvHkiDtuBD-72ctjzA9YBBgg9Aj08j3kwPsCV0w526bJHPjync2eZ5PJ4tcRNm3rd2ZW9SzJ1oIpGAzxSfRz_M4lt0lDtZCbfN4F_4GkHwbFAUeffqsncW9bc_Eww2LneXrgNDrA58ghCO7xGFPzSddJldrvVJV8K8Ar2-fSR6EagpMkx2v3Wo3Qx0MgSorAPpzdT9guCCPMQ3bNJdz_qSDeUf00EV5pQ0yp1vhLfnLi1iajez5H5hCMFtNz1P12nOQHbzKr9X8pgX3e1bh6UDRlwOs5eA_RnQW2WSOYs4C_EBG4VV_9WBm-oZfspRyiS-zrrfO3OShNkb0txRGsXZ53X97V8MvJaEA1xe41OR3mNIZfFI-1GZqugE4IgYcx3E9BeiyV7rZeymXDyCSZMydwau8S55bZPkIdeJgvLv-rWjWabThCbQHnqNOk3NDoE2p4PSK8TS7eQKCqsvE_i_LIqy9SSfXP621CeO8qV5LN7caOZQz3BE5R8e64Kt2R3DW1kB-WKqdhHt5PHFbUFxowfoHEbwAhhMJ7naOsGimaPT0kjA3AqoUdwD_bY2ONxs41zpFOpbbi-rwYXMa-nuEqTwttFV9rF7ygvLWXS1Sn4g=",
  "id": "rs_0796a69e9d0ad8e5016ab427f39c1c87d0804d842a01cb0fb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.205,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The right bottle moved backward with the gripper, confirming the grasp, but it remains horizontal because I was holding near its base. I’m setting it down closer to the arm and releasing it so I can regrip at the cap and tip it onto its base.\"}",
  "call_id": "call_KR8MUn7nCZOsd2T9WL6YSl80",
  "id": "fc_0796a69e9d0ad8e5016ab427f97c7c87d0809bb835b03b0724",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KR8MUn7nCZOsd2T9WL6YSl80",
  "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]: [-0.8497, 1.3411, 0.9291, -0.3477, -0.6773, -0.5571, 0.9963, 0.8181, 1.6451, 0.4335, 0.3862, 0.5045, 0.3618, 0.9956]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.2883 right_y=0.1881 right_z=0.002 right_yaw=0.1728 right_pitch=-0.1292 right_roll=-0.0831 right_gripper=0.9956\nstate[joint_eff]: [-0.4581, -5.2718, 6.6803, 1.3993, -0.3932, -0.0171, -0.0122, 0.0068, -6.1744, 4.6838, 1.4872, 0.3053, -0.1148, -0.188]\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:493705c61b859791d3a5a64f17ad6ad490ac86ec92e51b0ad47b30f7ff75b1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0f9b7c8d7938f6895b0a7014af1b094425fc4543e34657ceee624bea3ba9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a91a3ef4acbfd19bb7488bb4da40d0c99cf62830f2d96b34afbdfad2f694ffc5",
      "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 · 5.461 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.6353, 1.9274, 0.7471, 0.514, 0.4225, 0.2829, 0.5385]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.1831 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3972 right_y=0.2074 right_z=0.0129 right_yaw=0.1041 right_pitch=-0.0285 right_roll=-0.0112 right_gripper=0.5385\nstate[joint_eff]: [-0.4034, -5.1487, 6.4889, 1.5165, -0.3834, 0.0122, -0.0122, 0.253, -8.8274, 4.7658, 1.873, 0.2418, 0.0611, 1.033]",
      "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]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.8089, 1.4166, 0.7174, -0.1551, 0.4831, 0.3683, 0.5473]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3014 right_y=0.2022 right_z=0.0904 right_yaw=0.1737 right_pitch=-0.1618 right_roll=-0.0827 right_gripper=0.5473\nstate[joint_eff]: [-0.5265, -5.1624, 6.4889, 1.5311, -0.3932, 0.0122, -0.0122, 0.3214, -9.0735, 11.3299, 2.4835, 0.7839, 0.1392, 1.033]\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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3411, 0.9291, -0.3477, -0.6773, -0.5571, 0.9963, 0.8181, 1.6451, 0.4335, 0.3862, 0.5045, 0.3618, 0.9956]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.2883 right_y=0.1881 right_z=0.002 right_yaw=0.1728 right_pitch=-0.1292 right_roll=-0.0831 right_gripper=0.9956\nstate[joint_eff]: [-0.4581, -5.2718, 6.6803, 1.3993, -0.3932, -0.0171, -0.0122, 0.0068, -6.1744, 4.6838, 1.4872, 0.3053, -0.1148, -0.188]\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,$blob:493705c61b859791d3a5a64f17ad6ad490ac86ec92e51b0ad47b30f7ff75b1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0f9b7c8d7938f6895b0a7014af1b094425fc4543e34657ceee624bea3ba9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a91a3ef4acbfd19bb7488bb4da40d0c99cf62830f2d96b34afbdfad2f694ffc5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCf-s4YZpqyGUdUr50sxsudl379PoRWNWWIXHzSTkPAQsofTFKWB-HV_Zegocz9ndTd9RsGtNnnoJqJacX2f-yKd4XxJ6iChb8b5tRhCB-6FswyjI0XLCyLl_oBYymD5bxc9agB0aHTx98EnW89bO8YzBaz87EOatLqgoAkz8uvWfzqiTUxme7sekhNyY5ECg_92UIcri99uLN6HoyOpFtHbjchkHwKKQexu2KwFdLPgcQqtWLvC-I2NPBy0D54sZzJKSW607LFUrEapC5epvNsfO1vG_vUKAFBDAblL6qdd7zBDKH1pJFduNLGjvGF2ihyWT8gcKy2ZRPCgMCIvf1SvjBLkEF6E7KIUveGEwhdoSbe3vbjCWbIXee5enchNuuGuHWoY8KXmqB2nD-qD-8ktHxb_sBD0NNl0CI9pLPkZwVe5QOZQgaz-1OKlvr-W2QKOEBR6tnO7BTKT4mAGkV92MlGjs0dND4NvROl3WJFfKwCq5D747cJcoou0cMJk9lUuYiOnLDvtouANLAFCZ-THWThJfp9Rf6lC3XqT9mDlWVnbtoBeuzlkE9GgSevEPGXBJ-oP8-wrlOMfiiWnf3rH_eNH4_mLReVMiA56RotNvoyiBnj1QL6xMHrbN-VOY9y3bBmon6mgIGurG8zM4ps-_Rqg8IbyPZAPGLehY17sTKMbalB5aoqJRWMFU_1MVI0eBVHl-CpUhCOhqJog3KyeBkEygxdFPRXcbBf4dV5gbKrfOsVPilIpY3-K8TU7yB-B6exQ-BXnon0lTsjat5haVqNWZZzuZl8WZ3NbYjQCV3C5Zx5J_qTmTaRky_Mb_Vx88ROzUHD7ebrv3OekQ9nYujKtiqk7F5e_z9hH9rAs8J7VciUWLygu-LodCEcrmISDsYxo2ErXl1WqhpZA6iqiqPgLAtU79UKZ1ubZCjrA4EOT-_UQsID-iAFW_Ao0xlz2tBimS44T45W3UKAQ4wTSzj17-Er1bt1m2Z8rq676xPCT1P2-5RgEsoqCaUXvQTJxMhbLiFAodixKLlQXTBClyiURrfBd0fQpjPwgxzr2mBZB5HXtvxHM-j-DyKhdFZDnlSJhIwNjj-bvMdruBeKdijiKMVm1t2l-j0Y317tWvNopfIu3RZFpdDG7gCH_OKgNthvJx8MdIF2uHmc6o1bGH-UlY44MIUKi1AWb3iKJW0oydsdRKEcnAJDNYeF3EJS5PCnUKMHd9AI6DkLlQrntunlrX6I4IcVHmt22_nOn0qDF80xEbzQCLsJa7uhb5BCpfbfAwUraF5e4RU0_juRG99lc7nsZu-fdfpmw9Fu3H8aFOFS3kHHqeDwWMv6MJ0YfP48HoEsAKO9ML9yCubft6_pj6Be-InUoBi9ODJQ-0_ULFOwXmlUZirJlo8963pW3nXIbBiOnzuDSHzIP1RB7slHP66roHQk8gW_3_Ra0PkGDaH3DV28K-mWQII0lWv_-W7OZfpussWXE9d_aUS7JNH4SNM6nxfyRLLVHzmVXTPsmxxSGzrIKoZCr-H5PbYQ7Dfebvjf1q9FeLT6o6o8dPJLxa5Sd0aju9yR-Y0zAZfw4QlPuRl_ubPx-oF62dvnFFDMy2qljW5mYbPC1gZCx6cGhaBJyDjS2LiV9qDipvD7jGs5HatgUBDJfxjMmuE2vKesZH8iaeOcSTpT4t8BURw2r_MbvEIV8gMt8pfDab91VAt--M4f5beTAkVFMG4TbRyZwS2bxA9hajvUWH-Dyt0cgCq2Qy6jc4DBcdrREMooD9_u_-nTb6U3t-_xKLp2z",
  "id": "rs_0796a69e9d0ad8e5016ab427fc62b887d088968d907b04414d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.085},\"note\":\"The right bottle is back on the table, now slanted with its cap toward the far-left of the right hand. I’m repositioning the open gripper above that cap-end while leaving the base free to pivot on the table.\"}",
  "call_id": "call_vmmQdYRK7KBuoz2g4MaPC81w",
  "id": "fc_0796a69e9d0ad8e5016ab427fdb10c87d09202ce17b46155f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vmmQdYRK7KBuoz2g4MaPC81w",
  "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]: [-0.8494, 1.3415, 0.9291, -0.3473, -0.6773, -0.5571, 0.9963, 0.8188, 1.6615, 0.7265, 0.2722, 0.4946, 0.3473, 0.9956]\nstate[eef_state]: left_x=0.3231 left_y=-0.1942 left_z=0.1829 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3425 right_y=0.2487 right_z=0.0748 right_yaw=0.1955 right_pitch=-0.0023 right_roll=0.0071 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -5.3128, 6.5299, 1.4628, -0.3297, 0.0122, -0.0122, -0.5402, -6.5983, 7.159, 1.6386, 0.2759, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60126c305a7f4c4cbb87d882c8775eaac832a6c0033178da391fa5c13f928e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f6731a410ad5df5b13467bd429123408a57e90f9c27c085df471197ad82df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bfce11ca329b1da2ab5ae328b89739621ac5a84fd35372fdcf817888064c98d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.518 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.6357, 1.755, 0.7692, 0.1673, 0.403, 0.2798, 0.5434]\nstate[eef_state]: left_x=0.3229 left_y=-0.1941 left_z=0.183 left_yaw=-0.0154 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3711 right_y=0.1922 right_z=0.0308 right_yaw=0.1141 right_pitch=-0.1667 right_roll=-0.079 right_gripper=0.5434\nstate[joint_eff]: [-0.212, -5.2444, 6.5162, 1.5165, -0.3883, 0.0073, -0.0122, 0.759, -12.7111, 10.8103, 2.591, 0.4762, 0.022, 0.9109]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3411, 0.9291, -0.3477, -0.6773, -0.5571, 0.9963, 0.8181, 1.6451, 0.4335, 0.3862, 0.5045, 0.3618, 0.9956]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.2883 right_y=0.1881 right_z=0.002 right_yaw=0.1728 right_pitch=-0.1292 right_roll=-0.0831 right_gripper=0.9956\nstate[joint_eff]: [-0.4581, -5.2718, 6.6803, 1.3993, -0.3932, -0.0171, -0.0122, 0.0068, -6.1744, 4.6838, 1.4872, 0.3053, -0.1148, -0.188]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3415, 0.9291, -0.3473, -0.6773, -0.5571, 0.9963, 0.8188, 1.6615, 0.7265, 0.2722, 0.4946, 0.3473, 0.9956]\nstate[eef_state]: left_x=0.3231 left_y=-0.1942 left_z=0.1829 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3425 right_y=0.2487 right_z=0.0748 right_yaw=0.1955 right_pitch=-0.0023 right_roll=0.0071 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -5.3128, 6.5299, 1.4628, -0.3297, 0.0122, -0.0122, -0.5402, -6.5983, 7.159, 1.6386, 0.2759, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60126c305a7f4c4cbb87d882c8775eaac832a6c0033178da391fa5c13f928e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125f6731a410ad5df5b13467bd429123408a57e90f9c27c085df471197ad82df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bfce11ca329b1da2ab5ae328b89739621ac5a84fd35372fdcf817888064c98d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgE-AfYBk_xX5AaatQI7k04o5YFAV1bYAifSRrucp9hFPEQVICxlwIiBbsCY5QVTMR_I-9B_Y2ZoRinrqA9mqUc__Pz2UT2ckd_EBH1LIlBsS0OJTRGv0iIyj6406fhHs269pon3CtGCbCeYb6npamDluYvfl1K9f8WCdXx6sapLO6HVSRNDe352R9AIaSU1JjHKp5vpa9v9-lcelqavIL9QGwiwdDW-Hp5CxXot09b3pu5DtjSCQ2EmmiB_IxI4kxamRHDvAL_8Mx85r3kDHgm_sFfN-9pe53limxy3V3V6lLjhDj7rPnboYAFxy3NdgU6olp4fiBwIDIQ4Q4uuCoypkhnKd-iX9bC3UemiulUNPs9e3hVZeVECPbyWgTorAh5WR6OfvuOFpmAxyWf-JG1t0auMy8fkNfaElSV8Ts_5LB6H3Ojiqk0LWwNgFl6JwFP7gzqoA3B7dbgwVeZRVofRhfdhEnod9G3Q26UUti68esqXaumd2v7ZLe_JxE59ZqN7I7UdZ6-9yZkPZJdDEYvev1zcz5TmELeLTLRVaLmws3gfbgcFmxQNGI8XfFulr8ppdpMlmMBuClV1oYu_d7UJwzwHf891ZkrcIFWfBWsrmcDhl6dEUOryM3nKquaL05pvGWE6Da7-Q7-bZkklLDjr3vK0xrYS1FKBRnrczDC6SWmNqcsJXfxKhr3VmvYFccaC_N4ywqjZRcyBaapyI1fb74KawKY--HY7LRx17XaZQKiikXOOg9r5Bi_QU6-dqGb_D9AIaxjJpok1_-8CyLcX4sBcRYZQDI3VVIeeVN1slr-yoxHxTGJRev4h97XGOmuyKdUsaZUCZ32MQcyfLNa6O3d5GCTCwIP4V8Il3Ye3G4siyNs8-fsS-McYiFkRwW2j486dzKfBgnA_OQ3iOT0vIs-WTFBob6Uhb4WNAIyhES0ipGaunxpa_uHFiDGOUV_X_eOVK7WJkxCEP174A2vj2Zyw00aB3jmHIP6TU3cJI-CC8s2D5qZkskAddVc1lD80cQsQtkBYXuIfstErYp5QWCgjC4hYgMqI5I8HWFyP5w54XVwjkQQwCWazwRbIGplw6Ab6DmkBj0zGllfEdGLV2hSaZaZJ9gDNT85A99-oQzCWKLiMEnS79W_6LMFmnrvTJWc_vzXYU8ca7d4xT_9Du6YFZdNN7_81X54AqsBqxlVDeXFaGjy-WgEfaflQ7wpWyL4JfD0KcUEzqXRGl1t_aM185T1XkEZ8IdhJACRbkzAYi5Oyko7tm2De6N84ADH-tmIxkZpkKWcK9cLBl7LWKjwT-Tno550HAeMHzAd8_TSpI95TyuIvYaWTVK8SF2l1jifqhYr3Ci8MGUdAk8N0Vp1NOuFzDSn6zppx0erMB09KzqBCii4l29HFyJGVBXENyqhtomYR_FVfZOCumLycwAqcTHDKvxnP566G0D2_fDZcn-8c5oVBZXXdDhebctzVtel-MdNIOE8h8qb0_-Rzhe3NgLXuAXbIPM4MsOuhAszmwhcRRgLpl5xWudu9-dyec5G9vIz1clVBafDg1e-EYeha_O45jd3g_-xd3gYpQTRGcqHj6I7yYKyjtIPi8w2ooV-PKHvAzZp2kLbcvLeqgtgd6H2KS5BT0ul5e6tgbOHuXg1q55WMyZTU0H1ye9NqqYmBH3El42B2dJTEsB1IJl0mAklw9zCjyZQuVpKp1wLE5yGU2jtg4GvT9g2tyKyyn_o7iuKXiCRe2jw3PkuNFlngZ2mjJrb6AX-OIZTxSxMxSC7hIoIJCQeaM3WeSF47n0sAy8GvysuXB9nIsSAuq7ChTLDFxhlazD7ABWc-PdaiCF5q3bRjqau1h8c0A1nQaiVrpvNiCD1CUtLfjDLnEw0AxgmwNR_RAcOvZKSfh1G8IqX5VY0kr4iIwDvsIXjIC6lQ3w-SLZ33cmxj9mtTDy1viA_gNbSLgLUVhn39DBxprUidaesTwzpXMveI-_oGbZs18CD-4-DxtXPY82jaayXeT40eUfcaNUPKV2Q6Zo=",
  "id": "rs_0796a69e9d0ad8e5016ab42801e1b087d081223fbcfb347225",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.25,\"right_z\":0.024},\"note\":\"The right wrist view now centers the bottle, but its cap is still several centimeters ahead of the fingers. I’m advancing at low height to grip the upper body just below the cap, which should let the bottle pivot on its base.\"}",
  "call_id": "call_F7cZP3QCWKTNHaYSfGDGmmP2",
  "id": "fc_0796a69e9d0ad8e5016ab428037fc487d08909c152c5c2f5ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7cZP3QCWKTNHaYSfGDGmmP2",
  "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]: [-0.8497, 1.3422, 0.9291, -0.3477, -0.6777, -0.5571, 0.9963, 0.7441, 1.874, 0.7673, 0.4374, 0.4587, 0.279, 0.9955]\nstate[eef_state]: left_x=0.323 left_y=-0.1943 left_z=0.1827 left_yaw=-0.0155 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3753 right_y=0.2441 right_z=0.0301 right_yaw=0.1859 right_pitch=-0.0194 right_roll=-0.0352 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -5.3402, 6.6256, 1.4286, -0.3541, -0.0269, -0.0073, -1.0872, -4.7658, 5.9829, 1.3358, -0.1929, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b6f8d86b9161fc88fab07722a48a0b66fee74b282934ed5f5ca2a4635f7954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e622f275b2195fb5cc0595564bea253b5a37533b0000ec1426a6d8d8aad2411a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70c6a4d05dfd61bab6d7bbc11cb5ab2a58bf31ca63ec6c002f2e1d4065a489c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 5.415 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3407, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.8089, 1.4166, 0.7174, -0.1551, 0.4831, 0.3683, 0.5473]\nstate[eef_state]: left_x=0.3228 left_y=-0.1942 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0048 left_roll=-0.0049 left_gripper=0.9963 right_x=0.3014 right_y=0.2022 right_z=0.0904 right_yaw=0.1737 right_pitch=-0.1618 right_roll=-0.0827 right_gripper=0.5473\nstate[joint_eff]: [-0.5265, -5.1624, 6.4889, 1.5311, -0.3932, 0.0122, -0.0122, 0.3214, -9.0735, 11.3299, 2.4835, 0.7839, 0.1392, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3415, 0.9291, -0.3473, -0.6773, -0.5571, 0.9963, 0.8188, 1.6615, 0.7265, 0.2722, 0.4946, 0.3473, 0.9956]\nstate[eef_state]: left_x=0.3231 left_y=-0.1942 left_z=0.1829 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3425 right_y=0.2487 right_z=0.0748 right_yaw=0.1955 right_pitch=-0.0023 right_roll=0.0071 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -5.3128, 6.5299, 1.4628, -0.3297, 0.0122, -0.0122, -0.5402, -6.5983, 7.159, 1.6386, 0.2759, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3477, -0.6777, -0.5571, 0.9963, 0.7441, 1.874, 0.7673, 0.4374, 0.4587, 0.279, 0.9955]\nstate[eef_state]: left_x=0.323 left_y=-0.1943 left_z=0.1827 left_yaw=-0.0155 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3753 right_y=0.2441 right_z=0.0301 right_yaw=0.1859 right_pitch=-0.0194 right_roll=-0.0352 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -5.3402, 6.6256, 1.4286, -0.3541, -0.0269, -0.0073, -1.0872, -4.7658, 5.9829, 1.3358, -0.1929, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b6f8d86b9161fc88fab07722a48a0b66fee74b282934ed5f5ca2a4635f7954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e622f275b2195fb5cc0595564bea253b5a37533b0000ec1426a6d8d8aad2411a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70c6a4d05dfd61bab6d7bbc11cb5ab2a58bf31ca63ec6c002f2e1d4065a489c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgHMzGDZVPlhstERvRaPYsRqaZGWri2j48UOXBLy6QnatPE4OcrvpyiW2fbZV9a5JUQdTg4EYoF9RHJzOzR-bHSvc-YSYPqraFN1JopaYprVje2HY7cliD4LwcKb7mOgWi6ECk33id2DBATZfXJfpAxgkmttGalKws8c9BckCKEIal2wgvJd31CeAsMfxP3g4KpQOxEEbrejFB4W-COt0L22ITHjjmWCb5miaF0cVWdUJetx0UqtJK0d4nLyfqwpl5l4gTkNM33PVlNxRxgpo4u-UTpfM5InwM9hwmYkpgzqo6rcu0iDgA534r_PPmxa8jG68g3mZPzqFQ8w8gUNTtlRTtfdnXURqGLvFxou94Firm4ErRJzcwIcNVe5_coIlQmajcSZ154N78y20QZaPn9HQxQp8kcKf1NmkyaFRo6OhWbUdTm1OVXKUaRuLvBDxMp_SW8WQkwbvuNuJERViSl1ctSWc3faKMTnAiQfhDP7HmqoqAMPYnkuWSSxyXMcqaBgQrA2YySUJFt4FLz66NiGgnvFtIWQazo7FzqHG36nC9HZeaaAAGyLdGm0f0Q3UsvmIRkGwmQwlH-oFqldcbLMw9_DGsnS2tdI53_1FCyJkXNaxGc3MFJP3BGa9jkVhVMAHeiN2VzSvLKMNogGMlgJLEi0A00za_x22tLLOmrk2m-MsyXHDrv2uAaEeLFbAgIptqxg5M-u261bDXG3CBi0zmzgx8SNX82JPEnyCWZ6aS8TOyPozXKwOG8A4wUL36rH2vYqWX3uSUirhyrWTj86MEXJ4ne3M9BAEFpZPE0189e9ZhAvM3m4Hw9YuKNsbkIf8YBeDcuMdBOxja_p67Uzxw0jm3CARhwfHs2qkyEv-okR4hENkpe8sE-jZCuCZ84m1RLXXlZwlxY-4nxrUovX7suv-OVB66k-bHIYCg1P9KovQvOKjVqTdQZ9YA-qCthzyHvUQ5lNiqBiQDyOyTnfhEjWzTek6u3e8NzQ2GFAL1Gr3hOkFpDPSHB_OwtroRozio6pQrDzPREC5Mpfja8Aiol9glt9tlhVIuQc6AMG0KQisOW6Unl_uX6Xbz1DU2bJKxC5Q_QvCs-70tM9mYgfEwCX2mvPzJWEY0njv1WSC8CnLNEUPlUvYAUSEdMu0YIks7r8VANU0KeQFxeB_Ig8NdMV8Kk8wKCoRtblPCDsC8Gc3VpVVZWVE9z7Zp7cNRbmPbsHJwr6zIs_6NsbhP5zinSWrn_94IJPOZ4Es2wSgPJB5pGtYx1m7FBSVILJpRgipeHBt772s9L0BE9uoRZuWAt5hlk5v_ieqz0mCuMjy8tAyqneoV_bUhDZIk572ziaupTpI-1XSELnqa9FdYdUAB3FLKwiPZAEPI2oKsP-xi6flgaKR08beg_5zarRMJS",
  "id": "rs_0796a69e9d0ad8e5016ab428064b2c87d0963937dd1358f76d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The upper half of the right bottle now lies between the low fingertips, with the cap visible just ahead. I’m closing around that section so I can lift the cap end while the bottle’s bottom remains on the table.\"}",
  "call_id": "call_g5tltrHi2PfeUeHkCtT3QRMF",
  "id": "fc_0796a69e9d0ad8e5016ab42806b34887d096a0c04564a591ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g5tltrHi2PfeUeHkCtT3QRMF",
  "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]: [-0.8494, 1.3422, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.7334, 1.8977, 0.7815, 0.5854, 0.4328, 0.2573, 0.3466]\nstate[eef_state]: left_x=0.323 left_y=-0.1942 left_z=0.1826 left_yaw=-0.0154 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.3927 right_y=0.259 right_z=0.0518 right_yaw=0.2054 right_pitch=0.0919 right_roll=0.0302 right_gripper=0.3466\nstate[joint_eff]: [-0.2803, -5.3675, 6.4479, 1.5165, -0.3639, -0.0073, -0.0122, -0.8137, -6.4342, 5.094, 1.0037, -0.0024, 0.2076, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53d4884f4fda478735e6f0f6e0856900d4ce966ec69633d3998969a2267b6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84faa5b8432251851df86f68b6c112ed293b179030737fc25710ef5638e55733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e141483787fb7b8c199e077371219a9bd9f65d6fdc0bf949ac92a116a68849",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 5.847 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3411, 0.9291, -0.3477, -0.6773, -0.5571, 0.9963, 0.8181, 1.6451, 0.4335, 0.3862, 0.5045, 0.3618, 0.9956]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.183 left_yaw=-0.0158 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.2883 right_y=0.1881 right_z=0.002 right_yaw=0.1728 right_pitch=-0.1292 right_roll=-0.0831 right_gripper=0.9956\nstate[joint_eff]: [-0.4581, -5.2718, 6.6803, 1.3993, -0.3932, -0.0171, -0.0122, 0.0068, -6.1744, 4.6838, 1.4872, 0.3053, -0.1148, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3477, -0.6777, -0.5571, 0.9963, 0.7441, 1.874, 0.7673, 0.4374, 0.4587, 0.279, 0.9955]\nstate[eef_state]: left_x=0.323 left_y=-0.1943 left_z=0.1827 left_yaw=-0.0155 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3753 right_y=0.2441 right_z=0.0301 right_yaw=0.1859 right_pitch=-0.0194 right_roll=-0.0352 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -5.3402, 6.6256, 1.4286, -0.3541, -0.0269, -0.0073, -1.0872, -4.7658, 5.9829, 1.3358, -0.1929, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3422, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.7334, 1.8977, 0.7815, 0.5854, 0.4328, 0.2573, 0.3466]\nstate[eef_state]: left_x=0.323 left_y=-0.1942 left_z=0.1826 left_yaw=-0.0154 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.3927 right_y=0.259 right_z=0.0518 right_yaw=0.2054 right_pitch=0.0919 right_roll=0.0302 right_gripper=0.3466\nstate[joint_eff]: [-0.2803, -5.3675, 6.4479, 1.5165, -0.3639, -0.0073, -0.0122, -0.8137, -6.4342, 5.094, 1.0037, -0.0024, 0.2076, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53d4884f4fda478735e6f0f6e0856900d4ce966ec69633d3998969a2267b6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84faa5b8432251851df86f68b6c112ed293b179030737fc25710ef5638e55733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e141483787fb7b8c199e077371219a9bd9f65d6fdc0bf949ac92a116a68849",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgNxm00a4U_q7e33Ey0jrVwuwV13D-HvPC66ysQRChIaZQvY6r2vWVZFm0QPpLoFJqHcJcxwyIxtmDx092XDsi2zEMG3N7B9g0KZKKJySuLnwSDSJM7kM8pY5gtTluKgG582d8-3gkEU-UBgwIwWvIuoZm2mUV2MCc-UBKgWigT_sRpPJB1_mhjYrAVzGumqx8yu5OMWacDHOikUuGVTHBdlhKPYuNbO3z5KvZNmeWgBJcMzfQf1vtoFZDpc2ZpELp-xmjQY2OXFPbPPxQiJCL-Za5PzPmUKzP3YZ9IU70OYUrYvZzm5YiUNfQGe9VKVzTNcZRBFyczaDkoamCi6uGaBMb7amB-FzUtNs9NUc6oF8a2eiKWJ2TnlS1V8wchn1YhDu2zh7vj_rCUubrAZ-iYBp5uVtCinCCu1vcIiIzXbdjzkZAd_01j7m6RrfPB2losO4i5dtt43MDRE4Um_Bdj98k7lY0Alp_P1U4kHu2EswgsEb48H2yqRXbTn1gqNP9cEEOhI8g-9g7QhPvwuqnj3AOae0EXRpXdpmbsueNjmzj5L1OZBP0AtVQ3F8oBd4g666rHcFaFiX5r7vnGgnbV2b-Ak1VLvg5KrbccyLxF1oSuU-Xrf6CGIfiEwUPujvCiRTW8i0VnSuQuJfm9d3q7pqZZ9ExddzT-25xZVx9bgaSzioSUlwPjWK9_StgBoRM2ZyVKgp196xkktqC2XSYjAteLHxExHq5ZLMiqZGCJVamANSpDWVr19Ti5MHJmZyhCyBiRmLgp5wofU4Mbsj8b1ahw7TpSbTlbmopW-gpBO-4nciio_arpmkgqUiYevEUno7KOMMdiRyDhZMfn611hh7wjgPYat5RActeZC8I6EO8BeIhioS8e8uN3dikK8tjNUC9kwm5rEdyNLyXruGAI7tvvHuQbc4M1lKIObgy84-DvqUBUT2iWWEd1PjZff_W55F8G76wz-_0TTe_V2jz4VWBlHeXZ0h7xw4drGaxf-OTALoGDPg4tWCvZjXOA3cfCAkxp8y3zYSndzgZdzxVk_VJTdsl3PpRSFLVH6kP1F2FGsOFO3RorHfGHmTbRN0CmBhMnu467UXGs6m4v51x9npmHgb3s94bjS5MZY6ZCUD_I16Nzqt-nTNg06Z9WK0LFOsRiHyhjKrrZ9R3NkgBV03nUsB0GzPHrfQG0HYkO8my8eLvMahb80xyyH8ZVRaOoaaimm4i_NxYNCRfswX4CDwqT8WYAskAPvqrmcaEA1dpSlIQ8cKwZP37REqfj9oB4Emn1RcnclGt8Kka8nMyew4-hkKQj72hfAOQB_BY5tZwJKhjp-k3cc6VDqy_3b4JrU0feNxsjnUI53stWttxDjTa3kdUrIm8DfVMorxDc4-LPzdPi3NfsZJRIcgSkM3ehWKgUIPglVjdX0-2Eu_Baj5MXoulNvpOFrOhDhLBMiKR3hk5IFPRaHayWR9goG3T0CSa5n3hWP6c3hC2VnSUeW9RP0BTKGLhM1ozM4QDC0HVrKRj41LiJPDYMMOwc932JXyi-4TAicH6w7VU-qH-Fq9JbJpsVZN8CiJdkonexZ99M4OJrFqkLkbx6j5ZyliLhe1OkklUwMGUP0zgbluPF36ZQ5vJDXzdcu2_LhzHTVfNBvi0IqyFNFVQlSGJq6BeQNN-0_KAZMTlKb4R1YcKX89fD8sU8Ormp9VnjEErjvosmNEkOI_X_IOnQT8kI2fXd1fFUudCEjr9Vb6pD_c_wx-c-eNlLIbvTW-YTZIAg-NzlEivJzEM1-6OVlMFCxK7nAOS8Ig3pKZUr7pWCqi0f6dBm6cVPvmwkNqB5QRwYNGK_LG6gwmWZHpmggpPsyO0nhWcl57gH0pfVkKSmfougmAvg78Mnm29Ci7HPIvhPGGePyT71NKEOMxgcjEM6mVKQe_LuNBLOPI_EbQc0Sw5yWzzHb7XmGW1dur7IAzLipkfvALoWBkoX2SVU1izqrgMsIeP4558sDu_dkBYFMQa342J4pkDle23qoIZTQQrljKvXQ_i9h58OyN2HTQJpQGhIX_XRkD8bziH2t5DifrQuRo5be3I9_0rAhAdB0Ah6JH8=",
  "id": "rs_0796a69e9d0ad8e5016ab4280ac98487d08dbd2816c3fac974",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.235,\"right_z\":0.145},\"note\":\"The gripper has settled at about 3.3 cm open, indicating it caught the bottle near its narrow shoulder. I’m raising that end while drawing it toward the bottom end, using the bottle’s base as a pivot.\"}",
  "call_id": "call_QMuQ9olESAxAKw3Jd3XATw0b",
  "id": "fc_0796a69e9d0ad8e5016ab4280cba2c87d081a90bcd0dd03baa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QMuQ9olESAxAKw3Jd3XATw0b",
  "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]: [-0.8497, 1.3422, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.7444, 1.5391, 0.836, 0.0444, 0.4206, 0.2691, 0.3465]\nstate[eef_state]: left_x=0.3231 left_y=-0.1944 left_z=0.1828 left_yaw=-0.0155 left_pitch=-0.0046 left_roll=-0.0047 left_gripper=0.9963 right_x=0.3556 right_y=0.2344 right_z=0.1218 right_yaw=0.2222 right_pitch=-0.0223 right_roll=-0.0177 right_gripper=0.3465\nstate[joint_eff]: [-0.5265, -5.1897, 6.4068, 1.58, -0.3883, 0.0024, -0.0122, 0.5812, -8.2393, 9.8803, 1.8242, 0.3053, 0.2027, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a6eab58aa64d8d44659261ed706ca6547cf48cf6f4091ddc5aed9b37ff0fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb639440dd7a8f3d2fc342691aab44a16dee877eb6a4175893f7f7a9a9e83fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc21ec3a7663769560a5a6fc86870effe6256d7e51faf4af015918a6f2f43e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 17.32 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3415, 0.9291, -0.3473, -0.6773, -0.5571, 0.9963, 0.8188, 1.6615, 0.7265, 0.2722, 0.4946, 0.3473, 0.9956]\nstate[eef_state]: left_x=0.3231 left_y=-0.1942 left_z=0.1829 left_yaw=-0.0154 left_pitch=-0.0045 left_roll=-0.0051 left_gripper=0.9963 right_x=0.3425 right_y=0.2487 right_z=0.0748 right_yaw=0.1955 right_pitch=-0.0023 right_roll=0.0071 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -5.3128, 6.5299, 1.4628, -0.3297, 0.0122, -0.0122, -0.5402, -6.5983, 7.159, 1.6386, 0.2759, 0.1441, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3422, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.7334, 1.8977, 0.7815, 0.5854, 0.4328, 0.2573, 0.3466]\nstate[eef_state]: left_x=0.323 left_y=-0.1942 left_z=0.1826 left_yaw=-0.0154 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.3927 right_y=0.259 right_z=0.0518 right_yaw=0.2054 right_pitch=0.0919 right_roll=0.0302 right_gripper=0.3466\nstate[joint_eff]: [-0.2803, -5.3675, 6.4479, 1.5165, -0.3639, -0.0073, -0.0122, -0.8137, -6.4342, 5.094, 1.0037, -0.0024, 0.2076, 0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.7444, 1.5391, 0.836, 0.0444, 0.4206, 0.2691, 0.3465]\nstate[eef_state]: left_x=0.3231 left_y=-0.1944 left_z=0.1828 left_yaw=-0.0155 left_pitch=-0.0046 left_roll=-0.0047 left_gripper=0.9963 right_x=0.3556 right_y=0.2344 right_z=0.1218 right_yaw=0.2222 right_pitch=-0.0223 right_roll=-0.0177 right_gripper=0.3465\nstate[joint_eff]: [-0.5265, -5.1897, 6.4068, 1.58, -0.3883, 0.0024, -0.0122, 0.5812, -8.2393, 9.8803, 1.8242, 0.3053, 0.2027, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a6eab58aa64d8d44659261ed706ca6547cf48cf6f4091ddc5aed9b37ff0fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb639440dd7a8f3d2fc342691aab44a16dee877eb6a4175893f7f7a9a9e83fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc21ec3a7663769560a5a6fc86870effe6256d7e51faf4af015918a6f2f43e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgUa0KaHbF77DRnGbV1AXYdC1heR82tP8XVC6Ir78vxqPSc6C4nNxHVowTFX9hfirododlG-a7gRsxM3b979-H2swxdkRnK8YutgT6HhF-NfGkqyr20nBIbNb3f1EVaR6uLhNO_vnnL6eseqRUAKTfr4YxZc7ynfOF2Na5KGi48mwFbPINN2nRLEa9a2Jr3KEt-GA_I4ZlNhzr8Buy2cySKDWOaqwD1MVOX_LsveiuahKoJXTSzwx5CbfkPvWpOgn5iYKKEmcaGUmGMIaIiCuyafi2r0hNVpKgHBuZDtlBPbV2K9h-bqUrAwE_IRuT0ZaykOShdx6wRpvsGHWe6ZiJV96gOaVSzWhCM5w0XI2FZ5ODvw58JF-Q_ZmGyRF5h-SvkighoO2v0DdsVWHLtywHx9mS89Zu-FReiRFhQK2PrqHYpOgM75ZDvLbsvLcH_IsJ5Qi93hc_K8rAyn6UjNwD7aQrsBz0yeU2gKVHTcHdhMD7ktvdK2JfvT405UYe5vKIP3eiJm7LfA-HFI5gorD1ARbrOPQSZI3PkueOnZO1Gilwra7hywRZLYGZiCAFGiW3_uPyBM5DQB7y3VLew-q0I_lajeQrdR5rHQrp81JE3H4-dQD-jgGp34PlNQwgI0uebai_4a37yz5yiW5SlyjtMVQy8q-ihXrVDB4CJrYtdtmJile205GXZzPZYy2YzAmHQ478hY9eaYIe2Z9vvXsD9twiEJ5cP26CksKpQLltGIxqeAg8A1CheoETd7AAAZ7Szrkh_ltUProBSHwp58QeuPcMt4LPNwX2XEuEmKb9kGMYF7hNzq9Ey7hVb72qWrWB2uU0GTN0rNHTFoRXrJqFlpFMarwJ24MubzXdIbDBGJh5gCDaF0fTCZC096_mWB6wkdOCvIgfY1YaSy5gD3Zz1iikyzWR5IH6BLpVkucJjicj8FbeAufo6q7jBUUgQuCaE-MQfMWpm_AmV2xthOeeBqXL60sRZFR6zO9AcQTXuJAXW129JR5M7LWwWfZlq8p_N2lk8_X81MbI0nZnRxuk3dQQLbuXsJgh1FNeCyoIr8qdk3k1Reqm6-U5rnl26I0c3mdI44o3mSQqmYj0kDg5DqapHM0TpQahqF08irmfLNMOiK8kkBRNgmpxBYGUsK1vTeihT7xUvjSrLA5hJHsligbe0IGpWlvBkZuYV09ecgAb1kmA5AV7LbkFLR6AI2EIy99gh3wT_QTYEavZVZWTJSxRKhhl0tuqd_oh3ef42lg7OMimM_5z2r7FepYuTuolvuC13BaRJmppzRBw4KZ42koBFfV-5F886_CIObBXLdZt3P3AV2FqrlRg7rJ4Nbs5lXBlYXi-hlGtgmCIMU1DaE9mtlsulX7Nzodyb1mQcfUlUzXq8xtkhHbnbNCiy8LH-Xs-mTkgfM3YleDp6t3Is0ab3dGwNXKfGVyDd0cvByWNdBQonC9nz2kHcrM15hmlQlnXvV_mrj84Qa5VxpEXyAi5AB55LBShgbtNZB4KG9IWR-GNF5qtBeP9Okd1pmwxf85oeFqgLmIMq3sdyctyxZTRqYHPLKMWlg4CQQY7d65fgqf9ScyHRSmW2W1Jtg47RUVqI23hQ6qdhiNa2QCE5ZxdVHrPxFlMiuxGd0Mb_4F1nH0Bqge0kkl-ClCTQv15xN3PsdQcIQduOh0u8H-RseGoyKJnp5rnAcFXBa0_Xy3PmjiHzccQdgroPAqZhRfjPvJQpswGkcCo7_IrnyEBZP3Vj-ZHd95AFT8_eKmHXQfXjc2AZ8wOhG9wQdvg4eIFPmCcRtt0abooGNrrSHTpJS3kwyJhDJ4PtuGYUMLA0x8v4jAKg7zwe8UT-CsLa5RE62feJiItstOHsM57bZIbb8pJcHAvf99OG2xOq3CbYDvFvEdF3QGsZXp_TkkoSx_gvhTHmGne9gbDB6cspc-d2gr7DcRCS6ZNtGUK0Td8y6lumYjzAsJ6iKhHwFVouR8O1Fa3PC8Rnt0tN9IMv5QanMgUKNm8HgpsyyX6KCkoHu-mdWVho7wGD6roWJQygzq92irVDl7OI7iW--nruehCiNOfa1lbyXCY7kc6-vAZmoCBpHHz6g18cmAODl2BySAKv1AOp2rqdEDu_e1-eMwiu8wKJPwy5m3Kcmg8uvbQQpysauhIpXqv4p6q99gvQD-2oUaASgeOgWmq9MWCPSD6fBPap9UTyvDllaZj3GY53LMNxMUU6TtXCeufhD0m3i07uTF2z36aN2yhEZS5C6vMgHJtYtnEDcCEASfkZKcmGRithZVMweCmqCtt-4xmEH0pmWHR6Pa--4YNIxFf2ZzJzsjzu5yeKHKOIJoykdb8U9nBPUR3Kx-dFSdMXpUlcwx3LJUICQGBrvmGEtH3oPtshVOdi4FWUQxjhG0NpCI0cJYb2OBP490FX1WIYA6duC1Oq2Tgf85O3FX_JlK4fhyluXjpfOO1k5hTksI24xGNostswus8udodNP64nMYmptgYG7o8Mfl216fEdYXMdhy50RG8UT2BngC8Apkc7x2H3b0pZg7C6dxIBJAcCw4GjULGA-K6RIPgW14Yaf_7DCcIscNs7o6gSvd3p8ERINqcI74jJG58dc6xUbg_T1KMR28JbjlmoWPPmQME1cbG3WLD-7O8eMAsF-aXH8jVnF8iDPqu6hFrxJFFu5jZEa5SGUYsSgfv3FLDBMOd9Zjnccvvrk21S5Me9n4esGNAnJQw2_Jb1ENSg7p3reXNOQIMVjYpN_Abov6QT1I0EFvwCigF9fDG0f4Zu2UUccXkGBGY3ipJrvAR9NnnJSe5VFqYcdZfucazi9G7s6S0AoKM8xV7TW_6Sva2AdAjmszN9_ljgiL79OOqIYfv6LY_Q-7LBvcqKLpfj4o4MCc2Zw77oQSGebIm0kFQRHt0va_obbRpBpn4sbFT5QL8UIku6MCyA5fpU5DsA0Xr0sDVLB-DzM3THYRjJVdjyqlIBOOJCRyAPmLy1U0IzE9XRVuwHbVioigD0duwD3yK250UTRnkhHLHkw0epmxS_cdcyQAxFCZiMKtE_eOU7CYFgIHyzadOLwR29yXZuHxhC0YYGZOnqCkM452YjHJ9xjRjoi774Bmt8pJJRyAn7ow0f8FBCd8ekUCV8ZDVh3gdheAPcM4JoLhJvCT9yauFiO_d6iUx05xe8lbXaT1S0-znYTpZFV6dU-mMyFd64DWKVwnPjU9sbMjxPcOD2lBOq5wmm7qsAWHHW2BLJagAamayexZSy0nO2hgEwLQiavSWPLRMhUEe7d8fqnSfgBPgmpntwm_pLqksobAwv7BjV8efR606-4jkRcRm6IhcrTE7hxaJEYis6i5KB5a9WiIEydFmxo4QvABz1pfkJ716kGnpbL5OgpR7dRchohOB8jlT08Rsjv45_g5MmqxcWuJOIWlN-ikRZvcIZd79OWXHx3dkumy_Wphfnmy3c5x1-Rbb3ebfh9SmfWOC0ZhluFW2pKPkM6dva8J97ElMtgA5OF1kxjVcvDAKRSKk6In0EqKqrwxzuYIW_Wy3_fKObTnmS2VL1IeqVKVHD8D4=",
  "id": "rs_0796a69e9d0ad8e5016ab4280fbe0887d08d57e69d4a59759a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.22,\"right_z\":0.24},\"note\":\"The bottle remains visibly slanted rather than standing after the first lift, though the grip has held. I’m raising it higher and bringing the held end farther over its table-contact end to continue the tipping motion.\"}",
  "call_id": "call_n7vkzIZ5qEpUsox2e6HC8Jgx",
  "id": "fc_0796a69e9d0ad8e5016ab428134c5487d0a9e2bb8875f14fb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n7vkzIZ5qEpUsox2e6HC8Jgx",
  "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]: [-0.8497, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.7528, 1.3575, 1.0702, -0.387, 0.4145, 0.2634, 0.3465]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.1825 left_yaw=-0.0158 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.3361 right_y=0.2223 right_z=0.2136 right_yaw=0.2384 right_pitch=-0.0378 right_roll=-0.0269 right_gripper=0.3465\nstate[joint_eff]: [-0.5675, -5.3675, 6.5299, 1.536, -0.3932, -0.0269, -0.0073, 0.1436, -7.1726, 9.8667, 1.6874, 0.1978, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bafe7725f5420bbee45551a3439edcdbc89a83e625b83edfeaddef9cf83e25b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e653b5ace097d840d776c61ffd440660d5b818dbfd6c0c373bd387840aed0b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18686da8b37b4422c5aa7f6b99476d0a3e01b5ad0a9739d789bcba5745d2bd76",
      "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 · 5.385 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3477, -0.6777, -0.5571, 0.9963, 0.7441, 1.874, 0.7673, 0.4374, 0.4587, 0.279, 0.9955]\nstate[eef_state]: left_x=0.323 left_y=-0.1943 left_z=0.1827 left_yaw=-0.0155 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3753 right_y=0.2441 right_z=0.0301 right_yaw=0.1859 right_pitch=-0.0194 right_roll=-0.0352 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -5.3402, 6.6256, 1.4286, -0.3541, -0.0269, -0.0073, -1.0872, -4.7658, 5.9829, 1.3358, -0.1929, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.7444, 1.5391, 0.836, 0.0444, 0.4206, 0.2691, 0.3465]\nstate[eef_state]: left_x=0.3231 left_y=-0.1944 left_z=0.1828 left_yaw=-0.0155 left_pitch=-0.0046 left_roll=-0.0047 left_gripper=0.9963 right_x=0.3556 right_y=0.2344 right_z=0.1218 right_yaw=0.2222 right_pitch=-0.0223 right_roll=-0.0177 right_gripper=0.3465\nstate[joint_eff]: [-0.5265, -5.1897, 6.4068, 1.58, -0.3883, 0.0024, -0.0122, 0.5812, -8.2393, 9.8803, 1.8242, 0.3053, 0.2027, -0.022]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.7528, 1.3575, 1.0702, -0.387, 0.4145, 0.2634, 0.3465]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.1825 left_yaw=-0.0158 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.3361 right_y=0.2223 right_z=0.2136 right_yaw=0.2384 right_pitch=-0.0378 right_roll=-0.0269 right_gripper=0.3465\nstate[joint_eff]: [-0.5675, -5.3675, 6.5299, 1.536, -0.3932, -0.0269, -0.0073, 0.1436, -7.1726, 9.8667, 1.6874, 0.1978, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bafe7725f5420bbee45551a3439edcdbc89a83e625b83edfeaddef9cf83e25b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e653b5ace097d840d776c61ffd440660d5b818dbfd6c0c373bd387840aed0b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18686da8b37b4422c5aa7f6b99476d0a3e01b5ad0a9739d789bcba5745d2bd76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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  "id": "rs_0796a69e9d0ad8e5016ab42816a66c87d0909939a0e22c1449",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0796a69e9d0ad8e5016ab4281afe9487d083809f3e89376097",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgmhYjvAlDj3uc-LsjBcEdgEY5PfjoYIxWZ5Lx62xlcci98rqYrtcumrpcYVp38lasVjHB8gN69UwCnn2e6naESYnwr3F3cN7g2wft1THJMlhYm8njtKfEUL9wTgIKcyqHfo6ll-8fsvP7pUh-5GEJtTEoKmwmIoZXB0QsOgpf-zGLRlaJUsESaRIo9P-rqSd783WUeA9d08JyJ6RHBSIGUkiMGpnmWYH8fTuFN_tV-vTR2GhHz4JKogyDN3xyh6Hq8saNp-vSTpJcyKccx8xyG8BdniMZ10p8N7wFFaLDkFlT3VnvNaFuzzxn4hQE7OZEXytfl8fFt6MMZjcJ2PwUp5eeNhiQ-bRkAB9_T4Gi0bpgNxhNt1t6djfs_6cg2oBCOusUe92sxnR3VedNNNOZaCSt0dVD0guzSipLlmBQipUMe-m5g9n02piAY2kKARuKmfE2iZyWsCNYY-KSFU9kgTFkRII_JsvQqfT-UGqaANIQvKtNYhEwX8sgaT_DDVeXLk01Wc-D6-xcDWnSoodc_gFXoAPrd54ox0rjBRbgN8xp9jPC6SdPVcEbp5-Gykrkm9zAP7AekiscFf8yp6tW4tXBT3hTp6RegEJmDdmJVrrQaWbj0Hje42WMqSzCK6_86y_fnKku6d-_5froe3I85VnkJbBVXucgiXQJsHDBykeNKI8SW4jYC78YPCE1wFcNBxLBgyPGmeAyzv3cf-jbKlQcT_4KMU22hklcI9EPaw-4-T19c2piZw5hhgSWh2ex0_FgfTn05qKsAxdLacxttIyxmAZ70oU862w6z8srJdWqwcSh1MWeWZR_9FqOlDX4q3cX-EmFjzFPtnZYE2IsTyNvrlqzRuS3nAXc_ANTRbXBw11sbzzafTBrkKChvlnUE9PS1d9QjMQeUA7Vn-m5rhpMalkmLC1yyFGsAuOyPuecm6HOBgCAkFh8ILTzpaaD9mLmZqwK9jSuIR6qMUsg2isJFNsnQbI82P1srkXOTtuC7lnjTVAviJYY90QsDBi3Bi4B6FN6YKQX-k0ANcSiC50L2VWg9jqRLCO15V5zEXK8eHArs_v3FimFDdpnBbKHfdoytS1B8gPWla2GDUdYwf296RKG78V17VJ2h3eIXvdrQsjmgZMib6rFdQCKqFSNsXMZDbvf_0PNWWJTWWO6GUnHlltNtmo8lX9tsjik_MJGPkVTg5Bvth79BeQ4OwYKUW_hAklb9abPGyxpVn7PIdr8uiZCmpSYbYiF1SgOrO_YkPs_c1I_f0zKSdjZ2lwcBZEYNobGtH2JQ3VGJUIbwa6pLlTWnGUM3uKq_MEOYjju9JO3k3aGOmawYKSSBHnWKly32S8Mp91hkbsdGkbFVFcyvNxvUUvi_mm_bNbjdzZZOoeOtw6pjr4-RXAfWsAPnvYdmtU3fXSOgti2cmO7vFif_PFcOSVjtlUxUIMydiPlVXunVhmZuMv05OOqRn95lwr1QMokCKR857bMkVy6lmwFARQJRLITqo1XESaLu2UrG6kuOBhIkTlMV7XzZXRZgBhKdJ9nN-PaqMSTT5j9FuFPBMioeVyKo2pE6xWR3l0FtryRuwwgHBQ_icQWK_qv-PEhKMmI1w8clRXULWHKSdepvZrqMbSmj9BbxxQYu-rQU4RTA3Gr2Elm4ECiqaN_dOjFgI45tRSDz7ANZ_cm8zTLudySyOSSamPMkoOrbQXrVLm7kSli_8Bi1ivjdJ7Zr3w_8_povZP31C4FoYrkuq_L4OV3-5Brfw-28sW5MeLeu71oHpMSAuFhENDBSNUN0AjwsjyEDkptRoVu_xeDRCAA5mdrLAmlKMYLOAkgAU10UZWgNbl0rFmj5EmnSMsEyoV2hwwqJHclPmHeVCFFOpExHdXsKqXIYVBN-nx33qQ94khftysdXoHYVAWCfkxpNDzQSqhjLDUF0gYD_I0SD0pv8Sj4BsEWLX82sov_obZrvMp69yZrOfdeixhlVO-mXx-Jyyh4ljGO0MkYgs_m1k1j055UKAPKbJc52vO2Z0GMh6MVcQhA-5BY46K01y8RT7ANi2TL6f-KA3EFykIBzZQlUEKMh3e29f1dyobchy84ARBd0wooQ1dP9KZXh-m3ljoSgHHPdZ2-xzY9zFiYWXRwD6j8psZlr4PJikUBPWEtXdbE62BDc92fmBRqa0Foc9Q8vZgO9eCM1VTf-BIb9CaJRKnpDROOxmwFrkyb4lOIDHq7JtrZXBgMTRvvqWq1F97l3QctcUubzOeMRslbLtY78qobQegA-rkrveqq_v-lLqxCHqPvcIJRKvVxlU4CjeeruVxwdxcWAZCE-kYz_jnGp-DOgDSaoO7tgdW6hwrpv-9aniDrtl0NngJ48uDhjX3DzyQHFFQYg0IB16TQ6kat2GyzFJO3Z_9os4WTFBzzokGkYQRzHnAo6UpCR7AEHDyky5WjUAoRIwtqz-PhAaT8b1HCV7hteHom-J4FQTiI_Z29XvlDOT83QA0mGiJ4RGdf5DjVoKBJgch34uH8awOtaQthIlzvLtSmcyFcZ9sojyQ_IS6rmy63Vugy8c6nXSl4SyOhRqUnDNkjVtwEjDtSRI1ZREml-VXMufQpBPX2-KKZOZZyeNNZ8I0FF1ZW5SpCJk4ztMRmdeS0IDZ_5Z_QPL8gPJQ3vOmGV0pFxicqigQ5p3Rwip0wNLLLalVc6f32Ppl_kxfeQGzysv0rBCJbYnoq6tkemevuGekw267RWl2QTKZD-ldk3C4pK1KQ1VqYW4_1Duag350rljRwsvYVSh0TkENLqZIhrWrZnVU1Ck5RdmxW6g-iqTNz0Ef-lUPHRNbMtQ5j00ltjgZmQHjjt15OMJ5fZ38p-BUHmY1Cz1tl5kLvdFFaWShKNSHCfzC1biPKGr600Sb6p01oiShiVeTT1C1rNZA5OXU0WNH7256TTm14MjhGUSA29bEoNKw17mvjHbPdaUGRlQ-wpmSRU_ZY-ue_gtQJeFDLa-JAMTTQvCytMP7KA042eJ_pjJbVViaDvcwytOhJwWfp1g2DTbKo1qLextbroqyCkxZoSG6ueFSe0oBsAlXgJK5deEDrp-aIS_Au2FlsOXQDhvw==",
  "id": "rs_0796a69e9d0ad8e5016ab4281fe5e087d09caa89ad8266a9c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.21,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The right wrist camera still shows the bottle on the table, so the earlier narrow grip slipped during lifting despite the gripper opening reading. I’m reopening and returning over its near end to get a firmer body grasp and move it into an easier working area.\"}",
  "call_id": "call_TZ1bv2nbKB8QpbVHqKkP4h3B",
  "id": "fc_0796a69e9d0ad8e5016ab42824f36887d0b513d7d5595208b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TZ1bv2nbKB8QpbVHqKkP4h3B",
  "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]: [-0.8513, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.725, 1.4929, 0.6041, 0.1909, 0.3874, 0.2485, 0.9961]\nstate[eef_state]: left_x=0.3226 left_y=-0.1947 left_z=0.1825 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.326 right_y=0.2044 right_z=0.0728 right_yaw=0.2397 right_pitch=-0.0668 right_roll=-0.0353 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -5.3538, 6.4205, 1.5116, -0.3541, 0.022, -0.0073, -0.7043, -5.3949, 6.065, 2.0293, 0.0757, -0.0806, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2484b9fa3cc4a3943710d84c10b65e01ffcae0373e8a401b5838a7a604571116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f05d7c55b1d1b9edbfe8e5a893d40ad7b6ba21b8871300213d71aa9e7fcc549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d13b4faec7ff6c902272be0282715c6b63e26af8c35073e601ec010b38f19f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.919 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 136 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8494, 1.3422, 0.9291, -0.3481, -0.6773, -0.5571, 0.9963, 0.7334, 1.8977, 0.7815, 0.5854, 0.4328, 0.2573, 0.3466]\nstate[eef_state]: left_x=0.323 left_y=-0.1942 left_z=0.1826 left_yaw=-0.0154 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.3927 right_y=0.259 right_z=0.0518 right_yaw=0.2054 right_pitch=0.0919 right_roll=0.0302 right_gripper=0.3466\nstate[joint_eff]: [-0.2803, -5.3675, 6.4479, 1.5165, -0.3639, -0.0073, -0.0122, -0.8137, -6.4342, 5.094, 1.0037, -0.0024, 0.2076, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.7528, 1.3575, 1.0702, -0.387, 0.4145, 0.2634, 0.3465]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.1825 left_yaw=-0.0158 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.3361 right_y=0.2223 right_z=0.2136 right_yaw=0.2384 right_pitch=-0.0378 right_roll=-0.0269 right_gripper=0.3465\nstate[joint_eff]: [-0.5675, -5.3675, 6.5299, 1.536, -0.3932, -0.0269, -0.0073, 0.1436, -7.1726, 9.8667, 1.6874, 0.1978, 0.1294, -0.0171]",
      "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]: [-0.8513, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.725, 1.4929, 0.6041, 0.1909, 0.3874, 0.2485, 0.9961]\nstate[eef_state]: left_x=0.3226 left_y=-0.1947 left_z=0.1825 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.326 right_y=0.2044 right_z=0.0728 right_yaw=0.2397 right_pitch=-0.0668 right_roll=-0.0353 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -5.3538, 6.4205, 1.5116, -0.3541, 0.022, -0.0073, -0.7043, -5.3949, 6.065, 2.0293, 0.0757, -0.0806, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2484b9fa3cc4a3943710d84c10b65e01ffcae0373e8a401b5838a7a604571116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f05d7c55b1d1b9edbfe8e5a893d40ad7b6ba21b8871300213d71aa9e7fcc549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d13b4faec7ff6c902272be0282715c6b63e26af8c35073e601ec010b38f19f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgsVjC8C3KRE8SoAGxpSGokJy8HujEzhmK_p_BgL44powcvu7aZ3CQRSxeT_G1X4XuNzMyucCRQMKSzeR6D3Q0KRSrFkUU4WteOeyacZiWd7Vls4SW-T0NEspN6vRkB17jKI2XaLb4GIybjJ_gu67Xh3bgqwofohFsINvcnLL9ahYu7fP-6erwOmyVtFcIOA6a6nsiPz4T3uMohgzVCYqGqsqkJMT4L_4M8ehka3-JgdBDvZaLWBWTwcvljW9HdW9sH6hM5fKVarQm8uAtfe-mCzBeeQ7DAGM__3ecZcpD3t5AOebM5A0M4VBZh7X8vF6AZyXjRVD94426hLTs4h8G7uGbjCuJ5Q-T-NHI0tFhoX8ZTzvLykezgxXkkcjZerwmfSnQ2ThBIvyzLFo-usLTpqd93teBlXt0yutLc56pwqCLgVJ6g9x6n0mFMBc4ulY4jCmjzjBGj5g5R5Fio9GFfLUrBO4Nt3o6_qc5qDp5vEA_lf2eAsodt1VW6TjzRkJ-VzG_QJzIMvzauJV_4SIl9IwguLWzUNrOTv2c-U_KryHiH8PBxLWGcCCNI5PHDj9gz24d19AC9gPSNfeOesALPL_u9VytT9S5B1kt2b0WzVCuJJTX2WYROCLwb0zglMsry0gA_DZ1bKwl6oxZGcunspF0_abdIhDQffSRu4py8sqb4AVVXBJ5VBXKkCSy7H5a3WxlxUs5hnMHcwV_N-pBTJYtySpEbmW15HZQ-Nn0tAyWigXFUyvAn-j1VZw4xyPpoVUztEopbKmpZR3HbYgXHJhqjiIAmn3YGwU212uHJbchjn36siM66EIbHwHPOe9J9Y8A-zg2_ZY2cNupGG6WqpP5Zvxpu-1FvtFe0UdyX7PsgFduszh1TD0yRnq_GiF2ntlLMyQoillNXXRDDUg_t27An_gxSD4TRXTGVZ0QYUrlXJUCKn8Z6f-5EZCT2OF-OJts0mWIOtSteis4fExvIvX-M-rjkl9_8LYr6kiNp7Vm3N6_byHjQegiO5RdbcIO06B_obtiRHWfWOg6kjuhwDnBX-wXw78bL6CHC9vIA0AOivyo7oEPrPNVXV813mjNtikwQ5jbc4GXZvM0cHg6RtuuntBoEST7vW95ByVzXpiZer1PcJdHNSsHAcO1Yd311ZRNkiuZ1xCnEl4XlAqApMmcz4A5GapKyq5nZYYnblnkKgmf-FCkzc9hJoo9b1tM7pedm8rxNM-rczB-2HujcKYMOIkUBQ0EKJiQltyR3j0ymxw8N8W4adzg9vnN4bLImKaFPRZldCUB9zsBDIFcXb6IHP_94F7p3YKzH3DVoWUBSpmrKbaceEm_0vQkjNIVBE83d853dG5DDN9mPGYKeYPwQEV6ZFx9lhjkX_L57Ct96TEXIo5HF69YpORAASQ-KC9TAvOPqaGDMf8QIrV9fvNyjwbBk3RTjIlbEqFPaDBTzNyOjw4PMSO51ooOmj9SGOueJVZ6fNweYlnUG1jvV1KNYlHQP8fh02FrXalm3wZy_cJIfnGLFhJreVmpJfpQyY8iaFy7p6StUcmpc61hRs7KPxCaeWRCrFsveOEeFJ6fBtOUdoz1wibWjrNo8mpb1tEBSVw2Ze1oOL11wjslzUmntK3y1cKvuhz8EeU8OihZoiPQdDLv5SLbDnK-qbJ7zcA23l5BRUCuZOnrl3Dptmp6-9V1U6UfF5smIVXEFgBHiGPgdq0cpkI3HbiHIUDRo0gEfv6woyvN4c915gloLwsTvJ9L-AommvjC6ulI5NU6xTtslr4yReI4FZ-uHKwnLJMtuoVEWmkRYMCS4nZvsGeh1jxNoiYjtfPDXjZFXtvfYfLt-QTCxOGd5ySFr7RP3GBjx7jEoGbBdqpPlwIS-_sc3jtXe72VabcUEN595R5rPV6Rw-p8jIDBmivXXAkgpjUt9zv63_bVotkybayLfSDns9CieEo6FATB4-n5Q_l6ekqN3nx3rUKM3xMYXDapiTJYpnnuwWcrE3uxG4Mp-Sg==",
  "id": "rs_0796a69e9d0ad8e5016ab42829c72487d0b746ecfe2db247fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.225,\"right_z\":0.02},\"note\":\"The bottle is plainly still on the table, with its near half ahead of the open right fingers. I’m aligning slightly toward its centerline and advancing low to get a full-width grasp around the body.\"}",
  "call_id": "call_l2UQ1qSla9kXGIhWNL8gm48I",
  "id": "fc_0796a69e9d0ad8e5016ab4282bc03087d0ac4bc34707769829",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l2UQ1qSla9kXGIhWNL8gm48I",
  "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]: [-0.8516, 1.3441, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.6807, 1.8378, 0.6174, 0.5091, 0.3416, 0.2222, 0.9961]\nstate[eef_state]: left_x=0.3228 left_y=-0.1951 left_z=0.1821 left_yaw=-0.0174 left_pitch=-0.0059 left_roll=-0.0033 left_gripper=0.9963 right_x=0.3531 right_y=0.2145 right_z=0.0029 right_yaw=0.2463 right_pitch=-0.092 right_roll=-0.0356 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -5.5316, 6.3932, 1.4286, -0.3248, -0.0171, -0.0122, -0.6906, -8.1573, 7.5009, 2.1221, 0.1392, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0548af73bb87dda4a203e454993033586893325b0c145ee242bb45cdcf0e77b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a6767122c4a516ea0bf5e6b2b3ab63ffb07a7ada420940cfacb5301298d421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb7ca45c3128d77b6eae1e7086120b8cbeece7654561738fd81e6152aea8fd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 2.676 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 136 changed as sent

message 140 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.7444, 1.5391, 0.836, 0.0444, 0.4206, 0.2691, 0.3465]\nstate[eef_state]: left_x=0.3231 left_y=-0.1944 left_z=0.1828 left_yaw=-0.0155 left_pitch=-0.0046 left_roll=-0.0047 left_gripper=0.9963 right_x=0.3556 right_y=0.2344 right_z=0.1218 right_yaw=0.2222 right_pitch=-0.0223 right_roll=-0.0177 right_gripper=0.3465\nstate[joint_eff]: [-0.5265, -5.1897, 6.4068, 1.58, -0.3883, 0.0024, -0.0122, 0.5812, -8.2393, 9.8803, 1.8242, 0.3053, 0.2027, -0.022]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8513, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.725, 1.4929, 0.6041, 0.1909, 0.3874, 0.2485, 0.9961]\nstate[eef_state]: left_x=0.3226 left_y=-0.1947 left_z=0.1825 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.326 right_y=0.2044 right_z=0.0728 right_yaw=0.2397 right_pitch=-0.0668 right_roll=-0.0353 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -5.3538, 6.4205, 1.5116, -0.3541, 0.022, -0.0073, -0.7043, -5.3949, 6.065, 2.0293, 0.0757, -0.0806, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8516, 1.3441, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.6807, 1.8378, 0.6174, 0.5091, 0.3416, 0.2222, 0.9961]\nstate[eef_state]: left_x=0.3228 left_y=-0.1951 left_z=0.1821 left_yaw=-0.0174 left_pitch=-0.0059 left_roll=-0.0033 left_gripper=0.9963 right_x=0.3531 right_y=0.2145 right_z=0.0029 right_yaw=0.2463 right_pitch=-0.092 right_roll=-0.0356 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -5.5316, 6.3932, 1.4286, -0.3248, -0.0171, -0.0122, -0.6906, -8.1573, 7.5009, 2.1221, 0.1392, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0548af73bb87dda4a203e454993033586893325b0c145ee242bb45cdcf0e77b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a6767122c4a516ea0bf5e6b2b3ab63ffb07a7ada420940cfacb5301298d421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb7ca45c3128d77b6eae1e7086120b8cbeece7654561738fd81e6152aea8fd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgwYsickg6aeVnbFUuleWyMB84Gyf0ylWQY67O3-zF2acLyfYbOoeXOKawk8UJdiH_9T9MG80giudE2HEVJIRUbiZcWpTCtq5XLe2KkuqLrNA976kiXJC3olGRg8SmwogXxiN2lcl0RjrHSUNIlen6kWNMcUyS6F4Ll196tuBSRXTu771SqIpjq2Wly0VIIQd41UZlSZyxuC7pw2BdlIFWDTjH0jyUW1DEmcmc5yOwpY1ZuEkT_uMCnWbuyhPDJGLZrx6h0RU4j8A_zuef7UQeHCB8hTj3pG47-JEbQ0bKLN4ICIVQSP9Z7GikYGuiaj9C79Ng90_uCIG6qoGILAx2qZS8now_fJpuIBTeUr3iwqb8LWOy3kKdpGxVkv4-XCx-cBdb9ppn7fMEukCNATib8HcUY_6ahmhpBKE7dY3zf2R4cvgPMmF78tlJOSDlaLPtvQXz28oedjzTHtbQ9ENu3u8F_Gi4zIMzAOXX2GyJa3-9Fo2FGkHGVCfmtYuD01WRb-LKSHTreCzUu0DB-h_286XowH1E4J8cb-cs7Z_4ETzpKSeJkS_xcM6_Iw0MyxqynEGGYiYA5mgNUix9LyOqdPcNi1_Kau3kV-GZSVqKqNSKgzM8Le0u6-OcJcG1j1A0X8sMUYaEv3SvzACUD4POLgW5Cc2nc3NM_U2YF6NeAjyaNjFKF5emgkFUOZo3hAdSL4MTjs6eX_cHaFzs2SE5rCCULxdeA0kXWprcZP9XmtmSXaE-xx0Gcgxrn2bU-F1lFPLm3RaxEN5fEHjFwncXxVqAguhnvARQWZB7PvcLtFh-AsKCFvDnIEwRfPWb3frnxTPGQPxo-kwZ-y88IF1XEUJIs-liOzONdF3ryBuGeA3mBA9ed4BF05kJ59LiUahvYuCv_5EczCGPOn0UzZCfOS1obECkvHdDXVlfyza8xx-FVkX78OYsfZaxlklV6kGU3CmGxMjGqRRtUl3WV4jgOCmBuXPDT-cnFxr_0ZUyj8lCNTHwAdK4KMYF2SwVzNUil7KsJVc0NY5aJI2vFzf8iur1FWfsA87NEC5b85-oRi9pPOBiXTKdYgHHDUfeHGPxlEysGR8QOyHpkbIYXeMsD8GSfSRs-rKzQOebSLPb8gmuACYp3Fq29xYo7h4NXGF9Nh7NgNZJmNcgxdFe7paQxEdfSECyi-LD_OKSjONvlT5-asJqXic-TQ_imQjLusa_PPX1vVt_LR7pOV8PrKjPhrQDI7tIGyh91QVsLTc7rL2w5lZI1Q3Ufot1f4TqK8D61RUsd8NfBtvhOU4uqNJnGubsOC_Vu3cu4960VW3Xx-_TiFkzOaBdAeysiuYJS5nlRb5FmqCZOTO_vrbMcq-2m7e18wJ-yAWYvxnR1W2Ku95kAzK51VStlhm0H4Rztm0nj8lSB6nS1hQTgf7pg9jcYbg==",
  "id": "rs_0796a69e9d0ad8e5016ab4282f205887d0af3305c27bcb72c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers are now at tabletop level around the bottle’s broad midsection, rather than around its narrow shoulder. I’m closing to test for a more secure hold.\"}",
  "call_id": "call_R5wlNALHafmq99G7JKPxIEK1",
  "id": "fc_0796a69e9d0ad8e5016ab4282fed3487d09a5d58439f680694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R5wlNALHafmq99G7JKPxIEK1",
  "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]: [-0.8513, 1.3453, 0.9291, -0.3454, -0.6773, -0.5571, 0.9963, 0.6804, 1.8729, 0.5442, 0.6998, 0.3378, 0.2111, 0.5333]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1819 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.351 right_y=0.2134 right_z=0.0015 right_yaw=0.2569 right_pitch=-0.018 right_roll=-0.0081 right_gripper=0.5333\nstate[joint_eff]: [-0.2393, -5.3675, 6.3795, 1.5409, -0.3883, -0.0073, -0.0122, -0.0205, -6.5162, 4.3009, 1.917, 0.2466, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a271bb4cb67743ff707caca9eb1b9079f7d7fb7efbc8b8b6b922e9a0c015cc77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372db49377ee36b5fae365233738061d165762e656ef1593a0fc284b19e4afa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff2f729892fc0e28e96f859f5a00942eb3f91f2b2b30084393bfec72a0ca8f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 4.651 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 140 changed as sent

message 144 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.7528, 1.3575, 1.0702, -0.387, 0.4145, 0.2634, 0.3465]\nstate[eef_state]: left_x=0.3229 left_y=-0.1943 left_z=0.1825 left_yaw=-0.0158 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.3361 right_y=0.2223 right_z=0.2136 right_yaw=0.2384 right_pitch=-0.0378 right_roll=-0.0269 right_gripper=0.3465\nstate[joint_eff]: [-0.5675, -5.3675, 6.5299, 1.536, -0.3932, -0.0269, -0.0073, 0.1436, -7.1726, 9.8667, 1.6874, 0.1978, 0.1294, -0.0171]",
      "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]: [-0.8516, 1.3441, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.6807, 1.8378, 0.6174, 0.5091, 0.3416, 0.2222, 0.9961]\nstate[eef_state]: left_x=0.3228 left_y=-0.1951 left_z=0.1821 left_yaw=-0.0174 left_pitch=-0.0059 left_roll=-0.0033 left_gripper=0.9963 right_x=0.3531 right_y=0.2145 right_z=0.0029 right_yaw=0.2463 right_pitch=-0.092 right_roll=-0.0356 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -5.5316, 6.3932, 1.4286, -0.3248, -0.0171, -0.0122, -0.6906, -8.1573, 7.5009, 2.1221, 0.1392, -0.0269, -0.0073]",
      "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]: [-0.8513, 1.3453, 0.9291, -0.3454, -0.6773, -0.5571, 0.9963, 0.6804, 1.8729, 0.5442, 0.6998, 0.3378, 0.2111, 0.5333]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1819 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.351 right_y=0.2134 right_z=0.0015 right_yaw=0.2569 right_pitch=-0.018 right_roll=-0.0081 right_gripper=0.5333\nstate[joint_eff]: [-0.2393, -5.3675, 6.3795, 1.5409, -0.3883, -0.0073, -0.0122, -0.0205, -6.5162, 4.3009, 1.917, 0.2466, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a271bb4cb67743ff707caca9eb1b9079f7d7fb7efbc8b8b6b922e9a0c015cc77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372db49377ee36b5fae365233738061d165762e656ef1593a0fc284b19e4afa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff2f729892fc0e28e96f859f5a00942eb3f91f2b2b30084393bfec72a0ca8f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCg058PmQT1RHuxdi8UsFwMNukpGaA28R3YUUuVPKkHAKfJ-BOoU1eacRS0MIUgOgqqN6SO7hU_mTlbaGq-zAct7b8L3IJVGMyd-BGzNfpuyRQ9MvXEwZPjq2o6AxKEunmfUM9nV37IEYO9p8EmRQb8hEqOH1F0e26gt8MgFDEzsIxi2mt24VNsBWndi0OlFksru7KeWbkwudQg7AAzaC1RFBLbBhJYUrsBZkL61VSr_iQl9zIyGRTj9oGWMZTKUc61qgOFpvLkaJoeNXtuQBt8BZGuT4rWP1Jep8vsN-om_l2mY03icjdw_hXtzvKU8bhJs_IsmF6X49_uY5TdW6dRkA04-xyqxix5Vi7H6zv4xzLJWWpIG1kwvu_igYDdxOpFmvrdLJ3BAmC6OhL6c5OicJVO-KWukE_2XdRzd1MBhekXqtXaGeIc-QPK0DjvAdYZHmhxccLeY5nB-mOq6v8pwcbCKiHBm0-BbR3J80BmcOeLfAG87zdrUvo3XlG8GyjJeekXcg5YJvO66ZBx-tsc7vDdPEGBRitfyEuREJXqrqT3eDM1nyjRmjhFUvpDNKDO4s6fy_1FiQgvpHV5I3GvV_JJFukmhs7Wtk_oYPvYR73LFZ8QkkUXfu4QVCUq8hmcASffLs8b3q-_cyDOecgeYE3JXtCV7QpT1ASJK5VvyKrz4uIPQ3frNyYTijJZQNHBPDdZk92XuRCgCep1xI2CUBVTps_yLEwQ3rmkhq9Ul-Wr7TcSlqKXAc1w27_BtDZfKw5hQmpUjw6Gff5o3bxhPdVu2F-wqYttlOT2JZtaC-YLEPMN0GFGz5UlUksqgBoFWzERQswI-WOOjg1vxJVFcVV8jfdARlCzvNeHrmNULj46XdEjx6BOrKT00opWEu6KMmCkrtrMHkOuCZyGTNUmcv9VBgYQl1zrazwyniTrnMBsMJmHsBevnCntb8nfSRgIa6mYUZFdpJD_ROimVL3vBcFros-MHKmiOw3-L7Smmp56E3uVRv5F5NhpGW-0-7YFOKbWp6-SfeslDv4m47aByLZZiW5w3lX39iXsfjuSVEYtLRFsJSZLzD3Ju-iHCA7Jrby--0_wm5y8okgNRLTPvOHmWdDnFm-MP7G-RwsBhuMOznorgF2eaMJn45tJMuxZB8sL3yf5vJ9db2waV2Kl-q1IUPy702PBIkgQOYAcI7o9GH4dx1XRLxN_Wy-GZXw5DTaMzGmId31zjUidM9Ui7HeVeriX0l9x1CGwYJKWJKkH2AYQO9IfhMhE6U67Xq14T",
  "id": "rs_0796a69e9d0ad8e5016ab428333ae087d0be68deab06a03c39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.215,\"right_z\":0.075},\"note\":\"The settled jaw gap is about 5 cm, matching the bottle body’s width. I’m lifting nearly straight up to check whether the bottle rises with this fuller grasp.\"}",
  "call_id": "call_naTaxQw4Zz9dNeRwEpcyw0tb",
  "id": "fc_0796a69e9d0ad8e5016ab42833782087d093fdec5224fbb2fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_naTaxQw4Zz9dNeRwEpcyw0tb",
  "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]: [-0.8513, 1.346, 0.9291, -0.3458, -0.6773, -0.5571, 0.9963, 0.6804, 1.6527, 0.5636, 0.3183, 0.3237, 0.2077, 0.5326]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1816 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.3275 right_y=0.1974 right_z=0.0204 right_yaw=0.2654 right_pitch=-0.1513 right_roll=-0.0604 right_gripper=0.5326\nstate[joint_eff]: [-0.2803, -5.5043, 6.4068, 1.58, -0.3736, 0.0024, -0.0073, 0.3077, -10.359, 9.935, 2.9133, 0.2711, 0.0611, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020ccdf3b6bf23870bb8c6b54d0c9c73811e4edf286d31677f52dc65638a7c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b14f098a3e9c7864bce12231c7517b4ac6062bd92a32c02e87badf628dff1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe6fd051e0ba0e617c48c0d66def6ee2f9e78a4c9fbe1ca39c63a6e8a4da8ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.908 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]: [-0.8513, 1.3422, 0.9291, -0.3485, -0.6773, -0.5571, 0.9963, 0.725, 1.4929, 0.6041, 0.1909, 0.3874, 0.2485, 0.9961]\nstate[eef_state]: left_x=0.3226 left_y=-0.1947 left_z=0.1825 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.326 right_y=0.2044 right_z=0.0728 right_yaw=0.2397 right_pitch=-0.0668 right_roll=-0.0353 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -5.3538, 6.4205, 1.5116, -0.3541, 0.022, -0.0073, -0.7043, -5.3949, 6.065, 2.0293, 0.0757, -0.0806, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.3453, 0.9291, -0.3454, -0.6773, -0.5571, 0.9963, 0.6804, 1.8729, 0.5442, 0.6998, 0.3378, 0.2111, 0.5333]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1819 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.351 right_y=0.2134 right_z=0.0015 right_yaw=0.2569 right_pitch=-0.018 right_roll=-0.0081 right_gripper=0.5333\nstate[joint_eff]: [-0.2393, -5.3675, 6.3795, 1.5409, -0.3883, -0.0073, -0.0122, -0.0205, -6.5162, 4.3009, 1.917, 0.2466, 0.0464, 1.0379]",
      "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]: [-0.8513, 1.346, 0.9291, -0.3458, -0.6773, -0.5571, 0.9963, 0.6804, 1.6527, 0.5636, 0.3183, 0.3237, 0.2077, 0.5326]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1816 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.3275 right_y=0.1974 right_z=0.0204 right_yaw=0.2654 right_pitch=-0.1513 right_roll=-0.0604 right_gripper=0.5326\nstate[joint_eff]: [-0.2803, -5.5043, 6.4068, 1.58, -0.3736, 0.0024, -0.0073, 0.3077, -10.359, 9.935, 2.9133, 0.2711, 0.0611, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020ccdf3b6bf23870bb8c6b54d0c9c73811e4edf286d31677f52dc65638a7c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b14f098a3e9c7864bce12231c7517b4ac6062bd92a32c02e87badf628dff1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe6fd051e0ba0e617c48c0d66def6ee2f9e78a4c9fbe1ca39c63a6e8a4da8ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCg5zxOHGwi8Wd8VRl5-moqr6nI8Si439rT87hYqC8urnbTMUt46mErPRrALwXSBndprLCm8EZiZXbamjrgJ_vP9aICKCaeBWMDWwF_bWPOkGJvhvNZ5B5Ul_GEl-VMI-6fe1IxQuK9XHgT9SgIXTRfOY3EQtG1pDxl7txGWDHlSwYrAXGQqb8jArrEXupTq1wqt3_D36p69RWYS9ZFqHInb4wAg5Knn5iIev0s4pN1LTqqpAHFGMhFtymu56rsd47zhzTRyvSUvYEYaWvLcKwFRk86hN6eH90BHxQKGotUboWaQvp-cNtMaSjcRZIlwK22n9faFo8ZkuF_vTRtFsarugXwQWKU_pb8SVCKEMcs5c8kxlntY9ud4pWGxKlN6h6YtRGKeTRw2HUFoH1Ugmzwa2p_RztDj85ivY1f9M3ixkxb911crIpWBclWBdKp-IdkvykvspFVZypBLGk4zmvn3h_qNAOIx3dL9hyVzTCtEPfEx4RrxQNa9wuYt8tMvqUNO2ZSH0r42aDiKhRP1LJ9yFqnElfeYMd2zM-h1cRBzOcXKaD_fCo_UVpYR-5JG3-8_EPsE8SX4ODmI0kfIrKzlDPqGlhrsMW-QIrIPSQdtW5VMGY144_soSs4eo5ufYwky6m_oPVaQLyWveuloQ1gJALC135d11mLPT9599AELpqh1Zhwi4RMpgDgwewupuEJTOljY6Kja2NzzssSnfyEPfwrH5H9R-C0FGspguUPCkHfy-RCsU1S7DdqDlUEfLBc2axH41FsQRy3MjRkOWG2fbNGYpp0bkZNdQI0E9niIYP8rRbaB8_vDsbq8BW6s_tNgnYrmaQBS5yoDV9OH6YmhZWlbuBj6xV5TaCTafQDE4tpQRPQbZhbu6S5AGOXP0jt9BwZQaib8czViJ6WdxlReo3eobufUst5qV6hgEZArhS7vW7O2RpXUZHrw0-g4v56vZqux_zGlx4_phzYXdYRnh846TMeITAu6DtqTVHNeUkIKSk1H7IXRMH-uXdQuENAAWnRtYv2MMfByS4EhSUhPnhst6UuGzl2UQ38eYUtk2HEIJvKTpQ6FjffttOBSXc3p7cio3uUgPnlZSfvCdNSsG_Oi348aw16q7i_-MXGN-i7d5aSkKOUTbm5wcaJI-Hk5ak_W3XEHjYYA5KVBeGkR5BByqzDag3gmP2ptb5xEt4edRPZE_wmGuGuqJyPC_5zTW1AB_nqYzkyu5-xk8qlw0Q9WmN9waY5EfsuOHTFtsPN_TSuv1V-ufrLnAh3J7kz1KQ8Jmpor4HVH_AURUhpWM68UpcljqiofMWbuxXqt6q-xpsIGYPFL5kfwPmcnND48w7tIvCz2EYoHpYeFm1e8TKO451TKOvCQq8T85zxlC3l5Qo138uke5IF7hebwiu2g6LSq5x4EII0g_cMeo6cMEX2p1NjTjp8PplMbIXgbMKMR4y-TI_tq3utWVlR03BzpPtKJIgNXtQgVPrJcBfxPx5BpMinXBr_yE_gwryMV_MYx9NNlV-v-JpKcVJrw6VIsF8JvY-kQ3dC4w95DBztAULNP0n54QVm6yUi868lwqQ8wE71H_mrwC-ZZY_xhykYz5PR6N7X5UebhjqJJjBn2eZXxfGzOjWuuexwnUI7I84WeP0dlNfuKpxcm_Y0KC6WTQH0HupG8nYwiEdQ7JhU_c2ZR5MmDbBHFbBm13Tuc990Z9mbJnnOro0gof4MnfopL",
  "id": "rs_0796a69e9d0ad8e5016ab4283760e887d0a91dd0448bbd4236",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.22,\"right_z\":0.11},\"note\":\"This lift again raises only the near, broad end; the cap stays on the table, so the grip is too close to the base to stand it. I’m pulling the bottle farther into the reachable area before setting it down and trying its capped end.\"}",
  "call_id": "call_tSLlgIHyJYBa1jX9kh2CSUpK",
  "id": "fc_0796a69e9d0ad8e5016ab4283893bc87d08f374b11d75b657b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tSLlgIHyJYBa1jX9kh2CSUpK",
  "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]: [-0.8513, 1.3464, 0.9287, -0.345, -0.6773, -0.5571, 0.9963, 1.0317, 1.2404, 0.4492, -0.054, 0.5251, 0.4026, 0.5328]\nstate[eef_state]: left_x=0.3231 left_y=-0.1953 left_z=0.1814 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.2255 right_y=0.2115 right_z=0.063 right_yaw=0.3472 right_pitch=-0.1343 right_roll=-0.0761 right_gripper=0.5328\nstate[joint_eff]: [-0.2803, -5.4906, 6.4615, 1.6093, -0.3639, 0.0122, -0.0122, 0.0479, -5.8735, 11.2068, 2.3419, 0.8571, 0.1734, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a23b93e510b061d172ae7963e6543fce08272ed485e7cf70d82f48d1f6988a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e31ad26792f76ce9962278a157b4a0041e7f008734586b121ef4a977aeb3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5858b2604e4c34135480e48ee3bf1664f67c480fad4cacf59354d2ce98a0b008",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.273 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8516, 1.3441, 0.9291, -0.347, -0.6777, -0.5571, 0.9963, 0.6807, 1.8378, 0.6174, 0.5091, 0.3416, 0.2222, 0.9961]\nstate[eef_state]: left_x=0.3228 left_y=-0.1951 left_z=0.1821 left_yaw=-0.0174 left_pitch=-0.0059 left_roll=-0.0033 left_gripper=0.9963 right_x=0.3531 right_y=0.2145 right_z=0.0029 right_yaw=0.2463 right_pitch=-0.092 right_roll=-0.0356 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -5.5316, 6.3932, 1.4286, -0.3248, -0.0171, -0.0122, -0.6906, -8.1573, 7.5009, 2.1221, 0.1392, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.346, 0.9291, -0.3458, -0.6773, -0.5571, 0.9963, 0.6804, 1.6527, 0.5636, 0.3183, 0.3237, 0.2077, 0.5326]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1816 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.3275 right_y=0.1974 right_z=0.0204 right_yaw=0.2654 right_pitch=-0.1513 right_roll=-0.0604 right_gripper=0.5326\nstate[joint_eff]: [-0.2803, -5.5043, 6.4068, 1.58, -0.3736, 0.0024, -0.0073, 0.3077, -10.359, 9.935, 2.9133, 0.2711, 0.0611, 1.0281]\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 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.3464, 0.9287, -0.345, -0.6773, -0.5571, 0.9963, 1.0317, 1.2404, 0.4492, -0.054, 0.5251, 0.4026, 0.5328]\nstate[eef_state]: left_x=0.3231 left_y=-0.1953 left_z=0.1814 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.2255 right_y=0.2115 right_z=0.063 right_yaw=0.3472 right_pitch=-0.1343 right_roll=-0.0761 right_gripper=0.5328\nstate[joint_eff]: [-0.2803, -5.4906, 6.4615, 1.6093, -0.3639, 0.0122, -0.0122, 0.0479, -5.8735, 11.2068, 2.3419, 0.8571, 0.1734, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a23b93e510b061d172ae7963e6543fce08272ed485e7cf70d82f48d1f6988a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e31ad26792f76ce9962278a157b4a0041e7f008734586b121ef4a977aeb3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5858b2604e4c34135480e48ee3bf1664f67c480fad4cacf59354d2ce98a0b008",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCg_ewt2RSwkXJ3tddPokv-WlyDOVz1TnHu9anUS581zbAzxfgEh16xVPxmGJnb04tbAVl2yBiZRnb1YZZDK3IpCt2NWeVA4Zd0qwcURux8odHS3F9U2vtH0iNctaHFn_0WvY5Icr59SGpNGGF0tTZzjQW3hBoEisub1q4cb8eq6hXl495BuOQidAZNXHy0NzQnH3Kvbjce5ZkqFPQVzGxmGUqVD3AiRMTstLXUtkELB1-KMFWx1qB5wkE5DG6DHdchBtF6Uyro0x78kRay-9PGBco1faYHCMvDxzHDIkHKu2Iu99b23BXuZa9n_H6t0_TfWtWXPqiw4i593Voeql7E_tDMG3OQn1ZJP9gpjA5JxuI0mULqQOR6oDp4gOohm3jMvXD1n-_zgKnf0o8f-uG6GaIWifEhr4TuZoLd2RcvxGEKr3h_g43CTcTHeWZAvV0D3XyklENFM-8c-DVxiXJaVG0DwlZuGo3t88Go3yx0oS9GvU7qJIZTWkRTRfH69a6JWzSje-CpH5udDy6yR_USuF55_nlMAbUc6imzGkeYn72Uar8FhH0NpjpH9hrscT7knQldSEs_4Sq73-01KkkIyNWRM8eTWw5TfH7APr0CRAyeSLSeaItGYg2y04oTM3FsH0QkP6UQ2rUGDFoZv09RMZm0EiINTdL-WRDc05dAKTkQ_3cQvKfXlZFzOB37P3auHQv8DG8ogyoGiOzEziPJa47MiBtwIyOOH9ndRpU6pH012asga7I-3_sfhwx-vzfzurI5nJ_2QvZL9sIuiqj3v1N4uqaizRy_qD6dAAfRMAQF6NVZhHxD3d9SVja5K0ckMYkeCrSK7yrTuatlqVUMGNmXdjZRSgUC1thOdqeeoyvrB0SBF-4JydTT8SQ2HczowxaL3jF9RFi1CnB3h9sddMsHyyw5Ln1Irn3kEuqYMvukyOqFM4YEm87v2Qx0pZxsLU6N07mgKrEvboCCmdNUlJp3x2OLVQ4S5Pyi4mSkiNFrbVaE1eUz_nYm0i2MgBdEZzodidItOqkJ0xH4_8t-ADJUjE36TU3jHA_I6ue6z9hnb4vQDilvbpPnsZibYirEzEcHhlilzK4Rjp1-5YGFBZ3f7KUzU6Y2ZniPMR0txbVwRJuqnJMuzDovrIGHmQsLxz8Cwafu3NlRKVJ2RR3Sb_yUCYccUaiVsJ3U1BGR8vWk4dlDWmxrvCW0ohnUlzWD3BYsCmYvUbag9pnQhkmnlzqob5C_iqQP1104Clnd-2ae6a2xXBFx8EItxFRYOVxwnu-uE6IYHjvD3mMhCob1tV-A_5ZaB6OvDl4orqJkP92Us7xwnUG7OjMN9lSymP-A7",
  "id": "rs_0796a69e9d0ad8e5016ab4283dd39487d0a23597243b6a0a0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.225,\"right_y\":0.215,\"right_z\":0.015,\"right_gripper\":1},\"note\":\"The right bottle followed the pull toward the robot, and its cap is now much closer than before. I’m laying it down and releasing the base so I can reach its cap-end next.\"}",
  "call_id": "call_lAUcyT7k1wHzyl81ZNbAHIHq",
  "id": "fc_0796a69e9d0ad8e5016ab4283e2d1487d0814c7775987e3126",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lAUcyT7k1wHzyl81ZNbAHIHq",
  "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]: [-0.8516, 1.3479, 0.9283, -0.3416, -0.6773, -0.5571, 0.9963, 1.0546, 1.4963, 0.2268, 0.458, 0.5575, 0.4099, 0.9957]\nstate[eef_state]: left_x=0.3234 left_y=-0.1958 left_z=0.1813 left_yaw=-0.0177 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.2173 right_y=0.2008 right_z=-0.0003 right_yaw=0.3446 right_pitch=-0.093 right_roll=-0.0672 right_gripper=0.9957\nstate[joint_eff]: [-0.5402, -5.3402, 6.4479, 1.5214, -0.4029, 0.022, -0.0122, 0.5675, -4.3556, 3.6034, 1.6581, 0.2808, -0.0659, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:847bcbefcb3dc1fc12e6e7f2fdb4e92f4e01ff22d0b10f96c9d718d390f28d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bf651e45fc3d003cc8790c21dc73d7b616f57fc0f1ca21ce40a7d9684df70e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c206c2555f4a30a972ada9b7c02a5d4549811b5873e3a8ec1c0508efba513b81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.91 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.3453, 0.9291, -0.3454, -0.6773, -0.5571, 0.9963, 0.6804, 1.8729, 0.5442, 0.6998, 0.3378, 0.2111, 0.5333]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1819 left_yaw=-0.0173 left_pitch=-0.0058 left_roll=-0.0037 left_gripper=0.9963 right_x=0.351 right_y=0.2134 right_z=0.0015 right_yaw=0.2569 right_pitch=-0.018 right_roll=-0.0081 right_gripper=0.5333\nstate[joint_eff]: [-0.2393, -5.3675, 6.3795, 1.5409, -0.3883, -0.0073, -0.0122, -0.0205, -6.5162, 4.3009, 1.917, 0.2466, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.3464, 0.9287, -0.345, -0.6773, -0.5571, 0.9963, 1.0317, 1.2404, 0.4492, -0.054, 0.5251, 0.4026, 0.5328]\nstate[eef_state]: left_x=0.3231 left_y=-0.1953 left_z=0.1814 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.2255 right_y=0.2115 right_z=0.063 right_yaw=0.3472 right_pitch=-0.1343 right_roll=-0.0761 right_gripper=0.5328\nstate[joint_eff]: [-0.2803, -5.4906, 6.4615, 1.6093, -0.3639, 0.0122, -0.0122, 0.0479, -5.8735, 11.2068, 2.3419, 0.8571, 0.1734, 0.9548]\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 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8516, 1.3479, 0.9283, -0.3416, -0.6773, -0.5571, 0.9963, 1.0546, 1.4963, 0.2268, 0.458, 0.5575, 0.4099, 0.9957]\nstate[eef_state]: left_x=0.3234 left_y=-0.1958 left_z=0.1813 left_yaw=-0.0177 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.2173 right_y=0.2008 right_z=-0.0003 right_yaw=0.3446 right_pitch=-0.093 right_roll=-0.0672 right_gripper=0.9957\nstate[joint_eff]: [-0.5402, -5.3402, 6.4479, 1.5214, -0.4029, 0.022, -0.0122, 0.5675, -4.3556, 3.6034, 1.6581, 0.2808, -0.0659, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:847bcbefcb3dc1fc12e6e7f2fdb4e92f4e01ff22d0b10f96c9d718d390f28d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bf651e45fc3d003cc8790c21dc73d7b616f57fc0f1ca21ce40a7d9684df70e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c206c2555f4a30a972ada9b7c02a5d4549811b5873e3a8ec1c0508efba513b81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtChCg0VgsqPJYjADQTQyBHapYPADwbK33owOAapTZXPGTFPOb4VJW1dyUrpDtZrVmgUv9qD8NOPsE41lHU_O5hAE__6N7RYroPhSSy2KVy7awvAeVkPE72BPFWwrowchguUN5Z-HRCPV2l3YxxLztoigPm--5AmmIaPUbmeUn2ZAyT_3Bq3mPH5dYdDPDKq7Vgm2qBu6Mlp65baS7PeKkxJMlYyFlMY5zoqS4UkP69Hk_CNloiZX-1fDDfsUPy27Gs6hMJiZ9YYETcbqHZc4HV8cSKE0zfe0FCxmTRNlQwNn6rWch94UFyZO7RhURSVWhl5oJWA60MmHi_dT3dp8VdHWWIiJmwR_lMtHYwAy2VyRLbHzsuj6UQ7y1FS7At3-BdEUtvRWy6LLeAyoA-HBK3H1TpfJ_mJt7Z9Fq8Zq-fzu2vU5HIQUfpbpX1YeJmh_mrO5S-1_ihggnSUkk2dhiVkOp4pjU0A1-hQfxqGA_mO6pVfN00MKNRzr1kaVXU4BgKFaO0zqybEFryn6XOV8RKB2u9BDX9LFmDN5RYWzFHDOKQekiS4OHRmlK5IGb84X9NTlQ3BMhgPb02a02Rs242LiW-b1UV7yCLpcMxD54hxyihWqurs8GwXe-MOXH_-Oer8hkErl1eIfhwJQ40rB6n1AAVDZheUlt0B5Nt0Aw-1fA_BFVTt8PYVgugXQK842esm2Z8s_qghKZRRemD_gSp0nYvQrtig4yilVj83yZSeh45xoLUyYQuSvyQZZBTlm8NRRa0iDwfSYiTdSvHga-FT_JbXAqJalKnf1TOC01PA4t8IWuC2iMdQqUsPBi9qpYoqgT8cJzYBeZu58WO9QVTR7pnwYlcixuGKRI_xKnVrlhG5dt_JdCX_8wrquHhPY9cGgMNjm43e40nC1HpDi-eeMeMkuqCwCuct6HVcCkRy4vMLZrWRLI8tLZ76DbbAGpIf6q77bCXPUqprzInRGwZ9I79RVBxEOgGrYtIIMWBSYtrOLEK5vdx-6wDsxEcb5nYvU6CMWvcPShajU8Ej_j9YQcD_MBc-7dVyYLRLfrYzXMC0SvRS5fq_kCcuFfflxCvs0sXxt2SCrd7XQ41R2YAmPB1A3uP1lZmwZL4bmfePtAK3pUXccV_955WDOQ4DCJWzXSTpTN-P064fT65XAPu-llXlXIEETDlbVU6SorxUm0_1U3pgPn5_WFgIyTyIVTItM78KPpxuCam26h5l9tNgGjvsfADs8QSrPXnOaIlqcpdy6M_IdCJSxZUWhhdfe57Vc9eqrAlJd7PhkSbCMJzpjC1Ebbvkgn24tvQHRO5X8oz86Kb-4-ceNqyhMGNJ6imqTlqdciTViXjaArwWmzMdv23ScIX9yiuYW6NsaHq6x0fHT3X5j386zJypd_xVjlIf9nN1Bu1zGZNoJb0ss9C36qG_Cjs6D-YKqVtX9lg45QJ3AJ34emEt8YRsgfEksKzPtquljgsY6P3LdVIg1X1_6VGCrfomBEWfwtuBrDg8_Sa5pB-ARztBttWDU_4jyh8VDdlVtHD6mSNxamWFg4KIKhw_d7dEWlA25zlsJmCHpkEop6J0DkFhCxXoaamBktZd8V2RxMIdou332ixNmGrpHCgg1IF9I-98HptcKdoiuwx2RzynWAJ6EBwn8ge7Jx06GNBHMrzNvpnYrYHv3ChlMWrgZjj5sW7ZIXKzc8SmCXWHfNjbjxVGzPTzTpmGQf2UeG3O7DilunXx1n-i4iFRtB4VHfZEGapAjtQEWLmrOSqROQk7FKbi9ZeVZs1-Z0uMQvoQEPggDQKhitKt6_dUn2UuALS5NMrkvh9nM7OwdAmw=",
  "id": "rs_0796a69e9d0ad8e5016ab42840b2d487d081fa39b352f779e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.265,\"right_z\":0.08},\"note\":\"The right bottle is down again, with its cap farther forward and to the left of the open hand. I’m approaching that cap from above at a reachable distance to prepare the actual right-way-up tip.\"}",
  "call_id": "call_cSbpVH8SgxBlRxrc7Tw4Ijwb",
  "id": "fc_0796a69e9d0ad8e5016ab42841edc487d09c395f0a490e1667",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cSbpVH8SgxBlRxrc7Tw4Ijwb",
  "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]: [-0.8513, 1.3479, 0.9283, -0.3412, -0.6777, -0.5575, 0.9963, 0.8631, 1.5837, 0.6216, 0.3347, 0.4152, 0.2707, 0.9956]\nstate[eef_state]: left_x=0.3235 left_y=-0.1957 left_z=0.1814 left_yaw=-0.0168 left_pitch=-0.0051 left_roll=-0.0044 left_gripper=0.9963 right_x=0.3118 right_y=0.2603 right_z=0.0734 right_yaw=0.3445 right_pitch=0.0032 right_roll=0.0019 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -5.2718, 6.5436, 1.4579, -0.3932, -0.0317, -0.0073, -0.4991, -6.0239, 7.2821, 1.8291, 0.1294, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b847150f7ab037959a85b7f1f1f4779aa6dccbde208301ba3dca1ee8997156aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c795e1d1bbaaf268e8ad6342e97794572018981d867609e461bd6396a57df16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cee819d62d75569c7f634a678041ca9a124ace0ffd890195996bb7062750cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.009 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.346, 0.9291, -0.3458, -0.6773, -0.5571, 0.9963, 0.6804, 1.6527, 0.5636, 0.3183, 0.3237, 0.2077, 0.5326]\nstate[eef_state]: left_x=0.323 left_y=-0.1952 left_z=0.1816 left_yaw=-0.0173 left_pitch=-0.0066 left_roll=-0.0029 left_gripper=0.9963 right_x=0.3275 right_y=0.1974 right_z=0.0204 right_yaw=0.2654 right_pitch=-0.1513 right_roll=-0.0604 right_gripper=0.5326\nstate[joint_eff]: [-0.2803, -5.5043, 6.4068, 1.58, -0.3736, 0.0024, -0.0073, 0.3077, -10.359, 9.935, 2.9133, 0.2711, 0.0611, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8516, 1.3479, 0.9283, -0.3416, -0.6773, -0.5571, 0.9963, 1.0546, 1.4963, 0.2268, 0.458, 0.5575, 0.4099, 0.9957]\nstate[eef_state]: left_x=0.3234 left_y=-0.1958 left_z=0.1813 left_yaw=-0.0177 left_pitch=-0.0056 left_roll=-0.004 left_gripper=0.9963 right_x=0.2173 right_y=0.2008 right_z=-0.0003 right_yaw=0.3446 right_pitch=-0.093 right_roll=-0.0672 right_gripper=0.9957\nstate[joint_eff]: [-0.5402, -5.3402, 6.4479, 1.5214, -0.4029, 0.022, -0.0122, 0.5675, -4.3556, 3.6034, 1.6581, 0.2808, -0.0659, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.3479, 0.9283, -0.3412, -0.6777, -0.5575, 0.9963, 0.8631, 1.5837, 0.6216, 0.3347, 0.4152, 0.2707, 0.9956]\nstate[eef_state]: left_x=0.3235 left_y=-0.1957 left_z=0.1814 left_yaw=-0.0168 left_pitch=-0.0051 left_roll=-0.0044 left_gripper=0.9963 right_x=0.3118 right_y=0.2603 right_z=0.0734 right_yaw=0.3445 right_pitch=0.0032 right_roll=0.0019 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -5.2718, 6.5436, 1.4579, -0.3932, -0.0317, -0.0073, -0.4991, -6.0239, 7.2821, 1.8291, 0.1294, -0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b847150f7ab037959a85b7f1f1f4779aa6dccbde208301ba3dca1ee8997156aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c795e1d1bbaaf268e8ad6342e97794572018981d867609e461bd6396a57df16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cee819d62d75569c7f634a678041ca9a124ace0ffd890195996bb7062750cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtChGnS6pfl5pJ0nKqOcGDdI0VUWM3TrzSrqUH8L6uVxNb5oPV9sf55leWtOr6Ys4zqkmPpEn6jRHjF4jLOtZGhAWWjlpXIOovU-gfRzKNmWsWNdwgsw-wrikJGRCdopUm1LSEdF_6mInvSVqEhJRaQ8lCfDRgSfWw86NJ-Btn5vfwy3frBFQ8l2MJz6gGzfm1p-1z2ZYYx5WS1TB-B1V34pS4UQuVbBkufv25DVhUJhyTxxWvseUpBQnxMTWRBP8YhkkQ_V9sWpmhrWUVQ0j929lue8UAS9uD3P29EHHQuhWyd_b6D6nJyFUO1KiW5uuAuCNuJDHF_w9gceMXNAd_TtpJZvgnw2E_AWFYcqZasIB0M7e8zvY9Rq3G5UCJS4OvSeHedJkrRwSGSBM5K_BLZ-YUqJCC4uOgdqgd9DxGqNd_UVnBA_a8BxrnCHpi9TJ_0cFdD3vQOcCt78yeXGCaVeZWkCuYJFqFH7m493YMZ9bzItMkeVYzb1b6eMHbp1wv4uQZBgHfS46ZnFQXqzW4vsjxGwQANCdkiOX2gSRKtfRPMxawZwoqjQwP9lmGnL11KGwqHzEajM_8jfedYEJn0QH9SDXNQCIX19zKxyI3axoEaib8j58tVxv3Y6DqwmlKgsLv1G7ZRGhMRTGythtyJxjc0mQkNfK-f2LwIPGMN7t8XHkMpeKK8KDEDbKY7u4AjJXKSs4hwR2oths2X6g_Q8IZQCojd7O8G1h7FICzCQ0nr-8M5FerNOPDBej9gS_vZ3Y5cG8l3vAYDJbhxzQYr_sAJ8AF8K_2GVsG8Gow7_IDJizcCzgXyfJKIohn09MIGhFga5xcVkib0qaeyRn4wtThy44ERIBSSkvKb8KWx6qI62d_wQIj58keei8sEyjxPNoxsc6UjcoNtRgz7QYsdCqaPqiKbOF8Y1-2Z0pRPItUgdiy3ZfjFmtSJvbwAeLe4SqYWjd5oIivWSMkMAcr_M0goGE0i3hlk9abjMXcDnQbvqlFdlCuTasBdT-6bb2fYsL3wbjzKQ9TCop7mv78cOg_P6oTX9NvItLOkz55ewpBOo6MWkiJtgkjz67_xz267vk3FLQ5cvBcvrtgnhMEwIuxhrCdVJyULsj-4kv1yEYFsAmeil9N5g48lHR2KB8Pl6TAQozaDV__uMXwuo1wiV1LOBUvzd7OGIpYYYQNnjWfBKLGBgJVJC-Ggw0M9zO4ka_5WbzHctCwIfZEZKLAtsKi_jcjt6uFgjo7AGDLhltk3oKX8m923fp7TjUqRGm0kbBcGqJndc6niUx8xNRk9IsHgz9FgEi4EbT55Rg5suXQy7sIproIChlrcAsBlJA4psDQhWpxNwcXjHK0hgZLs9zohWmAj733Ub7Jk0OttK3Gbp1f-21tSahfMWwOq0JZRuLrvRlBKz-6EUM5QM3vdjKjJCoiAk9OxVt_CS6FbVPfsv_fLxdZJktPkmyWoSeD3F80gc229dNnMx6YSOyEXrREe5RG-2evP5NmFG-OT0EU54FCC9FRq8t_XtK-cmdGgos4gF8kglF_HeC488q0VlK_55RCMa1FKVBruOoJUtov1chqx4nC2R_-qO8bfxH74BamjjALjG_YEja4kNdIlpKR_KsaGDcEfBjdBzp46FQjodnqtZHntOzw_QhggjZ7BJEn3xjncZx5JKwOLhiIG7mUTg9GXkQoo4CsJ_QsTRAjgI=",
  "id": "rs_0796a69e9d0ad8e5016ab4284492c487d09c0ecc34eac83601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.24,\"right_z\":0.02},\"note\":\"In the right wrist view the cap is centered but still ahead of the finger row, while the body is nearer. I’m advancing about 6 cm and lowering to put the narrow cap-end, not the broad base, between the fingers.\"}",
  "call_id": "call_yAhQ070QsXPaQsI8uGrRVxnv",
  "id": "fc_0796a69e9d0ad8e5016ab4284589c887d09186752a160c2090",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yAhQ070QsXPaQsI8uGrRVxnv",
  "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]: [-0.8513, 1.3487, 0.9283, -0.3405, -0.6777, -0.5571, 0.9963, 0.6846, 1.8294, 0.6395, 0.564, 0.2817, 0.1665, 0.9956]\nstate[eef_state]: left_x=0.3236 left_y=-0.1958 left_z=0.1812 left_yaw=-0.017 left_pitch=-0.0051 left_roll=-0.0041 left_gripper=0.9963 right_x=0.3609 right_y=0.2358 right_z=0.0218 right_yaw=0.3313 right_pitch=-0.0272 right_roll=-0.0135 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -5.4632, 6.4752, 1.5018, -0.3639, -0.0024, -0.0122, -0.5949, -5.9419, 5.7094, 1.3748, 0.2271, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee304117e79920a44a47ecccec9d28ae72e4cc0a926bbc62f7d85e7d2a1a6be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa577ce5110fd187144c302220ec498c7d13b486b4277b5d905ad9ab505d87e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b56def428c5242bf7bc9944f1e85b0487b5e52290127f7101c3c649d9868a65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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