adhoc - adhoc_df5f00c2.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 225.9 s
total steps: 301

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteAll three bottles are lying on their sides; the rightmost one runs roughly away from the right gripper, with its cap at the far end. I’ll bring the right gripper above its upper half to line up a lifting grasp.

move_to

right_x0.4500right_y0.1900right_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0257, -0.0284, 0.9986, -0.0154, 0.7879, 0.6037, -0.3862, -0.0231, -0.0345, 0.9985] state[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.3624, -1.4427, 9.7846, 1.7802, -0.0317, 0.1099, -0.1538, -0.9231, -0.8547, 10.2496, 1.8437, -0.0269, 0.2027, -0.1685] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.19,"right_z":0.15},"note":"All three bottles are lying on their sides; the rightmost one runs roughly away from the right gripper, with its cap at the far end. I’ll bring the right gripper above its upper half to line up a lifting grasp."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteThe right wrist view now has the bottle centered, but its cap and shoulder are still ahead of the fingertips. I’ll advance a few centimeters while lowering slightly so the jaws line up around the shoulder rather than the far cap.

move_to

right_x0.4800right_z0.1050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.382, -0.0261, -0.0292, 0.9984, 0.5442, 1.7042, 1.0878, -0.0895, 0.4072, 0.2569, 0.9984] state[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4336 right_y=0.1848 right_z=0.1304 right_yaw=0.043 right_pitch=-0.0678 right_roll=-0.0402 right_gripper=0.9984 state[joint_eff]: [-0.0889, -1.6068, 6.612, 1.7949, -0.0562, -0.0269, -0.0317, 0.0342, -8.1026, 9.1966, 1.8632, 0.3053, 0.2369, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_z":0.105},"note":"The right wrist view now has the bottle centered, but its cap and shoulder are still ahead of the fingertips. I’ll advance a few centimeters while lowering slightly so the jaws line up around the shoulder rather than the far cap."})

tool

executing move_to over 4 steps (0.4s)

step 20

assistant

agent noteThe right bottle’s shoulder is centered between the jaws in the wrist view, though it is still ahead of the contact point. I’ll move slightly farther outward and descend to its side, then test a grasp near its capped end.

move_to

right_x0.4850right_y0.1700right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0261, -0.0292, 0.9983, 0.4889, 1.8523, 1.0782, 0.0605, 0.3614, 0.2222, 0.9984] state[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4589 right_y=0.1774 right_z=0.0834 right_yaw=0.0431 right_pitch=-0.0887 right_roll=-0.0448 right_gripper=0.9984 state[joint_eff]: [-0.3487, -1.5248, 6.6803, 1.7705, -0.0513, -0.0659, -0.0171, -0.6359, -9.6205, 9.9624, 2.1368, 0.2076, -0.0073, -0.0073] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.485,"right_y":0.17,"right_z":0.025},"note":"The right bottle’s shoulder is centered between the jaws in the wrist view, though it is still ahead of the contact point. I’ll move slightly farther outward and descend to its side, then test a grasp near its capped end."})

tool

executing move_to over 4 steps (0.4s)

step 24

assistant

agent noteThe gripper stopped around 8 cm high when I tried to descend farther out, so that pose appears reach-limited. The bottle body is still between the jaws; I’ll retreat a couple of centimeters toward the base to get down alongside it.

move_to

right_x0.4450right_y0.1800right_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.2047, 0.9984] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0685 right_pitch=-0.0751 right_roll=-0.0348 right_gripper=0.9984 state[joint_eff]: [-0.3624, -1.7026, 6.735, 1.8144, -0.0513, -0.0562, -0.0122, -0.4855, -10.0855, 8.6359, 2.044, 0.2906, 0.0952, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.18,"right_z":0.025},"note":"The gripper stopped around 8 cm high when I tried to descend farther out, so that pose appears reach-limited. The bottle body is still between the jaws; I’ll retreat a couple of centimeters toward the base to get down alongside it."})

tool

executing move_to over 4 steps (0.4s)

step 28

assistant

agent noteThe low target was clamped again without moving the arm, so I shouldn’t keep pushing into that pose. I’ll lift the gripper clear and reposition from above for a safer approach.

move_to

right_x0.4400right_y0.1800right_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.205, 0.9984] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0683 right_pitch=-0.0751 right_roll=-0.0345 right_gripper=0.9984 state[joint_eff]: [-0.2667, -1.5385, 6.4889, 1.7949, -0.0317, -0.0611, -0.0122, -0.6769, -10.2496, 8.6632, 1.9902, 0.2564, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.15},"note":"The low target was clamped again without moving the arm, so I shouldn’t keep pushing into that pose. I’ll lift the gripper clear and reposition from above for a safer approach."})

tool

executing move_to over 5 steps (0.5s)

step 33

assistant

agent noteThe arm lifted successfully, and the capped end is visible beyond the fingertips again. I’ll approach the bottle’s nearer middle at a shorter reach, where the gripper should be able to descend beside the plastic.

move_to

right_x0.4050right_y0.1800right_z0.0500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.506, 1.7176, 1.0389, 0.0055, 0.3393, 0.2081, 0.9984] state[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4397 right_y=0.1806 right_z=0.1187 right_yaw=0.0871 right_pitch=-0.058 right_roll=-0.0263 right_gripper=0.9984 state[joint_eff]: [-0.1983, -1.5932, 6.5162, 1.8877, -0.0171, -0.0806, -0.0122, 0.3214, -9.5111, 8.2256, 1.663, 0.2759, 0.1734, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_y":0.18,"right_z":0.05},"note":"The arm lifted successfully, and the capped end is visible beyond the fingertips again. I’ll approach the bottle’s nearer middle at a shorter reach, where the gripper should be able to descend beside the plastic."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteAt the shorter reach, the jaws have descended alongside the right bottle. Its body sits a little to the right of the jaw center, so I’ll center laterally and advance modestly toward the capped half before closing.

move_to

right_x0.4300right_y0.1550right_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0265, -0.0292, 0.9983, 0.5522, 1.7702, 0.7341, 0.3099, 0.3634, 0.2222, 0.9984] state[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3927 right_y=0.1724 right_z=0.0345 right_yaw=0.1043 right_pitch=-0.0995 right_roll=-0.0514 right_gripper=0.9984 state[joint_eff]: [-0.3761, -1.6889, 6.5709, 1.8437, -0.0171, -0.0611, -0.0122, 0.4308, -6.3795, 5.7915, 1.9609, 0.1832, 0.0904, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.155,"right_z":0.045},"note":"At the shorter reach, the jaws have descended alongside the right bottle. Its body sits a little to the right of the jaw center, so I’ll center laterally and advance modestly toward the capped half before closing."})

tool

executing move_to over 3 steps (0.3s)

step 41

assistant

agent noteThe right bottle is now centered between the jaws at table height, with its shoulder farther ahead and its body crossing the closing line. I’ll close on the body and check whether the jaws actually capture it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4603, 1.8145, 0.7208, 0.4435, 0.3019, 0.178, 0.9984] state[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1821 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4156 right_y=0.1514 right_z=0.0337 right_yaw=0.0887 right_pitch=-0.0458 right_roll=-0.0208 right_gripper=0.9984 state[joint_eff]: [-0.2667, -1.6889, 6.4615, 1.8144, -0.0757, -0.0562, -0.0122, 0.1436, -7.1863, 7.8154, 2.0684, 0.0073, 0.0366, -0.0073] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right bottle is now centered between the jaws at table height, with its shoulder farther ahead and its body crossing the closing line. I’ll close on the body and check whether the jaws actually capture it."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe closed jaw spacing is about 3.3 cm, consistent with a firm hold on the compressible bottle. I’ll lift its gripped half while easing slightly toward its base, using the base’s contact with the table to rotate it upright.

move_to

right_x0.4100right_z0.1550

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.4587, 1.8187, 0.691, 0.5961, 0.2901, 0.1707, 0.3475] state[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4247 right_y=0.1574 right_z=0.0512 right_yaw=0.1005 right_pitch=0.0628 right_roll=0.0216 right_gripper=0.3475 state[joint_eff]: [-0.1026, -1.7299, 6.4068, 1.8046, -0.0122, -0.0611, -0.0122, 0.1162, -7.3641, 4.2872, 1.2625, 0.1197, 0.0269, 0.2418] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_z":0.155},"note":"The closed jaw spacing is about 3.3 cm, consistent with a firm hold on the compressible bottle. I’ll lift its gripped half while easing slightly toward its base, using the base’s contact with the table to rotate it upright."})

tool

executing move_to over 7 steps (0.7s)

step 58

assistant

agent noteIn the overhead view the right bottle appears shorter along the table than before, suggesting it has started to tip up around its lower end. I’ll continue lifting and move the grip toward that planted end to bring its axis closer to vertical.

move_to

right_x0.3650right_z0.2250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.4736, 1.5448, 0.8673, 0.0315, 0.2867, 0.1669, 0.3478] state[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.182 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4065 right_y=0.1562 right_z=0.125 right_yaw=0.1206 right_pitch=-0.0452 right_roll=-0.0197 right_gripper=0.3478 state[joint_eff]: [-0.253, -1.347, 6.5709, 1.8144, -0.0464, -0.0073, -0.0122, 0.5812, -9.265, 9.812, 1.8974, 0.3101, 0.1441, 0.0269] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.365,"right_z":0.225},"note":"In the overhead view the right bottle appears shorter along the table than before, suggesting it has started to tip up around its lower end. I’ll continue lifting and move the grip toward that planted end to bring its axis closer to vertical."})

tool

executing move_to over 7 steps (0.7s)

step 65

assistant

agent noteThe right bottle is still partly hidden by the gripper, but the jaws remain closed around a bottle-width object. I’ll bring the held point nearly over the bottle’s original bottom and higher above the table, then set it down and check its posture.

move_to

right_x0.3200right_z0.2550

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3828, -0.0257, -0.0292, 0.9983, 0.5438, 1.3262, 0.9791, -0.3023, 0.3157, 0.1833, 0.3479] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3659 right_y=0.1613 right_z=0.1974 right_yaw=0.158 right_pitch=-0.042 right_roll=-0.0238 right_gripper=0.3479 state[joint_eff]: [-0.3761, -1.6615, 6.3795, 1.8535, -0.0464, -0.0708, -0.0122, 0.0342, -7.3641, 10.2632, 1.8974, 0.3541, 0.3004, -0.0073] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_z":0.255},"note":"The right bottle is still partly hidden by the gripper, but the jaws remain closed around a bottle-width object. I’ll bring the held point nearly over the bottle’s original bottom and higher above the table, then set it down and check its posture."})

tool

executing move_to over 4 steps (0.4s)

step 69

assistant

agent noteThe held bottle still projects toward the far end in the wrist image, so I need to set its lower end on the table before letting go. I’ll lower the grasp while staying over the bottle’s original bottom position.

move_to

right_x0.3350right_z0.1150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3824, -0.0257, -0.0292, 0.9983, 0.6395, 1.187, 1.018, -0.4839, 0.3622, 0.2226, 0.3479] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3239 right_y=0.1674 right_z=0.232 right_yaw=0.1945 right_pitch=-0.0337 right_roll=-0.0188 right_gripper=0.3479 state[joint_eff]: [-0.1709, -1.2923, 6.612, 1.8828, -0.0562, -0.0366, -0.0122, -0.0479, -5.1624, 9.7026, 1.8535, 0.2955, 0.2027, -0.0122] 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":{"right_x":0.335,"right_z":0.115},"note":"The held bottle still projects toward the far end in the wrist image, so I need to set its lower end on the table before letting go. I’ll lower the grasp while staying over the bottle’s original bottom position."})

tool

executing move_to over 8 steps (0.8s)

step 77

assistant

agent noteThe downward motion was blocked before the grasp point descended, so I shouldn’t force the bottle into the table. I’ll open the gripper and move clear next to see whether the right bottle remains standing or needs a different approach.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0265, -0.0292, 0.9983, 0.6487, 1.1648, 1.0428, -0.5457, 0.3889, 0.2352, 0.3479] state[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.317 right_y=0.1608 right_z=0.2398 right_yaw=0.175 right_pitch=-0.0398 right_roll=-0.0297 right_gripper=0.3479 state[joint_eff]: [-0.1709, -1.5658, 6.5709, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -4.3145, 8.8274, 1.6825, 0.1978, 0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The downward motion was blocked before the grasp point descended, so I shouldn’t force the bottle into the table. I’ll open the gripper and move clear next to see whether the right bottle remains standing or needs a different approach."})

tool

executing move_to over 7 steps (0.7s)

step 84

assistant

agent noteThe right bottle is still lying down after release, so that grip slipped rather than turning it upright. I’ll park the right arm and switch to the leftmost bottle, approaching its near side with the left gripper.

move_to

right_x0.2950right_y0.0000right_z0.1800left_x0.3600left_y-0.0400left_z0.1050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.6483, 1.1503, 0.9901, -0.5152, 0.3813, 0.2314, 0.9952] state[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3137 right_y=0.1597 right_z=0.227 right_yaw=0.1827 right_pitch=-0.0487 right_roll=-0.0321 right_gripper=0.9952 state[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.7949, -0.0611, -0.0366, -0.0122, -0.5812, -5.0803, 7.1453, 1.9707, 0.105, 0.0366, -0.2466] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.295,"right_y":0.0,"right_z":0.18,"left_x":0.36,"left_y":-0.04,"left_z":0.105},"note":"The right bottle is still lying down after release, so that grip slipped rather than turning it upright. I’ll park the right arm and switch to the leftmost bottle, approaching its near side with the left gripper."})

tool

executing move_to over 14 steps (1.4s)

step 98

assistant

agent noteThe left wrist view shows the leftmost bottle diagonally across the approach, with the near body slightly right of the jaw center. I’ll descend onto its upper body, shift right to center it, and rotate the jaws to cross its diagonal axis.

move_to

left_x0.3950left_y-0.0750left_z0.0350left_yaw0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2054, 1.2369, 0.498, 0.1184, -0.1772, -0.131, 0.9983, -0.1856, 0.8394, 0.6273, -0.4255, -0.2638, -0.2043, 0.997] state[eef_state]: left_x=0.3533 left_y=-0.0381 left_z=0.0991 left_yaw=-0.0026 left_pitch=-0.0479 left_roll=0.0048 left_gripper=0.9983 right_x=0.2935 right_y=-0.0046 right_z=0.1725 right_yaw=0.1233 right_pitch=-0.042 right_roll=0.0046 right_gripper=0.997 state[joint_eff]: [-0.4718, -4.3556, 5.7094, 1.9658, -0.1783, 0.0904, -0.0122, -0.0479, -2.0855, 7.159, 1.9267, -0.2173, -0.0171, 0.1734] 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":0.395,"left_y":-0.075,"left_z":0.035,"left_yaw":0.45},"note":"The left wrist view shows the leftmost bottle diagonally across the approach, with the near body slightly right of the jaw center. I’ll descend onto its upper body, shift right to center it, and rotate the jaws to cross its diagonal axis."})

tool

executing move_to over 5 steps (0.5s)

step 103

assistant

agent noteThe left gripper is now straddling the near half of the leftmost bottle, at a low enough height to contact its sides. I’ll close and use the settled jaw opening to check that it has taken hold.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4931, 1.7752, 0.6689, 0.2523, -0.6315, -0.5323, 0.9982, -0.1909, 0.8158, 0.5861, -0.4, -0.289, -0.2142, 0.9972] state[eef_state]: left_x=0.3829 left_y=-0.0833 left_z=0.0182 left_yaw=0.2953 left_pitch=-0.0944 left_roll=0.059 left_gripper=0.9982 right_x=0.29 right_y=-0.0011 right_z=0.1661 right_yaw=0.144 right_pitch=-0.0295 right_roll=0.0081 right_gripper=0.9972 state[joint_eff]: [-0.2256, -8.9504, 5.5863, 1.243, -0.3834, -0.0415, -0.0171, -0.1983, -1.7436, 6.8581, 1.9023, -0.0269, 0.1001, 0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left gripper is now straddling the near half of the leftmost bottle, at a low enough height to contact its sides. I’ll close and use the settled jaw opening to check that it has taken hold."})

tool

executing move_to over 10 steps (1.0s)

step 113

assistant

agent noteThe left jaws settled about 4.9 cm apart, consistent with gripping this bottle’s broad body. I’ll lift straight up first to confirm the bottle follows rather than slipping through the jaws.

move_to

left_z0.1350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5045, 1.8042, 0.5827, 0.4789, -0.6846, -0.5423, 0.5106, -0.1909, 0.8036, 0.5564, -0.3836, -0.292, -0.2153, 0.9978] state[eef_state]: left_x=0.383 left_y=-0.0798 left_z=0.0194 left_yaw=0.3239 left_pitch=0.0102 left_roll=-0.0035 left_gripper=0.5106 right_x=0.2875 right_y=-0.0001 right_z=0.1593 right_yaw=0.1472 right_pitch=-0.03 right_roll=0.0092 right_gripper=0.9978 state[joint_eff]: [-0.0205, -7.5145, 4.2598, 1.4872, -0.0269, 0.1685, 1.0281, -0.3214, -2.0855, 6.9538, 1.8584, -0.1392, -0.0513, 0.0513] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.135},"note":"The left jaws settled about 4.9 cm apart, consistent with gripping this bottle’s broad body. I’ll lift straight up first to confirm the bottle follows rather than slipping through the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 121

assistant

agent noteThe left bottle’s cap stayed near the table while its near end shifted, showing that I grasped too close to its bottom to stand it up. I’ll release and clear the arm so I can regrasp closer to the cap.

move_to

left_gripper1.0000left_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5045, 1.515, 0.754, -0.1104, -0.6247, -0.5541, 0.5108, -0.1909, 0.7914, 0.5282, -0.3721, -0.292, -0.2153, 0.9979] state[eef_state]: left_x=0.3681 left_y=-0.0811 left_z=0.0869 left_yaw=0.2919 left_pitch=-0.1096 left_roll=0.0507 left_gripper=0.5108 right_x=0.2846 right_y=0.0004 right_z=0.1521 right_yaw=0.1472 right_pitch=-0.0343 right_roll=0.0107 right_gripper=0.9979 state[joint_eff]: [-0.0342, -9.6342, 10.3726, 2.0049, -0.8327, 0.0464, 0.7057, -0.3624, -1.6889, 6.9949, 1.9121, -0.105, -0.0122, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_z":0.16},"note":"The left bottle’s cap stayed near the table while its near end shifted, showing that I grasped too close to its bottom to stand it up. I’ll release and clear the arm so I can regrasp closer to the cap."})

tool

executing move_to over 5 steps (0.5s)

step 126

assistant

agent noteWith the arm clear, the left bottle is still lying diagonally, and its cap is well ahead of the previous grip. I’ll reach over the cap-side half at a safe height before making a second, more useful grasp.

move_to

left_x0.4750left_y-0.0550left_z0.1000left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5224, 1.3846, 0.7948, -0.1883, -0.6594, -0.5499, 0.9958, -0.1909, 0.7757, 0.4927, -0.3569, -0.292, -0.2153, 0.9979] state[eef_state]: left_x=0.3656 left_y=-0.0815 left_z=0.138 left_yaw=0.2919 left_pitch=-0.0266 left_roll=0.0042 left_gripper=0.9958 right_x=0.2809 right_y=0.0012 right_z=0.1433 right_yaw=0.1473 right_pitch=-0.0386 right_roll=0.0123 right_gripper=0.9979 state[joint_eff]: [-0.3214, -6.8308, 8.7726, 1.3944, -0.2759, 0.0611, -0.1685, -0.335, -1.8256, 7.159, 1.9072, -0.1832, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.475,"left_y":-0.055,"left_z":0.10,"left_yaw":0.4},"note":"With the arm clear, the left bottle is still lying diagonally, and its cap is well ahead of the previous grip. I’ll reach over the cap-side half at a safe height before making a second, more useful grasp."})

tool

executing move_to over 9 steps (0.9s)

step 135

assistant

agent noteThe direct forward-and-down motion was blocked before it advanced, likely because the path crosses the bottle. I’ll lift above the bottle first, then approach the cap from overhead.

move_to

left_z0.2450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5224, 1.3647, 0.8238, -0.223, -0.6628, -0.5499, 0.9969, -0.1909, 0.7563, 0.4553, -0.3382, -0.292, -0.2157, 0.9979] state[eef_state]: left_x=0.3664 left_y=-0.0814 left_z=0.151 left_yaw=0.2942 left_pitch=-0.0152 left_roll=-0.0044 left_gripper=0.9969 right_x=0.2773 right_y=0.0019 right_z=0.1353 right_yaw=0.1475 right_pitch=-0.0379 right_roll=0.0117 right_gripper=0.9979 state[joint_eff]: [-0.212, -6.1333, 7.9795, 1.3504, -0.3639, 0.1197, 0.1001, -0.3897, -1.7983, 7.0496, 1.9805, -0.1343, -0.0317, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.245},"note":"The direct forward-and-down motion was blocked before it advanced, likely because the path crosses the bottle. I’ll lift above the bottle first, then approach the cap from overhead."})

tool

executing move_to over 7 steps (0.7s)

step 142

assistant

agent noteThe left gripper is now safely above the bottles. I’ll move it forward over the far half of the leftmost bottle before descending near its cap.

move_to

left_x0.4650left_y-0.0500left_z0.2200left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5285, 1.3293, 1.1053, -0.519, -0.6632, -0.551, 0.997, -0.1909, 0.7326, 0.4194, -0.3161, -0.292, -0.2161, 0.9979] state[eef_state]: left_x=0.3704 left_y=-0.0862 left_z=0.231 left_yaw=0.2888 left_pitch=-0.0006 left_roll=-0.0205 left_gripper=0.997 right_x=0.2743 right_y=0.0024 right_z=0.1295 right_yaw=0.1476 right_pitch=-0.0286 right_roll=0.0081 right_gripper=0.9979 state[joint_eff]: [0.253, -5.9692, 9.5111, 1.3407, -0.4029, 0.0611, -0.0024, -0.4581, -1.306, 6.8171, 1.9121, -0.1734, -0.0562, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.465,"left_y":-0.05,"left_z":0.22,"left_yaw":0.4},"note":"The left gripper is now safely above the bottles. I’ll move it forward over the far half of the leftmost bottle before descending near its cap."})

tool

executing move_to over 8 steps (0.8s)

step 150

assistant

agent noteThe left arm again held its position rather than advancing over the bottle, even at clearance height. I’ll first raise it higher and straighten its wrist, while restoring the drifting idle arm’s height, then try a shorter forward move.

move_to

left_x0.4100left_z0.3100left_yaw0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5289, 1.3281, 1.1328, -0.5816, -0.6662, -0.5529, 0.997, -0.1909, 0.7185, 0.3931, -0.305, -0.292, -0.218, 0.9979] state[eef_state]: left_x=0.3657 left_y=-0.0831 left_z=0.2332 left_yaw=0.292 left_pitch=-0.0223 left_roll=0.0042 left_gripper=0.997 right_x=0.2715 right_y=0.003 right_z=0.1234 right_yaw=0.1486 right_pitch=-0.0296 right_roll=0.0069 right_gripper=0.9979 state[joint_eff]: [0.0615, -6.0376, 8.4718, 1.3944, -0.4078, 0.0806, -0.0122, -0.4855, -1.388, 6.8308, 1.9512, -0.1783, -0.0171, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.41,"left_z":0.31,"left_yaw":0,"right_z":0.18},"note":"The left arm again held its position rather than advancing over the bottle, even at clearance height. I’ll first raise it higher and straighten its wrist, while restoring the drifting idle arm’s height, then try a shorter forward move."})

tool

executing move_to over 5 steps (0.5s)

step 155

assistant

agent noteRaising and straightening freed the left arm; the leftmost bottle is visible below it with its cap ahead. I’ll move forward at this high clearance to reach over the bottle’s capped end.

move_to

left_x0.4850left_y-0.0350left_z0.3000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3344, 1.3968, 1.3762, -0.6247, -0.4561, -0.3626, 0.997, -0.1909, 0.7029, 0.54, -0.4538, -0.2928, -0.2184, 0.9979] state[eef_state]: left_x=0.4077 left_y=-0.0555 left_z=0.2896 left_yaw=0.222 left_pitch=-0.0088 left_roll=-0.0256 left_gripper=0.997 right_x=0.2709 right_y=0.0032 right_z=0.1639 right_yaw=0.1494 right_pitch=-0.0165 right_roll=0.0024 right_gripper=0.9979 state[joint_eff]: [-2.6325, -6.065, 7.5419, 1.2674, 0.1929, 0.2076, -0.0122, -0.5812, -0.1573, 9.8803, 1.619, -0.1929, 0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.485,"left_y":-0.035,"left_z":0.30,"left_yaw":0},"note":"Raising and straightening freed the left arm; the leftmost bottle is visible below it with its cap ahead. I’ll move forward at this high clearance to reach over the bottle’s capped end."})

tool

executing move_to over 6 steps (0.6s)

step 161

assistant

agent noteThe capped end now appears near the left jaw column in the wrist view. I’ll descend toward it in a separate vertical approach, turning the jaws across the bottle’s diagonal before the final low grasp.

move_to

left_x0.4850left_y-0.0400left_z0.1200left_yaw0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1318, 1.6081, 1.5486, -0.5812, -0.1749, -0.1467, 0.997, -0.1909, 0.6971, 0.5243, -0.4694, -0.2924, -0.2184, 0.9979] state[eef_state]: left_x=0.4741 left_y=-0.0282 left_z=0.2754 left_yaw=0.0776 left_pitch=-0.0678 left_roll=-0.0051 left_gripper=0.997 right_x=0.2666 right_y=0.004 right_z=0.1553 right_yaw=0.1493 right_pitch=-0.0407 right_roll=0.0107 right_gripper=0.9979 state[joint_eff]: [0.212, -8.0342, 9.5932, 1.6093, 0.0073, 0.3199, -0.0073, -0.4034, -1.1145, 6.8991, 2.0244, -0.2076, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.485,"left_y":-0.04,"left_z":0.12,"left_yaw":0.4},"note":"The capped end now appears near the left jaw column in the wrist view. I’ll descend toward it in a separate vertical approach, turning the jaws across the bottle’s diagonal before the final low grasp."})

tool

executing move_to over 11 steps (1.1s)

step 172

assistant

agent noteThe left bottle’s cap is now ahead of the jaws and its shoulder lies between them, a better location than the earlier near-base grip. I’ll advance slightly and lower to the shoulder height before closing.

move_to

left_x0.5050left_y-0.0300left_z0.0650

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2825, 1.7866, 1.1194, -0.0483, -0.5278, -0.3992, 0.997, -0.1909, 0.667, 0.4858, -0.4473, -0.2924, -0.2184, 0.9979] state[eef_state]: left_x=0.4813 left_y=-0.0433 left_z=0.1195 left_yaw=0.3511 left_pitch=-0.0414 left_roll=0.0206 left_gripper=0.997 right_x=0.2637 right_y=0.0046 right_z=0.1497 right_yaw=0.1491 right_pitch=-0.0277 right_roll=0.0061 right_gripper=0.9979 state[joint_eff]: [-0.5812, -9.0188, 6.1744, 1.8779, -0.3492, -0.1001, -0.0122, -0.3761, -0.8274, 7.1863, 1.9463, -0.188, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.505,"left_y":-0.03,"left_z":0.065},"note":"The left bottle’s cap is now ahead of the jaws and its shoulder lies between them, a better location than the earlier near-base grip. I’ll advance slightly and lower to the shoulder height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 176

assistant

agent noteThe upper body of the left bottle is between the jaws, but the fingertips are still above its sides. I’ll lower just enough to engage the shoulder without driving into the tabletop.

move_to

left_x0.4900left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2371, 1.9396, 1.0592, 0.1783, -0.5121, -0.3843, 0.997, -0.1909, 0.6506, 0.4591, -0.4412, -0.292, -0.2184, 0.9979] state[eef_state]: left_x=0.4961 left_y=-0.0271 left_z=0.063 left_yaw=0.3761 left_pitch=-0.0367 left_roll=0.0169 left_gripper=0.997 right_x=0.2606 right_y=0.0051 right_z=0.1429 right_yaw=0.1489 right_pitch=-0.0318 right_roll=0.0073 right_gripper=0.9979 state[joint_eff]: [-0.1983, -10.4, 5.8462, 1.8584, -0.1001, 0.188, -0.0122, -0.5675, -0.6906, 7.0085, 1.8974, -0.1392, -0.0073, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_z":0.025},"note":"The upper body of the left bottle is between the jaws, but the fingertips are still above its sides. I’ll lower just enough to engage the shoulder without driving into the tabletop."})

tool

executing move_to over 3 steps (0.3s)

step 179

assistant

agent noteThe left bottle’s cap is just ahead of the fingertips, with its shoulder straddled at about bottle-center height. I’ll close on this cap-side grip and check that it holds.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2379, 1.9972, 0.9714, 0.3611, -0.5274, -0.3744, 0.997, -0.1909, 0.6289, 0.4328, -0.4282, -0.292, -0.2184, 0.9979] state[eef_state]: left_x=0.4911 left_y=-0.0239 left_z=0.0367 left_yaw=0.3816 left_pitch=-0.0008 left_roll=0.0114 left_gripper=0.997 right_x=0.2585 right_y=0.0055 right_z=0.1387 right_yaw=0.1488 right_pitch=-0.0238 right_roll=0.0045 right_gripper=0.9979 state[joint_eff]: [-0.7179, -8.1026, 4.6838, 1.3602, 0.0659, -0.0757, -0.0122, -0.4991, -0.5402, 6.8034, 1.8828, -0.149, -0.0171, -0.0073] 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":{"left_gripper":0},"note":"The left bottle’s cap is just ahead of the fingertips, with its shoulder straddled at about bottle-center height. I’ll close on this cap-side grip and check that it holds."})

tool

executing move_to over 10 steps (1.0s)

step 189

assistant

agent noteThe jaws have settled around a 3.2 cm neck or shoulder, which is the grip I need to lift the capped end. I’ll raise it while moving partway toward the bottle’s bottom so the bottom can pivot on the tabletop.

move_to

left_x0.4400left_y-0.0500left_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2405, 1.9858, 0.9688, 0.4408, -0.5442, -0.3935, 0.3381, -0.1909, 0.614, 0.4122, -0.4217, -0.2924, -0.2184, 0.9979] state[eef_state]: left_x=0.5004 left_y=-0.0249 left_z=0.0564 left_yaw=0.4045 left_pitch=0.0763 left_roll=-0.0496 left_gripper=0.3381 right_x=0.2564 right_y=0.006 right_z=0.1342 right_yaw=0.1491 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979 state[joint_eff]: [0.0342, -9.1145, 5.5453, 0.9011, 0.0122, 0.0611, 0.2027, -0.4581, -0.6632, 6.8171, 1.9121, -0.188, -0.0317, -0.0073] 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":{"left_x":0.44,"left_y":-0.05,"left_z":0.14},"note":"The jaws have settled around a 3.2 cm neck or shoulder, which is the grip I need to lift the capped end. I’ll raise it while moving partway toward the bottle’s bottom so the bottom can pivot on the tabletop."})

tool

executing move_to over 6 steps (0.6s)

step 195

assistant

agent noteThe bottle is still held at its narrow end while its base remains near its original spot. I’ll continue the tipping arc, bringing the held end above its base.

move_to

left_x0.3550left_y-0.0950left_z0.2400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3504, 1.6821, 0.9886, 0.0002, -0.6041, -0.4732, 0.3371, -0.1909, 0.601, 0.3927, -0.4206, -0.2924, -0.2188, 0.9979] state[eef_state]: left_x=0.4507 left_y=-0.0541 left_z=0.1263 left_yaw=0.3812 left_pitch=0.0077 left_roll=-0.017 left_gripper=0.3371 right_x=0.2538 right_y=0.0065 right_z=0.1288 right_yaw=0.1493 right_pitch=-0.0281 right_roll=0.006 right_gripper=0.9979 state[joint_eff]: [-0.5949, -9.9214, 7.747, 1.58, -0.3785, -0.0855, -0.1099, -0.6085, -0.4034, 6.7897, 1.956, -0.1734, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.355,"left_y":-0.095,"left_z":0.24},"note":"The bottle is still held at its narrow end while its base remains near its original spot. I’ll continue the tipping arc, bringing the held end above its base."})

tool

executing move_to over 8 steps (0.8s)

step 203

assistant

agent noteThe gripped bottle has swung toward the near edge instead of planting its base, while the other two remain on the table. I’ll raise the bottle clear and move it back over the tabletop before attempting to set it down.

move_to

left_x0.4050left_y-0.0900left_z0.3100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6106, 1.4055, 1.1557, -0.5846, -0.7586, -0.6827, 0.3371, -0.1909, 0.5812, 0.3691, -0.4191, -0.2924, -0.2188, 0.9979] state[eef_state]: left_x=0.3683 left_y=-0.1051 left_z=0.2232 left_yaw=0.3447 left_pitch=-0.0062 left_roll=-0.018 left_gripper=0.3371 right_x=0.2507 right_y=0.0071 right_z=0.123 right_yaw=0.1494 right_pitch=-0.0302 right_roll=0.0067 right_gripper=0.9979 state[joint_eff]: [-0.1846, -7.9385, 9.0872, 1.1697, -0.4811, 0.0562, -0.022, -0.4991, -0.4855, 6.9812, 1.917, -0.1734, -0.0415, -0.0073] 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":{"left_x":0.405,"left_y":-0.09,"left_z":0.31},"note":"The gripped bottle has swung toward the near edge instead of planting its base, while the other two remain on the table. I’ll raise the bottle clear and move it back over the tabletop before attempting to set it down."})

tool

executing move_to over 6 steps (0.6s)

step 209

assistant

agent noteFrom above, the held left bottle now appears to hang almost vertically beneath the gripper, with its base clear of the tabletop. I’ll lower it at the same horizontal position to plant its bottom.

move_to

left_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.514, 1.5154, 1.5505, -0.7876, -0.7071, -0.6109, 0.337, -0.1909, 0.5598, 0.3412, -0.411, -0.2924, -0.2188, 0.9979] state[eef_state]: left_x=0.4042 left_y=-0.0924 left_z=0.3046 left_yaw=0.3672 left_pitch=0.015 left_roll=-0.0445 left_gripper=0.337 right_x=0.2479 right_y=0.0076 right_z=0.1169 right_yaw=0.1493 right_pitch=-0.0288 right_roll=0.0062 right_gripper=0.9979 state[joint_eff]: [0.6222, -5.7094, 7.9385, 1.0379, -0.2759, 0.105, -0.0171, -0.3487, -0.4991, 7.1043, 1.8437, -0.1929, -0.0464, -0.0073] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.18},"note":"From above, the held left bottle now appears to hang almost vertically beneath the gripper, with its base clear of the tabletop. I’ll lower it at the same horizontal position to plant its bottom."})

tool

executing move_to over 9 steps (0.9s)

step 218

assistant

agent noteThe left gripper reached about 18 cm above the table with the bottle still held; its bottom should now be close to contact. I’ll lower a few more centimeters to seat the base before opening.

move_to

left_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.519, 1.5204, 1.0954, -0.416, -0.7151, -0.6025, 0.337, -0.1909, 0.5354, 0.3149, -0.4023, -0.2924, -0.2184, 0.9979] state[eef_state]: left_x=0.3982 left_y=-0.0899 left_z=0.1778 left_yaw=0.3642 left_pitch=-0.0369 left_roll=0.0345 left_gripper=0.337 right_x=0.2456 right_y=0.0081 right_z=0.1123 right_yaw=0.1491 right_pitch=-0.0223 right_roll=0.0042 right_gripper=0.9979 state[joint_eff]: [-0.0889, -6.5299, 6.8991, 1.6044, -0.3492, -0.0366, -0.0122, -0.6085, -0.0479, 6.9812, 1.8193, -0.2076, -0.0269, -0.0073] 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":{"left_z":0.14},"note":"The left gripper reached about 18 cm above the table with the bottle still held; its bottom should now be close to contact. I’ll lower a few more centimeters to seat the base before opening."})

tool

executing move_to over 3 steps (0.3s)

step 221

assistant

agent noteThe bottle base appears seated, and the gripper is now at a plausible neck height for an upright bottle. I’ll release it, then lift away to verify whether it stands without support.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5194, 1.5337, 0.9424, -0.2432, -0.7151, -0.6048, 0.337, -0.1913, 0.5205, 0.2996, -0.4019, -0.292, -0.2184, 0.998] state[eef_state]: left_x=0.3924 left_y=-0.0868 left_z=0.1385 left_yaw=0.3648 left_pitch=-0.0327 left_roll=0.0276 left_gripper=0.337 right_x=0.2436 right_y=0.0083 right_z=0.1088 right_yaw=0.1484 right_pitch=-0.0224 right_roll=0.004 right_gripper=0.998 state[joint_eff]: [-0.1846, -6.5709, 7.2957, 1.746, -0.3736, 0.0366, -0.0122, -0.5265, 0.1846, 6.6256, 1.8584, -0.1441, -0.022, -0.0073] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The bottle base appears seated, and the gripper is now at a plausible neck height for an upright bottle. I’ll release it, then lift away to verify whether it stands without support."})

tool

executing move_to over 7 steps (0.7s)

step 228

assistant

agent noteThe opened left gripper still obscures the placement from above. I’ll withdraw it to its home pose so I can verify the left bottle’s orientation before working on the remaining two.

move_to

left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5194, 1.5509, 0.9241, -0.1871, -0.7151, -0.6056, 0.9956, -0.1913, 0.5026, 0.2813, -0.4023, -0.2924, -0.2184, 0.9979] state[eef_state]: left_x=0.3962 left_y=-0.089 left_z=0.1331 left_yaw=0.3648 left_pitch=-0.0197 left_roll=0.011 left_gripper=0.9956 right_x=0.2413 right_y=0.0088 right_z=0.1044 right_yaw=0.1487 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979 state[joint_eff]: [-0.212, -7.6376, 6.653, 1.5018, -0.3834, -0.0073, -0.1685, -0.5538, -0.0068, 6.8171, 1.8291, -0.188, -0.0366, -0.0171] 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":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_yaw":0},"note":"The opened left gripper still obscures the placement from above. I’ll withdraw it to its home pose so I can verify the left bottle’s orientation before working on the remaining two."})

tool

executing move_to over 8 steps (0.8s)

step 236

assistant

agent noteWith the gripper clear, all three bottles are still lying down; the left one shifted but did not stand. I’ll try the middle bottle from its capped end while returning the drifting right arm to its parking height.

move_to

left_x0.4600left_y-0.2400left_z0.1600right_x0.2950right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0807, 0.8513, 0.5842, -0.3206, -0.2096, -0.1707, 0.9963, -0.1909, 0.4793, 0.2615, -0.4023, -0.2928, -0.2184, 0.9979] state[eef_state]: left_x=0.3027 left_y=0.016 left_z=0.1693 left_yaw=0.1702 left_pitch=-0.0116 left_roll=-0.0176 left_gripper=0.9963 right_x=0.2389 right_y=0.0094 right_z=0.1005 right_yaw=0.1494 right_pitch=-0.0197 right_roll=0.0036 right_gripper=0.9979 state[joint_eff]: [0.1983, -0.1299, 7.9795, 1.6777, 0.0415, 0.2906, 0.0611, -0.5265, 0.5265, 6.9128, 1.8046, -0.2076, -0.0171, -0.0073] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.24,"left_z":0.16,"right_x":0.295,"right_z":0.18},"note":"With the gripper clear, all three bottles are still lying down; the left one shifted but did not stand. I’ll try the middle bottle from its capped end while returning the drifting right arm to its parking height."})

tool

executing move_to over 23 steps (2.3s)

step 259

assistant

agent noteThe middle bottle’s cap and upper shoulder sit just ahead of the left jaw center; the leftmost bottle appears separately at the edge of the wrist view. I’ll advance onto that shoulder and descend to its side for a neck-side grasp.

move_to

left_x0.4900left_y-0.2400left_z0.0550

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7078, 1.9224, 1.4345, -0.3141, -0.7048, -0.601, 0.9964, -0.1253, 0.8093, 0.5728, -0.4038, -0.2531, -0.2062, 0.9979] state[eef_state]: left_x=0.455 left_y=-0.234 left_z=0.151 left_yaw=0.1665 left_pitch=-0.0179 left_roll=0.001 left_gripper=0.9964 right_x=0.2873 right_y=0.012 right_z=0.1601 right_yaw=0.1758 right_pitch=-0.0464 right_roll=-0.0022 right_gripper=0.9979 state[joint_eff]: [-0.5538, -10.4684, 8.4991, 1.2772, -0.4225, 0.1636, 0.0024, 0.212, -0.9094, 10.0171, 1.7607, 0.0464, 0.2808, -0.0073] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.24,"left_z":0.055},"note":"The middle bottle’s cap and upper shoulder sit just ahead of the left jaw center; the leftmost bottle appears separately at the edge of the wrist view. I’ll advance onto that shoulder and descend to its side for a neck-side grasp."})

tool

executing move_to over 7 steps (0.7s)

step 266

assistant

agent noteThe middle bottle’s shoulder fills the space between the jaws and its cap is farther ahead, so this grasp should be nearer its capped end. I’ll descend the final few centimeters before closing.

move_to

left_z0.0250

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6724, 2.1456, 1.3743, -0.0265, -0.6949, -0.5766, 0.9964, -0.1329, 0.7841, 0.5262, -0.3733, -0.2661, -0.1997, 0.9979] state[eef_state]: left_x=0.4832 left_y=-0.2355 left_z=0.0586 left_yaw=0.182 left_pitch=-0.0209 left_roll=0.0136 left_gripper=0.9964 right_x=0.2838 right_y=0.0125 right_z=0.1522 right_yaw=0.1753 right_pitch=-0.0355 right_roll=0.0077 right_gripper=0.9979 state[joint_eff]: [0.5265, -10.9744, 6.1744, 1.58, -0.1929, 0.1929, -0.0171, -0.4718, -1.7709, 7.0496, 1.9512, -0.1636, -0.0611, -0.0073] 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":{"left_z":0.025},"note":"The middle bottle’s shoulder fills the space between the jaws and its cap is farther ahead, so this grasp should be nearer its capped end. I’ll descend the final few centimeters before closing."})

tool

executing move_to over 3 steps (0.3s)

step 269

assistant

agent noteAt this height, the middle bottle’s narrow cap-side section is between the fingertips. I’ll close and confirm contact from the jaw spacing.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6727, 2.1834, 1.3319, 0.0925, -0.7132, -0.5762, 0.9964, -0.1329, 0.7673, 0.4923, -0.3576, -0.2661, -0.1997, 0.998] state[eef_state]: left_x=0.4858 left_y=-0.2347 left_z=0.0432 left_yaw=0.1943 left_pitch=0.0142 left_roll=-0.0072 left_gripper=0.9964 right_x=0.2804 right_y=0.013 right_z=0.1444 right_yaw=0.1753 right_pitch=-0.0369 right_roll=0.0082 right_gripper=0.998 state[joint_eff]: [-0.4444, -9.4564, 4.4786, 1.3407, 0.0513, 0.0171, -0.0122, -0.2803, -1.8393, 7.159, 1.9853, -0.1197, -0.0415, -0.0073] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"At this height, the middle bottle’s narrow cap-side section is between the fingertips. I’ll close and confirm contact from the jaw spacing."})

tool

executing move_to over 10 steps (1.0s)

step 279

assistant

agent noteThe middle-bottle close settled almost fully shut, which means the jaws missed it. All three bottles are still lying down; I’ll withdraw and open both grippers rather than risk dragging a bottle off the table.

move_to

left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000left_yaw0.0000right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6724, 2.1803, 1.3476, 0.123, -0.7422, -0.5838, 0.0129, -0.1329, 0.746, 0.4568, -0.3386, -0.2661, -0.1997, 0.998] state[eef_state]: left_x=0.4931 left_y=-0.2354 left_z=0.0572 left_yaw=0.2213 left_pitch=0.0605 left_roll=-0.0394 left_gripper=0.0129 right_x=0.2771 right_y=0.0134 right_z=0.1377 right_yaw=0.1753 right_pitch=-0.0322 right_roll=0.0067 right_gripper=0.998 state[joint_eff]: [-0.1983, -11.7128, 5.9556, 0.8474, 0.0952, 0.0269, 1.0574, -0.3761, -1.4291, 6.8855, 1.9121, -0.1734, -0.0464, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_gripper":1,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0},"note":"The middle-bottle close settled almost fully shut, which means the jaws missed it. All three bottles are still lying down; I’ll withdraw and open both grippers rather than risk dragging a bottle off the table."})

tool

executing move_to over 21 steps (2.1s)

step 300

assistant

agent noteI could not stand any of the three bottles upright. The attempted neck and body grasps either slipped, missed, or moved a bottle without rotating it into a stable standing position. Both arms are withdrawn and the bottles remain on the table.

give_up

hindsightThese bottles lie with their caps toward the far edge. On this trial the tool pitch and roll are pinned, so a firm grasp preserves the bottle’s horizontal orientation; lifting and translating a tightly held bottle did not reliably pivot it upright. For the left bottle, x≈0.49 m, y≈−0.03 m reaches its cap-side shoulder; for the middle bottle, x≈0.49 m, y≈−0.235 m placed the jaws nearby but a full close was empty. Verify any grasp by the settled jaw opening and overhead movement before attempting a tipping motion.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0643, 0.815, 0.5926, -0.3046, -0.1246, -0.1028, 0.9974, -0.0448, 0.7914, 0.5674, -0.4023, -0.0685, -0.0757, 0.998] state[eef_state]: left_x=0.3044 left_y=0.006 left_z=0.1854 left_yaw=0.079 left_pitch=0.0391 left_roll=-0.0156 left_gripper=0.9974 right_x=0.2868 right_y=0.0028 right_z=0.1597 right_yaw=0.0312 right_pitch=-0.0541 right_roll=-0.006 right_gripper=0.998 state[joint_eff]: [0.1573, -1.4564, 7.4051, 1.8584, 0.0904, 0.2759, -0.0464, 0.4718, -0.5538, 10.0444, 1.9072, 0.1441, 0.2125, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not stand any of the three bottles upright. The attempted neck and body grasps either slipped, missed, or moved a bottle without rotating it into a stable standing position. Both arms are withdrawn and the bottles remain on the table.","hindsight":"These bottles lie with their caps toward the far edge. On this trial the tool pitch and roll are pinned, so a firm grasp preserves the bottle’s horizontal orientation; lifting and translating a tightly held bottle did not reliably pivot it upright. For the left bottle, x≈0.49 m, y≈−0.03 m reaches its cap-side shoulder; for the middle bottle, x≈0.49 m, y≈−0.235 m placed the jaws nearby but a full close was empty. Verify any grasp by the settled jaw opening and overhead movement before attempting a tipping motion."})

tool

give_up: I could not stand any of the three bottles upright. The attempted neck and body grasps either slipped, missed, or moved a bottle without rotating it into a stable standing position. Both arms are withdrawn and the bottles remain on the table.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 8.216 s

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

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0257, -0.0284, 0.9986, -0.0154, 0.7879, 0.6037, -0.3862, -0.0231, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.4427, 9.7846, 1.7802, -0.0317, 0.1099, -0.1538, -0.9231, -0.8547, 10.2496, 1.8437, -0.0269, 0.2027, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944f6a78b0888e88ac999358e59249e39b1d775ff665d73fe386a18952b58c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9690915358b5b1e04506a1f1ccd91e9b21501ffafde58db265903629c8b74741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a266ed4b635e45cffd0ca38e8a22cca600a02ece8718c0f034c683539ca3e82b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 5.37 s

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

{
  "content": [],
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  "id": "rs_07f3cb55d3ed885b016ab430e655c887d0bb7c9fc2f0b42cfc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDDtghQhdFWPjQ4i-9Yjec6Qvh_5mdYNYt2WFLkazJm4SI3GML_tgWKwNcaSlcqTIUfxm8NUHbL6CJORZwFDWc-lPQup0_w5_YooAYPIREbMcgC8AvVnIXkhVpgGafra7k5Rnu24CvmR_-wdyg0iECkKfkfMCXJEnxIejGTO4z8Niwx6WPcOkGcQePYUW7oPGuS8N2hOuv7nuw8x_-gT8YM9vnqX_8fey-qf7JEtv5472ihoF4aaomwBredeTaL9trfoA2hK7dl5XOesLVwWSDEr4vGIBDQsKmYaaC4aTzpyxvV5SYN7LdoCle9SEytguusZM2oOZ_6HxB63yeFzT2GLYIHN4TKUS3ntT0AyAzTI7t5SZcwbZPfWwYLwvru3FxIL8ZKmjN495P5XUeYdJUfaL6iYDzcxNO-AOlf1OqH0TCXxOOsO12RPaldGAgwTjL3lL63ceqpoD-Q77-97FobrftV_nmp6g2YmcCwxtviV2jc7PrvTsWoeHyCYyvcAq1h3L1mioAtiz7KrwVNYRMPxuyyDPP7GFucXBCrMFUoFrKGZ6fLHBwDmpTEqwX3BtpeK52v69jJ3XLuU18qSak3nC1nUSLb0JjkJg6ifgzvD4Kyye4zP9PHQw-Sy5DXMue8_SIWOwyjoYUL7PPuEOxQKeOo0IxKXQilmY1N7VgZp09ZTGE1JX3dJFUK9SX5Fq6ZCQNrt0Bq8jEgLoX0Qdkv60tJ647YXJQpAyJfdx0Ym05HjBAttfyx9bo0wgFdSOnBHnrSYj6o_jDM3VXmU1Pvqqa0MQ8zv-oidKTzcEExU9qkvEtZXA4QpcV13F3QKOf6dAQRSiyset8RPDLPU1FVP6RbLPjCZdpXobHjbM1Bt3NOZh-UM-O54fKdrDLWWkpwD9I4iugAt36g1jlS5w0h3XwQ4SJ8aP1KKRBgENQ1IpFxC64xtZmRYRsOkydzrZdwgcCYVZPkolw-3K4XCg5jy8AYn3YKlW63Z9bxgmKApDpt96xUnmBYdAIc_WLQ8lZ2ByaTuCbtuxbJ_CFjxi57T7ofpQxSXvWnGU6ORltBhskbwkxLePdg3O3M6jpP96NREAQH_UhaGUUgXrFS_GNLYUggixWM5KUAHpAwS2s2sBQmO-x5U77aTmSSrXxD_-A4dz4dV42CvJQMujR_HWsCus4G2BE_DIdQBL75AV-ZMD1tqtIIP5WAHsRpFstVSwJA5V-NmcNXsFfkvEVMAk0yJVGwx8f2vp8enzHAMlZ9ChGLr8t4O9466L48qbJJGzXIgoFzGZN3LwScVXioNzjjUERfNm_zsjejEnRyWA0rNkz0ENfbukqa8qzQYzE0ynTIefpp1gA6G83zDttR86v13Ts3f9aUBqvbdPnYilO5wEvMPqp-SU13LdFvYO4QczZaRQvEGlHPXbu7vHn5bOlcdeqWFr_Z07LHVePxmgn2zCQokp75RmNwdIMvyxRD2siZwz7CDXWpVIQcvA6Slo1Yp4k0wtZ8ETAITsGGB_Y_Ni-7ly9kh5B7gb3flWx19heBuBLjeobaqCoQmJ4Q-7TIJFrMQB_yxIXiwENA9LrEn4uBX8H281vIpkwE5iFH_hWQse7yBPRNSUexRJ4W-0a5XyLMkvOHV-1t6EMo7hdcItvOtrmzz2T5IXN36HTWrd3Vm33WCr2PtRYGgY2RC0qhVerNDJptec3VR7L79wst3aTBe1Ox7EMxRx_DZNC1sJ8ihn838fIvb6hi35eUJDsw3T914V29irxsLcLAEgsMqT3Q=",
  "id": "rs_07f3cb55d3ed885b016ab430eb3e0c87d080e345bda256ca36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.19,\"right_z\":0.15},\"note\":\"All three bottles are lying on their sides; the rightmost one runs roughly away from the right gripper, with its cap at the far end. I’ll bring the right gripper above its upper half to line up a lifting grasp.\"}",
  "call_id": "call_joMxs6l7ni5cCZSV6UrLCmCU",
  "id": "fc_07f3cb55d3ed885b016ab430ec894487d09d8333d59e2806cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_joMxs6l7ni5cCZSV6UrLCmCU",
  "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]: [-0.02, 0.7982, 0.614, -0.382, -0.0261, -0.0292, 0.9984, 0.5442, 1.7042, 1.0878, -0.0895, 0.4072, 0.2569, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4336 right_y=0.1848 right_z=0.1304 right_yaw=0.043 right_pitch=-0.0678 right_roll=-0.0402 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.6068, 6.612, 1.7949, -0.0562, -0.0269, -0.0317, 0.0342, -8.1026, 9.1966, 1.8632, 0.3053, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77e3ff41fa09a8090d154deb354e1c7ea204d08bb99a1fde7a31427d9c9b3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6425f17054bc058f90eee44a4272c323964eabc3f11ed5df9c5d30cfa13435e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fbdbb0b04fcde8f02bd936f9fb97da25e2207c61a92722526941adf7152afd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 4.244 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0257, -0.0284, 0.9986, -0.0154, 0.7879, 0.6037, -0.3862, -0.0231, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.4427, 9.7846, 1.7802, -0.0317, 0.1099, -0.1538, -0.9231, -0.8547, 10.2496, 1.8437, -0.0269, 0.2027, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.382, -0.0261, -0.0292, 0.9984, 0.5442, 1.7042, 1.0878, -0.0895, 0.4072, 0.2569, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4336 right_y=0.1848 right_z=0.1304 right_yaw=0.043 right_pitch=-0.0678 right_roll=-0.0402 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.6068, 6.612, 1.7949, -0.0562, -0.0269, -0.0317, 0.0342, -8.1026, 9.1966, 1.8632, 0.3053, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77e3ff41fa09a8090d154deb354e1c7ea204d08bb99a1fde7a31427d9c9b3b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6425f17054bc058f90eee44a4272c323964eabc3f11ed5df9c5d30cfa13435e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63fbdbb0b04fcde8f02bd936f9fb97da25e2207c61a92722526941adf7152afd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD0MNEpfhr8brAbY8mvFwUmnmkb1L37ddxeFF717paxpwQCGwLgACmxokiKaqRQFlrw9kcZ3RBBM5IV8ySkuVamVsWiVnSORPZBjdJHkoK-cPn2zIeRi3b9SiqamTNka4CRkLumtwpXaN4eZ1J36gVC3mW_n3tZ0zCXej4BT-Aoiypw3-ntE9W6suknd_VZwhK_Vfauu4qyn4gFYlRF8K_b1NPwT91b1Frp18kvDq9PF6YtK-uKjP0jmPjQD_zakua_QCsqxnjyTGn0uAToPD-tRDumk6tAUPiM9aA9mO22j9_hmMKesPy5KuP0z4rjBadhm0CdQlzPPEvR_2fANpNrtr4tDaeLAc2mR2wW9OdFHTbU85GNpf4fCdyubRZWRsIBpJXaLjLxLsbP_foz8yoDxTBbszwmJqou7meLdwGxXSe_5dIooDOnuZYIalg__V6Exz4uQ21igliO8FGFFloJbI3enjSP9tOtGk4Jqjtp4uborSWaXBSZMs6oT-YbOljFXYroWs_fQTQ7Y6dJenwfNCqTKAc_3zMRto_TEI2Zv9L5k2J87W_X0gLOGgnA4bUck_DhQ1-IoSNB6pEQ_ezTQ2NXPNhuLD3N6mAhKDUbrAUX72RVQutlQ9BAOIBcWllAJp7lrCwuAk6uK2M7dSUdAnEaPbRyC_TVjJ3sWuJ4k7FYjXetizttkbgeQ6Rao0V_bdzOfsXLAFnhAXG1b7vbS2pxyVsLUeUSrZdWUv-MSZUlT2h9IoPimfbPC_oEdOkDZ9Hi9jCEE7s6I3TaW_bnjp-iXKPCF9GeU7mlOZOTyQVqLE9uELqxVUDaKwvIjqaR9DEbFuUg0fkAzF_qk6W15R_0VfZLR4dDdEPaLOMjPtPwmjtv_Az2fMkXo8q7IBIXlaaMbTwyZg4IdH-rK_BTIxktqKW587dBQ2ArzEGZDsMm2cEjYtkAOvXkBLy3AhFIL5Bxm6-GJIWa1y0-wc7KbZ2m_i4ZQjA_xnH8HPn8HhNbiQHGhUHWvsAf8WtLLtP4JmnPqT5OOs3PJzgWghmuCrX9zSGZrc5JSMeagTg_iSdM6sIJ728gV620AbFgY73aVO1hnL0JzebwdjoZzkMgzJNIp014jc0QWOchZzqT6h8JJJZKHwkj2GlDQCpAcJsk2evuUaVyafi51pBuT4z-jlgCqAV9MaUzukzIxaBjoWtOquc5skyqeKxprBD62ZEhIaHG5PsYkcmM4sPnrC015glAJcfUwtr3uovdu9QBzO2kclJMM3vptm_QvNihqOcxuRgnL7RRJPEWHFGGPFQrpFMuUIj9OEklzSrQIaQmErs9l4CYW597Vb0RV78nob_cAXnEq-xRw56HsgB6VfhucADK0k8-cLOnDLzls_-CIrk7pEaCgeEO1k32avide_1A6SVsiz3FB6wcQcnFb7uHcOYSUq4J5jD_4hy8YF2BESUx52sSc0iBKfr8jOEV45mgOYMFtRLExz9LTM1vr2iG_e9dvXvlg5-fhUA52rSoNUuHPk26OeEK4zdTVv7Urfjlt1ykL7DRHaksL10ZgaUF8jpKv6yJSZYnKq9shyyv_pxHr9siiSY50bschCAkP_v6V7W-IUJH9MLNHGmq31YoZz2co5MdCRBpgpLWfnJLXZ7tH9Fn6rYS2MoIbmLO2QPtkT159mtC3PWGW8NsSJkY5W2tONgDc1wR4k57MWvNlDdh_vxZksuzPd9Gca1aIIuUK_Vpj6UTNbe4SLVlfNu0RMIUrjnJqYSY5DBAlD-yTpjAl61Lx8eKwCz_9b45dXVM_K6-V64D3dtTHWFZCRs55GaHBFgWoh8iZpurbKpMBX471nSphwXGp2_a-Q2CU3Q0zUzV1hcCF1dSju1I4XOTcowdIHTLgjSw4jpRJt8N_RDwlXknNWstkodc6enWBhJoC4KHT2xu2FCc5jT3VKyO9GBzBtOin6_Ha43KSo-X7EIkHSAm-T-0K6R2BRJAppiYayAQ-pzSaPPUYivrsgivN7OG8c0Q-aiZpT5uaSQ6oOqypJRR9Oc8KLY01vuhc86qexc5Sxb_wTMNqCaO2jqrgdnQWp__yxBMelgp9Pqat_QBCG3jCXTpahrqEoYTHyP2yFrys0IceJzrpTHm7cnO1IQvruQtd_YLoW_U76MeydMEFBqQT6Rb9kTe3TVs2lsILfdQl1ohtmJkIiFQqfuFmNCyJgBIUEptJ5HGdViu99qXGHBOXaElp44JJ-wCJFndymlBdCL4GzvgVwW_XDTX7YTPbtqs46b1wG2kgbwhr-MvnQ_1YCCL0Xmun7O8oGOanwNxYRzxBtB3ZsoqmznobytM6F5v-Jum_GY6wxO6UIM6FQQ61c4H1pqpfdNxHyngy5dj2W6wY-ILWmSlazPm2VXIebT7_PUW6bChOtvDHDT2XkbU32VNg5EWbleFl4VZH3iIU1hN-NhSGDe7JxJqo1r_zGl38rMW5OBByHG13_QkKBVR8in3KGSnX2b0-zbjlxKj6nuFfE-tlVsjG5Rnp6WXIhjGSvtX2xY5k_yNBdBayuZXqFVXREjrp5iB-2gih9oxaPppou6l_ndszA5bD1htq-crD4e-5-7uVFm3yWZ6jTfFIALGzn5OCq9NWZ23",
  "id": "rs_07f3cb55d3ed885b016ab430f020e487d0ba46160795e68010",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.105},\"note\":\"The right wrist view now has the bottle centered, but its cap and shoulder are still ahead of the fingertips. I’ll advance a few centimeters while lowering slightly so the jaws line up around the shoulder rather than the far cap.\"}",
  "call_id": "call_8Fg0kAnexJH8bsGyX6lQnm3M",
  "id": "fc_07f3cb55d3ed885b016ab430f3b9a887d09a1533cb3809ea0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Fg0kAnexJH8bsGyX6lQnm3M",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0261, -0.0292, 0.9983, 0.4889, 1.8523, 1.0782, 0.0605, 0.3614, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4589 right_y=0.1774 right_z=0.0834 right_yaw=0.0431 right_pitch=-0.0887 right_roll=-0.0448 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -1.5248, 6.6803, 1.7705, -0.0513, -0.0659, -0.0171, -0.6359, -9.6205, 9.9624, 2.1368, 0.2076, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a1dda38f8c47de231266ecbdb28d967c6b3585cd082bfc35174c2c647f44ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004bc4df03cef0aaafa9b85d0a2a78adea9efd5b581363ae7ef2e659590150cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c8061d15e4f3aa2051a194bd592b90c2bc73fcfd10d8d14f7f3f535a3e1120",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 4.281 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.382, -0.0261, -0.0292, 0.9984, 0.5442, 1.7042, 1.0878, -0.0895, 0.4072, 0.2569, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4336 right_y=0.1848 right_z=0.1304 right_yaw=0.043 right_pitch=-0.0678 right_roll=-0.0402 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.6068, 6.612, 1.7949, -0.0562, -0.0269, -0.0317, 0.0342, -8.1026, 9.1966, 1.8632, 0.3053, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0261, -0.0292, 0.9983, 0.4889, 1.8523, 1.0782, 0.0605, 0.3614, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4589 right_y=0.1774 right_z=0.0834 right_yaw=0.0431 right_pitch=-0.0887 right_roll=-0.0448 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -1.5248, 6.6803, 1.7705, -0.0513, -0.0659, -0.0171, -0.6359, -9.6205, 9.9624, 2.1368, 0.2076, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a1dda38f8c47de231266ecbdb28d967c6b3585cd082bfc35174c2c647f44ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004bc4df03cef0aaafa9b85d0a2a78adea9efd5b581363ae7ef2e659590150cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c8061d15e4f3aa2051a194bd592b90c2bc73fcfd10d8d14f7f3f535a3e1120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD5AsRUy1KRZAFvfONh3RPc7Ug2BIa2QRXIDlzBpOiWNCf8ReJniKlh_Dbf1MiU2Y5IU22uANJgnfjREgzZ30mZ4V29kDBhIh0ZwmurrFZsIlphz01gdrFbc5SlfyUb4B3He5nHiq7We7C0ojmHVViv5n3SK5lq_gCe-FRS1ZIUGKdnHmqum-bgqtjhwp02Vx2AvmPvwagcaMccq-FjHq04a18H7z79nlFJtdUmXrFIDjWdGJ5tBtM2INV5f25mwogYrC4aXoR59QGBwu5gO9I52NgFR05qYxzb6F5ISdqLYCdu7x7yjd-rVAfwNcU_vEpZowA7mLGXIjMGyR7f1r-JSqplHa8wnFieYbamz-4KXUzPQ2R1LljZo-U1xjrQvm23LU-H6P4RDzHFIhKeVvHlGMB1kut3WnAJS-UaExW-QapRgagfrNvn_5VTZ9RNy5gyqPQ23kv-xNJ2u489bHHETm_GwRjbQvntg-0xxYm8LGryhjvC4CRqQZ2ryyAdsxATqbQq_049WE2IMA50rnBVMhVaryzKykzeJJ81KfFjj2znrskxo280Zo5Ow-WP9QczXRydAnJLa-XsdoaTFPmcnMn83-r-OLKI9IjwwTfGcnzp6JbJzzADfb8FK2j7COYuxfh9Y82I8aAi6uUaAAhdR5VB5o_INpIQjLi5PNreByWG7LSBmOlv4xlkOW97a7jLhNzV-Bvsb8RxgeNYE3m0lvR4ihT8eDZ3pnAdS4Y-FRq86-9ZZSiRAuWehDrtW3yAFisYlBSfO8WhgPcJL1Pzn7dlJvdTZDqmV14blM8f7rVsWozvZ0SxdlonfSy9mZHeYNy6YvaJeYPpEXo4Rso2PWq8wU9VB6NfyD6gVfLLGZArAcNTHDhwfM6ktJE0zu1nsBY6s9KXu_EmWzy9c8MDrWIOS5lIPVtMrX4kLM_ltk1lex17xrHVJK0JNhcykx8UwNuMuwWO2iAt91aih6L2E6EtXML3_Y5S4dt7g9l5yiC_TfJlEUX34QeUSHLvbPd4cN9PL6nL1NdHn5z58RYEy_UvxEWg9EbP1QMzeuZfSybSHfkutsfe4CKnBNfwSsXcxbNxuCPSQoeVI8Hx9K7LcJrL306dVtHm9Hf-2aDh1-WTi6zZL1jG23SIU2LS9LS4OBCwEBylCU86myBp9P0XNlbbqsapqfuAIb1ewyc6sXv1uVw2EaBIvaBeg_2X7tDLAuPouINlBpTWKorz68gLOevG-Y0pgwzo6dG-Z-OD8nWuR0KOaJ316swHHpmTlblnG1XdUpD00QLLDy5noYEITD2xGfPY4egYl1gQX3g_uDyRugb31qYwkPMwMG-Lx8a5rUSm1_Y7GxzvGYmzrYv2jvF0UKeZkXTP7s5EeQBRF4Z_UFEqv_Qt8NB80SPTJwl02742g8rygihSroqEA5ceVhA4WAMG4ghmFHWncRqc9xVjRbEQCe-yt7yfsMXrUOYEl2D4n2bWO86VjRrWww-FRqKuriyplEOOmYLkf_qUP-1CrYLEEQ2VH98uI01tRn9jE9w9Qw4RU33ZjuJCjVqbS52F2gxz5HicGSMhk5Tdehpmnca4gwVffRVoM97boVW-glcepIhsx8ZcVKN3MMJGMidscN___8GQJOvJ5Vx_uZZtyaTHP_x_YRIERl4bA8MGZLgWI93av5XPYDkHRhp4skq3CaljnejiLBhNZ8k4AGQUzu_eRBBkt85W6BY1bsnzKEYJRjaEMEYozBoykFnP61E7aFKeLW8OQvyN2uC2Co8sRUwpP3iF-t-8UlFSBRvK-dimTubkWbeDTmwaiKu64wqLcKyZv9K8bG-eXRQzqIFKaBSYfGBS-MCqelQQ2fx-TO3XmS8aqwUFnzQO4XeT8V1ouOTtmNcA4kbEBN0hJCvM0nvsmpWcg0e58i7yFSe_9PY5nfZU4M9zMkwpBVg22_8M7uZqTPPZ0KVCl8CDu4XNkh11eG1iR3L380oH7gnf4RTdWveN0n5ZXA-1qPlFjuFzZCv0KAeDJjlBkZ6E8UvBcsEIe5ASaVBNnMQzUBBmoPDCiDjxsjIeNs8xWtBew_ERpHG0nb12-YrtRXaL0WFskciTOzUV-3f3b3gk95Rsi6Y-GNUDps_LF-XVOB-hqh_72UCEZTO6guMyLq_BT5D_CzX7cAwJuQT3zo4oKIle8BQIRcGtPDBIqOAJxALb94aYq3pRXHm_pCapiki0xG-a3tUU9UJfpQDwM5Z5GftBwnNLMUG_8RQcrudW8CFGOBdlENhQ66lm9v15_11NyhZDqaCphU-5kfnvc2TpAVq9ocUmgpUurLO_t_f_-lsk0iBlJgfxLgCGggi1eg9yueYLXeS2zGez6l2H21sFxKhFvVN_36y3a3IveysBXJn5FEqnhK0jPycLOpICieeiCmlC0K2AwShtwN0HyhEj1Tqm4w0ECQO8vXgWFKLSQI5Gf4yOLyo7E6xgCvbRfctMOoHuFeZY_Iii-Yiu5N54QCSvi3Rp23QtwIxsaUEvei-mQTTwbCRPtEAi-7wwokc1QV15IWOab6K48v8Qxx1Plx4tJjGKls1GaIAvV8HLnG5SJivWXJ4_vN-uBhB-pZWdUziZwvKPpbKLPYderW0ZkQAg",
  "id": "rs_07f3cb55d3ed885b016ab430f5de3887d093d98ff2bc21521e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.17,\"right_z\":0.025},\"note\":\"The right bottle’s shoulder is centered between the jaws in the wrist view, though it is still ahead of the contact point. I’ll move slightly farther outward and descend to its side, then test a grasp near its capped end.\"}",
  "call_id": "call_Qg2DjOonVvcFZT7uijVgd1io",
  "id": "fc_07f3cb55d3ed885b016ab430f8520c87d09a10ade189b11a3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qg2DjOonVvcFZT7uijVgd1io",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.2047, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0685 right_pitch=-0.0751 right_roll=-0.0348 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.7026, 6.735, 1.8144, -0.0513, -0.0562, -0.0122, -0.4855, -10.0855, 8.6359, 2.044, 0.2906, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68549878cf21c82625d2992167873fd89da171d1394e9b53d61a1920d5c1019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2e44ec474d7bc57c2b7c32087730af234dfa5d1d14828195efe17b704932b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924e3f6dac5791f3fe2f22fdd77abcbd4f46d877a9f8cc614c66273f20b935f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.608 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0257, -0.0284, 0.9986, -0.0154, 0.7879, 0.6037, -0.3862, -0.0231, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1829 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.4427, 9.7846, 1.7802, -0.0317, 0.1099, -0.1538, -0.9231, -0.8547, 10.2496, 1.8437, -0.0269, 0.2027, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0261, -0.0292, 0.9983, 0.4889, 1.8523, 1.0782, 0.0605, 0.3614, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4589 right_y=0.1774 right_z=0.0834 right_yaw=0.0431 right_pitch=-0.0887 right_roll=-0.0448 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -1.5248, 6.6803, 1.7705, -0.0513, -0.0659, -0.0171, -0.6359, -9.6205, 9.9624, 2.1368, 0.2076, -0.0073, -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]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.2047, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0685 right_pitch=-0.0751 right_roll=-0.0348 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.7026, 6.735, 1.8144, -0.0513, -0.0562, -0.0122, -0.4855, -10.0855, 8.6359, 2.044, 0.2906, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68549878cf21c82625d2992167873fd89da171d1394e9b53d61a1920d5c1019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e2e44ec474d7bc57c2b7c32087730af234dfa5d1d14828195efe17b704932b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:924e3f6dac5791f3fe2f22fdd77abcbd4f46d877a9f8cc614c66273f20b935f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDD9UumQSxo1EcWBjeRNySpi17CWtkY-DcrlsJZbRcD2LpbQhbLNaYahBUjzJS6u8Kycu1Z9k9RBYVMVVAXjeMaPpSA82i1TJ6mEbyT8d8f4oNnFJczz-OPm3vh_GtDM3hXnbGtF1UN27ASGD6rz3v5EjniHF_W-iZxN4cNK3SHpLfBrBVCqBxau9J1J2E-54fTpS9swu74mmhbs4AkzeInoAcSDn8D6uMtY1ljd3CNIyESrGm_ZNeu4um_Dbh4yH9sI7O2RPLMZaRljydTjg9uTofPAOxROS0xzyBNKLWrtRydgTxDicRi4AKNonAWyUs_sD2agzFOePWq8mcx2LpY4wix7cgrpCMt48XyYdhTVGXIlStdeLDUdktJ9AqmIbFlhJK6g4bjOtjM0JUbVbPcVZOp27N1KPxkQXYThrv3Bpx9hJ7lf64IU2xxMuNjh9qUno43iHC3dhpr2vfpFYpe5pFYQ4rLTZZynTGWZXWgNl7yvDDGQjfhg4Vn2Qcvi-Nl3SmgSspcSPosCl10OVMUiGW0tK2OFOkLyWGIU3GZBZUVxb-47lLtkt6MEVf5ngk95_awxj7ccCQw1EoblKXEOn7mF63044swodAtp0PQQhwfhsWVdOOF3CRPSuCAwoS8aR1OKWHnaLD6P3zPkzCqYDGt7hDlVI1Ni5e-_YXSdh5TMELbFdYbtk6VbZJPQeQ5QLey2_oehyy2KY8kZ_Ymdb4g8QN7NL2JG9FCuCBp8bQx53qOxXoFYLpv2aiZ7DhQXIKiDf-qv-YJCMsJm9NGExbfMHrIdPwjMIbENbfWiwicNbPfRYSpPpZ-4LkYUi5A3z-hQ6qcue_Q1A-Ek3tjOmzjoTQxCT8t7BQ9KEKSytZJb4F0xrKPMInGXUi4kuPyMfVQQuSxy6JFhmqYuA0h2pzchs1NTUW3susU1kS_9XvnFWf0M83KTU6isvegksUxdN7LEdRNkGnBbgwWweaMvIfUJHgfNjYHG2Axlz34zQaL_g70LYm5HH6Hy-1hAOtsWFDy8CTVXN19SfnKbGU4A-omoX8RFwOQX_nzj-l5_QfXuP9Y0FEvCzu-sFjLDO5z-sZ2cfKMxi2rIb1N5Ukw_Fdy8FvHvIzmk9SmFIyZ9Ele27exqgwDFMcpIYgqtdio-yoJI-DN3ej5KwTinxh9HPdtN9WsOt4fGF7t6f3gwTZu4h6_9MlLfd3dLnkNePibXLthK-uqCO6t5Dn82-wB4pNul5mwu7UonHyLr_k_i8PipWExCOCsFuYiHqM-OPX2bwCGVMmUy97z7U834AY8jSonYYG1UMEpwOzmuLC-WsBTgU0n9DlLlImpHvO7aY5pT6xSGcKr6v7RfGtF0X47fyWXhfJcOp_cMpP9HSqwoCM_jlrdnFV7khsIe0BXY0z9STCq3X3LLNia4mfivr-jTL7yZxU79cJehYua-vckff4LxO85WAPOv5zTGtoMs36GN7f-XU8voo0-6tffZOnFCx3TgGUiP3HKqoiRbNXuFg25NgLIYgfMvIlGU9dzPkI6FrceQf9KyRV7eTrb6yk9nEn8KavqQbrk4V1CTtzA2z6bffEmJmMPQ3BNE2oq6y_35aCZo5MDPfoGZooEUWhtoFGD4zouykaEh0KkMaeXr5Yp9ROQNkJf-u4VgPmraHfqAwnvyFA3K17aNKCU6xwrtik07OusksSzwGCsKxZ9TbTSJHYajQbi6o0fdt3sgFsGwK0Rn1qooYUeNR4GoaXx4oXjqXLKdcx2PXfywv4Jw05FgsBxUgQfEaAs8fb_3ix_j719i5WY8QaZkg727kFmrcWpabIIcK-P81JfuQsBReUjalg7rcEcZEo9_U26CbqJim3D6lUCRjlJyd3XraeTb3PNwBZ--0bm01ndfYLNRjLxi352Cvtfs2v5dlYapGGhsUw9EuNq2W94lPAOHBzP8_qfg84xwjjbMxSMcnrujSFalZXDgmTrjYCYMydI6nli8fiMF8b1HtalohIeZ767eiqlAFBzO4Py0StfAmZBiKx0lWQJ1Nkmc2V_ZX6uB3jFl-CfuHAh5eiQ4L9RGYCtrhV0LkLldI3im2VHcX7n-s7JwouvuKX7J_ZBnriMeT7V_pa73syCFOXIJ0WyRHNRPsDlFWpBvWFW3GDENB9xta22HIO6uu91TPRn1JuxHMEvVEeC8FhNnmJkMx9fmw2mZtTlSJhQKpRNAP-BJOQ8o5P-zPLeOR1nLO1SLMVhSzC2JGt36z6YBhcVzuDTQvFc9OKJ5BUSQKgAyv6eMUCRKqzLZ49oSzoiViPtuH26DsrCA3iJApoPg9CCO93NaHFwuXoi23IL3uFCe-CEnk5WSQQU=",
  "id": "rs_07f3cb55d3ed885b016ab430fa921087d0a31914dc6d177552",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.18,\"right_z\":0.025},\"note\":\"The gripper stopped around 8 cm high when I tried to descend farther out, so that pose appears reach-limited. The bottle body is still between the jaws; I’ll retreat a couple of centimeters toward the base to get down alongside it.\"}",
  "call_id": "call_41AEepeFO0LkdN0JJqQYRTyw",
  "id": "fc_07f3cb55d3ed885b016ab430fce2a087d0beeb13b21cc69922",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_41AEepeFO0LkdN0JJqQYRTyw",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.205, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0683 right_pitch=-0.0751 right_roll=-0.0345 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.5385, 6.4889, 1.7949, -0.0317, -0.0611, -0.0122, -0.6769, -10.2496, 8.6632, 1.9902, 0.2564, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07dd04fbeb842576a2e101c015f7beec4bf572c043d841ec85a66072e88ab8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f048177e089946829c1ffebd7ee2de37bcaaac25ef279b246634b4606ba520d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d778950230c4dcfc83e073f22ca50a54aedef016841d9d2f884c240a0fc756",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.132 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.382, -0.0261, -0.0292, 0.9984, 0.5442, 1.7042, 1.0878, -0.0895, 0.4072, 0.2569, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4336 right_y=0.1848 right_z=0.1304 right_yaw=0.043 right_pitch=-0.0678 right_roll=-0.0402 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -1.6068, 6.612, 1.7949, -0.0562, -0.0269, -0.0317, 0.0342, -8.1026, 9.1966, 1.8632, 0.3053, 0.2369, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.2047, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0685 right_pitch=-0.0751 right_roll=-0.0348 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.7026, 6.735, 1.8144, -0.0513, -0.0562, -0.0122, -0.4855, -10.0855, 8.6359, 2.044, 0.2906, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.205, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0683 right_pitch=-0.0751 right_roll=-0.0345 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.5385, 6.4889, 1.7949, -0.0317, -0.0611, -0.0122, -0.6769, -10.2496, 8.6632, 1.9902, 0.2564, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07dd04fbeb842576a2e101c015f7beec4bf572c043d841ec85a66072e88ab8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f048177e089946829c1ffebd7ee2de37bcaaac25ef279b246634b4606ba520d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6d778950230c4dcfc83e073f22ca50a54aedef016841d9d2f884c240a0fc756",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEA9VNJCsaYsR1-1muBOU-AIxCmJQxDrcT1dRG5HOsyopsfT2GcYtpe4DHr1IUIsqB1D8bsF4sJmlcNAeBg1AeWFvHXvDkUCMu7BmhTAlA1vJDnlT7rTr1TN1a7D3ffjVjtnv9vJAID1-K1yOcpmdT-hfanLwilP40YtqIYUxQQYGauk93HnO67e4HS0g1arkC8nAW6_KACSPdG4AuRss5CXb8HlxAKY14pna80hdJ4NLwe9Sm01VidfV7meRpVZxEJis7i2yrDe5Jued-Ozm7ghmkcxHf09M__4fX7ZYYM-iMASbnjFu-Jb1K9FifN_ODoEXXHDa3uvuqI49kZwX98qC1fOjYONDPtXp8b7hkSeI7Es9w6v0yN6EwtVWtldGneaLkMuBK5MlCMXsQYlyD-WNPbsDvUEM0sxesn-3fH4-Y4sJIsqebNkmHSY1WDKVCTGQjQUnKUskTcTYUui7DcFRsi_q4D1188HRXxaaezQONnTN__52ijibt3dV3VTK8YAoDHdXZ-1YsakUv6zDIz6eD_2dMUa1h8sIBiYfSSpOR1y11fy0P6o7xf5OmHSxG9s3yRSNkamBq--lTK7nCWHymSHYCOpqBOCKNQTT4nrm4xckwOVWwAY4b5UeNUfvXWmPB57U5fR6umgRm1Vhnsjijo8eKiEVl8CrGrgNfW4qwUz7fB69sZx0Otb3uxvmbfEIohtHPFeBLawjggVNm3TRYPawFL7LrEm5se_SfZWDepKpIsWHxMrXUTBJ6L2XvWlz1igWZDh1PtkWK-48_-1E1oN29bWI57ynuX4QXnW2JtSJrjz4m31vkEoLyEd_SSpF_kkqYgpdNDvizUNLjYXYE_23lk7zo-i7C8SFY8eDEyVGPMxIdo9COt4ZreE6VvqLJe8N4kOzkP6kpPLQhkP50rcLC4Z0y0GVhgqYFGqhkKfHdrQK7KVr1rorOuGO2KQB1lqO8TIjKXXoMm9rZCXtlxEa0P1cDrHrogLAf8unA9focQDrNBaeDod70OlkWIs7I2BC81lFQIASB5euRSw18GaVH7iWI_ABhxQlljorq6v0NbVtXbK4L_WdM5CNJKfQ0oOL7m7t5Mk3MZgH-PazROhcM8DiU4eKWuoGCtarRyRTNbllbrXEPkb4seKX99aXKUwKCml_vV1kNM-jwZvq-VRiJQaxgvKkgo2RKvuiYV8monAddFDzbgB2SoFvZR-L4H4pzaWoQeRbY2lKUMSiUUF6tyifAwCqcNxSuokr5HBIPnzj4fSAOyfFnMMdbB7gDF3Z0KB6HigcgmHdlvX86VHzrCdf7R8tpvaX_jclwSkMaMi6FtqzcUNK8p4yOWvesoyiz5F30kgEYI206N3bgztKbwKz0BIY0gstfbHmMkjUxLGOs1veY1w2D7JGdzt-1x5dsunWJf4R6ku8oOeZrwpjx2xBXDSXmUUh6azf7R0k1j3rc91sVJKXMjL6mnUWeKPBKnYfrRIV7PhAw5fJW3UT_5s3COhuWkvo4-mwg=",
  "id": "rs_07f3cb55d3ed885b016ab430ff203087d0994ff4122c29be26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.15},\"note\":\"The low target was clamped again without moving the arm, so I shouldn’t keep pushing into that pose. I’ll lift the gripper clear and reposition from above for a safer approach.\"}",
  "call_id": "call_IiOnWqziqsac6XjR2vIaBQJZ",
  "id": "fc_07f3cb55d3ed885b016ab430ff855887d0b09123f120851c87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IiOnWqziqsac6XjR2vIaBQJZ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.506, 1.7176, 1.0389, 0.0055, 0.3393, 0.2081, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4397 right_y=0.1806 right_z=0.1187 right_yaw=0.0871 right_pitch=-0.058 right_roll=-0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.5932, 6.5162, 1.8877, -0.0171, -0.0806, -0.0122, 0.3214, -9.5111, 8.2256, 1.663, 0.2759, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e819ac538adad95ea8d1789a69cf8e1235dd73c6372a06f6d132a6d24348cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17afcdad34b753fa5676496075e8fc0fe78d2e24ab0fea1f2de944a6c1acfcc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd92ba8f919def4564589581456534acfb68c40a63e664b54d0eb112f0a9651",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 4.806 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0261, -0.0292, 0.9983, 0.4889, 1.8523, 1.0782, 0.0605, 0.3614, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4589 right_y=0.1774 right_z=0.0834 right_yaw=0.0431 right_pitch=-0.0887 right_roll=-0.0448 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -1.5248, 6.6803, 1.7705, -0.0513, -0.0659, -0.0171, -0.6359, -9.6205, 9.9624, 2.1368, 0.2076, -0.0073, -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]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.205, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0683 right_pitch=-0.0751 right_roll=-0.0345 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.5385, 6.4889, 1.7949, -0.0317, -0.0611, -0.0122, -0.6769, -10.2496, 8.6632, 1.9902, 0.2564, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.506, 1.7176, 1.0389, 0.0055, 0.3393, 0.2081, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4397 right_y=0.1806 right_z=0.1187 right_yaw=0.0871 right_pitch=-0.058 right_roll=-0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.5932, 6.5162, 1.8877, -0.0171, -0.0806, -0.0122, 0.3214, -9.5111, 8.2256, 1.663, 0.2759, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2e819ac538adad95ea8d1789a69cf8e1235dd73c6372a06f6d132a6d24348cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17afcdad34b753fa5676496075e8fc0fe78d2e24ab0fea1f2de944a6c1acfcc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd92ba8f919def4564589581456534acfb68c40a63e664b54d0eb112f0a9651",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEE9UmYLFqjpzpcwSnCCtKFaxckjdFfRa3ryiXmwxzXgHClPLQBNc8N4MWOaWnKvD-RAGNuD_9gKIUja6X4ScX82Xy-516G0DtMM0HySUGawtH7NRQ5U18u5pfhdDqXXOehZ-mNRr0upzzsDsRcEcznRWIT8qXzJ4f0OARJVyOqHW4Tv-e-aZ9tmcyQzQ_Is--j_3u_Cg7IZn7_0hssR74fsw_vw7oPgNC4sb4dbLah2fFsYrlXgHKuHyTh2uPVlSdbr74qiacIOjFTYEEyER336uC6kPSPzr2rV9MevCv28bk1DM_RETrLb7F3aqUvppFUOGh62Q6jXt1X3fhSiL3lP16wMvxLg7hyb_eTuRtiNaDf-exzmo3-rCjj3cScoV6U0K353DQ_9ow2lQm0S11kg7eW33_-Wl5JfH8A2knI-Cgk_wCpR9O9u1_V0kJTgTKVO_jmdB0Kl4ibVn5Dkdklg99EGm9A3WYopNgg4l2ONHUtRaGU2l7jMSiBcfDSqZXfQdKRDzIMjtKz5Bf4feGVNlOkdSvnYt7bB9sf8KN2kd6CpwY3_mGHwEMMnoQHIzC6ln7Y26JFuAZA_YHVk09cj4_9_xSSsnNvDnbxIeR-7eqoM-TzTNs4__5DOq2zoZsMR8AI6l8V7hBlavlsalXQqM3U4mYOWl3BdOKnQjwxXZ8dpekv3z0I7vjgqiiT6RE2T-T3jaPIOVi_R7k27e9DbaKK_Kawawz5qN72uqRILb7wcoY8YdGI0A1cQIdLnN6_q2pTJfTUA6CRWaLoUT1dDNPHn_yOTE4Oq2h1mF9jtFMoigMc9h9fMMuyF1jgzAHhdFbptZzC5d3FQ-yshwkjnJziiYGKZfE-4OFfYvi48Z2Gpo4qoTxRb24VxZVUTAE20hAQHo-m9pA6zFlcJXJQWs9hslhWeLK_HMfAexPbuYS1msJm5bJX_gTAY8wW18GQYLO1VstWHuvrMv3wzPLsC5z0spFxaPtGMZghIXBB012topKx0BOkDsxaN0LZqnUEQ10OiulxktFvW0b3EO60MLF2w5R-QyCmAnnp7fPEDs6LE39zvCQHghpkK0H9x_utjSQ54zHqYBhR_LaOx5aCFedgkG5XKSaJqxv2BW4hQgIlKSCCXf9s51C4zj2W4-RSLCHdLj2B1DaYNnGHcUUGLvc22O-VuFlJjgXKmKNCqmM0ZbWy1ZHPTiibwf58Y2Ue9zUbhpmWPedGRy8Gu3xJVPl0FtYgSARp9OnfDoM-nO1uXO8gwzePBuMksw4xGmxRgKIgcEnN3xNZbSfLKqUoUEDD6zZ0iRjfJHmUK4Xzi61HGdosx5vFX1xKaK0E46TJ-ZzO1lrlbCP9SOfCABfj2TCFNmSu0S_ydo6B4bmO36Pp56SY240pt306eTKmLDCjsdgRrKDBXM_xKK_uB576ZeUhIEe0lPlSqMG0KrZVZ5XH9AXZW_09Xm8iXdWnI9WYtAvtzGG2oRQQgKcx_P4MPeb0o0cne5_Gu_mqDLM7aIq-nZJEbrrZ34bGYoxK_Qv0FgWhRNht2Eeogxvo7tWy-2XRp6jywx2GFoT_W91hnK1X52q5nM5HrmO6B1IdQvrMUBho9wptIIUVkZdWF1zRLZOjhREr6bWJtwlAFWA3yaiMNB4pnC7y1o3ijtuKB4YB4Au70D-FzQAZZ8FRsLj-Lg==",
  "id": "rs_07f3cb55d3ed885b016ab4310205b887d0a6b03953c1fc1f5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.18,\"right_z\":0.05},\"note\":\"The arm lifted successfully, and the capped end is visible beyond the fingertips again. I’ll approach the bottle’s nearer middle at a shorter reach, where the gripper should be able to descend beside the plastic.\"}",
  "call_id": "call_qW3VrGCXXFObPrNusez58qEw",
  "id": "fc_07f3cb55d3ed885b016ab43102f04487d082cd748ac2c944f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qW3VrGCXXFObPrNusez58qEw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0265, -0.0292, 0.9983, 0.5522, 1.7702, 0.7341, 0.3099, 0.3634, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3927 right_y=0.1724 right_z=0.0345 right_yaw=0.1043 right_pitch=-0.0995 right_roll=-0.0514 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -1.6889, 6.5709, 1.8437, -0.0171, -0.0611, -0.0122, 0.4308, -6.3795, 5.7915, 1.9609, 0.1832, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5889e841048d2e1873322109ff5c46ef34d57a16c623237a2368ef13fff4fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d599f88564ef12da187805164e352f2740c54062162c164c44ed38ef6d17f08f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a14a0253ea377ac1076e20cdf419c6fefb43c80ba52bfdb335cbd676b39980",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.139 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.2047, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0685 right_pitch=-0.0751 right_roll=-0.0348 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.7026, 6.735, 1.8144, -0.0513, -0.0562, -0.0122, -0.4855, -10.0855, 8.6359, 2.044, 0.2906, 0.0952, -0.0073]\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]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.506, 1.7176, 1.0389, 0.0055, 0.3393, 0.2081, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4397 right_y=0.1806 right_z=0.1187 right_yaw=0.0871 right_pitch=-0.058 right_roll=-0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.5932, 6.5162, 1.8877, -0.0171, -0.0806, -0.0122, 0.3214, -9.5111, 8.2256, 1.663, 0.2759, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0265, -0.0292, 0.9983, 0.5522, 1.7702, 0.7341, 0.3099, 0.3634, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3927 right_y=0.1724 right_z=0.0345 right_yaw=0.1043 right_pitch=-0.0995 right_roll=-0.0514 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -1.6889, 6.5709, 1.8437, -0.0171, -0.0611, -0.0122, 0.4308, -6.3795, 5.7915, 1.9609, 0.1832, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5889e841048d2e1873322109ff5c46ef34d57a16c623237a2368ef13fff4fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d599f88564ef12da187805164e352f2740c54062162c164c44ed38ef6d17f08f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a14a0253ea377ac1076e20cdf419c6fefb43c80ba52bfdb335cbd676b39980",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEJeTKuRGzyKrDNh5Wkxmypu6UZSQdU61bPgH5oZmTfMMFKOh27_PmpLkXJABgJYwkstIojZl0gniNLi_OcWT8fR-rgqOckDZrym1kskptnXEuP8ybCyVXMenk0k8LVRKelc8vfD3Wa7X9VwUIsoTt5v1cLM3MF9iUESOAwxt0mnJwGEITwGerh4ePu-AJ0YDG6cwpTlKfv3McJJfl56mB-0CLbwTa34UZGwwHEeUZIvyg-KXCPAfvHtLinPfCdiO1AnASOpkOSHcLs0ICltD9KLXi6Yvms37Ft-_tT9YKLN97p6acqGRq6sJHNr18Tv5rJHFj1fUetLjCouZdKJlVY0jtycpqpqEwAYNCUuOZpDsMSEqZeG7p02Cl2XoY_11CsqtpYOzi7mAQ6qXvz30xPokpl4Poz7EufvIzy8Z4jI9KhiGHnkwTQo1wtEFsEPaChSiff2AbM-Cuw8uKoBl-db9yQ44WifJfyGCURkQHVwR1JnCwzJqBbEm1eJ-_RqX62ADygO0XaKZmdLY_Q9Oq6mYWPfbSGIKzONll7F-g8lSQCicZDs-NHMhkFjuMmITJJBMCNg92RapE-ONT6Cul2lOSWiZk1yEBMFzer55Y081FwBpTFgspXAYz57P8Jx_YnIZiLcldJZQxPMKXGZQvdgXt0IqXHmAb2BGsDUylEObE2jidi62l0At1CFCoRcTMePvz-BvtPVNPOFP-UttvPoya1S5w6bIBb9yDLG-__YiUNUJh7bw0krJ8OE0cZa8WYj0JacOqm-BXPV_5Br5EFH6t2myM8hUISwvIZxG5mdPPXdmnCcZgGo4BMr73L-43Ny5u_0tPrOXR1HRF-qGEfGCd-thNwyFdLsjjGAvZSaoXbkcWZAzgMhmMaWjdJaau0mQdNB-S1efkvbvhKHy_DYq4klOpqi1fi_-dPanSZXVGyFYe2i83LokcDSD9L5LiBk4s2NbYQmHP5w2ZjeHtzZ6sArQTU_dZeRUnR2eGO2xIZy5AjHNUJeN0WnWU8w13oBN579DP1zM52X_opk0lC2iDFdm-5MghX5_RdMLLBYHAOdSZOopvjKgL8Cy7M2Nm5wXo8JlGmQSEdPUzfop52DCuzLtp8v1v6I5K9DAeK8gWnFtM0e_aX86rPKKK2fNkPgi13Ewq2ZxpH1GnqMPNMMBLOElF3Fxy5jDpQ6fn7DFd9Zu6EXz1DKvik60ea2lrp_Fc7MaE2bQT0IYRwerfWyqkUo1LA_n6rRsuA22p-GZruWFzWZ63opstQ9o8NHLZw-dyUvFqM180wtkq6uoRIeDtCoGX6zB9OEeVp399JPwUEmweW3fstdfObmAtosuFDnztmM67Umke7zWLx62WKvueYRGPFrHjVYXAV2jc33qYjGwocZZVE9P1LrPzz6v8ICXWPTU8b5KDpDmfy5Jk4dclco0KoI8hQhl24u2md5XoAvBKfdbfHKkGVtVD4swseS4cOdluPWQQGZIvyT1RuDQt46-w1CqFR9lmHsG0eu-HitKVqMt36Z1R0hyZhFcaRVx-Tx1OkPUJMbUfLdTbym32aKEUqIWzYq29_K-eKQx9y-9BAGxzva0tg5r3eGvxwUSAsMttyRuuc6dz3CpIh9iYdN34EOx2t4cPs0UyUMMSSNBMn9S44-0PN6xRoFHD1tJSmif2jXFlnwSI3xnZx4oZTZxhgrJCY2Yi_cc2FrZ1j7yXYYEkNUEAGSZzrmxff3EVUh-Kr3nLoilpOJ6uxHA6rdH1Vq1k4BPj2kPFcRTk3IhsHT2LMvVIGO6HQjVZYjalWL52FlciI4Nn6vdHu4APF33gLS3ccvFcCZ4GhIhAHCrBx7vZOPGl3qRopgzkN_VFknaDQs5VJ1xZcbZrzhVzjh57YzDg4rGdMFoDCHbjUx_xChov_5evkHVqnqKDN8ymEf4j4xV0qruMPlLIeQYjE6cn2rmzB4mrRP7XN2h6lUlcVAbvOPy1XTPETx0gwNTr8aaKibZlqjjN0d5h0WbTZ3pdRd-j2ICftbiQFDvOoxRmmdMQw0PWjkRl_aSahdbqLlBwX3WesDrVHAc7aKQ8FxF5NbE53hLkGFV9MsyH0G8wNpEwqyJZpbEF8VmUCCflagIJp5De0NF2baVf5QGmUoFjsl5Pf_3ZQrrOIz8A2_VbR1hMvDzDp619h_h0kGhRYRDU7d39p-2B6zTFBaEQpC2Iot2fn5xoA8GxAVBAhzSVhl93K8akmmA14DRbg5SHTfJrSb5lvcmnAQv099dfHGrq3rWl_estZmmbvptkYgrpsCLywg9qLHjZyl1Nfx9qlz2r10WeVJk9cMO-FXBRHAriO8Jdk-9tLIgyJq64JNJpqbyb6imyw5HJiY2rZRWXSblYtXgDXHaj1rZ3jztuTiPz2D0aXKkb3sBxrLoww0413OW6A_iZxdW0erALeMQMs4ZJkyrqj0B7DckmZ_aVLX58cOyjmG5N17-kYhebdw6Q9e4h7PrFO_ZPH8sf30b7P9SZQLjkd9tuCGGSARElBww6A3gERmCNiJFpE46QSr7DRkCFxuBKya2g76rNOGM5XmPzfnn0PcyMgg60SSf75KcNulNrGiTCAe9b2q4piL4Geh5WFg567Nk-C_n61D08-vtwECuMrzkdt4P64Wb4ANjNrgLHP2WaoPvnQYNw=",
  "id": "rs_07f3cb55d3ed885b016ab431058d0887d089d0770d88ce7584",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.155,\"right_z\":0.045},\"note\":\"At the shorter reach, the jaws have descended alongside the right bottle. Its body sits a little to the right of the jaw center, so I’ll center laterally and advance modestly toward the capped half before closing.\"}",
  "call_id": "call_dplfOcMCxZUnYrFLnxKZQAvw",
  "id": "fc_07f3cb55d3ed885b016ab43108b25887d0ada86448f9ba19d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dplfOcMCxZUnYrFLnxKZQAvw",
  "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]: [-0.02, 0.8005, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4603, 1.8145, 0.7208, 0.4435, 0.3019, 0.178, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1821 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4156 right_y=0.1514 right_z=0.0337 right_yaw=0.0887 right_pitch=-0.0458 right_roll=-0.0208 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.6889, 6.4615, 1.8144, -0.0757, -0.0562, -0.0122, 0.1436, -7.1863, 7.8154, 2.0684, 0.0073, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2111c86f159cebf1232508bfd2243486ec1aff5fb747fcd7e76de0c62d10cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662ee9ca8ab293c6b185e3d2c839f17e9fe37e67ec5f7b26af4e7a420a85fccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfd2fb7d591ec22ff03796d223e0b36498b12c2ec574e85f341ca60aa4440c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 3.512 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4839, 1.8786, 1.0893, 0.0982, 0.3367, 0.205, 0.9984]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1824 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4661 right_y=0.1831 right_z=0.0812 right_yaw=0.0683 right_pitch=-0.0751 right_roll=-0.0345 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.5385, 6.4889, 1.7949, -0.0317, -0.0611, -0.0122, -0.6769, -10.2496, 8.6632, 1.9902, 0.2564, 0.1001, -0.0073]\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]: [-0.02, 0.8001, 0.614, -0.3828, -0.0265, -0.0292, 0.9983, 0.5522, 1.7702, 0.7341, 0.3099, 0.3634, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3927 right_y=0.1724 right_z=0.0345 right_yaw=0.1043 right_pitch=-0.0995 right_roll=-0.0514 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -1.6889, 6.5709, 1.8437, -0.0171, -0.0611, -0.0122, 0.4308, -6.3795, 5.7915, 1.9609, 0.1832, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4603, 1.8145, 0.7208, 0.4435, 0.3019, 0.178, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1821 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4156 right_y=0.1514 right_z=0.0337 right_yaw=0.0887 right_pitch=-0.0458 right_roll=-0.0208 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.6889, 6.4615, 1.8144, -0.0757, -0.0562, -0.0122, 0.1436, -7.1863, 7.8154, 2.0684, 0.0073, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2111c86f159cebf1232508bfd2243486ec1aff5fb747fcd7e76de0c62d10cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662ee9ca8ab293c6b185e3d2c839f17e9fe37e67ec5f7b26af4e7a420a85fccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfd2fb7d591ec22ff03796d223e0b36498b12c2ec574e85f341ca60aa4440c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDELVOvTSKRbFlzOBnBgg59KseiQs2osFalCO5PdONeP3P_o3k-hmoeeqJo_wp9Yl3HHHIXNpIgEEBwgPp6258fN8q-sX_M_1Z5y7pNFawbYYm-2F2cbXOHMyCCPktCapyP5beTP82h9h9mvGrqWzEgM7ALHySZy59KGoMqykwRT04LCUSPu2GW9RtWZyF0N8r7cCMd6I-d4XeaCK0LibEg3TdAfjTJeELOtMPszFjXo3pMLzQ2yfB2fQXsohZK9C5cs7zhiDE1I4-ZLwMbi9zQrPk2sO2gxay8X-XPwo5iQ0TSqPuF7nXKaDWr94n22W7jsxm0P0SEeubviVmlXzFBnz7jXszphAPdw9T_HQslaUTwf0gAKgQro3yOpGgRO5OIg4gkR74UF0KBhijD6mpDuFxG-K050PJNqQKdHB-bGKE9U9MY4QOV07UxfmyXI6ptfnt4rrnlXKpSWvYP9zL7UAid5QENDl-XmtPG3FHIhA0h4FTqy7-vweK5uahUwywMqJkwUoTmXwWktoFKshbpz2OhVPLheJufrvr8wx2P2rxTv_ahLmWIKhj5Jn72vdp7LA7TAdlSYO4Nn8tSL0Qetq5bn0egxb9uKoCCBIwdzIIviH4F7VZNbIiSc4kXQEhbYTTAxlK1NGwtMntGHobYudlyWGTaPhhrCvOTtkI5d3o9rOKwhOjwZ2K8-9mhoV6_67x2AvqL_eUKNdAvmG2fQW-z_kFcsLsx0ghO3PQKsFHeczftrZ2AUFHrTRbXkaQS2rv5ZroFMI9s0YjtNEyOo2KmLP2fp5UX-2P4NQAQgcRs6d37UQAPEBWoeBQtlj1TcP7GkAp5TNOKK4hf4imwnZUliho6sPb6mzDYMA1BiTx5bGDYYlHFnktfrZJrn4pEIEYB1zeK3pTepZwlJtxrEarjvcUDGcSlHCL_Mg7aNLn6WNNyvj3yiOAz2lHYJoflZwcEcim78xUfA2K2A9KLIfQhSyPJbGn2_0Nzg4OjpY2XQzq7dK9Q5RgXabhBzy2BGB4zv-fzozz6EiJFG8JaaeRuRxvJLiDkzQhLX9t8kzBfyTwEUJC5a2QG00TskG7BOgdgxhLzAi6Bnnd38X_f4Ew8whiPqX6cHLDhn9hXik-Y9-9cWXvslheCiEk9xv07bW7o9WCsVT6pLcoIFyFn0dL8jtc1dcOVUKllEuetqGmvGg7bOQuGFvXr2JBKB46wi5rlRs5RijgGNVAYDM8IiJOpQ54cnSk4YxZfgapvVo3Z_NCYgpqC3G2mIxtjGdqTBR70EhcZWBgO4lWpZvVjz9FMFsBgdyxSoVtJxyXP7gso-tYBuAPPfIh8Z7dOPAXFa7rHRL2OfsPDxvMUPUj--k6gafF-VCQtGFA5E-hrq91fVkIfXNYi9WLkLFGT-cs3nuSklPYqIK_OyhRQ9WTrx6g==",
  "id": "rs_07f3cb55d3ed885b016ab4310a7bdc87d0b7b5c925be12c00f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle is now centered between the jaws at table height, with its shoulder farther ahead and its body crossing the closing line. I’ll close on the body and check whether the jaws actually capture it.\"}",
  "call_id": "call_RsTFewZZ5FG1Mjh9RnwUM2j8",
  "id": "fc_07f3cb55d3ed885b016ab4310b245c87d091edca84cd4fe76c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RsTFewZZ5FG1Mjh9RnwUM2j8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.4587, 1.8187, 0.691, 0.5961, 0.2901, 0.1707, 0.3475]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4247 right_y=0.1574 right_z=0.0512 right_yaw=0.1005 right_pitch=0.0628 right_roll=0.0216 right_gripper=0.3475\nstate[joint_eff]: [-0.1026, -1.7299, 6.4068, 1.8046, -0.0122, -0.0611, -0.0122, 0.1162, -7.3641, 4.2872, 1.2625, 0.1197, 0.0269, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b963109015097edf0a79ddcb7ad3ac658aae446859732e9daf0850ee6689e2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b6dd7fd64bbcf4a023d909c2800a3e5676455c9d1ca65bc838a60bc973e83c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd861838953c1c38146bc085345cc37a017795eb5b307bc16aa9b0c2aebb2b99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 7.83 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.506, 1.7176, 1.0389, 0.0055, 0.3393, 0.2081, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4397 right_y=0.1806 right_z=0.1187 right_yaw=0.0871 right_pitch=-0.058 right_roll=-0.0263 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.5932, 6.5162, 1.8877, -0.0171, -0.0806, -0.0122, 0.3214, -9.5111, 8.2256, 1.663, 0.2759, 0.1734, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4603, 1.8145, 0.7208, 0.4435, 0.3019, 0.178, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1821 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4156 right_y=0.1514 right_z=0.0337 right_yaw=0.0887 right_pitch=-0.0458 right_roll=-0.0208 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.6889, 6.4615, 1.8144, -0.0757, -0.0562, -0.0122, 0.1436, -7.1863, 7.8154, 2.0684, 0.0073, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.4587, 1.8187, 0.691, 0.5961, 0.2901, 0.1707, 0.3475]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4247 right_y=0.1574 right_z=0.0512 right_yaw=0.1005 right_pitch=0.0628 right_roll=0.0216 right_gripper=0.3475\nstate[joint_eff]: [-0.1026, -1.7299, 6.4068, 1.8046, -0.0122, -0.0611, -0.0122, 0.1162, -7.3641, 4.2872, 1.2625, 0.1197, 0.0269, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b963109015097edf0a79ddcb7ad3ac658aae446859732e9daf0850ee6689e2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b6dd7fd64bbcf4a023d909c2800a3e5676455c9d1ca65bc838a60bc973e83c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd861838953c1c38146bc085345cc37a017795eb5b307bc16aa9b0c2aebb2b99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEQrfQ_im5nWxuaSbSxKVzlREdlwsxG4BhTP28AcVMcUpo4wf-pewx8p6xZKQU_73AkEaZXqJBkyZuXGlYWqpjBHyPUlpsSGX_TCnFoLgifjHWmsuI0BYovFoYbcxFHNS8TeINoy9NI0Gc8ZKFNntAwpt0fZYDa0C9sH---TA5La7JgJvEEIT2m819Pu9dygQ9oqG5JBljBpBbyu8oy5NS5_PHYoYpq-2DROlvxwvXdU9hMt4deBGEgN9izj2uJ7v-3Ud9LZ_z_usGiPy8EmoM3BDqg_zoTa1dcJVkvi7a4HavCzHnrZbJ2Zd9I2il7o-UtXNXV0zLfi3uVK8sB4TfpoR649-wbt-f7AoRoktEW43KJj6-rJF-iMUoxKxGNFSk_2VP48-DN5qdJOf-mN9w_uSfTqb2H5mEOUWGiGN7Y10Yz91o2UuBaxHj6I81Prmr-hA5ljqWq9lf2GUJspgAtK8H_0wslMcAWVSMPRZgEmMZX9Qbzd6ZNMyu96u8Zo7Kc6Ij4azr1mOY94GxaBxQTnRB3DqhuwEGJKi85nbkU8Y8UF4q1iJpWVuGK35YfDgHGC9J7ywvcroDLMab3KwJia52JHWk5Dx4644o0w6AvTRwkxvbVTUns2cIxxTljF_rkBEY6WwEyrADuGnRbK4LtvEKm0LE3PCJ3S2Jp-HqGDPmPgT0zgU9MWLOLeMC8W4Awj_UoxH_UF7hzr_jiELxpomTRry_fX-DK6nPMuhqdgZDUzLa4YaenlR5eKtJvMfmXoltLuiKZs9JwYBMDS0ggOFBWwCxd8eU7yfvJC1jgxZ7Y1O6wBm4bnb8AD_2SNlJ9UMTcq31fJs9WpvLOgNn50IzmGn0thOrE1C3UpvuKLPFl5vAbdIlyovLzyv7vSeWjFxnxUtlutS9aseKL2tr5tpg7CDaWcvtl7NlIslV7pw9BVIOlNVlPvvooS6nPGF76kt-7UIsJRtMAMmheM3PTGO8M7aGS2HlxLdOSqKUqXGLG8OgmNfIwiGkuvFMLKL27dOVPLSeP6F-JVoyQqgkUB_9eE7MTU6TxhILXjxfa_yNILAdMapIPiKSAfhf8wBYtChD4kQQo9Pt48jc9Ov1NWo50zzCtG8lq323Ex3-0k3bGTMak96gTnSGEx4GXTWKcrgscQWZt1V3K4Q9Pgi11-9bnHdRkS7AyUa4qqntrIMh6Ag-eKp8Y05BoxqmqAN0Fw1HsD0yhb7DY1FrmffeUxYty9VGPETEOcLcHKNMJ74Sr_-OUG6p3zqQr6FnehUPwvnAV2elAxgHVsCRgaKrXmPUHkdZj3gfmAHBZiVRStFAqWlbl3BD9SVyAH-I7QT-rJY6HNJ2m-Ot3idg5Ej5DxjjwsbjgkT7bl6ibLMcbFjXmqJ9bU9euVR9W38PmkdKFdkzN13zBnS0dxzCFInH8rgEnTuovGV8yNb5QMJMthz54DX_PfgJv_F9NipwGIj0GEKB5R6-2KhOBg2uwynp95wZ0S7PvOHnatVNLO1DxSuVAXCkUbDF7BeL3rwfq9EUk8aKXs_3lDqi1VewV2ct0Tdybc5b34KyC1Qtsz0Bpnwu6R7iSx9K300rMfLSDnEuFOZ4UiU41Ie4_cVCKIgQrchjZtbJkv1nCNZrF4D42oyJgijS3512LaQpZJ3QVMROgLGtuvLrjXS2KrPh2Ug6mF09AYO35Mr4FK1ztuBxRErPeO6By57HXqYfzT-MgA3B0rHxRqg3Ec1w2sOoQRW-o04zDZCFe2oBbi7HrxY94nTQNrOLnXmw3WILz5a9T777pxaHk5pukDGQ8Tp08Vqqvh2dapGaJAI-Jj8TVhTza-LRDD3BJNgwWoVHESNvX-HJmtygU45TYLQhR-fdxmMH-Ys2lfmsiOTfazyH1X2qAwdcp70bqoU14J-cmdRhfBp6YkwQ5KtUinlYI9WnIlD90qG83gonNMoGsuLxiM8oLv9muiNbTYchUHUChLM4oJ6yG2u4aKg8jjrTIrBrbGb00Vg==",
  "id": "rs_07f3cb55d3ed885b016ab4310dcb3087d08907dfed02b83e09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.155},\"note\":\"The closed jaw spacing is about 3.3 cm, consistent with a firm hold on the compressible bottle. I’ll lift its gripped half while easing slightly toward its base, using the base’s contact with the table to rotate it upright.\"}",
  "call_id": "call_OZCDXvxzpWnq075dlBOBA8ce",
  "id": "fc_07f3cb55d3ed885b016ab4310f388487d0b16578e5dd3fb9f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OZCDXvxzpWnq075dlBOBA8ce",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.4736, 1.5448, 0.8673, 0.0315, 0.2867, 0.1669, 0.3478]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.182 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4065 right_y=0.1562 right_z=0.125 right_yaw=0.1206 right_pitch=-0.0452 right_roll=-0.0197 right_gripper=0.3478\nstate[joint_eff]: [-0.253, -1.347, 6.5709, 1.8144, -0.0464, -0.0073, -0.0122, 0.5812, -9.265, 9.812, 1.8974, 0.3101, 0.1441, 0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb744c0e93eb475ae588f55b575b546154098644455fd83dd8b6c647fabf92b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fc946c19674d96737053d09c7feb602b608d775be970a123397cc11becf1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e275808a2e4f96972689b72f2a08a67958d9784825f9beb3ad2cd6ccd94f0d7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 6.748 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0265, -0.0292, 0.9983, 0.5522, 1.7702, 0.7341, 0.3099, 0.3634, 0.2222, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3927 right_y=0.1724 right_z=0.0345 right_yaw=0.1043 right_pitch=-0.0995 right_roll=-0.0514 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -1.6889, 6.5709, 1.8437, -0.0171, -0.0611, -0.0122, 0.4308, -6.3795, 5.7915, 1.9609, 0.1832, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.4587, 1.8187, 0.691, 0.5961, 0.2901, 0.1707, 0.3475]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4247 right_y=0.1574 right_z=0.0512 right_yaw=0.1005 right_pitch=0.0628 right_roll=0.0216 right_gripper=0.3475\nstate[joint_eff]: [-0.1026, -1.7299, 6.4068, 1.8046, -0.0122, -0.0611, -0.0122, 0.1162, -7.3641, 4.2872, 1.2625, 0.1197, 0.0269, 0.2418]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.4736, 1.5448, 0.8673, 0.0315, 0.2867, 0.1669, 0.3478]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.182 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4065 right_y=0.1562 right_z=0.125 right_yaw=0.1206 right_pitch=-0.0452 right_roll=-0.0197 right_gripper=0.3478\nstate[joint_eff]: [-0.253, -1.347, 6.5709, 1.8144, -0.0464, -0.0073, -0.0122, 0.5812, -9.265, 9.812, 1.8974, 0.3101, 0.1441, 0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb744c0e93eb475ae588f55b575b546154098644455fd83dd8b6c647fabf92b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fc946c19674d96737053d09c7feb602b608d775be970a123397cc11becf1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e275808a2e4f96972689b72f2a08a67958d9784825f9beb3ad2cd6ccd94f0d7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07f3cb55d3ed885b016ab43111c6dc87d0907c29be8ec090d6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEYQBj5ZJsyWVSLOzYPnpnE0y-dbH83F-MM5jkeG741T1jqX0LgzayU2d7m6pGPnRPH0QcIgvtyuusOE33cV4wr5XjgVt-78YH0yOKKfsUJpJBTQHntV79Fe3wVsVy4kG-JeaLrgmHiUuC84t9Dv1qIb8FtsO1Huk-vjVkN0vQVtAo9ellr_8Oc6MFLAh9w2vm100mWCdWwWndChJ4iKJhReZ9fBwISJSXmPhcMH0n4VVfHhCIn0M49P_lB9UvJoGU0Sg-h9kQAJcxbRYaM2MpGDYF5tDpfEQveGzzuNwWdOAkmvdMTM8NfaztoUgNaxKFhom4wHi3uwvD2WgO7vI9Qfr1LMAQVs9VLAdkcXsI4skVHkPCjfXmAl7NtQEh5u77jDe3c5Ze1MnPY3Oyn_uEjcGxKtegTg8K5Mw--kzLn67FIqq9EoShBnF4ymldDLUZiMC-eP1gIF26zzJqC5R7N5siLjH-QrcuPjQEfcm2pH6YK8wzNZoLYEEJr6aqwAhNMhRylsVdPUpGYKKE4CCaQa71DLSYk0l9KLetFJsDIcRk6LHNMXR_hiwfcUthFKnBIL0nZGEoJGWrO7yitjwVfVXLQV8nTRUNkBNqh3LlJsJpWzsEatj4KGPrupj1esn9EMgGGLVbQXKXr9OM_KCZlFgBF0DhVOLkZdHDTGf8W2xRZH1Ga02w2rNOconNZ3aggxWR9zbUoLv3p7TZxWW2fgBarjkG59A_CuX7nVYdMVn_2W2fRzmMVzLe64ayN5_pdzhXk10qvZVD3dQixaBiXSw5J6pTsPX6yiQeTSXCE66kBF3znpcVlKH9FjEbMFv1PVB3khlDA3gNJqG0aH714LpJdOUCeJMwVrPUTQ7v-XSYqCxoXYXmxLEQ5BK4m53x7MzSuGdlvsRpRDUGWNTwN1BtsD7sVXsEGsDxl0k9efF6jbkTheX8ayH6C9DxsrEYqBbGuke5VQAjmyqhm0gDd9DRowguklzJEnj48PKUSZq4kzGrv4bHteqmVvFD7N0Qc8IfTXPcfVhLCkGVqh5ewx1cR3jIk8WQ8sC7XwRpHo1qly2e0TzyJqSVTn-fk-_CV9LkOtYLorlBUWVUNtqnsfUixTC5HGI51EISuXudqfDzJ7StYB55SNPLqrYK3a7ZX5e4wLUT9OB5u0E0bm4XfD0BvdQ4Gl9QdHFVMijac2z_SCMlB4xkbfZEA5CFbp-Kwt0J1ruibZ89rjA4yJTNbOzdU24FpJqmk8OIcvRmK-4-ud_x3gERYXoMXKNDquFnWogQ008pdu-3FvKhSd_Rb5ThkExrlPc83GpA_k1qjxClztBSmaEgfjLGWzXyYyq5FXnOjH0Z7YJKGADycVcVJXmAYmPuOfEXiqEanhgJLVjKx2xW2KnzH_p2iSsoIwt1V03oqw18czfkWVqadjRlsNBW5K1LYJ7B9ARFTfv70rtgtLA27BgwPmngHO5GFugDl1ZvHGYkSPkUkM0JhrDayE3FrCCbuu19AnZjRWr1uA8JcfrNQxAzUa7sa_UdmNBW4nzGXTVe8uKt6aF5n3sn1h5_X8grKjVny4HYE5FuZwZlbTaXWKznmtbfrfMZWNK4oKiT0k5nemmnJ-0jghVMwBZbqIiBwKVubaXPI9CKWygDjpjx7heVODtLPfVIQQONwpD2RUVx_YB5K9I0jOU1kbEEGwV74LzExRYZ2XMSyVDjVGC60K_NbGQJt5pH7rSCsByIdNj9TESiLa5GeiGZlU3syKNrPnyi6LwrZuhr2lPV2mpf0aggRot8Erz44sNrYsWY5ZYYIPXULGFGDLm0-LvRI7zUYAF9kVBWX3GEaT0gRVyzn6DUUULuBVmFV5uhT9oQsmAPg8xu_iPDp7p71uoruX-2wIimuge6GFeGHDGhCoQ-Bcu8W_4j3tmUgsHYj3nhG8cZVJGUO1kq7GgDl6XjVMCyDw1TgyKfXLO7Nqm8=",
  "id": "rs_07f3cb55d3ed885b016ab43116ce2487d0b9afc36d71b95ca4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.225},\"note\":\"In the overhead view the right bottle appears shorter along the table than before, suggesting it has started to tip up around its lower end. I’ll continue lifting and move the grip toward that planted end to bring its axis closer to vertical.\"}",
  "call_id": "call_hGhL4GFcqx8SASa5o3pzSR36",
  "id": "fc_07f3cb55d3ed885b016ab43117c7fc87d094537673f645da05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hGhL4GFcqx8SASa5o3pzSR36",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3828, -0.0257, -0.0292, 0.9983, 0.5438, 1.3262, 0.9791, -0.3023, 0.3157, 0.1833, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3659 right_y=0.1613 right_z=0.1974 right_yaw=0.158 right_pitch=-0.042 right_roll=-0.0238 right_gripper=0.3479\nstate[joint_eff]: [-0.3761, -1.6615, 6.3795, 1.8535, -0.0464, -0.0708, -0.0122, 0.0342, -7.3641, 10.2632, 1.8974, 0.3541, 0.3004, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d455f7782192d763bf516595cb431fb5225dc182ac5247089395731ce84936",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548607b59da230ac4b2c6545aad15f3cbbd58c014c7fb8575aa19f4144ebced0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231faf3bf08229631badc79bd584a74e0e308ca0e60b615349ad2cad5bb9be01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 5.701 s

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

message 31 changed as sent

message 39 changed as sent

message 44 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3832, -0.0257, -0.0292, 0.9983, 0.4603, 1.8145, 0.7208, 0.4435, 0.3019, 0.178, 0.9984]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1821 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4156 right_y=0.1514 right_z=0.0337 right_yaw=0.0887 right_pitch=-0.0458 right_roll=-0.0208 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.6889, 6.4615, 1.8144, -0.0757, -0.0562, -0.0122, 0.1436, -7.1863, 7.8154, 2.0684, 0.0073, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.4736, 1.5448, 0.8673, 0.0315, 0.2867, 0.1669, 0.3478]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.182 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4065 right_y=0.1562 right_z=0.125 right_yaw=0.1206 right_pitch=-0.0452 right_roll=-0.0197 right_gripper=0.3478\nstate[joint_eff]: [-0.253, -1.347, 6.5709, 1.8144, -0.0464, -0.0073, -0.0122, 0.5812, -9.265, 9.812, 1.8974, 0.3101, 0.1441, 0.0269]\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 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3828, -0.0257, -0.0292, 0.9983, 0.5438, 1.3262, 0.9791, -0.3023, 0.3157, 0.1833, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3659 right_y=0.1613 right_z=0.1974 right_yaw=0.158 right_pitch=-0.042 right_roll=-0.0238 right_gripper=0.3479\nstate[joint_eff]: [-0.3761, -1.6615, 6.3795, 1.8535, -0.0464, -0.0708, -0.0122, 0.0342, -7.3641, 10.2632, 1.8974, 0.3541, 0.3004, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d455f7782192d763bf516595cb431fb5225dc182ac5247089395731ce84936",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548607b59da230ac4b2c6545aad15f3cbbd58c014c7fb8575aa19f4144ebced0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231faf3bf08229631badc79bd584a74e0e308ca0e60b615349ad2cad5bb9be01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEgeBwgzwpAPa7PeXBBC-7tKpgM9O5RmoGp16DMhbB24mLSrv-pB6zDRFx-EXAyWyB22ZSfO5MkDpUXvZ02fZikREHfSa5DK1Oq8cJ8ATDFLKz2KFFJnhs3TAidABh5LdHumzgl0pFYArw63LAusr9-v-ZIOrfGD_1Cg_VvH2PsEPcGOMubDXHCrc3unzzD2G8mbsw4rXEC4q9U-8vAHvZd-wqgORYK2NoQj2_C7rgsBFdgjdAwwXoTdCLkT9A2ZjgfTJ870GoSGOrB4dhmMGlyWpJQlb05Ken5fF3iW264fO7BkE12AHSQoswKRAzvNBPVf9DvJO4fM5TvWToIGT3DVEyEI_TExpXO7dSXrcQYEmFfLmOID_YsNq0A2YobJhHo9pEq3_hhZgV4clRL-G8xcGAm7h6QeRRpFfun2mwV_5AuEEM5obeKc_jsttSf43VSI0g8Wiwv8TTGkYI5dk13SLNYufwQDGZYpClyx1TJv-BtPfg49Js0OWTe0-4Qwg9TLQ0n-hc74jn8jhUGR5RLW5RuvJv9O3KHfZ8MPQUn1pGlvVjjR4_yCoVJ-HBvaGnt1xpyf6iQ97Js9XVvrWTM5AUonH5lH9lNEJzsPfC7djWCZ1d9gBAkFvo4RrQ3iJOum19z3xfSasnVJ04PRzreRmHYisHZvs48oqgnuzUnLOsgaubsr_N1pY7BEZW8rIk4UUUsL9NqusqSR4gWGd3-ZRqUDadmXCjVUHZPYjdwuLSup0zkW3zNNEoeYa_lWuFSadCdvXXsHkkMQ3WmNVgnabxYCsrQyxP9czDG2Q7Pm06qMiyMgTNt1bb_kFcPOF79-L5OuXxdsaA1ZubjqN3Xe54J62oFFvsyGOOxyTrRwX7dsIpfGc0Cv3LkDvlPsTmQPRLskvFcnB1D94lIAwc0KhQ8lew5G7m20FTj8j5-Os9ezjadDrllMcWCToYBv5y_Mj7yqw8AMtFuhNn5FQuJNW4mu-hl1t7nJF81axN-JX8qfQrBKN_OT-sxNuYCQ6yo6uDmLw4nzxI0EXRSs7Q2qTecYU0ESOnphIAhiK2BBdv6hHmlhdO3r5FS88YHqS3NG4L7guH00JMPsN7i17K8iiqffJfj3L4BBMGGbHVAfisAmi1SUPuyG3PnVU8AYKxQkSFGzBZTCc8Mfo4_IRcWPVOKd-vxAhec0R5XQb7aU5unty9k1Y3H9CYPRZpuDlGul24bZWqvFNcSvTH7qwYXOW0rNwbWURfkhA9cNSqPn67DFp47UwjIVinbqNL7anqLGzXgjehhpmwQIzWeHOKnMEbqlEPmKNBS5-dqP2hD7WcsgFs6mTzV7PZ7rBVd5OFGCURItPL0nnLalS1nmbyYos9AU73hBGmHHpGvUr7DjzEtVdObmPpIWeZzc3V4A3JTuEef7Xc0CZ8azHm6ubQLfa6X4X4VyzK0qon5IUx6AipusSNzx48p8OMByT1p1kXoiHFYmWKuGHyLFoNpZGu-uEQFWNJSL09YK4jvUeIphA3_67b1Dp9khRuWZeNX9W9mwyHJDbiHMAFFRZ2ejZo-nzfZFCQt_isJxvrtB0mv5_Wvjj86T-tBNHBDsGDxbi5aNrk_JOGEXwBfCn5rvFOW5vhdjnrE_LTCHyfvrZjXNkpJXzGOVUJ5y5RQUFo0zGS4y3ZuGm-OwXHLEOv2XvUsScfXoEsORJBM_2aHvqPfnvoODv4o7j6NgRMqzXkLr5IBPf1c7W5z24lugNayB1Z3XSmCopUTg29fS-Pzn1GokhL_uarjhIq1PjYdXK5X4LCHOqNK1B1Mr5UP5dKGswmVW6Y87G0RxUuzudIIDI_eeguXzUz0PQ_MD8N1BBYiv_fxFUHPf8AvGKD2j-LYlPjDHeKeK-yNs54A1I6vjSYNPfBCLX6jvgVqXb74W4Lgr4XiEqsHytKtuiYsnXLOpKTzrFuLmd8f03EB1_BeEKNphyphW_AoLCiD3TcK6JmkAkGmNoiSypnIXn5O7X7b8Y_RLJMEnVquDXDnAz8puaBn3zSbcFIS8cP-rnrUfXq8jGXGxV9CvKk6zNCsN-w2PJB5-ntYsHJQO53kxIX9GLSl3H9IwTrtirAm9NK_Svktjpkv4QwBvf3umbcaPKiZFNOg60PnqTX7piFexEPYRSS_UseGPyeo4CXPdqICPAh2KNuJtovAf57hoK8_F_kIi18YZIGhc0hUJFVjEmN3E4f_e1ZfMs7G7m__y0EOtuoOsGV5i4dyCVKObHWWFLLH2tXpgqjYaiJvX8HU0z_6SYohYcNCWeqX7a2YoyCrsEEuMMB0KjFUkDHmSGQArXg8qUY5lyo-FoYLT9jH95HTy-G1REbjMSU1hhbSokeD_Ro78I_HY_E8P9K2aLGuRaRSndMOqByZ_kug_q0z-URS_igWHXAy91wkVKj9MN8dnVd7DcPV9iSlq5bjWdvZGjBNZyj22DDkbLp4nrDu6eZhyaZf54HN3-hlhIJYZcnXroZDI61MwCwMLS2z2ARbgcR_BgDcEvDBQUxhz7hTgmI2Hdg642p5VmjOip1LctM78HMIyl4MCn6Nbkw61NY0Dghc4hDZBWfkuPN-B32TuQGn5nGgiF8xUqxYU24Ms2hUF840xcEihVGjOgAIf9EydQa3DrgMijTb8udutlzM5We8UXBfy3XCX8i2ndh6IGeBc0kaaV3vJav30U8ND5DqLOt6TPomqBB-s3WPggzXAHxV1qGnMTWoAds4XjZKUuSOuVYN320voUfFfp9YWn3nwwj1PEKTFjEac7sE1ON0lUcDWroaT3neoser-ekOIBSFXVwpenOS1-aE8ennlf_BihAlWs-0P7fjAUcjf1X_RlhrsC3v8xF0K2g-kA0A1FBGNzBqVcKk3G0p9cSj3KXsVMZ0-fFfUnIYwvRWE84OHDpEp6F1avYWBN6l-KpfV2Tj587x1NLyuuQun_O3wcQCqAHdOD9rWIBUrXgLiP3XHpkhD-954YuviVyXvMZ0ZhsREL9e4o3rNf51QJ0rEpCN0XeHv1XEyIW4grVEBjxWi9P6HQMex05RE6_-2_9uSUiiux0U9uOB66Ss4B9Vm5LPY5eKdQcY9DAvk1wh1qRRozanjql9e2nz6fh-mSOa06pP3Jyo9PGJQuSQ0Wya5ZaTeb2JSAStFXjN7Enysmpvn5MkJdDCVfn-8gBplrTiTe-SDdmezIb5GnQgMlvNqVYR0fWOzh8F1i-6i8cP6OOFATfCdMxHQ2opQfGdUvyyONR6qUc0i3-RFudjogyTMrualQoO_MJqj2L2pYbfYxD9Cr5YRTNgVyx8ymYLuPWIWjr8qF3awwqE9MwgwCT1m5ugthFThLTfz3Aj39rblfS5iNHxMzJLXFR0RESs7A7T0xS9Cc4ZqIyBqYi2jjTA4f0Qvp8coUWv9DXWLwip6uFaYd7M79PbJ_ecfL3E2dvjW8OhAfAfEIagWtWqY-qq5TiURvP3XS0OZEFUtcbDm5K1myk43DFpy1ywinFVjSGLhIVjzVB59V5E6XX5J37T7YY8Hfh4J6yI_9YpZav3u1yHlwzZiYJbzhZwVPLEAbA5wTOq1X8dA0jAHRa0_f79tDiczAR_3LOQVly2yGmN_BJG_AVJTvJ85DGdcmoAl60JadGuXyFrkqYDCpY8RF_s0i1CqBpNgp8qiTpH7T3GOvJyRC-h0A5-cGaS2chA6VmW9JleLCFUa2HUILFHOXz6puAr08ocdVi1Hl9asEKbiGjmVSmQ_OQYdVQsMz8ET_38J7PE3oIMwMmG_KLhUxN3fGb-8GCJSvlG5wXpK_bs8iYrOoX91ocHX_DEg5UU_hlEX_P0Bme3G_8pkSlDo2AIkZESvKh2qBFI19aKT76pN80zLgLJHuq4ODN72gDc5TnzggKymeF3cZLj4kGJ1IYRyvYBMWci1luMHAudqPzIxbszO8NuME7H9cm_Z-tU5Rkk917-CP_tD-sl3OJ7fqfmZoBvKI9OKkft0976qTgkhSv7ZIhId8T0GVI=",
  "id": "rs_07f3cb55d3ed885b016ab4311a742887d081d91ed89afb5e17",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEg9XRvS_MGhk5GOi21eYp7BaEu6QSCKnPPRzJXmRy7_sTcTltVOnuzH0hf5UUpc0I9yuVI0xxfu2TBasJ4GaAMdnQZYOvtcAsUQq019uRf8schzbKv7WSSBnsbys7qlvFGjuV3zoP_3ew77OuoNoSNj5dkOYFtfoGE0VOM6O3vxdBs79ups3FgM_Qy9AnRqYmqARvLnHtR1EELwOWJyiIC7oRBx6ZqG-J71R2AvfqigTW4sMyme3zTTGaKcJDOYMjFBEykGXiySphHW1sSGbFMINF_DNu-iZGWS0L9Rf4GiVRXIFIYsaSr5maVos5m6WSJ8xSkprQvsplFz1Wu50Qhw1vPrsp9wwJ1_69_n6Tha4vuLeAID5Y1KQx7pDbjFxVCZyqBpREWbDh9Oz0PmKByjtx0bIgkxdYNugV4lBg6Uh6fwS3kS_-8-8grbalcWIH9CA2MGurJfqNHlCLZ7EbbPHWXGM3lwZqpjeAncucLKdwH8O6GLxjzivC9f8HrSzejfbVUFnvnJaix6wSyz_rrC0FnQWKn2g9nNHLbpYGjfmHqf6Fl5GBTlIkYs_XfJB4q_JLub7ZnyXWxje8JivC-YrS5owptMZ5N8nDvH1frP3bliiWRJTWK-CFAK-p8NxNPwVQD3hReB21m6Xwsj-BISz19rQTzxpCV51yP5cZaH_t7blpDesss7CCd-6FcgtLEiN5sms2mAJ-5uh4jI7p43_EEGZaNmHgE6Q8ZdDaEIfgQ7T_lINlpVEjumpXZ-rIdt3OqR24YE3qkR0119O6xTi1LePy4BKPj-DexCf3CBCIkVg_gbbxax90jPVZY4Xqe7nL1Zqbvu3E2FLmIDkrfSaguuyX4b7mDOTgLJpqDuriQRTeNtSI0DpQT8qh4rvoIYRReElyPJsLz1sCuBx79pDzbQ2ctGZI1grS0UWQ94pn7Z391AgeIDmDskyOUbC6zQrXZMi7UnzwpTUAC2mASbhU0pGB2_jAAnbTpemanQP71RIP-PR773gt9xZJsA_6vjl2pZ6DMvjkHtEgcNi7PwlO5RW9VKfCuo71V8Y_ghiFtojATG0_8QT7aKF8xmYdXQwxFzGL7boV4brC1BmdoO0CSS3CNRxDG7zgqozJmAcjqVC-lP-flLDdDyZxAkW1kA2Ix3imFn7EZ8ojy7EpJa_MAj9Vtn3MY8yOgPJlFcqfoEQ6Yax2RhSE6PrmOMNuBGNT3Y7auuVBsXxFqMOyOinyq-cW_g9mZIqAuteLJpNiiq3rJkD0zwrt3EfXmxnzteXAbKa9GlbnaL7JbQ3ZX6vobaFAFe2qGeZWqM9djpX3AyF05TyA9Mu2fbWNV1Ph1CoYesZCBdf9YpfYON-Gt6gQSZA0LQe5Au2uWHZBA7oc3u07X1Wt6JAURgNZEjgzzce2dnnAdq0Sfi5MgHlC8UK-Q4BbwxGEx9CaiIZup-TfPI23YH1qCNzOvwep_7w4D",
  "id": "rs_07f3cb55d3ed885b016ab4311e655887d0b3063a4618c5cb41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.255},\"note\":\"The right bottle is still partly hidden by the gripper, but the jaws remain closed around a bottle-width object. I’ll bring the held point nearly over the bottle’s original bottom and higher above the table, then set it down and check its posture.\"}",
  "call_id": "call_EvYQ5I2UXnAfiWvuG6p0EqGl",
  "id": "fc_07f3cb55d3ed885b016ab4311f02f887d09878c65e7f502fc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EvYQ5I2UXnAfiWvuG6p0EqGl",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3824, -0.0257, -0.0292, 0.9983, 0.6395, 1.187, 1.018, -0.4839, 0.3622, 0.2226, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3239 right_y=0.1674 right_z=0.232 right_yaw=0.1945 right_pitch=-0.0337 right_roll=-0.0188 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.2923, 6.612, 1.8828, -0.0562, -0.0366, -0.0122, -0.0479, -5.1624, 9.7026, 1.8535, 0.2955, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adade9e95bad0e32b96df7ab30b72c844316b15a948393776711108b74818ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92cf1d9df45b2d8bf49d50672d432b713445e63534e177998a25cff6c3183b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e607bd0ff9e472c7bf366390db3293334af750b2aa665687e7918e835fcabdd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 2.893 s

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

message 35 changed as sent

message 44 changed as sent

message 49 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0257, -0.0296, 0.9983, 0.4587, 1.8187, 0.691, 0.5961, 0.2901, 0.1707, 0.3475]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1823 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4247 right_y=0.1574 right_z=0.0512 right_yaw=0.1005 right_pitch=0.0628 right_roll=0.0216 right_gripper=0.3475\nstate[joint_eff]: [-0.1026, -1.7299, 6.4068, 1.8046, -0.0122, -0.0611, -0.0122, 0.1162, -7.3641, 4.2872, 1.2625, 0.1197, 0.0269, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3828, -0.0257, -0.0292, 0.9983, 0.5438, 1.3262, 0.9791, -0.3023, 0.3157, 0.1833, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3659 right_y=0.1613 right_z=0.1974 right_yaw=0.158 right_pitch=-0.042 right_roll=-0.0238 right_gripper=0.3479\nstate[joint_eff]: [-0.3761, -1.6615, 6.3795, 1.8535, -0.0464, -0.0708, -0.0122, 0.0342, -7.3641, 10.2632, 1.8974, 0.3541, 0.3004, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3824, -0.0257, -0.0292, 0.9983, 0.6395, 1.187, 1.018, -0.4839, 0.3622, 0.2226, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3239 right_y=0.1674 right_z=0.232 right_yaw=0.1945 right_pitch=-0.0337 right_roll=-0.0188 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.2923, 6.612, 1.8828, -0.0562, -0.0366, -0.0122, -0.0479, -5.1624, 9.7026, 1.8535, 0.2955, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adade9e95bad0e32b96df7ab30b72c844316b15a948393776711108b74818ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92cf1d9df45b2d8bf49d50672d432b713445e63534e177998a25cff6c3183b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e607bd0ff9e472c7bf366390db3293334af750b2aa665687e7918e835fcabdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEmAMIFyuVRw-362Yh0o4Tt1BMYkZKWPhzvBFj4TVHtiNyyvbErnvRXlKSUO0s8_zK7IsGODef0QeD44d-LzvW7FdZLGRL86GyK-2wrryBgWdL9EHb1FRqNRptixvevWyD9o-Ec-Lz8-oksbhx_5xe-s9gy5FkSUQHhlRQgCB8pIwFbhIz3aOolf727qVJDVCz1Vggpq64IK4iPbZXyymswWmp4tO0VtvMV4624jByDGreu7bk-3Ym2bcL4uTnFS7TyqGyGbZdpNi-mInh1xbuJwknBxLl3wB9rfk-nA0BgJ5HSYTevkv36RtVRcBSWTiedV77YAMM3A4V3I_c1FgP4QyOZoK8_8tKhf4Rx-Gn7t1Gxex4YFR8wAvr-0K_s2g4sUu-cAa4Gl9jvH1dWZtOt6Lqyi76lVEOcWZpcJW6q5_NzJfVRks2F-d23VfAvn7jhjH9ocSm1RXSpNiUvsrV5L4_ZKIZpvnxSmw_va91pkr7EfH_BAkC5trEjm_kVrEHRZkE9_jOUDFM9K-Eumj3QMGMMvUbXAIApIEnzyh3NG2As2gXd37gRnidvBAL16FDayKKqdM7rWK17hZE1aSwvt_2dqHbCK0R17uJHMPpuZzd0Wi_4-OpHs2ig5NkZ3PLEGjsgcZf2Cc0qPr6Ub6lua9WGaj0r9hIveyxRn33gAnz5PP1fjR_KY2X8XlTiODAsCbYcZwUN_qcJVbmGGSF1geD2H8q-tgH0TIfPoO-ILZG5FiM566kxM7jyoFTcnzbKNnbIU_EXfSlPjh0Hkn9P-7rS-YyfrMXsN67_-thqVZ7I5qznmrbX_ixSjwTKgTQIp8wvrG-8cHjZ8aDcZf77ldp1XUfVVntd3HFsPdWiUKTy9XHIgyoJ9n9-z7k1vu8Dqz_rGKYvmDzgeKj30P4Rzy-gmA3Myj-1hlUvcSHv3oapEMyQa1GgOpjkMIS_M51alOEuiunFG9p5eZkX0rghzPWjuAhnxPQzgGGu8jg4K73Mt6Ti0UqYPWUsSzchNcGStd0SF9s39k5tm0u7JHcjSxyQyLFZlw97XjNsnddtwBOfCXARHAC51xc6Ud671pgFniBUDHTQShpqLXkUJhQ3FS340g8ylI6nMg0ZIMFmbHCqiTfAekh5H6SegzNcUdC5aCYF3NrsJRxDnvgJ82UXDyGWhLHlHcWnNcpH8Pm66NhXanUBzCbSJWL1LaNAvCpKvOBk6qTtQ2wb8Vx1vOqrukCdi8jjL7zL-9coALrHJ92ApF_9KXqsE7rkLD5leuEGwmAWAv6s0cfOB_KLeQIZZa4_Hqp9KFGhArWsR-ECTC0W7HUByBCjfgRljWvk2kcmiU9Tki8MHWU-RGjl-S2bCZVY3FJy0OfwFr8t2YVhXPeUGXHYQU5StS65wSC4JydGjgtlIEjY4faLsRXygSo8sbrd_DqCa54GB7tHZ_OopKAatI2C764CdkGBJ_j8q8rG6hknMdFb3jjMECz2skC8IMLXHokiS3Nehcy9Y2BPpATjPQz8OToBEMf3FUGgA19Fl6Q3VRPRmDJE9f42RcLa9kWO2FtVwZQHRWB0XbL5UGZ2v30biEIIlNQKNcsCh1-9nocsEyhLDzGGJarEfgdlIJm5MkcgMoXI34jjHaqTroOOK25g_ke9pxC1waSSkKld1hE5ZZYXEC81dt34O0K6_Zab8xPadoOrbFSOhoT2ocbuZX47ddeBh7KWUGGivBqI5rI6zDYqO5R1bsCzFXTzznBhs23R1iCvrBeedGdrpsm5NyYjv1OUQWVR7KakaeDr6hYCHQbq3KJzLGeb3T_tZKgBzOsHtjL_gr5gg4TFbV703arOZ2mpdDlxIW4646wViP4Y9xpUNpvu53zWeAo-0j8z_RPqsc_DgKq8eVvOTjxnn0_51M1Qg91POWh_3Q0r-cW0I8s8MRJESfnJ6pJGj4zCxh4WymKo5WJSYIeW_PNADmRpwzB3BHSEFpDA2DP0A0jWnpQBdKfsTHhAa28NZ3KL9q-3z7jy4eT_zr9i_g6jQT1QyD9_z02hCDpu01D4YblWwd8gYq31ed-AdiS0e8JmBeGM17r7BrCreykx4wdbqWGmE_SIoK_hfDYjKYPhtJaNpKGNFn9SOn3j0y8nRwOlzodnCCohD04vYqiGK9MACjMoI13P9a22sQuEPnbxHPlfqVFiwlze9VJ1oST1EkWCrCIiEq88JKFqF8VnRDT2muFwZf0LAdmnhqEjxmDeEP3t3-u5uxhjyvCnbweXq1JLLm6kO9dg4YZTCiBgGCgISNn3hCz6bIjmU1pmAifhkXya2m-SnY7Ctu8iuglq16bgrzboCNVl0CIiAOzti9MRa6tgqVKt09fslOCZp8i2yHBFFzHtr4KGAVbJC8CVyYwrTOJxtpiM_Xh6mkfeAqksDrLBKxzxhZRau-GQaUmg5P_s_4psm8BQ4aPTgJno1hQmjBG1JFvzx-6vfNys6BOMxvUhpHteZ_esu6IZyiU7H-5rUuT_wSBJtNZa7VYOWMcGAXOaVOQorqg-WIRFbam7zfc2jzU8HrC3vnmvCgcRhsDM72Ms7u8U0Jun384fpqsN75QoD_NygaZS1-WJxX3Zssqi3Nnj61faB1vA9ddkTzbBb5oaS7WPpwGS9CMp3sQyGBkQYqk3eAs3lNtzDE1Ws7ltxao2ZA7VUc4oaDxUOE2-qzvLqTZ3NE6TIN2hh50NCEt-83p_zicEHD1VnPSRfbQQQK701L-Bjmoo0BCD9kL4htNBvEkvwFfdcXPxXj1wJYjhrECO5HvraouO9OF1LPgb6bWoFdWFzUB2jYvQ6IAakFz27EWmayoYXtuy5jPf60wSRuzLYppf9N00bvvjUF3hF7cfwVyeenpfkz6OOrQF7RT8fwy1gOHiCpsAq2HBEQxVH-qMTFZR4rLKXQ8PggoQMwgjTcuFJoK9Jvv-ebo5efScWKWVlHXIZFavSdEFHQuadR3oHafEorHOdwM-_WToWcpqtcqBSvReray8Ul5M1uPbuXAtXLuURsjg-m2GeRIPnDPdONtPZyBY53azpU6QecZqpTSYWcC9ZpMVXsU0lCFA62dXJGAUf_vNoq-cnCwBbkWSMZvtsXrGMr4sopr1hCk-3TpFEGKyHXaPwzvxnkbqK7qYTyTrC1vMbH644nT-62EY50uxDvfKow9baQju0hBuywgfKJqE5vddO-k70oI9dc_boF2OWpcir1rDkvAFulWNH-loPtk6xFlbHdfxO0yG3zavH1TrpNaQePJyEnXExdxVqEbL2WpMpw==",
  "id": "rs_07f3cb55d3ed885b016ab43121f2a087d09dcede68923fbf44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_z\":0.115},\"note\":\"The held bottle still projects toward the far end in the wrist image, so I need to set its lower end on the table before letting go. I’ll lower the grasp while staying over the bottle’s original bottom position.\"}",
  "call_id": "call_XtLlFSwx4Sn5OhFp13Lae9Jx",
  "id": "fc_07f3cb55d3ed885b016ab431254d9487d0bb92c749bfda66cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XtLlFSwx4Sn5OhFp13Lae9Jx",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0265, -0.0292, 0.9983, 0.6487, 1.1648, 1.0428, -0.5457, 0.3889, 0.2352, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.317 right_y=0.1608 right_z=0.2398 right_yaw=0.175 right_pitch=-0.0398 right_roll=-0.0297 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.5658, 6.5709, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -4.3145, 8.8274, 1.6825, 0.1978, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a345913083cb13d6ac797c9ca3de9420e13f7eb1cecebf66b30be1a6c4230fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61257218b0b7aaadc166ae90c9f429ea5228a9cd1cddb1c943b5c936264615b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766c0124e09aeae90186b6242536ae4ed5ab34df67e85eb169882d6dad3021da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 8.989 s

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

message 39 changed as sent

message 49 changed as sent

message 53 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.4736, 1.5448, 0.8673, 0.0315, 0.2867, 0.1669, 0.3478]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.182 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4065 right_y=0.1562 right_z=0.125 right_yaw=0.1206 right_pitch=-0.0452 right_roll=-0.0197 right_gripper=0.3478\nstate[joint_eff]: [-0.253, -1.347, 6.5709, 1.8144, -0.0464, -0.0073, -0.0122, 0.5812, -9.265, 9.812, 1.8974, 0.3101, 0.1441, 0.0269]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3824, -0.0257, -0.0292, 0.9983, 0.6395, 1.187, 1.018, -0.4839, 0.3622, 0.2226, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3239 right_y=0.1674 right_z=0.232 right_yaw=0.1945 right_pitch=-0.0337 right_roll=-0.0188 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.2923, 6.612, 1.8828, -0.0562, -0.0366, -0.0122, -0.0479, -5.1624, 9.7026, 1.8535, 0.2955, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0265, -0.0292, 0.9983, 0.6487, 1.1648, 1.0428, -0.5457, 0.3889, 0.2352, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.317 right_y=0.1608 right_z=0.2398 right_yaw=0.175 right_pitch=-0.0398 right_roll=-0.0297 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.5658, 6.5709, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -4.3145, 8.8274, 1.6825, 0.1978, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a345913083cb13d6ac797c9ca3de9420e13f7eb1cecebf66b30be1a6c4230fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61257218b0b7aaadc166ae90c9f429ea5228a9cd1cddb1c943b5c936264615b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766c0124e09aeae90186b6242536ae4ed5ab34df67e85eb169882d6dad3021da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDEpryGXCrAzUZ6WgXtAjqPQyjMLHMQhghBIVpytNokC2LdgAsXEmqOA1gUpiaz7aaQ3NB-gNJ-7Gj4_1TgTL1ogy_gGRoY43h351xiA0ereKc1aM_UIqt0YRcWasnsVOs0A0RTf0xCrf7SeNXZXULS7m4cNcq1WIpSg-lxytHwyxmxiHXCTYF1xsZ5rSLoeJQYyZlfkno4kwfaB1tA1qh18nt30Me-GbWL34NfwTqQrRSeg__8NF0MUbDGXMFWUi3NfLl99W7-FtkfqKgQye6vVTRVzZEaVhAACmqajzLZWTjmi2DCodHt4EinoMpqmfFxy9a_Dk5f9TRNYDNx36p17fDrFiQktmloCw1pFCxQoeJ2S4REm67SiXEGyJtUuiMYJHvSzCySNPGfv-1Rjx4sqmHytrtECZR7B4V9y8QPfnsu-JK9Dgj63v1bJ35kKDKhEk9Dtm37w9HXEBDcbQPKzFXGa0G6Bq8Kx9HOSDbvSrgm3aeo0dsqAyonLycxBsZdTFN5iLcIfgpZqCNz5ecFJTv8GDYc-HBex9VA91qrKnggOywj-HSoKobJrASHLCOu7O4QBax4F7u5IJTfI-mlws_AxdjXb4YE_K-GICnzQH_DtRcfNfC1f3WAZM8YWf8MmmYdqnqcThVFvNsDpGe0qtClvHelv1PGPGTAQbt3iPjmNrylCbUROKz9fbyfzYcs_ZlAXiKpTTnayuamN8smZslw6tx7DpLy_iCI4Kojxe49l-pCZ83nfOgbYEVJevMM3nt-EYQkAehfNQ9P8-Hfzw5pmicJMDG06HqyNTJf2lfeM0Flm-_76qLDYY_nRFfP2mxVpnB4s-4q-tCm-_9OH7ntmo-F1mUds3zXYerYM_YjIHN30v2Fv8Lfl7js18YkZxaa9NibmZyXefQF7aXrlDdKy0HebYOwqu5dgtd6QjHPiJTtV_nx6CExan6ZAOnY6GpMPCu-ZGkH3O36gqXF-0P-qF5xUaP1vk0pNFTaoV38CH6Q8MMYXWmYt_1tcv9OJPomoS1QQJ__lyjMw5hUWwO_pVbdLngYjVXwaMyNT25F2YP1WNisBLIjCe2J2qse1SrewWMG887k89xFbijA0U8OviJcwtnY2e5bJhM8UwfyPInq8R-W8LmyL_Ohe5aDDzQc8i0nchM6PgE7UC0KVs3owjryDmd9EdA2wgGWgLWEC6YKlGxiJq_R5XK1clElo66rLjMXD8iyQHIGkiw_ebEzJ8B55PlQrYj4BUIWa6H3VNx3BXr7zzmbujsKQZ1xviQzqY-Y9DA0qT7C81stmHmO4SpBhaowgaq8IXxzuKtflGQ58ZnV7G4ai1OhQVCMG59ZcgRYZ-3gXJB6SUXNC8egJz3S-PP9AGtGfPGCB-ukpn-Aiam4SKc2GpzrheY2ThRKdQeWqwdItd8QqgvxueUYnqkBSI4WH_KDlwU2JmGiczDwlxtdBYiwNKYJznq8i5pwlJbUcy8NTz5DtQRZ_uHVQoI_TjyUpoOuht-gS4Dgj64MQbv7hvhP3pesCmy4vD3GS26blVIZnzN6DyGpYeahY1Mt5s1i-ObPR91N62qwCaXnNQU-8E3sFdot6YawhhKCqcQhDzCukuKQPNfnLOsmS0Gb-2APVtWTCKYha7io=",
  "id": "rs_07f3cb55d3ed885b016ab43127b22487d0a3217b632e2e69a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The downward motion was blocked before the grasp point descended, so I shouldn’t force the bottle into the table. I’ll open the gripper and move clear next to see whether the right bottle remains standing or needs a different approach.\"}",
  "call_id": "call_nWnDxH11iGlQ0ztdYPG6EPpG",
  "id": "fc_07f3cb55d3ed885b016ab43128673887d0bee3d8d29fe4a243",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nWnDxH11iGlQ0ztdYPG6EPpG",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.6483, 1.1503, 0.9901, -0.5152, 0.3813, 0.2314, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3137 right_y=0.1597 right_z=0.227 right_yaw=0.1827 right_pitch=-0.0487 right_roll=-0.0321 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.7949, -0.0611, -0.0366, -0.0122, -0.5812, -5.0803, 7.1453, 1.9707, 0.105, 0.0366, -0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc06b2ce30da2c0ee3e72efca64250dc3c32902f7bc7de27eec46433f1d05ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a01fc3b855c34db74845c6a0010ca03054724543311b96556dbd6aa82d892eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3ac17a7905629ae635f78c436cee37b31154725ae743daba4ee842c71dd121",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 6.888 s

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

message 44 changed as sent

message 53 changed as sent

message 57 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3828, -0.0257, -0.0292, 0.9983, 0.5438, 1.3262, 0.9791, -0.3023, 0.3157, 0.1833, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3659 right_y=0.1613 right_z=0.1974 right_yaw=0.158 right_pitch=-0.042 right_roll=-0.0238 right_gripper=0.3479\nstate[joint_eff]: [-0.3761, -1.6615, 6.3795, 1.8535, -0.0464, -0.0708, -0.0122, 0.0342, -7.3641, 10.2632, 1.8974, 0.3541, 0.3004, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0265, -0.0292, 0.9983, 0.6487, 1.1648, 1.0428, -0.5457, 0.3889, 0.2352, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.317 right_y=0.1608 right_z=0.2398 right_yaw=0.175 right_pitch=-0.0398 right_roll=-0.0297 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.5658, 6.5709, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -4.3145, 8.8274, 1.6825, 0.1978, 0.1001, -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 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.6483, 1.1503, 0.9901, -0.5152, 0.3813, 0.2314, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3137 right_y=0.1597 right_z=0.227 right_yaw=0.1827 right_pitch=-0.0487 right_roll=-0.0321 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.7949, -0.0611, -0.0366, -0.0122, -0.5812, -5.0803, 7.1453, 1.9707, 0.105, 0.0366, -0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc06b2ce30da2c0ee3e72efca64250dc3c32902f7bc7de27eec46433f1d05ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a01fc3b855c34db74845c6a0010ca03054724543311b96556dbd6aa82d892eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3ac17a7905629ae635f78c436cee37b31154725ae743daba4ee842c71dd121",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_07f3cb55d3ed885b016ab4312cdb3487d0b532d22a021ef016",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.36,\"left_y\":-0.04,\"left_z\":0.105},\"note\":\"The right bottle is still lying down after release, so that grip slipped rather than turning it upright. I’ll park the right arm and switch to the leftmost bottle, approaching its near side with the left gripper.\"}",
  "call_id": "call_dVCcC1dfcGeWXqZtLsXXgURJ",
  "id": "fc_07f3cb55d3ed885b016ab43131149887d0937d183271e80add",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dVCcC1dfcGeWXqZtLsXXgURJ",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2054, 1.2369, 0.498, 0.1184, -0.1772, -0.131, 0.9983, -0.1856, 0.8394, 0.6273, -0.4255, -0.2638, -0.2043, 0.997]\nstate[eef_state]: left_x=0.3533 left_y=-0.0381 left_z=0.0991 left_yaw=-0.0026 left_pitch=-0.0479 left_roll=0.0048 left_gripper=0.9983 right_x=0.2935 right_y=-0.0046 right_z=0.1725 right_yaw=0.1233 right_pitch=-0.042 right_roll=0.0046 right_gripper=0.997\nstate[joint_eff]: [-0.4718, -4.3556, 5.7094, 1.9658, -0.1783, 0.0904, -0.0122, -0.0479, -2.0855, 7.159, 1.9267, -0.2173, -0.0171, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf8efb1c4ef23a95c95f742dbdc2cc63e64d1456c8a2fc3a15dfc963f611111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0ed5cf6dd8aed6f57b87fc734b82f71b9fb9cf3d1abbe5426ea2229a06a12a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888d654dd8f94897906484bbaaa4f62eb2b86baeeafeb6bf221a05fe16a37d79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.483 s

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

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3824, -0.0257, -0.0292, 0.9983, 0.6395, 1.187, 1.018, -0.4839, 0.3622, 0.2226, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3239 right_y=0.1674 right_z=0.232 right_yaw=0.1945 right_pitch=-0.0337 right_roll=-0.0188 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.2923, 6.612, 1.8828, -0.0562, -0.0366, -0.0122, -0.0479, -5.1624, 9.7026, 1.8535, 0.2955, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.6483, 1.1503, 0.9901, -0.5152, 0.3813, 0.2314, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3137 right_y=0.1597 right_z=0.227 right_yaw=0.1827 right_pitch=-0.0487 right_roll=-0.0321 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.7949, -0.0611, -0.0366, -0.0122, -0.5812, -5.0803, 7.1453, 1.9707, 0.105, 0.0366, -0.2466]\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 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2054, 1.2369, 0.498, 0.1184, -0.1772, -0.131, 0.9983, -0.1856, 0.8394, 0.6273, -0.4255, -0.2638, -0.2043, 0.997]\nstate[eef_state]: left_x=0.3533 left_y=-0.0381 left_z=0.0991 left_yaw=-0.0026 left_pitch=-0.0479 left_roll=0.0048 left_gripper=0.9983 right_x=0.2935 right_y=-0.0046 right_z=0.1725 right_yaw=0.1233 right_pitch=-0.042 right_roll=0.0046 right_gripper=0.997\nstate[joint_eff]: [-0.4718, -4.3556, 5.7094, 1.9658, -0.1783, 0.0904, -0.0122, -0.0479, -2.0855, 7.159, 1.9267, -0.2173, -0.0171, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf8efb1c4ef23a95c95f742dbdc2cc63e64d1456c8a2fc3a15dfc963f611111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0ed5cf6dd8aed6f57b87fc734b82f71b9fb9cf3d1abbe5426ea2229a06a12a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888d654dd8f94897906484bbaaa4f62eb2b86baeeafeb6bf221a05fe16a37d79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE7tmcKv0-LnmK-CAk2a8970H3-FCfp0TNo1m6-5RDM_tcG_cGpVr1aSdhvTT2Vitfiwtg0zw6aVIpZgBiTM14AD51EnUWR4EIKRQKp4a7aERvtKgtVzByQSWRUxS7Z2dwRF6w97VNjVoX5AtkevBHJjoai84Nnxo8lRIg-V7eaN8WCi3kpl9hiCM3a7RpVm3khjGuSan_hfd-yLzY8Y5cDFqlUU_zYOCqPpwJDJ2JJuo7bzSOPqXKjFUj6YlmX1o5DH7O6U9rwBoz6wS_c1cC7hBKH4x8AT0IRMMfTzU3nNHPShe4z5WFuLsp61DJefx8N60I4y9QJcyqHk3gsZhWQ_TqJpr7JJFy_F-7cwzf04Kag2wIlNVKR4EejeGMrAnv5MZlnvqVWRB3FiXCoeSJjl7oc3LKUktvBVUYBkvrKsSNvJCTe5S_FWOQ1vIWFmAxczkvtRjr9CcGedREc2jYlwsSuwEPuvHzy_lIAyMul7YYZzv7sEWMO1_XRTkbFgqzfaNCTg1bYunbE9IxEHrJZXCzLSYUtJHaxAUIbyN5cyXS_V7834o0h2k95HQ8jJHvLOfMRoZJlyPsf9LOVStW6nBktwpe_aGS6BtNSOR50xdKYxd6_O4iLAjFV2dc366r36nXz7tOcD-VMdslxf09t64Ty-2e9dwsCLUX_H95cRKju-mgTmO6pZvyONTaYXxLbTvDDQVDragC-AGGh7-OzkJ3UWC4TllR7kbbeac3BPf6tDp1LGmLqmQyDEc_KnKsH8XimBnPgJcXYrvGZPGQDqu1YR0sMe1oyY6rG2EAnlkg6E33oPESVuwOi1QyYBHaY6E9rL329j74n0kHJGgnI7BWcd0cNMjxy3a_SPFMOsU5Zbr1pvpOWHAskpvhACDbJN5sNtdMgxgiQdbxWFcBfnMRniuX8k4YsvT7XIj9fc_vANW1ONPR_SANnEEh5IpgBUANPgWjKu3uRDON7I4yXzeq2_H7H33SD741o-1xujqzfBLItkqhV5Rc4jZjgzAc84mmsdkY3vHNeFEYr643b6vJgv_FzGuz2IL5u8JswJjy4tBoK4EW3VwSWNkPPZTwToMkXqeIx0z9Krt_HK_FElzt5fTj389r2ATyjuNetZ5VvXyun1LXSrpJtA-EnBtlf08Y_QoKGCwdAUlBkto2Gtqt9fNOLTYxdthCnpC3cxbzbWwTMf-D2GU0Qdp1T88TKG6o15_dmhiLsifMkYvPP92A_22M3dgogwfeG8UhmZmY2VzC67wCIdPn0Bh_w3qvSikOWjmvy1ZDNREH7LW6VYnIKQi1nyIze8rK4xc52NHdpUeS4Dw2ZoGGR8_4ggnSSc2IDlKs9WNEmrmKuYQ0Wx1FCeRpkxKA1HAFzwUfa98VmPJ2O8LZcFLEOYUUH5V0Tuzt8Y-b9F1HuxZeiS5BvuSvjGT1_3jWcQP_h0PrPn3EvwYSmKydqx33xB-U8hsKfm3XhMbRorx3aXkGkYy-Cu_qDHI_a6c8GnymYN1PQsrSBzg9AIpFkD1VOPgE8MLHKyvtivHQMn6YJfvlRphowHEevEhzgszMt820fmJiNfBDvGGNhmHyqCO7JI5RXY4j3oszbugocSSWseqBPLXgSaG0u6jXK3TQsasPkP6oDsh5SrwtYxFkc-TE9LQ-iUXFJUMb7d8lvWm5l9f8M0bnBT_OmI385GV69_cUPbUK1xDcwxJa_dvkE62xBnoQ5LBpAFv2hGtkhGxFENQAg7MIdWNugezSUHEM2CcC4J9i9bXZ2Ob7GzXXi3q4NORri7SMLllf_I2B69eDoHfrAxdoaFSL4PbUqBHFtpSAU2vZvJaiMuDJ7gKPLpHdp_iPGFQK4Ypw7ObfCIcwZCeR_4O9cXUobLcStNY4H3m2cHx34SrTDbXwTEFlErF4S_gSMm0iQC1heTyKiPGfIx-JhBhi8M827lwKXfsQmLaVNDfFx-i_tO_7FyUm0e2ig1BbBfzZ_U4KjM0RAgFZWRdDH9lgXka7646umIzRGiIIwByZ0niPUQzJ_mQ1ebZcdxdHZ25iQ3S6VQfICZgz7wxJGG-zFL5JA74L91Onu74KEUw7ztMw1U92HhlgLZetRVt3rr1YA5eV85aDZQ2loOQ8yQLvUgeQhaKryNDfED1BtaP0rbcSWlBSKrqC4sZKbRg6XSuCFcWa6WHCbiG2xUZ7opSpGD0_MmEwmfxo5e75Adwu5bmJk80BFAQnSy7JJm75FW--n1NJZSKZlynnEVlBNKh5k1omt1AvINRN2ZL8JJF6VebqE3GsdLxS4hLz8ICdDrB6pkIVq_zlUWhhLJHWIFzJZp0HBhAZy28-npOLf5SO-j5LXrO-gEGS7PQXRJcX50hdNP-er2VymDXFXqmhFD8N7NWRAfZkYowCew3jjyVpU_b1M58koPnmL7C84HcyrM7Xj-xMae0OS5Y0dufZt2yRwql8Jwu75QxAa7t9dAuQ3YZdQNG0T-pPfITAHVwjxaFm6LtaGBnfsvSBFkiVFruC8h1ZIwMcwOYoMxMmA3V9YL3JYc3RiMFXbaVW10elW5nOD4LPutUKj2jkZuuN0k9PvuZCOJISyRmm6VNhH78VlguVjyyWpl6RWe_ehjQkopSLcLfYGd-6XtNWAmdBuE-9tNAfwSg_4KU2wjxBS8xhYueijbweLGnP6dZ-8YFQj_qI9sNIawKaOZ8-ZDbJjuyRMUc6RWIho4R4KBLYEPIvnWfb7GVNjY6yFlDU-NjBEW0EHSB9FEJTW-yvpY-uLQTuex8qiJ2medbn-1NpODD_tudMRVtUMbsfn8bKx8XlCCSb-bzF1HeERXy5oQ4Acaz2jHdU4bHQU_nC8yR7vff43G7ZMDtZjXP5B6KnqV6myCCs20vUyKSL1J1eDGPagHBlJoErE2cJzZ67zyTvOcHLF_jbLvQagCbhdWaenY4bPFyKdQZB1ZHUUVGdX7zaOpQe6FHvvv1i1FlaK-mJI5hpPCGua8-OPp7iv4DwN2B-pRKiaMTi2yB4ztGBWDSdEtr2n5BbIpeslPv9KM0qLRSJ4XAJ4tpNpPoGqs7WD6fpU0ZnMTXupyYSDT6JBR9Vk3OsJ4mmn2k0q6oDIsI6_pU_iv7z3qtVZmDfG1R7_x17Yx4FvRsnoJUW8YOOY7CPX5HlWj2EoFvZnZBuNgQvLI-JGnc0FMx1Le9noYvowqEGpFr5ckufF27oOUdjG7D5If6hbT29F_MvZnG_9xKDdKOwh51eOQyUeNGfQLP2OZLuAxfcJZi4ruutHuXDjNs2IwS0f4zhjy0dwMJ4reGUXGJJ9OXQ3cT35ycWowc6LMfyHJgHC7WPH6ECRa7_kbhW1PgdLMp2coDHN_tFz91BQMVBdaak19yN0xy5XvoTgnwtcKu0KxDRvtuU8NidrL-H4NtQxB1oU8tx5J0BotxSN9gc8kNSHYgUivBDWdtHQZKx1GfLgP_mQRGWeLkHANQoJMT4oV3Rwx8qKzUQEkVsiO0rtcXhQ5vEEdJYKBjH8X4QG7jExJRInLJbs_Nw1SbMsnKTDug==",
  "id": "rs_07f3cb55d3ed885b016ab43135c09887d0b0a1611b693efc4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.075,\"left_z\":0.035,\"left_yaw\":0.45},\"note\":\"The left wrist view shows the leftmost bottle diagonally across the approach, with the near body slightly right of the jaw center. I’ll descend onto its upper body, shift right to center it, and rotate the jaws to cross its diagonal axis.\"}",
  "call_id": "call_ExeAZTWlkNpBeDpwNu29YIRm",
  "id": "fc_07f3cb55d3ed885b016ab4313a72fc87d09be964d2ef5b0cfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ExeAZTWlkNpBeDpwNu29YIRm",
  "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]: [-0.4931, 1.7752, 0.6689, 0.2523, -0.6315, -0.5323, 0.9982, -0.1909, 0.8158, 0.5861, -0.4, -0.289, -0.2142, 0.9972]\nstate[eef_state]: left_x=0.3829 left_y=-0.0833 left_z=0.0182 left_yaw=0.2953 left_pitch=-0.0944 left_roll=0.059 left_gripper=0.9982 right_x=0.29 right_y=-0.0011 right_z=0.1661 right_yaw=0.144 right_pitch=-0.0295 right_roll=0.0081 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -8.9504, 5.5863, 1.243, -0.3834, -0.0415, -0.0171, -0.1983, -1.7436, 6.8581, 1.9023, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db3015b89e763ffd68de924f897a623835e2721b645185367aaec1592bb483b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a0a4693e772e9850fca8950d778aa789a1dc3353abab738f1e693bba643b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664363379679c3916db2a7ffa2e99c307430293bff40ee1ddfa590ca7dde9cf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 2.288 s

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

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0265, -0.0292, 0.9983, 0.6487, 1.1648, 1.0428, -0.5457, 0.3889, 0.2352, 0.3479]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.317 right_y=0.1608 right_z=0.2398 right_yaw=0.175 right_pitch=-0.0398 right_roll=-0.0297 right_gripper=0.3479\nstate[joint_eff]: [-0.1709, -1.5658, 6.5709, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -4.3145, 8.8274, 1.6825, 0.1978, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2054, 1.2369, 0.498, 0.1184, -0.1772, -0.131, 0.9983, -0.1856, 0.8394, 0.6273, -0.4255, -0.2638, -0.2043, 0.997]\nstate[eef_state]: left_x=0.3533 left_y=-0.0381 left_z=0.0991 left_yaw=-0.0026 left_pitch=-0.0479 left_roll=0.0048 left_gripper=0.9983 right_x=0.2935 right_y=-0.0046 right_z=0.1725 right_yaw=0.1233 right_pitch=-0.042 right_roll=0.0046 right_gripper=0.997\nstate[joint_eff]: [-0.4718, -4.3556, 5.7094, 1.9658, -0.1783, 0.0904, -0.0122, -0.0479, -2.0855, 7.159, 1.9267, -0.2173, -0.0171, 0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.7752, 0.6689, 0.2523, -0.6315, -0.5323, 0.9982, -0.1909, 0.8158, 0.5861, -0.4, -0.289, -0.2142, 0.9972]\nstate[eef_state]: left_x=0.3829 left_y=-0.0833 left_z=0.0182 left_yaw=0.2953 left_pitch=-0.0944 left_roll=0.059 left_gripper=0.9982 right_x=0.29 right_y=-0.0011 right_z=0.1661 right_yaw=0.144 right_pitch=-0.0295 right_roll=0.0081 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -8.9504, 5.5863, 1.243, -0.3834, -0.0415, -0.0171, -0.1983, -1.7436, 6.8581, 1.9023, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db3015b89e763ffd68de924f897a623835e2721b645185367aaec1592bb483b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a0a4693e772e9850fca8950d778aa789a1dc3353abab738f1e693bba643b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664363379679c3916db2a7ffa2e99c307430293bff40ee1ddfa590ca7dde9cf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDE-h0pD1QZ2A0bJKwLHsT_Z5zzpBMvAAxxx8Es2G-pqWy6O9H3JZT6Ml4Y7W72UbDqhd2V-Gh2aw3MsjNUEw5CRl2BwWgjo8q7yNeGovq-SbeCP_TytqZBCnT8YrGhNI0HruyPEAd8RTczTrraDkuEvN7_25eOTni8OvEmtvTveLU86ANaO-FMYb5zwgq8xOndClcAIXqGtVTk7h-6OEOYfpQjkqkdIsabkO1B6cANkvgEiKR0233AIkutBKT0m5ugyeplzcxFB23NUJTyM9lrOzyj6BllIIoBBYZcs6zvGkDP3OasObCrag-B7bW_11baKTwL-z2q38qn0YUhGLOyvvZMcXkPK3yQKAiPhdaCBvHfhrVg9PTTTOm1MziKqA5RJVbxIjUL_6Z9qJQnGrUS5BuF5ggGwSireM1uZhMuAuT4HiFIu3E31Raq7nuZIZZ3tIxwaOCl-xB-FBDtw-Y-laW7fqpGjgQRLbab5O0TOCmswAgaUoix3WUHQedVhtcSZ1i3DRYuLsplwok9u9005tzcyTCjlmpTBfsEL-sjL16MH66bFK1n1igujW2Ux1RPCbHDpRVQPe1wsSHJYK6b-2QEytBbmK3YwDAjKWHAVAZMvMijMIs9eZX3AeUrwymu7vhqhvID4r7iijcWAnXHQLrsn3vVmaU_8hCbQ-xez-2janqplAAE8tpN82d-7kFz4c5e6X4iHu0kFoAQt6wk8L_UNgmf8Jw2tVhtk9BwufoyJhHGWGb3TyrgOmiWIv9wFtbpzJCl2aEidnx2Tpkht4nzhdNeYlmPY9kE14Hqr-cPrsLndiMuB2c3bam_51r2tbSXqv0iX8X4BToibGoOfdC-eMi9qZNXMGrs9YzRdcjba07DV_iIlx80Dgoiyesj45cZW7H9Vd7LSQhuOeW_cPzDpX8C6sMWbQmlEue8o_XMEFfmpXBlaoFl2ESHEIQLBUtdDOiqM4UtlYaCgZb4lE09oOixRfORfJqUkX0b1n9mrIfs3jH7N1Sgo8wIW0jzLng0xJskE_dWPKVql5FjIHd-1Fnzn8Sliaw3UEGEBlOBna5FbLW7C2ZJ2j2rlQaMVydHa27g7K3aqN9ysSp4EWuu2hHQ0jmRGbDi3dAdFmzemUeCKxF3oB4TnVxbFPI3lbzOHXHlnTfsgqBywVunz53eikjov_BrJ8ATcD9ffle8FiMnanSGHqrmdY0f51bnQxAYLF1ZdCMri_hnP9lOEO_H_DTKmbKMn-OBtL7zzK9T3Pm9FWe8iPETbm0oAFN6JKrTnfO_ejhEyJrhxC_e1VDdu03WK6fdKEOksfhpzHdidYK5uuuGWtgfUWFmwCSF-_9XPGyxh2IH-XVgJreQdIaq6B1BgjeGFpg04Tn1X2XXY_6SeAOcdbnlhQSI9MG93Jar2n7WYpMUbTKOfiPvwGg414OSDpAWA-u_iSqQvHeXzhb8xVFFDzQ8VO6FzKUTWJP5n2iIDW-1eAZtLNKcvdY1DflAyUF_hFsAhLFw2R9CZDf3fJDO98AdEJXmvA-qVDbnXNN1gnENuUEANWvZIbDefw-BpZSTiywuX2eYBss2XSkOPXSq-Q1HRA6TdT26g",
  "id": "rs_07f3cb55d3ed885b016ab4313cd8b487d0ba209251d1a4a827",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is now straddling the near half of the leftmost bottle, at a low enough height to contact its sides. I’ll close and use the settled jaw opening to check that it has taken hold.\"}",
  "call_id": "call_qEufHrOXlCQcVoB4jbxgp1aP",
  "id": "fc_07f3cb55d3ed885b016ab4313dc02087d0887cf5253aaea2a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qEufHrOXlCQcVoB4jbxgp1aP",
  "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]: [-0.5045, 1.8042, 0.5827, 0.4789, -0.6846, -0.5423, 0.5106, -0.1909, 0.8036, 0.5564, -0.3836, -0.292, -0.2153, 0.9978]\nstate[eef_state]: left_x=0.383 left_y=-0.0798 left_z=0.0194 left_yaw=0.3239 left_pitch=0.0102 left_roll=-0.0035 left_gripper=0.5106 right_x=0.2875 right_y=-0.0001 right_z=0.1593 right_yaw=0.1472 right_pitch=-0.03 right_roll=0.0092 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -7.5145, 4.2598, 1.4872, -0.0269, 0.1685, 1.0281, -0.3214, -2.0855, 6.9538, 1.8584, -0.1392, -0.0513, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95da72833b1efbfa5612b958b16d3a3df9aa9c650849a8514fd0fb861eaa83e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ca696d5beec3a842d9da935a0f7f9db0b247e8cfc69ce9a659fbf07d3ec8c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fb4c369f7271a7d35b862241a6ece5d745a3d2057b2259930114c37f495bcf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.806 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0261, -0.0292, 0.9983, 0.6483, 1.1503, 0.9901, -0.5152, 0.3813, 0.2314, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3137 right_y=0.1597 right_z=0.227 right_yaw=0.1827 right_pitch=-0.0487 right_roll=-0.0321 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.7949, -0.0611, -0.0366, -0.0122, -0.5812, -5.0803, 7.1453, 1.9707, 0.105, 0.0366, -0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.7752, 0.6689, 0.2523, -0.6315, -0.5323, 0.9982, -0.1909, 0.8158, 0.5861, -0.4, -0.289, -0.2142, 0.9972]\nstate[eef_state]: left_x=0.3829 left_y=-0.0833 left_z=0.0182 left_yaw=0.2953 left_pitch=-0.0944 left_roll=0.059 left_gripper=0.9982 right_x=0.29 right_y=-0.0011 right_z=0.1661 right_yaw=0.144 right_pitch=-0.0295 right_roll=0.0081 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -8.9504, 5.5863, 1.243, -0.3834, -0.0415, -0.0171, -0.1983, -1.7436, 6.8581, 1.9023, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5045, 1.8042, 0.5827, 0.4789, -0.6846, -0.5423, 0.5106, -0.1909, 0.8036, 0.5564, -0.3836, -0.292, -0.2153, 0.9978]\nstate[eef_state]: left_x=0.383 left_y=-0.0798 left_z=0.0194 left_yaw=0.3239 left_pitch=0.0102 left_roll=-0.0035 left_gripper=0.5106 right_x=0.2875 right_y=-0.0001 right_z=0.1593 right_yaw=0.1472 right_pitch=-0.03 right_roll=0.0092 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -7.5145, 4.2598, 1.4872, -0.0269, 0.1685, 1.0281, -0.3214, -2.0855, 6.9538, 1.8584, -0.1392, -0.0513, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95da72833b1efbfa5612b958b16d3a3df9aa9c650849a8514fd0fb861eaa83e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ca696d5beec3a842d9da935a0f7f9db0b247e8cfc69ce9a659fbf07d3ec8c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fb4c369f7271a7d35b862241a6ece5d745a3d2057b2259930114c37f495bcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFB_k4YGvz7m2hsN3qkLqUuyFXvZKbQy4x3MFwtCbyFPiJsOe-QlWpJT0zMwXod4yhsJ3xjNZWayYWdFJDeA2je_qqpiibVBZ1fDdGUvfNrts-wx9eegbrt97rgzS_HHjqCc4vF39DZB3nNGhq2i7RCkuIYLuiYa41e-xRqfd2N9ArZnof73JLQNRF-4Hd92xh8vDOV2pj8imLaph_VrGLZvd17-xQ2K0rCIO6l4X2R074qX4nAiPXOYPKRxo_XfCTbGrFWSRZGkzrn1EfNlJiPWeAd7SY8jbGDz_fOgubC-kS58OqrgcbSW7dauB6Fi_S63RWYF5dm3BjPCDm1a57cOA7c2S9npWspQGGZ6LqApb_-sxAJzecjyG7_SsAadnFGYPqNwe3pXAVULNuNJ1av-8c75yX9eT385-EejZK8cC_P6uDlmuPvA0_QZpg2BieMEyyrGkruvAd8CmkhgM7X7f7Fr6CQz-8W_MhHCquMKHq3dc1nBGpYqKTuogZsJeCfd8n1FdYp4U7-glMO79zP-obFCIf5i2ciJOziP3OeB6lUPBGnvzUcYKc2Us0B0OTYeNv1Zs5m3q-0LH9PMAEU8fK5VbcDm9c5nxvOyNS4Sy39R0oZqX6TUrQI0VGfGGLBniBjocAsE-r5m7wt6RpYms4LJOlFnqSh99oRhoamYzFqjYuUO4eEbj7xsrG7earhCZGfzgA-2MqLakivoOfeFBjlXxW2JihcBnq4VIBtSgsT21Ba3CEwTs-k7OeT1WOEthgiOTcvYQulphqSVIXB3_tDq1qoNxi-xE-PIDy6yeLeIc7ltpYHr0QtspprwabT0K4Sb3AgFabPWXKggplGKUaRIdwg9W4HEnTMmJM6lFoyzuM-ZHGtD5keHVjLzR6L0uDZ3BWRkLe4oLaU9WPAlDa1v8h-N6DaOuCqdJnb9t7f8y6Hr848l3TAuhq_xhJRl-vCFt0EtNoiumklUZWoKntq_hNS8vE347H3RDXDc88qhnCWRDVRQzCZ7AB4s_T8G-ZWPybWW4TWtLX6TJSLal4fj0YybVJb9EhYQTH9K69iGVM55EgidDHF7K9Dxa0eDv_WIuU7ZbpN22jsjQj-QuZ0LQGekTmBIiBd7bZFJC6DxfqIolKRiCCT-vr7SRGeBPs0HO1OTujBfAzJK8qaKGo_T8LtvlHcwuRpYiVaBs6glxU6A8SBUUHo1ykJKwjgs_VWC5t42FfBplxKst1WYnynO_n2uwqfUofzq74FNbh57S-1uY4KMX6Mm-tDyCpBXTPMDmAisDISUDhlN5rY11yYZhItWEUOcBN_EU8Baq8lmgVv09QUzM1zGpfsoglMEa46XNoxFSUJbgKBExLLgibUquZ2F70_K1ot6aDRHPDTcmRmsLy8LmrLoonawKayQSDsk1ORgAm5TXwJb12cXc02pjPFkFXoCMHcLc_a8bcJm33j22J9yJqwMByFaerU1UjekJFVF1jv2ga8gnnZxbjJ-7O3kVcjTSNDV7C7QEM=",
  "id": "rs_07f3cb55d3ed885b016ab43140453887d0b27686c608dc329b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.135},\"note\":\"The left jaws settled about 4.9 cm apart, consistent with gripping this bottle’s broad body. I’ll lift straight up first to confirm the bottle follows rather than slipping through the jaws.\"}",
  "call_id": "call_bjqC55ttHiVH7LBs3CPikI2R",
  "id": "fc_07f3cb55d3ed885b016ab43141164087d081521d537d8d38da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bjqC55ttHiVH7LBs3CPikI2R",
  "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]: [-0.5045, 1.515, 0.754, -0.1104, -0.6247, -0.5541, 0.5108, -0.1909, 0.7914, 0.5282, -0.3721, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3681 left_y=-0.0811 left_z=0.0869 left_yaw=0.2919 left_pitch=-0.1096 left_roll=0.0507 left_gripper=0.5108 right_x=0.2846 right_y=0.0004 right_z=0.1521 right_yaw=0.1472 right_pitch=-0.0343 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [-0.0342, -9.6342, 10.3726, 2.0049, -0.8327, 0.0464, 0.7057, -0.3624, -1.6889, 6.9949, 1.9121, -0.105, -0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40a3b92ad4765b6122b3e9079be8cf9093ab35ad790261b0ea840fa5a2ef74f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c322eac0b93a9117aad2976a8a7b42c9bab06c3d4bd7f0912dcc29b6ac8286c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5ed5124080e09a9b8ab1a4334fc0c3317e66da084ac5c8c5bea48610d4cb75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 4.666 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2054, 1.2369, 0.498, 0.1184, -0.1772, -0.131, 0.9983, -0.1856, 0.8394, 0.6273, -0.4255, -0.2638, -0.2043, 0.997]\nstate[eef_state]: left_x=0.3533 left_y=-0.0381 left_z=0.0991 left_yaw=-0.0026 left_pitch=-0.0479 left_roll=0.0048 left_gripper=0.9983 right_x=0.2935 right_y=-0.0046 right_z=0.1725 right_yaw=0.1233 right_pitch=-0.042 right_roll=0.0046 right_gripper=0.997\nstate[joint_eff]: [-0.4718, -4.3556, 5.7094, 1.9658, -0.1783, 0.0904, -0.0122, -0.0479, -2.0855, 7.159, 1.9267, -0.2173, -0.0171, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5045, 1.8042, 0.5827, 0.4789, -0.6846, -0.5423, 0.5106, -0.1909, 0.8036, 0.5564, -0.3836, -0.292, -0.2153, 0.9978]\nstate[eef_state]: left_x=0.383 left_y=-0.0798 left_z=0.0194 left_yaw=0.3239 left_pitch=0.0102 left_roll=-0.0035 left_gripper=0.5106 right_x=0.2875 right_y=-0.0001 right_z=0.1593 right_yaw=0.1472 right_pitch=-0.03 right_roll=0.0092 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -7.5145, 4.2598, 1.4872, -0.0269, 0.1685, 1.0281, -0.3214, -2.0855, 6.9538, 1.8584, -0.1392, -0.0513, 0.0513]",
      "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]: [-0.5045, 1.515, 0.754, -0.1104, -0.6247, -0.5541, 0.5108, -0.1909, 0.7914, 0.5282, -0.3721, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3681 left_y=-0.0811 left_z=0.0869 left_yaw=0.2919 left_pitch=-0.1096 left_roll=0.0507 left_gripper=0.5108 right_x=0.2846 right_y=0.0004 right_z=0.1521 right_yaw=0.1472 right_pitch=-0.0343 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [-0.0342, -9.6342, 10.3726, 2.0049, -0.8327, 0.0464, 0.7057, -0.3624, -1.6889, 6.9949, 1.9121, -0.105, -0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40a3b92ad4765b6122b3e9079be8cf9093ab35ad790261b0ea840fa5a2ef74f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c322eac0b93a9117aad2976a8a7b42c9bab06c3d4bd7f0912dcc29b6ac8286c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5ed5124080e09a9b8ab1a4334fc0c3317e66da084ac5c8c5bea48610d4cb75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFGzHBxibhmQ0XAq9CYA0xECxtqZWpn3gTekjiGKqPkxLNAHBAhrwSowYImLl7wcuKv2YuRk4tLsTPetvteYeDUk7FqX-aoYKXT4AQ3jB-3OPPsKHona93Al2efhqxxmHKV0WGyBHeWT-dnnWA_rywcDCvqZOnLlKphX-nSLgTuX9ZLnuEnGHSD-CrsCa7vSBrDAMAn-gbXCCKaxsRIiuy1hkCxhIzwBlIeb9eC2IyyM7xtI7mvYU7kZqNWd5busiOKwSk9I40caJBHqqEJR8_lqE3fqKwN9_kaikcwVaHMmlaDflZs21a3VinYgtTwmbsQ8oo4__ZRD2G1TXvX1tkfj4PeLsdAUYQcwpn1XgXcxyg-G_dyRFqFvTkBEq46Wj4kjrFltswjBONfdMsZOPb1d6y3oqGYf6Z3bQ93Nk0GHpanNTlGXabwINl2OAf1uiYs51MIgbZkvr_61xvKLvdUpb3BWA2rQ3Rf482rS-S06-otJHZevyxP73X8vXnoJxktJivmST4xSoxxLVgdXQp4W07kiyC5OFNve8hDRJ3YNrlIJIU2WACxd_ajGI-r2JDROpGpL4aWew8GRvogEWLQbqEdN-hOBUNQH_LrRn7K1j5FC63HU320dyL5vYVqaw23Ud6I9T6G6jeIEQPia-nm903XEqj7awsKpCGGXHbHAq3l-uvvtXPMfObcLy5UfPi5zfpg_yjv1keMlqKlRDyKoSieS-05XkSduPZlepIrNtZ3oX_NF_kKTcGdQTeWuIgBF42PgWLiElhMlUVXHjj1O9fhYKg9Ofah93FiaMIQlcMsrPtoMlkA7xvCjMwDNjcWKjKwEk06gBnaNcj-If1r0dHQr2GWZk00fgjGX69VD_A_OOxPAQGEqQSSAgt_MBYNjgwgQ-QBEMez2-FD8_XXNzigOtxA1OTrJYUPRt2nUqASlJZSAYpiBHMHvqctsmv90Mv5y6lQIwWYfO9jG8Z9QEFZHYCF3wPKij9KqOPbRlrF_pDnTsaiMzeoQPlxkwJBTskyBWS_NR7bVBHjMReWpJ_3_lj_B3wc4RcKjbzHqoUfxaGHA6k8KOZ2VkFD2A57_JSSsqxwoXZk5KLGFZBtqF-n5-lKlggySwV-2CRHbYZHALlCG9Itn6oS6DR5TbfzGPruxuNb0jhjwAdGjY1E3xpRP_sk8yF2Kxp_PG-6SprGgJYOihYdeKE1G_FcUUPKL_nQ1xoY9xKzm8YfnJDSwc7ZeqgxioSxuU-EdK20cKtdQGlJIeX1gxn8kqDC-Xxq9V83fpPe5yk4-gwXhvkPfPgtlqX3-oijFZB-swSsyC9l5iU62ANKJIreNRNT80nC2PG6F_ZOwT5wVjP8Ty2Cnp2tZvUMkr__jMis57WLHdrEUgWelNC64FSrzud363eA8WE4hfRW6pNHFL2CJsh5vJLT3AEx_ZWGFt4nxeaM3PPoXUq2hFJUxBaJ779H47WVx-wM-YMeJWzqHIjoWRGJ6BFfsbWpVNmloRCxz68x231aTymHMWnOslUgGWwbcN9fWxGZ6WOpGSfCDat48l-iXpZPrMJLM2r2vArzwRS05LNPCH_x29VzKpI2UTsP8MsktaKmmi_kK6z4-SW0ACMHa8JO-Q1AMB3DiGBAmlAZ6ZCVqh28zvuwF73_CjHlYDS-5eIViaWaUhC4IOhKG_DhIfc2nxV4Bh7S57VV-pPLnwMovnpsgmSTD1OnCwsvPWY9B1PNTA8xuZR3cdv_hdeU6Dq_b79E9NwJkqFt72Hdke0GgeTHHAHZz5nBqR0BWjzm0XuJMT6c4avifASN514Kc0Y4mgTHqPFFSj5FXesNwTQjlykzE4RIsW0Zc1Q3kIqAmexyutgE4LauHIHjKcybNOONK8tyPsWs4hdzin3eQDsjTZWKupU4w8ZX0HVBoSZ7GmWi0YKtYbNvPhQICa3jnw5k2wPU4jYGsBKrHFWMNRAk7DKduLPKa8n0vHZVPAvk8bSbAfVMQDLrRqI8Abb5jA==",
  "id": "rs_07f3cb55d3ed885b016ab4314368c087d092121c59436412b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.16},\"note\":\"The left bottle’s cap stayed near the table while its near end shifted, showing that I grasped too close to its bottom to stand it up. I’ll release and clear the arm so I can regrasp closer to the cap.\"}",
  "call_id": "call_R2kCDhuD04zvutIUU9wuNl0R",
  "id": "fc_07f3cb55d3ed885b016ab43145403087d09332a3fa65e08d94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R2kCDhuD04zvutIUU9wuNl0R",
  "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]: [-0.5224, 1.3846, 0.7948, -0.1883, -0.6594, -0.5499, 0.9958, -0.1909, 0.7757, 0.4927, -0.3569, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3656 left_y=-0.0815 left_z=0.138 left_yaw=0.2919 left_pitch=-0.0266 left_roll=0.0042 left_gripper=0.9958 right_x=0.2809 right_y=0.0012 right_z=0.1433 right_yaw=0.1473 right_pitch=-0.0386 right_roll=0.0123 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -6.8308, 8.7726, 1.3944, -0.2759, 0.0611, -0.1685, -0.335, -1.8256, 7.159, 1.9072, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf63eef90fdfb173be6813b2123ee15217215a7c1f9ad1c311d183ceaf3f713",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98007498162287ceb24df20e6dbbce56b9b4c7afd5a71c502113a729ba9d9c94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f67a7075f2919d1ae4d3d92996e2cebc009ddf29e7e8de608d4ecb2763e1b2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.297 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.7752, 0.6689, 0.2523, -0.6315, -0.5323, 0.9982, -0.1909, 0.8158, 0.5861, -0.4, -0.289, -0.2142, 0.9972]\nstate[eef_state]: left_x=0.3829 left_y=-0.0833 left_z=0.0182 left_yaw=0.2953 left_pitch=-0.0944 left_roll=0.059 left_gripper=0.9982 right_x=0.29 right_y=-0.0011 right_z=0.1661 right_yaw=0.144 right_pitch=-0.0295 right_roll=0.0081 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -8.9504, 5.5863, 1.243, -0.3834, -0.0415, -0.0171, -0.1983, -1.7436, 6.8581, 1.9023, -0.0269, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5045, 1.515, 0.754, -0.1104, -0.6247, -0.5541, 0.5108, -0.1909, 0.7914, 0.5282, -0.3721, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3681 left_y=-0.0811 left_z=0.0869 left_yaw=0.2919 left_pitch=-0.1096 left_roll=0.0507 left_gripper=0.5108 right_x=0.2846 right_y=0.0004 right_z=0.1521 right_yaw=0.1472 right_pitch=-0.0343 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [-0.0342, -9.6342, 10.3726, 2.0049, -0.8327, 0.0464, 0.7057, -0.3624, -1.6889, 6.9949, 1.9121, -0.105, -0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.3846, 0.7948, -0.1883, -0.6594, -0.5499, 0.9958, -0.1909, 0.7757, 0.4927, -0.3569, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3656 left_y=-0.0815 left_z=0.138 left_yaw=0.2919 left_pitch=-0.0266 left_roll=0.0042 left_gripper=0.9958 right_x=0.2809 right_y=0.0012 right_z=0.1433 right_yaw=0.1473 right_pitch=-0.0386 right_roll=0.0123 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -6.8308, 8.7726, 1.3944, -0.2759, 0.0611, -0.1685, -0.335, -1.8256, 7.159, 1.9072, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf63eef90fdfb173be6813b2123ee15217215a7c1f9ad1c311d183ceaf3f713",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98007498162287ceb24df20e6dbbce56b9b4c7afd5a71c502113a729ba9d9c94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f67a7075f2919d1ae4d3d92996e2cebc009ddf29e7e8de608d4ecb2763e1b2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_07f3cb55d3ed885b016ab43147a94087d0a08d6b3fdbb08d1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.055,\"left_z\":0.10,\"left_yaw\":0.4},\"note\":\"With the arm clear, the left bottle is still lying diagonally, and its cap is well ahead of the previous grip. I’ll reach over the cap-side half at a safe height before making a second, more useful grasp.\"}",
  "call_id": "call_SyjFQI0nzemCeQ369QxVIQck",
  "id": "fc_07f3cb55d3ed885b016ab4314a67d887d09123c68672e62e1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SyjFQI0nzemCeQ369QxVIQck",
  "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]: [-0.5224, 1.3647, 0.8238, -0.223, -0.6628, -0.5499, 0.9969, -0.1909, 0.7563, 0.4553, -0.3382, -0.292, -0.2157, 0.9979]\nstate[eef_state]: left_x=0.3664 left_y=-0.0814 left_z=0.151 left_yaw=0.2942 left_pitch=-0.0152 left_roll=-0.0044 left_gripper=0.9969 right_x=0.2773 right_y=0.0019 right_z=0.1353 right_yaw=0.1475 right_pitch=-0.0379 right_roll=0.0117 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -6.1333, 7.9795, 1.3504, -0.3639, 0.1197, 0.1001, -0.3897, -1.7983, 7.0496, 1.9805, -0.1343, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d2e5b10472bc378174630955eb9f76c98387e30bb4bffebe8c5756652a4106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6b491362685e91df7863c86ded836f241c5273eb596100a5d9e13f37b336db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee78b1131c763497adac7d5a1400139f4a1829897a38650709793facb25bc068",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.997 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5045, 1.8042, 0.5827, 0.4789, -0.6846, -0.5423, 0.5106, -0.1909, 0.8036, 0.5564, -0.3836, -0.292, -0.2153, 0.9978]\nstate[eef_state]: left_x=0.383 left_y=-0.0798 left_z=0.0194 left_yaw=0.3239 left_pitch=0.0102 left_roll=-0.0035 left_gripper=0.5106 right_x=0.2875 right_y=-0.0001 right_z=0.1593 right_yaw=0.1472 right_pitch=-0.03 right_roll=0.0092 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -7.5145, 4.2598, 1.4872, -0.0269, 0.1685, 1.0281, -0.3214, -2.0855, 6.9538, 1.8584, -0.1392, -0.0513, 0.0513]",
      "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]: [-0.5224, 1.3846, 0.7948, -0.1883, -0.6594, -0.5499, 0.9958, -0.1909, 0.7757, 0.4927, -0.3569, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3656 left_y=-0.0815 left_z=0.138 left_yaw=0.2919 left_pitch=-0.0266 left_roll=0.0042 left_gripper=0.9958 right_x=0.2809 right_y=0.0012 right_z=0.1433 right_yaw=0.1473 right_pitch=-0.0386 right_roll=0.0123 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -6.8308, 8.7726, 1.3944, -0.2759, 0.0611, -0.1685, -0.335, -1.8256, 7.159, 1.9072, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.3647, 0.8238, -0.223, -0.6628, -0.5499, 0.9969, -0.1909, 0.7563, 0.4553, -0.3382, -0.292, -0.2157, 0.9979]\nstate[eef_state]: left_x=0.3664 left_y=-0.0814 left_z=0.151 left_yaw=0.2942 left_pitch=-0.0152 left_roll=-0.0044 left_gripper=0.9969 right_x=0.2773 right_y=0.0019 right_z=0.1353 right_yaw=0.1475 right_pitch=-0.0379 right_roll=0.0117 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -6.1333, 7.9795, 1.3504, -0.3639, 0.1197, 0.1001, -0.3897, -1.7983, 7.0496, 1.9805, -0.1343, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d2e5b10472bc378174630955eb9f76c98387e30bb4bffebe8c5756652a4106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6b491362685e91df7863c86ded836f241c5273eb596100a5d9e13f37b336db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee78b1131c763497adac7d5a1400139f4a1829897a38650709793facb25bc068",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDFOFBmvffl4Yg-YDCmPeq_CmVsSxftXCqxRPMbplDsY3wxbFuT9CCsItjJw8MLoCWsVx2cdJ13C6i_I8TwqD6K7_R6O64iwaVftFFUBwccgXBNemD4YIqP7XEAjwjPzNCzCzH-NLRsup1zN-4fgqjmrgfigtD6AjxF0bCtZ6qriNUrv74X_2iRS1rxJ8ApvTWn_Xw2QQBseNfpotrcF6gKogZQ9dcYjhcQRseJLHPhu5jf9JNd4aiU7IFDWT3tqbrZrRVQ8rHCp5kC9-tPEuTNhIXsbYk9ZTzVc5j0gg7HzC8Mug4CwEmj0dPGXDsXKKzNdMC_Zni-u9GtPkpOr-J9DlkPcSSk5VMVxZN-S9JP_V1vaWj6p9EIrGysUXP3feESN8ymd2Eww0tXhjr0IslC-GkaBdOjyo-PvrjXDTSW6tsNhd9JEy7Ey44Z5lZXBQiURI35WpQrdR6PzSCCP6kex4KHUwhe-2gdj2BgystBPOtKLLYu7XRKznpI8kq0xprY0E3Uhw4ZGtZohQvxdT-axdMfm3vuJJtlBXZxbk9G6Gx3NchaJjZ0WxO-GzHeOyFB2VVPo_jn4kKgCtQ5B3Pc0RaOz7us79LTbnmseiXHNlwKl-xuplOACeS16q4kJ7zn23W_rmheDZAuvJvQV9N4y4jLoHhVrDFkyOOcCiOtiGx2FnmPiQWR-oSBnubmLIElyRi69gx9FV-NutuDVss_Xw4MTZ20xRnL_qSVWXFjrDaNIQBnGuDtsx54yC5Bl0IAA_NX6rfbgAvANHsXtkcxYb609cq0-rv4R9NiGE6OWeGCP4uk034_7vjChyvl1tPxcHvND56yUEHK4FmCQclQiODpeuRk4NhDIn54hPFGzUYWmjXFn4zQatn3v08BfK2aTHnNB5AGdixCTgkHLDgCAE1P6X_IwzH1fKA6l-49g2CLE6nyhzC-60CmRnbQpMJZ1h7kwHNWtzWcLEHMerDvi0YbAcxSGjpAoVW0vepsRqjzk6pYuMdTzGVOf0LURAITz7JMX6QELnu368Snw1a1FumRN_B2MiAudlTMCN4JPPcPTTmKBJ-TPLdQ6g4qKEgZSpS0BcX2jWtTZ5d6TvBcMFMD8sYxK8YY3LbocBpfDdcIuVQA2O-y19X3QCihLWCRgJz_J1O78D1LEQvP319ySiluewDDpFbtHN8vXC63DBJIzaBPxRhxNFTieqOy9tuwz2cXbxnm6SWak_3dQcPoIa_q-W5a2kpawQPtGC7jFG2baf_9IWnGq9MibBR7d3LlMKlBYnr3S-vrq0oK8lvIiDiY3a9uZHOwbzoHNhdcXrTShI5UDfiZw3UtBdPPiFlyIWdahVrTm7eJvMx0cm-KWKTOgxYA3ghbejRXBUKTCUsR9Gi6jXUljS5aUia1D9XU766U2x5mQVn5rhAvwErjSp1AgIIZj3C9ZjAldIBxDL4aD34_GPF33ZnHXKCOMOwqUOKcRq85duAAflr0cTLJEAOMYDRK3Uw3L8Wq7mkhII90=",
  "id": "rs_07f3cb55d3ed885b016ab4314d313087d0bd6219cd418e857f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.245},\"note\":\"The direct forward-and-down motion was blocked before it advanced, likely because the path crosses the bottle. I’ll lift above the bottle first, then approach the cap from overhead.\"}",
  "call_id": "call_LkgssGSRBUMN5UdtfZYyh69F",
  "id": "fc_07f3cb55d3ed885b016ab4314db8c087d08a2dd9fe59136647",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LkgssGSRBUMN5UdtfZYyh69F",
  "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]: [-0.5285, 1.3293, 1.1053, -0.519, -0.6632, -0.551, 0.997, -0.1909, 0.7326, 0.4194, -0.3161, -0.292, -0.2161, 0.9979]\nstate[eef_state]: left_x=0.3704 left_y=-0.0862 left_z=0.231 left_yaw=0.2888 left_pitch=-0.0006 left_roll=-0.0205 left_gripper=0.997 right_x=0.2743 right_y=0.0024 right_z=0.1295 right_yaw=0.1476 right_pitch=-0.0286 right_roll=0.0081 right_gripper=0.9979\nstate[joint_eff]: [0.253, -5.9692, 9.5111, 1.3407, -0.4029, 0.0611, -0.0024, -0.4581, -1.306, 6.8171, 1.9121, -0.1734, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c54c375f480b44486a904c44c86656b4bb868ddc06415fab1135874ce519938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c4bba5977258f589b6c004b39fc19c109f780c048b5cf5a3587c5cb6d8ad2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5842dc2555a227d128d893cf1df4f763feb35cb6b526c2b4bb78a6bf21c78c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.847 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]: [-0.5045, 1.515, 0.754, -0.1104, -0.6247, -0.5541, 0.5108, -0.1909, 0.7914, 0.5282, -0.3721, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3681 left_y=-0.0811 left_z=0.0869 left_yaw=0.2919 left_pitch=-0.1096 left_roll=0.0507 left_gripper=0.5108 right_x=0.2846 right_y=0.0004 right_z=0.1521 right_yaw=0.1472 right_pitch=-0.0343 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [-0.0342, -9.6342, 10.3726, 2.0049, -0.8327, 0.0464, 0.7057, -0.3624, -1.6889, 6.9949, 1.9121, -0.105, -0.0122, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.3647, 0.8238, -0.223, -0.6628, -0.5499, 0.9969, -0.1909, 0.7563, 0.4553, -0.3382, -0.292, -0.2157, 0.9979]\nstate[eef_state]: left_x=0.3664 left_y=-0.0814 left_z=0.151 left_yaw=0.2942 left_pitch=-0.0152 left_roll=-0.0044 left_gripper=0.9969 right_x=0.2773 right_y=0.0019 right_z=0.1353 right_yaw=0.1475 right_pitch=-0.0379 right_roll=0.0117 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -6.1333, 7.9795, 1.3504, -0.3639, 0.1197, 0.1001, -0.3897, -1.7983, 7.0496, 1.9805, -0.1343, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.3293, 1.1053, -0.519, -0.6632, -0.551, 0.997, -0.1909, 0.7326, 0.4194, -0.3161, -0.292, -0.2161, 0.9979]\nstate[eef_state]: left_x=0.3704 left_y=-0.0862 left_z=0.231 left_yaw=0.2888 left_pitch=-0.0006 left_roll=-0.0205 left_gripper=0.997 right_x=0.2743 right_y=0.0024 right_z=0.1295 right_yaw=0.1476 right_pitch=-0.0286 right_roll=0.0081 right_gripper=0.9979\nstate[joint_eff]: [0.253, -5.9692, 9.5111, 1.3407, -0.4029, 0.0611, -0.0024, -0.4581, -1.306, 6.8171, 1.9121, -0.1734, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c54c375f480b44486a904c44c86656b4bb868ddc06415fab1135874ce519938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c4bba5977258f589b6c004b39fc19c109f780c048b5cf5a3587c5cb6d8ad2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5842dc2555a227d128d893cf1df4f763feb35cb6b526c2b4bb78a6bf21c78c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07f3cb55d3ed885b016ab43150030887d0bdc19c4deca20cd5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.05,\"left_z\":0.22,\"left_yaw\":0.4},\"note\":\"The left gripper is now safely above the bottles. I’ll move it forward over the far half of the leftmost bottle before descending near its cap.\"}",
  "call_id": "call_Qmi6IEUcZTVyYKDyTCK0ItJH",
  "id": "fc_07f3cb55d3ed885b016ab43151298487d08460a35431184347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qmi6IEUcZTVyYKDyTCK0ItJH",
  "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]: [-0.5289, 1.3281, 1.1328, -0.5816, -0.6662, -0.5529, 0.997, -0.1909, 0.7185, 0.3931, -0.305, -0.292, -0.218, 0.9979]\nstate[eef_state]: left_x=0.3657 left_y=-0.0831 left_z=0.2332 left_yaw=0.292 left_pitch=-0.0223 left_roll=0.0042 left_gripper=0.997 right_x=0.2715 right_y=0.003 right_z=0.1234 right_yaw=0.1486 right_pitch=-0.0296 right_roll=0.0069 right_gripper=0.9979\nstate[joint_eff]: [0.0615, -6.0376, 8.4718, 1.3944, -0.4078, 0.0806, -0.0122, -0.4855, -1.388, 6.8308, 1.9512, -0.1783, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c800257eae369cef455375fd61d4f59efcfb410cf70870ef14ba4636d668ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1d767a2ea4de14eb772c169624fd58ea184dc7014fda1b217dce3c32bfc325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e27c5cea3f2e99ef627db24eaf139afaa46fb19231bf5dda7c04558ded439a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.999 s

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

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.3846, 0.7948, -0.1883, -0.6594, -0.5499, 0.9958, -0.1909, 0.7757, 0.4927, -0.3569, -0.292, -0.2153, 0.9979]\nstate[eef_state]: left_x=0.3656 left_y=-0.0815 left_z=0.138 left_yaw=0.2919 left_pitch=-0.0266 left_roll=0.0042 left_gripper=0.9958 right_x=0.2809 right_y=0.0012 right_z=0.1433 right_yaw=0.1473 right_pitch=-0.0386 right_roll=0.0123 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -6.8308, 8.7726, 1.3944, -0.2759, 0.0611, -0.1685, -0.335, -1.8256, 7.159, 1.9072, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.3293, 1.1053, -0.519, -0.6632, -0.551, 0.997, -0.1909, 0.7326, 0.4194, -0.3161, -0.292, -0.2161, 0.9979]\nstate[eef_state]: left_x=0.3704 left_y=-0.0862 left_z=0.231 left_yaw=0.2888 left_pitch=-0.0006 left_roll=-0.0205 left_gripper=0.997 right_x=0.2743 right_y=0.0024 right_z=0.1295 right_yaw=0.1476 right_pitch=-0.0286 right_roll=0.0081 right_gripper=0.9979\nstate[joint_eff]: [0.253, -5.9692, 9.5111, 1.3407, -0.4029, 0.0611, -0.0024, -0.4581, -1.306, 6.8171, 1.9121, -0.1734, -0.0562, -0.0073]\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 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.3281, 1.1328, -0.5816, -0.6662, -0.5529, 0.997, -0.1909, 0.7185, 0.3931, -0.305, -0.292, -0.218, 0.9979]\nstate[eef_state]: left_x=0.3657 left_y=-0.0831 left_z=0.2332 left_yaw=0.292 left_pitch=-0.0223 left_roll=0.0042 left_gripper=0.997 right_x=0.2715 right_y=0.003 right_z=0.1234 right_yaw=0.1486 right_pitch=-0.0296 right_roll=0.0069 right_gripper=0.9979\nstate[joint_eff]: [0.0615, -6.0376, 8.4718, 1.3944, -0.4078, 0.0806, -0.0122, -0.4855, -1.388, 6.8308, 1.9512, -0.1783, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c800257eae369cef455375fd61d4f59efcfb410cf70870ef14ba4636d668ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1d767a2ea4de14eb772c169624fd58ea184dc7014fda1b217dce3c32bfc325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e27c5cea3f2e99ef627db24eaf139afaa46fb19231bf5dda7c04558ded439a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFXBj67l6U7HwtYjz_-2zGTODfB0Lal4B_C6URts3rhc5igF78zoBfI49x7aElsggyHWK-P6RRaMJxQNgBBXkdDWhDkPu6VNyRkA4nye4uBVDIAtgV6Y_N7-sAgstESAyP8CrAxgTc8bwwLr8E9UlOm7FV5IqUAbvhowea8clK-DERvEzUqQJkKXInbERCw0_ApP-HFFsHA9GtGJCfj95ttXaf5C6pOjOfZf0tHEaiyUG6ai17ccw8p7eoXJnxHXbbjmL31BmotI2JKAvSqvns31LDGsGhlJGFCi1YC1v1SzK6Di3ASB9g1QTkynkaQJN017EqWl-aADfh2sFlNNvLtAB0ehXfvSUIr_EIXc2vTnUIpw5UQIxPgQqFyqj90FRkglsztVromMASmV6FR7xapUZiXyOEL9lPGMNJxniqio5lx9oMZpR6roYU8293v8K54PXcs-TcW1lbdOtjIQxY2NjzShhtqDN5dgXrLXbZjeSZaNUqde6kT84toyndIVWRMPzZ1DDsHW7pAG3xC_ZFB4GlbOfBx-lukikVsu0E9xrop9L2RNZtWVUjCTchPjxnJYXdDsayxu-juBNh8SXM8DLCKBwPD2LzX_JVQdffsem2YZvRB79cyZccM9YyZ9g0ZSlNdObKmqEKa3U_gI70PQnY9jwbLGcMBV-_Am-z3JlPrOpNKcMR7uhYBFeiE09BhJ9QwrJZtCff-4FDSvgAR0yVdTbMLekk_aicm3CZt2dRDDljVlweoTGPqKvZgBKY0SqRO1BmM3E6Q9insEUVvUtTu5OzJ1fgJa9UihxeyI6mZ1pBmUytzJxxj3u-JDBynCQ1gKoK68ocobWF5qoctv32cGxrsCeqDImX5DoU05NRRZWk8i1n13cdVSLVukbwgEg940RRlh4720sFTzAz8Bqhw0joLLheQaHTdyCpXNNxR0F5Y9-yfdaQVxJuGFh3UbJ3-rdCuEnnOni7bfveNjOZShMeXC8NY74eC3I9oD2GrGZT_ZOlgL9cBeV1abSGeZm8M-47RnbjphDAl9X8iNb0q6wReH-hB_5p-N596b2pMD8Ies7gNgcaF1_jwWjk-bKw_2L9f7WF7T6tiei9cyFnOvtkTPq9LeJ431RiRUBoDg-8ru6FiHEdWbjYngQAOQ77HmrKNnGWPlX-EMrs-Tzzsx4cRXhrJSnk1lbHk16Kg4fQcYicnrK6ZLopps4Gd-xrqaF7r24CIfPiM0QAGt67Ys-8n_KjiqrZwzanxj7pyc3Pne3ilSWkz5a5JeX4JLx-_f2Ii5lBia3alao9rsbmMESpU3goQLnivp5bphxF3iznsK8N___f_nBmFG9M2-O8fL3lNQfDA47jjqAnDPSX-Orf8EnooptTSWUAQp2cekYH5dk8nMpqMXAhEFNVsZEJlmOP8uh5H7VdBmdHT5Xhs_qCsK9kAZO14gq6Ze7IjPcDXyNPLe2ut-UgHV-IdSjFxESRpLGLivRhOJMf0NFPXJoMxEz4VA3eRWJ6EEOWTux--5lK4VvOGvNs59cV7S-Hhfyo7uK1tmsDTCjIxv-8V1qwkouvSBSLAo8QbAWSkeWzT6PTgx9j5piyGL3uKrsmMuqSt8P10Zd8pL43m50JKnkAR5MLRZS3Zdfq2gYeLPzUnMHTgJXxO5par0H7T5lm9b0JkQBlKYNFpEzZV6CeOuNZMeBqkOooIIZHBa--S9gIGCA8GIXFZE_vXUh1IVZyH9LhOp6zohOhQsxRzBZ3S1kXD5X4QOFkPMQA9ydLo2nQVmyr1EVrr4SrJkKiH2q1gm-gNkcA6QTj1s8GLKjt0V7gEcFqtcsLm0dk0SIyx09HaHi2igoVeUKAj3nzXQMaTiUksKasIbT3e1-KazaMqTalE7xEpXr0nszilgETdgQ3-SnS776nhr_kflEmUclzUz3IkECZGYLMsagjr-saSRnP4xwgYbdQYNXNXxoSBey3CaWQilRiQMRXPAUCeLDs0qR3-CGqgcdbrM4QV2MHMEJteDmhdNJK11mOgauqgX8MZMMvBEC7zAAU8zbP9umPw_YBUqueRcAiADd1rSZ-bxFkMcpHb5ZRtJLF31oMVTy5A4g57j3PejxdZqVh5gAZkcobfmb8sWgtg9xHyvec9Eb6duG7mwHkVEYP3g016_R-clzfgLRONiv0rpNMcts12v0m0M8vtn8qVa2WgVmfdhewKuzvePMlJ8v7C11cI4EGx9OWfx6ZhO_LJtFtQ-Ftj7Xbadc-pytYSSn0LecFE7yRV7A-3YaWZ4XZcDoNkrTXQ0rI1paKMHZ7ITrjo-XMYSpPd3Om1VQiH1EYLHtPv2CPZgF8tZySlq3k44gBGc010MGftcRS0Fuwv5oT8IA66bZ_MAK9WZSYEEvv0zzAOPtC7hFv0Cy7YZfNzRMyVcTeucdz8TWcrYC-qTo9HcTi03JmGXvsyux28aewTCXD71SLDl8x2DUCgyqjh3bvENcdWUK_S9MXK6_PPt9WLWdp0pQAxv3DvMX5iAhAmuiYO_DWdpv6nYyUOskI3fPE82IDDg2xZWRhlumHjZLT6PjvFxnzgNoNKkgNV3D0cQkGVJjm6Yjd_f43p3HSiBOo4nAQMv3YFbM0mJY-pSEFIoYjYheb93duabnpnwRwCIs_WajOAi4lW0G6GKYjsEzrGWiJH7xCLz7woALaCqU5SGiX1tjKvlbMFBigH0MB32fnbWizYgZW-RcbE_7xQooCVUJI2jhwMBOkY_m9q0-V-",
  "id": "rs_07f3cb55d3ed885b016ab43153c18887d0a31890bb3955bc37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_z\":0.31,\"left_yaw\":0,\"right_z\":0.18},\"note\":\"The left arm again held its position rather than advancing over the bottle, even at clearance height. I’ll first raise it higher and straighten its wrist, while restoring the drifting idle arm’s height, then try a shorter forward move.\"}",
  "call_id": "call_OEfEcBP4XQtOdxa1I0EdPr81",
  "id": "fc_07f3cb55d3ed885b016ab431568a2887d086d3593eb747ae04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OEfEcBP4XQtOdxa1I0EdPr81",
  "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]: [-0.3344, 1.3968, 1.3762, -0.6247, -0.4561, -0.3626, 0.997, -0.1909, 0.7029, 0.54, -0.4538, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4077 left_y=-0.0555 left_z=0.2896 left_yaw=0.222 left_pitch=-0.0088 left_roll=-0.0256 left_gripper=0.997 right_x=0.2709 right_y=0.0032 right_z=0.1639 right_yaw=0.1494 right_pitch=-0.0165 right_roll=0.0024 right_gripper=0.9979\nstate[joint_eff]: [-2.6325, -6.065, 7.5419, 1.2674, 0.1929, 0.2076, -0.0122, -0.5812, -0.1573, 9.8803, 1.619, -0.1929, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7cad8dc06a753fa8ed2b68f1a6effbbd0f21bfe64b50c15dd4ab1208c6d45f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9d6b5ee171280d81c8a1cd7ab0d59f59d27f7f116b1e3334f2adbae260f025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0b45b6926c99f45e17774f47375993283d4d888402da4d7200c1a16f06f47f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.221 s

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

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.3647, 0.8238, -0.223, -0.6628, -0.5499, 0.9969, -0.1909, 0.7563, 0.4553, -0.3382, -0.292, -0.2157, 0.9979]\nstate[eef_state]: left_x=0.3664 left_y=-0.0814 left_z=0.151 left_yaw=0.2942 left_pitch=-0.0152 left_roll=-0.0044 left_gripper=0.9969 right_x=0.2773 right_y=0.0019 right_z=0.1353 right_yaw=0.1475 right_pitch=-0.0379 right_roll=0.0117 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -6.1333, 7.9795, 1.3504, -0.3639, 0.1197, 0.1001, -0.3897, -1.7983, 7.0496, 1.9805, -0.1343, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.3281, 1.1328, -0.5816, -0.6662, -0.5529, 0.997, -0.1909, 0.7185, 0.3931, -0.305, -0.292, -0.218, 0.9979]\nstate[eef_state]: left_x=0.3657 left_y=-0.0831 left_z=0.2332 left_yaw=0.292 left_pitch=-0.0223 left_roll=0.0042 left_gripper=0.997 right_x=0.2715 right_y=0.003 right_z=0.1234 right_yaw=0.1486 right_pitch=-0.0296 right_roll=0.0069 right_gripper=0.9979\nstate[joint_eff]: [0.0615, -6.0376, 8.4718, 1.3944, -0.4078, 0.0806, -0.0122, -0.4855, -1.388, 6.8308, 1.9512, -0.1783, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3344, 1.3968, 1.3762, -0.6247, -0.4561, -0.3626, 0.997, -0.1909, 0.7029, 0.54, -0.4538, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4077 left_y=-0.0555 left_z=0.2896 left_yaw=0.222 left_pitch=-0.0088 left_roll=-0.0256 left_gripper=0.997 right_x=0.2709 right_y=0.0032 right_z=0.1639 right_yaw=0.1494 right_pitch=-0.0165 right_roll=0.0024 right_gripper=0.9979\nstate[joint_eff]: [-2.6325, -6.065, 7.5419, 1.2674, 0.1929, 0.2076, -0.0122, -0.5812, -0.1573, 9.8803, 1.619, -0.1929, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7cad8dc06a753fa8ed2b68f1a6effbbd0f21bfe64b50c15dd4ab1208c6d45f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9d6b5ee171280d81c8a1cd7ab0d59f59d27f7f116b1e3334f2adbae260f025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0b45b6926c99f45e17774f47375993283d4d888402da4d7200c1a16f06f47f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFa-ergHTEZ_Q-guXjWskHGHWj1_bKwBBB2Ja1fVdnt3_MY6qKImcLHDIRudpIOLenr_wPaRNsY2Y57m1MRj9xDW-Eu4pLLyGJXLbBubMPzKUmy1pbkZxt2KFprF5LlzDzBLOjQmH_orBUAyXPy7ArR9RGqnMqs6M4thDiT-M7DNmvgI2txixhl8luxp9zw_T5e8aSt9ru07wRmi_ksUUjHNG9wIBOegHgYBO4V6tZhlLhenmhdDVXICamBxJqZpsUgRzreTpWld1QMInEZR2UcjcX51NKcocaMQlikaqo6VnxHUt5LBqekYJDDeUq70q_EATB-igSfuxeD4LdindU3vG2sC-68MIyWPh5tvTjdrO2vJeeAJrUbqWO-bS5D-t9DwzrJWG0zcMuPgnkVXb1Q9zBS27N2tJICjX4Pgujv6Ob19Uy54Sl-PdmFAMdIwSlo9BXjxd17tkQHdEFvM2e7BCHCTp9bxX0WTRQtAUqZO9oh3T2OB9-u3poCGXH9ofjMSs280yg9fJcqdKGrTPoiVu9mlU3kN-UgNdL-Rg5NA0gum3OLEQq6hts6HSwDETT0L3Yd2sUKWwWJHhzNv_StCVzTorK2PvKsdTwGYqQJQHzeVXDT47xkqiUgk9lJA8Bh48_YckMC1wwDCeG5PNouFO5JwyyXi-TZ9F-t6UBMTVqqVwbiCZBfdnGBO7q-gS_cJCFsuFzX1abal5Ibiz2XyVZTQgToyFU4JCnibRch6sV3-7Qh9RJM6bZ8xz18WDt-qboZseD00Au1tDFtki4rDslEj5zes7Q7EyzgoIt8tggk-vf7g0adZsV5Q-Xo7o_GpKE31UlbvzsXDLlW0E81HfHjqPyusePLeNdgZ-BIy8JPTGeCPeVAUlAQ-vOTtv60fvaGOQzbl6ho7AzUmxiXURp1oGqZHfBDtnBQX1mLn6ei_3q1ZriIIHn_yg_AMVDdu6gtgrUF6H8myUCpZLZ_JpNTSnjJs_GT6vr8EvZqWYtGv6QiBc6BasLy_wV2CcZuRZzTDa5Oo6c1fvCTQWLtE_XM2EM3-MhKdR9JOoD0zYTZpoV3LF8EtU6bch8FGnOGoxtk08wFXpIzLUed_Jtx89CYzLG-T-MdKhK15zZGjC9Nnm1C602BKwDK61aA7C4Q0rxYzmWHHaMEddrrp9C3eZFXBHO2b7ZNHWlJ4O2-vMZTVtKsz0z1TvruDjomqgjFzErEj0FiQPcr8vsAMNjaYjaTKYJ26MzkZVyh47KidSRvQUZcg123ynUUHbPl-pDjkal1hJuo918vV1DcqP5ViPm7vd4NVq_-Qp9rCN3sq2MDPKQswBr7fFcqIlKB0VV3CqRqtZIYRaWihSAKvsB0RXhVo1q7vLsULK41SsN7E69bD2v-9KkWq8btNkQl2MI3pMpTsNc5H-JR-1FgO7sOaQrbB8oDDoxHRFuGlb3FK_JvfbKQ2f6RELjDmLXNVhS9ZpSyRDCmKbxPOSCMQfB91w==",
  "id": "rs_07f3cb55d3ed885b016ab431591ec087d0a6c3b8ddb93b0d2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.035,\"left_z\":0.30,\"left_yaw\":0},\"note\":\"Raising and straightening freed the left arm; the leftmost bottle is visible below it with its cap ahead. I’ll move forward at this high clearance to reach over the bottle’s capped end.\"}",
  "call_id": "call_RJmoHAZd9P23PNViquUHHU3l",
  "id": "fc_07f3cb55d3ed885b016ab4315a20a087d0bb6550a114e3a60d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RJmoHAZd9P23PNViquUHHU3l",
  "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]: [-0.1318, 1.6081, 1.5486, -0.5812, -0.1749, -0.1467, 0.997, -0.1909, 0.6971, 0.5243, -0.4694, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4741 left_y=-0.0282 left_z=0.2754 left_yaw=0.0776 left_pitch=-0.0678 left_roll=-0.0051 left_gripper=0.997 right_x=0.2666 right_y=0.004 right_z=0.1553 right_yaw=0.1493 right_pitch=-0.0407 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [0.212, -8.0342, 9.5932, 1.6093, 0.0073, 0.3199, -0.0073, -0.4034, -1.1145, 6.8991, 2.0244, -0.2076, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff217ed200bb5a616f4d8c44fd98b6a2b5c2bf48ab911aea1fb600cba04b9937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621e682ae57924eb04efc6b6a72af8ce3b24c5c22cc2c7bc3a95434dff4930b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d72c983966dab756af463a3e68f4b5a1f1ad3e6c0a49a74588bf2a4d32d5afe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 5.828 s

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

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.3293, 1.1053, -0.519, -0.6632, -0.551, 0.997, -0.1909, 0.7326, 0.4194, -0.3161, -0.292, -0.2161, 0.9979]\nstate[eef_state]: left_x=0.3704 left_y=-0.0862 left_z=0.231 left_yaw=0.2888 left_pitch=-0.0006 left_roll=-0.0205 left_gripper=0.997 right_x=0.2743 right_y=0.0024 right_z=0.1295 right_yaw=0.1476 right_pitch=-0.0286 right_roll=0.0081 right_gripper=0.9979\nstate[joint_eff]: [0.253, -5.9692, 9.5111, 1.3407, -0.4029, 0.0611, -0.0024, -0.4581, -1.306, 6.8171, 1.9121, -0.1734, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3344, 1.3968, 1.3762, -0.6247, -0.4561, -0.3626, 0.997, -0.1909, 0.7029, 0.54, -0.4538, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4077 left_y=-0.0555 left_z=0.2896 left_yaw=0.222 left_pitch=-0.0088 left_roll=-0.0256 left_gripper=0.997 right_x=0.2709 right_y=0.0032 right_z=0.1639 right_yaw=0.1494 right_pitch=-0.0165 right_roll=0.0024 right_gripper=0.9979\nstate[joint_eff]: [-2.6325, -6.065, 7.5419, 1.2674, 0.1929, 0.2076, -0.0122, -0.5812, -0.1573, 9.8803, 1.619, -0.1929, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.6081, 1.5486, -0.5812, -0.1749, -0.1467, 0.997, -0.1909, 0.6971, 0.5243, -0.4694, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4741 left_y=-0.0282 left_z=0.2754 left_yaw=0.0776 left_pitch=-0.0678 left_roll=-0.0051 left_gripper=0.997 right_x=0.2666 right_y=0.004 right_z=0.1553 right_yaw=0.1493 right_pitch=-0.0407 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [0.212, -8.0342, 9.5932, 1.6093, 0.0073, 0.3199, -0.0073, -0.4034, -1.1145, 6.8991, 2.0244, -0.2076, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff217ed200bb5a616f4d8c44fd98b6a2b5c2bf48ab911aea1fb600cba04b9937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621e682ae57924eb04efc6b6a72af8ce3b24c5c22cc2c7bc3a95434dff4930b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d72c983966dab756af463a3e68f4b5a1f1ad3e6c0a49a74588bf2a4d32d5afe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFesqBLS0kHGl3CKgg_OuFe1Lx4d56dYeF9FkfRRAWMyhZdzr7TDRLT7d_YJjWpKUI48L8Q_xz0qmZqy1poCS8yIZpLgJrDkF5yB5zNhwq9knc0Bb8TxJszu4uYG9STGL62LitZpxVcYFGXN-w_FUZ6dhGAs0ZV5vXsMaQfR2zucnMnDHX6gQVAlhpxqbHztlVmsBFp8uJ6TTb47c5cVa9zZkoaDcOu6bIyUEj9TUDlC9OWUN3WqeA4WKcDG_IYetp7JrxmqImKPfW50qlJs2Qr3-FRGfPTDK9kYOfsWtqCCZOelMulcEslPARjxncDp1ra0S8FgkJ2FlVlB9GdVd_vxOVVNZNyX77gAckDNyCnUhOukSZ1eKm7TVa84CpB54AcWXqj9u0Zi38e95X9tNV1nU1ymso_CDbmX0leVAZGNn7NTA74K762LCERh4HWahAMpJkfenlek0HfkA1pHAfI44JuZB38ergAnpcDUyWS4KTEqlFu3QMf1YXdkvMWGc4Q0GTD0yxFEbL0NHDPGDadWHCTmDY2pT8qtCvmk4lTbzg0_2zw4gvSI7D-Xy5a_2gxSviZs9giAQ9HJRf8By3iwqMRVfNehHBPYRrmx0dP_6tlQ6RB-1uEKd8AW3qmV4lNV7vrDFqCQZGDhJ0vu36vOJ6oxm-ETSn0TdMCoSYJ74u_Y0iwTcHNeAKqnH73eu9T6IXw4HIllQJ7FmU6ZT2CAvQzOJToKJFmjKX1RQx080paxLbF7RAopJtgCLHVHNUaYrQUc1Zv2511iBf4jWduywtj6kWEDqtM75qKNk2pQ6pR-J_xwoWBpE7UF7MotggE4WgE3xno-ZvUv7nG9DuKDSwOeS2-rj0fh9D0XxRhi_QgfH5P7OLTIovsSgxVH-VuLffSn4Nyn0WE2wIv5I1PIW6NO2K35LR6RjjipJ5Kt9-gXVccc1odvg7K-LyrRrLNrcNBPTj3wsvXmKzCKO0dBmNQwSqln1TwbNgm4x06E-QD9of2uyQqL5BdcRYKa4A2kzkEw_9JaVeQisUhrVxSO6xmYn0TidmMR7sUShsLZlEpTQiGgX9VfpCYZMfQL7WLtQ_0k8mkjs6PQ5DFzHHtswX732CoZ3I78cYD4WKIdtwj3KKgEFtOmXIIhpSQiZHOQFvqn1A2J2asjX2kyS7nNUdQWUzyrre2p3cNnAnrzJsfelipu3hqB4LTKdfAZEvW-Dc6xCTHr0a67Rxn22v26qy4iPjPz3avwj3NE3erN0VgV3qFJqtr0DGtn5Il7MVi5M5roBmM0vKcY_yrUmoap144T1DNWdMfZyTxqGnvvr10tB7dUXM10B93xaa7GUtpVo77F_d4R7D5WOkoquYmkCuf9Ou5sDK0xdDOwUaCbm5jM2vMzANFittyVY53EHC4pdH3BsHr3IB-lbswfwTIjOkNwlrXZ7ygNWt8hGocHijaZPZpLvA3uApCk5UJyI_kY6tMhJfYOin9ISPDSS2pNjB8txpBdQHei67QI7XVdwD5-kE5euvW1fOoIKxJvw85q1n2lht0DiSAtsEcQmJ_i-Z_s3pSDe6FtgAzx2Txy35iiRkpmou-EFgJvfdXgNwGEh0qtQYywwGu46bnbC97qBslKwk4Lxv2QlDxbmIuMy7p0rpUOYJxnHeGhqTiMyrG8POMpMicKXBkYyLgyNpBudSF5aQqnVOtJk47rEnXv7yleeh6bAvPQqstajSGT1XrcUNxuZPsZQO2KsDGt_v19n6H3-3UzYwfsU5SLQY46pWaT_-qRzhhyiXacGLetbQ30TFfXHoOZxBBrZ2UpEuiGw-LCd05hhui_lIT53AsbtI=",
  "id": "rs_07f3cb55d3ed885b016ab4315c886487d09a199633983bea10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.04,\"left_z\":0.12,\"left_yaw\":0.4},\"note\":\"The capped end now appears near the left jaw column in the wrist view. I’ll descend toward it in a separate vertical approach, turning the jaws across the bottle’s diagonal before the final low grasp.\"}",
  "call_id": "call_gj28aHZOVMJZ46EQr9ao3mui",
  "id": "fc_07f3cb55d3ed885b016ab4315df32087d0a14065cc5ecaf61d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gj28aHZOVMJZ46EQr9ao3mui",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.7866, 1.1194, -0.0483, -0.5278, -0.3992, 0.997, -0.1909, 0.667, 0.4858, -0.4473, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4813 left_y=-0.0433 left_z=0.1195 left_yaw=0.3511 left_pitch=-0.0414 left_roll=0.0206 left_gripper=0.997 right_x=0.2637 right_y=0.0046 right_z=0.1497 right_yaw=0.1491 right_pitch=-0.0277 right_roll=0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.5812, -9.0188, 6.1744, 1.8779, -0.3492, -0.1001, -0.0122, -0.3761, -0.8274, 7.1863, 1.9463, -0.188, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc3fe5ccd8f343823541268c8231bdb92e4d6eaba4790aeb8333f6d42b1c7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b938c7292085b4870bbf88c99fce3eeb8221f5156b4ed2b02d25a95e501ff5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e939d48aa5e5b611e3f9729631d12d9e352a7d8551a9d7c4258793228d67357e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 2.478 s

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

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.3281, 1.1328, -0.5816, -0.6662, -0.5529, 0.997, -0.1909, 0.7185, 0.3931, -0.305, -0.292, -0.218, 0.9979]\nstate[eef_state]: left_x=0.3657 left_y=-0.0831 left_z=0.2332 left_yaw=0.292 left_pitch=-0.0223 left_roll=0.0042 left_gripper=0.997 right_x=0.2715 right_y=0.003 right_z=0.1234 right_yaw=0.1486 right_pitch=-0.0296 right_roll=0.0069 right_gripper=0.9979\nstate[joint_eff]: [0.0615, -6.0376, 8.4718, 1.3944, -0.4078, 0.0806, -0.0122, -0.4855, -1.388, 6.8308, 1.9512, -0.1783, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.6081, 1.5486, -0.5812, -0.1749, -0.1467, 0.997, -0.1909, 0.6971, 0.5243, -0.4694, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4741 left_y=-0.0282 left_z=0.2754 left_yaw=0.0776 left_pitch=-0.0678 left_roll=-0.0051 left_gripper=0.997 right_x=0.2666 right_y=0.004 right_z=0.1553 right_yaw=0.1493 right_pitch=-0.0407 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [0.212, -8.0342, 9.5932, 1.6093, 0.0073, 0.3199, -0.0073, -0.4034, -1.1145, 6.8991, 2.0244, -0.2076, -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 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.7866, 1.1194, -0.0483, -0.5278, -0.3992, 0.997, -0.1909, 0.667, 0.4858, -0.4473, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4813 left_y=-0.0433 left_z=0.1195 left_yaw=0.3511 left_pitch=-0.0414 left_roll=0.0206 left_gripper=0.997 right_x=0.2637 right_y=0.0046 right_z=0.1497 right_yaw=0.1491 right_pitch=-0.0277 right_roll=0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.5812, -9.0188, 6.1744, 1.8779, -0.3492, -0.1001, -0.0122, -0.3761, -0.8274, 7.1863, 1.9463, -0.188, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc3fe5ccd8f343823541268c8231bdb92e4d6eaba4790aeb8333f6d42b1c7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b938c7292085b4870bbf88c99fce3eeb8221f5156b4ed2b02d25a95e501ff5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e939d48aa5e5b611e3f9729631d12d9e352a7d8551a9d7c4258793228d67357e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDFlaIm-7e9buAe53a1IyJVbnky7O-iLWpRJfKmGE84pSso0O30N85CGB9FCiwxAlTUjQZlQlDZd6AZs5RJd-1oWugLUfsgWbTapNSB1M1QbcfwtQHcN4ZGhj_nawuscZsLXiyR_kK2Kv1Fw56hLz5TXvblWQa_tRBVBWjoV3FywxGKo0Q8Gky5S24giqg1hgXqAI4eIML08l1LLqtGF92Bp-X2CGwRZR3LuZKxm7d8jhbPmzO_I8cj7oH4NtQu_XbGcsLX0b7fFmSCZk_-On_XRACY373TG_H4pgB5XPj0GoyiYQ6EPr92NT3WmsSIwbqcdkS2coQvm302H4irBEMStdx9y_lnlXcFZ0MhEX73-I30cQxZIbS2QAhL2lpCP9OetS1DEwipf5qT6W6Vvqo5bESjm7yZZEXEeuHgnrQNS9jrNHojNIAs00K-kKro2VzOMT3JGhwozqT7y39WuqMrjFjrdW56VGoOliMCsjHzTXbRt-9LdPygd-1CWbBvnbfqPgYuSOvWOAUEyyKGkVgEysNK5RTNkuDxtZbaJVYRCGjhKRwM_8U-qcD3k9cDAyJ6lQDZE7OJ-REFFFY1fcY6wYfPRAlVIh8JwKQo7Hj4Ob0N5lbpv246WfOpgDaUAPDlOObk2DaaRPD0FjAzReggx4FCm_8h54FK_DF9Af-CfdL3L_AN-CwneFi7RDRE7B26Uf7xpnXgmRwIAwdBhSWZl9pmmjEwCRaPnBKF9MYNxyUME1ar4DQ5LG_l_EE4oO9sGSXUEEsf4El_W_AuyFwPhAjz5OVwsYX8_W6y51acIbUDr4wXulp5V1pnDZ5C554qHRbqOIO7gmgRKU2uT1qYRP2ri4wQ8DOUDizCor4DX7cfxDzVu3g5dP5qHCLLcW7_eHaNDcYZAtNBEd3dMrfZfp2GJg4MASJjTIzxEdTDaqko1I0Txxtn2U3qQJcRLYqDXA9k_ny3V4AEP5HdiwcRQcaT0OyXl8svQE_P0Xgt3KxcLXC7wpunBXJXJoqxd6u7o4HiF73qrg8qz-aMWOhim_4UR1DhYgksvNSpD6kh26-RMQXRAdmFli-ue2wNA9N5DoXxvAr4flNAxB2wNiwvQMJr9GKEzXmhmr2SKvyKAvaNaMWKJDuoEZrr8WIiWDmAsFkJ-EQRM1eNf3p2dNsuBFjYuUejDpM7eN7GSBi5POnXXpruYZUG8uFTxwFYSEe3VjQI5beSvdRUE6Il268FSRTrduEITHoMkNIIBQ9ypapjtn08ZfehB9WDTcGEc9REGiAdDHkhbehGH8jJt88fcvBjeoBDQtnJf2DcLNMK0zdol2LQED_TzCmNaX6axFMLik1rezzJB_xTHUkY44sGbt7ZjqCPKw5xTgco7KZ13wRwtCIZtNFjWb9FDnGvD7i2fBSU9SjDVE3TgtXLheSjAcOvuqIIWeyIdgafrXu5EGF7aIeyj7EWnUaUDP7HDWMMvFqq5VrjT2dYcdmkrKKXDXDlKC9HErACOxiPraWXxnxOy2jhU6vYLZpDpj6LrMqn1bBryCUye9J24YyZCauCTPq7KmJ5INdL_qQ0Xbjj74Hv16w024oUz-dXTEKzEQsnCONVoxtteljCJLfKRKkVPKawbJiphZ3JlAOAjPyFnfDZCS3wvn8VGHOEPqze26wMvR_AhSjTsEy7xv4xBAeRQmnb8brwoSD8sQqBhOSVaF_1G1cO8V6RdVm_ulQP0exVdy6YSQg3ufRRJtbTwJkkt--puQvoCOxPKaT9lTLQgTdu62znOq0u3xEDAXN2jF9URVr3b5boQpZBbsz6yR6NkwK9gitFJcds4YMINDdOpLzyjmtDOLV2ljuELuPAHSlcJgTqcT7jschnNZ9w2dJZth8gy2CK90EjpLEigYzKK6KipBhF9H4PbFbGzzS-AWWbhYwwuvuTEjxOJwWWrbOYQul3fiuplqpSKJ9CTjoWnL9s0jnvRWFrFrhmv9t7WgWv1NlP7FVdcU0xWGxg2WRe4TuAaQ4Tlq0G5DhfpzX5gstmd3yhmlnpq94NoD5vXbEtZarEz7WplC3eEqhaxTwa4yhhLiLlSZyj851UKnUHaagycgJW9sfOKW_KUIeBLmHucrOX5WCVyt-u1S9UWa-EHk0kzB6OcRLdOiEbEJnfzFzOuBlY3v73nsjEV3wYXW7xJXYf2uMgwV7WlTsQPa6Ux4CPZ4-_z9C3B68P5Lcmlm2t3I89Bojwo9zEgHz00oLNIlT4ai_rmwKto7ZWK1I8Ddgfyy1MVK_G0Ys-j4i1v10keq7kmsXfyV3DNqMDY6IxVFHsyGnOb055VNLT_qSs9gWMLeScx5gaqB2OjekMfo3pKbL64Mgq1p028hByX-A9o_s_KoNrf1lv2p6amQVQZ1GyeepaWOcOKIsZX2aZCaJ7zKpb0Jy_6kB0c38VljNPl3rgNQaxr7UYDAdbT0E1rWs3_fiEL6lLs4V3k-v8u8CjRfhb1Z_GOLKE0LIOMojIV56cCYX1PjFkmXC8TXwT0WQy2LD6W5Z3GWrRkbzru1yjjPlQxWd6iTgjAfT41JqxMzEAxxQL6wvDuvsPtINkofbC8t1si--coB8u_4p5piLzu7PvR3pYpBT20wOpv-zgIIiXw1CviCSknPLjzDCL7io56N7ewvc-XDuVpi3QFrxx_LYMkJWk1pXVOooxqc5Jmw_mCxmyakIasxhIZAi3yXS7dDXdDepaqYdygOAglRJcu5aAQ2vzb2sMD52R74H5VHPOmRBhoIE42GHhCPxaGtytLExDuggN1vIwSVLRRzD8=",
  "id": "rs_07f3cb55d3ed885b016ab43160c78487d081d0e077163339c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.03,\"left_z\":0.065},\"note\":\"The left bottle’s cap is now ahead of the jaws and its shoulder lies between them, a better location than the earlier near-base grip. I’ll advance slightly and lower to the shoulder height before closing.\"}",
  "call_id": "call_GAdo3X0pbN5HFgzIvpOOPFqV",
  "id": "fc_07f3cb55d3ed885b016ab43164e98c87d09c03f3490e261512",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GAdo3X0pbN5HFgzIvpOOPFqV",
  "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]: [-0.2371, 1.9396, 1.0592, 0.1783, -0.5121, -0.3843, 0.997, -0.1909, 0.6506, 0.4591, -0.4412, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4961 left_y=-0.0271 left_z=0.063 left_yaw=0.3761 left_pitch=-0.0367 left_roll=0.0169 left_gripper=0.997 right_x=0.2606 right_y=0.0051 right_z=0.1429 right_yaw=0.1489 right_pitch=-0.0318 right_roll=0.0073 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.4, 5.8462, 1.8584, -0.1001, 0.188, -0.0122, -0.5675, -0.6906, 7.0085, 1.8974, -0.1392, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d9cf478e33931cbd9375893258a358c5c82493e62a639fbfc729ffae9e7fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd74920bdd5ef50869a936daca79f0f4bdcc7115e9265cd4f5c815379aecf6ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ff71e5f4b2dd857e95482f4442528aae43c0fbe4df3f7f1032676f2c71f4e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.157 s

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

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3344, 1.3968, 1.3762, -0.6247, -0.4561, -0.3626, 0.997, -0.1909, 0.7029, 0.54, -0.4538, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4077 left_y=-0.0555 left_z=0.2896 left_yaw=0.222 left_pitch=-0.0088 left_roll=-0.0256 left_gripper=0.997 right_x=0.2709 right_y=0.0032 right_z=0.1639 right_yaw=0.1494 right_pitch=-0.0165 right_roll=0.0024 right_gripper=0.9979\nstate[joint_eff]: [-2.6325, -6.065, 7.5419, 1.2674, 0.1929, 0.2076, -0.0122, -0.5812, -0.1573, 9.8803, 1.619, -0.1929, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.7866, 1.1194, -0.0483, -0.5278, -0.3992, 0.997, -0.1909, 0.667, 0.4858, -0.4473, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4813 left_y=-0.0433 left_z=0.1195 left_yaw=0.3511 left_pitch=-0.0414 left_roll=0.0206 left_gripper=0.997 right_x=0.2637 right_y=0.0046 right_z=0.1497 right_yaw=0.1491 right_pitch=-0.0277 right_roll=0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.5812, -9.0188, 6.1744, 1.8779, -0.3492, -0.1001, -0.0122, -0.3761, -0.8274, 7.1863, 1.9463, -0.188, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2371, 1.9396, 1.0592, 0.1783, -0.5121, -0.3843, 0.997, -0.1909, 0.6506, 0.4591, -0.4412, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4961 left_y=-0.0271 left_z=0.063 left_yaw=0.3761 left_pitch=-0.0367 left_roll=0.0169 left_gripper=0.997 right_x=0.2606 right_y=0.0051 right_z=0.1429 right_yaw=0.1489 right_pitch=-0.0318 right_roll=0.0073 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.4, 5.8462, 1.8584, -0.1001, 0.188, -0.0122, -0.5675, -0.6906, 7.0085, 1.8974, -0.1392, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d9cf478e33931cbd9375893258a358c5c82493e62a639fbfc729ffae9e7fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd74920bdd5ef50869a936daca79f0f4bdcc7115e9265cd4f5c815379aecf6ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ff71e5f4b2dd857e95482f4442528aae43c0fbe4df3f7f1032676f2c71f4e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDFolszb4vypUBdLaY_5bzDVr7Vg1UTdSTqkhJe9Kt290H86iYts6ppYQ0X7feyV42C7XA3o7aCtX82G4g32A6aiJq3jEq-fbO76W-JVKF6bqCKneR0GN1V6xtE5nmtsjoJg_fZUe4eGOVfaMe_no_WAojZcB00OPXDlAyqiL4AcU19Erh99lDGN21rP0ElX0r6kNSKCK3grEIvVKUjYe7HlR18B-EZg0mLh8z0yIPRvr47pkCXlLeE3nZCa2AJDnQoZDMue2QVRMv2MDjwTW0IQEoyzHLhuQvyLUUXUVnn6ZCEQMWYz5wptlQO2Dx3HjMJMvToA08US1Y7-umCvoc6wfsSEiJblPUO5O208QEvt4hh4Ad1jDGMTQVYMuuz1iGMI-yEj9wej3cpnDYPm3bxUacTxpsrwTFCMhH-gMXDHUf2UOEzZ_oKe20yaCVVX8sqFlwQDytbdfQ04lnPLmINAvUXBIbOAomFZTsnKx4wlpCeET0u0KMPlPJ9GHc7PkUJvl7_2DWvnULuQEeGherGLL-k0z_sFhFc1YXEXag7s5oMjHj7ccZJSeAijRMnhkYJFxsVDaCVYE4JAxhI-OtRz83dMafWXAjl8CeaSKU64sT4dNxElc4J4kXIpFlhHxtAqyjwttOvhbjjPk8EOuxsWccoRIEolvgv7T3uKD8PR80Y1wDwkO3tKFDxxCgZQmw_6NcwQfQ_qS6TY5rjKTUpy31kZLJNCvqyW7D08TuKwKSyqt4iVVlatBzjLRaYSC48hNNEAgPYhFgWeKUJ4cJksOHMzqJcZePPo9xgWwbN_fouJacX96ctfWeAyujLuuCf6BVeGzOVHdexH-k4Jpc0dOdUnqFVLaDuSmv1Dd312R2powTbfKTcrpd_9Eb4ixHikbOMm_fXlWOUU4kg45fnGPEftrhjWNp_O2YKtt29H82zkOGJq-MJ3FTQ50cn8Ok3bf0vsBDtYGId7DiKF9Y-Hu2ywCyBxIdDLWOy94DWHkzSf1ayLkBHKiYyV1lXgHMMTWeC9JUZAUMeKlrj-rLu6xwZ7qo1-7u_Uh_U0tmFX0R7LNcdcexQiN2AFJr2tIQJxPqSXWUJg08OmBZFSBnxFmMirofQktjrKp03wmwLMi1deaBMhuJ60o4esjevAw6I4g5vCYaA4U4EN95yT9z-WnGmUqI733iVjZ-Hd_LAz0iAavxjBjAUw0yPsIQgyGTLfIFiwYfcpWXMWz4CoR7panCAOLeaYnN5r2s_JXH5oy5czUmXsDtYSdeYGk-vlMpFjWXuRXwcw3NGRzrTLLrSX7P4iY9siM1nEndh19nI_fwJcDOwL5g0JvCl4qGLbADoaCPDZyJ41RTiY_ndxqFT-Nhp2MzzzsoIqq8X5Plf9FEIbtfi176aiFbFhAM8ojmD4WJrqTihEkF2MeBXPAuEoRhClu-6CFXUy_Ez6SgTukvHo6tPT2FrN4klLWMmfowLTNANv9Qm85qXpmy-p9-YZLgVE1O84rdm0PfJM-M4NMP5fCaTU-Aduu4AIJBu26NARPn1dXI8WXwa2OGA23UWsUJY-fiuMtLcazUdwBrqnfYM=",
  "id": "rs_07f3cb55d3ed885b016ab43166faa087d098769e472b951ee4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.025},\"note\":\"The upper body of the left bottle is between the jaws, but the fingertips are still above its sides. I’ll lower just enough to engage the shoulder without driving into the tabletop.\"}",
  "call_id": "call_UhMj8noYZ5iu8zrvLUaZRaaX",
  "id": "fc_07f3cb55d3ed885b016ab43167adfc87d086baf419d86d50ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UhMj8noYZ5iu8zrvLUaZRaaX",
  "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]: [-0.2379, 1.9972, 0.9714, 0.3611, -0.5274, -0.3744, 0.997, -0.1909, 0.6289, 0.4328, -0.4282, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4911 left_y=-0.0239 left_z=0.0367 left_yaw=0.3816 left_pitch=-0.0008 left_roll=0.0114 left_gripper=0.997 right_x=0.2585 right_y=0.0055 right_z=0.1387 right_yaw=0.1488 right_pitch=-0.0238 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.1026, 4.6838, 1.3602, 0.0659, -0.0757, -0.0122, -0.4991, -0.5402, 6.8034, 1.8828, -0.149, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e16af20390fe06dc9a3c9273386947e63a2f96074b8e72186101d802304edae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bab2e597240908cc0abdd8952a6feaed9cfccd010c21c68c6e3660f7775ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bae30664c4ad67d7ed999942b8cdf4f1f7a5bf2834adad7748bd0d7e41a854",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 8.33 s

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

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1318, 1.6081, 1.5486, -0.5812, -0.1749, -0.1467, 0.997, -0.1909, 0.6971, 0.5243, -0.4694, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4741 left_y=-0.0282 left_z=0.2754 left_yaw=0.0776 left_pitch=-0.0678 left_roll=-0.0051 left_gripper=0.997 right_x=0.2666 right_y=0.004 right_z=0.1553 right_yaw=0.1493 right_pitch=-0.0407 right_roll=0.0107 right_gripper=0.9979\nstate[joint_eff]: [0.212, -8.0342, 9.5932, 1.6093, 0.0073, 0.3199, -0.0073, -0.4034, -1.1145, 6.8991, 2.0244, -0.2076, -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 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2371, 1.9396, 1.0592, 0.1783, -0.5121, -0.3843, 0.997, -0.1909, 0.6506, 0.4591, -0.4412, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4961 left_y=-0.0271 left_z=0.063 left_yaw=0.3761 left_pitch=-0.0367 left_roll=0.0169 left_gripper=0.997 right_x=0.2606 right_y=0.0051 right_z=0.1429 right_yaw=0.1489 right_pitch=-0.0318 right_roll=0.0073 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.4, 5.8462, 1.8584, -0.1001, 0.188, -0.0122, -0.5675, -0.6906, 7.0085, 1.8974, -0.1392, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2379, 1.9972, 0.9714, 0.3611, -0.5274, -0.3744, 0.997, -0.1909, 0.6289, 0.4328, -0.4282, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4911 left_y=-0.0239 left_z=0.0367 left_yaw=0.3816 left_pitch=-0.0008 left_roll=0.0114 left_gripper=0.997 right_x=0.2585 right_y=0.0055 right_z=0.1387 right_yaw=0.1488 right_pitch=-0.0238 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.1026, 4.6838, 1.3602, 0.0659, -0.0757, -0.0122, -0.4991, -0.5402, 6.8034, 1.8828, -0.149, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e16af20390fe06dc9a3c9273386947e63a2f96074b8e72186101d802304edae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31bab2e597240908cc0abdd8952a6feaed9cfccd010c21c68c6e3660f7775ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bae30664c4ad67d7ed999942b8cdf4f1f7a5bf2834adad7748bd0d7e41a854",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtDFqkBkCVyLUbPMvf_7wZ_nz5J_-WQ63VMaJUvKkXioV0D7oVmt1ftuWjLnq-u9qVbGVwpYLkPmvSiY28dJRtvaTifad4SrBWe4eXDRV4eMz5Pk-oil7ui_MDdDuYUrtXFMl85PfIygO1DawkclwhkZP36tAOPlHVTd-g-w1uquyxpLc-gUKQSZxogUa-SzhMAWabRWbR8gWbLFrkz8DWfBJ4Z3g6McN-ziEKYetZrUKDWwCcALtVAE5qkqu8YUJueVilO6_2EMKfaQt_BJVNfjQ1664Sv9ztNwMbpkxYRoZM7AIrbTH_lBAP2tYkDJQ7ZxsnUZPuDR3R_B8BpPTwJo_cIW_AcUBkqbV_Gw8O6qM8hHNRoRixuiVyuETmIc_892-W9mV4jRTbFQt2SviqHe4YFxDhM8kcV6zQoiKtSOHKri2An9BXtg0IpuH_j-SIl84rThnl4rycWTUkytvEyBBNggGtv87wHc2xVugHQ3UTtR9cie-Vm4mrS-_n2hk6O0udewZn1b2qHkfC3pf6FKALRdUYYqKx_J83CxfrwHnS0lJNn2smA32HTi0-1DIY4I3_h0L8t6BOT4U93G8QK_wqVyLFKUPMV_cdk98afLGjIwXViF7unDSYjoWUh6bqRd82CCBXOF8ubXJJ_nTT1aDOedjXcjNpYJnVaoM-cMyaqI6pm9G1F7JqmE-hNqAIaVBF-7wQHXvmouJW9H38uovpef7ahm9JmcjQcg05ReA5JI0XxJ_vK4AhP7JBQq6ygrCAu0nUjpksNmljruLPl-M7YDsvUBxfzj2pzM1BR6mapI1LrYj2MZ-9RIlIlS4PxUI7GELOwbaCSdk8OPxET7F7hxKil31BVeyJRUoMU7VcZv0QGDXx4VD56nPL_pg2gkBw5rMkAwuY9QkuL2APv8FOH17uTmh5FBR-TLA0p5JfhUXCu2JwGnLp-jBgZ7Ei_eIdONgDiQ-2a3Hmn9brn-7EZDpsV1iDvyIx3ca7vybAZ8HCGpjs2IemzHErUis9v72LVmZaSMhUpaS2fkhHYPP882gZXS3kO6xN46UTBes2KsmlGJPzaXF-i5fMhcB6oi0Y-h3JUwhlgd1G2Aanp7CRHsv7kk8ywLy0jW0bu_fyfSQGnmRY8-T2s3Tt3NNEOpflZ-loUrx4-xXfv_SCoEZsi5tYZCNJkU9jTyozCJU6dNU-q6jH1_1W_B-Jzqv0tmugZdUBiD_AenjQdvffnfOUcxAuDARqWgZqYALnsd_2td3pH0I5-gxfHV8lFp-DF2TPAaEET6JsloVB2DSSB68nJPl-cz1jBK_4wIGp5NelnwmMYvGqafEbaDY_YqOo6mnat6EYniWDofi2LgEp5s67XnMwL4ys3AaSylhLomkp7TpR-vc1JFjJWWG7dITfrRutvr6iaNImGC234qgTNmSPg==",
  "id": "rs_07f3cb55d3ed885b016ab43169bbb487d08e04b50e102bd9ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s cap is just ahead of the fingertips, with its shoulder straddled at about bottle-center height. I’ll close on this cap-side grip and check that it holds.\"}",
  "call_id": "call_JUAFq2gIdlWavQr13tjBhcwN",
  "id": "fc_07f3cb55d3ed885b016ab4316a1bd487d0881e1d29bbc1f7c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JUAFq2gIdlWavQr13tjBhcwN",
  "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]: [-0.2405, 1.9858, 0.9688, 0.4408, -0.5442, -0.3935, 0.3381, -0.1909, 0.614, 0.4122, -0.4217, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.5004 left_y=-0.0249 left_z=0.0564 left_yaw=0.4045 left_pitch=0.0763 left_roll=-0.0496 left_gripper=0.3381 right_x=0.2564 right_y=0.006 right_z=0.1342 right_yaw=0.1491 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -9.1145, 5.5453, 0.9011, 0.0122, 0.0611, 0.2027, -0.4581, -0.6632, 6.8171, 1.9121, -0.188, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75c8216d3eca61221376180dd7d7b10315630bd24e5f6c2b8c2439cb0c0aec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e66802d672a3a6d144582518c50c300907f6728e46049de33e3a2ace57516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14defa6f3c1d28f3b4c32929a282ee8be2870ee72847b3bcff4afe606cb05c33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.028 s

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

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.7866, 1.1194, -0.0483, -0.5278, -0.3992, 0.997, -0.1909, 0.667, 0.4858, -0.4473, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4813 left_y=-0.0433 left_z=0.1195 left_yaw=0.3511 left_pitch=-0.0414 left_roll=0.0206 left_gripper=0.997 right_x=0.2637 right_y=0.0046 right_z=0.1497 right_yaw=0.1491 right_pitch=-0.0277 right_roll=0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.5812, -9.0188, 6.1744, 1.8779, -0.3492, -0.1001, -0.0122, -0.3761, -0.8274, 7.1863, 1.9463, -0.188, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2379, 1.9972, 0.9714, 0.3611, -0.5274, -0.3744, 0.997, -0.1909, 0.6289, 0.4328, -0.4282, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4911 left_y=-0.0239 left_z=0.0367 left_yaw=0.3816 left_pitch=-0.0008 left_roll=0.0114 left_gripper=0.997 right_x=0.2585 right_y=0.0055 right_z=0.1387 right_yaw=0.1488 right_pitch=-0.0238 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.1026, 4.6838, 1.3602, 0.0659, -0.0757, -0.0122, -0.4991, -0.5402, 6.8034, 1.8828, -0.149, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9858, 0.9688, 0.4408, -0.5442, -0.3935, 0.3381, -0.1909, 0.614, 0.4122, -0.4217, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.5004 left_y=-0.0249 left_z=0.0564 left_yaw=0.4045 left_pitch=0.0763 left_roll=-0.0496 left_gripper=0.3381 right_x=0.2564 right_y=0.006 right_z=0.1342 right_yaw=0.1491 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -9.1145, 5.5453, 0.9011, 0.0122, 0.0611, 0.2027, -0.4581, -0.6632, 6.8171, 1.9121, -0.188, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b75c8216d3eca61221376180dd7d7b10315630bd24e5f6c2b8c2439cb0c0aec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e66802d672a3a6d144582518c50c300907f6728e46049de33e3a2ace57516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14defa6f3c1d28f3b4c32929a282ee8be2870ee72847b3bcff4afe606cb05c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_07f3cb55d3ed885b016ab43172d51c87d091a2a4e14e93943a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.05,\"left_z\":0.14},\"note\":\"The jaws have settled around a 3.2 cm neck or shoulder, which is the grip I need to lift the capped end. I’ll raise it while moving partway toward the bottle’s bottom so the bottom can pivot on the tabletop.\"}",
  "call_id": "call_b022UqxmwpFZPCNQtsZCh2q3",
  "id": "fc_07f3cb55d3ed885b016ab43173622887d0929631eb64cc03e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b022UqxmwpFZPCNQtsZCh2q3",
  "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]: [-0.3504, 1.6821, 0.9886, 0.0002, -0.6041, -0.4732, 0.3371, -0.1909, 0.601, 0.3927, -0.4206, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4507 left_y=-0.0541 left_z=0.1263 left_yaw=0.3812 left_pitch=0.0077 left_roll=-0.017 left_gripper=0.3371 right_x=0.2538 right_y=0.0065 right_z=0.1288 right_yaw=0.1493 right_pitch=-0.0281 right_roll=0.006 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -9.9214, 7.747, 1.58, -0.3785, -0.0855, -0.1099, -0.6085, -0.4034, 6.7897, 1.956, -0.1734, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04283b596acc7803054a0c2a66b5a3f4d0582bef7214e736488ae1090742fa0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5fbaa59274a630c8a51f73d0ff6491a3071fb75f2a92ce8ce66c72259a9411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e675e0162da1e49062b737c8a95cfbdd5d00d780452146b647c372cca79d312",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 8.095 s

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

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2371, 1.9396, 1.0592, 0.1783, -0.5121, -0.3843, 0.997, -0.1909, 0.6506, 0.4591, -0.4412, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4961 left_y=-0.0271 left_z=0.063 left_yaw=0.3761 left_pitch=-0.0367 left_roll=0.0169 left_gripper=0.997 right_x=0.2606 right_y=0.0051 right_z=0.1429 right_yaw=0.1489 right_pitch=-0.0318 right_roll=0.0073 right_gripper=0.9979\nstate[joint_eff]: [-0.1983, -10.4, 5.8462, 1.8584, -0.1001, 0.188, -0.0122, -0.5675, -0.6906, 7.0085, 1.8974, -0.1392, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9858, 0.9688, 0.4408, -0.5442, -0.3935, 0.3381, -0.1909, 0.614, 0.4122, -0.4217, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.5004 left_y=-0.0249 left_z=0.0564 left_yaw=0.4045 left_pitch=0.0763 left_roll=-0.0496 left_gripper=0.3381 right_x=0.2564 right_y=0.006 right_z=0.1342 right_yaw=0.1491 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -9.1145, 5.5453, 0.9011, 0.0122, 0.0611, 0.2027, -0.4581, -0.6632, 6.8171, 1.9121, -0.188, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3504, 1.6821, 0.9886, 0.0002, -0.6041, -0.4732, 0.3371, -0.1909, 0.601, 0.3927, -0.4206, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4507 left_y=-0.0541 left_z=0.1263 left_yaw=0.3812 left_pitch=0.0077 left_roll=-0.017 left_gripper=0.3371 right_x=0.2538 right_y=0.0065 right_z=0.1288 right_yaw=0.1493 right_pitch=-0.0281 right_roll=0.006 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -9.9214, 7.747, 1.58, -0.3785, -0.0855, -0.1099, -0.6085, -0.4034, 6.7897, 1.956, -0.1734, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04283b596acc7803054a0c2a66b5a3f4d0582bef7214e736488ae1090742fa0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5fbaa59274a630c8a51f73d0ff6491a3071fb75f2a92ce8ce66c72259a9411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e675e0162da1e49062b737c8a95cfbdd5d00d780452146b647c372cca79d312",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDF3dpZZt9JTYx2t67BSEA-9HOcJM-sDcZKr9lHVOkEWxBhy4t3b92eUUV0oKoRp5JYQJrJ28ZVbvI5F6OVMOF4bWSZEU9tkL-WVSBbMJDGyCgxjRYxsQGph2uDhFzu6-qC3XWTETNXBwZJ1TWTvpz7BPjlDhd6E88P0PNvmp3zjaqnEquE2Dy7q5wRvfcgiLKqsBgiYHV6trjgDch7MeSL6GsLHBhdl7UcoxvCVOMiZ0hocBewIM9g-A_Vugad5gNye7j53PAtxPwlbco0Djh-NUlKnW3yozbxpVztCFRZ2PXiwN4RwdR2XYm9CJp2PIOHQqGF1iPmUoZTFUypGtd0fT0H5FpwfHcK19yh_ZfT8nNy1F-wV0H-mmaEX7rtp2JFWIMxqRyyXoADBQAvfVCGcnCxEx77ZXMRfku-0hWgWdWEBXMGT901sMvFt-jNew51DJMwNb_UAZR4ik6uxvC14-kItjCkT-IDqUezpceiRTCZAaUBTU-GILwWapc2G7rqg8TiOiQwZl6-LPR5LNIC657KUNONGPnhbCkJFHuuCo6KLr-H0QruvOog_Vg6v42NmCu0L4OpoRJOgwbKJUwz2zG6pUJ24UAViao_LGSBKvsMNMAwilmtX6PBhFzi0p_dWzlhJ0iAvcHz9XiwGVO-lx5XhzReDHev1oTpstWdSl8iMWyiegQOEYV29sixxPoABkN1lFWzeMGmFopyLY4p01Zt8G7krqEferEi1calhryS2_XRhnWsoAlsAzM4vYT6ses6afAEXl78UhB9QX1dbhg0XOxWk1E8UiozvAAqcjlC_dndoShM_bp38z9cRIB1np77SyUL1Sjes3YXlfnG5ErFPE-X-SLp_-MA_U9OP7TrHHFBVLkw5RU9B2xBA31OhBSWkEvG1SVk3xK72bvpl1psgy9r5EblPhbj1AQczU1K2FXK8uL-HNmKByey_N_cqFGr7TNU638bqLcV4q4jqbjffGmhED4aM31Umj63Gia9GpW2ERwo2UG9iqELBwPXULd_ayvv55lRIqrxJ-kYOkI8lXF-_NWvnACjUQldd5mn8kt6VZFQi7SVuWnDIUs47DgAgkOGqvpIcfUNtrV_6FvafWvykfTrQFT28TheL8rESd0yKTO_Gm9rqZbopqU80gY6rTH-jEsOpgLdaWvXFlNtxLbrHrUmGdQr_yWkXKCB-ROp6cV2n3UX91MtraCk0CH7biT6nW_jcpqJ2FNc04_SrBKjdk_00DY7GTe95g2vtaRmKQCXkFFHWeKlC1RUbbn1B7YwLXpBnIKSpUZA3di_8NGSbDI4hIGO6Vz0UHzJNg78gkLnXiN-Ukrlje6Rw66Ngl2v1nApKhXF-Fykqze7xTN0j5Pm7GvnoJPCr89tL0kdnxZu8ShRX_anuGHUOjg2WjoifR8GlGZrV9t_2GhOLFE7_s5g2QLH5CAg5ETQ=",
  "id": "rs_07f3cb55d3ed885b016ab431764fc087d0a32dad54c7cfbe48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.095,\"left_z\":0.24},\"note\":\"The bottle is still held at its narrow end while its base remains near its original spot. I’ll continue the tipping arc, bringing the held end above its base.\"}",
  "call_id": "call_drJFa4qwn8VLpYVTFcUOrOMN",
  "id": "fc_07f3cb55d3ed885b016ab43176e38887d092a8c1fbbb938a03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_drJFa4qwn8VLpYVTFcUOrOMN",
  "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]: [-0.6106, 1.4055, 1.1557, -0.5846, -0.7586, -0.6827, 0.3371, -0.1909, 0.5812, 0.3691, -0.4191, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.3683 left_y=-0.1051 left_z=0.2232 left_yaw=0.3447 left_pitch=-0.0062 left_roll=-0.018 left_gripper=0.3371 right_x=0.2507 right_y=0.0071 right_z=0.123 right_yaw=0.1494 right_pitch=-0.0302 right_roll=0.0067 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -7.9385, 9.0872, 1.1697, -0.4811, 0.0562, -0.022, -0.4991, -0.4855, 6.9812, 1.917, -0.1734, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7ef77ec0cabd7054995a1f93adbae67ff6328a7384e310994a27bc964b118f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43aa7dd1350980e6eab66fe7e8cee80b27e4a695d07b98b939bd0d181ff8c9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e13112a70559036f29aa171f9fcd5206d6609b46706223c88d6b4b0ba968f8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.276 s

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

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2379, 1.9972, 0.9714, 0.3611, -0.5274, -0.3744, 0.997, -0.1909, 0.6289, 0.4328, -0.4282, -0.292, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.4911 left_y=-0.0239 left_z=0.0367 left_yaw=0.3816 left_pitch=-0.0008 left_roll=0.0114 left_gripper=0.997 right_x=0.2585 right_y=0.0055 right_z=0.1387 right_yaw=0.1488 right_pitch=-0.0238 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.7179, -8.1026, 4.6838, 1.3602, 0.0659, -0.0757, -0.0122, -0.4991, -0.5402, 6.8034, 1.8828, -0.149, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3504, 1.6821, 0.9886, 0.0002, -0.6041, -0.4732, 0.3371, -0.1909, 0.601, 0.3927, -0.4206, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4507 left_y=-0.0541 left_z=0.1263 left_yaw=0.3812 left_pitch=0.0077 left_roll=-0.017 left_gripper=0.3371 right_x=0.2538 right_y=0.0065 right_z=0.1288 right_yaw=0.1493 right_pitch=-0.0281 right_roll=0.006 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -9.9214, 7.747, 1.58, -0.3785, -0.0855, -0.1099, -0.6085, -0.4034, 6.7897, 1.956, -0.1734, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6106, 1.4055, 1.1557, -0.5846, -0.7586, -0.6827, 0.3371, -0.1909, 0.5812, 0.3691, -0.4191, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.3683 left_y=-0.1051 left_z=0.2232 left_yaw=0.3447 left_pitch=-0.0062 left_roll=-0.018 left_gripper=0.3371 right_x=0.2507 right_y=0.0071 right_z=0.123 right_yaw=0.1494 right_pitch=-0.0302 right_roll=0.0067 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -7.9385, 9.0872, 1.1697, -0.4811, 0.0562, -0.022, -0.4991, -0.4855, 6.9812, 1.917, -0.1734, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7ef77ec0cabd7054995a1f93adbae67ff6328a7384e310994a27bc964b118f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43aa7dd1350980e6eab66fe7e8cee80b27e4a695d07b98b939bd0d181ff8c9f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e13112a70559036f29aa171f9fcd5206d6609b46706223c88d6b4b0ba968f8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGAH0yWrXgntUQqVfEXiDIZR1sQLTXYJeiD-ZPgEZdPUjcu14HV7SlurDMY6I8YiMWeQhjaLu8xB61BC0fj-lam91psLJIIwIoADHctk2hPRjIM7l-b-EYTmrpoOgeNEoe3nnQ7lcCtBe63LUOw3faGPuXZCo-BuqbAsmdj0hnB--59Zoz3WiKWmqqVhuqa1L-zvF0hvEd7B4w2900U17SaypOsQDzjvTPx0hPy26ueDto2ShhIJq6180tcxYkAnN_d0jHDLM5806gN0CqQeO6GR2_N0jSejrSnyumdg_NqT9ZN82KXs7njcq8Zfbg1FeU5DmCb_plVPizusutkcuytVwJU51FuVEDq97KBrnqknd-UNtLAVnhF-aeXJ-RRSOFjDRx4NfkF7TzhaoIi1MEU3oy9vKniV2J86tgvVFn2jQ1qFbaqsdUrFOS8B6baw-_HXuV_zdmbQ0mm5hJjeyMEg9MqJG3yjrwLYJd4DFM7IeU83-NwDRXzmaclCZhZY1kAgU-C4y8k14RFuHw6DgLIF5HtwZ9E1zAhVA_3hv_jXLG9qkHcOU7DND8HDuQ7iHZ0qXRGP8O08wlFjA9DLNBJtCyzGkSAi4XATHk2IZiPJ_zgihoV0mrdtWpGQ71GDyOSO2WiHgdTOM0j7SaFwPcPyFLRTTD_1ebWrhfO90XwPjtw694XyzxrAtjLpQIknlmga9EwJdvlW70SMn-mRcGJdoekIcDo0mDUd8lZUcGUpl89nd3yOmt6nJv6rC-cqtbwS9cyope66lKl-gzgIEdjPhirTwXs7qCtGXdMeaeRTIKroCXQRFGLH4IwxcRAjLws2YIJ3PqcualrsuYIhDM0RiCDnfcCZxgsME_-glSU8gQEqX-NJATtDe8Fjj7IkvOCOn5-THHuv6kPShId2dc6fkqhz4RS5rMk9lvYT00GJ_6hASHLllve_Pd4I0ewFN8e4ro8Sn33S2epwIDKGoDGQBV9RYW3yARW4nsohA7kC6mj-GfHEeLHUKXB50ZiDntfs5qtXi0oTrH1hdR-Mky9nrbQ49J_EyrXp_q69_z-JRewh44FeNwLi7jTbdCc3CgYoIbEIijH0h998sN7_eLPdEQVH449FERfMJNtXcZZEcX4lt0GuoKeViN8fhuKpEF-IVU-fcI99yKHRQWghnXY3oC2R3FeWdhBu0wdrVsZwLT_Jta8dvHolYDoO3bO4TH4OS0cXXqTnETY1ac1WJ6A_8lPBeV-oYmZ-X4B20w40nAuu1JefutIpOnMrqaCPIOgLJRHMzqMLexKKKZKlGInuJZg5o9KgUlzTvHPoLHNilavFmads4kdB2YMcgsP5sap69ZaCVU5nvHGVM5kHYOu4Yvb_jQNIARFPl5YhgEFFEtHt8EYSaRgr9nzBAKxxO1vHROGaY_sIacmJyC6Ou3bZ90-6mlTYFeBp2nrVqkF55GGu5BUMlpGq-uVIPmGqDmrEwzomgEq4jFTt05AUMSD1qGyZ6lrnJ18QwrC-FC_WG7qKsrWBQy7fSAtkMubEG_3SNHDvHO7hdqKV4WdgQxyf3K5eF3Tqs3nMNIkD1UdGOyTreMWuBx9FXBn4Pj9cwwNjkKl-RJ6av4CslaHFdEc9k5cfgg028vUmNOTReDiABICsx6OI2jXjujFUibIE8WrHHpo7baSDmUksc29B5PSOyDyPFaNhK6j5JCQopTQUs0hnmjBwXpWsQtrDd-faqYbGwcjZx32sVNiokQRag1RafUrUu3ue_6Dg6UNc4g0g-aWgWqu-VvSpC9exvMy8s3apjx8cl6OIBp6Afba4w0uNznLOwQXVRReQc5RICF6ygQoOlViMFvWv1Ax76BI9CD0ZjrN8XN0QiUBLH7x_yDPt7k8AqLtuD9s8l-yEc-FUDCOuvtoUN2qmOGGEGUTOuVuWnR0NcgOS72qgDpXZ9tDJkg5vekYfMQtr4Ggi_Q6TNQjEHVPLfklJ6IUiutLtB5iRZ_uQywtA6FkUiLVeX5u-NBA8VFVIodvlXMNhjEJL03Baw74XgBrZ6A2fTyNRJiVpJEe8dWqs69-D_AMXP9RTlaxmqF97WvpBf1tz9k_RUQsvjsbE8LFN37Jndo1mtIFDpHkhuYteEgqWRVrIfzmNj2AilgmiLDb9hOSe8iE23GvG0nF9KSldkzkczzOQv4V-IkXmFrDdvUhHNunZJVfd4heac4_Mp9-rMhzD0uZCLO4tnQKbkPZYRxNqAvZW5NfdCPZNBDo49JNmTptjrTnBR2Ph5uKRFEUOF3eI36AMaIJ3KGhPNv720wlCi6gs5TuJWfOcAQpxwcPorit6tJhrxxZOLMAzYrpmUK5TMAGlmtFp5ktxHRZlitMYIGJyWZ8sGiVRwQSUP7yAZ1REKkmvgegk91lselB1zOqk7nejcC34aexO86bKM0OXgc0T8VNPK7yzPp3P_5NwzBk4ejJ3TKTq75nuEnXS41qg7zYbeyitzs0-e8i-m06hU5BWzX0n5aiK8UUMEuE9ulJ3JgjFPExNIjpgqQCjP0V70mdWYf56guT2aWsfSG5GMJyaxM7QsHbhYmRpsYFpVYLZ2gA-RVzPnrNyTvJI3B3BlTZ8OvatWYIphHPu7gWpzAqzAVlDJfY72sZ0SVAfwKS-cR0dMHf0lN-Tag1UuFevf_z2pDyEEQntfTjDipcPbceu3vEol3VsvO3oheYT1OM-KDiIgSFdpkpWHohymAJzOXnFg_1ZBYUUygidwJIngH9wgCfsHCp1syk8Syby9qCsmYiDFNDLqkQdsql8_2HazLLfTGE4gJnOa6j6P_2j3YaEuewOnCd9nYHbQfjHn821r0ht2_KreQIkVrlbby0PQkraRKB8944ZeiJs67C3IP96pht9ixGyzEU2wlnOMByWMkndxJNicz8Mmnu7nxm0rPh1aqOgJd5c9BzmRL-imbyc72lawJWyBfAq8KHDIKEH9VToulOg2uASN6j1xoYThB3XnTz1S1gLp4mTsnlw7e8gbtG2sYrIxLOmeoyvXPtpobHs-uXhswL36YraSfrxR34LUX_tWd6Zr9SD0jiTwo225u2iJtgSKvFC2FwXZYw_O0zj8w9dTGrCU8-kRGzGTzKdJz4-Luaum2bo3OmJKLOEHu08dvLMdnpxa3jU0yFGJM6a4giOvYSVAyy2MMNJm4SZfx6HdlXhIyrRYbraA8CsX_ik1AC2Mv9QLxl8zWAvPZyA7jIJ79mdbCwC6oZIFUD_NMawPNGUWXpdoHBz5Z4XV8Aapd2eic3ax3YAYhvy1GitTt7WNNoKPxn_yPdvD-eqUqVNWqiV4A78bZIJ_Y95ONkQj9wuh7FuKhRxF-WtWqPovyIyVxONGS-9n3sc1S-phtmW3Mj_uO5ARIm0YlUfJ9cnVl10AuXowDdkDxVwYpEtSkYsQeRoxmo_Rxbh49R2HG-f8WLizMqQ_faevn3wIDSwvmD6C8jsFLTnajXHCkHza4ZW03Oy9zmyDVns0TKY6CvOoWNmQReQSHIKs7jiCrx6Q751SaTo7pLzqt7v5v22f2yFw9bmIYPwWXO66HNMPRjb6z8FeMh26X2sFrQLewx35M9458dPQpRs4fFgEvSeEkjj1feGztwtiLGqC8shuZpzGZp4Bqowk2V3nbqW1Ip5gVcJUTe3Mo3IBcJBM5JcibV_CKnjbpNYnTncnAcPrkOLIwdghQjSsiceMODv_2Ehu7n1vzQ6Mls9qI7zLbzfl3bzq6BLAHjUC8u5_77sBXAsRbEJBnmoPsHn-V6rtT-dKnPCO7DZY-U8aMmV39TfYpqJtW0gywnOxwnb8P_WbQroT8aVCbl6RDVQ7lAwRFRt1Hqg6D2HuTMJt18RAL9flm7X088tkaxcuTvSMQXV3exJV9tpus9-0CGSbRpNPw7WKnKchWl75NLP0jBLLRJnQ==",
  "id": "rs_07f3cb55d3ed885b016ab43179656887d085c7eea8a8977724",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGA0QrYyfeCfepVoCRin7lfHkZhEOQGoEKFjys50g0RWIhiTlke0rwbXQf1zKgG0LqN8uGrAIUqQ1uSvzrihjH7Ig4F9MGJ8myc7zwr7Kd8YBc4x0zvxoNIIRuvD9U9ETqKAPBW1kNA7GglJ1o0Q29-ofMPmGze4k5nGbSSaD0oyVmgUCBVF1_QD4avJjOTuEeLqhfgvrSsLGOxyq6qrQaQWzVO4rjTaWF6r2RJ8nOdi4A3AOtwYPUWGnREcTKjp0hxalXYdBlmAZRLkwYbUrY5jr-jwbqKOEvPOss_4aj9FUqHPO_AtNKj496ZJ39FygdgvfZSbhIS8okd6XPdKyA5Ab_mkQA58yzkSES45WdFPBgnuhkK9nwN7Vh-aQag-JizbXIY9hWTZ7Sa0PP6svWG04JKnUfkwyxCeUbvTfGnjPWD1PF4vbK25UID1WWF2rVmsn8ZQKPm14lEDUoeXFBt7md8D_GJlSH6sN7E4n2MqMn-lT8W4Cex86xiREvtYWdDA84YRrLQiN7oFp6v6IgUiuZ4rEmfvJ_TG4gL2auTaL20eDOeFKap-Lb7Xn0teUW-Hl7qQ7LZ98Rdx3hd4YC3fMZC3GoXdeLGRq1zG-WtQE8_JnIL2_FOeZ1jeJxxeYLHZSOqhSZnC6kLGw1w9T71GShOi1VTnq4-CzfwKXfBvpqoZ_jdpWeS1FKP3bfYmYoI-jOHMfByZf5YdX5SSzrUsPZE8_cBp5w1mT0D9MnV9aLj8oMW3mgvc3SljbqrNhUBCesvAu2OV-LjUGBvDXEq50UszQy63Q2IrJmQGQIH12cUhLkPAB_eiZuyS-8xdCrGyI_E79Czpm1BWLvfwkCdvK_CTnMi7w2YDvwvK3lXcrWIu-V7DcDUb3S4lxKk79e7BZbWqWmbZkcnZcdFYTFyhalfCukb3h6j-xWALP4U85Xo9KEmcHJP7KAO7zMfvpteJgTki-Y20yq8mVvulc7XUhs03huqn5NfaFB2Ud57yg3bZVHjEY5npR91dSBb6JbSaNmJ5UTm-fyRz7kMo_Wa64ch2Kz7qquE_w0ooBOt0aso8SYRImybSNHidTI-bZsweF5Kh_Vg5LvmOcWo2NY3mmftV6tlrVeDqdh5r5tZAT6amPop6ZGOWYrVEm-p5ntEmyDSjAH1XDfL40i2RveNFAueoaDA-n0mXoQPAw0aj9ZJBh0OMG73maoeKZLPvwmrsMLTco8fRGmfXrfBHjMOKknP7OZGqiqaz_-fo25EaRd506vTsmwMxxp7fifOXWYVnjNL2DsNGiTDwBFGeiXxj8l6sT11fUZNfPnCt9H-_hmZ72JszeWvGDMhq417mVrkdytJwxvR-9WoMf9Rmv0VENjVSpGtp5S9n7GeIjiXLHbpEMZIwJt9LaKPipyup-1kOS1y1k0aHabJvXP6JvHUqXVUTntejnEJ2-VVQVy1RWbp4Bv7_-Y5mBggewla1AgidiTfk5m-RlbT-L8u3TFRm2IVoB4ZY-gFkl0yokpwuONp1AFlydN5uuqaqA97Voejj-KOU28GPEehxw7UlUPjx-Jurf2QfDzDp2sY6k69B76IU09iTfbDlPEK20oejmCq_eJzqQoAd_e52Sq5rKMvfHwm8flEprfZpY4WjVqmPXdzSUfENaqBrit3NjE5geqLyfemVceIS73DK4CX6wHcUB5Qvq8lvqZoe7LzHpFyf1EWIKxvppO5cetfpMvTo_d6rFyfcjOtMANIGIXS3BHzd7ZT2pDXagHFrG-EhRhst43s6pxIFqGsRIk01FeA_6ByyfrzW9PzYlLX_Lc7RiKhC8YmfCTPbmAjgvWgqfxRpmdfISOGVgNA_mkrGYusnM1PP6ff46otk9iS9iIMAyz-1GPVSFYBVrPFjGEng--q8cgHiDmBxvvPrS2g4XZwpBsyd__YciSslA7LnG8Y8296-nEyFFLBCPfT1DMS3L7zyPVTXadwDGsSyZ7iFYjGrI5j0aavnmKKromR9JKy1mZztxr5rZNuFT2xWZ6mHJamnIbIhm6Wmc9brSpz88cvIuXJ",
  "id": "rs_07f3cb55d3ed885b016ab4317e167887d0b0370f75f5e8fce8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.09,\"left_z\":0.31},\"note\":\"The gripped bottle has swung toward the near edge instead of planting its base, while the other two remain on the table. I’ll raise the bottle clear and move it back over the tabletop before attempting to set it down.\"}",
  "call_id": "call_yZs1tLmJQiSpZfhXcaZyz51Y",
  "id": "fc_07f3cb55d3ed885b016ab4317f76c087d09e1623a7bb9f3526",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yZs1tLmJQiSpZfhXcaZyz51Y",
  "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]: [-0.514, 1.5154, 1.5505, -0.7876, -0.7071, -0.6109, 0.337, -0.1909, 0.5598, 0.3412, -0.411, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4042 left_y=-0.0924 left_z=0.3046 left_yaw=0.3672 left_pitch=0.015 left_roll=-0.0445 left_gripper=0.337 right_x=0.2479 right_y=0.0076 right_z=0.1169 right_yaw=0.1493 right_pitch=-0.0288 right_roll=0.0062 right_gripper=0.9979\nstate[joint_eff]: [0.6222, -5.7094, 7.9385, 1.0379, -0.2759, 0.105, -0.0171, -0.3487, -0.4991, 7.1043, 1.8437, -0.1929, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d08541da2abb7fe89c6b50956e546f25b4ef4ee3cc099f9cd75a9e78d00abad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd383f4daa1f3c1b549a56e0da43b5b7a4b0b0d9c576b4197b1bcc9df0bec479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a013a79875a04da4e5a6e4c2a8fcff7ced126b75d0ac8d94bb1c46cfa128032",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.594 s

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

message 113 changed as sent

message 121 changed as sent

message 126 changed as sent

message 113 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9858, 0.9688, 0.4408, -0.5442, -0.3935, 0.3381, -0.1909, 0.614, 0.4122, -0.4217, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.5004 left_y=-0.0249 left_z=0.0564 left_yaw=0.4045 left_pitch=0.0763 left_roll=-0.0496 left_gripper=0.3381 right_x=0.2564 right_y=0.006 right_z=0.1342 right_yaw=0.1491 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [0.0342, -9.1145, 5.5453, 0.9011, 0.0122, 0.0611, 0.2027, -0.4581, -0.6632, 6.8171, 1.9121, -0.188, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6106, 1.4055, 1.1557, -0.5846, -0.7586, -0.6827, 0.3371, -0.1909, 0.5812, 0.3691, -0.4191, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.3683 left_y=-0.1051 left_z=0.2232 left_yaw=0.3447 left_pitch=-0.0062 left_roll=-0.018 left_gripper=0.3371 right_x=0.2507 right_y=0.0071 right_z=0.123 right_yaw=0.1494 right_pitch=-0.0302 right_roll=0.0067 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -7.9385, 9.0872, 1.1697, -0.4811, 0.0562, -0.022, -0.4991, -0.4855, 6.9812, 1.917, -0.1734, -0.0415, -0.0073]",
      "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]: [-0.514, 1.5154, 1.5505, -0.7876, -0.7071, -0.6109, 0.337, -0.1909, 0.5598, 0.3412, -0.411, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4042 left_y=-0.0924 left_z=0.3046 left_yaw=0.3672 left_pitch=0.015 left_roll=-0.0445 left_gripper=0.337 right_x=0.2479 right_y=0.0076 right_z=0.1169 right_yaw=0.1493 right_pitch=-0.0288 right_roll=0.0062 right_gripper=0.9979\nstate[joint_eff]: [0.6222, -5.7094, 7.9385, 1.0379, -0.2759, 0.105, -0.0171, -0.3487, -0.4991, 7.1043, 1.8437, -0.1929, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d08541da2abb7fe89c6b50956e546f25b4ef4ee3cc099f9cd75a9e78d00abad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd383f4daa1f3c1b549a56e0da43b5b7a4b0b0d9c576b4197b1bcc9df0bec479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a013a79875a04da4e5a6e4c2a8fcff7ced126b75d0ac8d94bb1c46cfa128032",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGECIgTH9phJ3mLAUGFYkSwe51f3dV9TPAvgbmfKD1d_2gpfwRva9B7HVbpwBormg0UHXNzD2KG1hB703DH1P3Ike36QbASXWSMXPWDuc3kJaYWHePp7ej6G3o_PtC1WqVrZobUHY2F-RwP5RV70nULUFcJtMO6_hkATGTMa33-w-AKDDMelbtv2dQVQhFlFmsOxZNXo-r4S8Ezp2J8HXju8NbFQoQJKqyzdXjVbxaIqO_xd_8Z99vCxL02g8e0Z2nSiynmOO4r8c8CP1FpRSwtukgK4Axut5z8aPulbdWXyOG8s-MIKYSY6Y7dKDWFELFU0e1iZdoF5J7YrBzaLtX6F1Uq3zENL4O3OrAZML3bAVeyuWOTFUV5i-37SsaGo-NUybFI28AZ0sGbRWhKGmGeaaKW-X5Z7yxHtNp1D0RBb2bipz4PmymiZiQiwfDTWYmF_1bdLlByeG8Tatx3dx3-Szrv1aXGWr-TeeiM8ehXsER30C19JZONps0p0xmQd5u9O0KLgJ7ez_3c52evV39afyZ9uzXoyDEWegE3G_8wZh-0bvXUVr6ULRJtnuFSTqZ9Og2KX35e7HoroXg10aFH-b3WLI2JFM-3KkL7OO8nKSM3UHgoU0MOJccqXrV8eSbEb5kOemXaR2uVCaov_ruyXtSct4kW46VcCU60UQuLgTgTzv6wHjGtetB1Ssxt7tRv5SZqDCCcQXnnJqT4hCpP3ECQRG92D326RnI-t0T6FIxVkbkKrLNQhPPbGPg5Bg2EVUdq-njY_LrirD_Q9XDHbWN_M3rIM4eyaEXHFqx_c4jdjM-DCeUaM1W7bbP6_Fdl3KcqcYcg3ecP0KEmYY7iENRAqReLxQVL9d6FV_I7i9RsEEbHEc5ueG0onXOg-5csRLgr8_ia18MS9HvcjqukuDhwIwU0EOq_lZRaXkLr6Fmzpozgw_vf2UCwJhGYASSq9DQLQTYoKQp8owQWKggmkEbJdIOkZb755Y6cTDG8s-fvX9V6p8IW2TE6Ga1F8yloiMZ032DFxZZ3pwGobbpNzyfIEFoe7LwpK_C859WXZq-EO2C-BtJY6ya57xYL9t5scOBC7PnpfQPvdpUiC5uismdtW9hOLKt8mgIdJDrOx4qNwpYiztGEpAQ_4eJ-39_ELXSzCp99v2iqTZJv9cbJXPpjAu2SrgF3Y7kncEMmjllVg5TG3jX5RYXJrdZ6yx2rdAPyDH9ULMh0EwtBBFePxQXyeMEjdDZy2zAJc6cBNoaVnTIZEdKkFZi8Y_17fyEon3W_6QS9ylk6mthaw4F-bqAXwTp7cyrtFaht934Pa4kUmNqj7SV5CDSE-wuCO6IDdIJP6mLmJhCxH0hsOenVcpDx8E61reRhpCTvhd9e5_dB2VF0nDPDFnUH74cRNdjzwMqwjIPmU9bNULysAwqlT6fZdTWsTsiMkyxaFMwWk3bswXSNvzM-g0t9khsIyqW9QXR_HZ7uvSDpKLLDX6d9IpxYp4dxVEHZk_8ixyWow-vOkcnNzxboZdO7VX4DfCJGs2bFzYwRF1InyVwcNhYfrJ6QfsileNJyDkgmZYKGu6fDHjGZNWWFPP-q7RA-06BzlwxL8nf7oKsKWr46EeUE8pePurKLcOwoHtmauVwfyqtTwVtFJ39ILfOx07LQ5zcjtcPIkWqWHtenBwLqU-nwp__OdrIFiscPAm6rZJNTCvOfQVWq6rCawzP93TsLQFL6adCszfLf2KDsS0c_k-VMbItt9djIS29Zg9Zs77NMg8mDC_IijhsTN4_Zcaje3qD_SyMGYWsSVFxhnUatWBhCm5ZclgPxEaUY7wbg0Hr6R4RXLTtGzSi_FeHFJw1M8ZMj7VgsgIbeRktu-FIOjxtBSTEAoVZObGBum0wo3oAybNc=",
  "id": "rs_07f3cb55d3ed885b016ab43182248087d0832b58af12de4b8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"From above, the held left bottle now appears to hang almost vertically beneath the gripper, with its base clear of the tabletop. I’ll lower it at the same horizontal position to plant its bottom.\"}",
  "call_id": "call_pIBW3IWtxV2KUvKBjbdcBsBZ",
  "id": "fc_07f3cb55d3ed885b016ab4318389cc87d0b5d63444e4c11ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pIBW3IWtxV2KUvKBjbdcBsBZ",
  "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]: [-0.519, 1.5204, 1.0954, -0.416, -0.7151, -0.6025, 0.337, -0.1909, 0.5354, 0.3149, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3982 left_y=-0.0899 left_z=0.1778 left_yaw=0.3642 left_pitch=-0.0369 left_roll=0.0345 left_gripper=0.337 right_x=0.2456 right_y=0.0081 right_z=0.1123 right_yaw=0.1491 right_pitch=-0.0223 right_roll=0.0042 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -6.5299, 6.8991, 1.6044, -0.3492, -0.0366, -0.0122, -0.6085, -0.0479, 6.9812, 1.8193, -0.2076, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e38a3b5dafea6ad91bcf579aec99a0d0eb1140d83b41cd500a250763524327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58df312c77ddc5f8c73f725fe8f11a186b52b72317e24b98c985b97ac5c6d411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e97924114ad6a36c26fee321a929e6862472bd164dd2cd09ecbee1a8d7ee4c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 2.676 s

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

message 117 changed as sent

message 126 changed as sent

message 130 changed as sent

message 117 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3504, 1.6821, 0.9886, 0.0002, -0.6041, -0.4732, 0.3371, -0.1909, 0.601, 0.3927, -0.4206, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4507 left_y=-0.0541 left_z=0.1263 left_yaw=0.3812 left_pitch=0.0077 left_roll=-0.017 left_gripper=0.3371 right_x=0.2538 right_y=0.0065 right_z=0.1288 right_yaw=0.1493 right_pitch=-0.0281 right_roll=0.006 right_gripper=0.9979\nstate[joint_eff]: [-0.5949, -9.9214, 7.747, 1.58, -0.3785, -0.0855, -0.1099, -0.6085, -0.4034, 6.7897, 1.956, -0.1734, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.5154, 1.5505, -0.7876, -0.7071, -0.6109, 0.337, -0.1909, 0.5598, 0.3412, -0.411, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4042 left_y=-0.0924 left_z=0.3046 left_yaw=0.3672 left_pitch=0.015 left_roll=-0.0445 left_gripper=0.337 right_x=0.2479 right_y=0.0076 right_z=0.1169 right_yaw=0.1493 right_pitch=-0.0288 right_roll=0.0062 right_gripper=0.9979\nstate[joint_eff]: [0.6222, -5.7094, 7.9385, 1.0379, -0.2759, 0.105, -0.0171, -0.3487, -0.4991, 7.1043, 1.8437, -0.1929, -0.0464, -0.0073]",
      "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]: [-0.519, 1.5204, 1.0954, -0.416, -0.7151, -0.6025, 0.337, -0.1909, 0.5354, 0.3149, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3982 left_y=-0.0899 left_z=0.1778 left_yaw=0.3642 left_pitch=-0.0369 left_roll=0.0345 left_gripper=0.337 right_x=0.2456 right_y=0.0081 right_z=0.1123 right_yaw=0.1491 right_pitch=-0.0223 right_roll=0.0042 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -6.5299, 6.8991, 1.6044, -0.3492, -0.0366, -0.0122, -0.6085, -0.0479, 6.9812, 1.8193, -0.2076, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e38a3b5dafea6ad91bcf579aec99a0d0eb1140d83b41cd500a250763524327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58df312c77ddc5f8c73f725fe8f11a186b52b72317e24b98c985b97ac5c6d411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e97924114ad6a36c26fee321a929e6862472bd164dd2cd09ecbee1a8d7ee4c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGK1trU9yGQVktBmXMqVAo12W_2GrK73DD2kST01For9dEJAIk0cz5qmszNO44_sxFkY46rG_HjVu0ZDJNZGWKi1gG_mtZA3I5i61uHQk2B9KkcY2DrA-8tj4rI60cGDUi2ALrIs9ngknrUKV1VYd8hViw4V3sVw8x2KJQLP88xqcmB8KHKmp0rqPF2OftjuKQOSaY23FQcWZP4BvwyNHvPpDotYnUCH5ILIIEEMm9Mk75vAw_IdPQ5rZcxvFOBrjZPizBCAUIG5FJxh_5RpUZvkxJSLj9fefUz1GYHouaTmwgmiyyeANCAj1gdnqmgwD_TR3iChcT0qwM9rp7TLVLpdRruE_ZVuREi7Boc38CBGX4xf8L5h3LG77vu2IUG3--hRNwlce7qcAZtj3i6OmRblQxryxjPrx8cFINo8ZXtzBJkLIgJYSAGhftuvNdgKRMoJA6iNgl4gue3yHfCvNv7mOUkNpmC0yUG3XIsGSmJMOPVbZ-VwqXAA4btCjYQVIBWLFR5a1ilF1s8jeUyE6RAHBEh-ngcX8qs9LEG00nPNMCT_2USISbsNxuKZbtLh9jK9sfTvaf-8XnUUbO2m23koAe5tlF6DJ1FtSWolyYZBRvwFj7Wfdbk1QKIAnGhYufnH24_KotH1NSqrQEsFrZzq7-3IY3CGt8M0Ysj8ZqDrX3ywSQA7vDmWebq_s_AQakN0_oqIoPbOvNvEVDmb8isM2Jq3Y5Euit6CmHNdC7RRUM4prVhzFLQpVBTYA3BkosDTzXmEuHI9Jp3PxakyIuF2JgnJ_QcYoUwhf6_k0RvIqgH15DiHf7D_hUExtIyksF2aJeYGUIaIkSqFKHPXvCWIst45bAxWxdvG2QuKfkRaYIzvPbGbmr53T0fJbgWWgPG8RfrqPNhVMO3pi3gYsG1MPVftxTOhj_ELilm7gwIMfnnlhlYDgmp2XxQk7-gA-qVMMTmQ64L70opIPt8VS3e3etYj9fI6-fVusL0KHFoMRlBRCR4GQjrHHkbWAQSeUgrS_34VkDMR87VLonZYdE8NOzwCmj_Le6oTX61bbxObpovwLrrLwJ-Vcy0XdBiM0HRzDxEn0XGVatIIE-cFAw33zpBJvC5evOUT9Qn05fXVUkX5daPo_up8WIlqsu6-P7iHH873g61Ra20npQintGvF3QFktNA1HYy8aIYkpNzvTeC-bvP6iazgfRsZG3RjXY3zi9pAhzMOVQFJ3q2rxf1ShDLn_ut7mpY8UfwJ20h4IYwA_YQKAlfO48ahZlMMKkIjGKaxyF9Z_o79N-GdW-5DBv92k5qaz_jvviuvp5odThkSsSu0ZQn3M5SmmeTz3WdbKh9OQ7TmL55PVQUmJakMalUYoUG13VO9R36ln3iE-akuOdi-7J1BnJjjfEuGiekj_nYMHlQDadNdkIQ3wqGUVEyby1u2K0irSenMaaG_GLA3v3ml9R_iCXFDHl3X-fzvhsAPRTeH57mJ1C-7FvfuRYe8ZsP3NqiQ8UW1jxcatlL1t7aZHLWihmZ88t89WUe8qozB79X7XoaJ_5zUINsBU38MMRLZo6VQA-6pfvbi0nBIX5sMnNh0zKZnxExtfYbQYrAwoK9X1XX-msQ3Q9PWaBZ9UosETs2LOWXAbY5il4YOh8YVV1RADPMM_jOjhOPSGTo7JNCjTHeReIsBFr6VrdUo_zbIq-xUDK2dzFPu91SSmXNlwJGs5Bxutxp80zfqX6ywtUFLVQZU4dOmqCECO1iQhma5M82lX6z-E8GHSGwoCjEOX1HKDgZj_4GVft8dlTbPKID97_IuFGihp6iv5ZIvLOhO_whSvq7ECEWWI5BwllXqOiAW45D5fpn-7I4Xd-IUOZeFDKU0GoqGjmQkjf0iDV5r4ivVftOuqu8XVX7TOZ-aTESivyk8nnSomN3P4OTUGoTUwctOjRLbsKNoR1RJlcfvUooCaki_hx0uAdKShTlKocJzqnZOwXgFUBhgzBqm9nvupK47V9FW6N773nD_4NEX-yUO1O5T-1qQUcOaZdPNEfaXHYIkelKKxw8cANqvexWAUVolI5KkEvKa3CSYdKlqzpAeTxzWq9LBjY-xPBytAnYBJg2Pmic-u3L8C6XAWSc6gvLI5cRZng7TLU3pgIRPEg7y8SbVUkWweFZIkqEv9RCGfMRJKJDcuaDdVg89hjG50vUwEE8JdRb3XikSDXGEBRlwNdOWUM2CBjvj9T8FlD5P58WBxUIkl3cxQkpbVs5_qOoFTEqhlfKvD7VVhVGi8J9UqSMmnU8LevvCau4Ojfu8YN9HGuLy-AELToK1Eh5YpTyd1tI7wrPE2-QaZ297evV1wxIUoaRo961s-y5ZHrhzPZbBzrfpYOJwnlPVVszs3mljIGhQlOiEgXEXERiIwCYk-N3IX4vw4E3gfAHzeLSGItgmrMYASE1HMqkHgJtzKqPtyxtPntdfjictQYXTD4lGqiNkzKfu6jxiupR4jLJto5fW6bLGBk-Upe43Ctgn8zJATL5mUvm69az2cbsivDvAotvXH2s1ipglHwRiCfaATaPIf3iTN7KrmFwtBjGZU0FfJGsN153CCR-bJ33LX1JPINEVfxB6QeHtxas558IFvam31GT1XpR7nX8RFk_q6eRKzoDIjLZWUeSL6TvzFEG4Q8BgDc-DxCepC07mzSaDfkdN7NCC_6l8EWr-cX1xtjCN8Bk9MKygrnNIcziDP6v1bcP_P-9gU4LwVyh-E5bXV4q1VDNil-KIGzSTtYpOULyDqSePBesS7O14u_fKS12VyC2TLegCB7YATO5lA5CULzV1R7ruwNYcBecEha1oOYNrOSgrXSLpBkdim1_8cqBA2P5RUo4xPcqjhjaJn2F1fRC7oTGCD2mNfP4BF2uKQ0-hc8Mahrva9osRtF4yl0iAdXMvNQGrxLXcaPKWuqcFhF8vZ5u32RzGTe6kHAH5Ufj__8E50rFFwoNA2yxkw6RI0YRz3LYXvSmmHetUB9sUEx88-dpWqI1EBW7JghZLvUNV3P1KRU-uEMFN00o7EXwaxM9-YlVEUdMwlbIUEq47U-cRE7GWOinjnOecXiaxO-0y-cAVJXaThS-oRlpHPDq2HPdwvIgQ-PnTfrbAxicgJjXaQC6-xgl",
  "id": "rs_07f3cb55d3ed885b016ab43186537487d0a0fb0826d73dfb5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.14},\"note\":\"The left gripper reached about 18 cm above the table with the bottle still held; its bottom should now be close to contact. I’ll lower a few more centimeters to seat the base before opening.\"}",
  "call_id": "call_RQwDlLNCD0hBv4Ds2Qccsuh2",
  "id": "fc_07f3cb55d3ed885b016ab43189cff887d0a2a4f50c477e75ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RQwDlLNCD0hBv4Ds2Qccsuh2",
  "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]: [-0.5194, 1.5337, 0.9424, -0.2432, -0.7151, -0.6048, 0.337, -0.1913, 0.5205, 0.2996, -0.4019, -0.292, -0.2184, 0.998]\nstate[eef_state]: left_x=0.3924 left_y=-0.0868 left_z=0.1385 left_yaw=0.3648 left_pitch=-0.0327 left_roll=0.0276 left_gripper=0.337 right_x=0.2436 right_y=0.0083 right_z=0.1088 right_yaw=0.1484 right_pitch=-0.0224 right_roll=0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -6.5709, 7.2957, 1.746, -0.3736, 0.0366, -0.0122, -0.5265, 0.1846, 6.6256, 1.8584, -0.1441, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd14f1518a5ac101bef61f73e73a857e734739247d8802fe2d50a4891e7ca42e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4907344571c9b0b40249ca22794c491bce1554618f30f4605fff389d1de3991f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7da8b841bc687b693a2bdb8cea7915055e341653a4a27b29381fca99d8b9996",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 2.218 s

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

message 121 changed as sent

message 130 changed as sent

message 134 changed as sent

message 121 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6106, 1.4055, 1.1557, -0.5846, -0.7586, -0.6827, 0.3371, -0.1909, 0.5812, 0.3691, -0.4191, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.3683 left_y=-0.1051 left_z=0.2232 left_yaw=0.3447 left_pitch=-0.0062 left_roll=-0.018 left_gripper=0.3371 right_x=0.2507 right_y=0.0071 right_z=0.123 right_yaw=0.1494 right_pitch=-0.0302 right_roll=0.0067 right_gripper=0.9979\nstate[joint_eff]: [-0.1846, -7.9385, 9.0872, 1.1697, -0.4811, 0.0562, -0.022, -0.4991, -0.4855, 6.9812, 1.917, -0.1734, -0.0415, -0.0073]",
      "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]: [-0.519, 1.5204, 1.0954, -0.416, -0.7151, -0.6025, 0.337, -0.1909, 0.5354, 0.3149, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3982 left_y=-0.0899 left_z=0.1778 left_yaw=0.3642 left_pitch=-0.0369 left_roll=0.0345 left_gripper=0.337 right_x=0.2456 right_y=0.0081 right_z=0.1123 right_yaw=0.1491 right_pitch=-0.0223 right_roll=0.0042 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -6.5299, 6.8991, 1.6044, -0.3492, -0.0366, -0.0122, -0.6085, -0.0479, 6.9812, 1.8193, -0.2076, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5337, 0.9424, -0.2432, -0.7151, -0.6048, 0.337, -0.1913, 0.5205, 0.2996, -0.4019, -0.292, -0.2184, 0.998]\nstate[eef_state]: left_x=0.3924 left_y=-0.0868 left_z=0.1385 left_yaw=0.3648 left_pitch=-0.0327 left_roll=0.0276 left_gripper=0.337 right_x=0.2436 right_y=0.0083 right_z=0.1088 right_yaw=0.1484 right_pitch=-0.0224 right_roll=0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -6.5709, 7.2957, 1.746, -0.3736, 0.0366, -0.0122, -0.5265, 0.1846, 6.6256, 1.8584, -0.1441, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd14f1518a5ac101bef61f73e73a857e734739247d8802fe2d50a4891e7ca42e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4907344571c9b0b40249ca22794c491bce1554618f30f4605fff389d1de3991f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7da8b841bc687b693a2bdb8cea7915055e341653a4a27b29381fca99d8b9996",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGNMlhYB6xnflFq8O0QZp1qjQIlM6N8Q541lPcdbwHMlM81zO-uKxqb0vub3mcZO2yZvxIIzvXauob-9rcob1dMkiQK9wxkoAZBWxBUZkMepJvaitVkYAuTcJ18RFbrZ0lRCXYrkao6y9xihRgdotFfGsk4BgSHC0P2a6eJoLh-wQsHipzeWBoEFQSwg1_O-S2PEgX1j6TVv-lunFv6kUEHh4QDMeadAIu69Y5JeO22gN-6ehdvjJxoGWPLPlm5I1ydFSBl49T7WJCYhy6UdSplipZnxV99gXNQYecrquraZ2SU_jOuWiIYzi6iODCTtb5v5tnm1qP98hvV2Nj9-suSEIZrSext1X1FQY-hHykM-dUMkySKEpEHXvrFmxWC4tB2qeJOGbXjc9kwwLCWR9DbCbbU-IMjy9WXDu-QRB9nS1fuIxgpFiwd-a4GWDng4Lf2PN4-2J_BsPtFZpLrtwsLHWunUtinjjXNL0DiahrLANA1QiLlpIzJKluW4iedIXNCl1rx9nypw3IzwKBVNP732jqTd_Qlez14Fvdz0kltDIXoLF5chl4ckfRzw6jbczi0feoM6Jlyh1CYoUtaV4FERtdWN1rOjGf5jof4Vs_CXivEXCnabG3qlKngW76qwYXxs15nxcjh5rHYiTWBwJHGqZ3GqYx8mQDwsEKjmZ5CLZsiULTfcXyrNnYc318b5XvEcs3JMyAjeA_4ds1bMn6eBdtZjkUT2n7jDma2Lwd2mFm3f5G6CJXBn09xSzYvnb5ez4PmdxNwvPPQHiS4UCqW9qBMpz1fy5--RTUIYj2tp-VW6oGpnQryN0ivxRHjchOYR3F1MZruoo6pVhBIzmioTDoC-8eG55TXjBwohRh47whNlcg9iBrs1Z_xjoGHqUz4Neb9JA_ejgItAOvEp51mwADYLLMnWZ0QtoJHN3D1hIzWW2Hfog2Fvxrmpcf1TDNTlWahDF_8iEB7RUxbZpjyqZpQBGfrceMRu3wly8-lw59q6lEwo7V6-OCLxh_5i5ZyMdBBYI23sl0tAyJh0u1jMA8rMEo2DgA4_I45g3h784jklOF1w7EfQq04DkAEPlocEQC1mRsWupOoCUr30w5ya7MVmVRW7iO3oyC27JcmTLQiTlnqEFmdpsAyDirkcMz8RjYZbp0jc3ZwWUe_Khgfd3VFNRAuzm966fiBXU-qNa27iPn4rgemwfKhc5mayHrY36fIzLVGVCWvryaZgEsc4KDGnUvclnyxU4iPK6Z57ZFMgx2LeyYrAYrf1bBbFigA5-tY55pI9FKnJJDYR_w2Xw==",
  "id": "rs_07f3cb55d3ed885b016ab4318c278c87d09dceb512ec47eeda",
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  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bottle base appears seated, and the gripper is now at a plausible neck height for an upright bottle. I’ll release it, then lift away to verify whether it stands without support.\"}",
  "call_id": "call_l7r99iWk5CLMg4XkwYVLDKda",
  "id": "fc_07f3cb55d3ed885b016ab4318c5fb487d0b12cfe258a574e66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l7r99iWk5CLMg4XkwYVLDKda",
  "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]: [-0.5194, 1.5509, 0.9241, -0.1871, -0.7151, -0.6056, 0.9956, -0.1913, 0.5026, 0.2813, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3962 left_y=-0.089 left_z=0.1331 left_yaw=0.3648 left_pitch=-0.0197 left_roll=0.011 left_gripper=0.9956 right_x=0.2413 right_y=0.0088 right_z=0.1044 right_yaw=0.1487 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -7.6376, 6.653, 1.5018, -0.3834, -0.0073, -0.1685, -0.5538, -0.0068, 6.8171, 1.8291, -0.188, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52e02d7f840a617946d1bdfca3b38037ae65e474b532b7261c363bf519e99a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5ae23de35bf91e0329004cc85a4efb4acc0323fd3d6b8d35c0344a128eedb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b299533a1a6c91d3aac5f661806fe4f45c4a510e7944e9b61b9a1f8cdae3e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 7.808 s

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

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.5154, 1.5505, -0.7876, -0.7071, -0.6109, 0.337, -0.1909, 0.5598, 0.3412, -0.411, -0.2924, -0.2188, 0.9979]\nstate[eef_state]: left_x=0.4042 left_y=-0.0924 left_z=0.3046 left_yaw=0.3672 left_pitch=0.015 left_roll=-0.0445 left_gripper=0.337 right_x=0.2479 right_y=0.0076 right_z=0.1169 right_yaw=0.1493 right_pitch=-0.0288 right_roll=0.0062 right_gripper=0.9979\nstate[joint_eff]: [0.6222, -5.7094, 7.9385, 1.0379, -0.2759, 0.105, -0.0171, -0.3487, -0.4991, 7.1043, 1.8437, -0.1929, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5337, 0.9424, -0.2432, -0.7151, -0.6048, 0.337, -0.1913, 0.5205, 0.2996, -0.4019, -0.292, -0.2184, 0.998]\nstate[eef_state]: left_x=0.3924 left_y=-0.0868 left_z=0.1385 left_yaw=0.3648 left_pitch=-0.0327 left_roll=0.0276 left_gripper=0.337 right_x=0.2436 right_y=0.0083 right_z=0.1088 right_yaw=0.1484 right_pitch=-0.0224 right_roll=0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -6.5709, 7.2957, 1.746, -0.3736, 0.0366, -0.0122, -0.5265, 0.1846, 6.6256, 1.8584, -0.1441, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5509, 0.9241, -0.1871, -0.7151, -0.6056, 0.9956, -0.1913, 0.5026, 0.2813, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3962 left_y=-0.089 left_z=0.1331 left_yaw=0.3648 left_pitch=-0.0197 left_roll=0.011 left_gripper=0.9956 right_x=0.2413 right_y=0.0088 right_z=0.1044 right_yaw=0.1487 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -7.6376, 6.653, 1.5018, -0.3834, -0.0073, -0.1685, -0.5538, -0.0068, 6.8171, 1.8291, -0.188, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52e02d7f840a617946d1bdfca3b38037ae65e474b532b7261c363bf519e99a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5ae23de35bf91e0329004cc85a4efb4acc0323fd3d6b8d35c0344a128eedb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b299533a1a6c91d3aac5f661806fe4f45c4a510e7944e9b61b9a1f8cdae3e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDGQ_dKqsyF7i5aLvPbh98K-LVxV4lvkqqc3BcR_h_lIxeZTPuyssYnh2Pxo12vgtmkMOw5TJ5ledZYA3cwcAhDIPNu-3ObiXxMq_TQ93qjMRs1TqXxvBLIdY2PAu7NUalGbjltQ6Kq8QJIZU3_DX-ZlEwIIJ4OzXUwhy8Bv3dyxBMkzV239Au5fe-FV59Id2Gd3GsvaE1pXqLwqyhLsDZscJXOt4_fVxi_msOZNTValEzxzk-KlIpsBsWqTJ5-jN12C4b2VbIQKJ18rRM2OdWqsoCeuhEZtGnhh9glBBlYrbqZoo-q5wHNIqoY5Y2HHOwZHW1GhNc4yAT345FuW3mf4trtfRBXlT4NExbEc7kp0fZhCcXrN4x66duSx9pl73oQU-fp6K1KCfQ3cja-glrGj1EUlL8UJaA8x86KgD6C1SzDCXeia_ZuASMGl-NdhlVZ6DUlJtNO5VbPDLej_h1nAKoyHFDEYyYRCwhN0jm_nqvEjmARLinoLihBVqO-f8Uk9Wy4S4phQ5IyhOQ-dH9j3u-NilGMmJ1-2qvFvaUZ4xn-yhkGC22KCYao-2FE7mcwG3ZM7xPslbpx88AT0iawhyprlH9RPJX4c8woHw2urUmmnTICLdEtqTwixTBL-CQhs8D1L0dkcFwrhMDIRHjcQ_w6Ln0IyOXCFR0wpSdD9iJnB1ldnIFpiUIXI3uiCrE1sk53j6BVTS4D1Q4ZFz-KiK8H7iwr6HyXcSmSC-_jtV7eOGDmJsLXOW3FWDawkZKU34RY9yYkQ2SmgPu3M3pCq8qmMAze8sxmIlMaI5_Cnw6VcsmHmwxjUsNXkGc3DRejozA9TFjYbe_2E1jCdnXvqbQSsSj-2W9xF3Gs2vfsUAHL7hs0-XQAW8tfI5m6UwGzWkSZFnZmTdFhMhSywvpzfjeLm_iU5i7BMB5enD4KFP_EAPJKixHyUWhmRMaqFj55zK-vORi6Es-QMd1yvjyt1boiC3FK7WiIPPuvTDIWM0VzyeODgF5vO_reSBg7agTmjDMjYzIvxwpBER-LSdxLdnNx3SoKApKBFIxAliV4qsguyHAKXykSRXA12R79Z7Yx-Z-zBHkOMgKp2P_n64uf0JQIb37GlQUd6dNRmaO6giPmN4JBmzrskBvL-wMbYSLwOfGCq4WiImChloI98jkJp7l_O-MCxAovcy_bivkchXLvJXZW6eSc7JTyYGXLQnVvGo73Gzr0zbCm7YlS6mufeXsB8H5k0DSMsirM1Is17lNSXMgG6dgxKuX7O5LdO9mp5KFsyBoXIj-UWAN0KiczlWUK6MCwnjJFQ7OOyeoko9OU=",
  "id": "rs_07f3cb55d3ed885b016ab4318f52d087d0a722544913a756d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0},\"note\":\"The opened left gripper still obscures the placement from above. I’ll withdraw it to its home pose so I can verify the left bottle’s orientation before working on the remaining two.\"}",
  "call_id": "call_rJ66FdJdejczWGjlwxjl9GUF",
  "id": "fc_07f3cb55d3ed885b016ab4318f85e887d08ca2b3336f2ea874",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rJ66FdJdejczWGjlwxjl9GUF",
  "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]: [-0.0807, 0.8513, 0.5842, -0.3206, -0.2096, -0.1707, 0.9963, -0.1909, 0.4793, 0.2615, -0.4023, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3027 left_y=0.016 left_z=0.1693 left_yaw=0.1702 left_pitch=-0.0116 left_roll=-0.0176 left_gripper=0.9963 right_x=0.2389 right_y=0.0094 right_z=0.1005 right_yaw=0.1494 right_pitch=-0.0197 right_roll=0.0036 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -0.1299, 7.9795, 1.6777, 0.0415, 0.2906, 0.0611, -0.5265, 0.5265, 6.9128, 1.8046, -0.2076, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce4fc0e56cf7095e6bb2b450ee2cba360c776e107a477bf8fdc4d288dde73bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e143051b5ebff235bafced1cd8b0e35f8969ac630c7ea370802d1c973f3e05a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b523bc93784490987bb4338c2bb393fa126773830d36e085d5fc34838ab73a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 15.94 s

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

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.519, 1.5204, 1.0954, -0.416, -0.7151, -0.6025, 0.337, -0.1909, 0.5354, 0.3149, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3982 left_y=-0.0899 left_z=0.1778 left_yaw=0.3642 left_pitch=-0.0369 left_roll=0.0345 left_gripper=0.337 right_x=0.2456 right_y=0.0081 right_z=0.1123 right_yaw=0.1491 right_pitch=-0.0223 right_roll=0.0042 right_gripper=0.9979\nstate[joint_eff]: [-0.0889, -6.5299, 6.8991, 1.6044, -0.3492, -0.0366, -0.0122, -0.6085, -0.0479, 6.9812, 1.8193, -0.2076, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5509, 0.9241, -0.1871, -0.7151, -0.6056, 0.9956, -0.1913, 0.5026, 0.2813, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3962 left_y=-0.089 left_z=0.1331 left_yaw=0.3648 left_pitch=-0.0197 left_roll=0.011 left_gripper=0.9956 right_x=0.2413 right_y=0.0088 right_z=0.1044 right_yaw=0.1487 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -7.6376, 6.653, 1.5018, -0.3834, -0.0073, -0.1685, -0.5538, -0.0068, 6.8171, 1.8291, -0.188, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0807, 0.8513, 0.5842, -0.3206, -0.2096, -0.1707, 0.9963, -0.1909, 0.4793, 0.2615, -0.4023, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3027 left_y=0.016 left_z=0.1693 left_yaw=0.1702 left_pitch=-0.0116 left_roll=-0.0176 left_gripper=0.9963 right_x=0.2389 right_y=0.0094 right_z=0.1005 right_yaw=0.1494 right_pitch=-0.0197 right_roll=0.0036 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -0.1299, 7.9795, 1.6777, 0.0415, 0.2906, 0.0611, -0.5265, 0.5265, 6.9128, 1.8046, -0.2076, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce4fc0e56cf7095e6bb2b450ee2cba360c776e107a477bf8fdc4d288dde73bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e143051b5ebff235bafced1cd8b0e35f8969ac630c7ea370802d1c973f3e05a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b523bc93784490987bb4338c2bb393fa126773830d36e085d5fc34838ab73a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGYtV5uNIpB1y0qZLt4T7RmqzAuDnxZ4OX-zVlwIeGfDaU8nugwGbCKcQ7Ce7gVr9I0w8vJgLpUeQRl9jMjsbqN5S4ZNolUy-mOy5520Kytns3KLXGpxDjYG930JkG9OPOZiIiKzX9e2hJ5NTwnJsWvec83saAQrZguE19koi6KQnlNR8DXwziIjVWuS0dCUwx5G9tEhYJvmH8-0PZ0QLwhFoG6_-VnJdZnEqFbWu5p5YDoC0EeT47iFRZmCWWsvoWuREVcXLajP59qrYkgGz6doJsVhLL5LiaZxqzcSOQykgOjV0fdJLyO_TNZUp8tpDwBfJA_m2ontd_z2FI0TcaIbg3kDh8voV5km9Yuo6emUx1Fn_PNJAExZbepA2UsjfkcVEiLhTtXc6eDOKkQU1LL7Au4YWRbFZg2W7PjH2_Mib0-3iCNZwsFofgoApyYAnbg2dIISA9F_anEilGlK27YjWpVeIfDmDqV-kKw61uNw78XJbaxBZR01IFGKRBTQDlNqNjE6zgyHPEzIzQJxDzlPakkjtio2dv35OU5IeDG4DTotbz_9Dw1sGD-4hKrgEB8ybQYs-fOHH84apbDYHHKJf449E9DTcYD_jRpfEvSDuJsBjeB7h4TXJ2yVDgmO08ri87EfLM-T_k18RpS2gg6O_kLBXehf5DUPdyuOtKuE2c1dCo9prHfegK5tHMZps8Z4xZTiRtQKJXVgQdNgimo9geml9YI93q_6W6be5GwFjFty7KDdw_IGyhoZfXgJmRYT0JQ7IR9p7ry36fw3W32Hx97tYi06qdUb8rBjie2YcGJtbhiyitlAqWS6w19_Bc4vnZhxoa44VkF3GIuHRly_3JCLZBJLMzLjK4fTitGvYtOuh3ZgVFzkRk5G_5Ew7D8xBNPiTDGfSz2twjqG_R_WpLc-FvswtSZIFWUngOdLXp51WbiCkLIlvrjwHdSx0-ouC-RutchQJVrVOZpwBrGUb_2Vk51f35AK_f67KhLqCuiwG_5WNIeeGFPCCyuHcNcUcXyRwSZiDijEJ7L3u4TotRrUTdsCdTTTsdgW5c7JmL3VeJxcRsWxkpws5KUZKO78EjdrzhpFFhUhDVIixlpcg-ryVO1RJv1N4Myt6X37FW9sQLwd1oW7Vl9XPwpPN3Aww1EypFTXkq8PdWGN6-AsX3TUThBJFBrGnigaTSxjBElKm3bdbNdhDBy9yQMONSqR8ycw_wPjHczz4XYhP3v1e3VqXnaH34zL2W7NxpGIphOkRelaM2RWwQpaRTYp95FQ6C78Wi9DpdzoO6sqpIwO1S7POFx6kH_fv6tUw_ghNmiBKILuY_NU1lbxr7Em8pDPUmwE1tgEcWp1N7JpPLRTCpGXSLx_eYjnmHTtGTLsiX4RKQ02MpsIHq5VlFuiKcpq-vPxcUrQQ_jT6FAgWbqIVQ1lrp7PbVFYdLjkGG2zXFCvRtUmvGdRoZEz2qFHy7PKHTIvEuBSJIAZF3VdQeqlwRN-yalRdKjXfxhzRp-heXNnrUqdnQa9dS3NNsbRJ6ULGQiF1tC6_MM4bnZAP_ONezYLDOReXJbp3B8IcozAWWlikKrfsAcUkP-xPmZ9cODyxQn5BVxmdCstV2AKl6WP6maZbJYSnZq8p97GtWgXrx5wpGuyQWHV000HNUQ1fWB4Cf_wHHok1YEpIguhyzRH-YOv5e-ntPsAzo1cqsupQT8T_anM090YBoT3Qjk2QkCsMlw1YMNb5te4wFaTxKJeCuWBVIzN4eZ4IbVxhYBrY9EDxNhIV-pje-rbnszI5sbVVUtkSuw5fN1t8qyhhk2xwMP8aWoiJ-RQ83QKIG_yVITXpUOiyf0bxEkn3KXQCF5zKewM8QOxGOyX6gzulyWR46KD-hvo7LZJM06QGSC6cnFkHQpF4_efDxiZLwXg9F9JO-6qUPqIXJJsHEyJ5EKMbCiHXuXPiWB3AHztTkG58bHZsMYe7UWGsQ7ofeVepqJ0FD6PKE8Fj0NPxHUudMlgxzFwKUFQ-Y_GDmKRX7py2yLe2e71snTNrZHI_mhTrfPKJLl0fEZU_pxeT_7YGufAqIG4bWqED368mlWoV4xodSDoXZ3K2M9PHC66Xgn6SELOPyrqRPoZZLORHrFl4kASLcd5aM4EjYaOYbkObDkR-OFaggBI-4z9mMPeTiy1kYMz_RS0bEb9qvKGJumlx6I5nhUCjjE1GL2EGlmHnGGuoaLIa_qSbQHKu32VOsyvb7AEH0e0-sEogwfiFIOYq03KsmgBh7uxuwebHVw0wh3o5HZBC-nhfKSz2UcACBFO8Tb_4d9Y-i4vYD3utsv7zJYrWupkuErlWmGJZFyL0Ex6yfQ_LNsRHFkUYYhWdpUNOmRCQbZgFLvk2NzqG0l1xswrCgDp_4qpOxPZOO6s8NOpXhCYU25486OtOqrFDU9AlHnDG_-zLR62AjXuJvprbBe6aYMFGZfeHZ6SAIhHIhRpmdnZJvb-V2JIaaMEcpmQPnXmCdqg_lhl6FOkhujYeueYRCL9dK2N-d1iJs9KX5JDWYFOu1jrcqrfbfsyeb_nOY1-oF12taHx0BhaBqa2BnIy9-664aTMHkLsSuVbXr7sz3_NezsIL8vunmKYG6NouVtcR3BoqcYYxjZ1cS1sVtCTSNu8gRzQhqm-uQs5gvr_HeKcR--q9hoSEUyQQCKasXyUB8-IvV8mfAKbgqaFo79z4FNoqoDum3EmGaVcnf_mE_l4GfskPyEmHjp69PVKBRN0WPnkcE4iCBIOIMETLql4Pg9PBDT5hk-fN7b-MHD3TNpYSkyzWxNX82T6sAmNo9iEZPcfQL0Ix9t2BGHuhQSfFvvWx3Sz5qOVyYFCUsZypv2NseHt-i2U8Z0nr7NyQXLRq1fB3gHCpm3sPiborxibm9TPYLJyEFKAEXR7WpGcpMBDVWENcNFDtG2ltlV7o8lNjXqVUskj_XWNi3MQsx0rps60bYMjBsH5E7CCWXY4QSzYdPiN5nf8lNMfILny8_FyPLwy7U8EdA51RaWiEs_nzRMrQ8ioPVZWf3t3Nu4rykRHpLdqhAjbgUT6063a0vc8i9hmfs4Yw9Hawjn38FarwfzghV2ci3t9jQAcPUMvoBU4Nt7ySAQs3--mVrtbSdvw2SKxlTpEL1oqbjgsPpV4FEBsC2TzQ4YYN3ELt1q6Vgbu6Dz2eUVAIeJm26A2gC6OE1sILMYgouR4pH4E-ct9OxKc-VojSn_cpNjpxVGx_R8wSbhnd6nfxWmmFcGrCPGmahZAtfC-ToJl8Y44LFwddOlPswToIw4upTiYGw6l_67EkREYW02FTOW7fFscn5uIcVDvzPsHv_7hGh0OOIeF3mrTiyGTWnnzullJrJZ5HpqHMXz6igC3grGtKFetkEBCmrcbNJGPrYyXFKEXqLwObLmzy7rUTVTxzliHfgUjX6n78RvIIk0YrV3zCbzOXyG5CbtTSYmj3HpioQOIVuxVutnkIHT5Nho3hvZG615Su0UXXbFlErnnso1vMWj8YuesK7G7oReUgw4edgJS4yXBlZkohmx9tzds8zEvsqZI_7zM4y6Ctc8qtKx3A1uj8Y0mBZ9YOyfQk7igH8zD1KMg6iMIObL7CX_iQvXm9OI3BqtV3rDBGQOH_AZl6zjuEZiXDVr4FUos4nvFxkn7EH1CAfUqrzMf1R7pDk0gSDH3r__qUNrNfLHr41HKhI-EvBFxmfkAj5ydF_krQKdav7ACZqAx6W1vU8ixBBmPWJNdedv71fYwo9xh2iPJdi1y4RqGp2IcVKDa1kPg8JJmk8pAqUXG4F08fiCmyXv8jirkePMHSyl7ys0RgaOcNzdBWvieyer3n_6eRTJE2wHHa6jkTP-txW4g9wJOJ9pTCaopQmeI5KSjY7Ayhew4Gek3m7Y6y80FAa8tzGIIhmxibObR3X9uSYKmM13-AfNO0UXPjLNfoefee8L5r0hOLf8M5taEpdySYrlbpi8pjNaFFmAlReZveesnJKBknNco-FKSdBEIPWL7YZ4IdEcGR2qAR_A3thgIbM_Fa12juDcDqtmEP_XHUXzkkZPBWohmeMaZRYHJRfai0HZw4IZtxGATBIWtt1QEQ_1OX8MDS8bSFyVlcLK3ifESwaIRmGg4PV7cBDq-xetIhHhL5r-4Iqesiuur8SOyESobmqZboMCh3g8ad34sP04Q-iV-jI5_3QbBC4=",
  "id": "rs_07f3cb55d3ed885b016ab431924bf087d09cc8aa7efc37672e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGYhbu-94u76Q1cD33n8tTEQ37Ixm6DLumyqOF7KZ8bE6JoMr0YPPgF19p1Rktsm_a6MMZqwh3Wn-SQJCmRCIfHp1g-Qkv5_jpGQZjjF3r1C-1hB-BDJchI4dbWlLWz39Mx5uO5acmz6SneyxeuvTjVQuCyBYLy8TiQIVNr-GEwCcBa9dwyt2kCr2RZxKlkn-P5CA9TVXM-h6SzhX8gJAWyz2xF5wh6wcLNi1zFTlGGyALBSGq6sQvuvMiFMUGV9PY2ZWcORUXoz4lfgESS7jclcPTogIsYbNoCSjJ5TA4yPfdaov14I_Uf3ic346ttoo58cP-46h4cRCaXqmqT_N5cKOIUjAOnVsaS45ITy9yP926YS_CdAAchiFOpEX5TzKZGSeQYFJ92dA82knoOJqpFCgDjUhmIUQJrUGcHr61qiubspDN2jMjlNmNVXC-45jRuQZVDr7YyyA7p9GQnL1olbVRlaVpT21Mi1UmjYWRVJABx9cwVXkSz1r8foLS_1GELrpG_31b6B5plOP9_6arQ8NwdGZzf0s9TfEqp7m2H3qG6ktRXyVtzW45zD5yJkWFcLW7Hg6rGzcFMF3U0zjMfsxAwQ-G5P-a97MOsakkUZE6OQ03RFqetHnB2ryQlUrzgYqhKtjnrh6o6rKopBIjyLak7cn8yzs--oKW7dMa0PsUHevCReoGUUYntLrbykG3aUxd0NuuHMxKbw_r8ZlG7jW94d1Hlmf7ht52kJg5jEHXGil0EPTGew_NXe69qwvMsI9XN6GU1w_zDlwtN2P6AxqfluB6pMsmkrzOWXNCUY3Ol7YxakFK3LjcHImzxgNZQ7a9JIQpx4P-kAQcw_syXUoVHzmeBflxpkUidNa-aIbFJVnlEDPwRsgiPBmVhJOpmFhSYDi9fYWYGn817t4VPEKdCIggx8HqNO6miplgwfAhH7ncf5ng7XW-apvDgSpmiu1m-0v7G6YwfGU1rutyl0towNKu8tYyxZ3TeGn_yCXSJegghSspcq-wa7DlS6kBzM7FoZMfOVzfCkVFKB4Ddi2FahaFt67Q7K8PM0qL0nCl3UA0YysNvJxFtdfBJqjiuyX06qndL8Ny4n2sq6QWKI9ewY7Eqb4DOkaueHI_bk-jpYf9QA0MaQQFqMpiZswP32CNn_WICfa9BL8gnhhRJ1m_3sRbQSOoAYKaYK8Qpt9amqQh-sTKtGVBGGuRyPofcX1rj6Ltw93SMKIG6DsqZuJWTDopCchHJF3PVyzCss7cYvVHUjJjFQbVaxjjd7gU7WJ8KqPV19LvfXnobzvej8Yb5vk_TKanlRk85x3i8IhF4Kd_ed8b9NBn28oHZJa-V0n0oxE9e7foXDnuUgBmN_eQAiAaEoEpJ6Popr31l6pZL2Tj2gBzU7a_OZaNcU0L_rYIQKKuN2S7ySq7v3zjmt2uz-hTUfBkrsxYctl8ufZ7-1NY5UDWQVX-itCimEX44kguvk6Fi4J23tCG3yLPnPKABnooBE-e5RBJgticS1vYdEygrYqN3co0qgSHa3pUEQQpbppizwYHsv2BCRvRVQFBDzDgWfqtcljJlyqoT2tSMXJMg5ro6nFEI6HEa8GSb8gSZUNDXZxfPNlOpakuB6YucqWucriJceLISpC4zemS_pIFT2xvkZbzNu6hIli1LJHPwSQrJQON1Rgm8ORLVtFwAMw_f6f3F1Omp0nL-dJ2WSeQOHjvhPQZnASYAa2Nw6gnsqrk6yBCP41n4r_yQTL1Z6e3__AdbwetX32vm2IuoX-IpXSpnZKISbLQKwIkYhqmAaWCn7QHqHEu-ft9I8ayXpVMK9cK_9qe9jCgaeOhCjbDz-HRjbsDJBOL2j8--",
  "id": "rs_07f3cb55d3ed885b016ab43196bb7487d08c2ac77580cea5e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.24,\"left_z\":0.16,\"right_x\":0.295,\"right_z\":0.18},\"note\":\"With the gripper clear, all three bottles are still lying down; the left one shifted but did not stand. I’ll try the middle bottle from its capped end while returning the drifting right arm to its parking height.\"}",
  "call_id": "call_TfHFGVnzezjT9nuPhvngWEYe",
  "id": "fc_07f3cb55d3ed885b016ab431981ce487d095f889af5b9e7f23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TfHFGVnzezjT9nuPhvngWEYe",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7078, 1.9224, 1.4345, -0.3141, -0.7048, -0.601, 0.9964, -0.1253, 0.8093, 0.5728, -0.4038, -0.2531, -0.2062, 0.9979]\nstate[eef_state]: left_x=0.455 left_y=-0.234 left_z=0.151 left_yaw=0.1665 left_pitch=-0.0179 left_roll=0.001 left_gripper=0.9964 right_x=0.2873 right_y=0.012 right_z=0.1601 right_yaw=0.1758 right_pitch=-0.0464 right_roll=-0.0022 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -10.4684, 8.4991, 1.2772, -0.4225, 0.1636, 0.0024, 0.212, -0.9094, 10.0171, 1.7607, 0.0464, 0.2808, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8ac5a5d9930d0efe2e6c4f92c02a082f7a338b4296323fe4abd677bbda5ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415fd7927466a9cb1179f900812afcd50cacbf42f6717670e971b8ab9556ceb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321bf1e3778de2bb08028fb41ad9db9050a008b5afaa4a7780be1a45b380a395",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 4.56 s

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

message 134 changed as sent

message 142 changed as sent

message 147 changed as sent

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5337, 0.9424, -0.2432, -0.7151, -0.6048, 0.337, -0.1913, 0.5205, 0.2996, -0.4019, -0.292, -0.2184, 0.998]\nstate[eef_state]: left_x=0.3924 left_y=-0.0868 left_z=0.1385 left_yaw=0.3648 left_pitch=-0.0327 left_roll=0.0276 left_gripper=0.337 right_x=0.2436 right_y=0.0083 right_z=0.1088 right_yaw=0.1484 right_pitch=-0.0224 right_roll=0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -6.5709, 7.2957, 1.746, -0.3736, 0.0366, -0.0122, -0.5265, 0.1846, 6.6256, 1.8584, -0.1441, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0807, 0.8513, 0.5842, -0.3206, -0.2096, -0.1707, 0.9963, -0.1909, 0.4793, 0.2615, -0.4023, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3027 left_y=0.016 left_z=0.1693 left_yaw=0.1702 left_pitch=-0.0116 left_roll=-0.0176 left_gripper=0.9963 right_x=0.2389 right_y=0.0094 right_z=0.1005 right_yaw=0.1494 right_pitch=-0.0197 right_roll=0.0036 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -0.1299, 7.9795, 1.6777, 0.0415, 0.2906, 0.0611, -0.5265, 0.5265, 6.9128, 1.8046, -0.2076, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7078, 1.9224, 1.4345, -0.3141, -0.7048, -0.601, 0.9964, -0.1253, 0.8093, 0.5728, -0.4038, -0.2531, -0.2062, 0.9979]\nstate[eef_state]: left_x=0.455 left_y=-0.234 left_z=0.151 left_yaw=0.1665 left_pitch=-0.0179 left_roll=0.001 left_gripper=0.9964 right_x=0.2873 right_y=0.012 right_z=0.1601 right_yaw=0.1758 right_pitch=-0.0464 right_roll=-0.0022 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -10.4684, 8.4991, 1.2772, -0.4225, 0.1636, 0.0024, 0.212, -0.9094, 10.0171, 1.7607, 0.0464, 0.2808, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8ac5a5d9930d0efe2e6c4f92c02a082f7a338b4296323fe4abd677bbda5ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415fd7927466a9cb1179f900812afcd50cacbf42f6717670e971b8ab9556ceb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321bf1e3778de2bb08028fb41ad9db9050a008b5afaa4a7780be1a45b380a395",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGe9rZOj8Zm9OoF25icX8mfETX1-VcZRU410zJzdD6Ah1Ln5ORjjw0k9S5vHVDWlr9usnC8yX2UXwkJB7HkrOGtuAUf8od5UyApSomp4oeSd3Zx_ChllmAfhMlq9MmEy7uBgnrYVMhaEr9fmkDEK-7OQKVj53wEpf10lKCa7_o4Oa8wV-a5P4qt87fyK0-1LLTlhuBxhMAicJaasKiR3WDmTyBqXFQ1l6Omnp2W4jNQyM_dbPfJMDw8JPq-XxrdtG3pmcX-w1Mz4xCTlmZ3mxa0O21DgoDullq0325x0RgWeKiUIUFNKpNPxVn0GDDJyXeVOh6a9pOkOvvgaYh8N28C3YWbNqwuGvCaXxSTBUOJPjUcl4IjyF4NSuWS4aT_tKd8i7BF6aKMMIwhCFiEZI8A8DtJinGpWI_Swm9_dxSmjzfiq_oHIJ8Aj2ZYhd_VWvQ34lJdK-zwtFVs2JUD92ggk3ZPg_vJOztC9ifcNgzlJ5ptJdvmrb0Qq3SGaXgniAjEGu_AqG8OJqfQBIYIaaAKIE6OqLbCZQmLWullXp4wb-8yBVgG_u-JlM1HM65JRHZ8Hm4mlnxvLPoAxOi4nM7_sVBPqmwH8m72GhhwGOfpEL0YtXR5xAeZEBqMnVSJAFzE5jyk15xJemIHkaFwZFlaUhLDRsGXRHeTjzKMdsXX4vu28DsyrFR5IefEf9Y_1dS7hw8JvhAO3kX3EUwBRYp6s8JsGc0jAZdiVxK80Idty5XqmiM2z7aywe5hfJdF0dFYd-aBar6PaO-woMu86ytKqRaxgX9Kr_uXiW2mK2HUMJ15sNlgwaLGGCgIaX7WlED_jT4dFuZC8OT73JQBgwxC6TEV6bJYpy-PXc3GpJn2wZZOULG61GVdxH3YajmWHgzaUAXZoRfX1bLZbCeBaM3It2G8aNT5b4udtGzX3NLVGntPDKJwwBvJdekF2fEoLycqUjxqNRlzW4hxNDpi71MNsGX7pZCCKdmGzHepfDmeDQLosNKlM1u2h3y1Z3mkFzWzjJhHfX_BkkFajDQVLcxEuJ5P_SPkqU0Tb99JAAF1xmke05YVEVm8jum3K3g2Ik5lyzE25WP42j6lYIUcU0-ojD4Ve9wcb5J0Q5z4hBkxQ0y7dPjNHOF4D2x0y-QWLnAGdRibOlAh-jkAWyKNpuEoJP8lWnLkCgM6GaHAkZ3FhUorInhxd8NkefUevWqMphDSHQjBtVIa0dAIJKfUAxbFrPbcialKl3hQBCn2r7OJ0SFM0EgvjyjA3e1ljj3tkMgdOKoKoZ-g-DKpDo6kQDWKm3GvZq18rgONtsn5oSBi5A4A8iVg2tmsv-rYXNgG2cMuyn91oll0XAz6bZ5A_zvUqVfUAxFFHHSvtV3jQpdT7DRDNS5UChJIZqrsvpDiWzZ2jQaYPLQwHAw0nuhBq1ai9U_fWR_7kxFHachixD4oFBgiWmDe3elBi2M9NlAte36WS21DOX0DE99IEfQkLyh3_JnJlCUBXLOZLAEEru4tF8116vGybB3Xk-aYJi2siOLTK3wPWMIQN8S_RT2xnm0QLPvrcr5K1eycC4M8vBJjUiGgelMe1ap26egAPMFhYA6N5uQmEaFQ5K8oBn677k0qa9GA8vbymxheXS6pNieTX0o=",
  "id": "rs_07f3cb55d3ed885b016ab4319c9fe087d0a1fc8a787108380e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.24,\"left_z\":0.055},\"note\":\"The middle bottle’s cap and upper shoulder sit just ahead of the left jaw center; the leftmost bottle appears separately at the edge of the wrist view. I’ll advance onto that shoulder and descend to its side for a neck-side grasp.\"}",
  "call_id": "call_HIhQEhSJ9tcLm66pB4CEFX90",
  "id": "fc_07f3cb55d3ed885b016ab4319d420c87d08230994e7233fc74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HIhQEhSJ9tcLm66pB4CEFX90",
  "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]: [-0.6724, 2.1456, 1.3743, -0.0265, -0.6949, -0.5766, 0.9964, -0.1329, 0.7841, 0.5262, -0.3733, -0.2661, -0.1997, 0.9979]\nstate[eef_state]: left_x=0.4832 left_y=-0.2355 left_z=0.0586 left_yaw=0.182 left_pitch=-0.0209 left_roll=0.0136 left_gripper=0.9964 right_x=0.2838 right_y=0.0125 right_z=0.1522 right_yaw=0.1753 right_pitch=-0.0355 right_roll=0.0077 right_gripper=0.9979\nstate[joint_eff]: [0.5265, -10.9744, 6.1744, 1.58, -0.1929, 0.1929, -0.0171, -0.4718, -1.7709, 7.0496, 1.9512, -0.1636, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052379ffc78f37bc3881d7a3e8679d6290f579d3c6dd223cdc30a45e6954e50d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5351e2e7177b18c8a71932134f1db50fee6ffc40a2ee98b83723326cb58b3348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d1021f230cc7f1c8d0224af2446c325a3b023133ea41c8e70eec126eab82b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 1.946 s

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

message 138 changed as sent

message 147 changed as sent

message 151 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5194, 1.5509, 0.9241, -0.1871, -0.7151, -0.6056, 0.9956, -0.1913, 0.5026, 0.2813, -0.4023, -0.2924, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3962 left_y=-0.089 left_z=0.1331 left_yaw=0.3648 left_pitch=-0.0197 left_roll=0.011 left_gripper=0.9956 right_x=0.2413 right_y=0.0088 right_z=0.1044 right_yaw=0.1487 right_pitch=-0.0231 right_roll=0.0045 right_gripper=0.9979\nstate[joint_eff]: [-0.212, -7.6376, 6.653, 1.5018, -0.3834, -0.0073, -0.1685, -0.5538, -0.0068, 6.8171, 1.8291, -0.188, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7078, 1.9224, 1.4345, -0.3141, -0.7048, -0.601, 0.9964, -0.1253, 0.8093, 0.5728, -0.4038, -0.2531, -0.2062, 0.9979]\nstate[eef_state]: left_x=0.455 left_y=-0.234 left_z=0.151 left_yaw=0.1665 left_pitch=-0.0179 left_roll=0.001 left_gripper=0.9964 right_x=0.2873 right_y=0.012 right_z=0.1601 right_yaw=0.1758 right_pitch=-0.0464 right_roll=-0.0022 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -10.4684, 8.4991, 1.2772, -0.4225, 0.1636, 0.0024, 0.212, -0.9094, 10.0171, 1.7607, 0.0464, 0.2808, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 2.1456, 1.3743, -0.0265, -0.6949, -0.5766, 0.9964, -0.1329, 0.7841, 0.5262, -0.3733, -0.2661, -0.1997, 0.9979]\nstate[eef_state]: left_x=0.4832 left_y=-0.2355 left_z=0.0586 left_yaw=0.182 left_pitch=-0.0209 left_roll=0.0136 left_gripper=0.9964 right_x=0.2838 right_y=0.0125 right_z=0.1522 right_yaw=0.1753 right_pitch=-0.0355 right_roll=0.0077 right_gripper=0.9979\nstate[joint_eff]: [0.5265, -10.9744, 6.1744, 1.58, -0.1929, 0.1929, -0.0171, -0.4718, -1.7709, 7.0496, 1.9512, -0.1636, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052379ffc78f37bc3881d7a3e8679d6290f579d3c6dd223cdc30a45e6954e50d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5351e2e7177b18c8a71932134f1db50fee6ffc40a2ee98b83723326cb58b3348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36d1021f230cc7f1c8d0224af2446c325a3b023133ea41c8e70eec126eab82b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGwetAlXdbeZajmbuMUPioK6WvybAUIo9fiw9JFX24I5vWKFFc6rhIuywN-NbxkNR5NfD1Tt7YP8etjnMGCgQt5QngPUN-m0WGQCDRrrDuWT5FysqNbEmfVaVIZwknpyAH94oE2dmTp1sKGMYqtRVOQ4VLcCV1OlWkl87Zc08EtMSHnu5DBs5d8jdHmDGQ1n-O1A6PFCYTx-DmYWi1n0J4Dj-lg9vbcWLNsw7ET-diuw96qLLn3zne1O845yd2mQ8_0lPp1N8XhjKYfvS6julzkKj3a9lr-qx91VraFUb8Xa0nEEvUym5LkKCpv0INvytxzRYNjNrqz1fKUyiYfVMwdiOj4NhGWjrwNJ2g9ZLbmHnE2bo0cF1jF3Whh2x_1ziZyNcYe2dZeN_BHv8hXk6qLb-nIZQjOrU5RpkPEALUbS8WKnxeqS785tG90k2Nx6Qfunse-GJw5Y3eeG3YXdil7Fafy7StRq2M4vYJBK1siW_ZWCkOIsI_y7dfHhFHI9GO3JaGXRNcYLK0WnT7Psgf-K5yvUjhbXoOCbAyxZkuIwOEcQCaPTf7bCBBI2NyKCbzpJDIFsrThpawn7zI53Crz5hJs76ehsrSXTfbGTciPG3oxSZKFvXdLBnp-tAkvp-INmOrLnfRQVK4bWcvLLFL8zp9-NasXHHtLhU2rccZgX63Jh7ut6aQFEfiz31KUPo87oeZr7eX_wzOKvhH_R0q8Z-c7bLJLyDtL8IyF2xbJDmmyMkzsDT1AhYZHbuCjq7g1-Zkxq2JDzNhp_GmJOJDeP5Cpk4cqgCFG7KAH56zITmT6c8uyNkyK8OMkirnzPhw1PH3cXMxcs957AU2cXaWHiu_l19ZTvB0wP_jv6fTAwGFeytV2z3QZ5Fa4HsYNjlWFEZFZTmGIW4t-3zujzLDrkVflpfT1V16TtnyankmMlwHQNT87zL-Zx8HPgYPtybCNkfhvDmJOmzYdhzVpjCKZoBrxZFoxE3qp3X7S7hoE3fNxruKeiz6yDC3eF4_vdisq-hHe3x8GMmu0RUAabnQcJdQv1PbZe06yfBavck_Vdk7J85tSJcDd_FsJBYKTYomMShWBftPDjjNyWFdvzbOlLjjiYrb4ElCMS13GmGwc8sneXTg1nhC0lAB_sbY-uRN5qlAddqlU70EpwHLPZjWx3NQCS-ApOEPWEtBX-NjYSZjAU9CXmV6gfCK87wfoHGB42mgws_iOZAU1V7shs6QZaWXXi3JerggyGsH4Q-l5ffDy4gYU4eLzgWdjNrCZY4VPf9Ck1HtF8mFij9vR0tazpCE968Mkoy4Y7Kh7y4Sq-f9MmwPhAmXmbNHonZsCJA9At-40mV-VtUMgqiVG3c69VHd2tkZBw2ZFfe12lGxras0q44luPX33whcqwrCEiz3H2c31IhbzoFppP8yM4gqJvhdcyZMO4GmlywmcaWns4KmPg-HEjZvUXaFkrATIRHgYfv3VNWnmzYYPBkY8OObGBwx25h-nQ3kp2dO0HAq7BTkopxypF5yddPJZOSWPIGe1DORzxoplvhKQH2w2DUv136bM6ohVQuNwTwhuGo-nVyJHSIJoj3rG27GyhJvKWbky8z6wcXH_ZcgL_CLxvhF8EWw_ZLoPxLfwIxjwu8107jkmWWYtN3tA9jf3uUx_t-IAnM_tHKFF2IFvZ83vTsxTuRieQWn83rYNWt2bQmu5uYptMTGBphip8GbgcfcDdnKphVCgw-PZlf6suBtmPLfP_8wfAnVd2jECcHJsDoSsSjuHNOqzlPKWphkVWxVVxIhR",
  "id": "rs_07f3cb55d3ed885b016ab431ad8e1087d0bda02efa2c473f3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The middle bottle’s shoulder fills the space between the jaws and its cap is farther ahead, so this grasp should be nearer its capped end. I’ll descend the final few centimeters before closing.\"}",
  "call_id": "call_8lRCxGu6StY2jg4Omxesnjb7",
  "id": "fc_07f3cb55d3ed885b016ab431af310487d08ab5a1eeb814e5aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8lRCxGu6StY2jg4Omxesnjb7",
  "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]: [-0.6727, 2.1834, 1.3319, 0.0925, -0.7132, -0.5762, 0.9964, -0.1329, 0.7673, 0.4923, -0.3576, -0.2661, -0.1997, 0.998]\nstate[eef_state]: left_x=0.4858 left_y=-0.2347 left_z=0.0432 left_yaw=0.1943 left_pitch=0.0142 left_roll=-0.0072 left_gripper=0.9964 right_x=0.2804 right_y=0.013 right_z=0.1444 right_yaw=0.1753 right_pitch=-0.0369 right_roll=0.0082 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -9.4564, 4.4786, 1.3407, 0.0513, 0.0171, -0.0122, -0.2803, -1.8393, 7.159, 1.9853, -0.1197, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256feb8af9beb1593d6d400781d5526fabd5202038d5401463839caa568c32ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7906647be8093f7680986b7d179868a4a6483d66fa4de64615c67060947271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3962e54adf1cbb92d8ca9799cf583e08644b0d923b48db8f15c34b944ec28a60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 4.626 s

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

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0807, 0.8513, 0.5842, -0.3206, -0.2096, -0.1707, 0.9963, -0.1909, 0.4793, 0.2615, -0.4023, -0.2928, -0.2184, 0.9979]\nstate[eef_state]: left_x=0.3027 left_y=0.016 left_z=0.1693 left_yaw=0.1702 left_pitch=-0.0116 left_roll=-0.0176 left_gripper=0.9963 right_x=0.2389 right_y=0.0094 right_z=0.1005 right_yaw=0.1494 right_pitch=-0.0197 right_roll=0.0036 right_gripper=0.9979\nstate[joint_eff]: [0.1983, -0.1299, 7.9795, 1.6777, 0.0415, 0.2906, 0.0611, -0.5265, 0.5265, 6.9128, 1.8046, -0.2076, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 2.1456, 1.3743, -0.0265, -0.6949, -0.5766, 0.9964, -0.1329, 0.7841, 0.5262, -0.3733, -0.2661, -0.1997, 0.9979]\nstate[eef_state]: left_x=0.4832 left_y=-0.2355 left_z=0.0586 left_yaw=0.182 left_pitch=-0.0209 left_roll=0.0136 left_gripper=0.9964 right_x=0.2838 right_y=0.0125 right_z=0.1522 right_yaw=0.1753 right_pitch=-0.0355 right_roll=0.0077 right_gripper=0.9979\nstate[joint_eff]: [0.5265, -10.9744, 6.1744, 1.58, -0.1929, 0.1929, -0.0171, -0.4718, -1.7709, 7.0496, 1.9512, -0.1636, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6727, 2.1834, 1.3319, 0.0925, -0.7132, -0.5762, 0.9964, -0.1329, 0.7673, 0.4923, -0.3576, -0.2661, -0.1997, 0.998]\nstate[eef_state]: left_x=0.4858 left_y=-0.2347 left_z=0.0432 left_yaw=0.1943 left_pitch=0.0142 left_roll=-0.0072 left_gripper=0.9964 right_x=0.2804 right_y=0.013 right_z=0.1444 right_yaw=0.1753 right_pitch=-0.0369 right_roll=0.0082 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -9.4564, 4.4786, 1.3407, 0.0513, 0.0171, -0.0122, -0.2803, -1.8393, 7.159, 1.9853, -0.1197, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256feb8af9beb1593d6d400781d5526fabd5202038d5401463839caa568c32ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7906647be8093f7680986b7d179868a4a6483d66fa4de64615c67060947271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3962e54adf1cbb92d8ca9799cf583e08644b0d923b48db8f15c34b944ec28a60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDGyRz1NcPa2r0TqunLp3lC0nk9PfZbQ4Tu74dYD4SSqcTR5FvuwrbAj7w_xyyLgmrqbrdqZEQNth5Orm4WpVdwwnICfUpR3mgpn5fzGnT9DAmo0icYU5MaZ5Te1Li4ZqD1YsssViiOF53YbDB8BKSPfvGtZHtoYxwPTpQL0uTiJk2xwo92HA6ud8ocA3QIuSv_3h3muDdF6aDDTvffSpjVNMSv6PFpVSQR-fSQqoMFXkjq1afJETqzpCKTY4DG2b6KuOxtPevNbRgMJqkYDqYx5BSeJtswgbzYnAgEIwaXLaMkXIQ1eK6HoRNz1kMxSLGdmux_23xH2KdzLJ3oMFAAs8GmT7ULbRouhvbwojzgLxl1SXX1hwKT8rCuaehthH-Q4n6Q0mTrYYD9XqVJlZaqYxrcVnvPv9FYve7Nrl9wyCqwsDtKkmRGbEUdNKhrDyn0AM6kH_0iOtFUDFxTDF65nNxT0viJ8gi6iFaPVQNjK4TQR8stQcHJ1xHoQKjc4VV8zkJJQGffTyCEURjjAYOuOh9mBg5IcA7djPHWsc6e45LzPftySTyu-kuhfOsSMNX_g87J194bkzQpTI3DOk5ELw0IZjZ7McWFTXdrG5cRj7Z02apg1QLIDESggr_rers3ohYAKVXnkFH2vORmadBlKh-fdVa_gM2X8lHSj6EptZNdUohkuMkhZjl0djKsz8uFvA4rvXmjcGifyK0vocjXiELE6RUsmY81Qg9434hhgqWajpL9Gbj7id3X3GEQTmjgLXAbZYQTyx6NpHGxmoPn0FyJD1U7HCz9Gnxhl6kkVXu1QbYzEb2J8mirmDoJDsS3VYeQc-TIzClHxICY4xxYy8YeejtCRnv7xLbloXG0kBIAR-XPHXQWgMPNXAxFXJFfjA8N7zpcTJqOFdlZhHzjBERh2K3tAEU66NJy4ZheQnIUdTcDWxwbaO5FY9zXX5maRHIuR3jPtA_E2-5fVB6TbmNEtA5-MbzW0eYBw61Mq1cqefz3KXJwrrTTA3UmXRp5JAKGRlS0525SxCnIwV96DCulF8wO3byo7UaYH0BqhYdY8yFOqqdmgSQB2IO2FwMzzo7Pw7BS1JlD91y4joZH54biDHbPd_SUdIV1dUkMntb5uz37MS2KucfoWr672PJ9CK3X2qUPq5y0dewWXMyB6rPEJAT2ODx3MymqdK8xPWzvRJrQv4pel_uAoPQu4XyfwTUtdIFYRB-UMd23lEqd9JA==",
  "id": "rs_07f3cb55d3ed885b016ab431b1ae3c87d08d2d371bb84c0dcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At this height, the middle bottle’s narrow cap-side section is between the fingertips. I’ll close and confirm contact from the jaw spacing.\"}",
  "call_id": "call_yMfdkKjpWtmSsx45tVjR3FZq",
  "id": "fc_07f3cb55d3ed885b016ab431b1dac887d08acf14ed305f23ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yMfdkKjpWtmSsx45tVjR3FZq",
  "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]: [-0.6724, 2.1803, 1.3476, 0.123, -0.7422, -0.5838, 0.0129, -0.1329, 0.746, 0.4568, -0.3386, -0.2661, -0.1997, 0.998]\nstate[eef_state]: left_x=0.4931 left_y=-0.2354 left_z=0.0572 left_yaw=0.2213 left_pitch=0.0605 left_roll=-0.0394 left_gripper=0.0129 right_x=0.2771 right_y=0.0134 right_z=0.1377 right_yaw=0.1753 right_pitch=-0.0322 right_roll=0.0067 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -11.7128, 5.9556, 0.8474, 0.0952, 0.0269, 1.0574, -0.3761, -1.4291, 6.8855, 1.9121, -0.1734, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68720c5ba52d0cc54ca73c7146545f90ac7073f861654b8ff424801f7c9fc475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442d9e9f8ad04af1c79fe82d8ed64f27054620c414f8ff0c0cc42bf7da12276f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d85972f9112f7080f0dadd9bf7cdb0e610394c4db9f2a068cd7dbe936e3035",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 5.282 s

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

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7078, 1.9224, 1.4345, -0.3141, -0.7048, -0.601, 0.9964, -0.1253, 0.8093, 0.5728, -0.4038, -0.2531, -0.2062, 0.9979]\nstate[eef_state]: left_x=0.455 left_y=-0.234 left_z=0.151 left_yaw=0.1665 left_pitch=-0.0179 left_roll=0.001 left_gripper=0.9964 right_x=0.2873 right_y=0.012 right_z=0.1601 right_yaw=0.1758 right_pitch=-0.0464 right_roll=-0.0022 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -10.4684, 8.4991, 1.2772, -0.4225, 0.1636, 0.0024, 0.212, -0.9094, 10.0171, 1.7607, 0.0464, 0.2808, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6727, 2.1834, 1.3319, 0.0925, -0.7132, -0.5762, 0.9964, -0.1329, 0.7673, 0.4923, -0.3576, -0.2661, -0.1997, 0.998]\nstate[eef_state]: left_x=0.4858 left_y=-0.2347 left_z=0.0432 left_yaw=0.1943 left_pitch=0.0142 left_roll=-0.0072 left_gripper=0.9964 right_x=0.2804 right_y=0.013 right_z=0.1444 right_yaw=0.1753 right_pitch=-0.0369 right_roll=0.0082 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -9.4564, 4.4786, 1.3407, 0.0513, 0.0171, -0.0122, -0.2803, -1.8393, 7.159, 1.9853, -0.1197, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 2.1803, 1.3476, 0.123, -0.7422, -0.5838, 0.0129, -0.1329, 0.746, 0.4568, -0.3386, -0.2661, -0.1997, 0.998]\nstate[eef_state]: left_x=0.4931 left_y=-0.2354 left_z=0.0572 left_yaw=0.2213 left_pitch=0.0605 left_roll=-0.0394 left_gripper=0.0129 right_x=0.2771 right_y=0.0134 right_z=0.1377 right_yaw=0.1753 right_pitch=-0.0322 right_roll=0.0067 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -11.7128, 5.9556, 0.8474, 0.0952, 0.0269, 1.0574, -0.3761, -1.4291, 6.8855, 1.9121, -0.1734, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68720c5ba52d0cc54ca73c7146545f90ac7073f861654b8ff424801f7c9fc475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442d9e9f8ad04af1c79fe82d8ed64f27054620c414f8ff0c0cc42bf7da12276f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d85972f9112f7080f0dadd9bf7cdb0e610394c4db9f2a068cd7dbe936e3035",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDG47O7nZ1Firixt0WE-gTSny_Q9QIfl_pSDNeBGyRE2h-NsWujPAjt4eLca_gdC4dqh_Iivx22a57emN5qrKMkOKtTNvSvS06E4m6KI3ymfbrhIRLbX8BsU51eEET73tSeAcXmQTok9VGZ9iCj_M94yMR34xkps3LUnGEakWPHZModnfxuQRn4RhqTT1sC-b-hkZMzvRjoM5B614_S9oOpiSWiwVQrQw7AxzMakoPFB7gKBArEZWdaW1PY0D_De9_X5-cjCvWLo4bizEGTpf3R3_ETChf7YeeEVemMO6Tfs3Ut4K-DEmGYEwII7GhvVI6Xoqp2St4uHrpm1Q7dPHYzXR9QbyGqdpuXo3BsEOLSKI-OJ554P6Yo5AeknYkeaMXGSDXoqz7RFUk9GyxdxUCmZXjaLhBw1j_lQ79F5tARqBzHRKxVuh0iwWlvpaZKeQx08i6d6adtBo-aFZAw9l29MtvKJHuhH-kbpDeWiAWTA8ANHo4JEF1krAI-MIHstjE_4LGPmYytVniLtMnx9brDgXdryevncbpTwZXXW4yFqHR6Nz4dx4veEwCBJWe_tXkGmlb0yy3k91WL2DU3JidLnifD29xN5LzzlvzR1e-2HYLZvDy3awoyktbRaHH-ULYitAkvmUxPpZeb5WwYBmUp5us0WfVxbpOfBN-Ld4jk_8S2Vu1k1jQptKd7lXQyugRyknYxRdMaAU-IDB_pj9-KzhfDFFSXXxOim2odr5hFbUPqFZVipZkHdosZe2vOp2qZ7F0ka48R3pghXM_HeGRgLkhGZZF-FguAiCnALQQ9Z-ZRAQzlhpwcpbR5pEJF-VpPa4XRRnQpusQCETlZTK1eKJLo0S2n_dH3izS_0SkvHVKZuQmu64C6pA_apwC0Ixb_su69hQh8XyF4h97SlJCRpgqWpHZtuoJyQNl9Cq5jfzvXjf1KfuG70p8_6qbMcPdYglJWxPLmC6fqOadnps6yj-iyhtlIldVOSn4jPz9VI2cfLz0F-ORdIQ1J8yYnG5tuOtZtjZciA1nlM_vK5h8oKGeBhGlvSRdle0YzKY_0Y-dcYfhZaaHMs8vPzGPEUsydTim0DNIRRw_FX2TnCzonhTh9SyjFPW5si5G8WNSKn_wbdfRdulz0hzjBHrJIzq3tJKT8s7_USnMysAblyShghdibDDaW3E29CmbJjZrc8ltvTXQMxrhPg170Dkrf-CYe1AO3Sf_tDaLEcFPOhf9LfnZFshm54rEzEsy_F1BXUivpHsTMYWHDXsGmf8hVmdd6UntKiejuXwlyA65Z3LKyA6qgJWXeHqr7fXiZ1bxIwbFjNAuo2he_0brZgDxb0y3mPAal0OjqLskuhHWxJ4ssF0XZaclRbF5yDqRSBymlNuDTkDgI4eDfoKd3e3Cy6rjDjkBM8zw0_1F_xaBOdacimnrebrOUwPs9dn1PuinDJBmRurA9BIG93b3Rrk-qfwzVxwGK4fDbGnzpcC14juE0erpbcq2bdqUsPt6SLXRi_IcKnIp39B8WXVZqffmNl7XlpOPbmZ9LG3-IrCyjx7dO2w1vshbgV1rS17irDTmn12OTlP6Oqpnac6AI5MbdKYL0pI4D0qdFoXe_ORv9gI6D187pNQzsaKPqf-1aWZmur2bcmgu1lj2W5WGnrt5QHsY3aEGNHNMIslVxilnLlPEhSeVL16aqZ7L_vm1x5fFYvcbg1V9-rfWN0ut2gQzw5VAMP6R3aGHiLddwsNtvelpf0_x5xvkFjDCAdm-747bve9vh8TgvNzmeBpYYsP9Drv6Kp7WazIbWPhwIcMHgWKv6tvd92NUbZk44iiEwhPZzdZ4-5jN5hynWP97MQG2-f34hs70N11yFNl9BljM51OxBcoZAR59-5yxidUnxVZbfKLK4__XyRC5J9WRLhqXaM-7PJCRf_D3qpSRxVhhk491RW6cFIjpNXtE3Zl_bP6GixhuvGHcZBpiMupTyfbse9yZoXduPoThaScl54NLd8YKH470sY1OSXP6AgtWrkM3mm-7NEd6i-MbiHzqJ78pmZnQpB9aigh9lfd_IyEHsxypaCkWJN_JYYA77Nml6i_SrL-ZqQT1EWqB9BRhLWWkghc5CTdZeR78FccfmgAD0fnPRintIMgXSoqUM-4cO6KuhNR_GKp_2V3PPVFwmDbUpWY0CYIgOtIIRSnmCocYxRIC9aggCjOeLKs1-3a5ZH01VwuJwsTzsiOpzsDr-83ONH9cq9WnvY84GqGUId8OS-aghNXeVeM0jmrf4fp4GZ2gIMTrh-tGgga3xa0Hfp5ZeZe72rqpfBxXiLpVnIzat8NKfhQM4ALK5KiFuW1_XM4G2TbIGWOI8WQ9moIMc8S1xAi_bTF5-enzwUuHyv8Ir2NtDFEdZHyLS7pbVY2vmQV_uezUkUb2faftIW0HjkMOmqL81XU62yZyeXq9JlyLyWkrKFOrTw2wgSfpN4Q0mKpNDaNuq5PaSp8qfNv_QMJU2edUy3CA7aQ7NaQ03cmlGeD2JltQTtT7htF1_UK9J2WbFXMmERogbLr6Pf16e0odTnhMEoYNtVlNJBIM3y0_pDJYb-CcJkFUdMKIFEbedhr7t2Idwrv2ClpwilE_XaFqKgF0S6yYyPA94GqU5sRzQ96oSfhhuuIazFJD5KteEU5ysCWm3FtZ5lS-mm-3BHJE7jSyym",
  "id": "rs_07f3cb55d3ed885b016ab431b4aed887d0ad74610990ca16a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0},\"note\":\"The middle-bottle close settled almost fully shut, which means the jaws missed it. All three bottles are still lying down; I’ll withdraw and open both grippers rather than risk dragging a bottle off the table.\"}",
  "call_id": "call_QzNZWKRgXCqGRHnrdBDrYAAs",
  "id": "fc_07f3cb55d3ed885b016ab431b6f40c87d09898c13a82fb16ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QzNZWKRgXCqGRHnrdBDrYAAs",
  "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]: [-0.0643, 0.815, 0.5926, -0.3046, -0.1246, -0.1028, 0.9974, -0.0448, 0.7914, 0.5674, -0.4023, -0.0685, -0.0757, 0.998]\nstate[eef_state]: left_x=0.3044 left_y=0.006 left_z=0.1854 left_yaw=0.079 left_pitch=0.0391 left_roll=-0.0156 left_gripper=0.9974 right_x=0.2868 right_y=0.0028 right_z=0.1597 right_yaw=0.0312 right_pitch=-0.0541 right_roll=-0.006 right_gripper=0.998\nstate[joint_eff]: [0.1573, -1.4564, 7.4051, 1.8584, 0.0904, 0.2759, -0.0464, 0.4718, -0.5538, 10.0444, 1.9072, 0.1441, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04613ab082dd5e1b5fa67c19b1d6e582a1ff7a26869415b746549cc87f596a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0921f4b34dc2b81b9cbf0c2482f02055518424a558f7aa2200f0a2fde16fdf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de185cf5b622b6f78100c802efee70cce6ae5d58914fa18ecec4bad8b69e1f17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]