adhoc - adhoc_fd5acbb9.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: 226.7 s
total steps: 332

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 the table; the rightmost has its cap toward the far edge. I’m bringing the right gripper above that cap and neck to set up a lift while the bottle’s base stays on the table.

move_to

right_x0.4200right_y0.2000right_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6079, -0.3767, -0.0227, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0265, -0.0341, 0.9981] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [-0.4855, -1.4838, 9.7573, 1.7802, -0.0513, 0.1538, -0.149, -1.0462, -0.9778, 10.2632, 1.9072, -0.0171, 0.2271, -0.2076] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.2,"right_z":0.12},"note":"All three bottles are lying on the table; the rightmost has its cap toward the far edge. I’m bringing the right gripper above that cap and neck to set up a lift while the bottle’s base stays on the table."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe right bottle’s cap is visible ahead and to the right of the open jaws in the wrist view. I’m shifting the gripper right and slightly forward and down so its jaws straddle the narrow neck rather than the bottle’s wider body.

move_to

right_x0.4350right_y0.1500right_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.614, -0.3836, -0.0231, -0.0292, 0.9984, 0.6144, 1.6844, 0.9459, 0.0029, 0.4599, 0.3054, 0.998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4034 right_y=0.193 right_z=0.1006 right_yaw=0.0416 right_pitch=-0.0738 right_roll=-0.0489 right_gripper=0.998 state[joint_eff]: [-0.3214, -1.5111, 6.694, 1.8095, -0.0366, -0.0708, -0.0366, -0.1026, -7.747, 8.8137, 2.0391, 0.3492, 0.2515, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.15,"right_z":0.08},"note":"The right bottle’s cap is visible ahead and to the right of the open jaws in the wrist view. I’m shifting the gripper right and slightly forward and down so its jaws straddle the narrow neck rather than the bottle’s wider body."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteThe neck is now centered between the open jaws, but it is still ahead of the actual fingertip contact point. I’m advancing along the bottle’s length before closing, while keeping the gripper just above the tabletop.

move_to

right_x0.4700right_y0.1400right_z0.0600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3832, -0.0227, -0.0292, 0.9984, 0.4595, 1.7287, 0.8253, 0.1993, 0.3614, 0.2256, 0.998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4203 right_y=0.1422 right_z=0.0653 right_yaw=0.0095 right_pitch=-0.0788 right_roll=-0.0404 right_gripper=0.998 state[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.8095, -0.0269, 0.0073, -0.0171, -0.1026, -7.1043, 6.1197, 2.1465, 0.2027, 0.0611, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.14,"right_z":0.06},"note":"The neck is now centered between the open jaws, but it is still ahead of the actual fingertip contact point. I’m advancing along the bottle’s length before closing, while keeping the gripper just above the tabletop."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent noteThe low forward command barely advanced—the arm appears to be at an awkward near-table reach, and the cap remains ahead of the fingertips. I’m raising the gripper first so it can extend over the neck, then I’ll descend from above.

move_to

right_x0.4700right_y0.1400right_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0231, -0.0292, 0.9983, 0.4435, 1.763, 0.7853, 0.318, 0.321, 0.2016, 0.998] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4244 right_y=0.1439 right_z=0.056 right_yaw=0.0406 right_pitch=-0.0491 right_roll=-0.0182 right_gripper=0.998 state[joint_eff]: [-0.3761, -1.4154, 6.5846, 1.8144, -0.0366, -0.0415, -0.0171, -0.5675, -7.3231, 6.1744, 2.1954, 0.3199, 0.1148, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.14,"right_z":0.14},"note":"The low forward command barely advanced—the arm appears to be at an awkward near-table reach, and the cap remains ahead of the fingertips. I’m raising the gripper first so it can extend over the neck, then I’ll descend from above."})

tool

executing move_to over 6 steps (0.6s)

step 31

assistant

agent noteThe right arm did not rise or extend as commanded, likely because its open fingers are contacting the bottle or the pose is jammed. I’m backing it away and upward to free the gripper before trying a different approach.

move_to

right_x0.3800right_y0.1400right_z0.1700

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0227, -0.0292, 0.9983, 0.4442, 1.763, 0.7853, 0.3382, 0.3202, 0.2012, 0.998] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4269 right_y=0.1456 right_z=0.0598 right_yaw=0.0425 right_pitch=-0.0307 right_roll=-0.0101 right_gripper=0.998 state[joint_eff]: [-0.1709, -1.5385, 6.7624, 1.7851, -0.0464, -0.0659, -0.0122, -0.6222, -7.3368, 5.9692, 2.0488, 0.2955, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.14,"right_z":0.17},"note":"The right arm did not rise or extend as commanded, likely because its open fingers are contacting the bottle or the pose is jammed. I’m backing it away and upward to free the gripper before trying a different approach."})

tool

executing move_to over 8 steps (0.8s)

step 39

assistant

agent noteThe gripper has backed clear, and the bottle has not shifted. I’m flying over the bottle at a safer height to reach its neck from above, avoiding the low sideways motion that stalled.

move_to

right_x0.4700right_y0.1400right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.4976, 1.3983, 0.8204, -0.0612, 0.3405, 0.2123, 0.998] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3803 right_y=0.1435 right_z=0.1475 right_yaw=0.0734 right_pitch=-0.0256 right_roll=-0.0119 right_gripper=0.998 state[joint_eff]: [-0.0479, -1.4974, 6.5573, 1.8681, -0.0366, -0.0464, -0.0122, 0.1299, -7.2684, 9.7846, 1.8681, 0.3541, 0.1978, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.14,"right_z":0.18},"note":"The gripper has backed clear, and the bottle has not shifted. I’m flying over the bottle at a safer height to reach its neck from above, avoiding the low sideways motion that stalled."})

tool

executing move_to over 7 steps (0.7s)

step 46

assistant

agent noteFrom above, the open jaws are now positioned at the far end of the right bottle, near its cap. I’m lowering straight down at that same horizontal point to put the fingers alongside the neck.

move_to

right_x0.4550right_y0.1400right_z0.0420

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.384, -0.0231, -0.0292, 0.9983, 0.3782, 1.6341, 1.1194, -0.1284, 0.2375, 0.1299, 0.998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4537 right_y=0.1394 right_z=0.1623 right_yaw=0.0833 right_pitch=-0.0505 right_roll=-0.0232 right_gripper=0.998 state[joint_eff]: [-0.3487, -1.0462, 6.7761, 1.8046, -0.0317, -0.0317, -0.0122, -0.9504, -7.2, 9.3333, 1.9121, 0.0757, 0.0806, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.14,"right_z":0.042},"note":"From above, the open jaws are now positioned at the far end of the right bottle, near its cap. I’m lowering straight down at that same horizontal point to put the fingers alongside the neck."})

tool

executing move_to over 8 steps (0.8s)

step 54

assistant

agent noteThe right bottle’s neck and shoulder now lie centered between the fingers, with the cap just beyond them. I’m closing the jaws to grip the upper part of the bottle so I can lift that end.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.3729, 1.8648, 0.8322, 0.3809, 0.2302, 0.1261, 0.998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4475 right_y=0.1356 right_z=0.0384 right_yaw=0.0859 right_pitch=-0.0602 right_roll=-0.0246 right_gripper=0.998 state[joint_eff]: [-0.294, -1.6205, 6.4342, 1.7802, -0.0513, -0.0513, -0.0122, -0.0205, -8.1983, 5.2444, 2.044, 0.0562, 0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The right bottle’s neck and shoulder now lie centered between the fingers, with the cap just beyond them. I’m closing the jaws to grip the upper part of the bottle so I can lift that end."})

tool

executing move_to over 10 steps (1.0s)

step 64

assistant

agent noteThe gripper closed almost completely, so that first attempt missed the bottle. The bottle remains in place; I’m reopening and moving about two centimeters farther toward its cap before trying again at bottle height.

move_to

right_gripper1.0000right_x0.4800right_y0.1400right_z0.0330

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3717, 1.8763, 0.7879, 0.5697, 0.2256, 0.1219, 0.0113] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4573 right_y=0.1397 right_z=0.0547 right_yaw=0.0908 right_pitch=0.067 right_roll=0.0116 right_gripper=0.0113 state[joint_eff]: [-0.2803, -1.306, 6.8855, 1.7998, -0.0366, -0.0659, -0.0122, -0.294, -8.6769, 4.547, 1.2283, 0.0317, 0.0855, 0.9695] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.48,"right_y":0.14,"right_z":0.033},"note":"The gripper closed almost completely, so that first attempt missed the bottle. The bottle remains in place; I’m reopening and moving about two centimeters farther toward its cap before trying again at bottle height."})

tool

executing move_to over 10 steps (1.0s)

step 74

assistant

agent noteThe cap is now near the jaws but still sits slightly to their right in the wrist view. I’m shifting right by a couple of centimeters and lowering to the neck’s midpoint before the second close.

move_to

right_y0.1200right_z0.0170right_x0.4750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0296, 0.9983, 0.3603, 1.9526, 0.894, 0.4774, 0.197, 0.099, 0.9951] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4734 right_y=0.1452 right_z=0.0394 right_yaw=0.1162 right_pitch=0.003 right_roll=-0.0099 right_gripper=0.9951 state[joint_eff]: [-0.2256, -1.4427, 6.694, 1.7802, -0.0269, -0.0611, -0.0122, -1.1692, -6.6256, 7.2137, 1.7363, 0.0757, 0.1099, -0.2808] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.12,"right_z":0.017,"right_x":0.475},"note":"The cap is now near the jaws but still sits slightly to their right in the wrist view. I’m shifting right by a couple of centimeters and lowering to the neck’s midpoint before the second close."})

tool

executing move_to over 3 steps (0.3s)

step 77

assistant

agent noteThe right arm’s descent stopped around four centimeters above the table, indicating the fingers are contacting the bottle region; the neck now lies between them. I’m closing for the second grasp and will judge it by the settled jaw opening.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3096, 1.9633, 0.8631, 0.5659, 0.149, 0.0711, 0.9967] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4797 right_y=0.1297 right_z=0.0403 right_yaw=0.1205 right_pitch=0.0437 right_roll=0.0013 right_gripper=0.9967 state[joint_eff]: [-0.3897, -1.4974, 6.5436, 1.7802, -0.0513, -0.0464, -0.0122, -0.8957, -5.9145, 4.2598, 1.4823, -0.0757, 0.0317, 0.1538] 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":0},"note":"The right arm’s descent stopped around four centimeters above the table, indicating the fingers are contacting the bottle region; the neck now lies between them. I’m closing for the second grasp and will judge it by the settled jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 87

assistant

agent noteThe second close was also empty, so I won’t repeat the same grasp. I’m lifting and pulling back to expose the right bottle again and re-measure its position relative to the actual fingertips.

move_to

right_gripper1.0000right_x0.4300right_y0.0850right_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.2882, 1.9686, 0.8574, 0.6529, 0.1184, 0.0513, 0.0114] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4891 right_y=0.127 right_z=0.054 right_yaw=0.1346 right_pitch=0.1163 right_roll=0.0111 right_gripper=0.0114 state[joint_eff]: [-0.253, -1.6342, 6.5299, 1.8388, -0.0122, -0.0415, -0.0122, -0.4034, -6.5983, 4.6017, 1.1746, 0.1734, 0.1636, 0.989] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.43,"right_y":0.085,"right_z":0.14},"note":"The second close was also empty, so I won’t repeat the same grasp. I’m lifting and pulling back to expose the right bottle again and re-measure its position relative to the actual fingertips."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteWith the arm backed away, the bottle’s cap is visible just left of the fingertip column. I’m approaching from slightly farther left and aiming for the bottle’s shoulder instead of overreaching past its cap.

move_to

right_x0.4450right_y0.1150right_z0.0650

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0296, 0.9983, 0.2138, 1.5349, 0.8444, 0.1188, 0.0586, 0.0113, 0.9946] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4363 right_y=0.0878 right_z=0.1329 right_yaw=0.1332 right_pitch=0.001 right_roll=-0.0078 right_gripper=0.9946 state[joint_eff]: [-0.1162, -1.388, 6.5436, 1.8339, -0.0513, -0.0415, -0.0122, -0.5675, -8.253, 6.2017, 1.8584, -0.0024, 0.0806, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.115,"right_z":0.065},"note":"With the arm backed away, the bottle’s cap is visible just left of the fingertip column. I’m approaching from slightly farther left and aiming for the bottle’s shoulder instead of overreaching past its cap."})

tool

executing move_to over 5 steps (0.5s)

step 102

assistant

agent noteThe right bottle is now centered on the wrist camera’s jaw column, with its shoulder extending down toward the fingertips. I’m descending vertically to bring the grasp point below the bottle’s top surface before closing.

move_to

right_x0.4300right_y0.1100right_z-0.0050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0235, -0.0292, 0.9983, 0.2825, 1.7386, 0.7666, 0.3119, 0.0963, 0.0406, 0.9965] state[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1826 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4322 right_y=0.1115 right_z=0.0531 right_yaw=0.1538 right_pitch=-0.085 right_roll=-0.0147 right_gripper=0.9965 state[joint_eff]: [-0.4034, -1.5658, 6.6803, 1.8046, -0.0317, -0.0366, -0.0122, 0.7453, -7.5966, 5.5316, 2.1123, 0.0757, 0.1587, 0.188] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.11,"right_z":-0.005},"note":"The right bottle is now centered on the wrist camera’s jaw column, with its shoulder extending down toward the fingertips. I’m descending vertically to bring the grasp point below the bottle’s top surface before closing."})

tool

executing move_to over 4 steps (0.4s)

step 106

assistant

agent noteThe jaws have descended to roughly the bottle’s mid-height, and the right bottle’s body is now centered between them. I’m closing here, at the shoulder rather than the distant cap.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.2813, 1.9064, 0.6559, 0.7399, 0.0906, 0.0471, 0.9968] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4414 right_y=0.1146 right_z=0.0276 right_yaw=0.1541 right_pitch=0.0629 right_roll=0.0129 right_gripper=0.9968 state[joint_eff]: [-0.335, -1.4154, 6.7624, 1.8095, -0.0415, -0.0611, -0.0122, -0.4171, -4.1915, 2.8923, 0.7937, 0.0024, -0.0757, 0.022] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The jaws have descended to roughly the bottle’s mid-height, and the right bottle’s body is now centered between them. I’m closing here, at the shoulder rather than the distant cap."})

tool

executing move_to over 10 steps (1.0s)

step 116

assistant

agent noteThe jaw reading is still effectively fully closed, so the body slipped out during closing rather than being held. I’m reopening and lifting clear; I’ll switch to the less obstructed middle bottle instead of repeatedly pushing this one.

move_to

right_gripper1.0000right_x0.4300right_y0.1200right_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2821, 1.8633, 0.7086, 0.6998, 0.0769, 0.0357, 0.0118] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4555 right_y=0.1216 right_z=0.0569 right_yaw=0.1721 right_pitch=0.1177 right_roll=0.0157 right_gripper=0.0118 state[joint_eff]: [-0.3624, -1.6342, 6.653, 1.79, -0.0317, -0.0659, -0.0073, -0.1026, -7.3915, 4.6291, 0.8913, 0.2418, 0.0659, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.43,"right_y":0.12,"right_z":0.1},"note":"The jaw reading is still effectively fully closed, so the body slipped out during closing rather than being held. I’m reopening and lifting clear; I’ll switch to the less obstructed middle bottle instead of repeatedly pushing this one."})

tool

executing move_to over 10 steps (1.0s)

step 126

assistant

agent noteThe right bottle is still lying down, and the middle bottle is unobstructed. I’m parking the right arm and moving the left arm above the middle bottle’s cap so I can approach it without crowding the right-hand gripper.

move_to

right_x0.2900right_y0.0000right_z0.1800left_x0.4200left_y-0.3000left_z0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2955, 1.6459, 0.7696, 0.2764, 0.078, 0.033, 0.9946] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4297 right_y=0.1201 right_z=0.0866 right_yaw=0.1867 right_pitch=-0.0263 right_roll=-0.003 right_gripper=0.9946 state[joint_eff]: [-0.3761, -1.6205, 6.7077, 1.8095, -0.0171, -0.0611, -0.0122, 0.1983, -9.5248, 6.4068, 1.7705, 0.1197, 0.0757, -0.1001] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_x":0.29,"right_y":0,"right_z":0.18,"left_x":0.42,"left_y":-0.3,"left_z":0.12},"note":"The right bottle is still lying down, and the middle bottle is unobstructed. I’m parking the right arm and moving the left arm above the middle bottle’s cap so I can approach it without crowding the right-hand gripper."})

tool

executing move_to over 27 steps (2.7s)

step 153

assistant

agent noteThe middle bottle’s cap is just left of the left gripper’s jaw column, and the parked right arm is clear. I’m nudging the left gripper toward that cap and lowering to the bottle’s shoulder.

move_to

left_x0.4450left_y-0.2650left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8402, 1.9404, 1.2915, -0.1387, -0.6781, -0.5606, 0.9983, -0.2138, 0.8288, 0.5835, -0.3889, -0.3199, -0.2386, 0.9964] state[eef_state]: left_x=0.4145 left_y=-0.2911 left_z=0.1109 left_yaw=-0.0042 left_pitch=-0.0232 left_roll=0.0133 left_gripper=0.9983 right_x=0.2915 right_y=-0.0028 right_z=0.1646 right_yaw=0.1571 right_pitch=-0.026 right_roll=0.0044 right_gripper=0.9964 state[joint_eff]: [-0.5538, -10.2222, 8.5538, 1.3797, -0.4518, -0.0659, -0.0122, -0.3077, -1.8667, 10.3863, 1.6532, -0.2613, -0.0269, 0.1734] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.265,"left_z":0.045},"note":"The middle bottle’s cap is just left of the left gripper’s jaw column, and the parked right arm is clear. I’m nudging the left gripper toward that cap and lowering to the bottle’s shoulder."})

tool

executing move_to over 5 steps (0.5s)

step 158

assistant

agent noteThe middle bottle runs diagonally across the wrist view; its wider shoulder is to the right of the current fingertip line. I’m moving the gripper rightward along the table and slightly forward, aiming the jaws at that shoulder while lowering to its mid-height.

move_to

left_x0.4550left_y-0.3100left_z0.0120

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.749, 2.0537, 1.1706, 0.1413, -0.6285, -0.5072, 0.9983, -0.223, 0.8177, 0.5571, -0.3931, -0.3374, -0.2558, 0.9952] state[eef_state]: left_x=0.4405 left_y=-0.2628 left_z=0.0508 left_yaw=0.0216 left_pitch=-0.0166 left_roll=0.0011 left_gripper=0.9983 right_x=0.2865 right_y=-0.0013 right_z=0.1556 right_yaw=0.1718 right_pitch=-0.0399 right_roll=0.0073 right_gripper=0.9952 state[joint_eff]: [0.6085, -9.5385, 4.8752, 1.5409, -0.105, 0.1197, -0.0073, 0.1983, -1.9214, 7.159, 2.0049, -0.0269, 0.1148, -0.1392] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.455,"left_y":-0.31,"left_z":0.012},"note":"The middle bottle runs diagonally across the wrist view; its wider shoulder is to the right of the current fingertip line. I’m moving the gripper rightward along the table and slightly forward, aiming the jaws at that shoulder while lowering to its mid-height."})

tool

executing move_to over 5 steps (0.5s)

step 163

assistant

agent noteThe bottle’s shoulder is centered on the fingertip column, though the downward motion stopped slightly above the requested height, suggesting contact. I’m closing once at this new alignment and will check whether the jaws retain a measurable bottle width.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7975, 2.2204, 1.3403, 0.218, -0.701, -0.5556, 0.9983, -0.2249, 0.7971, 0.519, -0.3733, -0.3431, -0.2577, 0.9951] state[eef_state]: left_x=0.464 left_y=-0.3071 left_z=0.0457 left_yaw=0.0551 left_pitch=0.0716 left_roll=-0.0662 left_gripper=0.9983 right_x=0.2828 right_y=-0.0 right_z=0.1481 right_yaw=0.1756 right_pitch=-0.0364 right_roll=0.008 right_gripper=0.9951 state[joint_eff]: [-0.6769, -8.5675, 5.6274, 0.8767, 0.0708, 0.0708, -0.0073, -0.5675, -1.8803, 6.9675, 1.9512, -0.232, 0.0073, -0.022] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The bottle’s shoulder is centered on the fingertip column, though the downward motion stopped slightly above the requested height, suggesting contact. I’m closing once at this new alignment and will check whether the jaws retain a measurable bottle width."})

tool

executing move_to over 10 steps (1.0s)

step 173

assistant

agent noteThat close was empty as well: the visible bottle was still ahead of the actual fingertip contact point, despite appearing under the jaws in the wrist image. I’m withdrawing toward the bottle’s nearer, wider base, which is more safely within reach, to try an accessible grasp there.

move_to

left_gripper1.0000left_x0.3450left_y-0.2900left_z0.0650

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7979, 2.2288, 1.441, 0.1047, -0.7349, -0.5774, 0.019, -0.2249, 0.7784, 0.4843, -0.3504, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.4734 left_y=-0.3106 left_z=0.0628 left_yaw=0.0907 left_pitch=0.0737 left_roll=-0.0557 left_gripper=0.019 right_x=0.2802 right_y=0.0009 right_z=0.142 right_yaw=0.1788 right_pitch=-0.0295 right_roll=0.0044 right_gripper=0.9951 state[joint_eff]: [0.0615, -12.4103, 5.5043, 0.7546, 0.1294, 0.0757, 0.8132, -0.7453, -1.7709, 6.8444, 1.8926, -0.2271, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.345,"left_y":-0.29,"left_z":0.065},"note":"That close was empty as well: the visible bottle was still ahead of the actual fingertip contact point, despite appearing under the jaws in the wrist image. I’m withdrawing toward the bottle’s nearer, wider base, which is more safely within reach, to try an accessible grasp there."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteThe middle bottle’s broad lower body is now clearly visible ahead of the open left jaws, offset slightly to their right. I’m shifting right and descending at its near end, where the gripper can reach below the bottle’s midline.

move_to

left_x0.3400left_y-0.3250left_z-0.0150

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.997, 1.9823, 1.1088, -0.0746, -0.8253, -0.7933, 0.9943, -0.2249, 0.7639, 0.4568, -0.3382, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.3507 left_y=-0.2969 left_z=0.0505 left_yaw=0.0634 left_pitch=-0.0222 left_roll=0.0151 left_gripper=0.9943 right_x=0.2773 right_y=0.0016 right_z=0.1358 right_yaw=0.1788 right_pitch=-0.0302 right_roll=0.0047 right_gripper=0.9951 state[joint_eff]: [-0.253, -12.7111, 5.9282, 1.1893, -0.6716, -0.0317, -0.0415, -0.8137, -1.3744, 6.8308, 1.9121, -0.2418, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.325,"left_z":-0.015},"note":"The middle bottle’s broad lower body is now clearly visible ahead of the open left jaws, offset slightly to their right. I’m shifting right and descending at its near end, where the gripper can reach below the bottle’s midline."})

tool

executing move_to over 5 steps (0.5s)

step 188

assistant

agent noteThe left gripper is at table level with the middle bottle’s broad body centered between its jaws. I’m closing around this nearer section and will immediately check for a nonzero jaw opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.055, 2.1677, 1.1206, 0.0895, -0.889, -0.8593, 0.9955, -0.2249, 0.7506, 0.4274, -0.3241, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.343 left_y=-0.3196 left_z=-0.0 left_yaw=0.0775 left_pitch=0.0201 left_roll=-0.0085 left_gripper=0.9955 right_x=0.2744 right_y=0.0023 right_z=0.1289 right_yaw=0.1789 right_pitch=-0.0319 right_roll=0.0055 right_gripper=0.9951 state[joint_eff]: [-0.6085, -8.3214, 5.7915, 0.6764, -0.0171, 0.1343, 0.1197, -0.8, -1.6068, 6.9402, 1.8535, -0.2418, -0.0464, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left gripper is at table level with the middle bottle’s broad body centered between its jaws. I’m closing around this nearer section and will immediately check for a nonzero jaw opening."})

tool

executing move_to over 10 steps (1.0s)

step 198

assistant

agent noteThe left jaws stopped at about a 4.7-centimeter opening, matching the bottle’s body, so this is a real grasp. I’m lifting just this middle bottle to confirm that it follows the gripper before attempting to stand it.

move_to

left_z0.0950left_x0.3450left_y-0.3200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0542, 2.1765, 1.1339, 0.0898, -0.907, -0.8688, 0.4926, -0.2249, 0.7364, 0.3954, -0.3058, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.346 left_y=-0.3202 left_z=0.002 left_yaw=0.0937 left_pitch=0.0355 left_roll=-0.0152 left_gripper=0.4926 right_x=0.2715 right_y=0.0029 right_z=0.1217 right_yaw=0.1788 right_pitch=-0.0316 right_roll=0.0053 right_gripper=0.9951 state[joint_eff]: [0.1299, -11.7812, 5.3675, 0.7839, -0.1099, -0.022, 0.8132, -0.8, -1.4838, 7.0222, 1.8974, -0.2173, -0.0171, -0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095,"left_x":0.345,"left_y":-0.32},"note":"The left jaws stopped at about a 4.7-centimeter opening, matching the bottle’s body, so this is a real grasp. I’m lifting just this middle bottle to confirm that it follows the gripper before attempting to stand it."})

tool

executing move_to over 7 steps (0.7s)

step 205

assistant

agent noteThe bottle is gripped, but the arm rose only a few centimeters because the far end remains braced on the tabletop. I’m lifting higher while drawing the grasped end slightly back to free it rather than dragging the bottle forward.

move_to

left_x0.2950left_y-0.3200left_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0523, 2.0548, 1.2282, -0.3, -0.8085, -0.8917, 0.4923, -0.2249, 0.7185, 0.3672, -0.2893, -0.3454, -0.2607, 0.9951] state[eef_state]: left_x=0.3299 left_y=-0.3131 left_z=0.0328 left_yaw=0.0626 left_pitch=-0.1149 left_roll=0.0871 left_gripper=0.4923 right_x=0.2691 right_y=0.0035 right_z=0.1167 right_yaw=0.179 right_pitch=-0.026 right_roll=0.0026 right_gripper=0.9951 state[joint_eff]: [-0.1709, -16.5402, 10.1812, 1.6337, -1.3846, -0.022, 0.3297, -0.8, -1.1966, 6.8034, 1.9121, -0.2222, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":-0.32,"left_z":0.18},"note":"The bottle is gripped, but the arm rose only a few centimeters because the far end remains braced on the tabletop. I’m lifting higher while drawing the grasped end slightly back to free it rather than dragging the bottle forward."})

tool

executing move_to over 10 steps (1.0s)

step 215

assistant

agent noteThe far end of the middle bottle remains on the table while I hold its base, so lifting this end would make it cap-down rather than upright. I’m drawing the bottle toward the robot and lowering it to put its cap within an easier grasping range.

move_to

left_x0.2350left_y-0.3200left_z0.0220

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1572, 1.8694, 1.354, -0.6811, -0.8013, -0.9897, 0.4944, -0.2249, 0.7055, 0.3428, -0.2829, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.2846 left_y=-0.3238 left_z=0.1163 left_yaw=0.0152 left_pitch=-0.1452 left_roll=0.0722 left_gripper=0.4944 right_x=0.2659 right_y=0.0042 right_z=0.1103 right_yaw=0.1788 right_pitch=-0.0305 right_roll=0.0049 right_gripper=0.9951 state[joint_eff]: [-0.5402, -15.2547, 10.1265, 1.326, -1.5702, -0.0269, 0.8327, -0.5538, -1.1282, 6.9265, 1.8584, -0.2662, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.235,"left_y":-0.32,"left_z":0.022},"note":"The far end of the middle bottle remains on the table while I hold its base, so lifting this end would make it cap-down rather than upright. I’m drawing the bottle toward the robot and lowering it to put its cap within an easier grasping range."})

tool

executing move_to over 7 steps (0.7s)

step 222

assistant

agent noteThe middle bottle has slid closer, with its cap now well inside the reachable area. I’m releasing the base and lifting the gripper clear so I can regrasp the cap—the correct end to lift for an upright placement.

move_to

left_gripper1.0000left_x0.2300left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3056, 1.9717, 1.0077, -0.2958, -0.9001, -1.1347, 0.497, -0.2249, 0.6895, 0.3141, -0.2676, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.2332 left_y=-0.3169 left_z=0.0169 left_yaw=-0.0125 left_pitch=-0.0728 left_roll=0.049 left_gripper=0.497 right_x=0.2632 right_y=0.0048 right_z=0.1044 right_yaw=0.1788 right_pitch=-0.0281 right_roll=0.0038 right_gripper=0.9951 state[joint_eff]: [-0.7043, -8.8137, 4.6017, 0.779, -0.8864, -0.1294, 0.5592, -0.6222, -1.0735, 6.8718, 1.8291, -0.2613, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.23,"left_z":0.15},"note":"The middle bottle has slid closer, with its cap now well inside the reachable area. I’m releasing the base and lifting the gripper clear so I can regrasp the cap—the correct end to lift for an upright placement."})

tool

executing move_to over 9 steps (0.9s)

step 231

assistant

agent noteThe middle bottle is flat again and its cap is directly ahead of the left gripper. I’m moving above the cap at a safe height, then I’ll descend to grasp the narrow end.

move_to

left_x0.3750left_y-0.3200left_z0.1300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3251, 1.7473, 1.1744, -0.6289, -0.944, -1.1561, 0.9971, -0.2249, 0.6735, 0.2905, -0.2611, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.2316 left_y=-0.3206 left_z=0.1276 left_yaw=-0.0079 left_pitch=-0.0173 left_roll=-0.0137 left_gripper=0.9971 right_x=0.2602 right_y=0.0055 right_z=0.099 right_yaw=0.1788 right_pitch=-0.0291 right_roll=0.0043 right_gripper=0.9951 state[joint_eff]: [-0.7316, -10.3316, 8.1983, 0.5788, -0.6862, 0.0464, -0.1392, -0.8547, -0.6496, 6.694, 1.9267, -0.2564, -0.0366, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.32,"left_z":0.13},"note":"The middle bottle is flat again and its cap is directly ahead of the left gripper. I’m moving above the cap at a safe height, then I’ll descend to grasp the narrow end."})

tool

executing move_to over 12 steps (1.2s)

step 243

assistant

agent noteThe middle cap is centered under the left gripper in the overhead view. I’m lowering straight onto it instead of advancing past it, because the angled wrist camera makes a low object appear farther away.

move_to

left_x0.3750left_y-0.3150left_z0.0130

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9752, 1.8931, 1.2854, -0.2829, -0.7887, -0.73, 0.9975, -0.2249, 0.6582, 0.2626, -0.2447, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.3656 left_y=-0.3097 left_z=0.1206 left_yaw=0.0279 left_pitch=-0.0183 left_roll=0.0036 left_gripper=0.9975 right_x=0.2578 right_y=0.0061 right_z=0.0934 right_yaw=0.1788 right_pitch=-0.0256 right_roll=0.0028 right_gripper=0.9951 state[joint_eff]: [0.1709, -9.3607, 8.7453, 1.3504, -0.2271, 0.359, 0.0317, -0.6222, -0.9778, 7.0496, 1.8095, -0.2662, 0.0171, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.375,"left_y":-0.315,"left_z":0.013},"note":"The middle cap is centered under the left gripper in the overhead view. I’m lowering straight onto it instead of advancing past it, because the angled wrist camera makes a low object appear farther away."})

tool

executing move_to over 7 steps (0.7s)

step 250

assistant

agent noteThe cap is visible ahead of the fingertips after the descent, so the current position would catch the wider body instead of the neck. I’m advancing about five centimeters along the bottle while keeping the fingers low.

move_to

left_x0.4230left_y-0.3150left_z0.0120

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9752, 2.0964, 1.1645, 0.0826, -0.7929, -0.7101, 0.9975, -0.2249, 0.6456, 0.2428, -0.2382, -0.3454, -0.2607, 0.9951] state[eef_state]: left_x=0.3736 left_y=-0.3206 left_z=0.0339 left_yaw=0.0199 left_pitch=0.0066 left_roll=-0.0126 left_gripper=0.9975 right_x=0.2555 right_y=0.0066 right_z=0.0888 right_yaw=0.179 right_pitch=-0.0263 right_roll=0.0027 right_gripper=0.9951 state[joint_eff]: [0.5128, -7.8974, 4.0137, 1.1795, -0.3785, -0.0122, -0.0122, -0.8547, -0.9094, 6.5709, 1.8437, -0.2613, -0.022, -0.0171] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.423,"left_y":-0.315,"left_z":0.012},"note":"The cap is visible ahead of the fingertips after the descent, so the current position would catch the wider body instead of the neck. I’m advancing about five centimeters along the bottle while keeping the fingers low."})

tool

executing move_to over 4 steps (0.4s)

step 254

assistant

agent noteAdvancing low pushed the middle bottle away instead of reaching its cap. I’m returning to the near end to pull the whole bottle farther into the workspace, so its cap can be approached vertically without sweeping along it.

move_to

left_x0.2900left_y-0.3200left_z-0.0080

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8845, 2.178, 1.2514, 0.1699, -0.767, -0.6514, 0.9975, -0.2249, 0.6327, 0.2234, -0.2302, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.4203 left_y=-0.314 left_z=0.0337 left_yaw=0.0635 left_pitch=0.0441 left_roll=-0.0492 left_gripper=0.9975 right_x=0.2534 right_y=0.0071 right_z=0.0848 right_yaw=0.1788 right_pitch=-0.0249 right_roll=0.0025 right_gripper=0.9951 state[joint_eff]: [0.2393, -8.212, 6.2974, 1.1355, 0.0611, 0.2759, -0.0073, -0.8957, -0.8547, 6.5299, 1.8584, -0.2369, -0.0073, -0.0073] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.32,"left_z":-0.008},"note":"Advancing low pushed the middle bottle away instead of reaching its cap. I’m returning to the near end to pull the whole bottle farther into the workspace, so its cap can be approached vertically without sweeping along it."})

tool

executing move_to over 11 steps (1.1s)

step 265

assistant

agent noteThe low retreat did not move: the open fingers are caught against the bottle. I’m lifting clear first, then I can reposition behind it without shoving it farther away.

move_to

left_x0.4050left_y-0.3100left_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.865, 2.1906, 1.2652, 0.1936, -0.7635, -0.6273, 0.9975, -0.2249, 0.6197, 0.2028, -0.2195, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.4303 left_y=-0.311 left_z=0.0353 left_yaw=0.0687 left_pitch=0.0573 left_roll=-0.0496 left_gripper=0.9975 right_x=0.2516 right_y=0.0075 right_z=0.0807 right_yaw=0.1787 right_pitch=-0.0221 right_roll=0.0013 right_gripper=0.9951 state[joint_eff]: [-0.7863, -8.9778, 6.0376, 1.1795, 0.0562, 0.1832, -0.0122, -0.7453, -0.7316, 6.7487, 1.8144, -0.2662, -0.0415, -0.0122] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.31,"left_z":0.16},"note":"The low retreat did not move: the open fingers are caught against the bottle. I’m lifting clear first, then I can reposition behind it without shoving it farther away."})

tool

executing move_to over 9 steps (0.9s)

step 274

assistant

agent noteThe middle bottle has shifted closer and slightly to the right, leaving its cap exposed near the center of the table. I’m placing the open left gripper above that newly exposed cap for a direct vertical grasp.

move_to

left_x0.3500left_y-0.3600left_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.91, 2.0155, 1.4563, -0.35, -0.7765, -0.7071, 0.9975, -0.2249, 0.6064, 0.1833, -0.2161, -0.3458, -0.2604, 0.9951] state[eef_state]: left_x=0.4035 left_y=-0.3115 left_z=0.1166 left_yaw=0.0736 left_pitch=-0.0369 left_roll=0.0331 left_gripper=0.9975 right_x=0.2489 right_y=0.0082 right_z=0.0758 right_yaw=0.1791 right_pitch=-0.0245 right_roll=0.0025 right_gripper=0.9951 state[joint_eff]: [0.3897, -15.788, 9.5932, 1.3309, -0.3883, 0.1294, -0.0122, -0.7863, -0.2667, 6.8855, 1.8437, -0.2808, -0.022, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.35,"left_y":-0.36,"left_z":0.14},"note":"The middle bottle has shifted closer and slightly to the right, leaving its cap exposed near the center of the table. I’m placing the open left gripper above that newly exposed cap for a direct vertical grasp."})

tool

executing move_to over 5 steps (0.5s)

step 279

assistant

agent noteThe middle cap is now directly beside the open fingertips in the overhead view, just a little right and nearer the robot. I’m descending with a small rightward and backward correction so the jaws close across its narrow neck.

move_to

left_x0.3300left_y-0.3800left_z0.0130

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0817, 2.0319, 1.5379, -0.4908, -0.8474, -0.8631, 0.9975, -0.2249, 0.5907, 0.1638, -0.2115, -0.3458, -0.2604, 0.9951] state[eef_state]: left_x=0.348 left_y=-0.3643 left_z=0.1294 left_yaw=0.0294 left_pitch=-0.0225 left_roll=-0.0023 left_gripper=0.9975 right_x=0.2466 right_y=0.0087 right_z=0.0716 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951 state[joint_eff]: [0.4308, -10.3863, 9.1556, 0.9499, -0.7595, 0.1783, -0.0122, -0.8821, -0.2667, 6.7624, 1.8144, -0.2955, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":0.33,"left_y":-0.38,"left_z":0.013},"note":"The middle cap is now directly beside the open fingertips in the overhead view, just a little right and nearer the robot. I’m descending with a small rightward and backward correction so the jaws close across its narrow neck."})

tool

executing move_to over 8 steps (0.8s)

step 287

assistant

agent noteThe diagonal descent did not track, so the arm appears to be encountering a kinematic or contact limit at that sideways pose. I’m holding the successful horizontal alignment and trying a straight descent instead.

move_to

left_x0.3450left_y-0.3600left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0851, 2.0331, 1.5536, -0.5404, -0.8734, -0.8986, 0.9975, -0.2249, 0.5747, 0.1448, -0.2085, -0.3458, -0.2604, 0.9951] state[eef_state]: left_x=0.3465 left_y=-0.3586 left_z=0.1323 left_yaw=0.0597 left_pitch=-0.0176 left_roll=0.0092 left_gripper=0.9975 right_x=0.2442 right_y=0.0092 right_z=0.0673 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951 state[joint_eff]: [-0.1573, -10.6872, 8.759, 0.989, -0.5836, -0.0904, -0.0122, -0.9231, -0.2803, 6.8718, 1.8486, -0.2662, -0.0024, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.36,"left_z":0.035},"note":"The diagonal descent did not track, so the arm appears to be encountering a kinematic or contact limit at that sideways pose. I’m holding the successful horizontal alignment and trying a straight descent instead."})

tool

executing move_to over 7 steps (0.7s)

step 294

assistant

agent noteThe straight descent worked, and the middle bottle now fills the jaw opening, though its body is slightly to the right of center. I’m lowering to table level and shifting a little right before closing around the body.

move_to

left_x0.3450left_y-0.3700left_z-0.0060

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.087, 2.1635, 1.3636, -0.2485, -0.8829, -0.8989, 0.9975, -0.2249, 0.5598, 0.1261, -0.2081, -0.3458, -0.2607, 0.9951] state[eef_state]: left_x=0.3436 left_y=-0.3528 left_z=0.0392 left_yaw=0.0634 left_pitch=-0.0218 left_roll=0.0383 left_gripper=0.9975 right_x=0.2415 right_y=0.0099 right_z=0.0624 right_yaw=0.1793 right_pitch=-0.0269 right_roll=0.0033 right_gripper=0.9951 state[joint_eff]: [-0.5265, -9.9897, 4.8205, 0.8962, -0.3932, -0.022, -0.0073, -0.9231, -0.4034, 6.8308, 1.8339, -0.2857, -0.0415, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.37,"left_z":-0.006},"note":"The straight descent worked, and the middle bottle now fills the jaw opening, though its body is slightly to the right of center. I’m lowering to table level and shifting a little right before closing around the body."})

tool

executing move_to over 3 steps (0.3s)

step 297

assistant

agent noteThe middle bottle is centered between the low left jaws at its body, not the cap. I’m closing to secure it and will use the retained jaw width to confirm the grip.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1004, 2.233, 1.3766, -0.1104, -0.9329, -0.9092, 0.9975, -0.2249, 0.5404, 0.1051, -0.2043, -0.3458, -0.2604, 0.9951] state[eef_state]: left_x=0.3508 left_y=-0.3688 left_z=0.0303 left_yaw=0.0831 left_pitch=0.0492 left_roll=-0.0289 left_gripper=0.9975 right_x=0.2391 right_y=0.0104 right_z=0.0581 right_yaw=0.1791 right_pitch=-0.0248 right_roll=0.0027 right_gripper=0.9951 state[joint_eff]: [-0.3487, -6.1197, 5.094, 1.0867, 0.4371, -0.1294, -0.0122, -0.9778, -0.0615, 6.8034, 1.8437, -0.3004, -0.0269, -0.0171] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The middle bottle is centered between the low left jaws at its body, not the cap. I’m closing to secure it and will use the retained jaw width to confirm the grip."})

tool

executing move_to over 10 steps (1.0s)

step 307

assistant

agent noteThe jaws closed empty because the low command stopped above the bottle; in the overhead view the bottle’s near end is a few centimeters closer to the robot than the gripper. I’m reopening and moving behind that near end at table height, while raising the idle right arm back to a safe parked height.

move_to

left_gripper1.0000left_x0.3050left_y-0.3700left_z-0.0150right_z0.1800right_x0.2900right_y0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0985, 2.2177, 1.4422, -0.1616, -0.9779, -0.9329, 0.0165, -0.2249, 0.5213, 0.086, -0.2008, -0.3454, -0.2604, 0.9951] state[eef_state]: left_x=0.3593 left_y=-0.3734 left_z=0.0581 left_yaw=0.1247 left_pitch=0.0937 left_roll=-0.0645 left_gripper=0.0165 right_x=0.2371 right_y=0.0108 right_z=0.0544 right_yaw=0.1787 right_pitch=-0.0218 right_roll=0.0011 right_gripper=0.9951 state[joint_eff]: [0.3077, -10.5641, 4.9846, 0.5641, 0.3639, 0.0269, 0.7937, -0.9504, 0.0068, 6.6667, 1.7851, -0.2466, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.305,"left_y":-0.37,"left_z":-0.015,"right_z":0.18,"right_x":0.29,"right_y":0},"note":"The jaws closed empty because the low command stopped above the bottle; in the overhead view the bottle’s near end is a few centimeters closer to the robot than the gripper. I’m reopening and moving behind that near end at table height, while raising the idle right arm back to a safe parked height."})

tool

executing move_to over 10 steps (1.0s)

step 317

assistant

agent noteThe bottle’s rounded base now fills the lower wrist view, immediately between the open jaws. I’m making a small backward correction and lowering once more so the fingers catch the side of the body rather than resting on its top.

move_to

left_x0.2900left_y-0.3750left_z-0.0180

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1782, 2.2539, 1.4384, -0.2165, -1.0157, -1.1343, 0.9953, -0.2237, 0.8009, 0.5663, -0.4068, -0.345, -0.2638, 0.9951] state[eef_state]: left_x=0.3264 left_y=-0.3865 left_z=0.0396 left_yaw=0.1641 left_pitch=0.0868 left_roll=-0.1442 left_gripper=0.9953 right_x=0.2851 right_y=0.0001 right_z=0.1617 right_yaw=0.1815 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9951 state[joint_eff]: [-1.347, -6.2838, 2.3726, 0.2173, 0.1978, 0.0757, -0.1734, -0.1436, -1.0462, 9.5521, 1.5604, -0.1734, 0.1001, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":-0.375,"left_z":-0.018},"note":"The bottle’s rounded base now fills the lower wrist view, immediately between the open jaws. I’m making a small backward correction and lowering once more so the fingers catch the side of the body rather than resting on its top."})

tool

executing move_to over 4 steps (0.4s)

step 321

assistant

agent noteThe left jaws are lower and aligned on the middle bottle’s near, thick end; the base extends into the fingertip contact area. I’m closing at this lower position to check for a secure grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2179, 2.3035, 1.5021, -0.3683, -1.0271, -1.2392, 0.9968, -0.2249, 0.791, 0.5392, -0.4019, -0.3454, -0.2642, 0.9951] state[eef_state]: left_x=0.3087 left_y=-0.3904 left_z=0.0255 left_yaw=0.1751 left_pitch=0.0628 left_roll=-0.0998 left_gripper=0.9968 right_x=0.2815 right_y=0.0006 right_z=0.1533 right_yaw=0.181 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9951 state[joint_eff]: [-1.3197, -7.4598, 2.865, 0.4518, 0.2125, -0.3101, 0.1441, -0.8137, -1.7983, 7.0632, 1.9707, -0.2564, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The left jaws are lower and aligned on the middle bottle’s near, thick end; the base extends into the fingertip contact area. I’m closing at this lower position to check for a secure grasp."})

tool

executing move_to over 10 steps (1.0s)

step 331

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2358, 2.3054, 1.4975, -0.3824, -1.0634, -1.264, 0.8014, -0.2249, 0.7692, 0.5037, -0.374, -0.3458, -0.2646, 0.9951] state[eef_state]: left_x=0.3029 left_y=-0.3895 left_z=0.0276 left_yaw=0.1822 left_pitch=0.0913 left_roll=-0.0959 left_gripper=0.8014 right_x=0.2795 right_y=0.0012 right_z=0.1484 right_yaw=0.1813 right_pitch=-0.0248 right_roll=-0.0008 right_gripper=0.9951 state[joint_eff]: [-0.4581, -7.8564, 3.1521, 0.4274, 0.1929, -0.2369, 1.0183, -0.6359, -1.4564, 6.8718, 1.7705, -0.3004, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

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

call 0 attempt 0 · /responses · status 200 · 7.766 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, 0.6079, -0.3767, -0.0227, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0265, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.4838, 9.7573, 1.7802, -0.0513, 0.1538, -0.149, -1.0462, -0.9778, 10.2632, 1.9072, -0.0171, 0.2271, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9978b87d770abb6f82eb8bfa8b7c957e895c57baa00b8c262668c3beb64c0f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293493327f3eeff1ecc77b43db20243f6a6e410516709d335ce2c6797c5cdb57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65f8466a9a97eba13cbb0d563d278037a4ef23a5f749dbb2ed4aa5d7d98131c",
      "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 · 6.112 s

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

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42db0ec4887d08ccec2c75c9a46a8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC23ubVhW3hxEkMOvIqn3KNLaNS__TVz39l1dX0XchqJ0Zq4qlcRWqaej0P7cxWeFFcNGdIDvO8PHLlzA7h4B-ABikKNIPosYaHlA_toiTTxZz-dYoxdydWaXJOLeqLx1uQAg7___-GVwAdHwMa_BmYHO0Xs5lBfa1x_E_UnuyqjFWK4iabmFQKal-1GFQXyB7N_9MhlRg5K8VSSqXIbgtrCqFsvBGtwj_LXUGuRKx8buU2H6p-L-fKxSkUZIUDl0trWzqZlaf7q4J5PbPT6VQOTx1oRKlfkrQY4feAwjHecw8Cq8lW6N5WehNbmSgBr-AquYO_r4fS6zY6cPWXqbCuF8XPoqRBa789rT_3-SJz5o8dh-yp2pwhntkiIkuEeH4RNzm3QwI6tAVMAqdruw78pru4zbgchNZ6xXnf8zDHdVNY8lwaTta4g2LK530QR6RVSjVRhJRwQsVqUAcrVgS1xSOvgHxH11W0NxBvydMdaTcmKmXIaODpAOvvLzASiAwmlpXFn9TqYCAh1Cef-sXFFbNUMYuO7Z0Y-uVg31aQbLQ0nXYlN0pl1zSfVx_dPGPHhiokCGtKfoUTf88Jk9oCUl-KFIDJA8X0o4cHHXUDFTeMobs5NGezMqRORCUeyEzxX_TrAFHPNwOWYZJwbihamG-OThPvwebrGzMgWO_uGohxkFWul8Uh5d4z2aSgHobHjJQCpvC6NqZ4Syae3KT8Qy81CzuB287K0_nmuD8Rbp4RflKYu1gtCkFzTfuBUJZyPH6MnbCIOMk9UaPcSHwGLXFRNk4BhEbgC1CgFyQ9SVvbgnSQRhXFhFkPQXeRhwIa9tFSnO2anI6qG2eOqyWB83dDw3A3cjRSPYryCby47BLSOJhOxLBorWOK2w_ixNANTJVP3sROxH_1AuhoyVQU82Oak9YuYmt_TEnTXFQDuRHIPhDrSpbsaHSLIPtg7buDZ5qnKxPEHZHRGxKmYU5P3exSIXsGrt6P3OiK1CjdsatB43UZMXqKXS077cWTwGwTb83Fhjgtxg_4-vQu-fDvnhsi9Y4oq-eN95JNo9rZkduXDAhvQPX_JniloU7204nLPje8CdnD_2fJZgsUXwtPv2A4_b5HuBTrRHProtEuiTE3uFq2iR9ChXKPZV7irnSml9o1EdS_bvXpO_XuN8ck5Z6GSE5HRv2MZmzztT34EMX4mwaDLMoIcxIY_Pm2LSH1F2ytQMMlf9n2AdHlgYFKzJ0NycodFzpi94Pbip47TpGFDfeAhnOjysN2YvZdTFntZU747TwgV9-3AqIybvGmB_RjApcnoRaLg-LcRolkfG6vejzelEOaCatAM28LpqPk9RaciISJ-1H_St9zmR1ajlpN-ZGDYv5QYBSbJBKxltXzwLbvE1rBzv2laYWvsFSpOrpLzeNL-hHMX1AuaWk0kHjg3OuaQ6Vr0Faig2czjTwTww5aJNFU-81iHqbK2Bxv9aG2x2LD7LxUp-HQuAHY7pI8qgZeKUjmdl3mLDPa96xE1LVRPwsgnWMWbyPo8o1jAuL92U2q7N9rR1eadxXB7Fw==",
  "id": "rs_0c5f6e667f5047d2016ab42db5b94887d0a45fdcb1bdcfcc99",
  "summary": [],
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{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.2,\"right_z\":0.12},\"note\":\"All three bottles are lying on the table; the rightmost has its cap toward the far edge. I’m bringing the right gripper above that cap and neck to set up a lift while the bottle’s base stays on the table.\"}",
  "call_id": "call_I4UCa6ZA0mnB9lsSuLjrO5fi",
  "id": "fc_0c5f6e667f5047d2016ab42db6ecc887d0982fdc0404e66e0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I4UCa6ZA0mnB9lsSuLjrO5fi",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3836, -0.0231, -0.0292, 0.9984, 0.6144, 1.6844, 0.9459, 0.0029, 0.4599, 0.3054, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4034 right_y=0.193 right_z=0.1006 right_yaw=0.0416 right_pitch=-0.0738 right_roll=-0.0489 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5111, 6.694, 1.8095, -0.0366, -0.0708, -0.0366, -0.1026, -7.747, 8.8137, 2.0391, 0.3492, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40cf8f04ab49ab86d020f7b5ed0137b6bbdb71fb56c9c83632152ec3adc8ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b16fbc5e89fd90cee0f61a025649ecf39eb5360f84f778217f054610255ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea28eff71fd953b7e6af7ae2dcd6de99b8acc984b25e9d5cd3f00539db80891",
      "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 · 3.54 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, 0.6079, -0.3767, -0.0227, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0265, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.4838, 9.7573, 1.7802, -0.0513, 0.1538, -0.149, -1.0462, -0.9778, 10.2632, 1.9072, -0.0171, 0.2271, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3836, -0.0231, -0.0292, 0.9984, 0.6144, 1.6844, 0.9459, 0.0029, 0.4599, 0.3054, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4034 right_y=0.193 right_z=0.1006 right_yaw=0.0416 right_pitch=-0.0738 right_roll=-0.0489 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5111, 6.694, 1.8095, -0.0366, -0.0708, -0.0366, -0.1026, -7.747, 8.8137, 2.0391, 0.3492, 0.2515, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40cf8f04ab49ab86d020f7b5ed0137b6bbdb71fb56c9c83632152ec3adc8ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42b16fbc5e89fd90cee0f61a025649ecf39eb5360f84f778217f054610255ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea28eff71fd953b7e6af7ae2dcd6de99b8acc984b25e9d5cd3f00539db80891",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC2_LTobLUNYBlKbAwfJAqpwv7dmXv57FBGi5TK9FyTGUfrOXNObNEfZDswNpei_BGV0tnzGky18fMcaq5tOOWqb3L1lkh2MynDLqkekRLirgEWXDyp5lpwMxqmFu-snfbBzu1oa3x4sET59uYLtl8RIMRlHKUmCKjcMJGqPWG5gbsTTP1UEdkGB7QootEk0XFzHHJ9xrL961Otrkge22yEYYrIKWoxipyj0_tvvjJk3yd9CwfPcdkbJY0RXkGt1KoyqXNGjp-w0dKXtM96eG8D_A1r110Zz5hstq2Z-cRgAsHYKG9NqTpHMP8M4r9rtazUQ1xCascmmJ2DtrgBqCONy2Zlf5wZcJKQ_fNuKCspsuK3290mldjB6AHjaps1PmuOdwZSZrGwcDcBlJ8roq9Zv6o3oTMbfGpzZMCYoeyg6MTmEBW_lcIFK4zgTYolDk6JzyT3JjKoHZ7QjW2RHhmGBnF2PKkNJpHNOBmOHgjJamUJdt1k0Kh6NCyqdWDtevSzrud_DrwH1isEil7bN278OTE1w07agG10LFxi7TTSyFXLty-s0N_SRGaMxOeHPUKuzDp7t6SsdO0SmF-KKGqCXWtwNBnJEsmJm2lMQySqpZsWiVlRTRLuG1vrq7fFWN5nGrGFb5fCArVXxEs4V_Ad7-U8l5ssvSHWVIeYFfp_r5tvTwzFDJ19EfWvsuHzCAo_Ig7_vGDrI4qH6NF4w7F56voUsjoQkjmZXWHjdkYCI1h2GMejFK-zDWpAQgh2Jwlt4Q8pdDT64tv8_EMYG_TvwJA6dPlmtNnnLsC0uxYqZzYfQ_ssfymGz-jsJqE-OAPeT3N-Q6ShVLH1ocrMBqyjkrUVIyFRLpwy7tUq9-HUNZszDnblxil41iv4N-FznlStHx0Z-60Fq2eOqDzdkrNcZrOj0K8h4UCBsrvtqEr5NwU9FzFtnuvXG2-I4RVXkL8gzK9gCIMISDt9I4hd5-utEmDPN6P87Wa5h6oF5Bc_e88D71XDJ5_6fJCVuvey1ZtpkJMFIlnJyn2JvbVfGA93R_QayKUwf_pJesj4S4a9JOE1zQcQgCrgobPQXIFsM-ulWBDy6C1V6ZJAYaYpGCagOSxj3rhKwakFwnWs1MBK7SMjayLisn3uSfw_PTwjFJGV5CkMAaUA99MEUJ7pWQ_z-7A5Gy69jh0a-SplSKPA48XFQiWTQfC3GI_Uqj9jQnHGufE_ZQqmX5wm-EPQh2IyY4Gm1Up0yNn7Pivt96gatEF2p213bfVtxZ-efcWbJiNVos8LUBQQPEdfnRryOiXxDIJ_J6fNlj-KzFks-VS3w0ZztxKGffy6gPkIbiR4Re_J0JO6zmGiT71azBIHNK7HZjbISGyLMCk7Sl9QlIYy9LVOnMdfDqe1bs8s6bULfv0wfnxgGQGO5UCQjgTzhwSy3Dzn4RBPa7sP-5Ci9bt8T22z0CXXdn5fnBSVPoDIQwRzDy5Q4c9SuqPDfT77jAtDA4kHpwschNnJ9_xCBdfxN-AHNFhLF5fwdBETD14zdiv9HEJBsdly4ayXXo_iTOl81UDP0ZrYwqEVDj2Rr7yPskqeq6rfZwiq7L0azw7b3maTNEPFmArPg6lA-Y9zdKYTeVQGmQAGhL3mZjZB08LuYRcjskag6h3puAktI5Y1E3Xstiw4FY0OTtqHTSdIRGTnHFOksrxRBW8MWR-YErzSoLw7d32e8aEioKJdZb-UrDKIAovBrzhyl0JYNACwuPXnFhq2SS1ixqhUKDGkJhkpiVcKxuj2dL9Zf2dIuoL4_e9wVi3ulp-wR5cWnglIjd2of4qZDk0C-0uc3kb-VDqTphbPZGtUVVOwu05YtiGebE4QNAo41aXkL4_7KcGLKiwcSIQOJYkhopRjmECRxUHGkeHpQEMzKFJZS39JMd196wZQF39o-ceXyT1sbFld2OcNSBv4MoK-25HxxtG5tHPyrLBxy6tU2VwM36lvFWWVDvADDMON8DJcCIBSZwx80v8RZadePTjIVDt-fof1-aOJuj7TBZMVVVAkeEXM6PtPNVKO1pLryjGvRKb34YUy0NGqnCmcF3mVaFHeqUwokMttFD6jzCAy7vpKTA106Bt6jD5INvuaxAUqRRDq8JgAKj6KlQQEwMo5gn1lJRJIX9FIoxKQD76AnsUHSz39w4p4EFl8hiMsCi45AaPKV0Kd6HOfeVXkQ3X2ETH5vIeuKtPD6RR93XKHCUuJpwK_CP3ymLv2vwuu-GquoGxHMRuj505oAbCEfr-cARDxOdyp8KGVFTqmAAWTkaRIY4_BGOkmy24rFUxQ0TDRerZsiJFbL1vnUAU9ojF4GM7mRlA0CDsXqp06ANRxvrPf6G47F3mv5ww4LyKvCM2jiBXa_jjXX-AhK8WnDT0-VyJqGeyNZlZGr_5GXJ-umuF7cYbDNnJ92ou-mnlAGbrdAHN1V5c9p_Rb8OYZr4pbXvh16HTQLf6NO4rkDHdt6Hzww05g8HKzKmJDxwWxiq5yK5klJ651og2z_otdZVSu1K7qUZ7W-31kfxpvFB1ije5Idx4vQYhlKcpAI71bUtPVXgaEdebtZIP9qnJbpus5XNNBZMEwb9qoLtuhpLfrI9jtKSDjdALRoXq-TuPxAscQ0-sAgy-vkLIRuw8XhE4MjW4pvsNXU-cI7k9yl7EnZTNT0dfEEYDo-VPyzaOQmZPt_oJ0gwykU4Ge7qERKIVIJo2KV4AjtO280SvdnNEmLrjqLkvDIQb-Gu0InBcPiBkr3F5eKsgWhKYtj3_vfzzgKvYEP4_tHawSVCuhq_uu8PXAUuV3awTx6B2nHcaiSKR77mN9ufIvoRTlStF5lRQW-j6gSug7OPhnIU5rV8C_T3NfcLW3QcNjDQgisc_iRGFWqntDcqf-qglbDIUXE3diF4De7ovVW0N6PPYCgkUCCljkLBUX2CD3BOmmyCtWdm8PDV6D1IzMSCJafm4fcyTzP-7n5bDoJiFO7CxylnQ21N07PCkmZv7jbv14jFgRoSFaLTbYj2HQeQBgkHPDvqqk5CDj4k3Rlw9DRnc5zEpw0GQyJN9HbcLakxuUM",
  "id": "rs_0c5f6e667f5047d2016ab42dba868087d0938f7f7563f76f6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.15,\"right_z\":0.08},\"note\":\"The right bottle’s cap is visible ahead and to the right of the open jaws in the wrist view. I’m shifting the gripper right and slightly forward and down so its jaws straddle the narrow neck rather than the bottle’s wider body.\"}",
  "call_id": "call_JW7ZqMS60H1o5oFZKQZT3yUf",
  "id": "fc_0c5f6e667f5047d2016ab42dbed10487d0a3333dcad95bfb89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JW7ZqMS60H1o5oFZKQZT3yUf",
  "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, -0.3832, -0.0227, -0.0292, 0.9984, 0.4595, 1.7287, 0.8253, 0.1993, 0.3614, 0.2256, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4203 right_y=0.1422 right_z=0.0653 right_yaw=0.0095 right_pitch=-0.0788 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.8095, -0.0269, 0.0073, -0.0171, -0.1026, -7.1043, 6.1197, 2.1465, 0.2027, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed62a18da1d243e61bd79498253219aa89d53aa28af3e1eab54fcf9f5b2387c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae8cffe00ba7a312bd4875b3b07a36908419636a6b0981d525dac8061f436b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2214c0a6233f2d8390cb76f44f660bd483919bfa3afaecf0b5f0fe94ee51b166",
      "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 · 3.156 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, 0.7979, 0.614, -0.3836, -0.0231, -0.0292, 0.9984, 0.6144, 1.6844, 0.9459, 0.0029, 0.4599, 0.3054, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4034 right_y=0.193 right_z=0.1006 right_yaw=0.0416 right_pitch=-0.0738 right_roll=-0.0489 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5111, 6.694, 1.8095, -0.0366, -0.0708, -0.0366, -0.1026, -7.747, 8.8137, 2.0391, 0.3492, 0.2515, -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, -0.3832, -0.0227, -0.0292, 0.9984, 0.4595, 1.7287, 0.8253, 0.1993, 0.3614, 0.2256, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4203 right_y=0.1422 right_z=0.0653 right_yaw=0.0095 right_pitch=-0.0788 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.8095, -0.0269, 0.0073, -0.0171, -0.1026, -7.1043, 6.1197, 2.1465, 0.2027, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed62a18da1d243e61bd79498253219aa89d53aa28af3e1eab54fcf9f5b2387c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae8cffe00ba7a312bd4875b3b07a36908419636a6b0981d525dac8061f436b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2214c0a6233f2d8390cb76f44f660bd483919bfa3afaecf0b5f0fe94ee51b166",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3DeYl6dYzAXcrojS6DOMahQkVTYxzb-oS-McSD9CXrC-9DQQersEXQM52NSJNu0O_aPmw8H2zMu-Z5RYo2pMJZkVklVSB_P0I5gXlkHUFf5ENnQxOLvtjWwK0WuSyTaWGpSSzuj3ggnfA5y-yNyoxqOrq9RXCBlh8l99gpaUE37BuUN7q3RAvWP0flT54UoFEPrtgoqqaLy_DPMzkHDa6wDIaWH5FWAY4WhFxPPUzBAj88ayUiwaCX_XwBpjRdradveR7A78VoAeNkdHc76yeZh2gZRQsE5P06iMVUlC9Ec4_B8rwyYNk4-GHGnErKO8Z3O1waEJ2Flz70079Xpp8LLFKJrZOEXs2TzNXniKhM1ECed6_22PVynCUJIVmnJux3IjV72o6U-1UIBkO_Yp59J-RO1dIMCT78cbWFAls7Vgea8HFxjtJuVOh--r_aZwYcIijWvlHnVBmu7f7NLEAbMV8FBloSbtaCziVh_YoXghSOQupd5ZkkjXIdn6nbHNOplUvSTavsi62dRdK0m106zn-DJ-nFaTNYHeSDKmPW3D3YUDaFNnelq7Of7MGmLLuHYzvNw-viY49YPV1yLdsvRrzvv_blx8zUPJkysMK17CtEFXLRLSgfWUvBfev3jeFwCXWbyqWwkPSqkB7knjI6wczbfM1tEhxoV1Qw0vM5kcCWBKHLmFkEI7t2YxQk8ZQDUc69vn9p90GOjPE7j1BfIFfc-DgaqCST0acv9ZWBUUAyjDQ1MQZGLsd6lcPkcqC9nrgu6ksYRJJ-QTDYMohylQOGDhSeBjxZN_X1p3aJCI9s7mKypteqqjfhuJrXD9Kt-JoGCj1tE8E3BcuH_F8cIxDbHmBZ1RdQ-XyyWvR0NFNqG_n59uh3Ho4NL7Z1K1_pVhGh4eMMYCS1ADyvDrDeSdnNGztQYP1j0oNgrt3wlau5EvVkUmEgnHu9Terer4rgnay0xFhnpVMnEojS7G8_8CgbGAIAbkTWHHWBh9zOhm7QT3z2nfjgqmvL2X-DMUZhfmOetTTLBqPGSeHOhGRI11K7oWiWIxUy-_eABkgSZmu7q4of3k2c0kHMOLdE6NjZzmbfYI7FbMOOytEGeCvS3GdVvX7nZbwBNUVS1g1IqSCXQHwALiCdBVn0z8xKtQDypVVHgNkVOUiiQl7FU4DObj8gQmYs-fhFgmn2RWrtbaY-Y-H5agvbv2l6ZT-g4Wl77hCy5KbmIDTm6fFXR2MAUEkLEZEkbXYzf8J7s8g9_fQu2BYFUYibKgNxvD8V8jGopu0Wt0DxVBAQVtA-tOgq5NnjKxylKQy8HBOzqvyHMBaWsRtE5Z4IhJoQNVs_uO7FaSUZrthsGMfV_vaDLrC2CRjarNng91uXi1AolR02MhbJ2JkRlqKYRSjVg_-J7czaTpLX0yqeqe1gTznZA7qznGBgDGCwewae1c9CdlycoLHCK8kaLAIU6GAXp3Pkj5IkNe03Hlm_GaNSuXRv5eFLB9BH2COB4ANFeO-MkjdGjVmpvoK2mZ6HZDr8_O3aCDhvnvDE4NV_O66kdWO3Chg7LlN1Q7n0509hNWmh68QWnt7tMEl9db69z1Jbcw29L2oZR-1kxcdIwyPKDVyglW4eOdGe2F6zHkDqwO78eBqbLagLGJw2K1pOxlFn3Dzt-zdqC3QBvN2EQtcj5qRW50gIYxQ4podg5N8md8CVUuQ106KpPVjClc_m_IOWi-f7d2Cnk1GdByrtw5_a_f0wcA_t_mxDO4DdK6T9ik3vZtFb7iFSGpXGp04_1UTy8quy_x2N7qIthbtpd9M0oFPjLv04umhuP38wX4Ysrj6a-xWJsR7V1HtYY-ik1biwfVAW9KAX0VrKfeRXBQACm5VatD_sqWD-QXxrn6p1BHlnA23DxVLTXhq3uOXsQZddEgi9B0Ci8HuWJPPoZx17RYK6IYNvQVjOwxSDf0DtJINOYZdD9nbNYb4AtG-T97cLc8dg9QfGeccEq_QCWsfYb7EOMD_Hf5WJeqYxfUQ5A3XVw6LMzJy9j-AaR4I5zyhtxcDzs1R9KKWu7DCXr1HmQdzHFrITc8HJu97T4yMMRu8R4BFwWFKXjH2QZEtH5eBsU15FAvYDd8PuNndpuqQ279fcpf8hZIPVJp9BJPp6I4vrb4htXWcQZqESMtfRBVxFbQOGGvTKtHV0itGCN1NIbrbJku60zfOUJR3haj1nUpxtclAoKrTIODTK_5BWX-x-mSdt5YcThNXMEIV5AsknzfeXzaCIiNGdCeCGhk-TGYifeA6R4G0=",
  "id": "rs_0c5f6e667f5047d2016ab42dc0c1d487d08ce68ff8217f4bec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.14,\"right_z\":0.06},\"note\":\"The neck is now centered between the open jaws, but it is still ahead of the actual fingertip contact point. I’m advancing along the bottle’s length before closing, while keeping the gripper just above the tabletop.\"}",
  "call_id": "call_FplYOlt147QvUj5oz37ARhSq",
  "id": "fc_0c5f6e667f5047d2016ab42dc2c20487d0a1a64f58dcbb928a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FplYOlt147QvUj5oz37ARhSq",
  "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, 0.614, -0.3832, -0.0231, -0.0292, 0.9983, 0.4435, 1.763, 0.7853, 0.318, 0.321, 0.2016, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4244 right_y=0.1439 right_z=0.056 right_yaw=0.0406 right_pitch=-0.0491 right_roll=-0.0182 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.4154, 6.5846, 1.8144, -0.0366, -0.0415, -0.0171, -0.5675, -7.3231, 6.1744, 2.1954, 0.3199, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6679d80bb95865a3906413243480dcf7bf778db942bf238e984a213980402a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fdaa3289e3360c45f95cf04d4a1612d96ffab1d9eeb44b0ff818a8b79209ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc7a2020a66f90a04f3e26bec7f4538646f522b2e0b37f7d0aaad3bf05fd385",
      "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 · 2.856 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, 0.6079, -0.3767, -0.0227, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0265, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0037 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.4838, 9.7573, 1.7802, -0.0513, 0.1538, -0.149, -1.0462, -0.9778, 10.2632, 1.9072, -0.0171, 0.2271, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3832, -0.0227, -0.0292, 0.9984, 0.4595, 1.7287, 0.8253, 0.1993, 0.3614, 0.2256, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4203 right_y=0.1422 right_z=0.0653 right_yaw=0.0095 right_pitch=-0.0788 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.8095, -0.0269, 0.0073, -0.0171, -0.1026, -7.1043, 6.1197, 2.1465, 0.2027, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0231, -0.0292, 0.9983, 0.4435, 1.763, 0.7853, 0.318, 0.321, 0.2016, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4244 right_y=0.1439 right_z=0.056 right_yaw=0.0406 right_pitch=-0.0491 right_roll=-0.0182 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.4154, 6.5846, 1.8144, -0.0366, -0.0415, -0.0171, -0.5675, -7.3231, 6.1744, 2.1954, 0.3199, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6679d80bb95865a3906413243480dcf7bf778db942bf238e984a213980402a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fdaa3289e3360c45f95cf04d4a1612d96ffab1d9eeb44b0ff818a8b79209ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc7a2020a66f90a04f3e26bec7f4538646f522b2e0b37f7d0aaad3bf05fd385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42dc49ba887d0a3fe4039b8bd7470",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.14,\"right_z\":0.14},\"note\":\"The low forward command barely advanced—the arm appears to be at an awkward near-table reach, and the cap remains ahead of the fingertips. I’m raising the gripper first so it can extend over the neck, then I’ll descend from above.\"}",
  "call_id": "call_dbsd74nQo0FejN2MkH1DwrQh",
  "id": "fc_0c5f6e667f5047d2016ab42dc5ecf887d0b7b9131378c92d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dbsd74nQo0FejN2MkH1DwrQh",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0227, -0.0292, 0.9983, 0.4442, 1.763, 0.7853, 0.3382, 0.3202, 0.2012, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4269 right_y=0.1456 right_z=0.0598 right_yaw=0.0425 right_pitch=-0.0307 right_roll=-0.0101 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.5385, 6.7624, 1.7851, -0.0464, -0.0659, -0.0122, -0.6222, -7.3368, 5.9692, 2.0488, 0.2955, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6885763c902edda3600ee6775ed9387263462633bde8d575c76d5ea0608cfa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9785747b5d68bf93546d24b3cd82ea4c619113193a0af60dcd3a2a298b0b483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231378568ef71e4fe6b7eb2e3ad5aacaeb979bbeba7313ca7c84ca6826cb01b5",
      "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 · 3.494 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, 0.7979, 0.614, -0.3836, -0.0231, -0.0292, 0.9984, 0.6144, 1.6844, 0.9459, 0.0029, 0.4599, 0.3054, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4034 right_y=0.193 right_z=0.1006 right_yaw=0.0416 right_pitch=-0.0738 right_roll=-0.0489 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -1.5111, 6.694, 1.8095, -0.0366, -0.0708, -0.0366, -0.1026, -7.747, 8.8137, 2.0391, 0.3492, 0.2515, -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, 0.7986, 0.614, -0.3832, -0.0231, -0.0292, 0.9983, 0.4435, 1.763, 0.7853, 0.318, 0.321, 0.2016, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4244 right_y=0.1439 right_z=0.056 right_yaw=0.0406 right_pitch=-0.0491 right_roll=-0.0182 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.4154, 6.5846, 1.8144, -0.0366, -0.0415, -0.0171, -0.5675, -7.3231, 6.1744, 2.1954, 0.3199, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0227, -0.0292, 0.9983, 0.4442, 1.763, 0.7853, 0.3382, 0.3202, 0.2012, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4269 right_y=0.1456 right_z=0.0598 right_yaw=0.0425 right_pitch=-0.0307 right_roll=-0.0101 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.5385, 6.7624, 1.7851, -0.0464, -0.0659, -0.0122, -0.6222, -7.3368, 5.9692, 2.0488, 0.2955, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6885763c902edda3600ee6775ed9387263462633bde8d575c76d5ea0608cfa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9785747b5d68bf93546d24b3cd82ea4c619113193a0af60dcd3a2a298b0b483",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231378568ef71e4fe6b7eb2e3ad5aacaeb979bbeba7313ca7c84ca6826cb01b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3K4zwFl_6AXMuwSPZTBhcbY4S_klOyntMOj7dYJTtrjDVKu1IOpjtSM_doIptn9a7dcdF25nJko257rCDKkAgMgelZXPG7hv--L283WO2ntpiRml7jBYr3DmitcUveKoEnFNgvBDsV3HT2TQwLI2G7EGKI3qltjqlB92iJtaw4PkfWd2coexD7YtFlYN6G_Ouu6tEX2jNMkzlTFhI9aZ_ZfIMWdJvQttm7diEeunM8mnZT6jhCPkAWEj5NxhZFiyeW6HgWgLcm35R8vkUbz77A4SrgxL-tc-93hz7UjoZ7wC4xnW_jwwHfdV10Q9Hf-1KC2DhY_nV2zKZdJlMGFQpx22PgKZMdnliHZqNNzyqshAL6XWVRhjbUxTo4AaOsbDmvrz4dRmNp9yIF5HTMT6tNHE1nFH5ViFjfmgw2nNui-yW4uxqb3cW6NZVUCV29_7wjTFnVt0ZKuCT2B09wWi75cWKANp5Eg4uHi7ivFcpW7a1g6hCbZwVRwSolR1jcdpdeOWqav6LJGhSvMXFo9PNHihFX-zptqH3xdjXlB6_k-hwoavanwJb5_R8OSDyUMihy_-jE-kaP3sgX_6UUYGsvSSF2vzvVLi8FJhi03EZU_f6IkrnQb-QyKvdxUn4t9bYrhK2eNhAN-dN9G7vMva2ROP3sPLa2JKcJ8qIbEACm0L3o695UYVeG9ksyGgOvJeGAv57NLS3blzCBbnkbqIwsaSAvBlVxW_6MNoYTETs9UnF6ne1tVp5GIhkz8ycodyZOWXJgKuWNbWDRWhSrIoNWB-VOnUI98ZPI7wNtOrq_goLivtndMtu53DxUHtm-7VbpAkjPgZ9KFv9FcNIL5c_ynCyUwX2rGe9XXdkHyGXycznAaLEgs8SjwABVCrLcqasMYxLehPs2TiNFBh8I-su6lj-nqipick5hQt6oykM1jcgx1dV79pjiOc8V0xTmXWRWURqErfhlD60hNaS1RPC5vly3G_UIbPCFZvsUpxP13RWJeS-P-PlGhThU-9Dz7bmUH019pLwUQjyw9BNvvKtG9nDQF4EB0FkkVirN3QQD0Aqzk-0frqZ_EChd8wGF3oShyzLwsIorAAYiDM2ov7fEhWE9CU2V6XYrNn2jUoA0E9e_HAuB3KkPsU13fr632JhKTW-WvX5wMNbGnwt4RlM7m1Hwkidn2In0_9dCYEp_85c6_SbrV52mJHhLT-Yrpe2yotYy0NrFxLEBV4RHXOM7MRga4p2tG0iSlhnOJGBZGvMnHCJl-eFSrPI5gsaYa7kvhPDgqbKCccOuKFabN9exwFJBMRMfzEI2vVPvJpvDV0CTeHfoK7kXodIOb1i1mwYTKwFy18oQLgrbUFdLIyhpoLEyGokE6tvK-Vu9rWQ_t8_kBJ0adHVm574juW0LRoNquulhZkpKPfj4vy0jMd7XAVJq9ruVvAK8tNhnD_wvItOl3w0sYmKD9puX_uG-UyqOS27K3ZJ7YbBNY6m0ct6LCLPBMD_diPsfNLMOWKFjSUhjgW2cGFb3bHdWkfocPHhoZf_V5788cIQuB3UHRUNrYFK3Cc3GkBT6W8p17myvyHhODqeWf3FY5Q90G01wfQFfjdPaWU1Fgjm2etBDPtSQ83AOnE2q_rhWIOpgPLqMfTY=",
  "id": "rs_0c5f6e667f5047d2016ab42dc8872887d0aa818b62140cd830",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.14,\"right_z\":0.17},\"note\":\"The right arm did not rise or extend as commanded, likely because its open fingers are contacting the bottle or the pose is jammed. I’m backing it away and upward to free the gripper before trying a different approach.\"}",
  "call_id": "call_RUV2oBPxULrLadAXP6sLPcbh",
  "id": "fc_0c5f6e667f5047d2016ab42dc966ac87d09c44cf650282f968",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RUV2oBPxULrLadAXP6sLPcbh",
  "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, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.4976, 1.3983, 0.8204, -0.0612, 0.3405, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3803 right_y=0.1435 right_z=0.1475 right_yaw=0.0734 right_pitch=-0.0256 right_roll=-0.0119 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.4974, 6.5573, 1.8681, -0.0366, -0.0464, -0.0122, 0.1299, -7.2684, 9.7846, 1.8681, 0.3541, 0.1978, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07494ce9affa9593e2921f19434099aa8d55ecbe19f9202ca79ba5ca5871e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da34922d125f095cda268e087d4195f1f07e5a1c116460101e6b53e5eb24804e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f3fd5a3a60af492e83b8f6aad099cbae8b5de4518fece36a412479bf6a5ece3",
      "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 · 4.805 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, -0.3832, -0.0227, -0.0292, 0.9984, 0.4595, 1.7287, 0.8253, 0.1993, 0.3614, 0.2256, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4203 right_y=0.1422 right_z=0.0653 right_yaw=0.0095 right_pitch=-0.0788 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.8095, -0.0269, 0.0073, -0.0171, -0.1026, -7.1043, 6.1197, 2.1465, 0.2027, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3832, -0.0227, -0.0292, 0.9983, 0.4442, 1.763, 0.7853, 0.3382, 0.3202, 0.2012, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4269 right_y=0.1456 right_z=0.0598 right_yaw=0.0425 right_pitch=-0.0307 right_roll=-0.0101 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.5385, 6.7624, 1.7851, -0.0464, -0.0659, -0.0122, -0.6222, -7.3368, 5.9692, 2.0488, 0.2955, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.4976, 1.3983, 0.8204, -0.0612, 0.3405, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3803 right_y=0.1435 right_z=0.1475 right_yaw=0.0734 right_pitch=-0.0256 right_roll=-0.0119 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.4974, 6.5573, 1.8681, -0.0366, -0.0464, -0.0122, 0.1299, -7.2684, 9.7846, 1.8681, 0.3541, 0.1978, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07494ce9affa9593e2921f19434099aa8d55ecbe19f9202ca79ba5ca5871e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da34922d125f095cda268e087d4195f1f07e5a1c116460101e6b53e5eb24804e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f3fd5a3a60af492e83b8f6aad099cbae8b5de4518fece36a412479bf6a5ece3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42dcbee4087d08038f5b305aed8c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.14,\"right_z\":0.18},\"note\":\"The gripper has backed clear, and the bottle has not shifted. I’m flying over the bottle at a safer height to reach its neck from above, avoiding the low sideways motion that stalled.\"}",
  "call_id": "call_rpqpoHDqXEHMGawLL2qJh3lk",
  "id": "fc_0c5f6e667f5047d2016ab42dcdb9e487d0b1a00f97378c7226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rpqpoHDqXEHMGawLL2qJh3lk",
  "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, 0.614, -0.384, -0.0231, -0.0292, 0.9983, 0.3782, 1.6341, 1.1194, -0.1284, 0.2375, 0.1299, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4537 right_y=0.1394 right_z=0.1623 right_yaw=0.0833 right_pitch=-0.0505 right_roll=-0.0232 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.0462, 6.7761, 1.8046, -0.0317, -0.0317, -0.0122, -0.9504, -7.2, 9.3333, 1.9121, 0.0757, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7805c6a9eac0d6fe92c692b4a8d1d417c61a67f817e1c5cc99878a6e612ee050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd540c3c223d9f4d05695e37041b41236d1abd9e650f2621c3de9b2d6aa225a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7c5a7029de0a19bfdfed48a8de6592118f864f9ef2ab90cd578529b1076f39",
      "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 · 3.517 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, 0.7986, 0.614, -0.3832, -0.0231, -0.0292, 0.9983, 0.4435, 1.763, 0.7853, 0.318, 0.321, 0.2016, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4244 right_y=0.1439 right_z=0.056 right_yaw=0.0406 right_pitch=-0.0491 right_roll=-0.0182 right_gripper=0.998\nstate[joint_eff]: [-0.3761, -1.4154, 6.5846, 1.8144, -0.0366, -0.0415, -0.0171, -0.5675, -7.3231, 6.1744, 2.1954, 0.3199, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.4976, 1.3983, 0.8204, -0.0612, 0.3405, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3803 right_y=0.1435 right_z=0.1475 right_yaw=0.0734 right_pitch=-0.0256 right_roll=-0.0119 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.4974, 6.5573, 1.8681, -0.0366, -0.0464, -0.0122, 0.1299, -7.2684, 9.7846, 1.8681, 0.3541, 0.1978, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.384, -0.0231, -0.0292, 0.9983, 0.3782, 1.6341, 1.1194, -0.1284, 0.2375, 0.1299, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4537 right_y=0.1394 right_z=0.1623 right_yaw=0.0833 right_pitch=-0.0505 right_roll=-0.0232 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.0462, 6.7761, 1.8046, -0.0317, -0.0317, -0.0122, -0.9504, -7.2, 9.3333, 1.9121, 0.0757, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7805c6a9eac0d6fe92c692b4a8d1d417c61a67f817e1c5cc99878a6e612ee050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd540c3c223d9f4d05695e37041b41236d1abd9e650f2621c3de9b2d6aa225a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7c5a7029de0a19bfdfed48a8de6592118f864f9ef2ab90cd578529b1076f39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3TLTwthn6QDJOhKqUV6rVGmhA5MOLZklp8_rEJ6S_81oDRRzq83TIjWczaBwEdiu7yyYNtLkx1gp6UxHMOoGk0MRayIX5FbQvVIxhPeq6RlXvPCe6NTblqR0nIhNhdRMDDmfo5uuuYac1bbQt4sZhJ9wXiL_gn_T6UoikxsbwAO0dNT3q6hxd1sXK1z6ZCsQuUKBiN1CzjRSOcz4AOh1UJmHdSOwDGN9MuJAFpeT05JiTsl7sg8dJfkcJgxX3R-HBToQ_NtOFQNAkNe5xfAkm4_79wubANs4vzlcA49v0wUo0oXHckrvmdnjbPp59Y8EyaJfjnY5OiOWmkyNwQ_GcNPOniHI8lyLnQgnnCAm5_37GFnfMN5olC4WQAcTNHVhLGDaU2HVnwmVvSYnGXdDk0zI9AWCmkPY1fppkxQ9BH8HxZKg-wOCSb79sdpxC372V9MIiUo6SsJSgx8nhGjpANXHP46kncFfE17OG9Da2ui5cQUUii1TNDmm0YuKGtMHBCsSqbXT69xxsLVJmRjWhoHGuwsKVPSZ61G40pmSfmWn2gzu31-lPqYPnmmbegXvWWqzdRAfSI8zA5ttYId8fkkkNjtqNGZ3zNTjdg1Nq_KTrO7ve1lkNETIEmEzFaWWH20hMkF0GpqmLURemRfB3M3Ch5sSh0h-I5Rf9wPIYR6UZhgC9tWr9hQUJ7aNTCQCu9MqoOmOnIg1l66eEjzkEUcfOw76P87xc7oygDC6jWCVa5VaPG8t14X6ofPlkJNTwM-oLhzFqGA-KTET1q7cHAqpoRSKKOlK_NbyUWoNr_ZOeHm8bd5FwVvPlmsVu2gd3M3BK_vc8_Sboe-7Qjis6Y0BMIlk5BDD93PiYmK4OHhdZ2iVnE2mICTJamo6rwa4mGFB460z7QLdTV6XHJ_4ESGrshODSnMRGkdUS9bmWCnPVqWiGqvWyfgocPEK7NGfDkTwHixlZNnu3k42BjkzENOSD6hXYD-yyBaNYHsibTQcW7hKB5qXJG6JdunFKMmCgRMfLUIZaVyL5ObBqH524xlYZcEpIffM2Zr77sJozDV8gnsdKxCc-6d4LGG-YEecuZXHoz8Hwfd2PLimiNL8LnUeCVGeoGf3QXv74zs2vn5GiEev-_c2VJ_5WPvmYe-WvNayoxWxLusFxhf4VpELoBsGUmnVo-kPkLZwnd7ueF8jYOC_nLjGp8_lo2nLI53NqufQazR8qlwA5vqHwsvYMehVcwGvY_oRWZCcpdo4W2k0DGFMr-ql_oBpfghnIha8ID0OTeCpg7JZ5vzw2-6c_iH1Ir83TGj5OPjyfT-FwGycbUC1LhEA0ipWeTL0QAC3nBUT-OZ2Ncq0Nq0Dp1Wp1cVpADuUofBgphr3T13q4YFWAN-bBnJclBqBm3kA2cIJY5KPPMnfCYUZfkXxtTlyQZcF4WuJxWvrrsYvYpx7Dvt39C5A7izkdtBUpzUETdKLEILzpYTXHqNlzOQaNJ-HNiIXruU0M38drcW8Lk42J_cEiMXo6lC4paDYkfxxrs4HADEtlIHD8Z6UbO18vToCWmg-8ICRltvm_Z_cDTimydIiLQfrmxOSYTwbWsZaqLHx2qDL4MhQ27Uy5r-wuPlS1oO6dqG7bMJtUP37U2ii9ufG5WSxv9dF4f4RBxjCBOjDPpsN9F-I6uphkksiM28bOJCnOemaRGiNb5LbEeYcZ3zOAHd6_6Ec2W3dynwZrch4_UMBMOhN5UMcpp2Txd6kcFlRz5a7d6nKi2FC2fVHmbLWN2KdvmJCIP6emHnsSQ2LfwL6VZv55Wm_-cJ_LA7cbO7pxlzSgjH9iOXzFQgyT-NfQQ0Zby-ffVNLZRwrO2-g3BhCTmqqMMIKGVIFqZVfOaYa5zpXpeqjK84B5azboD67-lizCjMuBDfj3XUwnk6QJ5T5Oaz08215WK3e54OfW8sea6kNQnmJq5olzZrGqTaaBkQiCwxqddffaU8el5c-oFX2OpjBGDpLKw9WEiCiEwA6AI_SgtOUjwP-5IhWZJuzwAjzssR5e1WoFkoTiu3etjH3yWUnxiZXeZ64x1OCP1VIl1NtHk4L0WYn5L8u_H0QHOX1Y-QEl9p4Ogtxo3S4IpmuQ4rR2oIhoQIjqroyTgKbreTbs11ukVl-qv2c8tG5DIMAZaSdNXlI-bhLY4DpQafgwZo9_IH-j0C4yyxbIYNDUi57pEAexE76Bj-ebYnahoV5g5qdo4uvpmSs55kPQ6A3Pabgf_yTEsTR9Vt8Vm_d-YbBA4GYLt4rmie9IvyrRl0__UL0Mw9b6D6HAAlctRr8BHSnTppHATRlRUb92hOef7jSyMP2khYorSETDRTQpWePtxbd-LrMYPRYit2HomeqQ_UQgxaj2aLthhFf-VHsUKjQs9XkbdTl9GnxQ2ZEpEfPkreqxgPafEMvKw675Pdlf0yyEXsi-bNXnFz5cdySiDxCpQ5aX9TEHxFPNvgyWQ-0FGZtN2BA-wSBY0kB1C72231UJ57hxj4mkI_chiqQWFsGqaP09ww4qEAiAv_pKtGCv8c0rLatJxi3n0waEJe01FftcEQp0M8EaLHX-Wrhe7RUIB1hXunFmeh5gihqNJ8t6tUnkKFlW-geAe4O2Jut9_XF9miNc5nP9XOD22lK9Feihxnd_79HZ8D4QDJeT424-LSdS7dlSewm1iZKSu3IY8srdSN0sc7Do3DgiufLBSbXj3Qc3C4LjLZ_QEVYpxJc7makrvZLjQ-7Tqx7pN",
  "id": "rs_0c5f6e667f5047d2016ab42dd013e487d0ab04c0e81dbb3c0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.14,\"right_z\":0.042},\"note\":\"From above, the open jaws are now positioned at the far end of the right bottle, near its cap. I’m lowering straight down at that same horizontal point to put the fingers alongside the neck.\"}",
  "call_id": "call_GUB0itBkdLFiXo0TeHMlJYQl",
  "id": "fc_0c5f6e667f5047d2016ab42dd328f487d0a298a36499687793",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GUB0itBkdLFiXo0TeHMlJYQl",
  "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, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.3729, 1.8648, 0.8322, 0.3809, 0.2302, 0.1261, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4475 right_y=0.1356 right_z=0.0384 right_yaw=0.0859 right_pitch=-0.0602 right_roll=-0.0246 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.6205, 6.4342, 1.7802, -0.0513, -0.0513, -0.0122, -0.0205, -8.1983, 5.2444, 2.044, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10a50ffe6ab2d32c51034aa5358dbd085e3b0976401e50ca6be70f89693a62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a41f4c6192ec500d902a409ab61c22ea3a1bea0e9e45a7fd00988d86c6ab11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f2cc3d75dcc5691dadc98f5bbe7f90eb7285292fe954f8dd3c9ce0d219c042",
      "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 · 3.886 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, 0.7986, 0.614, -0.3832, -0.0227, -0.0292, 0.9983, 0.4442, 1.763, 0.7853, 0.3382, 0.3202, 0.2012, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4269 right_y=0.1456 right_z=0.0598 right_yaw=0.0425 right_pitch=-0.0307 right_roll=-0.0101 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.5385, 6.7624, 1.7851, -0.0464, -0.0659, -0.0122, -0.6222, -7.3368, 5.9692, 2.0488, 0.2955, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.384, -0.0231, -0.0292, 0.9983, 0.3782, 1.6341, 1.1194, -0.1284, 0.2375, 0.1299, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4537 right_y=0.1394 right_z=0.1623 right_yaw=0.0833 right_pitch=-0.0505 right_roll=-0.0232 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.0462, 6.7761, 1.8046, -0.0317, -0.0317, -0.0122, -0.9504, -7.2, 9.3333, 1.9121, 0.0757, 0.0806, -0.0073]",
      "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, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.3729, 1.8648, 0.8322, 0.3809, 0.2302, 0.1261, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4475 right_y=0.1356 right_z=0.0384 right_yaw=0.0859 right_pitch=-0.0602 right_roll=-0.0246 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.6205, 6.4342, 1.7802, -0.0513, -0.0513, -0.0122, -0.0205, -8.1983, 5.2444, 2.044, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10a50ffe6ab2d32c51034aa5358dbd085e3b0976401e50ca6be70f89693a62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a41f4c6192ec500d902a409ab61c22ea3a1bea0e9e45a7fd00988d86c6ab11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f2cc3d75dcc5691dadc98f5bbe7f90eb7285292fe954f8dd3c9ce0d219c042",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42dd593a887d0ad7f66c924d772da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s neck and shoulder now lie centered between the fingers, with the cap just beyond them. I’m closing the jaws to grip the upper part of the bottle so I can lift that end.\"}",
  "call_id": "call_OjwOBClf2vLmyYKzXE2Cp5oy",
  "id": "fc_0c5f6e667f5047d2016ab42dd77df087d0bf56b273060fff37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OjwOBClf2vLmyYKzXE2Cp5oy",
  "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, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3717, 1.8763, 0.7879, 0.5697, 0.2256, 0.1219, 0.0113]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4573 right_y=0.1397 right_z=0.0547 right_yaw=0.0908 right_pitch=0.067 right_roll=0.0116 right_gripper=0.0113\nstate[joint_eff]: [-0.2803, -1.306, 6.8855, 1.7998, -0.0366, -0.0659, -0.0122, -0.294, -8.6769, 4.547, 1.2283, 0.0317, 0.0855, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028d8e130eef942f65ab116a2db0909adf0b34105d415ce66101682f04383677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67020f29afc722c2005236c1611d99d12df05b2315718164b707bb144c24db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e67ac201efa2d4eff699959a29f70e8d40d7abc658c743218ba1f81edf52caf",
      "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 · 3.881 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, 0.7986, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.4976, 1.3983, 0.8204, -0.0612, 0.3405, 0.2123, 0.998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3803 right_y=0.1435 right_z=0.1475 right_yaw=0.0734 right_pitch=-0.0256 right_roll=-0.0119 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.4974, 6.5573, 1.8681, -0.0366, -0.0464, -0.0122, 0.1299, -7.2684, 9.7846, 1.8681, 0.3541, 0.1978, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.3729, 1.8648, 0.8322, 0.3809, 0.2302, 0.1261, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4475 right_y=0.1356 right_z=0.0384 right_yaw=0.0859 right_pitch=-0.0602 right_roll=-0.0246 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.6205, 6.4342, 1.7802, -0.0513, -0.0513, -0.0122, -0.0205, -8.1983, 5.2444, 2.044, 0.0562, 0.0611, -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 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3717, 1.8763, 0.7879, 0.5697, 0.2256, 0.1219, 0.0113]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4573 right_y=0.1397 right_z=0.0547 right_yaw=0.0908 right_pitch=0.067 right_roll=0.0116 right_gripper=0.0113\nstate[joint_eff]: [-0.2803, -1.306, 6.8855, 1.7998, -0.0366, -0.0659, -0.0122, -0.294, -8.6769, 4.547, 1.2283, 0.0317, 0.0855, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028d8e130eef942f65ab116a2db0909adf0b34105d415ce66101682f04383677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e67020f29afc722c2005236c1611d99d12df05b2315718164b707bb144c24db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e67ac201efa2d4eff699959a29f70e8d40d7abc658c743218ba1f81edf52caf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3c_y-pB-RNfqruALE_qPVn0h6oFScZEbdPLbgQy09lrkv_ue3WvK70wjiRU-KFY8exAozsTkr7-oh5jummLXLOXjrVJDn_Zhw4dLFPu18GaYyZ-9eDjx_Du0Nud8Pq76PoFS5dSwoXKoyY3OIb2qAGrCAsqbha-CX9QfGn7PIzMZc6b1wxWk7zWBBQgyNcAaA8bCpjCCDKYbOS6-LaTpZB99Qszscki7Hfg1M9KCr7YpBWJEupPWPhX7wtGbO0oClApsycJFKru7knooIBhBmSyXi88a08ZKqBPNnqMVZWxV1s4QtHSZbFaQNbfRLLmQoeaNEayqfxqkL2unzvCa_5E-e1WWgtK1Ukt8Q2CtdeYTOyfwZQ8U742RPam_q2D2tLIjMzc8X6GY7KZEFTlrhMeJLT_NxKNNXOsF5qHiUqn7dV-I0aPDDQZ-QBAVpkn5AVsgiLlcd3NYdO-J_US6OSB7NjPzbdT-joT-m1eIgSkPVwe8QkIpNKcGM6H0zH9rDywLcbjuiHDJAIsfI2itcsxJcr6-b0Mbj4xMnnGr23ZOnTl_RVRHUJ-94r28qStINZrXMZ96t3KOOssqEHvF92XosAh_H3hx4wqKXW5Tb-Hqd7etpOtQO16TNK6HxGytxMeABJfdhSBnoK9ap6jxC45VsWugZ06bNfg6DGiaCdzHkp2FyY3-WJAu8Pa7JGa2XejKBa46jO91JlJDUW3SKKc5Rz9KOj39b_CDpNduirBi_i1M0jwST3OZ9uuhmJk_Hj34k74Qfbx9FMbaNupxUVPI_isSQ5JE9cxvOv1QtuaL5jrCv32XN27ML338D1EyhguTuPVQdANzcK-eGuOuANE2A3p1s9YXp2xvTRk47SGmbLR9Mq4Sl1y2xxODSa_1BP-eEtfESupfWXg0RORKTNExzcY9mPNrs1Ja-UtwtQa04FmkHhW9_24goxfxg7bAP7ruBsRg2gFNUww5YXBNcaZIt4UArdlcGNL-NdQ6okFhz8Oct8PtKppxLAQxmmmhF1PqAmxE0m2I0gkI9rLadCn-BADtuJZTHip3IxMvHkwxHj0xahcndZFJMrjr7G3zLv5BJMI04jO9CH5z1Ypx_R_noTWkIv_lZj_rPIapYndRRDJlKdz4y_rUxy3JMvCj6RU9mo_evZDKDWjJnxxAsQVuRTPgg5ruv8Mgnn4is1pHiTCY6fG21ujiJElfp8qS-KBcE3h0x0eT6Ne1punnj2h0Frx_qoVa-ilXWrv_34CkZKWEibM6jVq1KK2VAcpcNlD58l2ITd5k5_i6Yt2oa6s7-xRwTxBDtcLPtYyTyh1VuepQb4eag_Tw0-T2VYfDjYs5Gho1byA2KeNst3rOzEsHl94bjJFieC7vA8ZDfviK4GV9h7-gbVsAJwyTbBey1RF15rW354hhMWoLqymEwWPw0xAMgnS3hlY76RLCEgg9JQCLznhI8tmQD_H3cZoWFWChUrkBGUZVNwG88HrnKIFtlneqneKiMWEEdzQ0iHbjfOso1zkviIc_eLcbPfKwFSAWJXI7roOQofVQO11z_MVXMWjffi8T1a7J-hxIZPw_EQ7_e3AfPBYo-dmzPtpMe5nVaMNCG-RsZcABH3msL_9U9_5X72GEzk8VVlfnqaxkUvxEEysqt7-GHhAIpc97t0C5li6ArP-NcY8r696XWj9tkaM6aDkbuCFA6VNWZ2GJz1JWL8IK1A8PXxFDSRjOtx7jwpDlAaKXIE1utE1hr5fQ0x-_HR6KGKmPRCJAbIWsS1lfroYr7-zDhz3zhsT6vy5LjhXyp6-_QMFwqpm1IcHrH0zunkPuj1owGhejszXs87-6PkvX-hWsedObNiZXNDoL7QrRPIgtBNoNbIIvMDNhY4AAOYusGOlq6Omm_SKa2qmxMospak7kD8NHVBRhEopnmEZIYGskTYbJ2nl3KB5bz81fSJb4mmTHnXUA8Nr1R3tgMa_5aykP_jNJYcJZ5B9ExzAnLSMZrJ-2pWlShYY5YPPQtTtWsETqp4zJDP95vsnEsNtuP6_jaSIIaV9eGICBt6hDoAo_2w8Izc0lC3vaXye89-z3z_73uAUDhfEOiSg2XCFTuUM0_TiiUajiwxsn3u1BNzioCVCct36k0fH-nBH5mpatEjZDb7prweIIjVzFw2rzOAOCofWocUvgqIpLF8Blol-InV0X5tACyznLA6FG-sAP5cndOizbyyrj_y57qa1s5j9j-ROrvRj7EXz1s9AUaBI0wKwEFta8eBTA==",
  "id": "rs_0c5f6e667f5047d2016ab42dda001087d0be7aefa032048141",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.48,\"right_y\":0.14,\"right_z\":0.033},\"note\":\"The gripper closed almost completely, so that first attempt missed the bottle. The bottle remains in place; I’m reopening and moving about two centimeters farther toward its cap before trying again at bottle height.\"}",
  "call_id": "call_9axgMDgACuVuz8ADCRNb1ziJ",
  "id": "fc_0c5f6e667f5047d2016ab42ddc20e487d0a2c6bbbf936d8c08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9axgMDgACuVuz8ADCRNb1ziJ",
  "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, 0.7982, 0.6136, -0.3832, -0.0227, -0.0296, 0.9983, 0.3603, 1.9526, 0.894, 0.4774, 0.197, 0.099, 0.9951]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4734 right_y=0.1452 right_z=0.0394 right_yaw=0.1162 right_pitch=0.003 right_roll=-0.0099 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4427, 6.694, 1.7802, -0.0269, -0.0611, -0.0122, -1.1692, -6.6256, 7.2137, 1.7363, 0.0757, 0.1099, -0.2808]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875a0eef979c5ab287a5f8de3671c5c6d24dfca7f9639ee6bbfb2d5e59452513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671fa9a24d1d9e49a65199a73a6e15f0f18e4bb6fc06169b3582a2470fc196e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07844d30cf1116b4c537e76c7c7ce20e01efca1db95cfdc1942babe9af8949cd",
      "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 · 3.212 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, 0.7994, 0.614, -0.384, -0.0231, -0.0292, 0.9983, 0.3782, 1.6341, 1.1194, -0.1284, 0.2375, 0.1299, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4537 right_y=0.1394 right_z=0.1623 right_yaw=0.0833 right_pitch=-0.0505 right_roll=-0.0232 right_gripper=0.998\nstate[joint_eff]: [-0.3487, -1.0462, 6.7761, 1.8046, -0.0317, -0.0317, -0.0122, -0.9504, -7.2, 9.3333, 1.9121, 0.0757, 0.0806, -0.0073]",
      "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, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3717, 1.8763, 0.7879, 0.5697, 0.2256, 0.1219, 0.0113]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4573 right_y=0.1397 right_z=0.0547 right_yaw=0.0908 right_pitch=0.067 right_roll=0.0116 right_gripper=0.0113\nstate[joint_eff]: [-0.2803, -1.306, 6.8855, 1.7998, -0.0366, -0.0659, -0.0122, -0.294, -8.6769, 4.547, 1.2283, 0.0317, 0.0855, 0.9695]",
      "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, 0.7982, 0.6136, -0.3832, -0.0227, -0.0296, 0.9983, 0.3603, 1.9526, 0.894, 0.4774, 0.197, 0.099, 0.9951]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4734 right_y=0.1452 right_z=0.0394 right_yaw=0.1162 right_pitch=0.003 right_roll=-0.0099 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4427, 6.694, 1.7802, -0.0269, -0.0611, -0.0122, -1.1692, -6.6256, 7.2137, 1.7363, 0.0757, 0.1099, -0.2808]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875a0eef979c5ab287a5f8de3671c5c6d24dfca7f9639ee6bbfb2d5e59452513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671fa9a24d1d9e49a65199a73a6e15f0f18e4bb6fc06169b3582a2470fc196e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07844d30cf1116b4c537e76c7c7ce20e01efca1db95cfdc1942babe9af8949cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3hMOcryCYDqJ_Lgo8VY3chi8hicIplNstPhSVxVF34rh0sVQS-w-XmQ0tKu2ztHj7XIqcfyec6Y31QInuBpKqMryJWPr41LWVsY22hBI49qy0IecC-XS7I3aS589qwaJb7jPCbs9cqzF9mo4UC3kV64p1HEOxcXa80ENYIqBmSk3AP-0B233B3JlFWkXcIJ9DN8mxh6ZonNOJ-padtFXfmUFkiMI_KBDmeCXSC8msKR97XM_FNhc8IhMHJBk22CPJaoggtvhYGamFMv6-MCtn_9B-FwYONwK__z7ADBP_k1489htoFrD_DzgE365FMutTBlP0V0wTNpqkQbBEUHPI1VvMz6PLjQv4mlkGTa0R6zjN8Dw8eB1VSLLAQOcVNGRh7_8ad9BDKawyBgIQU0tKB8McmLgpPSNkhce983wqw-ky9dhU2PJqNxPXMjmxburumxqJTbC-ukmf_nzwPn7uzW0TqYjXsWDJHa89dBkknE0StgG71NjmCqB1RL7my5cJZxprO4sAQkYzosyfeZlLFLjEKIO8fGoapbOuesK9_1-Pc_n1Xx3OT5YPapbJLneqHNqkJaeeM9IMKq4RitDielLzKNhm0NrpbujGqGujakmuj73u7sTZq3CnkwI7zkY2W0LXqB4eW0wfsHy1POeIFKkh8UVK22j48ocLaFzOO_95MW4FhZspeaDfbc9wX_XVgJNQqFoc6EuwWGMOW22ZinaoAW_P7iid2ALZnahayG-cPg1xn8M5W2F7tA3hV3y9bVZ6oyOtaCdZ56swkjaCB6_CWNQd2HeSfqfefVV6UUDUsYp9VDk-MicoAA_UCdUYeNrJbemUpQGG-nqNxW9pzjGgL7GWnN1a6qRZmAvcWrtcp8j3DVwZIhFr8WBR_0B09jQ5lJ242-s2GTXODJkGHT6VyNp_L-uOoIq0Mt5yt-U5d9lnAo4ZSnUp3jvgsnEuvRw1IyyJhJQ4BisN8L1mI95dd1N-VNVQ4ghQlFFpPI-nqYcoYXlNu7WD_yQsqSCd83bGVt2nWHqX3Cnt_i9pRPzOw3Yr8oHEYTQjwSHMUPA7LKGsUzdH4xBB41UhnyPkZs2XcJtD-SOV1x4FL5JaPCyGpGCLWfi5OxfGHJnKFZVooHg_BcG5EothlbjWcMe57qd-YPCNAQS7nZTuUVCWPvI-MHdJz-rIOfD3RKbAWEAMFLBWs3eZygkN5Ou2oufGAV4-B0H7NHfg0RfkLdVrEba78wrrqcDtm5JGSVGSz0VaLIiWO9JVyRrc4chuzFMUXqKXGeDwSgJ6fpRddPNSG9Qu0rbPmk24SmKmNVwGnGyWgZ16tCGrbae2CTI1LD9B6HYhenNcjl93cTc7UuIM0pUM4w4Zp02w33c2mp-Y6WkG4Uew7snMN9m5FD8hBF4bEYFJbLcO7I5d9qlGiQVAleWgb-tERIb_oifm2P_kWgwjWgU6QghQVDX1tI3TH6dAyaQ2GofHUp0uvvL-k9uOnfrhDSqneGbbP5R6GfUjYt06bqDNMu0txLaKR0jYWUH8XQ9rvy8pUFYuUpgW9FFMYXCZuz0mcgIzbCnOkuAcJFOPtmu1K8AQylS6cRyoCrg7h_iz5PdwceNjKpR0uJR4IT3MyDsj2pAWIUjR2yiVDOYIjN5Vv1kZ_oJ2lSuNvgonIpFRc1hKOmnlWE4yMYvfuiRcj9PjDhUe7uJEkl_QCwUMF6qp_7-XoYkW9tPrGQtAwH6Tl2BobP_zplApnFM-1gKJCc96yJTXaDzc7_KP3S8ligbGWC-vQ1wYzMwE4YBXN80sKdeDDFqsxCB-g-jazFCKBn_FjNyJdtkYmckzIlmZiJmzWJIFl7Nesi4dPVvU4Esr7HKdIChEKSQKHrFEgT2RmNOnNTbBrihu3Mr1xmibS1fUjPN2eiZgpA6QjMPpzwyacj_atMrXQpzxADbfjGEVV4oD0nxexOyXS5FO0pxLjUHY-8IKKMJMdgqb8IQY592MG_6Az3W7lt_vmhAyEYJNkNoS7dKcxixTu8c5JbghVQlSF9xEdZTyd5WCXWByfVuB7wOQKvGkLH8MnGUT2omYwXWt_lCWjfKQuqSGxF7c=",
  "id": "rs_0c5f6e667f5047d2016ab42ddef22887d0bdc4940d9109506e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_z\":0.017,\"right_x\":0.475},\"note\":\"The cap is now near the jaws but still sits slightly to their right in the wrist view. I’m shifting right by a couple of centimeters and lowering to the neck’s midpoint before the second close.\"}",
  "call_id": "call_xHeP13ajSUICxJ4nvpeDwDbj",
  "id": "fc_0c5f6e667f5047d2016ab42de0faf487d0830026e7d3f177e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xHeP13ajSUICxJ4nvpeDwDbj",
  "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, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3096, 1.9633, 0.8631, 0.5659, 0.149, 0.0711, 0.9967]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4797 right_y=0.1297 right_z=0.0403 right_yaw=0.1205 right_pitch=0.0437 right_roll=0.0013 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -1.4974, 6.5436, 1.7802, -0.0513, -0.0464, -0.0122, -0.8957, -5.9145, 4.2598, 1.4823, -0.0757, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fbba16fe8e9c62f81e7ed93195bf05f7d1a9b20decc96c709f95ce1ba43564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccf84fb6ce3b1e7c3baa5fe10e5d144d5e51c1f63ac2ff1efe12beb36f31717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f3569a9e2ba1f8b453e7ad5d8fbaf5f4b7f3aea1413c9e5bb100a4db59224e",
      "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 · 5.958 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.3729, 1.8648, 0.8322, 0.3809, 0.2302, 0.1261, 0.998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4475 right_y=0.1356 right_z=0.0384 right_yaw=0.0859 right_pitch=-0.0602 right_roll=-0.0246 right_gripper=0.998\nstate[joint_eff]: [-0.294, -1.6205, 6.4342, 1.7802, -0.0513, -0.0513, -0.0122, -0.0205, -8.1983, 5.2444, 2.044, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0296, 0.9983, 0.3603, 1.9526, 0.894, 0.4774, 0.197, 0.099, 0.9951]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4734 right_y=0.1452 right_z=0.0394 right_yaw=0.1162 right_pitch=0.003 right_roll=-0.0099 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4427, 6.694, 1.7802, -0.0269, -0.0611, -0.0122, -1.1692, -6.6256, 7.2137, 1.7363, 0.0757, 0.1099, -0.2808]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3096, 1.9633, 0.8631, 0.5659, 0.149, 0.0711, 0.9967]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4797 right_y=0.1297 right_z=0.0403 right_yaw=0.1205 right_pitch=0.0437 right_roll=0.0013 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -1.4974, 6.5436, 1.7802, -0.0513, -0.0464, -0.0122, -0.8957, -5.9145, 4.2598, 1.4823, -0.0757, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fbba16fe8e9c62f81e7ed93195bf05f7d1a9b20decc96c709f95ce1ba43564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eccf84fb6ce3b1e7c3baa5fe10e5d144d5e51c1f63ac2ff1efe12beb36f31717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f3569a9e2ba1f8b453e7ad5d8fbaf5f4b7f3aea1413c9e5bb100a4db59224e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3l7n5GFARqiGWj3KwFfDqZD5TLVCkQCaSBF8tIB0fpopNpuIxFn4ZbW-wsV3fpruBuBOLaHbISldCyN1MOiP3DfFEceeIf7p4g1nIMMmnZ-EZbe8hBeO4nT1QPRHD5qsLBhpWAFGYdMuiZZKtBK9Y4vWcVqKp7RrEdgpWEdpJuYtgpY_-d3x0gF8vbkGBQD1Kb24qBdD7DypeimUZHGpnrkUkeSD4o2LtzsCYmwfFsJ7VVr5BgikVJoXlY3EHQSvmV_UUgJewCKHpNp_3MaXDQsFUcuQQlQnBvh05NxO1oju0ykWuA8pO0nI-sIRJrWzDbg3jpyCwil2m6JpQ9LWMg-8v1cxLRJWOfYDT61QTqlsJmM1XRqLvMmewg6ugsX_QLaFv2xE7oPl5X_LbKBUUh2pxlAi64OR4CwyFn0TAHVSSnKF4-EsjzDfUcfbCjpvVi40ALqwhe1znpBR8LaXLdDqvXE0TKC1wdL85UgdzxG1yBOCHZuSu-XneztIiy-hYvZ6YITEGHXT5bjZDsEfiX0FYaz9VBusL_mWpjcrKHkwMAzmtR94mCPCTHLDXI5MHHtNSLPopNzYD92PhWoMVtN3QUdC86lnhBvOjNplY8Aj0CKgGtvzzr8pKeWFGbhaBpEA1QF-GwxIvM99aYsn3guWaI4FfIblXuPnDSOwucDl0na3KGXgCT84xXVtSicuxNWDXLI8jjiASpy40L3OnP1aGgFWj5XEaZAtbe3o_zy72aE_XvHGtB6L0UQ6BlUhS11A0DVuyIi9hHCf1YHFJpWPF7iuYeYyi_VXLtYKOSxYl8qfW31yGzQw5s2lVmwLCCnNN_GIuPoNnb6gDH4fW1qy0hEmRFOO5jDYFbjMkumMLTBcSs6gvBQiTpyTQ3WKnRgazWQ0oE8Mm2aCkH49jDR6hLaX2kVdRHMjK34VFFv0fcWPycUZjlXwUmM-lXjTAqHD7o5d6lrbW_goKQh_SP6dGuHI1TnMugaQ3uu0bUkpljmjhMYt1bKwUGoSHvxuuPjVeNxi3DWk8A_rCGtV8mf2qK5qjUWQI71EvomZKlduZoz2fEHie6JCPV4c_Sq6r06qbnaSLsWloai1BhV9YUhBeJabnzHwPLUY4AWIgFjTtY1-V-2ysv61UWMzceMX4KD1u-UuT2OIWgrBcjbA3aM1wi5HfrMAPidJbKOYB1ov1_pbgyPN5S03wPS-jZ0a_HkbHCnxQ4IwPS5BwVz9tImu9mIgA3VMrTWsAJLY_vg6B3wt2YEPrCyja09CxEgHRqNeDB9JzemCQzjObHwlI21-iYzHD8JmYkHQmajkpjEnwy4joSY2L12NnjZTa5k6jcXFTYWJlXZIQUe7_q94Y4cE1J9V1tPtgGYeI09MWSQRvmIO7r1ea4F380CSAC1BO-EdMzQ_0xpeEnmXXDgWEb1ZwGZO18m4HYzUPsBskXE7wTPCpGl9wyCxi8pDhnRrwS",
  "id": "rs_0c5f6e667f5047d2016ab42de3a48887d0bcfca17bbc6b9063",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm’s descent stopped around four centimeters above the table, indicating the fingers are contacting the bottle region; the neck now lies between them. I’m closing for the second grasp and will judge it by the settled jaw opening.\"}",
  "call_id": "call_zka7icS4uIbCwsmiR4h9sy5n",
  "id": "fc_0c5f6e667f5047d2016ab42de43b8c87d0ab6daf41840a510b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zka7icS4uIbCwsmiR4h9sy5n",
  "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, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.2882, 1.9686, 0.8574, 0.6529, 0.1184, 0.0513, 0.0114]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4891 right_y=0.127 right_z=0.054 right_yaw=0.1346 right_pitch=0.1163 right_roll=0.0111 right_gripper=0.0114\nstate[joint_eff]: [-0.253, -1.6342, 6.5299, 1.8388, -0.0122, -0.0415, -0.0122, -0.4034, -6.5983, 4.6017, 1.1746, 0.1734, 0.1636, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cc352482c5e308edefaa5d965e652f0651969e3811298ae484019c8927a5b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b50ec5167a838ae2ed2656e810a1571ebeccb081f5982967496c0acc780cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b927f464de1b8c98ddb864658142790c5d8779a5cbd61549698142a60b4c9021",
      "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 · 9.73 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3717, 1.8763, 0.7879, 0.5697, 0.2256, 0.1219, 0.0113]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4573 right_y=0.1397 right_z=0.0547 right_yaw=0.0908 right_pitch=0.067 right_roll=0.0116 right_gripper=0.0113\nstate[joint_eff]: [-0.2803, -1.306, 6.8855, 1.7998, -0.0366, -0.0659, -0.0122, -0.294, -8.6769, 4.547, 1.2283, 0.0317, 0.0855, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3096, 1.9633, 0.8631, 0.5659, 0.149, 0.0711, 0.9967]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4797 right_y=0.1297 right_z=0.0403 right_yaw=0.1205 right_pitch=0.0437 right_roll=0.0013 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -1.4974, 6.5436, 1.7802, -0.0513, -0.0464, -0.0122, -0.8957, -5.9145, 4.2598, 1.4823, -0.0757, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.2882, 1.9686, 0.8574, 0.6529, 0.1184, 0.0513, 0.0114]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4891 right_y=0.127 right_z=0.054 right_yaw=0.1346 right_pitch=0.1163 right_roll=0.0111 right_gripper=0.0114\nstate[joint_eff]: [-0.253, -1.6342, 6.5299, 1.8388, -0.0122, -0.0415, -0.0122, -0.4034, -6.5983, 4.6017, 1.1746, 0.1734, 0.1636, 0.989]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cc352482c5e308edefaa5d965e652f0651969e3811298ae484019c8927a5b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b50ec5167a838ae2ed2656e810a1571ebeccb081f5982967496c0acc780cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b927f464de1b8c98ddb864658142790c5d8779a5cbd61549698142a60b4c9021",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC3sTeJ3YBYOQSx-H5xM2M9ugCZgNgyuRtle3Z2_usVwDbY-fS9BJrqdQAt9JuA5l5H5HPGbRljPJ9cNGgLbwq06VB5H1_hHxmVJwTN6415GTE2OP686isL_u15o58bJy43-40naWx6PpjJe5bRUyC66zK4SH6xgSCyPxEo4PWE3zWHJZjcxaJhpB8FDZ5O9yRHwoi9eYLAVYfQUK7Ea-qPJyuZgJR-GLVzonzdnbyvQwZBQNCJBHCMsRzfXwQz6psvSdyr3AyMK8bpdFMlNEdGedZgMBLe9y1zyG9DP3WV4VsdXI9YmzRFTKh2toWBfWnpO9i4Wz8KYg8Hzh0Z4I7v9LPTol4cD8y1YZLpTCP-67X7H4CykxhckdE0_OpcuOF06C_HW9j4dkPoc1p_U4LqU-GZdX1BviW12YGNBpn4qwAH5q4meH08SNktYIqx7Tnxuy3qsaIBqweFBGS6KMV0xRYYVdH_eivoyn7OWD9biBnQhHyzKSjMjQklMA7Jrw0oZB_131VT7czOAApiyjHHYnbXPIBw4EC1nV3puo3UjR25srzOU-FFc9RDaFxS7KlfTRL4mu2TXQzHOxtXGZb5LZp6bPhhLpt8d3AZ011egXgUwExeaDl_UFfwlhcC1AcFmhLqeftwyfA_pWk7NiqUzqJ3ln9K7Xhd21Sbn5S2mL67YnCH9454uK4kbMWYzir60FSC7i6T39Fkc4byEWeO4-rvVi5gjt7tPVBGooybsGE58gJnXWSj9IM7yDx353YPih97pvKbmGGyMfwHFq420lgCh7EP1f2NZ2PgV7RAdfqJxumB8HBGKXqBJXOxFIHNCfr3m8vLMzZmjo3IdTZ694zI0RcUOoLDChK4sif-nFYTEcwkvm76R4x9nOWMr8MdHWZ2mEAWallVCkg_hgv2tB7jFW8MBHftN_Ufb6BvmxLYn2phDaIqu_ZJoxuo7i-RmJPY8QnhF6g42KsRVyMfq55d_MebsMdTUNlqqIlsE4kPk7VzRYHPUVjDOzDc5PvLW10XUqYX6ZPu1DbvTKYV4i560wfXbDxfBiucABuZrKCu4BNMYniknA3GygRghuttmTlqAGe3huXuSyOSkEOqRTUPjn7eoU6HhOIGdQPsUXDJWQm6kAgTB6oA4uQXLsZ20_RW0rgTO-taRWCJRDJL8hxqoJ8HZxHh2pbFoeLXwIe4B3G-sjd5OAx1l806ru0bH7LuwzJJWBQWpX47gp9J_FgnzhlRxWN30IkTok9SXmiaLrzW6CRoAhxBPa36u782INxBCbm7FISYnvaJ0rNp2MLA62nCu5Ubxv-liXyZLOhmuGnzzTYhSEuEepH7-YKIqkHKi8ptvzE-s6iLb8k-Oyvk0zwlqhD65ta_J2vOyWJVsAib147xpo917VuALrOMVLKk0hG9sWWE8AzOeDGuzi4rI4MclHAV7xpIwfTzzzdNJdNJn6oH5jIPEi_1BX5b1JONGqXeU3YexRODz4vi9cOiIBP-ydDPr2CUPLMxmSTHLjMS2bMaaFr0Yp-SQxqbszVu3FOoULCQRvQenWhMFcN2RuFRcjyhmwabcjmJOjxapB2maJ-DIIkEPjHy_aS1BtJIpJykMujuA4wSKmAetKqS-k8XcfO9UibeEJl4w3tEq2RhDcd1MfeTcaa3DSk6UobtDDJDi_XFa7H1P0EXm51kagaq9Uu4nfRMTu5BkMmyUgSK-cTPlkLXwoBdKBvRaOmA68wx3G4lhoGQsuEph8aJvQn9Deea3t9PMWKOnHj3zCgKI9G89ya4LwCCe_9wWd_3Uam5pqvs0iOfrOd_ECILTrwhDXqRkPN2_zD_5cjfw0QqLTVbPSNatcY1UrYOVGMnsMR-p39SPUaofRS6D_p3uwtzqrBGZhXjjzmAnPZJ_hbrXFvOKJ6helI8knVNoTXQImctLugONHSrTpXHXbtvSTgqMhHuiVX1zu6KOav3I1fnWe8XgRjgEDroEXTe1ygMVaxCzof3YIuKebbUbQlTMfons9kGAGJqUjpOmyEDj5Ui2O83JsTfahMYLWjz8aPVuB0CqIFA4Yo8gEQ3mZAUYvunDJrBd1d5I_2WRX2ifZok8aW1gtXXJ-wkIC3V1TvQKTayv6Qj4PsKnQCR8-vxvEC786p-d0WYRVOkwF-Rm7E9pdZ0p5rjrZ6Yfxn-lfGVf5jd1sKgY3jGJ9slwjaBHVxaMe0389bOCrIioSk6pON7A0DWCo-RToh_-ViDUCcombjj7e559ALPq-8SNYsw2jj47438dlJzjkmn5lkh0gryh5pyprw0cOBwGffGE05cY2Sqhsc8JXaKa2aGNfmTfRmqIxbFBwEiTDDj98ZVtYgyJGNQHgjhwFd-TNu-una5sbpcH4dKShRVEey6yP_7iJEHqsrn2NioR-dE8_jcXSLJ2g5-KeohPYm2E5F1hqFs81KBbNKi-Mpc4KyC_xLmuIux3xTkzXnIkT51QYQineTrBJux0X1xDSBHEreEt6UEnzpx9Y1JbehcxKxHPAXylq7jrOFnB9CjOMoA2d-VOXI5Q08PFSxEwC3bjVKnlK3Jf8VAgKt0StmnTv0PUXal9ec6_BTQvA8FQRkDyxmpGXFVPlrmXfbD206zoMQ2uEZQi5g4W_Q2-C-9eJDZfqup94RUK7tfc3ZI89ZeK0V5sP4LlmptfYEIuvAv5C4nNX6YizkASdY1xkA9dbhTl2HJlrsRQPlZVKR9CwvBvVTvmD_EoS8ftgoKX9jhm_ippgd6coMFT9-gpkSAMaoPOn4AbUxgaKtxuhPup9wXIceU5x-Rcu2lEsxD-eMwxUaqIWSqZ9tdxTuwXj8taVDcKWw085L2-RZtZR6rzCblofOcJ4GD67a1ImwhAtbS5K_7eDVwIATi7dYIZYs1t30znWnZukq1DfRKSL2f-RViIsOnAatWFqbKfC544toUSkqavharkoquJTv_qAGpSXm_kZVyb6iikwG2hCFSa8Xe_RMuBkNAR6Nq7wlkkeMSyeXIAijnWD2UTk9j3wd2JM73fByq-5VSYeEnUxQQiOaLJXHvEERwJCL6eFNQJpQkOlYlzrLWhrzkjEWGSIIDQEWH6Nk8W82IVCyvu23PA99Gh5iSh3d-FQYtiKI2enb9hG1ilNPE6DeP-8XT0P86aY8JRB5nHJEJHH_PRwIot81xkCiCmHd_GWj6ml68IMG9-ZXgQDHhkTK69sbs65BwwFTbkrLFWCVzn3-J1B03v8O9OqmFQK9TnEyySsXYpd9_AYxK4ukjswZ5ZMG8cC4e9ZFnPuasafHUjsFGHAq-VyW829svfa8VR8KvTE6LCUrhN0TDfv5qFCMOu9Z1CXwd1EHZyTkgCP7j1m2kX_EjcOGx_LdHmpt7fddit1wQWh1Ec6NOGluB8gF-dkor-b065v-gWUMWTmI980nNo4_-7h_LNntydDB9EWkfT4brvBBErHDLUQjD7uTAZAgZdWJMZZ-Le5OLiL3SMQdr7RkkfM8oUwSk=",
  "id": "rs_0c5f6e667f5047d2016ab42de7421487d08150d5b0f5e3dfeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.085,\"right_z\":0.14},\"note\":\"The second close was also empty, so I won’t repeat the same grasp. I’m lifting and pulling back to expose the right bottle again and re-measure its position relative to the actual fingertips.\"}",
  "call_id": "call_xwiewBDMeI3QWUvFkMAWzsRs",
  "id": "fc_0c5f6e667f5047d2016ab42deb3a8087d0a49813999b0b5b2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xwiewBDMeI3QWUvFkMAWzsRs",
  "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, 0.7986, 0.6136, -0.3828, -0.0227, -0.0296, 0.9983, 0.2138, 1.5349, 0.8444, 0.1188, 0.0586, 0.0113, 0.9946]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4363 right_y=0.0878 right_z=0.1329 right_yaw=0.1332 right_pitch=0.001 right_roll=-0.0078 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.388, 6.5436, 1.8339, -0.0513, -0.0415, -0.0122, -0.5675, -8.253, 6.2017, 1.8584, -0.0024, 0.0806, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d014d7a777ec56d722b990ca04207d0e5e5ac8b09fd1b9e2ae1a7e8f36595948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8eabf11a8f76714ff4bf77b77c5e80a243335e923966adf001882e1c446c5ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d388a31d8dbaaea0ac2d0370f2931414323dc099ac8b89303e5c82f96c9fdba",
      "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 · 3.804 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0296, 0.9983, 0.3603, 1.9526, 0.894, 0.4774, 0.197, 0.099, 0.9951]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4734 right_y=0.1452 right_z=0.0394 right_yaw=0.1162 right_pitch=0.003 right_roll=-0.0099 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4427, 6.694, 1.7802, -0.0269, -0.0611, -0.0122, -1.1692, -6.6256, 7.2137, 1.7363, 0.0757, 0.1099, -0.2808]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.2882, 1.9686, 0.8574, 0.6529, 0.1184, 0.0513, 0.0114]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4891 right_y=0.127 right_z=0.054 right_yaw=0.1346 right_pitch=0.1163 right_roll=0.0111 right_gripper=0.0114\nstate[joint_eff]: [-0.253, -1.6342, 6.5299, 1.8388, -0.0122, -0.0415, -0.0122, -0.4034, -6.5983, 4.6017, 1.1746, 0.1734, 0.1636, 0.989]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0296, 0.9983, 0.2138, 1.5349, 0.8444, 0.1188, 0.0586, 0.0113, 0.9946]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4363 right_y=0.0878 right_z=0.1329 right_yaw=0.1332 right_pitch=0.001 right_roll=-0.0078 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.388, 6.5436, 1.8339, -0.0513, -0.0415, -0.0122, -0.5675, -8.253, 6.2017, 1.8584, -0.0024, 0.0806, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d014d7a777ec56d722b990ca04207d0e5e5ac8b09fd1b9e2ae1a7e8f36595948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8eabf11a8f76714ff4bf77b77c5e80a243335e923966adf001882e1c446c5ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d388a31d8dbaaea0ac2d0370f2931414323dc099ac8b89303e5c82f96c9fdba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC32tBHJkTkLEHRz7bUmR5_O39KlRsorjX6ZCllKvrg0fbLChcgLBMFVBEPYGKpCDiqp7yRd392av_X05QotaotxNzFUjPQTM-TUgw_pKxHqk9mJ7ZHCW7XvpoqIhwEs5wsOIvCT8ny0YvSNI-M87gkA13x0-kdvaEqtv0X2NWdpLIbpMgkb9tEVv6RO8l4Gs5axzRX-AxwY5t_GlysTJF2xdiyTXqt5uJHZb9NMRAP3U-CHKEwe_zHfePAKk0PvgdEObmNhZDeewRqYcNu5PXAHdiCcIuMVCAmne7AQatx1R065SayF_Q3J6kOoFDz_zmQ3OjP6QD3z3dCiorf4DqGTK-cZsxbaWG5UlzDVl6a2L4osrsf1i-uhBGtG-9k_Uq92m_G0VnFkU28OYGXXB9i8ISbGpqPsg1LjccyA8jxTgUQMAuOhZx1rDtljRLrisE5UWg-HYdz-_iBukWS9kxXu6BWSSXxd6kb0fstkUtYNZFGoHLI-Oe0ZtODxY8ubMbt6CWShRp872rMk-aWc1oFFe5S7POgctM6LopjJQ-CnoVhxz598nt3LZMrh6b_Bl8MBo-uHTayHgtH0KLaqMLfs1mjOEAg1b6RxfO-ovbmw7yFcApVzBzbI-dObqeGK1zwLCkouCSv_J3DyYbIT6G5TPKTQ54Xs0UB4u2-gNFAVlJcH9BfjUfVVmw7SHiYvupSUzV0SBULg81Co6YLOfwp5ofP4Uim9UwxNFl2K1UGbNauSEjPgqVZ1bbkMnp1LiCjg9IYRN2TBzKg6ZSlQP8yYHRpLvxOPyB3Vs-qi7Ra5zQvMUfH1g8B4WGnOoSDgXBb1G-Fyi23yNF6BJaYcB_BuaqFvUkonFvFdzJeL71aNDDndZxwLWm2wSeQruy1niUwKNnf1CnrDbkFcqVSxyBKom2jotK_SAobOG2wYacR1O12nuCny8PfB_GAUXh-T0EHjyu_y_GI0RoxvJyta1d-3laX018i9ghSZXWzvInG6hdZouLzijgI0hg83mFWBP829HFsC645LybySCs74LZTX4QP3qDEcOf_Y26iPjATiCadJWH3-yFncjLgVfJmNafRLPJYskHvQ9qOCNGm0p0it9ZcEow0ibGX7PmtklGh-XJJcQowr_cgrVHl_0k4Pzo8WzQpIX3d68d-F2oaAtiuvbNRAXhHmwO9kSM2DwvWzGcGv2_vsSu0pbVYyCun8DLsP8tjx-6OZIz_DhQpgRZ0vjhhFjYHEArNW_TDkgMOPDgZ9fHTHmCbmTS1VI18b1jHA1ix0i_06l5elspoAHUnp2K1uVF9FHVjPdHRquid1p4iZWEhb9aUjdxLxFHs6MccsPa1dhTeWxH4Y25e5Dljv4pzYxSo35pO-p53_wBI0d2C2UPxhThvF7tn7EjSyenXS_WkD75zN-PtnKUP89Fkw0bghlEDbmGfkGkZQP-6RjdXPQTEUOdgkOwQkCmnTmeas3q6XGBKyz8w5Mvid3FGddMSZsqMqqQh8IQauK52d3g9D97vmuWhCYZX4vXeokDAEeBmwBl1BmZZPYZj_Lvk717YVocyrwngGf1V5pJ2Xi8lqIQX8izX4bWbbalozOSWJeXejvp1Lt-vAKmp8NmJ549-v1iBS34Yh3CWJStaBLJqmV1jKBSRGAHgQzHSMY8Ah5jEqY4L9Qfp4WRn1GfkWUzgJV08Id3euD9r0uLDrq72mKLFe9k4jnZukfv67STPqJsW2Hlc2MJKAZd48A8xYMMOuw46O2A6QDv2y0BiVRrG3mHiV2oyLVwedLPMwC-wiC6YAd18Dis9QPbxIB5Ol6T-SqqQLV0m43b9uoYol7vqT5hGXoRk8g-nn_YoMkUTXzYvn3aWt1Ams69jgXdDMQ9V9xH7y_8wBJM7QkFxR39FPGmM-tV2rHauga6-8aqxejdQBLcJlibJwgAl44KBGmneCtzVfE3MYZHKJHBC6B__I5cKgqMLyS6UWB2-grmiCUOD9FtQ0qVt1Sbcblyk7QPw5FlYUgCueHj8u6QZsuzhbljm2q60gDkBNdJ_VpnS4_qp52jOXXzUBbwHxjOYgff7lvDw1g6gzUEqN40-zQd1fWkIJ2dMZFXnu1bZ2g-pGgbALgWAz2qnrwhaWIhWkIkGbSM3hEIAAE9qmKrIJEhR9JTRsRRi7wYkD6GxWmLnV3fgbrejY8h_vek3Fy2tV6up39TGsGqpbTq0m4gSZ-y99oGOUQhrklM0R9EoFaT3mAszNGJBjCbNjyt7d-q7fPkDIVFl8qjrZ4jifJlVRRC0Px2utKsnp6ZLn-V6RoJdbBhz0Qjx7c_Q2yBe-Ohd5R0EdO65uT6bwDfwDLMRejsIKWlr2adCpra23rRG1iT0wczjgaNQoklAVVg96E9Wn7QfEJ7KfAisernS0S6zQgFJRKabE04MgopUoRc24ccbF-x3nWm5UZT1EPlBGtUPl2Rads_pYyJvuD-GXZhkp0rRL6EG3Hl0NS7RWtkuQaq2YtbRmkW2gQYgAIMaz_Z9kid_YbxmLRR7dZbgCbW0vNYGWEPFDrlgaRAfrnu_6xjD5FJ-bymMWqTt02xsCw72T6vpaJDEQb3o2_d1pqCtemL5FQALgvLo_KxEFv5jjvxSzspCV5sEqdm_syI0MsrH6ItD2TUXeMZm3oPTliobQfYnaq1nysYp783CiEt5ZSdwyvknkhvQUCOwMwJsBfsmkmI0LMiwVW8aOnGPWljj0v28MExHD8S4OwHyjPcbNnGvnHoj0qKMa9A1GQV6sTR-JxmvEsgsi63IriWye9jYMQlevEli_JNT785-_KYG78nii5uBn9HCAxEK_RuNeGp1gH58Cdyr91LXDU1IVnTBEME1Bu1XM4VE9wko0zCtk9J6up_1cikUdCkV7ijA5AsDskRUTkgMWbyUTX9OixozsueajUbEtuEhUHmtvm5FQR5j20frnc3s-EQmR35fpNiZmYkCKvUB6JjqUU3viaknDGGBLvHSrzIq21ubxRRo03lc_KpHzgu7lwS2dfSH1ADpC-YJ-JoXyesslRWbiHTmVBlFaFrIzngfFIVIibhA-k8zE6z-dJYCG_9RJ_IVAdJPrZyqnGMASavNMG4FbOtU1ge8GsCVLqkrYV5b9B_hs_bAhJ5Ri8s-8siQ_HciiNIkSd9guAZ2OdnIwTMoLNWmxEcJjHKoERXjUuKkkNmylIUjP-UEO29ff4zpNcb0oxv8-wbg_kmNJX_G1V4NgopNjZNlX242B8vlckxULvTl440ZUPSgWSVrbZ3mNtzsW7ysUPlMl7urC7NNs5WKiRuk2FM26EOizLDRbdAMTpgRcMwW1yU2LhENhTnZ_3eNc-_Zn_MBohrJ5Jjsq8hhpYdlvSeoEUXm-Bomb8mAKR_eUr8cbWlUWgB4qklorY8GeigkiZ89yoSLVF3ArFjHnt1fDoe5iCm9NGuLvHNSkhyS0HbuRhAfieKtJkc44SoSQzySVs9Z2Smam1QT0aAwtTJ7WGW69I0QSeVAtn_T7ZJ-cxOCjaTQ7mozHH6YcRkirufTW6uSSwM0WGSww_BGOk_15nzflKsbfHPsSTzh_4Da_dVekOtK9xTqJbgdls-K1AktEgNBmJgOwCcMxhoD_dR7gsV7cREkx2VIXdd8ydkld145ag0oAoS83F82nBQVewTEv_URHoJ6sw4mwD9jodTnwhT8=",
  "id": "rs_0c5f6e667f5047d2016ab42def2af887d091b7b178332777ce",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC32GeU0iK5Vye-pc6UFMR_Ne2uC9Wdvv2gUYfRv3WF9r3GMzmugiJObNaqkaLo2k9qKvByitTBJ9WEWaxVjOo_VLfc80eOL3Gp7Pduk12J8_ExkQxCrylsj0LNQAUa9iVgXVQ3musm4x2esFONSy3JHb5QtnHoL5PXEwLPf5rMTiXBI6yp4fkiVsMTkdxFpXS_Csgc4DEjBe4gp8Io31AwhOPXPjOSZEg9U0rHisGN8RnsiT_PpmmQfsa88BOxqKwjdxr9zmBXLwz-9Ldxyrxq5STNAOW7BnIXNTgR1_wn2iCLhms7h3o3RxpGMZPlCa19etu8vMUJ121R_pA51vIouGQjhuJPVjDjdMHGXbHujCkArtuHQhiNChOvvPRa7nARhUyf1Vhf0qVpi96MXK2OkAp0j4S60BRTaRGzUh2fmTq0V2T3xwUvmoXVJ8cXNUmysNymyDdzE8o1j4mz17zA4bcHE2O0mBJwiY99cGT76F1dzgTiw9VWrKgQaRT9M9YUJWSA4AZ1g0jov77_COqV_nJwRVrmoCqKI8b9sHpVlI6NutXpgLSzVoL_Dkb3oJqbLj_bl1OpOItUIWRP2cSZ5evs_eosg1IoRKr-Vg5jNTLSPWipRwjjbyUg4fU6uZPQIPG4dy_4RSu6eGxTgoh8JskiTiv8Ohggj58qbml0BhyOtOtlj9VXPZp_IEbmGHrpky2D8ofLr7p2Gu1djCUVeG5-wbAfVpdqrliJh80MsXZr_8bTEj8YeJWqSmMJYgjPKtd7DNpR3euhrjkbhwHHIHBWqpX-KT9eN1g2qBcq_jsNg87GvRGSr40k-bt5O-eOgYja21q8IDwIzHzm3jxutiStG8493JXQOJpzwEkbCUjC0Ru_51bpJ6Xqs8mXmorydZ-cw5n6DnAwKyhxN3SpPpJ2-mLIS00Q-InO31w-4imwhzJE4da0h50jZQC42KbbIcq285XKojEVK8I922m0DNtd5vkoCsDQmqWAtiideX0OVuG3It4xXOvc6husLJMtoMbGjzkCRp8qQKz4tufx2Q4TEuKEF3J05H0A_Uyw_5rePed6Sue4S_gcKFHaY880wgEgq8eDPlXuwZQc-xyAiq8cY4GTALu7SFX2xFq7GjugJrIS9CjFPJwxGYmV-iZ2VLabQ4Dw8L5W76OMutN49IV4vTK4azPQqObIDrfeW2KGfDJgacc4d_Wak2Ciwx1R56VeaT39vTnwOCKCBhKLwoGMFS6yxB46XUA3Rk_cVAU40Qa1dK2Yeva1dlmLefgNquDVF9jRkL02XxQnPmsK_yedepjpdCbrkHeiDEPlx4zFVM0ddC9QqXCbzHBY0W0wBUbc7_WvTUSt-PoHupHXasaXvoT3uI0HQpVu0Z9nZN7nxxWpbeBNYMO1hQruwZNK5tN13SG4WaxHvc_q0f9WXp695BiCdWAFrzgq5bWGWrZAFNSOEIYxf6OB2_4M_ZQGC2MP72U63miDn9xOMN57wi6Ko6cwv00FtJN-AvlT7UVp8cRRl_Z7BoC2LJI7ko20IXVL9yWbd-MS9uSjdTZzL_l5O7NIHXVaPwMx1BzJz1lD_4U66fMojWXD5WgjxADob7qYyevidMppOMwe4NFF8BJnppWUw_RYNFUQbM7iQQprTVRlk0PTj0f44PEmVAoLQxp2SANr1uDYMGp1qwsVo47BalUDoLu0ai-XgM-VhyoiGroWD-Y21wuDpyur2sTO930jCECJB-5vmI3QdBvEKyb-M4XGMdeUJRbR5uw8q1UxUdMROsfc_VHYrj0wfbKk1fKN8rUAA_9MEaGdpDiiW79-4IklV_ZuJq3Rr8WZmO3F2cjl1DkL8zOgjBetyqjUJdUqGNFoMxN9TvpK7Q7SicNJ2zHQH7jeMeTz7xiBwow-J_GssvMNlBNkrFz4qRpvo",
  "id": "rs_0c5f6e667f5047d2016ab42df4bf2887d0b15d199c9b8f70d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.115,\"right_z\":0.065},\"note\":\"With the arm backed away, the bottle’s cap is visible just left of the fingertip column. I’m approaching from slightly farther left and aiming for the bottle’s shoulder instead of overreaching past its cap.\"}",
  "call_id": "call_o3ZVn99yPIy7rRpjOIbN60sp",
  "id": "fc_0c5f6e667f5047d2016ab42df61c8087d0b711c094b531d624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o3ZVn99yPIy7rRpjOIbN60sp",
  "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, 0.7982, 0.6136, -0.3832, -0.0235, -0.0292, 0.9983, 0.2825, 1.7386, 0.7666, 0.3119, 0.0963, 0.0406, 0.9965]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1826 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4322 right_y=0.1115 right_z=0.0531 right_yaw=0.1538 right_pitch=-0.085 right_roll=-0.0147 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.5658, 6.6803, 1.8046, -0.0317, -0.0366, -0.0122, 0.7453, -7.5966, 5.5316, 2.1123, 0.0757, 0.1587, 0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b417d5d9c248d71ea0fee8a340bffb479a95bd2488692656fe432d7d8454cb55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f2979628c7c7ef740594efc14b7c8bd524e9038f47c515d6ac7efc75830ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8c75832c82a24759fe3611fac438126e9cdd273eda85f1ac12bfaa4881bd70",
      "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 · 2.216 s

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

message 43 changed as sent

message 51 changed as sent

message 56 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.3096, 1.9633, 0.8631, 0.5659, 0.149, 0.0711, 0.9967]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4797 right_y=0.1297 right_z=0.0403 right_yaw=0.1205 right_pitch=0.0437 right_roll=0.0013 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -1.4974, 6.5436, 1.7802, -0.0513, -0.0464, -0.0122, -0.8957, -5.9145, 4.2598, 1.4823, -0.0757, 0.0317, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0296, 0.9983, 0.2138, 1.5349, 0.8444, 0.1188, 0.0586, 0.0113, 0.9946]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4363 right_y=0.0878 right_z=0.1329 right_yaw=0.1332 right_pitch=0.001 right_roll=-0.0078 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.388, 6.5436, 1.8339, -0.0513, -0.0415, -0.0122, -0.5675, -8.253, 6.2017, 1.8584, -0.0024, 0.0806, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0235, -0.0292, 0.9983, 0.2825, 1.7386, 0.7666, 0.3119, 0.0963, 0.0406, 0.9965]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1826 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4322 right_y=0.1115 right_z=0.0531 right_yaw=0.1538 right_pitch=-0.085 right_roll=-0.0147 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.5658, 6.6803, 1.8046, -0.0317, -0.0366, -0.0122, 0.7453, -7.5966, 5.5316, 2.1123, 0.0757, 0.1587, 0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b417d5d9c248d71ea0fee8a340bffb479a95bd2488692656fe432d7d8454cb55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f2979628c7c7ef740594efc14b7c8bd524e9038f47c515d6ac7efc75830ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8c75832c82a24759fe3611fac438126e9cdd273eda85f1ac12bfaa4881bd70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC37h8oQTrmgT3QjpIYwgw3o1Mw9aicoFakGRFxT0ebGSKhzMDbS6SlEdlKAOMSFcuVkfa2OBqheEW_bZusnjWKPL5U5zHIU9l333_YnqbeyTlsAcTYyJ1DKTAhoqTvlDF9LeeSFvKfVBe4xvFM_nEfpsTaB8kTYfLOYVXl0EAjeP4bv42jQW4CSl_jX5AEgOhqE2prPDx4MYIOA6UkmBHYQVXuFxfEPnz_wnQ2L-lbVrkpQSkqQjXn2t6v6E1WGL0XvnL7g0_FAXTNMt2d800WypIyWMnA8B0GyHl9P5_MhcMZXzJOQlbzS3U-P8Nm6KtDJjJvX-1j5ZEIukKiRoIws3udPom4KKCRjF9I7EMvx_QekJjkeGr7Q-wxVVsuEIODuaNQCBUOtayZWJfNYHwlXtQZYg_EO5bSkLAHygZlVfo6cydqn5b4i_kGohShmxNW4JIdW_wx78-y8MpiD_mIVPC2YbfYfdVBhJTzgV7QLWNSzA9zml8xAUvhFl1ubXoxgbfNAnAM8Zm5uF9jfgBn4LtMnCF675Bw-aLBrgo_6X3sR2ZhyajO4eTCnr7HGzu71yG0C3hwI7vkQi80YKzbTU8gg95_66Fb9tq-jeX8GQLZ7Rhd-YkESoYPeQu8bFZ2lk7_qhHZdWswz1osMmfl6YnlAXZnva5LwLkFFSKuSlMMfNX5AcKEA42OUunnEJfXi-BAzLcQSN4WnI8MPfzJwr_xga82MQ6YmTw9nFdOJHX7jXH74T22iR11XvME7MuowOT72nuYAMuBc4o3HvsCEZc6DlqmfGSNQnbylXBKUJsk0nLxSEXQTCZrw4Ofj8hm1IpZGkVE4UiDx23w2LNkXk1gfL-7gKEU-7N2R_wKgE2TpRi5HZUHAeUxDosIx3Rfnpv6GutFVqU1vYDex-SGgwZcJyRHzBbG_9Q3rAGSQPRuNIE_yuVJ_HL6weENIj3vlx9hOWEkBxqGeBt1IUKtzAYKHR-Oh-H3qdcXokwhhemIC3ny_uawvMriOK3YN4bi5_eDBwv1pUka-QRv3-6wxdIAloL6adlEXRxTFrLljJw9ygiJqNjHnZqVsmdbtn245-ivmGJUrsLQL8to2LEoR9vA8yKu29S34Vht6CfjyZCIcYGUrNOrdSQc65SU0vUcdOBrTrwzfVwyVtlIhBb3eaYNMcD5Bd1u65oYMQt9ukf2kif1IG_fLycJeuhT-w1kTdlNZtqrvbM54yc3SX-87bVCpT4WpbUiHdsb5zM3K-h9bDkr3db34Gu6iMqQE10TsOM4G0I2xgbRoc1dkGCKHmGphrSnKyK9dyKaCu83nvTMtsupLb4eBkKSjpffcd4PHS4206y5VFS3Nxu7453IC4LMVDG6Gc-b-stHebYKh_BaCd-eKZNqpTgqAE3b09ynH0UlN0iOpXzDJzBezc-0Is2KNsD3JOpRUKQY7LD21lmsBv6gM87pkgzuCKC4ZbbOCCik3fXuQRwbge7_ANsfRcqWxnX9Bk4XRZGxEAnoqacXSveFzSlOcsmXszyjsvymy48JUt34MTy6CeF6gdky2tjbyKjwVJu4qmfcCAezrEY5TYPFfOZWCuPMcpGTcVcHUXZPqXaeRx68XFTwHbbt4cxSArDr24tWxznApJ84-T0yWvSbHkcFzU1apav163cyMmmn5lwT6hQIv0tdqO-MJQx37VvVyOUkYU-13oZWhvnMJHL9gfb3B8D6ed7cCTrW9etcFEpVG-9JCRtdedxyYqmgfbFdLq81x1u6PTPYBJNtRGvSQbG3tOL6pBbnsGtAL4cdTwNxXO57i3uFGHkgqnUMcF4hX5ftE1QfSpo28gd8PtXaOizQZzOoy1vIcx5VaSbm7laGYkndIHcwibtwdFdEWU9XzL6REW27GiG0vtYkLho5GFW4LK1fa7aYLoCNhwZKJCwcJ5UOGHG2Xh30_KjLh3NsuSJ9_feODEE35pzIcgOdXvBwoDXJoTP2exZDa",
  "id": "rs_0c5f6e667f5047d2016ab42df8318c87d0a54f3fca56cb9d43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.11,\"right_z\":-0.005},\"note\":\"The right bottle is now centered on the wrist camera’s jaw column, with its shoulder extending down toward the fingertips. I’m descending vertically to bring the grasp point below the bottle’s top surface before closing.\"}",
  "call_id": "call_Ig9okHiZE1YMkTwmHrnQKFRt",
  "id": "fc_0c5f6e667f5047d2016ab42df9f08087d0b79e4820598293db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ig9okHiZE1YMkTwmHrnQKFRt",
  "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, 0.7971, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.2813, 1.9064, 0.6559, 0.7399, 0.0906, 0.0471, 0.9968]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4414 right_y=0.1146 right_z=0.0276 right_yaw=0.1541 right_pitch=0.0629 right_roll=0.0129 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -1.4154, 6.7624, 1.8095, -0.0415, -0.0611, -0.0122, -0.4171, -4.1915, 2.8923, 0.7937, 0.0024, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66dd959699e31465137ffe17d8ec2f254fa529927d8749236eb6c3c57e78c65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc191e8ab6850812471278487007ea467f5d18aebbb49c6f4827bfbdfbc093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483ea28468c48ee1903c53953ec7a466b9730239f3c595105e1404fcc4c5e39b",
      "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 · 7.175 s

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

message 47 changed as sent

message 56 changed as sent

message 60 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9983, 0.2882, 1.9686, 0.8574, 0.6529, 0.1184, 0.0513, 0.0114]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4891 right_y=0.127 right_z=0.054 right_yaw=0.1346 right_pitch=0.1163 right_roll=0.0111 right_gripper=0.0114\nstate[joint_eff]: [-0.253, -1.6342, 6.5299, 1.8388, -0.0122, -0.0415, -0.0122, -0.4034, -6.5983, 4.6017, 1.1746, 0.1734, 0.1636, 0.989]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0235, -0.0292, 0.9983, 0.2825, 1.7386, 0.7666, 0.3119, 0.0963, 0.0406, 0.9965]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1826 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4322 right_y=0.1115 right_z=0.0531 right_yaw=0.1538 right_pitch=-0.085 right_roll=-0.0147 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.5658, 6.6803, 1.8046, -0.0317, -0.0366, -0.0122, 0.7453, -7.5966, 5.5316, 2.1123, 0.0757, 0.1587, 0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.2813, 1.9064, 0.6559, 0.7399, 0.0906, 0.0471, 0.9968]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4414 right_y=0.1146 right_z=0.0276 right_yaw=0.1541 right_pitch=0.0629 right_roll=0.0129 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -1.4154, 6.7624, 1.8095, -0.0415, -0.0611, -0.0122, -0.4171, -4.1915, 2.8923, 0.7937, 0.0024, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66dd959699e31465137ffe17d8ec2f254fa529927d8749236eb6c3c57e78c65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cffc191e8ab6850812471278487007ea467f5d18aebbb49c6f4827bfbdfbc093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483ea28468c48ee1903c53953ec7a466b9730239f3c595105e1404fcc4c5e39b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC39DlY7smHAkRldLT15yG3NCkBjNGBEE1_hK-oy3izz1hxhBtfql2LkwexaE_0G3nSGjFkqrvlgUJQ7M2LLzagBPXn7zAVl40y0ag5u7xpbw7hTb7AQ58lhlhJzhvK7HsEtG8-HptoffIqHXgapRWIqBGytJt7RpgaSmQdP1IXAJIW1g30dVFCegUMbTvKGdlMveWqQHHRcirbCD80Q5NhyNpNDik9PDIhOlwOyx5FhTm6a-tXu0o8HY6CKBc8Ie54xbodxbI8JCkY9dyO_UgEq9alilIPOSDjQdh74psTUfh6CatcClNcNqSq5RBAINQcJkIuT1-71jJ69wmLXZPjWsHmMMG99KgawJ_MXq6RsiY2oSmlYsGG5ApIGrrWZIDqwiwstmGBNW8KinxhTTzONoJmf-1-LMivShf_0MI2UORQW6rcttEQJXfGEN1i8e8HqaGhpJeRs2UfI-5QC7oPTChU8HI4lvZ8RG65omnCa_PCRRaseYilj3FAOvjZpenBkGZWVAlS2UvG5qm93yaaqlgkpCWX9QCPU_uJo2-PBV5cpgWllowf9WyBRLMsnNn6aYKEMpQblL5ncH4I4j4k8zs1pzf8_wwM2J6lMnbTsihd6JDUxR6zkidT3f43dY0xeeFtelmUmUiHMwl4gx0a0r9Ohg2dVbxyw72KkXdx26XJpEf7UUN1mr408EKV8HOIIFz08VSm3W_d4xVu88_memkdugd4tEOwCANxGWNp3yaKBfMzKY1SurF8tw7flqIhZ5O8Fe9ADryHIk8WDcLqRSG2y_SWzpbh44tpXo22Nqag97hH85D0CRMpCw0ruFKOVljUlnBexsbkEdLwq4zA6V5n4HM5cLEoA6Ic1zurnIZGUjsredRLTMM-QNugNrxlKGlHwYV_rtmjZU-cC4sZDMYlls5STls5Adhl6h4U7D6ec3oYPBHH8MWv_iDcdIHqPj829XzNssMlmO_s9G1KjHoL0EJxrVvwstJhG4RwmEX_b1w2YNM_fz5_Jet6gPVNDl61tlRDT6uV786M-pJ_sYXJ4K9t_4inzWs5RvzkEDc9thiTOpYOaM1CZnCID2xYRF5LOYdo2IHWLVMJ1nEsn7_gppk_NSuIUSHd78JCsh1O_FKKE4f_oXMUB9gdk4UZ4QyyqekHdR5JMFUEE1vlFww2v8zmvn4kK6qeKH4pxJShUPzmVGPmIvcG1DtoXMQugAeAJYl2r4l5wLi3Ds6wKDiNLpimQYYi4JsIdd0rBMlQ4_dYzY5p8rJ20fZGMMIT-wPymnjTHCM3wZQoJjxIQrjweQHgKnDX3EAAc1c-UOcxIVvzGUcs5sXU9qI8_vs6ZD1ufBhY0DvwasvSt2-iwFPHeuBJQPd0eEkhgLoKm7JF-T_1NiYBbI6LLjdl7mlsf",
  "id": "rs_0c5f6e667f5047d2016ab42dfc7a1887d085582567ffd25c8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws have descended to roughly the bottle’s mid-height, and the right bottle’s body is now centered between them. I’m closing here, at the shoulder rather than the distant cap.\"}",
  "call_id": "call_iwLJYXpOhIbf237StSZ1g8ZG",
  "id": "fc_0c5f6e667f5047d2016ab42dfcc47c87d0b8bb07185c73e382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwLJYXpOhIbf237StSZ1g8ZG",
  "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, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2821, 1.8633, 0.7086, 0.6998, 0.0769, 0.0357, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4555 right_y=0.1216 right_z=0.0569 right_yaw=0.1721 right_pitch=0.1177 right_roll=0.0157 right_gripper=0.0118\nstate[joint_eff]: [-0.3624, -1.6342, 6.653, 1.79, -0.0317, -0.0659, -0.0073, -0.1026, -7.3915, 4.6291, 0.8913, 0.2418, 0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5928a3cbbb150309e133500d310625161fbde1aef1924d02fe32ac000895c940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53566a7952a0ae22a74bd0f03b09bf772f9327fa859cb5abbd5fd20b3bacc4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11289450b47b5590193fdcbddfb835bea78ce928784d9e739c7f7934218b3da6",
      "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 · 3.674 s

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

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

message 51 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, -0.0227, -0.0296, 0.9983, 0.2138, 1.5349, 0.8444, 0.1188, 0.0586, 0.0113, 0.9946]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4363 right_y=0.0878 right_z=0.1329 right_yaw=0.1332 right_pitch=0.001 right_roll=-0.0078 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.388, 6.5436, 1.8339, -0.0513, -0.0415, -0.0122, -0.5675, -8.253, 6.2017, 1.8584, -0.0024, 0.0806, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.2813, 1.9064, 0.6559, 0.7399, 0.0906, 0.0471, 0.9968]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4414 right_y=0.1146 right_z=0.0276 right_yaw=0.1541 right_pitch=0.0629 right_roll=0.0129 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -1.4154, 6.7624, 1.8095, -0.0415, -0.0611, -0.0122, -0.4171, -4.1915, 2.8923, 0.7937, 0.0024, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2821, 1.8633, 0.7086, 0.6998, 0.0769, 0.0357, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4555 right_y=0.1216 right_z=0.0569 right_yaw=0.1721 right_pitch=0.1177 right_roll=0.0157 right_gripper=0.0118\nstate[joint_eff]: [-0.3624, -1.6342, 6.653, 1.79, -0.0317, -0.0659, -0.0073, -0.1026, -7.3915, 4.6291, 0.8913, 0.2418, 0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5928a3cbbb150309e133500d310625161fbde1aef1924d02fe32ac000895c940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53566a7952a0ae22a74bd0f03b09bf772f9327fa859cb5abbd5fd20b3bacc4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11289450b47b5590193fdcbddfb835bea78ce928784d9e739c7f7934218b3da6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0c5f6e667f5047d2016ab42dff84a487d09b0914680a1db7de",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4F13EboO1BSY-wiTetYReqju8Er5XowSEv1G4ItQ6Egq3m1Z5HHzK6nazm1UxMQQqAhJ6XGsBthdmL_mB-o6XakrgD4H7fQjBFDYlIEaKL6vumXzufFmKla7uV01Bbigmqn0GtDvJ3sDO1shTVN9k4oTAR1F8_KRN1WlI_2iri1hBYZkrOO3_ZlI_QrW7yDCN8ydSqYiAC1-mZM5ojPhF8yhqk0KPNxrzlptf_php3xIC3vIgNQmUMtWelR1nZ-zjeBTNTGn6Dwcjk9RgPSxBEfHEbZrM3SMuf9ngab3B_b47qYrXb5aRdT1c7B4c1jR6TgJ4mMxIFncJO5IGukd5e7bd90vLbm7XDk7fD3jnVFyO39m5YoB-JtSA-8jRYcjCDglzcdiGLXlCgQy-D21-bqBsQX_7LBFXIN_uXEhsE-G4s6JZhrM3218x00L01rKyXLZxHeZWyAU1zzMF58ZxyYBFh0tqBo-HHi4iubRomF44nR6mG17mpuziu80bX8Dz32Tei1zlOPDlJfbA5a43eE8nTmO8de-bOfTE1xBcoUFV9a4hFnONa9H0pMO_O0MSbO5gHJsziDO8Njrq-hJCDFVeZDGUzDtKElSRrIWA8n5i47j2KKujxuZKBTEQeBu8PFhQZ4bwTgtv744eBw4e4twEg8viYW0F2MoUEGsGe_vwiiUa1ra-9DjNYGwuBaK8K51FPxf_i2QjtNkZn9EJ23XKgXM9mfozhSTEVjbPR0dEEy8QqfFj-T7cyF9ePnpl0N4vFBr4U2FhtJKj9EKEQeGvf2RcQmH-jomfgLYkLk36bm5spgGEO608YxuCebklUE_0DLFHr3g99hV-tscmzcqva4oBVwKFuzBA_rWdeNDlWDnwTHCeK1eAD2LIYVsQWF_AdbmwED31mjS3j17B_G3kiXdUy9ylVKaVjlfj5FSHL-kWgB006pj6npHQ3YFHVMsa7gv6fbu2lvUE4OEZ0oo-KQG8sCOyCEGaaYtMO0DqbvyV6ATIl-7oa_Vir7N9Cp1orp5yhDCslP_M54hulKdylGwCM7YI8eyFBmPCOFb6zAj6gCI7j2BpvrLejOmnabLJdlmo9-k4czLqkU05X4SZKSV3VM46sELs4blDs5uWT1BEk8bnSzBV6TTZ4-A9fXbheRwgz33D-6eydG0BbjrYQcj0eM-knHs0avrZ5E-3aIyFLQJKfXrE7rhyJdLwrW4PXpacB4PqY8xReIXbaiA0kddNWQy9XmqPThFxc8oeLt-fWSxgwowSE8aRfONz5103lXppeXVhofzzemnLaPNtiSBbC41C0nvVaChODHPOOUmDh2kpyMm8E-eU21cw271FVRj2rpadSXb5doW7ZUvjaY3Z_o8xJ2GdWvzOD0OdnB6S1QCaTYm0tqqFzDQRRYSDsAzeVNR8qAmPzA6m_aTme-mLOK-OZJdR2qVTM1YPP0np8gtCHF3Yu7nvXrq6ZFlIsMERKeJc4CMdnpNr8mg==",
  "id": "rs_0c5f6e667f5047d2016ab42e040efc87d0b69410d6218a1ccb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.12,\"right_z\":0.1},\"note\":\"The jaw reading is still effectively fully closed, so the body slipped out during closing rather than being held. I’m reopening and lifting clear; I’ll switch to the less obstructed middle bottle instead of repeatedly pushing this one.\"}",
  "call_id": "call_JxVaB4UNpCAR8TgeJJb6DdKN",
  "id": "fc_0c5f6e667f5047d2016ab42e04bb0c87d0a1254c56d266c186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JxVaB4UNpCAR8TgeJJb6DdKN",
  "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, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2955, 1.6459, 0.7696, 0.2764, 0.078, 0.033, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4297 right_y=0.1201 right_z=0.0866 right_yaw=0.1867 right_pitch=-0.0263 right_roll=-0.003 right_gripper=0.9946\nstate[joint_eff]: [-0.3761, -1.6205, 6.7077, 1.8095, -0.0171, -0.0611, -0.0122, 0.1983, -9.5248, 6.4068, 1.7705, 0.1197, 0.0757, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891f2eae561f31affa153f3dc4b4bded40bf6334cf8c3b1f3b7081cd1819d7ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bf42311577c1cbf256b9537388a1328bf0bba3356fa1e34e2d825a942db7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3896fa5de58f6b65f9cfe06dc0e3e0e72e5d32c7c1bf580dc5a5ef196dbb94c7",
      "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 · 6.644 s

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

message 56 changed as sent

message 64 changed as sent

message 69 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0235, -0.0292, 0.9983, 0.2825, 1.7386, 0.7666, 0.3119, 0.0963, 0.0406, 0.9965]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1826 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.4322 right_y=0.1115 right_z=0.0531 right_yaw=0.1538 right_pitch=-0.085 right_roll=-0.0147 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.5658, 6.6803, 1.8046, -0.0317, -0.0366, -0.0122, 0.7453, -7.5966, 5.5316, 2.1123, 0.0757, 0.1587, 0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2821, 1.8633, 0.7086, 0.6998, 0.0769, 0.0357, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4555 right_y=0.1216 right_z=0.0569 right_yaw=0.1721 right_pitch=0.1177 right_roll=0.0157 right_gripper=0.0118\nstate[joint_eff]: [-0.3624, -1.6342, 6.653, 1.79, -0.0317, -0.0659, -0.0073, -0.1026, -7.3915, 4.6291, 0.8913, 0.2418, 0.0659, 0.9841]\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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2955, 1.6459, 0.7696, 0.2764, 0.078, 0.033, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4297 right_y=0.1201 right_z=0.0866 right_yaw=0.1867 right_pitch=-0.0263 right_roll=-0.003 right_gripper=0.9946\nstate[joint_eff]: [-0.3761, -1.6205, 6.7077, 1.8095, -0.0171, -0.0611, -0.0122, 0.1983, -9.5248, 6.4068, 1.7705, 0.1197, 0.0757, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891f2eae561f31affa153f3dc4b4bded40bf6334cf8c3b1f3b7081cd1819d7ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49bf42311577c1cbf256b9537388a1328bf0bba3356fa1e34e2d825a942db7b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3896fa5de58f6b65f9cfe06dc0e3e0e72e5d32c7c1bf580dc5a5ef196dbb94c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e07b03887d081ae347faf2c6fe3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.42,\"left_y\":-0.3,\"left_z\":0.12},\"note\":\"The right bottle is still lying down, and the middle bottle is unobstructed. I’m parking the right arm and moving the left arm above the middle bottle’s cap so I can approach it without crowding the right-hand gripper.\"}",
  "call_id": "call_Oke041Z2MWfGRO1YoSiEykMP",
  "id": "fc_0c5f6e667f5047d2016ab42e0956c087d08ebb8811baa57143",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Oke041Z2MWfGRO1YoSiEykMP",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.9404, 1.2915, -0.1387, -0.6781, -0.5606, 0.9983, -0.2138, 0.8288, 0.5835, -0.3889, -0.3199, -0.2386, 0.9964]\nstate[eef_state]: left_x=0.4145 left_y=-0.2911 left_z=0.1109 left_yaw=-0.0042 left_pitch=-0.0232 left_roll=0.0133 left_gripper=0.9983 right_x=0.2915 right_y=-0.0028 right_z=0.1646 right_yaw=0.1571 right_pitch=-0.026 right_roll=0.0044 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -10.2222, 8.5538, 1.3797, -0.4518, -0.0659, -0.0122, -0.3077, -1.8667, 10.3863, 1.6532, -0.2613, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62928f757b4ac4fa1cae4bd8690667a1783992eb22117841b199824771e13ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e280a82d1f6ff91fb557ba59f5b8d1f2214c16e6ca7b025be1e28dbd6c27ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794911019c5519cb3f726237beadf9c3c76109cdda0d7bd90bfbd958114741e",
      "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 · 7.458 s

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

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.2813, 1.9064, 0.6559, 0.7399, 0.0906, 0.0471, 0.9968]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4414 right_y=0.1146 right_z=0.0276 right_yaw=0.1541 right_pitch=0.0629 right_roll=0.0129 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -1.4154, 6.7624, 1.8095, -0.0415, -0.0611, -0.0122, -0.4171, -4.1915, 2.8923, 0.7937, 0.0024, -0.0757, 0.022]",
      "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]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2955, 1.6459, 0.7696, 0.2764, 0.078, 0.033, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4297 right_y=0.1201 right_z=0.0866 right_yaw=0.1867 right_pitch=-0.0263 right_roll=-0.003 right_gripper=0.9946\nstate[joint_eff]: [-0.3761, -1.6205, 6.7077, 1.8095, -0.0171, -0.0611, -0.0122, 0.1983, -9.5248, 6.4068, 1.7705, 0.1197, 0.0757, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.9404, 1.2915, -0.1387, -0.6781, -0.5606, 0.9983, -0.2138, 0.8288, 0.5835, -0.3889, -0.3199, -0.2386, 0.9964]\nstate[eef_state]: left_x=0.4145 left_y=-0.2911 left_z=0.1109 left_yaw=-0.0042 left_pitch=-0.0232 left_roll=0.0133 left_gripper=0.9983 right_x=0.2915 right_y=-0.0028 right_z=0.1646 right_yaw=0.1571 right_pitch=-0.026 right_roll=0.0044 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -10.2222, 8.5538, 1.3797, -0.4518, -0.0659, -0.0122, -0.3077, -1.8667, 10.3863, 1.6532, -0.2613, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62928f757b4ac4fa1cae4bd8690667a1783992eb22117841b199824771e13ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74e280a82d1f6ff91fb557ba59f5b8d1f2214c16e6ca7b025be1e28dbd6c27ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794911019c5519cb3f726237beadf9c3c76109cdda0d7bd90bfbd958114741e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e0ddc8c87d09d03d943d7084bdb",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0c5f6e667f5047d2016ab42e12459087d0b1587d6fc49ab4ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.265,\"left_z\":0.045},\"note\":\"The middle bottle’s cap is just left of the left gripper’s jaw column, and the parked right arm is clear. I’m nudging the left gripper toward that cap and lowering to the bottle’s shoulder.\"}",
  "call_id": "call_zziLYBV1g3XfoPcOrJ6pBMLm",
  "id": "fc_0c5f6e667f5047d2016ab42e12ac0087d0a9386279caa0534f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zziLYBV1g3XfoPcOrJ6pBMLm",
  "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]: [-0.749, 2.0537, 1.1706, 0.1413, -0.6285, -0.5072, 0.9983, -0.223, 0.8177, 0.5571, -0.3931, -0.3374, -0.2558, 0.9952]\nstate[eef_state]: left_x=0.4405 left_y=-0.2628 left_z=0.0508 left_yaw=0.0216 left_pitch=-0.0166 left_roll=0.0011 left_gripper=0.9983 right_x=0.2865 right_y=-0.0013 right_z=0.1556 right_yaw=0.1718 right_pitch=-0.0399 right_roll=0.0073 right_gripper=0.9952\nstate[joint_eff]: [0.6085, -9.5385, 4.8752, 1.5409, -0.105, 0.1197, -0.0073, 0.1983, -1.9214, 7.159, 2.0049, -0.0269, 0.1148, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6871b47d207ed3543abcb4ac980f2a0279acf39011d9208093b7cf710dc1b855",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4799ba7c523a42594c3795e9a19f3cd8c2100f8ef4b7d4f10a084475238cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415616101a3a2d383bc815484a69b378a9324c40a44d458882d73c0b6ee4afb5",
      "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 · 4.937 s

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

message 64 changed as sent

message 73 changed as sent

message 78 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2821, 1.8633, 0.7086, 0.6998, 0.0769, 0.0357, 0.0118]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4555 right_y=0.1216 right_z=0.0569 right_yaw=0.1721 right_pitch=0.1177 right_roll=0.0157 right_gripper=0.0118\nstate[joint_eff]: [-0.3624, -1.6342, 6.653, 1.79, -0.0317, -0.0659, -0.0073, -0.1026, -7.3915, 4.6291, 0.8913, 0.2418, 0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.9404, 1.2915, -0.1387, -0.6781, -0.5606, 0.9983, -0.2138, 0.8288, 0.5835, -0.3889, -0.3199, -0.2386, 0.9964]\nstate[eef_state]: left_x=0.4145 left_y=-0.2911 left_z=0.1109 left_yaw=-0.0042 left_pitch=-0.0232 left_roll=0.0133 left_gripper=0.9983 right_x=0.2915 right_y=-0.0028 right_z=0.1646 right_yaw=0.1571 right_pitch=-0.026 right_roll=0.0044 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -10.2222, 8.5538, 1.3797, -0.4518, -0.0659, -0.0122, -0.3077, -1.8667, 10.3863, 1.6532, -0.2613, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.749, 2.0537, 1.1706, 0.1413, -0.6285, -0.5072, 0.9983, -0.223, 0.8177, 0.5571, -0.3931, -0.3374, -0.2558, 0.9952]\nstate[eef_state]: left_x=0.4405 left_y=-0.2628 left_z=0.0508 left_yaw=0.0216 left_pitch=-0.0166 left_roll=0.0011 left_gripper=0.9983 right_x=0.2865 right_y=-0.0013 right_z=0.1556 right_yaw=0.1718 right_pitch=-0.0399 right_roll=0.0073 right_gripper=0.9952\nstate[joint_eff]: [0.6085, -9.5385, 4.8752, 1.5409, -0.105, 0.1197, -0.0073, 0.1983, -1.9214, 7.159, 2.0049, -0.0269, 0.1148, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6871b47d207ed3543abcb4ac980f2a0279acf39011d9208093b7cf710dc1b855",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4799ba7c523a42594c3795e9a19f3cd8c2100f8ef4b7d4f10a084475238cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415616101a3a2d383bc815484a69b378a9324c40a44d458882d73c0b6ee4afb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e176c3887d0b5fbce327006b37a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.31,\"left_z\":0.012},\"note\":\"The middle bottle runs diagonally across the wrist view; its wider shoulder is to the right of the current fingertip line. I’m moving the gripper rightward along the table and slightly forward, aiming the jaws at that shoulder while lowering to its mid-height.\"}",
  "call_id": "call_N7ebGrnxlxrqgH72UOpZXE8e",
  "id": "fc_0c5f6e667f5047d2016ab42e1a7cd087d0ba9e0457083c0d63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N7ebGrnxlxrqgH72UOpZXE8e",
  "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]: [-0.7975, 2.2204, 1.3403, 0.218, -0.701, -0.5556, 0.9983, -0.2249, 0.7971, 0.519, -0.3733, -0.3431, -0.2577, 0.9951]\nstate[eef_state]: left_x=0.464 left_y=-0.3071 left_z=0.0457 left_yaw=0.0551 left_pitch=0.0716 left_roll=-0.0662 left_gripper=0.9983 right_x=0.2828 right_y=-0.0 right_z=0.1481 right_yaw=0.1756 right_pitch=-0.0364 right_roll=0.008 right_gripper=0.9951\nstate[joint_eff]: [-0.6769, -8.5675, 5.6274, 0.8767, 0.0708, 0.0708, -0.0073, -0.5675, -1.8803, 6.9675, 1.9512, -0.232, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7db5396e15e70b3d14cf19532038a4dce44e2ada618c14d02e7cd894015dda6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b6750de909aef20b26b68cfc5b6079012e678959956feb26b0e5eb4c2ef731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1b80fa0bf28a8ccb3b8e1f0eef8ae74afe5efb1d5b7a750425c0a3391ce2e2",
      "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 · 10.24 s

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

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0227, -0.0292, 0.9983, 0.2955, 1.6459, 0.7696, 0.2764, 0.078, 0.033, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4297 right_y=0.1201 right_z=0.0866 right_yaw=0.1867 right_pitch=-0.0263 right_roll=-0.003 right_gripper=0.9946\nstate[joint_eff]: [-0.3761, -1.6205, 6.7077, 1.8095, -0.0171, -0.0611, -0.0122, 0.1983, -9.5248, 6.4068, 1.7705, 0.1197, 0.0757, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.749, 2.0537, 1.1706, 0.1413, -0.6285, -0.5072, 0.9983, -0.223, 0.8177, 0.5571, -0.3931, -0.3374, -0.2558, 0.9952]\nstate[eef_state]: left_x=0.4405 left_y=-0.2628 left_z=0.0508 left_yaw=0.0216 left_pitch=-0.0166 left_roll=0.0011 left_gripper=0.9983 right_x=0.2865 right_y=-0.0013 right_z=0.1556 right_yaw=0.1718 right_pitch=-0.0399 right_roll=0.0073 right_gripper=0.9952\nstate[joint_eff]: [0.6085, -9.5385, 4.8752, 1.5409, -0.105, 0.1197, -0.0073, 0.1983, -1.9214, 7.159, 2.0049, -0.0269, 0.1148, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2204, 1.3403, 0.218, -0.701, -0.5556, 0.9983, -0.2249, 0.7971, 0.519, -0.3733, -0.3431, -0.2577, 0.9951]\nstate[eef_state]: left_x=0.464 left_y=-0.3071 left_z=0.0457 left_yaw=0.0551 left_pitch=0.0716 left_roll=-0.0662 left_gripper=0.9983 right_x=0.2828 right_y=-0.0 right_z=0.1481 right_yaw=0.1756 right_pitch=-0.0364 right_roll=0.008 right_gripper=0.9951\nstate[joint_eff]: [-0.6769, -8.5675, 5.6274, 0.8767, 0.0708, 0.0708, -0.0073, -0.5675, -1.8803, 6.9675, 1.9512, -0.232, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7db5396e15e70b3d14cf19532038a4dce44e2ada618c14d02e7cd894015dda6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b6750de909aef20b26b68cfc5b6079012e678959956feb26b0e5eb4c2ef731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1b80fa0bf28a8ccb3b8e1f0eef8ae74afe5efb1d5b7a750425c0a3391ce2e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e1d518887d08bc7055f87aada92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s shoulder is centered on the fingertip column, though the downward motion stopped slightly above the requested height, suggesting contact. I’m closing once at this new alignment and will check whether the jaws retain a measurable bottle width.\"}",
  "call_id": "call_FnceScj5EcVEwU6aYmcBV4yk",
  "id": "fc_0c5f6e667f5047d2016ab42e1fb88c87d0b0f9d261c2231065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FnceScj5EcVEwU6aYmcBV4yk",
  "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]: [-0.7979, 2.2288, 1.441, 0.1047, -0.7349, -0.5774, 0.019, -0.2249, 0.7784, 0.4843, -0.3504, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4734 left_y=-0.3106 left_z=0.0628 left_yaw=0.0907 left_pitch=0.0737 left_roll=-0.0557 left_gripper=0.019 right_x=0.2802 right_y=0.0009 right_z=0.142 right_yaw=0.1788 right_pitch=-0.0295 right_roll=0.0044 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -12.4103, 5.5043, 0.7546, 0.1294, 0.0757, 0.8132, -0.7453, -1.7709, 6.8444, 1.8926, -0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf42d98e9394f9fc1d4ced4d69ed003d614e1737205bbb563d5eb6c29cc0916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28854470818efe3d1c875e3b631c3cbd1bcd596c63678724ec298102d542acf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf5846f9d94731fcf720f1504dc66e2d9ed1f7c4c5c441b87c40414c79bbaae",
      "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 · 3.73 s

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

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.9404, 1.2915, -0.1387, -0.6781, -0.5606, 0.9983, -0.2138, 0.8288, 0.5835, -0.3889, -0.3199, -0.2386, 0.9964]\nstate[eef_state]: left_x=0.4145 left_y=-0.2911 left_z=0.1109 left_yaw=-0.0042 left_pitch=-0.0232 left_roll=0.0133 left_gripper=0.9983 right_x=0.2915 right_y=-0.0028 right_z=0.1646 right_yaw=0.1571 right_pitch=-0.026 right_roll=0.0044 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -10.2222, 8.5538, 1.3797, -0.4518, -0.0659, -0.0122, -0.3077, -1.8667, 10.3863, 1.6532, -0.2613, -0.0269, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2204, 1.3403, 0.218, -0.701, -0.5556, 0.9983, -0.2249, 0.7971, 0.519, -0.3733, -0.3431, -0.2577, 0.9951]\nstate[eef_state]: left_x=0.464 left_y=-0.3071 left_z=0.0457 left_yaw=0.0551 left_pitch=0.0716 left_roll=-0.0662 left_gripper=0.9983 right_x=0.2828 right_y=-0.0 right_z=0.1481 right_yaw=0.1756 right_pitch=-0.0364 right_roll=0.008 right_gripper=0.9951\nstate[joint_eff]: [-0.6769, -8.5675, 5.6274, 0.8767, 0.0708, 0.0708, -0.0073, -0.5675, -1.8803, 6.9675, 1.9512, -0.232, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 2.2288, 1.441, 0.1047, -0.7349, -0.5774, 0.019, -0.2249, 0.7784, 0.4843, -0.3504, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4734 left_y=-0.3106 left_z=0.0628 left_yaw=0.0907 left_pitch=0.0737 left_roll=-0.0557 left_gripper=0.019 right_x=0.2802 right_y=0.0009 right_z=0.142 right_yaw=0.1788 right_pitch=-0.0295 right_roll=0.0044 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -12.4103, 5.5043, 0.7546, 0.1294, 0.0757, 0.8132, -0.7453, -1.7709, 6.8444, 1.8926, -0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf42d98e9394f9fc1d4ced4d69ed003d614e1737205bbb563d5eb6c29cc0916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28854470818efe3d1c875e3b631c3cbd1bcd596c63678724ec298102d542acf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf5846f9d94731fcf720f1504dc66e2d9ed1f7c4c5c441b87c40414c79bbaae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e23849487d0b3595940d8aa0da6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4rEsQyGDUHcgmf7J-nsmbXSx7ismRho3TdDa5cczNVcxUgpeQI5CfhhoepqOpdGFlgXnvBpETIjRnWbVvl7t2L31EzilJEKYOcpW_Vt3jDiamUFWxkymPyWArH_Wo69EYeKvtPRlu8dVTH2mwtIMuDGvznT6JpR-WIhf9kMhRtEoLZ6R9cJTgobyUnR3VOJxLGPqQqvhGC4voaOPT4X5zCc3MEUG8TuIOdyccxGMpmbPJKre9BA96VixXBWb7Qd-OlQ2YOLIVk47yPhVLS6hVHrKGPdRi99IVRiA1SjOTXn1864VRVvBA8TISA_vseZQsv86uqutnfATu8SVtdk65UWGXLy-e4QRedCsK12QsoFbsDepnPc9cbDpDlszFjfgvdxKi3JzfFhPgDvR5C3j-BNM-3GxEbYdLoQ7DhHrI_Z7b94nXaRP8FIhW55A3VB-OeOuBGKF9josE7sADgEOj-4odnRVm_DLoTfp8uNNriw5-YExfXeXIWpGqobnVlrnVXrRh3UaLECxbqEBZtb8ZZUv-1CEFNlbrtCr72np_DOblmnCp0cT-l3OabChQLa9LTq3jFYGGwjpaqr2g4QlWHQ_ApYDRKf7fSmZktXTUNHrMBlOzyeReb5t39Zt82_8iujceSzezBnRY5fQnh4LrOmubEmpZVZue3uwJYrmbqmimfOLbOFg5iWDzZPSkHTzI4fp_fG3zH3AilVlQ-moWXCoB6yTmagoksiIhMOXGrLr9_mxAWVfwM4zYDuU5fV3E1fWArrDKCxMON6n3d5qTb8i6FM_GA2Qdoq6BQ5x0SAVjMK2ysLjqrE8-cF5q-0gWNnbNLGoocoLafCj63XOq0qJaz-QX959zEwqssSFPQgNrYRGUG4fV09ulI9UXJdYx0gmfu_KYZuulrd8FXaKShtXYjrqECV97jP2WBzfBnjqhsAMvJKypSMMw7CAceTgLX58o6eJpaexaCC0yfJGubHHqzr2SdGtQHozKm8jZ6uRPUsTAJBND_BsLQI5_Xa6D2dQfAKoLnSMrCPcexxpnyWzGMiQwQqx89QG6nRWh9LRV7QAbJD3Up8FP7PFWZQH7fx4v9r9tdeE0S9B58n8uE1TiG1ZVfXt8TThXqElzSi8pHpnLzX_1TwGe0pGTOfe7z8lApKU6Wdxu0uVj_dspPElkJud6yBbLz-mxKIkAp9lR31XbWXrAsBgwTHxcwRMkLmXr02gCKCtGg3I7Ot2cnczgEZZfKSxGFRXjqVZpNxvCT48WdtfDluSmmL24msDs_iy2rP_iMZiT5jc5EuVLNXjS6YKz5Ev7-PUOB4aWluhyY9THl99RKYKVuEUeeD2oCaOnmI_phzIYiI2BDyAbGY2F9m69m4rdiRHQzYCOuu6EFXUbuGXg8NcR4IK-G85mHsC5pP3xP2arIMtdtUDGacy5lzGg4aVIcXL9tcFO5LgTifqJ3UzvQRpAIviKnx9IMTTqE6IXfPW48iJeiX1aSu7fBPQ4SqaU1AM0juXBMXK6qRps-ykaKmHCQrI-Grmxx9n5suuKXxTAA6nQL0sfZ-kLLsyIgQEbJJ5_-S-pIqlEnkzRCcwTWxAKMkwJ6Nxh66-ZhumzaEoWik1dza80oKUIR4I2-_1C7KG_HuurYQUboBt7-KlopKemDf1HmgbK71UcaBFAQXjLmpXm07q1GIvyWQvJigxbm2hI0_YwmThJcS8wNRiRyL1A0CZXx3mdHb9s8kpz6y3IP9d4FKZtni3dlA_ZbOq8qbaOwjMZBsQrAAD-n1jraxErJcgCOd3sqnIxv2Hb2IwSztgprnJXAij1EHZxKrOzZ4Bn6zy6bxEvxr5VR7rczLH3RmV_mkJ_hfQTiGLa2ZdotQ8svXw75sH-hIKet54Jv6ry8nNgo_IEJmiE6hSImTS7igPBX4CbbQpjY8SXKzffPBFpyTzOGdojAmS-ogeWyo_yZ9CgnwaZIoO4VOsXsTsTFzoEJdM2ihrAIjWCtFfT5UzawWZ2vHcXfSIDrdkx7-p8EVMi9ZqRRwGm5_xDBMfFdEHafPahvBtO5HaDyWcYj6HKK1SyFb01-wnKUTkKAUdTe0OgsN8HGe_maGxb1PG6W4a_WjAtfZVY4Cn_xklze1d2szYfj0Z8pKGt62DsQMirm2vZWtYUZvCmdOcv7Ut-kDJG1gBsF",
  "id": "rs_0c5f6e667f5047d2016ab42e28baac87d0961537aba0b06bf6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.345,\"left_y\":-0.29,\"left_z\":0.065},\"note\":\"That close was empty as well: the visible bottle was still ahead of the actual fingertip contact point, despite appearing under the jaws in the wrist image. I’m withdrawing toward the bottle’s nearer, wider base, which is more safely within reach, to try an accessible grasp there.\"}",
  "call_id": "call_vTigFewPJxYHvrTvpHsxop6t",
  "id": "fc_0c5f6e667f5047d2016ab42e2acc5887d09179f9d6972d9efc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vTigFewPJxYHvrTvpHsxop6t",
  "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]: [-0.997, 1.9823, 1.1088, -0.0746, -0.8253, -0.7933, 0.9943, -0.2249, 0.7639, 0.4568, -0.3382, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3507 left_y=-0.2969 left_z=0.0505 left_yaw=0.0634 left_pitch=-0.0222 left_roll=0.0151 left_gripper=0.9943 right_x=0.2773 right_y=0.0016 right_z=0.1358 right_yaw=0.1788 right_pitch=-0.0302 right_roll=0.0047 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -12.7111, 5.9282, 1.1893, -0.6716, -0.0317, -0.0415, -0.8137, -1.3744, 6.8308, 1.9121, -0.2418, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3cea6e45d4cb7d3da6d61769a95d523e5b9856a8b6aa676b3639d1d91bf255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dd3b3c1495a61d993879cc8fca1cd4c9015ea9299861b2ef8ec8c3b436df7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b8b3a8aec0926ce7e898a73e08d3987d670dfe23022207e6cc10ba3c5307fc",
      "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 · 3.013 s

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

message 78 changed as sent

message 86 changed as sent

message 91 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.749, 2.0537, 1.1706, 0.1413, -0.6285, -0.5072, 0.9983, -0.223, 0.8177, 0.5571, -0.3931, -0.3374, -0.2558, 0.9952]\nstate[eef_state]: left_x=0.4405 left_y=-0.2628 left_z=0.0508 left_yaw=0.0216 left_pitch=-0.0166 left_roll=0.0011 left_gripper=0.9983 right_x=0.2865 right_y=-0.0013 right_z=0.1556 right_yaw=0.1718 right_pitch=-0.0399 right_roll=0.0073 right_gripper=0.9952\nstate[joint_eff]: [0.6085, -9.5385, 4.8752, 1.5409, -0.105, 0.1197, -0.0073, 0.1983, -1.9214, 7.159, 2.0049, -0.0269, 0.1148, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 2.2288, 1.441, 0.1047, -0.7349, -0.5774, 0.019, -0.2249, 0.7784, 0.4843, -0.3504, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4734 left_y=-0.3106 left_z=0.0628 left_yaw=0.0907 left_pitch=0.0737 left_roll=-0.0557 left_gripper=0.019 right_x=0.2802 right_y=0.0009 right_z=0.142 right_yaw=0.1788 right_pitch=-0.0295 right_roll=0.0044 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -12.4103, 5.5043, 0.7546, 0.1294, 0.0757, 0.8132, -0.7453, -1.7709, 6.8444, 1.8926, -0.2271, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.997, 1.9823, 1.1088, -0.0746, -0.8253, -0.7933, 0.9943, -0.2249, 0.7639, 0.4568, -0.3382, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3507 left_y=-0.2969 left_z=0.0505 left_yaw=0.0634 left_pitch=-0.0222 left_roll=0.0151 left_gripper=0.9943 right_x=0.2773 right_y=0.0016 right_z=0.1358 right_yaw=0.1788 right_pitch=-0.0302 right_roll=0.0047 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -12.7111, 5.9282, 1.1893, -0.6716, -0.0317, -0.0415, -0.8137, -1.3744, 6.8308, 1.9121, -0.2418, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3cea6e45d4cb7d3da6d61769a95d523e5b9856a8b6aa676b3639d1d91bf255",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3dd3b3c1495a61d993879cc8fca1cd4c9015ea9299861b2ef8ec8c3b436df7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b8b3a8aec0926ce7e898a73e08d3987d670dfe23022207e6cc10ba3c5307fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4wf4oknYtwLu22cT_b2gJULQviW4uUZ38kBhmWMvAgEYUdFbCaEtCv3CdgF8oIrw9yjJwbq_dDr9uKVWXkH-fYLpMk2QLcz2JhEr5V5jJPSRtyVy6ruesZliCZvcIc0OzJYqneG8ss_zK6WOHH4Tmy0iCXQ9Q-FQS5pNxpADTr5P-1POtn_vQEINACfASkr1FSga7rVKFvBkahftqJ0DonVyajHvucgR3JNuHGWUEXYH80VM1naHyBI-21kYzyM_F7U4SE5zGTcSVxLCB0LFBhhqLzAJT3VARtVTSY-_4boUlksYk2yGUPd6e01TZ87rFcBkk746uSAjAEtfDXUhwe9V3WpmTFiJZUxJh4cOTVvJ4s7S3n2OOYkr5ivH4263qJonXE_aCWb6MNuGnAVoix0wOkZGC0TZQZoOZmH66BXOOpuTt6kz_qobh2UxJmbeDrQuNaA5WTT0HfP3D9zprYd8SOKMwk47iZS-oGbBvyyVc2gdYVs3bPGe5t8yNNbg_ez1PSYNsV9MSGfJ4kGh75aMcyv8JS5Uz4yVLafD3sk-NiOJEmFqjBqz5MdMhF-sm9DKnzvQTJk2NpTDjtBgP9B_PPxSsFCU3M-TPyHTUE9OwTpvRbAOibe3LzhEHhnoEeHo139n35MpzQTUZbJQuzQDjZIz-c4S3d5gQPL5mS6W5oMWs1yXrhLnTkqo2IfseLv_ksW3ox9uzKZ-G1ImToGt-6FFLSyBtuizoOIyO_VY_8Sh8fD9p50VALXMoXvWj5_pvktX3FV6C-EijJLv8cQUp7svJaiP2wOqoIru8I2IaJt3y239H-2y_7Db-qt6hqERAAQjlX_Q2iMdmbiDSY8Tj2-n26NP00upfnjuszoscH6sgyEIHZkn4oWuu5R_JQr28C6o_tqnnbjbfI59SyJe6c4eadnwFJxMAZs1m1gaa7Me1pJIJj19NA52iAmGkxi29C8jysAVQbZYxaKZ797_Lins9O4pfxusXJN_hggDU1UAHvzA7yOMhfBqK3fw6TwLOp1dpsA6w0fUQhWQhTebf6JRfo67cZRcsvtafvXBt_6c68xJJP4UHO9FtBah5-6cH755NGWCnwAtFvwmMoH90bMsHBWXyde7ApBpfuTSqh2Y_OB5xJatPp_t_rnrV9Nq6m7iFlT-h7IbGfcfv02ym5y6WmcAUbbH1P7AytUPYdgr5U6o8dHaLalYOoC58wItyVl8oFIsa_yWGqbZFb0hu1kvCdoac9ljyk5dFcXlHO2U8GDe2P26KoGB0EMYx_egBG-3Izxv4Fx_cPDcKR2IvdVZKUNko1hHBuZv-Wcvin5jaj1mGurDKXr6n_rMkoIhbp6j_qpeiE4T82_yNlOWZc73rbRoCQNsnDKnM8I8RxkmiGYB5Co24i5PxpidQYmLscScRZCDegvvSOUO5VPGbW7PTshAwC_aocTGhRjIwnVGSyFzyQuRyJ2ARxdRdryQXIcNsKz3pp-NSvN6sxLuFFLkg732CpZiTt2fURO72lsTRbAF4B4xvHd_8afD_yCoDu5wNOmbdedDBfsZERXexGk9E8RQzJdhB42oPjIYdsn0C9DoQ3RKH-m_RgyznW4a_YWuK-cvUvduD1DnP9gIgrVAvMaD6PGg1kCYsdZeTVz_tVM6YDGZCuY7SDm4_uxAN6vAhzvWfvnLN59LmOlE38X7CX7Toqw7EQOnGBK4hcAeF1won68xbk213eIBSdH7NOdK1RwtmzEGWlDnBtickFxmQUaqP1Ytp38aXVzhEPK-Tet_6xczsVJFYvDd5ZuX5VlQSeU890hBCU2ojKHEJ4LJtfEjLdHz1Je71OS6rNG9f57VeSAjcpJvdw_eY5Qa6TyQuvdTpN1Ii1AhswzLH5wcqaTwqFe0AF49EiB8uxil25k3BLleCvobkt5aDZkTCs6YFTeGEYm1bv3kYSe8kVKwd7ry3__FXXbuHh7yfhktrpzwnOsg4oq7P3BGKwXZfapsvWSmq9dMzJJ1mBT3R-DK_ygjlx5qzjsD0iYAf3fAOCnNGSy7M-YuJgu4Xg9ueAfOhj0BGgWG_9SBNJ5KfuCTXl9W6p0kEmPJ6YTzqCBbBSida8OpU__oUMpmgg",
  "id": "rs_0c5f6e667f5047d2016ab42e2de71c87d0abc71ee4b4906164",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.325,\"left_z\":-0.015},\"note\":\"The middle bottle’s broad lower body is now clearly visible ahead of the open left jaws, offset slightly to their right. I’m shifting right and descending at its near end, where the gripper can reach below the bottle’s midline.\"}",
  "call_id": "call_RnhtYoZBl3Vn1EzqEYcTnfmn",
  "id": "fc_0c5f6e667f5047d2016ab42e2fa76487d08132c006febbf842",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RnhtYoZBl3Vn1EzqEYcTnfmn",
  "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]: [-1.055, 2.1677, 1.1206, 0.0895, -0.889, -0.8593, 0.9955, -0.2249, 0.7506, 0.4274, -0.3241, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.343 left_y=-0.3196 left_z=-0.0 left_yaw=0.0775 left_pitch=0.0201 left_roll=-0.0085 left_gripper=0.9955 right_x=0.2744 right_y=0.0023 right_z=0.1289 right_yaw=0.1789 right_pitch=-0.0319 right_roll=0.0055 right_gripper=0.9951\nstate[joint_eff]: [-0.6085, -8.3214, 5.7915, 0.6764, -0.0171, 0.1343, 0.1197, -0.8, -1.6068, 6.9402, 1.8535, -0.2418, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ba53c9529759b9e2804460fb7ace1819d4e7fd81e7450bbb01369ccf0e6755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589239c8d9cb21a51f66826e282a19cf2a62abf87803731b7f8ac7e140c7e48a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcd02fd2bfebd68d5928bb35dd74afb05fb134f92b2d23eb189394773e47bd6",
      "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 · 3.823 s

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

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 2.2204, 1.3403, 0.218, -0.701, -0.5556, 0.9983, -0.2249, 0.7971, 0.519, -0.3733, -0.3431, -0.2577, 0.9951]\nstate[eef_state]: left_x=0.464 left_y=-0.3071 left_z=0.0457 left_yaw=0.0551 left_pitch=0.0716 left_roll=-0.0662 left_gripper=0.9983 right_x=0.2828 right_y=-0.0 right_z=0.1481 right_yaw=0.1756 right_pitch=-0.0364 right_roll=0.008 right_gripper=0.9951\nstate[joint_eff]: [-0.6769, -8.5675, 5.6274, 0.8767, 0.0708, 0.0708, -0.0073, -0.5675, -1.8803, 6.9675, 1.9512, -0.232, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.997, 1.9823, 1.1088, -0.0746, -0.8253, -0.7933, 0.9943, -0.2249, 0.7639, 0.4568, -0.3382, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3507 left_y=-0.2969 left_z=0.0505 left_yaw=0.0634 left_pitch=-0.0222 left_roll=0.0151 left_gripper=0.9943 right_x=0.2773 right_y=0.0016 right_z=0.1358 right_yaw=0.1788 right_pitch=-0.0302 right_roll=0.0047 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -12.7111, 5.9282, 1.1893, -0.6716, -0.0317, -0.0415, -0.8137, -1.3744, 6.8308, 1.9121, -0.2418, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.055, 2.1677, 1.1206, 0.0895, -0.889, -0.8593, 0.9955, -0.2249, 0.7506, 0.4274, -0.3241, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.343 left_y=-0.3196 left_z=-0.0 left_yaw=0.0775 left_pitch=0.0201 left_roll=-0.0085 left_gripper=0.9955 right_x=0.2744 right_y=0.0023 right_z=0.1289 right_yaw=0.1789 right_pitch=-0.0319 right_roll=0.0055 right_gripper=0.9951\nstate[joint_eff]: [-0.6085, -8.3214, 5.7915, 0.6764, -0.0171, 0.1343, 0.1197, -0.8, -1.6068, 6.9402, 1.8535, -0.2418, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ba53c9529759b9e2804460fb7ace1819d4e7fd81e7450bbb01369ccf0e6755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589239c8d9cb21a51f66826e282a19cf2a62abf87803731b7f8ac7e140c7e48a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcd02fd2bfebd68d5928bb35dd74afb05fb134f92b2d23eb189394773e47bd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4z6uoOUqjyhbetFVLxv5b76CZLPu1Kr8ab2wmlVxIjZLnbu5PxXD9Y6nX3OozC1L43wHXftp00QlAp3Ll9VARGLgoqXkRaZlTIZF_IWeXqLjsThjNk84IMCh2i35__Km15O8dkwUDRccMmyWuSZVmb1Gs9UlDDpibQJbd_Bf0fP4mKOmLu8PNj3gmvH4qFpc6dpQAUuQmDCBKdZbIRhA5fid1Wl1ZHqp7UBA9vlxNbf9J2DHABhkrzJrA_g5vTAvilEMTVPjZS4Y15dze-YRKT8f8ry_ed7PZyecf-aTeIj1bgA-ZOmkgQk4KmeRoipvEgVR_9YfDbK_GsDGfQGd6VIZi7cn1FRj-04i3SmsqkaiHtnS58homix0w8GhaoPW58rBwJ8tXJBhBWey7k89TtSoGmLwpxfLFjxLRi5scfhMr1KVuneOgAfpMrWZE4kARsg5p330zjAOxEIvPmLP0QE_kluo8S37Rc1_lQQIpx6p-Hpe-4iLw9EjDA4CLtAlLKFuPY1MbK1aIcFzwq7fH2Tw4yw0YVNRmrO36UCcHuqD9uYsRAjVkv5NteCsjobJfpJ6NYkAt_MoskQAWpp8PkDHKQWTRXBdeExjQ93s4VuiGr9tN1dWIRGiVPWFm6FWE40AILe-_w_87AoJu8SUIoTsdG7oNlhWgIHnpSCu3_EX4X5VpXiZ7anEPN-Ms9m7Rj7EJYgI9bm47YxQC_cpZXL5k7sg9ys5PofwRFDZJipRtHq0q49vWrG66_gzp-6jSlfcvaG0KHuv1KkA4pWnfNj2_0cXbpH_VqgB8UOBtk3hP429m4Vq8ghiTwDsYU3TIEWOxAb8x-K970WyzE1_q5pzd0GJ7_ASFp0CgEcUVjAtrYV-sZ2nPmaCHcUcajM6b3ysO6tYZNnb8m1Fz-3oEGsrhQ-XoFZ8YwYm2Z1Yr3XhduI6R5uDfweT739XBDQUsdGuD_nc-Nxz0x0MNFLTuCXrTGABOcMkilvBjsFZO-TH805YGZBv0BAHiwJ10c1YUSAl8sN9FZBPtkeULgEJ_fhEP_Qk-VrL2Ml3hfJcm-5vCfFxy9sHVyF7a48ZZQEi_YyclQ_UUjz7OZaePlBSr1-0nr09C4cQTWesL2SjR7wQr8mAOkT6ziMHamD4YsfHlIhuUJ6IddvR8I7q4pavDKMxOefntUawKXtbJr8MA61fpKAqzh_Lfn2bAC8ghkOPuBI7bBXhkpn1aQYMgcRQWavolADmnSZAQzjDc5U7YsW4cC_0D5qg1YeKszJKXVZFjyQpeOfv-iTyg4mT6N-9gD7hFgQujCx84XpTRrWUAaaCR3f9o1qyhBpGqNEQMPAj3nXOw2WfX-0rSJEWd3N9SUbzmQN-ZHxj7x3gjLbCVACAE09OyuE5gDSh2ZlvnkCs4ftRfVs2yLwY0gMTV4bWK44j2K-OlnUvMxkSflUpf7XPxNv1X3ZKfxHXtQt6PYAYO8SXFJFONtDxhH4edFUaRMaKUHOWJhUCFnhKtqnqKD6OQ43OT7gGLDDnJvsaQE8EAOiuStYsafsgXN8Dmp07fqF3MxUsm5FffubnKl56vN2aY9gg57Ik48ke9OcGcf8wQKtAEB1Ui2LYpgcBVl8AFpQwCbEmHnCoWBsGhP6o7g8QSFX4QmVeIJcGzw-l-26nosWMJ6ipkTJK1SrB02ywtPSx9q2Tp2Vw6KOfCaSf_KotY=",
  "id": "rs_0c5f6e667f5047d2016ab42e324ef487d0ad3de7b618e8b465",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is at table level with the middle bottle’s broad body centered between its jaws. I’m closing around this nearer section and will immediately check for a nonzero jaw opening.\"}",
  "call_id": "call_RpAHgiNCWK9XoLoYvJAV6hKW",
  "id": "fc_0c5f6e667f5047d2016ab42e33408487d08fcfe86bdaac5a10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RpAHgiNCWK9XoLoYvJAV6hKW",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 2.1765, 1.1339, 0.0898, -0.907, -0.8688, 0.4926, -0.2249, 0.7364, 0.3954, -0.3058, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.346 left_y=-0.3202 left_z=0.002 left_yaw=0.0937 left_pitch=0.0355 left_roll=-0.0152 left_gripper=0.4926 right_x=0.2715 right_y=0.0029 right_z=0.1217 right_yaw=0.1788 right_pitch=-0.0316 right_roll=0.0053 right_gripper=0.9951\nstate[joint_eff]: [0.1299, -11.7812, 5.3675, 0.7839, -0.1099, -0.022, 0.8132, -0.8, -1.4838, 7.0222, 1.8974, -0.2173, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b02ecce6f7850d08999a7306dcd98308f34dfa503bc2d4dd4d9983db929086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdca8f5eec34712e5c0b64ede0550d79bff4ef03fa2c5f1ce3cf211e652d0bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9e084dca6fa08f65ebc482b87333cdd449790816b0aa9f6858e4629af723e2",
      "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 · 5.535 s

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

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7979, 2.2288, 1.441, 0.1047, -0.7349, -0.5774, 0.019, -0.2249, 0.7784, 0.4843, -0.3504, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4734 left_y=-0.3106 left_z=0.0628 left_yaw=0.0907 left_pitch=0.0737 left_roll=-0.0557 left_gripper=0.019 right_x=0.2802 right_y=0.0009 right_z=0.142 right_yaw=0.1788 right_pitch=-0.0295 right_roll=0.0044 right_gripper=0.9951\nstate[joint_eff]: [0.0615, -12.4103, 5.5043, 0.7546, 0.1294, 0.0757, 0.8132, -0.7453, -1.7709, 6.8444, 1.8926, -0.2271, -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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.055, 2.1677, 1.1206, 0.0895, -0.889, -0.8593, 0.9955, -0.2249, 0.7506, 0.4274, -0.3241, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.343 left_y=-0.3196 left_z=-0.0 left_yaw=0.0775 left_pitch=0.0201 left_roll=-0.0085 left_gripper=0.9955 right_x=0.2744 right_y=0.0023 right_z=0.1289 right_yaw=0.1789 right_pitch=-0.0319 right_roll=0.0055 right_gripper=0.9951\nstate[joint_eff]: [-0.6085, -8.3214, 5.7915, 0.6764, -0.0171, 0.1343, 0.1197, -0.8, -1.6068, 6.9402, 1.8535, -0.2418, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 2.1765, 1.1339, 0.0898, -0.907, -0.8688, 0.4926, -0.2249, 0.7364, 0.3954, -0.3058, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.346 left_y=-0.3202 left_z=0.002 left_yaw=0.0937 left_pitch=0.0355 left_roll=-0.0152 left_gripper=0.4926 right_x=0.2715 right_y=0.0029 right_z=0.1217 right_yaw=0.1788 right_pitch=-0.0316 right_roll=0.0053 right_gripper=0.9951\nstate[joint_eff]: [0.1299, -11.7812, 5.3675, 0.7839, -0.1099, -0.022, 0.8132, -0.8, -1.4838, 7.0222, 1.8974, -0.2173, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5b02ecce6f7850d08999a7306dcd98308f34dfa503bc2d4dd4d9983db929086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdca8f5eec34712e5c0b64ede0550d79bff4ef03fa2c5f1ce3cf211e652d0bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9e084dca6fa08f65ebc482b87333cdd449790816b0aa9f6858e4629af723e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC44iBAohXg6neyT005tBW_qlkqHVd10ihVJjSaN6hZbGAIf1kPNnM3bIV_Hp1GyV8i29hic7h3-qojqku6wsm-bCrkYNwHvfgbIWXSWFXUq50qxJ560uGRLLIUZfUZr1tWW2Moav2BuWWTFiVWaCdPfHXraeyWMBn6O6rlTne17_ByE9GIkQGUFr7HsCbgNE9hhZYjXeF0kVP3OgRFaj_of16s1vEVmz5PEmO_DZcUiRSU4JJGU911BxTAgTEAAUQ7tCCJjowDDKIk1IhQmTVtdRlu5JUg4YxaITLfdAOAG2B8thK7ODGn7Cp9TWjaobfbtnKXlg35oJF7PTtW5DeTvn1LxBFBlrDXhyKZiMI3usn3rnraCnuIKnarP44YDcULgBkPgDQWwcN2P01TAmCUnjox3KSicDXcUewIm1xFno-5oRDvIC40BduJsP_OYywWsWA-hjeeDq1FVCq2-qA9pW8gXv2iRhXZvhNaPla2TF3vxsmpxSmK9v_o91qVWj7YdGzK-FW3hl9wZcVgoMz42rtrYftT265k3FM2rK-bM9UOhFs5Ib_EY9IFu2T7tjyRdDnXTC-7Yj-fFhOnT8jmIeCT4A1cUuSSTnFxj6X66BU4sFG2z5sHik0A_rZuLvEgoG1CeEw21RWrczX_keVFUs1cnY7ZYAFwrMkGBu4bpknCXUjLXj40CNAOiIqiizDfFF_wosrkwfAm7kuz6eibqKrwE-0u7tH1zXV92O_OqP9dJfEen9g3jfQSV-cok2pW0rJt-SKSQG2GTa_Y5sTCTLipxtamMtt0F7P_Lcdiw0dDD4tuzJ8icRza17bkBmztX9swRMUJ5gV8FaloqCYmoBMQ5Zew3g_2XT5msfwpZljwh18Q6Ptp07PkoofBqjCdLwmFrHDCy1tmjqppNstkapgpcS-1mxoXlBQbZxroaR5e2Et8GQSFkkNMaGKIeV2j1s595slDpAv7PqI6-K6tQ5OLjxpNAv1Br-DyoPvCBTsvqnJsDpunkUVV2P4O1sEvv1v5EA0nhHzR_8jEKPxjJl6gABnB9zIJRaFMExtZSOLARccYKlaiVj1Fh0sEkbyOGQEMXXxHkvZUAwZk7_3NvC-SkzJiFpJuYr9fItbV2Uwm5wfWJ7Tr8mKzCiBtAFqrPldCBfkY5Rdxb7LV8QZd6ycd-4DkJ_UixcdThcmySAUHoa916vkkLq4NFy9qIGffmV9ilJdf9xwNCNpFWxqwq_gfM62LgG5cugxrcDGSGCgEjcBXBRwBp_PV8dQmUDPMANaZhKlSg8LnsH_cvlsislvfkrCqKsOG8zetoSWdwVTmAxPsXgB22GAnusfOEABgsIhuSQELY0SMfDuaqPV7DcJAw4mKhGLReEhST5qBHc8rHg98TM1H2qyIq7O7b-8nou_AAFCJemSkK17PyHdJ_vK_UIPjpSD62yffHyaMdeBTZuXb3qktSdWfwz6sGh4u5bS4Lm2G6io1HbiYHBBZL1Hf9JG7n3MUaHPoEIhQgxPIRr7VGnyuF9iKt4XwTT3_mduY1BhirkYeg_7l6Tc67MdlMl3-El3lVRIgYiKarQkmF4InxAe6uKFl4ASU4HwkP0C9bTfjBc40F5G2Jyg4rRnmbBQ9LauPtYSFIZ_ioJh-8-dQz9FwDeNWdszCV_yA12UZKyKAzpkbkJBaUGUcHkkB8tw3JWjOVZzqv-bBh29q1XAhr-C6kHLAIs-lx2YIXYpAGutm2BUZDuhJ5_JtLeEBuhmNC9TX-rc-UYg79qLS1MNYERNjUY92lrNgkG0OyolvXHr4xSlRv_44Dk5bNGu1vHu0HUFNhBs4myr5hO-O6TxsZGZFc-GdI6B11bL8Ac-8pVfwM2e3GNRJfinPv2kG3udpfjkmN4ZuNfwRexa06JCIP0SYGAeTTeT_8Ffb98frd38a10G_HdhYtuCoH7izrfsBXVtUf1gsY07HXVX8FszoCALxmutE09a1FL4O-1tvVGfyfaw_duxmESvQFllrASqLghkK0xPKe6f5k-8h3CeRXSnvFOvv21U3hG-iPjtrVm-bOYZeTLi4QpUpFMh_2mLQ-zMmWhgmgTN55oG9iK2_ZJkPn_YDs-1lcb8Qr8owweSjklUpOuVJtKhOcCsnDdoTCmotdF5n6t9ol9sLMSXPwTwgHSS0CRMhVcyW_FI7ZX9xpgFwQmeqzsseAhpstIqzaHqise2XZL5V4XPR_5BiJRaqS5z5F8BmOgjm9UOPZNUuiB7pJhO0NqDvJVT66PbIOWkbSJDfYEVzg8O7cRDKG-kK9kp9jvbGuefuW",
  "id": "rs_0c5f6e667f5047d2016ab42e35f72c87d0a4aaa57dd9044936",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_x\":0.345,\"left_y\":-0.32},\"note\":\"The left jaws stopped at about a 4.7-centimeter opening, matching the bottle’s body, so this is a real grasp. I’m lifting just this middle bottle to confirm that it follows the gripper before attempting to stand it.\"}",
  "call_id": "call_BgSnCE04O4z8Rzpy7zrSHyOg",
  "id": "fc_0c5f6e667f5047d2016ab42e37f31c87d0877be4f89337a6c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BgSnCE04O4z8Rzpy7zrSHyOg",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 2.0548, 1.2282, -0.3, -0.8085, -0.8917, 0.4923, -0.2249, 0.7185, 0.3672, -0.2893, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3299 left_y=-0.3131 left_z=0.0328 left_yaw=0.0626 left_pitch=-0.1149 left_roll=0.0871 left_gripper=0.4923 right_x=0.2691 right_y=0.0035 right_z=0.1167 right_yaw=0.179 right_pitch=-0.026 right_roll=0.0026 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -16.5402, 10.1812, 1.6337, -1.3846, -0.022, 0.3297, -0.8, -1.1966, 6.8034, 1.9121, -0.2222, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088925a323239d818b3a6220150a1155233e1bf2214aff571ad86842b6116c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cc7a5cac84afa6357a8110d5b484d58d5c8184d352a51a7cde8b55cfa869e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6838e8c1ac55bea54a7e26d7d76fff79b94cb35b436926606b2fbc6e23f19a71",
      "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 · 5.287 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.997, 1.9823, 1.1088, -0.0746, -0.8253, -0.7933, 0.9943, -0.2249, 0.7639, 0.4568, -0.3382, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3507 left_y=-0.2969 left_z=0.0505 left_yaw=0.0634 left_pitch=-0.0222 left_roll=0.0151 left_gripper=0.9943 right_x=0.2773 right_y=0.0016 right_z=0.1358 right_yaw=0.1788 right_pitch=-0.0302 right_roll=0.0047 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -12.7111, 5.9282, 1.1893, -0.6716, -0.0317, -0.0415, -0.8137, -1.3744, 6.8308, 1.9121, -0.2418, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 2.1765, 1.1339, 0.0898, -0.907, -0.8688, 0.4926, -0.2249, 0.7364, 0.3954, -0.3058, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.346 left_y=-0.3202 left_z=0.002 left_yaw=0.0937 left_pitch=0.0355 left_roll=-0.0152 left_gripper=0.4926 right_x=0.2715 right_y=0.0029 right_z=0.1217 right_yaw=0.1788 right_pitch=-0.0316 right_roll=0.0053 right_gripper=0.9951\nstate[joint_eff]: [0.1299, -11.7812, 5.3675, 0.7839, -0.1099, -0.022, 0.8132, -0.8, -1.4838, 7.0222, 1.8974, -0.2173, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 2.0548, 1.2282, -0.3, -0.8085, -0.8917, 0.4923, -0.2249, 0.7185, 0.3672, -0.2893, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3299 left_y=-0.3131 left_z=0.0328 left_yaw=0.0626 left_pitch=-0.1149 left_roll=0.0871 left_gripper=0.4923 right_x=0.2691 right_y=0.0035 right_z=0.1167 right_yaw=0.179 right_pitch=-0.026 right_roll=0.0026 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -16.5402, 10.1812, 1.6337, -1.3846, -0.022, 0.3297, -0.8, -1.1966, 6.8034, 1.9121, -0.2222, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088925a323239d818b3a6220150a1155233e1bf2214aff571ad86842b6116c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cc7a5cac84afa6357a8110d5b484d58d5c8184d352a51a7cde8b55cfa869e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6838e8c1ac55bea54a7e26d7d76fff79b94cb35b436926606b2fbc6e23f19a71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC4-8ISbPOqCp6j2v1V02Xxu6e5Mhj5QJ4eyivCG7Jb0GCJPllnP1t4AGCs-GE1YI0eNNC4PBdmVz7_NQqbthNC4kBqBoGd2i8SudMsC08QLPSLj4OKsMP_3QlsONSyF3aTBoZRMtWqZUxnHTFY5sm0i0finwSrxnYXDVKW-QpCG2XCDdWY90WNer5PA6ShG-jPC-Ygmi7VHvS_edUHUZrBbcNic5XMFeBF_TEnFRohCZSH9VZDC6eSKcbW3bCktA0dVtmO_8hlA30G66xThVJX2CMmlH0zHdA1CXyU1hQiRtVEgYIPNcwgzg_aiEEnPpQoXjNXBrJqiDMzSqbDFlkYmhHjoUP0HwYzM3Ty__6x8KBQQWfptttMxUr3np0ROaFppPg-SKRHx6nK080_pgItPyTEgGBgsYswANoQ62CcurkOvhEswCekwB5MNUjmQ9EOB-BPeYgzsCvE1swcnQH50ZKruwMkGlrDyuEf_xzExN1Uz-AnDr7BgD3Bf_M59cXNgU73O4jCNNN0d34tyXyjtVNbBv-cJx4zj7Kt9j0P96i2kfx3Uu_9iDFNMtgA8xmDsdXpHUGamcibZW42QkWXyhop9yasYnK8fqTAuWonxnZKmQTTg1VlulveXhpuKmeWzBySCswQnRzSAOY1p00Nzplb7kTfKVxAH_AKcKKusZhPY2FjoNUPbQNNNUjMbQAkeD5B70qpP7Guer1uG4I378bj9X4ciM5MCYo3fkyUiBdeAZqjBjKuUTAlvmrOTppXZjdr_kH8farwcoizzUzxWMj1rKICIRlWPZFlETOh2iKO9pRYleuRPj7ap43y8srmf0_McbnFnz3AIGVtSxYKuFYt-SBKCOmDGpvBGWtXda9oV1yhGxWTx39iSwhhH5Rvo8bmjZWpigb2atcUL9br-Ju4uRwXvpZABEzR5QkD_aThxUIgiyyHp8dvgNcnRZpB_7SkHCOJTXvn9ULecE0BiV64L-hEsg1ANUxjP7jvE7FLZE4O6u1kjstrVXMHHhfgxMMEiufanxXz8-ZD2pycmKLINDsnkjG77PVi5Mr8S3-xt-_2kU3sJQJaRdpsrwDfRuv89BN5VZEuMQ5RAoONriBoRO8S2OLU1vkyjRotEYQnPLu2_qhOkYX30zkyvAeehVUa-xkqSFXX3t597xdR3f-kU92tkYaI4al__2QSFqOK8GVoiaKMCK_YDpzRm78_aAXWlDlDCgsZNu_7yBiIAFxagEpRnJPZlE2QXOGQVkrbl0UWNOAq0RZcaZCW2CbS9pzL4t6PWackPZuEFdwzzIDRQVBZzy_OMc552nu7PQJi6fNjZ7PiYiwqv9Jb5nXtna_z3AtiA7qSgLz-VP5XZ0OYVt7cgO8NmyewOOiDDG5JvWPCd1bIduHSnrFFPDgQEhmRJg7vJyraOyo1Vjxx_aW0QUGeUw1rIYsNg0otH6_TR6k3j4cCGv9pF0ftRVRiVOdOE2Fu2dyt-sQg7LUzfzE1eSicajQ8wPTYaEF6ukNN9-BDeTXPy8UQmPM-C2uExvseGErRo6Ust1fHEu8Q9CF79ujBjSa6pZkNM3Fljm6VMfbuxR4WUwnxEQsGxrKnjhLPliBYuCYTWk-MLB30byZ_kFAfI43jrYC-nrq8HwKvEO2V49loP8V8JXNF6NIqKDHgU3EpW--Y19EEWHwUNE16a1Pqgz-i_uikGvy9jGNuKciFCTb3ZKKOqWzCqYQh0BZnPEEJW-VoIo5_ovnJe4vBjhPRsY9RMMW5YheoPN17BaUDPYznv-aANGZPsj701QxL97DEjxblMycgfEdxoFg7ClZfCZoKz1pVZivSyPb-Q32bVHQRlSnvsw8ptXixlyw2t3FO04Mh1F5FwhILg8y7G6LeTvmtgvF4L1rUAiZxmNo9ycn8CbfCscgatoChj2IbEUsP-Yztr0CMC1Uggdlrm0yo6BZsccTGQJlQ2zl_Q6Pjfgt24-YLGuC3Z5jkGHWwcKqZbl9XNrDHUoH8aPdIrMDAlMyzTNzGZGr-c6SiNexF1dEPLY-9o-sGroHYWPFXPqSrKkrgCNuIr78yTf1db5zDMu1aLBN2xB8hVFVtO48AAexO57rSeeCzfPPLGlKT8n-gAm4X4pPfkto5aWFp7i7sXCcToeBtdTXBMuYpu1OhuDDUugiIaAoyTkR1bX4o4wyDGWaKMyKnApdQ45EfhqfdKVnH9csMSJp54RmeynN8vGLVI0DkUG6y6VApaPyCaogAc4vMGAk2gQARUGE4Kj9H1WGIaDjbzuju-5bfoCo3SZPgr5Cl0ZubyhPTyDy51M03ODHKmnOJTPzHEZnv9G_sV8YXI_WrlEhMdt0eP_8dUtkMRuGM1aHEts2rF",
  "id": "rs_0c5f6e667f5047d2016ab42e3b627887d0ab0f3ef2f65c8a27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.32,\"left_z\":0.18},\"note\":\"The bottle is gripped, but the arm rose only a few centimeters because the far end remains braced on the tabletop. I’m lifting higher while drawing the grasped end slightly back to free it rather than dragging the bottle forward.\"}",
  "call_id": "call_ZfLCRgNyvIP8nJlBMvE0cgXx",
  "id": "fc_0c5f6e667f5047d2016ab42e3da42c87d08dd329f0207ac75d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZfLCRgNyvIP8nJlBMvE0cgXx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1572, 1.8694, 1.354, -0.6811, -0.8013, -0.9897, 0.4944, -0.2249, 0.7055, 0.3428, -0.2829, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2846 left_y=-0.3238 left_z=0.1163 left_yaw=0.0152 left_pitch=-0.1452 left_roll=0.0722 left_gripper=0.4944 right_x=0.2659 right_y=0.0042 right_z=0.1103 right_yaw=0.1788 right_pitch=-0.0305 right_roll=0.0049 right_gripper=0.9951\nstate[joint_eff]: [-0.5402, -15.2547, 10.1265, 1.326, -1.5702, -0.0269, 0.8327, -0.5538, -1.1282, 6.9265, 1.8584, -0.2662, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da92e2598538c36115fef660d6af0254b685ae83c030147323a9bbae00b36b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39632e86549c42996a50fb8d120bce102d45d84fb4eb187afc037bdcfdd2b496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa895065dec8be387e46300c09ed66a09735bc3f79016b0dbfab11711750f83e",
      "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 · 3.277 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.055, 2.1677, 1.1206, 0.0895, -0.889, -0.8593, 0.9955, -0.2249, 0.7506, 0.4274, -0.3241, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.343 left_y=-0.3196 left_z=-0.0 left_yaw=0.0775 left_pitch=0.0201 left_roll=-0.0085 left_gripper=0.9955 right_x=0.2744 right_y=0.0023 right_z=0.1289 right_yaw=0.1789 right_pitch=-0.0319 right_roll=0.0055 right_gripper=0.9951\nstate[joint_eff]: [-0.6085, -8.3214, 5.7915, 0.6764, -0.0171, 0.1343, 0.1197, -0.8, -1.6068, 6.9402, 1.8535, -0.2418, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 2.0548, 1.2282, -0.3, -0.8085, -0.8917, 0.4923, -0.2249, 0.7185, 0.3672, -0.2893, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3299 left_y=-0.3131 left_z=0.0328 left_yaw=0.0626 left_pitch=-0.1149 left_roll=0.0871 left_gripper=0.4923 right_x=0.2691 right_y=0.0035 right_z=0.1167 right_yaw=0.179 right_pitch=-0.026 right_roll=0.0026 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -16.5402, 10.1812, 1.6337, -1.3846, -0.022, 0.3297, -0.8, -1.1966, 6.8034, 1.9121, -0.2222, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1572, 1.8694, 1.354, -0.6811, -0.8013, -0.9897, 0.4944, -0.2249, 0.7055, 0.3428, -0.2829, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2846 left_y=-0.3238 left_z=0.1163 left_yaw=0.0152 left_pitch=-0.1452 left_roll=0.0722 left_gripper=0.4944 right_x=0.2659 right_y=0.0042 right_z=0.1103 right_yaw=0.1788 right_pitch=-0.0305 right_roll=0.0049 right_gripper=0.9951\nstate[joint_eff]: [-0.5402, -15.2547, 10.1265, 1.326, -1.5702, -0.0269, 0.8327, -0.5538, -1.1282, 6.9265, 1.8584, -0.2662, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da92e2598538c36115fef660d6af0254b685ae83c030147323a9bbae00b36b08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39632e86549c42996a50fb8d120bce102d45d84fb4eb187afc037bdcfdd2b496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa895065dec8be387e46300c09ed66a09735bc3f79016b0dbfab11711750f83e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e419bfc87d09e68447630183083",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.32,\"left_z\":0.022},\"note\":\"The far end of the middle bottle remains on the table while I hold its base, so lifting this end would make it cap-down rather than upright. I’m drawing the bottle toward the robot and lowering it to put its cap within an easier grasping range.\"}",
  "call_id": "call_M9bTpo8auS8fGoEMZbp8dlwW",
  "id": "fc_0c5f6e667f5047d2016ab42e444e9087d0a8e111f024ec7a09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M9bTpo8auS8fGoEMZbp8dlwW",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3056, 1.9717, 1.0077, -0.2958, -0.9001, -1.1347, 0.497, -0.2249, 0.6895, 0.3141, -0.2676, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2332 left_y=-0.3169 left_z=0.0169 left_yaw=-0.0125 left_pitch=-0.0728 left_roll=0.049 left_gripper=0.497 right_x=0.2632 right_y=0.0048 right_z=0.1044 right_yaw=0.1788 right_pitch=-0.0281 right_roll=0.0038 right_gripper=0.9951\nstate[joint_eff]: [-0.7043, -8.8137, 4.6017, 0.779, -0.8864, -0.1294, 0.5592, -0.6222, -1.0735, 6.8718, 1.8291, -0.2613, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf6ba9780bc6ced123e52a19110d8026a778acf05b3d4a0391f65062d4bc662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8684d47691d8f24a54b88661702c3c8057df31492beddf94acaab99c1a421f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4e71474ebc1f3a8aec69f38e1c2f634cd9aeb4f0187f58787241a825bacca",
      "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 · 4.302 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 2.1765, 1.1339, 0.0898, -0.907, -0.8688, 0.4926, -0.2249, 0.7364, 0.3954, -0.3058, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.346 left_y=-0.3202 left_z=0.002 left_yaw=0.0937 left_pitch=0.0355 left_roll=-0.0152 left_gripper=0.4926 right_x=0.2715 right_y=0.0029 right_z=0.1217 right_yaw=0.1788 right_pitch=-0.0316 right_roll=0.0053 right_gripper=0.9951\nstate[joint_eff]: [0.1299, -11.7812, 5.3675, 0.7839, -0.1099, -0.022, 0.8132, -0.8, -1.4838, 7.0222, 1.8974, -0.2173, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1572, 1.8694, 1.354, -0.6811, -0.8013, -0.9897, 0.4944, -0.2249, 0.7055, 0.3428, -0.2829, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2846 left_y=-0.3238 left_z=0.1163 left_yaw=0.0152 left_pitch=-0.1452 left_roll=0.0722 left_gripper=0.4944 right_x=0.2659 right_y=0.0042 right_z=0.1103 right_yaw=0.1788 right_pitch=-0.0305 right_roll=0.0049 right_gripper=0.9951\nstate[joint_eff]: [-0.5402, -15.2547, 10.1265, 1.326, -1.5702, -0.0269, 0.8327, -0.5538, -1.1282, 6.9265, 1.8584, -0.2662, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3056, 1.9717, 1.0077, -0.2958, -0.9001, -1.1347, 0.497, -0.2249, 0.6895, 0.3141, -0.2676, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2332 left_y=-0.3169 left_z=0.0169 left_yaw=-0.0125 left_pitch=-0.0728 left_roll=0.049 left_gripper=0.497 right_x=0.2632 right_y=0.0048 right_z=0.1044 right_yaw=0.1788 right_pitch=-0.0281 right_roll=0.0038 right_gripper=0.9951\nstate[joint_eff]: [-0.7043, -8.8137, 4.6017, 0.779, -0.8864, -0.1294, 0.5592, -0.6222, -1.0735, 6.8718, 1.8291, -0.2613, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf6ba9780bc6ced123e52a19110d8026a778acf05b3d4a0391f65062d4bc662",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8684d47691d8f24a54b88661702c3c8057df31492beddf94acaab99c1a421f1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4e71474ebc1f3a8aec69f38e1c2f634cd9aeb4f0187f58787241a825bacca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e470f0c87d09b76448edadc88e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.23,\"left_z\":0.15},\"note\":\"The middle bottle has slid closer, with its cap now well inside the reachable area. I’m releasing the base and lifting the gripper clear so I can regrasp the cap—the correct end to lift for an upright placement.\"}",
  "call_id": "call_czoN1yHsvzEcoM1sOZzurUNx",
  "id": "fc_0c5f6e667f5047d2016ab42e481aa887d0861a465bbe01ed7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_czoN1yHsvzEcoM1sOZzurUNx",
  "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]: [-1.3251, 1.7473, 1.1744, -0.6289, -0.944, -1.1561, 0.9971, -0.2249, 0.6735, 0.2905, -0.2611, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2316 left_y=-0.3206 left_z=0.1276 left_yaw=-0.0079 left_pitch=-0.0173 left_roll=-0.0137 left_gripper=0.9971 right_x=0.2602 right_y=0.0055 right_z=0.099 right_yaw=0.1788 right_pitch=-0.0291 right_roll=0.0043 right_gripper=0.9951\nstate[joint_eff]: [-0.7316, -10.3316, 8.1983, 0.5788, -0.6862, 0.0464, -0.1392, -0.8547, -0.6496, 6.694, 1.9267, -0.2564, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3f6550dc931d6ae8836b24b9f8b6c452d41917d03168a6907ccd979a9ca3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e172b7572aacb6a3041c1ecf0369f1a1a778dbc1541c96341972e77a1e1ec90a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2119dc69933d9ef3bdff15cf0a697b22c84a7e96cdce0b15d197ecc558915451",
      "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 · 3.587 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0523, 2.0548, 1.2282, -0.3, -0.8085, -0.8917, 0.4923, -0.2249, 0.7185, 0.3672, -0.2893, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3299 left_y=-0.3131 left_z=0.0328 left_yaw=0.0626 left_pitch=-0.1149 left_roll=0.0871 left_gripper=0.4923 right_x=0.2691 right_y=0.0035 right_z=0.1167 right_yaw=0.179 right_pitch=-0.026 right_roll=0.0026 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -16.5402, 10.1812, 1.6337, -1.3846, -0.022, 0.3297, -0.8, -1.1966, 6.8034, 1.9121, -0.2222, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3056, 1.9717, 1.0077, -0.2958, -0.9001, -1.1347, 0.497, -0.2249, 0.6895, 0.3141, -0.2676, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2332 left_y=-0.3169 left_z=0.0169 left_yaw=-0.0125 left_pitch=-0.0728 left_roll=0.049 left_gripper=0.497 right_x=0.2632 right_y=0.0048 right_z=0.1044 right_yaw=0.1788 right_pitch=-0.0281 right_roll=0.0038 right_gripper=0.9951\nstate[joint_eff]: [-0.7043, -8.8137, 4.6017, 0.779, -0.8864, -0.1294, 0.5592, -0.6222, -1.0735, 6.8718, 1.8291, -0.2613, -0.0317, -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 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3251, 1.7473, 1.1744, -0.6289, -0.944, -1.1561, 0.9971, -0.2249, 0.6735, 0.2905, -0.2611, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2316 left_y=-0.3206 left_z=0.1276 left_yaw=-0.0079 left_pitch=-0.0173 left_roll=-0.0137 left_gripper=0.9971 right_x=0.2602 right_y=0.0055 right_z=0.099 right_yaw=0.1788 right_pitch=-0.0291 right_roll=0.0043 right_gripper=0.9951\nstate[joint_eff]: [-0.7316, -10.3316, 8.1983, 0.5788, -0.6862, 0.0464, -0.1392, -0.8547, -0.6496, 6.694, 1.9267, -0.2564, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3f6550dc931d6ae8836b24b9f8b6c452d41917d03168a6907ccd979a9ca3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e172b7572aacb6a3041c1ecf0369f1a1a778dbc1541c96341972e77a1e1ec90a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2119dc69933d9ef3bdff15cf0a697b22c84a7e96cdce0b15d197ecc558915451",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e4c6af487d0b365b01cbfad297a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.32,\"left_z\":0.13},\"note\":\"The middle bottle is flat again and its cap is directly ahead of the left gripper. I’m moving above the cap at a safe height, then I’ll descend to grasp the narrow end.\"}",
  "call_id": "call_ieCsQY0VpaJ1ceAMKvJdlZId",
  "id": "fc_0c5f6e667f5047d2016ab42e4cebc487d090aa4f2e6deab1aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ieCsQY0VpaJ1ceAMKvJdlZId",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 1.8931, 1.2854, -0.2829, -0.7887, -0.73, 0.9975, -0.2249, 0.6582, 0.2626, -0.2447, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3656 left_y=-0.3097 left_z=0.1206 left_yaw=0.0279 left_pitch=-0.0183 left_roll=0.0036 left_gripper=0.9975 right_x=0.2578 right_y=0.0061 right_z=0.0934 right_yaw=0.1788 right_pitch=-0.0256 right_roll=0.0028 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -9.3607, 8.7453, 1.3504, -0.2271, 0.359, 0.0317, -0.6222, -0.9778, 7.0496, 1.8095, -0.2662, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcfe13508857090abb864436da2384d90fc314c5ecb830002bc71dcf6f99e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1712307ea203958c79cad801115b70af6c076016acaec5d7a34472af40c986",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2bd5b66379d7e502e6a8fac5d684d178a304ffdd421d1ced57722155d7fd92",
      "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 · 4.57 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1572, 1.8694, 1.354, -0.6811, -0.8013, -0.9897, 0.4944, -0.2249, 0.7055, 0.3428, -0.2829, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2846 left_y=-0.3238 left_z=0.1163 left_yaw=0.0152 left_pitch=-0.1452 left_roll=0.0722 left_gripper=0.4944 right_x=0.2659 right_y=0.0042 right_z=0.1103 right_yaw=0.1788 right_pitch=-0.0305 right_roll=0.0049 right_gripper=0.9951\nstate[joint_eff]: [-0.5402, -15.2547, 10.1265, 1.326, -1.5702, -0.0269, 0.8327, -0.5538, -1.1282, 6.9265, 1.8584, -0.2662, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3251, 1.7473, 1.1744, -0.6289, -0.944, -1.1561, 0.9971, -0.2249, 0.6735, 0.2905, -0.2611, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2316 left_y=-0.3206 left_z=0.1276 left_yaw=-0.0079 left_pitch=-0.0173 left_roll=-0.0137 left_gripper=0.9971 right_x=0.2602 right_y=0.0055 right_z=0.099 right_yaw=0.1788 right_pitch=-0.0291 right_roll=0.0043 right_gripper=0.9951\nstate[joint_eff]: [-0.7316, -10.3316, 8.1983, 0.5788, -0.6862, 0.0464, -0.1392, -0.8547, -0.6496, 6.694, 1.9267, -0.2564, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 1.8931, 1.2854, -0.2829, -0.7887, -0.73, 0.9975, -0.2249, 0.6582, 0.2626, -0.2447, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3656 left_y=-0.3097 left_z=0.1206 left_yaw=0.0279 left_pitch=-0.0183 left_roll=0.0036 left_gripper=0.9975 right_x=0.2578 right_y=0.0061 right_z=0.0934 right_yaw=0.1788 right_pitch=-0.0256 right_roll=0.0028 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -9.3607, 8.7453, 1.3504, -0.2271, 0.359, 0.0317, -0.6222, -0.9778, 7.0496, 1.8095, -0.2662, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcfe13508857090abb864436da2384d90fc314c5ecb830002bc71dcf6f99e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1712307ea203958c79cad801115b70af6c076016acaec5d7a34472af40c986",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2bd5b66379d7e502e6a8fac5d684d178a304ffdd421d1ced57722155d7fd92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e50515c87d08d74d2ae3bf7a4b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.315,\"left_z\":0.013},\"note\":\"The middle cap is centered under the left gripper in the overhead view. I’m lowering straight onto it instead of advancing past it, because the angled wrist camera makes a low object appear farther away.\"}",
  "call_id": "call_rTqI8FfxW2KBL2HBJywn78pA",
  "id": "fc_0c5f6e667f5047d2016ab42e52214087d0945baeda58d6da01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTqI8FfxW2KBL2HBJywn78pA",
  "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]: [-0.9752, 2.0964, 1.1645, 0.0826, -0.7929, -0.7101, 0.9975, -0.2249, 0.6456, 0.2428, -0.2382, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3736 left_y=-0.3206 left_z=0.0339 left_yaw=0.0199 left_pitch=0.0066 left_roll=-0.0126 left_gripper=0.9975 right_x=0.2555 right_y=0.0066 right_z=0.0888 right_yaw=0.179 right_pitch=-0.0263 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [0.5128, -7.8974, 4.0137, 1.1795, -0.3785, -0.0122, -0.0122, -0.8547, -0.9094, 6.5709, 1.8437, -0.2613, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7bdec7b18149b997a68d4d4d96f8cadd402b32318269351c6c760b6b4c69eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efadfa524928f3a890adfa5df64dc3b2c2c956f4ddc5fa576d5b4a5b02cfe8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8978e16899f4ffb5bc02c1fab6fd0838e488fb3c8aaa6fb3a13bbb86e0cc3961",
      "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 · 8.032 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3056, 1.9717, 1.0077, -0.2958, -0.9001, -1.1347, 0.497, -0.2249, 0.6895, 0.3141, -0.2676, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2332 left_y=-0.3169 left_z=0.0169 left_yaw=-0.0125 left_pitch=-0.0728 left_roll=0.049 left_gripper=0.497 right_x=0.2632 right_y=0.0048 right_z=0.1044 right_yaw=0.1788 right_pitch=-0.0281 right_roll=0.0038 right_gripper=0.9951\nstate[joint_eff]: [-0.7043, -8.8137, 4.6017, 0.779, -0.8864, -0.1294, 0.5592, -0.6222, -1.0735, 6.8718, 1.8291, -0.2613, -0.0317, -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 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 1.8931, 1.2854, -0.2829, -0.7887, -0.73, 0.9975, -0.2249, 0.6582, 0.2626, -0.2447, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3656 left_y=-0.3097 left_z=0.1206 left_yaw=0.0279 left_pitch=-0.0183 left_roll=0.0036 left_gripper=0.9975 right_x=0.2578 right_y=0.0061 right_z=0.0934 right_yaw=0.1788 right_pitch=-0.0256 right_roll=0.0028 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -9.3607, 8.7453, 1.3504, -0.2271, 0.359, 0.0317, -0.6222, -0.9778, 7.0496, 1.8095, -0.2662, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 2.0964, 1.1645, 0.0826, -0.7929, -0.7101, 0.9975, -0.2249, 0.6456, 0.2428, -0.2382, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3736 left_y=-0.3206 left_z=0.0339 left_yaw=0.0199 left_pitch=0.0066 left_roll=-0.0126 left_gripper=0.9975 right_x=0.2555 right_y=0.0066 right_z=0.0888 right_yaw=0.179 right_pitch=-0.0263 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [0.5128, -7.8974, 4.0137, 1.1795, -0.3785, -0.0122, -0.0122, -0.8547, -0.9094, 6.5709, 1.8437, -0.2613, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7bdec7b18149b997a68d4d4d96f8cadd402b32318269351c6c760b6b4c69eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efadfa524928f3a890adfa5df64dc3b2c2c956f4ddc5fa576d5b4a5b02cfe8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8978e16899f4ffb5bc02c1fab6fd0838e488fb3c8aaa6fb3a13bbb86e0cc3961",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5YwyIs0w-D1OtTaxtuQfntdX-MKEfryuaEHUF2BZHRryZVBPnlHS75nEY46dfKkjgGwv0qsCDoHRNg6r5mlyydZegpFXR4F3YhHSz8s6le02e9k0eSGrT4GtJJlQcozKURW_yDXo_raWZ0Hrb61Y52aTSyU4TxUBcWL7rohhsYgJCDTIIEsP7Z3d6BeQMHLr3I5b7vOl-iEaa1IHi3UpYadA9NuQlotNHa4YKANQxW8B-DaG8hPAT5ivsqoyhDcI_GdsZEWITRs2lYu0A7ouw8TYwqDKqQ37H2ajcbXHHtiH0009h7Ds9CoL2v3SeOmVWSkl0O7lBMvu2dU15TSka2SPr4HkGaAKOiqZXsqm1zEMqmOmvnFl79fRz5F5HBef2cVcRoVxDeQJ6k7qpSw2319ZXgiHbbRDFUL0hmwtUO9tR2gAi6jNX6sEbQWpxlMlxVLledWyde_UgL6PpugHhM0j5xK3cvJzB4ROw31NuFUdfnno_lGLLbnTvnUsLagG7vrizO0-CFrVZTq14fWo2mt1wNlhoxb70a_w110NSn901ZB_6GYsV66a6iZ-dlJOFCEP5zkx3FBytThBH3eb1y3IQ7Oa_W7B-mKytYaV6GvqV7CedAbYuyGDbYr00RiRiAYVem_KfZW7BYjz5lyZyQKoaqJJoNJL_apmsvHCuBRCzlBGurAybMntMrd66VIHvPCXsJKB-7QPLwdZk2RkkH_PF66jJ6richMkWFtylHrd57-Y07664sX1NW8hAzt-ZTRn59lAEWO-PEgOu-_PMWNnViVFVRyCG0F35CY69ppdNPdQj-bbTAqSj2qPIX_ai2qWgEY6XxoRkeUnYoC0v5URLlt5_DGW-_0WpggTXl4Sj-yiqGHJYzpTjMustXQszNWDabt0LRt3hC8hID-JSGimbE4woXMojTvB8bmCpDcTOVmERNyiTdacQVCi4HRvvhVWqNYA6V6eFV6D2HP8rOTTDzHXmVhAiqTIXHyHxiXT09Eyjf44dukmvOPmWyvBdQvkgLgpeOXPx0OBEZTkl6lcDG93VVSUFnR6aO5XxCcIyVte7obLezaKRrjPnPhOYNqfhJthjAcv_kGJuOu4obdplc8nI99-sXDG0CCmnbGZZybN8ZS-DgsKLQ0CAl2nNr8sFv81R25CL8PzJaQBuQyu5-K2TxseIpsFUaoNBKZsMlF2v6cdDT5Z2CxEmEr3DFBJT_4vmeZn6rlpbBRmbq_Y1TGMn02iILpCUcVMPfN-io6lOz92yPu-JC15GqST5eM7LPiKjOL7cA594eXOR9xLGYlbXTuRmiU9cNFcXMJ9mWWiI8EE-KOykOODRpSxVF-Amlsj5KwF8nMooHjdAx0dru2JhmoUfmpDa8F8A8k6xr962xr-G1Px4B_jkw15OsuRQJ7H21apTk11H0ISVmI4p7F5PEbHblXJNDRGLzheR7-e9_-ov49xSQ3XbEl00fPMrVsorGXfBjX4crt3R1Or6zYRq6KzdoW9JI3t3M5U9ZJNK6wNOXoNKvXCiN4aYNhIPQ7m9EPMlZTB2DkLZAsyynBlY8Yrj1Shkr9AFUzDPdOIaCblHO9Gu4VjuQ1mqqwgyXTesct5kpFZH5WMwxHrRWq2b9REWM_dYXIHY0XKWYVxVdr7Iq8Vyf4_xB9OKDtTiHR0zibG6fFyZpfBRaUH2OTonVDWz0dIzvvn93c5esJ86Xw2q6mF2kucrqOMJ3n4apm8eapGF-W__rClLirVB5Hr7_A7m9D4qjpcDKNMUDR-8zOqFG2AOGNXdP8NCsiPLCEVlmzxsQk6vzusHVV5o5i7UogKvwz56YpyPxXNHdVSBroz3kk1coeeTmnDmbALRbF04PFV4Ge0rISg2f0Abt9tL-3i56OM6MTiFs4SMF1FCN7-1ZzbjRXFjGSokF90sj2lTUJZbeo7gGDzsr5N7pCmpyTV1_bf5zVGlDNykn1lZP49hu4bXlvRLukogiP0aNm8qWtoZZ9XZXEdx2PjYuhKmLQXMaZ4RB4MNpibMBke-rlB68KqcC_Zl-MKjwK8nSQ7YwyJM32Wj2LYoUz39e_QRUWbRnwh9CAwWVPaaPJc2rXB7mfKfaB-E361AoU2g379VteRujOje3qX05D987RdZ0-bbBEGEUjwXSxnNzEY4GO1KQJksGCSNDOK-kmKF9q-uQZjagNqVbxg4budb1IJHl2OhPPu_AgDf4KxfrTFfP8HPiVMvUBaYhBQvPEJqL7NVrkvNU_wzzqTwZcGq4Uhb1pzIZb69j567clcSOmrpntDHoCPpgAQulAMDX8gMjsps-K4H9NGmOsW7f3HBO7PUwNY6nvdLUqecn86E-Sz4HM92x99zvujbnsPK92Uq-RLsDu540RS0u0vtDLTmKK017ISg3u0P-rhwhgeT35NRukw0xCz5f24LB0xQdfefneqph8FmKxedxNh3Gj9TPTbhiaDefJT1L4hv20NA=",
  "id": "rs_0c5f6e667f5047d2016ab42e548f7487d0a6f550ed968b51d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.315,\"left_z\":0.012},\"note\":\"The cap is visible ahead of the fingertips after the descent, so the current position would catch the wider body instead of the neck. I’m advancing about five centimeters along the bottle while keeping the fingers low.\"}",
  "call_id": "call_bKKyJwan8AfgNRStnkfeCEVm",
  "id": "fc_0c5f6e667f5047d2016ab42e573b8887d09a0802c77b6e57d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bKKyJwan8AfgNRStnkfeCEVm",
  "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]: [-0.8845, 2.178, 1.2514, 0.1699, -0.767, -0.6514, 0.9975, -0.2249, 0.6327, 0.2234, -0.2302, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4203 left_y=-0.314 left_z=0.0337 left_yaw=0.0635 left_pitch=0.0441 left_roll=-0.0492 left_gripper=0.9975 right_x=0.2534 right_y=0.0071 right_z=0.0848 right_yaw=0.1788 right_pitch=-0.0249 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.2393, -8.212, 6.2974, 1.1355, 0.0611, 0.2759, -0.0073, -0.8957, -0.8547, 6.5299, 1.8584, -0.2369, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317c5647a110b8518221a2c98e35c54eda83d4bf3e7df9db91d079f09575ac75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b565b12542f70d3063334e8573ed07eb82d5bc0555d96f0507ae615553e1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5d774101376e99735eea4c722d42694437f6187cb0453f24f8106768865cbc",
      "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 · 2.879 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3251, 1.7473, 1.1744, -0.6289, -0.944, -1.1561, 0.9971, -0.2249, 0.6735, 0.2905, -0.2611, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.2316 left_y=-0.3206 left_z=0.1276 left_yaw=-0.0079 left_pitch=-0.0173 left_roll=-0.0137 left_gripper=0.9971 right_x=0.2602 right_y=0.0055 right_z=0.099 right_yaw=0.1788 right_pitch=-0.0291 right_roll=0.0043 right_gripper=0.9951\nstate[joint_eff]: [-0.7316, -10.3316, 8.1983, 0.5788, -0.6862, 0.0464, -0.1392, -0.8547, -0.6496, 6.694, 1.9267, -0.2564, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 2.0964, 1.1645, 0.0826, -0.7929, -0.7101, 0.9975, -0.2249, 0.6456, 0.2428, -0.2382, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3736 left_y=-0.3206 left_z=0.0339 left_yaw=0.0199 left_pitch=0.0066 left_roll=-0.0126 left_gripper=0.9975 right_x=0.2555 right_y=0.0066 right_z=0.0888 right_yaw=0.179 right_pitch=-0.0263 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [0.5128, -7.8974, 4.0137, 1.1795, -0.3785, -0.0122, -0.0122, -0.8547, -0.9094, 6.5709, 1.8437, -0.2613, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8845, 2.178, 1.2514, 0.1699, -0.767, -0.6514, 0.9975, -0.2249, 0.6327, 0.2234, -0.2302, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4203 left_y=-0.314 left_z=0.0337 left_yaw=0.0635 left_pitch=0.0441 left_roll=-0.0492 left_gripper=0.9975 right_x=0.2534 right_y=0.0071 right_z=0.0848 right_yaw=0.1788 right_pitch=-0.0249 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.2393, -8.212, 6.2974, 1.1355, 0.0611, 0.2759, -0.0073, -0.8957, -0.8547, 6.5299, 1.8584, -0.2369, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:317c5647a110b8518221a2c98e35c54eda83d4bf3e7df9db91d079f09575ac75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b565b12542f70d3063334e8573ed07eb82d5bc0555d96f0507ae615553e1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5d774101376e99735eea4c722d42694437f6187cb0453f24f8106768865cbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0c5f6e667f5047d2016ab42e59b23487d0b697da6c67eb47ae",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5gf4ZYPSg_sYiHMU3zGvyRa77mNeb3xNFNukuhvGwO_7u2ZFehzFPSCHMHK586v0qUOpluGCLGEemhFqKhkzIyIZkgnYtRbv7MPIEOL4xcLecrbAhwdz3XU1hNcmBczQpeP2ajILfZOfK5pB1ONd3uxWTOgDY-8miBqVnF3X_R3WRBLZxJibbWzJbagk0cRZsq8f75xFlkffwOckVQ_1K88ubQbCFITIzCARCliNSGFdKOJcAESX2I-s4TSSzxOOzQk74OXoZSwLkZEYcA_0s3YX7iSM0v1FeExBxm-U3jDu-1C7zmd0WViFHaCU7R1-WLMAXgD2jAdLy3RK9ozFPiNjQJDn_FNmJf0z1CLI9G6DYh20qSxW8vsv696m6WLuU3Gy1fLQ47D0Eid2u-ZQPb4XwWu4FHuPqJIWQ3lWTIYB-Sty3SHRKmXqlumUrDFYSwinqzKu2TGDcbSYYkRuO_Tg278CLxN7__jcThkgfTJpwA8d7c3uJzAAnaj0agDCBpjFe1wgjnRbeN_rXa7ME4vKX7xofCAK975aG1f_AmHTksZs8hR77TTjQ9e6rl3OKCORNltw6wc1AV2Rq9P3zYHCeNBYV_x0ESVLbf8BglDAdJFxF9psPvb9yu3ESK6Bl7yiUFZS9mBg895Xy4OnFFsmif8RGJvbScfhWDQidTmFToo5brp8J4SvN7-rkYToio7aisa3MNGRlDrKRuPql0nAZDoB-Q1BCr2-pngK0X544o6vG1zXlYYLvxB2Ft-9LeUcM5pGeoDNWsUDaAAazOTF8LnyAukMBR6sMWkje_Bkb4BBtzH22XEXddZR-8V511egFK2IrKSvtXxI60pKC74u808vFuBTMHevJNZi1GR5R4jvvY55ZO0_2xUFz-Hs9EzReOyO3lMG8aGSmIkU0c9FLT8UPH0lSktT11xBK55q03CdMHEcjlgBvIABDYnBJlFlj13ogLlhIoUl4dj-paSxj4fexS06utOy-J8ToAlsdkaiKhw2YTWwd6S4k1SIS2Dd5gbeUuUoDQu3b5fIaD2rFMi7OmA8xC6YzZlecuyqUtmZunfHx8FhGSDu4IJhHrNSKGb9_hYAfbTeuMwd67swLTHQapMqOqT15n6Iych0OZjqpejJ_d5dKotHa_txTjhvRUzrv8XjcC6SY0zokaaMWZBYmS2hZgaOUVpuyVMtQckcsU5GXtYuU4pk7yKiIpbtoiUOA1ezOOFMCHgVyQrHYYD4Lna14GXonAcqVQ6euNXsDYvcqqb8nCt7eBSoGxM9EzzhCqEkkv0orLqxoL0WUyP64FcE4_-o1DnbJVNSyo1QZcOmEuBnI3nx4WHG5zBtU60B0yKFeIsczw1gQqDA==",
  "id": "rs_0c5f6e667f5047d2016ab42e5e286c87d09b1aec92f5f1883d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.32,\"left_z\":-0.008},\"note\":\"Advancing low pushed the middle bottle away instead of reaching its cap. I’m returning to the near end to pull the whole bottle farther into the workspace, so its cap can be approached vertically without sweeping along it.\"}",
  "call_id": "call_yXSfNAV8ai7NAAdfLpQVdemO",
  "id": "fc_0c5f6e667f5047d2016ab42e5ea4b887d084344e7077a2643f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yXSfNAV8ai7NAAdfLpQVdemO",
  "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]: [-0.865, 2.1906, 1.2652, 0.1936, -0.7635, -0.6273, 0.9975, -0.2249, 0.6197, 0.2028, -0.2195, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4303 left_y=-0.311 left_z=0.0353 left_yaw=0.0687 left_pitch=0.0573 left_roll=-0.0496 left_gripper=0.9975 right_x=0.2516 right_y=0.0075 right_z=0.0807 right_yaw=0.1787 right_pitch=-0.0221 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.7863, -8.9778, 6.0376, 1.1795, 0.0562, 0.1832, -0.0122, -0.7453, -0.7316, 6.7487, 1.8144, -0.2662, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9016931fa4ff1f5af2848a7b4d1ef05d62f9b3b2d65737632aa9c7ebaff40400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd101eb084903f9626d3da4d61d946c78d7a973095b40641569be5527f0c659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3bfd2acf09bdfbd4902e227f1b624e510191be31af98643a88013e3a7c1f19",
      "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 · 3.787 s

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

message 119 changed as sent

message 127 changed as sent

message 132 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 1.8931, 1.2854, -0.2829, -0.7887, -0.73, 0.9975, -0.2249, 0.6582, 0.2626, -0.2447, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3656 left_y=-0.3097 left_z=0.1206 left_yaw=0.0279 left_pitch=-0.0183 left_roll=0.0036 left_gripper=0.9975 right_x=0.2578 right_y=0.0061 right_z=0.0934 right_yaw=0.1788 right_pitch=-0.0256 right_roll=0.0028 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -9.3607, 8.7453, 1.3504, -0.2271, 0.359, 0.0317, -0.6222, -0.9778, 7.0496, 1.8095, -0.2662, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8845, 2.178, 1.2514, 0.1699, -0.767, -0.6514, 0.9975, -0.2249, 0.6327, 0.2234, -0.2302, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4203 left_y=-0.314 left_z=0.0337 left_yaw=0.0635 left_pitch=0.0441 left_roll=-0.0492 left_gripper=0.9975 right_x=0.2534 right_y=0.0071 right_z=0.0848 right_yaw=0.1788 right_pitch=-0.0249 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.2393, -8.212, 6.2974, 1.1355, 0.0611, 0.2759, -0.0073, -0.8957, -0.8547, 6.5299, 1.8584, -0.2369, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.865, 2.1906, 1.2652, 0.1936, -0.7635, -0.6273, 0.9975, -0.2249, 0.6197, 0.2028, -0.2195, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4303 left_y=-0.311 left_z=0.0353 left_yaw=0.0687 left_pitch=0.0573 left_roll=-0.0496 left_gripper=0.9975 right_x=0.2516 right_y=0.0075 right_z=0.0807 right_yaw=0.1787 right_pitch=-0.0221 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.7863, -8.9778, 6.0376, 1.1795, 0.0562, 0.1832, -0.0122, -0.7453, -0.7316, 6.7487, 1.8144, -0.2662, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9016931fa4ff1f5af2848a7b4d1ef05d62f9b3b2d65737632aa9c7ebaff40400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd101eb084903f9626d3da4d61d946c78d7a973095b40641569be5527f0c659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa3bfd2acf09bdfbd4902e227f1b624e510191be31af98643a88013e3a7c1f19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5k7jdfIFzYEO_1hu_1yLEDDxaHt7hvnJEE0PT6293S_dLbAETzcTksYqXJqivG4URd-qT_Z-yGoZXTTt_OrhOpSJDwfugdZA2Zj1HqKt580SB5hKr8dQzZ-SPGREzRMlz98J4BoetvlhqbzInsGgFkcIyNmWELKQKnakyFaYedUMVZ2oBabsusFvmWqjEwwL5NQ4sgr7Tv5ohkmNeADjoBU-tWkXImWKHvtcZj0RI7pyd_A_7PN4_eeIE47ZADQOOkq3OoQhCDBSwTVE7sDju0Q3txjKgMbiIrZDYs0I1OJzzEcnfw9aqVI3VqZmqnuHIC-Dvidj7CajtjVYv9KnzINmyuIaXMiDY_LM6jBUh8zpCx5uFeF8MgptKRqvG4dwpUM7uebKpopMjK-kfqBEmadVNpwt02Uz94YH89-7eyEJwYyHc7667di1soGt4gZRXPuw_W8pMmUmbV4cHsFcjYLMQ_3mCLdE9jx3tYoP2p38mJgYNWv5bribtuj3PlABMNXOBJQkCRsh1aEfg24m1AxByBOVfnKw-_DflO070K2aUI7RDapW8e_n6Zup1ceNQhZRAjpmGa8JrJWoqcGJ74UcVAQnV-34-N9BcdHf4jnbbcuDSR11G-ROjQxiIVj9cFvUJvgSUp7nmX0g_6zASgBR8gMxQagNQcz3By9TUnflXIxkVg5Fbg4ppnyUr_crcY6ZwxwQ7m7PVyG4FQSvZFo4p-Onlqcy_s7hqi4f3CMq_tjXw_g_4jps0zLdjuCgahlt7Tj9HlTV8xb0OdRSh5QlTKXDJGslM47RRPCwBYR7qFBIEVHM-5TPObi3DOmigDsTpbtjDdYqgJCI8MMCRrlkDc6bDxH8WWebjAJuTIGrQumZzonjVu1muVtoaK-00d1K1uOkn_7xM-6v2W3jDL8bYvMXWItnGPNSkeWcikzEM2iMO395riSUOzabglVjAi2hyPLpzK8gnJsA7lNBll_lYwetIrsSmP_PfPRxBu8tMIM5BKNK2UQDEGXTsyv8xhGadTShacIH5fyqdJpzTDkoLuSmIGJUrVnrcPG96H9W_CmPZKWGgvmQPnDV3BT7Q5vKZbgzXzRQKgv1_lj64XL7Hqxv1sig6iFmgRy9z9GkBNLDwjZd_DJJx9L_Ix4O4INKHoPuaC8UXsWS-ePpXoxeKXOHuVFCTr008xOFqDst2WPW-gP9rWkwQZoK7THN19ZnWcn-9qv7A-N6n-Qb1R-7EyD6LlfvXS2xG1cTFtVI5UCFNZQHsLhXhCV0p_aLKKny0yrFfmpnS61bXNe4Mk1Rr23YzV8INPxfJYE23DmIwlV33jdPDBZd1eOjNycyGYcQUuYZBlhXRfkfeuM4sSRYZ9Pj-va-qtcSDpAl0_nHM=",
  "id": "rs_0c5f6e667f5047d2016ab42e62c32087d084d078eca909c81e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.31,\"left_z\":0.16},\"note\":\"The low retreat did not move: the open fingers are caught against the bottle. I’m lifting clear first, then I can reposition behind it without shoving it farther away.\"}",
  "call_id": "call_8FeReBURtJAKnZ1q1yii7ODA",
  "id": "fc_0c5f6e667f5047d2016ab42e631d0c87d09b50a1a302a06cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8FeReBURtJAKnZ1q1yii7ODA",
  "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]: [-0.91, 2.0155, 1.4563, -0.35, -0.7765, -0.7071, 0.9975, -0.2249, 0.6064, 0.1833, -0.2161, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4035 left_y=-0.3115 left_z=0.1166 left_yaw=0.0736 left_pitch=-0.0369 left_roll=0.0331 left_gripper=0.9975 right_x=0.2489 right_y=0.0082 right_z=0.0758 right_yaw=0.1791 right_pitch=-0.0245 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.3897, -15.788, 9.5932, 1.3309, -0.3883, 0.1294, -0.0122, -0.7863, -0.2667, 6.8855, 1.8437, -0.2808, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c563e0b59ff83c9e5cad1141015122df77e899c4cf4cb7de1a53f1bc65ed47f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09dcc58379efbee874644280cb0fc700794e48e0a0a7d6100b05a7721af78ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf119b698af718a199e71266e6aa9421aa2a870a3c9d53fca88476c6d724a321",
      "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 · 4.043 s

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

message 123 changed as sent

message 132 changed as sent

message 136 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9752, 2.0964, 1.1645, 0.0826, -0.7929, -0.7101, 0.9975, -0.2249, 0.6456, 0.2428, -0.2382, -0.3454, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3736 left_y=-0.3206 left_z=0.0339 left_yaw=0.0199 left_pitch=0.0066 left_roll=-0.0126 left_gripper=0.9975 right_x=0.2555 right_y=0.0066 right_z=0.0888 right_yaw=0.179 right_pitch=-0.0263 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [0.5128, -7.8974, 4.0137, 1.1795, -0.3785, -0.0122, -0.0122, -0.8547, -0.9094, 6.5709, 1.8437, -0.2613, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.865, 2.1906, 1.2652, 0.1936, -0.7635, -0.6273, 0.9975, -0.2249, 0.6197, 0.2028, -0.2195, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4303 left_y=-0.311 left_z=0.0353 left_yaw=0.0687 left_pitch=0.0573 left_roll=-0.0496 left_gripper=0.9975 right_x=0.2516 right_y=0.0075 right_z=0.0807 right_yaw=0.1787 right_pitch=-0.0221 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.7863, -8.9778, 6.0376, 1.1795, 0.0562, 0.1832, -0.0122, -0.7453, -0.7316, 6.7487, 1.8144, -0.2662, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.91, 2.0155, 1.4563, -0.35, -0.7765, -0.7071, 0.9975, -0.2249, 0.6064, 0.1833, -0.2161, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4035 left_y=-0.3115 left_z=0.1166 left_yaw=0.0736 left_pitch=-0.0369 left_roll=0.0331 left_gripper=0.9975 right_x=0.2489 right_y=0.0082 right_z=0.0758 right_yaw=0.1791 right_pitch=-0.0245 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.3897, -15.788, 9.5932, 1.3309, -0.3883, 0.1294, -0.0122, -0.7863, -0.2667, 6.8855, 1.8437, -0.2808, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c563e0b59ff83c9e5cad1141015122df77e899c4cf4cb7de1a53f1bc65ed47f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09dcc58379efbee874644280cb0fc700794e48e0a0a7d6100b05a7721af78ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf119b698af718a199e71266e6aa9421aa2a870a3c9d53fca88476c6d724a321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5pwoyAvjT1_kOfj9vOcOHW8Hm8Zhhx2DiOyheEMB94ENVfJbjLNFOtzyH7MXMXUTOi4McZJt7ya7kcEV5G_W-WwpKAd217g8JuttsVqf6g0PVDttn-OsgfeB9WjkIgY_S_ogllAdRK3bviB0FJII5sPYVCiFKgnYHjbXF6Ye3xqNH-cu6HQ4j5Pdzc9xyhQY02HFq24mlPqUn8bWpOlGLKKUzTSLJg9j-sxQY2Xw7zluyVFJsrUvucSs3A5mnGvnmKP2B1PqsvMCCDkgwfGojrS7e76ehG2ENuVBv8Mv3jvCVce2joUHqIIWB_T0xHk5f9AsNEEFkC0FaTP5tSfIpPzvTi29a02MaStjbHm9ecPiWkKeCvGSQtv_LI2QuA7Nl_ApPu3f-jwr58XNqclG8-gvswvygAj15cIQTbBIjGkk8J9Mqyom0Wg_-7JAgDX1S3gNda53aqhgN7JCe5q1mwkZ4Jh9TPwVDOeI3OXVImpQEdjel5Gojud7EduoP0rGE1FGIh27YxCNFISuP-YLgzNF9YY9DcZbAe0WfeQ6mIAGpoeFPtHkQJH7XcwwH-KZ4y9CmYhBoXd2XmVIF8w6OGiaadt0VJWLP65k3CYiewJ3Qb055LQrw4yh2TmBu6KLfxykvXi4ysPtPtCEgTHJjFDDzYQo3fzjmTs-H61VJ1fDXI4vx3QJuhCJFHUKSZ6mhYVndpodr9ZJuN2SJLYyo15JKh-h2UTaLUDUuJVA-rYAbHylwiTv2F3_8hy4Q2NcQZ8oEsfncLFnE3I4nFmXfy0P7VAf-nfdBXmJcSMmEgYhvwrtxI5G7S3rC9KSTy6snLcD4mP5HApdHZGslfQMxArjBkOVpRhaTd_Pdjri6x2cGmsMxXhszNr0Slns3UVOcdzJRSUMTq1bnexfADNaC2Nl1FnSoQYYus90fXpjERNkhahlFjRxQRXmVXT63DauubYUw0eDFsqTQSY1SXVFBAso_N1FZDJjJ2CXu9hw-ue4V7EMsgIPsmBz_U1LkovVgzSzhvy8K25lgelaoP1s3LVZx_GSc5zKuJ2M8Bu5DAoFIpnmMVDX8UixLsAlBf0ADaczfac-uPsUM8AyN7WVPdTycac0MIEgtFlkR8iV61uwRQ1-jdl9lcLMUs4FuMe_CfvcmC4o6x1ZtlxEUxsi-EzDEPOVn3S6VEL27mPYJldCzz7ObVYI_yISj79RgnWIHlWJt76IGlHYzFh2dpGfoswZHcZXuWPp0KXH5sXPqXy8KCb8ySxpS1jI11gu0XvakGIRHOKurruQnPorRilmlQYeOe8LOU05MOLcNVBXXWyvHmBKooGQPPpgZ8snD9PabhpaVZdC2ViUblMdS3GmAWScDgTtRDxBgk1Rr9yv8owJrkPPqiKyyjPv605KLQErtSb1XWJGYhcJZjPvquBN4bwvFhWg7Ff3C5cp4x-mceOCZOyN3ovzUYvOAq4V2TtCOSQvrTayDSrYNtL9FfCWn2V8ksVSASk1iq8LUgXS2PopkrjfWJbs9Ty432pCc8pDqQAF2zQBstShWsP4Dxy3j4kDNO_tSGbjc0NrI_buczVtkiHXGb4oepRBO7K0LiQ3YRX1ZARTHXlp0yNeNKdncymIIKGOuwEV6HdaRbR3IsjxQiBoZj9juRiaN0aLj-Mll2WS2eoNtcc7LjWutjFk06DSJ2xNf2t5420SPamk9r-QkEr9SmWz2UkFSzHZY0u89H5CxGDJkLU3RsFqaxGA5cFDN-H1GCSA7l00WygjfWGe4goMeakMC4mjT3nCf9lCHfj9oxjyBgMqzVRvDmPwYWRyuVCyEzlh7zxQ_wOkIWnS5s4LMYvLSFgdqIkcPlFCRhhkyoB4ht_ZONf7wWXwiOSlMj67xhdD4jUcGLsGBEUf_gNHmjf7h0GExP8LUqSnFrWNRW3XM8KPky8o6aqGxg4w==",
  "id": "rs_0c5f6e667f5047d2016ab42e662e7087d0912d312ce49d22f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.36,\"left_z\":0.14},\"note\":\"The middle bottle has shifted closer and slightly to the right, leaving its cap exposed near the center of the table. I’m placing the open left gripper above that newly exposed cap for a direct vertical grasp.\"}",
  "call_id": "call_rCZxjmQzFIsZ1ITNxWrB9kYR",
  "id": "fc_0c5f6e667f5047d2016ab42e68380c87d0998078f1fdc6c196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rCZxjmQzFIsZ1ITNxWrB9kYR",
  "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]: [-1.0817, 2.0319, 1.5379, -0.4908, -0.8474, -0.8631, 0.9975, -0.2249, 0.5907, 0.1638, -0.2115, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.348 left_y=-0.3643 left_z=0.1294 left_yaw=0.0294 left_pitch=-0.0225 left_roll=-0.0023 left_gripper=0.9975 right_x=0.2466 right_y=0.0087 right_z=0.0716 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [0.4308, -10.3863, 9.1556, 0.9499, -0.7595, 0.1783, -0.0122, -0.8821, -0.2667, 6.7624, 1.8144, -0.2955, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889a5f0a54b6336b10884f110f5c973952a573eed3de2b7a82da8299b19ef28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd81dfa02ef4f162c073652127b13f66c0dc5b1910babd8e87dddb7eae455f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3d3007e2740388ce2225652c3d6e12f0e90e6d9aee87e603752622370a425a",
      "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 · 3.524 s

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

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8845, 2.178, 1.2514, 0.1699, -0.767, -0.6514, 0.9975, -0.2249, 0.6327, 0.2234, -0.2302, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4203 left_y=-0.314 left_z=0.0337 left_yaw=0.0635 left_pitch=0.0441 left_roll=-0.0492 left_gripper=0.9975 right_x=0.2534 right_y=0.0071 right_z=0.0848 right_yaw=0.1788 right_pitch=-0.0249 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.2393, -8.212, 6.2974, 1.1355, 0.0611, 0.2759, -0.0073, -0.8957, -0.8547, 6.5299, 1.8584, -0.2369, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.91, 2.0155, 1.4563, -0.35, -0.7765, -0.7071, 0.9975, -0.2249, 0.6064, 0.1833, -0.2161, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4035 left_y=-0.3115 left_z=0.1166 left_yaw=0.0736 left_pitch=-0.0369 left_roll=0.0331 left_gripper=0.9975 right_x=0.2489 right_y=0.0082 right_z=0.0758 right_yaw=0.1791 right_pitch=-0.0245 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.3897, -15.788, 9.5932, 1.3309, -0.3883, 0.1294, -0.0122, -0.7863, -0.2667, 6.8855, 1.8437, -0.2808, -0.022, -0.0171]\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 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0817, 2.0319, 1.5379, -0.4908, -0.8474, -0.8631, 0.9975, -0.2249, 0.5907, 0.1638, -0.2115, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.348 left_y=-0.3643 left_z=0.1294 left_yaw=0.0294 left_pitch=-0.0225 left_roll=-0.0023 left_gripper=0.9975 right_x=0.2466 right_y=0.0087 right_z=0.0716 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [0.4308, -10.3863, 9.1556, 0.9499, -0.7595, 0.1783, -0.0122, -0.8821, -0.2667, 6.7624, 1.8144, -0.2955, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889a5f0a54b6336b10884f110f5c973952a573eed3de2b7a82da8299b19ef28d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd81dfa02ef4f162c073652127b13f66c0dc5b1910babd8e87dddb7eae455f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b3d3007e2740388ce2225652c3d6e12f0e90e6d9aee87e603752622370a425a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC5tkscorx4YwnMuSNDOOQtmEiWquKP7VMSeeRUnmllLkjoDa_T5ZkbzgmrGMKkkMrHosarKmGW35af7YvM9hGnlgbxkmAIOzkU8STU1E4InvMEwQqDKpnqYb0ZU9BbMjN6v_xdSU6Cz9J3PSKixHOLXTdq6W399JLHuCMCeQU74gGo63vN8IeHFh9uyH56w-wBsDuJ3rp7GFE2KU_U3M9R8pLOe13fIgcfFGOlvSDO0HCpOkpTQDDZNDx-jQELIeKQQMMFtCGqfeBE5RrREWQkEKYRJARcrZo9a-oHf6o2FcgK7iPeSccRdBa-fo8yTiZ9toCVWsptUGDCRya85NSXLm6yZ2Qf3-IpFQJaLSeraImFAO921032WgkCaRzteQFJc3WAjIAM4OvuRHiOqMFHwTjfQX-qpPJCxz-JygGnV6csLOHsWQ9Nc1iIUUPImfCb2EtRFv_HElEaOs8sIkGLvj5znh6k_83NfXDLS-fuYYV8tYhffahQpMXar8T8vl95tiqOnN8A68Ilm_Vnqh6MoJDJrHUganSmxNXMx9PYbMsuodE2QsG3DVUbOlpgbQoKqSGYf3wR5sQx_2GBHrda6nhtCrsOq9lUZSFZswnzEovmjYcYhQYbCcKIl735GfpVhZeQR8uL5TCXNsexZcbNQ5OOTx566lNd0YEXXfNcqX32mFV36hQb0UzpGpJualsQyFarM39YgtO3oFBbTnHxFa7lX_XvqYRQ8DqNNq6zsWYLuH77UiKpA_khfba_CuIg9zCFzyxlTaCVVHmvImmEHOcVHxqv6TT6y6-L6pI-ZBcX_ndby6DeoU94ZhI9JbEsemgCjkDBzbXwV7bvkP2V30uW4MX67yeD44LeVWcC1H90J3yFN4nisBcPh8fkyM1Lz-AeouD3XVJkrC_Knh2umjlWZftYyaY8d_q8voSffWKar2deUhvCdHbipyK8VjBSjYMb6dzmHdulWUZT83wweV2b3OJbKW-gcq0uKBPJWkmP9n3hqX5gqaXFvt-aG5z5YoAB6_jrS-dy2o19-YzIoUPMLrpAGPAplPT9N2OVjv1dB6aD4eMAmGKu1dy-8VM7rddvAgHNtZ8u3gGkd6Hz-KaGkNqBvWiZCetjxY2gn-eK0P4ylR3LGlznAg3-vpH1bFYz7qMRpU2iZEuvY6wcEEwcCO9IQuYNtvD7IV2FmH7sBwDrcPawesUHyzWS55mOGNC9Ah1xvdD2LFTyesSUEwk3mziXvPjzOLEgXVD97F_VCk5TSnN4-z-CnNoEDVNsE87rjMIl9y3wuJ5Du_togX-ZgrOBqNihlLEhHSGl6LIvLLYpsHkVl1j7f4_66pAOxmvaW2f3tdrOzBIGqL20k_gQTsf7ERtiGg1HejyMlAzh3D0t3DLkOjlem4ONDYFJiv613dpVh3HvM9GFRWbT52xT8g067eMBvs43MvYtv5fWcGbj2pe8NVRCX5p2W6eB1DHKTBuF0rjFYyR_Yy-DJ6YcogFUu5NoMLr5WaIruBoJ-6ckYt2imdBXZq5LKPDaB-wdUk_HQ7a0kBPSNz77Mx5c9flfg9HZqqYeShTI49gisT6SByVVoWw8i4JTv7mw2NJAW2ddbetZGyaEgxy4yxYSWsPfiymS7kS3ONmwm6myD5TfMedWKbsgggPI-9tbpmMt_bpG_RfYg0k3KYqU4aXTyjqWUmBYroKg4yGfrpIjM7VbXfsnlyEWCQPmnmi0V-vJ8comE-_-nwxWvco084ZNunF1HXR2frh0PZr1DBcdoTXxaS7ECUHbEoLS6DDAP7AQm7f9ZyTS7Cw7qfVY2n2ncb7xtnSLXuWyOLSXuU5veI4WOwlUZNKRfaqQf8XPS4v5I6_OU82c7_IurSqSHzdVVYjra4iwdt55N6JkD4pVNVKuwLroj7Jg4GqgP__6Y8YZlVrKVP-REXABPT-vQgsOiXK2CvdYahJProA4C6hzfaw-MX9ba5Kdo3_mUYTa0TnghTeOgjy16zz1gRwVkquVPdfo_kJJXLi-nCjUzN0oYttNy2VJdacTqH1g9K3mXLxgfy___dmJYI5z9s6bxmDbra-3UDZA16l5wAaY_XnlEmGEpO2Mqm9toueYvAkjlJETicFrJxEB6NuxRI2Xy8Z1x7VE-y2Qg_D6W9SYbrwFpAQxJuVR2thdbdSq_s_JuS7604YsMVV3ucuEc3bRhoqhGYvD7SBfMgw2cYQfDvlo3egCR_xIuVs_S8JCEbc04",
  "id": "rs_0c5f6e667f5047d2016ab42e6a7c1087d0a94ed8f99e1ed428",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.38,\"left_z\":0.013},\"note\":\"The middle cap is now directly beside the open fingertips in the overhead view, just a little right and nearer the robot. I’m descending with a small rightward and backward correction so the jaws close across its narrow neck.\"}",
  "call_id": "call_M5jrXdUeeFPdf8Sa7Z0ZrPtO",
  "id": "fc_0c5f6e667f5047d2016ab42e6c707887d08ab9c9e375a68990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M5jrXdUeeFPdf8Sa7Z0ZrPtO",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0851, 2.0331, 1.5536, -0.5404, -0.8734, -0.8986, 0.9975, -0.2249, 0.5747, 0.1448, -0.2085, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3465 left_y=-0.3586 left_z=0.1323 left_yaw=0.0597 left_pitch=-0.0176 left_roll=0.0092 left_gripper=0.9975 right_x=0.2442 right_y=0.0092 right_z=0.0673 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -10.6872, 8.759, 0.989, -0.5836, -0.0904, -0.0122, -0.9231, -0.2803, 6.8718, 1.8486, -0.2662, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56deecc931f8ad46eb38fbb12383244e8a6944f74c33ddcf04de08e22e63b0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe69f5f5655362ae2d5136a287e73f803a4110da063198747129bfc853b83db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3946f54981aff10a992e23e92adba381a16e8c80903722b38ba932fa24e8f89a",
      "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 · 6.389 s

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

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.865, 2.1906, 1.2652, 0.1936, -0.7635, -0.6273, 0.9975, -0.2249, 0.6197, 0.2028, -0.2195, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4303 left_y=-0.311 left_z=0.0353 left_yaw=0.0687 left_pitch=0.0573 left_roll=-0.0496 left_gripper=0.9975 right_x=0.2516 right_y=0.0075 right_z=0.0807 right_yaw=0.1787 right_pitch=-0.0221 right_roll=0.0013 right_gripper=0.9951\nstate[joint_eff]: [-0.7863, -8.9778, 6.0376, 1.1795, 0.0562, 0.1832, -0.0122, -0.7453, -0.7316, 6.7487, 1.8144, -0.2662, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0817, 2.0319, 1.5379, -0.4908, -0.8474, -0.8631, 0.9975, -0.2249, 0.5907, 0.1638, -0.2115, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.348 left_y=-0.3643 left_z=0.1294 left_yaw=0.0294 left_pitch=-0.0225 left_roll=-0.0023 left_gripper=0.9975 right_x=0.2466 right_y=0.0087 right_z=0.0716 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [0.4308, -10.3863, 9.1556, 0.9499, -0.7595, 0.1783, -0.0122, -0.8821, -0.2667, 6.7624, 1.8144, -0.2955, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0851, 2.0331, 1.5536, -0.5404, -0.8734, -0.8986, 0.9975, -0.2249, 0.5747, 0.1448, -0.2085, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3465 left_y=-0.3586 left_z=0.1323 left_yaw=0.0597 left_pitch=-0.0176 left_roll=0.0092 left_gripper=0.9975 right_x=0.2442 right_y=0.0092 right_z=0.0673 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -10.6872, 8.759, 0.989, -0.5836, -0.0904, -0.0122, -0.9231, -0.2803, 6.8718, 1.8486, -0.2662, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56deecc931f8ad46eb38fbb12383244e8a6944f74c33ddcf04de08e22e63b0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe69f5f5655362ae2d5136a287e73f803a4110da063198747129bfc853b83db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3946f54981aff10a992e23e92adba381a16e8c80903722b38ba932fa24e8f89a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e6f7ebc87d090672316cfd50194",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.36,\"left_z\":0.035},\"note\":\"The diagonal descent did not track, so the arm appears to be encountering a kinematic or contact limit at that sideways pose. I’m holding the successful horizontal alignment and trying a straight descent instead.\"}",
  "call_id": "call_uMjdVMP0qPjIvnBcLhek5VUR",
  "id": "fc_0c5f6e667f5047d2016ab42e70f01887d090bf2ee18564c13f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uMjdVMP0qPjIvnBcLhek5VUR",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.087, 2.1635, 1.3636, -0.2485, -0.8829, -0.8989, 0.9975, -0.2249, 0.5598, 0.1261, -0.2081, -0.3458, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3436 left_y=-0.3528 left_z=0.0392 left_yaw=0.0634 left_pitch=-0.0218 left_roll=0.0383 left_gripper=0.9975 right_x=0.2415 right_y=0.0099 right_z=0.0624 right_yaw=0.1793 right_pitch=-0.0269 right_roll=0.0033 right_gripper=0.9951\nstate[joint_eff]: [-0.5265, -9.9897, 4.8205, 0.8962, -0.3932, -0.022, -0.0073, -0.9231, -0.4034, 6.8308, 1.8339, -0.2857, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279d6a704ed98449951dd64481bf17c4f4b037c88c4fb255101b04a7c110eb51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd86cfbd044e50c55005e40506fc85545650d3dd114d7ede703bf87aa0b55988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe8c9e6467232ab349fca779843694d6b21e38ef56dc645da92b0018961a181",
      "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 · 2.375 s

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

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.91, 2.0155, 1.4563, -0.35, -0.7765, -0.7071, 0.9975, -0.2249, 0.6064, 0.1833, -0.2161, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.4035 left_y=-0.3115 left_z=0.1166 left_yaw=0.0736 left_pitch=-0.0369 left_roll=0.0331 left_gripper=0.9975 right_x=0.2489 right_y=0.0082 right_z=0.0758 right_yaw=0.1791 right_pitch=-0.0245 right_roll=0.0025 right_gripper=0.9951\nstate[joint_eff]: [0.3897, -15.788, 9.5932, 1.3309, -0.3883, 0.1294, -0.0122, -0.7863, -0.2667, 6.8855, 1.8437, -0.2808, -0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0851, 2.0331, 1.5536, -0.5404, -0.8734, -0.8986, 0.9975, -0.2249, 0.5747, 0.1448, -0.2085, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3465 left_y=-0.3586 left_z=0.1323 left_yaw=0.0597 left_pitch=-0.0176 left_roll=0.0092 left_gripper=0.9975 right_x=0.2442 right_y=0.0092 right_z=0.0673 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -10.6872, 8.759, 0.989, -0.5836, -0.0904, -0.0122, -0.9231, -0.2803, 6.8718, 1.8486, -0.2662, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.087, 2.1635, 1.3636, -0.2485, -0.8829, -0.8989, 0.9975, -0.2249, 0.5598, 0.1261, -0.2081, -0.3458, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3436 left_y=-0.3528 left_z=0.0392 left_yaw=0.0634 left_pitch=-0.0218 left_roll=0.0383 left_gripper=0.9975 right_x=0.2415 right_y=0.0099 right_z=0.0624 right_yaw=0.1793 right_pitch=-0.0269 right_roll=0.0033 right_gripper=0.9951\nstate[joint_eff]: [-0.5265, -9.9897, 4.8205, 0.8962, -0.3932, -0.022, -0.0073, -0.9231, -0.4034, 6.8308, 1.8339, -0.2857, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279d6a704ed98449951dd64481bf17c4f4b037c88c4fb255101b04a7c110eb51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd86cfbd044e50c55005e40506fc85545650d3dd114d7ede703bf87aa0b55988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe8c9e6467232ab349fca779843694d6b21e38ef56dc645da92b0018961a181",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC54n22taHjMxbdLOj1TjhgmCHBDY_NrbMKE2TN4aJ_Bw9Udqa2W5XRPmhbhKpdZp_ARDLD3-XKDiWtTHYOf1RKsBbJ2LfxQmPARuy-ZsVPbqk_WxE-uzIFmSMbhnl7JV7ZPGMtHMJWzBx9mPtsRMsaPdygSsTOHlxrT8RybdlsFqdQLZlfn-iMISjaHlEinkXedHV1rGjWSn_CrYaHyyH9YDoIY5-d2c2Fzo3aYB2Mo3ikzjpS0Wk5nVHVqO9HDdtU7S5JxhHaT3q_SQoRvF6-gcSgAhrOWuYMY2kkV2J0OidQCPQH0sbdDRPEGjP1kl31RDcDFTrkAXacTS6W2E6cX1aSZmWiNjKKZvIkDUWCWDYtx0kKp4bAw71fipEhLDkqUBHL6UxZYijyuboGWOs5-leWAxMwHxvriXEegfrHCbN0ma_co9jBhxObBOKVGtIdbwnFrI1vERNB--cgWIFX_l_HOUZ_g0Sb4Z5uF0uY8XK473csDGkxT0-ayMHy4Pdfj4RUJtHthyXogPujycxEix_EzzIwVVIbEm8XLThrFQxRfdVuh5rqnU3bE7x9grDz-Q0FeKisGv9Ly48P_8YFln4JVrAkYYKCyOadfqsBiTWHLw5Z66aNEdw9SdC0s9WouApswUQli5xUWuuap-U5GO7aQQzVgtCeiBfPDFJvezdvK37XY3v_4M79HhhGrSZFim9ey5EUjWwbt9-5V_FH0sbS7oBN5SPFiEpG4zkMyaAyq-0XqKBgTIJsJM3y8uNI1pROm-8-jueTJlkBsg1ne7vJ4-HydqevkkLzmBAO4fWJPuTHBnUjjzLvCV7OKgRDndZ_8r2DEACT0-DQTFFIxy_qZ2nzhjj3AjlclOTWD3wzBn7bVtrzmKaEUSd7OphWq5MHFuFbACTWwCgWD8jWjMgmaMvmV1RMrhpCdam5liECAmaHwszvG2vyaL9o8WqWlm82ffrhuTnAQwtMJSQAFWEYM-58NdRumuvBJfk92GX0dosuwbnbOfTU5lnZqOUKZ-HvV3c8sCV4TX6dxsBxQmW1H0O9WRqkllygHKMEr8m25yUdGUw3vmPlmk0s9n-gzIjiSI8AkJemHdGMdqRkVybQmYT_UIS8Y1VxgHvNFijURUwdx8dQnHcejW9_j4ApPDYKk9y3ABiktsfVQFRj3ByA2Y7EAogmQUs2H5M5Rn6t9YTjJqGmHqmiapNSYvmAc9CXR8ok8WPar_ojE5z1I2XdXM4R8b4U_1XuB5WSVZlpMr1Q7DghlgvBrL_3nMXvjyhBfJrrgsI4dkdPJKVY1n19DKFMI56omDntCINsH-JPUIenzdlflmM5CnA5nOhQsyaolXycENw5CqvHhEcjABGDL2Hv4WapoPWBBMw88Rwa693HFV7vzVlDK2dDDTWP2z1yOqYDqbcni7kJZmbWiTnBHwoztAgahNW0RZl8_2YkC-KLYM-TYoou6bzWE_qHeECU3EuSljlKvTPpb2fKEEYmrUBKO589chFQ9hquu45UkzfEquIgKsn4dhafcSRH5ciwtewbV9u7UyAkvTBhcx85JCXCTL9pSla1BeGZVPLsyMRW5t4Zbqi_MzyzfKHyCvCPdEdbD9UDjiu9bYxZU2JJBmlOoVuGKZEtwFhOTSCPimK24BSOGSkfw2Z_64jzo5N3gS4sCmEsGFAHKGV6nafl7vxN36WQszlrw4D309fRxYj98QpQLJCAnWnXpAcn2_XiFqLGzJcyVxJyYbpIo1FgUE3DyqSWbZzLPnVbVszYLznc_lBEq1nA65XRGquw03b3kcybdxrL0EKDCf8njQb5K0CUx1lzDI5yCBZwOs7r3PYKJj3C8MY5mlx0tqovUuQZPmTrjLi79a5rNH8Rr9vyDPWnOyNK5Wwas-A8sZyi0crGcnxgUZIMblxe9y8YANpuRNRjEHLt_PDNFXn1E5ZybE-3xb1CeOF7fSVsbh_NDvIA2bA6HkN7IpeccxgBpYVnmYuXBBoQw0iz5XXBh5VM-JSt8ZpsygbgxMaNxBfsQ-C9YrTzk1lvbryM-sQ3gcHGaizwXseuwmSx_4YE2csdlF5eGMfF8qYBhykxfHrF7LopAVmHZ-REiX9JZ6ZX2vhfLGx9q-qsS8eN8K_996L0je1h9ctRh7_5XAO_sjSJgnw55fudIdd1C-l7RbJszOXqckz7-cfWMPjbWIgoM63X80ILd31zYA1pDS38PfopekEniSNnfWiwEwCTQtp6IKVtJwkSjB2zkLAD5TIN-SSp88zu641uziyEEh7WMuxJ9UCDfuT0f3iw2kOjd9gKjF3siq6wVPaqORAkYIfkKNDYFIilI0YiLwDM6P4FcXhqPyV_us4Ng130G4JbEUonoOFQ4C6konhpvkXsK6skQfEm4CQGE2zbcV21BJIX6cXWcLFtOf-5nWndC17jvDWuQJeex6h1QjjKa1bILHrc8nSkWJiWQgqa6vYPN9UrqrL0xxT1UuRQpOATHTlVvJpyGWwWg2lT4nvm_oE0j4ITDxWu_kmPurpBbDlx9nJhxgo1_Uo3ZKaUxegvU31tDO-OrObMioizVclu6zIsew0WxJO8hl6YqQbyjRZcIVfG5fam-0CPbe8I_fTxMakPiYTrgY0SwfUzmctsNBo8LnQGDWEj1sAnVxKyg8gMCOxBelz0NOd365tkeTlxTxtiX0xjSK_-QFtD6EYn08DiI0RkBOPMZ-pXaWuiEQ0iB31Jvhkc4QkSf8AcGKdKmRkg1BDzlHFTmYzSKnrLPPaqyEWdfX9lVJ45Mnm2rctcS8-hnm3KzutMWQK8T-mjhaRZxZ30AegjqgLD8QuMnYTKpLKW0Js3apeQbuEOSnu2jQQEaO2XLVbpcST73bsmozqbfIxrQ",
  "id": "rs_0c5f6e667f5047d2016ab42e73f9ec87d0b4b83622fd37d4a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.37,\"left_z\":-0.006},\"note\":\"The straight descent worked, and the middle bottle now fills the jaw opening, though its body is slightly to the right of center. I’m lowering to table level and shifting a little right before closing around the body.\"}",
  "call_id": "call_WObEGuii6fqyqUD3jY0lzCRU",
  "id": "fc_0c5f6e667f5047d2016ab42e776ccc87d0b0689fc5a0b913f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WObEGuii6fqyqUD3jY0lzCRU",
  "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]: [-1.1004, 2.233, 1.3766, -0.1104, -0.9329, -0.9092, 0.9975, -0.2249, 0.5404, 0.1051, -0.2043, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3508 left_y=-0.3688 left_z=0.0303 left_yaw=0.0831 left_pitch=0.0492 left_roll=-0.0289 left_gripper=0.9975 right_x=0.2391 right_y=0.0104 right_z=0.0581 right_yaw=0.1791 right_pitch=-0.0248 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -6.1197, 5.094, 1.0867, 0.4371, -0.1294, -0.0122, -0.9778, -0.0615, 6.8034, 1.8437, -0.3004, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c47e3c9d7ead04cb4fdf32428fc520681c99b539eed6f049607b6ff535087bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2358b91f5bb8ddb9af0a0abad46109f38e478b61a01afa66bdabfffc54d862a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7bbbba64628dcc160ff96667a71a84943b18ae87106260063851e8798fe339",
      "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 · 5.812 s

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

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0817, 2.0319, 1.5379, -0.4908, -0.8474, -0.8631, 0.9975, -0.2249, 0.5907, 0.1638, -0.2115, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.348 left_y=-0.3643 left_z=0.1294 left_yaw=0.0294 left_pitch=-0.0225 left_roll=-0.0023 left_gripper=0.9975 right_x=0.2466 right_y=0.0087 right_z=0.0716 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [0.4308, -10.3863, 9.1556, 0.9499, -0.7595, 0.1783, -0.0122, -0.8821, -0.2667, 6.7624, 1.8144, -0.2955, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.087, 2.1635, 1.3636, -0.2485, -0.8829, -0.8989, 0.9975, -0.2249, 0.5598, 0.1261, -0.2081, -0.3458, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3436 left_y=-0.3528 left_z=0.0392 left_yaw=0.0634 left_pitch=-0.0218 left_roll=0.0383 left_gripper=0.9975 right_x=0.2415 right_y=0.0099 right_z=0.0624 right_yaw=0.1793 right_pitch=-0.0269 right_roll=0.0033 right_gripper=0.9951\nstate[joint_eff]: [-0.5265, -9.9897, 4.8205, 0.8962, -0.3932, -0.022, -0.0073, -0.9231, -0.4034, 6.8308, 1.8339, -0.2857, -0.0415, -0.0171]\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 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1004, 2.233, 1.3766, -0.1104, -0.9329, -0.9092, 0.9975, -0.2249, 0.5404, 0.1051, -0.2043, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3508 left_y=-0.3688 left_z=0.0303 left_yaw=0.0831 left_pitch=0.0492 left_roll=-0.0289 left_gripper=0.9975 right_x=0.2391 right_y=0.0104 right_z=0.0581 right_yaw=0.1791 right_pitch=-0.0248 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -6.1197, 5.094, 1.0867, 0.4371, -0.1294, -0.0122, -0.9778, -0.0615, 6.8034, 1.8437, -0.3004, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c47e3c9d7ead04cb4fdf32428fc520681c99b539eed6f049607b6ff535087bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2358b91f5bb8ddb9af0a0abad46109f38e478b61a01afa66bdabfffc54d862a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7bbbba64628dcc160ff96667a71a84943b18ae87106260063851e8798fe339",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC57pdka6rbYd3sgV3n71W7AHXpMvXrqPWbcTqdY9vXE9a5mzQSiyiBheJ_AQzzBXrkGzQKV5L7CLmb738ZdGe07Uo4XqguDwrlyJokAB6WQ1sGgtVIbS-3uW3yYPTwx-_bb3LRQiDVG6Sdx5HltVht3xReYppvgVGCxtW9ZePuWvVs78yptvrO_tUT7kWf9fXbxeUtInHH6QeIw2WcBzKDCGadAjclC0d1-wYZl0JjWPTJoEfzYdwUqXUnSZGafzc5--eaN2vVM6rcpFZgthGwPKp6-BTSRnrAEFVrqGfCfwnhFuEFOGYKXptr8j7TZI5DGkDY0fucWTRl_IVfV5cDgYU9FgZJ_cPijoJEhb3FfLGwSNck5QFz4UgELCbmemWw6VNoVs0C-9tMxnH5p87AO9_ff06-iDmcL1iZ61CEN4rLeewZ-StebF0YNpHkabhwYrCkYfA49I9lhTbNyb7oMLqqfFdZDwxtS1VQOjynAlJ_Mt7sb_vV84Yw7cOvfB1QJQ8ofdp0KBWH8SrWhkWlutpvypZwupCLO9dlX5oyf-GQPD08sq-BaHsTrOEmIz6jGHEKXab0uqH-D4QFwSKGFNCNMbtvMsp4uF3eLb68iFR8d2CDI7gBKehKYOAR7Z-tSZKsZPo8OmIr7umC83DBLzjZVodwpg-Edod9T9aJAZz15QV-_kaLQmVzLnbI7l3o_K9BPKDwMJiW0NVFGmiuGyRLSXF2yMYAxPExprJDQNBVroMXr2furxsImZnkQC_RJx0tjOeyl24eDpPSqFnrbwjWalDo9SThq3tiJcfr60TuMtjUJYw3ZiACdv0ohHA1uSEVIQ3vW40y50_VW7qy5fAy6ScEUMmaUpTz7xTncHqiszh8sNBKSQf72YcanXpNUBdoIUTN95YrD5rE0X5tjrqP57NSrbQ7i_ra5bz-CIZlobRrQFZ9XiMk0ix7R6gAoYHql4QhJpvlSQUDvOQ6iCLM-Qyozp3lw2SSzPH6DQ-r4_2cT1kNN9oFT4_mS_MJyonXzpA8kb0N_-RlAW-yuMNxhITt1x0UZc1D6qYTub5v5LL9fuvjcqliqnNko0ifCYKdBs0I88v0NLyMvz7-Ei5jOnrEzpkcFGk2RlKaXqMmScV91cEmcEwZ4VypARnjczXRmLWngl4j8n7Czhsi0Qgcnv4W8OKXkbI0h89IKuk9TjdXVqfWyvNlKXRaI1ZvuC1GNfqU9pRa3HsC6EhNkamXt35kGFapUidpV35tEhtaJ8HQZ8WEBR7oool4JDKw9",
  "id": "rs_0c5f6e667f5047d2016ab42e7a218487d0ab46c2e0ad5cb736",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The middle bottle is centered between the low left jaws at its body, not the cap. I’m closing to secure it and will use the retained jaw width to confirm the grip.\"}",
  "call_id": "call_vUZ5dfirMMPg2zzWb8ZYJlDw",
  "id": "fc_0c5f6e667f5047d2016ab42e7a67a487d0bfecfcecdb21134d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUZ5dfirMMPg2zzWb8ZYJlDw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0985, 2.2177, 1.4422, -0.1616, -0.9779, -0.9329, 0.0165, -0.2249, 0.5213, 0.086, -0.2008, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3593 left_y=-0.3734 left_z=0.0581 left_yaw=0.1247 left_pitch=0.0937 left_roll=-0.0645 left_gripper=0.0165 right_x=0.2371 right_y=0.0108 right_z=0.0544 right_yaw=0.1787 right_pitch=-0.0218 right_roll=0.0011 right_gripper=0.9951\nstate[joint_eff]: [0.3077, -10.5641, 4.9846, 0.5641, 0.3639, 0.0269, 0.7937, -0.9504, 0.0068, 6.6667, 1.7851, -0.2466, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce3531b5972cbee997d64ee4886d86ce40c8ad1a3c741b3cedbe09e581e199a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534910245da72c04c7b983a1b58ed8187482a6c8dbba0a5cd148701c697f75f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbcbd40c3b26cfb3114daf389ec9f516d2fe7305e3e42ed94d2d5a6433ddf8f",
      "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 · 3.838 s

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

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0851, 2.0331, 1.5536, -0.5404, -0.8734, -0.8986, 0.9975, -0.2249, 0.5747, 0.1448, -0.2085, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3465 left_y=-0.3586 left_z=0.1323 left_yaw=0.0597 left_pitch=-0.0176 left_roll=0.0092 left_gripper=0.9975 right_x=0.2442 right_y=0.0092 right_z=0.0673 right_yaw=0.1791 right_pitch=-0.0238 right_roll=0.0022 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -10.6872, 8.759, 0.989, -0.5836, -0.0904, -0.0122, -0.9231, -0.2803, 6.8718, 1.8486, -0.2662, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1004, 2.233, 1.3766, -0.1104, -0.9329, -0.9092, 0.9975, -0.2249, 0.5404, 0.1051, -0.2043, -0.3458, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3508 left_y=-0.3688 left_z=0.0303 left_yaw=0.0831 left_pitch=0.0492 left_roll=-0.0289 left_gripper=0.9975 right_x=0.2391 right_y=0.0104 right_z=0.0581 right_yaw=0.1791 right_pitch=-0.0248 right_roll=0.0027 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -6.1197, 5.094, 1.0867, 0.4371, -0.1294, -0.0122, -0.9778, -0.0615, 6.8034, 1.8437, -0.3004, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0985, 2.2177, 1.4422, -0.1616, -0.9779, -0.9329, 0.0165, -0.2249, 0.5213, 0.086, -0.2008, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3593 left_y=-0.3734 left_z=0.0581 left_yaw=0.1247 left_pitch=0.0937 left_roll=-0.0645 left_gripper=0.0165 right_x=0.2371 right_y=0.0108 right_z=0.0544 right_yaw=0.1787 right_pitch=-0.0218 right_roll=0.0011 right_gripper=0.9951\nstate[joint_eff]: [0.3077, -10.5641, 4.9846, 0.5641, 0.3639, 0.0269, 0.7937, -0.9504, 0.0068, 6.6667, 1.7851, -0.2466, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ce3531b5972cbee997d64ee4886d86ce40c8ad1a3c741b3cedbe09e581e199a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534910245da72c04c7b983a1b58ed8187482a6c8dbba0a5cd148701c697f75f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbcbd40c3b26cfb3114daf389ec9f516d2fe7305e3e42ed94d2d5a6433ddf8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e7e4f1887d0977cf7e1464acb24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.305,\"left_y\":-0.37,\"left_z\":-0.015,\"right_z\":0.18,\"right_x\":0.29,\"right_y\":0},\"note\":\"The jaws closed empty because the low command stopped above the bottle; in the overhead view the bottle’s near end is a few centimeters closer to the robot than the gripper. I’m reopening and moving behind that near end at table height, while raising the idle right arm back to a safe parked height.\"}",
  "call_id": "call_YU0lYbZg5kMmLbviAeG5xqZ3",
  "id": "fc_0c5f6e667f5047d2016ab42e80d71887d08fc45ecc78c55048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YU0lYbZg5kMmLbviAeG5xqZ3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1782, 2.2539, 1.4384, -0.2165, -1.0157, -1.1343, 0.9953, -0.2237, 0.8009, 0.5663, -0.4068, -0.345, -0.2638, 0.9951]\nstate[eef_state]: left_x=0.3264 left_y=-0.3865 left_z=0.0396 left_yaw=0.1641 left_pitch=0.0868 left_roll=-0.1442 left_gripper=0.9953 right_x=0.2851 right_y=0.0001 right_z=0.1617 right_yaw=0.1815 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9951\nstate[joint_eff]: [-1.347, -6.2838, 2.3726, 0.2173, 0.1978, 0.0757, -0.1734, -0.1436, -1.0462, 9.5521, 1.5604, -0.1734, 0.1001, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06bdd7beffa316b5b7254f9aa3dd9e9e5de117897e55160d6df3890ef80aee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98fa819945c4c89ac421ee46be3952c3e3bed659295277ac96754120cf816be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7478b5ceaa3f632f57f24c08714aa59957af3da71c7c8eec47ea235286b57c",
      "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 · 2.607 s

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

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.087, 2.1635, 1.3636, -0.2485, -0.8829, -0.8989, 0.9975, -0.2249, 0.5598, 0.1261, -0.2081, -0.3458, -0.2607, 0.9951]\nstate[eef_state]: left_x=0.3436 left_y=-0.3528 left_z=0.0392 left_yaw=0.0634 left_pitch=-0.0218 left_roll=0.0383 left_gripper=0.9975 right_x=0.2415 right_y=0.0099 right_z=0.0624 right_yaw=0.1793 right_pitch=-0.0269 right_roll=0.0033 right_gripper=0.9951\nstate[joint_eff]: [-0.5265, -9.9897, 4.8205, 0.8962, -0.3932, -0.022, -0.0073, -0.9231, -0.4034, 6.8308, 1.8339, -0.2857, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0985, 2.2177, 1.4422, -0.1616, -0.9779, -0.9329, 0.0165, -0.2249, 0.5213, 0.086, -0.2008, -0.3454, -0.2604, 0.9951]\nstate[eef_state]: left_x=0.3593 left_y=-0.3734 left_z=0.0581 left_yaw=0.1247 left_pitch=0.0937 left_roll=-0.0645 left_gripper=0.0165 right_x=0.2371 right_y=0.0108 right_z=0.0544 right_yaw=0.1787 right_pitch=-0.0218 right_roll=0.0011 right_gripper=0.9951\nstate[joint_eff]: [0.3077, -10.5641, 4.9846, 0.5641, 0.3639, 0.0269, 0.7937, -0.9504, 0.0068, 6.6667, 1.7851, -0.2466, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1782, 2.2539, 1.4384, -0.2165, -1.0157, -1.1343, 0.9953, -0.2237, 0.8009, 0.5663, -0.4068, -0.345, -0.2638, 0.9951]\nstate[eef_state]: left_x=0.3264 left_y=-0.3865 left_z=0.0396 left_yaw=0.1641 left_pitch=0.0868 left_roll=-0.1442 left_gripper=0.9953 right_x=0.2851 right_y=0.0001 right_z=0.1617 right_yaw=0.1815 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9951\nstate[joint_eff]: [-1.347, -6.2838, 2.3726, 0.2173, 0.1978, 0.0757, -0.1734, -0.1436, -1.0462, 9.5521, 1.5604, -0.1734, 0.1001, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06bdd7beffa316b5b7254f9aa3dd9e9e5de117897e55160d6df3890ef80aee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98fa819945c4c89ac421ee46be3952c3e3bed659295277ac96754120cf816be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7478b5ceaa3f632f57f24c08714aa59957af3da71c7c8eec47ea235286b57c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0c5f6e667f5047d2016ab42e84899487d0867f4b6f95f29826",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.375,\"left_z\":-0.018},\"note\":\"The bottle’s rounded base now fills the lower wrist view, immediately between the open jaws. I’m making a small backward correction and lowering once more so the fingers catch the side of the body rather than resting on its top.\"}",
  "call_id": "call_nv6tgfIdNzYSdTuRW4Qj9s4e",
  "id": "fc_0c5f6e667f5047d2016ab42e860f6c87d0952ae0c9fa523e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nv6tgfIdNzYSdTuRW4Qj9s4e",
  "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]: [-1.2179, 2.3035, 1.5021, -0.3683, -1.0271, -1.2392, 0.9968, -0.2249, 0.791, 0.5392, -0.4019, -0.3454, -0.2642, 0.9951]\nstate[eef_state]: left_x=0.3087 left_y=-0.3904 left_z=0.0255 left_yaw=0.1751 left_pitch=0.0628 left_roll=-0.0998 left_gripper=0.9968 right_x=0.2815 right_y=0.0006 right_z=0.1533 right_yaw=0.181 right_pitch=-0.0378 right_roll=0.0049 right_gripper=0.9951\nstate[joint_eff]: [-1.3197, -7.4598, 2.865, 0.4518, 0.2125, -0.3101, 0.1441, -0.8137, -1.7983, 7.0632, 1.9707, -0.2564, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029ce9f143c283c141643734e7f4afee94d55ff29235aedeceb6ed3d4d01f9aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe63b54f4d676913c37ed62ae0d8b191335a60857774e405f3e1a0b7670839c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7040dae8c05d1d58ad4b970f6d72d8d02aebfddc5e0b74d5de18db105f44f685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]